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Publications, Planning and Autonomy Lab

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Grasp Synthesis in Cluttered Environments for Dexterous Hands
  D. Berenson and S. Srinivasa
  Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008. [Abstract]
  Download: pdf [2224 KB] copyrighted

• Adaptive Workspace Biasing for Sampling Based Planners
  M. Zucker, J. Kuffner, and J. Bagnell
  Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [976 KB] copyrighted

• An Optimization Approach to Planning for Mobile Manipulation
  D. Berenson, H. Choset, and J. Kuffner
  IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192. [Abstract]
  Download: pdf [737 KB] copyrighted

• Finding and Transferring Policies Using Stored Behaviors
  M. Stolle
  doctoral dissertation, tech. report CMU-RI-TR-08-27, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [10329 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted

• Navigation Among Movable Obstacles
  M. Stilman
  doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007. [Abstract]
  Download: pdf [10532 KB] copyrighted

• Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
  P. Michel, C. Scheurer, J. Kuffner, N. Vahrenkamp, and R. Dillmann
  Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228. [Abstract]
  Download: pdf [2042 KB] copyrighted

• (Online) Subgradient Methods for Structured Prediction
  N. Ratliff, J. Bagnell, and M. Zinkevich
  Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007. [Abstract]
  Download: pdf [375 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted

• Knowledge transfer using local features
  M. Stolle and C. Atkeson
  Proceedings of the IEEE Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007. [Abstract]
  Download: pdf [1123 KB] copyrighted

• Transfer of policies based on trajectory libraries
  M. Stolle, H. Tappeiner, J. Chestnutt, and C. Atkeson
  Proceedings of the International Conference on Intelligent Robots and Systems, 2007. [Abstract]
  Download: pdf [1613 KB] copyrighted

• Planning and Executing Navigation Among Movable Obstacles
  M. Stilman, K. Nishiwaki, S. Kagami, and J. Kuffner
  IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826. [Abstract]
  Download: pdf [1924 KB] copyrighted

• Planning Among Movable Obstacles with Artificial Constraints
  M. Stilman and J. Kuffner
  Workshop on the Algorithmic Foundations of Robotics, July, 2006. [Abstract]
  Download: pdf [2011 KB] copyrighted

• An Intelligent Joystick for Biped Control
  J. Chestnutt, P. Michel, K. Nishiwaki, J. Kuffner, and S. Kagami
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865. [Abstract]
  Download: pdf [1503 KB] copyrighted

• Online Environment Reconstruction for Biped Navigation
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094. [Abstract]
  Download: pdf [1986 KB] copyrighted

• Precomputed Search Trees: Planning for Interactive Goal-Driven Animation
  M. Lau and J. Kuffner
  ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006. [Abstract]
  Download: pdf [2054 KB] copyrighted

• Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
  M. Stilman and J. Kuffner
  International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005, pp. 479-504. [Abstract]
  Download: pdf [3265 KB] copyrighted

• Vision-Guided Humanoid Footstep Planning for Dynamic Environments
  P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade
  Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18. [Abstract]
  Download: pdf [1799 KB] copyrighted

• Augmented Reality for Robot Development and Experimentation
  M. Stilman, P. Michel, J. Chestnutt, K. Nishiwaki, S. Kagami, and J. Kuffner
  tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005. [Abstract]
  Download: pdf [7275 KB] copyrighted

• Behavior Planning for Character Animation
  M. Lau and J. Kuffner
  In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005. [Abstract]
  Download: pdf [3700 KB] copyrighted

• Footstep Planning for the Honda ASIMO Humanoid
  J. Chestnutt, M. Lau, K.M. Cheung, J. Kuffner, J.K. Hodgins, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005. [Abstract]
  Download: pdf [269 KB] copyrighted

• Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments
  M. Stilman and J. Kuffner
  Proceedings of the 2004 IEEE International Conference on Humanoid Robotics (Humanoids'04), Vol. 1, December, 2004, pp. 322 - 341. [Abstract]
  Download: pdf [1883 KB] copyrighted

• A Tiered Planning Strategy for Biped Navigation
  J. Chestnutt and J. Kuffner
  Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004. [Abstract]
  Download: pdf [1880 KB] copyrighted

• Planning Biped Navigation Strategies in Complex Environments
  J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami
  Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003. [Abstract]
  Download: pdf [1872 KB] copyrighted

• Online Footstep Planning for Humanoid Robots
  J. Kuffner, K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
  IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), IEEE, September, 2003. [Abstract]
  Download: pdf [2597 KB] copyrighted