Updates

  • March 2020: Our research on ‘Planning with Uncertain Specifications (PUnS)’ was featured on the MIT home page. Check out the article here
  • Feb 2020: Our paper on ‘Planning with Uncertain Specifications (PUnS)’ has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). It will also be presented at ICRA 2020.
  • Dec 2019: My abstract on ‘Interactive Training for Temporal Tasks’ has been accepted at the 2020 HRI Pioneers Workshop.
  • June 2019: I will be presenting our work on PUnS at RSS 2019 at the Workshop on Combining Learning and Reasoning (RSS-CLeAR) and at the workshop on Robust Autonomy
  • May 2019: I will be presenting my work on leveraging temporal logics for learning from demonstrations at University of Washington.
  • March 2019: I will be presenting my work on Bayesian specification inference at CU Boulder on March 21st.
  • December 2018: I will be presenting our paper at NeurIPS 2018 on December 4th.
  • October 2018: I will be presenting a talk on Bayesian specification inference at Brown University robotics on October 12th.
  • September 2018: The paper titled ‘Bayesian inference of temporal task specifications’ has been accepted for a poster presentation at NeurIPS 2018 in Montreal, Canada.

Research

Planning with Uncertain Specifications (PUnS)

What should you do when you are uncertain about what needs to be done? Planning with specifications as a belief over LTL formulas

Bayesian Specification Inference

We introduce a Bayesian formulation for specification inference that enables us to learn logical task specifications with very few examples.

Manipulation planning for interlinked cables

We introduce a task planning algorithm that sequences manipulation steps to install a set of cable harnesses in an aircraft.

Recent Publications

All Publications

(2020). Interactive Robot Training for Temporal Tasks. HRI Pioneers, Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction.

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(2020). Interactive Robot Training for Non-Markov Tasks. arXiv:2003.02232 (under review).

PDF

(2020). Planning With Uncertain Specifications (PUnS). IEEE Robotics and Automation Letters (To be presented at ICRA 2020).

PDF Project Video

(2019). Man-Machine Interoperation in Training for Large Force Exercise Air Missions. Interservice/Industry Training, Simulation and Education Conference.

PDF

(2019). Notions of Safety with Uncertainty in Specifications. Robotics: Science and Systems, Workshop on Robust Autonomy – safe robot learning and control in uncertain real-world environments (Poster).

Project Poster

(2019). Planning with Uncertain Specifications. Robotics: Science and Systems, Workshop on Combining Learning and Reasoning – Towards Human-Level Robot Intelligence.

PDF Project Poster

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