Abstract: With modern robotic technologies, seafloor imageries have become more accessible to both researchers and the public. This thesis leverages deep learning and 3D vision techniques to deliver valuable information from seafloor image observations. Despite the widespread use of deep learning and 3D vision algorithms across various fields, underwater imaging presents unique challenges, such as [...]

Abstract: A long-standing problem in autonomous driving is grappling with the long-tail of rare scenarios for which little or no data is available. Although learning-based methods scale with data, it is unclear that simply ramping up data collection will eventually make this problem go away. Approaches which rely on simulation or world modeling offer some [...]

Abstract: As humans, we are constantly interacting with and observing a three-dimensional dynamic world; where objects around us change state as they move or are moved, and we, ourselves, move for navigation and exploration. Such an interaction between a dynamic environment and a dynamic ego-agent is complex to model as an ego-agent's perception of the [...]

Abstract: Since infancy, humans acquire motor skills, behavioral priors, and objectives by learning from their caregivers. Similarly, as we create humanoids in our own image, we aspire for them to learn from us and develop universal physical and cognitive capabilities that are comparable to, or even surpass, our own. In this thesis, we explore how [...]

Abstract: While Generative AI has shown breakthroughs in recent years in generating new digital contents such as images or 3D models from high-level goal inputs like text, Robotics technologies have not, instead focusing on low-level goal inputs. We propose Generative Robotics, as a new field of robotics which combines the high-level goal input abilities of [...]

Abstract: 3D scene understanding from 2D video is essential for enabling advanced applications such as autonomous driving, robotics, virtual reality, and augmented reality. These fields rely on accurate 3D spatial awareness and dynamic interaction modeling to navigate complex environments, manipulate objects, and provide immersive experiences. Unlike 2D, 3D training data is much less abundant, which [...]

Abstract: The goal of this thesis is to discover AI processes that enhance cross-domain and cross-task generalization in intelligent robot agents. Unlike the dominant approach in contemporary robot learning, which pursues generalization primarily through scaling laws (increasing data and model size), we focus on identifying the best abstractions and representations in both perception and policy [...]

Abstract: Modern computer vision has achieved remarkable success in tasks such as detecting, segmenting, and estimating the pose of humans in images and videos, reaching or even surpassing human-level performance. However, they still face significant challenges in predicting and analyzing future human motion. This thesis explores how vision-based solutions can enhance the fidelity and accuracy [...]

Abstract: Mobile robots used for information gathering tasks rely on dense, predictive mapping of large-scale regions to determine where to take measurements. Current approaches to mapping commonly rely on Gaussian process regression to spatially correlate data, extrapolate from sparse samples, and estimate uncertainty. However, these approaches do not incorporate meaningful information about physical processes that [...]