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On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective


Mar 27, 2021
Tyler Westenbroek, Max Simchowitz, Michael I. Jordan, S. Shankar Sastry


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Maximum Likelihood Constraint Inference from Stochastic Demonstrations


Feb 24, 2021
David L. McPherson, Kaylene C. Stocking, S. Shankar Sastry


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Expert Selection in High-Dimensional Markov Decision Processes


Oct 26, 2020
Vicenc Rubies-Royo, Eric Mazumdar, Roy Dong, Claire Tomlin, S. Shankar Sastry

* In proceedings of the 59th IEEE Conference on Decision and Control 2020. arXiv admin note: text overlap with arXiv:1707.05714 

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Extending DeepSDF for automatic 3D shape retrieval and similarity transform estimation


May 05, 2020
Oladapo Afolabi, Allen Y. Yang, S. Shankar Sastry

* 10 pages 

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Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning


May 02, 2020
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, Koushil Sreenath

* Final version appearing in Learning for Dynamics and Control (L4DC) 2020 Conference 

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Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning


Apr 06, 2020
Tyler Westenbroek, Eric Mazumdar, David Fridovich-Keil, Valmik Prabhu, Claire J. Tomlin, S. Shankar Sastry


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Exponentially Stable First Order Control on Matrix Lie Groups


Apr 01, 2020
Valmik Prabhu, Amay Saxena, S. Shankar Sastry

* 8 pages, four figures, submitted to CDC 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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Persistency of Excitation for Robustness of Neural Networks


Nov 04, 2019
Kamil Nar, S. Shankar Sastry


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Feedback Linearization for Unknown Systems via Reinforcement Learning


Oct 29, 2019
Tyler Westenbroek, David Fridovich-Keil, Eric Mazumdar, Shreyas Arora, Valmik Prabhu, S. Shankar Sastry, Claire J. Tomlin


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Maximum Likelihood Constraint Inference for Inverse Reinforcement Learning


Sep 12, 2019
Dexter R. R. Scobee, S. Shankar Sastry


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Policy-Gradient Algorithms Have No Guarantees of Convergence in Continuous Action and State Multi-Agent Settings


Jul 08, 2019
Eric Mazumdar, Lillian J. Ratliff, Michael I. Jordan, S. Shankar Sastry


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Competitive Statistical Estimation with Strategic Data Sources


Apr 29, 2019
Tyler Westenbroek, Roy Dong, Lillian J. Ratliff, S. Shankar Sastry

* accepted in the IEEE Transactions on Automatic Control 

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Cross-Entropy Loss and Low-Rank Features Have Responsibility for Adversarial Examples


Jan 24, 2019
Kamil Nar, Orhan Ocal, S. Shankar Sastry, Kannan Ramchandran


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People as Sensors: Imputing Maps from Human Actions


Jan 08, 2019
Oladapo Afolabi, Katherine Driggs-Campbell, Roy Dong, Mykel J. Kochenderfer, S. Shankar Sastry

* 7 pages, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 

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On Finding Local Nash Equilibria (and Only Local Nash Equilibria) in Zero-Sum Games


Jan 03, 2019
Eric V. Mazumdar, Michael I. Jordan, S. Shankar Sastry


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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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Step Size Matters in Deep Learning


Oct 09, 2018
Kamil Nar, S. Shankar Sastry

* Advances in Neural Information Processing Systems (NIPS) 2018 

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Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams


May 09, 2018
David L. McPherson, Dexter R. R. Scobee, Joseph Menke, Allen Y. Yang, S. Shankar Sastry


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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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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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Towards Verified Artificial Intelligence


Oct 21, 2017
Sanjit A. Seshia, Dorsa Sadigh, S. Shankar Sastry


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Dissimilarity-based Sparse Subset Selection


Apr 09, 2016
Ehsan Elhamifar, Guillermo Sapiro, S. Shankar Sastry


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Rapid Integration and Calibration of New Sensors Using the Berkeley Aachen Robotics Toolkit (BART)


Sep 08, 2014
Jan O. Biermeyer, Todd R. Templeton, Christian Berger, Humberto Gonzalez, Nikhil Naikal, Bernhard Rumpe, S. Shankar Sastry

* 17 pages, 5 figures. Proceedings des 11. Braunschweiger Symposiums "Automatisierungssysteme, Assistenzsysteme und eingebettete Systeme f\"ur Transportmittel", ITS Niedersachsen, Braunschweig, 2010 

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Sparse Illumination Learning and Transfer for Single-Sample Face Recognition with Image Corruption and Misalignment


Feb 08, 2014
Liansheng Zhuang, Tsung-Han Chan, Allen Y. Yang, S. Shankar Sastry, Yi Ma


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Robust Subspace System Identification via Weighted Nuclear Norm Optimization


Dec 07, 2013
Dorsa Sadigh, Henrik Ohlsson, S. Shankar Sastry, Sanjit A. Seshia

* Submitted to the IFAC World Congress 2014 

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Scalable Anomaly Detection in Large Homogenous Populations


Sep 20, 2013
Henrik Ohlsson, Tianshi Chen, Sina Khoshfetrat Pakazad, Lennart Ljung, S. Shankar Sastry


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Compressive Shift Retrieval


Aug 03, 2013
Henrik Ohlsson, Yonina C. Eldar, Allen Y. Yang, S. Shankar Sastry

* Submitted to IEEE Transactions on Signal Processing. Accepted to the 38th International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Vancouver, Canada, May 2013 

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