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.

Journal Publications

    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
    In review.
  • 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.
    pdf, supplementary
  • 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
    Working Draft
  • 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
    paper, video


  • 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)
    UW CSE
    Teaching Assistant (Winter 2020)
  • Mobile Robots (CSE 490R)
    UW CSE
    Teaching Assistant (Spring 2019)
  • Robot Autonomy (16-662)
    CMU RI
    Teaching Assistant (Spring 2017)
  • Elements of Software Construction (6.005)
    Teaching Assistant (Spring and Fall 2014, & Spring 2015)