Nakul Gopalan

Nakul Gopalan

I am a graduate student in Stefanie Tellex's H2R lab at Brown. My research interests lie at the intersection of language grounding and robot learning. I am developing algorithms and methods allowing robots to be trained by leveraging demonstrations and their natural language descriptions. This would improve the usability of robots within homes and offices. My other research interests are in hierarchical reinforcement learning and planning.


Conference publications

Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications. Nakul Gopalan*, Dilip Arumugam*, Lawson L.S. Wong, Stefanie Tellex. R:SS 2018

Learning to Parse Natural Language to Grounded Reward Functions with Weak Supervision. Edward C. Williams*, Nakul Gopalan*, Mina Rhee, Stefanie Tellex. ICRA 2018

Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities. Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Lawson L.S. Wong, Stefanie Tellex. R:SS 2017

Planning with Abstract Markov Decision Processes. Nakul Gopalan, Marie desJardins, Michael L. Littman, James MacGlashan, Shawn Squire, Stefanie Tellex, John Winder and Lawson L.S. Wong. ICAPS 2017

Bayesian Gait Optimization for Bipedal Locomotion. Roberto Calandra, Nakul Gopalan, AndrĖe Seyfarth, Jan Peters, Marc Peter Deisenroth. LION 2014

Feedback Error Learning for Rhythmic Motor Primitives. Nakul Gopalan, Marc Peter Deisenroth, Jan Peters. ICRA 2013


Representative Workshop publications

Generalized Inverse Reinforcement Learning. James MacGlashan*, Nakul Gopalan*, Michael Littman, Amy Greenwald. RLDM 2017

A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action and Goal-Oriented Instructions. Siddharth Karamcheti, Edward Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson Wong, and Stefanie Tellex. Workshop in Language Grounding for Robotics (RoboNLP) at Association for Computational Linguistics, 2017. Winner of the RoboNLP Best Paper Award.

Modeling and solving human-robot collaborative tasks using POMDPs. Nakul Gopalan, Stefanie Tellex. R:SS Workshop on Model Learning for Human-Robot Communication 2015.



I have been a grad TA for the AI course at Brown in Spring and Fall 2017. I work on outreach efforts from Brown at the local schools in Rhode Island under Ignite CS. I also learn teaching fundamentals at Brown's Sherdian center.


Professional Service

I organized a workshop on Models and Representations for Natural Human-Robot Communication at R:SS 2018.

Reviewed for RSS (2015, 2016, 2017, 2018); ICRA (2016, 2017); NIPS (2013, 2014, 2015); CORL (2017, 2018); AAAI 2017.