8 citations · 8 across the 7 of their papers we have counts for
8 papers
POrTAL: Plan-Orchestrated Tree Assembly for Lookahead
Evan Conway, David Porfirio, David Chan +2
When tasking robots in partially observable environments, these robots must efficiently and robustly plan to achieve task goals under uncertainty. Although many probabilistic plann…
Procedural Knowledge Improves Agentic LLM Workflows
Vincent Hsiao, Mark Roberts, Leslie Smith
Large language models (LLMs) often struggle when performing agentic tasks without substantial tool support, prom-pt engineering, or fine tuning. Despite research showing that domai…
Uncertainty Expression for Human-Robot Task Communication
David Porfirio, Mark Roberts, Laura M. Hiatt
An underlying assumption of many existing approaches to human-robot task communication is that the robot possesses a sufficient amount of environmental domain knowledge, including…
Automating Curriculum Learning for Reinforcement Learning using a Skill-Based Bayesian Network
Vincent Hsiao, Mark Roberts, Laura M. Hiatt +2
A major challenge for reinforcement learning is automatically generating curricula to reduce training time or improve performance in some target task. We introduce SEBNs (Skill-Env…
Towards Online Safety Corrections for Robotic Manipulation Policies
Ariana Spalter, Mark Roberts, Laura M. Hiatt
Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce ma…
Composing Option Sequences by Adaptation: Initial Results
Charles A. Meehan, Paul Rademacher, Mark Roberts +1
Robot manipulation in real-world settings often requires adapting the robot's behavior to the current situation, such as by changing the sequences in which policies execute to achi…
Goal-Oriented End-User Programming of Robots
David Porfirio, Mark Roberts, Laura M. Hiatt
End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of…
Considerations for End-User Development in the Caregiving Domain
Laura Stegner, David Porfirio, Mark Roberts +1
As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how…