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TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20270314T030000 RDATE:20271107T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20280312T030000 RDATE:20281105T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20290311T030000 RDATE:20291104T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20300310T030000 RDATE:20301103T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20310309T030000 RDATE:20311102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20320314T030000 RDATE:20321107T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20330313T030000 RDATE:20331106T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20340312T030000 RDATE:20341105T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20350311T030000 RDATE:20351104T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20360309T030000 RDATE:20361102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20370308T030000 RDATE:20371101T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT END:VTIMEZONE BEGIN:VEVENT UID:8cb217fd8b03a6f306b832aa4386c5d0 CATEGORIES:RuCCS Colloquia:Fall 2019 CREATED:20190618T160916 SUMMARY:"Active Scene Understanding with Robot Interaction," Shuran Song (Columbia University, Computer Science) LOCATION:Busch Campus\, Psych 105 DESCRIPTION:
Abstra
ct: Most computer vision algorithms are built with the goal
to understand the physical world. Yet, as reflected in standard vision benc
hmarks and datasets, these algorithms continue to assume the role of a pass
ive observer -- only watching static images or videos, without the ability
to interact with the environment. This assumption becomes a fundamental lim
itation for applications in robotics, where systems are intrinsically built
to actively engage with the physical world.
In this ta
lk, I will present some recent work from my group that demonstrates how we
can enable robots to leverage their ability to interact with the environmen
t in order to better understand what they see: from discovering physical pr
operties of novel objects through different dynamic interactions, to learni
ng generalizable shape priors for assembly through self-supervised disassem
bly. We will demonstrate how the learned knowledge can be used to facilitat
e downstream manipulation tasks. Finally, I will discuss a few open researc
h directions in the area of active scene understanding.
Recommended Reading:
DensePhysNet: Learning Dense Physical Object Representation s via Multi-step Dynamic Interactions. Zhenjia Xu, Jiajun Wu, Andy Zeng , Joshua B. Tenenbaum, and Shuran Song
TossingBot: Learning to Throw Arbitrary Objects with Residual
Physics
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Th
omas Funkhouser
Form2F it: Learning Shape Priors for Generalizable Assembly from Disassembly p> DTSTAMP:20240328T175042 DTSTART;TZID=America/New_York:20191203T130000 DTEND;TZID=America/New_York:20191203T143000 SEQUENCE:0 TRANSP:OPAQUE END:VEVENT END:VCALENDAR