Darrin Bentivegna

Carnegie Mellon University
Robotics Institute

Systems Scientist

Email address: my first name@cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Seegrid Corporation

Senior Software Engineer

Email address: my first name@seegrid.com

Mailing address:

Seegrid Corporation

Ninety One 43rd Street
Suite 210
Pittsburgh, PA 15201

 

Jump to: Biography | Research interests | CV| Publications

Biography

I received a Ph.D. in Computer Science at Georgia Institute of Technology in 2004. I received a Masters of Science in Space Systems from Florida Institute of Technology in 1995. I was a Submarine Navigation Electronics Technician in the US Navy and served on the Fleet Ballistic Missile (FBM) Submarines USS Lewis and Clark (SSBN 644) and USS George C. Marshall (SSBN 654). I also served on the FBM Submarine Tender USS Simon Lake (AS 33) when it was stationed in Kings Bay, GA. I served on the Launch Area Support Ship (LASS) USNS Range Sentinel stationed in Cape Canaveral Florida where I was involved in the support of U.S. and U.K. submarine missile launches on the Eastern Test Range. While stationed in Cape Canaveral I also served on the USNS Vanguard. The Vanguard supported the testing of navigation equipment that was in use, or was to be used, on board Navy submarines.

Research Interests

I am interested in exploring and developing learning methods that give robots human-like learning abilities. My research focuses on algorithms that allow robots to learn skills from observing humans or other robots and improve performance while practicing. I am currently investigating the learning of movement skills and the learning of action selection skills while performing dynamic tasks such as playing tennis or walking. My thesis presents a framework for conducting learning from observation and practice research. The framework is implemented in two tasks; the Labyrinth marble maze game and air hockey. A video of a robot playing the Labyrinth game and a humanoid robot playing air hockey can be seen on my thesis page and more information can be found on my Learning from Observation webpage.

CV

Here is a brief CV. A full CV is available in PDF format.

Experience

Carnegie Mellon University, Pittsburgh, PA††††††††††††††††††††††††††††††††

Postdoctoral Fellow, January 2005-Present

ATR Computational Neuroscience Laboratories, Kyoto, Japan†††

Visiting Researcher, January 1998-Present

Georgia Institute of Technology, Atlanta GA††††

Research Assistant, November 1995-May 1998

Harris Corporation, Palm Bay, FL †††††††

Pre-Professional Intern, June 1997-October 1997

Dynetics Inc., Huntsville, AL

Systems Analyst II, June 1996-October 1996 and June 1998-October 1998

United States Navy

Electronic Material Division Leading Chief Petty Officer, January 1991-September 1995

 

Education

Ph.D., Computer Science (Intelligent Systems), Georgia Institute of Technology, July 2004

Master of Science, Space Systems, Florida Institute of technology, August 1995

Bachelor of Science, Education, Valdosta State University, August 1985

 

Publications

Learning from Observation and from Practice using Behavioral Primitives: Marble Maze, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.In process.

Compliant Control of a Hydraulic Humanoid Joint, Darrin C. Bentivegna, Christopher G. Atkeson, and Jung-Yup Kim.Presented at IEE Humanoids07, November 2007.

 

Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking, Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin Bentivegna, and Christopher G. Atkeson, ICRA 2006

Learning to Act from Observation and Practice, Darrin C. Bentivegna, Ales Ude, Christopher G. Atkeson, and Gordon Cheng.International Journal of Humanoid Robotics, Volume 1, Number 4, December 2004.

Learning tasks from observation and practice, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.Elsevierís Robotics and Autonomous Journal, 47 (2004), pages 163-169.

A Framework for Learning From Observation using Primitives, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.Journal of Robotics Society of Japan, Vol. 22, No. 2, 2004, pages 28-33.

Learning from Observation and Practice using Primitives, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.AAAI Fall Symposium Series, Symposium on "Real-life Reinforcement Learning", October 22-24, 2004.

Learning from Observation using Primitives, (ppt slides and videos) Darrin C. Bentivegna, Thesis, 2004.

Learning from Observation and from Practice using Behavioral Primitives, Darrin C. Bentivegna, Christopher G. Gordon Cheng , and Atkeson.11th International Symposium of Robotics Research. October 19-22, 2003.

Learning to Select Primitives and Generate Sub-goals From Practice, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.Presented at IROS 2003, October, 2003.

Learning from Observation and Practice at the Action Generation Level, Darrin C. Bentivegna, Christopher G. Atkeson, and Gordon Cheng.Presented at Humanoids 2003, October, 2003.

Humanoid Robot Learning and Game Playing Using PC-Based Vision, Darrin C. Bentivegna, Ales Ude, Christopher G. Atkeson, and Gordon Cheng.Presented at IROS 2002, Swiss Federal Institute of Technology Lausanne (EPFL), Switzerland, October, 2002.

Learning How to Behave from Observing Others, Darrin C. Bentivegna and Christopher G. Atkeson.Presented at the SAB'02-Workshop on Motor Control in Humans and Robots: on the interplay of real brains and artificial devices, Edinburgh, UK, August, 2002.

A Framework for Learning From Observation Using Primitives, Darrin C. Bentivegna and Christopher G. Atkeson.Presented at the Symposium of Robocup 2002, Fukuoka, Japan, June, 2002.

Learning From Observation Using Primitives, Darrin C. Bentivegna and Christopher G. Atkeson.Presented at ICRA 2001 in Seoul, Korea, May 2001.

Using Primitives in Learning From Observation, Darrin C. Bentivegna and Christopher G. Atkeson.Presented at Humanoids 2000 in Boston, Mass. September 2000.

Testbeds Used for Exploring Learning from Observation, Darrin C. Bentivegna and Christopher G. Atkeson.Published in the proceedings of the workshop for the AAAI2000 Robot Competition and Exhibition.

Using Primitives in Learning from Observation: A Preliminary Report, Darrin C. Bentivegna and Christopher G. Atkeson.Published in the proceedings of the workshop of the Eighth AAAI Mobile Robot Competition and Exhibition held at AAAI99.

 

Design and Implementation of a Teleautonomous Hummer, Darrin C. Bentivegna, Khaled S. Ali, Ronald C. Arkin, and Tucker Balch.Presented at Mobile Robots XII in Pittsburgh Pennsylvania, October 1997.