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03/04/2022
DEC-LOS-RRT: Decentralized Path Planning for Multi-robot Systems with Line-of-sight Constrained Communication
Decentralized planning for multi-agent systems, such as fleets of robots...
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06/23/2021
Who Leads and Who Follows in Strategic Classification?
As predictive models are deployed into the real world, they must increas...
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06/16/2021
Zeroth-Order Methods for Convex-Concave Minmax Problems: Applications to Decision-Dependent Risk Minimization
Min-max optimization is emerging as a key framework for analyzing proble...
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03/27/2021
On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective
The widespread adoption of nonlinear Receding Horizon Control (RHC) stra...
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02/24/2021
Maximum Likelihood Constraint Inference from Stochastic Demonstrations
When an expert operates a perilous dynamic system, ideal constraint info...
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10/26/2020
Expert Selection in High-Dimensional Markov Decision Processes
In this work we present a multi-armed bandit framework for online expert...
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04/15/2020
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
The main drawbacks of input-output linearizing controllers are the need ...
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04/06/2020
Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning
This paper proposes a framework for adaptively learning a feedback linea...
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04/01/2020
Exponentially Stable First Order Control on Matrix Lie Groups
We present a novel first order controller for systems evolving on matrix...
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01/13/2020
LESS is More: Rethinking Probabilistic Models of Human Behavior
Robots need models of human behavior for both inferring human goals and ...
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11/04/2019
Persistency of Excitation for Robustness of Neural Networks
When an online learning algorithm is used to estimate the unknown parame...
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10/29/2019
Feedback Linearization for Unknown Systems via Reinforcement Learning
We present a novel approach to control design for nonlinear systems, whi...
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09/12/2019
Maximum Likelihood Constraint Inference for Inverse Reinforcement Learning
While most approaches to the problem of Inverse Reinforcement Learning (...
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07/08/2019
Policy-Gradient Algorithms Have No Guarantees of Convergence in Continuous Action and State Multi-Agent Settings
We show by counterexample that policy-gradient algorithms have no guaran...
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04/29/2019
Competitive Statistical Estimation with Strategic Data Sources
In recent years, data has played an increasingly important role in the e...
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01/24/2019
Cross-Entropy Loss and Low-Rank Features Have Responsibility for Adversarial Examples
State-of-the-art neural networks are vulnerable to adversarial examples;...
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01/03/2019
On Finding Local Nash Equilibria (and Only Local Nash Equilibria) in Zero-Sum Games
We propose a two-timescale algorithm for finding local Nash equilibria i...
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10/13/2018
Hierarchical Game-Theoretic Planning for Autonomous Vehicles
The actions of an autonomous vehicle on the road affect and are affected...
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05/22/2018
Step Size Matters in Deep Learning
Training a neural network with the gradient descent algorithm gives rise...
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05/09/2018
Modeling Supervisor Safe Sets for Improving Collaboration in Human-Robot Teams
When a human supervisor collaborates with a team of robots, their attent...
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02/14/2018
Generating Plans that Predict Themselves
Collaboration requires coordination, and we coordinate by anticipating o...
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02/06/2018
Goal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration
The study of human-robot interaction is fundamental to the design and us...
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11/03/2017
People as Sensors: Imputing Maps from Human Actions
Despite growing attention in autonomy, there are still many open problem...
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07/20/2017
Pragmatic-Pedagogic Value Alignment
For an autonomous system to provide value (e.g., to customers, designers...
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06/27/2016
Towards Verified Artificial Intelligence
Verified artificial intelligence (AI) is the goal of designing AI-based ...
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07/25/2014
Dissimilarity-based Sparse Subset Selection
Finding an informative subset of a large collection of data points or mo...
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02/08/2014
Sparse Illumination Learning and Transfer for Single-Sample Face Recognition with Image Corruption and Misalignment
Single-sample face recognition is one of the most challenging problems i...
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12/07/2013
Robust Subspace System Identification via Weighted Nuclear Norm Optimization
Subspace identification is a classical and very well studied problem in ...
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03/20/2013
Compressive Shift Retrieval
The classical shift retrieval problem considers two signals in vector fo...
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01/29/2013
Quadratic Basis Pursuit
In many compressive sensing problems today, the relationship between the...
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01/18/2012
On the Lagrangian Biduality of Sparsity Minimization Problems
Recent results in Compressive Sensing have shown that, under certain con...
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07/21/2010