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Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Collision checking is a computational bottleneck in motion planning, req...
02/27/2020 ∙ by Brian Hou, et al. ∙
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Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Informed and robust decision making in the face of uncertainty is critic...
02/07/2020 ∙ by Gilwoo Lee, et al. ∙
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Towards Effective Human-AI Teams: The Case of Collaborative Packing
We focus on the problem of designing an artificial agent, capable of ass...
09/14/2019 ∙ by Gilwoo Lee, et al. ∙
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Towards Effective Human-AI Teams: The Case of Human-Robot Packing
We focus on the problem of designing an artificial agent capable of assi...
09/14/2019 ∙ by Gilwoo Lee, et al. ∙
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Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate
A robot-assisted feeding system must successfully acquire many different...
06/05/2019 ∙ by Ryan Feng, et al. ∙
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Imitation Learning as f-Divergence Minimization
We address the problem of imitation learning with multi-modal demonstrat...
05/30/2019 ∙ by Liyiming Ke, et al. ∙
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Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes
We present the first PAC optimal algorithm for Bayes-Adaptive Markov Dec...
10/06/2018 ∙ by Gilwoo Lee, et al. ∙
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Bayesian Policy Optimization for Model Uncertainty
Addressing uncertainty is critical for autonomous systems to robustly ad...
10/01/2018 ∙ by Gilwoo Lee, et al. ∙
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Food manipulation: A cadence of haptic signals
Autonomous assistive feeding is challenging because it requires manipula...
04/23/2018 ∙ by Tapomayukh Bhattacharjee, et al. ∙
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Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
We present an algorithm for obtaining an optimal control policy for hybr...
10/14/2017 ∙ by Shushman Choudhury, et al. ∙
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Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
This paper introduces a novel system identification and tracking method ...
10/02/2017 ∙ by Gilwoo Lee, et al. ∙
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