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Speaker
Wednesday, April 16, 2025 - 13:50 to 14:40 
Gates 122 and streaming via Zoom
Host:
Kuan Fang
Categories:
Title: Towards Generalizable Mobile Manipulation
Abstract: What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? In this talk, I will try to answer this question using opening of articulated objects as a mobile manipulation testbed. I will describe the design of a modular system for this task and discuss some takeaways from a large scale real world experimental study, including a somewhat surprising one: a modular system far outperforms an end-to-end imitation learner trained on a large number of real world demonstrations. If time permits, I will speculate why imitation learning failed and how we could mitigate those failures.
Bio: Saurabh Gupta is an Assistant Professor in the ECE Department at UIUC. Before starting at UIUC in 2019, he received his Ph.D. from UC Berkeley in 2018 and spent the following year as a Research Scientist at Facebook AI Research in Pittsburgh. His research interests span computer vision, robotics, and machine learning, with a focus on building agents that can intelligently interact with the physical world around them. He received the President’s Gold Medal at IIT Delhi in 2011, the Google Fellowship in Computer Vision in 2015, an Amazon Research Award in 2020, and an NSF CAREER Award in 2022.