Current Appointments & Affiliations
Adjunct Assistant Professor of Computer Science
·
2016 - Present
Computer Science,
Trinity College of Arts & Sciences
Recent Publications
Skill 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 CiteRobot Task Planning under Local Observability
Conference Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2024 Real-world robot task planning is intractable in part due to partial observability. A common approach to reducing complexity is introducing additional structure into the decision process, such as mixed-observability, factored states, or temporally-extended ... 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.