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Events for May 03, 2016
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PhD Defense - Franziska Meier
Tue, May 03, 2016 @ 10:00 AM - 12:00 PM
Thomas Lord Department of Computer Science
University Calendar
Title: Towards a Probabilistic Motor Skill Learning Framework
Location: RTH 406
Time: 10am - noon, May 3rd, 2016
PhD Candidate: Franziska Meier
Committee members:
Prof. Stefan Schaal (Chair)
Prof. Gaurav Sukhatme
Prof. Yan Liu
Prof. James Finley
Abstract:
While learning in robotics has always been seen as one of the
hallmarks to accomplish autonomous behaviors, so far, there is no coherent and robust approach to robot learning. For instance, realizing complex behaviors, such as manipulation skills, often involves a mixing and matching of planning, control, and learning modules, dominated by the insights of the robotics researcher, but not by a coherent design and/or algorithmic principle. Thus, most robot learning approaches have largely remained a proof-of-concept rather then a general research approach towards robot learning.
In this thesis we aim to move towards a motor skill learning framework coherently routed in probabilistic representations. The use of probabilistc graphical models for different learning modules can foster a principled combination of these modules to form an integrated approach to skill representations. Towards this goal I will present
contributions from two directions: Creating computationally efficient approximations of probabilistic graphical models and developing probabilistic solutions to problems in motor skill learning.
In the first part of my talk I will present our work on scaling up learning in graphical models such that the use of a complex graphical model -- as would be required for complex motor skill representations with perceptual coupling -- is feasible.
In the second part of the talk, I will then present probabilistic approaches to two subproblems of motor skill learning. First I will introduce a probabilistic version of dynamic movement primitives. With the help of this formulation we can implement online movement recognition and perform segmentation of complex skill sequences into movement primitives.
Finally, I will tackle the problem of learning internal models, exemplified by inverse dynamics learning. Having a good inverse dynamics model ensures that we can execute trajectories in an accurate yet compliant manner. I will present a real-time capable drifting Gaussian process approach to learning a local approximation of the
inverse dynamics model on the fly.
Location: Ronald Tutor Hall of Engineering (RTH) - 406
Audiences: Everyone Is Invited
Contact: Lizsl De Leon
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USC Stem Cell Seminar: Stacey Finley, USC
Tue, May 03, 2016 @ 11:00 AM - 12:00 PM
Alfred E. Mann Department of Biomedical Engineering
Conferences, Lectures, & Seminars
Speaker: Stacey Finley, USC
Talk Title: Applying computational systems biology to predict tumor angiogenesis signaling
Series: Eli and Edythe Broad Center for Regenerative Medicine and Stem Cell Research at USC Distinguished Speakers Series
Abstract: Angiogenesis, the formation of new blood vessels, enables tumors to obtain oxygen and nutrients from the surrounding microenvironment, promoting tumor growth. Both promoters and inhibitors of angiogenesis contribute to the response to anti-angiogenic cancer therapies; however, there is no quantitative framework that enables investigation of angiogenic factors together in tumor tissue. This presentation will discuss our ongoing work to construct predictive models of key factors involved in regulating tumor angiogenesis. The models provide a tool with which to study the response to anti-angiogenic therapies for a range of tumor types.
Host: Megan McCain
More Info: https://calendar.usc.edu/event/speaker_stacey_finley_usc?utm_campaign=widget&utm_medium=widget&utm_source=USC+Event+Calendar%3A+Beta#.VvGX33DFl04
Webcast: http://keckmedia.usc.edu/stem-cell-seminarWebCast Link: http://keckmedia.usc.edu/stem-cell-seminar
Audiences: Everyone Is Invited
Contact: Cristy Lytal/USC Stem Cell
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Study Day Spring 2016
Tue, May 03, 2016 @ 11:00 AM - 04:00 PM
Viterbi School of Engineering Student Affairs
Student Activity
Get a jump-start on studying for finals with review sessions for select engineering classes and open study time. Come with your books, your friends, and your questions!
Stop by the sign-in table in the RTH to get your breakfast burrito.
To register, click here https://myviterbi.usc.edu/vasa/?PostingID=1234567992.Location: 105, 109, 115
Audiences: Undergrad
Contact: Christine Franks
Event Link: https://myviterbi.usc.edu/vasa/?PostingID=1234567992
