Publications

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. Admissible abstractions for near-optimal task and motion planning. In IJCAI, 2018.

PDF Project

. Sensor-Based Reactive Symbolic Planning in Partially Known Environments. In ICRA, 2018.

PDF Project Video

. Efficient Planning for Near-optimal Compliant Manipulation Leveraging Environmental Contact. In ICRA, 2018.

PDF Project

. Deep Inference for Covariance Estimation: Learning Gaussian Noise Models for State Estimation. In ICRA, 2018.

PDF Project Video

. Asymptotically optimal planning under piecewise-analytic constraints. In WAFR, 2016.

PDF Project

. PROBE-GK: Predictive Robust Estimation using Generalized Kernels. In ICRA, 2016.

Preprint PDF Project Supplement

. Bayesian Learning for Safe High-Speed Navigation in Unknown Environments. In ISRR, 2015.

PDF Project Video Supplement

. Nonparametric Bayesian inference on multivariate exponential families. In NIPS, 2014.

PDF Project

. CELLO-EM: Adaptive Sensor Models without Ground Truth. In IROS, 2013.

PDF Project

. Predictive Parameter Estimation for Bayesian Filtering. Master’s thesis, 2013.

PDF Project

. CELLO: A Fast Algorithm for Covariance Estimation. In IROS, 2013.

PDF Project

. Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator. In IROS, 0001.

PDF Project Video