Publications

Thesis

  1. Choudhury, S. (2018). Adaptive Motion Planning. In Carnegie Mellon University. [pdf]

Journal

  1. Bhardwaj, M., Choudhury, S., Boots, B., & Srinivasa, S. (2021). Leveraging experience in lazy search. Autonomous Robots, 45(7), 979–996. [pdf]
  2. Spencer, J., Choudhury, S., Barnes, M., Schmittle, M., Chiang, M., Ramadge, P., & Srinivasa, S. (2021). Expert Intervention Learning. Autonomous Robots, 1–15. [pdf]
  3. Saund, B., Choudhury, S., Srinivasa, S., & Berenson, D. (2022). The Blindfolded Traveler’s Problem: A Search Framework for Motion Planning with Contact Estimates. The International Journal of Robotics Research.
  4. Bonatti, R., Wang, W., Ho, C., Ahuja, A., Gschwindt, M., Camci, E., Kayacan, E., Choudhury, S., & Scherer, S. (2019). Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making. Journal of Field Robotics. [pdf]
  5. Choudhury, S., Dugar, V., Maeta, S., MacAllister, B., Arora, S., Althoff, D., & Scherer, S. (2019). High Performance and Safe Flight of Full-Scale Helicopters from Takeoff to Landing with an Ensemble of Planners. Journal of Field Robotics. [pdf]
  6. Choudhury, S., Bhardwaj, M., Arora, S., Kapoor, A., Ranade, G., Scherer, S., & Dey, D. (2018). Data-driven Planning via Imitation Learning. The International Journal of Robotics Research, 37(13-14). [pdf]
  7. Nuske, S., Choudhury, S., Jain, S., Chambers, A., Yoder, L., Scherer, S., Chamberlain, L., Cover, H., & Singh, S. (2015). Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers. Journal of Field Robotics, 32(8). [pdf]

Conference

  1. Swamy, G., Choudhury, S., Bagnell, J. A., & Wu, S. (2021). Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap. International Conference on Machine Learning. [pdf]
  2. Spencer, J., Choudhury, S., Venkatraman, A., Ziebart, B., & Bagnell, J. A. (2021). Feedback in Imitation Learning: The Three Regimes of Covariate Shift. ArXiv Preprint ArXiv:2102.02872. [pdf]
  3. Bhardwaj, M., Choudhury, S., & Boots, B. (2021). Blending mpc & value function approximation for efficient reinforcement learning. International Conference on Learning Representations. [pdf]
  4. Lee, G., Hou, B., Choudhury, S., & Srinivasa, S. S. (2021). Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts. IEEE/RSJ International Conference on Intelligent Robots and Systems. [pdf]
  5. Toward fieldable human-scale mobile manipulation using RoMan. (2020). Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II.
  6. Spencer, J., Choudhury, S., Barnes, M., & Srinivasa, S. (2020). Learning from Interventions: Human-robot interaction as both explicit and implicit feedback. Robotics: Science and Systems. [pdf]
  7. Ke, L., Choudhury, S., Barnes, M., Sun, W., Lee, G., & Srinivasa, S. (2020). Imitation Learning as f-Divergence Minimization. Workshop on the Algorithmic Foundations of Robotics. [pdf]
  8. Sodhi, P., Choudhury, S., Mangelson, J. G., & Kaess, M. (2020). ICS: Incremental Constrained Smoothing for State Estimation. IEEE International Conference on Robotics and Automation. [pdf]
  9. Hou, B., Choudhury, S., Lee, G., Mandalika, A., & Srinivasa, S. (2020). Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges. IEEE International Conference on Robotics and Automation. [pdf]
  10. Saund, B., Choudhury, S., Srinivasa, S., & Berenson, D. (2019). The Blindfolded Robot : A Bayesian Approach to Planning with Contact Feedback. International Symposium on Robotics Research. [pdf]
  11. Bhardwaj, M., Choudhury, S., Boots, B., & Srinivasa, S. (2019). Leveraging Experience in Lazy Search. Robotics: Science and Systems. [pdf]
  12. Mandalika, A., Choudhury, S., Salzman, O., & Srinivasa, S. S. (2019). Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles. International Conference on Automated Planning and Scheduling. [pdf]
  13. Lee, G., Hou, B., Mandalika, A., Lee, J., Choudhury, S., & Srinivasa, S. S. (2019). Bayesian Policy Optimization for Model Uncertainty. International Conference on Learning Representations. [pdf]
  14. Vernwal, R., Mandalika, A., Choudhury, S., & Srinivasa, S. (2019). Lego: Leveraging experience in roadmap generation for sampling-based planning. IEEE/RSJ International Conference on Intelligent Robots and Systems. [pdf]
  15. Bonatti, R., Ho, C., Wang, W., Choudhury, S., & Scherer, S. (2019). Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments. IEEE/RSJ International Conference on Intelligent Robots and Systems. [pdf]
  16. Bonatti, R., Zhang, Y., Choudhury, S., Wang, W., & Scherer, S. (2018). Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming. International Symposium on Experimental Robotics. [pdf]
  17. Choudhury, S., Srinivasa, S., & Scherer, S. (2018). Bayesian Active Edge Evaluation on Expensive Graphs. International Joint Conference on Artificial Intelligence. [pdf]
  18. Choudhury, S., Javdani, S., Srinivasa, S., & Scherer, S. (2017). Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs. Advances in Neural Information Processing Systems. [pdf]
  19. Bhardwaj, M., Choudhury, S., & Scherer, S. (2017). Learning Heuristic Search via Imitation. Conference on Robot Learning.
  20. Choudhury, S., Kapoor, A., Ranade, G., Scherer, S., & Dey, D. (2017). Adaptive Information Gathering via Imitation Learning. Robotics: Science and Systems.
  21. Dugar, V., Choudhury, S., & Scherer, S. (2017). Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter. American Helicopter Society Forum.
  22. Choudhury, S., Salzman, O., Choudhury, S., & Srinivasa, S. (2017). Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps. IEEE International Conference on Robotics and Automation.
  23. Choudhury, S., Kapoor, A., Ranade, G., & Dey, D. (2017). Learning to Gather Information via Imitation. IEEE International Conference on Robotics and Automation.
  24. Dugar, V., Choudhury, S., & Scherer, S. (2017). A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame. IEEE International Conference on Robotics and Automation. [pdf]
  25. Pereira, G. A. S., Choudhury, S., & Scherer, S. (2016). Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners. Congresso Brasileiro De Automatica (CBA). [pdf]
  26. Pereira, G. A. S., Choudhury, S., & Scherer, S. (2016). A Framework for Optimal Repairing of Vector Field-based Motion Plans. IEEE International Conference of Unmanned Aircraft Systems. [pdf]
  27. Tallavajhula, A., Choudhury, S., Scherer, S., & Kelly, A. (2016). List Prediction Applied To Motion Planning. IEEE International Conference on Robotics and Automation. [pdf]
  28. Choudhury, S., Gammell, J. D., Barfoot, T. D., Srinivasa, S., & Scherer, S. (2016). Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning. IEEE International Conference on Robotics and Automation. [pdf]
  29. Choudhury, S., Scherer, S., & Bagnell, J. A. (2015). Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest. Robotics: Science and Systems. [pdf]
  30. Arora, S., Choudhury, S., Althoff, D., & Scherer, S. (2015). Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments. IEEE International Conference on Robotics and Automation. [pdf]
  31. Choudhury, S., & Scherer, S. (2015). The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators. IEEE International Conference on Robotics and Automation. [pdf]
  32. Choudhury, S., Arora, S., & Scherer, S. (2015). The Planner Ensemble: Motion Planning by Executing Diverse Algorithms. IEEE International Conference on Robotics and Automation. [pdf]
  33. Paduano, J., Wissler, J., G. Drozeski, M. P., 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., … Hehr, R. (2015). TALOS: An Unmanned Cargo Delivery System for Rotorcraft Landing to Unprepared Sites. American Helicopter Society Forum.
  34. Arora, S., Choudhury, S., Scherer, S., & Althoff, D. (2014). A Principled Approach to Enable Safe and High Performance Maneuvers for Autonomous Rotorcraft. American Helicopter Society Forum. [pdf]
  35. Choudhury, S., Arora, S., & Scherer, S. (2014). The Planner Ensemble and Trajectory Executive: A High Performance Motion Planning System with Guaranteed Safety. American Helicopter Society Forum. [pdf]
  36. Choudhury, S., Scherer, S., & Singh, S. (2013). Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time Constraints. American Helicopter Society Forum. [pdf]
  37. Cover, H., Choudhury, S., Scherer, S., & Singh, S. (2013). Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles. IEEE International Conference on Robotics and Automation. [pdf]
  38. Choudhury, S., Scherer, S., & Singh, S. (2013). RRT*-AR: Sampling-based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter. IEEE International Conference on Robotics and Automation. [pdf]

Other

  1. Swamy, G., Choudhury, S., Bagnell, J. A., & Wu, Z. S. (2022). Causal Imitation Learning under Temporally Correlated Noise. In arXiv preprint arXiv:2202.01312. [pdf]
  2. Swamy, G., Choudhury, S., Bagnell, J. A., & Wu, Z. S. (2021). A Critique of Strictly Batch Imitation Learning. ArXiv Preprint ArXiv:2110.02063. [pdf]
  3. Mandalika, A., Scalise, R., Hou, B., Choudhury, S., & Srinivasa, S. S. (2021). Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. ArXiv Preprint ArXiv:2104.05037. [pdf]
  4. Schmittle, M., Choudhury, S., & Srinivasa, S. S. (2021). Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics. ArXiv Preprint ArXiv:2104.01021. [pdf]
  5. Srinivasa, S., Lancaster, P., Michalove, J., Schmittle, M., Summers, C., Rockett, M., Smith, J. R., Choudhury, S., Mavrogiannis, C., & Sadeghi, F. (2019). MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research. ArXiv. [pdf]
  6. Lee, G., Choudhury, S., Hou, B., & Srinivasa, S. (2019). Residual Bayesian Q-Learning for Meta-Reinforcement Learning with Experts. Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS.
  7. Hou, B., Choudhury, S., Lee, G., & Srinivasa, S. (2019). Collision Posteriors on Graphs with Expensive-to-Evaluate Edges. Combining Learning and Reasoning – Towards Human-Level Robot Intelligence, R:SS.
  8. Bonatti, R., Wang, W., Ho, C., Ahuja, A., Gschwindt, M., Camci, E., Kayacan, E., Choudhury, S., & Scherer, S. (2019). Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making. Challenges in Vision-Based Drones Navigation, IROS.
  9. Lee, G., Choudhury, S., Hou, B., & Srinivasa, S. (2018). Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes. ArXiv Preprint ArXiv:1810.03048. [pdf]
  10. Choudhury, S., Srinivasa, S., & Scherer, S. (2017). A Bayesian Active Learning Approach to Adaptive Motion Planning. Workshop on Acting and Interacting in the Real World, NeurIPS.
  11. Choudhury, S., & Srinivasa, S. (2017). Bayesian Active Edge Evaluation on Expensive Graphs. International Symposium on Robotics Research. [pdf]
  12. Choudhury, S., Salzman, O., Choudhury, S., Dellin, C., & Srinivasa, S. (2018). Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations. ArXiv. [pdf]
  13. Pereira, G. A. S., Choudhury, S., & Scherer, S. (2016). Kinodynamic Motion Planning on Vector Fields using RRT* (CMU-RI-TR-16-35; Number CMU-RI-TR-16-35). Carnegie Mellon University.
  14. Choudhury, S., & Scherer, S. (2016). Constrained CHOMP using Dual Projected Newton Method (CMU-RI-TR-16-17; Number CMU-RI-TR-16-17). Carnegie Mellon University.
  15. Tallavajhula, A., & Choudhury, S. (2015). List prediction for motion planning: Case studies (CMU-RI-TR-15-25; Number CMU-RI-TR-15-25). Carnegie Mellon University.
  16. Choudhury, S. (2015). Lower and Upper Bounds for the Survival of Infinite Absorbing Markov Chains (CMU-RI-TR-05-04; Number CMU-RI-TR-05-04). Carnegie Mellon University.
  17. Vemula, A., Choudhury, S., & Scherer, S. (2014). Learning Motion Planning Assumptions (CMU-RI-TR-14-14; Number CMU-RI-TR-14-14). Carnegie Mellon University.
  18. Choudhury, S., Scherer, S., & Singh, S. (2012). Realtime Alternate Eoutes Planning: The RRT*-AR Algorithm (CMU-RI-TR-12-27; Number CMU-RI-TR-12-27). Carnegie Mellon University.