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Majumdar, Anirudha

  1. Gemini Robotics: Bringing AI into the Physical World
    2025/03/25 by Gemini Robotics Team, Saminda Abeyruwan, Abeyruwan, Saminda +242 · 3 voices · 146 citations
    Computer Science · Engineering · Physics and Astronomy · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Space Science and Extraterrestrial Life #cs.RO
  2. Foundation Models in Robotics: Applications, Challenges, and the Future
    2023/12/13 by Roya Firoozi, Firoozi, Roya, Johnathan Tucker +27 · 59 citations
    Computer Science · #Advanced Neural Network Applications #Explainable Artificial Intelligence (XAI) #FOS: Computer and information sciences #Robotics (cs.RO) #Topic Modeling
  3. Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners
    2023/07/04 by Allen Z. Ren, Anushri Dixit, Ren, Allen Z. +25 · 51 citations
    Computer Science · #Topic Modeling #Natural Language Processing Techniques #Explainable Artificial Intelligence (XAI)
  4. Physically Grounded Vision-Language Models for Robotic Manipulation
    2023/09/05 by Jensen Gao, Bidipta Sarkar, Gao, Jensen +13 · 39 citations
    Computer Science · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #Domain Adaptation and Few-Shot Learning #FOS: Computer and information sciences #Multimodal Machine Learning Applications #Robotics (cs.RO) #Topic Modeling
  5. Diffusion Policy Policy Optimization
    2024/09/01 by Allen Z. Ren, Justin Lidard, Ren, Allen Z. +15 · 58 citations
    Social Sciences · #EU Law and Policy Analysis
  6. Funnel Libraries for Real-Time Robust Feedback Motion Planning
    2016/01/15 by Anirudha Majumdar, Russ Tedrake, Majumdar, Anirudha +1 · 10 citations
    Computer Science · Engineering · #Artificial Intelligence (cs.AI) #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  7. A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directions
    2024/12/07 by Ola Shorinwa, Zhiting Mei, Shorinwa, Ola +7 · 33 citations
    Computer Science · #Topic Modeling
  8. Explore until Confident: Efficient Exploration for Embodied Question Answering
    2024/03/23 by Allen Z. Ren, Ren, Allen Z., Jaden Clark +9 · 19 citations
    Computer Science · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Natural Language Processing Techniques #Robotics (cs.RO) #Speech and dialogue systems #Topic Modeling
  9. How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics
    2017/10/30 by Majumdar, Anirudha, Pavone, Marco · 8 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  10. DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization
    2017/06/08 by Ahmadi, Amir Ali, Majumdar, Anirudha · 7 citations
    #Data Structures and Algorithms (cs.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Machine Learning (stat.ML) #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
  11. PAC-Bayes Control: Learning Policies that Provably Generalize to Novel\n Environments
    2018/06/11 by Anirudha Majumdar, Alec Farid, Majumdar, Anirudha +3 · 4 citations
    Computer Science · #Reinforcement Learning in Robotics #Adversarial Robustness in Machine Learning #Machine Learning and Algorithms
  12. AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
    2023/02/09 by Allen Z. Ren, Hongkai Dai, Ren, Allen Z. +5 · 6 citations
    Computer Science · Engineering · #Reinforcement Learning in Robotics #Advanced Neural Network Applications #Robot Manipulation and Learning
  13. Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust
    2024/10/02 by Asher J. Hancock, Hancock, Asher J., Allen Z. Ren +3 · 11 citations
    Computer Science · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Multimodal Machine Learning Applications #Robotics (cs.RO)
  14. Failure Prediction with Statistical Guarantees for Vision-Based Robot Control
    2022/02/11 by Alec Farid, Farid, Alec, D. B. Snyder +5 · 4 citations
    Computer Science · #Adversarial Robustness in Machine Learning #FOS: Computer and information sciences #Machine Learning and Algorithms #Machine Learning and Data Classification #Robotics (cs.RO)
  15. Control Design along Trajectories with Sums of Squares Programming
    2012/10/02 by Majumdar, Anirudha, Ahmadi, Amir Ali, Tedrake, Russ · 2 citations
    #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  16. Generalization Bounds for Meta-Learning via PAC-Bayes and Uniform Stability
    2021/02/12 by Farid, Alec, Majumdar, Anirudha · 3 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning (stat.ML)
  17. A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics
    2019/08/14 by Anirudha Majumdar, Majumdar, Anirudha, Georgina Hall +3 · 3 citations
    Computer Science · Engineering · Mathematics · #Advanced Optimization Algorithms Research #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Machine Learning (cs.LG) #Optimization and Control (math.OC) #Robotics (cs.RO) #Sparse and Compressive Sensing Techniques #Stochastic Gradient Optimization Techniques #Systems and Control (eess.SY) #electronic engineering #information engineering
  18. Risk-sensitive Inverse Reinforcement Learning via Semi- and\n Non-Parametric Methods
    2017/11/27 by Sumeet Singh, Singh, Sumeet, Jonathan Lacotte +5 · 2 citations
    Engineering · #Traffic and Road Safety
  19. Reasoning about Uncertainty: Do Reasoning Models Know When They Don't Know?
    2025/06/22 by Mei, Zhiting, Zhang, Christina, Yin, Tenny +3 · 14 citations
    #Artificial Intelligence (cs.AI) #Computation and Language (cs.CL) #FOS: Computer and information sciences
  20. Probably Approximately Correct Vision-Based Planning using Motion Primitives
    2020/02/28 by Sushant Veer, Veer, Sushant, Anirudha Majumdar +1 · 2 citations
    Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Machine Learning (cs.LG) #Machine Learning and Algorithms #Optimization and Control (math.OC) #Reinforcement Learning in Robotics #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #electronic engineering #information engineering
  21. Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning
    2020/06/01 by Sonar, Anoopkumar, Pacelli, Vincent, Majumdar, Anirudha · 2 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning (stat.ML) #Robotics (cs.RO)
  22. Distributionally Robust Policy Learning via Adversarial Environment Generation
    2021/07/13 by Allen Z. Ren, Ren, Allen Z., Anirudha Majumdar +1 · 2 citations
    Computer Science · #Generative Adversarial Networks and Image Synthesis #Adversarial Robustness in Machine Learning #Advanced Neural Network Applications
  23. LagNetViP: A Lagrangian Neural Network for Video Prediction
    2020/10/24 by Christine Allen-Blanchette, Allen-Blanchette, Christine, Sushant Veer +5 · 2 citations
    Computer Science · Physics and Astronomy · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Generative Adversarial Networks and Image Synthesis #Human Pose and Action Recognition #Machine Learning (cs.LG) #Model Reduction and Neural Networks
  24. Generating Robot Constitutions & Benchmarks for Semantic Safety
    2025/03/11 by Pierre Sermanet, Anirudha Majumdar, Sermanet, Pierre +7 · 7 citations
    Computer Science · Engineering · #Software Testing and Debugging Techniques #Safety Systems Engineering in Autonomy #Robotics and Automated Systems
  25. Leveraging Language for Accelerated Learning of Tool Manipulation
    2022/06/27 by Allen Z. Ren, Ren, Allen Z., Bharat Govil +7 · 2 citations
    Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO) #Software Engineering Research
  26. FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors
    2022/10/12 by Simon, Nathaniel, Ren, Allen Z., Piqué, Alexander +4 · 2 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  27. Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures
    2013/05/31 by Anirudha Majumdar, Majumdar, Anirudha, Ram Vasudevan +5 · 1 citation
    Engineering · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
  28. Some Applications of Polynomial Optimization in Operations Research and\n Real-Time Decision Making
    2015/04/22 by Amir Ali Ahmadi, Anirudha Majumdar, Ahmadi, Amir Ali +1 · 1 citation
    Computer Science · Engineering · #Advanced Manufacturing and Logistics Optimization #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Formal Methods in Verification #Optimization and Control (math.OC) #Real-Time Systems Scheduling #Robotic Path Planning Algorithms #Robotics (cs.RO) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
  29. Predictive Red Teaming: Breaking Policies Without Breaking Robots
    2025/02/10 by Anirudha Majumdar, Majumdar, Anirudha, Mohit Sharma +9 · 5 citations
    Social Sciences · #Artificial Intelligence (cs.AI) #Ethics and Social Impacts of AI #FOS: Computer and information sciences #FOS: Electrical engineering #Machine Learning (cs.LG) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  30. A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms
    2017/03/03 by Sumeet Singh, Yinlam Chow, Singh, Sumeet +5 · 1 citation
    Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Fault Detection and Control Systems #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
  31. Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping
    2025/03/14 by David Snyder, Snyder, David, Asher J. Hancock +14 · 5 citations
    Engineering · Computer Science · Neuroscience · #Robot Manipulation and Learning #Reinforcement Learning in Robotics #Motor Control and Adaptation
  32. MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction
    2023/11/23 by Nathaniel Simon, Simon, Nathaniel, Anirudha Majumdar +1 · 2 citations
    Computer Science · Engineering · #Advanced Vision and Imaging #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization
  33. PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction
    2023/12/07 by Apoorva Sharma, Sushant Veer, Sharma, Apoorva +9 · 2 citations
    Computer Science · #Explainable Artificial Intelligence (XAI) #Machine Learning and Data Classification #Domain Adaptation and Few-Shot Learning
  34. Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
    2025/10/02 by Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan +267 · 14 citations
    Computer Science · Engineering · #AI-based Problem Solving and Planning #Modular Robots and Swarm Intelligence #Robot Manipulation and Learning
  35. Task-Driven Estimation and Control via Information Bottlenecks
    2018/09/20 by Pacelli, Vincent, Majumdar, Anirudha · 1 citation
    #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  36. Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception
    2024/03/13 by Zhiting Mei, Anushri Dixit, Mei, Zhiting +11 · 2 citations
    Decision Sciences · #Advanced Statistical Process Monitoring #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  37. Learning Task-Driven Control Policies via Information Bottlenecks
    2020/02/04 by Pacelli, Vincent, Majumdar, Anirudha · 1 citation
    #FOS: Computer and information sciences #FOS: Mathematics #Machine Learning (cs.LG) #Machine Learning (stat.ML) #Optimization and Control (math.OC) #Robotics (cs.RO)
  38. Complexity of Ten Decision Problems in Continuous Time Dynamical Systems
    2012/10/28 by Amir Ali Ahmadi, Anirudha Majumdar, Ahmadi, Amir Ali +3 · 1 citation
    Engineering · Computer Science · #Control and Stability of Dynamical Systems #Robotic Path Planning Algorithms #Control and Dynamics of Mobile Robots
  39. Task-Driven Detection of Distribution Shifts with Statistical Guarantees for Robot Learning
    2021/06/25 by Alec Farid, Sushant Veer, Farid, Alec +5 · 2 citations
    Computer Science · Engineering · #Applications (stat.AP) #Control Systems and Identification #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning and Algorithms #Reinforcement Learning in Robotics #Robotics (cs.RO)
  40. Learning Provably Robust Motion Planners Using Funnel Libraries
    2021/11/16 by Gurgen, Ali Ekin, Majumdar, Anirudha, Veer, Sushant · 1 citation
    #FOS: Computer and information sciences #FOS: Electrical engineering #Machine Learning (cs.LG) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  41. Actions as Language: Fine-Tuning VLMs into VLAs Without Catastrophic Forgetting
    2025/09/26 by Hancock, Asher J., Wu, Xindi, Zha, Lihan +2 · 8 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  42. Fundamental Limits for Sensor-Based Robot Control
    2022/01/31 by Majumdar, Anirudha, Mei, Zhiting, Pacelli, Vincent · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #FOS: Mathematics #Information Theory (cs.IT) #Machine Learning (cs.LG) #Optimization and Control (math.OC) #Robotics (cs.RO)
  43. SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps
    2025/02/10 by Ola Shorinwa, Jiankai Sun, Shorinwa, Ola +5 · 4 citations
    Computer Science · #Computer Vision and Pattern Recognition (cs.CV) #Data Management and Algorithms #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Robotics (cs.RO)
  44. VERDI: VLM-Embedded Reasoning for Autonomous Driving
    2025/05/21 by Bowen Feng, Feng, Bowen, Zhiting Mei +11 · 3 citations
    Computer Science · #Semantic Web and Ontologies #Formal Methods in Verification #Constraint Satisfaction and Optimization
  45. Guiding Data Collection via Factored Scaling Curves
    2025/05/12 by Zha, Lihan, Badithela, Apurva, Zhang, Michael +7 · 4 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  46. Online Learning for Obstacle Avoidance
    2023/06/14 by Snyder, David, Booker, Meghan, Simon, Nathaniel +4 · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  47. WoMAP: World Models For Embodied Open-Vocabulary Object Localization
    2025/06/02 by Yin, Tenny, Zhiting Mei, Mei, Zhiting +13 · 3 citations
    Computer Science · #Natural Language Processing Techniques #Speech and dialogue systems #Topic Modeling
  48. Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction
    2024/03/23 by Lidard, Justin, Pham, Hang, Bachman, Ariel +2 · 1 citation
    #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  49. Can AI Perceive Physical Danger and Intervene?
    2025/09/25 by Jindal, Abhishek, Kalashnikov, Dmitry, Hofer, R. Alex +5 · 2 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences
  50. Thinking Forward and Backward: Effective Backward Planning with Large Language Models
    2024/11/04 by Allen Z. Ren, Brian Ichter, Ren, Allen Z. +3 · 1 citation
    Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Natural Language Processing Techniques
  51. A Regret Minimization Approach to Iterative Learning Control
    2021/02/26 by Naman Agarwal, Elad Hazan, Agarwal, Naman +5 · 2 citations
    Engineering · #Iterative Learning Control Systems #Advanced Control Systems Optimization