Siddhartha S. Srinivasa

Orcid: 0000-0002-5091-106X

Affiliations:
  • University of Washington, Paul G. Allen School of Computer Science & Engineering, Seattle, WA, USA
  • Carnegie Mellon University, Robotics Institute, Pittsburgh, PA, USA


According to our database1, Siddhartha S. Srinivasa authored at least 275 papers between 2001 and 2024.

Collaborative distances:

Awards

IEEE Fellow

IEEE Fellow 2018, "For contributions to robotic manipulation and human-robot interaction".

Timeline

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Bibliography

2024
Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control.
Int. J. Robotics Res., 2024

Lazy incremental search for efficient replanning with bounded suboptimality guarantees.
Int. J. Robotics Res., 2024

Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels.
CoRR, 2024

Multiple Ways of Working with Users to Develop Physically Assistive Robots.
CoRR, 2024

Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

CCIL: Continuity-Based Data Augmentation for Corrective Imitation Learning.
Proceedings of the Twelfth International Conference on Learning Representations, 2024

An Adaptable, Safe, and Portable Robot-Assisted Feeding System.
Proceedings of the Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024

2023
The blindfolded traveler's problem: A search framework for motion planning with contact estimates.
Int. J. Robotics Res., April, 2023

Winding Through: Crowd Navigation via Topological Invariance.
IEEE Robotics Autom. Lett., 2023

HOUND: An Open-Source, Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving.
CoRR, 2023

Cherry-Picking with Reinforcement Learning.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

PuSHR: A Multirobot System for Nonprehensile Rearrangement.
IROS, 2023

From Crowd Motion Prediction to Robot Navigation in Crowds.
IROS, 2023

Real World Offline Reinforcement Learning with Realistic Data Source.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

GuILD: Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Git Re-Basin: Merging Models modulo Permutation Symmetries.
Proceedings of the Eleventh International Conference on Learning Representations, 2023

Design Principles for Robot-Assisted Feeding in Social Contexts.
Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, 2023

Unintended Failures of Robot-Assisted Feeding in Social Contexts.
Proceedings of the Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, 2023

NEWTON: Are Large Language Models Capable of Physical Reasoning?
Proceedings of the Findings of the Association for Computational Linguistics: EMNLP 2023, 2023

Towards General Single-Utensil Food Acquisition with Human-Informed Actions.
Proceedings of the Conference on Robot Learning, 2023

2022
Human-Scale Mobile Manipulation Using RoMan.
Field Robotics, March, 2022

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation.
IEEE Robotics Autom. Lett., 2022

HARMONIC: A multimodal dataset of assistive human-robot collaboration.
Int. J. Robotics Res., 2022

Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates.
CoRR, 2022

Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots.
CoRR, 2022

Expert Intervention Learning.
Auton. Robots, 2022

Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids.
Proceedings of the Algorithmic Foundations of Robotics XV, 2022

Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Dynamic Replanning with Posterior Sampling.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Stein Variational Probabilistic Roadmaps.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2022

2021
Guest Editorial: Introduction to the Special Issue on Benchmarking Protocols for Robotic Manipulation.
IEEE Robotics Autom. Lett., 2021

A Robot Cluster for Reproducible Research in Dexterous Manipulation.
CoRR, 2021

Topology-Informed Model Predictive Control for Anticipatory Collision Avoidance on a Ballbot.
CoRR, 2021

Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning.
CoRR, 2021

Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics.
CoRR, 2021

Leveraging experience in lazy search.
Auton. Robots, 2021

Imitation Learning as f-Divergence Minimization.
Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021


Faster Policy Learning with Continuous-Time Gradients.
Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

Bayesian Residual Policy Optimization: : Scalable Bayesian Reinforcement Learning with Clairvoyant Experts.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Influencing Behavioral Attributions to Robot Motion During Task Execution.
Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020
Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning.
ACM Trans. Hum. Robot Interact., 2020

Benchmarking Robot Manipulation With the Rubik's Cube.
IEEE Robotics Autom. Lett., 2020

Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search.
Int. J. Robotics Res., 2020

Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity.
CoRR, 2020

Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference.
CoRR, 2020

Learning from Interventions: Human-robot interaction as both explicit and implicit feedback.
Proceedings of the Robotics: Science and Systems XVI, 2020

Lyceum: An efficient and scalable ecosystem for robot learning.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously Unseen Food Items.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Is More Autonomy Always Better?: Exploring Preferences of Users with Mobility Impairments in Robot-assisted Feeding.
Proceedings of the HRI '20: ACM/IEEE International Conference on Human-Robot Interaction, 2020

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections.
Proceedings of the 4th Conference on Robot Learning, 2020

Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity.
Proceedings of the 4th Conference on Robot Learning, 2020

On the Convergence of the Iterative Linear Exponential Quadratic Gaussian Algorithm to Stationary Points.
Proceedings of the 2020 American Control Conference, 2020

2019
Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search.
IEEE Robotics Autom. Lett., 2019

Towards Robotic Feeding: Role of Haptics in Fork-Based Food Manipulation.
IEEE Robotics Autom. Lett., 2019

Towards Effective Human-AI Teams: The Case of Collaborative Packing.
CoRR, 2019

MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research.
CoRR, 2019

Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition.
CoRR, 2019

Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate.
CoRR, 2019

Estimating Configuration Space Belief from Collision Checks for Motion Planning.
CoRR, 2019

Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning.
Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication, 2019

Mo' States Mo' Problems: Emergency Stop Mechanisms from Observation.
Proceedings of the Advances in Neural Information Processing Systems 32: Annual Conference on Neural Information Processing Systems 2019, 2019

The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback.
Proceedings of the Robotics Research, 2019

Robot-Assisted Feeding: Generalizing Skewering Strategies Across Food Items on a Plate.
Proceedings of the Robotics Research, 2019

Improving Robot Success Detection using Static Object Data.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

The Provable Virtue of Laziness in Motion Planning.
Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, 2019

Robot Object Referencing through Legible Situated Projections.
Proceedings of the International Conference on Robotics and Automation, 2019

Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity.
Proceedings of the International Conference on Robotics and Automation, 2019

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry.
Proceedings of the International Conference on Robotics and Automation, 2019

Iterative Linearized Control: Stable Algorithms and Complexity Guarantees.
Proceedings of the 36th International Conference on Machine Learning, 2019

Bayesian Policy Optimization for Model Uncertainty.
Proceedings of the 7th International Conference on Learning Representations, 2019

Talking With Hands 16.2M: A Large-Scale Dataset of Synchronized Body-Finger Motion and Audio for Conversational Motion Analysis and Synthesis.
Proceedings of the 2019 IEEE/CVF International Conference on Computer Vision, 2019

Transfer Depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding.
Proceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction, 2019

The Assistive Multi-Armed Bandit.
Proceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction, 2019

Tactical Rewind: Self-Correction via Backtracking in Vision-And-Language Navigation.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

A Community-Centered Design Framework for Robot-Assisted Feeding Systems.
Proceedings of the 21st International ACM SIGACCESS Conference on Computers and Accessibility, 2019

Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-Based Toggles.
Proceedings of the Twenty-Ninth International Conference on Automated Planning and Scheduling, 2019

2018
Informed Sampling for Asymptotically Optimal Path Planning.
IEEE Trans. Robotics, 2018

Planning with Verbal Communication for Human-Robot Collaboration.
ACM Trans. Hum. Robot Interact., 2018

DART: Dynamic Animation and Robotics Toolkit.
J. Open Source Softw., 2018

A Decision-Theoretic Approach for the Collaborative Control of a Smart Wheelchair.
Int. J. Soc. Robotics, 2018

Natural language instructions for human-robot collaborative manipulation.
Int. J. Robotics Res., 2018

Shared autonomy via hindsight optimization for teleoperation and teaming.
Int. J. Robotics Res., 2018

Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions.
CoRR, 2018

Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes.
CoRR, 2018

Bayesian Policy Optimization for Model Uncertainty.
CoRR, 2018

Balancing Shared Autonomy with Human-Robot Communication.
CoRR, 2018

Food manipulation: A cadence of haptic signals.
CoRR, 2018

A Study of Reaching Motions for Collaborative Human-Robot Interaction.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Sampling of Pareto-Optimal Trajectories Using Progressive Objective Evaluation in Multi-Objective Motion Planning.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Bayesian Active Edge Evaluation on Expensive Graphs.
Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence, 2018

Generalizing Informed Sampling for Asymptotically-Optimal Sampling-Based Kinodynamic Planning via Markov Chain Monte Carlo.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Recurrent Predictive State Policy Networks.
Proceedings of the 35th International Conference on Machine Learning, 2018

Planning with Trust for Human-Robot Collaboration.
Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 2018

Eye-Hand Behavior in Human-Robot Shared Manipulation.
Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 2018

Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges.
Proceedings of the Twenty-Eighth International Conference on Automated Planning and Scheduling, 2018

2017
Human-robot mutual adaptation in collaborative tasks: Models and experiments.
Int. J. Robotics Res., 2017

Yale-CMU-Berkeley dataset for robotic manipulation research.
Int. J. Robotics Res., 2017

Editorial: Special Issue on Human-Robot Interaction.
Int. J. Robotics Res., 2017

Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations.
CoRR, 2017

Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments.
CoRR, 2017

Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems.
CoRR, 2017

Mathematical Models of Adaptation in Human-Robot Collaboration.
CoRR, 2017

GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems.
CoRR, 2017

A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study.
CoRR, 2017

Informed Asymptotically Optimal Anytime Search.
CoRR, 2017

Large-scale, real-time 3D scene reconstruction on a mobile device.
Auton. Robots, 2017

Evaluating critical points in trajectories.
Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017

Modeling Human Adaptation in Repeated Collaborative Tasks.
Proceedings of the 10th International Conference on PErvasive Technologies Related to Assistive Environments, 2017

Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs.
Proceedings of the Advances in Neural Information Processing Systems 30: Annual Conference on Neural Information Processing Systems 2017, 2017

A Bayesian Active Learning Approach to Adaptive Motion Planning.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Incorporating qualitative information into quantitative estimation via Sequentially Constrained Hamiltonian Monte Carlo sampling.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Hybrid control trajectory optimization under uncertainty.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Sensor fusion for fiducial tags: Highly robust pose estimation from single frame RGBD.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

The manifold particle filter for state estimation on high-dimensional implicit manifolds.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Unobservable Monte Carlo planning for nonprehensile rearrangement tasks.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Densification strategies for anytime motion planning over large dense roadmaps.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Natural Language Explanations in Human-Collaborative Systems.
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, 2017

Human-Robot Mutual Adaptation in Shared Autonomy.
Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, 2017

Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration.
Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, 2017

Efficient Motion Planning for Problems Lacking Optimal Substructure.
Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling, 2017

2016
Convergent Planning.
IEEE Robotics Autom. Lett., 2016

Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty.
Int. J. Robotics Res., 2016

Open problem on risk-aware planning in the plane.
CoRR, 2016

Rearrangement Planning via Heuristic Search.
CoRR, 2016

A Linear-Time Variational Integrator for Multibody Systems.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Configuration Lattices for Planar Contact Manipulation Under Uncertainty.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces.
Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Spatial references and perspective in natural language instructions for collaborative manipulation.
Proceedings of the 25th IEEE International Symposium on Robot and Human Interactive Communication, 2016

A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments.
Proceedings of the International Symposium on Experimental Robotics, 2016

Human-robot shared workspace collaboration via hindsight optimization.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Distance metrics and algorithms for task space path optimization.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Pareto-optimal search over configuration space beliefs for anytime motion planning.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Rearrangement planning using object-centric and robot-centric action spaces.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Formalizing Human-Robot Mutual Adaptation: A Bounded Memory Model.
Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interation, 2016

Viewpoint-Based Legibility Optimization.
Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interation, 2016

Minimizing User Cost for Shared Autonomy.
Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interation, 2016

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.
Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interation, 2016

A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors.
Proceedings of the Twenty-Sixth International Conference on Automated Planning and Scheduling, 2016

RoGuE : Robot Gesture Engine.
Proceedings of the 2016 AAAI Spring Symposia, 2016

Predicting User Intent Through Eye Gaze for Shared Autonomy.
Proceedings of the 2016 AAAI Fall Symposia, Arlington, Virginia, USA, November 17-19, 2016, 2016

2015
Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set.
IEEE Robotics Autom. Mag., 2015

CHIMP, the CMU Highly Intelligent Mobile Platform.
J. Field Robotics, 2015

Pose estimation for planar contact manipulation with manifold particle filters.
Int. J. Robotics Res., 2015

HerbDisc: Towards lifelong robotic object discovery.
Int. J. Robotics Res., 2015

Multimodal Manipulation Under Uncertainty (Dagstuhl Seminar 15411).
Dagstuhl Reports, 2015

Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols.
CoRR, 2015

Deceptive robot motion: synthesis, analysis and experiments.
Auton. Robots, 2015

Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially Hashed Signed Distance Fields.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Shared Autonomy via Hindsight Optimization.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Perceived robot capability.
Proceedings of the 24th IEEE International Symposium on Robot and Human Interactive Communication, 2015

Robust trajectory selection for rearrangement planning as a multi-armed bandit problem.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Nonprehensile whole arm rearrangement planning on physics manifolds.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Lazy validation of Experience Graphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Movement primitives via optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A general technique for fast comprehensive multi-root planning on graphs by coloring vertices and deferring edges.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

The YCB object and Model set: Towards common benchmarks for manipulation research.
Proceedings of the International Conference on Advanced Robotics, 2015

Effects of Robot Motion on Human-Robot Collaboration.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015

Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015

Submodular Surrogates for Value of Information.
Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, 2015

2014
A data-driven statistical framework for post-grasp manipulation.
Int. J. Robotics Res., 2014

BIT*: Batch Informed Trees for Optimal Sampling-based Planning via Dynamic Programming on Implicit Random Geometric Graphs.
CoRR, 2014

Informed RRT*: Optimal Incremental Path Planning Focused through an Admissible Ellipsoidal Heuristic.
CoRR, 2014

Integrating human observer inferences into robot motion planning.
Auton. Robots, 2014

Object search by manipulation.
Auton. Robots, 2014

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

An Analysis of Deceptive Robot Motion.
Proceedings of the Robotics: Science and Systems X, 2014

Legible robot pointing.
Proceedings of the 23rd IEEE International Symposium on Robot and Human Interactive Communication, 2014

Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving.
Proceedings of the Experimental Robotics, 2014

Guided Manipulation Planning at the DARPA Robotics Challenge Trials.
Proceedings of the Experimental Robotics, 2014

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Regrasping objects using extrinsic dexterity.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Extrinsic dexterity: In-hand manipulation with external forces.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Space-time functional gradient optimization for motion planning.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Familiarization to robot motion.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2014

Pre-school children's first encounter with a robot.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2014

Effects of speech on perceived capability.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2014

Deliberate delays during robot-to-human handovers improve compliance with gaze communication.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2014

HERB's Sure Thing: A rapid drama system for rehearsing and performing live robot theater.
Proceedings of the 2014 IEEE Workshop on Advanced Robotics and its Social Impacts, 2014

Near Optimal Bayesian Active Learning for Decision Making.
Proceedings of the Seventeenth International Conference on Artificial Intelligence and Statistics, 2014

2013
Toward seamless human-robot handovers.
J. Hum. Robot Interact., 2013

Teleoperation with intelligent and customizable interfaces.
J. Hum. Robot Interact., 2013

CHOMP: Covariant Hamiltonian optimization for motion planning.
Int. J. Robotics Res., 2013

Editorial.
Int. J. Robotics Res., 2013

A policy-blending formalism for shared control.
Int. J. Robotics Res., 2013

Special issue on Robotics: Science and Systems.
Auton. Robots, 2013

Pregrasp Manipulation as Trajectory Optimization.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013

Generating Legible Motion.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013

Manifold Representations for State Estimation in Contact Manipulation.
Proceedings of the Robotics Research, 2013

Pose estimation for contact manipulation with manifold particle filters.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Efficient touch based localization through submodularity.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Exploiting domain knowledge for Object Discovery.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Legible user input for intent prediction.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2013

Collaborative manipulation: new challenges for robotics and HRI.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2013

Legibility and predictability of robot motion.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2013

Effects of robot capability on user acceptance.
Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2013

2012
Mobile Manipulation [From the Guest Editors].
IEEE Robotics Autom. Mag., 2012

Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home.
Proc. IEEE, 2012

Autonomous manipulation with a general-purpose simple hand.
Int. J. Robotics Res., 2012

Toward a deeper understanding of motion alternatives via an equivalence relation on local paths.
Int. J. Robotics Res., 2012

A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty.
Auton. Robots, 2012

Formalizing Assistive Teleoperation.
Proceedings of the Robotics: Science and Systems VIII, 2012

Physics-Based Grasp Planning Through Clutter.
Proceedings of the Robotics: Science and Systems VIII, 2012

Learning the communication of intent prior to physical collaboration.
Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012

Online customization of teleoperation interfaces.
Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012

A generic robot database and its application in fault analysis and performance evaluation.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Constellation - An algorithm for finding robot configurations that satisfy multiple constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A framework for extreme locomotion planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Assistive teleoperation for manipulation tasks.
Proceedings of the International Conference on Human-Robot Interaction, 2012

Object Recognition Robust to Imperfect Depth Data.
Proceedings of the Computer Vision - ECCV 2012. Workshops and Demonstrations, 2012

2011
The MOPED framework: Object recognition and pose estimation for manipulation.
Int. J. Robotics Res., 2011

Task Space Regions: A framework for pose-constrained manipulation planning.
Int. J. Robotics Res., 2011

A Framework for Push-Grasping in Clutter.
Proceedings of the Robotics: Science and Systems VII, 2011

Learning from Experience in Manipulation Planning: Setting the Right Goals.
Proceedings of the Robotics Research, 2011

Abort and retry in grasping.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Human preferences for robot-human hand-over configurations.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Manipulation planning with goal sets using constrained trajectory optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Structure discovery in multi-modal data: A region-based approach.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Addressing cost-space chasms in manipulation planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Predictability or adaptivity?: designing robot handoffs modeled from trained dogs and people.
Proceedings of the 6th International Conference on Human Robot Interaction, 2011

Using spatial and temporal contrast for fluent robot-human hand-overs.
Proceedings of the 6th International Conference on Human Robot Interaction, 2011

2010
Decentralized estimation and control of graph connectivity for mobile sensor networks.
Autom., 2010

HERB: a home exploring robotic butler.
Auton. Robots, 2010

An Equivalence Relation for Local Path Sets.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

Manipulation Capabilities with Simple Hands.
Proceedings of the Experimental Robotics, 2010

People helping robots helping people: Crowdsourcing for grasping novel objects.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Push-grasping with dexterous hands: Mechanics and a method.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

MOPED: A scalable and low latency object recognition and pose estimation system.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Hierarchical planning architectures for mobile manipulation tasks in indoor environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Efficient multi-view object recognition and full pose estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Planning pre-grasp manipulation for transport tasks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Probabilistically complete planning with end-effector pose constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Gracefully mitigating breakdowns in robotic services.
Proceedings of the 5th ACM/IEEE International Conference on Human Robot Interaction, 2010

2009
Inverse Optimal Heuristic Control for Imitation Learning.
Proceedings of the Twelfth International Conference on Artificial Intelligence and Statistics, 2009

Generality and Simple Hands.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Planning-based prediction for pedestrians.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Addressing pose uncertainty in manipulation planning using Task Space Regions.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

CHOMP: Gradient optimization techniques for efficient motion planning.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Combining search and action for mobile robots.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

GATMO: A Generalized Approach to Tracking Movable Objects.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Object recognition and full pose registration from a single image for robotic manipulation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Manipulation planning on constraint manifolds.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Manipulation planning with Workspace Goal Regions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Pose-constrained whole-body planning using Task Space Region Chains.
Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, 2009

2008
BiSpace Planning: Concurrent Multi-Space Exploration.
Proceedings of the Robotics: Science and Systems IV, 2008

Generalizing metamodules to simplify planning in modular robotic systems.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Manipulation planning with caging grasps.
Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008

Grasp synthesis in cluttered environments for dexterous hands.
Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008

2007
Planar batting under shape, pose, and impact uncertainty.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Randomized path planning for redundant manipulators without inverse kinematics.
Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 29th, 2007

Imitation learning for locomotion and manipulation.
Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 29th, 2007

2006
Physics-based motion retiming.
Proceedings of the 2006 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2006

Hierarchical Motion Planning for Self-reconfigurable Modular Robots.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

2005
Using projected dynamics to plan dynamic contact manipulation.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Control Synthesis for Dynamic Contact Manipulation.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2003
Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
Experiments with Nonholonomic Manipulation.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Towards Sensor Based Coverage with Robot Teams.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Toward sensor-based coverage with robot teams.
Proceedings of the Mobile Robots XVI, Boston, 2001


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