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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
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pdf (2MB) | Copyrighted
Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation, May, 2013.
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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.
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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.
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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,
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A Policy Blending Formalism for Shared Control
Anca Dragan and Siddhartha Srinivasa
International Journal of Robotics Research, , May, 2013,
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pdf (6MB) | Copyrighted
Legibility and Predictability of Robot Motion
Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
Human-Robot Interaction, March, 2013.
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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.
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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,
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pdf (8MB) | 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
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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.
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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.
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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
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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.
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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.
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pdf (7MB) | Copyrighted
Formalizing Assistive Teleoperation
Anca Dragan and Siddhartha Srinivasa
Robotics: Science and Systems, July, 2012.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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pdf (2MB) | Copyrighted
A Framework for Push-grasping in Clutter
Mehmet Dogar and Siddhartha Srinivasa
Robotics: Science and Systems VII, July, 2011.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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
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
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
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
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.
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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.
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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
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
Physics-Based Motion Retiming
James McCann, Nancy Pollard, and Siddhartha Srinivasa
Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
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pdf (5MB) | Copyrighted
Physics-Based Motion Retiming
James McCann, Nancy Pollard, and Siddhartha Srinivasa
ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
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pdf (5MB) | Copyrighted
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