Siddhartha S. Srinivasa

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University of Washington

Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning

Sampling-based motion planners rely on incremental densification to disc...
04/11/2021 ∙ by Aditya Mandalika, et al. ∙ 0 ∙ share

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

A key challenge in Imitation Learning (IL) is that optimal state actions...
04/02/2021 ∙ by Matthew Schmittle, et al. ∙ 0 ∙ share

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Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

We focus on decentralized navigation among multiple non-communicating ra...
11/08/2020 ∙ by Junha Roh, et al. ∙ 4 ∙ share

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

Autonomous robot-assisted feeding requires the ability to acquire a wide...
11/05/2020 ∙ by Ethan K. Gordon, et al. ∙ 7 ∙ share

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Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

Chopsticks constitute a simple yet versatile tool that humans have used ...
07/31/2020 ∙ by Liyiming Ke, et al. ∙ 0 ∙ share

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Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids

We focus on navigation among rational, non-communicating agents at unsig...
04/10/2020 ∙ by Christoforos Mavrogiannis, et al. ∙ 0 ∙ share

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

Collision checking is a computational bottleneck in motion planning, req...
02/27/2020 ∙ by Brian Hou, et al. ∙ 0 ∙ share

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

Informed and robust decision making in the face of uncertainty is critic...
02/07/2020 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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

We focus on the problem of designing an artificial agent, capable of ass...
09/14/2019 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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

We focus on the problem of designing an artificial agent capable of assi...
09/14/2019 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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

We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR...
08/21/2019 ∙ by Siddhartha S. Srinivasa, et al. ∙ 0 ∙ share

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

Successful robot-assisted feeding requires bite acquisition of a wide va...
08/19/2019 ∙ by Ethan K. Gordon, et al. ∙ 0 ∙ share

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Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition

Successful robot-assisted feeding requires bite acquisition of a wide va...
08/19/2019 ∙ by Ethan K. Gordon, et al. ∙ 0 ∙ share

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

We consider the problem of leveraging prior experience to generate roadm...
07/22/2019 ∙ by Rahul Kumar, et al. ∙ 0 ∙ share

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

A robot-assisted feeding system must successfully acquire many different...
06/05/2019 ∙ by Ryan Feng, et al. ∙ 0 ∙ share

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

We present the first PAC optimal algorithm for Bayes-Adaptive Markov Dec...
10/06/2018 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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Bayesian Policy Optimization for Model Uncertainty

Addressing uncertainty is critical for autonomous systems to robustly ad...
10/01/2018 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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

We describe a single fingertip-mounted sensing system for robot manipula...
09/30/2018 ∙ by Patrick E. Lancaster, et al. ∙ 0 ∙ share

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Food manipulation: A cadence of haptic signals

Autonomous assistive feeding is challenging because it requires manipula...
04/23/2018 ∙ by Tapomayukh Bhattacharjee, et al. ∙ 0 ∙ share

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Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations

We propose an algorithmic framework for efficient anytime motion plannin...
11/10/2017 ∙ by Shushman Choudhury, et al. ∙ 0 ∙ share

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

We present an algorithm for obtaining an optimal control policy for hybr...
10/14/2017 ∙ by Shushman Choudhury, et al. ∙ 0 ∙ share

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The Provable Virtue of Laziness in Motion Planning

The Lazy Shortest Path (LazySP) class consists of motion-planning algori...
10/11/2017 ∙ by Nika Haghtalab, et al. ∙ 0 ∙ share

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Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems

This paper introduces a novel system identification and tracking method ...
10/02/2017 ∙ by Gilwoo Lee, et al. ∙ 0 ∙ share

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Siddhartha S. Srinivasa

Featured Co-authors

Dieter Fox

Kevin Jamieson

Sanjiban Choudhury

Geoffrey J. Gordon

Oren Salzman

Ariel D. Procaccia

Gilwoo Lee

Nika Haghtalab

Matt Barnes

Tapomayukh Bhattacharjee

Zita Marinho

Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning

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

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

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

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids

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

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

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

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

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

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

Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition

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

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

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

Bayesian Policy Optimization for Model Uncertainty

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

Food manipulation: A cadence of haptic signals

Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations

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

The Provable Virtue of Laziness in Motion Planning

Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems