8 accepted papers
In humans, the acquisition of a new motor skill is associated with the development of a wide range of cognitive areas and can create contexts in which new cognitive capacities develop. Motor development is linked to language development in infants, as crawling and walking promote active exploration …
Task and motion planning (TAMP) for robotics manipulation necessitates long-horizon reasoning involving versatile actions and skills. While deterministic actions can be crafted by sampling or optimizing with certain constraints, planning actions with uncertainty, i.e., probabilistic actions, remains
For effective decision support in scenarios with conflicting objectives, sets of potentially optimal solutions can be presented to the decision maker. We explore both what policies these sets should contain and how such sets can be computed efficiently. With this in mind, we take a distributional ap…
Robotic manipulation in cluttered environments requires synergistic planning among prehensile and non-prehensile actions. Previous works on sampling-based Task and Motion Planning (TAMP) algorithms, e.g. PDDLStream, provide a fast and generalizable solution for multi-modal manipulation. However, the
We consider the challenge of policy simplification and verification in the context of policies learned through reinforcement learning (RL) in continuous environments. In well-behaved settings, RL algorithms have convergence guarantees in the limit. While these guarantees are valuable, they are insuf…
Many real-world decision problems are characterized by multiple conflicting objectives which must be balanced based on their relative importance. In the dynamic weights setting the relative importance changes over time and specialized algorithms that deal with such change, such as a tabular Reinforc…
Learning to coordinate between multiple agents is an important problem in many reinforcement learning problems. Key to learning to coordinate is exploiting loose couplings, i.e., conditional independences between agents. In this paper we study learning in repeated fully cooperative games, multi-agen…
Accurate and reliable event prediction is imperative for supporting movement with an exoskeleton. Two events are important during a sit-to-stand movement: seat-off, the event at which the subject leaves the chair and start-of-assistance for hip and knee, the earliest time at which assistance may be