Publications

(2022). Lang2LTL: Translating Natural Language Commands to Temporal Specification with Large Language Models. CoRL Workshop on Language and Robot Learning.

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(2022). Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations. 6th Annual Conference on Robot Learning (oral presentation).

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(2022). Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations. RSS Workshop on Overlooked Aspects of Imitation Learning: Systems, Data, Tasks and Beyond.

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(2022). Skill Transfer for Temporally-Extended Task Specifications. arXiv preprint arXiv:2206.05096 (under review).

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(2022). Leveraging Temporal Structure in Task Specifications for POMDP Planning. Conference on Reinforcement Learning and Decision Making.

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(2021). Supervised Bayesian Specification Inference from Demonstrations. International Journal of Robotics Research (under review).

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(2021). Interactive Robot Training for Complex Tasks. Massachusetts Institute of Technology.

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(2021). Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics. Proceedings of Robotics: Science and Systems.

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(2021). Bayes-TrEx: a Bayesian Sampling Approach to Model Transparency by Example. Proceedings of the AAAI Conference on Artificial Intelligence.

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(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).

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

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(2020). Sampling Prediction-Matching Examples in Neural Networks: a Probabilistic Programming Approach. AAAI Workshop on Statistical Relational AI.

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

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

PDF Project Poster

(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). Bayesian Inference of Temporal Specifications to Explain How Plans Differ. ICAPS 2019 Workshop on explainable AI in planning.

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(2019). Bayesian Inference of Linear Temporal Logic Specifications for Contrastive Explanations. International Joint Conference on Artificial Intelligence.

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(2018). Man-machine interoperation in training for offensive counter air missions. Interservice/Industry Training, Simulation and Education Conference.

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(2018). Towards Specification Learning from Demonstrations. Robotics: Science and Systems, Workshop on Learning From Demonstrations for High-Level Robotics Tasks.

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(2018). Planning for Manipulation of Interlinked Deformable Linear Objects With Applications to Aircraft Assembly. IEEE Transactions on Automation Science and Engineering.

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(2018). Bayesian Inference of Temporal Task Specifications from Demonstrations. Conference on Neural Information Processing Systems.

PDF Project Poster

(2016). Appraisal of Statistical Practices in HRI vis-a-vis the T-Test for Likert Items/Scales. 2016 AAAI Fall Symposium Series.

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(2016). Planning for Manipulation of Interlinked Deformable Linear Objects With Applications to Aircraft Assembly. Massachusetts Institute of Technology.

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(2016). Towards manipulation planning for multiple interlinked deformable linear objects. Robotics and Automation (ICRA), 2016 IEEE International Conference on.

PDF Project