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)