SelectedWorks - Roderic Grupen

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Selected Works of Roderic Grupen

Professor, Department of Computer Science

Professor Grupen conducts research that integrates signal processing, control, dynamical systems, learning, and development as a means of modeling intelligent systems. A central focus is controllers for complex, highly redundant, distributed systems. Grupen and his students have contributed hierarchical representations for sensorimotor policies that facilitate learning and transfer.

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About Roderic Grupen

Professor Grupen conducts research that integrates signal processing, control, dynamical systems, learning, and development as a means of modeling intelligent systems. A central focus is controllers for complex, highly redundant, distributed systems. Grupen and his students have contributed hierarchical representations for sensorimotor policies that facilitate learning and transfer.

Present	Director, Laboratory for Perceptual Robotics, University of Massachusetts Amherst
Institution Organization Position Type Position Title Time Period to Options Current Position Affiliate my profile with this Institution
Present	Professor, Department of Computer Science, University of Massachusetts Amherst
Institution Organization Position Type Position Title Time Period to Options Current Position Affiliate my profile with this Institution

Computer Sciences

Website

LGRC A337
University of Massachusetts Amherst
Amherst, MA. 01003
Tel: 413-545-3280
Fax: 413-545-1249

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Articles (7)

Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories

Advances in Neural Information Processing Systems 23 (NIPS) (2010)

George Konidaris, Scott Kuindersma, Andrew Barto and Roderic Grupen

We introduce CST, an algorithm for constructing skill trees from demonstration trajectories in continuous reinforcement learning domains. CST uses a ...

Extracting User Intent in Mixed Initiative Teleoperator Control

Proceedings of the American Institute of Aeronautics and Astronautics Intelligent Systems Technical Conference (2004)

Andrew H. Fagg, Michael Rosenstein, Robert Platt and Roderic Grupen

User fatigue is common with robot teleoperation interfaces. Mixed initiative control approaches attempt to reduce this fatigue by allowing control ...

A Service Paradigm for Reconfigurable Agents

Workshop on Infrastructure for Agents, MAS, and Scalable MAS (2001)

Gary Holness, Deepak Karuppiah, Subramanya Uppala, Roderic Grupen, et al.

Applications of multiple processors embedded in the systems involved with entertainment, informatics, climate control, communication, transportation, and food preparation are ...

Learning to Coordinate Controllers -- Reinforcement Learning on a Control Basis

15th International Joint Conference on Artificial Intelligence (1997)

Manfred Huber and Roderic Grupen

Autonomous robot systems operating in an uncertain environment have to be reactive and adaptive in order to cope with changing ...

A Control Basis for Multilegged Walking

IEEE Conference on Automation and Robotics (1996)

Manfred Huber, Willard S. MacDonald and Roderic Grupen

This paper presents a distributed control approach to legged locomotion that constructs behavior on-line by activating combinations of reusable feedback ...

Robust Reinforcement Learning in Motion Planning

Advances in Neural Information Processing Systems 6 (NIPS 1993) (1993)

Satinder P. Singh, Andrew G. Barto, Roderic Grupen and Christopher Connolly

While exploring to find better solutions, an agent performing on-line reinforcement learning (RL) can perform worse than is acceptable. In ...

Applications of Harmonic Functions to Robotics

Journal of Robotic Systems (1992)

Christopher I. Connolly and Roderic Grupen

Harmonic functions are solutions to Laplace's Equation. As noted in a previous paper, they can be used to advantage for ...

Unpublished Paper

Learning from a Single Demonstration: Motion Planning with Skill Segmentation

NIPS Workshop on Learning and Planning from Batch Time Series Data (2010)

Scott Kuindersma, George Konidaris, Roderic Grupen and Andrew Barto

We propose an approach to control learning from demonstration that first segments demonstration trajectories to identify subgoals to solve the ...

Unpublished Paper

Generalization and Transfer in Robot Control

Epigenetic Robotics Annual Conference (2008)

Stephen Hart, Shiraj Sen and Roderic Grupen

We address the generalization and transfer of sensorimotor programs in robot systems. We use a factorable control-based approach that provides ...

Unpublished Paper

Mobile Manipulators for Assisted Living in Residential Settings

Autonomous Robots (2008)

Patrick Deegan, Roderic Grupen, Allen Hanson, Emily Horrell, et al.

We describe a methodology for creating new technologies for assisted living in residential environments. The number of eldercare clients is ...

Unpublished Paper

A Framework for Humanoid Control and Intelligence

Proceedings of the 2003 IEEE International Conference on Humanoid Robots (2003)

Robert Platt, Oliver Brock, Andrew H. Fagg, Deepak Karupiah, et al.

One of the goals of humanoid research is the development of a humanoid capable of performing useful tasks in unknown ...

Unpublished Paper

Scalability and Schedulability in Large, Coordinated, Distributed Robot Systems

2003 IEEE International Conference on Robotics and Automation (2003)

John D. Sweeney, Huan Li, Roderic Grupen and Krithi Ramamritham

Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots requires ...

Unpublished Paper

Nullspace Composition of Control Laws for Grasping

IEEE International Conference on Intelligent Robots and Systems (2002)

Robert Platt, Andrew H. Fagg and Roderic Grupen

Much of the tradition in robot grasping is rooted in geometrical, planning-based approaches in which it assumed that object and ...

Unpublished Paper

Developing Haptic and Visual Perceptual Categories for Reaching and Grasping ...

Robotics and Autonomous Systems (2001)

Jefferson Coelho, Justus Piater and Roderic Grupen

Properties of the human embodiment sensorimotor apparatus and neurological structure participate directly in the growth and development of cognitive processes ...

Unpublished Paper

Dynamic Control Models as State Abstractions

NIPS'98 Workshop on Abstraction and Hierarchy in Reinforcement Learning (1998)

Jefferson A. Coelho and Roderic Grupen

This work proposes a methodology for the construction of state abstraction from a set of empirically derived models of system ...

Unpublished Paper

A Control Basis for Learning Multifingered Grasps

Journal of Robot Systems (1997)

Jefferson A. Coelho and Roderic Grupen

In this paper, we introduce a robust controller that uses contact position and normal feedback to generate contact configurations for ...

Unpublished Paper

A Feedback Control Structure for On-line Learning Tasks

Robotics and Autonomous Systems (1997)

Manfred Huber and Roderic Grupen

This paper addresses adaptive control architectures for systems that respond autonomously to changing tasks. Such systems often have many sensory ...

A Control Architecture forMulti-modal Sensory Integration

Computer Science Department Faculty Publication Series (1998)

Luiz M. G. Gonçalves, Roderic A. Grupen and Antonio A. F. Oliveira

This work describes the architecture of an integrated multi-modal sensory (vision and touch) computational system. We propose to use an ...