Ian Lenz

PhD Student

Department of Computer Science
Cornell University
Advisors: Ashutosh Saxena, Ross Knepper
Quick links: Publications, Videos

About

I'm a final year PhD student, graduating May 2016. I work with the Personal Robotics Lab and the Robotic Personal Assistants Lab here at Cornell. Previously, I also led our Miniature Aerial Vehicles project.

Interests

I'm interested in machine learning applied to robotic tasks. In my PhD work, I applied deep learning algorithms to robotic manipulation problems, including grasping and cutting variable food materials.

In the future, I'm interested in finding new applications for these algorithms and adapting them to the new challenges presented. I'm also interested in incorporating new modalities, such as vision, into real-time control, investigating hierarchical approaches integrating model-based and model-free control, and incorporating active learning methods to improve data collection.

Education

Cornell University

2010-2016

PhD student in Computer Science

Advised by Ashutosh Saxena and Ross Knepper

Thesis: Deep Learning for Robotics - I investigate the unique strengths of deep learning algorithms for robotic applications and address the challenges in adapting these algorithms to robotics problems through several successful robotic systems.

Carnegie Mellon University

2006-2010

B.S. in Electrical and Computer Engineering (focus in control systems), Minor in Robotics

Research experience:
Center for the Neural Basis of Cognition fellowship with Tai-Sing Lee,
CMU Google Lunar X-Prize Team
with Red Whittaker

Publications

Deep Multimodal Embedding: Manipulating Novel Objects with Point-clouds, Language, and Trajectories.
Jaeyong Sung, Ian Lenz, Ashutosh Saxena. Cornell Tech Report 2015
[PDF, more] bibtex
@article{sung_deepmultimodalembedding_2015,
    title={Deep Multimodal Embedding: Manipulating Novel Objects with Point-clouds, Language, Trajectories},
    author={Jaeyong Sung and Ian Lenz and Ashutosh Saxena},
    journal={arXiv preprint arXiv:1509.07831},
    year={2015}
}

DeepMPC: Learning Deep Latent Features for Model Predictive Control.
Ian Lenz, Ross Knepper, Ashutosh Saxena. Robotics: Science and Systems (RSS) 2015
[PDF,extended version] bibtex
Given long oral at RSS (1 of 8), invited talk at AAAI 2016
@inproceedings{lenz_deepMPC_2015,
  title={DeepMPC: Learning Deep Latent Features for Model Predictive Control},
  author={Ian Lenz and Ross Knepper and Ashutosh Saxena},
  year={2015},
  booktitle={RSS}
}

Deep Learning for Detecting Robotic Grasps.
Ian Lenz, Honglak Lee, Ashutosh Saxena. International Journal of Robotics Research (IJRR) Special Issue on Robot Vision 2015
[PDF, more] bibtex
(Previous version presented at RSS 2013)
@article{lenz2014_deeplearning_roboticgrasp_ijrr,
  title={Deep Learning for Detecting Robotic Grasps},
  author={Ian Lenz and Honglak Lee and Ashutosh Saxena},
  year={2015},
  journal={IJRR}
}

Hierarchical Semantic Labeling for Task-Relevant RGB-D Perception.
Chenxia Wu, Ian Lenz, Ashutosh Saxena. In: Robotics: Science and Systems (RSS) 2014
[PDF] bibtex
@inproceedings{wulenzsaxena2014_hierarchicalrgbdlabeling,
  title="Hierarchical Semantic Labeling for Task-Relevant RGB-D Perception",
  author="Chenxia Wu and Ian Lenz and Ashutosh Saxena",
  year="2014",
  booktitle="RSS",
}

Low-Power Parallel Algorithms for Single Image based Obstacle Avoidance in Aerial Robots.
Ian Lenz, Mevlana Gemici, Ashutosh Saxena. In: International Conference on Intelligent Robots and Systems (IROS) 2012
[PDF] bibtex
@inproceedings{lenz_obsavoid_2012,
  title={Low-Power Parallel Algorithms for Single Image based Obstacle Avoidance in Aerial Robots},
  author={Ian Lenz and Mevlana Gemici and Ashutosh Saxena},
  booktitle={International Conference on Intelligent Robotic Systems (IROS)},
  year={2012}
}

Videos