Faculty Publications - Pieter Abbeel

Book chapters or sections

• S. Gleason, M. Quigley, and P. Abbeel, "A GPS Software Receiver," in GNSS: Applications and Methods, GNSS Technology and Applications Series, Artech House, 2009, pp. 121-148.
• J. Z. Kolter, P. Abbeel, and A. Ng, "Hierarchical apprenticeship learning with application to quadruped locomotion," in Advances in Neural Information Processing Systems 20: Proc. 21st Annual Conf. (NIPS 2007), D. Koller, Y. Singer, and J. Platt, Eds., Advances in Neural Information Processing Systems, Vol. 20, Cambridge, MA: MIT Press, 2008, pp. 8 pg.
• G. Chechik, G. Heitz, G. Elidan, P. Abbeel, and D. Koller, "Max-margin classification of incomplete data," in Advances in Neural Information Processing Systems 19: Proc. 20th Annual Conf. (NIPS 2006), B. Scholkopf, J. Platt, and T. Hofmann, Eds., Advances in Neural Information Processing Systems, Vol. 19, Cambridge, MA: MIT Press, 2007, pp. 233-240.
• P. Abbeel, A. Coates, M. Quigley, and A. Y. Ng, "An application of reinforcement learning to aerobatic helicopter flight," in Advances in Neural Information Processing Systems 19: Proc. 20st Annual Conf. (NIPS 2006), B. Scholkopf, J. Platt, and T. Hofmann, Eds., Advances in Neural Informtion Processing Systems, Vol. 19, Cambridge, MA: MIT Press, 2007, pp. 1-8.
• P. Abbeel, V. Ganapathi, and A. Y. Ng, "Learning vehicular dynamics, with application to modeling helicopters," in Advances in Neural Information Processing Systems 18: Proc. 19th Annual Conf. (NIPS 2005), Y. Weiss, B. Scholkopf, and J. C. Platt, Eds., Advances in Neural Information Processing Systems, Vol. 18, Cambridge, MA: MIT Press, 2006, pp. 1-8.
• P. Abbeel, A. Coates, M. Montemerlo, A. Y. Ng, and S. Thrun, "Discriminative training of Kalman filters," in Robotics: Science and Systems I: Proc. 1st Conf. (RSS 2005), S. Thrun, G. Sukhatme, S. Schaal, and O. Brock, Eds., Cambridge, MA: MIT Press, 2005, pp. 289-296.
• P. Abbeel and A. Y. Ng, "Learning first-order Markov models for control," in Advances in Neural Information Processing Systems 17: Proc. 18th Annual Conf. (NIPS 2004), L. K. Saul, Y. Weiss, and L. Bottou, Eds., Advances in Neural Information Processing Systems, Vol. 17, Cambridge, MA: MIT Press, 2005, pp. 1-8.
• B. Taskar, M. F. Wong, P. Abbeel, and D. Koller, "Link prediction in relational data," in Advances in Neural Information Processing Systems 16: Proc. 17th Annual Conf. (NIPS 2003), S. Thrun, L. K. Saul, and B. Scholkopf, Eds., Advances in Neural Information Processing Systems, Vol. 16, Cambridge,MA: MIT Press, 2004, pp. 659-666.

Articles in journals or magazines

• P. Abbeel, A. Coates, and A. Y. Ng, "Autonomous Helicopter Aerobatics through Apprenticeship Learning," International Journal of Robotics Research (IJRR), June 2010.
• A. Coates, P. Abbeel, and A. Y. Ng, "Apprenticeship Learning for Helicopter Control," Communications of the ACM, July 2009.
• P. Abbeel, D. Koller, and A. Y. Ng, "Learning factor graphs in polynomial time and sample complexity," J. Machine Learning Research, vol. 7, pp. 1743-1788, Dec. 2006.

Articles in conference proceedings

• L. Jaillet, J. Hoffman, J. van den Berg, P. Abbeel, J. M. Porta, and K. Goldberg, "EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
• S. Javdani, S. Tandon, J. Tang, J. O'Brien, and P. Abbeel, "Modeling and Perception of Deformable One-Dimensional Objects," in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2011, 2011, pp. 1-8. [abstract]
• M. Cusumano-Towner, A. Singh, S. Miller, J. O'Brien, and P. Abbeel, "Bringing Clothing into Desired Configurations with Limited Perception," in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2011, 2011, pp. 1-8. [abstract]
• J. van den Berg, P. Abbeel, and K. Goldberg, "LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information," in Proceedings of Robotics: Science and Systems (RSS), 2010.
• J. Maitin-Shepard, M. Cusumano-Towner, J. Lei, and P. Abbeel, "Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding," in Proceedings 2010 Conference on Robotics and Automation (ICRA), 2010.
• J. Tang, A. Singh, N. Goehausen, and P. Abbeel, "Learning Parameterized Maneuvers for Autonomous Helicopter Flight," in Proceedings 2010 Conference on Robotics and Automation (ICRA), 2010.
• J. van den Berg, S. Miller, D. Duckworth, H. Hu, X. Fu, K. Goldberg, and P. Abbeel, "Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations (Best Medical Robotics Paper Award)," in Proceedings 2010 Conference on Robotics and Automation (ICRA), 2010.
• P. J. From, J. T. Gravdahl, and P. Abbeel, "On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms," in Proceedings 2010 Conference on Robotics and Automation (ICRA), 2010.
• S. Gleason, M. Quigley, and P. Abbeel, "An Open Source AGPS/DGPS Capable C-coded Software Receiver," in Proceedings of the 22nd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2009), 2009, pp. 1926 - 1931.
• P. Abbeel, D. Dolgov, A. Y. Ng, and S. Thrun, "Apprenticeship learning for motion planning with application to parking lot navigation," in Proc. 2008 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS '08), Piscataway, NJ: IEEE Press, 2008, pp. 1083-1090.
• A. Coates, P. Abbeel, and A. Y. Ng, "Learning for control from multiple demonstrations (Best Application Paper Award)," in Proc. 25th Intl. Conf. on Machine Learning (ICML 2008), A. McCallum and S. Roweis, Eds., ACM International Conference Proceeding Series, Vol. 307, New York, NY: The Association for Computing Machinery, Inc., 2008, pp. 144-151.
• P. Abbeel, A. coates, T. Hunter, and A. Y. Ng, "Autonomous autorotation of an RC helicopter (Ben Wegbreit IFRR Student Fellowship Award)," in Proc. 11th Intl. Symp. on Experimental Robotics (ISER 2008), Springer Tracts for Advanced Robotics, Berlin, Germany: Springer-Verlag, 2008, pp. 14 pg.
• M. Quigley, P. Abbeel, D. S. De Lorenzo, Y. Gu, S. Bolouki, D. Akos, and A. Y. Ng, "Portable GNSS baseband logging," in Proc. 20th Intl. Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Red Hook, NY: Curran Associates, Inc., 2008, pp. 2216-2223.
• S. I. Lee, H. Lee, P. Abbeel, and A. Y. Ng, "Efficient L1 regularized logistic regression," in Proc. 21st National Conf. on Artificial Intelligence (AAAI-06), Menlo Park, CA: AAAI Press, 2006, pp. 401-407.
• P. Abbeel, M. Quigley, and A. Y. Ng, "Using inaccurate models in reinforcement learning," in Proc. 23 Intl. Conf. on Machine Learning (ICML 2006), W. W. Cohen and A. Moore, Eds., ACM International Conference Proceedings Series, Vol. 148, New York, NY: The Association for Computing Machinery, Inc., 2006, pp. 1-8.
• P. Abbeel and A. Y. Ng, "Exploration and apprenticeship learning in reinforcement learning," in Proc. 22nd Intl. Conf. on Machine Learning (ICML 2005), L. De Raedt and S. Wrobel, Eds., ACM International Conference Proceeding Series, Vol. 119, New York, NY: The Association for Computing Machinery, Inc., 2005, pp. 1-8.
• P. Abbeel, D. Koller, and A. Y. Ng, "Learning factor graphs in polynomial time and sample complexity," in Proc. 21st Conf. on Uncertainty in Artificial Intelligence (UAI 2005), Arlington, VA: AUAI Press, 2005, pp. 1-9.
• P. Abbeel and A. Y. Ng, "Apprenticeship learning via inverse reinforcement learning," in Proc. 21st Intl. Conf. on Machine Learning (ICML 2004), C. Brodley, Ed., ACM International Conference Proceeding Series, Vol. 69, New York, NY: The Association for Computing Machinery, Inc., 2004, pp. 8 pg.
• B. Taskar, P. Abbeel, and D. Koller, "Discriminative probabilistic models for relational data," in Proc. 18th Annual Conf. on Uncertainty in Artificial Intelligence (UAI-02), A. Darwiche and N. Friedman, Eds., San Francisco, CA: Morgan Kaufmann Publishers, 2002, pp. 485-492.

Ph.D. Theses

• P. Abbeel, "Apprenticeship Learning and Reinforcement Learning with Application to Robotic Control," Stanford University, Department of Computer Science, Aug. 2008.

Masters Reports

• M. Tayson-Frederick, "Reinforcement Learning Methods to Enable Automatic Tuning of Legged Robots," P. Abbeel and R. S. Fearing, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2012-145, May 2012. [abstract]
• N. Zeitlin, "Reinforcement Learning Methods to Enable Automatic Tuning of Legged Robots," P. Abbeel and R. S. Fearing, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2012-129, May 2012. [abstract]
• A. Janoch, "The Berkeley 3D Object Dataset," T. Darrell, P. Abbeel, and J. Malik, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2012-85, May 2012. [abstract]