We are the People and Robots Teaching and Learning (PoRTaL) group at Cornell Computer Science.

We build everyday robots for everyday users.

Our mission is to make robots accessible, user-friendly and practical for everyday tasks from cooking to cleaning. To this end, our research focuses on imitation learning, decision making and human-robot interaction. We are passionate about both theory and algorithms that equip robots with skills to work with people.

If you are interested in joining our minion army to take over the world, apply here!.


Oct 2, 2023 Congratulations to Yuki, Gonzalo and Yash for their first paper at Neurips 2023, Demo2Code!
Sep 27, 2023 New NSF FRR grant on Inverse Task Planning with Jeannette Bohg!
Sep 15, 2023 Exciting paper at CORL 2023, Manicast, on learning human forecasts for collaborative human-robot manipulation. Congratulations to Kushal and team! Check out the explainer tweet.
Aug 15, 2023 New NSF Grant on superhuman imitation learning with the O.G :sunglasses: Brian Ziebart at UIC. Check out the Cornell Chronicle article to learn more!
Jul 15, 2023 Exciting new work, Demo2Code, on learning from demonstrations with LLMs! Check out the explainer tweet.
Jul 1, 2023 Congratulations to Kushal and Prithwish for their first paper at IROS 2023, Game theoretic forecasting & planning! Here’s the explainer tweet.
May 22, 2023 Big plans for the summer with our new undergraduate researchers Max Pace, Atiksh Bhardwaj, Vivian Fan and Lisa Asriev! :muscle:
May 8, 2023 We had an amaaazing end-of-semester social! :tada: HAL and DORA, for the first time ever, showed off how to collaboratively cook with our human user, Neha. Checkout the demo and behind the scenes!
May 3, 2023 Two very cool papers :sunglasses: at ICML: The Virtue of Laziness in MBRL and IRL without RL. Reset distributions are back this summer!
May 1, 2023 Here’s a sneak peek :eyes: of HAL and DORA getting ready to cook together with humans for the first time! This was a massive engineering effort combining the power of large language models, speech detection, visual imitation learning, motion capture, forecasting, model predictive control and more!
Apr 27, 2023 We had a blast showing off HAL at BOOM, back after 3 years at Cornell! Checkout pictures!
Feb 5, 2023 Welcome the newest PoRTaLites :sparkles: - David Wu, Prithwish Dan, Neha Sunkara, Gonzalo Gonzalez and Yash Sharma!
Jan 29, 2023 Kicking off the new year with new papers! Impossibly Good Experts and How to Follow Them at ICLR 2023, Guided Incremental Local Densification at ICRA 2023.
Dec 9, 2022 Thanks everyone for coming to PORTAL’s first holiday social! We had a blast showing you our wonderful robots, HAL and DORA, and our plans to take over the world ;)
Dec 6, 2022 HAL’s first autonomy run! They grow so fast …
Nov 23, 2022 Unveiling our first robot HAL (Home Apprentice Learner)! Checkout how we are teaching HAL from demonstrations
Nov 20, 2022 We are coming to NeurIPS. Come checkout our two papers - Sequence Model Imitation Learning with Unobserved Contexts and Minimax Optimal Online Imitation Learning via Replay Estimation!
Aug 1, 2022 Welcome founding members of PoRTaL: Yuki Wang, Kushal Kedia, Juntao Ren, Kelly Chen, Nathaniel Chin, Edward Gu!
Jul 6, 2022 The PoRTaL is now open!