Publications

(2023). In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States. In L4DC.

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(2022). RAP: Risk-Aware Prediction for Robust Planning. In CoRL.

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(2022). Is Anyone There? Learning a Planner Contingent on Perceptual Uncertainty. In CoRL.

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(2022). Control-Aware Prediction Objectives for Autonomous Driving. In ICRA.

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(2022). Dynamics-Aware Comparison of Learned Reward Functions. In ICLR.

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(2021). Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty. In IROS.

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(2021). Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models. In ICRA.

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(2021). Outcome-Driven Reinforcement Learning via Variational Inference. In NeurIPS.

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(2020). Can Autonomous Vehicles Identify, Recover From, and Adapt to Distribution Shifts?. In ICML.

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(2020). Learning Invariant Representations for Reinforcement Learning without Reconstruction. In ICLR.

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(2020). Model-Based Meta-Reinforcement Learning forFlight with Suspended Payloads. In IEEE RA-L.

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(2019). Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks. In ICRA.

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(2019). PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings. In ICCV.

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(2018). Robustness to Out-of-Distribution Inputs via Task-Aware Generative Uncertainty. In ICRA.

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(2018). Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models. In NeurIPS.

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(2018). Deep Imitative Models for Flexible Inference, Planning, and Control. In ICLR.

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(2017). Data-Efficient Reinforcement Learning in Continuous State-Action Gaussian-POMDPs. In NeurIPS.

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(2017). Concrete Problems for Autonomous Vehicle Safety: Advantages of Bayesian Deep Learning. In IJCAI.

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(2017). Bayesian Learning for Data-Efficient Control.

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(2016). Improving PILCO with Bayesian Neural Network Dynamics Models. In ICML.

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(2014). Learned Stochastic Mobility Prediction for Planning with Control Uncertainty on Unstructured Terrain. In JFR.

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(2012). Motion Planning and Stochastic Control with Experimental Validation on a Planetary Rover. In IROS.

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(2012). Motion Planning and Stochastic Control with Experimental Validation on a Planetary Rover.

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(2009). Autonomous Reconfiguration Planning in Modular Robots.

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