ESE Ph.D. Thesis Defense: Hierarchical Planning for Safe and Reactive Robot Autonomy in Dynamic, Human-centric Environments

Zoom Link: https://upenn.zoom.us/j/99241403942?pwd=utmb7mJnRmc4z4whwVTCLr1f7Hi0UU.1 Meeting ID: 992 4140 3942 Passcode: 051736 Abstract: The transition of robot deployment beyond structured factories into homes, offices and busy urban spaces introduce compounded challenges of shifting task demands, unpredictable human motion, partial and noisy perception. Relying on a single monolithic planner to interpret observations, reason over high-level objectives, and compute […]