# Publications

## Preprints

#### A Regret Minimization Approach to Iterative Learning Control [ArXiv]

*Naman Agarwal, Elad Hazan, Anirudha Majumdar, and Karan Singh*

**Proceedings of the International Conference on Machine Learning (ICML), 2021 (accepted).**

* Authors listed alphabetically.

#### PAC-BUS: Meta-Learning Bounds via PAC-Bayes and Uniform Stability [ArXiv]

*Alec Farid and Anirudha Majumdar*

**Under Review.**

#### Generating Adversarial Disturbances for Controller Verification [ArXiv]

*Udaya Ghai*, David Snyder*, Anirudha Majumdar, and Elad Hazan*

**Proceedings of the Learning for Dynamics and Control (L4DC) conference, 2021 (accepted).**

(Oral presentation)

* Equal contribution

## Refereed conference and journal papers

#### [26] Deluca – A Differentiable Control Library: Environments, Methods, and Benchmarking [code] [.pdf]

*Paula Gradu*, John Hallman*, Daniel Suo*, Alex Yu, Naman Agarwal, Udaya Ghai, Karan Singh, Cyril Zhang, Anirudha Majumdar, Elad Hazan*

**Proceedings of the NeurIPS Workshop on Differentiable Computer Vision, Graphics, and Physics in Machine Learning, 2020.**

* Equal contribution

#### [25] LagNetViP: A Lagrangian Neural Network for Video Prediction [ArXiv]

*Christine Allen-Blanchette, Sushant Veer, Anirudha Majumdar, Naomi Ehrich Leonard*

**Proceedings of the AAAI Symposium on Physics Guided AI, 2020.**

#### [23] A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics [ArXiv]

*Anirudha Majumdar, Georgina Hall, and Amir Ali Ahmadi*

**Annual Review of Control, Robotics, and Autonomous Systems, Volume 3, May 2020.**

#### [22] Task-Driven Estimation and Control via Information Bottlenecks [ArXiv]

*Vincent Pacelli and Anirudha Majumdar*

**Proceedings of the International Conference on Robotics and Automation (ICRA), 2019.**

#### [21] PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments [pdf] [code] [talk video]

*Anirudha Majumdar and Maxwell Goldstein*

**Proceedings of the Conference on Robot Learning (CoRL), 2018.**

#### [20] DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization [ArXiv]

*Amir Ali Ahmadi and Anirudha Majumdar*

**SIAM Journal on Applied Algebra and Geometry (SIAGA), 2019.**

#### [19] A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms [ArXiv]

*Yin-Lam Chow, Sumeet Singh, Anirudha Majumdar, and Marco Pavone*

**IEEE Transactions on Automatic Control (TAC), 2018.**

#### [18] Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods [ArXiv]

*Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, and Marco Pavone*

**International Journal of Robotics Research (IJRR), 2018.**

#### [17] How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics [.pdf]

*Anirudha Majumdar and Marco Pavone*

**Proceedings of the International Symposium on Robotics Research (ISRR), 2017.**

#### [16] Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models [.pdf]

*Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, and Marco Pavone*

**Proceedings of Robotics: Science and Systems (RSS), 2017.**

#### [15] Funnel Libraries for Real-Time Robust Feedback Motion Planning [.pdf]

*Anirudha Majumdar and Russ Tedrake*

**International Journal of Robotics Research, ****36(8):947:982, July 2017.**

**Winner of the inaugural IJRR Paper of the Year Award (2017).**

#### [14] Robust Online Motion Planning via Contraction Theory and Convex Optimization [.pdf]

*Sumeet Singh, Anirudha Majumdar, Jean-Jacques Slotine, and Marco Pavone*

**Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.**

#### [13] Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming [.pdf]

*Hongkai Dai, Anirudha Majumdar, **and Russ Tedrake*

**Proceedings of the International Symposium on Robotics Research (ISRR), 2015.**

#### [12] Some Applications of Polynomial Optimization in Operations Research and Real-Time Decision Making [.pdf]

*Amir Ali Ahmadi and Anirudha Majumdar*

**Optimization Letters, 2015.**

#### [11] Control and Verification of High-Dimensional Systems with DSOS and SDSOS Programming [.pdf]

*Anirudha Majumdar, Amir Ali Ahmadi, **and Russ Tedrake*

**Proceedings of the 2014 Conference on Decision and Control (CDC), 2014.**

#### [10] DSOS and SDSOS Optimization: LP and SOCP-Based Alternatives to Sum of Squares Optimization [.pdf]

*Amir Ali Ahmadi and Anirudha Majumdar*

**Proceedings of the Conference on Information Sciences and Systems (CISS), 2014. (Invited Paper)**

#### [9] Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures [.pdf]

*Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake*

**International Journal of Robotics Research (IJRR), 33(9):1209:1230, August 2014.**

#### [8] Flying between Obstacles with an Autonomous Knife-edge Maneuver [.pdf]

*Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew Biewener, and Russ Tedrake*

**Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Video Submission, 2014.**

#### [7] Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures [.pdf]

*Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, **and Russ Tedrake*

**Proceedings of Robotics: Science and Systems (RSS), 2013.**

#### [6] Control Design Along Trajectories with Sums of Squares Programming [.pdf]

*Anirudha Majumdar, **Amir Ali Ahmadi, and Russ Tedrake*

**Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.**

**Winner of the Best Conference Paper Award.**

#### [5] Complexity of Ten Decision Problems in Continuous Time Dynamical Systems [.pdf]

*Amir Ali Ahmadi, Anirudha Majumdar, and Russ Tedrake*

**Proceedings of the 2013 American Control Conference (ACC), 2013.**

#### [4] Robust Online Motion Planning with Regions of Finite Time Invariance [.pdf]

*Anirudha Majumdar and Russ Tedrake*

**Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.**

#### [3] Algebraic Verification for Parameterized Motion Planning Libraries [.pdf]

*Anirudha Majumdar, Mark M. Tobenkin, and Russ Tedrake*

**Proceedings of the American Control Conference (ACC), 2012.**

#### [2] Safety Verification of Reactive Controllers for UAV Flight in Cluttered Environments Using Barrier Certificates [.pdf]

*Andrew J. Barry, Anirudha Majumdar, and Russ Tedrake*

**Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.**

#### [1] Characterization of Dynamic Behaviors in a Hexapod Robot [.pdf]

*Haldun Komsuoglu, Anirudha Majumdar, Yasemin O. Aydin, and Daniel E. Koditschek*

**Proceedings of the International Symposium on Experimental Robotics (ISER), 2010.**