Events & News

May 2022 - New preprint on minimax optimal online imitation learning on ArXiv!

May 2022 - Our paper on causal imitation learning was accepted for oral presentation at ICML ‘22!

March 2022 - I’ll be spending the summer at MSR working with Geoff Gordon!

May 2021 - Our paper on a unifying framework, efficient reductions, and practical algorithms for imitation learning was accepted to ICML ‘21! Check out the website for videos+code. Also check out this blog post!


Research Highlights

Causal Imitation Learning under TCN

We use instrumental variable regression to derive imitation learning algorithms that are robust against temporally correlated noise both in theory and practice. Oral at ICML 2022. [Website][Paper]

Of Moments and Matching

We construct a taxonomy for imitation learning algorithms, derive bounds for each class, construct novel reduction-based algorithmic templates that achieve these bounds, and implement simple elegant realizations with competitive emperical performance. Published at ICML 2021. [Website][Blog]

Scaled Autonomy

As fleet sizes grow, it becomes difficult for a single teleoperator to supervise all robots. We learn from user preferences to make automated switches. Our work was published at ICRA 2020.

On the Utility of Model Learning in HRI

We compare three methods of modeling human driving behavior on their sample efficiency and transferability. Our work was published at HRI 2019.