Learning and Intelligent Systems Group
Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology
32 Vassar Street, Cambridge MA 02139


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Members of the LIS group work in a broad set of research areas, here are some publications in areas of recent interest; for a full list click on Publications.

Integrated Task and Motion Planning

Project page (HPN): click for more details (including videos)
Project page (HPN NAMO): click for more details (including videos)
Project page (FFROB): click for more details (including videos)
Project page (HBF): click for more details (including videos) 15 results
2016
[15] Searching for Physical Objects in Partially Known Environments (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[14] Implicit Belief-Space Pre-images for Hierarchical Planning and Execution ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[13] Learning to Rank for Synthesizing Planning Heuristics (, and ), In Int. Joint Conf. on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
2015
[12] Symbol Acquisition for Probabilistic High-Level Planning (, and ), In Proceedings of the Twenty Fourth International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
[11] Backward-Forward Search for Manipulation Planning (, and ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), . [bibtex] [pdf]
2014
[10] A constraint-based method for solving sequential manipulation planning problems ( and ), In IEEE/RSJ International Conference on Intelligent Robots and Systems, . [bibtex] [pdf]
[9] Constructing Symbolic Representations for High-Level Planning (, and ), In Proceedings of the Twenty-Eighth Conference on Artificial Intelligence, . [bibtex] [pdf]
[8] FFRob: An efficient heuristic for task and motion planning (, and ), In International Workshop on the Algorithmic Foundations of Robotics (WAFR), . [bibtex] [pdf]
2013
[7] Manipulation-based Active Search for Occluded Objects (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[6] Integrated Task and Motion Planning in Belief Space ( and ), In International Journal of Robotics Research, volume 32, . [bibtex] [pdf]
[5] Foresight and Reconsideration in Hierarchical Planning and Execution (, , and ), In IEEE/RSJ International Conference on Intelligent Robots and Systems, . [bibtex] [pdf]
[4] Optimization in the Now: Dynamic Peephole Optimization for Hierarchical Planning (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2012
[3] Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2011
[2] Pre-image backchaining in belief space for mobile manipulation ( and ), In International Symposium on Robotics Research (ISRR), . [bibtex] [pdf]
[1] Hierarchical Task and Motion Planning in the Now ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]

Belief Space Planning

9 results
2016
[9] Implicit Belief-Space Pre-images for Hierarchical Planning and Execution ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2013
[8] Automatic Synthesis of Rules for Planning in Belief Space (), In RSS Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, . [bibtex] [pdf]
[7] Optimal Sampling-Based Planning for Linear-Quadratic Kinodynamic Systems (, , and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2012
[6] LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics (, , , and ), In Proceedings of the IEEE International Conference on Robotics and Automation, . [bibtex] [pdf]
[5] Non-Gaussian Belief Space Planning: Correctness and Complexity (, , and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[4] Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2011
[3] Efficient planning in non-Gaussian belief spaces and its application to robot grasping (, , and ), In International Symposium on Robotics Research (ISRR), . [bibtex] [pdf]
[2] Pre-image backchaining in belief space for mobile manipulation ( and ), In International Symposium on Robotics Research (ISRR), . [bibtex] [pdf]
2010
[1] Belief space planning assuming maximum likelihood observations (, , and ), In Robotics Science and Systems Conference (RSS), . [bibtex] [pdf]

State Estimation

8 results
2016
[8] Object-based World Modeling in Semi-Static Envrionments with Dependent Dirichlet Process Mixtures (, , and ), In International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
2015
[7] Data association for semantic world modeling from partial views (, and ), In International Journal of Robotics Research, volume 34, . [bibtex] [pdf]
2014
[6] Not Seeing is Also Believing: Combining Object and Metric Spatial Information (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[5] Tracking the Spin on a Ping Pong Ball with the Quaternion Bingham Filter ( and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[4] Interactive Bayesian Identification of Kinematic Mechanisms (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2013
[3] Constructing Semantic World Models from Partial Views (, and ), In Robotics: Science and Systems (RSS) Workshop on Robots in Clutter, . [bibtex] [pdf]
[2] Data association for semantic world modeling from partial views (, and ), In International Symposium of Robotics Research, . [bibtex] [pdf]
2012
[1] Collision-Free State Estimation (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]

Learning and Optimization

5 results
2016
[5] Optimization as Estimation with Gaussian Processes in Bandit Settings (, and ), In International Conference on Artificial Intelligence and Statistics (AISTATS), . [bibtex] [pdf]
[4] Global Continuous Optimization with Error Bound and Fast Convergence (, and ), In Journal of Artificial Intelligence Research (JAIR), volume 56, . [bibtex] [pdf]
[3] Deep Learning without Poor Local Minima (), In Advances in Neural Information Processing Systems (NIPS), . [bibtex] [pdf]
2015
[2] Bayesian optimization with exponential convergence (, and ), In Advances in Neural Information Processing Systems (NIPS), . [bibtex] [pdf]
[1] Generalizing over Uncertain Dynamics for Online Trajectory Generation (, , , and ), In International Symposium of Robotics Research (ISRR), . [bibtex] [pdf]

Reinforcement Learning

12 results
2015
[12] Symbol Acquisition for Probabilistic High-Level Planning (, and ), In Proceedings of the Twenty Fourth International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
2014
[11] Constructing Symbolic Representations for High-Level Planning (, and ), In Proceedings of the Twenty-Eighth Conference on Artificial Intelligence, . [bibtex] [pdf]
[10] Generalizing Policy Advice with Gaussian Process Bandits for Dynamic Skill Improvement ( and ), In Proceedings of the Twenty-Eighth Conference on Artificial Intelligence, . [bibtex] [pdf]
2012
[9] Transfer Learning by Discovering Latent Task Parametrizations ( and ), In NIPS 2012 Workshop on Bayesian Nonparametric Models for Reliable Planning And Decision-Making Under Uncertainty, . [bibtex] [pdf]
[8] Learning and Generalization of Complex Tasks from Unstructured Demonstrations (, , and ), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, . [bibtex] [pdf]
[7] Learning Parameterized Skills (, and ), In Proceedings of the Twenty Ninth International Conference on Machine Learning, . [bibtex] [pdf]
[6] Transfer in Reinforcement Learning via Shared Features (, and ), In Journal of Machine Learning Research, volume 13, . [bibtex] [pdf]
[5] Robot Learning from Demonstration by Constructing Skill Trees (, , and ), In International Journal of Robotics Research, volume 31, . [bibtex] [pdf]
2011
[4] TDγ: Re-evaluating Complex Backups in Temporal Difference Learning (, and ), In Advances in Neural Information Processing Systems 24, . [bibtex] [pdf]
[3] Autonomous Skill Acquisition on a Mobile Manipulator (, , and ), In Proceedings of the Twenty-Fifth Conference on Artificial Intelligence, . [bibtex] [pdf]
[2] Value Function Approximation in Reinforcement Learning using the Fourier Basis (, and ), In Proceedings of the Twenty-Fifth Conference on Artificial Intelligence, . [bibtex] [pdf]
2000
[1] Practical Reinforcement Learning ( and ), In International Conference on Machine Learning (ICML), . [bibtex] [pdf]

Manipulation Planning

Project page (DARRTH): click for more details (including videos)
Project page (Handey): click for more details (including videos) 5 results
2015
[5] Hierarchical planning for multi-contact non-prehensile manipulation (, and ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), . [bibtex] [pdf]
2013
[4] Object Placement as Inverse Motion Planning (, , and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
[3] A Hierarchical Approach to Manipulation with Diverse Actions (, and ), In IEEE Conference on Robotics and Automation (ICRA), . [bibtex] [pdf]
2012
[2] Manipulation with Multiple Action Types (, , and ), In International Symposium on Experimental Robotics, . [bibtex] [pdf]
1992
[1] HANDEY: A Robot Task Planner (, , and ), MIT Press, . [bibtex] [pdf]

Grasping

Project page (WRT Grasping): click for more details (including videos)
Project page (Grasping POMDPs): click for more details (including videos) 6 results
2011
[6] Efficient planning in non-Gaussian belief spaces and its application to robot grasping (, , and ), In International Symposium on Robotics Research (ISRR), . [bibtex] [pdf]
[5] Robust grasping under object pose uncertainty (, and ), In Autonomous Robots, volume 31, . [bibtex] [pdf]
2010
[4] Task-driven Tactile Exploration (, and ), In Robotics Science and Systems (RSS), . [bibtex] [pdf]
2008
[3] Robust Belief-Based Execution of Manipulation Programs (, and ), In Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), . [bibtex] [pdf]
2007
[2] Grasping POMDPs (, and ), In IEEE International Conference on Robotics and Automation, . [bibtex] [pdf]
2006
[1] Imitation Learning of Whole-Body Grasps ( and ), In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), . [bibtex] [pdf]

Multiagent Planning

15 results
2017
[15] Policy search for multi-robot coordination under uncertainty (, , , , and ), In The International Journal of Robotics Research, volume 35, . [bibtex] [pdf] [doi]
2015
[14] Policy Search for Multi-Robot Coordination under Uncertainty (, , , , and ), In Robotics: Science and Systems XI (RSS), . [bibtex] [pdf]
[13] Planning for Decentralized Control of Multiple Robots Under Uncertainty (, , , , and ), In Proceedings of the 2015 IEEE International Conference on Robotics and Automation, . [bibtex] [pdf]
2014
[12] Planning with Macro-Actions in Decentralized POMDPs (, and ), In Thirteenth International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-14), . [bibtex] [pdf]
[11] Exploiting Separability in Multi-Agent Planning with Continuous-State MDPs. (, , and ), In Thirteenth International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-14), . [bibtex] [pdf]
2013
[10] Optimally Solving Dec-POMDPs as Continuous-State MDPs (, , and ), In Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence, . [bibtex] [pdf]
[9] Producing Efficient Error-bounded Solutions for Transition Independent Decentralized MDPs (, , and ), In Proceedings of the Twelfth International Conference on Autonomous Agents and Multiagent Systems, . [bibtex] [pdf]
[8] Incremental Clustering and Expansion for Faster Optimal Planning in Decentralized POMDPs (, , and ), In Journal of Artificial Intelligence Research, volume 46, . [bibtex] [pdf]
2012
[7] Scaling Up Decentralized MDPs Through Heuristic Search (, and ), In Proceedings of the Twenty-Eighth Conference on Uncertainty in Artificial Intelligence, . [bibtex] [pdf]
[6] Tree-Based Solution Methods for Multiagent POMDPs with Delayed Communication ( and ), In Proceedings of the National Conference on Artificial Intelligence, . [bibtex] [pdf]
[5] Influence-Based Abstraction for Multiagent Systems ( and ), In Proceedings of the National Conference on Artificial Intelligence, . [bibtex] [pdf]
[4] Heuristic Search of Multiagent Influence Space ( and ), In Proceedings of The International Joint Conference on Autonomous Agents and Multi Agent Systems, . [bibtex] [pdf]
2011
[3] Scaling Up Optimal Heuristic Search in Dec-POMDPs via Incremental Expansion (, and ), In Proceedings of the International Joint Conference on Artificial Intelligence, . [bibtex] [pdf]
2004
[2] All learning is Local: Multi-agent Learning in Global Reward Games (, and ), In Advances in Neural Information Processing Systems 16 (Sebastian Thrun, Lawrence Saul, Bernhard Schölkopf, eds.), MIT Press, . [bibtex] [pdf]
2000
[1] Learning to Cooperate via Policy Search (, , and ), In Sixteenth Conference on Uncertainty in Artificial Intelligence (UAI-2000), . [bibtex] [pdf]

(PO)MDP

17 results
2017
[17] Policy search for multi-robot coordination under uncertainty (, , , , and ), In The International Journal of Robotics Research, volume 35, . [bibtex] [pdf] [doi]
2016
[16] Bounded Optimal Exploration in MDP (), In Proceedings of the 30th AAAI Conference on Artificial Intelligence (AAAI), . [bibtex] [pdf]
2015
[15] Policy Search for Multi-Robot Coordination under Uncertainty (, , , , and ), In Robotics: Science and Systems XI (RSS), . [bibtex] [pdf]
[14] Planning for Decentralized Control of Multiple Robots Under Uncertainty (, , , , and ), In Proceedings of the 2015 IEEE International Conference on Robotics and Automation, . [bibtex] [pdf]
2014
[13] Planning with Macro-Actions in Decentralized POMDPs (, and ), In Thirteenth International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-14), . [bibtex] [pdf]
[12] Exploiting Separability in Multi-Agent Planning with Continuous-State MDPs. (, , and ), In Thirteenth International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-14), . [bibtex] [pdf]
2013
[11] Optimally Solving Dec-POMDPs as Continuous-State MDPs (, , and ), In Proceedings of the Twenty-Third International Joint Conference on Artificial Intelligence, . [bibtex] [pdf]
[10] Producing Efficient Error-bounded Solutions for Transition Independent Decentralized MDPs (, , and ), In Proceedings of the Twelfth International Conference on Autonomous Agents and Multiagent Systems, . [bibtex] [pdf]
2012
[9] Diagnose and Decide: An Optimal Bayesian Approach ( and ), In Proceedings of the Workshop on Bayesian Optimization and Decision Making at NIPS 2012, . [bibtex] [pdf]
[8] Scaling Up Decentralized MDPs Through Heuristic Search (, and ), In Proceedings of the Twenty-Eighth Conference on Uncertainty in Artificial Intelligence, . [bibtex] [pdf]
2011
[7] Bayesian Policy Search with Policy Priors (, , , and ), In International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
[6] Scaling Up Optimal Heuristic Search in Dec-POMDPs via Incremental Expansion (, and ), In Proceedings of the International Joint Conference on Artificial Intelligence, . [bibtex] [pdf]
[5] DetH*: approximate Hierarchical Solution of Large Markov Decision Processes (, and ), In International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
2010
[4] Planning in partially observable switching-mode continuous domains (, , and ), In Annals of Mathematics and Artificial Intelligence, . [bibtex] [pdf]
2004
[3] Envelope-based Planning in Relational MDPs ( and ), In NIPS, volume 16, . [bibtex] [pdf]
[2] Approximate Planning in POMDPs with Macro-Actions ( and ), In Advances in Neural Information Processing Systems 16 (NIPS03), . [bibtex] [pdf]
2002
[1] Nearly deterministic abstractions of Markov decision processes ( and ), In 18th National Conference on Artificial Intelligence, . [bibtex] [pdf]

Object Recognition

4 results
2013
[4] Bingham Procrustean Alignment for Object Detection in Clutter ( and ), In IEEE/RSJ International Conference on Intelligent Robots and Systems, . [bibtex] [pdf]
2011
[3] Monte Carlo Pose Estimation with Quaternion Kernels and the Bingham Distribution (, and ), In Proceedings of Robotics: Science and Systems, . [bibtex] [pdf]
2009
[2] Learning to Generate Novel Views of Objects for Class Recognition. ( and ), In Computer Vision and Image Understanding, . [bibtex] [pdf]
2007
[1] Virtual Training for Multi-View Object Class Recognition. ( and ), In CVPR, . [bibtex] [pdf]

Game AI

2 results
2012
[2] POMCoP: Belief Space Planning for Sidekicks in Cooperative Games (, and ), In Proceedings of the 8th Annual AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, . [bibtex] [pdf]
2011
[1] CAPIR: Collaborative Action Planning with Intention Recognition (, , , , , and ), In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), . [bibtex] [pdf]

Transfer Learning

3 results
2007
[3] Efficient Bayesian Task-level Transfer Learning ( and ), In International Joint Conference on Artificial Intelligence (IJCAI), . [bibtex] [pdf]
[2] Learning Probabilistic Relational Dynamics for Multiple Tasks (, , and ), In Conference on Uncertainty in Artificial Intelligence (UAI), . [bibtex] [pdf]
2005
[1] Transfer Learning with an Ensemble of Background Tasks (, , and ), In NIPS Workshop on Inductive Transfer, . [bibtex] [pdf]

Computational Biology

4 results
2009
[4] Rotamer optimization for protein design through MAP estimation and problem-size reduction (, , and ), In J. Computational Chemistry, volume 30, . [bibtex] [pdf]
2006
[3] Protein side-chain placement through MAP estimation and problem-size reduction ( and ), In 6th Workshop on Algorithms in Bioinformatics(WABI), Springer, . [bibtex] [pdf]
2002
[2] De novo determination of peptide structure with solid-state magic-angle spinning NMR spectroscopy. (, , , , , , , and ), In Proceedings of the National Academy of Sciences, USA, volume 99, . [bibtex] [pdf]
1998
[1] AmbiPack: a systematic algorithm for packing of macromolecular structures with ambiguous distance constraints (, and ), In Proteins, volume 32, . [bibtex] [pdf]