Anirudha Majumdar

ORCID

Publication Activity (10 Years)

Years Active: 2010-2024
Publications (10 Years): 84

Top Venues

CoRR

ICRA

CoRL

Int. J. Robotics Res.

Massachusetts Institute of Technology, Cambridge, USA (PHD)

Education History

Massachusetts Institute of Technology, Cambridge, USA

PHD

Publications

Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees (Abstract Reprint). AAAI (2024)
Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh
Explore until Confident: Efficient Exploration for Embodied Question Answering. CoRR (2024)
Justin Lidard, Hang Pham, Ariel Bachman, Bryan Boateng, Anirudha Majumdar
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction. CoRR (2024)
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh
Physically Grounded Vision-Language Models for Robotic Manipulation. ICRA (2024)
Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren, Anirudha Majumdar
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception. CoRR (2024)
Eric Lepowsky, David Snyder, Alexander Glaser, Anirudha Majumdar
Privacy-Preserving Map-Free Exploration for Confirming the Absence of a Radioactive Source. CoRR (2024)
Meghan Booker, Anirudha Majumdar
Switching Attention in Time-Varying Environments via Bayesian Inference of Abstractions. ICRA (2023)
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners. CoRR (2023)
Nathaniel Simon, Anirudha Majumdar
MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction. CoRR (2023)
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners. CoRL (2023)
Nathaniel Simon, Allen Z. Ren, Alexander Piqué, David Snyder, Daphne Barretto, Marcus Hultmark, Anirudha Majumdar
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors. ICRA (2023)
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRL (2023)
Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, Brian Ichter, Danny Driess, Jiajun Wu, Cewu Lu, Mac Schwager
Foundation Models in Robotics: Applications, Challenges, and the Future. CoRR (2023)
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh
Physically Grounded Vision-Language Models for Robotic Manipulation. CoRR (2023)
Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac
Sim-to-Lab-to-Real: Safe reinforcement learning with shielding and generalization guarantees. Artif. Intell. 314 (2023)
Anirudha Majumdar
Fundamental Tradeoffs in Learning with Prior Information. CoRR (2023)
Apoorva Sharma, Sushant Veer, Asher Hancock, Heng Yang, Marco Pavone, Anirudha Majumdar
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction. CoRR (2023)
David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar
Online Learning for Obstacle Avoidance. CoRR (2023)
Sumeet Singh, Benoit Landry, Anirudha Majumdar, Jean-Jacques E. Slotine, Marco Pavone
Robust feedback motion planning via contraction theory. Int. J. Robotics Res. 42 (9) (2023)
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer. CoRR (2023)
Apoorva Sharma, Sushant Veer, Asher Hancock, Heng Yang, Marco Pavone, Anirudha Majumdar
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction. NeurIPS (2023)
Anirudha Majumdar
Fundamental Tradeoffs in Learning with Prior Information. ICML (2023)
Anirudha Majumdar, Zhiting Mei, Vincent Pacelli
Fundamental limits for sensor-based robot control. Int. J. Robotics Res. 42 (12) (2023)
David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar
Online Learning for Obstacle Avoidance. CoRL (2023)
Meghan Booker, Anirudha Majumdar
Switching Attention in Time-Varying Environments via Bayesian Inference of Abstractions. CoRR (2022)
Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik Narasimhan, Anirudha Majumdar
Leveraging Language for Accelerated Learning of Tool Manipulation. CoRR (2022)
Anirudha Majumdar, Vincent Pacelli
Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning. Robotics: Science and Systems (2022)
Michelle Ho, Alec Farid, Anirudha Majumdar
Towards a Framework for Comparing the Complexity of Robotic Tasks. WAFR (2022)
Allen Z. Ren, Anirudha Majumdar
Distributionally Robust Policy Learning via Adversarial Environment Generation. IEEE Robotics Autom. Lett. 7 (2) (2022)
Abhinav Agarwal, Sushant Veer, Allen Z. Ren, Anirudha Majumdar
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data. ICRA (2022)
Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik R. Narasimhan, Anirudha Majumdar
Leveraging Language for Accelerated Learning of Tool Manipulation. CoRL (2022)
Nathaniel Simon, Allen Z. Ren, Alexander Piqué, David Snyder, Daphne Barretto, Marcus Hultmark, Anirudha Majumdar
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors. CoRR (2022)
Anirudha Majumdar, Vincent Pacelli
Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning. CoRR (2022)
Vincent Pacelli, Anirudha Majumdar
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy. ICRA (2022)
Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar
Failure Prediction with Statistical Guarantees for Vision-Based Robot Control. Robotics: Science and Systems (2022)
Kai-Chieh Hsu, Allen Z. Ren, Duy Phuong Nguyen, Anirudha Majumdar, Jaime F. Fisac
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees. CoRR (2022)
Michelle Ho, Alec Farid, Anirudha Majumdar
Comparing the Complexity of Robotic Tasks. CoRR (2022)
Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar
Failure Prediction with Statistical Guarantees for Vision-Based Robot Control. CoRR (2022)
Naman Agarwal, Elad Hazan, Anirudha Majumdar, Karan Singh
A Regret Minimization Approach to Iterative Learning Control. CoRR (2021)
Vincent Pacelli, Anirudha Majumdar
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy. CoRR (2021)
Alec Farid, Sushant Veer, Anirudha Majumdar
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning. CoRL (2021)
Alec Farid, Sushant Veer, Anirudha Majumdar
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning. CoRR (2021)
Abhinav Agarwal, Sushant Veer, Allen Z. Ren, Anirudha Majumdar
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data. CoRR (2021)
Udaya Ghai, David Snyder, Anirudha Majumdar, Elad Hazan
Generating Adversarial Disturbances for Controller Verification. L4DC (2021)
Naman Agarwal, Elad Hazan, Anirudha Majumdar, Karan Singh
A Regret Minimization Approach to Iterative Learning Control. ICML (2021)
Allen Z. Ren, Anirudha Majumdar
Distributionally Robust Policy Learning via Adversarial Environment Generation. CoRR (2021)
Alec Farid, Anirudha Majumdar
PAC-BUS: Meta-Learning Bounds via PAC-Bayes and Uniform Stability. CoRR (2021)
Alec Farid, Anirudha Majumdar
Generalization Bounds for Meta-Learning via PAC-Bayes and Uniform Stability. NeurIPS (2021)
Meghan Booker, Anirudha Majumdar
Learning to Actively Reduce Memory Requirements for Robot Control Tasks. L4DC (2021)
Ali Ekin Gurgen, Anirudha Majumdar, Sushant Veer
Learning Provably Robust Motion Planners Using Funnel Libraries. CoRR (2021)
Paula Gradu, John Hallman, Daniel Suo, Alex Yu, Naman Agarwal, Udaya Ghai, Karan Singh, Cyril Zhang, Anirudha Majumdar, Elad Hazan
Deluca - A Differentiable Control Library: Environments, Methods, and Benchmarking. CoRR (2021)
Anoopkumar Sonar, Vincent Pacelli, Anirudha Majumdar
Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning. L4DC (2021)
Anirudha Majumdar, Alec Farid, Anoopkumar Sonar
PAC-Bayes control: learning policies that provably generalize to novel environments. Int. J. Robotics Res. 40 (2-3) (2021)
Sushant Veer, Anirudha Majumdar
CoNES: Convex Natural Evolutionary Strategies. CoRR (2020)
Sushant Veer, Anirudha Majumdar
Probably Approximately Correct Vision-Based Planning using Motion Primitives. CoRL (2020)
Meghan Booker, Anirudha Majumdar
Learning to Actively Reduce Memory Requirements for Robot Control Tasks. CoRR (2020)
Vincent Pacelli, Anirudha Majumdar
Learning Task-Driven Control Policies via Information Bottlenecks. Robotics: Science and Systems (2020)
Anoopkumar Sonar, Vincent Pacelli, Anirudha Majumdar
Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning. CoRR (2020)
Vincent Pacelli, Anirudha Majumdar
Learning Task-Driven Control Policies via Information Bottlenecks. CoRR (2020)
Sushant Veer, Anirudha Majumdar
Probably Approximately Correct Vision-Based Planning using Motion Primitives. CoRR (2020)
Anirudha Majumdar, Georgina Hall, Amir Ali Ahmadi
Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics. Annu. Rev. Control. Robotics Auton. Syst. 3 (2020)
Allen Z. Ren, Sushant Veer, Anirudha Majumdar
Generalization Guarantees for Multi-Modal Imitation Learning. CoRR (2020)
Allen Z. Ren, Sushant Veer, Anirudha Majumdar
Generalization Guarantees for Imitation Learning. CoRL (2020)
Udaya Ghai, David Snyder, Anirudha Majumdar, Elad Hazan
Generating Adversarial Disturbances for Controller Verification. CoRR (2020)
Christine Allen-Blanchette, Sushant Veer, Anirudha Majumdar, Naomi Ehrich Leonard
LagNetViP: A Lagrangian Neural Network for Video Prediction. CoRR (2020)
Sumeet Singh, Yinlam Chow, Anirudha Majumdar, Marco Pavone
A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms. IEEE Trans. Autom. Control. 64 (7) (2019)
Vincent Pacelli, Anirudha Majumdar
Task-Driven Estimation and Control via Information Bottlenecks. ICRA (2019)
Amir Ali Ahmadi, Anirudha Majumdar
DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization. SIAM J. Appl. Algebra Geom. 3 (2) (2019)
Anirudha Majumdar, Georgina Hall, Amir Ali Ahmadi
A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics. CoRR (2019)
Anirudha Majumdar, Maxwell Goldstein
PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments. CoRR (2018)
Anirudha Majumdar, Maxwell Goldstein
PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments. CoRL (2018)
Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, Marco Pavone
Risk-sensitive inverse reinforcement learning via semi- and non-parametric methods. Int. J. Robotics Res. 37 (13-14) (2018)
Vincent Pacelli, Anirudha Majumdar
Task-Driven Estimation and Control via Information Bottlenecks. CoRR (2018)
Anirudha Majumdar, Marco Pavone
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics. CoRR (2017)
Anirudha Majumdar, Russ Tedrake
Funnel libraries for real-time robust feedback motion planning. Int. J. Robotics Res. 36 (8) (2017)
Yin-Lam Chow, Sumeet Singh, Anirudha Majumdar, Marco Pavone
A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms. CoRR (2017)
Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone
Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models. Robotics: Science and Systems (2017)
Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, Marco Pavone
Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods. CoRR (2017)
Sumeet Singh, Anirudha Majumdar, Jean-Jacques E. Slotine, Marco Pavone
Robust online motion planning via contraction theory and convex optimization. ICRA (2017)
Anirudha Majumdar, Marco Pavone
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics. ISRR (2017)
Amir Ali Ahmadi, Anirudha Majumdar
DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization. CoRR (2017)
Amir Ali Ahmadi, Anirudha Majumdar
Response to "Counterexample to global convergence of DSOS and SDSOS hierarchies". CoRR (2017)
Amir Ali Ahmadi, Anirudha Majumdar
Some applications of polynomial optimization in operations research and real-time decision making. Optim. Lett. 10 (4) (2016)
Anirudha Majumdar, Russ Tedrake
Funnel Libraries for Real-Time Robust Feedback Motion Planning. CoRR (2016)
Hongkai Dai, Anirudha Majumdar, Russ Tedrake
Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming. ISRR (1) (2015)
Amir Ali Ahmadi, Anirudha Majumdar
Some Applications of Polynomial Optimization in Operations Research and Real-Time Decision Making. CoRR (2015)
Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew A. Biewener, Russ Tedrake
Flying between obstacles with an autonomous knife-edge maneuver. ICRA (2014)
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
Control and verification of high-dimensional systems with DSOS and SDSOS programming. CDC (2014)
Amir Ali Ahmadi, Anirudha Majumdar
DSOS and SDSOS optimization: LP and SOCP-based alternatives to sum of squares optimization. CISS (2014)
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
Convex optimization of nonlinear feedback controllers via occupation measures. Int. J. Robotics Res. 33 (9) (2014)
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures. Robotics: Science and Systems (2013)
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
Control design along trajectories with sums of squares programming. ICRA (2013)
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures. CoRR (2013)
Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake
Complexity of ten decision problems in continuous time dynamical systems. ACC (2013)
Anirudha Majumdar, Amir Ali Ahmadi, Russ Tedrake
Control Design along Trajectories with Sums of Squares Programming CoRR (2012)
Anirudha Majumdar, Russ Tedrake
Robust Online Motion Planning with Regions of Finite Time Invariance. WAFR (2012)
Anirudha Majumdar, Mark M. Tobenkin, Russ Tedrake
Algebraic verification for parameterized motion planning libraries. ACC (2012)
Amir Ali Ahmadi, Anirudha Majumdar, Russ Tedrake
Complexity of Ten Decision Problems in Continuous Time Dynamical Systems CoRR (2012)
Andrew J. Barry, Anirudha Majumdar, Russ Tedrake
Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. ICRA (2012)
Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin, Daniel E. Koditschek
Characterization of Dynamic Behaviors in a Hexapod Robot. ISER (2010)

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Publication Activity (10 Years)

Top Topics

Top Venues

Anirudha Majumdar