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Towards Robust One-shot Task Execution using Knowledge Graph Embeddings


May 10, 2021
Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova

* 7 pages, 3 figures. Accepted for publication at IEEE ICRA 2021 

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Continual Learning of Knowledge Graph Embeddings


Jan 14, 2021
Angel Daruna, Mehul Gupta, Mohan Sridharan, Sonia Chernova

* 8 pages, 4 figures. Accepted for publication in IEEE Robotics and Automation Letters (RA-L) 

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Explainable AI for Robot Failures: Generating Explanations that Improve User Assistance in Fault Recovery


Jan 05, 2021
Devleena Das, Siddhartha Banerjee, Sonia Chernova


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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees


Dec 24, 2020
M. Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan Ratliff

* 7 pages 

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Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents


Nov 24, 2020
Joanne Truong, Sonia Chernova, Dhruv Batra


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Learning Navigation Skills for Legged Robots with Learned Robot Embeddings


Nov 24, 2020
Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra, Akshara Rai


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Explainable AI for System Failures: Generating Explanations that Improve Human Assistance in Fault Recovery


Nov 19, 2020
Devleena Das, Siddhartha Banerjee, Sonia Chernova


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Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping


Nov 13, 2020
Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta

* Accepted to Conference on Robot Learning (CoRL) 2020 

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Rearrangement: A Challenge for Embodied AI


Nov 03, 2020
Dhruv Batra, Angel X. Chang, Sonia Chernova, Andrew J. Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, Manolis Savva, Hao Su

* Authors are listed in alphabetical order 

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Feature Guided Search for Creative Problem Solving Through Tool Construction


Aug 24, 2020
Lakshmi Nair, Sonia Chernova

* NOTE: This paper is currently under review for Frontiers in Robotics and AI 

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Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction


Aug 24, 2020
Lakshmi Nair, Nithin Shrivatsav, Sonia Chernova

* NOTE: This paper is currently under review for IEEE Transactions on Robotics (T-RO). IEEE copyright notice applies 

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Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization


Jun 05, 2020
Abhinav Jain, Daphne Chen, Dhruva Bansal, David Kent, Harish Ravichandar, Sonia Chernova

* Under review at IROS 2020 

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Human-Centric Active Perception for Autonomous Observation


May 29, 2020
David Kent, Sonia Chernova

* To be published in the International Conference on Robotics and Automation (ICRA), 2020 

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Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging


Apr 02, 2020
Zackory Erickson, Eliot Xing, Bharat Srirangam, Sonia Chernova, Charles C. Kemp

* 8 pages, 10 figures, 5 tables 

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Leveraging Rationales to Improve Human Task Performance


Feb 11, 2020
Devleena Das, Sonia Chernova

* ACM IUI 2020 

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Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks


Jan 28, 2020
Siddhartha Banerjee, Angel Daruna, David Kent, Weiyu Liu, Jonathan Balloch, Abhinav Jain, Akshay Krishnan, Muhammad Asif Rana, Harish Ravichandar, Binit Shah, Nithin Shrivatsav, Sonia Chernova

* Published and presented at International Symposium on Robotics Research (ISRR), 2019 in Hanoi, Vietnam 

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Are We Making Real Progress in Simulated Environments? Measuring the Sim2Real Gap in Embodied Visual Navigation


Dec 13, 2019
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, Dhruv Batra


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Tool Substitution with Shape and Material Reasoning Using Dual Neural Networks


Nov 11, 2019
Nithin Shrivatsav, Lakshmi Nair, Sonia Chernova

* 7 pages 

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Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance


Nov 07, 2019
M. Asif Rana, Daphne Chen, S. Reza Ahmadzadeh, Jacob Williams, Vivian Chu, Sonia Chernova

* 8 pages, 8 figures, submitted to IEEE Robotics and Automation Letters, videos and website can be found at https://sites.google.com/view/rail-lfd 

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CAGE: Context-Aware Grasping Engine


Sep 24, 2019
Weiyu Liu, Angel Daruna, Sonia Chernova


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Active Learning within Constrained Environments through Imitation of an Expert Questioner


Jul 01, 2019
Kalesha Bullard, Yannick Schroecker, Sonia Chernova

* In Conference Proceedings for IJCAI 2019 

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Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings


May 29, 2019
Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova

* 7 pages, 2 figures, 2 tables 

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Path Ranking with Attention to Type Hierarchies


May 26, 2019
Weiyu Liu, Angel Daruna, Zsolt Kira, Sonia Chernova


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Skill Acquisition via Automated Multi-Coordinate Cost Balancing


Mar 27, 2019
Harish Ravichandar, S. Reza Ahmadzadeh, M. Asif Rana, Sonia Chernova

* Accepted for publication in proceedings of ICRA 2019 

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STRATA: A Unified Framework for Task Assignments in Large Teams of Heterogeneous Robots


Mar 14, 2019
Harish Ravichandar, Kenneth Shaw, Sonia Chernova


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RoboCSE: Robot Common Sense Embedding


Mar 01, 2019
Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova

* 7 pages, 7 figures, accepted for publication in 2019 IEEE ICRA proceedings 

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Tool Macgyvering: Tool Construction Using Geometric Reasoning


Feb 10, 2019
Lakshmi Nair, Jonathan Balloch, Sonia Chernova

* Video demonstration available at: https://www.youtube.com/channel/UCxnm8iu1TS75YNXcAiI-nEw Conference: Accepted to International Conference on Robotics and Automation 2019 

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Classification of Household Materials via Spectroscopy


Jan 06, 2019
Zackory Erickson, Nathan Luskey, Sonia Chernova, Charles C. Kemp

* 8 pages, 15 figures, 1 table 

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Unbiasing Semantic Segmentation For Robot Perception using Synthetic Data Feature Transfer


Sep 11, 2018
Jonathan C Balloch, Varun Agrawal, Irfan Essa, Sonia Chernova


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