221 citations · 935 across the 44 of their papers we have counts for
8 papers · 1 filter
Proactive Robot Assistance via Spatio-Temporal Object Modeling
Maithili Patel, Sonia Chernova
Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robo…
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
Weiyu Liu, Yilun Du, Tucker Hermans +2
Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we…
D-ITAGS: A Dynamic Interleaved Approach to Resilient Task Allocation, Scheduling, and Motion Planning
Glen Neville, Sonia Chernova, Harish Ravichandar
Complex, multi-objective missions require the coordination of heterogeneous robots at multiple inter-connected levels, such as coalition formation, scheduling, and motion planning.…
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation
Joanne Truong, Max Rudolph, Naoki Yokoyama +3
If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simu…
Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions
Angel Daruna, Devleena Das, Sonia Chernova
Learned knowledge graph representations supporting robots contain a wealth of domain knowledge that drives robot behavior. However, there does not exist an inference reconciliation…
Creative Problem Solving in Artificially Intelligent Agents: A Survey and Framework
Evana Gizzi, Lakshmi Nair, Sonia Chernova +1
Creative Problem Solving (CPS) is a sub-area within Artificial Intelligence (AI) that focuses on methods for solving off-nominal, or anomalous problems in autonomous systems. Despi…
Subgoal-Based Explanations for Unreliable Intelligent Decision Support Systems
Devleena Das, Been Kim, Sonia Chernova
Intelligent decision support (IDS) systems leverage artificial intelligence techniques to generate recommendations that guide human users through the decision making phases of a ta…
Incremental Object Grounding Using Scene Graphs
John Seon Keun Yi, Yoonwoo Kim, Sonia Chernova
Object grounding tasks aim to locate the target object in an image through verbal communications. Understanding human command is an important process needed for effective human-rob…