Robotics Colloquium

The Robotics Colloquium features talks by invited and local researchers on all aspects of robotics, including control, perception, machine learning, mechanical design and interaction. The colloquium is held Fridays between 1:30-2:30pm. Special seminars outside this schedule are indicated with * below. Check schedule below for location. Refreshments are served.

If you would like to give a talk in upcoming Robotics Colloquia, please contact Maya Cakmak (mcakmakatcs). If you would like to get regular email announcements and reminders about the robotics colloquium speakers, please sign up to the Robotics@UW mailing list.

 
Autumn 2018 Organizers: Tapomayukh Bhattacharjee, Maya Cakmak, Dieter Fox, Siddhartha S. Srinivasa
09/28/2018
CSE 305
Brittany Duncan
University of Nebraska-Lincoln
Drones in Public: distancing and communication with general users abstract
10/05/2018
CSE 305
Sisir Karumanchi
NASA Jet Propulsion Laboratory
Leveraging Proprioceptive Feedback for Mobile Manipulation abstract
10/12/2018
CSE 305
Magnus Egerstedt
Georgia Institute of Technology
Long Duration Autonomy and Constraint-Based Coordination of Multi-Robot Systems abstract
10/19/2018
CSE 305
Chelsea Finn
Google Brain / Stanford University
TBA abstract
10/26/2018
CSE 305
TBA
TBA
TBA abstract
11/02/2018
CSE 305
Jivko Sinapov
Tufts University
TBA abstract
11/09/2018
CSE 305
TBA
TBA
TBA abstract
11/16/2018
CSE 305
Günter Niemeyer
Disney Research
TBA abstract
11/30/2018
CSE 305
Leslie Kaelbling
MIT
TBA abstract
12/07/2018
CSE 305
Maxim Likhachev
CMU
TBA abstract
 
Spring / Summer 2018 Organizers: Dieter Fox, Maya Cakmak, Siddhartha S. Srinivasa
03/23/2018
CSE 203
Michael Beetz
University Bremen, IAI
Everyday Activity Science and Engineering (EASE) abstract
03/30/2018
No talk
04/06/2018
CSE 305
David Rollinson
Hebi Robotics
Building a Force-Controlled Actuator (Company) abstract
04/13/2018
CSE 305
Michael A. Goodrich
Brigham Young University
Toward Human Interaction with Bio-Inspired Robot Swarms abstract
04/20/2018
CSE 305
Dmitry Berenson
University of Michigan
What Matters for Deformable Object Manipulation abstract
04/25/2018
CSE 305
Jeff Mahler
University of California Berkeley
The Dexterity Network: Deep Learning to Plan Robust Robot Grasps using Datasets of Synthetic Point Clouds, Analytic Grasp Metrics, and 3D Object Models abstract
04/27/2018
CSE 305
Karen Liu
Georgia Tech
Towards a Generative Model of Natural Motion abstract
05/04/2018
CSE 305
Jung-Su Ha
KAIST
Recent Advances in Representation Learning for Dynamical Systems abstract
05/11/2018
CSE 305
Guy Hoffman
Cornell University
Designing Robots for Fluent Collaboration and Companionship abstract
05/18/2018
CSE 305
Devin Balkcom
Dartmouth College
Economy of Motion abstract
05/25/2018
No talk
06/01/2018
No talk
07/20/2018
CSE 305
Soshi Iba
Honda Research Institute
Toward a future society with Curious Minded Machines abstract
08/06/2018
CSE 305
(12 PM)
Matt Barnes
Carnegie Mellon University
Learning with Clusters: A cardinal machine learning sin and how to correct for it abstract
 
Winter 2018 Organizers: Dieter Fox, Maya Cakmak, Siddhartha S. Srinivasa, Kat Steele
01/12/2018
No talk
01/18/2018
CSE 691
(10 AM)
Allison Okamura
Stanford University
Let’s be Flexible: Soft Haptics and Soft Robotics abstract
01/19/2018
HUB 250
(1 PM)
David Reinkensmeyer
UC Irvine
Robotic-assisted movement training after stroke: Why does it work and how can it be made to work better? abstract
01/26/2018
CSE 305
Stefanos Nikolaidis
CMU/University of Washington
Mathematical Models of Adaptation in Human-Robot Collaboration abstract
02/02/2018
No talk
02/07/2018
CSE 305
(3 PM)
Peter Trautman
1-Dimensional Joint Probability Distributions: the Duality of Shared Control and Crowd Navigation Solutions abstract
02/09/2018
EEB 037
Amir Rubin
Paracosm
SLAM and 3D-reconstruction for Real World Use Cases abstract
02/16/2018
CSE 305
Emel Demircan
California State University
Human Movement Understanding abstract
02/23/2018
CSE 305
Kris Hauser
Duke University
The Space of Spaces: Understanding the Structure Between Motion Planning Problems abstract
03/02/2018
CSE 305
Marco Pavone
Stanford University
Planning and Decision Making for Autonomous Spacecraft and Space Robots abstract
03/09/2018
CSE 305
Yu Xiang
UW/NVidia
Perceiving the 3D World from Images and Videos abstract
 
Autumn 2017 Organizers: Dieter Fox, Maya Cakmak, Siddhartha S. Srinivasa, Kat Steele, Sam Burden
09/29/2017
MEB 238
3:30 PM
Michael Tolley
University of California San Diego
ME colloquium: Soft Robotics abstract
10/06/2017
CSE 305
Geoffrey A. Hollinger
Oregon State University
Marine Robotics: Planning, Decision Making, and Learning abstract
10/13/2017 DUB retreat
No talk
10/20/2017
CSE 305
Byron Boots
Georgia Institute of Technology
Learning Perception and Control for Agile Off-Road Autonomous Driving abstract
10/27/2017
CSE 691
Tucker Hermans
University of Utah
Learning and Planning for Autonomous Multi-fingered Robot Manipulation abstract
11/03/2017
CSE 305
Joydeep Biswas
University of Massachusetts Amherst
Deploying Autonomous Service Mobile Robots, And Keeping Them Autonomous abstract
11/10/2017 No talk
11/17/2017
CSE 691
Oren Salzman
Carnegie Mellon University
The Provable Virtue of Laziness in Motion Planning abstract
11/24/2017 Thanksgiving
No talk
12/01/2017 No talk
12/08/2017
CSE 305
Yigit Menguc
Oregon State University
Material Robotics: Soft active materials, bioinspired mechanisms, and additive manufacturing abstract
 
Spring 2017 Organizers: Aaron Walsman, Sam Burden, Maya Cakmak, Dieter Fox
03/31/2017
CSE 305
Richard Vaughan
Simon Fraser University
Simple, Robust Interaction Between Humans and Teams of Robots abstract
04/07/2017
CSE 691
Oussama Khatib
Stanford
Ocean One: A Robotic Avatar for Oceanic Discovery abstract
04/14/2017
CSE 305
Debadeepta Dey
Microsoft Research
Learning via Interaction for Machine Perception and Control abstract
04/21/2017
CSE 303 (11 AM)
Eric Eaton
University of Pennsylvania
Efficient Lifelong Machine Learning: an Online Multi-Task Learning Perspective abstract
04/21/2017
CSE 305
Katsu Ikeuchi
Microsoft Research
e-Intangible Heritage, from Dancing robots to Cyber Humanities abstract
04/28/2017
CSE 691
Henrik Christensen
UC San Diego
Object Based Mapping abstract
05/05/2017
CSE 305
Alberto Rodriguez
MIT
Reactive Robotic Manipulation abstract
05/12/2017
CSE 305
Charlie Kemp
Georgia Tech
Mobile Manipulators for Intelligent Physical Assistance abstract
05/19/2017
CSE 305
Karol Hausman
University of Southern California
Rethinking Perception-Action Loops abstract
05/26/2017
CSE 305
Silvia Ferrari
Cornell University
Neuromorphic Planning and Control of Insect-scale Robots abstract
06/02/2017
 
No Colloquium (ICRA)    
 
Winter 2017 Organizers: Sam Burden, Maya Cakmak, Dieter Fox
01/06/2017 No colloquium    
01/13/2017
 
Matt Rueben
Oregon State University
Privacy Sensitive Robotics abstract
01/20/2017
2:30-5:00pm
Frontiers of Science
Savery Hall 260
   
01/27/2017 Ross Hatton
Oregon State University
Snakes & Spiders, Robots & Geometry abstract
02/03/2017 Avik De
University of Pennsylvania
Anchored Behaviors from Template Compositions abstract
02/10/2017 No talk    
02/17/2017 Sonia Chernova
Georgia Institute of Technology
Reliable Robot Autonomy through Learning and Interaction abstract
02/24/2017 No talk    
03/03/2017 No talk    
03/10/2017 No talk    
 
Fall 2016 Organizers: Sam Burden, Maya Cakmak, Dieter Fox, Sawyer Fuller
10/07/2016
CSE 305
David Remy
University of Michigan
Gaits and Natural Dynamics in Robotic Legged Locomotion abstract
10/14/2016
 
IROS 2016 and DUB retreat
No talk
   
10/21/2016 Industry Affiliates Week
Check out talks and posters by robotics students
   
10/28/2016
CSE 305
Emo Todorov
University of Washington
Goal-directed Dynamics abstract
11/04/2016
CSE 305
Sean Andrist
Microsoft Research
Gaze Mechanisms for Situated Interaction with Embodied Agents abstract
11/11/2016
 
Veterans day
No talk
   
11/18/2016
CSE 305
Nick Roy
MIT
Planning to Fly (and Drive) Aggressively abstract
11/25/2016
 
Thanksgiving
No talk
   
12/02/2016
CSE 305
Shai Revzen
University of Michigan
Seeking simple models for multilegged locomotion: hybrid oscillators, rapid manufacturing, and slippage abstract
12/09/2016
CSE 305
Ashis Banerjee
University of Washington
Toward Real-Time Motion Planning and Control of Optically Actuated Micro-Robots abstract
 
Spring 2016 Organizers: Justin Huang, Leah Perlmutter, Dieter Fox, and Maya Cakmak
4/1/16
CSE 305
Tomás Lozano-Pérez
MIT
Integrated task and motion planning in belief space abstract
4/8/16
CSE 305
Henny Admoni
CMU / Yale
Recognizing Human Intent for Assistive Robotics abstract
4/11/16
CSE 305
Wolfram Burgard
University of Frieburg
Deep Learning for Robot Navigation and Perception abstract
4/22/16
CSE 305
Travis Deyle
Cobalt Robotics
RFID-Enhanced Robots Enable New Applications in Healthcare, Asset Tracking, and Remote Sensing abstract
5/6/16
CSE 305
Brian Scassellati
Yale
Robots That Teach abstract
5/13/16
CSE 305
Sarah Elliott, Mohammad Haghighipanah, Vikash Kumar, Yangming Li, Muneaki Miyasaka, Leah Perlmutter, Luis Puig, and Yuyin Sun
University of Washington
ICRA 2016 Practice Talks abstract
6/3/16
CSE 305
Sidd Srinivasa
CMU
Physics-based Manipulation abstract
*6/10/16
CSE 403
3:30 pm
Ashish Kapoor
Microsoft Research
Planetary Scale Swarm Sensing, Planning and Control for Weather Prediction abstract
 
Winter 2016 Organizers: Kendall Lowrey, Patrick Lancaster, and Dieter Fox
3/11/16
CSE 305
Daniel Butler
UW CSE
Model-based Reinforcement Learning with Parametrized Physical Models and Optimism-Driven Exploration abstract
3/04/16
CSE 305
James Youngquist
UW CSE
DeepMPC: Learning Deep Latent Features for Model Predictive Control abstract
2/26/16
CSE 305
Justin Huang
UW CSE
Place Recognition with ConvNet Landmarks: Viewpoint-Robust, Condition-Robust, Training-Free abstract
2/19/16
EEB 303
Daniel Gordon
UW CSE
Deep Neural Decision Forests abstract
2/12/16
CSE 305
Harley Montgomery
UW CSE
End-to-End Training of Deep Visuomotor Policies abstract
2/5/16
CSE 305
Aaron Walsman
UW CSE
Mastering the game of Go with deep neural networks and tree search abstract
1/29/16
CSE 305
Zachary Nehrenberg
UW CSE
Real-Time Trajectory Generation for Quadrocopters abstract
1/29/16
CSE 305
Patrick Lancaster
UW CSE
Towards Learning Hierarchical Skills for Multi-Phase Manipulation Tasks abstract
1/22/16
CSE 305
Tanner Schmidt
UW CSE
Pose Estimation of Kinematic Chain Instances via Object Coordinate Regression abstract
1/15/16
CSE 305
Kendall Lowrey
UW CSE
Combining the benefits of function approximation and trajectory optimization abstract
1/15/16
CSE 305
Vladimir Korukov
UW CSE
Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping abstract
 
Fall 2015 Organizers: Tanner Schmidt and Dieter Fox
10/9/15
CSE 305
Dan Bohus
Microsoft Research
Physically Situated Dialog: Opportunities and Challenges abstract
10/16/15
CSE 305
Sawyer Fuller
UW
Aerial autonomy at insect scale: What flying insects can tell us about robotics and vice versa abstract
10/23/15
Kane Hall 110
Russ Tedrake
MIT
From Polynomials to Humanoid Robots
Part of the MathAcrossCampus Colloquium Series
abstract
10/30/15
CSE 305
Frank Dellaert
Skydio
Factor Graphs for Flexible Inference in Robotics and Vision abstract
11/6/15
CSE 305
Student Research Lightning Talks    
11/13/15
CSE 305
Louis-Philippe Morency
CMU
Modeling Human Communication Dynamics abstract
11/20/15
CSE 305
Tom Whelan
Oculus Research
Real-time dense methods for 3D perception abstract
11/27/15
CSE 305
Thanksgiving
No talk
   
12/4/15
CSE 305
Seth Hutchinson
UIUC
Robust Distributed Control Policies for Multi-Robot Systems abstract
12/11/15
CSE 305
Dmitry Berenson
WPI
Toward General-Purpose Manipulation of Deformable Objects abstract
 
Spring 2015 Organizers: Connor Schenck, Maya Cakmak, Dieter Fox
04/17/15
CSE 303
Neil Lebeck and Natalie Brace
UW CSE
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor abstract
04/24/15
CSE 303
Peter Henry
UW CSE
LSD-SLAM: Large-Scale Direct Monocular SLAM abstract
05/01/15
CSE 303
Dan Butler
UW CSE
Probabilistic Segmentation and Targeted Exploration of Objects in Cluttered Environments abstract
05/07/15
CSE 303
Marc Deisenroth
Imperial College, London
Statistical Machine Learning for Autonomous Systems and Robots abstract
05/15/15
CSE 303
Arunkumar Byravan and Kendall Lowrey
UW CSE
Reinforcement Learning in Robotics: A Survey abstract
05/22/15   ICRA practice talks. abstracts
05/29/15 No Colloquium Colloquium cancelled for ICRA 2015.  
06/05/15
CSE 303
Jim Youngquist
UW CSE
A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients abstract
 
Winter 2015 Organizers: Connor Schenck, Maya Cakmak, Dieter Fox
01/14/15
CSE 305
Mike Chung
UW CSE
Accelerating Imitation Learning through Crowdsourcing abstract
  Tanner Schmidt
UW CSE
Dense Articulated Real-Time Tracking abstract
01/23/15
CSE 305
Discussion Amazon Picking Challenge <
01/30/15 No colloquium    
02/06/15
CSE 305
Joseph Xu
UW CSE
Design and Control of an Anthropomorphic Robotic Hand: Learning Advantages From the Human Body & Brain abstract
  Vikash Kumar
UW CSE
Dimensionality Augmentation: A tool towards synthesizing complex and expressive behaviors abstract
02/13/15
CSE 305
Sofia Alexandrova
UW CSE
RoboFlow: A Flow-based Visual Programming Language for Mobile Manipulation Tasks abstract
02/20/15
CSE 305
Igor Mordatch
UW CSE
Synthesis of Interactive Control for Diverse Complex Characters with Neural Networks abstract
02/27/15
CSE 305
Richard Newcombe
UW CSE
DynamicFusion: Reconstruction and Tracking of Non-Rigid Scenes in Real-Time abstract
03/06/15
CSE 691
Aaron Steinfeld
Carnegie Mellon University
Understanding and Creating Appropriate Robot Behavior abstract
03/13/15
CSE 305
Luis Puig
UW CSE
Overview of Omnidirectional Vision abstract
 
Autumn 2014 Organizers: Vikash Kumar, Maya Cakmak, Dieter Fox
10/03/14
CSE 305
Danny Kaufman
Adobe Creative Technologies Lab, Seattle
Geometric Algorithms for Computing Frictionally Contacting Systems abstract
10/10/14
EE 037
Dubi Katz & Michael Abrash
Oculus VR
VR, the future, and you abstract
10/17/14
CSE 503
3:30pm
Kira Mourao
PostDoc, Institute for Language, Cognition and Computation, University of Edinburgh
What happens if I push this button? Learning planning operators from experience abstract
10/24/14
CSE 305
Sam Burden
PostDoc, University of California, Berkeley
Hybrid Models for Dynamic and Dexterous Robots abstract
*10/29/14 (Wed)
HUB 250
12:30pm
Bilge Mutlu
University of Wisconsin, Madison
Human-Centered Principles and Methods for Designing Robotic Technologies
(Joint with DUB seminar, lunch will be served at 12:00)
abstract
10/31/14
CSE 305
Sergey Levine
PostDoc, University of California, Berkeley
Learning to Move: Machine Learning for Robotics and Animation abstract
11/07/14 No talk    
11/14/14 Sachin Patil
PostDoc, University of California, Berkeley
Coping with Uncertainty in Robotic Navigation and Manipulation abstract
11/21/14
Gates Commons
3:00pm
HRI Mini Symposium
HRI 2015 Program committee members
   
11/28/14 No talk, Thanksgiving Break    
12/05/14
CSE 305
Marianna Madry
Royal Institute of Technology (KTH), Sweden
Representing Objects in Robotics from Visual, Depth and Tactile Sensing abstract
*12/18/14 (Thu)
CSE 305
11:00am
Scott Niekum
Carnegie Mellon University
Structure Discovery in Robotics with Demonstrations and Active Learning abstract
Winter 2014, Organizer: Maya Cakmak
01/17/14
CSE 403
Byron Boots
UW CSE
Learning Better Models of Dynamical Systems abstract
01/24/14
CSE 403
Julie Shah
MIT
Integrating Robots into Team-Oriented Environments abstract
01/31/14
CSE 403
Ryan Calo
UW Law
Robotics & The New Cyberlaw abstract
02/07/14
CSE 403
James McLurkin
Rice University
Distributed Algorithms for Robot Recovery, Multi-Robot Triangulation, and Advanced Low-Cost Robots abstract
02/14/14   Cancelled  
02/21/14
CSE 403
Mihai Jalobeanu
Microsoft Research
Towards ubiquitous robots abstract
02/28/14
CSE 403
Cynthia Matuszek
UW CSE
Talking to Robots: Learning to Ground Human Language in Perception and Execution abstract
03/07/14   Cancelled  
03/14/14
CSE 403
Peter H. Kahn, Jr.
UW Psychology
Social and Moral Relationships with Robots abstract
03/21/14
Gates Commons
Gur Kimchi
Amazon
Amazon Prime Air abstract
Autumn 2013, Organizer: Maya Cakmak
10/11/13
MGH 241
Ashutosh Saxena
Cornell University
How should a robot perceive the world?
(Joint with Machine Learning)
abstract
10/18/13   UW/MSR Machine Learning day  
10/25/13
CSE 403
Kat Steele
University of Washington, Mechanical Engineering
Strategies for understanding and improving movement disorders abstract
11/01/13
CSE 403
Maya Cakmak
University of Washington, CSE
Towards seamless human-robot hand-overs abstract
*11/07/13 (Thu)
CSE 403
2:30-3:20pm
Ross A. Knepper
MIT
Autonomous Assembly In a Human World abstract
*11/08/13
CSE 403
12-1pm
Brian Ziebart
University of Illinois, Chicago
Beyond Conditionals: Structured Prediction for Interacting Processes
(Lunch will be served)
abstract
11/08/13
Gates Commons
Jenay Beer
University of South Carolina
Considerations for Designing Assistive Robotics to Promote Aging-in-Place abstract
11/15/13
CSE 403
Dinei Florencio
Microsoft Research
Navigation for telepresence robots and some thoughts on robot learning abstract
11/22/13
CSE 403
Andrzej Pronobis
University of Washington, CSE
Semantic Knowledge in Mobile Robotics: Perception, Reasoning, Communication and Actions abstract
12/06/13
Gates Commons
Steve Cousins
Savioke, Inc. & Willow Garage, Inc.
It's Time for Service Robots
(Joint with CSNE)
abstract
Spring 2013, Organizers: Cynthia Matuszek, Dieter Fox
04/5/13 Dieter Fox
Cynthia Matuszek
PechaKucha 20x20 for Robotics abstract
04/12/13 No talk    
04/19/13 Robotics Students & Staff PechaKucha-style Robotics Research Overviews abstract
04/26/13 Pete Wurman
Special Wednesday Colloquium, CSE 203
Coordinating Hundreds of Autonomous Vehicles in Warehouses
abstract
04/26/13 Matt Mason Learning to Use Simple Hands abstract
05/03/13 Nadia Shouraboura Canceled  
05/10/13 No talk (ICRA)
05/17/13 Tom Daniel Control and Dynamics of Animal Flight: Reverse Engineering Nature's Robots abstract
05/24/13 Katherine Kuchenbecker The Value of Tactile Sensations in Haptics and Robotics abstract
05/31/13 Pieter Abbeel Machine Learning and Optimization for Robotics abstract
06/07/13 Nick Roy Canceled  
Winter 2013, Organizer: Dieter Fox
01/18/13 Robotics and State
Estimation Lab
Overview of RSE Lab Research
01/25/13 Joshua Smith Robotics Research in the Sensor Systems Group abstract
02/01/13 no talk    
02/08/13 Gaurav Sukhatme Persistent Autonomy at Sea abstract
02/15/13 Jiri Najemnik Sequence Optimization in Engineering, Artificial Intelligence and Biology abstract
02/22/13 no talk    
03/01/13 Richard Newcombe Beyond Point Clouds: Adventures in Real-time Dense SLAM abstract
03/08/13 Tom Erez Model-Based Optimization for Intelligent Robot Control abstract
03/15/13 Byron Boots Spectral Approaches to Learning Dynamical Systems abstract
Spring 2012, Organizer: Dieter Fox
3/30/12 Andrea Thomaz Designing Learning Interactions for Robots abstract
4/6/12 Javier Movellan Towards a New Science of Learning abstract
4/13/12 Emanuel Todorov Automatic Synthesis of Complex Behaviors with Optimal Control abstract
4/20/12 Andrew Barto Autonomous Robot Acquisition of Transferable Skills abstract
4/27/12 Dieter Fox Grounding Natural Language in Robot Control Systems abstract
5/4/12 Allison Okamura Robot-Assisted Needle Steering abstract
5/11/12 Blake Hannaford Click the Scalpel -- Better Patient Outcomes by Advancing Robotics in Surgery abstract
5/18/12 no talk  
5/25/12 Malcolm MacIver Robotic Electrolocation abstract
6/1/12 Drew Bagnell Imitation Learning, Inverse Optimal Control and Purposeful Prediction abstract
 
DETAILED SCHEDULE FOR AUTUMN 2018
09/28/2018 Brittany Duncan
University of Nebraska-Lincoln
Drones in Public: distancing and communication with general users
Abstract: This talk will focus on the role of human-robot interaction with drones in public spaces and be focused on two individual research areas: proximal interactions in shared spaces and improved communication with both end-users and bystanders. Prior work on human-interaction with aerial robots has focused on communication from the users or about the intended direction of flight, but has not considered how to distance from and communicate to novice users in unconstrained environments. In this presentation, it will be argued that the diverse users and open-ended nature of public interactions offers a rich exploration space for foundational interaction research with aerial robots. Findings will be presented from both lab-based and design studies, while context will be provided from the field-based research that is central to the NIMBUS lab. This presentation will be of interest to researchers and practitioners in the robotics community, as well as those in the fields of human factors, artificial intelligence, and the social sciences.

Speaker’s Bio: Dr. Brittany Duncan is an Assistant Professor in Computer Science and Engineering and a co-Director of the NIMBUS lab at the University of Nebraska, Lincoln. Her research is at the nexus of behavior-based robotics, human factors, and unmanned vehicles; specifically she is focused on how humans can more naturally interact with robots, individually or as part of ad hoc teams, in field-based domains such as agricultural, disaster response, and engineering applications. She is a PI on a NSF Early Faculty Career Award (CAREER), a co-PI on a NSF National Robotics Initiative (NRI) grant, and was awarded a NSF Graduate Research Fellowship in 2010. Dr. Duncan received a Ph.D. From Texas A&M University and B.S. in Computer Science from the Georgia Institute of Technology. For more information, please see: cse.unl.edu/~bduncan or nimbus.unl.edu.
10/05/2018 Sisir Karumanchi
NASA Jet Propulsion Laboratory
Leveraging Proprioceptive Feedback for Mobile Manipulation
Abstract:

This talk highlights proprioceptive feedback as a means to do more with less sensing, less task specification and less a priori information. The motivating application is mobile manipulation in harsh environments with field-able robots.

Mainstream R&D in Robotics has focused on better representations to consolidate contextual information (deep nets, scene classifiers, world models). Such contextual understanding does lead to intelligent behaviors with better generalization. In contrast, this talk is about basic competence by way of simple behaviors (“does one thing and does it well”) and sequential composition of mixed feedback behaviors (exteroceptive interleaved with proprioceptive) that can complement each other.

This talk builds on practical lessons learned from the speaker’s past experience in creating fieldable systems where one has to work with imperfect sensors, imperfect controllers, imperfect motion planners and imperfect hardware. A key lesson learned is the notion that simple behaviors generalize better in the field. This talk postulates that proprioceptive feedback is effective because it is i) ego-centric (does not rely on localization) ii) often correlated with both task performance and control inputs. Specifically, we highlight force feedback behaviors and intermediate staging behaviors (e.g. bracing with one arm and lifting with other, moving a neck/torso for better camera alignment).

Speaker’s Bio: Sisir is a Robotics Technologist at NASA’s Jet Propulsion Lab, Caltech. He is a member of the Manipulation and Sampling Group that focuses on adaptive sampling strategies on Rovers. He was the software lead for the JPL team at the DARPA Robotics Challenge finals. Before joining JPL, Sisir was the manipulation lead within the MIT Team for the VRC and the DRC Trials phase of the DARPA Robotics Challenge program. Team RoboSimian finished fifth out of 23 teams at the DRC finals. Team MIT finished fourth at the DRC Trials and third during the VRC phase. Sisir completed his Ph.D. with the Australian Centre for Field Robotics at the Uni- versity of Sydney in 2010. During 2011-2014, he was a postdoc at the Massachusetts Institute of Technology. During his postdoc, he worked with Dr. Karl Iagnemma on semi-autonomous control of ground vehicles and in mobile manipulation with Prof. Seth Teller and Prof. Russ Tedrake.
10/12/2018 Magnus Egerstedt
Georgia Institute of Technology
Long Duration Autonomy and Constraint-Based Coordination of Multi-Robot Systems
Abstract: By now, we have a fairly good understanding of how to design coordinated control strategies for making teams of mobile robots achieve geometric objectives in a distributed manner, such as assembling shapes or covering areas. But, the mapping from high-level tasks to these objectives is not particularly well understood. In this talk, we investigate this topic in the context of long duration autonomy, i.e., we consider teams of robots, deployed in an environment over a sustained period of time, that can be recruited to perform a number of different tasks in a distributed, safe, and provably correct manner. This development will involve the composition of multiple barrier certificates for encoding the tasks and safety constraints, as well as a detour into ecology as a way of understanding how persistent environmental monitoring, as a special instantiation of the long duration autonomy concept, can be achieved by studying animals with low-energy life-styles, such as the three-toed sloth.

Speaker’s Bio: Dr. Magnus Egerstedt is the Steve W. Chaddick School Chair and Professor in the School of Electrical and Computer Engineering at the Georgia Institute of Technology. He received the M.S. degree in Engineering Physics and the Ph.D. degree in Applied Mathematics from the Royal Institute of Technology, Stockholm, Sweden, the B.A. degree in Philosophy from Stockholm University, and was a Postdoctoral Scholar at Harvard University. Dr. Egerstedt conducts research in the areas of control theory and robotics, with particular focus on control and coordination of complex networks, such as multi-robot systems, mobile sensor networks, and cyber-physical systems. Magnus Egerstedt is a Fellow of the IEEE and has received a number of teaching and research awards, including the Ragazzini Award from the American Automatic Control Council, the Outstanding Doctoral Advisor Award and the HKN Outstanding Teacher Award from Georgia Tech, and the Alumnus of the Year Award from the Royal Institute of Technology.

Details of previous Robotics Colloquia can be found here.