publications

2021

1. Conservative Safety Critics for Exploration Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, and Animesh Garg In International Conference on Learning Representations (ICLR) 2021 [pdf] [bibtex]

   @inproceedings{csc_homanga, title = {Conservative Safety Critics for Exploration}, author = {Bharadhwaj, Homanga and Kumar, Aviral and Rhinehart, Nicholas and Levine, Sergey and Shkurti, Florian and Garg, Animesh}, year = {2021}, booktitle = {International Conference on Learning Representations (ICLR)}, html = {https://arxiv.org/abs/2010.14497} }

2. gradSim: Differentiable simulation for system identification and visuomotor control Krishna Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jerome Parent-Levesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Sanja Fidler, and Derek Nowrouzezahrai In International Conference on Learning Representations (ICLR) 2021 [pdf] [bibtex]

   @inproceedings{gradsim, title = {gradSim: Differentiable simulation for system identification and visuomotor control }, author = {Jatavallabhula, Krishna and Macklin, Miles and Golemo, Florian and Voleti, Vikram and Petrini, Linda and Weiss, Martin and Considine, Breandan and Parent-Levesque, Jerome and Xie, Kevin and Erleben, Kenny and Paull, Liam and Shkurti, Florian and Fidler, Sanja and Nowrouzezahrai, Derek}, year = {2021}, booktitle = {International Conference on Learning Representations (ICLR)}, html = {https://openreview.net/forum?id=c_E8kFWfhp0} }

3. Skill Transfer via Partially Amortized Hierarchical Planning Kevin Xie, Homanga Bharadhwaj, Danijar Hafner, Animesh Garg, and Florian Shkurti In International Conference on Learning Representations (ICLR) 2021 [pdf] [bibtex]

   @inproceedings{transferable_skills_kevin, title = {Skill Transfer via Partially Amortized Hierarchical Planning}, author = {Xie, Kevin and Bharadhwaj, Homanga and Hafner, Danijar and Garg, Animesh and Shkurti, Florian}, year = {2021}, booktitle = {International Conference on Learning Representations (ICLR)}, html = {https://openreview.net/forum?id=jXe91kq3jAq} }

4. DIBS: Diversity-Inducing Information Bottleneck in Model Ensembles Samarth Sinha, Homanga Bharadhwaj, Anirudh Goyal, Hugo Larochelle, Animesh Garg, and Florian Shkurti In Association for the Advancement of Artificial Intelligence (AAAI) 2021 [pdf] [bibtex]

   @inproceedings{sinha2020dibs, title = {DIBS: Diversity-Inducing Information Bottleneck in Model Ensembles}, author = {Sinha, Samarth and Bharadhwaj, Homanga and Goyal, Anirudh and Larochelle, Hugo and Garg, Animesh and Shkurti, Florian}, year = {2021}, booktitle = {Association for the Advancement of Artificial Intelligence (AAAI)}, html = {https://arxiv.org/abs/2003.04514} }

5. LEAF: Latent Exploration Along the Frontier Homanga Bharadhwaj, Animesh Garg, and Florian Shkurti In IEEE International Conference on Robotics and Automation (ICRA) 2021 [pdf] [bibtex] [project]

   @inproceedings{bharadhwaj2020leaf, title = {LEAF: Latent Exploration Along the Frontier}, author = {Bharadhwaj, Homanga and Garg, Animesh and Shkurti, Florian}, year = {2021}, eprint = {2005.10934}, archiveprefix = {arXiv}, primaryclass = {cs.RO}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, project = {https://sites.google.com/view/leaf-exploration} }

6. Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations using Generative Models Yuchen Wu, Melissa Mozifian, and Florian Shkurti In IEEE International Conference on Robotics and Automation (ICRA) 2021 [pdf] [bibtex]

   @inproceedings{yuchen_wu_il_rl, title = {Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations using Generative Models}, author = {Wu, Yuchen and Mozifian, Melissa and Shkurti, Florian}, year = {2021}, eprint = {2011.01298}, archiveprefix = {arXiv}, primaryclass = {cs.RO}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)} }

7. Continual Model-Based Reinforcement Learning with Hypernetworks Yizhou Huang, Kevin Xie, Homanga Bharadhwaj, and Florian Shkurti In IEEE International Conference on Robotics and Automation (ICRA) 2021 [pdf] [bibtex]

   @inproceedings{hypercrl, title = {Continual Model-Based Reinforcement Learning with Hypernetworks}, author = {Huang, Yizhou and Xie, Kevin and Bharadhwaj, Homanga and Shkurti, Florian}, year = {2021}, eprint = {2009.11997}, archiveprefix = {arXiv}, primaryclass = {cs.RO}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)} }

8. LOHO: Latent Optimization of Hairstyles via Orthogonalization Rohit Saha, Brendan Duke, Florian Shkurti, Graham Taylor, and Parham Aarabi In Computer Vision and Pattern Recognition (CVPR) 2021 [pdf] [bibtex]

   @inproceedings{loho, title = {LOHO: Latent Optimization of Hairstyles via Orthogonalization}, author = {Saha, Rohit and Duke, Brendan and Shkurti, Florian and Taylor, Graham and Aarabi, Parham}, year = {2021}, eprint = {2103.03891}, archiveprefix = {arXiv}, primaryclass = {cs.CV}, booktitle = {Computer Vision and Pattern Recognition (CVPR)} }

2020

1. One-Shot Informed Robotic Visual Search in the Wild Karim Koreitem, Florian Shkurti, Travis Manderson, Wei-Di Chang, Juan Camilo Gamboa Higuera, and Gregory Dudek In IEEE International Conference on Intelligent Robots and Systems (IROS) 2020 [pdf] [bibtex] [code]

   @inproceedings{koreitem2020oneshot, title = {One-Shot Informed Robotic Visual Search in the Wild}, author = {Koreitem, Karim and Shkurti, Florian and Manderson, Travis and Chang, Wei-Di and Higuera, Juan Camilo Gamboa and Dudek, Gregory}, year = {2020}, eprint = {2003.10010}, archiveprefix = {arXiv}, primaryclass = {cs.RO}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, code = {https://github.com/rvl-lab-utoronto/visual_search_in_the_wild} }

2. Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger, and Gregory Dudek In Robotics: Science and Systems (RSS) 2020 [pdf] [bibtex] [video] [project]

   @inproceedings{Manderson-RSS-20, author = {Manderson, Travis and Higuera, Juan Camilo Gamboa and Wapnick, Stefan and Tremblay, Jean-François and Shkurti, Florian and Meger, David and Dudek, Gregory}, title = {{Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles}}, booktitle = {Robotics: Science and Systems (RSS)}, year = {2020}, address = {Corvalis, Oregon, USA}, month = jul, doi = {10.15607/RSS.2020.XVI.048}, html = {http://www.roboticsproceedings.org/rss16/p048.html}, video = {https://www.youtube.com/watch?v=qpcmwb_7QA4}, project = {http://www.cim.mcgill.ca/mrl/nav2goal/} }

3. Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning Ke Dong, Karime Pereida, Florian Shkurti, and Angela P. Schoellig In IEEE International Conference on Intelligent Robots and Systems (IROS) 2020 [pdf] [bibtex] [video]

   @inproceedings{dong2020catch, title = {Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning}, author = {Dong, Ke and Pereida, Karime and Shkurti, Florian and Schoellig, Angela P.}, year = {2020}, eprint = {2003.07489}, archiveprefix = {arXiv}, primaryclass = {cs.RO}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, video = {https://www.youtube.com/watch?v=4uCvzurthS4} }

4. Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization Homanga Bharadhwaj, Kevin Xie, and Florian Shkurti In Conference on Learning for Dynamics and Control (L4DC) 2020 [pdf] [bibtex]

   @inproceedings{bharadhwaj2020modelpredictive, title = {Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization}, author = {Bharadhwaj, Homanga and Xie, Kevin and Shkurti, Florian}, year = {2020}, eprint = {2004.08763}, archiveprefix = {arXiv}, primaryclass = {cs.LG}, booktitle = {Conference on Learning for Dynamics and Control (L4DC)} }

2019

1. Generating Adversarial Driving Scenarios in High-Fidelity Simulators Yasasa Abeysirigoonawardena, Florian Shkurti, and Gregory Dudek International Conference on Robotics and Automation (ICRA) 2019 [bibtex] [project]

   @article{Abeysirigoonawardena2019GeneratingAD, title = {Generating Adversarial Driving Scenarios in High-Fidelity Simulators}, author = {Abeysirigoonawardena, Yasasa and Shkurti, Florian and Dudek, Gregory}, journal = {International Conference on Robotics and Automation (ICRA)}, year = {2019}, pages = {8271-8277}, project = {http://cim.mcgill.ca/~mrl/adversarial_driving_scenarios/} }

2018

1. Model-Based Probabilistic Pursuit via Inverse Reinforcement Learning Florian Shkurti, Nikhil Kakodkar, and Gregory Dudek In IEEE International Conference on Robotics and Automation (ICRA) 2018 [pdf] [bibtex] [video]

   @inproceedings{florianICRA2018, author = {Shkurti, Florian and Kakodkar, Nikhil and Dudek, Gregory}, title = {{Model-Based Probabilistic Pursuit via Inverse Reinforcement Learning}}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, pages = {7804-7811}, month = may, address = {Brisbane, Australia}, video = {http://www.cim.mcgill.ca/~florian/pursuit_via_irl.mp4}, pdf = {icra_2018_irl_pursuit.pdf} }

2. Synthetically Trained 3D Visual Tracker of Underwater Vehicles Karim Koreitem, Jimmy Li, Ian Karp, Travis Manderson, Florian Shkurti, and Gregory Dudek In IEEE OCEANS 2018 [pdf] [bibtex]

   @inproceedings{koreitemoceans18, author = {Koreitem, Karim and Li, Jimmy and Karp, Ian and Manderson, Travis and Shkurti, Florian and Dudek, Gregory}, booktitle = {IEEE OCEANS}, title = {Synthetically Trained 3D Visual Tracker of Underwater Vehicles}, year = {2018}, volume = {}, number = {}, pages = {1-7}, month = oct, pdf = {oceans18_synthetic_tracking.pdf} }

2017

1. Underwater Multi-Robot Convoying Using Visual Tracking by Detection Florian Shkurti, Wei Di Chang, Peter Henderson, Md. Jahidul Islam, Juan Camilo Gamboa Higuera, Jimmy Li, Travis Manderson, Anqi Xu, Gregory Dudek, and Junaed Sattar In IEEE International Conference on Intelligent Robots and Systems (IROS) 2017 [pdf] [bibtex] [video]

   @inproceedings{convoying_iros_2017, author = {Shkurti, Florian and Chang, {Wei Di} and Henderson, Peter and Islam, {Md. Jahidul} and {Gamboa Higuera}, {Juan Camilo} and Li, Jimmy and Manderson, Travis and Xu, Anqi and Dudek, Gregory and Sattar, Junaed}, title = {Underwater Multi-Robot Convoying Using Visual Tracking by Detection}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {4189--4196}, year = {2017}, month = sep, address = {Vancouver, Canada}, video = {http://www.cim.mcgill.ca/~mrl/robot_tracking/}, pdf = {iros17_visual_convoying.pdf} }

2. Topologically distinct trajectory predictions for probabilistic pursuit Florian Shkurti, and Gregory Dudek In IEEE International Conference on Intelligent Robots and Systems (IROS) 2017 [pdf] [bibtex]

   @inproceedings{topological_pursuit_iros_2017, author = {Shkurti, Florian and Dudek, Gregory}, title = {Topologically distinct trajectory predictions for probabilistic pursuit}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {5653--5660}, year = {2017}, month = sep, address = {Vancouver, Canada}, pdf = {iros17_topological_pursuit.pdf} }

3. Benchmark Environments for Multitask Learning in Continuous Domains Peter Henderson, Wei-Di Chang, Florian Shkurti, Johanna Hansen, David Meger, and Gregory Dudek CoRR 2017 [pdf] [bibtex]

   @article{benchmark_environments_multitask, author = {Henderson, Peter and Chang, Wei{-}Di and Shkurti, Florian and Hansen, Johanna and Meger, David and Dudek, Gregory}, title = {Benchmark Environments for Multitask Learning in Continuous Domains}, journal = {CoRR}, volume = {abs/1708.04352}, year = {2017}, archiveprefix = {arXiv}, eprint = {1708.04352} }

2016

1. Texture-Aware SLAM Using Stereo Imagery And Inertial Information Travis Manderson, Florian Shkurti, and Gregory Dudek In Conference on Computer and Robot Vision (CRV) 2016 [pdf] [bibtex]

   @inproceedings{manderson_crv_2016, author = {Manderson, Travis and Shkurti, Florian and Dudek, Gregory}, booktitle = {Conference on Computer and Robot Vision (CRV)}, month = may, publisher = {IEEE Computer Society}, title = {Texture-Aware SLAM Using Stereo Imagery And Inertial Information}, pages = {465--463}, year = {2016}, pdf = {crv_2016_texture_aware_slam.pdf} }

2014

1. 3D Trajectory Synthesis and Control for a Legged Swimming Robot David Meger, Florian Shkurti, David Cortés Poza, Philippe Giguère, and Gregory Dudek In Proceedings of the IEEE International Conference on Robotics and Intelligent Systems (IROS) 2014 [pdf] [bibtex] [project]

   @inproceedings{iros2014_megerShkurtiCortesPozaGiguereDudek, author = {Meger, David and Shkurti, Florian and Poza, David Cort\'{e}s and Gigu\`{e}re, Philippe and Dudek, Gregory}, title = {3D Trajectory Synthesis and Control for a Legged Swimming Robot}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Intelligent Systems (IROS)}, year = {2014}, pdf = {iros2014_3d_autopilot.pdf}, project = {http://www.cim.mcgill.ca/~dmeger/IROS2014_3DTrajectories/} }

2. Ear-based Exploration on Hybrid Metric/Topological Maps Qiwen Zhang, David Whitney, Florian Shkurti, and Ioannis Rekleitis In IEEE International Conference on Intelligent Robots and Systems (IROS) 2014 [pdf] [bibtex]

   @inproceedings{Qiwen14iros, author = {Zhang, Qiwen and Whitney, David and Shkurti, Florian and Rekleitis, Ioannis}, title = {{Ear-based Exploration on Hybrid Metric/Topological Maps}}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {3081--3088}, year = {2014}, month = sep, address = {Chicago, USA}, pdf = {iros2014_gvg.pdf} }

3. Asymmetric Rendezvous Search at Sea Malika Meghjani, Florian Shkurti, Juan Camilo Gamboa Higuera, Arnold Kalmbach, David Whitney, and Gregory Dudek In Conference on Computer and Robot Vision (CRV) 2014 [pdf] [bibtex]

   @inproceedings{Meghjani:2014:ARS:2623380.2623579, author = {Meghjani, Malika and Shkurti, Florian and Higuera, Juan Camilo Gamboa and Kalmbach, Arnold and Whitney, David and Dudek, Gregory}, title = {Asymmetric Rendezvous Search at Sea}, booktitle = {Conference on Computer and Robot Vision (CRV)}, year = {2014}, pages = {175--180}, pdf = {crv2014_asymmetric_rendezvous.pdf} }

4. Maximizing Visibility in Collaborative Trajectory Planning Florian Shkurti, and Gregory Dudek In IEEE International Conference on Robotics and Automation (ICRA) 2014 [pdf] [bibtex]

   @inproceedings{Florian2014MaxViz, author = {Shkurti, Florian and Dudek, Gregory}, title = {{Maximizing Visibility in Collaborative Trajectory Planning}}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {3771-3776}, year = {2014}, month = may, address = {Hong Kong}, pdf = {icra2014_max_viz_planning.pdf} }

2013

1. On the Complexity of Searching for an Evader with a Faster Pursuer Florian Shkurti, and Gregory Dudek In IEEE International Conference on Robotics and Automation (ICRA) 2013 [pdf] [bibtex]

   @inproceedings{Shkurti13icra, author = {Shkurti, Florian and Dudek, Gregory}, title = {{On the Complexity of Searching for an Evader with a Faster Pursuer}}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {4047--4052}, year = {2013}, month = may, address = {Karlsruhe, Germany}, pdf = {icra2013_complexity_pursuit_evasion.pdf} }

2012

1. Multi-Domain Monitoring of Marine Environments Using a Heterogeneous Robot Team Florian Shkurti, Anqi Xu, Malika Meghjani, Juan Camilo Gamboa Higuera, Yogesh Girdhar, Philippe Giguere, Bir Bikram Dey, Jimmy Li, Arnold Kalmbach, Chris Prahacs, Katrine Turgeon, Ioannis Rekleitis, and Gregory Dudek In IEEE International Conference on Intelligent Robots and Systems (IROS) 2012 [pdf] [bibtex] [video] [project]

   @inproceedings{Shkurti12iros, author = {Shkurti, Florian and Xu, Anqi and Meghjani, Malika and {Gamboa Higuera}, {Juan Camilo} and Girdhar, Yogesh and Giguere, Philippe and Dey, {Bir Bikram} and Li, Jimmy and Kalmbach, Arnold and Prahacs, Chris and Turgeon, Katrine and Rekleitis, Ioannis and Dudek, Gregory}, title = {{Multi-Domain Monitoring of Marine Environments Using a Heterogeneous Robot Team}}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {1747--1753}, year = {2012}, month = oct, address = {Algarve, Portugal}, pdf = {iros2012_multirobot_env_monitoring.pdf}, project = {http://www.cim.mcgill.ca/~mrl/multi_robot_env_monitoring/}, video = {https://www.youtube.com/watch?time_continue=1&v=DvWVC5R0zqs} }

2. Socially-Driven Collective Path Planning for Robot Missions Juan Camilo Gamboa Higuera, Anqi Xu, Florian Shkurti, and Gregory Dudek In Conference on Computer and Robot Vision (CRV) 2012 [pdf] [bibtex]

   @inproceedings{Gamboa2012SocialPlan, author = {Higuera, Juan Camilo Gamboa and Xu, Anqi and Shkurti, Florian and Dudek, Gregory}, title = {Socially-Driven Collective Path Planning for Robot Missions}, booktitle = {Conference on Computer and Robot Vision (CRV)}, year = {2012}, pages = {417--424}, address = {Toronto, Canada}, month = may, pdf = {crv2012_social_plan.pdf} }

2011

1. State estimation of an underwater robot using visual and inertial information Florian Shkurti, Ioannis Rekleitis, Milena Scaccia, and Gregory Dudek In IEEE International Conference on Intelligent Robots and Systems (IROS) 2011 [pdf] [bibtex]

   @inproceedings{florian_state_est, author = {Shkurti, Florian and Rekleitis, Ioannis and Scaccia, Milena and Dudek, Gregory}, title = {{State estimation of an underwater robot using visual and inertial information}}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {5054--5060}, year = {2011}, month = sep, address = {San Francisco, USA}, pdf = {iros_2011_state_est.pdf} }

2. MARE: Marine Autonomous Robotic Explorer Yogesh Girdhar, Anqi Xu, Bir Bikram Dey, Malika Meghjani, Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek In IEEE International Conference on Intelligent Robots and Systems (IROS) 2011 [pdf] [bibtex]

   @inproceedings{Girdhar2011MARE, author = {Girdhar, Yogesh and Xu, Anqi and Dey, Bir Bikram and Meghjani, Malika and Shkurti, Florian and Rekleitis, Ioannis and Dudek, Gregory}, title = {{MARE: Marine Autonomous Robotic Explorer}}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, pages = {5048--5053}, year = {2011}, month = sep, address = {San Francisco, USA}, pdf = {iros2011_boat.pdf} }

3. Feature Tracking Evaluation for Pose Estimation in Underwater Environments Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek In Conference on Computer and Robot Vision 2011 [pdf] [bibtex]

   @inproceedings{florian_crv_2011, author = {Shkurti, Florian and Rekleitis, Ioannis and Dudek, Gregory}, booktitle = {Conference on Computer and Robot Vision}, month = may, publisher = {IEEE Computer Society}, title = {Feature Tracking Evaluation for Pose Estimation in Underwater Environments}, pages = {160--167}, year = {2011}, pdf = {crv2011_underwater_ft.pdf} }