I am a PhD student in Paul G. Allen School of Computer Science & Engineering at the University of Washington, recently moved from Robotics Institute at Carnegie Mellon University, as my advisor Siddhartha S. Srinivasa has moved. I have received M.S. from CMU Robotics Institute, where I was co-advised by Srinivasa and Matthew T. Mason. I have received B.S. and M.Eng at MIT, where I was co-advised by Leslie Pack Kaelbling and Tomas Lozano-Perez. I am a recipient of Kwanjeong Educational Foundation Fellowship and have previously received CMU School of Computer Science Presidential Fellowship and Samsung Scholarship.
My primary research interest is to enable robots to manipulate various objects under uncertainty and acquire diverse manipulation skills. More broadly, I am interested in domain adaptation for model-based reinforcement learning and machine learning with physics priors for motion prediction. In the past I have worked on a variety of problems in robotics and computer graphics. In robotics, I have worked on multi-contact nonprehensile manipulation, and error-detection and recovery in multi-step planning. For robot vision, I have worked on SLAM-based object pose estimation. In computer graphics, I have worked on skin deformation and lighting for 3D animation.
Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song, Siddhartha S. Srinivasa
IEEE Robotics and Automation Letters (IEEE RA-L). 2019.
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Gilwoo Lee, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Brian Hou, Sanjiban Choudhury, Gilwoo Lee, Aditya Mandalika, Siddhartha S. Srinivasa
To appear in International Conference on Robotics and Automation (ICRA). 2020.
Talking With Hands 16.2M: A Large-Scale Dataset of Synchronized Body-Finger Motion and Audio for Conversational Motion Analysis and Synthesis
Gilwoo Lee, Zhiwei Deng, Shugao Ma, Takaaki Shiratori, Siddhartha S. Srinivasa, Yaser Sheikh
In International Conference on Computer Vision (ICCV). 2019.
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate.
Ryan Feng, Youngsun Kim, Gilwoo Lee, Ethan K. Gordon, Matt Schmittle, Shivaum Kumar, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa
In International Symposium on Robotics Research (ISRR). 2019.
Bayesian Policy Optimization for Model Uncertainty
Gilwoo Lee, Brian Hou, Aditya Mandalika Vamsikrishna, Jeongseok Lee,Sanjiban Choudhury, Siddhartha S. Srinivasa
In International Conference on Learning Representations (ICLR). 2019.
A Study of Reaching Motions for Collaborative Human-Robot Interaction
Sara Sheikholeslami, Gilwoo Lee, Justin W. Hart, Siddhartha Srinivasa, Elizabeth A. Croft
In International Symposium on Experimental Robotics (ISER). 2018.
- Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee, Siddhartha S. Srinivasa
arXiv:1710.05231. [cs.RO], 2017.
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
Gilwoo Lee, Zita Marinho, Aaron M. Johnson, Geoffrey J. Gordon, Siddhartha S. Srinivasa, Matthew T. Mason
A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, Allison Thackston
International Symposium on Experimental Robotics (ISER), 2016.
Hierarchical planning for multi-contact non-prehensile manipulation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. Best Paper Finalist
Gilwoo Lee, Tomas Lozano-Perez, Leslie P. Kaelbling
Towards Effective Human-AI Teams: The Case of Collaborative Packing
Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa
Symposium on Artificial Intelligence for Human-Robot Interaction, 2019 AAAI Fall Symposium Series.
Residual Bayesian Q-Learning for Meta-Reinforcement Learning with Experts
Gilwoo Lee, Sanjiban Choudhury, Brian Hou, Siddhartha S. Srinivasa
Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS, 2019.
Bite Acquisition of Soft Food Items via Reconfiguration
Gilwoo Lee, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa
Task-Informed Grasping (TIG-II): From Perception to Physical Interaction, R:SS, 2019.
GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems
Gilwoo Lee, Siddhartha S. Srinivasa, Matthew T. Mason
(Empirically) Data-Driven Manipulation, R:SS, 2017.
Here is my CV.
Kwanjeong Educational Foundation Fellowship (2015 - 2020)
CMU School of Computer Science Presidential Fellowship (2016 - 2017)
IROS Best Paper Finalist (2015)
Samsung Scholarship (2006 – 2010)
Autonomous Robotics (CSE 478)
Teaching Assistant (Winter 2020)
Mobile Robots (CSE 490R)
Teaching Assistant (Spring 2019)
Robot Autonomy (16-662)
Teaching Assistant (Spring 2017)
Elements of Software Construction (6.005)
Teaching Assistant (Spring and Fall 2014, & Spring 2015)