Sungjoon Choi

A Nonparametric Motion Flow Model for Human Robot Cooperation

2018

In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which …

Sparse Markov Decision Processes With Causal Sparse Tsallis Entropy Regularization for Reinforcement Learning

2018 · IEEE Robotics and Automation Letters

In this letter, a sparse Markov decision process (MDP) with novel causal sparse Tsallis entropy regularization is proposed. The proposed policy regularization induces a sparse and multimodal optimal policy distribution of a sparse MDP. The …

Semi-Supervised Imitation Learning with Mixed Qualities of Demonstrations for Autonomous Driving

2021 · arXiv (Cornell University)

In this paper, we consider the problem of autonomous driving using imitation learning in a semi-supervised manner. In particular, both labeled and unlabeled demonstrations are leveraged during training by estimating the quality of each unlabeled …

CLARA: Classifying and Disambiguating User Commands for Reliable Interactive Robotic Agents

2023 · arXiv (Cornell University)

In this paper, we focus on inferring whether the given user command is clear, ambiguous, or infeasible in the context of interactive robotic agents utilizing large language models (LLMs). To tackle this problem, we first …