Nakul Gopalan

According to our database, Nakul Gopalan authored at least 37 papers between 2013 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Composing Diffusion Policies for Few-shot Learning of Movement Trajectories.

Omkar Patil, Anant Sah, Nakul Gopalan

CoRR, 2024

XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning.

Prabin Kumar Rath, Nakul Gopalan

CoRR, 2024

Continual Skill and Task Learning via Dialogue.

Weiwei Gu, Suresh Kondepudi, Lixiao Huang, Nakul Gopalan

CoRR, 2024

Learning Temporally Composable Task Segmentations with Language.

Divyanshu Raj, Omkar Patil, Weiwei Gu, Chitta Baral, Nakul Gopalan

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Hardware-Software Co-Design for Path Planning by Drones.

Ayushi Dube, Omkar Patil, Gian Singh, Nakul Gopalan, Sarma B. K. Vrudhula

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Interactive Visual Task Learning for Robots.

Weiwei Gu, Anant Sah, Nakul Gopalan

Proceedings of the Thirty-Eighth AAAI Conference on Artificial Intelligence, 2024

2023

Natural Language Specification of Reinforcement Learning Policies Through Differentiable Decision Trees.

Pradyumna Tambwekar, Andrew Silva, Nakul Gopalan, Matthew C. Gombolay

IEEE Robotics Autom. Lett., June, 2023

Explainable Artificial Intelligence: Evaluating the Objective and Subjective Impacts of xAI on Human-Agent Interaction.

Andrew Silva, Mariah Schrum, Erin Hedlund-Botti, Nakul Gopalan, Matthew C. Gombolay

Int. J. Hum. Comput. Interact., April, 2023

Language-Conditioned Change-point Detection to Identify Sub-Tasks in Robotics Domains.

Divyanshu Raj, Chitta Baral, Nakul Gopalan

CoRR, 2023

Investigating the Impact of Experience on a User's Ability to Perform Hierarchical Abstraction.

Nina M. Moorman, Nakul Gopalan, Aman Singh, Erin Botti, Mariah Schrum, Chuxuan Yang, Lakshmi Seelam, Matthew C. Gombolay

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Improved Inference of Human Intent by Combining Plan Recognition and Language Feedback.

Ifrah Idrees, Tian Yun, Naveen Sharma, Yunxin Deng, Nakul Gopalan, George Konidaris, Stefanie Tellex

IROS, 2023

2022

LanCon-Learn: Learning With Language to Enable Generalization in Multi-Task Manipulation.

Andrew Silva, Nina Moorman, William Silva, Zulfiqar Zaidi, Nakul Gopalan, Matthew C. Gombolay

IEEE Robotics Autom. Lett., 2022

Learning Efficient Exploration through Human Seeded Rapidly-exploring Random Trees.

Max Zuo, Logan Schick, Matthew C. Gombolay, Nakul Gopalan

CoRR, 2022

Affordance-based robot object retrieval.

Thao Nguyen, Nakul Gopalan, Roma Patel, Matt Corsaro, Ellie Pavlick, Stefanie Tellex

Auton. Robots, 2022

Negative Result for Learning from Demonstration: Challenges for End-Users Teaching Robots with Task And Motion Planning Abstractions.

Nakul Gopalan, Nina Moorman, Manisha Natarajan, Matthew C. Gombolay

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Machine Learning in Human-Robot Collaboration: Bridging the Gap.

Cynthia Matuszek, Harold Soh, Matthew C. Gombolay, Nakul Gopalan, Reid G. Simmons, Stefanos Nikolaidis

Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2022

2021

Learning to Follow Language Instructions with Compositional Policies.

Vanya Cohen, Geraud Nangue Tasse, Nakul Gopalan, Steven James, Matthew C. Gombolay, Benjamin Rosman

CoRR, 2021

Interpretable Policy Specification and Synthesis through Natural Language and RL.

Pradyumna Tambwekar, Andrew Silva, Nakul Gopalan, Matthew C. Gombolay

CoRR, 2021

Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions.

Elias Stengel-Eskin, Andrew Hundt, Zhuohong He, Aditya Murali, Nakul Gopalan, Matthew C. Gombolay, Gregory D. Hager

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer.

Andrew Hundt, Aditya Murali, Priyanka Hubli, Ran Liu, Nakul Gopalan, Matthew C. Gombolay, Gregory D. Hager

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020

Learning to Ground Natural Language Instructions to Plans.

Nakul Gopalan

PhD thesis, 2020

Robots That Use Language.

Stefanie Tellex, Nakul Gopalan, Hadas Kress-Gazit, Cynthia Matuszek

Annu. Rev. Control. Robotics Auton. Syst., 2020

Robot Object Retrieval with Contextual Natural Language Queries.

Thao Nguyen, Nakul Gopalan, Roma Patel, Matthew Corsaro, Ellie Pavlick, Stefanie Tellex

Proceedings of the Robotics: Science and Systems XVI, 2020

Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following.

Nakul Gopalan, Eric Rosen, George Konidaris, Stefanie Tellex

Proceedings of the Robotics: Science and Systems XVI, 2020

Building Plannable Representations with Mixed Reality.

Eric Rosen, Nishanth Kumar, Nakul Gopalan, Daniel Ullman, George Konidaris, Stefanie Tellex

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019

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

Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Edward C. Williams, Mina Rhee, Lawson L. S. Wong, Stefanie Tellex

Auton. Robots, 2019

Grounding Language Attributes to Objects using Bayesian Eigenobjects.

Vanya Cohen, Benjamin Burchfiel, Thao Nguyen, Nakul Gopalan, Stefanie Tellex, George Dimitri Konidaris

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Flight, Camera, Action! Using Natural Language and Mixed Reality to Control a Drone.

Baichuan Huang, Deniz Bayazit, Daniel Ullman, Nakul Gopalan, Stefanie Tellex

Proceedings of the International Conference on Robotics and Automation, 2019

2018

Mitigating Planner Overfitting in Model-Based Reinforcement Learning.

Dilip Arumugam, David Abel, Kavosh Asadi, Nakul Gopalan, Christopher Grimm, Jun Ki Lee, Lucas Lehnert, Michael L. Littman

CoRR, 2018

Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications.

Nakul Gopalan, Dilip Arumugam, Lawson L. S. Wong, Stefanie Tellex

Proceedings of the Robotics: Science and Systems XIV, 2018

Learning to Parse Natural Language to Grounded Reward Functions with Weak Supervision.

Edward C. Williams, Nakul Gopalan, Mina Rhee, Stefanie Tellex

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Planning Hierarchies and their Connections to Language.

Nakul Gopalan

Proceedings of the 2018 AAAI Spring Symposia, 2018

2017

Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities.

Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Lawson L. S. Wong, Stefanie Tellex

Proceedings of the Robotics: Science and Systems XIII, 2017

Planning with Abstract Markov Decision Processes.

Nakul Gopalan, Marie desJardins, Michael L. Littman, James MacGlashan, Shawn Squire, Stefanie Tellex, John Winder, Lawson L. S. Wong

Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling, 2017

A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions.

Siddharth Karamcheti, Edward C. Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson L. S. Wong, Stefanie Tellex

Proceedings of the First Workshop on Language Grounding for Robotics, 2017

2014

Bayesian Gait Optimization for Bipedal Locomotion.

Roberto Calandra, Nakul Gopalan, André Seyfarth, Jan Peters, Marc Peter Deisenroth

Proceedings of the Learning and Intelligent Optimization, 2014

2013

Feedback error learning for rhythmic motor primitives.

Nakul Gopalan, Marc Peter Deisenroth, Jan Peters

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013