[Colloquium] REMINDER: 12/10 TTIC Colloquium: Robert Platt, Northeastern University

[Mary Marre via Colloquium]

*When:    *  Monday, December 10th at 11:00 am



*Where:     *TTIC, 6045 S. Kenwood Avenue, 5th Floor, Room 526



*Who:       * Robert Platt, Northeastern University


*Title:*        Deictic Abstractions for Robotic Manipulation

*Abstract:* In applications of deep reinforcement learning to robotics, it
is often the case that we want to learn pose invariant policies: policies
that are invariant to changes in the position and orientation of objects in
the world. For example, consider a peg-in-hole insertion task. If the agent
learns to insert a peg into one hole, we would like that policy to
generalize to holes presented in different poses. Unfortunately, this is a
challenge using conventional methods. In this talk, I will describe a novel
state and action abstraction that is invariant to pose shifts called
"deictic image maps" that can be used with deep reinforcement learning. I
will provide broad conditions under which optimal abstract policies are
optimal for the underlying system. Finally, I will show that the method can
help solve challenging robotic manipulation problems.

*Bio:* Dr. Robert Platt is an Assistant Professor of Computer Science at
Northeastern University. Prior to coming to Northeastern, he was a Research
Scientist at MIT and a technical lead at NASA Johnson Space Center, where
he helped develop the control and autonomy subsystems for Robonaut 2, the
first humanoid robot in space.


*Host:** Matthew Walte <mwalter at ttic.edu>r*



For more information on the colloquium series or to subscribe to the
mailing list,please see http://www.ttic.edu/colloquium.php



Mary C. Marre
Administrative Assistant
*Toyota Technological Institute*
*6045 S. Kenwood Avenue*
*Room 517*
*Chicago, IL  60637*
*p:(773) 834-1757*
*f: (773) 357-6970*
*mmarre at ttic.edu <mmarre at ttic.edu>*


On Sun, Dec 9, 2018 at 7:48 PM Mary Marre <mmarre at ttic.edu> wrote:

> *When:    *  Monday, December 10th at 11:00 am
>
>
>
> *Where:     *TTIC, 6045 S. Kenwood Avenue, 5th Floor, Room 526
>
>
>
> *Who:       * Robert Platt, Northeastern University
>
>
> *Title:*        Deictic Abstractions for Robotic Manipulation
>
> *Abstract:* In applications of deep reinforcement learning to robotics,
> it is often the case that we want to learn pose invariant policies:
> policies that are invariant to changes in the position and orientation of
> objects in the world. For example, consider a peg-in-hole insertion task.
> If the agent learns to insert a peg into one hole, we would like that
> policy to generalize to holes presented in different poses. Unfortunately,
> this is a challenge using conventional methods. In this talk, I will
> describe a novel state and action abstraction that is invariant to pose
> shifts called "deictic image maps" that can be used with deep reinforcement
> learning. I will provide broad conditions under which optimal abstract
> policies are optimal for the underlying system. Finally, I will show that
> the method can help solve challenging robotic manipulation problems.
>
> *Bio:* Dr. Robert Platt is an Assistant Professor of Computer Science at
> Northeastern University. Prior to coming to Northeastern, he was a Research
> Scientist at MIT and a technical lead at NASA Johnson Space Center, where
> he helped develop the control and autonomy subsystems for Robonaut 2, the
> first humanoid robot in space.
>
>
> *Host:** Matthew Walte <mwalter at ttic.edu>r*
>
>
>
> For more information on the colloquium series or to subscribe to the
> mailing list,please see http://www.ttic.edu/colloquium.php
>
>
>
> Mary C. Marre
> Administrative Assistant
> *Toyota Technological Institute*
> *6045 S. Kenwood Avenue*
> *Room 517*
> *Chicago, IL  60637*
> *p:(773) 834-1757*
> *f: (773) 357-6970*
> *mmarre at ttic.edu <mmarre at ttic.edu>*
>
>
> On Tue, Dec 4, 2018 at 11:03 AM Mary Marre <mmarre at ttic.edu> wrote:
>
>> *When:    *  Monday, December 10th at 11:00 am
>>
>>
>>
>> *Where:     *TTIC, 6045 S. Kenwood Avenue, 5th Floor, Room 526
>>
>>
>>
>> *Who:       * Robert Platt, Northeastern University
>>
>>
>> *Title:*        Deictic Abstractions for Robotic Manipulation
>>
>> *Abstract:* In applications of deep reinforcement learning to robotics,
>> it is often the case that we want to learn pose invariant policies:
>> policies that are invariant to changes in the position and orientation of
>> objects in the world. For example, consider a peg-in-hole insertion task.
>> If the agent learns to insert a peg into one hole, we would like that
>> policy to generalize to holes presented in different poses. Unfortunately,
>> this is a challenge using conventional methods. In this talk, I will
>> describe a novel state and action abstraction that is invariant to pose
>> shifts called "deictic image maps" that can be used with deep reinforcement
>> learning. I will provide broad conditions under which optimal abstract
>> policies are optimal for the underlying system. Finally, I will show that
>> the method can help solve challenging robotic manipulation problems.
>>
>> *Bio:* Dr. Robert Platt is an Assistant Professor of Computer Science at
>> Northeastern University. Prior to coming to Northeastern, he was a Research
>> Scientist at MIT and a technical lead at NASA Johnson Space Center, where
>> he helped develop the control and autonomy subsystems for Robonaut 2, the
>> first humanoid robot in space.
>>
>>
>> *Host:** Matthew Walte <mwalter at ttic.edu>r*
>>
>>
>>
>> For more information on the colloquium series or to subscribe to the
>> mailing list,please see http://www.ttic.edu/colloquium.php
>>
>>
>>
>>
>> Mary C. Marre
>> Administrative Assistant
>> *Toyota Technological Institute*
>> *6045 S. Kenwood Avenue*
>> *Room 517*
>> *Chicago, IL  60637*
>> *p:(773) 834-1757*
>> *f: (773) 357-6970*
>> *mmarre at ttic.edu <mmarre at ttic.edu>*
>>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://mailman.cs.uchicago.edu/pipermail/colloquium/attachments/20181210/7b8e4787/attachment-0001.html>