Home/J. Andrew (Drew) Bagnell

J. Andrew (Drew) Bagnell

Associate Professor, RI
Email: bagnell2@andrew.cmu.edu
Office: NSH 3113
Personal Homepage
Administrative Assistant: Jessica Butterbaugh

I am interested in “closing the loop” on complex systems; that is, I am interested in designing algorithms that allow systems to observe their own operation and improve performance. My belief is that the border land between planning, control and computational learning is particularly rich with research challenges and potential to make real, immediate impact on applications. I’m particularly interested in systems for which we can obtain at best a partial model. To this end, I’m excited about extending research tools that come from information theory, statistics, control theory, statistical physics and optimization.

At the moment, I am particularly focused on two areas in machine learning. First I am working on applications of learning and decision making applied to mobile robotics. Second, I am interested in developing rich, structured probabilistic models that are appropriate for both making and learning decisions.

Publications

Gradient Boosting on Stochastic Data Streams
Hanzhang Hu, Wen Sun, Arun Venkatraman, Martial Hebert, J. Andrew Bagnell

International Conference on Artificial Intelligence and Statistics (AISTATS 2017) April, 2017

Deeply AggreVaTeD: Differentiable Imitation Learning for Sequential Prediction
Wen Sun, Arun Venkatraman, Geoffrey J. Gordon, Byron Boots, J. Andrew Bagnell

CMU-RI-TR-17-05 March, 2017

Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi, J. Andrew (Drew) Bagnell

International Symposium on Experimental Robotics October, 2016

A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell, Martial Hebert

European Conference on Computer Vision (ECCV) October, 2016

A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell, Martial Hebert

European Conference on Computer Vision (ECCV) October, 2016

Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi, J. Andrew (Drew) Bagnell

International Symposium on Experimental Robotics October, 2016

Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell, Martial Hebert

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) July, 2016

Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell, Martial Hebert

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) July, 2016

Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots, J. Andrew (Drew) Bagnell

25th International Joint Conference on Artificial Intelligence (IJCAI-16) July, 2016

Learning to Filter with Predictive State Inference Machines
Wen Sun, Arun Venkatraman, Byron Boots, and J. Andrew (Drew) Bagnell

International Conference on Machine Learning (ICML 2016) June, 2016

Learning to Smooth with Bidirectional Predictive State Inference Machines
Wen Sun, Roberto Capobianco, Geoffrey Gordon, J. Andrew (Drew) Bagnell, Byron Boots

The Conference on Uncertainty in Artificial Intelligence (UAI 2016) June, 2016

A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell, Matthew T. Mason

International Conference on Robotics and Automation (ICRA) 2016 May, 2016

Online Bellman Residual and Temporal Difference Algorithms with Predictive Error Guarantees
Wen Sun, J. Andrew (Drew) Bagnell

The 25th International Joint Conference on Artificial Intelligence - IJCAI 2016 April, 2016

Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots, J. Andrew (Drew) Bagnell

25th International Joint Conference on Artificial Intelligence (IJCAI-16) July, 2016

Robust Monocular Flight in Cluttered Outdoor Environments
Shreyansh Daftry, Sam Zeng, Arbaaz Khan, Debadeepta Dey, Narek Melik-Barkhudarov, J. Andrew (Drew) Bagnell, Martial Hebert

ArXiv April, 2016

Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping
John E. Downey, Jeffrey M. Weiss, Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, Martial Hebert, J. Andrew (Drew) Bagnell, Andrew B. Schwartz, Jennifer L. Collinger

Journal of Neuro Engineering and Rehabilitation March, 2016

Online Instrumental Variable Regression with Applications to Online Linear System Identification
Arun Venkatraman, Wen Sun, Martial Hebert, J. Andrew (Drew) Bagnell, Byron Boots

Thirtieth AAAI Conference on Artificial Intelligence (AAAI-16) February, 2016

Learning Positive Functions in a Hilbert Space
J. Andrew (Drew) Bagnell and Amir-massoud Farahmand

NIPS Workshop on Optimization, (OPT2015) December, 2015

Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Proceedings of Robotics: Science and Systems July, 2015

Online Bellman Residual Algorithms with Predictive Error Guarantees
Wen Sun and J. Andrew (Drew) Bagnell

The 31st Conference on Uncertainty in Artificial Intelligence (UAI) July, 2015

Vision and Learning for Deliberative Monocular Cluttered Flight
Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert and J. Andrew (Drew) Bagnell

Field and Service Robotics (FSR) June, 2015

Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew B. Schwartz, Jennifer L. Collinger and J. Andrew (Drew) Bagnell

Proceedings of Robotics: Science and Systems July, 2015

Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer and J. Andrew (Drew) Bagnell

Robotics Science and Systems July, 2015

Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

International Conference on Robotics and Automation (ICRA) May, 2015

Semi-Dense Visual Odometry for Monocular Navigation in Cluttered Environment
Shreyansh Daftry, Debadeepta Dey, Harsimrat Sandhawalia, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

IEEE International Conference on Robotics and Automation (ICRA) workshop on Recent Advances in Sensing and Actuation for Bioinspired Agile Flight May, 2015

Visual Chunking: A List Prediction Framework for Region-Based Object Detection
Nicholas Rhinehart, Jiaji Zhou, Martial Hebert and J. Andrew (Drew) Bagnell

IEEE International Conference on Robotics and Automation (ICRA) May, 2015

An Invitation to Imitation
J. Andrew (Drew) Bagnell

CMU-RI-TR-15-08 March, 2015

CHIMP, the CMU Highly Intelligent Mobile Platform
Anthony (Tony) Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois, J Michael Vandeweghe, Michael D. Wagner and Carl Wellington

Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC) March, 2015

A Unified View of Large-scale Zero-sum Equilibrium Computation
Kevin Waugh, J. Andrew (Drew) Bagnell

AAAI Workshop on Computer Poker and Imperfect Information March, 2015

Approximate MaxEnt Inverse Optimal Control and its Application for Mental Simulation of Human Interactions
De-An Huang, Amir-massoud Farahmand, Kris M. Kitani and J. Andrew (Drew) Bagnell

AAAI Conference on Artificial Intelligence January, 2015

Learning to Manipulate Unknown Objects in Clutter by Reinforcement
Abdeslam Boularias, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI) January, 2015

Improving Multi-step Prediction of Learned Time Series Models
Arun Venkatraman, Martial Hebert and J. Andrew (Drew) Bagnell

Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15) January, 2015

Submodular Surrogates for Value of Information
Yuxin Chen, Shervin Javdani, Amin Karbasi, J. Andrew (Drew) Bagnell, Siddhartha Srinivasa and Andreas Krause

The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15) January, 2015

Solving Games with Functional Regret Estimation
Kevin Waugh, Dustin Morrill, J. Andrew (Drew) Bagnell and Michael Bowling

AAAI Conference on Artificial Intelligence January, 2015

Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I June, 2008

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-05-25T09:27:51+00:00