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Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policies



Souradip Chakraborty , Amrit Singh Bedi , Alec Koppel , Pratap Tokekar , Dinesh Manocha


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Posterior Coreset Construction with Kernelized Stein Discrepancy for Model-Based Reinforcement Learning



Souradip Chakraborty , Amrit Singh Bedi , Alec Koppel , Brian M. Sadler , Furong Huang , Pratap Tokekar , Dinesh Manocha


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Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process



Guangyao Shi , Nare Karapetyan , Ahmad Bilal Asghar , Jean-Paul Reddinger , James Dotterweich , James Humann , Pratap Tokekar


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Occupancy Map Prediction for Improved Indoor Robot Navigation



Vishnu Dutt Sharma , Jingxi Chen , Abhinav Shrivastava , Pratap Tokekar


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On the Hidden Biases of Policy Mirror Ascent in Continuous Action Spaces



Amrit Singh Bedi , Souradip Chakraborty , Anjaly Parayil , Brian Sadler , Pratap Tokekar , Alec Koppel


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Intermittent Deployment for Large-Scale Multi-Robot Forage Perception: Data Synthesis, Prediction, and Planning



Jun Liu , Murtaza Rangwala , Kulbir Singh Ahluwalia , Shayan Ghajar , Harnaik Singh Dhami , Pratap Tokekar , Benjamin F. Tracy , Ryan K. Williams

* 21 pages, 26 figures, submitted to IEEE Transactions on Automation Science and Engineering 

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GALOPP: Multi-Agent Deep Reinforcement Learning For Persistent Monitoring With Localization Constraints



Manav Mishra , Prithvi Poddar , Jingxi Chen , Pratap Tokekar , P. B. Sujit


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Distributed Resilient Submodular Action Selection in Adversarial Environments



Jun Liu , Lifeng Zhou , Pratap Tokekar , Ryan K. Williams

* IEEE Robotics and Automation Letters, 2021 

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Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments



Lifeng Zhou , Pratap Tokekar

* Current Robotics Reports, 2021 

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Risk-Aware Path Planning for Ground Vehicles using Occluded Aerial Images



Vishnu Dutt Sharma , Pratap Tokekar


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