I am a PhD student at Caltech studying foundational topics at the the intersection of machine learning and control often applied to problems in reinforcement learning and robotics.
Publications
- FI-ODE: Certified and Robust Forward Invariance in Neural ODEs
Yujia Huang*, I.D.J. Rodriguez* , Huan Zhang, Yuanyuan Shi, Yisong Yue
In Review
- Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
I.D.J. Rodriguez* , Noel Csomay-Shanklin*,
Yisong Yue, Aaron D. Ames
Learning for Dynamics & Control Conference (L4DC) 2022
[video]
- LyaNet: A Lyapunov Framework for Training Neural ODEs
I.D.J. Rodriguez, A. D. Ames, Y. Yue
International Conference on Machine Learning (ICML) 2022
[code]
- Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner*, I.D.J. Rodriguez* ,
Tamas G. Molner, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman
International Conference on Robotics and Automation (ICRA) 2022
[code]
- Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control
I.D.J. Rodriguez, U. Rosolia, A. D. Ames, Y. Yue
International Conference on Intelligent Robots and Systems (IROS) 2021
[code] [page] [video]
- Optimization Methods for Interpretable Differentiable Decision Trees in Reinforcement Learning
A. Silva, T. Killian, I.D.J. Rodriguez, S.H. Son, M. Gombolay
International Conference on Artificial Intelligence and Statistics (AISTATS) 2020
- Differentiable MPC for End-to-end Planning and Control
Advances in neural information processing systems (NeurIPS) 2018
B. Amos, I.D.J. Rodriguez, J. Sacks, B. Boots, J. Z. Kolter
- A Factor Graph Approach To Constrained Optimization
I.D.J. Rodriguez
B.S. Thesis 2016
Education
- Ph.D. In Computing and Mathematical Sciences(3.50/4.00)(Graduate May 2025)
California Institute of Technology, Pasadena, CA
Advisors: Yisong Yue, Aaron Ames (2019 - Present)
- M.S. Computer Science (3.92/4.00) (Graduate May 2019)
Georgia Institute of Technology, Atlanta, GA
- B.S. Computer Science (3.64/4.00) (Graduate December 2016)
Georgia Institute of Technology, Atlanta, GA
Internships
- Carnegie Mellon University, Pittsburgh, PA, Host: Zico Kolter (2018)
- IRobot, Boston, MA, Host: Scott Lenser (2016, 2017)