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ORCIDNathan D. Ratliff
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2020 – today
- 2024
[c42]Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff:
Geometric Fabrics: a Safe Guiding Medium for Policy Learning. ICRA 2024: 6537-6543- [i37]Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff:
Geometric Fabrics: a Safe Guiding Medium for Policy Learning. CoRR abs/2405.02250 (2024) - [i36]Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk:
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics. CoRR abs/2407.02274 (2024) - 2023
- [c41]Weiming Zhi
, Iretiayo Akinola, Karl Van Wyk, Nathan D. Ratliff, Fabio Ramos:
Global and Reactive Motion Generation with Geometric Fabric Command Sequences. ICRA 2023: 939-945 - [c40]Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox:
CuRobo: Parallelized Collision-Free Robot Motion Generation. ICRA 2023: 8112-8119 - [i35]Nathan D. Ratliff, Karl Van Wyk:
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience. CoRR abs/2309.07368 (2023) - [i34]Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox:
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. CoRR abs/2310.17274 (2023) - 2022
- [j9]Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. IEEE Robotics Autom. Lett. 7(2): 3202-3209 (2022) - [c39]Mandy Xie, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan D. Ratliff, Karl Van Wyk:
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration. CoRL 2022: 1355-1367 - 2021
- [j8]Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff:
RMPflow: A Geometric Framework for Generation of Multitask Motion Policies. IEEE Trans Autom. Sci. Eng. 18(3): 968-987 (2021) - [c38]Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots:
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation. CoRL 2021: 750-759 - [c37]Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana:
Generalized Nonlinear and Finsler Geometry for Robotics. ICRA 2021: 10206-10212 - [c36]Muhammad Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan D. Ratliff:
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees. IROS 2021: 7792-7799 - [c35]Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots:
RMP2: A Structured Composable Policy Class for Robot Learning. Robotics: Science and Systems 2021 - [i33]Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots:
RMP2: A Structured Composable Policy Class for Robot Learning. CoRR abs/2103.05922 (2021) - [i32]Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots:
Fast Joint Space Model-Predictive Control for Reactive Manipulation. CoRR abs/2104.13542 (2021) - [i31]Mandy Xie, Anqi Li, Karl Van Wyk, Frank Dellaert, Byron Boots, Nathan D. Ratliff:
CoDE: Collocation for Demonstration Encoding. CoRR abs/2105.03019 (2021) - [i30]Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. CoRR abs/2109.10443 (2021) - 2020
- [j7]Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox:
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. IEEE Robotics Autom. Lett. 5(2): 2864-2871 (2020) - [c34]Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox:
Scaling Local Control to Large-Scale Topological Navigation. ICRA 2020: 672-678 - [c33]Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox:
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning. ICRA 2020: 7505-7512 - [c32]Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox:
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System. ICRA 2020: 9164-9170 - [c31]Adam Fishman, Chris Paxton, Wei Yang, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Collaborative Interaction Models for Optimized Human-Robot Teamwork. IROS 2020: 11221-11228 - [c30]Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan D. Ratliff:
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems. L4DC 2020: 630-639 - [c29]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. RO-MAN 2020: 547-552 - [i29]Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox:
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning. CoRR abs/2005.10872 (2020) - [i28]Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan D. Ratliff:
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems. CoRR abs/2005.13143 (2020) - [i27]Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox:
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. CoRR abs/2006.03106 (2020) - [i26]Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
An Interior Point Method Solving Motion Planning Problems with Narrow Passages. CoRR abs/2007.04842 (2020) - [i25]Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff:
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies. CoRR abs/2007.14256 (2020) - [i24]Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana:
Optimization Fabrics. CoRR abs/2008.02399 (2020) - [i23]Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana:
Generalized Nonlinear and Finsler Geometry for Robotics. CoRR abs/2010.14745 (2020) - [i22]Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Geometric Fabrics for the Acceleration-based Design of Robotic Motion. CoRR abs/2010.14750 (2020) - [i21]Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana:
Optimization Fabrics for Behavioral Design. CoRR abs/2010.15676 (2020) - [i20]Muhammad Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan D. Ratliff:
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees. CoRR abs/2012.13457 (2020)
2010 – 2019
- 2019
- [c28]Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRL 2019: 204-219 - [c27]Muhammad Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations. CoRL 2019: 1457-1468 - [c26]Ching-An Cheng, Xinyan Yan, Nathan D. Ratliff, Byron Boots:
Predictor-Corrector Policy Optimization. ICML 2019: 1151-1161 - [c25]Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox:
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. ICRA 2019: 3165-3171 - [c24]Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox:
Learning Latent Space Dynamics for Tactile Servoing. ICRA 2019: 3622-3628 - [c23]Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox:
Neural Autonomous Navigation with Riemannian Motion Policy. ICRA 2019: 8860-8866 - [c22]Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox:
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. ICRA 2019: 8973-8979 - [c21]Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox:
Robust Learning of Tactile Force Estimation through Robot Interaction. ICRA 2019: 9035-9042 - [c20]Chris Paxton, Nathan D. Ratliff, Clemens Eppner, Dieter Fox:
Representing Robot Task Plans as Robust Logical-Dynamical Systems. IROS 2019: 5588-5595 - [i19]Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox:
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. CoRR abs/1903.03699 (2019) - [i18]Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox:
Neural Autonomous Navigation with Riemannian Motion Policy. CoRR abs/1904.01762 (2019) - [i17]Chris Paxton, Nathan D. Ratliff, Clemens Eppner, Dieter Fox:
Representing Robot Task Plans as Robust Logical-Dynamical Systems. CoRR abs/1908.01896 (2019) - [i16]Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox:
Scaling Local Control to Large-Scale Topological Navigation. CoRR abs/1909.12329 (2019) - [i15]Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff:
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRR abs/1910.02646 (2019) - [i14]Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox:
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System. CoRR abs/1910.03135 (2019) - [i13]Adam Fishman, Chris Paxton, Wei Yang, Nathan D. Ratliff, Dieter Fox:
Trajectory Optimization for Coordinated Human-Robot Collaboration. CoRR abs/1910.04339 (2019) - 2018
- [j6]Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wuthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg:
Real-Time Perception Meets Reactive Motion Generation. IEEE Robotics Autom. Lett. 3(3): 1864-1871 (2018) - [c19]Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff:
RMPflow: A Computational Graph for Automatic Motion Policy Generation. WAFR 2018: 441-457 - [i12]Nathan D. Ratliff, Jan Issac, Daniel Kappler:
Riemannian Motion Policies. CoRR abs/1801.02854 (2018) - [i11]Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox:
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. CoRR abs/1810.05687 (2018) - [i10]Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox:
Robust Learning of Tactile Force Estimation through Robot Interaction. CoRR abs/1810.06187 (2018) - [i9]Ching-An Cheng, Xinyan Yan, Nathan D. Ratliff, Byron Boots:
Predictor-Corrector Policy Optimization. CoRR abs/1810.06509 (2018) - [i8]Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox:
Learning Latent Space Dynamics for Tactile Servoing. CoRR abs/1811.03704 (2018) - [i7]Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff:
RMPflow: A Computational Graph for Automatic Motion Policy Generation. CoRR abs/1811.07049 (2018) - 2017
- [j5]Alexander Broad, Jacob Arkin, Nathan D. Ratliff, Thomas M. Howard, Brenna D. Argall:
Real-time natural language corrections for assistive robotic manipulators. Int. J. Robotics Res. 36(5-7): 684-698 (2017) - [c18]Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal:
A new data source for inverse dynamics learning. IROS 2017: 4723-4730 - [i6]Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg:
Real-time Perception meets Reactive Motion Generation. CoRR abs/1703.03512 (2017) - [i5]Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal:
A New Data Source for Inverse Dynamics Learning. CoRR abs/1710.02513 (2017) - 2016
- [j4]Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal:
DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. Big Data 4(4): 253-268 (2016) - [c17]Jim Mainprice, Nathan D. Ratliff, Stefan Schaal:
Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks. IROS 2016: 3156-3163 - [c16]Franziska Meier, Daniel Kappler, Nathan D. Ratliff, Stefan Schaal:
Towards robust online inverse dynamics learning. IROS 2016: 4034-4039 - [i4]Nathan D. Ratliff, Marc Toussaint, Jeannette Bohg, Stefan Schaal:
On the Fundamental Importance of Gauss-Newton in Motion Optimization. CoRR abs/1605.09296 (2016) - [i3]Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal:
DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. CoRR abs/1608.00309 (2016) - 2015
- [c15]Nathan D. Ratliff, Marc Toussaint, Stefan Schaal:
Understanding the geometry of workspace obstacles in Motion Optimization. ICRA 2015: 4202-4209 - [c14]Andreas Doerr, Nathan D. Ratliff, Jeannette Bohg, Marc Toussaint, Stefan Schaal:
Direct Loss Minimization Inverse Optimal Control. Robotics: Science and Systems 2015 - [i2]Bharath Sankaran, Jeannette Bohg, Nathan D. Ratliff, Stefan Schaal:
Policy Learning with Hypothesis based Local Action Selection. CoRR abs/1503.06375 (2015) - 2014
- [c13]Marc Toussaint, Nathan D. Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, Stefan Schaal:
Dual execution of optimized contact interaction trajectories. IROS 2014: 47-54 - 2013
- [j3]Matthew Zucker, Nathan D. Ratliff, Anca D. Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher M. Dellin, J. Andrew Bagnell, Siddhartha S. Srinivasa:
CHOMP: Covariant Hamiltonian optimization for motion planning. Int. J. Robotics Res. 32(9-10): 1164-1193 (2013) - 2012
- [i1]Avleen Singh Bijral, Nathan D. Ratliff, Nathan Srebro:
Semi-supervised Learning with Density Based Distances. CoRR abs/1202.3702 (2012) - 2011
- [j2]Matthew Zucker, Nathan D. Ratliff, Martin Stolle, Joel E. Chestnutt, J. Andrew Bagnell, Christopher G. Atkeson, James Kuffner:
Optimization and learning for rough terrain legged locomotion. Int. J. Robotics Res. 30(2): 175-191 (2011) - [c12]Anca D. Dragan, Nathan D. Ratliff, Siddhartha S. Srinivasa:
Manipulation planning with goal sets using constrained trajectory optimization. ICRA 2011: 4582-4588 - [c11]Avleen Singh Bijral, Nathan D. Ratliff, Nathan Srebro:
Semi-supervised Learning with Density Based Distances. UAI 2011: 43-50
2000 – 2009
- 2009
- [j1]Nathan D. Ratliff, David Silver, J. Andrew Bagnell:
Learning to search: Functional gradient techniques for imitation learning. Auton. Robots 27(1): 25-53 (2009) - [c10]Nathan D. Ratliff, Matthew Zucker, J. Andrew Bagnell, Siddhartha S. Srinivasa:
CHOMP: Gradient optimization techniques for efficient motion planning. ICRA 2009: 489-494 - [c9]Young-Woo Seo, Nathan D. Ratliff, Chris Urmson:
Self-Supervised Aerial Image Analysis for Extracting Parking Lot Structure. IJCAI 2009: 1837-1842 - [c8]Brian D. Ziebart, Nathan D. Ratliff, Garratt Gallagher, Christoph Mertz, Kevin M. Peterson, James A. Bagnell, Martial Hebert, Anind K. Dey, Siddhartha S. Srinivasa:
Planning-based prediction for pedestrians. IROS 2009: 3931-3936 - [c7]Nathan D. Ratliff, Brian D. Ziebart, Kevin M. Peterson, J. Andrew Bagnell, Martial Hebert, Anind K. Dey, Siddhartha S. Srinivasa:
Inverse Optimal Heuristic Control for Imitation Learning. AISTATS 2009: 424-431 - 2008
- [c6]Rosen Diankov, Nathan D. Ratliff, Dave Ferguson, Siddhartha S. Srinivasa, James Kuffner:
BiSpace Planning: Concurrent Multi-Space Exploration. Robotics: Science and Systems 2008 - 2007
- [c5]Nathan D. Ratliff, James A. Bagnell, Siddhartha S. Srinivasa:
Imitation learning for locomotion and manipulation. Humanoids 2007: 392-397 - [c4]Nathan D. Ratliff, J. Andrew Bagnell:
Kernel Conjugate Gradient for Fast Kernel Machines. IJCAI 2007: 1017-1022 - [c3]Nathan D. Ratliff, J. Andrew Bagnell, Martin Zinkevich:
(Approximate) Subgradient Methods for Structured Prediction. AISTATS 2007: 380-387 - 2006
- [c2]Nathan D. Ratliff, J. Andrew Bagnell, Martin Zinkevich:
Maximum margin planning. ICML 2006: 729-736 - [c1]Nathan D. Ratliff, David M. Bradley, J. Andrew Bagnell, Joel E. Chestnutt:
Boosting Structured Prediction for Imitation Learning. NIPS 2006: 1153-1160
Coauthor Index
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