SteerPlex: Estimating Scenario Complexity for Simulated Crowds. - Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (MIG, 2013)

Characterizing and optimizing game level difficulty. - Glen Berseth; M. Brandon Haworth; Mubbasir Kapadia; Petros Faloutsos (MIG, 2014)

SteerFit: Automated Parameter Fitting for Steering Algorithms. - Glen Berseth; Mubbasir Kapadia; M. Brandon Haworth; Petros Faloutsos (Symposium on Computer Animation, 2014)

Evaluating and optimizing level of service for crowd evacuations. - M. Brandon Haworth; Muhammad Usman 010; Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (MIG, 2015)

Environment optimization for crowd evacuation. - Glen Berseth; Muhammad Usman 010; M. Brandon Haworth; Mubbasir Kapadia; Petros Faloutsos (Comput. Animat. Virtual Worlds, 2015)

Dynamic terrain traversal skills using reinforcement learning. - Xue Bin Peng; Glen Berseth; Michiel van de Panne (ACM Trans. Graph., 2015)

Towards Computer Assisted Crowd Aware Architectural Design. - M. Brandon Haworth; Muhammad Usman 010; Glen Berseth; Mahyar Khayatkhoei; Mubbasir Kapadia; Petros Faloutsos (CHI Extended Abstracts, 2016)

ACCLMesh: curvature-based navigation mesh generation. - Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (Comput. Animat. Virtual Worlds, 2016)

Terrain-adaptive locomotion skills using deep reinforcement learning. - Xue Bin Peng; Glen Berseth; Michiel van de Panne (ACM Trans. Graph., 2016)

Perceptual evaluation of space in virtual environments. - Muhammad Usman 010; M. Brandon Haworth; Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (MIG, 2017)

Crowd sourced co-design of floor plans using simulation guided games. - Nilay Chakraborty; Glen Berseth; M. Brandon Haworth; Petros Faloutsos; Muhammad Usman 010; Mubbasir Kapadia (MIG, 2017)

Understanding spatial perception and visual modes in the review of architectural designs. - Muhammad Usman 010; M. Brandon Haworth; Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (Symposium on Computer Animation, 2017)

Evaluating and Optimizing Evacuation Plans for Crowd Egress. - Vinícius J. Cassol; Estevao Smania Testa; Cláudio Rosito Jung; Muhammad Usman 010; Petros Faloutsos; Glen Berseth; Mubbasir Kapadia; Norman I. Badler; Soraia Raupp Musse (IEEE Computer Graphics and Applications, 2017)

On density-flow relationships during crowd evacuation. - M. Brandon Haworth; Muhammad Usman 010; Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (Comput. Animat. Virtual Worlds, 2017)

CODE: Crowd-optimized design of environments. - M. Brandon Haworth; Muhammad Usman 010; Glen Berseth; Mahyar Khayatkhoei; Mubbasir Kapadia; Petros Faloutsos (Comput. Animat. Virtual Worlds, 2017)

DeepLoco: dynamic locomotion skills using hierarchical deep reinforcement learning. - Xue Bin Peng; Glen Berseth; KangKang Yin; Michiel van de Panne (ACM Trans. Graph., 2017)

Progressive Reinforcement Learning with Distillation for Multi-Skilled Motion Control. - Glen Berseth; Cheng Xie; Paul Cernek; Michiel van de Panne (ICLR (Poster), 2018)

Model-Based Action Exploration for Learning Dynamic Motion Skills. - Glen Berseth; Alex Kyriazis; Ivan Zinin; William Choi; Michiel van de Panne (IROS, 2018)

Feedback Control For Cassie With Deep Reinforcement Learning. - Zhaoming Xie; Glen Berseth; Patrick Clary; Jonathan W. Hurst; Michiel van de Panne (IROS, 2018)

Interactive spatial analytics for human-aware building design. - Muhammad Usman 010; Davide Schaumann; M. Brandon Haworth; Glen Berseth; Mubbasir Kapadia; Petros Faloutsos (MIG, 2018)

Model-Based Action Exploration. - Glen Berseth; Michiel van de Panne (CoRR, 2018)

Interactive Diversity Optimization of Environments. - Glen Berseth; Mahyar Khayatkhoei; M. Brandon Haworth; Muhammad Usman 010; Mubbasir Kapadia; Petros Faloutsos (CoRR, 2018)

Terrain RL Simulator. - Glen Berseth; Xue Bin Peng; Michiel van de Panne (CoRR, 2018)

Contextual Imagined Goals for Self-Supervised Robotic Learning. - Ashvin Nair; Shikhar Bahl; Alexander Khazatsky; Vitchyr Pong; Glen Berseth; Sergey Levine (CoRL, 2019)

Visual Imitation Learning with Recurrent Siamese Networks. - Glen Berseth; Christopher J. Pal (CoRR, 2019)

SMiRL: Surprise Minimizing RL in Dynamic Environments. - Glen Berseth; Daniel Geng; Coline Devin; Chelsea Finn; Dinesh Jayaraman; Sergey Levine (CoRR, 2019)

Deep Integration of Physical Humanoid Control and Crowd Navigation. - M. Brandon Haworth; Glen Berseth; Seonghyeon Moon; Petros Faloutsos; Mubbasir Kapadia (MIG, 2020)

Ecological Reinforcement Learning. - John D. Co-Reyes; Suvansh Sanjeev; Glen Berseth; Abhishek Gupta 004; Sergey Levine (CoRR, 2020)

Morphology-Agnostic Visual Robotic Control. - Brian H. Yang; Dinesh Jayaraman; Glen Berseth; Alexei A. Efros; Sergey Levine (IEEE Robotics Autom. Lett., 2020)

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation. - Charles Sun; Jedrzej Orbik; Coline Manon Devin; Brian H. Yang; Abhishek Gupta 004; Glen Berseth; Sergey Levine (CoRL, 2021)

SMiRL: Surprise Minimizing Reinforcement Learning in Unstable Environments. - Glen Berseth; Daniel Geng; Coline Manon Devin; Nicholas Rhinehart; Chelsea Finn; Dinesh Jayaraman; Sergey Levine (ICLR, 2021)

X2T: Training an X-to-Text Typing Interface with Online Learning from User Feedback. - Jensen Gao; Siddharth Reddy; Glen Berseth; Nicholas Hardy; Nikhilesh Natraj; Karunesh Ganguly; Anca D. Dragan; Sergey Levine (ICLR, 2021)

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. - Zhongyu Li 003; Xuxin Cheng; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (ICRA, 2021)

DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies. - Soroush Nasiriany; Vitchyr H. Pong; Ashvin Nair; Alexander Khazatsky; Glen Berseth; Sergey Levine (ICRA, 2021)

Information is Power: Intrinsic Control via Information Capture. - Nicholas Rhinehart; Jenny Wang; Glen Berseth; John D. Co-Reyes; Danijar Hafner; Chelsea Finn; Sergey Levine (NeurIPS, 2021)

Gamification of Crowd-Driven Environment Design. - M. Brandon Haworth; Muhammad Usman 010; Davide Schaumann; Nilay Chakraborty; Glen Berseth; Petros Faloutsos; Mubbasir Kapadia (IEEE Computer Graphics and Applications, 2021)

Explore and Control with Adversarial Surprise. - Arnaud Fickinger; Natasha Jaques; Samyak Parajuli; Michael Chang 003; Nicholas Rhinehart; Glen Berseth; Stuart Russell 001; Sergey Levine (CoRR, 2021)

ReLMM: Practical RL for Learning Mobile Manipulation Skills Using Only Onboard Sensors. - Charles Sun; Jedrzej Orbik; Coline Devin; Brian H. Yang; Abhishek Gupta 004; Glen Berseth; Sergey Levine (CoRR, 2021)

Interactive Architectural Design with Diverse Solution Exploration. - Glen Berseth; M. Brandon Haworth; Muhammad Usman 010; Davide Schaumann; Mahyar Khayatkhoei; Mubbasir Kapadia; Petros Faloutsos (IEEE Trans. Vis. Comput. Graph., 2021)

Chapter 9 Towards Democratizing Human-Building Simulation and Analytics. - Muhammad Usman 010; M. Brandon Haworth; Glen Berseth; Petros Faloutsos; Mubbasir Kapadia (Resilience in the Digital Age, 2021)

CoMPS: Continual Meta Policy Search. - Glen Berseth; Zhiwei Zhang; Grace Zhang; Chelsea Finn; Sergey Levine (ICLR, 2022)

AnyMorph: Learning Transferable Polices By Inferring Agent Morphology. - Brandon Trabucco; Mariano Phielipp; Glen Berseth (ICML, 2022)

ASHA: Assistive Teleoperation via Human-in-the-Loop Reinforcement Learning. - Sean Chen; Jensen Gao; Siddharth Reddy; Glen Berseth; Anca D. Dragan; Sergey Levine (ICRA, 2022)

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot. - Yandong Ji; Zhongyu Li 003; Yinan Sun; Xue Bin Peng; Sergey Levine; Glen Berseth; Koushil Sreenath (IROS, 2022)

Bootstrapping Adaptive Human-Machine Interfaces with Offline Reinforcement Learning. - Jensen Gao; Siddharth Reddy; Glen Berseth; Anca D. Dragan; Sergey Levine (IROS, 2023)

Maximum State Entropy Exploration using Predecessor and Successor Representations. - Arnav Kumar Jain; Lucas Lehnert; Irina Rish; Glen Berseth (NeurIPS, 2023)

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Robotics: Science and Systems, 2023)

Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (CoRR, 2023)

Towards Learning to Imitate from a Single Video Demonstration. - Glen Berseth; Florian Golemo; Christopher Pal (J. Mach. Learn. Res., 2023)

Heterogeneous Crowd Simulation Using Parametric Reinforcement Learning. - Kaidong Hu; M. Brandon Haworth; Glen Berseth; Vladimir Pavlovic 001; Petros Faloutsos; Mubbasir Kapadia (IEEE Trans. Vis. Comput. Graph., 2023)

Torque-Based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer. - Donghyeon Kim; Glen Berseth; Mathew Schwartz; Jaeheung Park (IEEE Robotics Autom. Lett., 2023)

Enhancing Agent Learning through World Dynamics Modeling. - Zhiyuan Sun; Haochen Shi; Marc-Alexandre Côté; Glen Berseth; Xingdi Yuan; Bang Liu (EMNLP (Findings), 2024)

Improving Intrinsic Exploration by Creating Stationary Objectives. - Roger Creus Castanyer; Joshua Romoff; Glen Berseth (ICLR, 2024)

Closing the Gap between TD Learning and Supervised Learning - A Generalisation Point of View. - Raj Ghugare; Matthieu Geist; Glen Berseth; Benjamin Eysenbach (ICLR, 2024)

Searching for High-Value Molecules Using Reinforcement Learning and Transformers. - Raj Ghugare; Santiago Miret; Adriana Hugessen; Mariano Phielipp; Glen Berseth (ICLR, 2024)

Intelligent Switching for Reset-Free RL. - Darshan Patil; Janarthanan Rajendran; Glen Berseth; Sarath Chandar (ICLR, 2024)

Reasoning with Latent Diffusion in Offline Reinforcement Learning. - Siddarth Venkatraman; Shivesh Khaitan; Ravi Tej Akella; John M. Dolan; Jeff Schneider 001; Glen Berseth (ICLR, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

Simplifying Constraint Inference with Inverse Reinforcement Learning. - Adriana Hugessen; Harley Wiltzer; Glen Berseth (NeurIPS, 2024)

Improving Deep Reinforcement Learning by Reducing the Chain Effect of Value and Policy Churn. - Hongyao Tang; Glen Berseth (NeurIPS, 2024)

Amortizing intractable inference in diffusion models for vision, language, and control. - Siddarth Venkatraman; Moksh Jain; Luca Scimeca; Minsu Kim 004; Marcin Sendera; Mohsin Hasan; Luke Rowe; Sarthak Mittal; Pablo Lemos; Emmanuel Bengio; Alexandre Adam; Jarrid Rector-Brooks; et al. (NeurIPS, 2024)

Surprise-Adaptive Intrinsic Motivation for Unsupervised Reinforcement Learning. - Adriana Hugessen; Roger Creus Castanyer; Faisal Mohamed; Glen Berseth (RLJ, 2024)

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. - Alexander Khazatsky; Karl Pertsch; Suraj Nair 003; Ashwin Balakrishna; Sudeep Dasari; Siddharth Karamcheti; Soroush Nasiriany; Mohan Kumar Srirama; Lawrence Yunliang Chen; Kirsty Ellis; Peter David Fagan; Joey Hejna; et al. (Robotics: Science and Systems, 2024)

Non-Adversarial Inverse Reinforcement Learning via Successor Feature Matching. - Arnav Kumar Jain; Harley Wiltzer; Jesse Farebrother; Irina Rish; Glen Berseth; Sanjiban Choudhury (ICLR, 2025)

Towards Improving Exploration through Sibling Augmented GFlowNets. - Kanika Madan; Alex Lamb; Emmanuel Bengio; Glen Berseth; Yoshua Bengio (ICLR, 2025)

Enabling Realtime Reinforcement Learning at Scale with Staggered Asynchronous Inference. - Matthew Riemer; Gopeshh Subbaraj; Glen Berseth; Irina Rish (ICLR, 2025)

Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control. - Zhongyu Li 003; Xue Bin Peng; Pieter Abbeel; Sergey Levine; Glen Berseth; Koushil Sreenath (Int. J. Robotics Res., 2025)

Adaptive Resolution Residual Networks - Generalizing Across Resolutions Easily and Efficiently. - Léa Demeule; Mahtab Sandhu; Glen Berseth (Trans. Mach. Learn. Res., 2025)

RLeXplore: Accelerating Research in Intrinsically-Motivated Reinforcement Learning. - Mingqi Yuan; Roger Creus Castanyer; Bo Li 037; Xin Jin 014; Wenjun Zeng 001; Glen Berseth (Trans. Mach. Learn. Res., 2025)

Outsourced diffusion sampling: Efficient posterior inference in latent spaces of generative models. - Siddarth Venkatraman; Mohsin Hasan; Minsu Kim 004; Luca Scimeca; Marcin Sendera; Yoshua Bengio; Glen Berseth; Nikolay Malkin (CoRR, 2025)

Solving Bayesian inverse problems with diffusion priors and off-policy RL. - Luca Scimeca; Siddarth Venkatraman; Moksh Jain; Minsu Kim 004; Marcin Sendera; Mohsin Hasan; Luke Rowe; Sarthak Mittal; Pablo Lemos; Emmanuel Bengio; Alexandre Adam; Jarrid Rector-Brooks; et al. (CoRR, 2025)

Advances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systems. - Bang Liu; Xinfeng Li; Jiayi Zhang; Jinlin Wang; Tanjin He; Sirui Hong; Hongzhang Liu; Shaokun Zhang; Kaitao Song; Kunlun Zhu; Yuheng Cheng; Suyuchen Wang; et al. (CoRR, 2025)

Mitigating Plasticity Loss in Continual Reinforcement Learning by Reducing Churn. - Hongyao Tang; Johan S. Obando-Ceron; Pablo Samuel Castro; Aaron C. Courville; Glen Berseth (CoRR, 2025)

Self-Predictive Representations for Combinatorial Generalization in Behavioral Cloning. - Daniel Lawson; Adriana Hugessen; Charlotte Cloutier; Glen Berseth; Khimya Khetarpal (CoRR, 2025)

Stable Gradients for Stable Learning at Scale in Deep Reinforcement Learning. - Roger Creus Castanyer; Johan S. Obando-Ceron; Lu Li; Pierre-Luc Bacon; Glen Berseth; Aaron C. Courville; Pablo Samuel Castro (CoRR, 2025)

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies. - Pranav Atreya; Karl Pertsch; Tony Lee; Moo Jin Kim; Arhan Jain; Artur Kuramshin; Clemens Eppner; Cyrus Neary; Edward S. Hu; Fabio Ramos 001; Jonathan Tremblay; Kanav Arora; et al. (CoRR, 2025)

Is Exploration or Optimization the Problem for Deep Reinforcement Learning? - Glen Berseth (CoRR, 2025)

Efficient Morphology-Aware Policy Transfer to New Embodiments. - Michael Przystupa; Hongyao Tang; Martin Jägersand; Santiago Miret; Mariano Phielipp; Matthew E. Taylor; Glen Berseth (CoRR, 2025)

SegDAC: Segmentation-Driven Actor-Critic for Visual Reinforcement Learning. - Alexandre Brown; Glen Berseth (CoRR, 2025)

Improving Pre-Trained Vision-Language-Action Policies with Model-Based Search. - Cyrus Neary; Omar G. Younis; Artur Kuramshin; Ozgur Aslan; Glen Berseth (CoRR, 2025)