Anirudha Majumdar

Orcid: 0009-0002-2296-7485

Affiliations:
  • Princeton University, Mechanical and Aerospace Engineering, USA


According to our database1, Anirudha Majumdar authored at least 67 papers between 2010 and 2024.

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Bibliography

2024
Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source.
CoRR, 2024

Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees (Abstract Reprint).
Proceedings of the Thirty-Eighth AAAI Conference on Artificial Intelligence, 2024

2023
Fundamental limits for sensor-based robot control.
Int. J. Robotics Res., October, 2023

Robust feedback motion planning via contraction theory.
Int. J. Robotics Res., August, 2023

Foundation Models in Robotics: Applications, Challenges, and the Future.
CoRR, 2023

PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction.
CoRR, 2023

MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction.
CoRR, 2023

Physically Grounded Vision-Language Models for Robotic Manipulation.
CoRR, 2023

Sim-to-Lab-to-Real: Safe reinforcement learning with shielding and generalization guarantees.
Artif. Intell., 2023

PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction.
Proceedings of the Advances in Neural Information Processing Systems 36: Annual Conference on Neural Information Processing Systems 2023, 2023

FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Switching Attention in Time-Varying Environments via Bayesian Inference of Abstractions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Fundamental Tradeoffs in Learning with Prior Information.
Proceedings of the International Conference on Machine Learning, 2023

Online Learning for Obstacle Avoidance.
Proceedings of the Conference on Robot Learning, 2023

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners.
Proceedings of the Conference on Robot Learning, 2023

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer.
Proceedings of the Conference on Robot Learning, 2023

2022
Distributionally Robust Policy Learning via Adversarial Environment Generation.
IEEE Robotics Autom. Lett., 2022

Comparing the Complexity of Robotic Tasks.
CoRR, 2022

Towards a Framework for Comparing the Complexity of Robotic Tasks.
Proceedings of the Algorithmic Foundations of Robotics XV, 2022

Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Failure Prediction with Statistical Guarantees for Vision-Based Robot Control.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Leveraging Language for Accelerated Learning of Tool Manipulation.
Proceedings of the Conference on Robot Learning, 2022

2021
PAC-Bayes control: learning policies that provably generalize to novel environments.
Int. J. Robotics Res., 2021

Learning Provably Robust Motion Planners Using Funnel Libraries.
CoRR, 2021

Deluca - A Differentiable Control Library: Environments, Methods, and Benchmarking.
CoRR, 2021

PAC-BUS: Meta-Learning Bounds via PAC-Bayes and Uniform Stability.
CoRR, 2021

Generalization Bounds for Meta-Learning via PAC-Bayes and Uniform Stability.
Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning.
Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

Generating Adversarial Disturbances for Controller Verification.
Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

Learning to Actively Reduce Memory Requirements for Robot Control Tasks.
Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

A Regret Minimization Approach to Iterative Learning Control.
Proceedings of the 38th International Conference on Machine Learning, 2021

Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020
LagNetViP: A Lagrangian Neural Network for Video Prediction.
CoRR, 2020

Generalization Guarantees for Multi-Modal Imitation Learning.
CoRR, 2020

CoNES: Convex Natural Evolutionary Strategies.
CoRR, 2020

Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics.
Annu. Rev. Control. Robotics Auton. Syst., 2020

Learning Task-Driven Control Policies via Information Bottlenecks.
Proceedings of the Robotics: Science and Systems XVI, 2020

Probably Approximately Correct Vision-Based Planning using Motion Primitives.
Proceedings of the 4th Conference on Robot Learning, 2020

Generalization Guarantees for Imitation Learning.
Proceedings of the 4th Conference on Robot Learning, 2020

2019
A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms.
IEEE Trans. Autom. Control., 2019

DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization.
SIAM J. Appl. Algebra Geom., 2019

A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics.
CoRR, 2019

Task-Driven Estimation and Control via Information Bottlenecks.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Risk-sensitive inverse reinforcement learning via semi- and non-parametric methods.
Int. J. Robotics Res., 2018

PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments.
Proceedings of the 2nd Annual Conference on Robot Learning, 2018

2017
Funnel libraries for real-time robust feedback motion planning.
Int. J. Robotics Res., 2017

Response to "Counterexample to global convergence of DSOS and SDSOS hierarchies".
CoRR, 2017

A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms.
CoRR, 2017

Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models.
Proceedings of the Robotics: Science and Systems XIII, 2017

How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Robust online motion planning via contraction theory and convex optimization.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016
Funnel libraries for real-time robust feedback motion planning.
PhD thesis, 2016

Some applications of polynomial optimization in operations research and real-time decision making.
Optim. Lett., 2016

2015
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming.
Proceedings of the Robotics Research, 2015

2014
Convex optimization of nonlinear feedback controllers via occupation measures.
Int. J. Robotics Res., 2014

Flying between obstacles with an autonomous knife-edge maneuver.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

DSOS and SDSOS optimization: LP and SOCP-based alternatives to sum of squares optimization.
Proceedings of the 48th Annual Conference on Information Sciences and Systems, 2014

Control and verification of high-dimensional systems with DSOS and SDSOS programming.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

2013
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
CoRR, 2013

Control design along trajectories with sums of squares programming.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Complexity of ten decision problems in continuous time dynamical systems.
Proceedings of the American Control Conference, 2013

2012
Robust Online Motion Planning with Regions of Finite Time Invariance.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Algebraic verification for parameterized motion planning libraries.
Proceedings of the American Control Conference, 2012

2010
Characterization of Dynamic Behaviors in a Hexapod Robot.
Proceedings of the Experimental Robotics, 2010


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