Intelligent Autonomous Manipulation Lab | Oliver Kroemer | RoboLaunch 2023
For this presentation in our RoboLaunch series, guest speaker is Prof. Oliver Kroemer. Oliver Kroemer is an Assistant Professor at Carnegie Mellon University, where he directs the Intelligent Autonomous Manipulation Lab. His research focuses on developing algorithms and representations to enable robots to learn versatile manipulation skills over time. Before joining the CMU Robotics Institute in 2018, he was a postdoctoral researcher at the University of Southern California (USC). He received his Masters and Bachelors degrees in engineering from the University of Cambridge in 2008. From 2009 to 2011, he was a Ph.D. student at the Max Planck Institute for Intelligent Systems. In 2014, he defended his Ph.D. thesis at the Technische Universitaet Darmstadt and was a finalist for the 2015 Georges Giralt Ph.D. Award for the best robotics Ph.D. thesis in Europe.
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Chapters
00:00 Introduction
01:17 Overview and motivation of the Intelligent Autonomous Manipulation Lab work
06:25 Structuring Skills - Learning Skill Representations
10:30 Structuring Skills - Casual Reasoning for Structuring Policies
13:10 Robustness - Learning Preconditions Part 1
15:25 Vibrotactile Sensing - Indetyfing Fruits and Vegetables
18:05 Tree Modeling
20:18 Sensor Deployment
21:20 Robustenss: Recover Learning
23:23 Robustness: Learning Preconditions Part 2
26:51 Hardware Design
30:06 Summary
30:59 Q&A #1 Theoretically-grounded safety in Reinforcement Learning
34:06 Q&A #2 Designing cost functions to avoid model learning undesired behavior
36:15 Q&A #3 Alternatives to reinforcement Learning for robot manipulation
40:05 Q&A #4 The Future of Robot Manipulation
43:30 Q&A #5 Limitations in Robot Manipulation
45:30 Q&A #6 Advice for students applying to RISS
47:55 Q&A #7 Vibrotactile Sensing: Manipulation of non-solid objects
49:50 Q&A #8 What to study for grad school?
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