The paper on ocelli-based sensorimotor control on which I collaborated with the Harvard folks has now been published. Here’s the video we edited. This is some nice press coverage from The Scientist.
Research Scientist, Principal Investigator
Laboratory for Information and Decision Systems
Massachusetts Institute of Technology
- Arlington, VA
NSF/NRI PI meeting
- ChicagoIROS 2014
- Arlington, VA
ONR Science of Autonomy
CDS 20 years celebration
- MIT students: There is funding available for MIT PhD/MS students who want to work with me. (Note: except extraordinary circumstances, we do not bring in visiting students due to bureaucratic complications and fees)
- Cambridge/Boston colleagues: Come to the Summer Meetings on Joint Inference and Control during July-August.
2014-06-20 The robot fly was blind but now it sees
2014-06-01 Think fast, robot
2014-05-13 Source code for DVS experiments
With a fashionable delay of a few months after IROS, I refreshed the code and made reasonable installation docs for our event-based quadrotor localization method. Thanks to Sean Aubin (U.Waterloo) for politely pushing me to do it.
2014-03-17 ICRA 2014
I’ll be at NIPS—I will give a talk in the Advances in Machine Learning for Sensorimotor Control workshop (Monday) and a poster in the Machine Learning in Computational Biology workshop (Tuesday).
2013-11-22 “Eigen” branch of CSM
A belated announcement about the C(anonical) Scan Matcher:
the Github repository now contains a new branch called
This branch uses the Eigen library rather than GSL. This branch is the work of people working at U. Freiburg and Kuka. The main contributors are Christoph Sprunk and Rainer Kuemmerle.
Some recent work: Bootstrapping bilinear models of simple Vehicles
2013-11-18 Low-latency event-based visual odometry
Some recent work submitted to ICRA 2014: Low-Latency Event-Based Visual-Odometry (PDF)
Final version for a joint paper with Luca Carlone to appear in IEEE Transactions on Robotics: From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization (PDF)
2013-10-01 Bye bye sunny California
I moved from Caltech to MIT in October 2013. Bye bye sunny California!
PyContracts is a Python package that allows to declare constraints on function parameters and return values. It supports a basic type system, variables binding, arithmetic constraints, and has several specialized contracts (notably for Numpy arrays). I have recently released version … Continue reading
2013-02-09 Compmake keeps calm and carries on: a fault-tolerant “make” for parallelizable batch Python computations
A few years ago, at a SLAM summer school in Oxford, I attended a talk by Frank Dellaert about a scientist’s “secret weapons”. I believe he was channeling his advisor Herb Simon in saying that every scientist must have a … Continue reading
Pysnip is a small project that I wrote for running Python code from LaTeX. I found this workflow useful for autogenerating tables and reports on the fly, as in Chapter 13 of my dissertation. Pysnip is based on python.sty, which … Continue reading
2012-11-24 New preprint: From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation
This is some recent work on estimation on manifolds, in collaboration with Luca Carlone.
2012-10-01 The Turing test revisited
Here’s a revisitation of the Turing test for our modern times. I wanted to disable the voicemail on my phone, so I used T-Mobile’s tech support chat line. The ordeal took a good half an hour, with minutes passing between … Continue reading
Some recent work done on the integration of bootstrapped models with more traditional planning techniques.
2012-07-08 Sorry to keep you waiting
A long overdue update with some FAQ. 1) Have you finished? Yes, I defended back in June. 2) Where’s your dissertation? I’m still working on the final version, which, at 300 pages and counting, has started a life of its … Continue reading