Advanced Search   
  Look in
       Title     Description
  Include
       Inactive Projects
 
 
Personal Robotics
Head: Siddhartha Srinivasa
Contact: Siddhartha Srinivasa
Mailing address:
Carnegeie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH 4502
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
 National Robotics Engineering Center (NREC)
 Quality of Life Technology Center (QoLT)
Lab Homepage
Publications
  • Generating Legible Motion

    Anca Dragan and Siddhartha Srinivasa
    Robotics: Science and Systems, June, 2013.
    Details | pdf (3MB) | Copyrighted

  • Pose Estimation for Contact Manipulation with Manifold Particle Filters

    Michael Koval, Mehmet Dogar, Nancy Pollard, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-13-11, Robotics Institute, Carnegie Mellon University, May, 2013
    Details | pdf (2MB) | Copyrighted

  • Physics-Based Manipulation in Human Environments

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

  • Object Search by Manipulation

    Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation, May, 2013.
    Details | pdf (770KB) | 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.
    Details | pdf (3MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (3MB) | Copyrighted

  • CHOMP: Covariant Hamiltonian Optimization for Motion Planning

    Matthew Zucker, Nathan Ratliff, Anca Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (7MB) | Copyrighted

  • A Policy Blending Formalism for Shared Control

    Anca Dragan and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (2MB) | Copyrighted

  • Legibility and Predictability of Robot Motion

    Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
    Human-Robot Interaction, March, 2013.
    Details | pdf (3MB) | Copyrighted

  • Effects of Robot Capability on User Acceptance

    Elizabeth Cha, Anca Dragan, and Siddhartha Srinivasa
    Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013.
    Details | pdf (251KB) | 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,
    Details | pdf (8MB) | Copyrighted

  • Manifold Representations for State Estimation in Contact Manipulation

    Michael Koval, Nancy Pollard, and Siddhartha Srinivasa
    International Symposium on Robotics Research, December, 2013.
    Details | pdf (1MB) | 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.
    Details | pdf (763KB) | Copyrighted

  • Object Search by Manipulation

    Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
    Autonomous Robots, , October, 2013,
    Details | pdf (7MB) | Copyrighted

  • Towards Seamless Human-Robot Handovers

    Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, Siddhartha Srinivasa, Maya Cakmak, and Vincenzo Micelli
    Journal of Human-Robot Interaction, , 2013
    Details | pdf (4MB) | 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.
    Details | pdf (2MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-12-25, Robotics Institute, Carnegie Mellon University, August, 2012
    Details | pdf (3MB) | Copyrighted

  • Physics-Based Grasp Planning Through Clutter

    Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie, and Siddhartha Srinivasa
    Robotics: Science and Systems VIII, July, 2012.
    Details | pdf (8MB) | Copyrighted

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

    Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe, and Julius Ziegler
    Proceedings of the IEEE, Vol. 100, No. 8, July, 2012, pp. 1-19.
    Details | pdf (7MB) | Copyrighted

  • Formalizing Assistive Teleoperation

    Anca Dragan and Siddhartha Srinivasa
    Robotics: Science and Systems, July, 2012.
    Details | pdf (3MB) | Copyrighted

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

    Mehmet Dogar and Siddhartha Srinivasa
    Autonomous Robots, Vol. 33, No. 3, June, 2012, pp. 217-236.
    Details | pdf (6MB) | 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.
    Details | pdf (673KB) | Copyrighted

  • Assistive Teleoperation for Manipulation Tasks

    Anca Dragan and Siddhartha Srinivasa
    ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012.
    Details | pdf (774KB) | Copyrighted

  • Toward a deeper understanding of motion alternatives via an equivalence relation on local paths

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    International Journal of Robotics Research, Vol. 31, No. 2, February, 2012, pp. 168-187.
    Details | pdf (4MB) | 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.
    Details | pdf (3MB) | 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.
    Details | pdf (414KB) | 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.
    Details | pdf (2MB) | Copyrighted

  • A Framework for Push-grasping in Clutter

    Mehmet Dogar and Siddhartha Srinivasa
    Robotics: Science and Systems VII, July, 2011.
    Details | pdf (2MB) | Copyrighted

  • Perception and Control Challenges for Effective Human-Robot Handoffs

    Vincenzo Micelli, Kyle Strabala, and Siddhartha Srinivasa
    RSS 2011 RGB-D Workshop, June, 2011.
    Details | pdf (3MB) | Copyrighted

  • Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization

    Anca Dragan, Nathan Ratliff, and Siddhartha Srinivasa
    2011 IEEE International Conference on Robotics and Automation, May, 2011.
    Details | pdf (2MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • Learning to Provide Better Examples for Our Robots

    Anca Dragan and Siddhartha Srinivasa
    Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
    Details | pdf (696KB) | 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, October, 2011, pp. 1435 - 1460.
    Details | pdf (5MB) | 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.
    Details | pdf (876KB) | 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.
    Details | pdf (1MB) | Copyrighted

  • MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System

    Manuel Martinez Torres, Alvaro Collet Romea, and Siddhartha Srinivasa
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (2MB) | 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.
    Details | pdf (1MB) | Copyrighted

  • Proprioceptive Localization for Mobile Manipulators

    Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Kane, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (3MB) | Copyrighted

  • Gracefully Mitigating Breakdowns in Robotic Services

    Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, and Paul Rybski
    Proceedings of HRI 2010, February, 2010.
    Details | pdf (3MB) | Copyrighted

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

    Martin Herrmann and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-07, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (2MB) | Copyrighted

  • HERB: a home exploring robotic butler

    Siddhartha Srinivasa, David Ferguson , Casey Helfrich, Dmitry Berenson, Alvaro Collet Romea, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, and J Michael Vandeweghe
    Autonomous Robots, Vol. 28, No. 1, January, 2010, pp. 5-20.
    Details | pdf (1MB) | 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.
    Details | pdf (2MB) | 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.
    Details | pdf (6MB) | Copyrighted

  • Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation

    Alvaro Collet Romea, Dmitry Berenson, Siddhartha Srinivasa, and David Ferguson
    IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
    Details | pdf (1MB) | 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.
    Details | pdf (1MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • GATMO: a Generalized Approach to Tracking Movable Objects

    Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell, and David Ferguson
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (2MB) | 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.
    Details | pdf (271KB) | Copyrighted

  • CHOMP: Gradient Optimization Techniques for Efficient Motion Planning

    Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2009.
    Details | pdf (2MB) | 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.
    Details | 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.
    Details | pdf (5MB) | 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.
    Details | pdf (2MB) | Copyrighted

  • BiSpace Planning: Concurrent Multi-Space Exploration

    Rosen Diankov, Nathan Ratliff, David Ferguson , Siddhartha Srinivasa, and James Kuffner
    Robotics: Science and Systems, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • Manipulation Planning with Caging Grasps

    Rosen Diankov, Siddhartha Srinivasa, David Ferguson , and James Kuffner
    2008 IEEE International Conference on Humanoid Robots, December, 2008.
    Details | 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.
    Details | pdf (3MB) | Copyrighted

  • 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.
    Details | pdf (572KB) | Copyrighted

  • Identifying Trajectory Classes in Dynamic Tasks

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

  • 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
    Details | pdf (2MB) | 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.
    Details | 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.
    Details | pdf (2MB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
    Details | pdf (5MB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
    Details | pdf (5MB) | Copyrighted