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Feb3
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Join the Center for Robotics and Biosystems (CRB) for the February Speaker Series
Speaker: Bradly Stadie, Assistant Professor of Statistics, Northwestern University
Date and Time: Friday, February 3 at 12:00 p.m. CT
Location: Tech B211 and Zoom
Zoom Link: https://tinyurl.com/CRBSeminar
• NU-authenticated attendees will be automatically admitted. Others, please email amy.nedoss@northwestern.edu to be admitted from the waiting room.Abstract:
How should we train reinforcement learning agents that are capable of abstract planning? One recent technique that has shown much promise is Search on the Replay Buffer. In this technique, agents treat a buffer of past experience as nodes on a graph and execute a graph search algorithm. The result of this search is a sequence of known good states that an agent can use to navigate its environment. There are two obvious shortcomings with this approach. 1) If we assume we can transition between every pair of states, then the complexity of the path planning problem is exponential in the size of the buffer. 2) Exploration over different possible paths remains a challenge, even if we prune the number of nodes.Towards overcoming these shortcomings, we introduce L3P, an algorithm for learning latent landmarks for planning. This algorithm learns landmarks in a latent space, where the distance between graph nodes is optimized to equal the number of steps it takes to transition between environmental states. We introduce a novel clustering algorithm that forces states that are close in this metric to cluster together, reducing our buffer to a few representative latent landmarks. Finally, we wrap up by considering cold diffusion approaches to solving this path planning problem. We show that sequence planning over a buffer can be recast as a diffusion model, and introduce the notion of Maximum Entropy Subgoal Skipping (MESS) to help with exploration.
Bio:
Bradly Stadie's research explores techniques for developing general machine intelligence. Recently, foundational models such as GPT-3 have provided a promising avenue towards training intelligent machines. In particular, these foundational models show that we can leverage large quantities of unsupervised data to learn a latent underlying structure of a data space. In this latent space, planning and abstract reasoning become much more tractable.
In spite of its promise, there does not currently exist a GPT-3 equivalent in Reinforcement Learning. The current leading method, learning a dynamics model to predict the agent's next state, and then using this model to bootstrap a planning or curiosity module, has proven ineffective. Dr. Stadie’s current research proposes an enticing alternative: that goal-reaching should be used as the foundational model for reinforcement learning. The idea is as follows: they want agents to learn in an unsupervised fashion how to generate and reach various goal states in their environments. They can then bootstrap from this goal-reaching ability, breaking complex goals into a series of simpler tasks. This will endow agents with the ability to plan and reason over long time horizons, an essential capacity for the emergence of general intelligence. There exists a deep relationship between unsupervised goal-reaching and imitation learning, which frequently comes up in his research. From time to time, he also uses various tools from graph search, causal inference, and generative networks.TIME Friday, February 3, 2023 at 12:00 PM - 1:00 PM
LOCATION Mechanical Engineering, B211, Technological Institute map it
CONTACT Amy Nedoss amy.nedoss@northwestern.edu EMAIL
CALENDAR Center for Robotics and Biosystems (CRB)
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Aug7
EVENT DETAILSmore info
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Speaker: Yong-Lae Park, Prof. of Mechanical Engineering, Soft Robotics & Bionics Lab at Seoul National University
Title: Shaping the Body of Soft Robots
Date and Time: Wednesday, August 7 at 12:00 PM CT
Location: Tech ME B211 and Zoom
Zoom Link: https://tinyurl.com/CRBSeminar
• NU-authenticated attendees will be automatically admitted. Others, please email amy.nedoss@northwestern.edu to be admitted from the waiting room.
Abstract:
Soft robots, with their flexibility and adaptability, represent a significant advancement in robotics by closely mimicking the movements of biological systems. This talk explores recent technologies for designing and fabricating soft sensors and actuators, which are crucial for developing artificial skin and muscles for future robots. We will cover novel materials and fabrication methods that enhance the responsiveness of soft robots. Additionally, the potential of inflatable structures will be discussed, highlighting their importance in creating safe, human-interactive robots. By integrating these advanced components, we can develop a new generation of robots capable of seamless and safe interaction in human environments.
Bio:
Yong-Lae Park received the Ph.D. degree in mechanical engineering from Stanford University, Stanford, CA, USA, in 2010. He is currently a Professor in the Department of Mechanical Engineering, Seoul National University, Seoul, South Korea. Prior to joining SNU, he was an Assistant Professor in the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA (2013–2017) and a Technology Development Fellow in the Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA (2010–2013). His research interests include artificial skin sensors and muscle actuators, soft robots, wearable robots, rehabilitation robots, and medical robots.
Prof. Park’s papers on soft artificial muscles and skin were selected as cover articles in various journals, including Soft Robotics, Advanced Functional Materials, Advanced Intelligent Systems and the IEEE Sensors Journal, and his work on soft robots were featured in media, including Nature, Discovery News, New Scientist, PBS NOVA, and Reuters. Prof. Park is currently serving as Senior Editor in IEEE Robotics and Automation Letters, and Associate Editor in Soft Robotics and npj Robotics.
TIME Wednesday, August 7, 2024 at 12:00 PM - 1:00 PM
LOCATION ME, B211, Technological Institute map it
CONTACT Amy Nedoss amy.nedoss@northwestern.edu EMAIL
CALENDAR Center for Robotics and Biosystems (CRB)
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Aug14
EVENT DETAILSmore info
lessInnovation in Quantum Pedagogy, Application, and its Relation to Culture (IQ-PARC), funded by the Department of Defense — National Defense Education Program, is extending an invitation to underrepresented students nationwide (including military-connected students) to participate in a summer school focused on quantum technologies, to be held at Northwestern University. Join us for presentations by faculty and industry partners introducing quantum technologies, cutting-edge research areas, and related job opportunities particularly in the areas of national security.
This effort aims to foster an inclusive environment that encourages participation from all corners of the academic community. Successful applicants will receive up to $1,000 USD to cover travel and lodging expenses in Evanston, IL.
Priority application deadline: May 15, 2024.
Decisions will be sent by June 15, 2024.
TIME Wednesday, August 14, 2024
LOCATION Ford Motor Company Engineering Design Center map it
CONTACT Dongyang Li lidongyang@northwestern.edu EMAIL
CALENDAR McCormick School of Engineering and Applied Science
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Aug15
EVENT DETAILSmore info
lessInnovation in Quantum Pedagogy, Application, and its Relation to Culture (IQ-PARC), funded by the Department of Defense — National Defense Education Program, is extending an invitation to underrepresented students nationwide (including military-connected students) to participate in a summer school focused on quantum technologies, to be held at Northwestern University. Join us for presentations by faculty and industry partners introducing quantum technologies, cutting-edge research areas, and related job opportunities particularly in the areas of national security.
This effort aims to foster an inclusive environment that encourages participation from all corners of the academic community. Successful applicants will receive up to $1,000 USD to cover travel and lodging expenses in Evanston, IL.
Priority application deadline: May 15, 2024.
Decisions will be sent by June 15, 2024.
TIME Thursday, August 15, 2024
LOCATION Ford Motor Company Engineering Design Center map it
CONTACT Dongyang Li lidongyang@northwestern.edu EMAIL
CALENDAR McCormick School of Engineering and Applied Science
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Sep24
EVENT DETAILS
lessFall 2024 Classes Begin (No Northwestern Monday in Fall)
TIME Tuesday, September 24, 2024
CONTACT Office of the Registrar nu-registrar@northwestern.edu EMAIL
CALENDAR University Academic Calendar
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Sep30
EVENT DETAILS
lessLast day to add a class or change a section for Fall (Last day for tuition adjustment related to enrollment changes (to or from full-time). No reductions are made to bills for dropped or swapped classes after this date)
TIME Monday, September 30, 2024
CONTACT Office of the Registrar nu-registrar@northwestern.edu EMAIL
CALENDAR University Academic Calendar
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Dec7
EVENT DETAILS
lessFall classes end
TIME Saturday, December 7, 2024
CONTACT Office of the Registrar nu-registrar@northwestern.edu EMAIL
CALENDAR University Academic Calendar