Learn More
This paper presents an active learning method that directly optimizes expected future error. This is in contrast to many other popular techniques that instead aim to reduce version space size. These other methods are popular because for many learning models, closed form calculation of the expected future error is intractable. Our approach is made feasible(More)
RGB-D cameras provide both a color image and per-pixel depth estimates. The richness of their data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.(More)
This paper describes a mobile robotic assistant, developed to assist elderly individuals with mild cognitive and physical impairments, as well as support nurses in their daily activities. We present three software modules relevant to ensure successful human–robot interaction: an automated reminder system; a people tracking and detection system; and finally(More)
In this paper we address the problem of motion planning in the presence of state uncertainty, also known as planning in belief space. The work is motivated by planning domains involving nontrivial dynamics, spatially varying measurement properties, and obstacle constraints. To make the problem tractable, we restrict the motion plan to a nominal trajectory(More)
Caspases are intracellular proteases that function as initiators and effectors of apoptosis. The kinase Akt and p21-Ras, an Akt activator, induced phosphorylation of pro-caspase-9 (pro-Casp9) in cells. Cytochrome c-induced proteolytic processing of pro-Casp9 was defective in cytosolic extracts from cells expressing either active Ras or Akt. Akt(More)
The inhibitor of apoptosis (IAP) family of proteins are highly conserved through evolution. However, the mechanisms by which these proteins interfere with apoptotic cell death have been enigmatic. Recently, we showed that one of the human IAP family proteins, XIAP, can bind to and potently inhibit specific cell death proteases (caspases) that function in(More)
This paper describes a new model for understanding natural language commands given to autonomous systems that perform navigation and mobile manipulation in semi-structured environments. Previous approaches have used models with fixed structure to infer the likelihood of a sequence of actions given the environment and the command. In contrast, our framework,(More)
The problem that we address in this paper is how a mobile robot can plan in order to arrive at its goal with minimum uncertainty. Traditional motion planning algorithms often assume that a mobile robot can track its position reliably, however, in real world situations, reliable localization may not always be feasible. Partially Observable Markov Decision(More)
Inhibitor of apoptosis (IAP) gene products play an evolutionarily conserved role in regulating programmed cell death in diverse species ranging from insects to humans. Human XIAP, cIAP1 and cIAP2 are direct inhibitors of at least two members of the caspase family of cell death proteases: caspase-3 and caspase-7. Here we compared the mechanism by which IAPs(More)
— In this paper we describe our open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit. The ultimate goals of CARMEN are to lower the barrier to implementing new algorithms on real and simulated robots and to facilitate sharing of research and algorithms between different institutions. In order for CARMEN to be as inclusive of(More)