Publications

2022

  1. The Blindfolded Traveler’s Problem: A Search Framework for Motion Planning with Contact Estimates
    Saund, B., Choudhury, S., Srinivasa, S., and Berenson, D.
    In The International Journal of Robotics Research 2022
  2. Minimax Optimal Online Imitation Learning via Replay Estimation
    Swamy, Gokul, Rajaraman, Nived, Peng, Matthew, Choudhury, Sanjiban, Bagnell, J Andrew, Wu, Zhiwei Steven, Jiao, Jiantao, and Ramchandran, Kannan
    2022
  3. Sequence Model Imitation Learning with Unobserved Contexts
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J Andrew, and Wu, Zhiwei Steven
    2022
  4. Causal imitation learning under temporally correlated noise
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, Drew, and Wu, Steven
    In International Conference on Machine Learning 2022
  5. Towards Uniformly Superhuman Autonomy via Subdominance Minimization
    Ziebart, Brian, Choudhury, Sanjiban, Yan, Xinyan, and Vernaza, Paul
    In International Conference on Machine Learning 2022

2021

  1. Leveraging experience in lazy search
    Bhardwaj, Mohak, Choudhury, Sanjiban, Boots, Byron, and Srinivasa, Siddhartha
    Autonomous Robots 2021
  2. Expert Intervention Learning
    Spencer, Jonathan, Choudhury, Sanjiban, Barnes, Matthew, Schmittle, Matthew, Chiang, Mung, Ramadge, Peter, and Srinivasa, Sidd
    Autonomous Robots 2021
  3. A Critique of Strictly Batch Imitation Learning
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J. Andrew, and Wu, Zhiwei Steven
    arXiv preprint arXiv:2110.02063 2021
  4. Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J Andrew, and Wu, Steven
    In International Conference on Machine Learning 2021
  5. Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning
    Mandalika, Aditya, Scalise, Rosario, Hou, Brian, Choudhury, Sanjiban, and Srinivasa, Siddhartha S
    arXiv preprint arXiv:2104.05037 2021
  6. Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics
    Schmittle, Matthew, Choudhury, Sanjiban, and Srinivasa, Siddhartha S
    arXiv preprint arXiv:2104.01021 2021
  7. Feedback in Imitation Learning: The Three Regimes of Covariate Shift
    Spencer, Jonathan, Choudhury, Sanjiban, Venkatraman, Arun, Ziebart, Brian, and Bagnell, J Andrew
    arXiv preprint arXiv:2102.02872 2021
  8. Blending mpc & value function approximation for efficient reinforcement learning
    Bhardwaj, Mohak, Choudhury, Sanjiban, and Boots, Byron
    2021
  9. Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
    Lee, G., Hou, B., Choudhury, S., and Srinivasa, S.S
    2021

2020

  1. Toward fieldable human-scale mobile manipulation using RoMan
    In Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II 2020
  2. Learning from Interventions: Human-robot interaction as both explicit and implicit feedback
    Spencer, J., Choudhury, S., Barnes, M., and Srinivasa, S.
    In Robotics: Science and Systems 2020
  3. Imitation Learning as f-Divergence Minimization
    Ke, L., Choudhury, S., Barnes, M., Sun, W., Lee, G., and Srinivasa, S.
    In Workshop on the Algorithmic Foundations of Robotics 2020
  4. ICS: Incremental Constrained Smoothing for State Estimation
    Sodhi, P., Choudhury, S., Mangelson, J. G., and Kaess, M.
    In IEEE International Conference on Robotics and Automation 2020
  5. Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
    Hou, B., Choudhury, S., Lee, G., Mandalika, A., and Srinivasa, S.
    In IEEE International Conference on Robotics and Automation 2020

2019

  1. Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making
    Bonatti, R., Wang, W., Ho, C., Ahuja, A., Gschwindt, M., Camci, E., Kayacan, E., Choudhury, S., and Scherer, S.
    Journal of Field Robotics 2019
  2. High Performance and Safe Flight of Full-Scale Helicopters from Takeoff to Landing with an Ensemble of Planners
    Choudhury, S., Dugar, V., Maeta, S., MacAllister, B., Arora, S., Althoff, D., and Scherer, S.
    Journal of Field Robotics 2019
  3. MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research
    Srinivasa, S., Lancaster, P., Michalove, J., Schmittle, M., Summers, C., Rockett, M., Smith, J. R., Choudhury, S., Mavrogiannis, C., and Sadeghi, F.
    arXiv 2019
  4. The Blindfolded Robot : A Bayesian Approach to Planning with Contact Feedback
    Saund, B., Choudhury, S., Srinivasa, S., and Berenson, D.
    In International Symposium on Robotics Research 2019
  5. Leveraging Experience in Lazy Search
    Bhardwaj, M., Choudhury, S., Boots, B., and Srinivasa, S.
    In Robotics: Science and Systems 2019
  6. Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
    Mandalika, A., Choudhury, S., Salzman, O., and Srinivasa, S.S.
    In International Conference on Automated Planning and Scheduling 2019
  7. Bayesian Policy Optimization for Model Uncertainty
    Lee, G., Hou, B., Mandalika, A., Lee, J., Choudhury, S., and Srinivasa, S.S.
    In International Conference on Learning Representations 2019
  8. Lego: Leveraging experience in roadmap generation for sampling-based planning
    Vernwal, R., Mandalika, A., Choudhury, S., and Srinivasa, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
  9. Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments
    Bonatti, R., Ho, C., Wang, W., Choudhury, S., and Scherer, S.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
  10. Residual Bayesian Q-Learning for Meta-Reinforcement Learning with Experts
    Lee, G., Choudhury, S., Hou, B., and Srinivasa, S.
    Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS 2019
  11. Collision Posteriors on Graphs with Expensive-to-Evaluate Edges
    Hou, B., Choudhury, S., Lee, G., and Srinivasa, S.
    Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS 2019
  12. Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making
    Bonatti, R., Wang, W., Ho, C., Ahuja, A., Gschwindt, M., Camci, E., Kayacan, E., Choudhury, S., and Scherer, S.
    Challenges in Vision-based Drones Navigation, IROS 2019

2018

  1. Choudhury, S. (2018). Adaptive Motion Planning. In Carnegie Mellon University.
  2. Data-driven Planning via Imitation Learning
    Choudhury, S., Bhardwaj, M., Arora, S., Kapoor, A., Ranade, G., Scherer, S., and Dey, D.
    The International Journal of Robotics Research 2018
  3. Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes
    Lee, G., Choudhury, S., Hou, B., and Srinivasa, S.
    arXiv preprint arXiv:1810.03048 2018
  4. Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming
    Bonatti, R., Zhang, Y., Choudhury, S., Wang, W., and Scherer, S.
    In International Symposium on Experimental Robotics 2018
  5. Bayesian Active Edge Evaluation on Expensive Graphs
    Choudhury, S., Srinivasa, S., and Scherer, S.
    In International Joint Conference on Artificial Intelligence 2018
  6. Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
    Choudhury, S., Salzman, O., Choudhury, S., Dellin, C., and Srinivasa, S.
    arXiv 2018

2017

  1. A Bayesian Active Learning Approach to Adaptive Motion Planning
    Choudhury, S., Srinivasa, S., and Scherer, S.
    In Workshop on Acting and Interacting in the Real World, NeurIPS 2017
  2. Bayesian Active Edge Evaluation on Expensive Graphs
    Choudhury, S., and Srinivasa, S.
    In International Symposium on Robotics Research 2017
  3. Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
    Choudhury, S., Javdani, S., Srinivasa, S., and Scherer, S.
    In Advances in Neural Information Processing Systems 2017
  4. Learning Heuristic Search via Imitation
    Bhardwaj, M., Choudhury, S., and Scherer, S.
    In Conference on Robot Learning 2017
  5. Adaptive Information Gathering via Imitation Learning
    Choudhury, S., Kapoor, A., Ranade, G., Scherer, S., and Dey, D.
    In Robotics: Science and Systems 2017
  6. Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
    Dugar, V., Choudhury, S., and Scherer, S.
    In American Helicopter Society Forum 2017
  7. Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
    Choudhury, S., Salzman, O., Choudhury, S., and Srinivasa, S.
    In IEEE International Conference on Robotics and Automation 2017
  8. Learning to Gather Information via Imitation
    Choudhury, S., Kapoor, A., Ranade, G., and Dey, D.
    In IEEE International Conference on Robotics and Automation 2017
  9. A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
    Dugar, V., Choudhury, S., and Scherer, S.
    In IEEE International Conference on Robotics and Automation 2017

2016

  1. Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
    Pereira, G. A. S., Choudhury, S., and Scherer, S.
    In Congresso Brasileiro de Automatica (CBA) 2016
  2. Kinodynamic Motion Planning on Vector Fields using RRT*
    Pereira, G. A. S., Choudhury, S., and Scherer, S
    2016
  3. A Framework for Optimal Repairing of Vector Field-based Motion Plans
    Pereira, G. A. S., Choudhury, S., and Scherer, S.
    In IEEE International Conference of Unmanned Aircraft Systems 2016
  4. Constrained CHOMP using Dual Projected Newton Method
    Choudhury, S., and Scherer, S.
    2016
  5. List Prediction Applied To Motion Planning
    Tallavajhula, A., Choudhury, S., Scherer, S., and Kelly, A.
    In IEEE International Conference on Robotics and Automation 2016
  6. Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
    Choudhury, S., Gammell, J. D., Barfoot, T. D., Srinivasa, S., and Scherer, S.
    In IEEE International Conference on Robotics and Automation 2016

2015

  1. Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
    Nuske, S., Choudhury, S., Jain, S., Chambers, A., Yoder, L., Scherer, S., Chamberlain, L., Cover, H., and Singh, S.
    Journal of Field Robotics 2015
  2. List prediction for motion planning: Case studies
    Tallavajhula, A., and Choudhury, S.
    2015
  3. Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
    Choudhury, S., Scherer, S., and Bagnell, J. A.
    2015
  4. Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
    Arora, S., Choudhury, S., Althoff, D., and Scherer, S.
    2015
  5. The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
    Choudhury, S., and Scherer, S.
    In IEEE International Conference on Robotics and Automation 2015
  6. The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
    Choudhury, S., Arora, S., and Scherer, S.
    In IEEE International Conference on Robotics and Automation 2015
  7. TALOS: An Unmanned Cargo Delivery System for Rotorcraft Landing to Unprepared Sites
    Paduano, J., Wissler, J., G. Drozeski, M. Piedmonte, Dadkhah, N., Francis, J., Shortlidge, C., Bold, J., Langford, F., Chaoui, M., Liu, C. J., Foster, E., Singh, S., Chamberlain, L., Hamner, B., Cover, H., Stambler, A., Singh, A., Nalbone, S., Bergerman, M., Scherer, S., Choudhury, S., Maeta, S., Arora, S., Althoff, D., Maturana, D., Limbaugh, D., Bona, J., Barnhard, D., Chessar, D., Mindell, D., Dominguez, C., Moon, B., Strouse, R., Papautsky, L., Cerchie, D., Chu, B., Graham, J., Cameron, C., Hardesty, M., and Hehr, R.
    In American Helicopter Society Forum 2015
  8. Lower and Upper Bounds for the Survival of Infinite Absorbing Markov Chains
    Choudhury, S.
    2015

2014

  1. Learning Motion Planning Assumptions
    Vemula, A., Choudhury, S., and Scherer, S.
    2014
  2. A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft
    Arora, S., Choudhury, S., Scherer, S., and Althoff, D.
    In American Helicopter Society Forum 2014
  3. The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety
    Choudhury, S., Arora, S., and Scherer, S.
    In American Helicopter Society Forum 2014

2013

  1. Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time Constraints
    Choudhury, S., Scherer, S., and Singh, S.
    In American Helicopter Society Forum 2013
  2. Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
    Cover, H., Choudhury, S., Scherer, S., and Singh, S.
    In IEEE International Conference on Robotics and Automation 2013
  3. RRT*-AR: Sampling-based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
    Choudhury, S., Scherer, S., and Singh, S.
    In IEEE International Conference on Robotics and Automation 2013