Publications

2024

  1. MOSAIC: A Modular System for Assistive and Interactive Cooking
    Wang, Huaxiaoyue, Kedia, Kushal, Ren, Juntao, Abdullah, Rahma, Bhardwaj, Atiksh, Chao, Angela, Chen, Kelly Y, Chin, Nathaniel, Dan, Prithwish, Fan, Xinyi, Gonzalez-Pumariega, Gonzalo, Kompella, Aditya, Pace, Maximus Adrian, Sharma, Yash, Sun, Xiangwan, Sunkara, Neha, and Choudhury, Sanjiban
    arXiv 2024
    PDF
  2. Hybrid Inverse Reinforcement Learning
    Ren, Juntao, Swamy, Gokul, Wu, Zhiwei Steven, Bagnell, J. Andrew, and Choudhury, Sanjiban
    arXiv 2024
    PDF
  3. UNcommonsense Reasoning: Abductive Reasoning about Uncommon Situations
    Zhao, Wenting, Chiu, Justin T, Hwang, Jena D, Brahman, Faeze, Hessel, Jack, Choudhury, Sanjiban, Choi, Yejin, Li, Xiang Lorraine, and Suhr, Alane
    In North American Chapter of the Association for Computational Linguistics 2024
    PDF
  4. InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
    Kedia, Kushal, Bhardwaj, Atiksh, Dan, Prithwish, and Choudhury, Sanjiban
    In IEEE International Conference on Robotics and Automation 2024
    PDF

2023

  1. Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought
    Wang, Huaxiaoyue, Gonzalez-Pumariega, Gonzalo, Sharma, Yash, and Choudhury, Sanjiban
    In Advances in Neural Information Processing Systems 2023
    PDF
  2. ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting
    Kedia, Kushal, Dan, Prithwish, Bhardwaj, Atiksh, and Choudhury, Sanjiban
    In Conference on Robot Learning 2023
    PDF
  3. Learning Shared Safety Constraints from Multi-task Demonstrations
    Kim, Konwoo, Swamy, Gokul, Liu, Zuxin, Zhao, Ding, Choudhury, Sanjiban, and Wu, Zhiwei Steven
    In Advances in Neural Information Processing Systems 2023
    PDF
  4. The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms
    Vemula, Anirudh, Song, Yuda, Singh, Aarti, Bagnell, J. Andrew, and Choudhury, Sanjiban
    In International Conference on Machine Learning 2023
    PDF
  5. Inverse Reinforcement Learning without Reinforcement Learning
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J. Andrew, and Wu, Zhiwei Steven
    In International Conference on Machine Learning 2023
    PDF
  6. A Game-Theoretic Framework for Joint Forecasting and Planning
    Kedia, Kushal, Dan, Prithwish, and Choudhury, Sanjiban
    In IEEE/RSJ International Conference on Intelligent Robots and Systems 2023
    PDF
  7. Impossibly Good Experts and How to Follow Them
    Walsman, Aaron, Zhang, Muru, Choudhury, Sanjiban, Fox, Dieter, and Farhadi, Ali
    In International Conference on Learning Representations 2023
    PDF
  8. Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning
    Mandalika, Aditya, Scalise, Rosario, Hou, Brian, Choudhury, Sanjiban, and Srinivasa, Siddhartha S
    In IEEE International Conference on Robotics and Automation 2023
    PDF
  9. Complementing a Policy with a Different Observation Space
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, Drew, and Wu, Steven
    2023
    PDF

2022

  1. The Blindfolded Traveler’s Problem: A Search Framework for Motion Planning with Contact Estimates
    Saund, B., Choudhury, S., Srinivasa, S., and Berenson, D.
    In The International Journal of Robotics Research 2022
    PDF
  2. Minimax Optimal Online Imitation Learning via Replay Estimation
    Swamy, Gokul, Rajaraman, Nived, Peng, Matthew, Choudhury, Sanjiban, Bagnell, J Andrew, Wu, Zhiwei Steven, Jiao, Jiantao, and Ramchandran, Kannan
    In Advances in Neural Information Processing Systems 2022
    PDF
  3. Sequence Model Imitation Learning with Unobserved Contexts
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J Andrew, and Wu, Zhiwei Steven
    In Advances in Neural Information Processing Systems 2022
    PDF
  4. Causal imitation learning under temporally correlated noise
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, Drew, and Wu, Steven
    In International Conference on Machine Learning 2022
    PDF
  5. Towards Uniformly Superhuman Autonomy via Subdominance Minimization
    Ziebart, Brian, Choudhury, Sanjiban, Yan, Xinyan, and Vernaza, Paul
    In International Conference on Machine Learning 2022
    PDF

2021

  1. Leveraging experience in lazy search
    Bhardwaj, Mohak, Choudhury, Sanjiban, Boots, Byron, and Srinivasa, Siddhartha
    Autonomous Robots 2021
    PDF
  2. Expert Intervention Learning
    Spencer, Jonathan, Choudhury, Sanjiban, Barnes, Matthew, Schmittle, Matthew, Chiang, Mung, Ramadge, Peter, and Srinivasa, Sidd
    Autonomous Robots 2021
    PDF
  3. A Critique of Strictly Batch Imitation Learning
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J. Andrew, and Wu, Zhiwei Steven
    arXiv preprint arXiv:2110.02063 2021
    PDF
  4. Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap
    Swamy, Gokul, Choudhury, Sanjiban, Bagnell, J Andrew, and Wu, Steven
    In International Conference on Machine Learning 2021
    PDF
  5. Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics
    Schmittle, Matthew, Choudhury, Sanjiban, and Srinivasa, Siddhartha S
    arXiv preprint arXiv:2104.01021 2021
    PDF
  6. Feedback in Imitation Learning: The Three Regimes of Covariate Shift
    Spencer, Jonathan, Choudhury, Sanjiban, Venkatraman, Arun, Ziebart, Brian, and Bagnell, J Andrew
    arXiv preprint arXiv:2102.02872 2021
    PDF
  7. Blending mpc & value function approximation for efficient reinforcement learning
    Bhardwaj, Mohak, Choudhury, Sanjiban, and Boots, Byron
    In International Conference on Learning Representations 2021
    PDF
  8. Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
    Lee, G., Hou, B., Choudhury, S., and Srinivasa, S.S
    In IEEE/RSJ International Conference on Intelligent Robots and Systems 2021
    PDF

2020

  1. Toward fieldable human-scale mobile manipulation using RoMan
    In Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II 2020
  2. Learning from Interventions: Human-robot interaction as both explicit and implicit feedback
    Spencer, J., Choudhury, S., Barnes, M., and Srinivasa, S.
    In Robotics: Science and Systems 2020
    PDF
  3. Imitation Learning as f-Divergence Minimization
    Ke, L., Choudhury, S., Barnes, M., Sun, W., Lee, G., and Srinivasa, S.
    In Workshop on the Algorithmic Foundations of Robotics 2020
    PDF
  4. ICS: Incremental Constrained Smoothing for State Estimation
    Sodhi, P., Choudhury, S., Mangelson, J. G., and Kaess, M.
    In IEEE International Conference on Robotics and Automation 2020
    PDF
  5. Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
    Hou, B., Choudhury, S., Lee, G., Mandalika, A., and Srinivasa, S.
    In IEEE International Conference on Robotics and Automation 2020
    PDF