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Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics


Apr 02, 2021
Matthew Schmittle, Sanjiban Choudhury, Siddhartha S. Srinivasa


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Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections


Nov 08, 2020
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha S. Srinivasa

* Preprint of a paper with the same title, accepted to the Conference on Robot Learning 2020 

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Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding


Nov 05, 2020
Ethan K. Gordon, Sumegh Roychowdhury, Tapomayukh Bhattacharjee, Kevin Jamieson, Siddhartha S. Srinivasa

* 6 pages + acknowledgements/references, 5 figures, under review 

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Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations


Jul 31, 2020
Liyiming Ke, Ajinkya Kamat, Jingqiang Wang, Tapomayukh Bhattacharjee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa

* IROS 2020 

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Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference


Apr 10, 2020
Christoforos Mavrogiannis, Jonathan A. DeCastro, Siddhartha S. Srinivasa


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Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges


Mar 20, 2020
Brian Hou, Sanjiban Choudhury, Gilwoo Lee, Aditya Mandalika, Siddhartha S. Srinivasa

* ICRA 2020 

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Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts


Feb 07, 2020
Gilwoo Lee, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa


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Towards Effective Human-AI Teams: The Case of Collaborative Packing


Sep 20, 2019
Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa

* Fixed title error, and made a few minor edits to the text 

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Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items


Sep 16, 2019
Ethan K. Gordon, Xiang Meng, Matt Barnes, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa

* 6 pages + 2 pages references, 7 figures; Abstract presented in IJCAI 2019 AIxFood Workshop; v2: Added simulation and experimental results for conference submission 

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Towards Effective Human-AI Teams: The Case of Human-Robot Packing


Sep 14, 2019
Gilwoo Lee, Christoforos Mavrogiannis, Siddhartha S. Srinivasa


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MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research


Aug 22, 2019
Siddhartha S. Srinivasa, Patrick Lancaster, Johan Michalove, Matt Schmittle, Colin Summers, Matthew Rockett, Joshua R. Smith, Sanjiban Choudhury, Christoforos Mavrogiannis, Fereshteh Sadeghi


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LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning


Jul 22, 2019
Rahul Kumar, Aditya Mandalika, Sanjiban Choudhury, Siddhartha S. Srinivasa

* Accepted at International Conference on Intelligent Robots and Systems (IROS) 2019 

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Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate


Jun 05, 2019
Ryan Feng, Youngsun Kim, Gilwoo Lee, Ethan K. Gordon, Matt Schmittle, Shivaum Kumar, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa

* 16 pages 

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Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation


Feb 24, 2019
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song, Siddhartha S. Srinivasa

* IEEE Robotics and Automation Letters, Volume: 4 , Issue: 2 , Page(s): 1485 - 1492, April 2019 
* 8 pages 

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Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes


Oct 06, 2018
Gilwoo Lee, Sanjiban Choudhury, Brian Hou, Siddhartha S. Srinivasa


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Bayesian Policy Optimization for Model Uncertainty


Oct 01, 2018
Gilwoo Lee, Brian Hou, Aditya Mandalika, Jeongseok Lee, Siddhartha S. Srinivasa


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Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry


Sep 30, 2018
Patrick E. Lancaster, Joshua R. Smith, Siddhartha S. Srinivasa


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Informed Asymptotically Optimal Anytime Search


May 08, 2018
Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa

* Submitted to the International Journal of Robotics Research (IJRR). Manuscript #IJR-17-2980. 32 Pages. 16 Figures 

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A Linear-Time Variational Integrator for Multibody Systems


Feb 05, 2018
Jeongseok Lee, C. Karen Liu, Frank C. Park, Siddhartha S. Srinivasa

* Submitted to the International Workshop on the Algorithmic Foundations of Robotics (2016) 

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Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations


Nov 10, 2017
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Christopher M. Dellin, Siddhartha S. Srinivasa


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Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments


Oct 14, 2017
Shushman Choudhury, Yifan Hou, Gilwoo Lee, Siddhartha S. Srinivasa


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The Provable Virtue of Laziness in Motion Planning


Oct 11, 2017
Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia, Oren Salzman, Siddhartha S. Srinivasa


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Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems


Oct 02, 2017
Gilwoo Lee, Zita Marinho, Aaron M. Johnson, Geoffrey J. Gordon, Siddhartha S. Srinivasa, Matthew T. Mason

* 8 pages 

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Shared Autonomy via Hindsight Optimization for Teleoperation and Teaming


Jun 01, 2017
Shervin Javdani, Henny Admoni, Stefania Pellegrinelli, Siddhartha S. Srinivasa, J. Andrew Bagnell


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GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems


May 15, 2017
Gilwoo Lee, Siddhartha S. Srinivasa, Matthew T. Mason


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A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study


Mar 25, 2017
Rachel M. Holladay, Siddhartha S. Srinivasa

* Submitted to SIGBOVIK 

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Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps


Mar 05, 2017
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Siddhartha S. Srinivasa

* Submitted to The International Conference on Robotics and Automation (ICRA) 2017 

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A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors


Jun 14, 2016
Christopher M. Dellin, Siddhartha S. Srinivasa

* Extended version of ICAPS-16 conference paper with proofs and timing results 

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