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SUMMARY:Spring 2023 GRASP on Robotics: Luca Carlone\, MIT\, “Next-Generation Robot Perception: Hierarchical Representations\, Certifiable Algorithms\, and Self-Supervised Learning”
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\nSpatial perception —the robot’s ability to sense and understand the surrounding environment— is a key enabler for robot navigation\, manipulation\, and human-robot interaction. Recent advances in perception algorithms and systems have enabled robots to create large-scale geometric maps of unknown environments and detect objects of interest. Despite these advances\, a large gap still separates robot and human perception: Humans are able to quickly form a holistic representation of the scene that encompasses both geometric and semantic aspects\, are robust to a broad range of perceptual conditions\, and are able to learn without low-level supervision. This talk discusses recent efforts to bridge these gaps. First\, we show that scalable metric-semantic scene understanding requires hierarchical representations; these hierarchical representations\, or 3D scene graphs\, are key to efficient storage and inference\, and enable real-time perception algorithms. Second\, we discuss progress in the design of certifiable algorithms for robust estimation; in particular we discuss the notion of “estimation contracts”\, which provide first-of-a-kind performance guarantees for estimation problems arising in robot perception. Finally\, we observe that certification and self-supervision are twin challenges\, and the design of certifiable perception algorithms enables a natural self-supervised learning scheme; we apply this insight to 3D object pose estimation and present self-supervised algorithms that perform on par with state-of-the-art\, fully supervised methods\, while not requiring manual 3D annotations.
URL:https://seasevents.nmsdev7.com/event/spring-2023-grasp-on-robotics-luca-carlone/
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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