Cornell PoRTaL Group

People and Robots Teaching and Learning (PoRTaL) group. Robots working seamlessly alongside human partners. @sanjibac @CornellCIS

[Cornell PoRTaL Group @PortalCornell]

PoRTaL social was a blast 🎉 Thank you for the amazing turnout! Our robots 🤖, HAL and DORA, loved showing off their collaborative cooking skills 👩‍🍳 Check out the demo here: https://t.co/MF8dkagRPw.
We are just getting started ...

[Sanjiban Choudhury @sanjibac]

We know LLMs can generate code from language, but wouldn’t it be great if they could do it from demonstrations?

We present Demo2Code, a powerful way to generate robot code from demonstrations! #Neurips2023

Come check out our poster#436 on Thurs 10.45 to learn more! 🧵

[Sanjiban Choudhury @sanjibac]

If we don't want robots driving YOU out of YOUR home, we better get robots to learn about humans!

At #CORL2023, we present ManiCast, a novel framework that learns cost-aware human forecasts allowing our robot to collaborate safely and legibly alongside a human partner. 🧵

[Cornell PoRTaL Group @PortalCornell]

Minions of PORTAL took over Gates today ... Watch out world, you are next! #Minion #Halloween @CornellCIS

[Cornell PoRTaL Group @PortalCornell]

Excited to share our work on predicting rare but risky events for safe planning around humans. We propose a new way to jointly train forecasting+planning! Awesome collaboration between @kushalk_ and @prithwish_dan

[Sanjiban Choudhury @sanjibac]

How do we get robots to forecast rare but risky events to be safe around humans? At #IROS2023, we present a brand new perspective on forecasting that helps robots hedge as well as humans. 🧵
Tuesday afternoon Poster Session: TuBT9.10

[Cornell PoRTaL Group @PortalCornell]

Humans are not perfect. But can robots learn from our imperfections, and be a little bit better?

Excited to kick-off our first NSF project with Brian Ziebart from UIC on "superhuman" imitation learning 🚀 Stay tuned for new papers and results in the coming months!

[Cornell Bowers Computing and Information Science @Cornell_Bowers]

Can we improve #AI to help robots respond to complex real-world situations? 🦾🤖💭

Scientists in @Cornell_CS are exploring a "superhuman" approach using a series of imperfect demonstrations - with the robot finding the best way to accomplish the task. https://t.co/N57l2xZKYt

[Cornell PoRTaL Group @PortalCornell]

Exciting new work from Portal on learning from demonstrations with LLMs! Awesome collaboration from @YukiWang_hw, Gonzalo and @yash_s20!
https://t.co/vYadUR7GIa

[Sanjiban Choudhury @sanjibac]

Language is a powerful tool for instructing AI, but it isn't always the most intuitive. Often, demonstrating the task and letting AI imitate us is much simpler. Like making that perfect burger! Introducing Demo2Code, that uses LLMs to translate demonstrations to imitative code 🧵

[Cornell PoRTaL Group @PortalCornell]

Looking back this semester, PoRTaL has come a long way! We grew bigger and closer as a team, took on ambitious projects and shared our story with the world. Come share our memories on instagram ...
https://t.co/CJIVoboSYS https://t.co/2NgItt8cYi

[Cornell PoRTaL Group @PortalCornell]

DORA uses deep learning to forecast how humans move around it and plans with these learned forecasts. We collect accurate, high-quality motion capture data of humans and robots working together to train our models.

Stay tuned for upcoming papers on how we train DORA!

[Cornell PoRTaL Group @PortalCornell]

Kitchens can get crowded and chaotic 🧑‍🍳. Which is why are building DORA (DextrOus Robot Apprentice) to cook alongside you, making the process more enjoyable and efficient. Checkout how DORA adapts and plans to work collaboratively with human partners.

https://t.co/YMWjPYRdi8

[Cornell PoRTaL Group @PortalCornell]

HAL uses #GPT to turn natural conversations to task code, and visual imitation learning to learn skills like picking up new objects.

Come by our lab social this Monday 5/8, 5 pm, Rhodes 551 to see HAL do this live. We have food 🍪, we have drinks 🥤, we have robots! 🤖

[Cornell PoRTaL Group @PortalCornell]

Cooking is fun! 👩‍🍳 But searching for condiments ... not so much. 🦥 That's why we at PoRTaL are training our robot HAL to all the running around for you!
https://t.co/ZQRZgnz5pg

[Gokul Swamy @g_k_swamy]

Our paper on *exponentially* faster algorithms for inverse reinforcement learning was accepted to #ICML2023! I'll put together a full explainer thread later but check out https://t.co/rid4UQdIt9 if you want a sneak peak. Makes a huge difference on hard exploration problems.

[Anirudh Vemula @vvanirudh]

Our paper on a new (lazy) approach to model-based RL that is both computationally efficient and avoids the objective mismatch problem has been accepted for ICML!

Excited to present it at Honolulu this summer!

https://t.co/ENKppPA6Bk

[Cornell PoRTaL Group @PortalCornell]

Thanks everyone for coming to PORTAL’s first holiday social! We had a blast showing you our wonderful robots, HAL and DORA, and our plans to take over the world ;) If you missed the demo, you can always catch it here https://t.co/7zvq9xJYbf
Happy Holidays! ☃️ 🏂

[Cornell PoRTaL Group @PortalCornell]

Cleaning up after Thanksgiving dinner can be hard.. That’s why we are building a home robot apprentice, HAL, to clean up after you! Follow us as we teach HAL to make our lives easier so we can.. er.. get back to our phones? 🤨
https://t.co/10WLj4UQ6j

[Cornell PoRTaL Group @PortalCornell]

The PoRTaL is now open 🌀
Our mission is to equip robots with skills to work seamlessly alongside human partners. We focus on imitation learning, decision making, and human-robot interaction. We are excited to get started.
Follow us along on our journey!