Home/Siddhartha Srinivasa

Siddhartha Srinivasa

Associate Professor, RI
Email: ss5@andrew.cmu.edu
Office: NSH 4533
Phone: (412) 268-5529
Personal Homepage
Administrative Assistant: Keyla C. Cook

I work on manipulation. My goal is to enable robots to robustly and gracefully interact with the world to perform complex manipulation tasks in uncertain, unstructured, and cluttered environments. I want to make this interaction faster, safer, elegant, and involve simpler actuation. To this end, I founded and direct the Personal Robotics Lab, co-direct the Manipulation Lab, and lead the HERB effort of the QoLTbots systems area and the Mobile Manipulation effort of the Mobility and Manipulation Thrust at the Quality of Life Technologies NSF ERC.

I am currently focussing on two topics: Physics-based Manipulation and The Mathematics of Human-Robot Interaction. They are heavily intertwined, both born out of the goal of robots performing complex manipulation tasks with and around people.

Physics-based Manipulation:
I focus on using physics in the design of actions, algorithms, and hands for manipulation:

  • Manipulation is more than pick-and-place. We are developing nonprehensile physics-based actions and algorithms to reconfigure clutter in the way of the primary task by pulling, pushing, sweeping, and sliding it out of the way. We have also recently shown that a class of tactile localization problems can be formulated to be submodular.
  • I am particularly fond of functional gradient methods which have been used with much success in physics. We have developed CHOMP, a functional gradient optimizer for robot motion planning, and variants like GSCHOMP that exploit the structure of manipulation problems.
  • I believe simple hands can do complex things. I am working on building robustness into the design and algorithms of simple hands, embracing physics and underactuation to stabilize objects.

The Mathematics of Human-Robot Interaction: I focus on formalizing Human-Robot Interaction principles using machine learning, motion planning, and function gradient algorithms:

I have greatly enjoyed collaborating with HRI researchers, and our joint exploration has broadened my understanding of humans, robots, and mathematics.

I am also interested in Manipulation Planning:

Publications

Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Siddhartha Srinivasa

IEEE International Conference on Robotics and Automation May, 2017

Human-Robot Mutual Adaptation in Shared Autonomy
Stefanos Nikolaidis, Yu Xiang Zhu , David Hsu, Siddhartha Srinivasa

Human-Robot Interaction March, 2017

Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration
Stefanos Nikolaidis, Swaprava Nath, Ariel Procaccia, Siddhartha Srinivasa

Human-Robot Interaction March, 2017

Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard, Siddhartha Srinivasa

Workshop on the Algorithmic Foundations of Robotics December, 2016

A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park, Siddhartha Srinivasa

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, Stephanie Rosenthal

IEEE International Symposium on Robot and Human Interactive Communication August, 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, Allison Thackston

2016 International Symposium on Experimental Robotics October, 2016

Human-Robot Shared Workspace Collaboration via Hindsight Optimization
Stefania Pellegrinelli, Henny Admoni, Shervin Javdani, Siddhartha Srinivasa

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, Siddhartha Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems October, 2016

Distance Metrics and Algorithms for Task Space Path Optimization
Rachel Holladay, Siddhartha Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems October, 2016

Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces
Zita Alexandra Magalhaes Marinho, Anca Dragan, Arunkumar Byravan, Byron Boots, Geoffrey Gordon, Siddhartha Srinivasa

Proceedings of Robotics: Science and Systems (RSS-2016) July, 2016

Convergent Planning
Aaron M. Johnson, Jennifer King, Siddhartha Srinivasa

IEEE Robotics and Automation Letters July, 2016

Active Comparison Based Learning Incorporating User Uncertainty and Noise
Rachel Holladay, Shervin Javdani, Anca Dragan, Siddhartha Srinivasa

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

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, Sebastian Scherer

2016 IEEE International Conference on Robotics and Automation (ICRA) May, 2016

A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors
Christopher Dellin, Siddhartha Srinivasa

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, Siddhartha Srinivasa

Human-Robot Interaction March, 2016

Viewpoint-Based Legibility Optimization
Stefanos Nikolaidis, Anca Dragan, Siddhartha Srinivasa

Human-Robot Interaction March, 2016

Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty
Jan Peters, Justus Piater, Robert Platt, Siddhartha Srinivasa

Dagstuhl Reports February, 2016

Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa, Michael Kaess

IEEE Robotics and Automation - Letters January, 2016

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching
Laura Herlant, Rachel Holladay, Siddhartha Srinivasa

Human-Robot Interaction March, 2016

RoGuE: Robot Gesture Engine
Rachel Holladay, Siddhartha Srinivasa

AAAI Spring Symposium Series March, 2016

Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem
Michael Koval, Jennifer King, Nancy Pollard and Siddhartha Srinivasa

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

Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

International Journal of Robotics Research August, 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

IEEE Robotics and Automation Magazine (IEEE RAM) August, 2015

Deceptive Robot Motion: Synthesis, Analysis and Experiments
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Autonomous Robots July, 2015

Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Proceedings of Robotics: Science and Systems July, 2015

Deceptive Robot Motion: Synthesis, Analysis and Experiments
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Autonomous Robots July, 2015

Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Proceedings of Robotics: Science and Systems July, 2015

Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa and Jizhong Xiao

Robotics Science and Systems 2015 July, 2015

Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa and Jizhong Xiao

Robotics Science and Systems 2015 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

IEEE International Conference on Advanced Robotics (ICAR) 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

IEEE International Conference on Advanced Robotics (ICAR) July, 2015

Perceived Robot Capability
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

International Symposium on Human-Robot Communication August, 2015

Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

International Journal of Robotics Research June, 2015

Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

International Journal of Robotics Research June, 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

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

2015 IEEE 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

International Conference on Robotics and Automation May, 2015

Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds
Jennifer King, Joshua Haustein, Siddhartha Srinivasa and Tamim Asfour

International Conference on Robotics and Automation May, 2015

Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa and Tamim Asfour

International Conference on Robotics and Automation May, 2015

Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa and Tamim Asfour

International Conference on Robotics and Automation May, 2015

Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

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

Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

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

A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa

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

A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa

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

Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization
Elizabeth Cha, Jodi Forlizzi and Siddhartha Srinivasa

2015 International Conference on Human-Robot Interaction (HRI 2015) March, 2015

Effects of Robot Motion on Human-Robot Collaboration
Anca Dragan, Shira Bauman, Jodi Forlizzi and Siddhartha Srinivasa

Human-Robot Interaction March, 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 of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC) March, 2015

Submodular Surrogates for Value of Information
Yuxin Chen, Shervin Javdani, Amin Karbasi, J. Andrew (Drew) Bagnell, Siddhartha Srinivasa and Andreas Krause

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

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

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

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

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

The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR) August, 2014

HerbDisc: Towards Lifelong Robotic Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

International Journal of Robotics Research (IJRR) January, 2014

An Analysis of Deceptive Robot Motion
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Robotics: Science and Systems July, 2014

Integrating Human Observer Inferences into Robot Motion Planning
Anca Dragan and Siddhartha Srinivasa

Autonomous Robots, 2014 July, 2014

Legible Robot Pointing
Rachel Holladay, Anca Dragan and Siddhartha Srinivasa

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

Robotics: Science and Systems Conference July, 2014

Object Modeling and Recognition from Sparse, Noisy Data via Voxel Depth Carving
Matthew Klingensmith, Martin Hermann and Siddhartha Srinivasa

International Symposium on Experimental Robotics June, 2014

Guided Manipulation Planning at the DARPA Robotics Challenge Trials
Christopher Dellin, Kyle Strabala, Galen Clark Haynes, David Stager and Siddhartha Srinivasa

2014 International Symposium on Experimental Robotics (ISER 2014) 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

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

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

International Journal of Robotics Research (IJRR) 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

CMU-RI-TR-14-03 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

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

International Conference on Human-Robot Interaction (HRI) March, 2014

Familiarization to Robot Motion
Anca Dragan and Siddhartha Srinivasa

International Conference on Human-Robot Interaction (HRI) March, 2014

Manifold Representations for State Estimation in Contact Manipulation
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

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

IEEE/RSJ International Conference on Intelligent Robots and Systems November, 2013

Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

Autonomous Robots October, 2013

Pregrasp Manipulation as Trajectory Optimization
Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi, Nancy Pollard and Siddhartha Srinivasa

Robotics: Science and Systems 2013 June, 2013

Generating Legible Motion
Anca Dragan and Siddhartha Srinivasa

Robotics: Science and Systems June, 2013

A Policy Blending Formalism for Shared Control
Anca Dragan and Siddhartha Srinivasa

International Journal of Robotics Research May, 2013

Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

IEEE International Conference on Robotics and Automation 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

International Journal of Robotics Research May, 2013

Pose Estimation for Contact Manipulation with Manifold Particle Filters
Michael Koval, Mehmet Dogar, Nancy Pollard and Siddhartha Srinivasa

CMU-RI-TR-13-11 May, 2013

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

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

Physics-Based Manipulation in Human Environments
Mehmet Dogar and Siddhartha Srinivasa

Journal of the Robotics Society of Japan May, 2013

Effects of Robot Capability on User Acceptance
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Human-Robot Interaction 2013, Late Breaking Report Proceedings March, 2013

Legibility and Predictability of Robot Motion
Anca Dragan, Kenton Lee and Siddhartha Srinivasa

Human-Robot Interaction March, 2013

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 January, 2013

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" January, 2013

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

Object Recognition Robust to Imperfect Depth Data
David Fouhey, Alvaro Collet Romea, Martial Hebert and Siddhartha Srinivasa

2nd Workshop on Consumer Depth Cameras for Computer Vision in conjunction with ECCV 2012 October, 2012

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

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

Online Customization of Teleoperation Interfaces
Anca Dragan and Siddhartha Srinivasa

21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) September, 2012

Formalizing Assistive Teleoperation
Anca Dragan and Siddhartha Srinivasa

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

Proceedings of the IEEE July, 2012

Physics-Based Grasp Planning Through Clutter
Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie and Siddhartha Srinivasa

Robotics: Science and Systems VIII July, 2012

Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard and Siddhartha Srinivasa

CMU-RI-TR-12-25 August, 2012

A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty
Mehmet Dogar and Siddhartha Srinivasa

Autonomous Robots June, 2012

A Data-Driven Statistical Framework for Post-Grasp Manipulation
Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason

International Symposium on Experimental Robotics (ISER 2012) June, 2012

Multirobot Pushing — How Many Robots are Sufficient?
Laura Lindzey, Howie Choset, Siddhartha Srinivasa and Ross Alan Knepper

CMU-RI-TR-12-15 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

IEEE International Conference on Robotics and Automation (ICRA '12) May, 2012

A Framework for Extreme Locomotion Planning
Christopher Dellin and Siddhartha Srinivasa

IEEE International Conference on Robotics and Automation (ICRA '12) May, 2012

Autonomous Manipulation with a General-Purpose Simple Hand
Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez

The International Journal of Robotics Research (IJRR) April, 2012

Assistive Teleoperation for Manipulation Tasks
Anca Dragan and Siddhartha Srinivasa

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

International Journal of Robotics Research February, 2012

Task Space Regions: A Framework for Pose-Constrained Manipulation Planning
Dmitry Berenson, Siddhartha Srinivasa and James Kuffner

International Journal of Robotics Research (IJRR) October, 2011

Abort and Retry in Grasping
Alberto Rodriguez, Matthew T. Mason, Siddhartha Srinivasa, Matthew Bernstein and Alex Zirbel

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

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

International Journal of Robotics Research September, 2011

A Framework for Push-grasping in Clutter
Mehmet Dogar and Siddhartha Srinivasa

Robotics: Science and Systems VII July, 2011

Learning from Experience in Manipulation Planning: Setting the Right Goals
Anca Dragan, Geoffrey Gordon and Siddhartha Srinivasa

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

RSS 2011 RGB-D Workshop June, 2011

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

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

Structure Discovery in Multi-modal Data : a Region-based Approach
Alvaro Collet Romea, Siddhartha Srinivasa and Martial Hebert

2011 IEEE International Conference on Robotics and Automation May, 2011

Learning to Provide Better Examples for Our Robots
Anca Dragan and Siddhartha Srinivasa

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

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

6th ACM/IEEE International Conference on Human-Robot Interaction January, 2011

Manipulation Capabilities with Simple Hands
Alberto Rodriguez, Matthew T. Mason and Siddhartha Srinivasa

International Symposium on Experimental Robotics (ISER 2010) December, 2010

An Equivalence Relation for Local Path Sets
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

The Ninth International Workshop on the Algorithmic Foundations of Robotics December, 2010

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa andres S. Vazquez and Alberto Rodriguez

CMU-RI-TR-10-40 November, 2010

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

People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects
Alexander Sorokin, Dmitry Berenson, Siddhartha Srinivasa and Martial Hebert

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10) October, 2010

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

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

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

Probabilistically Complete Planning with End-Effector Pose Constraints
Dmitry Berenson and Siddhartha Srinivasa

IEEE International Conference on Robotics and Automation (ICRA '10) May, 2010

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

Decentralized estimation and control of graph connectivity for mobile sensor networks
P. Yang, R. Freeman, Geoffrey Gordon, Kevin Lynch, Siddhartha Srinivasa and Rahul Sukthankar

Automatica February, 2010

Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data
Martin Herrmann and Siddhartha Srinivasa

CMU-RI-TR-10-07 February, 2010

Gracefully Mitigating Breakdowns in Robotic Services
Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa and Paul Rybski

Proceedings of HRI 2010 February, 2010

Proprioceptive Localization for Mobile Manipulators
Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Melissa Kane Styler and Siddhartha Srinivasa

CMU-RI-TR-10-05 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

Autonomous Robots January, 2010

Pose-Constrained Whole-Body Planning using Task Space Region Chains
Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner and Satoshi Kagami

IEEE-RAS International Conference on Humanoid Robots (Humanoids09) December, 2009

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

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

Proc. IROS 2009 October, 2009

Generality and Simple Hands
Matthew T. Mason , Siddhartha Srinivasa and Andres S. Vazquez

International Symposium of Robotics Research July, 2009

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

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

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

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

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

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

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

Twelfth International Conference on Artificial Intelligence and Statistics (AIStats) April, 2009

Manipulation Planning with Caging Grasps
Rosen Diankov, Siddhartha Srinivasa, David Ferguson and James Kuffner

2008 IEEE International Conference on Humanoid Robots December, 2008

Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa

IEEE-RAS International Conference on Humanoid Robots (Humanoids08) 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

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08) September, 2008

Anytime Guaranteed Search using Spanning Trees
Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson and Siddhartha Srinivasa

CMU-RI-TR-08-36 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

International Conference on Intelligent Autonomous Systems July, 2008

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

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

American Control Conference June, 2008

BiSpace Planning: Concurrent Multi-Space Exploration
Rosen Diankov, Nathan Ratliff, David Ferguson , Siddhartha Srinivasa and James Kuffner

Robotics: Science and Systems June, 2008

Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

CMU-RI-TR-07-45 December, 2007

Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

IEEE-RAS International Conference on Humanoid Robots November, 2007

Declarative Programming for Modular Robots
Michael Ashley-Rollman, Michael DeRosa, Siddhartha Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein and Jason Campbell

IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications November, 2007

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

Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
Ashish Deshpande, Siddhartha Srinivasa and Padmanabhan Pillai

IEEE/RSJ International Conference on Intelligent Robots and Systems November, 2007

Identifying Trajectory Classes in Dynamic Tasks
Stuart Anderson and Siddhartha Srinivasa

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

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

CMU-RI-TR- 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

Eurographics/ ACM SIGGRAPH Symposium on Computer Animation September, 2006

Meet point planning for multirobot coordination
Siddhartha Srinivasa and David Ferguson

IEEE International Symposium on Robotics and Automation August, 2006

Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

ACM SIGGRAPH / Eurographics Symposium on Computer Animation January, 2006

Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Goldstein and Siddhartha Srinivasa

IEEE International Conference on Intelligent Robots and Systems January, 2006

Control Synthesis for Dynamic Contact Manipulation
Siddhartha Srinivasa

CMU-RI-TR-05-33 September, 2005

Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE/RSJ International Conference on Intelligent Robots and Systems August, 2005

Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

IEEE International Conference on Robotics and Automation April, 2005

Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03) May, 2003

Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02) May, 2002

Towards sensor based coverage with robot teams
DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset and Aaron Hurst

Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02) May, 2002

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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