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09/13/2023
Language-Conditioned Observation Models for Visual Object Search
Object search is a challenging task because when given complex language ...
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03/06/2023
A System for Generalized 3D Multi-Object Search
Searching for objects is a fundamental skill for robots. As such, we exp...
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11/17/2022
Planning with Large Language Models via Corrective Re-prompting
Extracting the common sense knowledge present in Large Language Models (...
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08/12/2022
RLang: A Declarative Language for Expression Prior Knowledge for Reinforcement Learning
Communicating useful background knowledge to reinforcement learning (RL)...
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10/25/2021
Where were my keys? – Aggregating Spatial-Temporal Instances of Objects for Efficient Retrieval over Long Periods of Time
Robots equipped with situational awareness can help humans efficiently f...
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10/19/2021
Towards Optimal Correlational Object Search
In realistic applications of object search, robots will need to locate t...
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10/11/2021
Generalizing to New Domains by Mapping Natural Language to Lifted LTL
Recent work on using natural language to specify commands to robots has ...
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07/28/2021
Value-Based Reinforcement Learning for Continuous Control Robotic Manipulation in Multi-Task Sparse Reward Settings
Learning continuous control in high-dimensional sparse reward settings, ...
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07/22/2021
Dialogue Object Search
We envision robots that can collaborate and communicate seamlessly with ...
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06/07/2021
Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter
Grasping arbitrary objects in densely cluttered novel environments is a ...
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01/12/2021
Bootstrapping Motor Skill Learning with Motion Planning
Learning a robot motor skill from scratch is impractically slow; so much...
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12/04/2020
Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments
We present a system that enables robots to interpret spatial language as...
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10/17/2020
Task Scoping: Building Goal-Specific Abstractions for Planning in Complex Domains
A generally intelligent agent requires an open-scope world model: one ri...
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08/26/2020
Generating Handwriting via Decouple Style Descriptors
Representing a space of handwriting stroke styles includes the challenge...
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07/13/2020
Steps Towards Best Practices For Robot Videos
There are unwritten guidelines for how to make robot videos that researc...
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06/23/2020
Robot Object Retrieval with Contextual Natural Language Queries
Natural language object retrieval is a highly useful yet challenging tas...
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05/06/2020
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Robots operating in household environments must find objects on shelves,...
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04/21/2020
pomdp_py: A Framework to Build and Solve POMDP Problems
In this paper, we present pomdp_py, a general purpose Partially Observab...
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03/23/2020
RoboMem: Giving Long Term Memory to Robots
Robots have the potential to improve health monitoring outcomes for the ...
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10/23/2019
Learning Deep Parameterized Skills from Demonstration for Re-targetable Visuomotor Control
Robots need to learn skills that can not only generalize across similar ...
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10/08/2019
Advanced Autonomy on a Low-Cost Educational Drone Platform
PiDrone is a quadrotor platform created to accompany an introductory rob...
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05/30/2019
Grounding Language Attributes to Objects using Bayesian Eigenobjects
We develop a system to disambiguate objects based on simple physical des...
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05/28/2019
Planning with State Abstractions for Non-Markovian Task Specifications
Often times, we specify tasks for a robot using temporal language that c...
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08/31/2018
Estimation for Quadrotors
This document describes standard approaches for filtering and estimation...
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07/23/2018
Scanning the Internet for ROS: A View of Security in Robotics Research
Because robots can directly perceive and affect the physical world, secu...
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11/29/2017
Generalized Grounding Graphs: A Probabilistic Framework for Understanding Grounded Commands
Many task domains require robots to interpret and act upon natural langu...
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11/20/2017
Implementing the Deep Q-Network
The Deep Q-Network proposed by Mnih et al. [2015] has become a benchmark...
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10/02/2017
Deep Abstract Q-Networks
We examine the problem of learning and planning on high-dimensional doma...
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08/11/2017
Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displays
Efficient motion intent communication is necessary for safe and collabor...
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07/31/2017
Advantages and Limitations of using Successor Features for Transfer in Reinforcement Learning
One question central to Reinforcement Learning is how to learn a feature...
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07/26/2017
A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions
Robots operating alongside humans in diverse, stochastic environments mu...
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04/21/2017
