Publications

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
APReL: A Library for Active Preference-based Reward Learning Algorithms
Erdem Bıyık, Aditi Talati, Dorsa Sadigh
Artificial Intelligence for Human-Robot Interaction (AI-HRI) at AAAI Fall Symposium Series, 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), August 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.
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), 2021
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
ELLA: Exploration through Learned Language Abstraction
Suvir Mirchandani, Siddharth Karamcheti, Dorsa Sadigh
arXiv preprint, March 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
First Workshop on Interactive and Executable Semantic Parsing @ EMNLP 2020, 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

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. 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
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
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