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Sanjiban Choudhury
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2020 – today
- 2024
- [c45]Juntao Ren, Gokul Swamy, Steven Wu, Drew Bagnell, Sanjiban Choudhury:
Hybrid Inverse Reinforcement Learning. ICML 2024 - [c44]Kushal Kedia, Atiksh Bhardwaj, Prithwish Dan, Sanjiban Choudhury:
InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions. ICRA 2024: 621-628 - [c43]Wenting Zhao, Justin T. Chiu, Jena D. Hwang, Faeze Brahman, Jack Hessel, Sanjiban Choudhury, Yejin Choi, Xiang Li, Alane Suhr:
UNcommonsense Reasoning: Abductive Reasoning about Uncommon Situations. NAACL-HLT 2024: 8487-8505 - [i45]David Wu, Sanjiban Choudhury:
Accelerating Inverse Reinforcement Learning with Expert Bootstrapping. CoRR abs/2402.02608 (2024) - [i44]Juntao Ren, Gokul Swamy, Zhiwei Steven Wu, J. Andrew Bagnell, Sanjiban Choudhury:
Hybrid Inverse Reinforcement Learning. CoRR abs/2402.08848 (2024) - [i43]Huaxiaoyue Wang, Kushal Kedia, Juntao Ren, Rahma Abdullah, Atiksh Bhardwaj, Angela Chao, Kelly Y. Chen, Nathaniel Chin, Prithwish Dan, Xinyi Fan, Gonzalo Gonzalez-Pumariega, Aditya Kompella, Maximus Adrian Pace, Yash Sharma, Xiangwan Sun, Neha Sunkara, Sanjiban Choudhury:
MOSAIC: A Modular System for Assistive and Interactive Cooking. CoRR abs/2402.18796 (2024) - [i42]David Durst, Feng Xie, Vishnu Sarukkai, Brennan Shacklett, Iuri Frosio, Chen Tessler, Joohwan Kim, Carly Taylor, Gilbert Bernstein, Sanjiban Choudhury, Pat Hanrahan, Kayvon Fatahalian:
Learning to Move Like Professional Counter-Strike Players. CoRR abs/2408.13934 (2024) - [i41]Kushal Kedia, Prithwish Dan, Sanjiban Choudhury:
One-Shot Imitation under Mismatched Execution. CoRR abs/2409.06615 (2024) - [i40]Sanjiban Choudhury, Paloma Sodhi:
Better than Your Teacher: LLM Agents that learn from Privileged AI Feedback. CoRR abs/2410.05434 (2024) - 2023
- [j8]Brad Saund
, Sanjiban Choudhury
The blindfolded traveler's problem: A search framework for motion planning with contact estimates. Int. J. Robotics Res. 42(4-5): 289-309 (2023) - [c42]Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury:
ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting. CoRL 2023: 1050-1067 - [c41]Aaron Walsman, Muru Zhang, Sanjiban Choudhury, Dieter Fox, Ali Farhadi:
Impossibly Good Experts and How to Follow Them. ICLR 2023 - [c40]Gokul Swamy, David Wu, Sanjiban Choudhury, Drew Bagnell, Zhiwei Steven Wu:
Inverse Reinforcement Learning without Reinforcement Learning. ICML 2023: 33299-33318 - [c39]Anirudh Vemula, Yuda Song, Aarti Singh, Drew Bagnell, Sanjiban Choudhury:
The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms. ICML 2023: 34978-35005 - [c38]Rosario Scalise, Aditya Mandalika, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa:
GuILD: Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. ICRA 2023: 10212-10218 - [c37]Kushal Kedia, Prithwish Dan, Sanjiban Choudhury:
A Game-Theoretic Framework for Joint Forecasting and Planning. IROS 2023: 6773-6778 - [c36]Konwoo Kim, Gokul Swamy, Zuxin Liu, Ding Zhao, Sanjiban Choudhury, Zhiwei Steven Wu:
Learning Shared Safety Constraints from Multi-task Demonstrations. NeurIPS 2023 - [c35]Yuki Wang, Gonzalo Gonzalez-Pumariega, Yash Sharma, Sanjiban Choudhury:
Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought. NeurIPS 2023 - [i39]Anirudh Vemula, Yuda Song, Aarti Singh, J. Andrew Bagnell, Sanjiban Choudhury:
The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms. CoRR abs/2303.00694 (2023) - [i38]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
Inverse Reinforcement Learning without Reinforcement Learning. CoRR abs/2303.14623 (2023) - [i37]Huaxiaoyue Wang, Gonzalo Gonzalez-Pumariega, Yash Sharma, Sanjiban Choudhury:
Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought. CoRR abs/2305.16744 (2023) - [i36]Kushal Kedia, Prithwish Dan, Sanjiban Choudhury:
A Game-Theoretic Framework for Joint Forecasting and Planning. CoRR abs/2308.06137 (2023) - [i35]Konwoo Kim, Gokul Swamy, Zuxin Liu, Ding Zhao, Sanjiban Choudhury, Zhiwei Steven Wu:
Learning Shared Safety Constraints from Multi-task Demonstrations. CoRR abs/2309.00711 (2023) - [i34]Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury:
ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting. CoRR abs/2310.13258 (2023) - [i33]Wenting Zhao, Justin T. Chiu, Jena D. Hwang, Faeze Brahman, Jack Hessel, Sanjiban Choudhury, Yejin Choi, Xiang Lorraine Li, Alane Suhr:
UNcommonsense Reasoning: Abductive Reasoning about Uncommon Situations. CoRR abs/2311.08469 (2023) - [i32]Kushal Kedia, Atiksh Bhardwaj, Prithwish Dan, Sanjiban Choudhury:
InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions. CoRR abs/2311.12943 (2023) - 2022
- [j7]Jonathan C. Spencer
Expert Intervention Learning. Auton. Robots 46(1): 99-113 (2022) - [j6]Chad C. Kessens
Human-Scale Mobile Manipulation Using RoMan. Field Robotics 2(1): 1232-1262 (2022) - [c34]Gokul Swamy, Sanjiban Choudhury, Drew Bagnell, Steven Wu:
Causal Imitation Learning under Temporally Correlated Noise. ICML 2022: 20877-20890 - [c33]Brian D. Ziebart, Sanjiban Choudhury, Xinyan Yan, Paul Vernaza:
Towards Uniformly Superhuman Autonomy via Subdominance Minimization. ICML 2022: 27654-27670 - [c32]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
Sequence Model Imitation Learning with Unobserved Contexts. NeurIPS 2022 - [c31]Gokul Swamy, Nived Rajaraman, Matthew Peng, Sanjiban Choudhury, J. Andrew Bagnell, Steven Wu, Jiantao Jiao, Kannan Ramchandran:
Minimax Optimal Online Imitation Learning via Replay Estimation. NeurIPS 2022 - [i31]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
Causal Imitation Learning under Temporally Correlated Noise. CoRR abs/2202.01312 (2022) - [i30]Gokul Swamy, Nived Rajaraman, Matthew Peng, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu, Jiantao Jiao, Kannan Ramchandran:
Minimax Optimal Online Imitation Learning via Replay Estimation. CoRR abs/2205.15397 (2022) - [i29]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
Sequence Model Imitation Learning with Unobserved Contexts. CoRR abs/2208.02225 (2022) - [i28]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
Game-Theoretic Algorithms for Conditional Moment Matching. CoRR abs/2208.09551 (2022) - 2021
- [j5]Mohak Bhardwaj
Leveraging experience in lazy search. Auton. Robots 45(7): 979-996 (2021) - [c30]Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots:
Blending MPC & Value Function Approximation for Efficient Reinforcement Learning. ICLR 2021 - [c29]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Steven Wu:
Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap. ICML 2021: 10022-10032 - [c28]Gilwoo Lee, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Bayesian Residual Policy Optimization: : Scalable Bayesian Reinforcement Learning with Clairvoyant Experts. IROS 2021: 5611-5618 - [c27]Liyiming Ke, Sanjiban Choudhury, Matt Barnes, Wen Sun, Gilwoo Lee, Siddhartha S. Srinivasa:
Imitation Learning as f-Divergence Minimization. WAFR 2021: 313-329 - [i27]Jonathan C. Spencer, Sanjiban Choudhury, Arun Venkatraman, Brian D. Ziebart, J. Andrew Bagnell:
Feedback in Imitation Learning: The Three Regimes of Covariate Shift. CoRR abs/2102.02872 (2021) - [i26]Gokul Swamy, Sanjiban Choudhury, Zhiwei Steven Wu, J. Andrew Bagnell:
Of Moments and Matching: Trade-offs and Treatments in Imitation Learning. CoRR abs/2103.03236 (2021) - [i25]Matthew Schmittle, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics. CoRR abs/2104.01021 (2021) - [i24]Aditya Mandalika, Rosario Scalise, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. CoRR abs/2104.05037 (2021) - [i23]Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu:
A Critique of Strictly Batch Imitation Learning. CoRR abs/2110.02063 (2021) - [i22]Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha S. Srinivasa:
Leveraging Experience in Lazy Search. CoRR abs/2110.04669 (2021) - 2020
- [j4]Rogerio Bonatti
Autonomous aerial cinematography in unstructured environments with learned artistic decision-making. J. Field Robotics 37(4): 606-641 (2020) - [c26]Paloma Sodhi, Sanjiban Choudhury, Joshua G. Mangelson, Michael Kaess
ICS: Incremental Constrained Smoothing for State Estimation. ICRA 2020: 279-285 - [c25]Brian Hou, Sanjiban Choudhury, Gilwoo Lee, Aditya Mandalika, Siddhartha S. Srinivasa:
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges. ICRA 2020: 4266-4272 - [c24]Jonathan C. Spencer, Sanjiban Choudhury, Matt Barnes, Matthew Schmittle, Mung Chiang, Peter J. Ramadge, Siddhartha S. Srinivasa:
Learning from Interventions: Human-robot interaction as both explicit and implicit feedback. Robotics: Science and Systems 2020 - [i21]Gilwoo Lee, Brian Hou, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts. CoRR abs/2002.03042 (2020) - [i20]Brian Hou, Sanjiban Choudhury, Gilwoo Lee, Aditya Mandalika, Siddhartha S. Srinivasa:
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges. CoRR abs/2002.11853 (2020) - [i19]Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots:
Blending MPC & Value Function Approximation for Efficient Reinforcement Learning. CoRR abs/2012.05909 (2020)
2010 – 2019
- 2019
- [j3]Sanjiban Choudhury
High performance and safe flight of full-scale helicopters from takeoff to landing with an ensemble of planners. J. Field Robotics 36(8): 1275-1332 (2019) - [c23]Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, Siddhartha S. Srinivasa:
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-Based Toggles. ICAPS 2019: 745-753 - [c22]Gilwoo Lee, Brian Hou, Aditya Mandalika, Jeongseok Lee, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Bayesian Policy Optimization for Model Uncertainty. ICLR (Poster) 2019 - [c21]Rogerio Bonatti, Cherie Ho, Wenshan Wang, Sanjiban Choudhury, Sebastian A. Scherer
Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments. IROS 2019: 229-236 - [c20]Rahul Kumar, Aditya Mandalika, Sanjiban Choudhury, Siddhartha S. Srinivasa:
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning. IROS 2019: 1488-1495 - [c19]Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson:
The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback. ISRR 2019: 443-459 - [c18]Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha S. Srinivasa:
Leveraging Experience in Lazy Search. Robotics: Science and Systems 2019 - [i18]Rogerio Bonatti, Cherie Ho, Wenshan Wang, Sanjiban Choudhury, Sebastian A. Scherer:
Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments. CoRR abs/1904.02319 (2019) - [i17]Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, Siddhartha S. Srinivasa:
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles. CoRR abs/1904.02795 (2019) - [i16]Liyiming Ke, Matt Barnes, Wen Sun, Gilwoo Lee, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Imitation Learning as f-Divergence Minimization. CoRR abs/1905.12888 (2019) - [i15]Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha S. Srinivasa:
Leveraging Experience in Lazy Search. CoRR abs/1907.07238 (2019) - [i14]Rahul Kumar, Aditya Mandalika, Sanjiban Choudhury, Siddhartha S. Srinivasa:
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning. CoRR abs/1907.09574 (2019) - [i13]Siddhartha S. Srinivasa, Patrick Lancaster, Johan Michalove, Matt Schmittle, Colin Summers, Matthew Rockett, Joshua R. Smith, Sanjiban Choudhury, Christoforos I. Mavrogiannis, Fereshteh Sadeghi:
MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research. CoRR abs/1908.08031 (2019) - [i12]Rogerio Bonatti, Wenshan Wang, Cherie Ho, Aayush Ahuja, Mirko Gschwindt, Efe Camci, Erdal Kayacan, Sanjiban Choudhury, Sebastian A. Scherer:
Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making. CoRR abs/1910.06988 (2019) - 2018
- [b1]Sanjiban Choudhury:
Adaptive Motion Planning. Carnegie Mellon University, USA, 2018 - [j2]Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian A. Scherer
Data-driven planning via imitation learning. Int. J. Robotics Res. 37(13-14) (2018) - [c17]Sanjiban Choudhury, Siddhartha S. Srinivasa, Sebastian A. Scherer
Bayesian Active Edge Evaluation on Expensive Graphs. IJCAI 2018: 4890-4897 - [c16]Rogerio Bonatti, Yanfu Zhang, Sanjiban Choudhury, Wenshan Wang, Sebastian A. Scherer
Autonomous Drone Cinematographer: Using Artistic Principles to Create Smooth, Safe, Occlusion-Free Trajectories for Aerial Filming. ISER 2018: 119-129 - [i11]Sankalp Arora, Sanjiban Choudhury, Sebastian A. Scherer:
Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi-resolution Information Gathering. CoRR abs/1804.02573 (2018) - [i10]Rogerio Bonatti, Yanfu Zhang, Sanjiban Choudhury, Wenshan Wang, Sebastian A. Scherer:
Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming. CoRR abs/1808.09563 (2018) - [i9]Gilwoo Lee, Sanjiban Choudhury, Brian Hou, Siddhartha S. Srinivasa:
Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes. CoRR abs/1810.03048 (2018) - 2017
- [c15]Mohak Bhardwaj, Sanjiban Choudhury, Sebastian A. Scherer:
Learning Heuristic Search via Imitation. CoRL 2017: 271-280 - [c14]Vishal Dugar, Sanjiban Choudhury, Sebastian A. Scherer
A κITE in the wind: Smooth trajectory optimization in a moving reference frame. ICRA 2017: 109-116 - [c13]Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Debadeepta Dey:
Learning to gather information via imitation. ICRA 2017: 908-915 - [c12]Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Densification strategies for anytime motion planning over large dense roadmaps. ICRA 2017: 3770-3777 - [c11]Sanjiban Choudhury, Siddhartha S. Srinivasa:
A Bayesian Active Learning Approach to Adaptive Motion Planning. ISRR 2017: 33-40 - [c10]Sanjiban Choudhury, Shervin Javdani, Siddhartha S. Srinivasa, Sebastian A. Scherer:
Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs. NIPS 2017: 4631-4641 - [c9]Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian A. Scherer
Adaptive Information Gathering via Imitation Learning. Robotics: Science and Systems 2017 - [i8]Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian A. Scherer, Debadeepta Dey:
Adaptive Information Gathering via Imitation Learning. CoRR abs/1705.07834 (2017) - [i7]Sanjiban Choudhury, Shervin Javdani, Siddhartha S. Srinivasa, Sebastian A. Scherer:
Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs. CoRR abs/1706.09351 (2017) - [i6]Mohak Bhardwaj, Sanjiban Choudhury, Sebastian A. Scherer:
Learning Heuristic Search via Imitation. CoRR abs/1707.03034 (2017) - [i5]Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Christopher M. Dellin, Siddhartha S. Srinivasa:
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations. CoRR abs/1711.04040 (2017) - [i4]Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian A. Scherer, Debadeepta Dey:
Data-driven Planning via Imitation Learning. CoRR abs/1711.06391 (2017) - [i3]Sanjiban Choudhury, Siddhartha S. Srinivasa, Sebastian A. Scherer:
Bayesian Active Edge Evaluation on Expensive Graphs. CoRR abs/1711.07329 (2017) - 2016
- [c8]Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian A. Scherer
List prediction applied to motion planning. ICRA 2016: 213-220 - [c7]Sanjiban Choudhury, Jonathan D. Gammell
Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning. ICRA 2016: 4207-4214 - [i2]Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Siddhartha S. Srinivasa:
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps. CoRR abs/1611.00111 (2016) - [i1]Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Debadeepta Dey:
Learning to Gather Information via Imitation. CoRR abs/1611.04180 (2016) - 2015
- [j1]Stephen Nuske, Sanjiban Choudhury, Sezal Jain, Andrew Chambers, Luke Yoder, Sebastian A. Scherer
Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers. J. Field Robotics 32(8): 1141-1162 (2015) - [c6]Sanjiban Choudhury, Sebastian A. Scherer
The Dynamics Projection Filter (DPF) - real-time nonlinear trajectory optimization using projection operators. ICRA 2015: 644-649 - [c5]Sanjiban Choudhury, Sankalp Arora, Sebastian A. Scherer
The planner ensemble: Motion planning by executing diverse algorithms. ICRA 2015: 2389-2395 - [c4]Sankalp Arora, Sanjiban Choudhury, Daniel Althoff, Sebastian A. Scherer
Emergency maneuver library - ensuring safe navigation in partially known environments. ICRA 2015: 6431-6438 - [c3]Sanjiban Choudhury, Sebastian A. Scherer
Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest. Robotics: Science and Systems 2015 - 2013
- [c2]Hugh Cover, Sanjiban Choudhury, Sebastian A. Scherer
Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles. ICRA 2013: 2820-2825 - [c1]Sanjiban Choudhury, Sebastian A. Scherer
RRT*-AR: Sampling-based alternate routes planning with applications to autonomous emergency landing of a helicopter. ICRA 2013: 3947-3952
Coauthor Index
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