RRT*-AR: Sampling-based alternate routes planning with applications to autonomous emergency landing of a helicopter. - Sanjiban Choudhury; Sebastian A. Scherer; Sanjiv Singh (ICRA, 2013)

Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles. - Hugh Cover; Sanjiban Choudhury; Sebastian A. Scherer; Sanjiv Singh (ICRA, 2013)

Emergency maneuver library - ensuring safe navigation in partially known environments. - Sankalp Arora; Sanjiban Choudhury; Daniel Althoff; Sebastian A. Scherer (ICRA, 2015)

The planner ensemble: Motion planning by executing diverse algorithms. - Sanjiban Choudhury; Sankalp Arora; Sebastian A. Scherer (ICRA, 2015)

The Dynamics Projection Filter (DPF) - real-time nonlinear trajectory optimization using projection operators. - Sanjiban Choudhury; Sebastian A. Scherer (ICRA, 2015)

Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest. - Sanjiban Choudhury; Sebastian A. Scherer; J. Andrew Bagnell (Robotics: Science and Systems, 2015)

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers. - Stephen Nuske; Sanjiban Choudhury; Sezal Jain; Andrew Chambers; Luke Yoder; Sebastian A. Scherer; Lyle Chamberlain; Hugh Cover; Sanjiv Singh (J. Field Robotics, 2015)

Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning. - Sanjiban Choudhury; Jonathan D. Gammell; Timothy D. Barfoot; Siddhartha S. Srinivasa; Sebastian A. Scherer (ICRA, 2016)

List prediction applied to motion planning. - Abhijeet Tallavajhula; Sanjiban Choudhury; Sebastian A. Scherer; Alonzo Kelly (ICRA, 2016)

Learning Heuristic Search via Imitation. - Mohak Bhardwaj; Sanjiban Choudhury; Sebastian A. Scherer (CoRL, 2017)

Learning to gather information via imitation. - Sanjiban Choudhury; Ashish Kapoor; Gireeja Ranade; Debadeepta Dey (ICRA, 2017)

Densification strategies for anytime motion planning over large dense roadmaps. - Shushman Choudhury; Oren Salzman; Sanjiban Choudhury; Siddhartha S. Srinivasa (ICRA, 2017)

A κITE in the wind: Smooth trajectory optimization in a moving reference frame. - Vishal Dugar; Sanjiban Choudhury; Sebastian A. Scherer (ICRA, 2017)

A Bayesian Active Learning Approach to Adaptive Motion Planning. - Sanjiban Choudhury; Siddhartha S. Srinivasa (ISRR, 2017)

Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs. - Sanjiban Choudhury; Shervin Javdani; Siddhartha S. Srinivasa; Sebastian A. Scherer (NIPS, 2017)

Adaptive Information Gathering via Imitation Learning. - Sanjiban Choudhury; Ashish Kapoor; Gireeja Ranade; Sebastian A. Scherer; Debadeepta Dey (Robotics: Science and Systems, 2017)

Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations. - Shushman Choudhury; Oren Salzman; Sanjiban Choudhury; Christopher M. Dellin; Siddhartha S. Srinivasa (CoRR, 2017)

Bayesian Active Edge Evaluation on Expensive Graphs. - Sanjiban Choudhury; Siddhartha S. Srinivasa; Sebastian A. Scherer (IJCAI, 2018)

Autonomous Drone Cinematographer: Using Artistic Principles to Create Smooth, Safe, Occlusion-Free Trajectories for Aerial Filming. - Rogerio Bonatti; Yanfu Zhang; Sanjiban Choudhury; Wenshan Wang; Sebastian A. Scherer (ISER, 2018)

Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi-resolution Information Gathering. - Sankalp Arora; Sanjiban Choudhury; Sebastian A. Scherer (CoRR, 2018)

Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes. - Gilwoo Lee; Sanjiban Choudhury; Brian Hou; Siddhartha S. Srinivasa (CoRR, 2018)

Data-driven planning via imitation learning. - Sanjiban Choudhury; Mohak Bhardwaj; Sankalp Arora; Ashish Kapoor; Gireeja Ranade; Sebastian A. Scherer; Debadeepta Dey (Int. J. Robotics Res., 2018)

Adaptive Motion Planning. - Sanjiban Choudhury (2018)

Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-Based Toggles. - Aditya Mandalika; Sanjiban Choudhury; Oren Salzman; Siddhartha S. Srinivasa (ICAPS, 2019)

Bayesian Policy Optimization for Model Uncertainty. - Gilwoo Lee; Brian Hou; Aditya Mandalika; Jeongseok Lee; Sanjiban Choudhury; Siddhartha S. Srinivasa (ICLR (Poster), 2019)

Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments. - Rogerio Bonatti; Cherie Ho; Wenshan Wang; Sanjiban Choudhury; Sebastian A. Scherer (IROS, 2019)

LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning. - Rahul Kumar; Aditya Mandalika; Sanjiban Choudhury; Siddhartha S. Srinivasa (IROS, 2019)

The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback. - Brad Saund; Sanjiban Choudhury; Siddhartha S. Srinivasa; Dmitry Berenson (ISRR, 2019)

MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research. - Siddhartha S. Srinivasa; Patrick Lancaster; Johan Michalove; Matt Schmittle; Colin Summers; Matthew Rockett; Joshua R. Smith 001; Sanjiban Choudhury; Christoforos I. Mavrogiannis; Fereshteh Sadeghi (CoRR, 2019)

High performance and safe flight of full-scale helicopters from takeoff to landing with an ensemble of planners. - Sanjiban Choudhury; Vishal Dugar; Silvio M. Maeta; Brian MacAllister; Sankalp Arora; Daniel Althoff; Sebastian A. Scherer (J. Field Robotics, 2019)

Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges. - Brian Hou; Sanjiban Choudhury; Gilwoo Lee; Aditya Mandalika; Siddhartha S. Srinivasa (ICRA, 2020)

ICS: Incremental Constrained Smoothing for State Estimation. - Paloma Sodhi; Sanjiban Choudhury; Joshua G. Mangelson; Michael Kaess (ICRA, 2020)

Learning from Interventions: Human-robot interaction as both explicit and implicit feedback. - Jonathan C. Spencer; Sanjiban Choudhury; Matt Barnes 001; Matthew Schmittle; Mung Chiang; Peter J. Ramadge; Siddhartha S. Srinivasa (Robotics: Science and Systems, 2020)

Autonomous aerial cinematography in unstructured environments with learned artistic decision-making. - Rogerio Bonatti; Wenshan Wang; Cherie Ho; Aayush Ahuja; Mirko Gschwindt; Efe Camci; Erdal Kayacan; Sanjiban Choudhury; Sebastian A. Scherer (J. Field Robotics, 2020)

Blending MPC & Value Function Approximation for Efficient Reinforcement Learning. - Mohak Bhardwaj; Sanjiban Choudhury; Byron Boots (ICLR, 2021)

Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap. - Gokul Swamy; Sanjiban Choudhury; J. Andrew Bagnell; Steven Wu 001 (ICML, 2021)

Bayesian Residual Policy Optimization: : Scalable Bayesian Reinforcement Learning with Clairvoyant Experts. - Gilwoo Lee; Brian Hou; Sanjiban Choudhury; Siddhartha S. Srinivasa (IROS, 2021)

Imitation Learning as f-Divergence Minimization. - Liyiming Ke; Sanjiban Choudhury; Matt Barnes 001; Wen Sun 002; Gilwoo Lee; Siddhartha S. Srinivasa (WAFR, 2021)

Leveraging experience in lazy search. - Mohak Bhardwaj; Sanjiban Choudhury; Byron Boots; Siddhartha S. Srinivasa (Auton. Robots, 2021)

Feedback in Imitation Learning: The Three Regimes of Covariate Shift. - Jonathan C. Spencer; Sanjiban Choudhury; Arun Venkatraman; Brian D. Ziebart; J. Andrew Bagnell (CoRR, 2021)

Of Moments and Matching: Trade-offs and Treatments in Imitation Learning. - Gokul Swamy; Sanjiban Choudhury; Zhiwei Steven Wu; J. Andrew Bagnell (CoRR, 2021)

Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics. - Matthew Schmittle; Sanjiban Choudhury; Siddhartha S. Srinivasa (CoRR, 2021)

Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. - Aditya Mandalika; Rosario Scalise; Brian Hou; Sanjiban Choudhury; Siddhartha S. Srinivasa (CoRR, 2021)

A Critique of Strictly Batch Imitation Learning. - Gokul Swamy; Sanjiban Choudhury; J. Andrew Bagnell; Zhiwei Steven Wu (CoRR, 2021)

Causal Imitation Learning under Temporally Correlated Noise. - Gokul Swamy; Sanjiban Choudhury; Drew Bagnell; Steven Wu 001 (ICML, 2022)

Towards Uniformly Superhuman Autonomy via Subdominance Minimization. - Brian D. Ziebart; Sanjiban Choudhury; Xinyan Yan; Paul Vernaza (ICML, 2022)

Sequence Model Imitation Learning with Unobserved Contexts. - Gokul Swamy; Sanjiban Choudhury; J. Andrew Bagnell; Zhiwei Steven Wu (NeurIPS, 2022)

Minimax Optimal Online Imitation Learning via Replay Estimation. - Gokul Swamy; Nived Rajaraman; Matthew Peng; Sanjiban Choudhury; J. Andrew Bagnell; Steven Wu 001; Jiantao Jiao; Kannan Ramchandran (NeurIPS, 2022)

Expert Intervention Learning. - Jonathan C. Spencer; Sanjiban Choudhury; Matthew Barnes 001; Matthew Schmittle; Mung Chiang; Peter J. Ramadge; Siddhartha S. Srinivasa (Auton. Robots, 2022)

Game-Theoretic Algorithms for Conditional Moment Matching. - Gokul Swamy; Sanjiban Choudhury; J. Andrew Bagnell; Zhiwei Steven Wu (CoRR, 2022)

Human-Scale Mobile Manipulation Using RoMan. - Chad C. Kessens; Matthew Kaplan 002; Trevor Rocks; Philip R. Osteen; John G. Rogers; Ethan Stump; Arnon Hurwitz; Jonathan Fink; Long Quang; Mark Gonzalez; Jaymit Patel; Michael Diblasi; et al. (Field Robotics, 2022)

ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting. - Kushal Kedia; Prithwish Dan; Atiksh Bhardwaj; Sanjiban Choudhury (CoRL, 2023)

Impossibly Good Experts and How to Follow Them. - Aaron Walsman; Muru Zhang; Sanjiban Choudhury; Dieter Fox; Ali Farhadi (ICLR, 2023)

Inverse Reinforcement Learning without Reinforcement Learning. - Gokul Swamy; David Wu; Sanjiban Choudhury; Drew Bagnell; Zhiwei Steven Wu (ICML, 2023)

The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms. - Anirudh Vemula; Yuda Song 001; Aarti Singh; Drew Bagnell; Sanjiban Choudhury (ICML, 2023)

GuILD: Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning. - Rosario Scalise; Aditya Mandalika; Brian Hou; Sanjiban Choudhury; Siddhartha S. Srinivasa (ICRA, 2023)

A Game-Theoretic Framework for Joint Forecasting and Planning. - Kushal Kedia; Prithwish Dan; Sanjiban Choudhury (IROS, 2023)

Learning Shared Safety Constraints from Multi-task Demonstrations. - Konwoo Kim; Gokul Swamy; Zuxin Liu; Ding Zhao; Sanjiban Choudhury; Zhiwei Steven Wu (NeurIPS, 2023)

Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought. - Yuki Wang; Gonzalo Gonzalez-Pumariega; Yash Sharma; Sanjiban Choudhury (NeurIPS, 2023)

Inverse Reinforcement Learning without Reinforcement Learning. - Gokul Swamy; Sanjiban Choudhury; J. Andrew Bagnell; Zhiwei Steven Wu (CoRR, 2023)

Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought. - Huaxiaoyue Wang; Gonzalo Gonzalez-Pumariega; Yash Sharma; Sanjiban Choudhury (CoRR, 2023)

The blindfolded traveler's problem: A search framework for motion planning with contact estimates. - Brad Saund; Sanjiban Choudhury; Siddhartha S. Srinivasa; Dmitry Berenson (Int. J. Robotics Res., 2023)

APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs. - Huaxiaoyue Wang; Nathaniel Chin; Gonzalo Gonzalez-Pumariega; Xiangwan Sun; Neha Sunkara; Maximus Adrian Pace; Jeannette Bohg; Sanjiban Choudhury (CoRL, 2024)

MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking. - Huaxiaoyue Wang; Kushal Kedia; Juntao Ren; Rahma Abdullah; Atiksh Bhardwaj; Angela Chao; Kelly Y. Chen; Nathaniel Chin; Prithwish Dan; Xinyi Fan; Gonzalo Gonzalez-Pumariega; Aditya Kompella; et al. (CoRL, 2024)

Hybrid Inverse Reinforcement Learning. - Juntao Ren; Gokul Swamy; Steven Wu 001; Drew Bagnell; Sanjiban Choudhury (ICML, 2024)

InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions. - Kushal Kedia; Atiksh Bhardwaj; Prithwish Dan; Sanjiban Choudhury (ICRA, 2024)

UNcommonsense Reasoning: Abductive Reasoning about Uncommon Situations. - Wenting Zhao; Justin T. Chiu; Jena D. Hwang; Faeze Brahman; Jack Hessel; Sanjiban Choudhury; Yejin Choi 001; Xiang Li 069; Alane Suhr (NAACL-HLT, 2024)

Accelerating Inverse Reinforcement Learning with Expert Bootstrapping. - David Wu; Sanjiban Choudhury (CoRR, 2024)

MOSAIC: A Modular System for Assistive and Interactive Cooking. - Huaxiaoyue Wang; Kushal Kedia; Juntao Ren; Rahma Abdullah; Atiksh Bhardwaj; Angela Chao; Kelly Y. Chen; Nathaniel Chin; Prithwish Dan; Xinyi Fan; Gonzalo Gonzalez-Pumariega; Aditya Kompella; et al. (CoRR, 2024)

One-Shot Imitation under Mismatched Execution. - Kushal Kedia; Prithwish Dan; Sanjiban Choudhury (CoRR, 2024)

Query-Efficient Planning with Language Models. - Gonzalo Gonzalez-Pumariega; Wayne Chen; Kushal Kedia; Sanjiban Choudhury (CoRR, 2024)

Learning to Move Like Professional Counter-Strike Players. - David Durst; Feng Xie 008; Vishnu Sarukkai; Brennan Shacklett; Iuri Frosio; Chen Tessler; Joohwan Kim; Carly Taylor; Gilbert Louis Bernstein; Sanjiban Choudhury; Pat Hanrahan; Kayvon Fatahalian (Comput. Graph. Forum, 2024)

Better than Your Teacher: LLM Agents that learn from Privileged AI Feedback. - Sanjiban Choudhury; Paloma Sodhi (ICLR, 2025)

Efficient Imitation under Misspecification. - Nicolas A. Espinosa Dice; Sanjiban Choudhury; Wen Sun 002; Gokul Swamy (ICLR, 2025)

Robotouille: An Asynchronous Planning Benchmark for LLM Agents. - Gonzalo Gonzalez-Pumariega; Leong Su Yean; Neha Sunkara; Sanjiban Choudhury (ICLR, 2025)

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

Aligning LLMs with Domain Invariant Reward Models. - David Wu; Sanjiban Choudhury (CoRR, 2025)

Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning. - Juntao Ren; Priya Sundaresan; Dorsa Sadigh; Sanjiban Choudhury; Jeannette Bohg (CoRR, 2025)

Imitation Learning from a Single Temporally Misaligned Video. - William Huey; Huaxiaoyue Wang; Anne Wu; Yoav Artzi; Sanjiban Choudhury (CoRR, 2025)

Process Reward Models for LLM Agents: Practical Framework and Directions. - Sanjiban Choudhury (CoRR, 2025)

Multi-Turn Code Generation Through Single-Step Rewards. - Arnav Kumar Jain; Gonzalo Gonzalez-Pumariega; Wayne Chen; Alexander M. Rush; Wenting Zhao; Sanjiban Choudhury (CoRR, 2025)

All Roads Lead to Likelihood: The Value of Reinforcement Learning in Fine-Tuning. - Gokul Swamy; Sanjiban Choudhury; Wen Sun 002; Zhiwei Steven Wu; J. Andrew Bagnell (CoRR, 2025)

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real. - Prithwish Dan; Kushal Kedia; Angela Chao; Edward Weiyi Duan; Maximus Adrian Pace; Wei-Chiu Ma; Sanjiban Choudhury (CoRR, 2025)

Distilling Realizable Students from Unrealizable Teachers. - Yujin Kim; Nathaniel Chin; Arnav Vasudev; Sanjiban Choudhury (CoRR, 2025)

Imitation Learning via Focused Satisficing. - Rushit N. Shah; Nikolaos Agadakos; Synthia Sasulski; Ali Farajzadeh; Sanjiban Choudhury; Brian D. Ziebart (CoRR, 2025)

A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search. - Arnav Kumar Jain; Vibhakar Mohta; Subin Kim; Atiksh Bhardwaj; Juntao Ren; Yunhai Feng; Sanjiban Choudhury; Gokul Swamy (CoRR, 2025)