Current Appointments & Affiliations
Adjunct Assistant Professor of Computer Science
·
2016 - Present
Computer Science,
Trinity College of Arts & Sciences
Recent Publications
Discovering Options That Minimize Average Planning Time
Conference Proceedings of the Aaai Conference on Artificial Intelligence · April 11, 2025 We present an option discovery algorithm that accelerates planning by minimizing the shortest distance between any two states in the MDP. The proposed algorithm produces options that approximately minimize planning time in the multi-goal setting: it is sho ... Full text CiteSkill Transfer for Temporal Task Specification
Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2024 Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task specification language ... Full text CiteComposable Interaction Primitives: A Structured Policy Class for Efficiently Learning Sustained-Contact Manipulation Skills
Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2024 We propose a new policy class, Composable Interaction Primitives (CIPs), specialized for learning sustained-contact manipulation skills like opening a drawer, pulling a lever, turning a wheel, or shifting gears. CIPs have two primary design goals: to minim ... Full text CiteRecent Grants
Director's Fellowship: Bridging the Gap between Low-level Robot Control and Flexible High-level Task Planning
ResearchPrincipal Investigator · Awarded by Defense Advanced Research Projects Agency · 2015 - 2019Bridging the Gap between Low-level Robot Control and Flexible High-level Task Planning
ResearchPrincipal Investigator · Awarded by Defense Advanced Research Projects Agency · 2015 - 2018CRCNS: Representational Foundations of Adaptive Behavior in Natural and Artificial Agents
ResearchPrincipal Investigator · Awarded by Princeton University · 2015 - 2018View All Grants
Education, Training & Certifications
University of Massachusetts, Amherst ·
2011
Ph.D.