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A figure from the verb physics paper, showing our factor graph model.
June 15, 2017

Verb Physics: Relative Physical Knowledge of Actions and Objects

We investigate how our usage of verbs implies phsical relations between the objects we talk about.

A photo of a sliver of Tokyo through a rainy window using pseudo tilt shift photography to make everything look tiny.
April 23, 2016


Disentangling learning and the creative process.

The robot executing a program programmed by instructions.
May 26, 2015

Robot Programming by Demonstration with Situated Spatial Language Understanding

We build a system for programming robots with natural language.

A user programming a robot by demonstration. The robot is using semantic parsing to interpret the user's command.
November 14, 2014

Programming by Demonstration with Situated Semantic Parsing

We use semantic parsing to create a better natural language interface for robot programming by demonstration.

The GUI the crowd used to fix robot actions.
November 4, 2014

Robot Programming by Demonstration with Crowdsourced Action Fixes

We use crowdsourcing with active learning to help robot programming by demonstration.

A wrench to represent tools.
June 15, 2014


I build and open-source small tools as I work.

Gambit in action building a duplo model.
June 4, 2014

Accelerating Imitation Learning through Crowdsourcing

We explore how crowdsourcing can improve goal-based imitation learning in robotics.

A picture representing this website? Well, it's got my initials at least.
April 26, 2014


I built a tiny open-source web publishing platform to allow me to write and update content as easily as possible.

The NAO robot with a helmet (dark) and holding a box (heavy).
March 3, 2014

Grounding Antonym Adjective Pairs through Interaction

We use generative classifiers to interactively teach a NAO robot to distinguish antonym pairs of adjectives.