Nathan D. Ratliff

93 papers A* 19A 12B 1C 1Misc 5Journal 49Unranked 6

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	End-to-end RL Improves Dexterous Grasping Policies. CoRR Ritvik Singh, Karl Van Wyk, Pieter Abbeel, Jitendra Malik, Nathan D. Ratliff, Ankur Handa
2025	A	`conf`	Synthetica: Large Scale Synthetic Data Generation for Robot Perception. IROS Ritvik Singh, Jason Jingzhou Liu, Karl Van Wyk, Yu-Wei Chao, Jean-Francois Lafleche, Florian Shkurti, Nathan D. Ratliff, Ankur Handa
2024	Misc	`conf`	DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics. CoRL Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
2024	J	`jnl`	DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics. CoRR Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
2024	J	`jnl`	DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands. CoRR Ritvik Singh, Arthur Allshire, Ankur Handa, Nathan D. Ratliff, Karl Van Wyk
2024	A*	`conf`	Geometric Fabrics: a Safe Guiding Medium for Policy Learning. ICRA Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
2024	J	`jnl`	Geometric Fabrics: a Safe Guiding Medium for Policy Learning. CoRR Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
2024	J	`jnl`	Synthetica: Large Scale Synthetic Data for Robot Perception. CoRR Ritvik Singh, Jingzhou Liu, Karl Van Wyk, Yu-Wei Chao, Jean-Francois Lafleche, Florian Shkurti, Nathan D. Ratliff, Ankur Handa
2023	J	`jnl`	CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. CoRR 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
2023	A*	`conf`	CuRobo: Parallelized Collision-Free Robot Motion Generation. ICRA 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
2023	J	`jnl`	Fabrics: A Foundationally Stable Medium for Encoding Prior Experience. CoRR Nathan D. Ratliff, Karl Van Wyk
2023	A*	`conf`	Global and Reactive Motion Generation with Geometric Fabric Command Sequences. ICRA Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan D. Ratliff, Fabio Ramos
2022	J	`jnl`	Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. IEEE Robotics Autom. Lett. 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
2022	Misc	`conf`	Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration. CoRL Mandy Xie, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan D. Ratliff, Karl Van Wyk
2021	J	`jnl`	CoDE: Collocation for Demonstration Encoding. CoRR Mandy Xie, Anqi Li, Karl Van Wyk, Frank Dellaert, Byron Boots, Nathan D. Ratliff
2021	J	`jnl`	Fast Joint Space Model-Predictive Control for Reactive Manipulation. CoRR Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
2021	A*	`conf`	Generalized Nonlinear and Finsler Geometry for Robotics. ICRA Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana
2021	J	`jnl`	Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. CoRR 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
2021	—	`conf`	RMP2: A Structured Composable Policy Class for Robot Learning. Robotics: Science and Systems Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots
2021	J	`jnl`	RMP2: A Structured Composable Policy Class for Robot Learning. CoRR Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots
2021	J	`jnl`	RMPflow: A Geometric Framework for Generation of Multitask Motion Policies. IEEE Trans Autom. Sci. Eng. Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2021	Misc	`conf`	STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation. CoRL Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
2021	A	`conf`	Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees. IROS Muhammad Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan D. Ratliff
2020	B	`conf`	An Interior Point Method Solving Motion Planning Problems with Narrow Passages. RO-MAN Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal
2020	J	`jnl`	An Interior Point Method Solving Motion Planning Problems with Narrow Passages. CoRR Jim Mainprice, Nathan D. Ratliff, Marc Toussaint, Stefan Schaal
2020	A	`conf`	Collaborative Interaction Models for Optimized Human-Robot Teamwork. IROS Adam Fishman, Chris Paxton, Wei Yang, Dieter Fox, Byron Boots, Nathan D. Ratliff
2020	A*	`conf`	DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System. ICRA Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2020	—	`conf`	Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems. L4DC Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan D. Ratliff
2020	J	`jnl`	Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems. CoRR Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan D. Ratliff
2020	J	`jnl`	Generalized Nonlinear and Finsler Geometry for Robotics. CoRR Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana
2020	J	`jnl`	Geometric Fabrics for the Acceleration-based Design of Robotic Motion. CoRR Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan D. Ratliff
2020	A*	`conf`	Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning. ICRA Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox
2020	J	`jnl`	Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning. CoRR Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox
2020	J	`jnl`	Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. CoRR Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
2020	J	`jnl`	Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. IEEE Robotics Autom. Lett. Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
2020	J	`jnl`	Optimization Fabrics for Behavioral Design. CoRR Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana
2020	J	`jnl`	Optimization Fabrics. CoRR Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana
2020	J	`jnl`	RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies. CoRR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2020	A*	`conf`	Scaling Local Control to Large-Scale Topological Navigation. ICRA Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2020	J	`jnl`	Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees. CoRR Muhammad Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan D. Ratliff
2019	A*	`conf`	Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. ICRA Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2019	J	`jnl`	DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System. CoRR Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2019	A*	`conf`	Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. ICRA Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
2019	J	`jnl`	Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. CoRR Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
2019	A*	`conf`	Learning Latent Space Dynamics for Tactile Servoing. ICRA Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2019	Misc	`conf`	Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations. CoRL Muhammad Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	A*	`conf`	Neural Autonomous Navigation with Riemannian Motion Policy. ICRA Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019	J	`jnl`	Neural Autonomous Navigation with Riemannian Motion Policy. CoRR Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019	A*	`conf`	Predictor-Corrector Policy Optimization. ICML Ching-An Cheng, Xinyan Yan, Nathan D. Ratliff, Byron Boots
2019	A	`conf`	Representing Robot Task Plans as Robust Logical-Dynamical Systems. IROS Chris Paxton, Nathan D. Ratliff, Clemens Eppner, Dieter Fox
2019	J	`jnl`	Representing Robot Task Plans as Robust Logical-Dynamical Systems. CoRR Chris Paxton, Nathan D. Ratliff, Clemens Eppner, Dieter Fox
2019	Misc	`conf`	Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRL Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	J	`jnl`	Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRR Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	A*	`conf`	Robust Learning of Tactile Force Estimation through Robot Interaction. ICRA Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2019	J	`jnl`	Scaling Local Control to Large-Scale Topological Navigation. CoRR Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019	J	`jnl`	Trajectory Optimization for Coordinated Human-Robot Collaboration. CoRR Adam Fishman, Chris Paxton, Wei Yang, Nathan D. Ratliff, Dieter Fox
2018	J	`jnl`	Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. CoRR Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2018	J	`jnl`	Learning Latent Space Dynamics for Tactile Servoing. CoRR Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2018	J	`jnl`	Predictor-Corrector Policy Optimization. CoRR Ching-An Cheng, Xinyan Yan, Nathan D. Ratliff, Byron Boots
2018	C	`conf`	RMP WAFR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2018	J	`jnl`	RMPflow: A Computational Graph for Automatic Motion Policy Generation. CoRR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2018	J	`jnl`	Real-Time Perception Meets Reactive Motion Generation. IEEE Robotics Autom. Lett. Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wuthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg
2018	J	`jnl`	Riemannian Motion Policies. CoRR Nathan D. Ratliff, Jan Issac, Daniel Kappler
2018	J	`jnl`	Robust Learning of Tactile Force Estimation through Robot Interaction. CoRR Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2017	J	`jnl`	A New Data Source for Inverse Dynamics Learning. CoRR Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal
2017	A	`conf`	A new data source for inverse dynamics learning. IROS Daniel Kappler, Franziska Meier, Nathan D. Ratliff, Stefan Schaal
2017	J	`jnl`	Real-time Perception meets Reactive Motion Generation. CoRR Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan D. Ratliff, Jeannette Bohg
2017	J	`jnl`	Real-time natural language corrections for assistive robotic manipulators. Int. J. Robotics Res. Alexander Broad, Jacob Arkin, Nathan D. Ratliff, Thomas M. Howard, Brenna D. Argall
2016	J	`jnl`	DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. Big Data Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal
2016	J	`jnl`	DOOMED: Direct Online Optimization of Modeling Errors in Dynamics. CoRR Nathan D. Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal
2016	J	`jnl`	On the Fundamental Importance of Gauss-Newton in Motion Optimization. CoRR Nathan D. Ratliff, Marc Toussaint, Jeannette Bohg, Stefan Schaal
2016	A	`conf`	Towards robust online inverse dynamics learning. IROS Franziska Meier, Daniel Kappler, Nathan D. Ratliff, Stefan Schaal
2016	A	`conf`	Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks. IROS Jim Mainprice, Nathan D. Ratliff, Stefan Schaal
2015	—	`conf`	Direct Loss Minimization Inverse Optimal Control. Robotics: Science and Systems Andreas Doerr, Nathan D. Ratliff, Jeannette Bohg, Marc Toussaint, Stefan Schaal
2015	J	`jnl`	Policy Learning with Hypothesis based Local Action Selection. CoRR Bharath Sankaran, Jeannette Bohg, Nathan D. Ratliff, Stefan Schaal
2015	A*	`conf`	Understanding the geometry of workspace obstacles in Motion Optimization. ICRA Nathan D. Ratliff, Marc Toussaint, Stefan Schaal
2014	A	`conf`	Dual execution of optimized contact interaction trajectories. IROS Marc Toussaint, Nathan D. Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, Stefan Schaal
2013	J	`jnl`	CHOMP: Covariant Hamiltonian optimization for motion planning. Int. J. Robotics Res. Matthew Zucker, Nathan D. Ratliff, Anca D. Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher M. Dellin, J. Andrew Bagnell, Siddhartha S. Srinivasa
2012	J	`jnl`	Semi-supervised Learning with Density Based Distances CoRR Avleen Singh Bijral, Nathan D. Ratliff, Nathan Srebro
2011	A*	`conf`	Manipulation planning with goal sets using constrained trajectory optimization. ICRA Anca D. Dragan, Nathan D. Ratliff, Siddhartha S. Srinivasa
2011	J	`jnl`	Optimization and learning for rough terrain legged locomotion. Int. J. Robotics Res. Matthew Zucker, Nathan D. Ratliff, Martin Stolle, Joel E. Chestnutt, J. Andrew Bagnell, Christopher G. Atkeson, James Kuffner
2011	A	`conf`	Semi-supervised Learning with Density Based Distances. UAI Avleen Singh Bijral, Nathan D. Ratliff, Nathan Srebro
2009	A*	`conf`	CHOMP: Gradient optimization techniques for efficient motion planning. ICRA Nathan D. Ratliff, Matthew Zucker, J. Andrew Bagnell, Siddhartha S. Srinivasa
2009	A	`conf`	Inverse Optimal Heuristic Control for Imitation Learning. AISTATS Nathan D. Ratliff, Brian D. Ziebart, Kevin M. Peterson, J. Andrew Bagnell, Martial Hebert, Anind K. Dey, Siddhartha S. Srinivasa
2009	J	`jnl`	Learning to search: Functional gradient techniques for imitation learning. Auton. Robots Nathan D. Ratliff, David Silver, J. Andrew Bagnell
2009	A	`conf`	Planning-based prediction for pedestrians. IROS Brian D. Ziebart, Nathan D. Ratliff, Garratt Gallagher, Christoph Mertz, Kevin M. Peterson, James A. Bagnell, Martial Hebert, Anind K. Dey, Siddhartha S. Srinivasa
2009	A*	`conf`	Self-Supervised Aerial Image Analysis for Extracting Parking Lot Structure. IJCAI Young-Woo Seo, Nathan D. Ratliff, Chris Urmson
2008	—	`conf`	BiSpace Planning: Concurrent Multi-Space Exploration. Robotics: Science and Systems Rosen Diankov, Nathan D. Ratliff, Dave Ferguson, Siddhartha S. Srinivasa, James Kuffner
2007	A	`conf`	(Approximate) Subgradient Methods for Structured Prediction. AISTATS Nathan D. Ratliff, J. Andrew Bagnell, Martin Zinkevich
2007	—	`conf`	Imitation learning for locomotion and manipulation. Humanoids Nathan D. Ratliff, James A. Bagnell, Siddhartha S. Srinivasa
2007	A*	`conf`	Kernel Conjugate Gradient for Fast Kernel Machines. IJCAI Nathan D. Ratliff, J. Andrew Bagnell
2006	—	`conf`	Boosting Structured Prediction for Imitation Learning. NIPS Nathan D. Ratliff, David M. Bradley, J. Andrew Bagnell, Joel E. Chestnutt
2006	A*	`conf`	Maximum margin planning. ICML Nathan D. Ratliff, J. Andrew Bagnell, Martin Zinkevich