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MSR Thesis Defense
Shubhra Aich
MSR Student
Robotics Institute,
Carnegie Mellon University

Towards Modernization of Long-Range Image-Space Planning for Off-Road Navigation

Newell-Simon Hall 3305

Abstract: This thesis revisits long-range, image-space planning for off-road navigation and modernizes the classical first-person view (FPV) paradigm by building upon recent advances in perception. It introduces a lightweight depth calibration scheme, analytic configuration-space (C-space) transforms, interpretable frontier selection, and a pixel-space A* planner with validated heuristic soundness. Concretely, we (i) make monocular depth metrically [...]

PhD Thesis Proposal
Kenneth Shaw
PhD Student
Robotics Institute,
Carnegie Mellon University

Building Robot Hands and Teaching Dexterity

Newell-Simon Hall 4305

Abstract:  Our human hands are masterpieces of power and precision, capable of typing, hammering, or delicately using chopsticks. Yet most robots today still rely on simple two-finger grippers in controlled settings because dexterous hands are costly and difficult to deploy. To close this gap, I will introduce my LEAP Hands, high-performance, low-cost, and easy-to-assemble robotic [...]

PhD Speaking Qualifier
Muhammet Yunus Seker
PhD Student
Robotics Institute,
Carnegie Mellon University

Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models

Newell-Simon Hall 3305

Abstract: Transferring skills between different objects remains one of the core challenges of open-world robot manipulation. Generalization needs to take into account the high-level structural differences between distinct objects while still maintaining similar low-level interaction control. In this paper, we propose an example-based zero-shot approach to skill transfer. Rather than treating skills as atomic, we [...]

Special Events
Ken Museth
Senior Director
High-Fidelity Physics Research, Nvidia

OpenVDB

Gates-Hillman Center 4401

Abstract: As the inventor of VDB and founder of OpenVDB, I am excited to talk about its history, motivation, and diverse adoption. Specifically, this lecture will cover the underlying VDB data structure, and its adoption to computer graphics, physics simulations and more recently machine learning. Since its open-source release in 2012, OpenVDB has become an industry [...]

RI Event
Vivian Shen
PhD Student
Robotics Institute,
Carnegie Mellon University

Sensorimotor-Aligned Design for Pareto-Efficient Haptic Immersion in Extended Reality

Newell-Simon Hall 3305

Abstract: A new category of computing devices has emerged: augmented and virtual reality headsets, collectively referred to as extended reality (XR). These devices can alter, augment, or even replace our reality. While these headsets have made impressive strides in audio-visual immersion over the past half-century, XR interactions remain almost completely absent of appropriately expressive tactile [...]