Feedback error learning for rhythmic motor primitives. - Nakul Gopalan; Marc Peter Deisenroth; Jan Peters 001 (ICRA, 2013)

Bayesian Gait Optimization for Bipedal Locomotion. - Roberto Calandra; Nakul Gopalan; André Seyfarth; Jan Peters 001; Marc Peter Deisenroth (LION, 2014)

A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions. - Siddharth Karamcheti; Edward C. Williams; Dilip Arumugam; Mina Rhee; Nakul Gopalan; Lawson L. S. Wong; Stefanie Tellex (RoboNLP@ACL, 2017)

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

Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities. - Dilip Arumugam; Siddharth Karamcheti; Nakul Gopalan; Lawson L. S. Wong; Stefanie Tellex (Robotics: Science and Systems, 2017)

Planning Hierarchies and their Connections to Language. - Nakul Gopalan (AAAI Spring Symposia, 2018)

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

Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications. - Nakul Gopalan; Dilip Arumugam; Lawson L. S. Wong; Stefanie Tellex (Robotics: Science and Systems, 2018)

Mitigating Planner Overfitting in Model-Based Reinforcement Learning. - Dilip Arumugam; David Abel; Kavosh Asadi; Nakul Gopalan; Christopher Grimm; Jun Ki Lee; Lucas Lehnert; Michael L. Littman (CoRR, 2018)

Flight, Camera, Action! Using Natural Language and Mixed Reality to Control a Drone. - Baichuan Huang; Deniz Bayazit; Daniel Ullman 002; Nakul Gopalan; Stefanie Tellex (ICRA, 2019)

Grounding Language Attributes to Objects using Bayesian Eigenobjects. - Vanya Cohen; Benjamin Burchfiel; Thao Nguyen; Nakul Gopalan; Stefanie Tellex; George Dimitri Konidaris (IROS, 2019)

Grounding natural language instructions to semantic goal representations for abstraction and generalization. - Dilip Arumugam; Siddharth Karamcheti; Nakul Gopalan; Edward C. Williams; Mina Rhee; Lawson L. S. Wong; Stefanie Tellex (Auton. Robots, 2019)

Building Plannable Representations with Mixed Reality. - Eric Rosen; Nishanth Kumar; Nakul Gopalan; Daniel Ullman 002; George Konidaris 001; Stefanie Tellex (IROS, 2020)

Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following. - Nakul Gopalan; Eric Rosen; George Konidaris 001; Stefanie Tellex (Robotics: Science and Systems, 2020)

Robot Object Retrieval with Contextual Natural Language Queries. - Thao Nguyen; Nakul Gopalan; Roma Patel; Matthew Corsaro; Ellie Pavlick; Stefanie Tellex (Robotics: Science and Systems, 2020)

Robots That Use Language. - Stefanie Tellex; Nakul Gopalan; Hadas Kress-Gazit; Cynthia Matuszek (Annu. Rev. Control. Robotics Auton. Syst., 2020)

Learning to Ground Natural Language Instructions to Plans. - Nakul Gopalan (2020)

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer. - Andrew Hundt; Aditya Murali; Priyanka Hubli; Ran Liu; Nakul Gopalan; Matthew C. Gombolay; Gregory D. Hager (CoRL, 2021)

Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions. - Elias Stengel-Eskin; Andrew Hundt; Zhuohong He; Aditya Murali; Nakul Gopalan; Matthew C. Gombolay; Gregory D. Hager (CoRL, 2021)

Interpretable Policy Specification and Synthesis through Natural Language and RL. - Pradyumna Tambwekar; Andrew Silva; Nakul Gopalan; Matthew C. Gombolay (CoRR, 2021)

Learning to Follow Language Instructions with Compositional Policies. - Vanya Cohen; Geraud Nangue Tasse; Nakul Gopalan; Steven James 001; Matthew C. Gombolay; Benjamin Rosman (CoRR, 2021)

Machine Learning in Human-Robot Collaboration: Bridging the Gap. - Cynthia Matuszek; Harold Soh; Matthew C. Gombolay; Nakul Gopalan; Reid G. Simmons; Stefanos Nikolaidis (HRI, 2022)

Negative Result for Learning from Demonstration: Challenges for End-Users Teaching Robots with Task And Motion Planning Abstractions. - Nakul Gopalan; Nina Moorman; Manisha Natarajan; Matthew C. Gombolay (Robotics: Science and Systems, 2022)

Affordance-based robot object retrieval. - Thao Nguyen; Nakul Gopalan; Roma Patel; Matt Corsaro; Ellie Pavlick; Stefanie Tellex (Auton. Robots, 2022)

Learning Efficient Exploration through Human Seeded Rapidly-exploring Random Trees. - Max Zuo; Logan Schick; Matthew C. Gombolay; Nakul Gopalan (CoRR, 2022)

LanCon-Learn: Learning With Language to Enable Generalization in Multi-Task Manipulation. - Andrew Silva; Nina Moorman; William Silva; Zulfiqar Zaidi; Nakul Gopalan; Matthew C. Gombolay (IEEE Robotics Autom. Lett., 2022)

Improved Inference of Human Intent by Combining Plan Recognition and Language Feedback. - Ifrah Idrees; Tian Yun 001; Naveen Sharma; Yunxin Deng; Nakul Gopalan; George Konidaris 001; Stefanie Tellex (IROS, 2023)

Investigating the Impact of Experience on a User's Ability to Perform Hierarchical Abstraction. - Nina M. Moorman; Nakul Gopalan; Aman Singh; Erin Botti; Mariah Schrum; Chuxuan Yang; Lakshmi Seelam; Matthew C. Gombolay (Robotics: Science and Systems, 2023)

Language-Conditioned Change-point Detection to Identify Sub-Tasks in Robotics Domains. - Divyanshu Raj; Chitta Baral; Nakul Gopalan (CoRR, 2023)

Explainable Artificial Intelligence: Evaluating the Objective and Subjective Impacts of xAI on Human-Agent Interaction. - Andrew Silva; Mariah Schrum; Erin Hedlund-Botti; Nakul Gopalan; Matthew C. Gombolay (Int. J. Hum. Comput. Interact., 2023)

Natural Language Specification of Reinforcement Learning Policies Through Differentiable Decision Trees. - Pradyumna Tambwekar; Andrew Silva; Nakul Gopalan; Matthew C. Gombolay (IEEE Robotics Autom. Lett., 2023)

Interactive Visual Task Learning for Robots. - Weiwei Gu; Anant Sah; Nakul Gopalan (AAAI, 2024)

Hardware-Software Co-Design for Path Planning by Drones. - Ayushi Dube; Omkar Patil; Gian Singh; Nakul Gopalan; Sarma B. K. Vrudhula (IROS, 2024)

Learning Temporally Composable Task Segmentations with Language. - Divyanshu Raj; Omkar Patil; Weiwei Gu; Chitta Baral; Nakul Gopalan (IROS, 2024)

Continual Skill and Task Learning via Dialogue. - Weiwei Gu; Suresh Kondepudi; Lixiao Huang; Nakul Gopalan (CoRR, 2024)

XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning. - Prabin Kumar Rath; Nakul Gopalan (CoRR, 2024)

Composing Diffusion Policies for Few-shot Learning of Movement Trajectories. - Omkar Patil; Anant Sah; Nakul Gopalan (CoRR, 2024)

Compositional Instruction Following with Language Models and Reinforcement Learning. - Vanya Cohen; Geraud Nangue Tasse; Nakul Gopalan; Steven James 001; Matthew C. Gombolay; Raymond Mooney; Benjamin Rosman (Trans. Mach. Learn. Res., 2024)

Learning Sequential Kinematic Models from Demonstrations for Multi-Jointed Articulated Objects. - Anmol Gupta; Weiwei Gu; Omkar Patil; Jun Ki Lee; Nakul Gopalan (CoRR, 2025)