skip to main content


This content will become publicly available on May 13, 2025

Title: Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
Award ID(s):
1750489 2113401 2220876
NSF-PAR ID:
10511707
Author(s) / Creator(s):
; ; ;
Publisher / Repository:
IEEE
Date Published:
Journal Name:
IEEE International Conference on Robotics and Automation (ICRA)
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. This NSF IUSE project incorporates instructional materials and techniques into introductory programming identified through educational psychology research as effective ways to improve student learning and retention. The research team has developed worked examples of problems that incorporate subgoal labels, which are explanations that describe the function of steps in the problem solution to the learner and highlight the problem solving process. Using subgoal labels within worked examples, which has been shown effective in other STEM fields, is intended to break down problem solving procedures into pieces that are small enough for novices to grasp. Experts, including instructors, teaching introductory level courses are often unable to explain the subgoal-level processes that they use in problem solving because they have automated much of the problem solving processes after many years of practice. This intervention had been tested in programming for a few hours of instruction and found effective. The current project expands upon that work. 
    more » « less
  2. This work extends previous research on subgoal labeled instructions by examining their effect across a semester-long, Java-based CS1 course. Across four quizzes, students were asked to explain in plain English the process that they would use to solve a programming problem. In this mixed methods study, we used the SOLO taxonomy to categorize student responses about problem-solving processes and compare students who learned with subgoal labels to those who did not. The use of the SOLO taxonomy classification allows us to look deeper than the mere correctness of answers to focus on the quality of the answers produced in terms of completeness of relevant concepts and explanation of relationships among concepts. Students who learned with subgoals produced higher-rated answers in terms of complexity and quality on three of four quizzes. Also, they were three times more likely to discuss issues of data type on a question about assignments and expressions than students who did not learn with subgoal labeling. This suggests that the use of subgoal labeling enabled students to gain a deeper and more complex understanding of the material presented in the course. 
    more » « less
  3. There have been many calls recently for computing for all across the nation. While there are many opportunities to study and use computing to advance the fields of computer science, software development, and information technology, computing is also needed in a wide range of other disciplines, including engineering. Most engineering programs require students take a course that teaches them introductory programming, which covers many of the same topics as an introductory course for computing majors (and at times may be the same course). However, statistics about the success of a course that is an introductory programming course are sobering; approximately half the students will fail, forcing them to either repeat the course or leave their chosen field of study if passing the course is required. This NSF IUSE project incorporates instructional techniques identified through educational psychology research as effective ways to improve student learning and retention in introductory programming. The research team has developed worked examples of problems that incorporate subgoal labels, which are explanations that describe the function of steps in the problem solution to the learner and highlight the problem-solving process. Using subgoal labels within worked examples, which has been effective in other STEM fields, students are able to see an expert's problem solving process, which helps students learn to solving problems before they can solve problem themselves. Experts, including instructors, teaching introductory level courses are often unable to explain the process they use in problem solving at a level that learners can grasp because they have automated much of the problem-solving processes after many years of practice. This submission will present the results of the first part of development of subgoals and will explain how to integrate them into classroom lessons in introductory computing classes. 
    more » « less
  4. Subgoal labeling is an instructional design framework for breaking down problems into pieces that are small enough for novices to grasp, and often difficult for instructors (i.e., experts) to articulate. Subgoal labels have been shown to improve student performance during problem solving in disciplines both in and out of computing. Improved student performance occurs because subgoal labels improve student transfer and retention of knowledge. With support from NSF (DUE-1712025, #1712231), subgoal labels have been identified and integrated into a CS1 course (variables, expressions, conditionals, loops, arrays, classes). This workshop will introduce participants to the materials and demonstrate how the subgoal labels and worked examples are integrated throughout the course. Materials include over 100 worked examples and practice problem pairs that increase in complexity and difficulty within each topic. The materials are designed to be integrated into CS1 courses as homework or classroom examples and activities. Assessment of topics using subgoal labels will also be discussed. Participants will also engage in an activity where they create an example for their own course using subgoal labels. 
    more » « less
  5. null (Ed.)
    Subgoal labeling is an instructional design framework for breaking down problems into pieces that are small enough for novices to grasp, and often difficult for instructors (i.e., experts) to articulate. Subgoal labels have been shown to improve student performance during problem solving in disciplines both in and out of computing. Improved student performance occurs because subgoal labels improve student transfer and retention of knowledge. With support from NSF (DUE-1712025, #1712231), subgoal labels have been identified and integrated into a CS1 course (variables, expressions, conditionals, loops, arrays, classes). This workshop will introduce participants to the materials and demonstrate how the subgoal labels and worked examples are integrated throughout the course. Materials include over 100 worked examples and practice problem pairs that increase in complexity and difficulty within each topic. The materials are designed to be integrated into CS1 courses as homework or classroom examples and activities. Assessment of topics using subgoal labels will also be discussed. Participants will also engage in an activity where they create an example for their own course using subgoal labels. 
    more » « less