2018

Journal Papers

DART: Dynamic Animation and Robotics Toolkit.
J. Lee, M. Grey, S. Ha, T. Kunz, S. Jain, Y. Ye, S. Srinivasa, M. Stilman, and C. Liu.
The Journal of Open Source Software, 3(22), 2018.

Shared Autonomy via Hindsight Optimization for Teleoperation and Teaming.
S. Javdani, H. Admoni, S. Pellegrinelli, S.S. Srinivasa, and J.A. Bagnell.
The International Journal of Robotics Research, 2018.
(To appear)

Informed Sampling for Asymptotically Optimal Path Planning.
J.G. Gammell, T. Barfoot, and S.S. Srinivasa.
IEEE Transactions on Robotics, 2018.
(To appear)


2017

Journal Papers

Human-robot mutual adaptation in collaborative tasks: Models and experiments.
S. Nikolaidis, D. Hsu, and S.S. Srinivasa.
The International Journal of Robotics Research, 36(5-7), 2017.

Large-scale, real-time 3D scene reconstruction on a mobile device.
I. Dryanovski, M.K. Klingensmith, S.S. Srinivasa, and J. Xiao.
Autonomous Robots, 41(6), 2017.

YCB Benchmarking Project: Object Set, Data Set and Their Applications.
B. Calli, A. Singh, J. Bruce, W. W. Aaron, K. Konolige, S.S. Srinivasa, P. Abbeel, and A.M. Dollar.
Journal of The Society of Instrument and Control Engineers, 56(10), 2017.

A Decision-Theoretic Approach for the Collaborative Control of a Smart Wheelchair.
M. Ghorbel, J. Pineau, R. Gourdeau, S. Javdani, and S.S. Srinivasa.
International Journal of Social Robotics, 2017.

Conference Papers

A Bayesian Active Learning Approach to Adaptive Motion Planning.
S. Choudhury and S.S. Srinivasa.
In International Symposium on Robotics Research. 2017

Near-optimal edge evaluation in explicit generalized binomial graphs.
S. Choudhury, S. Javdani, S.S. Srinivasa, and S. Scherer.
In Advances in Neural Information Processing Systems. 2017

Predictive State Models for Prediction and Control in Partially Observable Environments.
A. Hefny, Z. Marinho, C. Downey, W. Sun, S.S. Srinivasa, and G. Gordon.
In Conference on Robot Learning. 2017

Sensor Fusion for Fiducial Tags: Highly Robust Pose Estimation from Single Frame RGBD.
P. Jin, P. Matikainen, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2017

Hybrid control trajectory optimization under uncertainty.
J. Pajarinen, V. Kyrki, M. Koval, S.S. Srinivasa, J. Peters, and G. Neumann.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2017

Incorporating Qualitative Information into Quantitative Estimation Via Sequentially Constrained Hamiltonian Monte Carlo Sampling.
D. Yi, S. Choudhury, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2017

Modeling Human Adaptation in Repeated Collaborative Tasks.
S. Nikolaidis and S.S. Srinivasa.
In International Conference on Pervasive Technologies Related to Assistive Environments. 2017

Efficient Motion Planning for Problems Lacking Optimal Substructure.
O. Salzman, B. Hou, and S.S. Srinivasa.
In International Conference on Automated Planning and Scheduling. 2017

Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps.
S. Choudhury, O. Salzman, S. Choudhury, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2017

Unobservable Monte Carlo planning for nonprehensile rearrangement tasks.
J. King, V. Ranganeni, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2017

The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds.
M. Klingensmith, M. Koval, S.S. Srinivasa, N. Pollard, and M. Kaess.
In IEEE International Conference on Robotics and Automation. 2017

Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration.
S. Nikolaidis, S. Nath, A. Procaccia, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2017

Human-Robot Mutual Adaptation in Shared Autonomy.
S. Nikolaidis, Zhu. Y., D. Hsu, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2017

Other Papers

Yale-CMU-Berkeley dataset for robotic manipulation research.
B. Calli, A. Singh, J. Bruce, W. W. Aaron, K. Konolige, S.S. Srinivasa, P. Abbeel, and A.M. Dollar.
The International Journal of Robotics Research (Data Paper), 36(3), 2017.


2016

Journal Papers

Convergent Planning.
A. Johnson, J. King, and S.S. Srinivasa.
IEEE Robotics and Automation Letters, 2016.

Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM).
M. Klingensmith, S.S. Srinivasa, and M. Kaess.
IEEE Robotics and Automation Letters, 2016.

Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty.
M.C. Koval, N.S. Pollard, and S.S. Srinivasa.
The International Journal of Robotics Research, 35(1–3), 2016.

Conference Papers

A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments.
S.S. Srinivasa, A. Johnson, G. Lee, M. Koval, S. Choudhury, J. King, C. Dellin, M. Harding, D. Butterworth, P. Velagapudi, and A. Thackston.
In International Symposium on Experimental Robotics. 2016

Distance Metrics and Algorithms for Task Space Path Optimization.
R. Holladay and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016

Human-Robot Shared Workspace Collaboration via Hindsight Optimization.
S. Pellegrinelli, H. Admoni, S. Javdani, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016

Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning.
S. Choudhury, C. Dellin, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2016

A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors.
C. Dellin and S.S. Srinivasa.
In International Conference on Automated Planning and Scheduling. 2016

Configuration Lattices for Planar Contact Manipulation Under Uncertainty.
M. Koval, D. Hsu, N.S. Pollard, and S.S. Srinivasa.
In Workshop on the Algorithmic Foundations of Robotics. 2016

A Linear-Time Variational Integrator for Multibody Systems.
J.S. Lee, K.C. Liu, F.C. Park, and S.S. Srinivasa.
In Workshop on the Algorithmic Foundations of Robotics. 2016

Spatial references and perspective in natural language instructions for collaborative manipulation.
S. Li, Scalise. R., H. Admoni, S.S. Srinivasa, and Rosenthal. S.
In IEEE International Symposium on Robot and Human Interactive Communication. 2016

Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM).
M. Klingensmith, S.S. Srinivasa, and M. Kaess.
In IEEE International Conference on Robotics and Automation. 2016

Convergent Planning.
A. Johnson, J. King, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2016

Rearrangement planning using object-centric and robot-centric action spaces.
J. King, M. Cognetti, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2016

Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning.
S. Choudhury, J. Gammell, T. Barfoot, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2016

Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces.
Z. Marinho, B. Boots, A. Dragan, A. Byravan, G. Gordon, and S.S. Srinivasa.
In Robotics: Science and Systems. 2016

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching.
L. Herlant, R. Holladay, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2016

Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model.
S. Nikolaidis, D. Hsu, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2016

Viewpoint-Based Legibility Optimization.
S. Nikolaidis, A.D. Dragan, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2016

Other Papers

Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty.
J. Peters, J. Piater, R. Platt, and S.S. Srinivasa.
Dagstuhl Reports, 5(10), 2016.

RoGuE: Robot Gesture Engine.
R. Holladay and S.S. Srinivasa.
In AAAI Spring Symposium on Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform. 2016


2015

Journal Papers

Deceptive robot motion: synthesis, analysis and experiments.
A.D. Dragan, R. Holladay, and S.S. Srinivasa.
Autonomous Robots, 39(3), 2015.

Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set.
B. Calli, A. Walsman, A. Singh, S.S. Srinivasa, P. Abbeel, and A.M. Dollar.
IEEE Robotics and Automation Magazine, 22(3), 2015.

CHIMP, the CMU Highly Intelligent Mobile Platform.
A. Stentz, H. Herman, A. Kelly, E. Meyhofer, G.C. Haynes, D. Stager, B. Zajac, J.A. Bagnell, J. Brindza, C. Dellin, M. George, J. Gonzalez-Mora, S. Hyde, M. Jones, M. Laverne, M. Likhachev, L. Lister, M.D. Powers, O. Ramos, J. Ray, D.P. Rice, J. Scheifflee, R. Sidki, S.S. Srinivasa, K. Strabala, J.P. Tardif, J. Valois, J.M. Vandeweghe, M.D. Wagner, and C. Wellington.
Journal of Field Robotics, 32(2), 2015.

Pose Estimation for Planar Contact Manipulation with Manifold Particle Filters.
M.C. Koval, N.S. Pollard, and S.S. Srinivasa.
The International Journal of Robotics Research, 34(7), 2015.

HerbDisc: Towards Lifelong Robotic Object Discovery.
A. Collet, B. Xiong, C. Gurau, M. Hebert, and S.S. Srinivasa.
The International Journal of Robotics Research, 34(1), 2015.

Conference Papers

Perceived Robot Capability.
E. Cha, A.D. Dragan, and S.S. Srinivasa.
In IEEE International Symposium on Robot and Human Interactive Communication. 2015

Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem.
M. Koval, J. King, N.S. Pollard, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2015

Shared Autonomy via Hindsight Optimization.
S. Javdani, S.S. Srinivasa, and J.A. Bagnell.
In Robotics: Science and Systems. 2015

CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device.
M. Klingensmith, I. Dryanovski, S.S. Srinivasa, and J. Xiao.
In Robotics: Science and Systems. 2015

Lazy Validation of Experience Graphs.
V. Hwang, M. Phillips, S.S. Srinivasa, and M. Likhachev.
In IEEE International Conference on Robotics and Automation. 2015

A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges.
C. Dellin and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2015

Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs.
J.D. Gammell, S.S. Srinivasa, and T. Barfoot.
In IEEE International Conference on Robotics and Automation. 2015

Movement Primitives via Optimization.
A.D. Dragan, K. Muelling, J.A. Bagnell, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2015

Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions between Statically Stable Configurations.
J.A. Haustein, J. King, S.S. Srinivasa, and T. Asfour.
In IEEE International Conference on Robotics and Automation. 2015

Nonprehensile Whole Arm Rearrangement Planning with Physics Manifolds.
J. King, J.A. Haustein, S.S. Srinivasa, and T. Asfour.
In IEEE International Conference on Robotics and Automation. 2015

Effects of Robot Motion on Human-Robot Collaboration.
A.D. Dragan, S. Bauman, J. Forlizzi, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2015

Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization.
E. Cha, J. Forlizzi, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2015

Submodular Surrogates for Value of Information.
Y. Chen, S. Javdani, A. Karbasi, J.A. Bagnell, S.S. Srinivasa, and A. Krause.
In AAAI Conference on Artificial Intelligence. 2015


2014

Journal Papers

Integrating human observer inferences into robot motion planning.
A.D. Dragan and S.S. Srinivasa.
Autonomous Robots, 37(4), 2014.

A data-driven statistical framework for post-grasp manipulation.
R. Paolini, A. Rodriguez, S.S. Srinivasa, and M.T. Mason.
The International Journal of Robotics Research, 33(4), 2014.

Conference Papers

Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic.
J. Gammell, S.S. Srinivasa, and T. Barfoot.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2014

Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis.
S.K. Kim, J. Jo, Y. Oh, S.R. Oh, S.S. Srinivasa, and M. Likhachev.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2014

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning.
L. Lindzey, R.A. Knepper, H. Choset, and S.S. Srinivasa.
In Workshop on the Algorithmic Foundations of Robotics. 2014

Legible Robot Pointing.
R. Holladay, A.D. Dragan, and S.S. Srinivasa.
In IEEE International Symposium on Robot and Human Interactive Communication. 2014

An Analysis of Deceptive Robot Motion.
A.D. Dragan, R. Holladay, and S.S. Srinivasa.
In Robotics: Science and Systems. 2014

Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty.
M. Koval, N.S. Pollard, and S.S. Srinivasa.
In Robotics: Science and Systems. 2014

Guided Manipulation Planning at the DARPA Robotics Challenge Trials.
C. Dellin, K. Strabala, G.C. Haynes, D. Stager, and S.S. Srinivasa.
In International Symposium on Experimental Robotics. 2014

Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving.
M. Klingensmith, M. Herrmann, and S.S. Srinivasa.
In International Symposium on Experimental Robotics. 2014

Extrinsic Dexterity: In-Hand Manipulation with External Forces.
N. Chavan-Dafle, A. Rodriguez, R. Paolini, B. Tang, S.S. Srinivasa, M. Erdmann, M.T. Mason, I. Lundberg, H. Staab, and T. Fuhlbrigge.
In IEEE International Conference on Robotics and Automation. 2014

Space-Time Functional Gradient Optimization for Motion Planning.
A. Byravan, B. Boots, S.S. Srinivasa, and D. Fox.
In IEEE International Conference on Robotics and Automation. 2014

Near Optimal Bayesian Active Learning for Decision Making.
S. Javdani, Y. Chen, A. Karbasi, A. Krause, J.A. Bagnell, and S.S. Srinivasa.
In International Conference on Artificial Intelligence and Statistics. 2014

Familiarization to Robot Motion.
A.D. Dragan and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2014

Deliberate Delays During Robot-to-Human Handovers Improve Compliance with Gaze Communication.
H. Admoni, A.D. Dragan, S.S. Srinivasa, and B. Scassellati.
In ACM/IEEE International Conference on Human-Robot Interaction. 2014

Other Papers

HERB's Sure Thing: a rapid drama system for rehearsing and performing live robot theater.
G. Zeglin, A. Walsman, L. Herlant, Z. Zheng, Y. Guo, M.K. Koval, K. Lenzo, H. Tay, P. Velagapudi, K. Correll, and S.S. Srinivasa.
In IEEE Workshop on Advanced Robotics and its Social Impacts. 2014

Effects of Speech on Perceived Capability.
E. Cha, A.D. Dragan, J. Forlizzi, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2014

Pre-school Childrens' First Encounter with a Robot.
E. Cha, A.D. Dragan, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2014


2013

Journal Papers

Teleoperation with intelligent and customizable interfaces.
A.D. Dragan, K.T. Lee, and S.S. Srinivasa.
Journal of Human-Robot Interaction, 1(3), 2013.

A Policy-Blending Formalism for Shared Control.
A.D. Dragan and S.S. Srinivasa.
The International Journal of Robotics Research, 32(7), 2013.
(Conference version was Best Conference Paper Award Finalist, RSS 2012)

CHOMP: Covariant Hamiltonian Optimization for Motion Planning.
M. Zucker, R. Ratliff, A.D. Dragan, M. Pivtoraiko, M. Klingensmith, C. Dellin, J.A. Bagnell, and S.S. Srinivasa.
The International Journal of Robotics Research, 32(9–10), 2013.

Towards Seamless Human-Robot Handovers.
K. Strabala, M.K. Lee, A.D. Dragan, J. Forlizzi, S.S. Srinivasa, M. Cakmak, and V. Micelli.
Journal of Human-Robot Interaction, 2(1), 2013.

Physics-Based Manipulation in Human Environments.
M.R. Dogar and S.S. Srinivasa.
Journal of the Robotics Society of Japan, 31(4), 2013.

Object search by manipulation.
M.R. Dogar, M.C. Koval, A. Tallavajhula, and S.S. Srinivasa.
Autonomous Robots, 36(1–2), 2013.

Conference Papers

Legibility and predictability of robot motion.
A.D. Dragan, K.T. Lee, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction. 2013

Efficient Touch Based Localization through Submodularity.
S. Javdani, M. Klingensmith, J.A. Bagnell, N.S. Pollard, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2013

Exploiting Domain Knowledge for Object Discovery.
A. Collet, B. Xiong, C. Gurau, M. Hebert, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2013

Object Search by Manipulation.
M.R. Dogar, M.C. Koval, A. Tallavajhula, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2013

Pose Estimation for Contact Manipulation with Manifold Particle Filters.
M.C. Koval, M.R. Dogar, N.S. Pollard, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013

Manifold Representations for State Estimation in Contact Manipulation.
M.C. Koval, M.R. Dogar, N.S. Pollard, and S.S. Srinivasa.
In International Symposium on Robotics Research. 2013

Generating Legible Motion.
A.D. Dragan and S.S. Srinivasa.
In Robotics: Science and Systems. 2013

Pregrasp Manipulation as Trajectory Optimization.
J. King, M. Klingensmith, C. Dellin, M. Dogar, P. Velagapudi, N. Pollard, and S.S. Srinivasa.
In Robotics: Science and Systems. 2013

Other Papers

Legible User Input for Intent Prediction.
K.T. Lee, A.D. Dragan, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2013

Effects of Robot Capability on User Acceptance.
E. Cha, A.D. Dragan, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2013


2012

Journal Papers

Toward a Deeper Understanding of Motion Alternatives via an Equivalence Relation on Local Paths.
R.A. Knepper, S.S. Srinivasa, and M.T. Mason.
The International Journal of Robotics Research, 31(2), 2012.

Autonomous Manipulation with a General-Purpose Simple Hand.
M.T. Mason, A. Rodriguez, S.S. Srinivasa, and A.S. Vazquez.
The International Journal of Robotics Research, 31(5), 2012.

A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty.
M.R. Dogar and S.S. Srinivasa.
Autonomous Robots, 33(3), 2012.
(Conference version was Best Conference Paper Award Finalist, IEEE IROS 2010)

HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home.
S.S. Srinivasa, D. Berenson, M. Cakmak, A. Collet, M.R. Dogar, A.D. Dragan, R.A. Knepper, T. Niemueller, K. Strabala, M. Vandeweghe, and J. Ziegler.
Proceedings of the IEEE, 100(8), 2012.

Conference Papers

Physics-Based Grasp Planning Through Clutter.
M. Dogar, K. Hsiao, M. Ciocarlie, and S.S. Srinivasa.
In Robotics: Science and Systems. 2012

A Framework for Extreme Locomotion Planning.
C.M. Dellin and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2012

Constellation - An algorithm for finding robot configurations that satisfy multiple constraints.
P. Kaiser, D. Berenson, N. Vahrenkamp, T. Asfour, R. Dillmann, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2012

Formalizing Assistive Teleoperation.
A.D. Dragan and S.S. Srinivasa.
In Robotics: Science and Systems. 2012

Online Customization of Teleoperation Interfaces.
A.D. Dragan and S.S. Srinivasa.
In IEEE International Symposium on Robot and Human Interactive Communication. 2012

A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation.
T. Niemueller, G. Lakemeyer, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012

A Data-Driven Statistical Framework for Post-Grasp Manipulation.
R. Paolini, A. Rodriguez, S.S. Srinivasa, and M.T. Mason.
In International Symposium on Experimental Robotics. 2012

Learning the Communication of Intent Prior to Physical Collaboration.
K. Strabala, M.K. Lee, A. Dragan, J. Forlizzi, and S.S. Srinivasa.
In IEEE International Symposium on Robot and Human Interactive Communication. 2012

Other Papers

Multirobot Pushing — How Many Robots are Sufficient?
L. Lindzey, H. Choset, S.S. Srinivasa, and R.A. Knepper.
Technical Report CMU-RI-TR-12-15, The Robotics Institute, Carnegie Mellon University, 2012.

Assistive Teleoperation: A New Domain for Interactive Learning.
A.D. Dragan and S.S. Srinivasa.
In AAAI Fall Symposium on Robots Learning Interactively from Human Teachers. 2012

Efficient Touch Based Localization through Submodularity.
S. Javdani, M. Klingensmith, D. Bagnell, N. Pollard, and S.S. Srinivasa.
Technical Report CMU-RI-TR-12-25, The Robotics Institute, Carnegie Mellon University, 2012.

Assistive Teleoperation for Manipulation Tasks.
A.D. Dragan and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2012


2011

Journal Papers

Task Space Regions: A Framework for Pose-Constrained Manipulation Planning.
D. Berenson, S.S. Srinivasa, and J. Kuffner.
The International Journal of Robotics Research, 30(12), 2011.

The MOPED framework: Object recognition and pose estimation for manipulation.
A. Collet, M. Martinez, and S.S. Srinivasa.
The International Journal of Robotics Research, 30(10), 2011.
(Conference version was Best Vision Paper Award Finalist, IEEE ICRA 2009)

Conference Papers

Generality and simple hands.
M. Mason, S.S. Srinivasa, and A. Vazquez.
In International Symposium on Robotics Research. 2011

Addressing cost-space chasms in manipulation planning.
D. Berenson, T. Siméon, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2011

A framework for push-grasping in clutter.
M. Dogar and S.S. Srinivasa.
In Robotics: Science and Systems. 2011

Manipulation planning with goal sets using constrained trajectory optimization.
A.D. Dragan, N.D. Ratliff, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2011

An equivalence relation for local path sets.
R. Knepper, S.S. Srinivasa, and M. Mason.
In Workshop on the Algorithmic Foundations of Robotics. 2011

Human preferences for robot-human hand-over configurations.
M. Cakmak, S.S. Srinivasa, M.K. Lee, J. Forlizzi, and S. Kiesler.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011

Abort and retry in grasping.
A. Rodriguez, M.T. Mason, S.S. Srinivasa, M. Bernstein, and A. Zirbel.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011

Learning from Experience in Manipulation Planning: Setting the Right Goals.
A.D. Dragan, G.J. Gordon, and S.S. Srinivasa.
In International Symposium on Robotics Research. 2011

Using Spatial and Temporal Contrast for Fluent Robot-human Hand-overs.
M. Cakmak, S.S. Srinivasa, M.K. Lee, S. Kiesler, and J. Forlizzi.
In ACM/IEEE International Conference on Human-Robot Interaction. 2011

Structure discovery in multi-modal data: A region-based approach.
A. Collet, S.S. Srinivasa, and M. Hebert.
In IEEE International Conference on Robotics and Automation. 2011

Other Papers

Predictability or Adaptivity?: Designing Robot Handoffs Modeled from Trained Dogs and People.
M.K. Lee, J. Forlizzi, S. Kiesler, M. Cakmak, and S.S. Srinivasa.
In ACM/IEEE International Conference on Human-Robot Interaction Late Breaking Report. 2011

Learning to Provide Better Examples for Our Robots.
A. Dragan and S.S. Srinivasa.
In Pioneers Workshop,ACM/IEEE International Conference on Human-Robot Interaction. 2011

Perception and Control Challenges for Effective Human-Robot Handoffs.
V. Micelli, K. Strabala, and S.S. Srinivasa.
In Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems. 2011


2010

Journal Papers

HERB: A Home Exploring Robotic Butler.
S.S. Srinivasa, D. Ferguson, C.J. Helfrich, D. Berenson, A. Collet, R. Diankov, G. Gallagher, G. Hollinger, J. Kuffner, and M.V. Weghe.
Autonomous Robots, 28(1), 2010.

Decentralized estimation and control of graph connectivity for mobile sensor networks.
P. Yang, R.A. Freeman, G.J. Gordon, K.M. Lynch, S.S. Srinivasa, and R. Sukthankar.
Automatica, 46(2), 2010.

Conference Papers

Probabilistically Complete Planning with End-Effector Pose Constraints.
D. Berenson and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2010

Push-grasping with dexterous hands: Mechanics and a method.
M.R. Dogar and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2010

MOPED: A scalable and low latency object recognition and pose estimation system.
M. Martinez, A. Collet, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2010

Gracefully mitigating breakdowns in robotic services.
M.K. Lee, S. Kiesler, J. Forlizzi, S.S. Srinivasa, and P. Rybski.
In ACM/IEEE International Conference on Human-Robot Interaction. 2010

Efficient multi-view object recognition and full pose estimation.
A. Collet and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2010

Hierarchical planning architectures for mobile manipulation tasks in indoor environments.
R.A. Knepper, S.S. Srinivasa, and M.T. Mason.
In IEEE International Conference on Robotics and Automation. 2010

People helping robots helping people: Crowdsourcing for grasping novel objects.
A. Sorokin, D. Berenson, S.S. Srinivasa, and M. Hebert.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2010

Manipulation capabilities with simple hands.
A. Rodriguez, M.T. Mason, and S.S. Srinivasa.
In International Symposium on Experimental Robotics. 2010

Planning pre-grasp manipulation for transport tasks.
L.Y. Chang, S.S. Srinivasa, and N.S. Pollard.
In IEEE International Conference on Robotics and Automation. 2010
Best Manipulation Paper Award Finalist

Other Papers

Proprioceptive Localization for Mobile Manipulators.
M. Dogar, V. Hemrajani, D. Leeds, B. Kane, and S.S. Srinivasa.
Technical Report CMU-RI-TR-10-05, The Robotics Institute, Carnegie Mellon University, 2010.

Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data.
M. Herrmann and S.S. Srinivasa.
Technical Report CMU-RI-TR-10-07, The Robotics Institute, Carnegie Mellon University, 2010.


2009

Conference Papers

Object recognition and full pose registration from a single image for robotic manipulation.
A. Collet, D. Berenson, S.S. Srinivasa, and D. Ferguson.
In IEEE International Conference on Robotics and Automation. 2009

Manipulation planning with workspace goal regions.
D. Berenson, S.S. Srinivasa, D. Ferguson, A. Collet, and J.J. Kuffner.
In IEEE International Conference on Robotics and Automation. 2009

CHOMP: Gradient optimization techniques for efficient motion planning.
N. Ratliff, M. Zucker, J.A. Bagnell, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2009

Manipulation planning on constraint manifolds.
D. Berenson, S.S. Srinivasa, D. Ferguson, and J.J. Kuffner.
In IEEE International Conference on Robotics and Automation. 2009

Planning-based prediction for pedestrians.
B.D. Ziebart, N. Ratliff, G. Gallagher, C. Mertz, K. Peterson, J.A. Bagnell, M. Hebert, A.K. Dey, and S.S. Srinivasa.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2009

Addressing pose uncertainty in manipulation planning using Task Space Regions.
D. Berenson, S.S. Srinivasa, and J.J. Kuffner.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2009

Inverse Optimal Heuristic Control for Imitation Learning.
N. Ratliff, B. Ziebart, K. Peterson, J.A. Bagnell, M. Hebert, A.K. Dey, and S.S. Srinivasa.
In International Conference on Artificial Intelligence and Statistics. 2009

GATMO: a Generalized Approach to Tracking Movable Objects.
G. Gallagher, S.S. Srinivasa, J.A. Bagnell, and D. Ferguson.
In IEEE International Conference on Robotics and Automation. 2009

Combining search and action for mobile robots.
G. Hollinger, D. Ferguson, S.S. Srinivasa, and S. Singh.
In IEEE International Conference on Robotics and Automation. 2009

Pose-constrained whole-body planning using Task Space Region Chains.
D. Berenson, J. Chestnutt, S.S. Srinivasa, J.J. Kuffner, and S. Kagami.
In IEEE-RAS International Conference on Humanoid Robots. 2009


2008

Conference Papers

Bispace planning: Concurrent multi-space exploration.
R. Diankov, N. Ratliff, D. Ferguson, S.S. Srinivasa, and J. Kuffner.
In Robotics: Science and Systems. 2008

Manipulation planning with caging grasps.
R. Diankov, S.S. Srinivasa, D. Ferguson, and J. Kuffner.
In IEEE-RAS International Conference on Humanoid Robots. 2008

The robotic busboy: Steps towards developing a mobile robotic home assistant.
S.S. Srinivasa, D. Ferguson, M.V. Weghe, R. Diankov, D. Berenson, C. Helfrich, and H. Strasdat.
In International Conference on Intelligent Autonomous Systems. 2008

Grasp synthesis in cluttered environments for dexterous hands.
D. Berenson and S.S. Srinivasa.
In IEEE-RAS International Conference on Humanoid Robots. 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, S.S. Srinivasa, P. Pillai, and J. Campbell.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008

Other Papers

Anytime guaranteed search using spanning trees.
G. Hollinger, A. Kehagias, S. Singh, D. Ferguson, and S.S. Srinivasa.
Technical Report CMU-RI-TR-08-36, The Robotics Institute, Carnegie Mellon University, 2008.


2007

Conference Papers

Randomized path planning for redundant manipulators without inverse kinematics.
M. Vandeweghe, D. Ferguson, and S.S. Srinivasa.
In IEEE-RAS International Conference on Humanoid Robots. 2007

Imitation learning for locomotion and manipulation.
N. Ratliff, J.A. Bagnell, and S.S. Srinivasa.
In IEEE-RAS International Conference on Humanoid Robots. 2007

Control strategies and design guidelines for planar latch-less metamorphic robots based on analysis of dynamics.
A. Deshpande, S.S. Srinivasa, and P. Pillai.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2007

Identifying trajectory classes in dynamic tasks.
S.O. Anderson and S.S. Srinivasa.
In IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning. 2007

Planar batting under shape, pose, and impact uncertainty.
J.L. Fu, S.S. Srinivasa, N.S. Pollard, and B.C. Nabbe.
In IEEE International Conference on Robotics and Automation. 2007

Other Papers

Declarative programming for modular robots.
M.P. Ashley-Rollman, M. De Rosa, S.S. Srinivasa, P. Pillai, S.C. Goldstein, and J. Campbell.
In Workshop on Self-Reconfigurable Robots/Systems and Applications, IEEE/RSJ International Conference on Intelligent Robots and Systems. 2007


2006

Conference Papers

Hierarchical motion planning for self-reconfigurable modular robots.
P. Bhat, J. Kuffner, S. Goldstein, and S.S. Srinivasa.
In IEEE International Conference on Robotics and Automation. 2006

Physics-based motion retiming.
J. McCann, N.S. Pollard, and S.S. Srinivasa.
In ACM SIGGRAPH/Eurographics Symposium on Computer Animation. 2006

Meet point planning for multirobot coordination.
S.S. Srinivasa and D. Ferguson.
In International Symposium on Robotics and Automation. 2006


2005

Conference Papers

Control synthesis for dynamic contact manipulation.
S.S. Srinivasa, M.A. Erdmann, and M.T. Mason.
In IEEE International Conference on Robotics and Automation. 2005

Using projected dynamics to plan dynamic contact manipulation.
S.S. Srinivasa, M.A. Erdmann, and M.T. Mason.
In IEEE/RSJ International Conference on Intelligent Robots and Systems. 2005

Other Papers

Control Synthesis for Dynamic Contact Manipulation.
S.S. Srinivasa.
PhD thesis, The Robotics Institute, Carnegie Mellon University, 2005.


2003

Conference Papers

Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system.
S.S. Srinivasa, M.A. Erdmann, and M.T. Mason.
In IEEE International Conference on Robotics and Automation. 2003


2002

Conference Papers

Towards sensor based coverage with robot teams.
D. Latimer IV, S.S. Srinivasa, V. Lee-Shue, S. Sonne, H. Choset, and A. Hurst.
In IEEE International Conference on Robotics and Automation. 2002

Experiments with nonholonomic manipulation.
S.S. Srinivasa, C.R. Baker, E. Sacks, G.B. Reshko, M.T. Mason, and M.A. Erdmann.
In IEEE International Conference on Robotics and Automation. 2002


2001

Other Papers

Experiments with Nonholonomic Manipulation.
S.S. Srinivasa.
Master's thesis, The Robotics Institute, Carnegie Mellon University, 2001.


2000

Journal Papers

Coherent structures in numerically simulated jets with and without off-source heating.
S.S. Siddhartha, R. Narasimha, A.J. Basu, and S.V. Kailas.
Fluid Dynamics Research, 26(2), 2000.


1999

Other Papers

Reverse Engineering using the Structured Lighting Technique.
S.S. Srinivasa.
BTech thesis, Mechanical Engineering, Indian Institute of Technology Madras, 1999.