Aleksandra Faust - Publications

Journals

1. Srivatsan Krishnan, Max Lam, Sharad Chitlangia, Zishen Wan, Gabriel Barth-maron, Aleksandra Faust, Vijay Janapa Reddi, “QuaRL: Quantization for Fast and Environmentally Sustainable Reinforcement Learning,” Transactions of Machine Learning Research (TMLR), 2022.

2. Jack Parker-Holder, Raghu Rajan, Xingyou Song, André Biedenkapp, Yingjie Miao, Theresa Eimer, Baohe Zhang, Vu Nguyen, Roberto Calandra, Aleksandra Faust, Frank Hutter, Marius Lindauer, "Automated Reinforcement Learning (AutoRL): A Survey and Open Problems," JAIR 2022.

3. Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan, Bardienus Pieter Duisterhof, Brian Plancher, Kayvan Mansoorshahi, Marcelino Almeida, Aleksandra Faust, Vijay Janapa Reddi, "The Role of Compute in Autonomous Micro Aerial Vehicles: Optimizing for Flight Time and Energy Efficiency," ACM Transactions on Computer Systems (TOCS), 2022

4. Srivatsan Krishnan, Behzad Borojerdian, William Fu, Aleksandra Faust, Vijay Janapa Reddi, "Air Learning: a deep reinforcement learning gym for autonomous aerial robot visual navigation" Mach Learn 110, 2501–2540 (2021). https://doi.org/10.1007/s10994-021-06006-6

5 .Somil Bansal, Varun Tolani, Aleksandra Faust, Claire Tomlin, "Visual Navigation Among Humans with Optimal Control as a Supervisor," IEEE Robotics and Automation Letters (RA-L) / ICRA 2021, Website, Code. Press: VentureBeat, Techxplore.

6. Hao-Tien Lewis Chiang, John E. G. Baxter, Satomi Sugaya, Mohammad R. Yousefi, Aleksandra Faust, Lydia Tapia, "Fast Deep Swept Volume Estimator," The International Journal of Robotics Research (IJRR) 2020.

7. Anthony Francis, Aleksandra Faust, Hao-Tien Lewis Chiang, Jasmine Hsu, J. Chase Kew, Marek Fiser, Tsang-Wei Edward Lee, “Long-Range Indoor Navigation with PRM-RL,” T-RO 2020. (Citation, Arxiv, Video)

8. Srivatsan Krishnan, Zishen Wan, Kshitij Bhardwaj, Paul Whatmough, Aleksandra Faust, Gu-Yeon Wei, David Brooks, Vijay Janapa Reddi, "The Sky Is Not the Limit: A Visual Performance Model for Cyber-Physical Co-Design in Autonomous Machines", CAL 2020. (Best of CAL in 2020)

9. Hao-Tien Lewis Chiang, Jasmine Hsu, Marek Fiser, Lydia Tapia, Aleksandra Faust, “RL-RRT: End-to-End Kinodynamic Robot Motion Planning,” IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 4, pp. 4298-4305, Oct. 2019. #17 out of ~1600 most downloaded paper in Sep 2019. (Paper and citation, Video)

10. Hao-Tien Chiang*, Aleksandra Faust*, Marek Fiser, Antony Francis, “Learning Navigation Behaviors End to End with AutoRL,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2007-2014, April 2019. Blog, Press: [1], [2], [3], [4], [5], Mentioned in Jeff Dean's keynote, #1-2 (out of ~1600) most downloaded paper in Feb-Sep 2019. (Preprint, BibTex, Video)

11. Timothy J. Draelos, Matthew G. Peterson, Hunter A. Knox, Benjamin J. Lawry, Kristin E. Phillips‐Alonge, Abra E. Ziegler, Eric P. Chael, Christopher J. Young, Aleksandra Faust, "Dynamic Tuning of Seismic Signal Detector Trigger Levels for Local Networks," Bulletin of the Seismological Society of America, 2018 doi: https://doi.org/10.1785/0120170200 (BibTex)

12. Conrad D. James, James B. Aimone, Nadine E. Miner, Craig M. Vineyard, Fredrick H. Rothganger, Kristofor D. Carlson, Samuel A. Mulde, Timothy J. Draelos, Aleksandra Faust, Matthew J. Marinell, John H. Naegle, Steven J. Plimpton, "A historical survey of algorithms and hardware architectures for neural-inspired and neuromorphic computing applications," Biologically Inspired Cognitive Architectures, Available online, January 2017. http://dx.doi.org/10.1016/j.bica.2016.11.002 (Preprint, BibTex)

13. Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Aerial Suspended Cargo Delivery through Reinforcement Learning", Artificial Intelligence, Special Issue on AI and Robotics, Volume 247, 2017, Pages 381-398, ISSN 0004-3702, (BibTex, abstract, Video, Technical Report)

14. Aleksandra Faust, Peter Ruymgaart, Molly Salman, Rafael Fierro, Lydia Tapia, "Continuous Action Reinforcement Learning for Control-Affine Systems with Unknown Dynamics," Acta Automatica Sinica, Special Issue on Extensions of Reinforcement Learning and Adaptive Control, IEEE/CAA Journal of, Vol.1, No.3, pp. 323-336, July 2014. (BibTex, abstract, Video, Technical Report)

15. Nick Malone, Aleksandra Faust, Brandon Rohrer, Ron Lumia, John Wood, Lydia Tapia, "Efficient Motion-based Task Learning for a Serial Link Manipulator," Transactions on Control and Mechanical Systems, Vol. 3, No. 1, January 2014

Conferences

16. Srivatsan Krishnan, Zishen Wan, Kshitij Bhardwaj, Paul Whatmough, Aleksandra Faust, Sabrina Neuman, Gu-Yeon Wei, David Brooks, Vijay Janapa Reddi, “Automatic Domain-Specific SoC Design for Autonomous Unmanned Aerial Vehicles,” MICRO 2022, IEEE Micro Top Picks 2023 Honorable Mention

17. Yingjie Miao, Xingyou Song, John D Co-Reyes, Daiyi Peng, Summer Yue, Eugene Brevdo, Aleksandra Faust, "Differentiable Architecture Search for Reinforcement Learning" AutoML, 2022. (19% acceptance rate).

18. Sungryull Sohn, Hyunjae Woo, Jongwook Choi, lyubing Qiang, Izzeddin Gur, Aleksandra Faust, Honglak Lee, "Fast Inference and Transfer of Compositional Task Structures for Few-shot Task Generalization," Oral @ Uncertainty in Artificial Intelligence (UAI) 2022. (5% acceptance rate)

19. Sabrina M. Neuman, Brian Plancher, Bart Duisterhof, Srivatsan Krishnan, Colby Banbury, Mark Mazumder, Shvetank Prakash, Jason Jabbour, Aleksandra Faust, Guido de Croon, Vijay Janapa Reddi, "Tiny Robot Learning: Challenges and Directions for Machine Learning in Resource-Constrained Robots" IEEE AICAS special session on Low Power Autonomous Systems 2022.

20. Srivatsan Krishnan , Zishen Wan, Kshitij Bhardwaj, Ninad Jadhav,. Aleksandra Faust, Vijay Janapa Reddi, "Roofline Model for UAVs: A Visual Performance Model for Guiding Compute System Design in Autonomous Drones," IEEE International Symposium on Performance Analysis of Systems and Software (ISPASS), 2022

21. Su Wang, Ceslee Montgomery, Jordi Orbay, Vighnesh Birodkar, Aleksandra Faust, Izzeddin Gur, Natasha Jaques, Austin Waters, Jason Baldridge, Peter Anderson, "Less is More: Generating Grounded Navigation Instructions from Landmarks," CVPR 2022

22. Michael Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire Tomlin, Stefan Schaal, Aleksandra Faust, "Multi-Task Learning with Sequence-Conditioned Transporter Networks," ICRA 2022.

23. Marco Carmona, Dejan Milutinovic, Aleksandra Faust, "Metrics-only Training Neural Network for Switching among an Array of Feedback Controllers for Bicycle Model Navigation," American Controls Conference (ACC), 2022.

24. Izzeddin Gur, Natasha Jaques, Yingjie Miao, Jongwook Choi, Manoj Tiwari, Honglak Lee, Aleksandra Faust, "Environment Generation for Zero-Shot Compositional Reinforcement Learning," Advances in Neural Information Processing Systems (NeurIPS), 2021

25. Felipe Felix Arias, Brian Andrew Ichter, Aleksandra Faust, Nancy M. Amato, "Avoidance Critical Probabilistic Roadmaps for Motion Planning in Dynamic Environments," ICRA, 2021.

26. Bardienus P. Duisterhof, Srivatsan Krishnan, Jonathan J. Cruz, Colby R. Banbury, William Fu, Aleksandra Faust, Guido C. H. E. de Croon, Vijay Janapa Reddi, "Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter," ICRA, 2021.

27. John D. Co-Reyes, Yingjie Miao, Daiyi Peng, Esteban Real, Sergey Levine, Quoc Le, Honglak Lee, Aleksandra Faust, "Evolving Reinforcement Learning Algorithms," Oral at ICLR, 2021. (<2% acceptance rate, mentioned in Google AI Year in Review, Analytics India Magazine)

28. Rose E. Wang, J. Chase Kew, Dennis Lee, Brian Ichter, Tsang-Wei Edward, Lee, Tingnan Zhang, Jie Tan, Aleksandra Faust, "Model-based Reinforcement Learning for Multiagent Goal Alignment," CoRL 2020. 34% acceptance rate, Mentioned in Google AI Year in Review.

29. Yinlam Chow, Ofir Nachum, Aleksandra Faust, Mohammad Ghavamzadeh, Edgar Duenez-Guzman, "Safe Policy Learning for Continuous Control," CoRL 2020. 34% acceptance rate, Mentioned in Google AI Year in Review.

30. J. Chase Kew, Brian Ichter, Maryam Bandari, Tsang-Wei Edward Lee, Aleksandra Faust, "Neural Collision Clearance Estimator for Batched Robot Motion Planning," WAFR 2020. (Arxiv)

31. Brian Ichter, Edward Schmerling, Tsang-Wei Edward Lee, Aleksandra Faust, "Learned Critical Probabilistic Roadmaps for Robotic Motion Planning," ICRA 2020. (Video)

32. Xinlei Pan, Tingnan Zhang, Brian Ichter, Aleksandra Faust, Jie Tan, Sehoon Ha, "Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation," ICRA 2020.

33. Arpit Garg, Hao-Tien Lewis Chiang, Satomi Sugaya, Aleksandra Faust, Lydia Tapia, “Comparison of Deep Reinforcement Learning Policies to Formal Methods for Moving Obstacle Avoidance,” IROS 2019.

34. Izzeddin Gur, Ulrich Rueckert, Aleksandra Faust, Dilek Hakkani-Tur, "Learning to Navigate the Web," The Seventh International Conference on Machine Learning (ICLR), 2019. ZdNet article; Medium. Top 10%, 30% acceptance rate. (BibTex)

35. Hao-Tien Chiang, Aleksandra Faust, Satomi Sugaya and Lydia Tapia, "Fast Swept Volume Estimation with Deep Learning," The 13th International Workshop on the Algorithmic Foundations of Robotics (WAFR), December 2018. Mentioned in Looking Back at Google’s Research Efforts in 2018. (BibTex)

36. Aleksandra Faust, James B. Aimone, Conrad D. James, Lydia Tapia, “Resilient Computing with Reinforcement Learning on a Dynamical System: Case Study in Sorting,” 57th IEEE Conference on Decision and Control (CDC), December 2018. ZdNet Article. (Pdf, BibTex)

37. Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan, Wenzhi Cui, Aleksandra Faust, Vijay Janapa Reddi, “MAVBench: Micro Aerial Vehicle Benchmarking,” 51st IEEE/ACM International Symposium on Microarchitecture (MICRO), October 2018. 21% acceptance rate. (Pdf, BibTex, Video)

38. Aleksandra Faust, Oscar Ramirez, Marek Fiser, Kenneth Oslund, Anthony Francis, James Davidson, Lydia Tapia, “PRM-RL: Long-range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning”, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. Best paper in Service Robotics; Mentioned in Looking Back at Google’s Research Efforts in 2018. (pdf, Bibtex, Video)

39. Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley and Lydia Tapia, "Avoiding Moving Obstacles with Stochastic Hybrid Dynamics Using PEARL: PrEference Appraisal Reinforcement Learning," IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016 (pdf, BibTex, Video)

40. Aleksandra Faust, Nick Malone, Lydia Tapia, "Preference-balancing Motion Planning under Stochastic Disturbances," IEEE International Conference on Robotics and Automation (ICRA), Pages 3555-3562, Seattle, WA, May 2015. (pdf, BibTex, abstract, Video)

41. Rafael Figueroa, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "Reinforcement Learning for Balancing a Flying Inverted Pendulum," In Proc. The 11th World Congress on Intelligent Control and Automation, July 2014 (pdf, BibTex, abstract, Video)

42. Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load," IEEE International Conference on Robotics and Automation (ICRA), pages 4887–4894, Karlsruhe, Germany, May 2013. (Paper, Video, Matlab source code, presentation)

43. Ivana Palunko, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "A Reinforcement Learning Approach to Suspended Load Manipulation with Aerial Robots," IEEE International Conference on Robotics and Automation (ICRA), pages 4881-4886, Karlsruhe, Germany, May 2013. (Paper)

44. Peter B. Merkle, Antonio Gonzales, Aleksandra Faust, Kurt W. Larson, Jack C. Bartberger, Karl E. Horak, Manuel M. Trujillo, Nathan Reynolds Schanfein, Keith M. Tolk, Nairong Nancy Wang, “Reflective Particle Tag for Arms Control and Safeguards Authentication,” INMM Annual Conference, Tucson, AZ, July 2009.

Refereed workshops

45. Yiren Lu, Justin Fu, George Tucker, Xinlei Pan, Eli Bronstein, Becca Roelofs, Ben Sapp, Brandyn White, Aleksandra Faust, Shimon Whiteson, Drago Anguelov, Sergey Levine, “Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios.” ML4AD@NeurIPS 2022.

46. Srivatsan Krishnan, Natasha Jaques, Shayegan Omidshafiei, Dan Zhang, Izzeddin Gur, Vijay Janapa Reddi, Aleksandra Faust, “Multi-Agent Reinforcement Learning for Microprocessor Design Space Exploration,” MLSys@NeurIPS 2022. Oral.

47. Juan Jose Garau-Luis, Yingjie Miao, John D. Co-Reyes, Aaron Parisi, Jie Tan, Esteban Real, Aleksandra Faust, "Multi-Objective Evolution for Generalizable Policy Gradient Algorithms,"Generalizable Policy Learning in the Physical World Workshop @ ICLR 2022.

48. Izzeddin Gur, Ofir Nachum, Aleksandra Faust, "Targeted Environment Design from Offline Data," Deep RL @ NeurIPS, 2021

49. Sungryull Sohn, Hyunjae Woo, Jongwook Choi, Izzeddin Gur, Aleksandra Faust, Honglak Lee, Fast Inference and Transfer of Compositional Task Structure for Few-shot Task Generalization, Deep RL @ NeurIPS, 2021

50. Alberto Camacho, Izzeddin Gur, Marcin Lukasz Moczulski, Ofir Nachum, Aleksandra Faust, "SparseDice: Imitation Learning for Temporally Sparse Data via Regularization," Workshop on Unsupervised RL @ ICML, 2021

51. Dennis Lee, Natasha Jaques, J. Chase Kew, Douglas Eck, Dale Schuurmans, Aleksandra Faust, Joint Attention for Multi-Agent Coordination and Social Learning, Social Intelligence in Humans and Robots, ICRA (slides)

52. Sungryull Sohn, Hyunjae Woo, Jongwook Choi, Izzeddin Gur, Aleksandra Faust, Honglak Lee, Fast Inference and Transfer of Compositional Task Structure for Few-shot Task Generalization, Never-ending Reinforcement Learning @ ICLR, 2021

53. Maximilian Lam, Sharad Chitlangia, Srivatsan Krishnan, Zishen Wan, Gabe Barth-Maron, Aleksandra Faust, Vijay Japana Reddi, "ActorQ: Quantization for Actor-Learner Distributed Reinforcement Learning," Hardware Aware Efficient Training @ ICLR 2021

54. John D. Co-Reyes, Yingjie Miao, Daiyi Peng, Esteban Real, Sergey Levine, Quoc Le, Honglak Lee, Aleksandra Faust, "Evolving Reinforcement Learning Algorithms," DeepRL@NeurIPS, 2020.

55. Izzeddin Gur, Natasha Jaques, Kevin Malta, Manoj Tiwari, Honglak Lee, Aleksandra Faust, "Adversarial Environment Generation for Learning to Navigate the Web," DeepRL@NeurIPS 2020.

56. Somil Bansal, Varun Tolani, Aleksandra Faust, Claire Tomlin, "Visual Navigation Among Humans with Optimal Control as a Supervisor," 2020, Arxiv, Website, Code. Press: VentureBeat, Techxplore.

57. Srivatsan Krishnan, Colby Banbury, Bardienus Duisterhof, Aleksandra Faust, Vijay Janapa Reddi, "Air Learning: An End-to-end Learning Gym For Aerial Robots," MLSyS Demo Track, 2020 (36% acceptance rate).

58. Srivatsan Krishnan, Sharad Chitlangia, Maximilian Lam, Zishen Lam, Aleksandra Faust, Vijay Janapa Reddi, "Quantized Reinforcement Learning (QUARL)," 2020. 1st Workshop on Resource-Constrained Machine Learning. Medium. (Arxiv)

59. Aleksandra Faust, Anthony Francis, Dar Mehta, “Evolving Rewards to Automate Reinforcement Learning,” 6th AutoML@ICML, 2019 (Arxiv, BibTex) 58% acceptance rate, Mentioned in Jeff Dean's keynote.

60. Yinlam Chow, Ofir Nachum, Aleksandra Faust, Mohammad Ghavamzadeh, Edgar Duenez-Guzman, “Lyapunov-based Safe Policy Optimization for Continuous Control,” RL4RL@ICML 2019. Best paper award. (Arxiv)

61. Brian Ichter, Aleksandra Faust, “Learned Critical Probabilistic Roadmaps for Robotic Motion Planning,” Topological Methods in Robot Planning@ICRA 2019 (Paper)

62. Srivatsan Krishnan, Behzad Boroujerdian, Aleksandra Faust, Vijay Janapa Reddi, “Toward Exploring End-to-End Learning Algorithms for Autonomous Aerial Machines,” LLAF@ICRA 2019 (Paper)

63. Pararth Shah, Marek Fiser, Aleksandra Faust, J. Chase Kew, Dilek Hakkani-Tur, “FollowNet: Towards Robot Navigation by Following Natural Language Directions with Deep Reinforcement Learning,” Third Workshop in Machine Learning in the Planning and Control of Robot Motion (MLPC) at ICRA, May 2018 (Pdf, BibTex)

64. Hao-Tien Chiang, Aleksandra Faust, Lydia Tapia, “A Deep Neural Network for Swept Volume Prediction Between Configurations,” Third Workshop in Machine Learning in the Planning and Control of Robot Motion (MLPC) at ICRA, May 2018 (Pdf, Bibtex)

65. Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan, Aleksandra Faust, Vijay Janapa Reddi, "Why Compute Matters for UAV Energy Efficiency?," 2nd International Symposium on Aerial Robotics, 2018, (Pdf, BibTex)

66. Timothy Draelos, Matthew Peterson, Benjamin Lawry, Hunter Knox, Aleksandra Faust, Eric Chael, and Christopher Young, “Adaptive Self-Tuning Networks,” American Geophysical Union, San Francisco, December 2015

67. Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley and Lydia Tapia, "Dynamic Obstacle Avoidance with PEARL: PrEference Appraisal Reinforcement Learning," Second Annual Machine Learning in Planning and Control of Robot Motion Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, October 2015 (pdf)

68. Aleksandra Faust, Nick Malone, Lydia Tapia, "Planning Preference-balancing Motions with Stochastic Disturbances," Machine Learning in Planning and Control of Robot Motion Workshop, , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, September 2014 (pdf)

69. Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load in Obstacle-free Environments," Autonomous Learning workshop at IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013.

70. Nick Malone, Aleksandra Faust, Brandon Rohrer, John Wood, Lydia Tapia, "Efficient Motion-based Task Learning," Robot Motion Planning Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012. (pdf, BibTex, abstract, presentation)

Technical Reports

71. Izzeddin Gur, Ofir Nachum, Yingjie Miao, Mustafa Safdari, Austin Huang, Sharan Narang, Aakanksha Chowdhery, Noah Fiedel, Aleksandra Faust, Understanding HTML with Large Language Models, CoRR 2022.

72. Bardienus P. Duisterhof, Srivatsan Krishnan, Jonathan J. Cruz, Colby R. Banbury, William Fu, Aleksandra Faust, Guido C. H. E. de Croon, Vijay Janapa Reddi, "Learning to Seek: Autonomous Source Seeking with Deep Reinforcement Learning Onboard a Nano Drone Microcontroller", 2019. BitCraze blog. (Arxiv, Video, GitHub)

73. Aleksandra Faust, Hao-Tien Lewis Chiang, Lydia Tapia, "PEARL: PrEference Appraisal Reinforcement Learning for Motion Planning," 2018. (Pdf, Arxiv, Video)

74. Lazar Supic, Rawan Naous, Ranko Sredojevic, Aleksandra Faust, Vladimir Stojanovic, "MPDCompress - Matrix Permutation Decomposition Algorithm for Deep Neural Network Compression," 2018. (Pdf, Arxiv)