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Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments


Nov 22, 2021
Nitish Dashora, Daniel Shin, Dhruv Shah, Henry Leopold, David Fan, Ali Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine


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Explore and Control with Adversarial Surprise


Jul 12, 2021
Arnaud Fickinger, Natasha Jaques, Samyak Parajuli, Michael Chang, Nicholas Rhinehart, Glen Berseth, Stuart Russell, Sergey Levine


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Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models


Apr 21, 2021
Nicholas Rhinehart, Jeff He, Charles Packer, Matthew A. Wright, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine

* To be published at ICRA 2021. Project page: https://sites.google.com/view/contingency-planning 

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RECON: Rapid Exploration for Open-World Navigation with Latent Goal Models


Apr 14, 2021
Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine


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ViNG: Learning Open-World Navigation with Visual Goals


Dec 17, 2020
Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine


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Parrot: Data-Driven Behavioral Priors for Reinforcement Learning


Nov 19, 2020
Avi Singh, Huihan Liu, Gaoyue Zhou, Albert Yu, Nicholas Rhinehart, Sergey Levine

* First two authors contributed equally. Project website: https://sites.google.com/view/parrot-rl 

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Conservative Safety Critics for Exploration


Oct 27, 2020
Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, Animesh Garg

* Preprint. Under review 

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Can Autonomous Vehicles Identify, Recover From, and Adapt to Distribution Shifts?


Jun 26, 2020
Angelos Filos, Panagiotis Tigas, Rowan McAllister, Nicholas Rhinehart, Sergey Levine, Yarin Gal

* Camera-ready version, International Conference of Machine Learning 2020 

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Unsupervised Sequence Forecasting of 100,000 Points for Unsupervised Trajectory Forecasting


Mar 29, 2020
Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart

* Code will be available at https://github.com/xinshuoweng/SPCSF 

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Sequential Forecasting of 100,000 Points


Mar 18, 2020
Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart

* Code will be available at https://github.com/xinshuoweng/SPCSF 

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PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings


May 07, 2019
Nicholas Rhinehart, Rowan McAllister, Kris Kitani, Sergey Levine

* Website: https://sites.google.com/view/precog 

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Generative Hybrid Representations for Activity Forecasting with No-Regret Learning


Apr 12, 2019
Jiaqi Guan, Ye Yuan, Kris M. Kitani, Nicholas Rhinehart

* 15 pages, 4 tables, 5 figures 

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Deep Imitative Models for Flexible Inference, Planning, and Control


Jan 31, 2019
Nicholas Rhinehart, Rowan McAllister, Sergey Levine


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Directed-Info GAIL: Learning Hierarchical Policies from Unsegmented Demonstrations using Directed Information


Sep 29, 2018
Arjun Sharma, Mohit Sharma, Nicholas Rhinehart, Kris M. Kitani


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Learning Neural Parsers with Deterministic Differentiable Imitation Learning


Sep 19, 2018
Tanmay Shankar, Nicholas Rhinehart, Katharina Muelling, Kris M. Kitani

* Accepted to Conference on Robot Learning, CoRL 2018 

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Human-Interactive Subgoal Supervision for Efficient Inverse Reinforcement Learning


Jun 22, 2018
Xinlei Pan, Eshed Ohn-Bar, Nicholas Rhinehart, Yan Xu, Yilin Shen, Kris M. Kitani


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N2N Learning: Network to Network Compression via Policy Gradient Reinforcement Learning


Dec 17, 2017
Anubhav Ashok, Nicholas Rhinehart, Fares Beainy, Kris M. Kitani


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Predictive-State Decoders: Encoding the Future into Recurrent Networks


Sep 25, 2017
Arun Venkatraman, Nicholas Rhinehart, Wen Sun, Lerrel Pinto, Martial Hebert, Byron Boots, Kris M. Kitani, J. Andrew Bagnell

* NIPS 2017 

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First-Person Activity Forecasting with Online Inverse Reinforcement Learning


Aug 06, 2017
Nicholas Rhinehart, Kris M. Kitani

* To appear at ICCV 2017 (Oral) 

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Learning Action Maps of Large Environments via First-Person Vision


May 05, 2016
Nicholas Rhinehart, Kris M. Kitani

* To appear at CVPR 2016 

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Visual Chunking: A List Prediction Framework for Region-Based Object Detection


Mar 16, 2015
Nicholas Rhinehart, Jiaji Zhou, Martial Hebert, J. Andrew Bagnell

* to appear at ICRA 2015 

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