I arrived at the Robotics Institute two years ago looking for a good project, something tangible and preferably related to legged locomotion. Instead, I met Matt Mason and started to think about the big picture, ask the big questions. What is manipulation? What is robotics? What makes robotics particularly hard? To answer these questions, I […]

There is a compelling need to determine the location and activity of radiation sources from the flux that they generate.  There is also a need to create dense flux maps from sparse measurements.  This research solves these dual problems.  An example of a situation where these capabilities would be vital is at the location of [...]

Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a pre-existing kinematic model for the robotic hand. In this thesis, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high level objectives as input. Our goal is to ultimately design a program that is able [...]

Autonomous exploration in rich 3D environments requires the construction and maintenance of a representation derived from accumulated 3D observations. Volumetric models, which are commonly employed to enable joint reasoning about occupied and free space, scale poorly with the size of the environment. Techniques employed to mitigate this scaling include hierarchical discretization, learning local data summarizations [...]

With an ever-growing demand to automate different day-to-day activities, the task of autonomous manipulation using articulated robots has gained serious traction lately. In this regard, motion planning for manipulation is one of the highly researched topics. The Motion planning for manipulation is often cast as either a model-based planning problem or a machine learning problem. However, both of these [...]

Radiation source localization is a common and critical task across applications such as nuclear facility decommissioning, radioactive disaster response, and security. Traditional count-based sensors (e.g. Geiger counters) infer range to the source based on the observed number of gamma photons, expected source strength, and assumed intermediate attenuation from the environment. In cluttered 3D settings, such [...]

Natural muscles, a result of more than 500 millions years of evolution, are elegant machines that generate force and motion electrochemically. The brief history of robotics does not have the luxury of millions of years to reverse-engineer many aspects of life. The development of artificial muscles therefore seeks to build more muscle-like actuators for robots. [...]

Learning from demonstration is an intuitive approach to encoding complex behaviors in autonomous agents.  Learners have shown success in challenging tasks like autonomous driving, aerial obstacle avoidance, and information gathering, through observation and mimicry alone. State of the art algorithms like Dataset Aggregation (DAgger) have made significant advances over traditional behavior cloning, demonstrating strong theoretical [...]

Abstract: Just as humans are imperfect, even the best of robots will eventually fail at performing a task. The likelihood of failure increases as robots expand their roles in our lives. Although task failure is a common problem in robotics and human-robot interaction (HRI), there has been little research investigating human tolerance to said failures, […]