George Dimitri Konidaris

George Dimitri Konidaris
Adjunct Assistant Professor of Computer Science

Current Appointments & Affiliations

Adjunct Assistant Professor of Computer Science, Computer Science, Trinity College of Arts & Sciences 2016

Contact Information

20 E George Street, Providence, RI 02906
gdk@cs.duke.edu (413) 335-1968
Personal Webpage

Background
Education, Training, & Certifications
- Ph.D., University of Massachusetts at Amherst 2011
Duke Appointment History
- Assistant Professor of Computer Science, Computer Science, Trinity College of Arts & Sciences 2014 - 2016
- Assistant Professor of Electrical and Computer Engineering, Electrical and Computer Engineering, Pratt School of Engineering 2014 - 2016
Recognition
In the News
- JUL 14, 2017
  
  Helping Robots Learn to See in 3-D
Research
Selected Grants
- Director's Fellowship: Bridging the Gap between Low-level Robot Control and Flexible High-level Task Planning awarded by Defense Advanced Research Projects Agency 2015 - 2019
- Bridging the Gap between Low-level Robot Control and Flexible High-level Task Planning awarded by Defense Advanced Research Projects Agency 2015 - 2018
- CRCNS: Representational Foundations of Adaptive Behavior in Natural and Artificial Agents awarded by Princeton University 2015 - 2018
Publications & Artistic Works
Selected Publications
- Academic Articles
  - Nelson, EL, Berthier, NE, and Konidaris, GD. "Handedness and Reach-to-Place Kinematics in Adults: Left-Handers Are Not Reversed Right-Handers." Journal of Motor Behavior 50, no. 4 (July 2018): 381-391. Full Text
  - Konidaris, G, Kaelbling, LP, and Lozano-Perez, T. "From skills to symbols: Learning symbolic representations for abstract high-level planning." Journal of Artificial Intelligence Research 61 (January 1, 2018): 215-289.
  - Wookey, DS, and Konidaris, GD. "Regularized feature selection in reinforcement learning." Machine Learning 100, no. 2-3 (September 2015): 655-676. Full Text
  - Niekum, S, Osentoski, S, Konidaris, G, Chitta, S, Marthi, B, and Barto, AG. "Learning grounded finite-state representations from unstructured demonstrations." The International Journal of Robotics Research 34, no. 2 (February 2015): 131-157. Full Text
  - Amato, C, Konidaris, G, Cruz, G, Maynor, CA, How, JP, and Kaelbling, LP. "Planning for decentralized control of multiple robots under uncertainty." Proceedings Ieee International Conference on Robotics and Automation 2015-June, no. June (January 1, 2015): 1241-1248. Full Text
  - Nelson, EL, Konidaris, GD, and Berthier, NE. "Hand preference status and reach kinematics in infants." Infant Behavior & Development 37, no. 4 (November 2014): 615-623. Full Text
  - Barto, AG, Konidaris, G, and Vigorito, C. "Behavioral hierarchy: Exploration and representation." 9783642398759 (January 1, 2014): 13-46. (Chapter) Full Text
  - Da Silva, BC, Baldassarre, G, Konidaris, G, and Barto, A. "Learning parameterized motor skills on a humanoid robot." Proceedings - IEEE International Conference on Robotics and Automation (January 1, 2014): 5239-5244. Full Text
  - Da Silva, BC, Konidaris, G, and Barto, A. "Active learning of parameterized skills." 31st International Conference on Machine Learning, ICML 2014 5 (January 1, 2014): 3736-3745.
  - Hollingsworth, N, Meyer, J, McGee, R, Doering, J, Konidaris, G, and Kaelbling, L. "Optimizing a start-stop controller using policy search." Proceedings of the National Conference on Artificial Intelligence 4 (January 1, 2014): 2984-2989.
  - Konidaris, G, Kaelbling, LP, and Lozano-Perez, T. "Constructing symbolic representations for high-level planning." Proceedings of the National Conference on Artificial Intelligence 3 (January 1, 2014): 1932-1938B.
  - Konidaris, G, and Doshi-Velez, F. "Hidden parameter Markov decision processes: An emerging paradigm for modeling families of related tasks." AAAI Fall Symposium - Technical Report FS (January 1, 2014): 46-48.
  - Goretkin, G, Perez, A, Platt, R, and Konidaris, G. "Optimal sampling-based planning for linear-quadratic kinodynamic systems." Proceedings - IEEE International Conference on Robotics and Automation (November 14, 2013): 2429-2436. Full Text
  - Konidaris, G. "Robots, skills, and symbols." ACM International Conference Proceeding Series (August 30, 2013): 9-11. Full Text
  - Agrawal, V, Archibald, C, Bhatt, M, Bui, H, Cook, DJ, Cortés, J, Geib, C, Gogate, V, Guesgen, HW, Jannach, D, Johanson, M, Kersting, K, Konidaris, G, Kotthoff, L, Michalowski, M, Natarajan, S, O'Sullivan, B, Pickett, M, Podobnik, V, Poole, D, Shastri, L, Shehu, A, and Sukthankar, G. "The AAAI-13 conference workshops." Ai Magazine 34, no. 4 (January 1, 2013): 108-115.
  - Konidaris, G, Kaelbling, LP, and Lozano-Perez, T. "Symbol acquisition for task-level planning." AAAI Workshop - Technical Report WS-13-12 (January 1, 2013): 9-15.
  - Niekum, S, Osentoski, S, Konidaris, G, and Barto, AG. "Learning and generalization of complex tasks from unstructured demonstrations." Ieee International Conference on Intelligent Robots and Systems (December 1, 2012): 5239-5246. Full Text
  - Da Silva, BC, Konidaris, G, and Barto, AG. "Learning parameterized skills." Proceedings of the 29th International Conference on Machine Learning, ICML 2012 2 (October 10, 2012): 1679-1686.
  - Alani, H, An, B, Jain, M, Kido, T, Konidaris, G, Lawless, W, Martin, D, Pantofaru, C, Sofge, D, Takadama, K, Tambe, M, and Vitvar, T. "Reports of the AAAI 2012 spring symposia." AI Magazine 33, no. 3 (September 1, 2012): 109-114.
  - Konidaris, G, Scheidwasser, I, and Barto, AG. "Transfer in reinforcement learning via shared features." Journal of Machine Learning Research 13 (May 1, 2012): 1333-1371.
  - Nelson, EL, Konidaris, GD, Berthier, NE, Braun, MC, Novak, MFSX, Suomi, SJ, and Novak, MA. "Kinematics of reaching and implications for handedness in rhesus monkey infants." Developmental psychobiology 54, no. 4 (May 2012): 460-467. Full Text
  - Konidaris, G, Kuindersma, S, Grupen, R, and Barto, A. "Robot learning from demonstration by constructing skill trees." The International Journal of Robotics Research 31, no. 3 (March 2012): 360-375. Full Text
  - Perez, A, Platt, R, Konidaris, G, Kaelbling, L, and Lozano-Perez, T. "LQR-RRT*: Optimal sampling-based motion planning with automatically derived extension heuristics." Proceedings - IEEE International Conference on Robotics and Automation (January 1, 2012): 2537-2542. Full Text
  - Konidaris, G, Kuindersma, S, Grupen, R, and Barto, A. "Autonomous skill acquisition on a mobile manipulator." Proceedings of the National Conference on Artificial Intelligence 2 (November 2, 2011): 1468-1473.
  - Konidaris, G, Osentoski, S, and Thomas, P. "Value function approximation in reinforcement learning using the Fourier basis." Proceedings of the National Conference on Artificial Intelligence 1 (November 2, 2011): 380-385.
  - Konidaris, G, Niekum, S, and Thomas, PS. "TD _γ : Re-evaluating complex backups in temporal difference learning." Advances in Neural Information Processing Systems 24: 25th Annual Conference on Neural Information Processing Systems 2011, NIPS 2011 (2011).
  - Konidaris, G, Kuindersmay, S, Barto, A, and Grupen, R. "Constructing skill trees for reinforcement learning agents from demonstration trajectories." Advances in Neural Information Processing Systems 23: 24th Annual Conference on Neural Information Processing Systems 2010, NIPS 2010 (December 1, 2010).
  - Konidaris, G, and Barto, A. "Efficient skill learning using abstraction selection." IJCAI International Joint Conference on Artificial Intelligence (December 1, 2009): 1107-1112.
  - Konidaris, G, and Barto, A. "Skill discovery in continuous reinforcement learning domains using skill chaining." Advances in Neural Information Processing Systems 22 Proceedings of the 2009 Conference (December 1, 2009): 1015-1023.
  - Konidaris, G. "Autonomous robot skill acquisition." Proceedings of the National Conference on Artificial Intelligence 3 (December 23, 2008): 1855-1856.
  - Konidaris, G, and Barto, A. "Sensorimotor abstraction selection for efficient, autonomous robot skill acquisition." 2008 IEEE 7th International Conference on Development and Learning, ICDL (December 1, 2008): 151-156. Full Text
  - Konidaris, G, and Barto, A. "Building portable options: Skill transfer in reinforcement learning." IJCAI International Joint Conference on Artificial Intelligence (December 1, 2007): 895-900.
  - Rauchas, S, Rosman, B, Konidaris, G, and Sanders, I. "Language performance at high school and success in first year computer science." Proceedings of the Thirty-Seventh SIGCSE Technical Symposium on Computer Science Education (December 1, 2007): 398-402. Full Text
  - Konidaris, G, and Barto, A. "Autonomous shaping: Knowledge transfer in reinforcement learning." ACM International Conference Proceeding Series 148 (December 1, 2006): 489-496. Full Text
  - Konidaris, G, and Barto, A. "Autonomous shaping: Knowledge transfer in reinforcement learning." ICML 2006 - Proceedings of the 23rd International Conference on Machine Learning 2006 (October 6, 2006): 489-496.
  - Konidaris, G, and Barto, A. "An adaptive robot motivational system." Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4095 LNAI (January 1, 2006): 346-356.
  - Stewart, F, Taylor, T, and Konidaris, G. "METAMorph: Experimenting with genetic regulatory networks for artificial development." Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 3630 LNAI (December 1, 2005): 108-117.
  - Konidaris, GD, and Hayes, GM. "An Architecture for Behavior-Based Reinforcement Learning." Adaptive Behavior 13, no. 1 (March 2005): 5-32. Full Text
  - Markman, V, Stojanov, G, Indurkhya, B, Kido, T, Takadama, K, Konidaris, G, Eaton, E, Matsumura, N, Fruchter, R, Sofge, D, Lawless, W, Madani, O, and Sukthankaris, R. "Reports of the 2013 AAAI Spring Symposium Series(Published online)." Ai Magazine 34, no. 3: 93-93. Full Text
  - Zhou, Y, Burchfiel, B, and Konidaris, G. "Representing, learning, and controlling complex object interactions(Published online)." Autonomous Robots . Full Text
- Conference Papers
  - Abel, D, Jinnai, Y, Yue, G, Konidaris, G, and Littman, ML. "Policy and Value Transfer in Lifelong Reinforcement Learning." January 1, 2018.
  - Andersen, G, and Konidaris, G. "Active exploration for learning symbolic representations." January 1, 2017.
  - Burchfiel, B, and Konidaris, G. "Bayesian Eigenobjects: A unified framework for 3D robot perception." January 1, 2017.
  - James, S, Konidaris, G, and Rosman, B. "An analysis of Monte Carlo tree search." January 1, 2017.
  - Killian, T, Daulton, S, Konidaris, G, and Doshi-Velez, F. "Robust and efficient transfer learning with hidden parameter Markov decision processes." January 1, 2017.
  - Killian, TW, Konidaris, G, and Doshi-Velez, F. "Robust and efficient transfer learning with hidden parameter Markov decision processes." January 1, 2017.
  - Amato, C, Konidaris, G, Anders, A, Cruz, G, How, JP, and Kaelbling, LP. "Policy search for multi-robot coordination under uncertainty." December 2016. Full Text
  - Murray, S, Floyd-Jones, W, Qi, Y, Konidaris, G, and Sorin, DJ. "The microarchitecture of a real-time robot motion planning accelerator." 2016 49th Annual IEEE/ACM International Symposium on Microarchitecture (MICRO). October 15, 2016 - October 19, 2016.: IEEE, October 2016. Full Text
  - Doshi-Velez, F, and Konidaris, G. "Hidden parameter markov decision processes: A semiparametric regression approach for discovering latent task parametrizations." January 1, 2016.
  - Konidaris, G. "Constructing abstraction hierarchies using a skill-symbol loop." January 1, 2016.
  - Masson, W, Ranchod, P, and Konidaris, G. "Reinforcement learning with parameterized actions." January 1, 2016.
  - Murray, S, Floyd-Jones, W, Qi, Y, Sorin, D, Konidaris, G, and Robotics, D. "Robot motion planning on a chip." January 1, 2016.
  - Zhou, Y, and Konidaris, G. "Representing and learning complex object interactions." January 1, 2016.
  - Ranchod, P, Rosman, B, and Konidaris, G. "Nonparametric Bayesian reward segmentation for skill discovery using inverse reinforcement learning." December 11, 2015. Full Text
  - Albrecht, SV, Barreto, AMS, Braziunas, D, Buckeridge, DL, Cuayáhuitl, H, Dethlefs, N, Endres, M, Farahmand, AM, Fox, M, Frommberger, L, Ganzfried, S, Guillet, S, Gil, Y, Hunter, LE, Jhala, A, Kersting, K, Konidaris, G, Lecue, F, McIlraith, S, Natarajan, S, Noorian, Z, Poole, D, Ronfard, R, Saffiotti, A, Shaban-Nejad, A, Srivastava, B, Tesauro, G, Uceda-Sosa, R, Van Den Broeck, G, Van Otterlo, M, Wallace, BC, Weng, P, Wiens, J, and Zhang, J. "Reports of the AAAI 2014 conference workshops." January 1, 2015.
  - Amato, C, Konidaris, G, Omidshafiei, S, Agha-Mohammadi, AA, How, JP, and Kaelbling, LP. "Probabilistic planning for decentralized multi-robot systems." January 1, 2015.
  - Konidaris, G, Kaelbling, LP, and Lozano-Perez, T. "Symbol acquisition for probabilistic high-level planning." January 1, 2015.
  - Thomas, PS, Niekum, S, Theocharous, G, and Konidaris, G. "Policy evaluation using the Ω-return." January 1, 2015.
  - Amato, C, Konidaris, GD, and Kaelbling, LP. "Planning with macro-actions in decentralized POMDPs." January 1, 2014.
  - Konidaris, G, Toumpis, S, and Gitzenis, S. "Primal decomposition and online algorithms for flow optimization in wireless DTNs." 2013 IEEE Global Communications Conference (GLOBECOM 2013). December 9, 2013 - December 13, 2013.: IEEE, December 2013. Full Text
  - Gitzenis, S, Konidaris, G, and Toumpis, S. "Flow optimization in delay tolerant networks using dual decomposition." October 5, 2012.
  - Konidaris, G, Niekum, S, and Thomas, PS. "TD γ : Re-evaluating complex backups in temporal difference learning." December 1, 2011.
  - Georgopoulos, L, Hayes, GM, and Konidaris, GD. "A forward model of optic flow for detecting external forces." December 1, 2007. Full Text
  - Amato, C, Konidaris, G, Anders, A, Cruz, G, How, J, and Kaelbling, L. "Policy Search for Multi-Robot Coordination under Uncertainty(Published online)." Robotics: Science and Systems 2015.: Robotics: Science and Systems Foundation,. Full Text
Teaching & Mentoring
Recent Courses

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Education, Training, & Certifications

Duke Appointment History

In the News

Selected Grants

Selected Publications

Academic Articles

Conference Papers

Recent Courses