Florian Shkurti

Assistant Professor, Computer Science

Department of Computer Science, University of Toronto
Mathematical and Computational Sciences, University of Toronto, Mississauga

My research is at the intersection of mobile robotics, computer vision, machine learning, planning and control. My goal is to develop methods that enable robots to efficiently learn how to perform reliably in outdoor environments and alongside humans. When human supervision and human-robot interaction are necessary, I want to enable people to effectively specify the desired behavior of their robots through as few interactive demonstrations as possible, without requiring them to write code. I am particularly interested in:

The main applications of my research so far have been in environmental monitoring by robots that autonomously operate outdoors and collect useful data for environmental scientists. In these outdoor domains human-robot collaboration, learning from a few demonstrations, and robust navigation in 3D are critical. I have also worked on vision-based simultaneous mapping, localization, and navigation for ground, aerial, and underwater robots. I was a member of the McGill Mobile Robotics Lab and the NSERC Canadian Field Robotics Network.


I am looking for postdocs, PhD, MSc, and undergraduate students with computer science or engineering backgrounds. Feel free to email me with your CV, unofficial transcript, and research interests. Prospective graduate students should apply through CS.




Publications

Students

Teaching

Software

Datasets

CV




Contact Info

x@cs.toronto.edu, x=florian

UTM Campus:
3359 Mississauga Road
Deerfield Hall, Office 3066
Mathematical & Computational Sciences
University of Toronto Mississauga
Mississauga, ON, L5L 1C6


St George Campus:
6 King's College Road
D.L. Pratt Building, Office 283E
Department of Computer Science
University of Toronto
Toronto, ON, M5S 3H5

Students

Graduate Students

Homanga Bharadhwaj
Dhruv Sharma
Cheng (Kevin) Xie (with Sanja Fidler)
Ke Dong (with Angela Schoellig)

Undergraduates

Yuchen Wu
Siyun Li
Julia Chae
Zidong Weng
Zihan (Avin) Wang
Philip Huang
Shichen Lu
Yasasa Abeysirigoonawardena

Visiting

Melissa Mozifian


Teaching

UofT CSC477: Introduction to Mobile robotics, Fall 2019
UofT CSC2621: Imitation Learning for Robotics, Winter 2019
McGill COMP417: Introduction to Robotics and Intelligent Systems, Winter 2017


Publications

Active Semi-Supervised Learning of Reward Functions over Visual Content
Florian Shkurti and Gregory Dudek. In preparation.

Generating Adversarial Driving Scenarios in High-Fidelity Simulators
Yasasa Abeysirigoonawardena, Florian Shkurti, and Gregory Dudek. 2019. IEEE International Conference on Robotics and Automation (ICRA '19), Montreal, Canada. pdf, project page

Model-Based Probabilistic Pursuit via Inverse Reinforcement Learning
Florian Shkurti, Nikhil Kakodkar, and Gregory Dudek, IEEE International Conference on Robotics and Automation (ICRA '18), Brisbane, Australia. pdf, bibtex, video

Underwater Multi-Robot Convoying using Visual Tracking by Detection
Florian Shkurti, Wei-Di Chang, Peter Henderson, Jahidul Islam, Juan Camilo Gamboa Higuera, Jimmy Li, Travis Manderson, Anqi Xu, Gregory Dudek, and Junaed Sattar, IEEE International Conference on Robotics and Intelligent Systems (IROS '17), Vancouver, Canada. pdf, bibtex, project page

Topologically-Distinct Trajectory Predictions for Probabilistic Pursuit
Florian Shkurti and Gregory Dudek, IEEE International Conference on Robotics and Intelligent Systems (IROS '17), Vancouver, Canada. pdf, bibtex, project page

Benchmark Environments for Multitask Learning in Continuous Domains
Peter Henderson, Wei-Di Chang, Florian Shkurti, Johanna Hansen, David Meger, and Gregory Dudek, Workshop on Lifelong Learning at the International Conference on Machine Learning (ICML '17), Sydney, Australia. pdf, bibtex

Texture-Aware SLAM Using Stereo Imagery and Inertial Information
Travis Manderson, Florian Shkurti, and Gregory Dudek, Conference on Computer and Robot Vision (CRV '16), Victoria, Canada. pdf, bibtex, project page

3D Trajectory Synthesis and Control for a Legged Swimming Robot
David Meger, Florian Shkurti, David Cortes Poza, Philippe Giguere, and Gregory Dudek, IEEE International Conference on Robotics and Intelligent Systems (IROS '14), Chicago, USA. pdf, bibtex, project page

Ear-based Exploration on Hybrid Metric/Topological Maps
Qiwen Zhang, David Whitney, Florian Shkurti, Ioannis Rekleitis, IEEE International Conference on Robotics and Intelligent Systems (IROS '14), Chicago, USA. pdf, bibtex

Asymmetric Rendezvous Search at Sea
Malika Meghjani, Florian Shkurti, Juan Camilo Gamboa Higuera, Arnold Kalmbach, David Whitney, and Gregory Dudek G, Computer and Robot Vision (CRV '14), Montreal, Canada. pdf, bibtex

Maximizing Visibility in Collaborative Trajectory Planning
Florian Shkurti and Gregory Dudek, IEEE International Conference on Robotics and Automation (ICRA ’14), Hong-Kong. pdf, bibtex

On the complexity of searching for an evader with a faster pursuer
Florian Shkurti and Gregory Dudek, IEEE International Conference on Robotics and Automation (ICRA ’13), Karlsruhe, Germany. pdf, bibtex

Multi-Domain Monitoring of Marine Environments Using a Heterogeneous Robot Team
Florian Shkurti, Anqi Xu, Malika Meghjani, Juan Camilo Gamboa Higuera, Yogesh Girdhar, Philippe Giguere, Bikram Dey, Jimmy Li, Arnold Kalmbach, Chris Prahacs, Katrine Turgeon, Ioannis Rekleitis, and Gregory Dudek, IEEE International Conference on Intelligent Robots and Systems (IROS ’12), Algarve, Portugal. pdf, bibtex, project page

Socially-Driven Collective Path Planning for Robot Missions
Juan Camilo Gamboa Higuera, Anqi Xu, Florian Shkurti, Gregory Dudek, Conference on Robot Vision (CRV '12), Toronto, Canada. pdf, bibtex

State Estimation for an Underwater Robot using Visual and Inertial Information
Florian Shkurti, Ioannis Rekleitis, Milena Scaccia, and Gregory Dudek, IEEE International Conference on Intelligent Robots and Systems (IROS ’11), San Francisco, USA. pdf, bibtex

MARE: Marine Autonomous Robotic Explorer
Yogesh Girdhar, Anqi Xu, Bikram Dey, Malika Meghjani, Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek, IEEE International Conference on Intelligent Robots and Systems (IROS ’11), San Francisco, USA. pdf, bibtex

Feature Tracker Evaluation For Pose Estimation In Underwater Environments
Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek, Conference on Robot Vision (CRV '11), St. John’s, Newfoundland. pdf, bibtex