{"648900":{"#nid":"648900","#data":{"type":"event","title":"PhD Proposal by Nolan Wagener","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle: \u003C\/strong\u003EMachine\u0026nbsp;Learning for Safe and Effective Robotic Control\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EDate: \u003C\/strong\u003EMonday, July 26, 2021\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETime: \u003C\/strong\u003E10AM - 12PM EST\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ELocation (Virtual):\u0026nbsp;\u003C\/strong\u003E\u003Ca href=\u0022https:\/\/bluejeans.com\/707943714\/4137\u0022\u003Ehttps:\/\/bluejeans.com\/707943714\/4137\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ENolan Wagener\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003ERobotics PhD Student\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\r\n\r\n\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Byron Boots (Advisor) - School of Computer Science and Engineering, University of Washington\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Panagiotis Tsiotras (Co-Advisor) - School of Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sehoon Ha - School of Interactive Computing,\u0026nbsp;Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Seth Hutchinson - School of Interactive Computing,\u0026nbsp;Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Andreas Krause - Department of Computer Science, ETH Zurich\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EFor robotic systems to take greater roles in industrial and public settings, there is a great need for them to operate in unstructured or dynamic environments. With this increase in task and environment complexity, it is necessary for robotic systems to \u003Cem\u003Elearn\u003C\/em\u003E\u0026nbsp;from interactions and data coming from the environment.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EThis research studies several ways that learning approaches can be incorporated for control tasks: system identification, model predictive control (MPC), and safe reinforcement learning. More specifically, a neural network approach to modeling rally car dynamics will be presented which, along with a sampling-based MPC algorithm, results in state-of-the-art aggressive off-road driving. Then, the MPC framework will be re-examined from an online learning perspective. Finally, a safe reinforcement learning algorithm based on interventions will be presented, and proposed work will focus on an application of the algorithm to a quadrupedal robot for locomotion.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Machine Learning for Safe and Effective Robotic Control"}],"uid":"27707","created_gmt":"2021-07-19 20:32:58","changed_gmt":"2021-07-19 20:32:58","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2021-07-26T17:32:00-04:00","event_time_end":"2021-07-26T17:32:00-04:00","event_time_end_last":"2021-07-26T17:32:00-04:00","gmt_time_start":"2021-07-26 21:32:00","gmt_time_end":"2021-07-26 21:32:00","gmt_time_end_last":"2021-07-26 21:32:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}