I am a postdoctoral researcher in the CORE Robotics Lab with Prof. Matthew Gombolay at Georgia Tech. I completed my PhD at Brown University's Computer Science department in 2019. Previously I was a graduate student in Prof. Stefanie Tellex's H2R lab at Brown. My research interests lie at the intersection of language grounding and robot learning. I am interested in algorithms and methods that allow robots to be trained by leveraging demonstrations and natural language descriptions. Such learning would improve the usability of robots within homes and offices. My other research interests are in hierarchical reinforcement learning and planning.
Grounding Language Attributes to Objects using Bayesian Eigenobjects. Vanya Cohen*, Benjamin Burchfiel*, Thao Nguyen*, Nakul Gopalan, Stefanie Tellex, George Konidaris. IROS 2019
Flight, Camera, Action! Using Natural Language and Mixed Reality to Control a Drone. Baichuan Huang, Deniz Bayazit, Daniel Ullman, Nakul Gopalan, Stefanie Tellex. ICRA 2019
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, Andŕe 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 worked on outreach efforts from Brown at the local schools in Rhode Island under Ignite CS. I am interested in computer science education efforts in school and college classrooms. I have participated in various teaching fundamental courses at Brown's Sheridan Center for Teaching and Learning.
I organized a workshop on Models and Representations for Natural Human-Robot Communication at R:SS 2018.
Reviewed for RSS (2015, 2016, 2017, 2018, 2019); ICRA (2016, 2017, 2019); NIPS (2013, 2014, 2015); CORL (2017, 2018, 2019); AAAI 2017.