Sonia Chernova

research

∙ 09/12/2023

Predicting Routine Object Usage for Proactive Robot Assistance

Proactivity in robot assistance refers to the robot's ability to anticip...

0 Maithili Patel, et al. ∙

research

∙ 05/01/2023

IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience

We present IndoorSim-to-OutdoorReal (I2O), an end-to-end learned visual ...

0 Joanne Truong, et al. ∙

research

∙ 11/28/2022

Proactive Robot Assistance via Spatio-Temporal Object Modeling

Proactive robot assistance enables a robot to anticipate and provide for...

0 Maithili Patel, et al. ∙

research

∙ 11/08/2022

StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects

Robots operating in human environments must be able to rearrange objects...

0 Weiyu Liu, et al. ∙

research

∙ 09/27/2022

D-ITAGS: A Dynamic Interleaved Approach to Resilient Task Allocation, Scheduling, and Motion Planning

Complex, multi-objective missions require the coordination of heterogene...

0 Glen Neville, et al. ∙

research

∙ 07/21/2022

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

If we want to train robots in simulation before deploying them in realit...

0 Joanne Truong, et al. ∙

research

∙ 05/04/2022

Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions

Learned knowledge graph representations supporting robots contain a weal...

0 Angel Daruna, et al. ∙

research

∙ 04/21/2022

Creative Problem Solving in Artificially Intelligent Agents: A Survey and Framework

Creative Problem Solving (CPS) is a sub-area within Artificial Intellige...

0 Evana Gizzi, et al. ∙

research

∙ 01/11/2022

Subgoal-Based Explanations for Unreliable Intelligent Decision Support Systems

Intelligent decision support (IDS) systems leverage artificial intellige...

0 Devleena Das, et al. ∙

research

∙ 01/06/2022

Incremental Object Grounding Using Scene Graphs

Object grounding tasks aim to locate the target object in an image throu...

0 John Seon Keun Yi, et al. ∙

research

∙ 08/08/2021

Semantic-Based Explainable AI: Leveraging Semantic Scene Graphs and Pairwise Ranking to Explain Robot Failures

When interacting in unstructured human environments, occasional robot fa...

0 Devleena Das, et al. ∙

research

∙ 08/05/2021

An Interleaved Approach to Trait-Based Task Allocation and Scheduling

To realize effective heterogeneous multi-robot teams, researchers must l...

0 Glen Neville, et al. ∙

research

∙ 08/01/2021

Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Task Allocation

Multi-robot task allocation (MRTA) problems involve optimizing the alloc...

0 Max Rudolph, et al. ∙

research

∙ 05/20/2021

Explainable Activity Recognition for Smart Home Systems

Smart home environments are designed to provide services that help impro...

0 Devleena Das, et al. ∙

research

∙ 05/10/2021

Towards Robust One-shot Task Execution using Knowledge Graph Embeddings

Requiring multiple demonstrations of a task plan presents a burden to en...

0 Angel Daruna, et al. ∙

research

∙ 01/14/2021

Continual Learning of Knowledge Graph Embeddings

In recent years, there has been a resurgence in methods that use distrib...

0 Angel Daruna, et al. ∙

research

∙ 01/05/2021

Explainable AI for Robot Failures: Generating Explanations that Improve User Assistance in Fault Recovery

With the growing capabilities of intelligent systems, the integration of...

0 Devleena Das, et al. ∙

research

∙ 12/24/2020

Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees

Robotic tasks often require generation of motions that satisfy multiple ...

6 M. Asif Rana, et al. ∙

research

∙ 11/24/2020

Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents

Deep reinforcement learning models are notoriously data hungry, yet real...

0 Joanne Truong, et al. ∙

research

∙ 11/24/2020

Learning Navigation Skills for Legged Robots with Learned Robot Embeddings

Navigation policies are commonly learned on idealized cylinder agents in...

0 Joanne Truong, et al. ∙

research

∙ 11/18/2020

Explainable AI for System Failures: Generating Explanations that Improve Human Assistance in Fault Recovery

With the growing capabilities of intelligent systems, the integration of...

0 Devleena Das, et al. ∙

research

∙ 11/03/2020

Rearrangement: A Challenge for Embodied AI

We describe a framework for research and evaluation in Embodied AI. Our ...

2 Dhruv Batra, et al. ∙

research

∙ 08/24/2020

Feature Guided Search for Creative Problem Solving Through Tool Construction

Robots in the real world should be able to adapt to unforeseen circumsta...

0 Lakshmi Nair, et al. ∙

research

∙ 08/24/2020

Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction

Macgyvering refers to solving problems inventively by using whatever obj...

0 Lakshmi Nair, et al. ∙

research

∙ 06/05/2020

Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization

We address the problem of adapting robot trajectories to improve safety,...

0 Abhinav Jain, et al. ∙

research

∙ 05/29/2020

Human-Centric Active Perception for Autonomous Observation

As robot autonomy improves, robots are increasingly being considered in ...

0 David Kent, et al. ∙

research

∙ 04/02/2020

Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging

Material recognition can help inform robots about how to properly intera...

0 Zackory Erickson, et al. ∙

research

∙ 02/11/2020

Leveraging Rationales to Improve Human Task Performance

Machine learning (ML) systems across many application areas are increasi...

0 Devleena Das, et al. ∙

research

∙ 01/28/2020

Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks

Robot task execution when situated in real-world environments is fragile...

0 Siddhartha Banerjee, et al. ∙

research

∙ 12/13/2019

Are We Making Real Progress in Simulated Environments? Measuring the Sim2Real Gap in Embodied Visual Navigation

Does progress in simulation translate to progress in robotics? Specifica...

37 Abhishek Kadian, et al. ∙

research

∙ 11/11/2019

Tool Substitution with Shape and Material Reasoning Using Dual Neural Networks

This paper explores the problem of tool substitution, namely, identifyin...

0 Nithin Shrivatsav, et al. ∙

research

∙ 11/07/2019

Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance

In this work, we contribute a large-scale study benchmarking the perform...

0 M. Asif Rana, et al. ∙

research

∙ 09/24/2019

CAGE: Context-Aware Grasping Engine

Semantic grasping is the problem of selecting stable grasps that are fun...

0 Weiyu Liu, et al. ∙

research

∙ 07/01/2019

Active Learning within Constrained Environments through Imitation of an Expert Questioner

Active learning agents typically employ a query selection algorithm whic...

0 Kalesha Bullard, et al. ∙

research

∙ 05/29/2019

Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings

Prior work has shown that the multi-relational embedding objective can b...

0 Angel Daruna, et al. ∙

research

∙ 05/26/2019

Path Ranking with Attention to Type Hierarchies

The knowledge base completion problem is the problem of inferring missin...

0 Weiyu Liu, et al. ∙

research

∙ 03/27/2019

Skill Acquisition via Automated Multi-Coordinate Cost Balancing

We propose a learning framework, named Multi-Coordinate Cost Balancing (...

0 Harish Ravichandar, et al. ∙

research

∙ 03/12/2019

STRATA: A Unified Framework for Task Assignments in Large Teams of Heterogeneous Robots

Large teams of robots have the potential to solve complex multi-task pro...

0 Harish Ravichandar, et al. ∙

research

∙ 03/01/2019

RoboCSE: Robot Common Sense Embedding

Autonomous service robots require computational frameworks that allow th...

0 Angel Daruna, et al. ∙

research

∙ 02/10/2019

Tool Macgyvering: Tool Construction Using Geometric Reasoning

MacGyvering is defined as creating or repairing something in an inventiv...

0 Lakshmi Nair, et al. ∙

research

∙ 09/11/2018

Unbiasing Semantic Segmentation For Robot Perception using Synthetic Data Feature Transfer

Robot perception systems need to perform reliable image segmentation in ...

0 Jonathan C Balloch, et al. ∙

research

∙ 08/01/2018

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments

Learning from Demonstration (LfD) is a popular approach to endowing robo...

0 Muhammad Asif Rana, et al. ∙

research

∙ 05/10/2018

Classification of Household Materials via Spectroscopy

Recognizing an object's material can inform a robot on how hard it may g...

2 Zackory Erickson, et al. ∙

research

∙ 04/26/2018

Action Categorization for Computationally Improved Task Learning and Planning

This paper explores the problem of task learning and planning, contribut...

0 Lakshmi Nair, et al. ∙

research

∙ 04/17/2018

Effects of Interruptibility-Aware Robot Behavior

As robots become increasingly prevalent in human environments, there wil...

0 Siddhartha Banerjee, et al. ∙

research

∙ 07/10/2017

Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks

Material recognition enables robots to incorporate knowledge of material...

0 Zackory Erickson, et al. ∙

research

∙ 07/01/2016

Situated Structure Learning of a Bayesian Logic Network for Commonsense Reasoning

This paper details the implementation of an algorithm for automatically ...

0 Haley Garrison, et al. ∙

research

∙ 01/15/2014

Interactive Policy Learning through Confidence-Based Autonomy

We present Confidence-Based Autonomy (CBA), an interactive algorithm for...

0 Sonia Chernova, et al. ∙

Sonia Chernova

Featured Co-authors