Research

Affordance Learning Learning Affordances from Human Videos for Autonomous Robotic Exploration
^{Olivia Y. Lee, Annie Xie, Karl Pertsch, Suraj Nair, and Chelsea Finn
Ongoing Project, presented at the Stanford Symbolic Systems Annual Research Showcase
We are developing a real robot system that autonomously explores and gathers in-domain experience by leveraging priors from human data. To do so, we address the lack of well-shaped rewards, a key challenge for robotic exploration, by leveraging structural assumptions from human interaction data. I have conducted preliminary experiments in simulation and am currently testing the approach on a real robot system.}

Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learning [paper] [site] [publication]
^{Maximilian Du*, Olivia Y. Lee*, Suraj Nair, and Chelsea Finn
Robotics Science and Systems (RSS), 2022 [recording]
We propose a system that learns to complete challenging, partially-observed manipulation tasks by reasoning over visual and audio inputs. Our system combines offline imitation learning from a modest number of tele-operated demonstrations and online finetuning using human provided interventions. In simulation, our system benefits from using audio and online interventions improve the success rate of offline imitation learning by ~20%. On a Franka Emika Panda robot, our system completes manipulation tasks (e.g. extracting keys from a bag) with a 70% success rate, 50% higher than a policy that does not use audio.}

An updated analysis of satellite quantum-key distribution missions [paper]
^{Olivia Y. Lee, Tom Vergoossen
We provide a meta-analysis of research and development efforts that have contributed to the realization of satellite quantum-key distribution (satellite-QKD). We present an overview of the various technical parameters of performing satellite-based QKD regarding protocols and infrastructure. Following a timeline of key milestones in the development of satellite-QKD, we present a high-level summary of globally completed and proposed quantum satellite missions, categorized by specific advancements thus far in satellite-QKD. We conclude with a discussion on the technical challenges currently faced in satellite-QKD and future directions to address these challenges.}