IRIM Fall Seminar | Toward Object Manipulation Without Explicit Models

Abstract: The prevalent approach to object manipulation is based on the availability of explicit 3D object models. By estimating the pose of such models in a scene, a robot can readily reason about how to pick up an object, place it in a stable position, or avoid collisions. Unfortunately, assuming the availability of object models constrains the settings in which a robot can operate, and noise in estimating a model's pose can result in brittle manipulation performance. In this talk, I will discuss work on learning to manipulate unknown objects directly from visual (depth) data. Without any explicit 3D object models, these approaches are able to segment unknown object instances and manipulate them even in cluttered scenes. I will also present recent work on combining language instructions with action-centric representations to efficiently teach robots a variety of manipulation tasks. I'll conclude with a discussion of the role simulation can play in the future of robotics.

Bio:  Dieter Fox is Senior Director of Robotics Research at NVIDIA and Professor in the Paul G. Allen School of Computer Science & Engineering at the University of Washington, where he heads the UW Robotics and State Estimation Lab. Dieter obtained his Ph.D. from the University of Bonn, Germany.  His research is in robotics and artificial intelligence, with a focus on state estimation and perception applied to problems such as mapping, object detection and tracking, manipulation, and activity recognition. He has published more than 200 technical papers and is the co-author of the textbook “Probabilistic Robotics”. He is a Fellow of the IEEE, AAAI, and ACM, and recipient of the 2020 Pioneer in Robotics and Automation Award.  Dieter also received several best paper awards at major robotics, AI, and computer vision conferences. He was an editor of the IEEE Transactions on Robotics, program co-chair of the 2008 AAAI Conference on Artificial Intelligence, and program chair of the 2013 Robotics: Science and Systems conference. 

https://nvidia_srl.gitlab.io/

Event Details

Date/Time:

  • Wednesday, October 5, 2022
    12:15 pm - 1:15 pm
Location: Marcus Nanotechnology Building 1116-1118 | 345 Ferst Drive | Atlanta GA | 30332
Email: media@robotics.gatech.edu
Fee(s): N/A