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Brian Williams

Massachusetts Institute of Technology

An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards

Oct 15, 2020
Siyu Dai, Wei Xu, Andreas Hofmann, Brian Williams


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Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures

Jun 03, 2020
Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams

* To appear in Robotics: Science and Systems 

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Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning

Mar 28, 2020
Allen Wang, Ashkan Jasour, Brian Williams


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Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles

Mar 17, 2020
Charles Dawson, Ashkan Jasour, Andreas Hofmann, Brian Williams

* Submitted to IROS 2020 

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Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles

Mar 17, 2020
Charles Dawson, Andreas Hofmann, Brian Williams

* Submitted to RSS 2020 

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Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents

Mar 01, 2020
Allen Wang, Ashkan Jasour, Brian Williams

* Submitted to IEEE Robotics and Automation Letters 

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Efficiently Exploring Ordering Problems through Conflict-directed Search

Apr 15, 2019
Jingkai Chen, Cheng Fang, David Wang, Andrew Wang, Brian Williams

* Accepted at ICAPS2019. 9 pages, 4 figures, 2 tables, 

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Complexity Bounds for the Controllability of Temporal Networks with Conditions, Disjunctions, and Uncertainty

Jan 08, 2019
Nikhil Bhargava, Brian Williams


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Chance Constrained Motion Planning for High-Dimensional Robots

Nov 07, 2018
Siyu Dai, Shawn Schaffert, Ashkan Jasour, Andreas Hofmann, Brian Williams


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Improving Trajectory Optimization using a Roadmap Framework

Nov 05, 2018
Siyu Dai, Matthew Orton, Shawn Schaffert, Andreas Hofmann, Brian Williams

* 2018 ICAPS Workshop on Planning and Robotics (PlanRob 2018) 

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Time Resource Networks

Feb 09, 2016
Szymon Sidor, Peng Yu, Cheng Fang, Brian Williams

* 7 pages, submitted for review to IJCAI16 

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Drake: An Efficient Executive for Temporal Plans with Choice

Jan 18, 2014
Patrick Raymond Conrad, Brian Williams

* Journal Of Artificial Intelligence Research, Volume 42, pages 607-659, 2011 

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