In this talk, we will cover general info about Samsung Research America and more specifically the research and projects happening within the Artificial Intelligence team including personal assistants, dialogue systems, computer vision, and robotics. Mason will speak about his research in generative music for embodied agents. He will describe a model-free planning method in which a neural network generates a time series of joints positions enabling a mobile manipulator to play piano. He will also talk about methods for learning meaningful representations of music that can be utilized by the embodied agent.