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Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation


May 25, 2021
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras


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Faster Policy Learning with Continuous-Time Gradients


Dec 12, 2020
Samuel Ainsworth, Kendall Lowrey, John Thickstun, Zaid Harchaoui, Siddhartha Srinivasa


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Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation


Nov 13, 2020
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee, Byron Boots, Siddhartha Srinivasa

* Submitted to ICRA 2021 

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Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity


Sep 28, 2020
William Agnew, Christopher Xie, Aaron Walsman, Octavian Murad, Caelen Wang, Pedro Domingos, Siddhartha Srinivasa


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Lyceum: An efficient and scalable ecosystem for robot learning


Jan 21, 2020
Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha Srinivasa, Emanuel Todorov


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Mo' States Mo' Problems: Emergency Stop Mechanisms from Observation


Dec 03, 2019
Samuel Ainsworth, Matt Barnes, Siddhartha Srinivasa

* NeurIPS 2019 

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Leveraging Experience in Lazy Search


Jul 16, 2019
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha Srinivasa

* 9 pages 

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Imitation Learning as $f$-Divergence Minimization


May 30, 2019
Liyiming Ke, Matt Barnes, Wen Sun, Gilwoo Lee, Sanjiban Choudhury, Siddhartha Srinivasa


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Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles


Apr 08, 2019
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, Siddhartha Srinivasa

* Submitted to International Conference on Automated Planning and Scheduling (ICAPS) 2019 

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Improving Robot Success Detection using Static Object Data


Apr 02, 2019
Rosario Scalise, Jesse Thomason, Yonatan Bisk, Siddhartha Srinivasa


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Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigation


Apr 02, 2019
Liyiming Ke, Xiujun Li, Yonatan Bisk, Ari Holtzman, Zhe Gan, Jingjing Liu, Jianfeng Gao, Yejin Choi, Siddhartha Srinivasa

* CVPR 2019 Oral, video demo: https://youtu.be/AD9TNohXoPA 

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Learning Configuration Space Belief Model from Collision Checks for Motion Planning


Feb 10, 2019
Sumit Kumar, Shushman Choudhary, Siddhartha Srinivasa


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The Assistive Multi-Armed Bandit


Jan 24, 2019
Lawrence Chan, Dylan Hadfield-Menell, Siddhartha Srinivasa, Anca Dragan

* Accepted to HRI 2019 

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Estimating Configuration Space Belief from Collision Checks for Motion Planning


Jan 22, 2019
Sumit Kumar, Sushman Choudhary, Siddhartha Srinivasa


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Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning


Nov 22, 2018
Min Chen, Stefanos Nikolaidis, Harold Soh, David Hsu, Siddhartha Srinivasa

* Chen and Nikolaidis contributed equally to the work. Appeared In Proceedings of 2018 ACM/IEEE International Conference on Human-Robot Interaction, Chicago, IL, USA, (HRI 2018) 

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Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions


Oct 24, 2018
Lerrel Pinto, Aditya Mandalika, Brian Hou, Siddhartha Srinivasa


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Minimizing Task Space Frechet Error via Efficient Incremental Graph Search


Sep 10, 2018
Rachel Holladay, Oren Salzman, Siddhartha Srinivasa


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Balancing Shared Autonomy with Human-Robot Communication


May 20, 2018
Rosario Scalise, Yonatan Bisk, Maxwell Forbes, Daqing Yi, Yejin Choi, Siddhartha Srinivasa


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Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges


Mar 15, 2018
Aditya Mandalika, Oren Salzman, Siddhartha Srinivasa

* 16 pages; typos corrected; revised text; results unchanged 

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Recurrent Predictive State Policy Networks


Mar 05, 2018
Ahmed Hefny, Zita Marinho, Wen Sun, Siddhartha Srinivasa, Geoffrey Gordon


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Bayesian Active Edge Evaluation on Expensive Graphs


Nov 20, 2017
Sanjiban Choudhury, Siddhartha Srinivasa, Sebastian Scherer


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Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo


Oct 17, 2017
Daqing Yi, Rohan Thakker, Cole Gulino, Oren Salzman, Siddhartha Srinivasa


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Mathematical Models of Adaptation in Human-Robot Collaboration


Aug 04, 2017
Stefanos Nikolaidis, Jodi Forlizzi, David Hsu, Julie Shah, Siddhartha Srinivasa


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Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs


Jun 28, 2017
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa, Sebastian Scherer


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Planning with Verbal Communication for Human-Robot Collaboration


Jun 14, 2017
Stefanos Nikolaidis, Minae Kwon, Jodi Forlizzi, Siddhartha Srinivasa


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Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration


Apr 06, 2017
Stefanos Nikolaidis, Swaprava Nath, Ariel D. Procaccia, Siddhartha Srinivasa

* Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2017) 

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Efficient motion planning for problems lacking optimal substructure


Mar 09, 2017
Oren Salzman, Brian Hou, Siddhartha Srinivasa


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Hybrid control trajectory optimization under uncertainty


Mar 02, 2017
Joni Pajarinen, Ville Kyrki, Michael Koval, Siddhartha Srinivasa, Jan Peters, Gerhard Neumann


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Human-Robot Mutual Adaptation in Shared Autonomy


Jan 26, 2017
Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu, Siddhartha Srinivasa

* Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction 

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