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A Multi-Robot Platform for Robotic Triage Combining Onboard Sensing and Foundation Models
Jason Hughes, Marcel Hussing, Edward Zhang +24
This report presents a heterogeneous robotic system designed for remote primary triage in mass-casualty incidents (MCIs). The system employs a coordinated air-ground team of unmann…
Iterative Compositional Data Generation for Robot Control
Anh-Quan Pham, Marcel Hussing, Shubhankar P. Patankar +3
Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-ro…
Replicable Reinforcement Learning with Linear Function Approximation
Eric Eaton, Marcel Hussing, Michael Kearns +3
Replication of experimental results has been a challenge faced by many scientific disciplines, including the field of machine learning. Recent work on the theory of machine learnin…
Future Slot Prediction for Unsupervised Object Discovery in Surgical Video
Guiqiu Liao, Matjaz Jogan, Marcel Hussing +3
Object-centric slot attention is an emerging paradigm for unsupervised learning of structured, interpretable object-centric representations (slots). This enables effective reasonin…
FORLA: Federated Object-centric Representation Learning with Slot Attention
Guiqiu Liao, Matjaz Jogan, Eric Eaton +1
Learning efficient visual representations across heterogeneous unlabeled datasets remains a central challenge in federated learning. Effective federated representations require fea…
Intersectional Fairness in Reinforcement Learning with Large State and Constraint Spaces
Eric Eaton, Marcel Hussing, Michael Kearns +3
In traditional reinforcement learning (RL), the learner aims to solve a single objective optimization problem: find the policy that maximizes expected reward. However, in many real…
Slot-BERT: Self-supervised Object Discovery in Surgical Video
Guiqiu Liao, Matjaz Jogan, Marcel Hussing +5
Object-centric slot attention is a powerful framework for unsupervised learning of structured and explainable representations that can support reasoning about objects and actions,…