Now showing items 1-20 of 32

    • 3-D Object Segmentation from Motion Cues 

      Herbst, Evan
      In this work we tackle the problem of segmenting rigid objects using various types of motion cues. The setting is that of personal robotics, in which robots generally have cameras and arms, and are capable of manipulating ...
    • Acting with Language 

      Shridhar, Mohit
      How can we imbue robots with the ability to achieve arbitrary goals in novel environments? Language provides a natural interface for guiding robots and abstracting the complexities of the physical world. Previous attempts ...
    • AI Ethics and Critique for Robotics 

      Agnew, William
      In this thesis I consider using 3D computer vision for social good. In particu-lar, I present a broad and deep array of AI ethics methodologies and practices necessary to assess the harms and benefits of a particular AI ...
    • Approaches for Interactions in Robotics Applications 

      Roh, Junha
      As increasing numbers of robots for helping humans are developed and deployed, it is important to have effective interaction with humans and other agents. Robots cooperating with humans are asked to be robust for safety ...
    • Automated Discovery and Learning of Complex Movement Behaviors 

      Mordatch, Igor
      In order to create useful physical robots, tell narratives in animated films and interactive games, or understand the underlying principles behind human movement, it is necessary to synthesize movement behaviors with the ...
    • Broad Generalization through Domain Transfer: Abstractions and Algorithms 

      Rajeswaran, Aravind
      Deep learning and reinforcement learning have recently had a transformative impact on the fields of computer vision, NLP, and robotics. However, most of the recent progress have been in narrowly defined tasks where training ...
    • Curating Visual Information in Sequential Decision Making Problems 

      Walsman, Aaron
      Images often contain both too much and not enough information. When an image is cluttered and contains many irrelevant details, this extra information can make it challenging to learn which parts are necessary, and how ...
    • Design and Control of an Anthropomorphic Robotic Hand: Learning Advantages From the Human Body & Brain 

      Xu, Zhe
      According to the cortical homunculus, our hand function requires over one quarter of the brain power allocated for the whole body's motor/sensory activities. The evolutionary role of the human hand is more than just being ...
    • Discovering and Segmenting Unseen Objects for Robot Perception 

      Xie, Christopher
      Perception lies at the core of the ability of a robot to function in the real world. As robots become more ubiquitously deployed in unstructured environments such as homes and offices, it is inevitable that robots will en- ...
    • Domain Invariant and Semantic Aware Visual Servoing 

      Sadeghi, Fereshteh
      Robots should understand both semantics and physics in order to be able to make meaningful interactions in the real world. Vision is one of the primary modalities for us humans to learn and reason about our world. Equipping ...
    • Efficient Robot Motion Planning in Cluttered Environments 

      Mandalika, Aditya Vamsikrishna
      Robotics has become a part of the solution in various applications today: autonomous vehicles navigating busy streets, articulated robots tirelessly sorting packages in warehouses, feeding people in care homes and mobile ...
    • End-to-End Programming Tools for Mobile Manipulator Robots 

      Huang, Justin
      Mobile manipulator robots have the potential to help people in a variety of unstructured scenarios, such as in households or in the service industry. However, with so many possible scenarios, roboticists cannot pre-program ...
    • Exploiting Structure in Learning: A Path Toward Building Safe and Adaptive Robots 

      Li, Anqi
      As robots venture into real-world applications, there is an increasing need for them to effectively learn from experience and adapt to unseen situations. This thesis addresses a few critical challenges to practical robot ...
    • Intelligent Behavior in Autonomous Agents through Optimization and Learning 

      Lowrey, Kendall Liu
      The dream of intelligent robotics performing useful tasks is predicated on the ability to quickly generate complex behaviors. These systems must be able to dynamically react and adapt to unstructured environments and ...
    • Learning by Watching and Learning by Doing 

      Gordon, Daniel
      When we are babies, we learn how to see by watching how the world changes and by interacting with it. Can we use these same signals to train vision models? In this thesis, we outline several works which use these paradigms ...
    • Learning Novel Strategies for Model Predictive Control by Leveraging Experience 

      Sacks, Jacob Isaac
      A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly ...
    • Learning Scene CAD Recomposition 

      Izadinia, Hamid
      Humans perceive the world in three dimensions and can interpret the hidden part of objects and scenes despite partial observations and occlusions. This level of understanding comes from imagining the hidden surfaces based ...
    • Liquids & Robots: An Investigation of Techniques for Robotic Interaction with Liquids 

      Schenck, Connor
      Liquids are an important part of everyday human environments. We use them for common tasks such as pouring coffee, mixing ingredients for a recipe, or washing hands. For a robot to operate effectively on such tasks, it ...
    • Manipulators and Manipulation in high dimensional spaces 

      Kumar, Vikash
      Hand manipulation is one of the most complex form of biological movements. Despite its significance in multiple fields such as biomechanics, neuroscience, robotics and graphics, our understanding of dexterous manipulation ...
    • Modeling for robotics and pneumatic actuation using PDEs 

      Kolev, Svetoslav
      Successful robotic control depends on truthful and robust dynamic models. While systemidentification is generally employed to compute such models, there are challenges to applying system ID. In the context of dynamic object ...