Christopher Bradley

I am a postdoc and former graduate student in the Robust Robotics Group at MIT.

In general, I'm interested in enabling autonomous robots to act intelligently, particularly in the context of planning hierarchically in the presence of uncertainty. Specifically, I work on developing/learning representations to enable long-horizon decision making for multi-modal robotics problems in partially observable, real-world domains. Before MIT, I studied Mechanical Engineering and Aerospace Engineering at the California Institute of Technology.

Email  /  Google Scholar  /  LinkedIn  /  Curriculum Vitae (CV)

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Research

Reasoning over Hierarchical Abstractions for Long-Horizon Planning in Robotics Reasoning over Hierarchical Abstractions for Long-Horizon Planning in Robotics
Christopher Bradley
PhD Thesis, MIT 2024
Committe: Nicholas Roy, Luca Carlone, George Konidaris, Pulkit Agrawal

The unifying aim of the work in this thesis is to develop approaches which enable robots to solve complex tasks in large-scale, real-world environments without human intervention. Contributions demonstrate the importance of accounting for imperfection in hierarchical abstraction during planning in various robotics contexts.

Paper
Task and Motion Planning in Hierarchical 3D Scene Graphs
Aaron Ray*, Christopher Bradley*, Luca Carlone, Nicholas Roy
ISRR 2024

An approach for task and motion planning in large environments using Hydra Scene Graphs.

Paper
Guiding search in TAMP Learning Feasibility and Cost to Guide TAMP
Christopher Bradley, Nicholas Roy
ISER 2023

Accelerating Task and Motion Planning using learned models of feasibility and cost to guide search.

Paper
Learning to Guide Search in Long-Horizon Task and Motion Planning
Christopher Bradley, Nicholas Roy
CoRL 2022 Workshop on Learning, Perception, and Abstraction for Long-Horizon Planning

Using GNNs to learn to guide search within Task and Motion Planning.

Paper
Learning and Planning for Temporally Extended Tasks in Unknown Environments
Christopher Bradley, Adam Pacheck, Gregory J. Stein, Sebastian Castro, Hadas Kress-Gazit, Nicholas Roy
ICRA 2021

Solving complex tasks specified with Linear Temporal Logic in partially explored environments.

Paper
map construction Enabling Topological Planning with Monocular Vision
Gregory J. Stein*, Christopher Bradley*, Victoria Preston*, Nicholas Roy
ICRA 2020

Mapping and in partially explored environments using a learned model to predict topological features from monocular vision.

Paper / Talk
self driving A self driving license: Ensuring autonomous vehicles deliver on the promise of safer roads
Christopher Bradley*, Victoria Preston*
MIT Science Policy Review, 2020

Thoughts on the development of regulations for self-driving cars.

Paper
abstraction Navigation of Unknown Environments Using High-Level Actions


Christopher Bradley
Masters Thesis, MIT 2019

A study of how high-level actions can be used to guide navigation in partially revealed environments.

Paper
Learned Subgoal Planning Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments
Gregory J. Stein*, Christopher Bradley*, Nicholas Roy
CORL 2018

Training simple models to guide navigation in partially revealed environments.

Paper

Miscellanea


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