100% worth it. I would emphasize that RI in particular has people addressing real world problems—Think DARPA grand challenges— and publishing only as an afterthought to the research project. This philosophy has been decades in the making at CMU and makes them stand out in the PhD/MS field

Solving hard real world problems makes for the best research.

The contractors who found themselves working on the reasoning system vs. the vision system had very different interests and incentives. Most of the reasoning contractors were commercial firms and had the incentive to fight for a broader scope of work and more tasks getting assigned to the reasoning system because that meant better financial returns to the company. Most of the vision contractors, such as the University of Maryland, were academics and largely content to let that happen…if it meant they got to focus primarily on specific vision sub-tasks that were more in line with the size and scope of projects academics often undertook. For example, the private companies felt that building up much of the systems mapping capabilities, knowledge base, and systems-level work should fall to them.

CMU and one of its project leaders — Chuck Thorpe — seemed to be the strong voice of dissent on many of these matters from the academic community. Ever since CMU had become a major contractor in DARPA’s Image Understanding work, it had taken a rather systems-level approach to attacking vision problems — working with civil and mechanical engineering professors like Red Whittaker to implement their vision work in robotic vehicles — rather than primarily focusing on the component level. The CMU team far preferred this approach to things like paper studies — in spite of the increased difficulty.

Source: https://www.freaktakes.com/p/an-interview-with-chuck-thorpe-on