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  • PhD Defense - Shao-Hua Sun

    Mon, Feb 28, 2022 @ 03:30 PM - 05:00 PM

    Thomas Lord Department of Computer Science

    University Calendar

    PhD Candidate: Shao-Hua Sun

    Time: 2/28 (Mon) 3:30pm PST

    Venue: Online (zoom link: https://usc.zoom.us/j/2133002395)

    Committee members: Prof. Joseph J. Lim (Chair), Prof. Gaurav Sukhatme, Prof. Stefanos Nikolaidis, Prof. Quan Nguyen (AME dept)

    Title: Program-Guided Framework for Interpreting and Acquiring Complex Skills with Learning Robots

    Abstract: Recent development in artificial intelligence and machine learning has remarkably advanced machines\' ability to understand images and videos, comprehend natural languages and speech, and outperform human experts in complex games. However, building intelligent robots that can physically interact with their surroundings as well as learn to operate in unstructured environments, manipulate unknown objects, and acquire novel skills - to free humans from tedious or dangerous manual work- remains challenging. The focus of my research is to develop a robot learning framework that enables robots to acquire long-horizon and complex skills with hierarchical structures, such as furniture assembly and cooking. Specifically, I aim to devise a robot learning framework which is: (1) interpretable: by decoupling interpreting skill specifications (e.g. demonstrations, reward functions) and executing skills, (2) programmatic: by generalizing from simple instances to complex instances without additional learning, (3) hierarchical: by operating on a proper level of abstraction that enables human users to interpret high-level plans of robots allows for composing primitive skills to solve long-horizon tasks, and (4) modular: by being equipped with modules specialized in different functions (e.g. perception, action) which collaborate, allowing for better generalization. This dissertation discusses a series of research projects toward building such an interpretable, programmatic, hierarchical, and modular robot learning framework.

    WebCast Link: https://usc.zoom.us/j/2133002395

    Audiences: Everyone Is Invited

    Contact: Lizsl De Leon


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