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    Article

    Affordance-based robot object retrieval

    Natural language object retrieval is a highly useful yet challenging task for robots in human-centric environments. Previous work has primarily focused on commands specifying the desired object’s type such as ...

    Thao Nguyen, Nakul Gopalan, Roma Patel, Matt Corsaro, Ellie Pavlick… in Autonomous Robots (2022)

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    Article

    Grounding natural language instructions to semantic goal representations for abstraction and generalization

    Language grounding is broadly defined as the problem of map** natural language instructions to robot behavior. To truly be effective, these language grounding systems must be accurate in their selection of b...

    Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan… in Autonomous Robots (2019)

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    Chapter and Conference Paper

    Bayesian Gait Optimization for Bipedal Locomotion

    One of the key challenges in robotic bipedal locomotion is finding gait parameters that optimize a desired performance criterion, such as speed, robustness or energy efficiency. Typically, gait optimization re...

    Roberto Calandra, Nakul Gopalan, André Seyfarth… in Learning and Intelligent Optimization (2014)