Publications

2026

Bayesian Social Deduction with Graph-Informed Language Models

Shahab Rahimirad, Guven Gergerli, Lucia Romero, Angela Qian, Matthew Lyle Olson, Simon Stepputtis, Joseph Campbell

Annual Meeting of the Association for Computational Linguistics

Disentangled Concept-Residual Models: Bridging the Interpretability-Performance Gap for Incomplete Concept Sets

Renos Zabounidis, Ini Oguntola, Konghao Zhao, Joseph Campbell, Woojun Kim, Simon Stepputtis, Katia P. Sycara

Transactions on Machine Learning Research

From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO

Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri, Simon Stepputtis, Dylan P. Losey

IEEE/RSJ International Conference on Intelligent Robots and Systems

RLC Workshop 2026

Influence-Guided Agent Adaptation for Dynamic Human–AI Collaboration

Sara Dubey, Nagender Aneja, Simon Stepputtis

Continual Reinforcement Learning Workshop at RLC

Language Movement Primitives: Grounding Language Models in Robot Motion

Yinlong Dai, Benjamin A. Christie, Daniel J. Evans, Dylan P. Losey, Simon Stepputtis

Learning When to Stop: Prefix-Optimal Dynamic Diffusion Policies for Continuous Control

Rohit Kumar Salla, Manoj Saravanan, Simon Stepputtis

Reinforcement Learning Conference

LieCraft: A Multi-Agent Framework for Evaluating Deceptive Capabilities in Language Models

Matthew Lyle Olson, Neale Ratzlaff, Musashi Hinck, Tri Nguyen, Vasudev Lal, Joseph Campbell, Simon Stepputtis, Shao-Yen Tseng

AAAI Conference on Artificial Intelligence

Overcoming Valid Action Suppression in Unmasked Policy Gradient Algorithms

Renos Zabounidis, Roy Siegelmann, Mohamad Qadri, Woojun Kim, Simon Stepputtis, Katia P. Sycara

Theory of Mind Guided Strategy Adaptation for Zero-Shot Coordination

Andrew Ni, Simon Stepputtis, Stefanos Nikolaidis, Michael Lewis, Katia P. Sycara, Woojun Kim

International Conference on Autonomous Agents and Multiagent Systems

2025

Adaptively Coordinating with Novel Partners via Learned Latent Strategies

Benjamin Li, Shuyang Shi, Lucia Romero, Huao Li, Yaqi Xie, Woojun Kim, Stefanos Nikolaidis, Michael Lewis, Katia P. Sycara, Simon Stepputtis

Conference on Neural Information Processing Systems

Enhancing Vision-Language Few-Shot Adaptation with Negative Learning

Ce Zhang, Simon Stepputtis, Katia P. Sycara, Yaqi Xie

IEEE/CVF Winter Conference on Applications of Computer Vision

InstructPart: Task-Oriented Part Segmentation with Instruction Reasoning

Zifu Wan, Yaqi Xie, Ce Zhang, Zhiqiu Lin, Zihan Wang, Simon Stepputtis, Deva Ramanan, Katia P. Sycara

Annual Meeting of the Association for Computational Linguistics

Model-Agnostic Policy Explanations with Large Language Models

Zhang Xi-Jia, Yue Guo, Shufei Chen, Simon Stepputtis, Matthew C. Gombolay, Katia P. Sycara, Joseph Campbell

Conference on Language Modeling

RSS Workshop 2025

Modeling Latent Partner Strategies for Adaptive Zero-Shot Human-Agent Collaboration

Benjamin Li, Shuyang Shi, Lucia Romero, Huao Li, Yaqi Xie, Woojun Kim, Stefanos Nikolaidis, Michael Lewis, Katia P. Sycara, Simon Stepputtis

Generative Models x HRI Workshop at RSS

OMG: Opacity Matters in Material Modeling with Gaussian Splatting

Silong Yong, Venkata Nagarjun Pudureddiyur Manivannan, Bernhard Kerbl, Zifu Wan, Simon Stepputtis, Katia P. Sycara, Yaqi Xie

International Conference on Learning Representations

ONLY: One-Layer Intervention Sufficiently Mitigates Hallucinations in Large Vision-Language Models

Zifu Wan, Ce Zhang, Silong Yong, Martin Q. Ma, Simon Stepputtis, Louis-Philippe Morency, Deva Ramanan, Katia P. Sycara, Yaqi Xie

IEEE/CVF International Conference on Computer Vision

NeurIPS Workshop 2025

SCALAR: Learning and Composing Skills through LLM Guided Symbolic Planning and Deep RL Grounding

Renos Zabounidis, Yue Wu, Simon Stepputtis, Woojun Kim, Yuanzhi Li, Tom Mitchell, Katia P. Sycara

Workshop on Bridging Language, Agent, and World Models for Reasoning and Planning at NeurIPS

Self-Correcting Decoding with Generative Feedback for Mitigating Hallucinations in Large Vision-Language Models

Ce Zhang, Zifu Wan, Zhehan Kan, Martin Q. Ma, Simon Stepputtis, Deva Ramanan, Russ Salakhutdinov, Louis-Philippe Morency, Katia P. Sycara, Yaqi Xie

International Conference on Learning Representations

Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation

Zifu Wan, Pingping Zhang, Yuhao Wang, Silong Yong, Simon Stepputtis, Katia P. Sycara, Yaqi Xie

IEEE/CVF Winter Conference on Applications of Computer Vision

Speaking the Language of Teamwork: LLM-Guided Credit Assignment in Multi-Agent Reinforcement Learning

Muhan Lin, Shuyang Shi, Yue Guo, Vaishnav Tadiparthi, Behdad Chalaki, Ehsan Moradi-Pari, Simon Stepputtis, Woojun Kim, Joseph Campbell, Katia P. Sycara

Spectral-aware Global Fusion for RGB-Thermal Semantic Segmentation

Ce Zhang, Zifu Wan, Simon Stepputtis, Katia P. Sycara, Yaqi Xie

IEEE International Conference on Image Processing

2024

A Comparison of Imitation Learning Algorithms for Bimanual Manipulation

Michael Drolet, Simon Stepputtis, Siva Kailas, Ajinkya Jain, Jan Peters, Stefan Schaal, Heni Ben Amor

IEEE Robotics and Automation Letters

Adaptive Action Advising with Different Rewards

Yue Guo, Zhang Xi-Jia, Simon Stepputtis, Joseph Campbell, Katia P. Sycara

Conference on Lifelong Learning Agents

Dual Prototype Evolving for Test-Time Generalization of Vision-Language Models

Ce Zhang, Simon Stepputtis, Katia P. Sycara, Yaqi Xie

Conference on Neural Information Processing Systems

GL-NeRF: Gauss-Laguerre Quadrature Enables Training-Free NeRF Acceleration

Silong Yong, Yaqi Xie, Simon Stepputtis, Katia P. Sycara

Conference on Neural Information Processing Systems

HiKER-SGG: Hierarchical Knowledge Enhanced Robust Scene Graph Generation

Ce Zhang, Simon Stepputtis, Joseph Campbell, Katia P. Sycara, Yaqi Xie

IEEE/CVF Conference on Computer Vision and Pattern Recognition

NeurIPS Workshop 2024

HiMemFormer: Hierarchical Memory-Aware Transformer for Multi-Agent Action Anticipation

Zirui Wang, Xinran Zhao, Simon Stepputtis, Woojun Kim, Tongshuang Wu, Katia P. Sycara, Yaqi Xie

Workshop on Video-Language Models at NeurIPS

Let Me Help You! Neuro-Symbolic Short-Context Action Anticipation

Sarthak Bhagat, Samuel Li, Joseph Campbell, Yaqi Xie, Katia P. Sycara, Simon Stepputtis

IEEE Robotics and Automation Letters

LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation

Bowen Li, Zhaoyu Li, Qiwei Du, Jinqi Luo, Wenshan Wang, Yaqi Xie, Simon Stepputtis, Chen Wang, Katia P. Sycara, Pradeep Ravikumar, Alexander G. Gray, Xujie Si, Sebastian A. Scherer

Conference on Neural Information Processing Systems, Datasets and Benchmarks Track

ICRA Workshop 2024

Multi-Agent Transfer Learning via Temporal Contrastive Learning

Weihao Zeng, Joseph Campbell, Simon Stepputtis, Katia P. Sycara

Workshop on Multi-Agent Dynamic Games (MAD-Games) at ICRA

Navigating Noisy Feedback: Enhancing Reinforcement Learning with Error-Prone Language Models

Muhan Lin, Shuyang Shi, Yue Guo, Behdad Chalaki, Vaishnav Tadiparthi, Ehsan Moradi-Pari, Simon Stepputtis, Joseph Campbell, Katia P. Sycara

Findings of the Association for Computational Linguistics: EMNLP

ShapeGrasp: Zero-Shot Task-Oriented Grasping with Large Language Models through Geometric Decomposition

Samuel Li, Sarthak Bhagat, Joseph Campbell, Yaqi Xie, Woojun Kim, Katia P. Sycara, Simon Stepputtis

IEEE/RSJ International Conference on Intelligent Robots and Systems

Symbolic Graph Inference for Compound Scene Understanding

FNU Aryan, Simon Stepputtis, Sarthak Bhagat, Joseph Campbell, Kwonjoon Lee, Hossein Nourkhiz Mahjoub, Katia P. Sycara

2023

A Framework for Intervention Based Team Support in Time Critical Tasks

Dana Hughes, Huao Li, Max Chis, Ini Oguntola, Simon Stepputtis, Keyang Zheng, Joseph Campbell, Katia P. Sycara, Michael Lewis

IEEE International Conference on Systems, Man, and Cybernetics

Characterizing Out-of-Distribution Error via Optimal Transport

Yuzhe Lu, Yilong Qin, Runtian Zhai, Andrew Shen, Ketong Chen, Zhenlin Wang, Soheil Kolouri, Simon Stepputtis, Joseph Campbell, Katia P. Sycara

Conference on Neural Information Processing Systems

Explainable Action Advising for Multi-Agent Reinforcement Learning

Yue Guo, Joseph Campbell, Simon Stepputtis, Ruiyu Li, Dana Hughes, Fei Fang, Katia P. Sycara

IEEE International Conference on Robotics and Automation

Introspective Action Advising for Interpretable Transfer Learning

Joseph Campbell, Yue Guo, Fiona Xie, Simon Stepputtis, Katia P. Sycara

Conference on Lifelong Learning Agents

Learning modular language-conditioned robot policies through attention

Yifan Zhou, Shubham D. Sonawani, Mariano J. Phielipp, Heni Ben Amor, Simon Stepputtis

Autonomous Robots

Long-Horizon Dialogue Understanding for Role Identification in the Game of Avalon with Large Language Models

Simon Stepputtis, Joseph Campbell, Yaqi Xie, Zhengyang Qi, Wenxin Sharon Zhang, Ruiyi Wang, Sanketh Rangreji, Michael Lewis, Katia P. Sycara

Findings of the Association for Computational Linguistics: EMNLP

Sample-Efficient Learning of Novel Visual Concepts

Sarthak Bhagat, Simon Stepputtis, Joseph Campbell, Katia P. Sycara

Conference on Lifelong Learning Agents

ICML Workshop 2023

Theory of Mind as Intrinsic Motivation for Multi-Agent Reinforcement Learning

Ini Oguntola, Joseph Campbell, Simon Stepputtis, Katia P. Sycara

Workshop on Theory of Mind in Communicating Agents at ICML

Theory of Mind for Multi-Agent Collaboration via Large Language Models

Huao Li, Yu Quan Chong, Simon Stepputtis, Joseph Campbell, Dana Hughes, Michael Lewis, Katia P. Sycara

Conference on Empirical Methods in Natural Language Processing

2022

A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

Simon Stepputtis, Maryam Bandari, Stefan Schaal, Heni Ben Amor

IEEE/RSJ International Conference on Intelligent Robots and Systems

Concept Learning for Interpretable Multi-Agent Reinforcement Learning

Renos Zabounidis, Joseph Campbell, Simon Stepputtis, Dana Hughes, Katia P. Sycara

Conference on Robot Learning

Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation

Yifan Zhou, Shubham D. Sonawani, Mariano J. Phielipp, Simon Stepputtis, Heni Ben Amor

Conference on Robot Learning

2020

Language-Conditioned Imitation Learning for Robot Manipulation Tasks

Simon Stepputtis, Joseph Campbell, Mariano J. Phielipp, Stefan Lee, Chitta Baral, Heni Ben Amor

Conference on Neural Information Processing Systems

2019

NeurIPS Workshop 2019

Imitation Learning of Robot Policies by Combining Language, Vision and Demonstration

Simon Stepputtis, Joseph Campbell, Mariano J. Phielipp, Chitta Baral, Heni Ben Amor

Workshop on Robot Learning: Control and Interaction in the Real World at NeurIPS

Improved Exploration through Latent Trajectory Optimization in Deep Deterministic Policy Gradient

Kevin Sebastian Luck, Mel Vecerík, Simon Stepputtis, Heni Ben Amor, Jonathan Scholz

IEEE/RSJ International Conference on Intelligent Robots and Systems

Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives

Joseph Campbell, Arne Hitzmann, Simon Stepputtis, Shuhei Ikemoto, Koh Hosoda, Heni Ben Amor

IEEE/RSJ International Conference on Intelligent Robots and Systems

Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks

Joseph Campbell, Simon Stepputtis, Heni Ben Amor

Robotics: Science and Systems

2018

Extrinsic Dexterity Through Active Slip Control Using Deep Predictive Models

Simon Stepputtis, Yezhou Yang, Heni Ben Amor

IEEE International Conference on Robotics and Automation

One-shot learning of human-robot handovers with triadic interaction meshes

David Vogt, Simon Stepputtis, Bernhard Jung, Heni Ben Amor

Autonomous Robots

2017

A system for learning continuous human-robot interactions from human-human demonstrations

David Vogt, Simon Stepputtis, Steve Grehl, Bernhard Jung, Heni Ben Amor

IEEE International Conference on Robotics and Automation

2016

Learning human-robot interactions from human-human demonstrations (with applications in Lego rocket assembly)

David Vogt, Simon Stepputtis, Richard Weinhold, Bernhard Jung, Heni Ben Amor

IEEE-RAS International Conference on Humanoid Robots