62 citations · 143 across the 11 of their papers we have counts for
11 papers
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Brian Hou, Sanjiban Choudhury, Gilwoo Lee +2
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face o…
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Gilwoo Lee, Brian Hou, Sanjiban Choudhury +1
Informed and robust decision making in the face of uncertainty is critical for robots that perform physical tasks alongside people. We formulate this as Bayesian Reinforcement Lear…
Towards Effective Human-AI Teams: The Case of Collaborative Packing
Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa
We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performan…
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate
Ryan Feng, Youngsun Kim, Gilwoo Lee +5
A robot-assisted feeding system must successfully acquire many different food items. A key challenge is the wide variation in the physical properties of food, demanding diverse acq…
Imitation Learning as -Divergence Minimization
Liyiming Ke, Sanjiban Choudhury, Matt Barnes +3
We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any…
Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes
Gilwoo Lee, Sanjiban Choudhury, Brian Hou +1
We present the first PAC optimal algorithm for Bayes-Adaptive Markov Decision Processes (BAMDPs) in continuous state and action spaces, to the best of our knowledge. The BAMDP fram…
Bayesian Policy Optimization for Model Uncertainty
Gilwoo Lee, Brian Hou, Aditya Mandalika +3
Addressing uncertainty is critical for autonomous systems to robustly adapt to the real world. We formulate the problem of model uncertainty as a continuous Bayes-Adaptive Markov D…
Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song +1
Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during f…
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee +1
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to h…
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
Gilwoo Lee, Zita Marinho, Aaron M. Johnson +3
This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track…
GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems
Gilwoo Lee, Siddhartha S. Srinivasa, Matthew T. Mason
As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap…