Personal Robotics Lab publications https://personalrobotics.github.io/feed.xml 2026-01-01T00:00:00Z Extending Robot-Assisted Feeding to Spoon-Based Foods with the Articutool: A Modular Active End-Effector https://personalrobotics.github.io/publications/jaime2026articultool/ 2026-01-01T00:00:00Z Jose Jaime Liander Rainbolt Ikshita Sathanur Taylor Kessler Faulkner Siddhartha Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026 RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation https://personalrobotics.github.io/publications/wang2026roboeval/ 2026-01-01T00:00:00Z Yi Ru Wang Carter Ung Christopher Tan Grant Tannert Jiafei Duan Josephine Li Josephine Le Rishabh Oswal Markus Grotz Wilbert Pumacay Yuquan Deng Ranjay Krishna Dieter Fox Siddhartha Srinivasa IEEE International Conference on Robotics and Automation, 2026 Difference-Aware Retrieval Polices for Imitation Learning https://personalrobotics.github.io/publications/pfeiferdifference/ 2026-01-01T00:00:00Z Quinn Pfeifer Ethan Pronovost Paarth Shah Khimya Khetarpal Abhishek Gupta Siddhartha Srinivasa International Conference on Learning Representations, 2026 Robust Intervention Learning from Emergency Stop Interventions https://personalrobotics.github.io/publications/pronovost2026ril/ 2026-01-01T00:00:00Z Ethan Pronovost Khimya Khetarpal Siddhartha Srinivasa arXiv, 2026 Incremental Generalized Hybrid A* https://personalrobotics.github.io/publications/talia2025ighastar/ 2025-01-01T00:00:00Z S. Talia O. Salzman S. S. Srinivasa IEEE Robotics and Automation Letters, 2025 On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control https://personalrobotics.github.io/publications/roulet2025ilqriddp/ 2025-01-01T00:00:00Z Vincent Roulet S.S. Srinivasa Maryam Fazel Zaid Harchaoui Journal of Machine Learning Research, 2025 Long Range Navigator (LRN) : Extending robot planning horizons beyond metric maps https://personalrobotics.github.io/publications/baijal2025lrn/ 2025-01-01T00:00:00Z Matthew Schmittle Rohan Baijal Nathan Hatch Rosario Scalise Mateo Guaman Castro Sidharth Talia Khimya Khetarpal Siddhartha Srinivasa Byron Boots Conference on Robot Learning, 2025 Generative Data Mining with Longtail-Guided Diffusion https://personalrobotics.github.io/publications/hayden2025ltg/ 2025-01-01T00:00:00Z David Hayden Mao Ye Timur Garipov Gregory Meyer Carl Vondrick Zhao Chen Chen Yuning Chai Eric Wolff Siddhartha Srinivasa International Conference on Machine Learning, 2025 DriveGPT: Scaling Autoregressive Behavior Models for Driving https://personalrobotics.github.io/publications/huang2025drivegpt/ 2025-01-01T00:00:00Z Xin Huang Eric M. Wolff Paul Vernaza Tung Phan-Minh Hongge Chen David S. Hayden Mark Edmonds Brian Pierce Xinxin Chen Pratik Elias Jacob Xiaobai Chen Chingiz Tairbekov Pratik Agarwal Tianshi Gao Yuning Chai Siddhartha Srinivasa International Conference on Machine Learning, 2025 Causal Composition Diffusion Model for Closed-loop Traffic Generation https://personalrobotics.github.io/publications/lin2025ccdiff/ 2025-01-01T00:00:00Z H. Lin X. Huang T. Phan-Minh D.S. Hayden H. Zhang D. Zhao S.S. Srinivasa E.M. Wolff H. Chen IEEE Conference on Computer Vision and Pattern Recognition, 2025 Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use https://personalrobotics.github.io/publications/nanavati2025lessons/ 2025-01-01T00:00:00Z Amal Nanavati Ethan K Gordon Taylor A Kessler Faulkner Yuxin (Ray) Song Johnathan Ko Tyler Schrenk Vy Nguyen Bernie Hao Zhu Haya Bolotski Atharva Kashyap Sriram Kutty Raida Karim Liander Rainbolt Rosario Scalise Hanjun Song Ramon Qu Maya Cakmak Siddhartha S Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2025 ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning https://personalrobotics.github.io/publications/zhang2025atk/ 2025-01-01T00:00:00Z Yunchu Zhang Shubham Mittal Zhengyu Zhang Liyiming Ke Siddhartha Srinivasa Abhishek Gupta Conference on Robot Learning, 2025 Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates https://personalrobotics.github.io/publications/roulet2024ilqrtemplates/ 2024-01-01T00:00:00Z Vincent Roulet S.S. Srinivasa Maryam Fazel Zaid Harchaoui Open Journal of Mathematical Optimization, 2024 Electrostatic brakes enable individual joint control of underactuated, highly articulated robots https://personalrobotics.github.io/publications/lancaster2024electrostatic/ 2024-01-01T00:00:00Z Patrick Lancaster Christoforos Mavrogiannis Siddhartha Srinivasa Joshua R. Smith The International Journal of Robotics Research, 2024 Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees https://personalrobotics.github.io/publications/lim2024lgls/ 2024-01-01T00:00:00Z Jaein Lim Mahdi Ghanei Connor Lawson Siddhartha Srinivasa Panagiotis Tsiotras The International Journal of Robotics Research, 2024 Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels https://personalrobotics.github.io/publications/deshpande2024data/ 2024-01-01T00:00:00Z Abhay Deshpande Ke Liyiming Quinn Pfeifer Abhishek Gupta Siddhartha Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024 Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving https://personalrobotics.github.io/publications/talia2024hound/ 2024-01-01T00:00:00Z S. Talia M. Schmittle A. Lambert A. Spitzer C. Mavrogiannis S. S. Srinivasa Robotics: Science and Systems, 2024 Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving https://personalrobotics.github.io/publications/schmittle2024dreams/ 2024-01-01T00:00:00Z M. Schmittle R. Baijal B. Hou S. Srinivasa B. Boots IEEE International Conference on Robotics and Automation, 2024 CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning https://personalrobotics.github.io/publications/kay2024ccil/ 2024-01-01T00:00:00Z Liyiming Ke Yunchu Zhang Abhay Deshpande Abhishek Gupta Siddhartha Srinivasa International Conference on Learning Representations, 2024 Multiple Ways of Working with Users to Develop Physically Assistive Robots https://personalrobotics.github.io/publications/nanavati2024multiple/ 2024-01-01T00:00:00Z A. Nanavati M. Pascher V. Ranganeni E.K. Gordon T.A.K. Faulkner S.S. Srinivasa M. Cakmak P. Alves-Oliveira J. Gerken ACM/IEEE International Conference on Human-Robot Interaction, 2024 An Adaptable, Safe, and Portable Robot-Assisted Feeding System https://personalrobotics.github.io/publications/gordonjenamaninanavati2024demo/ 2024-01-01T00:00:00Z E.K. Gordon R.K. Jenamani A. Nanavati Z. Liu H. Bolotski R. Karim D. Stabile A. Kashyap B. H. Zhu X. Dai T. Schrenk J. Ko T.A.K. Faulkner T. Bhattacharjee S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2024 Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control https://personalrobotics.github.io/publications/mavrogiannis2023abstracting/ 2023-01-01T00:00:00Z Christoforos Mavrogiannis Jonathan A DeCastro Siddhartha S Srinivasa The International Journal of Robotics Research, 2023 Winding Through: Crowd Navigation via Topological Invariance https://personalrobotics.github.io/publications/mavrogiannis2023winding/ 2023-01-01T00:00:00Z C Mavrogiannis K Balasubramanian S. Poddar A. Gandra S. S. Srinivasa IEEE Robotics and Automation Letters, 2023 Git Re-Basin: Merging models modulo permutation symmetries https://personalrobotics.github.io/publications/ainsworth2023gitrebasin/ 2023-01-01T00:00:00Z Samuel K Ainsworth Jonathan Hayase S. Srinivasa International Conference on Learning Representations, 2023 NEWTON: Are Large Language Models Capable of Physical Reasoning? https://personalrobotics.github.io/publications/wang2023newton/ 2023-01-01T00:00:00Z YR. Wang J. Duan D. Fox S. Srinivasa Empirical Methods in Natural Language Processing, 2023 Towards General Single-Utensil Food Acquisition with Human-Informed Actions https://personalrobotics.github.io/publications/gordon2023schema/ 2023-01-01T00:00:00Z E.K. Gordon A. Nanavati R. Challa Bernie H. Zhu Taylor A. Kessler Faulkner S. S. Srinivasa Conference on Robot Learning, 2023 From Crowd Motion Prediction to Robot Navigation in Crowds https://personalrobotics.github.io/publications/poddar2023pred2nav/ 2023-01-01T00:00:00Z S. Poddar C. Mavrogiannis S. S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023 PuSHR: A Multirobot System for Nonprehensile Rearrangement https://personalrobotics.github.io/publications/taliathareja2023pushr/ 2023-01-01T00:00:00Z S. Talia A. Thareja C. Mavrogiannis S. S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023 Cherry Picking with Reinforcement Learning https://personalrobotics.github.io/publications/zhang2023cherry/ 2023-01-01T00:00:00Z Yunchu Zhang Liyiming Ke Abhay Deshpande Abhishek Gupta Siddhartha Srinivasa Robotics: Science and Systems, 2023 GuILD: Guided Incremental Local Densification for Accelerated Sampling-Based Motion Planning https://personalrobotics.github.io/publications/hou2023guild/ 2023-01-01T00:00:00Z R. Scalise A. Mandalika B. Hou Sanjiban Choudhury S. S. Srinivasa IEEE International Conference on Robotics and Automation, 2023 Real World Offline Reinforcement Learning with Realistic Data Source https://personalrobotics.github.io/publications/zhou2023realworld/ 2023-01-01T00:00:00Z G. Zhou L. Ke S. S. Srinivasa A. Gupta A. Rajeswaran V Kumar IEEE International Conference on Robotics and Automation, 2023 Design Principles for Robot-Assisted Feeding in Social Contexts https://personalrobotics.github.io/publications/nanavati2023designprinciples/ 2023-01-01T00:00:00Z A. Nanavati P. Alves-Oliveira T. Schrenk E.K. Gordon M. Cakmak S. S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2023 Unintended Failures of Robot-Assisted Feeding in Social Contexts https://personalrobotics.github.io/publications/nanavati2023unintended/ 2023-01-01T00:00:00Z A. Nanavati P. Alves-Oliveira T. Schrenk E.K. Gordon M. Cakmak S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2023 Investigating the Levels of Autonomy for Personalization in Assistive Robotics https://personalrobotics.github.io/publications/karim2023autonomy/ 2023-01-01T00:00:00Z R. Karim A. Nanavati T.A.K. Faulkner S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2023 Human-Scale Mobile Manipulation Using RoMan https://personalrobotics.github.io/publications/kessens2022roman/ 2022-01-01T00:00:00Z C. Kessens M. Kaplan T. Rocks P.R. Osteen J. Rogers E. Stump A. Hurwitz J. Fink L. Quang M. Gonzalez J. Patel M. DiBlasi S. Patel M. Weiker D. Patel J. Bowkett R. Detry S. Karumanchi L. Matthies J. Burdick Y. Oza A. Agarwal A. Dornbush D. Saxena M. Likhachev K. Schmeckpeper K. Daniilidis A. Kamat Sanjiban Choudhury A. Mandalika S.S. Srinivasa Journal of Field Robotics, 2022 Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation https://personalrobotics.github.io/publications/funk2022rrc/ 2022-01-01T00:00:00Z N. Funk C. Schaff R. Madan T. Yoneda J. U. De Jesus J. Watson E. K. Gordon F. Widmaier S. Bauer S. S. Srinivasa T. Bhattacharjee M. R. Walter J. Peters IEEE Robotics and Automation Letters, 2022 Expert Intervention Learning: An online framework for robot learning from explicit and implicit human feedback https://personalrobotics.github.io/publications/spencer2022eil/ 2022-01-01T00:00:00Z J. Spencer Sanjiban Choudhury M. Barnes M. Schmittle M. Chiang P. Ramadge S.S. Srinivasa Autonomous Robots, 2022 Dynamic Replanning with Posterior Sampling https://personalrobotics.github.io/publications/hou2022drps/ 2022-01-01T00:00:00Z B. Hou S. S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation https://personalrobotics.github.io/publications/lancaster2022optical/ 2022-01-01T00:00:00Z P. Lancaster P. Gyawali C. Mavrogiannis S. S. Srinivasa J. R. Smith IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids https://personalrobotics.github.io/publications/mavrogiannis2022coordination/ 2022-01-01T00:00:00Z C. Mavrogiannis J. DeCastro S. S. Srinivasa Workshop on the Algorithmic Foundations of Robotics, 2022 Stein Variational Probabilistic Roadmaps https://personalrobotics.github.io/publications/lambert2022stein/ 2022-01-01T00:00:00Z A. Lambert B. Hou R. Scalise S. S. Srinivasa B. Boots IEEE International Conference on Robotics and Automation, 2022 Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer https://personalrobotics.github.io/publications/belkhale2022transfer/ 2022-01-01T00:00:00Z S. Belkhale E.K. Gordon Y. Chen S. S. Srinivasa T. Bhattacharjee D. Sadigh IEEE International Conference on Robotics and Automation, 2022 Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids https://personalrobotics.github.io/publications/mavrogiannis2022traffic/ 2022-01-01T00:00:00Z C. Mavrogiannis J. A. DeCastro S. S. Srinivasa IEEE International Conference on Robotics and Automation, 2022 Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments https://personalrobotics.github.io/publications/nanavati2022localizationfree/ 2022-01-01T00:00:00Z A. Nanavati N. Walker L. Taber C. Mavrogiannis L. Takayama M. Cakmak S. S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2022 Complexity Bounds of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control https://personalrobotics.github.io/publications/roulet2022ilqrbounds/ 2022-01-01T00:00:00Z Vincent Roulet S.S. Srinivasa Maryam Fazel Zaid Harchaoui arXiv, 2022 Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates https://personalrobotics.github.io/publications/roulet2022ilqrtemplates/ 2022-01-01T00:00:00Z Vincent Roulet S.S. Srinivasa Maryam Fazel Zaid Harchaoui arXiv, 2022 HARMONIC: A Multimodal Dataset of Assistive Human-Robot Collaboration https://personalrobotics.github.io/publications/newman2018harmonic/ 2022-01-01T00:00:00Z B.A. Newman R.M. Aronson S.S. Srinivasa K. Kitani H. Admoni The International Journal of Robotics Research (Data Paper), 2022 Leveraging Experience in Lazy Search https://personalrobotics.github.io/publications/bhardwaj2021stroll/ 2021-01-01T00:00:00Z M. Bhardwaj Sanjiban Choudhury B. Boots S. Srinivasa Autonomous Robots, 2021 Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation https://personalrobotics.github.io/publications/ke2021grasping/ 2021-01-01T00:00:00Z L. Ke J. Wang T. Bhattacharjee B. Boots S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2021 Influencing Behavioral Attributions to Robot Motion During Task Execution https://personalrobotics.github.io/publications/walker2021influencing/ 2021-01-01T00:00:00Z N. Walker C. Mavrogiannis S. S. Srinivasa M. Cakmak Conference on Robot Learning, 2021 Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts https://personalrobotics.github.io/publications/lee2021brpo/ 2021-01-01T00:00:00Z G. Lee B. Hou Sanjiban Choudhury S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021 Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning https://personalrobotics.github.io/publications/nanavati2021modelinghelpfulness/ 2021-01-01T00:00:00Z A. Nanavati C. Mavrogiannis K. Weatherwax L. Takayama M. Cakmak S.S. Srinivasa Robotics: Science and Systems, 2021 Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding https://personalrobotics.github.io/publications/gordon2021posthoc/ 2021-01-01T00:00:00Z E.K. Gordon S. Roychowdhury T. Bhattacharjee K. Jamieson S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2021 Faster Policy Learning with Continuous-Time Gradients https://personalrobotics.github.io/publications/ainsworth2021ctpg/ 2021-01-01T00:00:00Z S. Ainsworth K. Lowrey J. Thickstun Z. Harchaoui S.S. Srinivasa Learning for Dynamics and Control, 2021 Benchmarking Robot Manipulation with the Rubik's Cube https://personalrobotics.github.io/publications/yang2020rubiks/ 2020-01-01T00:00:00Z B. Yang P.E. Lancaster S.S. Srinivasa J.R. Smith IEEE Robotics and Automation Letters, 2020 Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search https://personalrobotics.github.io/publications/gammell2020bitstar/ 2020-01-01T00:00:00Z J.G. Gammell T. Barfoot S.S. Srinivasa The International Journal of Robotics Research, 2020 Toward fieldable human-scale mobile manipulation using RoMan https://personalrobotics.github.io/publications/kessens2020roman/ 2020-01-01T00:00:00Z C. Kessens J. Fink A. Hurwitz M. Kaplan P.R. Osteen T. Rocks J. Rogers E. Stump L. Quang M. DiBlasi M. Gonzalez D. Patel J. Patel S. Patel M. Weiker J. Bowkett R. Detry S. Karumanchi J. Burdick L. Matthies Y. Oza A. Agarwal A. Dornbush M. Likhachev K. Schmeckpeper K. Daniilidis A. Kamat Sanjiban Choudhury A. Mandalika S.S. Srinivasa Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II, 2020 Learning from interventions: Human-robot interaction as both explicit and implicit feedback https://personalrobotics.github.io/publications/spencer2020eil/ 2020-01-01T00:00:00Z J. Spencer Sanjiban Choudhury M. Barnes M. Schmittle M. Chiang P. Ramadge S.S. Srinivasa Robotics: Science and Systems, 2020 Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity https://personalrobotics.github.io/publications/agnew2020amodal/ 2020-01-01T00:00:00Z W. Agnew C. Xie A Walsman O. Murad C. Wang P. Domingos S. S. Srinivasa Conference on Robot Learning, 2020 Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections https://personalrobotics.github.io/publications/roh2020trajpred/ 2020-01-01T00:00:00Z J. Roh C. Mavrogiannis R. Madan Dieter Fox S. S. Srinivasa Conference on Robot Learning, 2020 Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations https://personalrobotics.github.io/publications/ke2020teleop/ 2020-01-01T00:00:00Z L. Ke A. Kamat J Wang T. Bhattacharjee C Mavrogiannis S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020 Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items https://personalrobotics.github.io/publications/gordon2020adaptive/ 2020-01-01T00:00:00Z E.K. Gordon X. Meng T. Bhattacharjee M. Barnes S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020 Lyceum: An Efficient and Scalable Ecosystem for Robot Learning https://personalrobotics.github.io/publications/summers2020lyceum/ 2020-01-01T00:00:00Z C. Summers K. Lowrey A. Rajeswaran S.S. Srinivasa E. Todorov Learning for Dynamics and Control, 2020 Imitation Learning as f-Divergence Minimization https://personalrobotics.github.io/publications/ke2020fimitation/ 2020-01-01T00:00:00Z L. Ke Sanjiban Choudhury M. Barnes W. Sun G. Lee S.S. Srinivasa Workshop on the Algorithmic Foundations of Robotics, 2020 Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges https://personalrobotics.github.io/publications/hou2020psmp/ 2020-01-01T00:00:00Z B. Hou Sanjiban Choudhury G. Lee A. Mandalika S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2020 On the Convergence of the Iterative Linear Exponential Quadratic Gaussian Algorithm to Stationary Points https://personalrobotics.github.io/publications/roulet2020regileqg/ 2020-01-01T00:00:00Z V. Roulet M. Fazel S.S. Srinivasa Z. Harchaoui American Controls Conference, 2020 Is More Autonomy Always Better? Exploring Preferences of Users with Mobility Impairments in Robot-assisted Feeding https://personalrobotics.github.io/publications/bhattacharjee2020userpref/ 2020-01-01T00:00:00Z T. Bhattacharjee E.K. Gordon R. Scalise M.E. Cabrera A. Caspi M. Cakmak S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2020 Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning https://personalrobotics.github.io/publications/chen2019trust/ 2019-01-01T00:00:00Z M. Chen S. Nikolaidis H. Soh D. Hsu S.S. Srinivasa ACM Transactions on Human-Robot Interaction, 2019 Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search https://personalrobotics.github.io/publications/holladay2019frechetgraph/ 2019-01-01T00:00:00Z R. Holladay O. Salzman S.S. Srinivasa IEEE Robotics and Automation Letters, 2019 Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation https://personalrobotics.github.io/publications/bhattacharjee2019haptic/ 2019-01-01T00:00:00Z T. Bhattacharjee G. Lee H. Song S.S. Srinivasa IEEE Robotics and Automation Letters, 2019 Mo States Mo Problems: Emergency Stop Mechanisms from Observation https://personalrobotics.github.io/publications/ainsworth2019estop/ 2019-01-01T00:00:00Z S. Ainsworth M. Barnes S.S. Srinivasa Advances in Neural Information Processing Systems, 2019 Improving Robot Success Detection using Static Object Data https://personalrobotics.github.io/publications/scalise2019improving/ 2019-01-01T00:00:00Z R. Scalise J. Thomason Y. Bisk S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 Talking With Hands 16.2M: A Large-Scale Dataset of Synchronized Body-Finger Motion and Audio for Conversational Motion Analysis and Synthesis https://personalrobotics.github.io/publications/lee2019handmotiondataset/ 2019-01-01T00:00:00Z G. Lee Z. Deng S. Ma T. Shiratori S.S. Srinivasa Y. Sheikh International Conference on Computer Vision, 2019 The Blindfolded Robot : A Bayesian Approach to Planning with Contact Feedback https://personalrobotics.github.io/publications/saund2019btp/ 2019-01-01T00:00:00Z B. Saund Sanjiban Choudhury S.S. Srinivasa D. Berenson International Symposium on Robotics Research, 2019 Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate https://personalrobotics.github.io/publications/feng2019generalization/ 2019-01-01T00:00:00Z R. Feng Y. Kim G. Lee E.K. Gordon M. Schmittle S. Kumar T. Bhattacharjee S.S. Srinivasa International Symposium on Robotics Research, 2019 A Community-Centered Design Framework for Robot-Assisted Feeding Systems https://personalrobotics.github.io/publications/bhattacharjee2019designraf/ 2019-01-01T00:00:00Z T. Bhattacharjee M.E. Cabrera A. Caspi M. Cakmak S.S. Srinivasa International ACM SIGACCESS Conference on Computers and Accessibility, 2019 Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning https://personalrobotics.github.io/publications/rowe2019multimodal/ 2019-01-01T00:00:00Z R. Rowe S. Singhal D. Yi T. Bhattacharjee S.S. Srinivasa IEEE International Symposium on Robot and Human Interactive Communication, 2019 LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning https://personalrobotics.github.io/publications/kumar2019lego/ 2019-01-01T00:00:00Z R. Kumar A. Mandalika Sanjiban Choudhury S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories https://personalrobotics.github.io/publications/niyaz2019setupopt/ 2019-01-01T00:00:00Z S. Niyaz A. Kuntz O. Salzman R. Alterovitz S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 Leveraging Experience in Lazy Search https://personalrobotics.github.io/publications/bhardwaj2019stroll/ 2019-01-01T00:00:00Z M. Bhardwaj Sanjiban Choudhury B. Boots S. Srinivasa Robotics: Science and Systems, 2019 Iterative Linearized Control: Stable Algorithms and Complexity Guarantees https://personalrobotics.github.io/publications/roulet2019accregilqr/ 2019-01-01T00:00:00Z V. Roulet S.S. Srinivasa D. Drusvyatskiy Z. Harchaoui International Conference on Machine Learning, 2019 Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles https://personalrobotics.github.io/publications/mandalika2019gls/ 2019-01-01T00:00:00Z A. Mandalika Sanjiban Choudhury O. Salzman S.S. Srinivasa International Conference on Automated Planning and Scheduling, 2019 Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigation https://personalrobotics.github.io/publications/ke2019rewindvln/ 2019-01-01T00:00:00Z L. Ke X. Li Y. Bisk A. Holtzman Z. Gan J. Liu J. Gao Y. Choi S.S. Srinivasa IEEE Conference on Computer Vision and Pattern Recognition, 2019 Transfer depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding https://personalrobotics.github.io/publications/gallenberger2019skewering/ 2019-01-01T00:00:00Z D. Gallenberger T. Bhattacharjee Y. Kim S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2019 The Assistive Multi-Armed Bandit https://personalrobotics.github.io/publications/chan2019assistivebandit/ 2019-01-01T00:00:00Z L. Chan D. Hadfield-Menell S.S. Srinivasa A.D. Dragan ACM/IEEE International Conference on Human-Robot Interaction, 2019 Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry https://personalrobotics.github.io/publications/lancaster2019pcf/ 2019-01-01T00:00:00Z P. Lancaster J.R. Smith S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2019 Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity https://personalrobotics.github.io/publications/song2019shear/ 2019-01-01T00:00:00Z H. Song T. Bhattacharjee S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2019 Robot Object Referencing through Situated Legible Projections https://personalrobotics.github.io/publications/wang2019legibleprojections/ 2019-01-01T00:00:00Z T. Weng L. Perlmutter S. Nikolaidis S.S. Srinivasa M. Cakmak IEEE International Conference on Robotics and Automation, 2019 Bayesian Policy Optimization for Model Uncertainty https://personalrobotics.github.io/publications/lee2019bpo/ 2019-01-01T00:00:00Z G. Lee B. Hou A. Mandalika J. Lee Sanjiban Choudhury S.S. Srinivasa International Conference on Learning Representations, 2019 Towards Effective Human-AI Teams: The Case of Collaborative Packing https://personalrobotics.github.io/publications/lee2019packing/ 2019-01-01T00:00:00Z G. Lee C. Mavrogiannis S.S. Srinivasa AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction, 2019 MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research https://personalrobotics.github.io/publications/srinivasa2019mushr/ 2019-01-01T00:00:00Z S. S. Srinivasa P. Lancaster J. Michalove M. Schmittle C. Summers M. Rockett J. R. Smith Sanjiban Choudhury C. Mavrogiannis F. Sadeghi CoRR, 2019 Planning with Verbal Communication for Human-Robot Collaboration https://personalrobotics.github.io/publications/nikolaidis2018verbal/ 2018-01-01T00:00:00Z S. Nikolaidis M. Kwon J. Forlizzi S.S. Srinivasa ACM Transactions on Human-Robot Interaction, 2018 DART: Dynamic Animation and Robotics Toolkit https://personalrobotics.github.io/publications/lee2018dart/ 2018-01-01T00:00:00Z Jeongseok Lee Michael X. Grey Sehoon Ha Tobias Kunz Sumit Jain Yuting Ye Siddhartha S. Srinivasa Mike Stilman C. Karen Liu The Journal of Open Source Software, 2018 Shared Autonomy via Hindsight Optimization for Teleoperation and Teaming https://personalrobotics.github.io/publications/javdani2018shared/ 2018-01-01T00:00:00Z S. Javdani H. Admoni S. Pellegrinelli S.S. Srinivasa J.A. Bagnell The International Journal of Robotics Research, 2018 Informed Sampling for Asymptotically Optimal Path Planning https://personalrobotics.github.io/publications/gammell2018informed/ 2018-01-01T00:00:00Z J.G. Gammell T. Barfoot S.S. Srinivasa IEEE Transactions on Robotics, 2018 Sampling of Pareto-Optimal Trajectories using Progressive Objective Evaluation in Multi-Objective Motion Planning https://personalrobotics.github.io/publications/lee2018sampling/ 2018-01-01T00:00:00Z J. Lee D. Yi S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 Recurrent Predictive State Policy Networks https://personalrobotics.github.io/publications/hefny2018rpsp/ 2018-01-01T00:00:00Z A. Hefny Z. Marinho W. Sun S.S. Srinivasa G. Gordon International Conference on Machine Learning, 2018 Bayesian Active Edge Evaluation on Expensive Graphs https://personalrobotics.github.io/publications/choudhury2018bayesian/ 2018-01-01T00:00:00Z Sanjiban Choudhury S.S. Srinivasa S. Scherer International Joint Conference on Artificial Intelligence, 2018 Generalizing Informed Sampling for Asymptotically-Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo https://personalrobotics.github.io/publications/yi2018generalizing/ 2018-01-01T00:00:00Z D. Yi R. Thakker C. Gulino O. Salzman S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2018 Eye-Hand Behavior in Human-Robot Shared Manipulation https://personalrobotics.github.io/publications/aronson2018gaze/ 2018-01-01T00:00:00Z R. Aronson T. Santini T. Kübler E. Kasneci S.S. Srinivasa H. Admoni ACM/IEEE International Conference on Human-Robot Interaction, 2018 Planning with Trust for Human-Robot Collaboration https://personalrobotics.github.io/publications/chen2018trust/ 2018-01-01T00:00:00Z M. Chen S. Nikolaidis H. Soh D. Hsu S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2018 The Provable Virtue of Laziness in Motion Planning https://personalrobotics.github.io/publications/haghtalab2018laziness/ 2018-01-01T00:00:00Z N. Haghtalab S. Mackenzie A.D. Procaccia O Salzman S.S. Srinivasa International Conference on Automated Planning and Scheduling, 2018 Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges https://personalrobotics.github.io/publications/mandalika2018lrastarfull/ 2018-01-01T00:00:00Z A. Mandalika O. Salzman S.S. Srinivasa International Conference on Automated Planning and Scheduling, 2018 A Study of Reaching Motions for Collaborative Human-Robot Interaction https://personalrobotics.github.io/publications/sheikholeslami2018reaching/ 2018-01-01T00:00:00Z S. Sheikholeslami G. Lee J.W. Hart S.S. Srinivasa E.A. Croft International Symposium on Experimental Robotics, 2018 Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs https://personalrobotics.github.io/publications/niyaz2018surgicalpath/ 2018-01-01T00:00:00Z S. Niyaz A. Kuntz O. Salzman R. Alterovitz S.S. Srinivasa International Symposium on Experimental Robotics, 2018 Autonomous robot feeding for upper-extremity mobility impaired people: Integrating sensing, perception, learning, motion planning, and robot control https://personalrobotics.github.io/publications/bhattacharjee2018feedingdemo/ 2018-01-01T00:00:00Z T. Bhattacharjee D. Gallenberger D. Dubois L. L'Écuyer-Lapiere Y. Kim A. Mandalika R. Scalise R. Qu H. Song E. Gordon S.S. Srinivasa Conference on Neural Information Processing Systems, 2018 Human-robot mutual adaptation in collaborative tasks: Models and experiments https://personalrobotics.github.io/publications/nikolaidis2017mutual/ 2017-01-01T00:00:00Z S. Nikolaidis D. Hsu S.S. Srinivasa The International Journal of Robotics Research, 2017 Large-scale, real-time 3D scene reconstruction on a mobile device https://personalrobotics.github.io/publications/dryanovski2017chisel/ 2017-01-01T00:00:00Z I. Dryanovski M.K. Klingensmith S.S. Srinivasa J. Xiao Autonomous Robots, 2017 YCB Benchmarking Project: Object Set, Data Set and Their Applications https://personalrobotics.github.io/publications/calli2017ycb/ 2017-01-01T00:00:00Z B. Calli A. Singh J. Bruce W. W. Aaron K. Konolige S.S. Srinivasa P. Abbeel A.M. Dollar Journal of The Society of Instrument and Control Engineers, 2017 A Decision-Theoretic Approach for the Collaborative Control of a Smart Wheelchair https://personalrobotics.github.io/publications/ghorbel2017wheelchair/ 2017-01-01T00:00:00Z M. Ghorbel J. Pineau R. Gourdeau S. Javdani S.S. Srinivasa International Journal of Social Robotics, 2017 A Bayesian Active Learning Approach to Adaptive Motion Planning https://personalrobotics.github.io/publications/choudhury2017active/ 2017-01-01T00:00:00Z Sanjiban Choudhury S.S. Srinivasa International Symposium on Robotics Research, 2017 Near-optimal edge evaluation in explicit generalized binomial graphs https://personalrobotics.github.io/publications/choudhury2017drd/ 2017-01-01T00:00:00Z Sanjiban Choudhury S. Javdani S.S. Srinivasa S. Scherer Advances in Neural Information Processing Systems, 2017 Predictive State Models for Prediction and Control in Partially Observable Environments https://personalrobotics.github.io/publications/marinho2017pscm/ 2017-01-01T00:00:00Z A. Hefny Z. Marinho C. Downey W. Sun S.S. Srinivasa G. Gordon Conference on Robot Learning, 2017 Sensor Fusion for Fiducial Tags: Highly Robust Pose Estimation from Single Frame RGBD https://personalrobotics.github.io/publications/jin2017rgbdtags/ 2017-01-01T00:00:00Z P. Jin P. Matikainen S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 Hybrid control trajectory optimization under uncertainty https://personalrobotics.github.io/publications/pajarinen2017hybrid/ 2017-01-01T00:00:00Z J. Pajarinen V. Kyrki M. Koval S.S. Srinivasa J. Peters G. Neumann IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 Incorporating Qualitative Information into Quantitative Estimation Via Sequentially Constrained Hamiltonian Monte Carlo Sampling https://personalrobotics.github.io/publications/yi2017schmc/ 2017-01-01T00:00:00Z D. Yi Shushman Choudhury S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017 Modeling Human Adaptation in Repeated Collaborative Tasks https://personalrobotics.github.io/publications/nikolaidis2017adaptation/ 2017-01-01T00:00:00Z S. Nikolaidis S.S. Srinivasa International Conference on Pervasive Technologies Related to Assistive Environments, 2017 Efficient Motion Planning for Problems Lacking Optimal Substructure https://personalrobotics.github.io/publications/salzman2017ramp/ 2017-01-01T00:00:00Z O. Salzman B. Hou S.S. Srinivasa International Conference on Automated Planning and Scheduling, 2017 Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps https://personalrobotics.github.io/publications/choudhury2017densification/ 2017-01-01T00:00:00Z Shushman Choudhury O. Salzman Sanjiban Choudhury S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2017 Unobservable Monte Carlo planning for nonprehensile rearrangement tasks https://personalrobotics.github.io/publications/king2017unobservable/ 2017-01-01T00:00:00Z J. King V. Ranganeni S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2017 The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds https://personalrobotics.github.io/publications/klingensmith2017mpf/ 2017-01-01T00:00:00Z M. Klingensmith M. Koval S.S. Srinivasa N. Pollard M. Kaess IEEE International Conference on Robotics and Automation, 2017 Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration https://personalrobotics.github.io/publications/nikolaidis2017gametheoryhri/ 2017-01-01T00:00:00Z S. Nikolaidis S. Nath A. Procaccia S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2017 Human-Robot Mutual Adaptation in Shared Autonomy https://personalrobotics.github.io/publications/nikolaidis2017mutualadaptation/ 2017-01-01T00:00:00Z S. Nikolaidis Zhu. Y. D. Hsu S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2017 Yale-CMU-Berkeley dataset for robotic manipulation research https://personalrobotics.github.io/publications/calli2017ycb-data/ 2017-01-01T00:00:00Z B. Calli A. Singh J. Bruce W. W. Aaron K. Konolige S.S. Srinivasa P. Abbeel A.M. Dollar The International Journal of Robotics Research (Data Paper), 2017 Convergent Planning https://personalrobotics.github.io/publications/johnson2016convergent/ 2016-01-01T00:00:00Z A. Johnson J. King S.S. Srinivasa IEEE Robotics and Automation Letters, 2016 Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM) https://personalrobotics.github.io/publications/klingensmith2016armslam/ 2016-01-01T00:00:00Z M. Klingensmith S.S. Srinivasa M. Kaess IEEE Robotics and Automation Letters, 2016 Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty https://personalrobotics.github.io/publications/koval2015pomdp/ 2016-01-01T00:00:00Z M.C. Koval N.S. Pollard S.S. Srinivasa The International Journal of Robotics Research, 2016 A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments https://personalrobotics.github.io/publications/srinivasa2016system/ 2016-01-01T00:00:00Z S.S. Srinivasa A. Johnson G. Lee M. Koval Shushman Choudhury J. King C. Dellin M. Harding D. Butterworth P. Velagapudi A. Thackston International Symposium on Experimental Robotics, 2016 Distance Metrics and Algorithms for Task Space Path Optimization https://personalrobotics.github.io/publications/holladay2016frechet/ 2016-01-01T00:00:00Z R. Holladay S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 Human-Robot Shared Workspace Collaboration via Hindsight Optimization https://personalrobotics.github.io/publications/pellegrinelli2016collaboration/ 2016-01-01T00:00:00Z S. Pellegrinelli H. Admoni S. Javdani S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning https://personalrobotics.github.io/publications/choudhury2016pomp/ 2016-01-01T00:00:00Z Shushman Choudhury C. Dellin S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors https://personalrobotics.github.io/publications/dellin2016lazysp/ 2016-01-01T00:00:00Z C. Dellin S.S. Srinivasa International Conference on Automated Planning and Scheduling, 2016 Configuration Lattices for Planar Contact Manipulation Under Uncertainty https://personalrobotics.github.io/publications/koval2016lattice/ 2016-01-01T00:00:00Z M. Koval D. Hsu N.S. Pollard S.S. Srinivasa Workshop on the Algorithmic Foundations of Robotics, 2016 A Linear-Time Variational Integrator for Multibody Systems https://personalrobotics.github.io/publications/lee2016variational/ 2016-01-01T00:00:00Z J.S. Lee K.C. Liu F.C. Park S.S. Srinivasa Workshop on the Algorithmic Foundations of Robotics, 2016 Spatial references and perspective in natural language instructions for collaborative manipulation https://personalrobotics.github.io/publications/li2016spatial/ 2016-01-01T00:00:00Z S. Li R. Scalise H. Admoni S.S. Srinivasa S. Rosenthal IEEE International Symposium on Robot and Human Interactive Communication, 2016 Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM) https://personalrobotics.github.io/publications/klingensmith2016armslamconf/ 2016-01-01T00:00:00Z M. Klingensmith S.S. Srinivasa M. Kaess IEEE International Conference on Robotics and Automation, 2016 Convergent Planning https://personalrobotics.github.io/publications/johnson2016convergentconf/ 2016-01-01T00:00:00Z A. Johnson J. King S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2016 Rearrangement planning using object-centric and robot-centric action spaces https://personalrobotics.github.io/publications/king2016objectcentric/ 2016-01-01T00:00:00Z J. King M. Cognetti S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2016 Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning https://personalrobotics.github.io/publications/choudhury2016rabit/ 2016-01-01T00:00:00Z Sanjiban Choudhury J. Gammell T. Barfoot S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2016 Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces https://personalrobotics.github.io/publications/marinho2017rkhschomp/ 2016-01-01T00:00:00Z Z. Marinho B. Boots A. Dragan A. Byravan G. Gordon S.S. Srinivasa Robotics: Science and Systems, 2016 Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching https://personalrobotics.github.io/publications/herlant2016modeswitching/ 2016-01-01T00:00:00Z L. Herlant R. Holladay S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2016 Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model https://personalrobotics.github.io/publications/nikolaidis2016bam/ 2016-01-01T00:00:00Z S. Nikolaidis D. Hsu S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2016 Viewpoint-Based Legibility Optimization https://personalrobotics.github.io/publications/nikolaidis2016viewpoint/ 2016-01-01T00:00:00Z S. Nikolaidis A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2016 Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty https://personalrobotics.github.io/publications/peters2016dagstuhl/ 2016-01-01T00:00:00Z J. Peters J. Piater R. Platt S.S. Srinivasa Dagstuhl Reports, 2016 RoGuE: Robot Gesture Engine https://personalrobotics.github.io/publications/holladay2016rogue/ 2016-01-01T00:00:00Z R. Holladay S.S. Srinivasa AAAI Spring Symposium on Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform, 2016 Deceptive robot motion: synthesis, analysis and experiments https://personalrobotics.github.io/publications/dragan2015deception/ 2015-01-01T00:00:00Z A.D. Dragan R. Holladay S.S. Srinivasa Autonomous Robots, 2015 Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set https://personalrobotics.github.io/publications/calli2015ycb/ 2015-01-01T00:00:00Z B. Calli A. Walsman A. Singh S.S. Srinivasa P. Abbeel A.M. Dollar IEEE Robotics and Automation Magazine, 2015 CHIMP, the CMU Highly Intelligent Mobile Platform https://personalrobotics.github.io/publications/stentz2015chimp/ 2015-01-01T00:00:00Z A. Stentz H. Herman A. Kelly E. Meyhofer G.C. Haynes D. Stager B. Zajac J.A. Bagnell J. Brindza C. Dellin M. George J. Gonzalez-Mora S. Hyde M. Jones M. Laverne M. Likhachev L. Lister M.D. Powers O. Ramos J. Ray D.P. Rice J. Scheifflee R. Sidki S.S. Srinivasa K. Strabala J.P. Tardif J. Valois J.M. Vandeweghe M.D. Wagner C. Wellington Journal of Field Robotics, 2015 Pose Estimation for Planar Contact Manipulation with Manifold Particle Filters https://personalrobotics.github.io/publications/koval2015mpf/ 2015-01-01T00:00:00Z M.C. Koval N.S. Pollard S.S. Srinivasa The International Journal of Robotics Research, 2015 HerbDisc: Towards Lifelong Robotic Object Discovery https://personalrobotics.github.io/publications/collet2015herbdisc/ 2015-01-01T00:00:00Z A. Collet B. Xiong C. Gurau M. Hebert S.S. Srinivasa The International Journal of Robotics Research, 2015 Perceived Robot Capability https://personalrobotics.github.io/publications/cha2015perceived/ 2015-01-01T00:00:00Z E. Cha A.D. Dragan S.S. Srinivasa IEEE International Symposium on Robot and Human Interactive Communication, 2015 Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem https://personalrobotics.github.io/publications/koval2015bandit/ 2015-01-01T00:00:00Z M. Koval J. King N.S. Pollard S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015 Shared Autonomy via Hindsight Optimization https://personalrobotics.github.io/publications/javdani2015hindsight/ 2015-01-01T00:00:00Z S. Javdani S.S. Srinivasa J.A. Bagnell Robotics: Science and Systems, 2015 CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device https://personalrobotics.github.io/publications/klingensmith2015chisel/ 2015-01-01T00:00:00Z M. Klingensmith I. Dryanovski S.S. Srinivasa J. Xiao Robotics: Science and Systems, 2015 Lazy Validation of Experience Graphs https://personalrobotics.github.io/publications/hwang2015lazyegraph/ 2015-01-01T00:00:00Z V. Hwang M. Phillips S.S. Srinivasa M. Likhachev 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 https://personalrobotics.github.io/publications/dellin2015cmr/ 2015-01-01T00:00:00Z C. Dellin S.S. Srinivasa 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 https://personalrobotics.github.io/publications/gammell2015bitstar/ 2015-01-01T00:00:00Z J.D. Gammell S.S. Srinivasa T. Barfoot IEEE International Conference on Robotics and Automation, 2015 Movement Primitives via Optimization https://personalrobotics.github.io/publications/dragan2015dmp/ 2015-01-01T00:00:00Z A.D. Dragan K. Muelling J.A. Bagnell S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2015 Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions between Statically Stable Configurations https://personalrobotics.github.io/publications/haustein2015dynamictransitions/ 2015-01-01T00:00:00Z J.A. Haustein J. King S.S. Srinivasa T. Asfour IEEE International Conference on Robotics and Automation, 2015 Nonprehensile Whole Arm Rearrangement Planning with Physics Manifolds https://personalrobotics.github.io/publications/king2015physicsrrt/ 2015-01-01T00:00:00Z J. King J.A. Haustein S.S. Srinivasa T. Asfour IEEE International Conference on Robotics and Automation, 2015 Effects of Robot Motion on Human-Robot Collaboration https://personalrobotics.github.io/publications/dragan2015collabstudy/ 2015-01-01T00:00:00Z A.D. Dragan S. Bauman J. Forlizzi S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2015 Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization https://personalrobotics.github.io/publications/cha2015kitchen/ 2015-01-01T00:00:00Z E. Cha J. Forlizzi S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2015 Submodular Surrogates for Value of Information https://personalrobotics.github.io/publications/chen2015direct/ 2015-01-01T00:00:00Z Y. Chen S. Javdani A. Karbasi J.A. Bagnell S.S. Srinivasa A. Krause AAAI Conference on Artificial Intelligence, 2015 Integrating human observer inferences into robot motion planning https://personalrobotics.github.io/publications/dragan2014legibility/ 2014-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa Autonomous Robots, 2014 A data-driven statistical framework for post-grasp manipulation https://personalrobotics.github.io/publications/paolini2014datadriven/ 2014-01-01T00:00:00Z R. Paolini A. Rodriguez S.S. Srinivasa M.T. Mason The International Journal of Robotics Research, 2014 Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic https://personalrobotics.github.io/publications/gammell2014informedrrtstar/ 2014-01-01T00:00:00Z J. Gammell S.S. Srinivasa T. Barfoot IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis https://personalrobotics.github.io/publications/kim2014handwriting/ 2014-01-01T00:00:00Z S.K. Kim J. Jo Y. Oh S.R. Oh S.S. Srinivasa M. Likhachev IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning https://personalrobotics.github.io/publications/lindzey2014feasibletransitiongraph/ 2014-01-01T00:00:00Z L. Lindzey R.A. Knepper H. Choset S.S. Srinivasa Workshop on the Algorithmic Foundations of Robotics, 2014 Legible Robot Pointing https://personalrobotics.github.io/publications/holladay2014pointing/ 2014-01-01T00:00:00Z R. Holladay A.D. Dragan S.S. Srinivasa IEEE International Symposium on Robot and Human Interactive Communication, 2014 An Analysis of Deceptive Robot Motion https://personalrobotics.github.io/publications/dragan2014deception/ 2014-01-01T00:00:00Z A.D. Dragan R. Holladay S.S. Srinivasa Robotics: Science and Systems, 2014 Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty https://personalrobotics.github.io/publications/koval2014contactpomdp/ 2014-01-01T00:00:00Z M. Koval N.S. Pollard S.S. Srinivasa Robotics: Science and Systems, 2014 Guided Manipulation Planning at the DARPA Robotics Challenge Trials https://personalrobotics.github.io/publications/dellin2014guided/ 2014-01-01T00:00:00Z C. Dellin K. Strabala G.C. Haynes D. Stager S.S. Srinivasa International Symposium on Experimental Robotics, 2014 Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving https://personalrobotics.github.io/publications/klingensmith2014carving/ 2014-01-01T00:00:00Z M. Klingensmith M. Herrmann S.S. Srinivasa International Symposium on Experimental Robotics, 2014 Extrinsic Dexterity: In-Hand Manipulation with External Forces https://personalrobotics.github.io/publications/chavandafle2014extrinsic/ 2014-01-01T00:00:00Z N. Chavan-Dafle A. Rodriguez R. Paolini B. Tang S.S. Srinivasa M. Erdmann M.T. Mason I. Lundberg H. Staab T. Fuhlbrigge IEEE International Conference on Robotics and Automation, 2014 Space-Time Functional Gradient Optimization for Motion Planning https://personalrobotics.github.io/publications/byravan2014tchomp/ 2014-01-01T00:00:00Z A. Byravan B. Boots S.S. Srinivasa D. Fox IEEE International Conference on Robotics and Automation, 2014 Near Optimal Bayesian Active Learning for Decision Making https://personalrobotics.github.io/publications/javdani2014hec/ 2014-01-01T00:00:00Z S. Javdani Y. Chen A. Karbasi A. Krause J.A. Bagnell S.S. Srinivasa International Conference on Artificial Intelligence and Statistics, 2014 Familiarization to Robot Motion https://personalrobotics.github.io/publications/dragan2014familiarization/ 2014-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2014 Deliberate Delays During Robot-to-Human Handovers Improve Compliance with Gaze Communication https://personalrobotics.github.io/publications/admoni2014delays/ 2014-01-01T00:00:00Z H. Admoni A.D. Dragan S.S. Srinivasa B. Scassellati ACM/IEEE International Conference on Human-Robot Interaction, 2014 HERB's Sure Thing: a rapid drama system for rehearsing and performing live robot theater https://personalrobotics.github.io/publications/zeglin2014drama/ 2014-01-01T00:00:00Z G. Zeglin A. Walsman L. Herlant Z. Zheng Y. Guo M.K. Koval K. Lenzo H. Tay P. Velagapudi K. Correll S.S. Srinivasa IEEE Workshop on Advanced Robotics and its Social Impacts, 2014 Effects of Speech on Perceived Capability https://personalrobotics.github.io/publications/lee2014speech/ 2014-01-01T00:00:00Z E. Cha A.D. Dragan J. Forlizzi S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2014 Pre-school Childrens' First Encounter with a Robot https://personalrobotics.github.io/publications/lee2014preschool/ 2014-01-01T00:00:00Z E. Cha A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2014 Teleoperation with intelligent and customizable interfaces https://personalrobotics.github.io/publications/dragan2013teleop/ 2013-01-01T00:00:00Z A.D. Dragan K.T. Lee S.S. Srinivasa Journal of Human-Robot Interaction, 2013 A Policy-Blending Formalism for Shared Control https://personalrobotics.github.io/publications/dragan2012shared/ 2013-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa The International Journal of Robotics Research, 2013 CHOMP: Covariant Hamiltonian Optimization for Motion Planning https://personalrobotics.github.io/publications/zucker2013chomp/ 2013-01-01T00:00:00Z M. Zucker R. Ratliff A.D. Dragan M. Pivtoraiko M. Klingensmith C. Dellin J.A. Bagnell S.S. Srinivasa The International Journal of Robotics Research, 2013 Towards Seamless Human-Robot Handovers https://personalrobotics.github.io/publications/strabala2013handoff/ 2013-01-01T00:00:00Z K. Strabala M.K. Lee A.D. Dragan J. Forlizzi S.S. Srinivasa M. Cakmak V. Micelli Journal of Human-Robot Interaction, 2013 Physics-Based Manipulation in Human Environments https://personalrobotics.github.io/publications/dogar2013physicsbased/ 2013-01-01T00:00:00Z M.R. Dogar S.S. Srinivasa Journal of the Robotics Society of Japan, 2013 Object search by manipulation https://personalrobotics.github.io/publications/dogar2013objsearch/ 2013-01-01T00:00:00Z M.R. Dogar M.C. Koval A. Tallavajhula S.S. Srinivasa Autonomous Robots, 2013 Legibility and predictability of robot motion https://personalrobotics.github.io/publications/dragan2013legibility/ 2013-01-01T00:00:00Z A.D. Dragan K.T. Lee S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction, 2013 Efficient Touch Based Localization through Submodularity https://personalrobotics.github.io/publications/javdani2013tactile/ 2013-01-01T00:00:00Z S. Javdani M. Klingensmith J.A. Bagnell N.S. Pollard S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2013 Exploiting Domain Knowledge for Object Discovery https://personalrobotics.github.io/publications/collet2013domain/ 2013-01-01T00:00:00Z A. Collet B. Xiong C. Gurau M. Hebert S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2013 Object Search by Manipulation https://personalrobotics.github.io/publications/dogar2013objsearchconf/ 2013-01-01T00:00:00Z M.R. Dogar M.C. Koval A. Tallavajhula S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2013 Pose Estimation for Contact Manipulation with Manifold Particle Filters https://personalrobotics.github.io/publications/koval2013manifold/ 2013-01-01T00:00:00Z M.C. Koval M.R. Dogar N.S. Pollard S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 Manifold Representations for State Estimation in Contact Manipulation https://personalrobotics.github.io/publications/koval2013representations/ 2013-01-01T00:00:00Z M.C. Koval M.R. Dogar N.S. Pollard S.S. Srinivasa International Symposium on Robotics Research, 2013 Generating Legible Motion https://personalrobotics.github.io/publications/dragan2013legible/ 2013-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa Robotics: Science and Systems, 2013 Pregrasp Manipulation as Trajectory Optimization https://personalrobotics.github.io/publications/king2013pregrasp/ 2013-01-01T00:00:00Z J. King M. Klingensmith C. Dellin M. Dogar P. Velagapudi N. Pollard S.S. Srinivasa Robotics: Science and Systems, 2013 Legible User Input for Intent Prediction https://personalrobotics.github.io/publications/lee2013userinput/ 2013-01-01T00:00:00Z K.T. Lee A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2013 Effects of Robot Capability on User Acceptance https://personalrobotics.github.io/publications/cha2013acceptance/ 2013-01-01T00:00:00Z E. Cha A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2013 Toward a Deeper Understanding of Motion Alternatives via an Equivalence Relation on Local Paths https://personalrobotics.github.io/publications/knepper2012toward/ 2012-01-01T00:00:00Z R.A. Knepper S.S. Srinivasa M.T. Mason The International Journal of Robotics Research, 2012 Autonomous Manipulation with a General-Purpose Simple Hand https://personalrobotics.github.io/publications/mason2012autonomous/ 2012-01-01T00:00:00Z M.T. Mason A. Rodriguez S.S. Srinivasa A.S. Vazquez The International Journal of Robotics Research, 2012 A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty https://personalrobotics.github.io/publications/dogar2012planning/ 2012-01-01T00:00:00Z M.R. Dogar S.S. Srinivasa Autonomous Robots, 2012 HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home https://personalrobotics.github.io/publications/srinivasa2012herb/ 2012-01-01T00:00:00Z S.S. Srinivasa D. Berenson M. Cakmak A. Collet M.R. Dogar A.D. Dragan R.A. Knepper T. Niemueller K. Strabala M. Vandeweghe J. Ziegler Proceedings of the IEEE, 2012 Physics-Based Grasp Planning Through Clutter https://personalrobotics.github.io/publications/dogar2012physics/ 2012-01-01T00:00:00Z M. Dogar K. Hsiao M. Ciocarlie S.S. Srinivasa Robotics: Science and Systems, 2012 A Framework for Extreme Locomotion Planning https://personalrobotics.github.io/publications/dellin2012locomotion/ 2012-01-01T00:00:00Z C.M. Dellin S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2012 Constellation - An algorithm for finding robot configurations that satisfy multiple constraints https://personalrobotics.github.io/publications/kaiser2012constellation/ 2012-01-01T00:00:00Z P. Kaiser D. Berenson N. Vahrenkamp T. Asfour R. Dillmann S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2012 Formalizing Assistive Teleoperation https://personalrobotics.github.io/publications/dragan2012formalizing/ 2012-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa Robotics: Science and Systems, 2012 Online Customization of Teleoperation Interfaces https://personalrobotics.github.io/publications/dragan2012custom/ 2012-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa IEEE International Symposium on Robot and Human Interactive Communication, 2012 A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation https://personalrobotics.github.io/publications/niemueller2012database/ 2012-01-01T00:00:00Z T. Niemueller G. Lakemeyer S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012 A Data-Driven Statistical Framework for Post-Grasp Manipulation https://personalrobotics.github.io/publications/paolini2012datadriven/ 2012-01-01T00:00:00Z R. Paolini A. Rodriguez S.S. Srinivasa M.T. Mason International Symposium on Experimental Robotics, 2012 Learning the Communication of Intent Prior to Physical Collaboration https://personalrobotics.github.io/publications/strabala2012learning/ 2012-01-01T00:00:00Z K. Strabala M.K. Lee A. Dragan J. Forlizzi S.S. Srinivasa IEEE International Symposium on Robot and Human Interactive Communication, 2012 Multirobot Pushing — How Many Robots are Sufficient? https://personalrobotics.github.io/publications/lindzey2012multirobot/ 2012-01-01T00:00:00Z L. Lindzey H. Choset S.S. Srinivasa R.A. Knepper The Robotics Institute, Carnegie Mellon University, 2012 Assistive Teleoperation: A New Domain for Interactive Learning https://personalrobotics.github.io/publications/dragan2012interactive/ 2012-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, 2012 Efficient Touch Based Localization through Submodularity https://personalrobotics.github.io/publications/javdani2012efficient/ 2012-01-01T00:00:00Z S. Javdani M. Klingensmith D. Bagnell N. Pollard S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2012 Assistive Teleoperation for Manipulation Tasks https://personalrobotics.github.io/publications/dragan2012assistive/ 2012-01-01T00:00:00Z A.D. Dragan S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2012 Task Space Regions: A Framework for Pose-Constrained Manipulation Planning https://personalrobotics.github.io/publications/berenson2011task/ 2011-01-01T00:00:00Z D. Berenson S.S. Srinivasa J. Kuffner The International Journal of Robotics Research, 2011 The MOPED framework: Object recognition and pose estimation for manipulation https://personalrobotics.github.io/publications/collet2011moped/ 2011-01-01T00:00:00Z A. Collet M. Martinez S.S. Srinivasa The International Journal of Robotics Research, 2011 Generality and simple hands https://personalrobotics.github.io/publications/mason2011simplehands/ 2011-01-01T00:00:00Z M. Mason S.S. Srinivasa A. Vazquez International Symposium on Robotics Research, 2011 Addressing cost-space chasms in manipulation planning https://personalrobotics.github.io/publications/berenson2011chasms/ 2011-01-01T00:00:00Z D. Berenson T. Siméon S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2011 A framework for push-grasping in clutter https://personalrobotics.github.io/publications/dogar2011framework/ 2011-01-01T00:00:00Z M. Dogar S.S. Srinivasa Robotics: Science and Systems, 2011 Manipulation planning with goal sets using constrained trajectory optimization https://personalrobotics.github.io/publications/dragan2011gschomp/ 2011-01-01T00:00:00Z A.D. Dragan N.D. Ratliff S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2011 An equivalence relation for local path sets https://personalrobotics.github.io/publications/knepper2011equivalence/ 2011-01-01T00:00:00Z R. Knepper S.S. Srinivasa M. Mason Workshop on the Algorithmic Foundations of Robotics, 2011 Human preferences for robot-human hand-over configurations https://personalrobotics.github.io/publications/cakmak2011human/ 2011-01-01T00:00:00Z M. Cakmak S.S. Srinivasa M.K. Lee J. Forlizzi S. Kiesler IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 Abort and retry in grasping https://personalrobotics.github.io/publications/rodriguez2011abort/ 2011-01-01T00:00:00Z A. Rodriguez M.T. Mason S.S. Srinivasa M. Bernstein A. Zirbel IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 Learning from Experience in Manipulation Planning: Setting the Right Goals https://personalrobotics.github.io/publications/dragan2011lfexp/ 2011-01-01T00:00:00Z A.D. Dragan G.J. Gordon S.S. Srinivasa International Symposium on Robotics Research, 2011 Using Spatial and Temporal Contrast for Fluent Robot-human Hand-overs https://personalrobotics.github.io/publications/cakmak2011contrast/ 2011-01-01T00:00:00Z M. Cakmak S.S. Srinivasa M.K. Lee S. Kiesler J. Forlizzi ACM/IEEE International Conference on Human-Robot Interaction, 2011 Structure discovery in multi-modal data: A region-based approach https://personalrobotics.github.io/publications/collet2011structure/ 2011-01-01T00:00:00Z A. Collet S.S. Srinivasa M. Hebert IEEE International Conference on Robotics and Automation, 2011 Predictability or Adaptivity?: Designing Robot Handoffs Modeled from Trained Dogs and People https://personalrobotics.github.io/publications/lee2011dogs/ 2011-01-01T00:00:00Z M.K. Lee J. Forlizzi S. Kiesler M. Cakmak S.S. Srinivasa ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2011 Learning to Provide Better Examples for Our Robots https://personalrobotics.github.io/publications/dragan2011examples/ 2011-01-01T00:00:00Z A. Dragan S.S. Srinivasa Pioneers Workshop,ACM/IEEE International Conference on Human-Robot Interaction, 2011 Perception and Control Challenges for Effective Human-Robot Handoffs https://personalrobotics.github.io/publications/micelli2011handoff/ 2011-01-01T00:00:00Z V. Micelli K. Strabala S.S. Srinivasa Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems, 2011 HERB: A Home Exploring Robotic Butler https://personalrobotics.github.io/publications/srinivasa2010herb/ 2010-01-01T00:00:00Z S.S. Srinivasa D. Ferguson C.J. Helfrich D. Berenson A. Collet R. Diankov G. Gallagher G. Hollinger J. Kuffner M.V. Weghe Autonomous Robots, 2010 Decentralized estimation and control of graph connectivity for mobile sensor networks https://personalrobotics.github.io/publications/yang2010graphconn/ 2010-01-01T00:00:00Z P. Yang R.A. Freeman G.J. Gordon K.M. Lynch S.S. Srinivasa R. Sukthankar Automatica, 2010 Probabilistically Complete Planning with End-Effector Pose Constraints https://personalrobotics.github.io/publications/berenson2010cbirrtcompleteness/ 2010-01-01T00:00:00Z D. Berenson S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2010 Push-grasping with dexterous hands: Mechanics and a method https://personalrobotics.github.io/publications/dogar2010pushgrasp/ 2010-01-01T00:00:00Z M.R. Dogar S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010 MOPED: A scalable and low latency object recognition and pose estimation system https://personalrobotics.github.io/publications/martinez2010moped/ 2010-01-01T00:00:00Z M. Martinez A. Collet S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2010 Gracefully mitigating breakdowns in robotic services https://personalrobotics.github.io/publications/lee2010gracefully/ 2010-01-01T00:00:00Z M.K. Lee S. Kiesler J. Forlizzi S.S. Srinivasa P. Rybski ACM/IEEE International Conference on Human-Robot Interaction, 2010 Efficient multi-view object recognition and full pose estimation https://personalrobotics.github.io/publications/collet2010multiview/ 2010-01-01T00:00:00Z A. Collet S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2010 Hierarchical planning architectures for mobile manipulation tasks in indoor environments https://personalrobotics.github.io/publications/knepper2010hierarchical/ 2010-01-01T00:00:00Z R.A. Knepper S.S. Srinivasa M.T. Mason IEEE International Conference on Robotics and Automation, 2010 People helping robots helping people: Crowdsourcing for grasping novel objects https://personalrobotics.github.io/publications/sorokin2010people/ 2010-01-01T00:00:00Z A. Sorokin D. Berenson S.S. Srinivasa M. Hebert IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010 Manipulation capabilities with simple hands https://personalrobotics.github.io/publications/rodriguez2010manipulation/ 2010-01-01T00:00:00Z A. Rodriguez M.T. Mason S.S. Srinivasa International Symposium on Experimental Robotics, 2010 Planning pre-grasp manipulation for transport tasks https://personalrobotics.github.io/publications/chang2010pregrasp/ 2010-01-01T00:00:00Z L.Y. Chang S.S. Srinivasa N.S. Pollard IEEE International Conference on Robotics and Automation, 2010 Proprioceptive Localization for Mobile Manipulators https://personalrobotics.github.io/publications/dogar2010proprioceptive/ 2010-01-01T00:00:00Z M. Dogar V. Hemrajani D. Leeds B. Kane S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2010 Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data https://personalrobotics.github.io/publications/herrmann2010passthrough/ 2010-01-01T00:00:00Z M. Herrmann S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2010 Object recognition and full pose registration from a single image for robotic manipulation https://personalrobotics.github.io/publications/collet2009object/ 2009-01-01T00:00:00Z A. Collet D. Berenson S.S. Srinivasa D. Ferguson IEEE International Conference on Robotics and Automation, 2009 Manipulation planning with workspace goal regions https://personalrobotics.github.io/publications/berenson2009wgr/ 2009-01-01T00:00:00Z D. Berenson S.S. Srinivasa D. Ferguson A. Collet J.J. Kuffner IEEE International Conference on Robotics and Automation, 2009 CHOMP: Gradient optimization techniques for efficient motion planning https://personalrobotics.github.io/publications/ratliff2009chomp/ 2009-01-01T00:00:00Z N. Ratliff M. Zucker J.A. Bagnell S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2009 Manipulation planning on constraint manifolds https://personalrobotics.github.io/publications/berenson2009cbirrt/ 2009-01-01T00:00:00Z D. Berenson S.S. Srinivasa D. Ferguson J.J. Kuffner IEEE International Conference on Robotics and Automation, 2009 Planning-based prediction for pedestrians https://personalrobotics.github.io/publications/ziebart2009pedpred/ 2009-01-01T00:00:00Z B.D. Ziebart N. Ratliff G. Gallagher C. Mertz K. Peterson J.A. Bagnell M. Hebert A.K. Dey S.S. Srinivasa IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 Addressing pose uncertainty in manipulation planning using Task Space Regions https://personalrobotics.github.io/publications/berenson2009tsruncertainty/ 2009-01-01T00:00:00Z D. Berenson S.S. Srinivasa J.J. Kuffner IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 Inverse Optimal Heuristic Control for Imitation Learning https://personalrobotics.github.io/publications/ratliff2009ioc/ 2009-01-01T00:00:00Z N. Ratliff B. Ziebart K. Peterson J.A. Bagnell M. Hebert A.K. Dey S.S. Srinivasa International Conference on Artificial Intelligence and Statistics, 2009 GATMO: a Generalized Approach to Tracking Movable Objects https://personalrobotics.github.io/publications/gallagher2009gatmo/ 2009-01-01T00:00:00Z G. Gallagher S.S. Srinivasa J.A. Bagnell D. Ferguson IEEE International Conference on Robotics and Automation, 2009 Combining search and action for mobile robots https://personalrobotics.github.io/publications/hollinger2009combining/ 2009-01-01T00:00:00Z G. Hollinger D. Ferguson S.S. Srinivasa S. Singh IEEE International Conference on Robotics and Automation, 2009 Pose-constrained whole-body planning using Task Space Region Chains https://personalrobotics.github.io/publications/berenson2009tsrchains/ 2009-01-01T00:00:00Z D. Berenson J. Chestnutt S.S. Srinivasa J.J. Kuffner S. Kagami IEEE-RAS International Conference on Humanoid Robots, 2009 Bispace planning: Concurrent multi-space exploration https://personalrobotics.github.io/publications/diankov2008bispace/ 2008-01-01T00:00:00Z R. Diankov N. Ratliff D. Ferguson S.S. Srinivasa J. Kuffner Robotics: Science and Systems, 2008 Manipulation planning with caging grasps https://personalrobotics.github.io/publications/diankov2008caging/ 2008-01-01T00:00:00Z R. Diankov S.S. Srinivasa D. Ferguson J. Kuffner IEEE-RAS International Conference on Humanoid Robots, 2008 The robotic busboy: Steps towards developing a mobile robotic home assistant https://personalrobotics.github.io/publications/srinivasa2008busboy/ 2008-01-01T00:00:00Z S.S. Srinivasa D. Ferguson M.V. Weghe R. Diankov D. Berenson C. Helfrich H. Strasdat International Conference on Intelligent Autonomous Systems, 2008 Grasp synthesis in cluttered environments for dexterous hands https://personalrobotics.github.io/publications/berenson2008grasp/ 2008-01-01T00:00:00Z D. Berenson S.S. Srinivasa IEEE-RAS International Conference on Humanoid Robots, 2008 Generalizing metamodules to simplify planning in modular robotic systems https://personalrobotics.github.io/publications/dewey2008metamodules/ 2008-01-01T00:00:00Z D.J. Dewey M.P. Ashley-Rollman M. De Rosa S.C. Goldstein T.C. Mowry S.S. Srinivasa P. Pillai J. Campbell IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008 Anytime guaranteed search using spanning trees https://personalrobotics.github.io/publications/hollinger2008anytime/ 2008-01-01T00:00:00Z G. Hollinger A. Kehagias S. Singh D. Ferguson S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2008 Randomized path planning for redundant manipulators without inverse kinematics https://personalrobotics.github.io/publications/vandeweghe2007rrtjt/ 2007-01-01T00:00:00Z M. Vandeweghe D. Ferguson S.S. Srinivasa IEEE-RAS International Conference on Humanoid Robots, 2007 Imitation learning for locomotion and manipulation https://personalrobotics.github.io/publications/ratliff2007imitation/ 2007-01-01T00:00:00Z N. Ratliff J.A. Bagnell S.S. Srinivasa IEEE-RAS International Conference on Humanoid Robots, 2007 Control strategies and design guidelines for planar latch-less metamorphic robots based on analysis of dynamics https://personalrobotics.github.io/publications/deshpande2007control/ 2007-01-01T00:00:00Z Ashish Deshpande S.S. Srinivasa P. Pillai IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007 Identifying trajectory classes in dynamic tasks https://personalrobotics.github.io/publications/anderson2007identifying/ 2007-01-01T00:00:00Z S.O. Anderson S.S. Srinivasa IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007 Planar batting under shape, pose, and impact uncertainty https://personalrobotics.github.io/publications/fu2007planar/ 2007-01-01T00:00:00Z J.L. Fu S.S. Srinivasa N.S. Pollard B.C. Nabbe IEEE International Conference on Robotics and Automation, 2007 Declarative programming for modular robots https://personalrobotics.github.io/publications/ashleyrollman2007declarative/ 2007-01-01T00:00:00Z M.P. Ashley-Rollman M. De Rosa S.S. Srinivasa P. Pillai S.C. Goldstein J. Campbell Workshop on Self-Reconfigurable Robots/Systems and Applications, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007 Hierarchical motion planning for self-reconfigurable modular robots https://personalrobotics.github.io/publications/bhat2006hierarchical/ 2006-01-01T00:00:00Z P. Bhat J. Kuffner S. Goldstein S.S. Srinivasa IEEE International Conference on Robotics and Automation, 2006 Physics-based motion retiming https://personalrobotics.github.io/publications/mccann2006retiming/ 2006-01-01T00:00:00Z J. McCann N.S. Pollard S.S. Srinivasa ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2006 Meet point planning for multirobot coordination https://personalrobotics.github.io/publications/srinivasa2006meet/ 2006-01-01T00:00:00Z S.S. Srinivasa D. Ferguson International Symposium on Robotics and Automation, 2006 Control synthesis for dynamic contact manipulation https://personalrobotics.github.io/publications/srinivasa2005control/ 2005-01-01T00:00:00Z S.S. Srinivasa M.A. Erdmann M.T. Mason IEEE International Conference on Robotics and Automation, 2005 Using projected dynamics to plan dynamic contact manipulation https://personalrobotics.github.io/publications/srinivasa2005projected/ 2005-01-01T00:00:00Z S.S. Srinivasa M.A. Erdmann M.T. Mason IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 Control Synthesis for Dynamic Contact Manipulation https://personalrobotics.github.io/publications/srinivasa2005phd/ 2005-01-01T00:00:00Z S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2005 Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system https://personalrobotics.github.io/publications/srinivasa2003timescale/ 2003-01-01T00:00:00Z S.S. Srinivasa M.A. Erdmann M.T. Mason IEEE International Conference on Robotics and Automation, 2003 Towards sensor based coverage with robot teams https://personalrobotics.github.io/publications/latimer2002towards/ 2002-01-01T00:00:00Z D. Latimer IV S.S. Srinivasa V. Lee-Shue S. Sonne H. Choset A. Hurst IEEE International Conference on Robotics and Automation, 2002 Experiments with nonholonomic manipulation https://personalrobotics.github.io/publications/srinivasa2002mobip/ 2002-01-01T00:00:00Z S.S. Srinivasa C.R. Baker E. Sacks G.B. Reshko M.T. Mason M.A. Erdmann IEEE International Conference on Robotics and Automation, 2002 Experiments with Nonholonomic Manipulation https://personalrobotics.github.io/publications/srinivasa2001ms/ 2001-01-01T00:00:00Z S.S. Srinivasa The Robotics Institute, Carnegie Mellon University, 2001 Coherent structures in numerically simulated jets with and without off-source heating https://personalrobotics.github.io/publications/siddhartha2000coherent/ 2000-01-01T00:00:00Z S.S. Siddhartha R. Narasimha A.J. Basu S.V. Kailas Fluid Dynamics Research, 2000 Reverse Engineering using the Structured Lighting Technique https://personalrobotics.github.io/publications/srinivasa1999btech/ 1999-01-01T00:00:00Z S.S. Srinivasa Mechanical Engineering, Indian Institute of Technology Madras, 1999