Updates
03.01: Submitted a paper to IROS on motion planning with contact using workspace information. Check this preliminary complementary video out.
01.10: Our paper titled Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping with Armin and Oliver has been accepted to ICRA 2018!
10.05: Armin Schröder, a master student who I have been advising, has successfully defended his thesis! :)
04.01: We deployed our grasp planner to Ocado, one of our industrial partners in SOMA. Here is the news article that recently featured our collaboration.
03.05: We recently started investigating bin picking tasks with a soft hand and here's a small excerpt from our human grasping experiments.
01.30: SOMA project review took place in Munich. Presented the human grasping results on behalf of TUB, UNIPI and DLR and got great feedback on our work :) Here are the slides.
10.31: Submitted the latest exciting results on human grasping with robotic hands with the SOMA consortium's deliverable report in collaboration with Centro di Ricerca Enrico Piaggio in University of Pisa!
07.01: First day at Robotics and Biology Laboratory. Delving into the world of soft manipulation and grasping with the EU Horizon 2020 SOMA project
05.07: Graduated with a Ph.D. in Robotics! A sincere thank you for all my advisors and colleagues!
03.21: I have successfully defended my thesis to my committee with Tomas Lozano-Perez, James Kuffner, Aaron Bobick, Frank Dellaert, Henrik Christensen and Magnus Egerstedt.
11.22: To investigate the importance of volume of feasible subspaces in mixed-integer optimization, we have written a paper with Prof. Christensen and submitted to ICAPS 2016.
08.04: I have been revisiting fundamental AI concepts and implementing majority of the algorithms (25+) in the Russell & Norvig book. Check out the code.
06.16: One of my colleagues, Jon Scholz, using our Golem Krang platform demonstrated learning capabilities for a challenging planning domain. See the video.
04.21: Our journal paper with Prof. Stilman titled "Autonomous design of functional structures" is to be published next month!
03.13: Successfully presented my thesis proposal titled: "Planning in Constraint Space for Multi-body Manipulation Tasks"
01.24: Our paper with Ana Huaman, Heni Ben Amor and other colleagues on grasping, "Exploiting symmetries and extrusions for grasping household objects", got accepted to ICRA 2015.
11.07: Presented our collaboration with Prof. Stilman in the memorial symposium.
07.15: Busy month. Presented a paper in Morocco for ISER15, travelled back to Turkey, and then to California for RSS15!
05.17: Our paper, "Incorporating Kinodynamic Constraints in Automated Design of Simple Machines", is accepted to IROS 2014.
05.13: Our submission to RSS 2014 workshop CDMR accepted.
05.06: My advisor and dear friend Professor Mike Stilman passed away. Rest in peace…
04.13: "Autonomous Realization of Simple Machines" got accepted to ISER 2014! Watch the video.
01.15: The video submission, "Robots Using Environment Objects as Tools: The ‘MacGyver’ Paradigm for Mobile Manipulation" got accepted to ICRA 2014!
11.07: Krang team gave a demo to Discovery Channel on the MacGyver project.
05.08: Presented my constraint space work in ICRA, Karlsruhe, Germany!
04.10: Passed Ph.D. quals.
01.07: ICRA 2013 paper, "Planning in Constraint Space: Automated Design of Functional Structures", got accepted!
10.09: Our work with ONR on repurposing tools creatively has been publicized with Golem Krang.
08.20: I will be TA'ing Robot Intelligence - Planning given by Mike Stilman this fall:
05.28: Frank Dellaert is presenting our planar segmentation paper in CRV 2012, Toronto. Here is the link to the slides.
05.15: Started working with Mike Stilman officially.
03.16: CRV paper accepted!
02.12: Submitted "Planar Segmentation of RGBD Images using Fast Linear Fitting and MCMC" to CRV 2012.
01.22: Created this website.
Learning Decision Trees
The code with the particular input file has been tested on the R2011a MATLAB distribution. For the given data set, the expected output matches the one in the Russel & Norvik's book and is visualized as follows:
The circular nodes represent the attributes and the texts on the edge represent the values the attributes can take on. The leaf nodes represent the final decisions given the data. In this restaurant domain, when (1) the patrons are full, (2) you are hungry, (3) the restaurant type is Thai and (4) it is a Friday night, you would decide to wait for the line.
The simpler example input in question 18.6 is also available.
Note that the visualization is with graphviz, which is pretty cool! ;)
