45 citations · 194 across the 38 of their papers we have counts for
6 papers · 1 filter
Bayesian Active Edge Evaluation on Expensive Graphs
Sanjiban Choudhury, Siddhartha Srinivasa, Sebastian Scherer
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic a…
Data-driven Planning via Imitation Learning
Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora +4
Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the impl…
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +2
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are co…
Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury, Sebastian Scherer
Robotic motion planning problems are typically solved by constructing a search tree of valid maneuvers from a start to a goal configuration. Limited onboard computation and real-ti…
Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa +1
Robotic motion-planning problems, such as a UAV flying fast in a partially-known environment or a robot arm moving around cluttered objects, require finding collision-free paths qu…
Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade +2
In the adaptive information gathering problem, a policy is required to select an informative sensing location using the history of measurements acquired thus far. While there is an…