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

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.


  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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


  • 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.
  • 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.
  • 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.
  • 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.