Multimodal Robot Systems and Learning

In this work we broadly explore the engineering design and system analysis of a multimodal, robotic environment. We first give background on why this type of system is unique, describing the different approach we take to sensing, dynamics, and control. We then delve into the robot itself, and review our development of a python control library enabling a high-level abstraction of low cost hardware. Next we explain the multimodal sensing and physical environment we created for the robot, including some of the initial challenges that forced critical design decisions. Following that, we explain different methods for multimodal representation learning that we tried, and reveal the difficulties we discovered in this task. Finally, we explore some critical takeaways and advocate for a specific path of future work.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2021

Author dc:creator

• Kosowsky-Sachs, Alon

Advisor dc:contributor.advisor

• Agrawal, Pulkit

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright MIT

Licence dc:rights.uri

• http://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/139419

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/139419