Sanjiban Choudhury

Accelerating Inverse Reinforcement Learning with Expert Bootstrapping. D Wu, S Choudhury arXiv preprint arXiv:2402.02608, 2024.

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Goal-based Motion Forecasting. S Choudhury, S Kumar, M Marchetti-Bowick US Patent App. 18/471,690, 2024.

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MOSAIC: A Modular System for Assistive and Interactive Cooking. H Wang, K Kedia, J Ren, R Abdullah, A Bhardwaj, A Chao, KY Chen, ... arXiv preprint arXiv:2402.18796, 2024.

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Learning shared safety constraints from multi-task demonstrations. K Kim, G Swamy, Z Liu, D Zhao, S Choudhury, SZ Wu Advances in Neural Information Processing Systems 36, 2024.

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Training machine learning model (s), in simulation, for use in controlling autonomous vehicle (s). JA Bagnell, A Venkatraman, S Choudhury US Patent 11,989,020, 2024.

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Systems and Methods Related to Controlling Autonomous Vehicle (s). JA Bagnell, S Choudhury, V Narayanan, A Venkatraman US Patent App. 18/582,149, 2024.

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Hybrid inverse reinforcement learning. J Ren, G Swamy, ZS Wu, JA Bagnell, S Choudhury arXiv preprint arXiv:2402.08848, 2024.

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Interact: Transformer models for human intent prediction conditioned on robot actions. K Kedia, A Bhardwaj, P Dan, S Choudhury 2024 IEEE International Conference on Robotics and Automation (ICRA), 621-628, 2024.

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Systems and methods related to controlling autonomous vehicle (s). JA Bagnell, S Choudhury, V Narayanan, A Venkatraman US Patent 11,952,015, 2024.

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Systems and methods related to controlling autonomous vehicle (s). JA Bagnell, A Venkatraman, S Choudhury, V Narayanan US Patent App. 18/269,209, 2024.

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One-Shot Imitation under Mismatched Execution. K Kedia, P Dan, S Choudhury arXiv preprint arXiv:2409.06615, 2024.

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Systems and methods for autonomous vehicle validation. JA Bagnell, S Choudhury, ML Phillips, A Venkatraman, X Yan US Patent 12,084,085, 2024.

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APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs. H Wang, N Chin, G Gonzalez-Pumariega, X Sun, N Sunkara, MA Pace, ... arXiv preprint arXiv:2410.19656, 2024.

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Better than Your Teacher: LLM Agents that learn from Privileged AI Feedback. S Choudhury, P Sodhi arXiv preprint arXiv:2410.05434, 2024.

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Learning to Move Like Professional Counter Strike Players. D Durst, F Xie, V Sarukkai, B Shacklett, I Frosio, C Tessler, J Kim, C Taylor, ... Computer Graphics Forum, e15173, 2024.

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Revisiting successor features for inverse reinforcement learning. AK Jain, H Wiltzer, J Farebrother, I Rish, G Berseth, S Choudhury ICML 2024 Workshop on Models of Human Feedback for AI Alignment, 2024.

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Demo2code: From summarizing demonstrations to synthesizing code via extended chain-of-thought. Y Wang, G Gonzalez-Pumariega, Y Sharma, S Choudhury Advances in Neural Information Processing Systems 36, 2024.

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Systems and methods related to controlling autonomous vehicle (s). JA Bagnell, A Venkatraman, S Choudhury, V Narayanan US Patent App. 18/269,200, 2024.

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The Virtues of Pessimism in Inverse Reinforcement Learning. D Wu, G Swamy, JA Bagnell, ZS Wu, S Choudhury arXiv preprint arXiv:2402.02616, 2024.

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UNcommonsense Reasoning: Abductive Reasoning about Uncommon Situations. W Zhao, JT Chiu, JD Hwang, F Brahman, J Hessel, S Choudhury, Y Choi, ... arXiv preprint arXiv:2311.08469, 2023.

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Goal-based motion forecasting. S Choudhury, S Kumar, M Marchetti-Bowick US Patent 11,801,871, 2023.

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Manicast: Collaborative manipulation with cost-aware human forecasting. K Kedia, P Dan, A Bhardwaj, S Choudhury arXiv preprint arXiv:2310.13258, 2023.

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The blindfolded traveler's problem: A search framework for motion planning with contact estimates. B Saund, S Choudhury, S Srinivasa, D Berenson The International Journal of Robotics Research 42 (4-5), 289-309, 2023.

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Demo2code: From summarizing demonstrations to synthesizing code via extended chain-of-thought. H Wang, G Gonzalez-Pumariega, Y Sharma, S Choudhury Proceedings of the 37th International Conference on Neural Information ..., 2023.

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A game-theoretic framework for joint forecasting and planning. K Kedia, P Dan, S Choudhury 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2023.

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GuILD: Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. R Scalise, A Mandalika, B Hou, S Choudhury, SS Srinivasa 2023 IEEE International Conference on Robotics and Automation (ICRA), 10212 ..., 2023.

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The virtues of laziness in model-based rl: A unified objective and algorithms. A Vemula, Y Song, A Singh, D Bagnell, S Choudhury International Conference on Machine Learning, 34978-35005, 2023.

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Inverse reinforcement learning without reinforcement learning. G Swamy, D Wu, S Choudhury, D Bagnell, S Wu International Conference on Machine Learning, 33299-33318, 2023.

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Impossibly good experts and how to follow them. A Walsman, M Zhang, S Choudhury, D Fox, A Farhadi The Eleventh International Conference on Learning Representations, 2022.

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Expert intervention learning: An online framework for robot learning from explicit and implicit human feedback. J Spencer, S Choudhury, M Barnes, M Schmittle, M Chiang, P Ramadge, ... Autonomous Robots, 1-15, 2022.

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Minimax optimal online imitation learning via replay estimation. G Swamy, N Rajaraman, M Peng, S Choudhury, J Bagnell, SZ Wu, J Jiao, ... Advances in Neural Information Processing Systems 35, 7077-7088, 2022.

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Causal imitation learning under temporally correlated noise. G Swamy, S Choudhury, D Bagnell, S Wu International Conference on Machine Learning, 20877-20890, 2022.

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Sequence model imitation learning with unobserved contexts. G Swamy, S Choudhury, J Bagnell, SZ Wu Advances in Neural Information Processing Systems 35, 17665-17676, 2022.

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Towards uniformly superhuman autonomy via subdominance minimization. B Ziebart, S Choudhury, X Yan, P Vernaza International Conference on Machine Learning, 27654-27670, 2022.

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Human-Scale Mobile Manipulation Using RoMan. Kessens, C C., Kaplan, Matthew, T Rocks, PR Osteen, J Rogers, E Stump, ... Journal of Field Robotics 2, 1232-1262, 2022.

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Game-Theoretic Algorithms for Conditional Moment Matching. G Swamy, S Choudhury, JA Bagnell, ZS Wu arXiv preprint arXiv:2208.09551, 2022.

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What Would the Expert do ( )?: Causal Imitation Learning. G Swamy, S Choudhury, D Bagnell, S Wu Deep RL Workshop of Neural Information Processing Systems, 2021.

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A critique of strictly batch imitation learning. G Swamy, S Choudhury, JA Bagnell, ZS Wu arXiv preprint arXiv:2110.02063, 2021.

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Bayesian residual policy optimization:: Scalable bayesian reinforcement learning with clairvoyant experts. G Lee, B Hou, S Choudhury, SS Srinivasa 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2021.

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Learning online from corrective feedback: A meta-algorithm for robotics. M Schmittle, S Choudhury, SS Srinivasa arXiv preprint arXiv:2104.01021, 2021.

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Imitation learning as f-divergence minimization. L Ke, S Choudhury, M Barnes, W Sun, G Lee, S Srinivasa Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth ..., 2021.

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Of moments and matching: A game-theoretic framework for closing the imitation gap. G Swamy, S Choudhury, JA Bagnell, S Wu International Conference on Machine Learning, 10022-10032, 2021.

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Guided incremental local densification for accelerated sampling-based motion planning. A Mandalika, R Scalise, B Hou, S Choudhury, SS Srinivasa arXiv preprint arXiv:2104.05037, 2021.

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Of moments and matching: Trade-offs and treatments in imitation learning. G Swamy, S Choudhury, ZS Wu, JA Bagnell arXiv preprint arXiv:2103.03236 8, 2021.

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Feedback in imitation learning: The three regimes of covariate shift. J Spencer, S Choudhury, A Venkatraman, B Ziebart, JA Bagnell arXiv preprint arXiv:2102.02872, 2021.

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Blending mpc & value function approximation for efficient reinforcement learning. M Bhardwaj, S Choudhury, B Boots arXiv preprint arXiv:2012.05909, 2020.

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Autonomous aerial cinematography in unstructured environments with learned artistic decision making. R Bonatti, W Wang, C Ho, A Ahuja, M Gschwindt, E Camci, E Kayacan, ... Journal of Field Robotics 37 (4), 606-641, 2020.

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ICS: Incremental constrained smoothing for state estimation. P Sodhi, S Choudhury, JG Mangelson, M Kaess 2020 IEEE International Conference on Robotics and Automation (ICRA), 279-285, 2020.

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Posterior sampling for anytime motion planning on graphs with expensive-to-evaluate edges. B Hou, S Choudhury, G Lee, A Mandalika, SS Srinivasa 2020 IEEE International Conference on Robotics and Automation (ICRA), 4266-4272, 2020.

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Learning from Interventions. J Spencer, S Choudhury, M Barnes, M Schmittle, M Chiang, P Ramadge, ... Robotics: Science and Systems, 2020.

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Toward fieldable human-scale mobile manipulation using RoMan. CC Kessens, J Fink, A Hurwitz, M Kaplan, PR Osteen, T Rocks, J Rogers, ... Artificial Intelligence and Machine Learning for Multi-Domain Operations ..., 2020.

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Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts. G Lee, B Hou, S Choudhury, SS Srinivasa arXiv preprint arXiv:2002.03042, 2020.

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Learning from interventions: Human-robot interaction as both explicit and implicit feedback. J Spencer, S Choudhury, M Barnes, M Schmittle, M Chiang, P Ramadge, ... 16th Robotics: Science and Systems, RSS 2020, 2020.

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A bayesian active learning approach to adaptive motion planning. S Choudhury, SS Srinivasa Robotics Research: The 18th International Symposium ISRR, 33-40, 2020.

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The blindfolded robot: A bayesian approach to planning with contact feedback. B Saund, S Choudhury, S Srinivasa, D Berenson The International Symposium of Robotics Research, 443-459, 2019.

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Publication Submission Form. S Choudhury, V Dugar, S Maeta, B MacAllister, S Arora, D Althoff, ... Journal Article 36 (8), 1275-1332, 2019.

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High performance and safe flight of full scale helicopters from takeoff to landing with an ensemble of planners. S Choudhury, V Dugar, S Maeta, B MacAllister, S Arora, D Althoff, ... Journal of Field Robotics 36 (8), 1275-1332, 2019.

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Towards a robust aerial cinematography platform: Localizing and tracking moving targets in unstructured environments. R Bonatti, C Ho, W Wang, S Choudhury, S Scherer 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2019.

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MuSHR: A low-cost, open-source robotic racecar for education and research. SS Srinivasa, P Lancaster, J Michalove, M Schmittle, C Summers, ... arXiv preprint arXiv:1908.08031, 2019.

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Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles. A Mandalika, S Choudhury, O Salzman, S Srinivasa International Conference on Automated Planning and Scheduling (ICAPS), 2019.

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Leveraging Experience in Lazy Search. M Bhardwaj, S Choudhury, B Boots, S Srinivasa Robotics: Science and Systems, 2019.

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Bayesian Policy Optimization for Model Uncertainty. G Lee, B Hou, A Mandalika, J Lee, SS Srinivasa International Conference on Learning Representations (ICLR), 2019.

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LEGO: Leveraging experience in roadmap generation for sampling-based planning. R Kumar, A Mandalika, S Choudhury, S Srinivasa 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems ..., 2019.

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Publication Submission Form. M Bhardwaj, S Choudhury, B Boots, S Srinivasa, S Arora, A Kapoor, ... Journal Article 37 (13), 1632-1672, 2018.

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Data-driven planning via imitation learning. S Choudhury, M Bhardwaj, S Arora, A Kapoor, G Ranade, S Scherer, ... The International Journal of Robotics Research 37 (13-14), 1632-1672, 2018.

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Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes. G Lee, S Choudhury, B Hou, SS Srinivasa arXiv preprint arXiv:1810.03048, 2018.

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Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming. R Bonatti, Y Zhang, S Choudhury, W Wang, S Scherer International Symposium of Experimental Robotics (ISER), 2018.

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Bayesian Active Edge Evaluation on Expensive Graphs. S Choudhury, S Srinivasa, S Scherer International Joint Conferences on Artificial Intelligence (IJCAI), 2018.

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Hindsight is only 50/50: Unsuitability of MDP based approximate POMDP solvers for multi-resolution information gathering. S Arora, S Choudhury, S Scherer arXiv preprint arXiv:1804.02573, 2018.

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Adaptive motion planning. S Choudhury Carnegie Mellon University, 2018.

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Near-optimal edge evaluation in explicit generalized binomial graphs. S Choudhury, S Javdani, S Srinivasa, S Scherer Advances in neural information processing systems 30, 2017.

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Anytime motion planning on large dense roadmaps with expensive edge evaluations. S Choudhury, O Salzman, S Choudhury, CM Dellin, SS Srinivasa arXiv preprint arXiv:1711.04040, 2017.

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Adaptive Information Gathering via Imitation Learning. S Choudhury, A Kapoor, G Ranade, S Scherer, D Dey Proceedings of Robotics: Science and Systems, 2017.

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A ite in the wind: Smooth trajectory optimization in a moving reference frame. V Dugar, S Choudhury, S Scherer 2017 IEEE International Conference on Robotics and Automation (ICRA), 109-116, 2017.

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Learning to gather information via imitation. S Choudhury, A Kapoor, G Ranade, D Dey 2017 IEEE International Conference on Robotics and Automation (ICRA), 908-915, 2017.

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Smooth trajectory optimization in wind: First results on a full-scale helicopter. V Dugar, S Choudhury, S Scherer AHS Forum 73, 2017, 2017.

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A Bayesian Active Learning Approach to Adaptive Motion Planning. SS Sanjiban Choudhury International Symposium on Robotics Research (ISRR), 2017.

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Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps. S Choudhury, O Salzman, S Choudhury, SS Srinivasa IEEE Conference on Robotics and Automation (ICRA), 2017.

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Learning Heuristic Search via Imitation. M Bhardwaj, S Choudhury, S Scherer Conference on Robot Learning (CoRL), 2017.

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Regionally accelerated batch informed trees (rabit*): A framework to integrate local information into optimal path planning. S Choudhury, JD Gammell, TD Barfoot, SS Srinivasa, S Scherer 2016 IEEE International Conference on Robotics and Automation (ICRA), 4207-4214, 2016.

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Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners. GAS Pereira, S Choudhury, S Scherer Congresso Brasileiro de Automatica (CBA), 2016.

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Kinodynamic Motion Planning on Vector Fields using RRT. SCSS Guilherme A. S. Pereira Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-16-35, 2016.

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A framework for optimal repairing of vector field-based motion plans. GAS Pereira, S Choudhury, S Scherer 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 261-266, 2016.

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List prediction applied to motion planning. A Tallavajhula, S Choudhury, S Scherer, A Kelly 2016 IEEE International Conference on Robotics and Automation (ICRA), 213-220, 2016.

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Constrained CHOMP using dual projected newton method. S Choudhury, S Scherer Carnegie Mellon University, 2016.

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Autonomous exploration and motion planning for an unmanned aerial vehicle navigating rivers. S Nuske, S Choudhury, S Jain, A Chambers, L Yoder, S Scherer, ... Journal of Field Robotics 32 (8), 1141-1162, 2015.

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List prediction for motion planning: Case Studies. A Tallavajhula, S Choudhury Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-15-25, 2015.

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Emergency maneuver library-ensuring safe navigation in partially known environments. S Arora, S Choudhury, D Althoff, S Scherer 2015 IEEE international conference on robotics and automation (ICRA), 6431-6438, 2015.

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The planner ensemble: Motion planning by executing diverse algorithms. S Choudhury, S Arora, S Scherer 2015 IEEE International Conference on Robotics and Automation (ICRA), 2389-2395, 2015.

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The dynamics projection filter (DPF)-real-time nonlinear trajectory optimization using projection operators. S Choudhury, S Scherer 2015 IEEE International Conference on Robotics and Automation (ICRA), 644-649, 2015.

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TALOS: An unmanned cargo delivery system for rotorcraft landing to unprepared sites. J Paduano, J Wissler, G Drozeski, M Piedmonte, N Dadkhah, J Francis, ... American Helicopter Society, 1-17, 2015.

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Theoretical limits of speed and resolution for kinodynamic planning in a poisson forest. S Choudhury, S Scherer, JA Bagnell Robotics: Science and Systems, 2015.

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Lower and upper bounds for the survival of infinite absorbing Markov chains. S Choudhury Technical Report CMU-RI-TR-05-04, Robotics Institute, Pittsburgh, PA 3 (6), 2015.

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A principled approach to enable safe and high performance maneuvers for autonomous rotorcraft. S Arora, S Choudhury, D Althoff, S Scherer American Helicopter Society 70th Annual Forum. AHS, 2014.

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Learning motion planning assumptions. A Vemula, S Choudhury, S Scherer Carnegie Mellon University Techinial Report, 2014.

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The planner ensemble and trajectory executive: A high performance motion planning system with guaranteed safety. S Choudhury, S Arora, S Scherer AHS 70th Annual Forum, 2014.

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RRT*-AR: Sampling-based alternate routes planning with applications to autonomous emergency landing of a helicopter. S Choudhury, S Scherer, S Singh 2013 IEEE International Conference on Robotics and Automation, 3947-3952, 2013.

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Sparse tangential network (SPARTAN): Motion planning for micro aerial vehicles. H Cover, S Choudhury, S Scherer, S Singh 2013 IEEE International Conference on Robotics and Automation, 2820-2825, 2013.

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Measurement of associated production of vector bosons and top quark-antiquark pairs in pp collisions at root s= 7 TeV. M Besancon, F Hartmann, K Kanishchev, M Kirakosyan, B Stieger, ... PHYSICAL REVIEW LETTERS 110 (17), 2013.

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Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints. S Choudhury, S Scherer, S Singh American Helicopter Society International 69th Annual Forum 2, 2013.

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Realtime alternate routes planning: the rrt*-ar algorithm. S Choudhury, S Scherer, S Singh Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-12-27, 2012.

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Bootstrapping Image Classification with Sample Evaluation. V Narayanan, R Desai, S Choudhury .

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Application of reinforcement learning in robot soccer. S Choudhury Kharagpur: Dissertation. Indian Institute of Technology, 82, 2011.

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Designing deception in adversarial reinforcement learning. S Choudhury, AK Deb, J Mukherjee .

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A coverage planning algorithm for agricultural robots. S Choudhury, S Singh Technical Report, 2009.

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Publication Submission Form. ISM Bending, NNBF Detection Journal Article 47 (1), 135-140, 1998.

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A conglomerate in the Banded Gneissic Complex of South Rajasthan and its correlation problem. U Bose, S CHOUDHURY, I CHOUDHURY, AK Saxena, AK Mathur Indian Minerals 43 (1), 1-6, 1989.

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Alterations in isoproterenol-induced cardiac metabolic changes by perhexiline. SD Seth, S Choudhury, SC Manchanda, MP Gupta, JB Gupta .

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Video2Demo: Grounding Videos in State-Action Demonstrations. Y Sharma, H Wang, KY Chen, MA Pace, S Choudhury .

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Studies in the Physical Properties of Different Blood Sera. Part IV. Filariasis. RN Chopra, SG Choudhury, SS Rao .

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On the Causation o Formol-Gel Reaction in Kala-Azar. Part I. RN Chopra, SG Choudhury .

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Efficient Inverse Reinforcement Learning without Compounding Errors. NE Dice, G Swamy, S Choudhury, W Sun First Reinforcement Learning Safety Workshop, 0.

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The EoIe of Surface Tension on the Activity of Cinchona Alkaloids. RN Chopra, SG Choudhury .

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Studies in Physical Properties of Different Blood Sera. Part III. Viscosity. RN Chopra, SG Choudhury .

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Action of Antimony Compounds on the Adrenals. RN Chopra, JC Gupta, SG Choudhury .

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What Would the Expert ?: Causal Imitation Learning. G Swamy, S Choudhury, D Bagnell, S Wu .

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Complementing a Policy with a Different Observation Space. G Swamy, S Choudhury, D Bagnell, S Wu .

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Policy Improvement Over an Alternate Observation Space. G Swamy, S Choudhury, JA Bagnell, ZS Wu .

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Publication Submission Form. GAS Pereira, S Choudhury, S Scherer .

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Bayesian Residual Policy Optimization. G Lee, B Hou, S Choudhury, SS Srinivasa .

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Residual Bayesian Q-Learning for Meta-Reinforcement Learning with Experts. G Lee, S Choudhury, B Hou, SS Srinivasa .

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Collision Posteriors on Graphs with Expensive-to-Evaluate Edges. B Hou, S Choudhury, G Lee, M Barnes, SS Srinivasa .

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Referees for JFR Vol 35 (2018). M Adams, H Ahmadzadeh, H Aly, J Anthonis, S Arora, T Asfour, T Ba c a, ... .

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MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking. H Wang, K Kedia, J Ren, R Abdullah, A Bhardwaj, A Chao, KY Chen, ... 8th Annual Conference on Robot Learning, 0.

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