Search Results for author: Eric Rosen

Found 16 papers, 2 papers with code

Verifiably Following Complex Robot Instructions with Foundation Models

no code implementations18 Feb 2024 Benedict Quartey, Eric Rosen, Stefanie Tellex, George Konidaris

We propose Language Instruction grounding for Motion Planning (LIMP), a system that leverages foundation models and temporal logics to generate instruction-conditioned semantic maps that enable robots to verifiably follow expressive and long-horizon instructions with open vocabulary referents and complex spatiotemporal constraints.

Motion Planning

Language-Conditioned Observation Models for Visual Object Search

no code implementations13 Sep 2023 Thao Nguyen, Vladislav Hrosinkov, Eric Rosen, Stefanie Tellex

In this work, we bridge the gap in realistic object search by posing the search problem as a partially observable Markov decision process (POMDP) where the object detector and visual sensor noise in the observation model is determined by a single Deep Neural Network conditioned on complex language descriptions.


A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators

no code implementations18 May 2023 Eric Rosen, Devesh K. Jha

We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface.

CAPE: Corrective Actions from Precondition Errors using Large Language Models

no code implementations17 Nov 2022 Shreyas Sundara Raman, Vanya Cohen, Ifrah Idrees, Eric Rosen, Ray Mooney, Stefanie Tellex, David Paulius

Our improvements transfer to a Boston Dynamics Spot robot initialized with a set of skills (specified in language) and associated preconditions, where CAPE improves the correctness metric of the executed task plans by 76. 49% compared to SayCan.

Common Sense Reasoning Language Modelling +1

CHARM: A Hierarchical Deep Learning Model for Classification of Complex Human Activities Using Motion Sensors

no code implementations16 Jul 2022 Eric Rosen, Doruk Senkal

In this paper, we report a hierarchical deep learning model for classification of complex human activities using motion sensors.

Human Activity Recognition

Learning robot motor skills with mixed reality

no code implementations21 Mar 2022 Eric Rosen, Sreehari Rammohan, Devesh Jha

Mixed Reality (MR) has recently shown great success as an intuitive interface for enabling end-users to teach robots.

Mixed Reality World Knowledge

Scalable knowledge base completion with superposition memories

1 code implementation24 Oct 2021 Matthias Lalisse, Eric Rosen, Paul Smolensky

We present Harmonic Memory Networks (HMem), a neural architecture for knowledge base completion that models entities as weighted sums of pairwise bindings between an entity's neighbors and corresponding relations.

Knowledge Base Completion

Value-Based Reinforcement Learning for Continuous Control Robotic Manipulation in Multi-Task Sparse Reward Settings

no code implementations28 Jul 2021 Sreehari Rammohan, Shangqun Yu, Bowen He, Eric Hsiung, Eric Rosen, Stefanie Tellex, George Konidaris

Learning continuous control in high-dimensional sparse reward settings, such as robotic manipulation, is a challenging problem due to the number of samples often required to obtain accurate optimal value and policy estimates.

Continuous Control Data Augmentation +5

Compositional Processing Emerges in Neural Networks Solving Math Problems

1 code implementation19 May 2021 Jacob Russin, Roland Fernandez, Hamid Palangi, Eric Rosen, Nebojsa Jojic, Paul Smolensky, Jianfeng Gao

A longstanding question in cognitive science concerns the learning mechanisms underlying compositionality in human cognition.

Math Mathematical Reasoning

Bootstrapping Motor Skill Learning with Motion Planning

no code implementations12 Jan 2021 Ben Abbatematteo, Eric Rosen, Stefanie Tellex, George Konidaris

We propose using kinematic motion planning as a completely autonomous, sample efficient way to bootstrap motor skill learning for object manipulation.

Motion Planning

Geometrical morphology

no code implementations13 Mar 2017 John Goldsmith, Eric Rosen

We explore inflectional morphology as an example of the relationship of the discrete and the continuous in linguistics.

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