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Filtering by: Creator Maina, Geoffrey M. Remove constraint Creator: Maina, Geoffrey M. Academic Affiliation Electrical Engineering and Computer Science Remove constraint Academic Affiliation: Electrical Engineering and Computer Science

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  • Multiagent learning for locomotion and coordination in tensegrity robotics

    Creator:
    Iscen, Atil
    Abstract:
    Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
    Resource Type:
    Dissertation
    Full Text:
    : Kagan Tumer Geoffrey Hollinger Tensegrity structures are composed of pure compressional elements that

  • Fair Trajectory Planning of Autonomous Systems

    Creator:
    Kurtz, Connor
    Abstract:
    Current research into path planning for Unmanned Aerial Vehicles (UAVs) has placed a major focus on accomplishing the goals of various agents while avoiding collisions between each other. However, there has been little focus on whether the planned trajectories are fair for each agent. This work provides an answer to...
    Resource Type:
    Masters Thesis
    Full Text:
    for UAV n at time k is denoted as un[k] ∈ U ⊂ Rm with m being the dimensionality of the input. xn[k

  • High-Dimensional Reinforcement Learning with Human Feedback

    Creator:
    Curran, William
    Abstract:
    State-of-the-art personal robots need to perform complex manipulation tasks to be viable in complex scenarios. However, many of these robots, like the PR2, use manipulators with high degrees of freedom. High degrees of freedom are desirable from a functionality standpoint, but make the learning task more difficult by adding a...
    Resource Type:
    Dissertation

  • Individual Fairness Optimization in Machine Learning with Minimax Loss and an Abstain Option

    Creator:
    Behnoudfar, Ali
    Abstract:
    In this thesis, a new learning algorithm is introduced that is targeted towards individual fairness. In order to be individually fair, mispredictions need to be avoided as each such prediction means the learning algorithm was unfair towards some individual. Therefore, achieving individual fairness implies having a perfect classifier, which is...
    Resource Type:
    Masters Thesis
    Full Text:
    becomes, arg min m∈M (max s∈S φm(f(Xs), ys)) (1.1) where (X, y) are the training samples, f() is the

  • The InclusiveMag Method: A Start Towards More Inclusive Software for Diverse Populations

    Creator:
    Mendez, Christopher
    Abstract:
    How can software practitioners assess whether their software supports diverse users? Although there are empirical processes that can be used to find “inclusivity bugs” piecemeal, what is often needed is a systematic inspection method to assess software’s support for diverse populations. To help fill this gap, this thesis introduces InclusiveMag,...
    Resource Type:
    Masters Thesis
    Full Text:
    Abstract approved: ______________________________________________________ Margaret M. Burnett

  • Exploratory Study to Uncover Student Mental Models of Singly Linked Lists in the C Programming Language

    Creator:
    Almadhoun, Eman
    Abstract:
    In computer science, learning abstract fundamental programming concepts requiring students to understand memory management can be very difficult and lead to misunderstandings that carry on into advanced topics. This is especially true in data structures with abstract data types. Understanding how novice students think and reason about data structures is...
    Resource Type:
    Dissertation
    Full Text:
    . . . . . . . . . . . . . . . . . . . 41 4.4 Spatial Visualization Test Score. Note that N is the sample size, M is the mean, Min. is the

  • Classifying and Synthesizing 3D Shapes of Objects using Deep Neural Networks

    Creator:
    Xu, Xu
    Abstract:
    Reasoning about 3D shape of objects is important for successful computer visionapplications in robotics, 3D rendering and modeling. In this thesis, we address twoproblems { First, given an image, we generate 3D shape of the foreground object thatappears in the image. Second, we predict the class label of the input...
    Resource Type:
    Masters Thesis
    Full Text:
    and W(i+1) ∈ Rn×p at layers i and i + 1, respectively, where layer i has m inputs and n outputs, and

  • A Distributed Scheme for Accelerating and Scaling PSPNet

    Creator:
    Krishna, Ajay
    Abstract:
    Advances in deep learning based image processing have led to their adoption for a wide range of applications, and in tow with these developments is a dramatic increase in the availability of high quality datasets. With this comes the need to accelerate and scale deep learning applications in order to...
    Resource Type:
    Masters Thesis
    Full Text:
    , Matthieu Devin, Sanjay Ghemawat, Ian Goodfellow, Andrew Harp, Geoffrey Irving, Michael Isard, Yangqing Jia

  • Graph Imitation Learning for Optimal Joint Beamforming and Antenna Selection

    Creator:
    Shrestha, Sagar
    Abstract:
    Transmit beamforming is an important technique employed to improve efficiency and signal quality in wireless communication systems by steering signals towards their in- tended users. It often arises jointly with the antenna selection problem due to various reasons, such as limited number of radio frequency (RF) chains and energy/resource effi-...
    Resource Type:
    Masters Thesis
    Full Text:
    ,M,L) = (8, 4, 4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 LIST OF TABLES

  • Computational Elucidation of the Regulatory SNPs in the Non-Coding Regions of the Human Genome

    Creator:
    Yao, Yao
    Abstract:
    We describe a series of novel computational models, CERENKOV (Computational Elucidation of the REgulatory NonKOding Variome) and its successors CERENKOV2, CERENKOV3, and Convolutional CERENKOV3, for discriminating regulatory single nucleotide polymorphisms (rSNPs) from non-regulatory SNPs within non-coding genetic loci. The CERENKOV models are designed for recognizing rSNPs in the context of...
    Resource Type:
    Dissertation