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Quantifying Hypothesis Space Misspecification in Learning from Human-Robot Demonstrations and Physical Corrections

Feb 28, 2020
Andreea Bobu, Andrea Bajcsy, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan

* 20 pages. 12 figures, 1 table. IEEE Transactions on Robotics, 2020 

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LESS is More: Rethinking Probabilistic Models of Human Behavior

Jan 13, 2020
Andreea Bobu, Dexter R. R. Scobee, Jaime F. Fisac, S. Shankar Sastry, Anca D. Dragan

* 9 pages, 7 figures 

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Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments

Mar 07, 2019
David Fridovich-Keil, Jaime F. Fisac, Claire J. Tomlin

* 7 pages, accepted to ICRA 2019 

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A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance

Nov 14, 2018
Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Jaime F. Fisac, Sampada Deglurkar, Anca D. Dragan, Claire J. Tomlin


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Learning under Misspecified Objective Spaces

Oct 26, 2018
Andreea Bobu, Andrea Bajcsy, Jaime F. Fisac, Anca D. Dragan

* Conference on Robot Learning (CoRL) 2018 

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Hierarchical Game-Theoretic Planning for Autonomous Vehicles

Oct 13, 2018
Jaime F. Fisac, Eli Bronstein, Elis Stefansson, Dorsa Sadigh, S. Shankar Sastry, Anca D. Dragan

* Submitted to ICRA 2019 

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A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets

Sep 03, 2018
Anayo K. Akametalu, Shromona Ghosh, Jaime F. Fisac, Claire J. Tomlin


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An Efficient, Generalized Bellman Update For Cooperative Inverse Reinforcement Learning

Jun 11, 2018
Dhruv Malik, Malayandi Palaniappan, Jaime F. Fisac, Dylan Hadfield-Menell, Stuart Russell, Anca D. Dragan


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Probabilistically Safe Robot Planning with Confidence-Based Human Predictions

May 31, 2018
Jaime F. Fisac, Andrea Bajcsy, Sylvia L. Herbert, David Fridovich-Keil, Steven Wang, Claire J. Tomlin, Anca D. Dragan

* Robotics Science and Systems (RSS) 2018 

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Generating Plans that Predict Themselves

Feb 14, 2018
Jaime F. Fisac, Chang Liu, Jessica B. Hamrick, S. Shankar Sastry, J. Karl Hedrick, Thomas L. Griffiths, Anca D. Dragan

* Jaime F. Fisac, Chang Liu, Jessica B. Hamrick, S. Shankar Sastry, J. Karl Hedrick, Thomas L. Griffiths, and Anca D. Dragan. "Generating Plans that Predict Themselves". Workshop on Algorithmic Foundations of Robotics (WAFR), 2016 
* Published at the Workshop on Algorithmic Foundations of Robotics (WAFR 2016) 

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A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems

Feb 14, 2018
Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, Shahab Kaynama, Jeremy Gillula, Claire J. Tomlin

* Accepted for publication in IEEE Transactions on Automatic Control. Video with experiments: https://youtu.be/WAAxyeSk2bw 

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Goal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration

Feb 06, 2018
Chang Liu, Jessica B. Hamrick, Jaime F. Fisac, Anca D. Dragan, J. Karl Hedrick, S. Shankar Sastry, Thomas L. Griffiths

* C. Liu, J. Hamrick, J. Fisac, A. Dragan, J. K. Hedrick, S. Sastry, T. Griffiths. "Goal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration". Autonomous Agents and Multiagent Systems (AAMAS), 2016 
* Published at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2016) 

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Pragmatic-Pedagogic Value Alignment

Feb 05, 2018
Jaime F. Fisac, Monica A. Gates, Jessica B. Hamrick, Chang Liu, Dylan Hadfield-Menell, Malayandi Palaniappan, Dhruv Malik, S. Shankar Sastry, Thomas L. Griffiths, Anca D. Dragan

* International Symposium on Robotics Research, 2017 
* Published at the International Symposium on Robotics Research (ISRR 2017) 

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FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning

Mar 21, 2017
Sylvia L. Herbert, Mo Chen, SooJean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

* Submitted to IEEE Conference on Decision and Control, 2017 

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