Apprenticeship Learning and Reinforcement Learning with
Application to Robotic Control,
Pieter Abbeel
Ph.D. Dissertation, Stanford University, Computer Science, August 2008
pdf
[54] Tracking Deformable Objects with Point Clouds,
Best Vision Paper Award,
John Schulman, Alex Lee, Jonathan Ho and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2013.
(pdf, videos)
[53] 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)
[52] 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)
[51] 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)
[50] 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)
[49] 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. ()
[48] 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. ()
[47] 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)
[46] 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)
[45] 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)
[44] 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)
[43] 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)
[42] Perception for the Manipulation of Socks,
Ping Chuan Wang, Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbbeel.
In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
(pdf, talk video, video)
[41] EG-RRT: Environment-Guided Random Trees for Kinodynamic Motino 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)
[40] 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)
[39] 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)
[38] 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)
[37] 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)
[36] 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)
[35] 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)
[34] 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)
[33] 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)
[32] 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)
[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)
[18] Learning for Control from Muliple 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)