Publications


Apprenticeship Learning and Reinforcement Learning with Application to Robotic Control,
Pieter Abbeel
Ph.D. Dissertation, Stanford University, Computer Science, August 2008
pdf


bibtex

[79] Tractability of Planning with Loops,
Siddharth Srivastava, Shlomo Zilberstein, Abhishek Gupta, Pieter Abbeel, Stuart Russell.
In the proceedings of the 29th AAAI Conference on Artificial Intelligence (AAAI), 2015. (pdf)

[78] Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics,
Sergey Levine, Pieter Abbeel.
In Neural Information Processing Systems (NIPS) 27, 2015. (pdf)

[77] A Survey of Research on Cloud Robotics and Automation,
Ben Kehoe, Sachin Patil, Pieter Abbeel, Ken Goldberg.
In IEEE Transaction on Automation Science and Engineering (TASE), 2014. (pdf)

[76] A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles,
Feng Cao, Chao Zhang, Tat Thang Vo Doan, Yao Li, Daniyal Haider Sangi, Jie Sheng Koh, Ngoc Anh Huynh, Mohamed Fareez Bin Aziz, Hao Yu Choo, Kazuo Ikeda, Pieter Abbeel, Michel M. Maharbiz, Hirotaka Sato.
In PLoS ONE 9(8): e105389, doi:10.1371/journal.pone.0105389, published August 20, 2014. (pdf)

[75] Unifying Scene Registration and Trajectory Optimization for Learning from Demonstrations with Application to Manipulation of Deformable Objects,
Alex X. Lee, Sandy H. Huang, Dylan Hadfield-Menell, Eric Tzeng, Pieter Abbeel.
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014. (pdf)

[74] Optimization-Based Artifact Correction for Electron Microscopy Image Stacks,
Samaneh Azadi, Jeremy Maitin-Shepard, Pieter Abbeel.
In the proceedings of the 13th European Conference on Computer Vision (ECCV), Zurich, Switzerland, September 2014. (pdf, video spotlight, supplementary materials)

[73] Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation,
Sachin Patil, Greg Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. (pdf)

[72] Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy,
Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg.
In the proceedings of the 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. (pdf)

[71] Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression,
Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), Taipei, Taiwan, August 2014. (pdf)

[70] Motion Planning with Sequential Convex Optimization and Convex Collision Checking,
John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel.
In the International Journal of Robotics Research (IJRR), 2014. (pdf)

[69] BigBIRD: A Large-Scale 3D Database of Object Instances,
Arjun Singh, James Sha, Karthik Narayan, Tudor Achim, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[68] Combined Task and Motion Planning through an Extensible Planner-Independent Interface Layer,
Siddharth Srivastava, Eugene Fang, Lorenzo Riano, Rohan Chitnis, Stuart Russell, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf, talk video)

[67] Gaussian Belief Space Planning with Discontinuities in Sensing Domains,
Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[66] Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization,
Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[65] Predicting Initialization Effectiveness for Trajectory Optimization,
Jia Pan, Zhuo Chen, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf, talk video)

[64] Autonomous Multilateral Debridement with the Raven Surgical Robot,
Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[63] Learning from Demonstrations through the Use of Non-Rigid Registration,
John Schulman, Jonathan Ho, Cameron Lee, Pieter Abbeel.
In the proceedings of the 16th International Symposium on Robotics Research (ISRR), 2013. (pdf)

[62] A Case Study of Trajectory Transfer through Non-Rigid Registration for a Simplified Suturing Scenario,
John Schulman, Ankush Gupta, Sibi Venkatesan, Mallory Tayson-Frederick, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. (pdf, talk video, supplementary materials)

[61] Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles,
Alex Lee, Yan (Rocky) Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. (pdf, talk video)

[60] Grounding Spatial Relations for Human-Robot Interaction,
Sergio Guadarrama, Lorenzo Riano, Dave Golland, Daniel Goehring, Yangqing Jia, Dan Klein, Pieter Abbeel, Trevor Darrell.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. (pdf)

[59] Multimodal Blending for High-Accuracy Instance Recognition,
Ziang Xie, Arjun Singh, Justin Uang, Karthik S. Narayan, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. (pdf, talk video)

[58] Using Classical Planners for Tasks with Continuous Operators in Robotics,
Siddharth Srivastava, Lorenzo Riano, Stuart Russell, Pieter Abbeel.
In the proceedings of the ICAPS Workshop on Planning and Robotics (PlanRob), 2013. (pdf)

[57] Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization,
John D. Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow and Pieter Abbeel.
In the proceedings of Robotics: Science and Systems (RSS), 2013. (pdf, videos, code)

[56] Fast Wind Turbine Design via Geometric Programming,
Warren Hoburg and Pieter Abbeel.
In the proceedings of the 9th AIAA MDO Specialist Conference, Boston, MA, 2013. (pdf)

[55] Tracking Deformable Objects with Point Clouds, Best Vision Paper Award,
John D. Schulman, Alex Lee, Jonathan Ho and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2013. (pdf, videos)

[54] Risk Aversion in Markov Decision Processes via Near-Optimal Chernoff Bounds,
Teodor M. Moldovan and Pieter Abbeel.
In Neural Information Processing Systems (NIPS) 25, 2013. (pdf)

[53] Performance analysis and terrain classification for a legged robot over rough terrain,
Fernando L. Garcia Bermudez, Ryan C. Julian, Duncan W. Haldane, Pieter Abbeel, and Ronald S. Fearing.
In the proceedings of the 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. (pdf)

[52] A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes,
Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 13th International Symposium on Experimental Robotics (ISER), 2012. (pdf, videos)

[51] Safe Exploration in Markov Decision Processes,
Teodor Moldovan and Pieter Abbeel.
In the proceedings of the 29th International Conference on Machine Learning (ICML), 2012. (pdf)

[50] Geometric Programming for Aircraft Design Optimization,
Warren Hoburg and Pieter Abbeel.
In the proceedings of the 53rd Structures, Structural Dynamics and Materials Conference (SDM) and the 8th AIAA Multidisciplinary Design Optimization Specialist Conference (MDO), 2012. (pdf)

[49] The Path Inference Filter: Model-Based Low-Latency Map Matching of Probe Vehicle Data,
Timothy Hunter, Pieter Abbeel, Alexandre M. Bayen.
In the proceedings of the 10th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012. (pdf)

[48] Learning the Dynamics of Arterial Traffic from Probe Data using a Dynamic Bayesian Network,
Aude Hofleitner, Ryan Herring, Pieter Abbeel, Alexandre M. Bayen.
In IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2012. (pdf)

[47] A Textured Object Recognition Pipeline for Color and Depth Image Data, Best Vision Paper Finalist,
Jie Tang, Stephen Miller, Arjun Singh, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2012. (pdf, talk video)

[46] A Robot Path Planning Framework that Learns from Experience,
Dmitry Berenson, Pieter Abbeel, Ken Goldberg.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2012. (pdf)

[45] A Geometric Approach to Robotic Laundry Folding,
Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, Pieter Abbeel
In the International Journal of Robotics Research (IJRR), first published on December 20, 2011 as doi:10.1177/0278364911430417 (pdf)

[44] Scaling the Mobile Millenium System in the Cloud,
Timothy Hunter, Teodor Moldovan, Matei Zaharia, Samy Merzgui, Justin Ma, Michael J. Franklin, Pieter Abbeel, Alexandre M. Bayen
In the proceedings of the ACM Symposium on Cloud Computing (ACM SOCC), 2011. (pdf)

[43] Perception for the Manipulation of Socks,
Ping Chuan Wang, Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. (pdf, talk video, video)

[42] EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles,
Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Ken Goldberg.
In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. (pdf, talk video)

[41] Grasping and Fixturing as Submodular Coverage Problems
John D. Schulman, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 15th International Symposium on Robotics Research (ISRR) , 2011. (pdf, talk video part I, talk video part II, slides)

[40] Motion Planning and Control of Robotic Manipulators on Seaborne Platforms,
Pal J. From, Jan T. Gravdahl, Tommy Lillehagen, Pieter Abbeel.
In Control Engineering Practice, 2011. (pdf)

[39] LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information,
Jur van den Berg, Pieter Abbeel, Ken Goldberg.
In the International Journal of Robotics Research (IJRR), first published on June 3, 2011 as doi:10.1177/0278364911406562. (pdf)

[38] Modeling and Perception of Deformable One-Dimensional Objects,
Shervin Javdani, Sameep Tandon, Jie Tang, James O'Brien, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[37] Parametrized Shape Models for Clothing,
Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[36] Bringing Clothing into Desired Configurations with Limited Perception,
Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James O'Brien, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[35] On a Connection between Importance Sampling and the Likelihood Ratio Policy Gradient,
Jie Tang and Pieter Abbeel.
In Neural Information Processing Systems (NIPS) 23, 2011. (pdf)

[34] Gravity-Based Robotic Cloth Folding,
Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel.
In The 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010. (pdf, videos)

[33] LQG-Based Planning, Sensing, and Control of Steerable Needles,
Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg.
In The 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010. (pdf)

[32] Cyborg Beetles: The Remote Radio Control of Insect Flight,
Hirotaka Sato, Svet Kolev, Nimbus Goehausen, Myo Nyi Nyi, Travis L. Massey, Pieter Abbeel, Michel M. Maharbiz.
In IEEE Sensors, 2010.

[31] LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information,
Jur van den Berg, Pieter Abbeel and Ken Goldberg.
In the proceedings of Robotics: Science and Systems (RSS), 2010. (pdf)

[30] Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding,
Jeremy Maitin-Shepard, Marco Cusumano-Towner, Jinna Lei and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf, videos)

[29] Learning Parameterized Maneuvers for Autonomous Helicopter Flight,
Jie Tang, Arjun Singh, Nimbus Goehausen and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)

[28] Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations, Best Medical Robotics Paper Award,
Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)

[27] On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms,
Pal J. From, Jan T. Gravdahl and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)

[26] Autonomous Helicopter Aerobatics through Apprenticeship Learning,
Pieter Abbeel, Adam Coates and Andrew Y. Ng.
In the International Journal of Robotics Research (IJRR), Volume 29 Issue 13 November 2010. (pdf, videos)

[25] Estimating arterial traffic conditions using sparse probe data,
R. Herring, A. Hofleitner, P. Abbeel, A. Bayen.
13th International IEEE Conference on Intelligent Transportation Systems, Sep. 19 22, 2010, Madeira Island, Portugal

[24] Using Mobile Phones to Forecast Arterial Traffic Through Statistical Learning,
R. Herring, A. Hofleitner, S. Amin, T. Nasr, A. Khalek, P. Abbeel, A. Bayen.
Transportation Research Board 89th Annual Meeting, Washington D.C., January 10-14, 2010

[23i] Apprenticeship learning for helicopter control,
Adam Coates, Pieter Abbeel and Andrew Y. Ng.
In Communications of the ACM , July 2009. (ACM)

[22i] A GPS Software Receiver,
Scott Gleason, Morgan Quigley and Pieter Abbeel.
Chapter 5 in GNSS: Applications and Methods, S. Gleason and D. Gebre-Egziabher (Eds.), 2009.

[21] An Open Source AGPS/DGPS Capable C-coded Software Receiver,
Scott Gleason, Morgan Quigley and Pieter Abbeel.
In Proceedings of the Institute of Navigation, Savannah, GA, 2009.

[20] Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation,
Pieter Abbeel, Dmitri Dolgov, Andrew Y. Ng and Sebastian Thrun.
In Proceedings of the International Conference on Intellegent RObots and Systems (IROS), 2008. (pdf)

[19] Autonomous Autorotation of an RC Helicopter, IFRR Student Fellowship Award,
Pieter Abbeel, Adam Coates, Timothy Hunter and Andrew Y. Ng.
In 11th International Symposium on Experimental Robotics (ISER) , 2008. (pdf, supplementary material)

[18] Learning for Control from Multiple Demonstrations, Best Paper Award: Best Application Paper,
Adam Coates, Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2008. (ps, pdf, supplementary material)

[17] Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion,
J. Zico Kolter, Pieter Abbeel and Andrew Y. Ng.
In NIPS 20, 2008. (ps, pdf)

[16] Max Margin Classification of Data with Absent Features,
Gal Chechik, Geremy Heitz, Gal Elidan, Pieter Abbeel and Daphne Koller
In Journal of Machine Learning Research (JMLR), 9(Jan):1--21, 2008

[15i] Relational Markov Networks,
B. Taskar, P. Abbeel, M.F. Wong, and D. Koller.
Chapter in Introduction to Statistical Relational Learning, 2007 (L. Getoor and B. Taskar, editors).

[14] Portable GNSS Baseband Logging,
Morgan Quigley, Pieter Abbeel, Dave S. De Lorenzo, Yi Gu, Sara Bolouki, Dennis Akos, and Andrew Y. Ng.
In Institute of Navigation (ION) GNSS Conference, 2007. (pdf)

[13] An Application of Reinforcement Learning to Aerobatic Helicopter Flight,
Pieter Abbeel, Adam Coates, Morgan Quigley and Andrew Y. Ng.
In NIPS 19, 2007. (ps, pdf)

[12] Max-margin classification of incomplete data,
Gal Chechik, Geremy Heitz, Gal Elidan, Pieter Abbeel and Daphne Koller.
In NIPS 19, 2007. (pdf)

[11] Learning Factor Graphs in Polynomial Time & Sample Complexity,
Pieter Abbeel, Daphne Koller and Andrew Y. Ng.
Journal of Machine Learning Research (JMLR), 7(Aug):1743--1788, 2006. (pdf)

[10] Efficient L1 Regularized Logistic Regression,
SuIn Lee, Honglak Lee, Pieter Abbeel and Andrew Y. Ng.
In Proceedings of AAAI, 2006. (pdf)

[9] Using Inaccurate Models in Reinforcement Learning,
Pieter Abbeel, Morgan Quigley and Andrew Y. Ng.
In Proceedings of ICML, 2006. (ps, pdf, long version: ps pdf)

[8] Learning Vehicular Dynamics, with Application to Modeling Helicopters,
Pieter Abbeel, Varun Ganapathi and Andrew Y. Ng.
In NIPS 18, 2006. (ps, .pdf)

[7] Exploration and Apprenticeship Learning in Reinforcement Learning,
Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2005. (ps, pdf, long version: ps, pdf)

[6] Learning Factor Graphs in Polynomial Time & Sample Complexity,
Pieter Abbeel, Daphne Koller and Andrew Y. Ng.
In Proceedings of UAI, 2005. (ps, pdf)

[5] Discriminative training of Kalman filters,
Pieter Abbeel, Adam Coates, Michael Montemerlo, Andrew Y. Ng and Sebastian Thrun.
In Proceedings of RSS, 2005. (ps, pdf)

[4] Learning First Order Markov Models for Control,
Pieter Abbeel and Andrew Y. Ng.
In NIPS 17, 2005. (ps, pdf)

[3] Apprenticeship Learning via Inverse Reinforcement Learning,
Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2004. (ps, pdf, supplement: ps , pdf, supplementary webpage here)

[2] Link Prediction in Relational Data,
Ben Taskar, Ming-Fai Wong, Pieter Abbeel and Daphne Koller.
In NIPS 16, 2004. (ps)

[1] Discriminative Probabilistic Models for Relational Data,
Ben Taskar, Pieter Abbeel and Daphne Koller.
In Proceedings of UAI, 2003. (ps)