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X-WR-CALNAME:Robotics Institute Carnegie Mellon University
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X-WR-CALDESC:Events for Robotics Institute Carnegie Mellon University
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DTSTART;TZID=America/New_York:20260501T120000
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SUMMARY:Precise and Generalizable Robot Manipulation
DESCRIPTION:Abstract:   Robots in factories are still largely limited to structured environments with known object models. How can we bring robots into the more diverse\, unstructured settings of our daily lives\, where objects may vary widely in shape and appearance\, while maintaining reliable performance? A popular direction today is to train generalist robot policies on large-scale internet data and broad robot datasets. However\, today’s generalist policies still lack the precision needed for robust real-world operation. In this talk\, I argue that closing this gap requires learning a hierarchy over robot motion: learning both what subgoals to achieve as well as how to move the robot end-effector to achieve them. I will present hierarchical motion policies that combine high-level subgoal prediction with a learned low-level policy. I will show how this hierarchical approach has enabled us to achieve both generalizable and precise object manipulation.
URL:https://www.ri.cmu.edu/event/precise-and-generalizable-robot-manipulation/
LOCATION:Newell-Simon Hall 4305
CATEGORIES:Faculty Events
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DTSTART;TZID=America/New_York:20260515T120000
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CREATED:20260506T144730Z
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UID:151206-1778846400-1778850000@www.ri.cmu.edu
SUMMARY:Robot Learning and Wearable Interfaces in Pursuit of Robotic Caregivers
DESCRIPTION:Abstract:  Designing safe and reliable robotic assistance for caregiving is a grand challenge in robotics. A sixth of the United States population is over the age of 65 and more than 1 in 4 (over 70 million) adults in the United States reported having a disability in 2022. Robotic caregivers could positively benefit society; yet\, physical robotic assistance presents several challenges and open research questions relating to autonomous control\, multimodal sensing and learning\, and accessible interfaces. In this talk\, I will present recent techniques and technology that my group has developed towards addressing core challenges in robotic caregiving. First\, I will introduce inertial and high-density electromyography (HDEMG) wearable interfaces that enable people with severe loss of motor and hand function (due to spinal cord injury or neurodegenerative diseases) to embody physically assistive mobile manipulators in their home. I will then present our recent work in robot learning\, including online and offline policy learning\, to perform complex manipulation in assistive scenarios. This includes learning reward functions and robot control policies\, sim-to-real transfer\, a new technique to scale imitation learning for bimanual manipulation\, and new opportunities presented by generative simulation. \n  \nHomepage:  http://zackory.com
URL:https://www.ri.cmu.edu/event/robot-learning-and-wearable-interfaces-in-pursuit-of-robotic-caregivers/
LOCATION:Newell-Simon Hall 4305
CATEGORIES:Faculty Events
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