/Siddhartha Srinivasa

Siddhartha Srinivasa

Portrait of Siddhartha Srinivasa
Adjunct Faculty
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Associated Lab: Manipulation Lab

Mailing Address
Displaying 165 Publications
Eye-Hand Behavior in Human-Robot Shared Manipulation
Reuben M. Aronson, Thiago Santini, Thomas C. Kübler, Enkelejda Kasneci, Siddhartha Srinivasa and Henny Admoni

Conference Paper, Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, March, 2018
Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs
Sanjiban Choudhury, Shervin Javdani, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, 31st Conference on Neural Information Processing Systems, pp. 4634 – 4644, December, 2017
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury and Siddhartha Srinivasa

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy Pollard and Michael Kaess

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration
Stefanos Nikolaidis, Swaprava Nath, Ariel Procaccia and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
Human-Robot Mutual Adaptation in Shared Autonomy
Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
Unobservable Monte Carlo Planning for Nonprehensile Rearrangement Tasks
Jennifer King, Vinitha Ranganeni and Siddhartha Srinivasa

Conference Paper, International Conference on Robotics and Automation, January, 2017
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, December, 2016
A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Siddhartha Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael Koval, Shushman Choudhury, Jennifer King, Christopher Dellin, Matthew Harding, David Butterworth, Prasanna Velagapudi and Allison Thackston

Conference Paper, 2016 International Symposium on Experimental Robotics, October, 2016
Distance Metrics and Algorithms for Task Space Path Optimization
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Human-Robot Shared Workspace Collaboration via Hindsight Optimization
Stefania Pellegrinelli, Henny Admoni, Shervin Javdani and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning
Shushman Choudhury, Christopher Dellin and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park and Siddhartha Srinivasa

Conference Paper, The 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), September, 2016
Spatial references and perspective in natural language instructions for collaborative manipulation
Shen Li, Rosario Scalise, Henny Admoni, Siddhartha Srinivasa and Stephanie Rosenthal

Conference Paper, IEEE International Symposium on Robot and Human Interactive Communication, August, 2016
Convergent Planning
Aaron M. Johnson, Jennifer King and Siddhartha Srinivasa

Journal Article, IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016
Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces
Zita Alexandra Magalhaes Marinho, Anca Dragan, Arunkumar Byravan, Byron Boots, Geoffrey Gordon and Siddhartha Srinivasa

Conference Paper, Proceedings of Robotics: Science and Systems (RSS-2016), July, 2016
Active Comparison Based Learning Incorporating User Uncertainty and Noise
Rachel Holladay, Shervin Javdani, Anca Dragan and Siddhartha Srinivasa

Conference Paper, RSS Workshop on Model Learning for Human-Robot Communication, June, 2016
Rearrangement planning using object-centric and robot-centric action spaces
Jennifer King, Marco Cognetti and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2016
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

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4207 – 4214, May, 2016
The manifold particle filter for state estimation on high-dimensional implicit manifolds
Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa, Nancy S. Pollard and Michael Kaess

Miscellaneous, arXiv:1604.07224v1, April, 2016
A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, Proceedings of the 26th International Conference on Automated Planning and Scheduling, March, 2016
Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model
Stefanos Nikolaidis, Anton Kuznetsov, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
RoGuE: Robot Gesture Engine
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, AAAI Spring Symposium Series, March, 2016
Viewpoint-Based Legibility Optimization
Stefanos Nikolaidis, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty
Jan Peters, Justus Piater, Robert Platt and Siddhartha Srinivasa

Miscellaneous, Dagstuhl Reports, Vol. 5, No. 10, February, 2016
Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa and Michael Kaess

Journal Article, IEEE Robotics and Automation - Letters, January, 2016
Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty
Michael C. Koval, Nancy Pollard and Siddhartha S. Srinivasa

Journal Article, International Journal of Robotics Research, Vol. 35, No. 1, pp. 244-264, January, 2016
Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem
Michael Koval, Jennifer King, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
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

Conference Paper, IEEE Robotics and Automation Magazine (IEEE RAM), August, 2015
Perceived Robot Capability
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Conference Paper, International Symposium on Human-Robot Communication, August, 2015
Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa and Jizhong Xiao

Conference Paper, Robotics Science and Systems 2015, July, 2015
Deceptive Robot Motion: Synthesis, Analysis and Experiments
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, July, 2015
Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of Robotics: Science and Systems, July, 2015
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

Conference Paper, IEEE International Conference on Advanced Robotics (ICAR), July, 2015
Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 34, No. 7, pp. 922-945, June, 2015
Lazy Validation of Experience Graphs
Victor Hwang, Mike Phillips, Siddhartha Srinivasa and Maxim Likhachev

Conference Paper, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), May, 2015
A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
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

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, International Conference on Robotics and Automation, May, 2015
Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds
Jennifer King, Joshua Haustein, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, International Conference on Robotics and Automation, May, 2015
CHIMP, the CMU Highly Intelligent Mobile Platform
Anthony (Tony) Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois, J Michael Vandeweghe, Michael D. Wagner and Carl Wellington

Journal Article, Carnegie Mellon University, Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC), Vol. 32, No. 2, pp. 209-228, March, 2015
Effects of Robot Motion on Human-Robot Collaboration
Anca Dragan, Shira Bauman, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2015
Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization
Elizabeth Cha, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, 2015 International Conference on Human-Robot Interaction (HRI 2015), March, 2015
Submodular Surrogates for Value of Information
Yuxin Chen, Shervin Javdani, Amin Karbasi, J. Andrew (Drew) Bagnell, Siddhartha Srinivasa and Andreas Krause

Conference Paper, The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), January, 2015
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

Conference Paper, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), September, 2014
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

Conference Paper, IEEE Workshop on Advanced Robotics and its Social Impacts, September, 2014
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic
Jonathan Gammell, Siddhartha Srinivasa and Timothy Barfoot

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014
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

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014
The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning
Laura Lindzey, Ross Alan Knepper, Howie Choset and Siddhartha Srinivasa

Conference Paper, The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR), August, 2014
An Analysis of Deceptive Robot Motion
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, July, 2014
Integrating Human Observer Inferences into Robot Motion Planning
Anca Dragan and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, 2014, July, 2014
Legible Robot Pointing
Rachel Holladay, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014
Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems Conference, July, 2014
Guided Manipulation Planning at the DARPA Robotics Challenge Trials
Christopher Dellin, Kyle Strabala, Galen Clark Haynes, David Stager and Siddhartha Srinivasa

Conference Paper, 2014 International Symposium on Experimental Robotics (ISER 2014), June, 2014
Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving
Matthew Klingensmith, Martin Hermann and Siddhartha Srinivasa

Conference Paper, International Symposium on Experimental Robotics, June, 2014
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

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2014
Space-Time Functional Gradient Optimization for Motion Planning
Arunkumar Byravan, Byron Boots, Siddhartha Srinivasa and Dieter Fox

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2014
A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research (IJRR), Vol. 33, No. 4, pp. 600-615, April, 2014
Near Optimal Bayesian Active Learning for Decision Making
Shervin Javdani, Yuxin Chen, Amin Karbasi, Andreas Krause, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-14-03, Robotics Institute, Carnegie Mellon University, April, 2014
Near Optimal Bayesian Active Learning for Decision Making
Shervin Javdani, Yuxin Chen, Amin Karbasi, Andreas Krause, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, Proceedings of the 17th International Conference on Artificial Intelligence and Statistics (AISTATS), April, 2014
Deliberate Delays During Robot-to-Human Handovers Improve Compliance With Gaze Communication
Henny Admoni, Anca Dragan, Siddhartha Srinivasa and Brian Scassellati

Conference Paper, International Conference on Human-Robot Interaction (HRI), March, 2014
Familiarization to Robot Motion
Anca Dragan and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Conference on Human-Robot Interaction (HRI), March, 2014
HerbDisc: Towards Lifelong Robotic Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

Conference Paper, International Journal of Robotics Research (IJRR), January, 2014
Manifold Representations for State Estimation in Contact Manipulation
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, International Symposium on Robotics Research, December, 2013
Pose Estimation for Contact Manipulation with Manifold Particle Filters
Michael Koval, Mehmet Dogar, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013
Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, October, 2013
Generating Legible Motion
Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, June, 2013
Pregrasp Manipulation as Trajectory Optimization
Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems 2013, June, 2013
A Policy Blending Formalism for Shared Control
Anca Dragan and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, May, 2013
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

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, May, 2013
Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Exploiting Domain Knowledge for Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2013
Physics-Based Manipulation in Human Environments
Mehmet Dogar and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Journal of the Robotics Society of Japan, Vol. 31, No. 4, pp. 353-357, May, 2013
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
Effects of Robot Capability on User Acceptance
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013
Legibility and Predictability of Robot Motion
Anca Dragan, Kenton Lee and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2013
Teleoperation with Intelligent and Customizable Interfaces
Anca Dragan, Kenton Lee and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, 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
Towards Seamless Human-Robot Handovers
Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, Siddhartha Srinivasa, Maya Cakmak and Vincenzo Micelli

Journal Article, Journal of Human-Robot Interaction, January, 2013
Assistive Teleoperation: A New Domain for Interactive Learning
Anca Dragan and Siddhartha Srinivasa

Conference Paper, AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, November, 2012
A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation
Tim D. Niemueller, Gerhard Lakemeyer and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, October, 2012
Object Recognition Robust to Imperfect Depth Data
David Fouhey, Alvaro Collet Romea, Martial Hebert and Siddhartha Srinivasa

Conference Paper, 2nd Workshop on Consumer Depth Cameras for Computer Vision in conjunction with ECCV 2012, October, 2012
Learning the Communication of Intent Prior to Physical Collaboration
Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, 21st IEEE International Symposium on Robot and Human Interactive Communication, September, 2012
Online Customization of Teleoperation Interfaces
Anca Dragan and Siddhartha Srinivasa

Conference Paper, 21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), September, 2012
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
Formalizing Assistive Teleoperation
Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, July, 2012
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

Journal Article, Carnegie Mellon University, Proceedings of the IEEE, Vol. 100, No. 8, July, 2012
Physics-Based Grasp Planning Through Clutter
Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems VIII, July, 2012
A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

Conference Paper, International Symposium on Experimental Robotics (ISER 2012), June, 2012
A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty
Mehmet Dogar and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 33, No. 3, pp. 217-236, June, 2012
A Framework for Extreme Locomotion Planning
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012
Constellation – An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints
Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rudiger Dillmann and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012
Multirobot Pushing — How Many Robots are Sufficient?
Laura Lindzey, Howie Choset, Siddhartha Srinivasa and Ross Alan Knepper

Tech. Report, CMU-RI-TR-12-15, Robotics Institute, Carnegie Mellon University, May, 2012
Autonomous Manipulation with a General-Purpose Simple Hand
Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, pp. 688-703, April, 2012
Assistive Teleoperation for Manipulation Tasks
Anca Dragan and Siddhartha Srinivasa

Conference Paper, ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012
Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 31, No. 2, pp. 168-187, February, 2012
Task Space Regions: A Framework for Pose-Constrained Manipulation Planning
Dmitry Berenson, Siddhartha Srinivasa and James Kuffner

Journal Article, Carnegie Mellon University, International Journal of Robotics Research (IJRR), Vol. 30, No. 12, pp. 1435 - 1460, October, 2011
Abort and Retry in Grasping
Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein and Alex Zirbel

Conference Paper, IEEE International Conference on Intelligent Robots and Systems (IROS 2011), September, 2011
Human Preferences for Robot-Human Hand-over Configurations
Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Jodi Forlizzi and Sara Kiesler

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2011
The MOPED framework: Object recognition and pose estimation for manipulation
Alvaro Collet Romea, Manuel Martinez Torres and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 30, No. 10, pp. 1284 - 1306, September, 2011
A Framework for Push-grasping in Clutter
Mehmet Dogar and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems VII, July, 2011
Learning from Experience in Manipulation Planning: Setting the Right Goals
Anca Dragan, Geoffrey Gordon and Siddhartha Srinivasa

Conference Paper, Proceedings of the International Symposium on Robotics Research (ISRR) 2011, July, 2011
Perception and Control Challenges for Effective Human-Robot Handoffs
Vincenzo Micelli, Kyle Strabala and Siddhartha Srinivasa

Conference Paper, RSS 2011 RGB-D Workshop, June, 2011
Addressing Cost-Space Chasms in Manipulation Planning
Dmitry Berenson, Thierry Simeon and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '11), May, 2011
Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization
Anca Dragan, Nathan Ratliff and Siddhartha Srinivasa

Conference Paper, 2011 IEEE International Conference on Robotics and Automation, May, 2011
Structure Discovery in Multi-modal Data : a Region-based Approach
Alvaro Collet Romea, Siddhartha Srinivasa and Martial Hebert

Conference Paper, 2011 IEEE International Conference on Robotics and Automation, May, 2011
Learning to Provide Better Examples for Our Robots
Anca Dragan and Siddhartha Srinivasa

Miscellaneous, Carnegie Mellon University, Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
Using Spatial and Temporal Contrast for Fluent Robot-Human Hand-overs
Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Sara Kiesler and Jodi Forlizzi

Conference Paper, 6th ACM/IEEE International Conference on Human-Robot Interaction, February, 2011
Predictability or Adaptivity? Designing Robot Handoffs Modeled from Trained Dogs and People
Min Kyung Lee, Maya Cakmak, Sara Kiesler, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, 6th ACM/IEEE International Conference on Human-Robot Interaction, January, 2011
An Equivalence Relation for Local Path Sets
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Conference Paper, The Ninth International Workshop on the Algorithmic Foundations of Robotics, December, 2010
Manipulation Capabilities with Simple Hands
Alberto Rodriguez, Matthew T. Mason and Siddhartha Srinivasa

Conference Paper, International Symposium on Experimental Robotics (ISER 2010), December, 2010
Generality and Simple Hands
Matthew T. Mason, Siddhartha Srinivasa, Andres S. Vazquez and Alberto Rodriguez

Tech. Report, CMU-RI-TR-10-40, Robotics Institute, Carnegie Mellon University, November, 2010
People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects
Alexander Sorokin, Dmitry Berenson, Siddhartha Srinivasa and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), October, 2010
Push-Grasping with Dexterous Hands: Mechanics and a Method
Mehmet Dogar and Siddhartha Srinivasa

Conference Paper, Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010
Efficient Multi-View Object Recognition and Full Pose Estimation
Alvaro Collet Romea and Siddhartha Srinivasa

Conference Paper, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May, 2010
MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System
Manuel Martinez Torres, Alvaro Collet Romea and Siddhartha Srinivasa

Conference Paper, Proceedings of ICRA 2010, May, 2010
Planning pre-grasp manipulation for transport tasks
Lillian Y. Chang, Siddhartha Srinivasa and Nancy Pollard

Conference Paper, "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010
Probabilistically Complete Planning with End-Effector Pose Constraints
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '10), May, 2010
Decentralized estimation and control of graph connectivity for mobile sensor networks
P. Yang, R. Freeman, Geoffrey Gordon, Kevin Lynch, Siddhartha Srinivasa and Rahul Sukthankar

Journal Article, Carnegie Mellon University, Automatica, Vol. 46, No. 2, pp. 390 - 396, February, 2010
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
Gracefully Mitigating Breakdowns in Robotic Services
Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa and Paul Rybski

Conference Paper, Proceedings of HRI 2010, February, 2010
Proprioceptive Localization for Mobile Manipulators
Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Melissa Kane Styler and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010
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

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 28, No. 1, January, 2010
Pose-Constrained Whole-Body Planning using Task Space Region Chains
Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner and Satoshi Kagami

Conference Paper, IEEE-RAS International Conference on Humanoid Robots (Humanoids09), December, 2009
Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions
Dmitry Berenson, Siddhartha Srinivasa and James Kuffner

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009
Planning-based Prediction for Pedestrians
Brian D. Ziebart, Nathan Ratliff, Garratt Gallagher, Christoph Mertz, Kevin Peterson, J. Andrew (Drew) Bagnell, Martial Hebert, Anind Dey and Siddhartha Srinivasa

Conference Paper, Proc. IROS 2009, October, 2009
Generality and Simple Hands
Matthew T. Mason, Siddhartha Srinivasa and Andres S. Vazquez

Conference Paper, International Symposium of Robotics Research, July, 2009
CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2009
Combining Search and Action for Mobile Robots
Geoffrey Hollinger, David Ferguson, Siddhartha Srinivasa and Sanjiv Singh

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2009
GATMO: a Generalized Approach to Tracking Movable Objects
Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell and David Ferguson

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2009
Manipulation Planning on Constraint Manifolds
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson and James Kuffner

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Manipulation Planning with Workspace Goal Regions
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, Alvaro Collet Romea and James Kuffner

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation
Alvaro Collet Romea, Dmitry Berenson, Siddhartha Srinivasa and David Ferguson

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Inverse Optimal Heuristic Control for Imitation Learning
Nathan Ratliff, Brian D. Ziebart, Kevin Peterson, J. Andrew (Drew) Bagnell, Martial Hebert, Anind Dey and Siddhartha Srinivasa

Conference Paper, Twelfth International Conference on Artificial Intelligence and Statistics (AIStats), April, 2009
Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008
Manipulation Planning with Caging Grasps
Rosen Diankov, Siddhartha Srinivasa, David Ferguson and James Kuffner

Conference Paper, 2008 IEEE International Conference on Humanoid Robots, December, 2008
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

Conference Paper, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), pp. 1338-1345, September, 2008
Anytime Guaranteed Search using Spanning Trees
Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008
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

Conference Paper, International Conference on Intelligent Autonomous Systems, July, 2008
BiSpace Planning: Concurrent Multi-Space Exploration
Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa and James Kuffner

Conference Paper, Robotics: Science and Systems, June, 2008
Decentralized Estimation and Control of Graph Connectivity in Mobile Sensor Networks
Peng Yang, Randy A. Freeman, Geoffrey Gordon, Kevin Lynch, Siddhartha Srinivasa and Rahul Sukthankar

Conference Paper, American Control Conference, June, 2008
Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008
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
Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
Ashish Deshpande, Siddhartha Srinivasa and Padmanabhan Pillai

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007
Declarative Programming for Modular Robots
Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein and Jason Campbell

Miscellaneous, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, November, 2007
Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, November, 2007
Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
J Michael Vandeweghe, David Ferguson and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, November, 2007
Identifying Trajectory Classes in Dynamic Tasks
Stuart Anderson and Siddhartha Srinivasa

Conference Paper, 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

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), April, 2007
Planar batting under shape, pose, and impact uncertainty
Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard and Bart Nabbe

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, April, 2007
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006
Meet point planning for multirobot coordination
Siddhartha Srinivasa and David Ferguson

Conference Paper, IEEE International Symposium on Robotics and Automation, August, 2006
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Goldstein and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 886 - 891, January, 2006
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, January, 2006
Control Synthesis for Dynamic Contact Manipulation
Siddhartha Srinivasa

PhD Thesis, Tech. Report, CMU-RI-TR-05-33, Robotics Institute, Carnegie Mellon University, September, 2005
Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3618 - 3623, August, 2005
Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2523 - 2528, April, 2005
Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, pp. 3391 - 3396, May, 2003
Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Conference Paper, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 2042 - 2047, May, 2002
Towards sensor based coverage with robot teams
DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset and Aaron Hurst

Conference Paper, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 1, pp. 961 - 967, May, 2002
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