Robotics
Our robotics research focuses on intelligent behavior, behavior learning, and learning of action and sensor models.
Subareas:
People
     [Expand to show all 48][Minimize]
Adrian Agogino Formerly affiliated Collaborator adrian k agogino [at] nasa gov
Mazda Ahmadi Formerly affiliated Ph.D. Student mazda [at] cs utexas edu
Patrick Beeson Postdoctoral Alumni pbeeson [at] traclabs com
Daniel Brown Ph.D. Student dsbrown [at] cs utexas edu
Harold H. Chaput Ph.D. Alumni hchaput [at] ea com
Harold H. Chaput Ph.D. Alumni hchaput [at] ea com
Caleb Chuck Ph.D. Student caleb_chuck [at] yahoo com
Yuchen Cui Ph.D. Student yuchencui [at] utexas edu
Thomas D'Silva Masters Alumni twdsilva [at] gmail com
Thomas D'Silva Masters Alumni twdsilva [at] gmail com
Peggy Fidelman Formerly affiliated Ph.D. Student peggyf [at] cs utexas edu
Faustino Gomez Postdoctoral Alumni tino [at] idsia ch
Wonjoon Goo Ph.D. Student wonjoon [at] cs utexas edu
Aravind Gowrisankar Masters Alumni
Reymundo A. Gutierrez Ph.D. Student
Todd Hester Postdoctoral Alumni todd [at] cs utexas edu
Ajinkya Jain Ph.D. Student
Yuqian Jiang Ph.D. Student
Shivaram Kalyanakrishnan Ph.D. Alumni shivaram [at] cs utexas edu
Nate Kohl Ph.D. Alumni nate [at] natekohl net
Gregory Kuhlmann Ph.D. Alumni kuhlmann [at] cs utexas edu
Juhyun Lee Ph.D. Alumni impjdi [at] gmail com
Joel Lehman Postdoctoral Alumni joel [at] cs utexas edu
Xun Li Ph.D. Alumni xun bhsfer [at] cs utexas edu
Jason Zhi Liang Ph.D. Alumni jasonzliang [at] utexas edu
Reza Mahjourian Ph.D. Alumni reza [at] cs utexas edu
Elliot Meyerson Ph.D. Alumni ekm [at] cs utexas edu
Risto Miikkulainen Faculty risto [at] cs utexas edu
Mark Moll Formerly affiliated Visitor "last name" at isi edu
David E. Moriarty Ph.D. Alumni moriarty [at] alumni utexas net
Jonathan Mugan Ph.D. Alumni jmugan [at] cs utexas edu
Sanmit Narvekar Ph.D. Student sanmit [at] cs utexas edu
Andres Santiago Perez-Bergquist Undergraduate Alumni aspb [at] mapache org
Jefferson Provost Ph.D. Alumni jefferson provost [at] gmail com
Jefferson Provost Ph.D. Alumni jefferson provost [at] gmail com
Michael Quinlan Formerly affiliated Research Scientist mquinlan [at] cs utexas edu
Akanksha Saran Ph.D. Student asaran [at] cs utexas edu
Adam Setapen Masters Alumni asetapen [at] cs utexas edu
Rini Sherony Formerly affiliated Collaborator rini sherony [at] tema toyota com
Jivko Sinapov Postdoctoral Alumni jsinapov [at] cs utexas edu
Yiu Fai Sit Ph.D. Alumni yfsit [at] cs utexas edu
Mohan Sridharan Ph.D. Alumni mhnsrdhrn [at] gmail com
Kenneth Stanley Postdoctoral Alumni kstanley [at] cs ucf edu
Jeremy Stober Ph.D. Alumni stober [at] cs utexas edu
Peter Stone Faculty pstone [at] cs utexas edu
Daniel Stronger Ph.D. Alumni dan stronger [at] gmail com
Matthew Taylor Ph.D. Alumni taylorm [at] eecs wsu edu
Xiruo Wang Masters Alumni kevinxrwang [at] utexas edu
Publications
     [Expand to show all 154][Minimize]
A Novel Control Law for Multi-joint Human-Robot Interaction Tasks While Maintaining Postural Coordination 2023
Keya Ghonasgi, Reuth Mirsky, Adrian M Haith, Peter Stone, and Ashish D Deshpande, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023).
Benchmarking Reinforcement Learning Techniques for Autonomous Navigation 2023
Zifan Xu, Bo Liu, Xuesu Xiao, Anirudh Nair, and Peter Stone, In Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), London, England, May 2023.
Causal Policy Gradient for Whole-Body Mobile Manipulation 2023
Jiaheng Hu, Peter Stone, and Roberto Martin-Martin, In Robotics: Science and Systems (RSS2023), Daegu, Republic of Korea, July 2023.
Kinematic coordinations capture learning during human–exoskeleton interaction 2023
Keya Ghonasgi, Reuth Mirsky, Nisha Bhargava, Adrian M Haith, Peter Stone, and Ashish D Deshpande, Scientific Reports, Vol. 13 (2023), pp. 10322.
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways 2023
Jinsoo Park, Xuesu Xiao, Garrett Warnell, Harel Yedidsion, and Peter Stone, In Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), London, England, May 2023.
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search 2023
Yoonchang Sung and Peter Stone, In Robotics: Science and Systems (RSS2023), Daegu, Republic of Korea, July 2023.
Reward (Mis)design for autonomous driving 2023
W. Bradley Knox, Alessandro Allievi, Holger Banzhaf, Felix Schmitt, and Peter Stone, Artificial Intelligence, Vol. 316 (2023).
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning 2023
Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuqian Jiang, Yuke Zhu, Peter Stone, and Shiqi Zhang, In International Conference on Intelligent Robots and Systems, Detroit, USA, October 2023.
Adversarial Imitation Learning from Video using a State Observer 2022
Haresh Karnan, Garrett Warnell, Faraz Torabi, and Peter Stone, In International Conference on Robotics and Automation, 2022, Philadelphia, Pennsylvania, May 2022.
APPL: Adaptive Planner Parameter Learning 2022
Xuesu Xiao, Zizhao Wang, Zifan Xu, Bo Liu, abd Gauraang Dhamankar, Anirudh Nair, Garrett Warnell, and Peter Stone, Robotics and Autonomous Systems (2022).
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Benchmark Autonomous Robot Navigation Challenge at ICRA 2022 2022
Xuesu Xiao, Zifan Xu, Zizhao Wang, Yunlong Song, Garrett Warnell, Peter Stone, Tingnan Zhang, Shravan Ravi, Gary Wang, Haresh Karnan, Joydeep Biswas, Nicholas Mohammad, Lauren Bramblett, Rahul Peddi, Nicola Bezzo, Zhanteng Xie, and Philip Dames, IEEE Robotics and Automation Magazine (2022).
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation 2022
Yifeng Zhu, Peter Stone, and Yuke Zhu, IEEE Robotics and Automation Letters (2022).
Coopernaut: End-to-End Driving with Cooperative Perception for Networked Vehicles 2022
Jiaxun Cui, Hang Qiu, Dian Chen, Peter Stone, and Yuke Zhu, In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), New Orleans, LA, June 2022.
DynaBARN: Benchmarking Metric Ground Navigation in Dynamic Environments 2022
Anirudh Nair, Fulin Jiang, Kang Hou, Zifan Xu, Shuozhe Li, Xuesu Xiao, and Peter Stone, In Proceedings of the 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), November 2022.
Learning to Correct Mistakes: Backjumping in Long-Horizon Task and Motion Planning 2022
Yoonchang Sung, Zizhao Wang, and Peter Stone, In Proceedings of the 6th Conference on Robot Learning (CoRL 2022), Auckland, New Zealand, December 2022.
Motion Planning and Control for Mobile Robot Navigation Using Machine Learning: a Survey 2022
Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone, Autonomous Robots (2022).
Quantifying Changes in Kinematic Behavior of a Human-Exoskeleton Interactive System 2022
Keya Ghonasgi, Reuth Mirsky, Adrian M Haith, Peter Stone, and Ashish D Deshpande, In Proceedings of the 35th International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset Of Demonstrations For Social Navigation 2022
Haresh Karnan, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Soren Pirk, Alexander Toshev, Justin Hart, Joydeep Biswas, and Peter Stone, Robotics and Automation Letters (RA-L), 2022 (2022).
Towards a Real-Time, Low-Resource, End-to-end Object Detection Pipeline for Robot Soccer 2022
Sai Kiran Narayanaswami, Mauricio Tec, Ishan Durugkar, Siddharth Desai, Bharath Masetty, Sanmit Narvekar, and Peter Stone, In Proceedings of the RoboCup Symposium, 2022, Bangkok, Thailand, July 2022.
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics 2022
Haresh Karnan, Kavan Sikand, Pranav Atreya, Sadegh Rabiee, Xuesu Xiao, Garrett Warnell, Peter Stone, and Joydeep Biswas, In International Conference on Intelligent Robots and Systems, 2022, Kyoto, Japan, October 2022.
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors 2022
Yifeng Zhu, Abhishek Joshi, Peter Stone, and Yuke Zhu, In Proceedings of the 6th Conference on Robot Learning (CoRL 2022), Auckland, New Zealand, January 2022.
VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation 2022
Haresh Karnan, Garrett Warnell, Xuesu Xiao, and Peter Stone, In International Conference on Robotics and Automation, 2022, Philadelphia, Pennsylvania, May 2022.
A Lifelong Learning Approach to Mobile Robot Navigation 2021
Bo Liu, Xuesu Xiao, and Peter Stone, In IEEE International Conference on Robotics and Automation (ICRA), 2021, Xi'an, China, June 2021.
Agile Robot Navigation through Hallucinated Learning and Sober Deployment 2021
Xuesu Xiao, Bo Liu, and Peter Stone, In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, June 2021.
APPLE: Adaptive Planner Parameter Learning From Evaluative Feedback 2021
Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone, {IEEE} Robotics and Automation Letters, presented at International Conference on Intelligent Robots and Systems ({IROS}) (2021).
APPLI: Adaptive Planner Parameter Learning From Interventions 2021
Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone, In Proceedings of the International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, May 2021.
APPLR: Adaptive Planner Parameter Learning from Reinforcement 2021
Zifan Xu, Gauraang Dhamankar, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Bo Liu, Zizhao Wang, and Peter Stone, In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, June 2021.
Capturing Skill State in Curriculum Learning for Human Skill Acquisition 2021
Keya Ghonasgi, Reuth Mirsky, Sanmit Narvekar, Bharath Masetty, Adrian M. Haith, Peter Stone, and Ashish D. Deshpande, In International Conference on Intelligent Robots and Systems (IROS), Virtual, September 2021.
From Agile Ground to Aerial Navigation: Learning from Learned Hallucination 2021
Zizhao Wang, Xuesu Xiao, Alexander J Nettekoven, Kadhiravan Umasankar, Anika Singh, Sriram Bommakanti, Ufuk Topcu, and Peter Stone, In Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, October 2021.
Goal Blending for Responsive Shared Autonomy in a Navigating Vehicle 2021
Yu-Sian Jiang, Garrett Warnell, and Peter Stone, In Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI), A Virtual Conference, February 2021.
Grounded Action Transformation for Sim-to-Real Reinforcement Learning 2021
Josiah P.Hanna, Siddharth Desai, Haresh Karnan, Garrett Warnell, and Peter Stone, Special Issue on Reinforcement Learning for Real Life, Machine Learning, 2021 (2021).
Incorpotating Gaze into Social Navigation 2021
Justin Hart, Reuth Mirsky, Xuesu Xiao, and Peter Stone, In Robotics: Science and Systems Workshop on Social Robot Navigation (RSS), Virtual, July 2021.
Intelligent Disobedience and AI Rebel Agents in Assistive Robotics 2021
Reuth Mirsky and Peter Stone, In ASIMOV workshop as part of the International Conference on Intelligent Robots and Systems (IROS), Virtual, November 2021.
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain 2021
Xuesu Xiao, Joydeep Biswas, and Peter Stone, In Opportunities and Challenges with Autonomous Racing Workshop at the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, June 2021.
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain 2021
Xuesu Xiao, Joydeep Biswas, and Peter Stone, IEEE Robotics and Automation Letters (2021).
Machine Learning Methods for Local Motion Planning: A Study of End-to-End vs. Parameter Learning 2021
Zifan Xu, Xuesu Xiao, Garrett Warnell, Anirudh Nair, and Peter Stone, In Proceedings of the 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2021), New York, USA, October 2021.
Team Orienteering Coverage Planning with Uncertain Reward 2021
Bo Liu, Xuesu Xiao, and Peter Stone, No other information
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination 2021
Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone, IEEE Robotics and Automation Letters (2021).
Watch Where You're Going! Gaze and Head Orientation as Predictors for Social Robot Navigation 2021
Blake Holman, Abrar Anwar, Akash Singh, Mauricio Tec, Justin Hart, and Peter Stone, In Proceedings of the International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, May 2021.
Agents teaching agents: a survey on inter-agent transfer learning 2020
Felipe Leno Da Silva, Garrett Warnell, Anna Helena Reali Costa, and Peter Stone, Autonomous Agents and Multi-Agent Systems (2020).
An Imitation from Observation Approach to Transfer Learning with Dynamics Mismatch 2020
Siddarth Desai, Ishan Durugkar, Haresh Karnan, Garrett Warnell, Josiah Hanna, and Peter Stone, In Proceedings of the 34th International Conference on Neural Information Processing Systems (NeurIPS 2020), Virtual, December 2020.
APPLD: Adaptive Planner Parameter Learning from Demonstration 2020
Xuesu Xiao, Bo Liu, Garrett Warnell, Jonathan Fink, and Peter Stone, No other information
Benchmarking Metric Ground Navigation 2020
Daniel Perille, Abigail Truong, Xuesu Xiao, and Peter Stone, In Proceedings of the 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2016), Virtual Conference, November 2020.
Deep R-Learning for Continual Area Sweeping 2020
Rishi Shah, Yuqian Jiang, Justin Hart, and Peter Stone, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) (2020).
Reinforced Grounded Action Transformation for Sim-to-Real Transfer 2020
Haresh Karnan, Siddharth Desai, Josiah P. Hanna, Garrett Warnell, and Peter Stone, In IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2020), October 2020.
Stochastic Grounded Action Transformation for Robot Learning in Simulation 2020
Siddharth Desai, Haresh Karnan, Josiah P. Hanna, Garrett Warnell, and Peter Stone, In IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2020), Las Vegas, NV, USA, October 2020.
Using Human-Inspired Signals to Disambiguate Navigational Intentions 2020
Justin Hart, Reuth Mirsky, Xuesu Xiao, Stone Tejeda, Bonny Mahajan, Jamin Goo, Kathryn Baldauf, Sydney Owen, and Peter Stone, In Proceedings of the 12th International Conference on Social Robotics (ICSR), Golden, Colorado, November 2020.
Ad hoc Teamwork with Behavior Switching Agents 2019
Manish Ravula, Shani Alkobi, and Peter Stone, International Joint Conference on Artificial Intelligence (IJCAI) (2019).
Open-World Reasoning for Service Robots 2019
Yuqian Jiang, Nick Walker, Justin Hart, Peter Stone, In Proceedings of the 29th International Conference on Automated Planning and Scheduling (ICAPS 2019), Berkeley, CA, USA, July 2019.
UT Austin Villa: RoboCup 2018 3D Simulation League Champions 2019
Patrick MacAlpine, Faraz Torabi, Brahma Pavse, John Sigmon and Peter Stone, In RoboCup 2018: Robot Soccer World Cup XXII, Dirk Holz and Katie Genter and Maarouf Saad and Oskar von Stryk (Eds.) 2019. Springer.
Hierarchical Policy Design for Sample-Efficient Learning of Robot Table Tennis Through Self-Play 2018
Reza Mahjourian, PhD Thesis, University of Texas at Austin.
Dynamically Constructed (PO)MDPs for Adaptive Robot Planning 2017
Shiqi Zhang, Piyush Khandelwal, and Peter Stone, In Proceedings of the 31st AAAI Conference on Artificial Intelligence (AAAI), San Francisco, CA, February 2017.
Multirobot Symbolic Planning under Temporal Uncertainty 2017
Shiqi Zhang, Yuqian Jiang, Guni Sharon, and Peter Stone, In Proceedings of the 16th International Conference on Autonomous Agents and Multiagent Sytems (AAMAS), Sao Paulo, Brazil, May 2017.
Opportunistic Active Learning for Grounding Natural Language Descriptions 2017
Jesse Thomason, Aishwarya Padmakumar, Jivko Sinapov, Justin Hart, Peter Stone, and Raymond J. Mooney, In Proceedings of the 1st Annual Conference on Robot Learning (CoRL-17), Sergey Levine and Vincent Vanhoucke and Ken Goldberg (Eds.), pp. 67--76, Mountain View, California, November 2017. PMLR.
A synthesis of automated planning and reinforcement learning for efficient, robust decision-making 2016
Matteo Leonetti, Luca Iocchi, and Peter Stone, Artificial Intelligence, Vol. 241 (2016), pp. 103 - 130.
Learning Multi-Modal Grounded Linguistic Semantics by Playing "I Spy" 2016
Jesse Thomason, Jivko Sinapov, Maxwell Svetlik, Peter Stone, and Raymond J. Mooney, In Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI-16), pp. 3477--3483, New York City 2016.
Learning to Order Objects Using Haptic and Proprioceptive Exploratory Behaviors 2016
Jivko Sinapov, Priyanka Khante, Maxwell Svetlik, and Peter Stone, In Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI), New York City, USA, Jult 2016.
Machines Are Becoming More Creative Than Humans 2016
Risto Miikkulainen, VentureBeat, Vol. 2016/04/03 (2016).
Making Friends on the Fly: Cooperating with New Teammates 2016
Samuel Barrett, Avi Rosenfeld, Sarit Kraus, and Peter Stone, Artificial Intelligence (2016).
Benchmarking Robot Cooperation without Pre-Coordination in the RoboCup Standard Platform League Drop-In Player Competition 2015
Katie Genter, Tim Laue, and Peter Stone, In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-15), Hamburg, Germany, September 2015.
CORPP: Commonsense Reasoning and Probabilistic Planning, as Applied to Dialog with a Mobile Robot 2015
Shiqi Zhang and Peter Stone, In Proceedings of the 29th Conference on Artificial Intelligence (AAAI), January 2015.
Learning to Interpret Natural Language Commands through Human-Robot Dialog 2015
Jesse Thomason, Shiqi Zhang, Raymond Mooney, and Peter Stone, In Proceedings of the 2015 International Joint Conference on Artificial Intelligence (IJCAI), pp. 1923--1929, Buenos Aires, Argentina, July 2015.
Mobile Robot Planning using Action Language BC with an Abstraction Hierarchy 2015
Shiqi Zhang, Fangkai Yang, Piyush Khandelwal, and Peter Stone, In Proceedings of the 13th International Conference on Logic Programming and Non-monotonic Reasoning (LPNMR), Lexington, KY, USA, September 2015.
Sensorimotor Embedding: A Developmental Approach to Learning Geometry 2015
Jeremy Stober, PhD Thesis, Department of Computer Sciences, The University of Texas at Austin.
Adapting Morphology to Multiple Tasks in Evolved Virtual Creatures 2014
Dan Lessin, Don Fussell, Risto Miikkulainen, To Appear In Proceedings of The Fourteenth International Conference on the Synthesis and Simulation of Living Systems (ALIFE 14) 2014 2014.
Grasping Novel Objects with a Dexterous Robotic Hand through Neuroevolution 2014
Pei-Chi Huang, Joel Lehman, Aloysius K. Mok, Risto Miikkulainen, Luis Sentis, In IEEE Symposium Series on Computational Intelligence 2014. IEEE.
Mobile Robot Planning using Action Language BC with Hierarchical Domain Abstractions 2014
Shiqi Zhang, Fangkai Yang, Piyush Khandelwal, and Peter Stone, In The 7th Workshop on Answer Set Programming and Other Computing Paradigms (ASPOCP), July 2014.
Multi-robot Human Guidance using Topological Graphs 2014
Piyush Khandelwal and Peter Stone, In AAAI Spring 2014 Symposium on Qualitative Representations for Robots (AAAI-SSS), March 2014.
Planning in Action Language BC while Learning Action Costs for Mobile Robots 2014
Piyush Khandelwal, Fangkai Yang, Matteo Leonetti, Vladimir Lifschitz, and Peter Stone, In International Conference on Automated Planning and Scheduling (ICAPS), June 2014.
Planning in Answer Set Programming while Learning Action Costs for Mobile Robots 2014
Fangkai Yang, Piyush Khandelwal, Matteo Leonetti, and Peter Stone, No other information
Trading Control Intelligence for Physical Intelligence: Muscle Drives in Evolved Virtual Creatures 2014
Dan Lessin, Don Fussell, Risto Miikkulainen, To Appear In Proceedings of the Genetic and Evolutionary Computation Conference (GECCO) 2014 2014.
Architecture of a Cyberphysical Avatar 2013
Song Han, Aloysius K. Mok, Jianyong Meng, Yi-Hung Wei, Pei-Chi Huang, Quan Leng, Xiuming Zhu, Luis Sentis, Kwan Suk Kim, and Risto Miikkulainen, In Proceedings of the ACM/IEEE Fourth International Conference on Cyber-Physical Systems (ICCPS-2013) 2013.
Effective Diversity Maintenance in Deceptive Domains 2013
Joel Lehman, Kenneth O. Stanley and Risto Miikkulainen, To Appear In Proceedings of the Genetic and Evolutionary Computation Conference (GECCO) 2013 2013.
IJCNN-2013 Tutorial on Evolution of Neural Networks 2013
Risto Miikkulainen, To Appear In unpublished. Tutorial slides..
A Platform for Evaluating Autonomous Intersection Management Policies 2012
Chien-Liang Fok, Maykel Hanna, Seth Gee, Tsz-Chiu Au, Peter Stone, Christine Julien, and Sriram Vishwanath, In Proceedings of the {ACM/IEEE} Third International Conference on Cyber-Physical Systems (ICCPS 2012), April 2012.
Architecture of a Cyberphysical Avatar 2012
Song Han, Aloysius K. Mok, Jianyong Meng, Yi-Hung Wei, Pei-Chi Huang, Xiuming Zhu, Luis Sentis, Kan Suk Kim, Risto Miikkulainen, and Jacob Menashe, In Proceedings of the International Workshop on Real-Time and Distributed Computing in Emerging Applications (REACTION) 2012.
Constructing Controllers for Physical Multilegged Robots using the ENSO Neuroevolution Approach 2012
Vinod K. Valsalam, Jonathan Hiller, Robert MacCurdy, Hod Lipson and Risto Miikkulainen, Evolutionary Intelligence, Vol. 5, 1 (2012), pp. 1--12.
Evaluating Modular Neuroevolution in Robotic Keepaway Soccer 2012
Anand Subramoney, Masters Thesis, Department of Computer Science, The University of Texas at Austin. 54 pages.
TEXPLORE: Temporal Difference Reinforcement Learning for Robots and Time-Constrained Domains. 2012
Todd Hester, PhD Thesis, The University of Texas at Austin. Code available at: http://www.ros.org/wiki/rl-texplore-ros-pkg.
Video: RoboCup Robot Soccer History 1997 - 2011 2012
Manuela Veloso and Peter Stone, In Proceedings of IROS 2012-IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) 2012. Available from http://www.robocup.org/2012/10/robocup-video-finalist-for-best-v...
RTMBA: A Real-Time Model-Based Reinforcement Learning Architecture for Robot Control 2012
Todd Hester, Michael Quinlan, and Peter Stone, In {IEEE} International Conference on Robotics and Automation (ICRA), May 2012.
TEXPLORE: Real-Time Sample-Efficient Reinforcement Learning for Robots 2012
Todd Hester and Peter Stone, Machine Learning (2012).
A Low Cost Ground Truth Detection System Using the Kinect 2011
Piyush Khandelwal and Peter Stone, In Proceedings of the RoboCup International Symposium 2011 (RoboCup 2011), July 2011.
Evolving Symmetry for Modular System Design 2011
Vinod K. Valsalam and Risto Miikkulainen, IEEE Transactions on Evolutionary Computation, Vol. 15, 3 (2011), pp. 368--386.
Learning Geometry from Sensorimotor Experience 2011
Jeremy Stober, Risto Miikkulainen, and Benjamin Kuipers, In Proceedings of the First International Conference on Development and Learning and Epigenetic Robotics, Frankfurt am Main, Germany, August 2011.
Motion Segmentation by Learning Homography Matrices from Motor Signals 2011
Changhai Xu and Benjamin Kuipers, Canadian Conference on Computer and Robot Vision (CRV-11) (2011).
Object Detection Using Principal Contour Fragments 2011
Changhai Xu and Benjamin Kuipers, In Canadian Conference on Computer and Robot Vision (CRV-11) 2011.
Autonomous Qualitative Learning of Distinctions and Actions in a Developing Agent 2010
Jonathan Mugan, PhD Thesis, University of Texas at Austin.
Bringing Simulation to Life: A Mixed Reality Autonomous Intersection 2010
Michael Quinlan, Tsz-Chiu Au, Jesse Zhu, Nicolae Stiurca, and Peter Stone, In Proceedings of IROS 2010-IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 2010.
Generalized Model Learning for Reinforcement Learning on a Humanoid Robot 2010
Todd Hester, Michael Quinlan, and Peter Stone, In International Conference on Robotics and Automation 2010.
Towards the Object Semantic Hierarchy 2010
Changhai Xu and Benjamin Kuipers, In International Conference on Development and Learning (ICDL-10) 2010.
Utilizing Symmetry in Evolutionary Design 2010
Vinod Valsalam, PhD Thesis, Department of Computer Sciences, The University of Texas at Austin. Technical Report AI-10-04.
3D pose estimation for planes 2009
Changhai Xu, Benjamin Kuipers, and Aniket Murarka, In ICCV Workshop on 3D Representation for Recognition (3dRR-09) 2009.
A Comparison of Strategies for Developmental Action Acquisition in QLAP 2009
Jonathan Mugan and Benjamin Kuipers, In Proceedings of the International Conference on Epigenetic Robotics (EpiRob-09), pp. 2009.
A framework for planning comfortable and customizable motion of an assistive mobile robot 2009
Shilpa Gulati, Chetan Jhurani, Benjamin Kuipers, and Raul Longoria, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2009.
A stereo vision based 3D mapping algorithm for detecting ramps, drop-offs, and obstacles for safe local navigation 2009
Aniket Murarka and Benjamin Kuipers, In International Conference on Intelligent Robots and Systems (IROS) 2009.
Autonomously Learning an Action Hierarchy Using a Learned Qualitative State Representation 2009
Jonathan Mugan and Benjamin Kuipers, In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI-09) 2009.
Cognitive Task Analysis for Developing UAV Wilderness Search Support 2009
Julie A. Adams, Curtis M. Humphrey, Michael A. Goodrich, Joseph L. Cooper, Bryan S. Morse, Cameron Engh and Nathan Rasmussen, Journal of Cognitive Engineering and Decision Making, Vol. 3, 1 (2009), pp. 1--26.
Connectivity-based Localization in Robot Networks 2009
Tobias Jung, Mazda Ahmadi, and Peter Stone, In International Workshop on Robotic Wireless Sensor Networks (IEEE DCOSS '09), June 2009.
Evolving Symmetric and Modular Neural Network Controllers for Multilegged Robots 2009
Vinod K. Valsalam and Risto Miikkulainen, In xploring New Horizons in Evolutionary Design of Robots: Workshop at the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2009.
Evolving Symmetric and Modular Neural Networks for Distributed Control 2009
Vinod K. Valsalam and Risto Miikkulainen, In Proceedings of the Genetic and Evolutionary Computation Conference (GECCO), pp. 731--738 2009.
Improving Particle Filter Performance Using SSE Instructions 2009
Peter Djeu, Michael Quinlan, and Peter Stone, In Proceedings of IROS 2009: 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, October 2009.
Learning Dynamic Obstacle Avoidance for a Robot Arm Using Neuroevolution 2009
Thomas D'Silva, Risto Miikkulainen, Neural Processing Letters (2009).
Learning the Sensorimotor Structure of the Foveated Retina 2009
Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers, In Proceedings of the Ninth International Conference on Epigenetic Robotics 2009.
Navigation, Control and Recovery of the ENDURANCE Under-ice Hovering AUV 2009
Kristof Richmond, Shilpa Gulati, Chris Flesher, Bartholomew P. Hogan, and William C. Stone, In International Symposium on Unmanned Untethered Submersible Technology (UUST) 2009.
Sensor Map Discovery for Developing Robots 2009
Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers, In AAAI Fall Symposia Series: Manifold Learning and Its Applications 2009. Appears in AAAI Technical Report FS-09-04..
Skill Reuse in Lifelong Developmental Learning 2009
Jonathan Mugan and Benjamin Kuipers, In IROS 2009 Workshop: Autonomous Mental Development for Intelligent Robots and Systems, pp. 2009.
Sub-ice exploration of West Lake Bonney: ENDURANCE 2008 Mission 2009
Bill Stone, Bart Hogan, Chris Flesher, Shilpa Gulati, Kristof Richmond, Aniket Murarka, Gregory Kuhlmann, and Mohan Sridharan, In International Symposium on Unmanned Untethered Submersible Technology (UUST) 2009.
Towards using Unmanned Aerial Vehicles (UAVs) in Wilderness Search and Rescue: Lessons from field trials 2009
Michael A. Goodrich, Bryan S. Morse, Cameron Engh, Joseph L. Cooper and Julie A. Adams, Interaction Studies, Vol. 10, 3 (2009), pp. 455--481.
Vision based frozen surface egress: A docking algorithm for the ENDURANCE AUV 2009
Aniket Murarka, Gregory Kuhlmann, Shilpa Gulati, Mohan Sridharan, Chris Flesher, and Bill Stone, In International Symposium on Unmanned Untethered Submersible Technology (UUST) 2009.
Continuous-domain reinforcement learning using a learned qualitative state representation 2008
Jonathan Mugan and Benjamin Kuipers, In 22nd International Workshop on Qualitative Reasoning (QR-08) 2008.
Creating and Utilizing Symbolic Representations of Spatial Knowledge using Mobile Robots 2008
Patrick Beeson, PhD Thesis, Computer Sciences Department, The University of Texas at Austin.
Maximum Likelihood Estimation of Sensor and Action Model Functions on a Mobile Robot 2008
Daniel Stronger and Peter Stone, In IEEE International Conference on Robotics and Automation, May 2008.
Negative Information and Line Observations for Monte Carlo Localization 2008
Todd Hester and Peter Stone, In IEEE International Conference on Robotics and Automation, May 2008.
Polynomial Regression with Automated Degree: A Function Approximator for Autonomous Agents 2008
Daniel Stronger and Peter Stone, International Journal on Artificial Intelligence Tools, Vol. 17, 1 (2008), pp. 159-174.
Supporting Flight Control for UAV-Assisted Wilderness Search and Rescue Through Human Centered Interface Design 2008
Joseph L. Cooper, Masters Thesis, Brigham Young University.
Supporting Wilderness Search and Rescue using a Camera-Equipped Mini UAV 2008
Michael A. Goodrich, Bryan S. Morse, Damon Gerhardt, Joseph L. Cooper, Morgan Quigley, Julie A. Adams and Curtis Humphrey, Journal of Field Robotics, Vol. 25, 1--2 (2008), pp. 89--110.
Towards Combining UAV and Sensor Operator Roles in UAV-Enabled Visual Search 2008
Joseph L. Cooper and Michael A. Goodrich, In Proceedings of ACM/IEEE International Conference on Human-Robot Interaction, Amsterdam, The Netherlands, March 2008.
Towards the Application of Reinforcement Learning to Undirected Developmental Learning 2008
Jonathan Mugan and Benjamin Kuipers, In Proceedings of the International Conference on Epigenetic Robotics (EpiRob-08) 2008.
Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning 2008
Subramanian Ramamoorthy and Benjamin Kuipers, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-08) 2008.
A Comparison of Two Approaches for Vision and Self-Localization on a Mobile Robot 2007
Daniel Stronger and Peter Stone, In IEEE International Conference on Robotics and Automation, pp. 3915-3920, April 2007.
Autonomous Development of a Grounded Object Ontology by a Learning Robot 2007
Joseph Modayil and Benjamin Kuipers, In Proceedings of the Twenty-Second National Conference on Artificial Intelligence (AAAI-07) 2007.
DARPA Urban Challenge Technical Report: Austin Robot Technology 2007
Peter Stone, Patrick Beeson, Tekin Mericli, and Ryan Madigan, Available from http://www.darpa.mil/grandchallenge/rules.asp.
Detecting Motion in the Environment with a Moving Quadruped Robot 2007
Peggy Fidelman, Thayne Coffman and Risto Miikkulainen, In RoboCup-2006: Robot Soccer World Cup X, Gerhard Lakemeyer and Elizabeth Sklar and Domenico Sorenti and Tomoichi Takahashi (Eds.), pp. 219-231, Berlin 2007. Springer Verlag.
Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication 2007
Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers, and Brian Stankiewicz, In AAAI Spring Symposium Series, Interaction Challenges for Intelligent Assistants 2007. AAAI Technical Report SS-07-04.
Learning and Multiagent Reasoning for Autonomous Agents 2007
Peter Stone, In The 20th International Joint Conference on Artificial Intelligence, pp. 13-30, January 2007.
Learning distinctions and rules in a continuous world through active exploration 2007
Jonathan Mugan and Benjamin Kuipers, In Proceedings of the International Conference on Epigenetic Robotics (EpiRob-07) 2007.
Learning to predict the effects of actions: synergy between rules and landmarks 2007
Jonathan Mugan and Benjamin Kuipers, In Proceedings of the International Conference on Development and Learning (ICDL-07) 2007.
Reinforcement Learning in High-Diameter, Continuous Environments 2007
Jefferson Provost, PhD Thesis, Computer Sciences Department, University of Texas at Austin.
Robot Developmental Learning of an Object Ontology Grounded in Sensorimotor Experience 2007
Joseph Modayil, PhD Thesis, Computer Sciences Department, University of Texas at Austin.
Self-Organizing Distinctive State Abstraction Using Options 2007
Jefferson Provost, Benjamin J. Kuipers, and Risto Miikkulainen, In Proceedings of the 7th International Conference on Epigenetic Robotics 2007.
Task Encoding, Motion Planning and Intelligent Control with Qualitative Models 2007
Subramanian Ramamoorthy, PhD Thesis, Electrical and Computer Engineering Department, University of Texas at Austin.
Using a Mini-UAV to Support Wilderness Search and Rescue Practices for Human-Robot Teaming 2007
Michael A. Goodrich, Joseph L. Cooper, Julie A. Adams, Curtis Humphrey, Ron Zeeman and Brian G. Buss, In Proceedings of the IEEE International Conference on Safety, Security and Rescue Robotics, Rome, Italy, September 2007.
Where do actions come from? Autonomous robot learning of objects and actions 2007
Joseph Modayil and Benjamin Kuipers, In AAAI Spring Symposium Series 2007, Control Mechanisms for Spatial Knowledge Processing in Cognitive / Intelligent Systems 2007.
Developing navigation behavior through self-organizing distinctive state abstraction 2006
Jefferson Provost, Benjamin J. Kuipers, and Risto Miikkulainen, Connection Science, Vol. 18 (2006), pp. 159-172.
Evolving Robot Arm Controllers Using the NEAT Neuroevolution Method 2006
Thomas W. D'Silva, Masters Thesis, Department of Electrical and Computer Engineering, The University of Texas at Austin.
From Pixels to Multi-Robot Decision-Making: A Study in Uncertainty 2006
Peter Stone, Mohan Sridharan, Daniel Stronger, Gregory Kuhlmann, Nate Kohl, Peggy Fidelman, and Nicholas K. Jong, Robotics and Autonomous Systems, Vol. 54, 11 (2006), pp. 933-43. Special issue on Planning Under Uncertainty in Robotics..
Low-Discrepancy Curves and Efficient Coverage of Space 2006
Subramanian Ramamoorthy, Ram Rajagopal, Qing Ruan, Lothar Wenzel, In Algorithmic Foundations of Robotics VII 2006. Springer-Verlag.
Parametrization and computations in shape spaces with area and boundary invariants 2006
Subramanian Ramamoorthy, Benjamin J. Kuipers and Lothar Wenzel, In Proc. Fall Workshop on Computational and Combinatorial Geometry, Northampton, MA 2006.
Qualitative hybrid control of dynamic bipedal walking 2006
Subramanian Ramamoorthy, Benjamin Kuipers, In Robotics: Science and Systems II, G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.) 2006. MIT Press.
Towards Autonomous Sensor and Actuator Model Induction on a Mobile Robot 2006
Daniel Stronger and Peter Stone, Connection Science, Vol. 18, 2 (2006), pp. 97-119. Special Issue on Developmental Robotics..
A Model-Based Approach to Robot Joint Control 2005
Daniel Stronger and Peter Stone, In RoboCup-2004: Robot Soccer World Cup VIII, Daniele Nardi and Martin Riedmiller and Claude Sammut (Eds.), Vol. 3276, pp. 297-309, Berlin 2005. Springer Verlag.
Continuous Area Sweeping: A Task Definition and Initial Approach 2005
Mazda Ahmadi and Peter Stone, In The 12th International Conference on Advanced Robotics, July 2005.
Learning Basic Navigation for Personal Satellite Assistant Using Neuroevolution 2005
Yiu Fai Sit and Risto Miikkulainen, In Proceedings of the Genetic and Evolutionary Computation Conference 2005.
Self-Organizing Perceptual and Temporal Abstraction for Robot Reinforcement Learning 2004
Jefferson Provost, Benjamin J. Kuipers and Risto Miikkulainen, In AAAI-04 Workshop on Learning and Planning in Markov Processes 2004.
Learning Ball Acquisition on a Physical Robot 2004
Peggy Fidelman and Peter Stone, In International Symposium on Robotics and Automation (ISRA) 2004.
The Constructivist Learning Architecture: A Model of Cognitive Development for Robust Autonomous Robots 2004
Harold H. Chaput, PhD Thesis, Department of Computer Sciences, The University of Texas at Austin. Also Technical Report TR-04-34.
Constructivist Learning: A Neural Implementation of the Schema Mechanism 2003
Harold H. Chaput, Benjamin Kuipers and Risto Miikkulainen, In Proceedings of WSOM '03: Workshop for Self-Organizing Maps, Kitakyushu, Japan 2003.
Toward Learning the Causal Layer of the Spatial Semantic Hierarchy using SOMs 2001
Jefferson Provost, Patrick Beeson, and Benjamin J. Kuipers, In AAAI Spring Symposium Series, Learning Grounded Representations 2001.
Hierarchical Evolution Of Neural Networks 1998
David E. Moriarty and Risto Miikkulainen, In Proceedings of the 1998 IEEE Conference on Evolutionary Computation (ICEC98), pp. 428-433, Anchorage, AK 1998. Piscataway, NJ: IEEE.
Forming Neural Networks Through Efficient And Adaptive Coevolution 1997
David E. Moriarty and Risto Miikkulainen, Evolutionary Computation, Vol. 5 (1997), pp. 373--399.
Symbiotic Evolution Of Neural Networks In Sequential Decision Tasks 1997
David E. Moriarty, PhD Thesis, Department of Computer Sciences, The University of Texas at Austin. 117. Technical Report UT-AI97-257.
Evolving Obstacle Avoidance Behavior In A Robot Arm 1996
David E. Moriarty and Risto Miikkulainen, In From Animals to Animats 4: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, Pattie Maes and Maja J. Mataric and Jean-Arcady Meyer and Jordan Pollack an...
Grounding Robotic Control With Genetic Neural Networks 1994
Diane Law and Risto Miikkulainen, Technical Report AI94-223, Department of Computer Sciences, The University of Texas at Austin.
Projects
Evolving Controllers for Physical Multilegged Robots 2010 - 2011
Learning Strategic Behavior in Sequential Decision Tasks 2009 - 2014
TEXPLORE: Real-Time Sample Efficient Reinforcement Learning 2009 - Present
Evolving Locomotion Controllers for Multilegged Robots 2008 - 2010
Teaching an Agent Manually via Evaluative Reinforcement (TAMER) 2008 - Present
Utilizing Symmetry in Evolutionary Design 2007 - 2010
The UT Austin Villa Robot Soccer team 2003 - Present
Learning Schemas for Robot Perception 2000 - 2007
CLA: The Constructivist Learning Architecture 1998 - 2004
Software/Data
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ENSO This package contains software implementing the ENSO approach for evolving symmetric modular neural networks. It also in... 2010
NEAT C++ The NEAT package contains source code implementing the NeuroEvolution of Augmenting Topologies method. The source code i... 2010
NEAT Delphi The Delphi NEAT package contains Delphi source code for the NeuroEvolution of Augmenting Topologies method (see the orig... 2003
NEAT Matlab The Matlab NEAT package contains Matlab source code for the NeuroEvolution of Augmenting Topologies method (see the orig... 2003
ESP JAVA 1.1 The ESP package contains the source code for the Enforced Sup-Populations system written in Java. This package is a near... 2002
NEAT C++ for Microsoft Windows The Windows NEAT package contains C++ source code for the NeuroEvolution of Augmenting Topologies method (see the origin... 2002
NEAT Java (JNEAT) The JNEAT package contains Java source code for the NeuroEvolution of Augmenting Topologies method (see the original 2002
ESP C++ The ESP package contains the source code for the Enforced Sup-Populations system written in C++. ESP is an extension t... 2000
JavaSANE The JavaSANE package contains the source code for the Hierarchical SANE system, based on SANE-C, but rewritten extensive... 1998
SANE-C The SANE-C package contains the source code for the Hierarchical SANE system, written in C. This package has been rewrit... 1997
Polebalancing This simulator contains the code used to compare (neuron-level) SANE to one- and two-layer adaptive heuristic critics in... 1995
Keepaway player framework source code, version 0.6 The Keepaway player framework is an implementation of all the low- and mid-level keepaway behaviors described in the pub...
Demos
Adapting Morphology to Multiple Tasks in Evolved Virtual CreaturesDan Lessin, Don Fussell, Risto Miikkulainen2014
TEXPLORE: Real-Time Sample Efficient Reinforcement LearningTodd Hester2012
Evolving Controllers for Physical Multilegged RobotsVinod Valsalam2011
Evolving Controller Symmetry for Multilegged RobotsVinod Valsalam2010
Modular Neuroevolution for Multilegged LocomotionVinod Valsalam2008
SPL Robocup Soccer2008
Labs
Neural Networks Learning Agents