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Constrained Manipulation Planning
Dmitry Berenson
doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
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pdf (16MB) | Copyrighted
An Optimization Approach to Rough Terrain Locomotion
Matthew Zucker, J. Andrew (Drew) Bagnell, Chris Atkeson, and James Kuffner
IEEE Conference on Robotics and Automation, May, 2010.
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pdf (2MB) | Copyrighted
Reinforcement Planning: RL for Optimal Planners
Matthew Zucker and J. Andrew (Drew) Bagnell
tech. report CMU-RI-TR-10-14, Robotics Institute, Carnegie Mellon University, April, 2010
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pdf (3MB) | Copyrighted
Incorporating a User Model to Improve Detection of Unhelpful Robot Answers
Maxim Makatchev and Reid Simmons
International Symposium on Robot and Human Interactive Communication, RO-MAN'2009, September, 2009, pp. 973-978.
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pdf (223KB) | Copyrighted
Learning to search: Functional gradient techniques for imitation learning
Nathan Ratliff, David Silver, and J. Andrew (Drew) Bagnell
Autonomous Robots, Vol. 27, No. 1, July, 2009, pp. 25-53.
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pdf (6MB) | Copyrighted
A Data-Driven Approach to High Level Planning
Matthew Zucker
tech. report CMU-RI-TR-09-42, Robotics Institute, Carnegie Mellon University, January, 2009
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pdf (5MB) | Copyrighted
Pose-Constrained Whole-Body Planning using Task Space Region Chains
Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner, and Satoshi Kagami
IEEE-RAS International Conference on Humanoid Robots (Humanoids09), December, 2009.
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pdf (2MB) | Copyrighted
Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks
Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rudiger Dillmann
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
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pdf (812KB) | 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.
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pdf (2MB) | 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.
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pdf (5MB) | Copyrighted
OpenRAVE: A Planning Architecture for Autonomous Robotics
Rosen Diankov and James Kuffner
tech. report CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University, July, 2008
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pdf (3MB) | Copyrighted
Integrating Perception and Planning for Humanoid Autonomy
Philipp Michel
doctoral dissertation, tech. report CMU-RI-TR-08-35, Robotics Institute, Carnegie Mellon University, July, 2008
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pdf (28MB) | Copyrighted
Improved Motion Planning Speed and Safety using Regions of Inevitable Collision
Nicholas Chan, James Kuffner, and Matthew Zucker
17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08), July, 2008.
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pdf (574KB) | 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.
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pdf (2MB) | Copyrighted
GPU-accelerated Real-Time 3D Tracking for Humanoid Autonomy
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Proceedings of the JSME Robotics and Mechatronics Conference (ROBOMEC'08), June, 2008.
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pdf (1MB) | Copyrighted
BiSpace Planning: Concurrent Multi-Space Exploration
Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa, and James Kuffner
Robotics: Science and Systems, June, 2008.
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pdf (2MB) | Copyrighted
Path and Trajectory Diversity: Theory and Algorithms
Michael S. Branicky, Ross Alan Knepper, and James Kuffner
International Conference on Robotics and Automation, May, 2008.
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pdf (628KB) | Copyrighted
Finding and Transferring Policies Using Stored Behaviors
Martin Stolle
doctoral dissertation, tech. report CMU-RI-TR-08-27, Robotics Institute, Carnegie Mellon University, May, 2008
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pdf (10MB) | Copyrighted
An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, Howie Choset, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.
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pdf (737KB) | Copyrighted
Adaptive Workspace Biasing for Sampling Based Planners
Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008.
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pdf (977KB) | Copyrighted
Manipulation Planning with Caging Grasps
Rosen Diankov, Siddhartha Srinivasa, David Ferguson, and James Kuffner
2008 IEEE International Conference on Humanoid Robots, December, 2008.
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pdf (4MB) | Copyrighted
Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa
IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
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pdf (3MB) | Copyrighted
(Online) Subgradient Methods for Structured Prediction
Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007.
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pdf (375KB) | Copyrighted
Kernel Conjugate Gradient for Fast Kernel Machines
Nathan Ratliff and J. Andrew (Drew) Bagnell
International Joint Conference on Artificial Intelligence, January, 2007.
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pdf (7MB) | Copyrighted
Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007
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pdf (2MB) | Copyrighted
Grasp Planning in Complex Scenes
Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.
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pdf (4MB) | Copyrighted
Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
J Michael Vandeweghe, David Ferguson, and Siddhartha Srinivasa
IEEE-RAS International Conference on Humanoid Robots, November, 2007.
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pdf (7MB) | 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.
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pdf (2MB) | Copyrighted
Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
Philipp Michel, Christian Scheurer, James Kuffner, Nikolaus Vahrenkamp, and R?iger Dillmann
Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228.
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pdf (2MB) | Copyrighted
Navigation Among Movable Obstacles
Michael Stilman
doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007
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pdf (11MB) | Copyrighted
GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469.
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pdf (1MB) | Copyrighted
Transfer of policies based on trajectory libraries
Martin Stolle, Hanns Tappeiner, Joel Chestnutt, and Chris Atkeson
Proceedings of the International Conference on Intelligent Robots and Systems, 2007.
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pdf (2MB) | Copyrighted
Knowledge transfer using local features
Martin Stolle and Chris Atkeson
Proceedings of the IEEE Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007.
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pdf (1MB) | Copyrighted
Boosting Structured Prediction for Imitation Learning
Nathan Ratliff, David Bradley, J. Andrew (Drew) Bagnell, and Joel Chestnutt
Advances in Neural Information Processing Systems 19, 2007.
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pdf (847KB) | Copyrighted
Planning Among Movable Obstacles with Artificial Constraints
Michael Stilman and James Kuffner
Workshop on the Algorithmic Foundations of Robotics, July, 2006.
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pdf (2MB) | Copyrighted
Maximum Margin Planning
Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
International Conference on Machine Learning, July, 2006.
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pdf (2MB) | Copyrighted
Online Environment Reconstruction for Biped Navigation
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094.
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pdf (2MB) | Copyrighted
An Intelligent Joystick for Biped Control
Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami
Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865.
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pdf (2MB) | Copyrighted
Planning and Executing Navigation Among Movable Obstacles
Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826.
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pdf (2MB) | Copyrighted
Precomputed Search Trees: Planning for
Interactive Goal-Driven Animation
Manfred Lau and James Kuffner
ACM SIGGRAPH / Eurographics Symposium
on Computer Animation, 2006.
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pdf (2MB) | Copyrighted
Behavior Planning for Character Animation
Manfred Lau and James Kuffner
In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005.
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pdf (4MB) | Copyrighted
Kernel Conjugate Gradient
Nathan Ratliff and J. Andrew (Drew) Bagnell
tech. report CMU-RI-TR-05-30, Robotics Institute, Carnegie Mellon University, June, 2005
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pdf (103KB) | Copyrighted
Footstep Planning for the Honda ASIMO Humanoid
Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K Hodgins, and Takeo Kanade
Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.
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pdf (270KB) | Copyrighted
Vision-Guided Humanoid Footstep Planning for Dynamic Environments
Philipp Michel, Joel Chestnutt, James Kuffner, and Takeo Kanade
Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18.
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pdf (2MB) | Copyrighted
Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments
Michael Stilman and James Kuffner
International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005, pp. 479-504.
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pdf (3MB) | Copyrighted
Augmented Reality for Robot Development and Experimentation
Michael Stilman, Philipp Michel, Joel Chestnutt, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005
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pdf (7MB) | Copyrighted
Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments
Michael Stilman and James Kuffner
Proceedings of the 2004 IEEE International Conference on Humanoid Robotics (Humanoids'04), December, 2004, pp. 322 - 341.
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pdf (2MB) | Copyrighted
A Tiered Planning Strategy for Biped Navigation
Joel Chestnutt and James Kuffner
Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004.
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pdf (2MB) | Copyrighted
Online Footstep Planning for Humanoid Robots
James Kuffner, K. Nishiwaki, Satoshi Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), September, 2003.
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pdf (3MB) | Copyrighted
Planning Biped Navigation Strategies in Complex Environments
Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami
Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003.
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pdf (2MB) | Copyrighted
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