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Environments made for humans remain challenging for autonomous robots due to their highly unstructured nature which arises from environmental occlusions and dynamic environments. This dissertation considers the problem of scalable, robust robotic perception and planning in these challenging environments through distributed probabilistic inference. Distributed inference leverages graphical models to break up complex problems into multiple smaller subproblems which can be solved in parallel. This dissertation introduces three novel approaches based on this idea: first, a parts-based method for localizing articulated objects in cluttered scenes, using nonparametric belief propagation which leverages a learned likelihood and geometric priors. Second, we propose a framework for robotic planning that accounts for uncertainty in goal specification, using the planning-as-inference paradigm and formulating a novel goal loss. Third, we perform distributed planning over multi-robot teams through a new algorithm called Stein Variational Belief Propagation. Through each of these works, we demonstrate how maintaining diverse distribution modes lends robustness in challenging environmental conditions.\r\n\r\nThis dissertation also considers the challenge of robotics education to meet the growing demand for robotics and AI curricula across universities. We propose an undergraduate robotics course taught through hands-on projects involving programming a real robotic platform. Drawing on lessons from distributed inference, we employ a distributed teaching collaborative approach to teaching introductory robotics across institutions. Finally, we suggest best practices for teaching robotics as a discipline at the undergraduate level based on lessons learned teaching the course described at the University of Michigan and three partner institutions to over 100 students over the past three years.", "occurrence_notes":"and on Zoom", "guid":"121575-21846736@events.umich.edu", "permalink":"http:\/\/events.umich.edu\/event\/121575", "building_id":"1005418", "building_name":"Ford Robotics Building", "campus_maps_id":"647", "room":"2300", "location_name":"Ford Robotics Building", "has_livestream":0, "cost":"", "tags":["Robotics","Michigan Robotics","Michigan Engineering"], "website":"https:\/\/umich.zoom.us\/j\/95862931981?pwd=REpEZzNONzRUWkZGWFR3QTlweTZOQT09", "sponsors":[ { "group_name":"Michigan Robotics", "group_id":"3998", "website":"" } ], "image_url":"https:\/\/events.umich.edu\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "styled_images":{ "event_thumb":"https:\/\/events.umich.edu\/media\/cache\/event_thumb\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_large":"https:\/\/events.umich.edu\/media\/cache\/event_large\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_large_2x":"https:\/\/events.umich.edu\/media\/cache\/event_large_2x\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_large_lightbox":"https:\/\/events.umich.edu\/media\/cache\/event_large_lightbox\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "group_thumb":"https:\/\/events.umich.edu\/media\/cache\/group_thumb\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "group_thumb_square":"https:\/\/events.umich.edu\/media\/cache\/group_thumb_square\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "group_large":"https:\/\/events.umich.edu\/media\/cache\/group_large\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "group_large_lightbox":"https:\/\/events.umich.edu\/media\/cache\/group_large_lightbox\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_large_crop":"https:\/\/events.umich.edu\/media\/cache\/event_large_crop\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_list":"https:\/\/events.umich.edu\/media\/cache\/event_list\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_list_2x":"https:\/\/events.umich.edu\/media\/cache\/event_list_2x\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_grid":"https:\/\/events.umich.edu\/media\/cache\/event_grid\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_grid_2x":"https:\/\/events.umich.edu\/media\/cache\/event_grid_2x\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_feature_large":"https:\/\/events.umich.edu\/media\/cache\/event_feature_large\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg", "event_feature_thumb":"https:\/\/events.umich.edu\/media\/cache\/event_feature_thumb\/media\/attachments\/2024\/04\/event_121575_original-1.jpeg" }, "occurrence_count":1, "first_occurrence":21846736 } , "112680-21845382": { "datetime_modified":"20240424T142015", "datetime_start":"20240424T150000", "datetime_end":"20240424T163000", "has_end_time":1, "date_start":"2024-04-24", "date_end":"2024-04-24", "time_start":"15:00:00", "time_end":"16:30:00", "time_zone":"America\/Detroit", "event_title":"Program in Biology & Undergraduate Program in Neuroscience Events 2023 - 2024", "occurrence_title":"Biological Sciences & Neuroscience Undergraduate Poster Session", "combined_title":"Program in Biology & Undergraduate Program in Neuroscience Events 2023 - 2024: Multiple conference events and sessions: Biological Sciences & Neuroscience Undergraduate Poster Session", "event_subtitle":"Multiple conference events and sessions", "event_type":"Conference \/ Symposium", "event_type_id":"5", "description":"Events in this track are open to all PiB and UPiN students. We hope to see you!", "occurrence_notes":null, "guid":"112680-21845382@events.umich.edu", "permalink":"http:\/\/events.umich.edu\/event\/112680", "building_id":"", "building_name":"", "campus_maps_id":"", "room":"", "location_name":"1060 Biological Sciences Building (BSB)", "has_livestream":0, "cost":"", "tags":["Sessions"], "website":"https:\/\/sessions.studentlife.umich.edu\/p\/track\/10045", "sponsors":[ { "group_name":"Sessions @ Michigan", "group_id":"4791", "website":"https:\/\/sessions.studentlife.umich.edu\/" } ], "image_url":"", "styled_images":{ "event_thumb":"", "event_large":"", "event_large_2x":"", "event_large_lightbox":"", "group_thumb":"", "group_thumb_square":"", "group_large":"", "group_large_lightbox":"", "event_large_crop":"", "event_list":"", "event_list_2x":"", "event_grid":"", "event_grid_2x":"", "event_feature_large":"", "event_feature_thumb":"" }, "occurrence_count":1, "first_occurrence":21845382 } , "119497-21842832": { "datetime_modified":"20240404T170559", "datetime_start":"20240424T150000", "datetime_end":"20240424T170000", "has_end_time":1, "date_start":"2024-04-24", "date_end":"2024-04-24", "time_start":"15:00:00", "time_end":"17:00:00", "time_zone":"America\/Detroit", "event_title":"Second Annual Shared Memories: The Armenian Experience Through Objects and Stories", "occurrence_title":"", "combined_title":"Second Annual Shared Memories: The Armenian Experience Through Objects and Stories", "event_subtitle":"", "event_type":"Social \/ Informal Gathering", "event_type_id":"19", "description":"In our 2nd annual community commemoration of the anniversary of the 1915 Armenian Genocide, the Center for Armenian Studies (CAS) in partnership with U-M's Armenian Students Cultural Association (ASCA) and the Multidisciplinary Workshop for Armenian Studies (MWAS) invites you to a community show-and-tell of all things Armenian. All community members are welcome and encouraged to bring an object or tell a story representative of their Armenian identity. These objects\/stories may be archived and digitized in a future forum.\r\n \r\n The object or story can speak to:\r\n -The Armenian experience\r\n -The Armenian Genocide\r\n -The Michigan-Armenian experience\r\n -The American-Armenian experience\r\n -A personal, family story\r\n \r\n To register for this event, please fill out this form: http:\/\/myumi.ch\/5yAzy\r\n \r\n Middle Eastern Snacks\/Refreshments Provided!\r\n \r\n Open to the Public\r\n\r\nCo-sponsors: Armenian Students Cultural Association and Multidisciplinary Workshop for Armenian Studies\r\n\r\nIf there is anything we can do to make this event accessible to you, please contact armenianstudies@umich.edu. 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