Stephen Miller: Home

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About Me

I'm a 2nd year PhD student at Stanford University studying Computer Science, with interests in Computer Vision, Machine Learning, and Robotics. Lately my focus has been on RGB-D perception. I currently work with Sebastian Thrun and Vladlen Koltun, though you might also catch me pushing to PCL and other Open Perception-affiliated projects. I'm an NSF, SGF, and Hertz Fellow, so I might settle down in grad school for a few decades. (Kidding, kidding.)

You can contact me at stephen __at__ cs.stanford.edu. If you don't hear back from me within a day or two, you should try again; I'm sometimes absentminded, but I always cave in to harrassment.

I know what you're thinking. "Stephen, that picture only gives me a single projection of you onto an unknown camera frame, under unknown illumination. I can't infer shape and albedo from that!" You're absolutely right. Here's a mesh of my face, taken at SIGGRAPH 2012.

(PLY)

When not working with robots, I enjoy playing guitar and occasionally reviewing movies. I'm also a fan of beer, scotch, coffee, sushi, dark comedy, David Foster Wallace, and most other things that snobby people try so badly to enjoy. But I'm not a snob, I promise. I also like to travel.

Publications

  1. Object Discovery in 3D Scenes via Shape Analysis
    Andrej Karpathy, Stephen Miller, Li Fei-Fei.
    To appear in the proceedings of the International Conference on Robotics and Automation (ICRA), 2013 in Karlsruhe, Germany.
    (PDF) (Supplementary Material )
  2. Word-level Acoustic Modeling with Convolutional Vector Regression
    Andrew Maas, Stephen Miller, Tyler O'Neil, Andrew Ng, Patrick Nguyen.
    ICML Workshop on Representation Learning, 2012 in Edinburgh, Scotland, UK.
    (PDF)
  3. A Textured Object Recognition Pipeline for Color and Depth Image Data
    Best Robotic Vision Award, Finalist
    Jie Tang, Stephen Miller, Arjun Singh, Pieter Abbeel.
    In the proceedings of the International Conference on Robotics and Automation (ICRA), 2012 in St. Paul, MN, USA.
    (PDF)
  4. A Geometric Approach to Robotic Laundry Folding
    Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, Pieter Abbeel.
    The International Journal of Robotics Research (IJRR), December 2011.
    (PDF)
  5. Perception for the Manipulation of Socks.
    Ping Chuan Wang, Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
    In the proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2011 in San Francisco, CA, USA.
    (PDF) (Supplementary Material)
  6. Parametrized Shape Models for Clothing.
    Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
    In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011 in Shanghai, China.
    (PDF) (Supplementary Material)
  7. Bringing Clothing into Desired Configurations with Limited Perception.
    Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James F. O'Brien, Pieter Abbeel.
    In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011 in Shanghai, China.
    (PDF) (Supplementary Material)
  8. Gravity-Based Robotic Cloth Folding,
    Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel.
    In the proceedings of the The 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010. in Singapore.
    (PDF) (Supplementary Material)
  9. Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations
    Best Medical Robotics Paper Award, Winner
    Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg and Pieter Abbeel.
    In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010 in Anchorage, Alaska, USA.
    (PDF) (Supplementary Material)

Presentations

  1. Perception for the Manipulation of Socks
    Given at IROS 2011 in San Francisco


  2. Parametrized Shape Models for Clothing
    Given at ICRA 2011 in Shanghai


    3. News