Joelle Pineau
*** PLEASE NOTE! ***
As of September 2004, I am at McGill University.
I encourage you to consult my new web page.
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Research Activities:
- I am currently a Ph.D. candidate in the Robotics Institute at Carnegie Mellon University, expecting to graduate Spring/Summer 2004.
- I work principally with Sebastian Thrun and Geoff Gordon, as part of the Robot Learning Lab.
- Most of my days are spent trying to solve ever-larger POMDPs.
- If you don't know what is a POMDP, try Tony Cassandra's excellent POMDP page.
- Research Phase I:
- I developed a hierarchical POMDP planning and execution algorithm that exploits structure in the problem domain to facilitate POMDP planning.
- This hierarchical algorithm was used to perform high-level control and dialogue modelling onboard a robotic nursing-assistant robot named Pearl (see model parameters for this problem).
- We took Pearl to an assisted-living facility to test the POMDP dialogue manager with elderly residents (see video footage of elderly residents interacting with the robot).
- Research Phase II:
- I developed the Point-Based Value Iteration (PBVI) algorithm, which selects point samples from the belief simplex and performs value iteration updates over these points only.
- This algorithm has been used to solve a robotic laser-tag planning problem with 870 states (see model parameters for this problem).
- Recent extensions on this work include using metric-trees to organize belief points, and as a result accelerate value updates.
Publications:
Contact Information:
Address::
Smith Hall 221, Robotics Institute, CMU
5000 Forbes Ave
Pittsburgh PA 15213
Phone: 412-268-4857
Fax: 412-268-5571
Email: jpineau [at] cs [dot] cmu [dot] edu
Last modified: Mon May 17 22:02:50 EDT 2004