Publications

Extending Robot-Assisted Feeding to Spoon-Based Foods with the Articutool: A Modular Active End-Effector

Jose Jaime, Liander Rainbolt, Ikshita Sathanur, Taylor Kessler Faulkner, Siddhartha Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026

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RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation

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

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Difference-Aware Retrieval Polices for Imitation Learning

Quinn Pfeifer, Ethan Pronovost, Paarth Shah, Khimya Khetarpal, Abhishek Gupta, Siddhartha Srinivasa

International Conference on Learning Representations, 2026

PDF Website

Robust Intervention Learning from Emergency Stop Interventions

Ethan Pronovost, Khimya Khetarpal, Siddhartha Srinivasa

arXiv, 2026

PDF arXiv Website interventions

Incremental Generalized Hybrid A*

S. Talia, O. Salzman, S. S. Srinivasa

IEEE Robotics and Automation Letters, 2025

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On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control

Vincent Roulet, S.S. Srinivasa, Maryam Fazel, Zaid Harchaoui

Journal of Machine Learning Research, 2025

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Long Range Navigator (LRN) : Extending robot planning horizons beyond metric maps

Matthew Schmittle^*, Rohan Baijal^*, Nathan Hatch, Rosario Scalise, Mateo Guaman Castro, Sidharth Talia, Khimya Khetarpal, Siddhartha Srinivasa, Byron Boots — ^* equal contribution

Conference on Robot Learning, 2025

RSS-ROAR Workshop Best Paper Award Winner

PDF Website

Generative Data Mining with Longtail-Guided Diffusion

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

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DriveGPT: Scaling Autoregressive Behavior Models for Driving

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

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Causal Composition Diffusion Model for Closed-loop Traffic Generation

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

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Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use

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

Best Paper Award Finalist for Systems

PDF Website robotfeeding

ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning

Yunchu Zhang, Shubham Mittal, Zhengyu Zhang, Liyiming Ke, Siddhartha Srinivasa, Abhishek Gupta

Conference on Robot Learning, 2025

PDF dataefficiency

Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates

Vincent Roulet, S.S. Srinivasa, Maryam Fazel, Zaid Harchaoui

Open Journal of Mathematical Optimization, 5, pp. 1--63, Universite de Montpellier, 2024

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Electrostatic brakes enable individual joint control of underactuated, highly articulated robots

Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha Srinivasa, Joshua R. Smith

The International Journal of Robotics Research, SAGE Publications, 2024

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Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees

Jaein Lim, Mahdi Ghanei, Connor Lawson, Siddhartha Srinivasa, Panagiotis Tsiotras

The International Journal of Robotics Research, SAGE Publications, 2024

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Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels

Abhay Deshpande, Ke Liyiming, Quinn Pfeifer, Abhishek Gupta, Siddhartha Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

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Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving

S. Talia, M. Schmittle, A. Lambert, A. Spitzer, C. Mavrogiannis, S. S. Srinivasa

Robotics: Science and Systems, 2024

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Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving

M. Schmittle, R. Baijal, B. Hou, S. Srinivasa, B. Boots

IEEE International Conference on Robotics and Automation, 2024

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CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning

Liyiming Ke^*, Yunchu Zhang^*, Abhay Deshpande, Abhishek Gupta, Siddhartha Srinivasa — ^* equal contribution

International Conference on Learning Representations, 2024

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Multiple Ways of Working with Users to Develop Physically Assistive Robots

A. Nanavati^*, M. Pascher^*, V. Ranganeni, E.K. Gordon, T.A.K. Faulkner, S.S. Srinivasa, M. Cakmak, P. Alves-Oliveira, J. Gerken — ^* equal contribution

ACM/IEEE International Conference on Human-Robot Interaction, 2024
Workshop on Assistive Applications, Accessibility, and Disability Ethics

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An Adaptable, Safe, and Portable Robot-Assisted Feeding System

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 — ^* equal contribution

ACM/IEEE International Conference on Human-Robot Interaction, 2024

Best Demo Award Winner

PDF robotfeeding

Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control

Christoforos Mavrogiannis, Jonathan A DeCastro, Siddhartha S Srinivasa

The International Journal of Robotics Research, SAGE Publications, 2023

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Winding Through: Crowd Navigation via Topological Invariance

C Mavrogiannis, K Balasubramanian, S. Poddar, A. Gandra, S. S. Srinivasa

IEEE Robotics and Automation Letters, 8(1), 2023

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Git Re-Basin: Merging models modulo permutation symmetries

Samuel K Ainsworth, Jonathan Hayase, S. Srinivasa

International Conference on Learning Representations, 2023

Top 5 Percent Paper

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NEWTON: Are Large Language Models Capable of Physical Reasoning?

YR. Wang, J. Duan, D. Fox, S. Srinivasa

Empirical Methods in Natural Language Processing, 2023

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Towards General Single-Utensil Food Acquisition with Human-Informed Actions

E.K. Gordon^*, A. Nanavati^*, R. Challa, Bernie H. Zhu, Taylor A. Kessler Faulkner, S. S. Srinivasa — ^* equal contribution

Conference on Robot Learning, 2023

PDF robotfeeding

From Crowd Motion Prediction to Robot Navigation in Crowds

S. Poddar, C. Mavrogiannis, S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

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PuSHR: A Multirobot System for Nonprehensile Rearrangement

S. Talia, A. Thareja, C. Mavrogiannis, S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

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Cherry Picking with Reinforcement Learning

Yunchu Zhang^*, Liyiming Ke^*, Abhay Deshpande, Abhishek Gupta, Siddhartha Srinivasa — ^* equal contribution

Robotics: Science and Systems, 2023

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GuILD: Guided Incremental Local Densification for Accelerated Sampling-Based Motion Planning

R. Scalise, A. Mandalika, B. Hou, Sanjiban Choudhury, S. S. Srinivasa

IEEE International Conference on Robotics and Automation, 2023

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Real World Offline Reinforcement Learning with Realistic Data Source

G. Zhou, L. Ke, S. S. Srinivasa, A. Gupta, A. Rajeswaran, V Kumar

IEEE International Conference on Robotics and Automation, 2023

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Design Principles for Robot-Assisted Feeding in Social Contexts

A. Nanavati^*, P. Alves-Oliveira^*, T. Schrenk, E.K. Gordon, M. Cakmak, S. S. Srinivasa — ^* equal contribution

ACM/IEEE International Conference on Human-Robot Interaction, 2023

Best Paper Award Winner for Design

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Unintended Failures of Robot-Assisted Feeding in Social Contexts

A. Nanavati, P. Alves-Oliveira, T. Schrenk, E.K. Gordon, M. Cakmak, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2023

PDF Video robotfeeding

Investigating the Levels of Autonomy for Personalization in Assistive Robotics

R. Karim, A. Nanavati, T.A.K. Faulkner, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2023

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Human-Scale Mobile Manipulation Using RoMan

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, 2, pp. 1232-1262, 2022

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Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

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, 7(1), pp. 478-485, IEEE, 2022

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Expert Intervention Learning: An online framework for robot learning from explicit and implicit human feedback

J. Spencer, Sanjiban Choudhury, M. Barnes, M. Schmittle, M. Chiang, P. Ramadge, S.S. Srinivasa

Autonomous Robots, 46, pp. 99-113, 2022

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Dynamic Replanning with Posterior Sampling

B. Hou, S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

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Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation

P. Lancaster, P. Gyawali, C. Mavrogiannis, S. S. Srinivasa, J. R. Smith

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

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Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids

C. Mavrogiannis, J. DeCastro, S. S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2022

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Stein Variational Probabilistic Roadmaps

A. Lambert, B. Hou, R. Scalise, S. S. Srinivasa, B. Boots

IEEE International Conference on Robotics and Automation, 2022

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Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer

S. Belkhale, E.K. Gordon, Y. Chen, S. S. Srinivasa, T. Bhattacharjee, D. Sadigh

IEEE International Conference on Robotics and Automation, 2022

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Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids

C. Mavrogiannis, J. A. DeCastro, S. S. Srinivasa

IEEE International Conference on Robotics and Automation, 2022

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Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments

A. Nanavati^*, N. Walker^*, L. Taber, C. Mavrogiannis, L. Takayama, M. Cakmak, S. S. Srinivasa — ^* equal contribution

ACM/IEEE International Conference on Human-Robot Interaction, 2022

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Complexity Bounds of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control

Vincent Roulet, S.S. Srinivasa, Maryam Fazel, Zaid Harchaoui

arXiv, 2022

PDF arXiv Website

Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates

Vincent Roulet, S.S. Srinivasa, Maryam Fazel, Zaid Harchaoui

arXiv, 2022

PDF arXiv Website

HARMONIC: A Multimodal Dataset of Assistive Human-Robot Collaboration

B.A. Newman, R.M. Aronson, S.S. Srinivasa, K. Kitani, H. Admoni

The International Journal of Robotics Research (Data Paper), 41(1), pp. 3--11, SAGE Publications, 2022

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Leveraging Experience in Lazy Search

M. Bhardwaj, Sanjiban Choudhury, B. Boots, S. Srinivasa

Autonomous Robots, 45(7), pp. 979–996, Springer, 2021

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Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation

L. Ke, J. Wang, T. Bhattacharjee, B. Boots, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2021

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Influencing Behavioral Attributions to Robot Motion During Task Execution

N. Walker, C. Mavrogiannis, S. S. Srinivasa, M. Cakmak

Conference on Robot Learning, 2021

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Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts

G. Lee, B. Hou, Sanjiban Choudhury, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

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Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning

A. Nanavati, C. Mavrogiannis, K. Weatherwax, L. Takayama, M. Cakmak, S.S. Srinivasa

Robotics: Science and Systems, 2021

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Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding

E.K. Gordon, S. Roychowdhury, T. Bhattacharjee, K. Jamieson, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2021

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Faster Policy Learning with Continuous-Time Gradients

S. Ainsworth, K. Lowrey, J. Thickstun, Z. Harchaoui, S.S. Srinivasa

Learning for Dynamics and Control, 2021

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Benchmarking Robot Manipulation with the Rubik's Cube

B. Yang, P.E. Lancaster, S.S. Srinivasa, J.R. Smith

IEEE Robotics and Automation Letters, IEEE, 2020

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Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search

J.G. Gammell, T. Barfoot, S.S. Srinivasa

The International Journal of Robotics Research, SAGE Publications, 2020

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Toward fieldable human-scale mobile manipulation using RoMan

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, 11413, 2020

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Learning from interventions: Human-robot interaction as both explicit and implicit feedback

J. Spencer, Sanjiban Choudhury, M. Barnes, M. Schmittle, M. Chiang, P. Ramadge, S.S. Srinivasa

Robotics: Science and Systems, 2020

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Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity

W. Agnew, C. Xie, A Walsman, O. Murad, C. Wang, P. Domingos, S. S. Srinivasa

Conference on Robot Learning, 2020

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Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

J. Roh^*, C. Mavrogiannis^*, R. Madan^*, Dieter Fox, S. S. Srinivasa — ^* equal contribution

Conference on Robot Learning, 2020

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Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

L. Ke, A. Kamat, J Wang, T. Bhattacharjee, C Mavrogiannis, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

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Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items

E.K. Gordon, X. Meng, T. Bhattacharjee, M. Barnes, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

PDF robotfeeding

Lyceum: An Efficient and Scalable Ecosystem for Robot Learning

C. Summers, K. Lowrey, A. Rajeswaran, S.S. Srinivasa, E. Todorov

Learning for Dynamics and Control, 2020

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Imitation Learning as f-Divergence Minimization

L. Ke, Sanjiban Choudhury, M. Barnes, W. Sun, G. Lee, S.S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2020

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Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges

B. Hou, Sanjiban Choudhury, G. Lee, A. Mandalika, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2020

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On the Convergence of the Iterative Linear Exponential Quadratic Gaussian Algorithm to Stationary Points

V. Roulet, M. Fazel, S.S. Srinivasa, Z. Harchaoui

American Controls Conference, 2020

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Is More Autonomy Always Better? Exploring Preferences of Users with Mobility Impairments in Robot-assisted Feeding

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

PDF robotfeeding

Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning

M. Chen, S. Nikolaidis, H. Soh, D. Hsu, S.S. Srinivasa

ACM Transactions on Human-Robot Interaction, ACM, 2019

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Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search

R. Holladay, O. Salzman, S.S. Srinivasa

IEEE Robotics and Automation Letters, 2019

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Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation

T. Bhattacharjee, G. Lee, H. Song, S.S. Srinivasa

IEEE Robotics and Automation Letters, IEEE, 2019

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Mo States Mo Problems: Emergency Stop Mechanisms from Observation

S. Ainsworth, M. Barnes, S.S. Srinivasa

Advances in Neural Information Processing Systems, 2019

PDF interventions

Improving Robot Success Detection using Static Object Data

R. Scalise, J. Thomason, Y. Bisk, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

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Talking With Hands 16.2M: A Large-Scale Dataset of Synchronized Body-Finger Motion and Audio for Conversational Motion Analysis and Synthesis

G. Lee, Z. Deng, S. Ma, T. Shiratori, S.S. Srinivasa, Y. Sheikh

International Conference on Computer Vision, 2019

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The Blindfolded Robot : A Bayesian Approach to Planning with Contact Feedback

B. Saund, Sanjiban Choudhury, S.S. Srinivasa, D. Berenson

International Symposium on Robotics Research, 2019

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Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate

R. Feng, Y. Kim, G. Lee, E.K. Gordon, M. Schmittle, S. Kumar, T. Bhattacharjee, S.S. Srinivasa

International Symposium on Robotics Research, 2019

PDF robotfeeding

A Community-Centered Design Framework for Robot-Assisted Feeding Systems

T. Bhattacharjee, M.E. Cabrera, A. Caspi, M. Cakmak, S.S. Srinivasa

International ACM SIGACCESS Conference on Computers and Accessibility, 2019

PDF robotfeeding

Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning

R. Rowe, S. Singhal, D. Yi, T. Bhattacharjee, S.S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2019

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LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning

R. Kumar, A. Mandalika, Sanjiban Choudhury, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

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Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories

S. Niyaz, A. Kuntz, O. Salzman, R. Alterovitz, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

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Leveraging Experience in Lazy Search

M. Bhardwaj, Sanjiban Choudhury, B. Boots, S. Srinivasa

Robotics: Science and Systems, 2019

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Iterative Linearized Control: Stable Algorithms and Complexity Guarantees

V. Roulet, S.S. Srinivasa, D. Drusvyatskiy, Z. Harchaoui

International Conference on Machine Learning, 2019

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Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles

A. Mandalika, Sanjiban Choudhury, O. Salzman, S.S. Srinivasa

International Conference on Automated Planning and Scheduling, 2019

Best Student Paper Award Winner

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Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigation

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
Oral

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Transfer depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding

D. Gallenberger, T. Bhattacharjee, Y. Kim, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2019

Best Paper Award Winner for Technical Advances in HRI

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The Assistive Multi-Armed Bandit

L. Chan, D. Hadfield-Menell, S.S. Srinivasa, A.D. Dragan

ACM/IEEE International Conference on Human-Robot Interaction, 2019

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Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

P. Lancaster, J.R. Smith, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2019

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Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity

H. Song, T. Bhattacharjee, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2019

PDF robotfeeding

Robot Object Referencing through Situated Legible Projections

T. Weng, L. Perlmutter, S. Nikolaidis, S.S. Srinivasa, M. Cakmak

IEEE International Conference on Robotics and Automation, 2019

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Bayesian Policy Optimization for Model Uncertainty

G. Lee, B. Hou, A. Mandalika, J. Lee, Sanjiban Choudhury, S.S. Srinivasa

International Conference on Learning Representations, 2019

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Towards Effective Human-AI Teams: The Case of Collaborative Packing

G. Lee, C. Mavrogiannis, S.S. Srinivasa

AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction, 2019

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

S. S. Srinivasa, P. Lancaster, J. Michalove, M. Schmittle, C. Summers, M. Rockett, J. R. Smith, Sanjiban Choudhury, C. Mavrogiannis, F. Sadeghi

CoRR, abs/1908.08031, 2019

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Planning with Verbal Communication for Human-Robot Collaboration

S. Nikolaidis, M. Kwon, J. Forlizzi, S.S. Srinivasa

ACM Transactions on Human-Robot Interaction, 7(3), ACM, 2018

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DART: Dynamic Animation and Robotics Toolkit

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, 3(22), pp. 500, The Open Journal, 2018

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Shared Autonomy via Hindsight Optimization for Teleoperation and Teaming

S. Javdani, H. Admoni, S. Pellegrinelli, S.S. Srinivasa, J.A. Bagnell

The International Journal of Robotics Research, 37(7), pp. 717-742, SAGE Publications, 2018

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Informed Sampling for Asymptotically Optimal Path Planning

J.G. Gammell, T. Barfoot, S.S. Srinivasa

IEEE Transactions on Robotics, 34(4), pp. 966-984, IEEE, 2018

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Sampling of Pareto-Optimal Trajectories using Progressive Objective Evaluation in Multi-Objective Motion Planning

J. Lee, D. Yi, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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Recurrent Predictive State Policy Networks

A. Hefny, Z. Marinho, W. Sun, S.S. Srinivasa, G. Gordon

International Conference on Machine Learning, 2018

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Bayesian Active Edge Evaluation on Expensive Graphs

Sanjiban Choudhury, S.S. Srinivasa, S. Scherer

International Joint Conference on Artificial Intelligence, 2018

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Generalizing Informed Sampling for Asymptotically-Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo

D. Yi, R. Thakker, C. Gulino, O. Salzman, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2018

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Eye-Hand Behavior in Human-Robot Shared Manipulation

R. Aronson, T. Santini, T. Kübler, E. Kasneci, S.S. Srinivasa, H. Admoni

ACM/IEEE International Conference on Human-Robot Interaction, 2018

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Planning with Trust for Human-Robot Collaboration

M. Chen^*, S. Nikolaidis^*, H. Soh, D. Hsu, S.S. Srinivasa — ^* equal contribution

ACM/IEEE International Conference on Human-Robot Interaction, 2018

Best Paper Award Finalist

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The Provable Virtue of Laziness in Motion Planning

N. Haghtalab, S. Mackenzie, A.D. Procaccia, O Salzman, S.S. Srinivasa

International Conference on Automated Planning and Scheduling, 2018

Best Paper Award Winner

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Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges

A. Mandalika, O. Salzman, S.S. Srinivasa

International Conference on Automated Planning and Scheduling, 2018

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A Study of Reaching Motions for Collaborative Human-Robot Interaction

S. Sheikholeslami, G. Lee, J.W. Hart, S.S. Srinivasa, E.A. Croft

International Symposium on Experimental Robotics, 2018

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Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs

S. Niyaz, A. Kuntz, O. Salzman, R. Alterovitz, S.S. Srinivasa

International Symposium on Experimental Robotics, 2018

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Autonomous robot feeding for upper-extremity mobility impaired people: Integrating sensing, perception, learning, motion planning, and robot control

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

Best Demo Award Winner

Video robotfeeding

Human-robot mutual adaptation in collaborative tasks: Models and experiments

S. Nikolaidis, D. Hsu, S.S. Srinivasa

The International Journal of Robotics Research, 36(5-7), pp. 618-634, SAGE Publications, 2017

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Large-scale, real-time 3D scene reconstruction on a mobile device

I. Dryanovski, M.K. Klingensmith, S.S. Srinivasa, J. Xiao

Autonomous Robots, 41(6), pp. 1423–1445, Springer, 2017

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YCB Benchmarking Project: Object Set, Data Set and Their Applications

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, 56(10), pp. 792--797, The Society of Instrument and Control Engineers, 2017

A Decision-Theoretic Approach for the Collaborative Control of a Smart Wheelchair

M. Ghorbel, J. Pineau, R. Gourdeau, S. Javdani, S.S. Srinivasa

International Journal of Social Robotics, pp. 1--15, Springer, 2017

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A Bayesian Active Learning Approach to Adaptive Motion Planning

Sanjiban Choudhury, S.S. Srinivasa

International Symposium on Robotics Research, 2017

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Near-optimal edge evaluation in explicit generalized binomial graphs

Sanjiban Choudhury, S. Javdani, S.S. Srinivasa, S. Scherer

Advances in Neural Information Processing Systems, 2017

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Predictive State Models for Prediction and Control in Partially Observable Environments

A. Hefny, Z. Marinho, C. Downey, W. Sun, S.S. Srinivasa, G. Gordon

Conference on Robot Learning, 2017

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Sensor Fusion for Fiducial Tags: Highly Robust Pose Estimation from Single Frame RGBD

P. Jin, P. Matikainen, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

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Hybrid control trajectory optimization under uncertainty

J. Pajarinen, V. Kyrki, M. Koval, S.S. Srinivasa, J. Peters, G. Neumann

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

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Incorporating Qualitative Information into Quantitative Estimation Via Sequentially Constrained Hamiltonian Monte Carlo Sampling

D. Yi, Shushman Choudhury, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

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Modeling Human Adaptation in Repeated Collaborative Tasks

S. Nikolaidis, S.S. Srinivasa

International Conference on Pervasive Technologies Related to Assistive Environments, 2017

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Efficient Motion Planning for Problems Lacking Optimal Substructure

O. Salzman, B. Hou, S.S. Srinivasa

International Conference on Automated Planning and Scheduling, 2017

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Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps

Shushman Choudhury, O. Salzman, Sanjiban Choudhury, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2017

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Unobservable Monte Carlo planning for nonprehensile rearrangement tasks

J. King, V. Ranganeni, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2017

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The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds

M. Klingensmith, M. Koval, S.S. Srinivasa, N. Pollard, M. Kaess

IEEE International Conference on Robotics and Automation, 2017

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Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration

S. Nikolaidis, S. Nath, A. Procaccia, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2017

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Human-Robot Mutual Adaptation in Shared Autonomy

S. Nikolaidis, Zhu. Y., D. Hsu, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2017

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Yale-CMU-Berkeley dataset for robotic manipulation research

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), 36(3), pp. 261--268, SAGE Publications, 2017

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Convergent Planning

A. Johnson, J. King, S.S. Srinivasa

IEEE Robotics and Automation Letters, IEEE, 2016

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Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM)

M. Klingensmith, S.S. Srinivasa, M. Kaess

IEEE Robotics and Automation Letters, IEEE, 2016

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Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty

M.C. Koval, N.S. Pollard, S.S. Srinivasa

The International Journal of Robotics Research, 35(1--3), pp. 244-264, SAGE Publications, 2016

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A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments

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

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Distance Metrics and Algorithms for Task Space Path Optimization

R. Holladay, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

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Human-Robot Shared Workspace Collaboration via Hindsight Optimization

S. Pellegrinelli, H. Admoni, S. Javdani, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

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Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning

Shushman Choudhury, C. Dellin, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

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A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors

C. Dellin, S.S. Srinivasa

International Conference on Automated Planning and Scheduling, 2016

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Configuration Lattices for Planar Contact Manipulation Under Uncertainty

M. Koval, D. Hsu, N.S. Pollard, S.S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2016

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A Linear-Time Variational Integrator for Multibody Systems

J.S. Lee, K.C. Liu, F.C. Park, S.S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2016

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Spatial references and perspective in natural language instructions for collaborative manipulation

S. Li, R. Scalise, H. Admoni, S.S. Srinivasa, S. Rosenthal

IEEE International Symposium on Robot and Human Interactive Communication, 2016

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Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM)

M. Klingensmith, S.S. Srinivasa, M. Kaess

IEEE International Conference on Robotics and Automation, 2016

Best Vision Paper Award Finalist

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Convergent Planning

A. Johnson, J. King, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2016

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Rearrangement planning using object-centric and robot-centric action spaces

J. King, M. Cognetti, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2016

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Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning

Sanjiban Choudhury, J. Gammell, T. Barfoot, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2016

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Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces

Z. Marinho, B. Boots, A. Dragan, A. Byravan, G. Gordon, S.S. Srinivasa

Robotics: Science and Systems, 2016

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Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching

L. Herlant, R. Holladay, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2016

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Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model

S. Nikolaidis, D. Hsu, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2016

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Viewpoint-Based Legibility Optimization

S. Nikolaidis, A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2016

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Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty

J. Peters, J. Piater, R. Platt, S.S. Srinivasa

Dagstuhl Reports, 5(10), pp. 1-18, Leibniz-Zentrum für Informatik, Dagstuhl Publishing, 2016

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RoGuE: Robot Gesture Engine

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

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Deceptive robot motion: synthesis, analysis and experiments

A.D. Dragan, R. Holladay, S.S. Srinivasa

Autonomous Robots, 39(3), pp. 331--345, Springer, 2015

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Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set

B. Calli, A. Walsman, A. Singh, S.S. Srinivasa, P. Abbeel, A.M. Dollar

IEEE Robotics and Automation Magazine, 22(3), pp. 36--52, IEEE, 2015

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CHIMP, the CMU Highly Intelligent Mobile Platform

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, 32(2), pp. 209--228, 2015

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Pose Estimation for Planar Contact Manipulation with Manifold Particle Filters

M.C. Koval, N.S. Pollard, S.S. Srinivasa

The International Journal of Robotics Research, 34(7), pp. 922--945, SAGE Publications, 2015

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HerbDisc: Towards Lifelong Robotic Object Discovery

A. Collet, B. Xiong, C. Gurau, M. Hebert, S.S. Srinivasa

The International Journal of Robotics Research, 34(1), pp. 3–-25, SAGE Publications, 2015

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Perceived Robot Capability

E. Cha, A.D. Dragan, S.S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2015

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Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem

M. Koval, J. King, N.S. Pollard, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

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Shared Autonomy via Hindsight Optimization

S. Javdani, S.S. Srinivasa, J.A. Bagnell

Robotics: Science and Systems, 2015

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CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device

M. Klingensmith, I. Dryanovski, S.S. Srinivasa, J. Xiao

Robotics: Science and Systems, 2015

Best Systems Paper Award Finalist

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Lazy Validation of Experience Graphs

V. Hwang, M. Phillips, S.S. Srinivasa, M. Likhachev

IEEE International Conference on Robotics and Automation, 2015

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A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges

C. Dellin, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2015

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Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs

J.D. Gammell, S.S. Srinivasa, T. Barfoot

IEEE International Conference on Robotics and Automation, 2015

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Movement Primitives via Optimization

A.D. Dragan, K. Muelling, J.A. Bagnell, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2015

Best Conference Paper Award Finalist

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Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions between Statically Stable Configurations

J.A. Haustein, J. King, S.S. Srinivasa, T. Asfour

IEEE International Conference on Robotics and Automation, 2015

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Nonprehensile Whole Arm Rearrangement Planning with Physics Manifolds

J. King, J.A. Haustein, S.S. Srinivasa, T. Asfour

IEEE International Conference on Robotics and Automation, 2015

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Effects of Robot Motion on Human-Robot Collaboration

A.D. Dragan, S. Bauman, J. Forlizzi, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2015

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Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization

E. Cha, J. Forlizzi, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2015

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Submodular Surrogates for Value of Information

Y. Chen, S. Javdani, A. Karbasi, J.A. Bagnell, S.S. Srinivasa, A. Krause

AAAI Conference on Artificial Intelligence, 2015

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Integrating human observer inferences into robot motion planning

A.D. Dragan, S.S. Srinivasa

Autonomous Robots, 37(4), pp. 351--368, Springer, 2014

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A data-driven statistical framework for post-grasp manipulation

R. Paolini, A. Rodriguez, S.S. Srinivasa, M.T. Mason

The International Journal of Robotics Research, 33(4), pp. 600–-615, SAGE Publications, 2014

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Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic

J. Gammell, S.S. Srinivasa, T. Barfoot

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

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Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis

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

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The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning

L. Lindzey, R.A. Knepper, H. Choset, S.S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2014

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Legible Robot Pointing

R. Holladay, A.D. Dragan, S.S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2014

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An Analysis of Deceptive Robot Motion

A.D. Dragan, R. Holladay, S.S. Srinivasa

Robotics: Science and Systems, 2014

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Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty

M. Koval, N.S. Pollard, S.S. Srinivasa

Robotics: Science and Systems, 2014

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Guided Manipulation Planning at the DARPA Robotics Challenge Trials

C. Dellin, K. Strabala, G.C. Haynes, D. Stager, S.S. Srinivasa

International Symposium on Experimental Robotics, 2014

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Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving

M. Klingensmith, M. Herrmann, S.S. Srinivasa

International Symposium on Experimental Robotics, 2014

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Extrinsic Dexterity: In-Hand Manipulation with External Forces

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

Best Video Award Finalist

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Space-Time Functional Gradient Optimization for Motion Planning

A. Byravan, B. Boots, S.S. Srinivasa, D. Fox

IEEE International Conference on Robotics and Automation, 2014

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Near Optimal Bayesian Active Learning for Decision Making

S. Javdani, Y. Chen, A. Karbasi, A. Krause, J.A. Bagnell, S.S. Srinivasa

International Conference on Artificial Intelligence and Statistics, 2014

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Familiarization to Robot Motion

A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2014

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Deliberate Delays During Robot-to-Human Handovers Improve Compliance with Gaze Communication

H. Admoni, A.D. Dragan, S.S. Srinivasa, B. Scassellati

ACM/IEEE International Conference on Human-Robot Interaction, 2014

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HERB's Sure Thing: a rapid drama system for rehearsing and performing live robot theater

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

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Effects of Speech on Perceived Capability

E. Cha, A.D. Dragan, J. Forlizzi, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2014

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Pre-school Childrens' First Encounter with a Robot

E. Cha, A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2014

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Teleoperation with intelligent and customizable interfaces

A.D. Dragan, K.T. Lee, S.S. Srinivasa

Journal of Human-Robot Interaction, 1(3), 2013

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A Policy-Blending Formalism for Shared Control

A.D. Dragan, S.S. Srinivasa

The International Journal of Robotics Research, 32(7), pp. 790--805, SAGE Publications, 2013

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CHOMP: Covariant Hamiltonian Optimization for Motion Planning

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, 32(9--10), pp. 1164--1193, SAGE Publications, 2013

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Towards Seamless Human-Robot Handovers

K. Strabala, M.K. Lee, A.D. Dragan, J. Forlizzi, S.S. Srinivasa, M. Cakmak, V. Micelli

Journal of Human-Robot Interaction, 2(1), 2013

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Physics-Based Manipulation in Human Environments

M.R. Dogar, S.S. Srinivasa

Journal of the Robotics Society of Japan, 31(4), pp. 353--357, 2013

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Object search by manipulation

M.R. Dogar, M.C. Koval, A. Tallavajhula, S.S. Srinivasa

Autonomous Robots, 36(1--2), pp. 153--167, Springer, 2013

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Legibility and predictability of robot motion

A.D. Dragan, K.T. Lee, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2013

Test of Time Award (2026)

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Efficient Touch Based Localization through Submodularity

S. Javdani, M. Klingensmith, J.A. Bagnell, N.S. Pollard, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2013

Best Manipulation Paper Award Finalist

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Exploiting Domain Knowledge for Object Discovery

A. Collet, B. Xiong, C. Gurau, M. Hebert, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2013

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Object Search by Manipulation

M.R. Dogar, M.C. Koval, A. Tallavajhula, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2013

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Pose Estimation for Contact Manipulation with Manifold Particle Filters

M.C. Koval, M.R. Dogar, N.S. Pollard, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

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Manifold Representations for State Estimation in Contact Manipulation

M.C. Koval, M.R. Dogar, N.S. Pollard, S.S. Srinivasa

International Symposium on Robotics Research, 2013

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Generating Legible Motion

A.D. Dragan, S.S. Srinivasa

Robotics: Science and Systems, 2013

Best Paper Award Finalist

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Pregrasp Manipulation as Trajectory Optimization

J. King, M. Klingensmith, C. Dellin, M. Dogar, P. Velagapudi, N. Pollard, S.S. Srinivasa

Robotics: Science and Systems, 2013

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Legible User Input for Intent Prediction

K.T. Lee, A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2013

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Effects of Robot Capability on User Acceptance

E. Cha, A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2013

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Toward a Deeper Understanding of Motion Alternatives via an Equivalence Relation on Local Paths

R.A. Knepper, S.S. Srinivasa, M.T. Mason

The International Journal of Robotics Research, 31(2), pp. 168--187, SAGE Publications, 2012

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Autonomous Manipulation with a General-Purpose Simple Hand

M.T. Mason, A. Rodriguez, S.S. Srinivasa, A.S. Vazquez

The International Journal of Robotics Research, 31(5), pp. 688--703, SAGE Publications, 2012

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A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty

M.R. Dogar, S.S. Srinivasa

Autonomous Robots, 33(3), pp. 217--236, Springer, 2012

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HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

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, 100(8), pp. 1--19, IEEE, 2012

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Physics-Based Grasp Planning Through Clutter

M. Dogar, K. Hsiao, M. Ciocarlie, S.S. Srinivasa

Robotics: Science and Systems, 2012

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A Framework for Extreme Locomotion Planning

C.M. Dellin, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2012

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Constellation - An algorithm for finding robot configurations that satisfy multiple constraints

P. Kaiser, D. Berenson, N. Vahrenkamp, T. Asfour, R. Dillmann, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2012

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Formalizing Assistive Teleoperation

A.D. Dragan, S.S. Srinivasa

Robotics: Science and Systems, 2012

Best Paper Award Finalist

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Online Customization of Teleoperation Interfaces

A.D. Dragan, S.S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2012

Best Paper Award Finalist

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A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation

T. Niemueller, G. Lakemeyer, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

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A Data-Driven Statistical Framework for Post-Grasp Manipulation

R. Paolini, A. Rodriguez, S.S. Srinivasa, M.T. Mason

International Symposium on Experimental Robotics, 2012

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Learning the Communication of Intent Prior to Physical Collaboration

K. Strabala, M.K. Lee, A. Dragan, J. Forlizzi, S.S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2012

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Multirobot Pushing — How Many Robots are Sufficient?

L. Lindzey, H. Choset, S.S. Srinivasa, R.A. Knepper

The Robotics Institute, Carnegie Mellon University, 2012

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Assistive Teleoperation: A New Domain for Interactive Learning

A.D. Dragan, S.S. Srinivasa

AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, 2012

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Efficient Touch Based Localization through Submodularity

S. Javdani, M. Klingensmith, D. Bagnell, N. Pollard, S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2012

Assistive Teleoperation for Manipulation Tasks

A.D. Dragan, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2012

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Task Space Regions: A Framework for Pose-Constrained Manipulation Planning

D. Berenson, S.S. Srinivasa, J. Kuffner

The International Journal of Robotics Research, 30(12), pp. 1435--1460, SAGE Publications, 2011

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The MOPED framework: Object recognition and pose estimation for manipulation

A. Collet, M. Martinez, S.S. Srinivasa

The International Journal of Robotics Research, 30(10), pp. 1284--1306, SAGE Publications, 2011

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Generality and simple hands

M. Mason, S.S. Srinivasa, A. Vazquez

International Symposium on Robotics Research, 2011

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Addressing cost-space chasms in manipulation planning

D. Berenson, T. Siméon, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2011

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A framework for push-grasping in clutter

M. Dogar, S.S. Srinivasa

Robotics: Science and Systems, 2011

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Manipulation planning with goal sets using constrained trajectory optimization

A.D. Dragan, N.D. Ratliff, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2011

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An equivalence relation for local path sets

R. Knepper, S.S. Srinivasa, M. Mason

Workshop on the Algorithmic Foundations of Robotics, 2011

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Human preferences for robot-human hand-over configurations

M. Cakmak, S.S. Srinivasa, M.K. Lee, J. Forlizzi, S. Kiesler

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

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Abort and retry in grasping

A. Rodriguez, M.T. Mason, S.S. Srinivasa, M. Bernstein, A. Zirbel

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

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Learning from Experience in Manipulation Planning: Setting the Right Goals

A.D. Dragan, G.J. Gordon, S.S. Srinivasa

International Symposium on Robotics Research, 2011

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Using Spatial and Temporal Contrast for Fluent Robot-human Hand-overs

M. Cakmak, S.S. Srinivasa, M.K. Lee, S. Kiesler, J. Forlizzi

ACM/IEEE International Conference on Human-Robot Interaction, 2011

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Structure discovery in multi-modal data: A region-based approach

A. Collet, S.S. Srinivasa, M. Hebert

IEEE International Conference on Robotics and Automation, 2011

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Predictability or Adaptivity?: Designing Robot Handoffs Modeled from Trained Dogs and People

M.K. Lee, J. Forlizzi, S. Kiesler, M. Cakmak, S.S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report, 2011

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Learning to Provide Better Examples for Our Robots

A. Dragan, S.S. Srinivasa

Pioneers Workshop,ACM/IEEE International Conference on Human-Robot Interaction, 2011

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Perception and Control Challenges for Effective Human-Robot Handoffs

V. Micelli, K. Strabala, S.S. Srinivasa

Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems, 2011

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HERB: A Home Exploring Robotic Butler

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, 28(1), pp. 5--20, Springer, 2010

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Decentralized estimation and control of graph connectivity for mobile sensor networks

P. Yang, R.A. Freeman, G.J. Gordon, K.M. Lynch, S.S. Srinivasa, R. Sukthankar

Automatica, 46(2), pp. 390--396, Elsevier, 2010

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Probabilistically Complete Planning with End-Effector Pose Constraints

D. Berenson, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2010

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Push-grasping with dexterous hands: Mechanics and a method

M.R. Dogar, S.S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Best Paper Award Finalist

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MOPED: A scalable and low latency object recognition and pose estimation system

M. Martinez, A. Collet, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2010

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Gracefully mitigating breakdowns in robotic services

M.K. Lee, S. Kiesler, J. Forlizzi, S.S. Srinivasa, P. Rybski

ACM/IEEE International Conference on Human-Robot Interaction, 2010

Best Paper Award Winner

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Efficient multi-view object recognition and full pose estimation

A. Collet, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2010

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Hierarchical planning architectures for mobile manipulation tasks in indoor environments

R.A. Knepper, S.S. Srinivasa, M.T. Mason

IEEE International Conference on Robotics and Automation, 2010

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People helping robots helping people: Crowdsourcing for grasping novel objects

A. Sorokin, D. Berenson, S.S. Srinivasa, M. Hebert

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

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Manipulation capabilities with simple hands

A. Rodriguez, M.T. Mason, S.S. Srinivasa

International Symposium on Experimental Robotics, 2010

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Planning pre-grasp manipulation for transport tasks

L.Y. Chang, S.S. Srinivasa, N.S. Pollard

IEEE International Conference on Robotics and Automation, 2010

Best Manipulation Paper Award Finalist

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Proprioceptive Localization for Mobile Manipulators

M. Dogar, V. Hemrajani, D. Leeds, B. Kane, S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2010

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Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data

M. Herrmann, S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2010

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Object recognition and full pose registration from a single image for robotic manipulation

A. Collet, D. Berenson, S.S. Srinivasa, D. Ferguson

IEEE International Conference on Robotics and Automation, 2009

Best Vision Paper Award Finalist

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Manipulation planning with workspace goal regions

D. Berenson, S.S. Srinivasa, D. Ferguson, A. Collet, J.J. Kuffner

IEEE International Conference on Robotics and Automation, 2009

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CHOMP: Gradient optimization techniques for efficient motion planning

N. Ratliff, M. Zucker, J.A. Bagnell, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2009

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Manipulation planning on constraint manifolds

D. Berenson, S.S. Srinivasa, D. Ferguson, J.J. Kuffner

IEEE International Conference on Robotics and Automation, 2009

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Planning-based prediction for pedestrians

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

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Addressing pose uncertainty in manipulation planning using Task Space Regions

D. Berenson, S.S. Srinivasa, J.J. Kuffner

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

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Inverse Optimal Heuristic Control for Imitation Learning

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

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GATMO: a Generalized Approach to Tracking Movable Objects

G. Gallagher, S.S. Srinivasa, J.A. Bagnell, D. Ferguson

IEEE International Conference on Robotics and Automation, 2009

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Combining search and action for mobile robots

G. Hollinger, D. Ferguson, S.S. Srinivasa, S. Singh

IEEE International Conference on Robotics and Automation, 2009

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Pose-constrained whole-body planning using Task Space Region Chains

D. Berenson, J. Chestnutt, S.S. Srinivasa, J.J. Kuffner, S. Kagami

IEEE-RAS International Conference on Humanoid Robots, 2009

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Bispace planning: Concurrent multi-space exploration

R. Diankov, N. Ratliff, D. Ferguson, S.S. Srinivasa, J. Kuffner

Robotics: Science and Systems, 2008

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Manipulation planning with caging grasps

R. Diankov, S.S. Srinivasa, D. Ferguson, J. Kuffner

IEEE-RAS International Conference on Humanoid Robots, 2008

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The robotic busboy: Steps towards developing a mobile robotic home assistant

S.S. Srinivasa, D. Ferguson, M.V. Weghe, R. Diankov, D. Berenson, C. Helfrich, H. Strasdat

International Conference on Intelligent Autonomous Systems, 2008

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Grasp synthesis in cluttered environments for dexterous hands

D. Berenson, S.S. Srinivasa

IEEE-RAS International Conference on Humanoid Robots, 2008

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Generalizing metamodules to simplify planning in modular robotic systems

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

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Anytime guaranteed search using spanning trees

G. Hollinger, A. Kehagias, S. Singh, D. Ferguson, S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2008

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Randomized path planning for redundant manipulators without inverse kinematics

M. Vandeweghe, D. Ferguson, S.S. Srinivasa

IEEE-RAS International Conference on Humanoid Robots, 2007

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Imitation learning for locomotion and manipulation

N. Ratliff, J.A. Bagnell, S.S. Srinivasa

IEEE-RAS International Conference on Humanoid Robots, 2007

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Control strategies and design guidelines for planar latch-less metamorphic robots based on analysis of dynamics

Ashish Deshpande, S.S. Srinivasa, P. Pillai

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

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Identifying trajectory classes in dynamic tasks

S.O. Anderson, S.S. Srinivasa

IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007

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Planar batting under shape, pose, and impact uncertainty

J.L. Fu, S.S. Srinivasa, N.S. Pollard, B.C. Nabbe

IEEE International Conference on Robotics and Automation, 2007

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Declarative programming for modular robots

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

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Hierarchical motion planning for self-reconfigurable modular robots

P. Bhat, J. Kuffner, S. Goldstein, S.S. Srinivasa

IEEE International Conference on Robotics and Automation, 2006

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Physics-based motion retiming

J. McCann, N.S. Pollard, S.S. Srinivasa

ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2006

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Meet point planning for multirobot coordination

S.S. Srinivasa, D. Ferguson

International Symposium on Robotics and Automation, 2006

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Control synthesis for dynamic contact manipulation

S.S. Srinivasa, M.A. Erdmann, M.T. Mason

IEEE International Conference on Robotics and Automation, 2005

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Using projected dynamics to plan dynamic contact manipulation

S.S. Srinivasa, M.A. Erdmann, M.T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

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Control Synthesis for Dynamic Contact Manipulation

S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2005

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Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system

S.S. Srinivasa, M.A. Erdmann, M.T. Mason

IEEE International Conference on Robotics and Automation, 2003

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Towards sensor based coverage with robot teams

D. Latimer IV, S.S. Srinivasa, V. Lee-Shue, S. Sonne, H. Choset, A. Hurst

IEEE International Conference on Robotics and Automation, 2002

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Experiments with nonholonomic manipulation

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

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Experiments with Nonholonomic Manipulation

S.S. Srinivasa

The Robotics Institute, Carnegie Mellon University, 2001

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Coherent structures in numerically simulated jets with and without off-source heating

S.S. Siddhartha, R. Narasimha, A.J. Basu, S.V. Kailas

Fluid Dynamics Research, 26(2), pp. 105--117, Elsevier, 2000

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Reverse Engineering using the Structured Lighting Technique

S.S. Srinivasa

Mechanical Engineering, Indian Institute of Technology Madras, 1999