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SUMMARY:Spring 2023 GRASP on Robotics: Jeannette Bohg\, Stanford University\, "Scaling Robot Learning for Long-Horizon Manipulation Tasks with Language\, Logic and Youtube"
DESCRIPTION:This is a hybrid event with in-person attendance in Wu and Chen and virtual attendance via Zoom. This week’s presenter will be in-person as well.  \n  \nABSTRACT\nMy long-term research goal is enable real robots to manipulate any kind of object such that they can perform many different tasks in a wide variety of application scenarios such as in our homes\, in hospitals\, warehouses\, or factories. Many of these tasks will require long-horizon reasoning and sequencing of skills to achieve a goal state. While learning approaches promise generalization beyond what the robot has seen during training\, they require large data collection – a challenge when operating on real robots and specifically for long-horizon tasks. In this talk\, I will present our work on enabling long-horizon reasoning on real robots for a variety of different long-horizon tasks that can be solved by sequencing a large variety of composable skill primitives. We approach this problem from many different angles such as (i) using large-scale\, language-annotated video datasets as a cheap data source for skill learning; (ii) sequencing these learned skill primitives to resolve geometric dependencies prevalent in long-horizon tasks; (iii) learning grounded predicates thereby enabling closed-loop\, symbolic task planning.
URL:https://seasevents.nmsdev7.com/event/spring-2023-grasp-on-robotics-jeannette-bohg/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
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