Beining Han will present his General Exam "Learning Open-world Robot Object Rearrangement Skills from Synthetic Data" on Monday, April 29, 2024 at 3:00 PM in CS 402.

Committee Members: Jia Deng (advisor), Szymon Rusinkiewicz, Felix Heide

Abstract:

Abstract: Building robot object rearrangement systems is an important research problem in robotics and embodied AI, with wide applications in industry and service robots. However,  it is still very challenging to build such a robot  in our open-world that can rearrange any object to anywhere, owing to the complexity of the real-world. Moreover, it is even hard to collect enough real-world data to learn from. In our work, we approach this problem by creating synthetic data with procedural rules and teach the robot rearrangement skills with the data we created. Within this realm, we propose two sub-problems: unknown object relative 6D pose estimation and robot 6D grasping of unknown object in novel environments. We find that these two problems are quite challenging with current methods in vision and robotics, suggesting huge space for improvement.

Reading List:

https://docs.google.com/document/d/1k_upDVyRe747b6X36aPv6PVUb-Xz4tH6b-cxqd-LG3o/edit

Everyone is invited to attend the talk, and those faculty wishing to remain for the oral exam following are welcome to do so.