Thesis

Scalable Bayesian Reinforcement Learning
Thesis committee: Siddhartha S. Srinivasa, Byron Boots, Depadeepta Dey, Sam A. Burden
August 2020
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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.
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Publications

• Imitation Learning as f-Divergence Minimization.
  Liyiming Ke, Sanjiban Choudhury, Matt Barnes, Wen Sun, Gilwoo Lee, Siddhartha Srinivasa
  In Workshop on the Algorithmic Foundations of Robotics. 2020.
  PDF
• 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.
  arXiv
• 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.
  Gilwoo Lee*, Ryan Feng*, Youngsun Kim*, Ethan K. Gordon, Matt Schmittle, Shivaum Kumar, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa
  In International Symposium on Robotics Research (ISRR). 2019.
  PDF
• 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.
  PDF
• 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.
  PDF
• 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.
  arXiv
• 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.
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• 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

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Workshops

• Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
  Gilwoo Lee, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa
  Workshop on Interactive Robot Learning, ICRA 2020.
  arXiv, PDF
• 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.
  arXiv
• 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.
  PDF
• 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.
  PDF
• 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.
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