Publications
| FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024, Nov 2024 |
| Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024, Nov 2024 |
| So You Think You Can Scale Up Autonomous Robot Data Collection? Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024, Nov 2024 |
| RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh*, Jeannette Bohg*, Stefan Schaal* Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024 |
| Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning Joey Hejna, Chethan Bhateja, Yichen Jian, Karl Pertsch, Dorsa Sadigh Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024 |
| OpenVLA: An Open-Source Vision-Language-Action Model Moo Jin Kim*, Karl Pertsch*, Siddharth Karamcheti*, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn Proceedings of the 8th Conference on Robot Learning (CoRL), November 2024 |
| FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes Rajat Kumar Jenamani*, Priya Sundaresan*, Maram Sakr, Tapomayukh Bhattacharjee†, Dorsa Sadigh† Proceedings of Robotics: Science and Systems (RSS), 2024, Jul 2024 |
| Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Imitation Bootstrapped Reinforcement Learning Hengyuan Hu, Suvir Mirchandani, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Explore until Confident: Efficient Exploration for Embodied Question Answering Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| RT-H: Action Hierarchies Using Language Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quon Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, Sergey Levine Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky et al. Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Octo: An Open-Source Generalist Robot Policy Dibya Ghosh, Homer Rich Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Quan Vuong, Ted Xiao, Pannag R Sanketi, Dorsa Sadigh, Chelsea Finn, Sergey Levine Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Learning to Learn Faster from Human Feedback with Language Model Predictive Control Jacky Liang et al. Proceedings of Robotics: Science and Systems (RSS), July 2024 |
| Prismatic VLMs: Investigating the Design Space of Visually-Conditioned Language Models Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, Dorsa Sadigh 41th International Conference on Machine Learning (ICML), July 2024 |
| Chain of Code: Reasoning with a Language Model-Augmented Code Emulator Chengshu Li, Jacky Liang, Andy Zeng, Xinyun Chen, Karol Hausman, Dorsa Sadigh, Sergey Levine, Li Fei-Fei, Fei Xia, Brian Ichter 41th International Conference on Machine Learning (ICML), July 2024 |
| SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities Boyuan Chen, Zhuo Xu, Sean Kirmani, Brian Ichter, Dorsa Sadigh, Leonidas Guibas, Fei Xia IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR), 2024, Jun 2024 |
| Policy Learning with a Language Bottleneck Megha Srivastava, Cedric Colas, Dorsa Sadigh, Jacob Andreas arxiv, May 2024 |
| Physically Grounded Vision-Language Models for Robotic Manipulation Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2024 |
| Toward Grounded Commonsense Reasoning Minae Kwon, Hengyuan Hu, Vivek Myers, Siddharth Karamcheti, Anca Dragan, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2024 |
| Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections Lihan Zha, Yuchen Cui, Li-Heng Lin, Minae Kwon, Montserrat Gonzalez Arenas, Andy Zeng, Fei Xia, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2024 |
| How to Prompt Your Robot: A Prompt Book for Manipulation Skills with Code as Policies Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jacob Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Mario Prats, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, Andy Zeng International Conference on Robotics and Automation (ICRA), May 2024 |
| Open X-Embodiment: Robotic Learning Datasets and RT-X Models Abhishek Padalkar et al International Conference on Robotics and Automation (ICRA), May 2024 |
| Contrastive Preference Learning: Learning from Human Feedback without RL Joey Hejna, Rafael Rafailov*, Harshit Sikchi*, Chelsea Finn, Scott Niekum, W. Bradley Knox, Dorsa Sadigh International Conference on Learning Representations (ICLR), May 2024 |
| Probabilistic Inference in the Era of Large Models Andy Shih CS Department, Stanford University, Mar 2024 Ph.D. Dissertation |
| Generative Expressive Robot Behaviors using Large Language Models Karthik Mahadevan, Jonathan Chien, Noah Brown, Zhuo Xu, Carolina Parada, Fei Xia, Andy Zeng, Leila Takayama, Dorsa Sadigh ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2024 Best paper award (technical track). |
| Batch Active Learning of Reward Functions from Human Preferences Erdem Biyik, Nima Anari, Dorsa Sadigh Journal of Transactions on Human Robotics Interaction, Feb 2024 |
| Active Preference-Based Gaussian Process Regression for Reward Learning and Optimization Erdem Biyik, Nicolas Huynh, Mykel Kochenderfer, Dorsa Sadigh The International Journal of Robotics Research (IJRR), 2024 |
| Scaling Human Feedback Minae Kwon CS Department, Stanford University, December 2023 Ph.D. Dissertation |
| Open Problems and Fundamental Limitations of Reinforcement Learning from Human Feedback Stephen Casper, Xander Davies, Claudia Shi, Thomas Krendl Gilbert, Jérémy Scheurer, Javier Rando, Rachel Freedman, Tomasz Korbak, David Lindner, Pedro Freire, Tony Tong Wang, Samuel Marks, Charbel-Raphael Segerie, Micah Carroll, Andi Peng, Phillip Christoffersen, Mehul Damani, Stewart Slocum, Usman Anwar, Anand Siththaranjan, Max Nadeau, Eric J Michaud, Jacob Pfau, Dmitrii Krasheninnikov, Xin Chen, Lauro Langosco, Peter Hase, Erdem Biyik, Anca Dragan, David Krueger, Dorsa Sadigh, Dylan Hadfield-Menell Transactions on Machine Learning Research (TMLR) |
| Parallel Sampling of Diffusion Models Andy Shih, Suneel Belkhale, Stefano Ermon, Dorsa Sadigh, Nima Anari Conference on Neural Information Processing Systems (NeurIPS), December 2023 Spotlight presentation. |
| Diverse Conventions for Human-AI Collaboration Bidipta Sarkar, Andy Shih, Dorsa Sadigh Conference on Neural Information Processing Systems (NeurIPS), December 2023 |
| Data Quality in Imitation Learning Suneel Belkhale, Yuchen Cui, Dorsa Sadigh Conference on Neural Information Processing Systems (NeurIPS), December 2023 |
| Inverse Preference Learning: Preference-based RL without a Reward Function Joey Hejna, Dorsa Sadigh Conference on Neural Information Processing Systems (NeurIPS), December 2023 |
| RoboCLIP: One Demonstration is Enough to Learn Robot Policies Sumedh Anand Sontakke, Seb Arnold, Jesse Zhang, Karl Pertsch, Erdem Biyik, Dorsa Sadigh, Chelsea Finn, Laurent Itti Conference on Neural Information Processing Systems (NeurIPS), December 2023 |
| Stabilize to Act: Learning to Coordinate for Bimanual Manipulation Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 Oral presentation. |
| HYDRA: Hybrid Robot Actions for Imitation Learning Suneel Belkhale, Yuchen Cui, Dorsa Sadigh Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| Learning Sequential Acquisition Policies for Robot-Assisted Feeding Priya Sundaresan, Jiajun Wu, Dorsa Sadigh Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| Gesture-Informed Robot Assistance via Foundation Model Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| KITE: Keypoint-Conditioned Policies for Semantic Manipulation Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| Large Language Models as General Pattern Machines Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| Polybot: Training One Policy Across Robots While Embracing Variability Jonathan Heewon Yang, Dorsa Sadigh, Chelsea Finn Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 |
| Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners 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 Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 Best student paper award, Oral presentation. |
| Language to Rewards for Robotic Skill Synthesis Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montse Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia Proceedings of the 7th Conference on Robot Learning (CoRL), November 2023 Oral presentation. |
| Robots That Can See: Leveraging Human Pose for Trajectory Prediction Tim Salzmann, Hao-Tien Chiang, Markus Ryll, Dorsa Sadigh, Carolina Parada, Alex Bewley IEEE Robotics and Automation Letters (RA-L), September 2023 |
| Masked Imitation Learning: Discovering Environment-Invariant Modalities in Multimodal Demonstrations Yilun Hao*, Ruinan Wang*, Zhangjie Cao, Zihan Wang, Yuchen Cui, Dorsa Sadigh Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023 * denotes equal contribution. |
| Soy: An Efficient MILP Solver for Piecewise-Affine Systems Haoze Wu, Min Wu, Dorsa Sadigh, Clark Barrett Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023 |
| Strategic Reasoning with Language Models Kanishk Gandhi, Dorsa Sadigh, Noah D. Goodman arxiv, May 2023 |
| Language Instructed Reinforcement Learning for Human-AI Coordination Hengyuan Hu, Dorsa Sadigh 40th International Conference on Machine Learning (ICML), July 2023 |
| Generating Language Corrections for Teaching Physical Control Tasks Megha Srivastava, Noah Goodman, Dorsa Sadigh 40th International Conference on Machine Learning (ICML), July 2023 |
| Distance Weighted Supervised Learning for Offline Interaction Data Joey Hejna, Jensen Gao, Dorsa Sadigh 40th International Conference on Machine Learning (ICML), July 2023 |
| Long Horizon Temperature Scaling Andy Shih, Dorsa Sadigh, Stefano Ermon 40th International Conference on Machine Learning (ICML), July 2023 |
| Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets Maximilian Du, Suraj Nair, Dorsa Sadigh, Chelsea Finn Proceedings of Robotics: Science and Systems (RSS), July 2023 |
| Language-Driven Representation Learning for Robotics Siddharth Karamcheti, Suraj Nair, Annie S. Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, Percy Liang Proceedings of Robotics: Science and Systems (RSS), July 2023 Best paper award finalist. |
| Learning to Adapt for Intelligent Robot Behavior Mengxi Li Electrical Engineering Department, Stanford University, March 2023 Ph.D. Dissertation |
| Reward Design with Language Models Minae Kwon, Sang Michael Xie, Kalesha Bullard, Dorsa Sadigh International Conference on Learning Representations (ICLR), May 2023 |
| In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing Lorenzo Shaikewitz*, Yilin Wu*, Suneel Belkhale*, Jennifer Grannen, Priya Sundaresan, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2023 * denotes equal contribution. |
| Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation Mengxi Li, Rika Antonova, Dorsa Sadigh, Jeannette Bohg International Conference on Robotics and Automation (ICRA), May 2023 |
| Active Reward Learning from Online Preferences Vivek Myers, Erdem Bıyık, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2023 |
| "No, to the Right" – Online Language Corrections for Robotic Manipulation via Shared Autonomy Yuchen Cui*, Siddharth Karamcheti*, Raj Palleti, Nidhya Shivakumar, Percy Liang, Dorsa Sadigh Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2023 * denotes equal contribution. |
| Learning from Imperfect Demonstrations Zhangjie Cao Computer Science Department, Stanford University, December 2022 Ph.D. Dissertation |
| Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh Proceedings of the 6th Conference on Robot Learning (CoRL), December 2022 Oral presentation. |
| Few-Shot Preference Learning for Human-in-the-Loop RL Joey Hejna, Dorsa Sadigh Proceedings of the 6th Conference on Robot Learning (CoRL), December 2022 |
| Eliciting Compatible Demonstrations for Multi-Human Imitation Learning Kanishk Gandhi, Siddharth Karamcheti, Madeline Liao, Dorsa Sadigh Proceedings of the 6th Conference on Robot Learning (CoRL), December 2022 |
| Learning Bimanual Scooping Policies for Food Acquisition Jennifer Grannen*, Yilin Wu*, Suneel Belkhale, Dorsa Sadigh Proceedings of the 6th Conference on Robot Learning (CoRL), December 2022 * denotes equal contribution. |
| PLATO: Predicting Latent Affordances Through Object-Centric Play Suneel Belkhale, Dorsa Sadigh Proceedings of the 6th Conference on Robot Learning (CoRL), December 2022 |
| Assistive Teaching of Motor Control Tasks to Humans Megha Srivastava, Erdem Bıyık, Suvir Mirchandani, Noah Goodman, Dorsa Sadigh Conference on Neural Information Processing Systems (NeurIPS), November 2022 |
| Training and Inference on Any-Order Autoregressive Models the Right Way Andy Shih, Dorsa Sadigh, Stefano Ermon Conference on Neural Information Processing Systems (NeurIPS), November 2022 Oral presentation. |
| Learning Preferences For Interactive Autonomy Erdem Bıyık EE Department, Stanford University, May 2022 Ph.D. Dissertation |
| Imitation Learning by Estimating Expertise of Demonstrators Mark Beliaev*, Andy Shih*, Stefano Ermon, Dorsa Sadigh, Ramtin Pedarsani 39th International Conference on Machine Learning (ICML), July 2022 * denotes equal contribution. |
| How do People Incorporate Advice from Artificial Agents when Making Physical Judgments? Erik Brockbank*, Haoliang Wang*, Justin Yang, Suvir Mirchandani, Erdem Bıyık, Dorsa Sadigh, Judith Fan Cognitive Science Society Conference (CogSci), July 2022 * denotes equal contribution. Oral presentation. |
| Shared Autonomy for Robotic Manipulation with Language Corrections Siddharth Karamcheti*, Raj Palleti*, Yuchen Cui, Percy Liang, Dorsa Sadigh Workshop on Learning with Natural Language Supervision @ ACL, May 2022 * denotes equal contribution. |
| Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer Suneel Belkhale, Ethan Kroll Gordon, Yuxiao Chen, Siddhartha Srinivasa, Tapomayukh Bhattacharjee, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2022 |
| Learning from Imperfect Demonstrations via Adversarial Confidence Transfer Zhangjie Cao*, Zihan Wang*, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2022 * denotes equal contribution. |
| Weakly Supervised Correspondence Learning Zihan Wang*, Zhangjie Cao*, Yilun Hao, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2022 * denotes equal contribution. |
| Leveraging Smooth Attention Prior for Multi-Agent Trajectory Prediction Zhangjie Cao, Erdem Bıyık, Guy Rosman, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2022 |
| APReL: A Library for Active Preference-based Reward Learning Algorithms Erdem Bıyık, Aditi Talati, Dorsa Sadigh 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2022 Also presented at Artificial Intelligence for Human-Robot Interaction (AI-HRI) at AAAI Fall Symposium Series, November 2021). |
| Conditional Imitation Learning for Multi-Agent Games Andy Shih, Stefano Ermon, Dorsa Sadigh 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2022 |
| PantheonRL: A MARL Library for Dynamic Training Interactions Bidipta Sarkar*, Aditi Talati*, Andy Shih*, Dorsa Sadigh Proceedings of the 36th AAAI Conference on Artificial Intelligence (Demo Track), February 2022 * denotes equal contribution. |
| Partner-Aware Algorithms in Decentralized Cooperative Bandit Teams Erdem Bıyık, Anusha Lalitha, Rajarshi Saha, Andrea Goldsmith, Dorsa Sadigh Proceedings of the 36th AAAI Conference on Artificial Intelligence, February 2022 Also presented at Artificial Intelligence for Human-Robot Interaction (AI-HRI) at AAAI Fall Symposium Series, November 2021. Oral presentation. |
| Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints Shushman Choudhury, Jayesh Gupta, Mykel J. Kochenderfer, Dorsa Sadigh, Jeannette Bohg Journal of Autonomous Robots (AURO), 2022 |
| Learning Latent Actions to Control Assistive Robots Dylan Losey, Hong Jun Jeon, Mengxi Li, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Jeannette Bohg, Dorsa Sadigh Journal of Autonomous Robots (AURO), 2022 |
| ELLA: Exploration through Learned Language Abstraction Suvir Mirchandani, Siddharth Karamcheti, Dorsa Sadigh Conference on Neural Information Processing Systems (NeurIPS), December 2021 |
| Confidence-Aware Imitation Learning from Demonstrations with Varying Optimality Songyuan Zhang*, Zhangjie Cao*, Dorsa Sadigh, Yanan Sui Conference on Neural Information Processing Systems (NeurIPS), December 2021 * denotes equal contribution. |
| HyperSPNs: Compact and Expressive Probabilistic Circuits Andy Shih, Dorsa Sadigh, Stefano Ermon Conference on Neural Information Processing Systems (NeurIPS), December 2021 |
| From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka, Christopher Pal, Blake Richards, Dorsa Sadigh, Stefan Schaal, Gaurav Sukhatme, Denis Therien, Marc Toussaint, Michiel Van de Panne arXiv, November 2021 |
| LILA: Language-Informed Latent Actions Siddharth Karamcheti*, Megha Srivastava*, Percy Liang, Dorsa Sadigh Proceedings of the 5th Conference on Robot Learning (CoRL), November 2021 * denotes equal contribution. |
| Learning Multimodal Rewards from Rankings Vivek Myers, Erdem Bıyık, Nima Anari, Dorsa Sadigh Proceedings of the 5th Conference on Robot Learning (CoRL), November 2021 Oral presentation. |
| Learning Reward Functions from Scale Feedback Nils Wilde*, Erdem Bıyık*, Dorsa Sadigh, Stephen L. Smith Proceedings of the 5th Conference on Robot Learning (CoRL), November 2021 * denotes equal contribution. |
| Influencing Towards Stable Multi-Agent Interactions Woodrow Zhouyuan Wang, Andy Shih, Annie Xie, Dorsa Sadigh Proceedings of the 5th Conference on Robot Learning (CoRL), November 2021 Oral presentation. |
| Learning Feasibility to Imitate Demonstrators with Different Dynamics Zhangjie Cao, Yilun Hao, Mengxi Li, Dorsa Sadigh Proceedings of the 5th Conference on Robot Learning (CoRL), November 2021 |
| Open-domain clarification question generation without question examples Julia White, Gabriel Poesia, Robert Hawkins, Dorsa Sadigh, Noah Goodman Conference on Empirical Methods in Natural Language Processing (EMNLP), November 2021 |
| Formalizing and Guaranteeing* Human-Robot Interaction Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Ruediger Ehlers, Christoffer Heckman, Nils Jansen, Ross Knepper, Jan Křetínský, Shelly Levy-Tzedek, Jamy Li, Todd Murphey, Laurel Riek, Dorsa Sadigh Communications of the ACM (CACM), September 2021 |
| Influencing Leading and Following in Human-Robot Teams Mengxi Li*, Minae Kwon*, Dorsa Sadigh Journal of Autonomous Robots (AURO), 2021 |
| Learning Reward Functions from Diverse Sources of Human Feedback: Optimally Integrating Demonstrations and Preferences Erdem Bıyık, Dylan P. Losey, Malayandi Palan, Nicholas C. Landolfi, Gleb Shevchuk, Dorsa Sadigh The International Journal of Robotics Research (IJRR), 2021 |
| Learning How to Dynamically Route Autonomous Vehicles on Shared Roads Daniel A. Lazar*, Erdem Bıyık*, Dorsa Sadigh, Ramtin Pedarsani Transportation Research Part C: Emerging Technologies (TR_C), September 2021 * denotes equal contribution. |
| Cooperative Autonomous Vehicles that Sympathize with Human Drivers Behrad Toghi, Rodolfo Valiente, Dorsa Sadigh, Ramtin Pedarsani, Yaser Fallah Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021 |
| Emergent Prosociality in Multi-Agent Games Through Gifting Woodrow Z. Wang*, Mark Beliaev*, Erdem Bıyık*, Daniel A. Lazar, Ramtin Pedarsani, Dorsa Sadigh 30th International Joint Conference on Artificial Intelligence (IJCAI), August 2021 * denotes equal contribution. |
| Targeted Data Acquisition for Evolving Negotiation Agents Minae Kwon, Siddharth Karamcheti, Mariano-Florentino Cuéllar, Dorsa Sadigh 38th International Conference on Machine Learning (ICML), July 2021 |
| Incentivizing Efficient Equilibria in Traffic Networks with Mixed Autonomy Erdem Bıyık*, Daniel A. Lazar*, Ramtin Pedarsani, Dorsa Sadigh IEEE Transactions on Control of Network Systems (TCNS), 2021 * denotes equal contribution. |
| Learning from Imperfect Demonstrations from Agents with Varying Dynamics Zhangjie Cao, Dorsa Sadigh IEEE Robotics and Automation Letters (RA-L), July 2021 Also presented at ICRA 2021. |
| Altruistic Maneuver Planning for Cooperative Autonomous Vehicles Using Multi-agent Advantage Actor-Critic Behrad Toghi, Rodolfo Valiente, Dorsa Sadigh, Ramtin Pedarsani, Yaser P. Fallah CVPR 2021 Workshop on Autonomous Driving: Perception, Prediction and Planning, June 2021 |
| Learning Visually Guided Latent Actions for Assistive Teleoperation Siddharth Karamcheti, Albert J. Zhai, Dylan P. Losey, Dorsa Sadigh 3rd Annual Learning for Dynamics & Control Conference (L4DC), June 2021 |
| Learning Human Objectives from Sequences of Physical Corrections Mengxi Li, Alper Canberk, Dylan P. Losey, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2021 |
| ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes Kejun Li, Maegan Tucker, Erdem Bıyık, Ellen Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames International Conference on Robotics and Automation (ICRA), May 2021 |
| Transfer Reinforcement Learning across Homotopy Classes Zhangjie Cao*, Minae Kwon*, Dorsa Sadigh IEEE Robotics and Automation Letters (RA-L), February 2021 * denotes equal contribution. Also presented at ICRA 2021. |
| Incentivizing Routing Choices for Safe and Efficient Transportation in the Face of the COVID-19 Pandemic Mark Beliaev, Erdem Bıyık, Daniel A. Lazar, Woodrow Z. Wang, Dorsa Sadigh, Ramtin Pedarsani 12th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), May 2021 |
| On the Critical Role of Conventions in Adaptive Human-AI Collaboration Andy Shih, Arjun Sawhney, Jovana Kondic, Stefano Ermon, Dorsa Sadigh 9th International Conference on Learning Representations (ICLR), May 2021 |
| Learning Latent Representations to Influence Multi-Agent Interaction Annie Xie, Dylan Losey, Ryan Tolsma, Chelsea Finn, Dorsa Sadigh Proceedings of the 4th Conference on Robot Learning (CoRL), November 2020 Best paper award winner and oral presentation. |
| Learning Adaptive Language Interfaces through Decomposition Siddharth Karamcheti, Dorsa Sadigh, Percy Liang Workshop on Interactive and Executable Semantic Parsing @ EMNLP, November 2020 |
| Continual Adaptation for Efficient Machine Communication Robert Hawkins, Minae Kwon, Dorsa Sadigh, Noah D. Goodman 24th Conference on Computational Natural Language Learning (CoNLL 2020), November 2020 Also best paper award winner at ICML 2019 Workshop on Adaptive & Multitask Learning: Algorithms & Systems (PDF). |
| BLEU Neighbors: A Reference-less Approach to Automatic Evaluation Kawin Ethayarajh, Dorsa Sadigh 1st Workshop on Evaluation and Comparison for NLP systems (Eval4NLP), November 2020 |
| Learning User-Preferred Mappings for Intuitive Robot Control Mengxi Li, Dylan P. Losey, Jeannette Bohg, Dorsa Sadigh Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020 |
| Multi-Agent Safe Planning with Gaussian Processes Zheqing Zhu, Erdem Bıyık, Dorsa Sadigh Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020 |
| Active Preference-Based Gaussian Process Regression for Reward Learning Erdem Bıyık*, Nicolas Huynh*, Mykel J. Kochenderfer, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2020 * denotes equal contribution. |
| Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving Zhangjie Cao*, Erdem Bıyık*, Woodrow Z. Wang, Allan Raventos, Adrien Gaidon, Guy Rosman, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2020 * denotes equal contribution. |
| Shared Autonomy with Learned Latent Actions Hong Jun Jeon, Dylan Losey, Dorsa Sadigh Proceedings of Robotics: Science and Systems (RSS), July 2020 Best student paper award finalist. |
| Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints Shushman Choudhury, Jayesh Gupta, Mykel J. Kochenderfer, Dorsa Sadigh, Jeannette Bohg Proceedings of Robotics: Science and Systems (RSS), July 2020 |
| Emergent Correlated Equilibrium through Synchronized Exploration Mark Beliaev*, Woodrow Z. Wang*, Daniel A. Lazar, Erdem Bıyık, Dorsa Sadigh, Ramtin Pedarsani RSS 2020 Workshop on Emergent Behaviors in Human-Robot Systems, July 2020 |
| Exchangeable Input Representations for Reinforcement Learning John Mern, Dorsa Sadigh, Mykel J. Kochenderfer Proceedings of the American Control Conference (ACC), July 2020 Also presented at the 18th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), May 2019, as an Extended Abstract. |
| Fitting a Linear Control Policy to Demonstrations with a Kalman Constraint Malayandi Palan*, Shane Barratt*, Alex McCauley, Dorsa Sadigh, Vikas Sindhwani, Stephen P. Boyd 2nd Learning for Dynamics & Control Conference (L4DC), June 2020 * denotes equal contribution. |
| Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication Yuhang Che, Allison M. Okamura, Dorsa Sadigh IEEE Transactions on Robotics (T-RO), June 2020 |
| Controlling Assistive Robots with Learned Latent Actions Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Dorsa Sadigh International Conference on Robotics and Automation (ICRA), May 2020 |
| When Humans Aren't Optimal: Robots that Collaborate with Risk-Aware Humans Minae Kwon, Erdem Bıyık, Aditi Talati, Karan Bhasin, Dylan P. Losey, Dorsa Sadigh ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2020 Also presented at Cooperative AI NeurIPS Workshop 2021, December 2021 (PDF). Honorable mention award. |
| 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. Oral presentation. |
| 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, June 2019 |
| 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. |
| 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. Shankar 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 Advances in Neural Information Processing Systems (NIPS), 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 Oral presentation. |
| 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 Sastry, Sanjit A. Seshia, Ruzena Bajcsy 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 Technical Report, 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 |