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09/12/2023
Predicting Routine Object Usage for Proactive Robot Assistance
Proactivity in robot assistance refers to the robot's ability to anticip...
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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 ...
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11/28/2022
Proactive Robot Assistance via Spatio-Temporal Object Modeling
Proactive robot assistance enables a robot to anticipate and provide for...
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11/08/2022
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
Robots operating in human environments must be able to rearrange objects...
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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...
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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...
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05/04/2022
Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions
Learned knowledge graph representations supporting robots contain a weal...
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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...
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01/11/2022
Subgoal-Based Explanations for Unreliable Intelligent Decision Support Systems
Intelligent decision support (IDS) systems leverage artificial intellige...
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01/06/2022
Incremental Object Grounding Using Scene Graphs
Object grounding tasks aim to locate the target object in an image throu...
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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...
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08/05/2021
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
To realize effective heterogeneous multi-robot teams, researchers must l...
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08/01/2021
Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Task Allocation
Multi-robot task allocation (MRTA) problems involve optimizing the alloc...
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05/20/2021
Explainable Activity Recognition for Smart Home Systems
Smart home environments are designed to provide services that help impro...
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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...
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01/14/2021
Continual Learning of Knowledge Graph Embeddings
In recent years, there has been a resurgence in methods that use distrib...
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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...
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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 ...
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11/24/2020
Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents
Deep reinforcement learning models are notoriously data hungry, yet real...
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11/24/2020
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
Navigation policies are commonly learned on idealized cylinder agents in...
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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...
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11/03/2020
Rearrangement: A Challenge for Embodied AI
We describe a framework for research and evaluation in Embodied AI. Our ...
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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...
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08/24/2020
Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction
Macgyvering refers to solving problems inventively by using whatever obj...
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06/05/2020
Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization
We address the problem of adapting robot trajectories to improve safety,...
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05/29/2020
Human-Centric Active Perception for Autonomous Observation
As robot autonomy improves, robots are increasingly being considered in ...
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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...
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02/11/2020
Leveraging Rationales to Improve Human Task Performance
Machine learning (ML) systems across many application areas are increasi...
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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...
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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...
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11/11/2019
Tool Substitution with Shape and Material Reasoning Using Dual Neural Networks
This paper explores the problem of tool substitution, namely, identifyin...
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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...
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09/24/2019
CAGE: Context-Aware Grasping Engine
Semantic grasping is the problem of selecting stable grasps that are fun...
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07/01/2019
Active Learning within Constrained Environments through Imitation of an Expert Questioner
Active learning agents typically employ a query selection algorithm whic...
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05/29/2019
Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings
Prior work has shown that the multi-relational embedding objective can b...
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05/26/2019
Path Ranking with Attention to Type Hierarchies
The knowledge base completion problem is the problem of inferring missin...
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03/27/2019
Skill Acquisition via Automated Multi-Coordinate Cost Balancing
We propose a learning framework, named Multi-Coordinate Cost Balancing (...
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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...
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03/01/2019
RoboCSE: Robot Common Sense Embedding
Autonomous service robots require computational frameworks that allow th...
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02/10/2019
Tool Macgyvering: Tool Construction Using Geometric Reasoning
MacGyvering is defined as creating or repairing something in an inventiv...
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09/11/2018
Unbiasing Semantic Segmentation For Robot Perception using Synthetic Data Feature Transfer
Robot perception systems need to perform reliable image segmentation in ...
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08/01/2018
Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
Learning from Demonstration (LfD) is a popular approach to endowing robo...
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05/10/2018
Classification of Household Materials via Spectroscopy
Recognizing an object's material can inform a robot on how hard it may g...
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04/26/2018
Action Categorization for Computationally Improved Task Learning and Planning
This paper explores the problem of task learning and planning, contribut...
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04/17/2018
Effects of Interruptibility-Aware Robot Behavior
As robots become increasingly prevalent in human environments, there wil...
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07/10/2017
Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks
Material recognition enables robots to incorporate knowledge of material...
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07/01/2016
Situated Structure Learning of a Bayesian Logic Network for Commonsense Reasoning
This paper details the implementation of an algorithm for automatically ...
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01/15/2014