Marvin Chancán mchancanl at uni.pe I am a Postdoctoral Associate at Yale, working on bio-inspired sensing and control of robotic systems in the Intelligent Autonomy Lab led by Ian Abraham. I received a Ph.D. in Electrical Engineering and Robotics from QUT in 2022, an M.S. in Applied Control from PUC-Rio in 2012, and a B.S. in Mechatronics Engineering from UNI in 2009. I have also worked in the automation and IT industries for many years in several countries of The Americas, Europe and Oceania.

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Research

During my PhD, I focused on the intersection between deep learning, computer vision, neuroscience and reinforcement learning for motion-and-vision-based localization and navigation tasks in the context of mobile robots and autonomous vehicles. Specifically, I studied biological neural circuits underlying these complex tasks in insect and rat mammalian brains, and developed new high performance neural architectures that were shown to be orders of magnitude faster than classical systems. Altogether, this research has set new state-of-the-art standards in terms of accuracy, high-throughput and low-latency. As a result, my papers have been published at top-tier machine learning and robotics venues such as NeurIPS, RA-L, ICRA, and RSS.

News

• Started a postdoc at Yale.
• Successfully defended my PhD thesis.
• Completed a five-month industry-based internship.
• Submitted the last paper of my PhD.
• Given the increasing interest on the CANN component of this paper, a quick demo has been released here.
• I have been accepted to the Janelia Research Campus's 2020 Junior Scientist MCN Workshop.
• 1 paper accepted to the NeurIPS 2020 Workshop on Machine Learning for Autonomous Driving.
• I am the recipient of the 2020 QUT HDR High Achiever Award.
• Submitted my MVP paper (and technically completed my PhD in 2 years).
• 1 paper accepted at RSS 2020 Workshop on Self-Supervised Robot Learning.
• 2 papers accepted to ICRA 2020.
• First paper of my PhD accepted to IEEE Robotics and Automation Letters journal.

PhD Thesis

The Role of Motion-and-Visual Perception in Robot Place Learning and Navigation Marvin Chancán PhD Thesis, 2022 Project | Talk | ePrint

Publications

         

	DeepSeqSLAM: A Trainable CNN+RNN for Joint Global Description and Sequence-based Place Recognition Marvin Chancán, Michael Milford Machine Learning for Autonomous Driving Workshop at the 34th Conference on Neural Information Processing Systems (NeurIPS 2020) Project | Video | Code
	Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning Marvin Chancán, Michael Milford Self-Supervised Robot Learning Workshop at the Robotics: Science and Systems XVI (RSS 2020) Project | Video | ArXiv
	CityLearn: Diverse Real-World Environments for Sample-Efficient Navigation Policy Learning Marvin Chancán, Michael Milford IEEE International Conference on Robotics and Automation (ICRA 2020) Project | Video | Code
	A Hybrid Compact Neural Architecture for Visual Place Recognition Marvin Chancán, Luis Hernandez-Nunez, A. Narendra, Andrew B. Barron, Michael Milford IEEE Robotics and Automation Letters (RA-L) Presented at ICRA 2020 Project | Video | Code

Preprints

   

	Sequential Place Learning: Heuristic-Free High-Performance Long-Term Place Recognition Marvin Chancán, Michael Milford arXiv:2103.02074, March 2021 Project | ArXiv | Codebase
	MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation Marvin Chancán, Michael Milford arXiv:2003.00667, March 2020 Project | ArXiv

Service

• Journal Reviewer:
    Science Robotics (Sci. Robot.), 2021
    IEEE Transactions on Robotics (T-RO), 2021
    IEEE Robotics and Automation Letters (RA-L), 2020
    Journal of the Brazilian Society of Mechanical Sciences and Engineering (BMSE), 2019
    International Journal of Fuzzy Systems (IJFS), 2018
• Conference Reviewer:
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, 2021

Honors & Awards

2020 High Achiever HDR Award for high quality PhD research outputs from QUT. 2018 Full President of the Republic Scholarship for a PhD degree. 2017 Full Huiracocha PhD Scholarship from PUCP (declined). 2010 Full Master's degree Scholarship from PUC-Rio. 2009 Graduated 1st in my class at UNI. 2008 Academic Honors Diploma for best performance in BS class at UNI. 2005 Admitted in the top 2% (2000+ applicants) at UNI (top national science & engineering university).