Publications
Thesis
- Choudhury, S. (2018). Adaptive Motion Planning. In Carnegie Mellon University.
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Journal
- Bhardwaj, M., Choudhury, S., Boots, B., & Srinivasa, S. (2021). Leveraging experience in lazy search. Autonomous Robots, 45(7), 979–996.
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- Spencer, J., Choudhury, S., Barnes, M., Schmittle, M., Chiang, M., Ramadge, P., & Srinivasa, S. (2021). Expert Intervention Learning. Autonomous Robots, 1–15.
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- 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.
- 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.
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- 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.
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- 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).
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- 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).
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Conference
- 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.
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- 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.
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- Bhardwaj, M., Choudhury, S., & Boots, B. (2021). Blending mpc & value function approximation for efficient reinforcement learning. International Conference on Learning Representations.
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- 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.
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- Toward fieldable human-scale mobile manipulation using RoMan. (2020). Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II.
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- 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.
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- Sodhi, P., Choudhury, S., Mangelson, J. G., & Kaess, M. (2020). ICS: Incremental Constrained Smoothing for State Estimation. IEEE International Conference on Robotics and Automation.
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- 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.
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- 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.
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- Bhardwaj, M., Choudhury, S., Boots, B., & Srinivasa, S. (2019). Leveraging Experience in Lazy Search. Robotics: Science and Systems.
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- 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.
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- 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.
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- 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.
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- 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.
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- 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.
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- Choudhury, S., Srinivasa, S., & Scherer, S. (2018). Bayesian Active Edge Evaluation on Expensive Graphs. International Joint Conference on Artificial Intelligence.
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- Choudhury, S., Javdani, S., Srinivasa, S., & Scherer, S. (2017). Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs. Advances in Neural Information Processing Systems.
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- Bhardwaj, M., Choudhury, S., & Scherer, S. (2017). Learning Heuristic Search via Imitation. Conference on Robot Learning.
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- Dugar, V., Choudhury, S., & Scherer, S. (2017). Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter. American Helicopter Society Forum.
- 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.
- Choudhury, S., Kapoor, A., Ranade, G., & Dey, D. (2017). Learning to Gather Information via Imitation. IEEE International Conference on Robotics and Automation.
- 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.
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- 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).
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- 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.
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- Tallavajhula, A., Choudhury, S., Scherer, S., & Kelly, A. (2016). List Prediction Applied To Motion Planning. IEEE International Conference on Robotics and Automation.
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- 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.
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- 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.
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- 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.
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- 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.
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- Choudhury, S., Arora, S., & Scherer, S. (2015). The Planner Ensemble: Motion Planning by Executing Diverse Algorithms. IEEE International Conference on Robotics and Automation.
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- 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.
- 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.
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- 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.
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- Choudhury, S., Scherer, S., & Singh, S. (2013). Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time Constraints. American Helicopter Society Forum.
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- 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.
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- 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.
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Other
- Swamy, G., Choudhury, S., Bagnell, J. A., & Wu, Z. S. (2022). Causal Imitation Learning under Temporally Correlated Noise. In arXiv preprint arXiv:2202.01312.
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- Swamy, G., Choudhury, S., Bagnell, J. A., & Wu, Z. S. (2021). A Critique of Strictly Batch Imitation Learning. ArXiv Preprint ArXiv:2110.02063.
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- 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.
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- Schmittle, M., Choudhury, S., & Srinivasa, S. S. (2021). Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics. ArXiv Preprint ArXiv:2104.01021.
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- 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.
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- 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.
- 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.
- 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.
- 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.
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- 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.
- Choudhury, S., & Srinivasa, S. (2017). Bayesian Active Edge Evaluation on Expensive Graphs. International Symposium on Robotics Research.
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- Choudhury, S., Salzman, O., Choudhury, S., Dellin, C., & Srinivasa, S. (2018). Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations. ArXiv.
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- 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.
- 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.
- 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.
- 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.
- 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.
- 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.