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Joel W. Burdick

California Institute of Technology

Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries


Oct 20, 2021
Carl Folkestad, Skylar X. Wei, Joel W. Burdick

* arXiv admin note: text overlap with arXiv:2105.08036 

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Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems


May 17, 2021
Carl Folkestad, Joel W. Burdick


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Risk-Averse Stochastic Shortest Path Planning


Mar 26, 2021
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames


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Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty


Mar 25, 2021
Richard Cheng, Richard M. Murray, Joel W. Burdick

* ICRA 2021 

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Learning Invariant Representation of Tasks for Robust Surgical State Estimation


Feb 18, 2021
Yidan Qin, Max Allan, Yisong Yue, Joel W. Burdick, Mahdi Azizian

* Accepted to IEEE Robotics & Automation Letters 

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Risk-Sensitive Motion Planning using Entropic Value-at-Risk


Nov 23, 2020
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick


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ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes


Nov 09, 2020
Kejun Li, Maegan Tucker, Erdem Bıyık, Ellen Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames

* 6 pages; 7 figures 

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daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery


Sep 24, 2020
Yidan Qin, Seyedshams Feyzabadi, Max Allan, Joel W. Burdick, Mahdi Azizian

* Accepted to IROS 2020 

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Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties


Apr 11, 2020
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick


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Barrier Functions for Multiagent-POMDPs with DTL Specifications


Mar 19, 2020
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames

* arXiv admin note: text overlap with arXiv:1903.07823 

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Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits


Mar 13, 2020
Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames

* 8 pages, 9 figures, 2 tables, in review 

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Temporal Segmentation of Surgical Sub-tasks through Deep Learning with Multiple Data Sources


Feb 07, 2020
Yidan Qin, Sahba Aghajani Pedram, Seyedshams Feyzabadi, Max Allan, A. Jonathan McLeod, Joel W. Burdick, Mahdi Azizian

* Accepted to ICRA 2020 

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Stochastic Finite State Control of POMDPs with LTL Specifications


Jan 21, 2020
Mohamadreza Ahmadi, Rangoli Sharan, Joel W. Burdick


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Optimal Motion Planning for Multi-Modal Hybrid Locomotion


Sep 23, 2019
H. J. Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick


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Dueling Posterior Sampling for Preference-Based Reinforcement Learning


Aug 04, 2019
Ellen R. Novoseller, Yanan Sui, Yisong Yue, Joel W. Burdick

* 8 pages before references and Appendix; 35 pages total; 3 figures; 1 table 

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Control Regularization for Reduced Variance Reinforcement Learning


May 14, 2019
Richard Cheng, Abhinav Verma, Gabor Orosz, Swarat Chaudhuri, Yisong Yue, Joel W. Burdick

* Appearing in ICML 2019 

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End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks


Mar 21, 2019
Richard Cheng, Gabor Orosz, Richard M. Murray, Joel W. Burdick

* Published in AAAI 2019 

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Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions


Mar 19, 2019
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames

* 8 pages and 4 figures 

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Stagewise Safe Bayesian Optimization with Gaussian Processes


Jun 20, 2018
Yanan Sui, Vincent Zhuang, Joel W. Burdick, Yisong Yue

* International Conference on Machine Learning (ICML) 2018 

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Quantifying Performance of Bipedal Standing with Multi-channel EMG


Nov 21, 2017
Yanan Sui, Kun ho Kim, Joel W. Burdick

* IROS 2017 

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Meta Inverse Reinforcement Learning via Maximum Reward Sharing for Human Motion Analysis


Oct 12, 2017
Kun Li, Joel W. Burdick

* arXiv admin note: text overlap with arXiv:1707.09394 

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A Function Approximation Method for Model-based High-Dimensional Inverse Reinforcement Learning


Aug 23, 2017
Kun Li, Joel W. Burdick

* arXiv admin note: substantial text overlap with arXiv:1707.09394 

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Inverse Reinforcement Learning in Large State Spaces via Function Approximation


Aug 13, 2017
Kun Li, Joel W. Burdick

* Experiment updated 

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Online Inverse Reinforcement Learning via Bellman Gradient Iteration


Jul 28, 2017
Kun Li, Joel W. Burdick

* The code and video are available at https://github.com/mestoking/BellmanGradientIteration/ . arXiv admin note: substantial text overlap with arXiv:1707.07767 

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Clinical Patient Tracking in the Presence of Transient and Permanent Occlusions via Geodesic Feature


Jul 25, 2017
Kun Li, Joel W. Burdick


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Bellman Gradient Iteration for Inverse Reinforcement Learning


Jul 24, 2017
Kun Li, Yanan Sui, Joel W. Burdick


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Correlational Dueling Bandits with Application to Clinical Treatment in Large Decision Spaces


Jul 08, 2017
Yanan Sui, Yisong Yue, Joel W. Burdick


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Multi-dueling Bandits with Dependent Arms


Apr 29, 2017
Yanan Sui, Vincent Zhuang, Joel W. Burdick, Yisong Yue


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Convex Model Predictive Control for Vehicular Systems


Oct 10, 2014
Tiffany A. Huang, Matanya B. Horowitz, Joel W. Burdick


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