Martin Pecka's homepage

Mgr. Martin Pecka, Ph.D.

researcher

department: Department of Cybernetics
Faculty of Electrical Engineering
Czech Technical University in Prague
departmental groups: Vision for Robotics and Autonomous Systems
Center for Robotics and Autonomous Systems
email: (yes, you can send me S/MIME encrypted mail); peckama2@fel.cvut.cz (digital signature). Old signatures: 9/2019-10/2020, 9/2018-10/2019
phone: +420 22435 7269
room: KN:E-225b (detailed map, requires university login). Campus Karlovo namesti in Prague 2.
Ph.D. thesis (defended Feb 2021): Safe Autonomous Reinforcement Learning
CV (Curriculum Vitae): PDF (80 kB)

Teaching

Score in student's evaluation for Summer Semester 23/24:

+ Show older

Research topics

Reinforcement learning

Safe exploration of state space in real-world robotics

Simulation for robotics

Tracked robot simulation in Gazebo.

Gazebo simulation

ROS (Robot Operating System) expert

If you have any questions about ROS 1, come and talk with me

Open-source Software I Maintain

Robot Body Filter

A versatile ROS filter for removing points on a moving robot body from depth and laser scans

nvidia-htop

A tool for making the output of nvidia-smi more convenient and useful (matches usernames, CPU and RAM usage to GPU processes)

More Snooze

A Thunderbird and Lightning addon which allows to customize the snooze times menu when snoozing calendar event alarms.

Movie Publisher

This package contains several tools for using movie files in ROS (playback, conversion to bag files etc.).

Publications

System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge

Rouček, Tomáš and Pecka, Martin and Čížek, Petr and Petříček, Tomáš and Bayer, Jan and Šalanský, Vojtěch and Azayev, Teymur and Heřt, Daniel and Petrlík, Matěj and Báča, Tomáš and Spurný, Vojtěch and Krátký, Vít and Petráček, Pavel and Baril, Dominic and Vaidis, Maxime and Kubelka, Vladimír and Pomerleau, François and Faigl, Jan and Zimmermann, Karel and Saska, Martin and Svoboda, Tomáš and Krajník, Tomáš

Field Robotics, 2, 1779–1818. DOI 10.55417/fr.2022055.

Ph.D. thesis - Safe Autonomous Reinforcement Learning

Defended on 16 Feb 2021 (recording of the defense seminar)

Data-driven Policy Transfer with Imprecise Perception Simulation (video, webpage)

Pecka, Martin and Zimmermann, Karel and Petrlik, Matej and Svoboda, Tomas.

IEEE Robotics and Automation Letters. 2018, 3(4), 3916-3921. ISSN 2377-3766. (IEEE Xplore)

Fast Simulation of Vehicles with Non-deformable Tracks (video, webpage)

Pecka, Martin and Zimmermann, Karel and Svoboda, Tomas.

In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Xplore)

Autonomous Flipper Control with Safety Constraints (video)

Pecka, Martin and Šalanský, Vojtěch and Zimmermann, Karel and Svoboda, Tomas.

In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Xplore)

Controlling Robot Morphology from Incomplete Measurements (video)

Pecka, Martin and Zimmermann, Karel and Reinstein, Michal and Svoboda, Tomas.

In IEEE Transactions on Industrial Electronics, accepted May 2016 (IEEE Xplore)

Safe Exploration for Reinforcement Learning in Real Unstructured Environments

Pecka, Martin and Zimmermann, Karel and Svoboda, Tomas

CVWW '15: Proceedings of the 20th Computer Vision Winter Workshop

Safe Exploration Techniques for Reinforcement Learning — An Overview

Pecka, Martin and Svoboda, Tomas

Modelling and Simulation for Autonomous Systems, Lecture Notes in Computer Science, 2014, Springer

FEE software you should know about

Google Apps for FEE – Calendar, Contacts (all FEE people!), Drive/Docs (30 GB), Sites. All of that using FELid to log in. Google doesn't process the data you have there (only school administrator can do that).

Gitlab – similar to GitHub, allows you to create private/group repositories for your school projects (choose "Login using FELid" button to login, not the login form!).

Full MS Office Suite (desktop) + 25 GB OneDrive cloud storage.

Free digital personal certificate for email signing. Issued by Terena CA (Comodo). Can be used by Thunderbird and Outlook. Can also be "uploaded" to a SmartCard. Only issued for addresses username@fel.cvut.cz, not for the convenient ones (name.surname@fel.cvut.cz), and not for dept.-specific addresses.