MSR Thesis Defense
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MSR Thesis Defense
Steven Man
Scaling in Robot Design for Locomotion and Manipulation
Abstract: The principles of scaling predict significant performance advantages for robots miniaturized to the millimeter and micrometer scales, including faster movements and higher precision. However, realizing these benefits is often hindered by manufacturing limitations and complex system-level interactions. This thesis investigates the effects of scaling on robot design for both manipulation and locomotion through the […]
MSR Thesis Defense
Steven Man
Scaling in Robot Design for Locomotion and Manipulation
Abstract: The principles of scaling predict significant performance advantages for robots miniaturized to the millimeter and micrometer scales, including faster movements and higher precision. However, realizing these benefits is often hindered by manufacturing limitations and complex system-level interactions. This thesis investigates the effects of scaling on robot design for both manipulation and locomotion through the development, fabrication, and characterization of […]
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1 event,
MSR Thesis Defense
Venkata Nagarjun Pudureddiyur Manivannan
Online-CBGT-Net: A Neuromimetic Architecture for Online Prediction
Abstract: We introduce Online-CBGT-Net, a neuromimetic architecture for interpretable, online prediction in streaming environments. Inspired by the cortico-basal ganglia-thalamic (CBGT) circuit in the mammalian brain, our model integrates evidence accumulation and a reset mechanism for continuous, online decision making. At each time step, the model receives input and incrementally accumulates evidence. A decision is made […]
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MSR Thesis Defense
Guofei Chen
Toward Interactive Navigation in Unknown Dynamic Environments
Abstract: There is a growing demand for mobile robots to act not only as passive observers but also to actively interact with their environment, especially in cluttered and social settings. Meeting this demand requires navigation systems that can both understand interaction-relevant properties of the environment and make plans accordingly. This thesis presents a modular approach […]
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MSR Thesis Defense
Grace Su
Identifying Prompted Artist Names from Generated Images
Abstract: A common and controversial use of text-to-image models is to generate pictures by explicitly naming artists, such as “in the style of Greg Rutkowski”. Because the original prompt is usually unavailable, online platforms lack a reliable way to decide whether an uploaded image should be filtered for including artist names in its prompt---often required […]