Carnegie Mellon University Personal Robotics Lab

Publications of the Personal Robotics Lab

* This publication list was automatically generated from the Robotics Institute Publications Database

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

Stefanos Nikolaidis, David Hsu, and Siddhartha Srinivasa
The International Journal of Robotics Research, February, 2017.
Copyrighted

Configuration Lattices for Planar Contact Manipulation Under Uncertainty

Michael Koval, David Hsu, Nancy Pollard , and Siddhartha Srinivasa
Workshop on the Algorithmic Foundations of Robotics, December, 2016.
Copyrighted

Distance Metrics and Algorithms for Task Space Path Optimization

Rachel Holladay and Siddhartha Srinivasa
IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016.
Copyrighted

A Linear-Time Variational Integrator for Multibody Systems

Jeongseok Lee, C. Karen Liu, Frank C. Park, and Siddhartha Srinivasa
The 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), September, 2016.
Copyrighted

Spatial references and perspective in natural language instructions for collaborative manipulation

Shen Li, Rosario Scalise, Henny Admoni , Siddhartha Srinivasa, and Stephanie Rosenthal
IEEE International Symposium on Robot and Human Interactive Communication, August, 2016.
Copyrighted

Convergent Planning

Aaron M. Johnson , Jennifer King, and Siddhartha Srinivasa
IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016.
Copyrighted

Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces

Zita Alexandra Magalhaes Marinho , Anca Dragan, Arunkumar Byravan, Byron Boots, Geoffrey Gordon, and Siddhartha Srinivasa
Proceedings of Robotics: Science and Systems (RSS-2016), July, 2016.
Copyrighted

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

Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa, and Sebastian Scherer
2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016.
Copyrighted

RoGuE: Robot Gesture Engine

Rachel Holladay and Siddhartha Srinivasa
AAAI Spring Symposium Series, March, 2016.
Copyrighted

Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty

Jan Peters, Justus Piater, Robert Platt, and Siddhartha Srinivasa
Dagstuhl Reports, February, 2016
Copyrighted

Benchmarking in Manipulation Research: The YCB Object and Model Setand Benchmarking Protocols

Berk Calli, Aaron Walsman , Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron Dollar
IEEE Robotics and Automation Magazine (IEEE RAM), August, 2015.
Copyrighted

Perceived Robot Capability

Elizabeth Cha, Anca Dragan, and Siddhartha Srinivasa
International Symposium on Human-Robot Communication, August, 2015.
Copyrighted

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

Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa, and Jizhong Xiao
Robotics Science and Systems 2015, July, 2015.
Copyrighted

The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research

Berk Calli, Arjun Singh, Aaron Walsman , Siddhartha Srinivasa, Pieter Abbeel, and Aaron Dollar
IEEE International Conference on Advanced Robotics (ICAR), July, 2015.
Copyrighted

Pose estimation for planar contact manipulation with manifold particle filters

Michael Koval, Nancy Pollard , and Siddhartha Srinivasa
International Journal of Robotics Research, Vol. 34, No. 7, pp. 922-945, June, 2015.
Copyrighted

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

Jonathan Gammell, Siddhartha Srinivasa, and Timothy Barfoot
2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015.
Copyrighted

Movement Primitives via Optimization

Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
International Conference on Robotics and Automation (ICRA), May, 2015.
Copyrighted

Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds

Jennifer King, Joshua Haustein, Siddhartha Srinivasa, and Tamim Asfour
International Conference on Robotics and Automation, May, 2015.
Copyrighted

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

Elizabeth Cha, Jodi Forlizzi, and Siddhartha Srinivasa
2015 International Conference on Human-Robot Interaction (HRI 2015), March, 2015.
Copyrighted

Submodular Surrogates for Value of Information

Yuxin Chen, Shervin Javdani, Amin Karbasi, J. Andrew (Drew) Bagnell, Siddhartha Srinivasa, and Andreas Krause
The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), January, 2015.
Copyrighted

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

Garth Zeglin, Aaron Walsman , Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael Koval, Kevin Lenzo , Hui Jun Tay, Prasanna Velagapudi, Katie Correll, and Siddhartha Srinivasa
IEEE Workshop on Advanced Robotics and its Social Impacts, September, 2014.
Copyrighted

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

Jonathan Gammell, Siddhartha Srinivasa, and Timothy Barfoot
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014.
Copyrighted

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

Sung Kyun Kim , Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa, and Maxim Likhachev
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014.
Copyrighted

Legible Robot Pointing

Rachel Holladay , Anca Dragan, and Siddhartha Srinivasa
Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014.
Copyrighted

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

Matthew Klingensmith, Martin Hermann, and Siddhartha Srinivasa
International Symposium on Experimental Robotics, June, 2014.
Copyrighted

Extrinsic Dexterity: In-Hand Manipulation with External Forces

Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha Srinivasa, Michael Erdmann , Matthew T. Mason , Ivan Lundberg, Harald Staab, and Thomas Fuhlbrigge
IEEE International Conference on Robotics and Automation (ICRA), May, 2014.
Copyrighted

Space-Time Functional Gradient Optimization for Motion Planning

Arunkumar Byravan, Byron Boots, Siddhartha Srinivasa, and Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA), May, 2014.
Copyrighted

A Data-Driven Statistical Framework for Post-Grasp Manipulation

Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa, and Matthew T. Mason
International Journal of Robotics Research (IJRR), Vol. 33, No. 4, pp. 600-615, April, 2014.
Copyrighted

Near Optimal Bayesian Active Learning for Decision Making

Shervin Javdani, Yuxin Chen, Amin Karbasi, Andreas Krause, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
Proceedings of the 17th International Conference on Artificial Intelligence and Statistics (AISTATS), April, 2014.
Copyrighted

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

Henny Admoni , Anca Dragan, Siddhartha Srinivasa, and Brian Scassellati
International Conference on Human-Robot Interaction (HRI), March, 2014.
Copyrighted

Familiarization to Robot Motion

Anca Dragan and Siddhartha Srinivasa
International Conference on Human-Robot Interaction (HRI), March, 2014.
Copyrighted

HerbDisc: Towards Lifelong Robotic Object Discovery

Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert , and Siddhartha Srinivasa
International Journal of Robotics Research (IJRR), 2014.
Copyrighted

Pose Estimation for Contact Manipulation with Manifold Particle Filters

Michael Koval, Mehmet Dogar, Nancy Pollard , and Siddhartha Srinivasa
IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013.
Copyrighted

Generating Legible Motion

Anca Dragan and Siddhartha Srinivasa
Robotics: Science and Systems, June, 2013.
Copyrighted

A Policy Blending Formalism for Shared Control

Anca Dragan and Siddhartha Srinivasa
International Journal of Robotics Research, May, 2013.
Copyrighted

Exploiting Domain Knowledge for Object Discovery

Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert , and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
Copyrighted

Object Search by Manipulation

Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation, May, 2013.
Copyrighted

Physics-Based Manipulation in Human Environments

Mehmet Dogar and Siddhartha Srinivasa
Journal of the Robotics Society of Japan, Vol. 31, No. 4, pp. 353-357, May, 2013.

Effects of Robot Capability on User Acceptance

Elizabeth Cha, Anca Dragan, and Siddhartha Srinivasa
Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013.
Copyrighted

Legibility and Predictability of Robot Motion

Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
Human-Robot Interaction, March, 2013.
Copyrighted

Teleoperation with Intelligent and Customizable Interfaces

Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
Journal of Human-Robot Interaction, Special Issue on "Technical and Social Advances in HRI: An Invitational Issue of JHRI", Vol. 1, No. 3, January, 2013.
Copyrighted

Assistive Teleoperation: A New Domain for Interactive Learning

Anca Dragan and Siddhartha Srinivasa
AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, November, 2012.
Copyrighted

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

Tim D. Niemueller, Gerhard Lakemeyer, and Siddhartha Srinivasa
IEEE International Conference on Intelligent Robots and Systems , October, 2012.
Copyrighted

Object Recognition Robust to Imperfect Depth Data

David Fouhey, Alvaro Collet Romea, Martial Hebert , and Siddhartha Srinivasa
2nd Workshop on Consumer Depth Cameras for Computer Vision in conjunction with ECCV 2012, October, 2012.
Copyrighted

Learning the Communication of Intent Prior to Physical Collaboration

Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, and Siddhartha Srinivasa
21st IEEE International Symposium on Robot and Human Interactive Communication, September, 2012.
Copyrighted

Online Customization of Teleoperation Interfaces

Anca Dragan and Siddhartha Srinivasa
21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), September, 2012.
Copyrighted

Formalizing Assistive Teleoperation

Anca Dragan and Siddhartha Srinivasa
Robotics: Science and Systems, July, 2012.
Copyrighted

Physics-Based Grasp Planning Through Clutter

Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie, and Siddhartha Srinivasa
Robotics: Science and Systems VIII, July, 2012.
Copyrighted

A Framework for Extreme Locomotion Planning

Christopher Dellin and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012.
Copyrighted

Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints

Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rudiger Dillmann, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012.
Copyrighted

Autonomous Manipulation with a General-Purpose Simple Hand

Matthew T. Mason , Alberto Rodriguez, Siddhartha Srinivasa, and Andres S. Vazquez
The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, pp. 688-703, April, 2012.
Copyrighted

Assistive Teleoperation for Manipulation Tasks

Anca Dragan and Siddhartha Srinivasa
ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012.
Copyrighted

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

Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
International Journal of Robotics Research (IJRR), Vol. 30, No. 12, pp. 1435 - 1460, October, 2011.
Copyrighted

Abort and Retry in Grasping

Alberto Rodriguez, Matthew T. Mason , Siddhartha Srinivasa, Matthew Bernstein, and Alex Zirbel
IEEE International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011.
Copyrighted

Human Preferences for Robot-Human Hand-over Configurations

Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Jodi Forlizzi, and Sara Kiesler
IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2011.
Copyrighted

The MOPED framework: Object recognition and pose estimation for manipulation

Alvaro Collet Romea, Manuel Martinez Torres, and Siddhartha Srinivasa
International Journal of Robotics Research, Vol. 30, No. 10, pp. 1284 - 1306, September, 2011.
Copyrighted

A Framework for Push-grasping in Clutter

Mehmet Dogar and Siddhartha Srinivasa
Robotics: Science and Systems VII, July, 2011.
Copyrighted

Learning from Experience in Manipulation Planning: Setting the Right Goals

Anca Dragan, Geoffrey Gordon, and Siddhartha Srinivasa
Proceedings of the International Symposium on Robotics Research (ISRR) 2011, July, 2011.
Copyrighted

Addressing Cost-Space Chasms in Manipulation Planning

Dmitry Berenson, Thierry Simeon, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '11), May, 2011.
Copyrighted

Learning to Provide Better Examples for Our Robots

Anca Dragan and Siddhartha Srinivasa
Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
Copyrighted

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

Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Sara Kiesler, and Jodi Forlizzi
6th ACM/IEEE International Conference on Human-Robot Interaction, February, 2011.
Copyrighted

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

Min Kyung Lee, Maya Cakmak, Sara Kiesler, Jodi Forlizzi, and Siddhartha Srinivasa
6th ACM/IEEE International Conference on Human-Robot Interaction, January, 2011.
Copyrighted

An Equivalence Relation for Local Path Sets

Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010.
Copyrighted

Manipulation Capabilities with Simple Hands

Alberto Rodriguez, Matthew T. Mason , and Siddhartha Srinivasa
International Symposium on Experimental Robotics (ISER 2010), December, 2010.
Copyrighted

People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects

Alexander Sorokin, Dmitry Berenson, Siddhartha Srinivasa, and Martial Hebert
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), October, 2010.
Copyrighted

Push-Grasping with Dexterous Hands: Mechanics and a Method

Mehmet Dogar and Siddhartha Srinivasa
Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.
Copyrighted

Efficient Multi-View Object Recognition and Full Pose Estimation

Alvaro Collet Romea and Siddhartha Srinivasa
2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May, 2010.
Copyrighted

Planning pre-grasp manipulation for transport tasks

Lillian Y. Chang, Siddhartha Srinivasa, and Nancy Pollard
"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010.
Copyrighted

Probabilistically Complete Planning with End-Effector Pose Constraints

Dmitry Berenson and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA '10), May, 2010.
Copyrighted

Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions

Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
Copyrighted

Generality and Simple Hands

Matthew T. Mason , Siddhartha Srinivasa, and Andres S. Vazquez
International Symposium of Robotics Research, July, 2009.
Copyrighted

Combining Search and Action for Mobile Robots

Geoffrey Hollinger, David Ferguson , Siddhartha Srinivasa, and Sanjiv Singh
IEEE International Conference on Robotics and Automation, May, 2009.
Copyrighted

Manipulation Planning on Constraint Manifolds

Dmitry Berenson, Siddhartha Srinivasa, David Ferguson , and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
Copyrighted

Manipulation Planning with Workspace Goal Regions

Dmitry Berenson, Siddhartha Srinivasa, David Ferguson , Alvaro Collet Romea, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
Copyrighted

Grasp Synthesis in Cluttered Environments for Dexterous Hands

Dmitry Berenson and Siddhartha Srinivasa
IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
Copyrighted

Manipulation Planning with Caging Grasps

Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner
2008 IEEE International Conference on Humanoid Robots, December, 2008.
Copyrighted

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, Siddhartha Srinivasa, P. Pillai, and Jason Campbell
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), September, 2008, pp. 1338-1345.
Copyrighted

The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant

Siddhartha Srinivasa, David Ferguson , J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat
International Conference on Intelligent Autonomous Systems, July, 2008.
Copyrighted

Grasp Synthesis in Cluttered Environments for Dexterous Hands

Dmitry Berenson and Siddhartha Srinivasa
Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008.
Copyrighted

Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics

Ashish Deshpande, Siddhartha Srinivasa, and Padmanabhan Pillai
IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007.
Copyrighted

Declarative Programming for Modular Robots

Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, and Jason Campbell
IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, November, 2007
Copyrighted

Imitation Learning for Locomotion and Manipulation

Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
IEEE-RAS International Conference on Humanoid Robots, November, 2007.
Copyrighted

Identifying Trajectory Classes in Dynamic Tasks

Stuart Anderson and Siddhartha Srinivasa
International Symposium on Approximate Dynamic Programming and Reinforcement Learning, April, 2007.

Planar batting under shape, pose, and impact uncertainty

Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard , and Bart Nabbe
IEEE International Conference on Robotics and Automation (ICRA), April, 2007.
Copyrighted

Planar batting under shape, pose, and impact uncertainty

Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard , and Bart Nabbe
Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, April, 2007.
Copyrighted

Physics-Based Motion Retiming

James McCann, Nancy Pollard , and Siddhartha Srinivasa
Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
Copyrighted

Meet point planning for multirobot coordination

Siddhartha Srinivasa and David Ferguson
IEEE International Symposium on Robotics and Automation, August, 2006.
Copyrighted

Hierarchical Motion Planning for Self-reconfigurable Modular Robots

Preethi Srinivas Bhat, James Kuffner, Seth Goldstein, and Siddhartha Srinivasa
IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 886 - 891.
Copyrighted

Physics-Based Motion Retiming

James McCann, Nancy Pollard , and Siddhartha Srinivasa
ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
Copyrighted

Using projected dynamics to plan dynamic contact manipulation

Siddhartha Srinivasa, Michael Erdmann , and Matthew T. Mason
IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3618 - 3623.
Copyrighted

Control synthesis for dynamic contact manipulation

Siddhartha Srinivasa, Michael Erdmann , and Matthew T. Mason
IEEE International Conference on Robotics and Automation, April, 2005, pp. 2523 - 2528.
Copyrighted

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

Siddhartha Srinivasa, Michael Erdmann , and Matthew T. Mason
Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003, pp. 3391 - 3396.
Copyrighted

Experiments with nonholonomic manipulation

Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason , and Michael Erdmann
Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 2042 - 2047.
Copyrighted

Towards sensor based coverage with robot teams

DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset, and Aaron Hurst
Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 961 - 967.
Copyrighted