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ORCIDAnirudha Majumdar
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- affiliation: Princeton University, Mechanical and Aerospace Engineering, USA
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2020 – today
- 2025
[j14]Roya Firoozi, John Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song
, Ashish Kapoor, Karol Hausman, Brian Ichter, Danny Driess, Jiajun Wu, Cewu Lu, Mac Schwager:
Foundation models in robotics: Applications, challenges, and the future. Int. J. Robotics Res. 44(5): 701-739 (2025)- [j13]Alec Farid, Sushant Veer, Divyanshu Pachisia, Anirudha Majumdar:
Task-Driven Detection of Distribution Shifts With Statistical Guarantees for Robot Learning. IEEE Trans. Robotics 41: 926-945 (2025) - [c47]Allen Z. Ren, Justin Lidard, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz:
Diffusion Policy Policy Optimization. ICLR 2025 - [c46]Asher J. Hancock, Allen Z. Ren, Anirudha Majumdar:
Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust. ICRA 2025: 9499-9506 - [i69]Ola Shorinwa, Jiankai Sun, Mac Schwager, Anirudha Majumdar:
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps. CoRR abs/2502.06519 (2025) - [i68]Anirudha Majumdar, Mohit Sharma, Dmitry Kalashnikov, Sumeet Singh, Pierre Sermanet, Vikas Sindhwani:
Predictive Red Teaming: Breaking Policies Without Breaking Robots. CoRR abs/2502.06575 (2025) - [i67]Pierre Sermanet, Anirudha Majumdar, Alex Irpan, Dmitry Kalashnikov, Vikas Sindhwani:
Generating Robot Constitutions & Benchmarks for Semantic Safety. CoRR abs/2503.08663 (2025) - [i66]Pierre Sermanet, Anirudha Majumdar, Vikas Sindhwani:
SciFi-Benchmark: How Would AI-Powered Robots Behave in Science Fiction Literature? CoRR abs/2503.10706 (2025) - [i65]David Snyder, Asher J. Hancock, Apurva Badithela, Emma Dixon, Patrick Tree Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura:
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping. CoRR abs/2503.10966 (2025) - [i64]Lihan Zha, Apurva Badithela, Michael Zhang, Justin Lidard, Jeremy Bao, Emily Zhou, David Snyder, Allen Z. Ren, Dhruv Shah, Anirudha Majumdar:
Guiding Data Collection via Factored Scaling Curves. CoRR abs/2505.07728 (2025) - [i63]Bowen Feng, Zhiting Mei, Baiang Li, Julian Ost, Roger Girgis, Anirudha Majumdar, Felix Heide:
VERDI: VLM-Embedded Reasoning for Autonomous Driving. CoRR abs/2505.15925 (2025) - [i62]Tenny Yin, Zhiting Mei, Tao Sun, Lihan Zha, Emily Zhou, Jeremy Bao, Miyu Yamane, Ola Shorinwa, Anirudha Majumdar:
WoMAP: World Models For Embodied Open-Vocabulary Object Localization. CoRR abs/2506.01600 (2025) - [i61]Zhiting Mei, Christina Zhang, Tenny Yin, Justin Lidard, Ola Shorinwa, Anirudha Majumdar:
Reasoning about Uncertainty: Do Reasoning Models Know When They Don't Know? CoRR abs/2506.18183 (2025) - [i60]Anirudha Majumdar:
Deceptive Risk Minimization: Out-of-Distribution Generalization by Deceiving Distribution Shift Detectors. CoRR abs/2509.12081 (2025) - [i59]Abhishek Jindal, Dmitry Kalashnikov, Oscar Chang, Divya Garikapati, Anirudha Majumdar, Pierre Sermanet, Vikas Sindhwani:
Can AI Perceive Physical Danger and Intervene? CoRR abs/2509.21651 (2025) - [i58]Asher J. Hancock, Xindi Wu, Lihan Zha, Olga Russakovsky, Anirudha Majumdar:
Actions as Language: Fine-Tuning VLMs into VLAs Without Catastrophic Forgetting. CoRR abs/2509.22195 (2025) - [i57]Zhiting Mei, Ola Shorinwa, Anirudha Majumdar:
How Confident are Video Models? Empowering Video Models to Express their Uncertainty. CoRR abs/2510.02571 (2025) - [i56]Zhiting Mei, Ola Shorinwa, Anirudha Majumdar:
Geometry Meets Vision: Revisiting Pretrained Semantics in Distilled Fields. CoRR abs/2510.03104 (2025) - [i55]Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan, Joshua Ainslie, Jean-Baptiste Alayrac, Montserrat Gonzalez Arenas, Ashwin Balakrishna, Nathan Batchelor, Alex Bewley, Jeffrey T. Bingham, Michael Bloesch, Konstantinos Bousmalis, Philemon Brakel, Anthony Brohan, Thomas Buschmann, Arunkumar Byravan, Serkan Cabi, Ken Caluwaerts, Federico Casarini, Christine Chan, Oscar Chang, London Chappellet-Volpini, José Enrique Chen, Xi Chen, Hao-Tien Lewis Chiang, Krzysztof Choromanski, Adrian Collister, David B. D'Ambrosio, Sudeep Dasari, Todor Davchev, Meet Kirankumar Dave, Coline Devin, Norman Di Palo, Tianli Ding, Carl Doersch, Adil Dostmohamed, Yilun Du, Debidatta Dwibedi, Sathish Thoppay Egambaram, Michael Elabd, Tom Erez, Xiaolin Fang, Claudio Fantacci, Cody Fong, Erik Frey, Chuyuan Fu, Ruiqi Gao, Marissa Giustina, Keerthana Gopalakrishnan, Laura Graesser, Oliver Groth, Agrim Gupta, Roland Hafner, Steven Hansen, Leonard Hasenclever, Sam Haves, Nicolas Heess, Brandon Hernaez, Alex Hofer, Jasmine Hsu, Lu Huang, Sandy H. Huang, Atil Iscen, Mithun George Jacob, Deepali Jain, Sally Jesmonth, Abhishek Jindal, Ryan Julian, Dmitry Kalashnikov, M. Emre Karagozler, Stefani Karp, Matija Kecman, J. Chase Kew, Donnie Kim, Frank Kim, Junkyung Kim, Thomas Kipf, Sean Kirmani, Ksenia Konyushkova, Li Yang Ku, Yuheng Kuang, Thomas Lampe, Antoine Laurens, Tuan Anh Le, Isabel Leal, Alex X. Lee, Tsang-Wei Edward Lee, Guy Lever, Jacky Liang, Li-Heng Lin, Fangchen Liu, Shangbang Long, Caden Lu, Sharath Maddineni, Anirudha Majumdar, Kevis-Kokitsi Maninis, Andrew Marmon, Sergio Martinez, Assaf Hurwitz Michaely, Niko Milonopoulos:
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer. CoRR abs/2510.03342 (2025) - [i54]Apurva Badithela, David Snyder, Lihan Zha, Joseph Mikhail, Matthew O'Kelly, Anushri Dixit, Anirudha Majumdar:
Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators. CoRR abs/2510.04354 (2025) - 2024
- [c45]Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac:
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees (Abstract Reprint). AAAI 2024: 22699 - [c44]Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren, Anirudha Majumdar:
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception. CoRL 2024: 2517-2541 - [c43]Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh:
Physically Grounded Vision-Language Models for Robotic Manipulation. ICRA 2024: 12462-12469 - [c42]Eric Lepowsky, David Snyder, Alexander Glaser, Anirudha Majumdar:
Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source. IROS 2024: 10073-10080 - [c41]Justin Lidard, Hang Pham, Ariel Bachman, Bryan Boateng, Anirudha Majumdar:
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction. Robotics: Science and Systems 2024 - [c40]Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh:
Explore until Confident: Efficient Exploration for Embodied Question Answering. Robotics: Science and Systems 2024 - [i53]Eric Lepowsky, David Snyder, Alexander Glaser, Anirudha Majumdar:
Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source. CoRR abs/2402.17130 (2024) - [i52]Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren, Anirudha Majumdar:
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception. CoRR abs/2403.08185 (2024) - [i51]Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh:
Explore until Confident: Efficient Exploration for Embodied Question Answering. CoRR abs/2403.15941 (2024) - [i50]Justin Lidard, Hang Pham, Ariel Bachman, Bryan Boateng, Anirudha Majumdar:
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction. CoRR abs/2403.15959 (2024) - [i49]Allen Z. Ren, Justin Lidard, Lars Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz:
Diffusion Policy Policy Optimization. CoRR abs/2409.00588 (2024) - [i48]Y. Isabel Liu, Windsor Nguyen, Yagiz Devre, Evan Dogariu, Anirudha Majumdar, Elad Hazan:
Flash STU: Fast Spectral Transform Units. CoRR abs/2409.10489 (2024) - [i47]Asher J. Hancock, Allen Z. Ren, Anirudha Majumdar:
Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust. CoRR abs/2410.01971 (2024) - [i46]Allen Z. Ren, Brian Ichter, Anirudha Majumdar:
Thinking Forward and Backward: Effective Backward Planning with Large Language Models. CoRR abs/2411.01790 (2024) - [i45]Ola Shorinwa, Zhiting Mei, Justin Lidard, Allen Z. Ren, Anirudha Majumdar:
A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directions. CoRR abs/2412.05563 (2024) - 2023
- [j12]Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac:
Sim-to-Lab-to-Real: Safe reinforcement learning with shielding and generalization guarantees. Artif. Intell. 314: 103811 (2023) - [j11]Sumeet Singh, Benoit Landry, Anirudha Majumdar, Jean-Jacques E. Slotine, Marco Pavone:
Robust feedback motion planning via contraction theory. Int. J. Robotics Res. 42(9): 655-688 (2023) - [j10]Anirudha Majumdar, Zhiting Mei, Vincent Pacelli:
Fundamental limits for sensor-based robot control. Int. J. Robotics Res. 42(12): 1051-1069 (2023) - [c39]Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar:
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners. CoRL 2023: 661-682 - [c38]David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar:
Online Learning for Obstacle Avoidance. CoRL 2023: 2926-2954 - [c37]Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar:
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRL 2023: 3434-3452 - [c36]Anirudha Majumdar:
Fundamental Tradeoffs in Learning with Prior Information. ICML 2023: 23558-23573 - [c35]Nathaniel Simon, Allen Z. Ren, Alexander Piqué, David Snyder, Daphne Barretto, Marcus Hultmark, Anirudha Majumdar:
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors. ICRA 2023: 5393-5399 - [c34]Meghan Booker, Anirudha Majumdar:
Switching Attention in Time-Varying Environments via Bayesian Inference of Abstractions. ICRA 2023: 10174-10180 - [c33]Nathaniel Simon, Anirudha Majumdar:
MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction. ISER 2023: 415-426 - [c32]Apoorva Sharma, Sushant Veer, Asher J. Hancock, Heng Yang, Marco Pavone, Anirudha Majumdar:
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction. NeurIPS 2023 - [i44]Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar:
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRR abs/2302.04903 (2023) - [i43]Anirudha Majumdar:
Fundamental Tradeoffs in Learning with Prior Information. CoRR abs/2304.13479 (2023) - [i42]David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar:
Online Learning for Obstacle Avoidance. CoRR abs/2306.08776 (2023) - [i41]Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar:
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners. CoRR abs/2307.01928 (2023) - [i40]Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh:
Physically Grounded Vision-Language Models for Robotic Manipulation. CoRR abs/2309.02561 (2023) - [i39]Nathaniel Simon, Anirudha Majumdar:
MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction. CoRR abs/2311.14100 (2023) - [i38]Apoorva Sharma, Sushant Veer, Asher J. Hancock, Heng Yang, Marco Pavone, Anirudha Majumdar:
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction. CoRR abs/2312.04658 (2023) - [i37]Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, Brian Ichter, Danny Driess, Jiajun Wu, Cewu Lu, Mac Schwager:
Foundation Models in Robotics: Applications, Challenges, and the Future. CoRR abs/2312.07843 (2023) - 2022
- [j9]Allen Z. Ren, Anirudha Majumdar:
Distributionally Robust Policy Learning via Adversarial Environment Generation. IEEE Robotics Autom. Lett. 7(2): 1379-1386 (2022) - [c31]Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik R. Narasimhan, Anirudha Majumdar:
Leveraging Language for Accelerated Learning of Tool Manipulation. CoRL 2022: 1531-1541 - [c30]Vincent Pacelli, Anirudha Majumdar:
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy. ICRA 2022: 3467-3474 - [c29]Abhinav Agarwal, Sushant Veer, Allen Z. Ren, Anirudha Majumdar:
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data. ICRA 2022: 4414-4421 - [c28]Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar:
Failure Prediction with Statistical Guarantees for Vision-Based Robot Control. Robotics: Science and Systems 2022 - [c27]Anirudha Majumdar, Vincent Pacelli:
Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning. Robotics: Science and Systems 2022 - [c26]Michelle Ho, Alec Farid, Anirudha Majumdar:
Towards a Framework for Comparing the Complexity of Robotic Tasks. WAFR 2022: 273-293 - [i36]Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac:
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees. CoRR abs/2201.08355 (2022) - [i35]Anirudha Majumdar, Vincent Pacelli:
Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning. CoRR abs/2202.00129 (2022) - [i34]Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar:
Failure Prediction with Statistical Guarantees for Vision-Based Robot Control. CoRR abs/2202.05894 (2022) - [i33]Michelle Ho, Alec Farid, Anirudha Majumdar:
Comparing the Complexity of Robotic Tasks. CoRR abs/2202.09892 (2022) - [i32]Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik Narasimhan, Anirudha Majumdar:
Leveraging Language for Accelerated Learning of Tool Manipulation. CoRR abs/2206.13074 (2022) - [i31]Nathaniel Simon, Allen Z. Ren, Alexander Piqué, David Snyder, Daphne Barretto, Marcus Hultmark, Anirudha Majumdar:
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors. CoRR abs/2210.05857 (2022) - [i30]Meghan Booker, Anirudha Majumdar:
Switching Attention in Time-Varying Environments via Bayesian Inference of Abstractions. CoRR abs/2211.05865 (2022) - 2021
- [j8]Anirudha Majumdar, Alec Farid, Anoopkumar Sonar:
PAC-Bayes control: learning policies that provably generalize to novel environments. Int. J. Robotics Res. 40(2-3) (2021) - [c25]Alec Farid, Sushant Veer, Anirudha Majumdar:
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning. CoRL 2021: 970-980 - [c24]Naman Agarwal, Elad Hazan, Anirudha Majumdar, Karan Singh:
A Regret Minimization Approach to Iterative Learning Control. ICML 2021: 100-109 - [c23]Anoopkumar Sonar, Vincent Pacelli, Anirudha Majumdar:
Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning. L4DC 2021: 21-33 - [c22]Meghan Booker, Anirudha Majumdar:
Learning to Actively Reduce Memory Requirements for Robot Control Tasks. L4DC 2021: 125-137 - [c21]Udaya Ghai, David Snyder, Anirudha Majumdar, Elad Hazan:
Generating Adversarial Disturbances for Controller Verification. L4DC 2021: 1192-1204 - [c20]Alec Farid, Anirudha Majumdar:
Generalization Bounds for Meta-Learning via PAC-Bayes and Uniform Stability. NeurIPS 2021: 2173-2186 - [i29]Alec Farid, Anirudha Majumdar:
PAC-BUS: Meta-Learning Bounds via PAC-Bayes and Uniform Stability. CoRR abs/2102.06589 (2021) - [i28]Paula Gradu, John Hallman, Daniel Suo, Alex Yu, Naman Agarwal, Udaya Ghai, Karan Singh, Cyril Zhang, Anirudha Majumdar, Elad Hazan:
Deluca - A Differentiable Control Library: Environments, Methods, and Benchmarking. CoRR abs/2102.09968 (2021) - [i27]Naman Agarwal, Elad Hazan, Anirudha Majumdar, Karan Singh:
A Regret Minimization Approach to Iterative Learning Control. CoRR abs/2102.13478 (2021) - [i26]Alec Farid, Sushant Veer, Anirudha Majumdar:
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning. CoRR abs/2106.13703 (2021) - [i25]Allen Z. Ren, Anirudha Majumdar:
Distributionally Robust Policy Learning via Adversarial Environment Generation. CoRR abs/2107.06353 (2021) - [i24]Vincent Pacelli, Anirudha Majumdar:
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy. CoRR abs/2109.08262 (2021) - [i23]Ali Ekin Gurgen, Anirudha Majumdar, Sushant Veer:
Learning Provably Robust Motion Planners Using Funnel Libraries. CoRR abs/2111.08733 (2021) - [i22]Abhinav Agarwal, Sushant Veer, Allen Z. Ren, Anirudha Majumdar:
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data. CoRR abs/2111.08761 (2021) - 2020
- [j7]Anirudha Majumdar, Georgina Hall, Amir Ali Ahmadi:
Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics. Annu. Rev. Control. Robotics Auton. Syst. 3: 331-360 (2020) - [c19]Sushant Veer, Anirudha Majumdar:
Probably Approximately Correct Vision-Based Planning using Motion Primitives. CoRL 2020: 1001-1014 - [c18]Allen Z. Ren, Sushant Veer, Anirudha Majumdar:
Generalization Guarantees for Imitation Learning. CoRL 2020: 1426-1442 - [c17]Vincent Pacelli, Anirudha Majumdar:
Learning Task-Driven Control Policies via Information Bottlenecks. Robotics: Science and Systems 2020 - [i21]Vincent Pacelli, Anirudha Majumdar:
Learning Task-Driven Control Policies via Information Bottlenecks. CoRR abs/2002.01428 (2020) - [i20]Sushant Veer, Anirudha Majumdar:
Probably Approximately Correct Vision-Based Planning using Motion Primitives. CoRR abs/2002.12852 (2020) - [i19]Anoopkumar Sonar, Vincent Pacelli, Anirudha Majumdar:
Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning. CoRR abs/2006.01096 (2020) - [i18]Sushant Veer, Anirudha Majumdar:
CoNES: Convex Natural Evolutionary Strategies. CoRR abs/2007.08601 (2020) - [i17]Allen Z. Ren, Sushant Veer, Anirudha Majumdar:
Generalization Guarantees for Multi-Modal Imitation Learning. CoRR abs/2008.01913 (2020) - [i16]Meghan Booker, Anirudha Majumdar:
Learning to Actively Reduce Memory Requirements for Robot Control Tasks. CoRR abs/2008.07451 (2020) - [i15]Christine Allen-Blanchette, Sushant Veer, Anirudha Majumdar, Naomi Ehrich Leonard:
LagNetViP: A Lagrangian Neural Network for Video Prediction. CoRR abs/2010.12932 (2020) - [i14]Udaya Ghai, David Snyder, Anirudha Majumdar, Elad Hazan:
Generating Adversarial Disturbances for Controller Verification. CoRR abs/2012.06695 (2020)
2010 – 2019
- 2019
- [j6]Amir Ali Ahmadi, Anirudha Majumdar:
DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization. SIAM J. Appl. Algebra Geom. 3(2): 193-230 (2019) - [j5]Sumeet Singh, Yinlam Chow, Anirudha Majumdar, Marco Pavone:
A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms. IEEE Trans. Autom. Control. 64(7): 2905-2912 (2019) - [c16]Vincent Pacelli, Anirudha Majumdar:
Task-Driven Estimation and Control via Information Bottlenecks. ICRA 2019: 2061-2067 - [i13]Anirudha Majumdar, Georgina Hall, Amir Ali Ahmadi:
A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics. CoRR abs/1908.05209 (2019) - 2018
- [j4]Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, Marco Pavone:
Risk-sensitive inverse reinforcement learning via semi- and non-parametric methods. Int. J. Robotics Res. 37(13-14) (2018) - [c15]Anirudha Majumdar, Maxwell Goldstein:
PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments. CoRL 2018: 293-305 - [i12]Anirudha Majumdar, Maxwell Goldstein:
PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments. CoRR abs/1806.04225 (2018) - [i11]Vincent Pacelli, Anirudha Majumdar:
Task-Driven Estimation and Control via Information Bottlenecks. CoRR abs/1809.07874 (2018) - 2017
- [j3]Anirudha Majumdar, Russ Tedrake:
Funnel libraries for real-time robust feedback motion planning. Int. J. Robotics Res. 36(8): 947-982 (2017) - [c14]Sumeet Singh, Anirudha Majumdar, Jean-Jacques E. Slotine, Marco Pavone:
Robust online motion planning via contraction theory and convex optimization. ICRA 2017: 5883-5890 - [c13]Anirudha Majumdar, Marco Pavone:
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics. ISRR 2017: 75-84 - [c12]Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone:
Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models. Robotics: Science and Systems 2017 - [i10]Yin-Lam Chow, Sumeet Singh, Anirudha Majumdar, Marco Pavone:
A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms. CoRR abs/1703.01029 (2017) - [i9]Amir Ali Ahmadi, Anirudha Majumdar:
DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization. CoRR abs/1706.02586 (2017) - [i8]Amir Ali Ahmadi, Anirudha Majumdar:
Response to "Counterexample to global convergence of DSOS and SDSOS hierarchies". CoRR abs/1710.02901 (2017) - [i7]Anirudha Majumdar, Marco Pavone:
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics. CoRR abs/1710.11040 (2017) - [i6]Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, Marco Pavone:
Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods. CoRR abs/1711.10055 (2017) - 2016
- [b1]Anirudha Majumdar:
Funnel libraries for real-time robust feedback motion planning. Massachusetts Institute of Technology, Cambridge, USA, 2016 - [j2]Amir Ali Ahmadi, Anirudha Majumdar:
Some applications of polynomial optimization in operations research and real-time decision making. Optim. Lett. 10(4): 709-729 (2016) - [i5]Anirudha Majumdar, Russ Tedrake:
Funnel Libraries for Real-Time Robust Feedback Motion Planning. CoRR abs/1601.04037 (2016) - 2015
- [c11]Hongkai Dai, Anirudha Majumdar, Russ Tedrake:
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming. ISRR (1) 2015: 285-305 - [i4]Amir Ali Ahmadi, Anirudha Majumdar:
Some Applications of Polynomial Optimization in Operations Research and Real-Time Decision Making. CoRR abs/1504.06002 (2015) - 2014
- [j1]Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake:
Convex optimization of nonlinear feedback controllers via occupation measures. Int. J. Robotics Res. 33(9): 1209-1230 (2014) - [c10]Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake:
Control and verification of high-dimensional systems with DSOS and SDSOS programming. CDC 2014: 394-401 - [c9]Amir Ali Ahmadi, Anirudha Majumdar:
DSOS and SDSOS optimization: LP and SOCP-based alternatives to sum of squares optimization. CISS 2014: 1-5 - [c8]Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew A. Biewener, Russ Tedrake:
Flying between obstacles with an autonomous knife-edge maneuver. ICRA 2014: 2559 - 2013
- [c7]Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake:
Complexity of ten decision problems in continuous time dynamical systems. ACC 2013: 6376-6381 - [c6]Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake:
Control design along trajectories with sums of squares programming. ICRA 2013: 4054-4061 - [c5]Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake:
Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures. Robotics: Science and Systems 2013 - [i3]Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake:
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures. CoRR abs/1305.7484 (2013) - 2012
- [c4]Anirudha Majumdar, Mark M. Tobenkin, Russ Tedrake:
Algebraic verification for parameterized motion planning libraries. ACC 2012: 250-257 - [c3]Andrew J. Barry, Anirudha Majumdar, Russ Tedrake:
Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. ICRA 2012: 484-490 - [c2]Anirudha Majumdar, Russ Tedrake:
Robust Online Motion Planning with Regions of Finite Time Invariance. WAFR 2012: 543-558 - [i2]Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake:
Control Design along Trajectories with Sums of Squares Programming. CoRR abs/1210.0888 (2012) - [i1]Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake:
Complexity of Ten Decision Problems in Continuous Time Dynamical Systems. CoRR abs/1210.7420 (2012) - 2010
- [c1]Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin, Daniel E. Koditschek:
Characterization of Dynamic Behaviors in a Hexapod Robot. ISER 2010: 667-684
Coauthor Index
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