Publications
2022
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The Blindfolded Traveler’s Problem: A Search Framework for Motion Planning with Contact EstimatesIn The International Journal of Robotics Research 2022
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Causal imitation learning under temporally correlated noiseIn International Conference on Machine Learning 2022
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Towards Uniformly Superhuman Autonomy via Subdominance MinimizationIn International Conference on Machine Learning 2022
2021
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Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation GapIn International Conference on Machine Learning 2021
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Guided Incremental Local Densification for Accelerated Sampling-based Motion PlanningarXiv preprint arXiv:2104.05037 2021
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Learning Online from Corrective Feedback: A Meta-Algorithm for RoboticsarXiv preprint arXiv:2104.01021 2021
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Feedback in Imitation Learning: The Three Regimes of Covariate ShiftarXiv preprint arXiv:2102.02872 2021
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Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts2021
2020
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Toward fieldable human-scale mobile manipulation using RoManIn Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II 2020
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Learning from Interventions: Human-robot interaction as both explicit and implicit feedbackIn Robotics: Science and Systems 2020
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Imitation Learning as f-Divergence MinimizationIn Workshop on the Algorithmic Foundations of Robotics 2020
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ICS: Incremental Constrained Smoothing for State EstimationIn IEEE International Conference on Robotics and Automation 2020
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Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate EdgesIn IEEE International Conference on Robotics and Automation 2020
2019
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Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-MakingJournal of Field Robotics 2019
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High Performance and Safe Flight of Full-Scale Helicopters from Takeoff to Landing with an Ensemble of PlannersJournal of Field Robotics 2019
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The Blindfolded Robot : A Bayesian Approach to Planning with Contact FeedbackIn International Symposium on Robotics Research 2019
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Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based TogglesIn International Conference on Automated Planning and Scheduling 2019
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Bayesian Policy Optimization for Model UncertaintyIn International Conference on Learning Representations 2019
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Lego: Leveraging experience in roadmap generation for sampling-based planningIn IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
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Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured EnvironmentsIn IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
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Residual Bayesian Q-Learning for Meta-Reinforcement Learning with ExpertsCombining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS 2019
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Collision Posteriors on Graphs with Expensive-to-Evaluate EdgesCombining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS 2019
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Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-MakingChallenges in Vision-based Drones Navigation, IROS 2019
2018
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Choudhury, S. (2018). Adaptive Motion Planning. In Carnegie Mellon University.
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Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision ProcessesarXiv preprint arXiv:1810.03048 2018
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Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filmingIn International Symposium on Experimental Robotics 2018
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Bayesian Active Edge Evaluation on Expensive GraphsIn International Joint Conference on Artificial Intelligence 2018
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2017
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A Bayesian Active Learning Approach to Adaptive Motion PlanningIn Workshop on Acting and Interacting in the Real World, NeurIPS 2017
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Bayesian Active Edge Evaluation on Expensive GraphsIn International Symposium on Robotics Research 2017
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Near-Optimal Edge Evaluation in Explicit Generalized Binomial GraphsIn Advances in Neural Information Processing Systems 2017
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Smooth Trajectory Optimization in Wind: First Results on a Full-Scale HelicopterIn American Helicopter Society Forum 2017
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Densification Strategies for Anytime Motion Planning over Large Dense RoadmapsIn IEEE International Conference on Robotics and Automation 2017
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Learning to Gather Information via ImitationIn IEEE International Conference on Robotics and Automation 2017
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A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference FrameIn IEEE International Conference on Robotics and Automation 2017
2016
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Nonholonomic motion planning in partially unknown environments using vector fields and optimal plannersIn Congresso Brasileiro de Automatica (CBA) 2016
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Kinodynamic Motion Planning on Vector Fields using RRT*2016
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A Framework for Optimal Repairing of Vector Field-based Motion PlansIn IEEE International Conference of Unmanned Aircraft Systems 2016
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Constrained CHOMP using Dual Projected Newton Method2016
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List Prediction Applied To Motion PlanningIn IEEE International Conference on Robotics and Automation 2016
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Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path PlanningIn IEEE International Conference on Robotics and Automation 2016
2015
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Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating RiversJournal of Field Robotics 2015
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List prediction for motion planning: Case studies2015
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The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection OperatorsIn IEEE International Conference on Robotics and Automation 2015
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The Planner Ensemble: Motion Planning by Executing Diverse AlgorithmsIn IEEE International Conference on Robotics and Automation 2015
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TALOS: An Unmanned Cargo Delivery System for Rotorcraft Landing to Unprepared SitesIn American Helicopter Society Forum 2015
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Lower and Upper Bounds for the Survival of Infinite Absorbing Markov Chains2015
2014
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Learning Motion Planning Assumptions2014
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A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous RotorcraftIn American Helicopter Society Forum 2014
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The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed SafetyIn American Helicopter Society Forum 2014
2013
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Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time ConstraintsIn American Helicopter Society Forum 2013
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Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial VehiclesIn IEEE International Conference on Robotics and Automation 2013
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RRT*-AR: Sampling-based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a HelicopterIn IEEE International Conference on Robotics and Automation 2013