221 citations · 935 across the 44 of their papers we have counts for
10 papers · 1 filter
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan +6
Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine thi…
Tool Substitution with Shape and Material Reasoning Using Dual Neural Networks
Nithin Shrivatsav, Lakshmi Nair, Sonia Chernova
This paper explores the problem of tool substitution, namely, identifying substitute tools for performing a task from a given set of candidate tools. We introduce a novel approach…
Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance
M. Asif Rana, Daphne Chen, S. Reza Ahmadzadeh +3
In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of exis…
CAGE: Context-Aware Grasping Engine
Weiyu Liu, Angel Daruna, Sonia Chernova
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object…
Active Learning within Constrained Environments through Imitation of an Expert Questioner
Kalesha Bullard, Yannick Schroecker, Sonia Chernova
Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic huma…
Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings
Angel Daruna, Weiyu Liu, Zsolt Kira +1
Service robots benefit from encoding information in semantically meaningful ways to enable more robust task execution. Prior work has shown multi-relational embeddings can encode s…
Path Ranking with Attention to Type Hierarchies
Weiyu Liu, Angel Daruna, Zsolt Kira +1
The objective of the knowledge base completion problem is to infer missing information from existing facts in a knowledge base. Prior work has demonstrated the effectiveness of pat…
Skill Acquisition via Automated Multi-Coordinate Cost Balancing
Harish Ravichandar, S. Reza Ahmadzadeh, M. Asif Rana +1
We propose a learning framework, named Multi-Coordinate Cost Balancing (MCCB), to address the problem of acquiring point-to-point movement skills from demonstrations. MCCB encodes…
RoboCSE: Robot Common Sense Embedding
Angel Daruna, Weiyu Liu, Zsolt Kira +1
Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world…
Tool Macgyvering: Tool Construction Using Geometric Reasoning
Lakshmi Nair, Jonathan Balloch, Sonia Chernova
MacGyvering is defined as creating or repairing something in an inventive or improvised way by utilizing objects that are available at hand. In this paper, we explore a subset of M…