Jacob Williams

Dezhi Fang, Matthew Keezer, Jacob Williams et al.

We are working on a scalable, interactive visualization system, called Carina, for people to explore million-node graphs. By using latest web browser technologies, Carina offers fast graph rendering via WebGL, and works across desktop (via Electron) and mobile platforms. Different from most existing graph visualization tools, Carina does not store the full graph in RAM, enabling it to work with graphs with up to 69M edges. We are working to improve and open-source Carina, to offer researchers and practitioners a new, scalable way to explore and visualize large graph datasets.

M. Asif Rana, Daphne Chen, S. Reza Ahmadzadeh et al.

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical studies be performed comparing the relative strengths of these learning techniques. In particular, we evaluate four different approaches based on properties an end user may desire for real-world tasks. To perform this evaluation, we collected data from nine participants, across four different manipulation tasks with varying starting conditions. The resulting demonstrations were used to train 180 task models and evaluated on 720 task reproductions on a physical robot. Our results detail how i) complexity of the task, ii) the expertise of the human demonstrator, and iii) the starting configuration of the robot affect task performance. The collected dataset of demonstrations, robot executions, and evaluations are being made publicly available. Research insights and guidelines are also provided to guide future research and deployment choices about these approaches.