Publications

Apprenticeship Learning and Reinforcement Learning with Application to Robotic Control,
Pieter Abbeel
Ph.D. Dissertation, Stanford University, Computer Science, August 2008
pdf

[ALL | Deep RL | Apprentice | Optimization-based Planning | Belief Space Planning | Hierarchical Planning | Perception | Deformable Objects | Medical Robotics | Helicopter | Connectomics ]
Pre-prints
Publications

bibtex

[98] Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping,
Benjamin Charrow, Greg Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar.
In the proceedings of Robotics: Science and Systems (RSS), 2015 (pdf)

[91] Physics-Based Trajectory Optimization for Grasping in Cluttered Environments,
Nikita Kitaev, Igor Mordatch, Sachin Patil, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[90] Toward Asymptotically Optimal Motion Planning for Kinodynamic Systems using a Two-Point Boundary Value Problem Solver,
Christopher Xie, Jur van den Berg, Sachin Patil, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[89] Active Exploration using Trajectory Optimization for Robotic Grasping in the Presence of Occlusions,
Gregory Kahn, Peter Sujan, Sachin Patil, Shaunak D. Bopardikar, Julian Ryde, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[77] Unifying Scene Registration and Trajectory Optimization for Learning from Demonstrations with Application to Manipulation of Deformable Objects,
Alex X. Lee, Sandy H. Huang, Dylan Hadfield-Menell, Eric Tzeng, Pieter Abbeel.
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014. (pdf)

[75] Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation,
Sachin Patil, Greg Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Aug. 2014. (pdf)

[74] Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy,
Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg.
In the proceedings of the 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Aug. 2014. (pdf)

[72] Motion Planning with Sequential Convex Optimization and Convex Collision Checking,
John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel.
In the International Journal of Robotics Research (IJRR), Vol. 33, No. 9, pp. 1251-1270, Aug. 2014. (pdf)

[69] Gaussian Belief Space Planning with Discontinuities in Sensing Domains,
Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[68] Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization,
Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[67] Predicting Initialization Effectiveness for Trajectory Optimization,
Jia Pan, Zhuo Chen, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf, talk video)

[62] Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles,
Alex Lee, Yan (Rocky) Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2013. (pdf, talk video)

[58] Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization,
John D. Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow and Pieter Abbeel.
In the proceedings of Robotics: Science and Systems (RSS), Jul 2013. (pdf, videos, code)

[39] LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information,
Jur van den Berg, Pieter Abbeel, Ken Goldberg.
In the International Journal of Robotics Research (IJRR), first published on June 3, 2011 as doi:10.1177/0278364911406562. (pdf)

[33] LQG-Based Planning, Sensing, and Control of Steerable Needles,
Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg.
In The 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010. (pdf)

[31] LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information,
Jur van den Berg, Pieter Abbeel and Ken Goldberg.
In the proceedings of Robotics: Science and Systems (RSS), 2010. (pdf)