EI Seminar - Beomjoon Kim - Making Robots See and Manipulate

Speaker: Beomjoon Kim , KAIST

Date: Thursday, November 02, 2023

Time: 4:00 PM to 5:00 PM Note: all times are in the Eastern Time Zone

Public: Yes

Location: 32-G449 (Patil / Kiva)

Event Type: Seminar

Room Description: 32-G449 (Patil / Kiva)

Host: Terry Suh, Robot Locomotion Group, CSAIL

Contact: Terry Suh, 6269930697, hjsuh94@csail.mit.edu

Relevant URL: https://mit.zoom.us/j/7652207066.

Speaker URL: https://beomjoonkim.github.io/

Speaker Photo:

Reminders to: seminars@csail.mit.edu

Reminder Subject: TALK: EI Seminar - Beomjoon Kim - Making Robots See and Manipulate

Abstract: Even with the recent advances in robot AI, we still do not see robots in our lives. Why is this? I argue this is because robots are still missing the basic capabilities to see and manipulate a diverse set of objects. In this talk, I will introduce learning-based algorithms for manipulating diverse objects even in cases when grasping is not an option. I will demonstrate that estimation of the entire object shape is sufficient yet unnecessary, and introduce our contact-based object state representation that affords both prehensile and non-prehensile motions, generalizes across diverse object shapes, and enables the exploitation of object geometries when in need. The key enabler for this is large-scale GPU-based simulation that can efficiently generate big data within a short amount of time. Unfortunately, when it comes to non-convex objects, these simulators slow down significantly. I will introduce a neural network-based contact detector that, unlike classical contact detection algorithms, leverages parallel computation available in GPU. This enables us to generate data 10x faster than state-of-the-art GPU simulators in contact-rich situations.

Zoom link: https://mit.zoom.us/j/7652207066.

Research Areas:
AI & Machine Learning, Graphics & Vision, Robotics

Impact Areas:

This event is not part of a series.

Created by Hyung Ju Suh Email at Tuesday, October 31, 2023 at 12:59 AM.