Journal and Conference Papers

Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Pu Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, Lifeng Zhou, Kostas Bekris and Abdeslam Boularias. "Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs". In Proceedings of the 2023 Conference on Robot Learning (CORL), Atlanta, USA, 2023. [video][BibTex]

Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias and Kostas Bekris. "OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data". In Proceedings of the 2023 Conference on Robot Learning (CORL), Atlanta, USA, 2023. [video] [BibTex]

Xinyu Zhang and Abdeslam Boularias. "Optical Flow boosts Unsupervised Localization and Segmentation". In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, 2023. [BibTex]

Junchi Liang and Abdeslam Boularias. "Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs". In Proceedings of the 2023 International Conference on Robotics and Automation (ICRA), London, UK, 2023. [video][BibTex]

Haonan Chang, Dhruv Metha Ramesh, Shijie Geng, Yuqiu Gan and Abdeslam Boularias. "Mono-STAR: Mono-camera Scene-level Tracking and Reconstruction". In Proceedings of the 2023 International Conference on Robotics and Automation (ICRA), London, UK, 2023. [video][BibTex]

Shiyang Lu, Yunfu Deng, Abdeslam Boularias and Kostas Bekris. "Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos". In Proceedings of the 2023 International Conference on Robotics and Automation (ICRA), London, UK, 2023. [BibTex]

Liam Schramm, Yunfu Deng, Edgar Granados, and Abdeslam Boularias. "USHER: Unbiased Sampling for Hindsight Experience Replay". In Proceedings of the Conference on Robot Learning (CORL), Auckland, New Zealand, 2022. [Appendix][video] [BibTex]

Haonan Chang and Abdeslam Boularias. "Scene-level Tracking and Reconstruction without Object Priors". In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022. [video] [BibTex]

Baichuan Huang, Abdeslam Boularias and Jingjin Yu. "Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-horizon Episodic Robot Planning". In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022. [video] [BibTex]

Junchi Liang, Bowen Wen, Kostas E. Bekris and Abdeslam Boularias. "Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations". In Proceedings of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [video] [BibTex]

Edgar Granados, Abdeslam Boularias, Kostas E. Bekris, Mridul Aanjaneya. "Model Identification and Control of a Mobile Robot with Omnidirectional Wheels using Differentiable Physics". In Proceedings of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [video] [BibTex]

Liam Schramm and Abdeslam Boularias. "Learning-Guided Exploration for Efficient Sampling-Based Motion Planning in High Dimensions". In Proceedings of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [video] [BibTex]

Baichuan Huang, Teng Guo, Abdeslam Boularias and Jingjin Yu. "Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter". In Proceedings of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [video] [BibTex]

Baichuan Huang, Shuai D. Han, Jingjin Yu and Abdeslam Boularias. "Visual Foresight Tree for Object Retrieval from Clutter with Nonprehensile Rearrangement". In IEEE Robotics and Automation Letters (RA-L 2021), No. 21-110. [video] [BibTex]

Shuai D. Han, Baichuan Huang, Changkyu Song, Si Wei Feng, Ming Xu, Abdeslam Boularias and Jingjin Yu. "Toward Fully Automated Metal Recycling using Computer Vision and Non-Prehensile Manipulation". In Proceedings of the 17th IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, 2021. [video] [BibTex]

Andrew S Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron Dollar and Kostas Bekris. "Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks". In Proceedings of Robotics: Science and Systems (R:SS), virtual, 2021. [video] [BibTex]

Junchi Liang and Abdeslam Boularias. "Inferring Time-delayed Causal Relations in POMDPs from the Principle of Independence of Cause and Mechanism". In Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), Montreal, Canada, 2021. [video] [BibTex]

Junchi Liang and Abdeslam Boularias. "Self-Supervised Learning of Long-Horizon Manipulation Tasks with Finite-State Task Machines". In Proceedings of Machine Learning Research (PMLR). Presented at the Learning for Dynamics and Control Conference (L4DC) , ETH, Zurich, Switzerland, 2021. [video] [BibTex]

Juntao Tan, Changkyu Song and Abdeslam Boularias. "A Self-Supervised Learning System for Object Detection in Videos Using Random Walks on Graphs". In Proceedings of the 2021 International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021. [video] [BibTex]

Baichuan Huang, Shuai D. Han, Abdeslam Boularias and Jingjin Yu. "DIPN: Deep Interaction Prediction Network with Application to Clutter Removal". In Proceedings of the 2021 International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021. [video] [BibTex]

Changkyu Song and Abdeslam Boularias. "Learning to Slide Unknown Objects with Differentiable Physics Simulations". In Proceedings of Robotics: Science and Systems (R:SS), Corvallis, Oregon, 2020. [video] [BibTex]

Junchi Liang and Abdeslam Boularias. "Learning Transition Models with Time-delayed Causal Relations". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Nevada, US, 2020. [BibTex]

Changkyu Song and Abdeslam Boularias. "A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Nevada, US, 2020. [BibTex]

Chaitanya Mitash, Shome Rahul, Bowen Wen, Abdeslam Boularias and Kostas Bekris. "Task-driven Perception and Manipulation for Constrained Placement with No Shape Priors". In IEEE Robotics and Automation Letters (RA-L), and the IEEE International Conference on Intelligent Robots and Systems (IROS), Nevada, US, 2020. [BibTex]

Changkyu Song and Abdeslam Boularias. "Identifying Mechanical Models of Unknown Objects with Differentiable Physics Simulations". In Proceedings of Machine Learning Research (PMLR). Presented at the Learning for Dynamics and Control Conference (L4DC), Berkeley, California, 2020. [BibTex]

Avishai Sintov, Andrew Kimmel, Bowen Wen, Abdeslam Boularias and Kostas Bekris. "Tools for Data-driven Modeling of Within-Hand Manipulation with Underactuated Adaptive Hands". In Proceedings of Machine Learning Research (PMLR). Presented at the Learning for Dynamics and Control Conference (L4DC), Berkeley, California, 2020. [BibTex]

Liam Schramm, Avishai Sintov and Abdeslam Boularias. "Learning to Transfer Dynamic Models of Underactuated Soft Robotic Hands". In Proceedings of the 2020 International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [video] [BibTex]

Avishai Sintov, Andrew Kimmel, Kostas E. Bekris and Abdeslam Boularias. "Motion Planning with Competency-Aware Transition Models for Underactuated Adaptive Hands". In Proceedings of the 2020 International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [video] [BibTex]

Chaitanya Mitash, Bowen Wen, Kostas Bekris and Abdeslam Boularias. "Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects". In Proceedings of the Conference on Robot Learning (CoRL), Osaka, Japan, 2019. [video] [code] [BibTex]

Changkyu Song and Abdeslam Boularias. "Object Rearrangement with Nested Nonprehensile Manipulation Actions". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. [video] [BibTex]

Andrew Kimmel, Avishai Sintov, Juntao Tan, Bowen Wen, Abdeslam Boularias and Kostas E. Bekris. "Belief-Space Planning using Learned Models with Application to Underactuated Hands". In Proceedings of the International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, 2019. [video] [BibTex]

Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris. "Physics-based Scene-level Reasoning for Object Pose Estimation in Clutter". In the International Journal of Robotics Research (IJRR), May 2019. [video] [BibTex]

Rahul Shome, Wei Neo Tang, Changkyu Song, Chaitanya Mitash, Chris Kourtev, Jingjin Yu, Abdeslam Boularias, Kostas E. Bekris. "Towards Robust Product Packing with a Minimalistic End-Effector ". In Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. Nomination for Best Paper Award in Automation. http://robotpacking.org/. [video] [BibTex]

Jean-Philippe Mercier, Chaitanya Mitash, Philippe Giguere, Abdeslam Boularias. "Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images". In Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. [BibTex]

Avishai Sintov, Andrew Morgan, Andrew Kimmel, Aaron Dollar, Kostas Bekris, Abdeslam Boularias. "Learning a State Transition Model of an Underactuated Adaptive Hand". In IEEE Robotics and Automation Letters (RA-L 2019), Vol. 4, No. 2 , and presented at the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. [video] [BibTex]

Changkyu Song and Abdeslam Boularias. "Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning". In IEEE Robotics and Automation Letters (RA-L 2019), Vol. 4, No. 2 , and presented at the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. [video] [BibTex]

Shaojun Zhu, David Surovik, Kostas E. Bekris, Abdeslam Boularias. "Efficient Model Identification for Tensegrity Locomotion ". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [video] [BibTex]

Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris. "Robust 6D Object Pose Estimation with Stochastic Congruent Sets ". In Proceedings of The British Machine Vision Conference (BMVC), Newcastle, UK, 2018. [video] [Webpage] [BibTex]

Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias. "Fast Model Identification via Physics Engines for Improved Policy Search ". In Proceedings of the 27th International Joint Conference on Artificial Intelligence (IJCAI), Stockholm, Sweden, 2018. [video] [BibTex]

Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris. "Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search". In the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. [video] [BibTex]

Chaitanya Mitash, Kostas E. Bekris and Abdeslam Boularias. "A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [Webpage][video] [BibTex]

Zhikun Wang, Abdeslam Boularias, Katharina Mülling, Bernhard Schölkopf and Jan Peters."Anticipatory Action Selection for Human-Robot Table Tennis". In Artificial Intelligence, 2017. [BibTex]

Samory Kpotufe, Abdeslam Boularias, Thomas Schultz, and Kyoungok Kim. "Gradient Weights Improve Regression and Classification". In the Journal of Machine Learning Research (JMLR),17(22):1−34, 2016. [supplementary material (PDF)] [BibTex]

Abdeslam Boularias, Felix Duvallet, Jean Oh and Anthony Stentz. "Learning Qualitative Spatial Relations for Robotic Navigation". In Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI), Best paper track, New York, USA, 2016. [BibTex]

Jean Oh, Thomas Howard, Matthew Walter, Daniel Barber, Menglong Zhu, Sangdon Park, Arne Suppe, Luis Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Oscar Romero, Jerry Vinokrov, Terence Keegan, Robert Dean, Craig Lennon, Barry Bodt, Marshal Childers, Jianbo Shi, Kostas Daniilidis, Nicholas Roy, Christian Lebiere, Martial Hebert and Anthony Stentz. "Integrated Intelligence for Human-Robot Teams". In The International Symposium on Experimental Robotics (ISER), 2016. [BibTex]

Abdeslam Boularias, Felix Duvallet, Jean Oh and Anthony Stentz."Grounding Spatial Relations for Outdoor Robot Navigation". In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015. Best Cognitive Robotics Paper Award. [BibTex]

Abdeslam Boularias, J. Andrew Bagnell and Anthony Stentz."Learning to Manipulate Unknown Objects in Clutter by Reinforcement". In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, Texas, USA, 2015. [video][unedited videos of all the experiments] [BibTex]

Jean Oh, Arne Suppe, Felix Duvallet, Abdeslam Boularias, Jerry Vinokurov, Luis Navarro-Serment, Oscar Romero, Robert Dean, Christian Lebiere, Martial Hebert and Anthony Stentz. "Toward Mobile Robots Reasoning Like Humans". In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, Texas, USA, 2015. [video 1][video 2] [BibTex]

Abdeslam Boularias, J. Andrew Bagnell and Anthony Stentz. "Efficient Optimization for Autonomous Robotic Manipulation of Natural Objects". In Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence, Quebec City, Quebec, Canada, 2014. [video 1][video 2][unedited videos of all the experiments][supplementary material (PDF)][Data] [BibTex]

Claudio Persello, Abdeslam Boularias, Michele Dalponte, Terje Gobakken, Erik Naesset and Bernhard Schölkopf. "Cost-Sensitive Active Learning With Lookahead: Optimizing Field Surveys for Remote Sensing Data Classification". In IEEE Transactions on Geoscience and Remote Sensing 99: 1-13, 2014. [BibTex]

Katharina Mülling, Abdeslam Boularias, Betty Mohler, Bernhard Schölkopf and Jan Peters. "Learning Strategies in Table Tennis using Inverse Reinforcement Learning". In Biological Cybernetics 108(5): 603-619 , 2014. [BibTex]

Abdeslam Boularias and Brahim Chaib-draa. "Apprenticeship Learning with Few Examples". In Neurocomputing 104: 83-96, 2013. [BibTex]

Abdeslam Boularias, Oliver Kroemer and Jan Peters. "Algorithms for Learning Markov Field Policies". In Advances in Neural Information Processing Systems 26 (NIPS), Lake Tahoe, NV, USA, 2012. [poster (PDF)] [BibTex]

Samory Kpotufe and Abdeslam Boularias. "Gradient Weights help Nonparametric Regressors". In Advances in Neural Information Processing Systems 26 (NIPS), Lake Tahoe, NV, USA, 2012. [poster (PDF)] [BibTex]

Abdeslam Boularias, Oliver Kroemer and Jan Peters. "Structured Apprenticeship Learning". In Proceedings of the European Conference on Machine Learning (ECML), Bristol, UK, 2012. [BibTex]

Yu Nishiyama, Abdeslam Boularias, Arthur Gretton and Kenji Fukumizu. "Hilbert Space Embeddings of POMDPs". In Uncertainty in Artificial Intelligence (UAI), Catalina, CA, USA, 2012. [poster (PDF)] [BibTex]

Abdeslam Boularias, Oliver Kroemer and Jan Peters. "Learning Robot Grasping from 3-D Images with Markov Random Fields". In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011. [video] [BibTex]

Zhikun Wang, Abdeslam Boularias, Katharina Muelling and Jan Peters. "Balancing Safety and Exploitability in Opponent Modeling". In Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI), San Francisco, CA, USA, 2011. [BibTex]

Abdeslam Boularias, Jens Kober and Jan Peters. "Relative Entropy Inverse Reinforcement Learning". In Proceedings of the International Conference on Artificial Intelligence and Statistics (AISTATS), Fort Lauderdale, FL, USA, 2011. Volume 15 of JMLR: W&CP. [poster (PDF)] [BibTex]

Abdeslam Boularias and Brahim Chaib-draa. "Bootstrapping Apprenticeship Learning". In Advances in Neural Information Processing Systems 24 (NIPS), Vancouver, Canada, 2010. [poster (PDF)] [BibTex]

Abdeslam Boularias and Brahim Chaib-draa. "Apprenticeship Learning via Soft Local Homomorphisms". In Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, 2010. [BibTex]

Abdeslam Boularias and Brahim Chaib-draa. "Predictive Representations for Policy Gradient in POMDPs". In Proceedings of the Twenty-sixth International Conference on Machine Learning (ICML), Montreal, Canada, 2009. [poster (PDF)] [BibTex]

Abdeslam Boularias and Brahim Chaib-draa. "Exact Dynamic Programming for Decentralized POMDPs with Lossless Policy Compression". In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), Sydney, Australia, 2008. [poster (PDF)] [BibTex]

Abdeslam Boularias, Masoumeh Izadi and Brahim Chaib-draa. "Prediction-directed Compression of POMDPs". In Proceedings of the International Conference on Machine Learning and Applications (ICMLA), San Diego, CA, USA, 2008. [BibTex]

Abdeslam Boularias. "A Predictive Model for Imitation Learning in Partially Observable Environments". In Proceedings of the International Conference on Machine Learning and Applications (ICMLA), San Diego, CA, USA, 2008. [BibTex]

Abdeslam Boularias, Masoumeh Izadi and Brahim Chaib-draa. "State Space Compression with Predictive Representations". In Proceedings of 21st International Florida Artificial Intelligence Research Society Conference (FLAIRS), Coconut Grove, FL, USA, 2008. [BibTex]

Andriy Burkov, Abdeslam Boularias and Brahim Chaib-draa. "Competition and Coordination in Stochastic Games". In Proceedings of the 2007 Twentieth Canadian Conference on Artificial Intelligence (Canadian AI), Montreal, Canada, May 28-30, 2007. [BibTex]

Refereed Workshop Papers

Chaitanya Mitash, Bowen Wen, Kostas Bekris, and Abdeslam Boularias. "Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects". In In the RSS Pioneers Workshop, Robotics: Science and Systems (RSS), Freiburg, Germany, 2019.

Avishai Sintov, Andrew Kimmel, Abdeslam Boularias and Kostas Bekris. "Data-based Within-hand Manipulation of an Underactuated Adaptive Hand". In In the ICRA 2019 Workshop on Benchmarks for Robotic Manipulation.

Rahul Shome, Wei N. Tang, Chaitanya Mitash, Abdeslam Boularias, Jingjin Yu, and Kostas Bekris. "An Ecient Pipeline for Pick-and-Place Between Bins for Warehouse Automation". In the IROS 2018 Workshop on Robotics for logistics in warehouses and environments shared with humans.

Jean-Philippe Mercier, Chaitanya Mitash, Philippe Gigure and Abdeslam Boularias. "Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images". In the 4th International Workshop on Recovering 6D Object Pose. ECCV 2018.

Chaitanya Mitash, Abdeslam Boularias and Kostas E. Bekris. "Robust 6D Object Pose Estimation with Stochastic Congruent Sets". In the 4th International Workshop on Recovering 6D Object Pose. ECCV 2018.

Shaojun Zhu, David Surovik, Kostas E. Bekris and Abdeslam Boularias. " Information-Efficient Model Identification for Tensegrity Robot Locomotion ". In AAAI 2018 Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy (SIRLE), Stanford University, 2018.

Chaitanya Mitash, Kostas E. Bekris and Abdeslam Boularias. "Physics-aware Simulation and a Self-Supervised Learning System for Object Detection and Pose Estimation". In Proceedings of ICRA’17 Workshop on Warehouse Picking Automation, Singapore, 2017.

Shaojun Zhu and Abdeslam Boularias. "A Physically-grounded and Data-efficient Approach to Motion Prediction using Black-box Optimization". In Proceedings of NIPS 2016 Workshop on Bayesian Optimization and the NIPS 2016 Workshop on Intuitive Physics, Barcelona, Spain, 2016. [poster (PDF)]

Katharina Mülling, Abdeslam Boularias, Betty Mohler, Bernhard Schölkopf and Jan Peters. "Inverse Reinforcement Learning for Strategy Extraction". In Proceedings of ECML'13 Workshop on Machine Learning and Data Mining for Sports Analytics, Prague, Czech Republic, 2013.

Yu Nishiyama, Abdeslam Boularias, Arthur Gretton and Kenji Fukumizu. "Kernel Bellman Equations in POMDPs". In Proceedings of the Technical Committee on Infomation-Based Induction Sciences and Machine Learning (IBISML), Tokyo, Japan, 2012.

Abdeslam Boularias, Oliver Kroemer and Jan Peters. "Structured Apprenticeship Learning". In The 10th European Workshop on Reinforcement Learning (EWRL), Edinburgh, UK, 2012. [slides (PDF)]

Abdeslam Boularias, Hamid R. Chinaei and Brahim Chaib-draa. "Learning the Reward Model of Dialogue POMDPs". In NIPS'10 Workshop on Machine Learning for Assistive Technology (MLAT), Whistler, Canada, 2010.

Abdeslam Boularias and Brahim Chaib-draa. "Policy Transfer in Apprenticeship Learning". In NIPS'09 Workshop on Transfer Learning for Structured Data, Whistler, Canada, 2009.

Abdeslam Boularias and Brahim Chaib-draa. "Learning Probabilistic Models via Bayesian Inverse Planning". In NIPS'09 Workshop on Probabilistic Approaches for Robotics and Control, Whistler, Canada, 2009.

Abdeslam Boularias and Brahim Chaib-draa. "Planning in Decentralized POMDPs with Predictive Policy Representations". In Proceedings of ICAPS'08 Multiagent Planning Workshop (MASPLAN), Sydney, Australia, 2008.

Abdeslam Boularias and Brahim Chaib-draa. "Les Représentations Prédictives des États et des Politiques". In Actes des Quatrièmes Journées Francophones Modèles Formels de l'Interaction (MFI), Paris, France, May 30-June 1, 2007.

Thesis

Abdeslam Boularias. "Predictive Representations For Sequential Decision Making Under Uncertainty". PhD Thesis. July 2010. [slides (PDF)]