Publications

Controlling Assistive Robots with Learned Latent Actions
Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Dorsa Sadigh
Submitted to IEEE Robotics and Automation Letters (RA-L)
The Green Choice: Learning and Influencing Human Decisions on Shared Roads
Erdem Bıyık, Daniel A. Lazar, Dorsa Sadigh, Ramtin Pedarsani
Proceedings of the 58th IEEE Conference on Decision and Control (CDC), December 2019
Active Learning of Reward Dynamics from Hierarchical Queries
Chandrayee Basu, Erdem Bıyık, Zhixun He, Mukesh Singhal, Dorsa Sadigh
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019
Robots that Take Advantage of Human Trust
Dylan P. Losey, Dorsa Sadigh
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019
Asking Easy Questions: A User-Friendly Approach to Active Reward Learning
Erdem Bıyık, Malayandi Palan, Nicholas C. Landolfi, Dylan P. Losey, Dorsa Sadigh
Proceedings of the 3rd Conference on Robot Learning (CoRL), October 2019
Learning from My Partner's Actions: Roles in Decentralized Robot Teams
Dylan P. Losey*, Mengxi Li*, Jeannette Bohg, Dorsa Sadigh
Proceedings of the 3rd Conference on Robot Learning (CoRL), October 2019

* denotes equal contribution.
Learning How to Dynamically Route Autonomous Vehicles on Shared Roads
Daniel A. Lazar*, Erdem Bıyık*, Dorsa Sadigh, Ramtin Pedarsani
arXiv preprint, September 2019

* denotes equal contribution.
Efficient and Safe Exploration in Deterministic Markov Decision Processes with Unknown Transition Models
Erdem Bıyık*, Jonathan Margoliash*, Shahrouz R. Alimo, Dorsa Sadigh
Proceedings of the American Control Conference (ACC), July 2019

* denotes equal contribution.
Human-Robot Interaction for Truck Platooning Using Hierarchical Dynamic Games
Elis Stefansson, Jaime Fisac, Dorsa Sadigh, Shankar Sastry, Karl H. Johansson
European Control Conference (ECC), June 2019

Best student paper award finalist.
Influencing Leading and Following in Human-Robot Teams
Minae Kwon*, Mengxi Li*, Alexandre Bucquet, Dorsa Sadigh
Proceedings of Robotics: Science and Systems (RSS), June 2019

* denotes equal contribution.
Learning Reward Functions by Integrating Human Demonstrations and Preferences
Malayandi Palan*, Nicholas C. Landolfi*, Gleb Shevchuk, Dorsa Sadigh
Proceedings of Robotics: Science and Systems (RSS), June 2019

* denotes equal contribution.
Unsupervised Visuomotor Control through Distributional Planning Networks
Tianhe Yu, Gleb Shevchuk, Dorsa Sadigh, Chelsea Finn
Proceedings of Robotics: Science and Systems (RSS), June 2019

Also presented at ICML Workshop on Self-Supervised Learning, and at ICML Workshop on Imitation, Intent, and Interaction (I3), June 2019 (PDF).
Batch Active Learning Using Determinantal Point Processes
Erdem Bıyık, Kenneth Wang, Nima Anari, Dorsa Sadigh
arXiv preprint, December 2019
Continual Adaptation for Efficient Machine Communication
Robert X. D. Hawkins*, Minae Kwon*, Dorsa Sadigh, Noah D. Goodman
Proceedings of the ICML Workshop on Adaptive & Multitask Learning: Algorithms & Systems, June 2019

Best paper award winner. * denotes equal contribution.
Deep Local Trajectory Replanning and Control for Robot Navigation
Ashwini Pokle, Roberto Martín-Martín, Patrick Goebel, Vincent Chow, Hans Magnus Ewald, Junwei Yang, Wang Zhenkai, Amir Sadeghian, Dorsa Sadigh, Silvio Savarese, Marynel Vázquez
International Conference on Robotics and Automation (ICRA), May 2019
Hierarchical Game-Theoretic Planning for Autonomous Vehicles
Jaime F. Fisac*, Eli Bronstein*, Elis Stefansson, Dorsa Sadigh, S. Shankar Sastry, Anca D. Dragan
International Conference on Robotics and Automation (ICRA), May 2019

* denotes equal contribution.
Object Exchangeability in Reinforcement Learning
John Mern, Dorsa Sadigh, Mykel Kochenderfer
Proceedings of the 18th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), May 2019

Extended Abstract
Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication
Yuhang Che, Allison M. Okamura, Dorsa Sadigh

Maximizing Road Capacity Using Cars that Influence People
Daniel A. Lazar, Kabir Chandrasekher, Ramtin Pedarsani, Dorsa Sadigh
Proceedings of the 57th IEEE Conference on Decision and Control (CDC), December 2018
Verifying Robustness of Human-Aware Autonomous Cars
Dorsa Sadigh, S. Sankar Sastry, Sanjit A. Seshia
Proceedings of the 2nd IFAC Conference on Cyber-Physical and Human Systems, December 2018
Altruistic Autonomy: Beating Congestion on Shared Roads
Erdem Bıyık*, Daniel A. Lazar*, Ramtin Pedarsani, Dorsa Sadigh
Proceedings of the 13th International Workshop on Algorithmic Foundations of Robotics (WAFR), December 2018

* denotes equal contribution.
Multi-Agent Generative Adversarial Imitation Learning
Jiaming Song, Hongyu Ren, Dorsa Sadigh, Stefano Ermon
Conference on Neural Information Processing Systems (NeurIPS), December 2018

Also presented at International Conference on Learning Representations (ICLR), Workshop Track, April 2018 (PDF).
Batch Active Preference-Based Learning of Reward Functions
Erdem Bıyık, Dorsa Sadigh
Proceedings of the 2nd Conference on Robot Learning (CoRL), October 2018
Planning for Cars that Coordinate with People: Leveraging Effects on Human Actions for Planning and Active Information Gathering over Human Internal State
Dorsa Sadigh, Nick Landolfi, S. Shankar Sastry, Sanjit A. Seshia, Anca D. Dragan
Autonomous Robots (AURO), October 2018
Safe Autonomy Under Perception Uncertainty Using Chance-Constrained Temporal Logic
Susmit Jha, Vasumathi Raman, Dorsa Sadigh, Sanjit A. Seshia
Journal of Automated Reasoning (JAR), January 2018
Safe and Interactive Autonomy: Control, Learning, and Verification
Dorsa Sadigh
EECS Department, University of California, Berkeley, August 2017

Ph.D. Dissertation
Active Preference-Based Learning of Reward Functions
Dorsa Sadigh, Anca D. Dragan, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of Robotics: Science and Systems (RSS), July 2017
Stochastic Predictive Freeway Ramp Metering from Signal Temporal Logic Specifications
Negar Mehr, Dorsa Sadigh, Roberto Horowitz, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the American Control Conference (ACC), May 2017
Towards Trustworthy Automation: User Interfaces that Convey Internal and External Awareness
Tara Rezvani, Katherine Driggs-Campbell, Dorsa Sadigh, S. Shankar
Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), November 2016
Information Gathering Actions over Human Internal State
Dorsa Sadigh, S. Shankar Sastry, Sanjit A. Seshia, Anca Dragan
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2016

Best paper in cognitive robotics award finalist.
Safe Control Under Uncertainty with Probabilistic Signal Temporal Logic
Dorsa Sadigh, Ashish Kapoor
Proceedings of Robotics: Science and Systems (RSS), June 2016
Planning for Autonomous Cars that Leverage Effects on Human Actions
Dorsa Sadigh, S. Shankar Sastry, Sanjit A. Seshia, Anca D. Dragan
Proceedings of Robotics: Science and Systems (RSS), June 2016
Towards Verified Artificial Intelligence
Sanjit A. Seshia, Dorsa Sadigh, S. Shankar Sastry
July 2016
Fast Safe Mission Plans for Autonomous Vehicles
Debadeepta Dey, Dorsa Sadigh, Ashish Kapoor
Proceedings of Robotics: Science and Systems Workshop, June 2016
Diagnosis and Repair for Synthesis from Signal Temporal Logic Specifications
Shromona Ghosh, Dorsa Sadigh, Pierluigi Nuzzo, Vasumathi Raman, Alexandre Donzé, Alberto L. Sangiovanni-Vincentelli, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control (HSCC), April 2016
Formal Methods for Semi-Autonomous Driving
Sanjit A. Seshia, Dorsa Sadigh, S. Shankar Sastry
Proceedings of the Design Automation Conference (DAC), June 2015
Reactive Synthesis from Signal Temporal Logic Specifications
Vasumathi Raman, Alexandre Donzé, Dorsa Sadigh, Richard M. Murray, Sanjit A. Seshia
Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control (HSCC), April 2015
A Learning Based Approach to Control Synthesis of Markov Decision Processes for Linear Temporal Logic Specifications
Dorsa Sadigh, Eric S. Kim, Samuel Coogan, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the 53rd IEEE Conference on Decision and Control (CDC), December 2014
Robust Subspace System Identification via Weighted Nuclear Norm Optimization
Dorsa Sadigh, Henrik Ohlsson, Sanjit A. Seshia, S. Shankar Sastry
Proceedings of the 19th World Congress of the International Federation of Automatic Control (IFAC), August 2014
Safety Envelope for Security
Ashish Tiwari, Bruno Dutertre, Dejan Jovanović, Thomas de Candia, Patrick D. Lincoln, John Rushby, Dorsa Sadigh, Sanjit A. Seshia
Proceedings of the 3rd International Conference on High Confidence Networked Systems (HiCoNS), April 2014
User Interface Design and Verification for Semi-Autonomous Driving
Dorsa Sadigh, Katherine Driggs-Campbell, Ruzena Bajcsy, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the 3rd International Conference on High Confidence Networked Systems (HiCoNS), April 2014
Data-Driven Probabilistic Modeling and Verification of Human Driver Behavior
Dorsa Sadigh, Katherine Driggs-Campbell, Alberto Puggelli, Wenchao Li, Victor Shia, Ruzena Bajcsy, Alberto L. Sangiovanni-Vincentelli, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the AAAI Spring Symposium on Formal Verification and Modeling in Human-Machine Systems, March 2014
Synthesis for Human-in-the-Loop Control Systems
Wenchao Li, Dorsa Sadigh, S. Shankar Sastry, Sanjit A. Seshia
Proceedings of the 20th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), March 2014
Automating Exercise Generation: A Step Towards Meeting the MOOC Challenge for Embedded Systems
Dorsa Sadigh, Sanjit A. Seshia, Mona Gupta
Proceedings of the Workshop on Embedded and Cyber-Physical Systems Education (WESE), October 2012
Synthesis with Clairvoyance
Orna Kupferman, Dorsa Sadigh, Sanjit A. Seshia
Proceedings of the Haifa Verification Conference (HVC), December 2011
Timing Analysis of Interrupt-Driven Programs under Context Bounds
Jonathan Kotker, Dorsa Sadigh, Sanjit A. Seshia
Proceedings of the IEEE International Conference on Formal Methods in Computer-Aided Design (FMCAD), October 2011