Publications

On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control

V. Roulet, S. Srinivasa, M. Fazel, and Z. Harchaoui

Journal of Machine Learning Research, 2025

Long Range Navigator (LRN) : Extending robot planning horizons beyond metric maps

M. Schmittle^*, R. Baijal^*, N. Hatch, R. Scalise, M. Guaman Castro, S. Talia, K. Khetarpal, S. Srinivasa, and B. Boots

Conference on Robot Learning, 2025
Website, Best Paper Award Winner at the Workshop on Resilient Off-road Autonomous Robotics at RSS 2025

Generative Data Mining with Longtail-Guided Diffusion

D. Hayden, M. Ye, T. Garipov, G. Meyer, C. Vondrick, Z. C. Chen, Y. Chai, E. Wolff, and S. Srinivasa

International Conference on Machine Learning, 2025

DriveGPT: Scaling Autoregressive Behavior Models for Driving

X. Huang, E. M. Wolff, P. Vernaza, T. Phan-Minh, H. Chen, D. S. Hayden, M. Edmonds, B. Pierce, X. Chen, P. E. Jacob, X. Chen, C. Tairbekov, P. Agarwal, T. Gao, Y. Chai, and S. Srinivasa

International Conference on Machine Learning, 2025

Causal Composition Diffusion Model for Closed-loop Traffic Generation

H. Lin, X. Huang, T. Phan-Minh, D. Hayden, H. Zhang, D. Zhao, S. Srinivasa, E. Wolff, and H. Chen

IEEE Conference on Computer Vision and Pattern Recognition, 2025

Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use

A. Nanavati, E. K. Gordon, T. A. Kessler Faulkner, Y. Song, J. Ko, T. Schrenk, V. Nguyen, B. H. Zhu, H. Bolotski, A. Kashyap, S. Kutty, R. Karim, L. Rainbolt, R. Scalise, H. Song, R. Qu, M. Cakmak, and S. S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2025
Website, Best Systems Paper Award Finalist

robotfeeding

ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning

Y. Zhang, S. Mittal, Z. Zhang, L. Ke, S. Srinivasa, and A. Gupta

Conference on Robot Learning, 2025

dataefficiency

Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates

V. Roulet, S. Srinivasa, M. Fazel, and Z. Harchaoui

Open Journal of Mathematical Optimization, 5, 2024

Electrostatic brakes enable individual joint control of underactuated, highly articulated robots

P. Lancaster, C. Mavrogiannis, S. Srinivasa, and J. R. Smith

The International Journal of Robotics Research, 2024

Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees

J. Lim, M. Ghanei, C. Lawson, S. Srinivasa, and P. Tsiotras

The International Journal of Robotics Research, 2024

Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels

A. Deshpande, K. Liyiming, Q. Pfeifer, A. Gupta, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

dataefficiency

Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving

S. Talia, M. Schmittle, A. Lambert, A. Spitzer, C. Mavrogiannis, and S. S. Srinivasa

Robotics: Science and Systems, 2024

Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving

M. Schmittle, R. Baijal, B. Hou, S. Srinivasa, and B. Boots

IEEE International Conference on Robotics and Automation, 2024

CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning

L. Ke^*, Y. Zhang^*, A. Deshpande, A. Gupta, and S. Srinivasa

International Conference on Learning Representations, 2024

dataefficiency

Multiple Ways of Working with Users to Develop Physically Assistive Robots

A. Nanavati^*, M. Pascher^*, V. Ranganeni, E. Gordon, T. Faulkner, S. Srinivasa, M. Cakmak, P. Alves-Oliveira, and J. Gerken

ACM/IEEE International Conference on Human-Robot Interaction, 2024
Workshop on Assistive Applications, Accessibility, and Disability Ethics

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

E. Gordon^*, R. Jenamani^*, A. Nanavati^*, Z. Liu, H. Bolotski, R. Karim, D. Stabile, A. Kashyap, B. H. Zhu, X. Dai, T. Schrenk, J. Ko, T. Faulkner, T. Bhattacharjee, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2024
Best Demo Award Winner

robotfeeding

Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control

C. Mavrogiannis, J. A. DeCastro, and S. S. Srinivasa

The International Journal of Robotics Research, 2023

Winding Through: Crowd Navigation via Topological Invariance

C. Mavrogiannis, K. Balasubramanian, S. Poddar, A. Gandra, and S. S. Srinivasa

IEEE Robotics and Automation Letters, 8(1), 2023

Git Re-Basin: Merging models modulo permutation symmetries

S. K. Ainsworth, J. Hayase, and S. Srinivasa

International Conference on Learning Representations, 2023
Top 5 Percent Paper

NEWTON: Are Large Language Models Capable of Physical Reasoning?

Y. Wang, J. Duan, D. Fox, and S. Srinivasa

Empirical Methods in Natural Language Processing, 2023

Towards General Single-Utensil Food Acquisition with Human-Informed Actions

E. Gordon^*, A. Nanavati^*, R. Challa, B. H. Zhu, T. A. Kessler Faulkner, and S. S. Srinivasa

Conference on Robot Learning, 2023

robotfeeding

From Crowd Motion Prediction to Robot Navigation in Crowds

S. Poddar, C. Mavrogiannis, and S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

PuSHR: A Multirobot System for Nonprehensile Rearrangement

S. Talia, A. Thareja, C. Mavrogiannis, and S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

Cherry Picking with Reinforcement Learning

Y. Zhang^*, L. Ke^*, A. Deshpande, A. Gupta, and S. Srinivasa

Robotics: Science and Systems, 2023

GuILD: Guided Incremental Local Densification for Accelerated Sampling-Based Motion Planning

R. Scalise, A. Mandalika, B. Hou, S. Choudhury, and S. S. Srinivasa

IEEE International Conference on Robotics and Automation, 2023

Real World Offline Reinforcement Learning with Realistic Data Source

G. Zhou, L. Ke, S. S. Srinivasa, A. Gupta, A. Rajeswaran, and V. Kumar

IEEE International Conference on Robotics and Automation, 2023

Design Principles for Robot-Assisted Feeding in Social Contexts

A. Nanavati^*, P. Alves-Oliveira^*, T. Schrenk, E. Gordon, M. Cakmak, and S. S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2023
Best Design Paper Award Winner

robotfeeding

Unintended Failures of Robot-Assisted Feeding in Social Contexts

A. Nanavati, P. Alves-Oliveira, T. Schrenk, E. Gordon, M. Cakmak, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2023
Video. PDF here

robotfeeding

Investigating the Levels of Autonomy for Personalization in Assistive Robotics

R. Karim, A. Nanavati, T. Faulkner, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2023

Human-Scale Mobile Manipulation Using RoMan

C. Kessens, M. Kaplan, T. Rocks, P. Osteen, J. Rogers, E. Stump, A. Hurwitz, J. Fink, L. Quang, M. Gonzalez, J. Patel, M. DiBlasi, S. Patel, M. Weiker, D. Patel, J. Bowkett, R. Detry, S. Karumanchi, L. Matthies, J. Burdick, Y. Oza, A. Agarwal, A. Dornbush, D. Saxena, M. Likhachev, K. Schmeckpeper, K. Daniilidis, A. Kamat, S. Choudhury, A. Mandalika, and S. Srinivasa

Journal of Field Robotics, 2, 2022

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

N. Funk, C. Schaff, R. Madan, T. Yoneda, J. U. De Jesus, J. Watson, E. K. Gordon, F. Widmaier, S. Bauer, S. S. Srinivasa, T. Bhattacharjee, M. R. Walter, and J. Peters

IEEE Robotics and Automation Letters, 7(1), 2022

Expert Intervention Learning: An online framework for robot learning from explicit and implicit human feedback

J. Spencer, S. Choudhury, M. Barnes, M. Schmittle, M. Chiang, P. Ramadge, and S. Srinivasa

Autonomous Robots, 46, 2022

interventions

Dynamic Replanning with Posterior Sampling

B. Hou and S. S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation

P. Lancaster, P. Gyawali, C. Mavrogiannis, S. S. Srinivasa, and J. R. Smith

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids

C. Mavrogiannis, J. DeCastro, and S. S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2022

Stein Variational Probabilistic Roadmaps

A. Lambert, B. Hou, R. Scalise, S. S. Srinivasa, and B. Boots

IEEE International Conference on Robotics and Automation, 2022

Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer

S. Belkhale, E. Gordon, Y. Chen, S. S. Srinivasa, T. Bhattacharjee, and D. Sadigh

IEEE International Conference on Robotics and Automation, 2022

Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids

C. Mavrogiannis, J. A. DeCastro, and S. S. Srinivasa

IEEE International Conference on Robotics and Automation, 2022

Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments

A. Nanavati^*, N. Walker^*, L. Taber, C. Mavrogiannis, L. Takayama, M. Cakmak, and S. S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2022

Complexity Bounds of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control

V. Roulet, S. Srinivasa, M. Fazel, and Z. Harchaoui

In arXiv:2204.02322, 2022
URL.

Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates

V. Roulet, S. Srinivasa, M. Fazel, and Z. Harchaoui

In arXiv:2207.06362, 2022
URL.

HARMONIC: A Multimodal Dataset of Assistive Human-Robot Collaboration

B. Newman, R. Aronson, S. Srinivasa, K. Kitani, and H. Admoni

The International Journal of Robotics Research (Data Paper), 41(1), 2022

Leveraging Experience in Lazy Search

M. Bhardwaj, S. Choudhury, B. Boots, and S. Srinivasa

Autonomous Robots, 45(7), 2021

Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation

L. Ke, J. Wang, T. Bhattacharjee, B. Boots, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2021

Influencing Behavioral Attributions to Robot Motion During Task Execution

N. Walker, C. Mavrogiannis, S. S. Srinivasa, and M. Cakmak

Conference on Robot Learning, 2021

Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts

G. Lee, B. Hou, S. Choudhury, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning

A. Nanavati, C. Mavrogiannis, K. Weatherwax, L. Takayama, M. Cakmak, and S. Srinivasa

Robotics: Science and Systems, 2021

Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding

E. Gordon, S. Roychowdhury, T. Bhattacharjee, K. Jamieson, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2021

robotfeeding

Faster Policy Learning with Continuous-Time Gradients

S. Ainsworth, K. Lowrey, J. Thickstun, Z. Harchaoui, and S. Srinivasa

Learning for Dynamics and Control, 2021

Benchmarking Robot Manipulation with the Rubik's Cube

B. Yang, P. Lancaster, S. Srinivasa, and J. Smith

IEEE Robotics and Automation Letters, 2020

Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search

J. Gammell, T. Barfoot, and S. Srinivasa

The International Journal of Robotics Research, 2020

Toward fieldable human-scale mobile manipulation using RoMan

C. Kessens, J. Fink, A. Hurwitz, M. Kaplan, P. Osteen, T. Rocks, J. Rogers, E. Stump, L. Quang, M. DiBlasi, M. Gonzalez, D. Patel, J. Patel, S. Patel, M. Weiker, J. Bowkett, R. Detry, S. Karumanchi, J. Burdick, L. Matthies, Y. Oza, A. Agarwal, A. Dornbush, M. Likhachev, K. Schmeckpeper, K. Daniilidis, A. Kamat, S. Choudhury, A. Mandalika, and S. Srinivasa

Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II, 2020

Learning from interventions: Human-robot interaction as both explicit and implicit feedback

J. Spencer, S. Choudhury, M. Barnes, M. Schmittle, M. Chiang, P. Ramadge, and S. Srinivasa

Robotics: Science and Systems, 2020

interventions

Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity

W. Agnew, C. Xie, A. Walsman, O. Murad, C. Wang, P. Domingos, and S. S. Srinivasa

Conference on Robot Learning, 2020

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

J. Roh^*, C. Mavrogiannis^*, R. Madan^*, D. Fox, and S. S. Srinivasa

Conference on Robot Learning, 2020

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

L. Ke, A. Kamat, J. Wang, T. Bhattacharjee, C. Mavrogiannis, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items

E. Gordon, X. Meng, T. Bhattacharjee, M. Barnes, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

robotfeeding

Lyceum: An Efficient and Scalable Ecosystem for Robot Learning

C. Summers, K. Lowrey, A. Rajeswaran, S. Srinivasa, and E. Todorov

Learning for Dynamics and Control, 2020

Imitation Learning as f-Divergence Minimization

L. Ke, S. Choudhury, M. Barnes, W. Sun, G. Lee, and S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2020

Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges

B. Hou, S. Choudhury, G. Lee, A. Mandalika, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2020

On the Convergence of the Iterative Linear Exponential Quadratic Gaussian Algorithm to Stationary Points

V. Roulet, M. Fazel, S. Srinivasa, and Z. Harchaoui

American Controls Conference, 2020

Is More Autonomy Always Better? Exploring Preferences of Users with Mobility Impairments in Robot-assisted Feeding

T. Bhattacharjee, E. Gordon, R. Scalise, M. Cabrera, A. Caspi, M. Cakmak, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2020

robotfeeding

Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning

M. Chen, S. Nikolaidis, H. Soh, D. Hsu, and S. Srinivasa

ACM Transactions on Human-Robot Interaction, 2019

Minimizing Task-Space Fréchet Error via Efficient Incremental Graph Search

R. Holladay, O. Salzman, and S. Srinivasa

IEEE Robotics and Automation Letters, 2019

Towards Robotic Feeding: Role of Haptics in Fork-based Food Manipulation

T. Bhattacharjee, G. Lee, H. Song, and S. Srinivasa

IEEE Robotics and Automation Letters, 2019

robotfeeding

Mo States Mo Problems: Emergency Stop Mechanisms from Observation

S. Ainsworth, M. Barnes, and S. Srinivasa

Advances in Neural Information Processing Systems, 2019

interventions

Improving Robot Success Detection using Static Object Data

R. Scalise, J. Thomason, Y. Bisk, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Talking With Hands 16.2M: A Large-Scale Dataset of Synchronized Body-Finger Motion and Audio for Conversational Motion Analysis and Synthesis

G. Lee, Z. Deng, S. Ma, T. Shiratori, S. Srinivasa, and Y. Sheikh

International Conference on Computer Vision, 2019

The Blindfolded Robot : A Bayesian Approach to Planning with Contact Feedback

B. Saund, S. Choudhury, S. Srinivasa, and D. Berenson

International Symposium on Robotics Research, 2019

Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Plate

R. Feng, Y. Kim, G. Lee, E. Gordon, M. Schmittle, S. Kumar, T. Bhattacharjee, and S. Srinivasa

International Symposium on Robotics Research, 2019

robotfeeding

A Community-Centered Design Framework for Robot-Assisted Feeding Systems

T. Bhattacharjee, M. Cabrera, A. Caspi, M. Cakmak, and S. Srinivasa

International ACM SIGACCESS Conference on Computers and Accessibility, 2019

robotfeeding

Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning

R. Rowe, S. Singhal, D. Yi, T. Bhattacharjee, and S. Srinivasa

IEEE International Symposium on Robot and Human Interactive Communication, 2019

LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning

R. Kumar, A. Mandalika, S. Choudhury, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories

S. Niyaz, A. Kuntz, O. Salzman, R. Alterovitz, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Leveraging Experience in Lazy Search

M. Bhardwaj, S. Choudhury, B. Boots, and S. Srinivasa

Robotics: Science and Systems, 2019

Iterative Linearized Control: Stable Algorithms and Complexity Guarantees

V. Roulet, S. Srinivasa, D. Drusvyatskiy, and Z. Harchaoui

International Conference on Machine Learning, 2019

Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles

A. Mandalika, S. Choudhury, O. Salzman, and S. Srinivasa

International Conference on Automated Planning and Scheduling, 2019
Best Student Paper Award Winner

Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigation

L. Ke, X. Li, Y. Bisk, A. Holtzman, Z. Gan, J. Liu, J. Gao, Y. Choi, and S. Srinivasa

IEEE Conference on Computer Vision and Pattern Recognition, 2019
Oral

Transfer depends on Acquisition: Analyzing Manipulation Strategies for Robotic Feeding

D. Gallenberger, T. Bhattacharjee, Y. Kim, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2019
Best Paper Award Winner for Technical Advances in HRI

robotfeeding

The Assistive Multi-Armed Bandit

L. Chan, D. Hadfield-Menell, S. Srinivasa, and A. Dragan

ACM/IEEE International Conference on Human-Robot Interaction, 2019

Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry

P. Lancaster, J. Smith, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2019

Sensing Shear Forces During Food Manipulation: Resolving the Trade-Off Between Range and Sensitivity

H. Song, T. Bhattacharjee, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2019

robotfeeding

Robot Object Referencing through Situated Legible Projections

T. Weng, L. Perlmutter, S. Nikolaidis, S. Srinivasa, and M. Cakmak

IEEE International Conference on Robotics and Automation, 2019

Bayesian Policy Optimization for Model Uncertainty

G. Lee, B. Hou, A. Mandalika, J. Lee, S. Choudhury, and S. Srinivasa

International Conference on Learning Representations, 2019

Towards Effective Human-AI Teams: The Case of Collaborative Packing

G. Lee, C. Mavrogiannis, and S. Srinivasa

AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction, 2019

MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research

S. S. Srinivasa, P. Lancaster, J. Michalove, M. Schmittle, C. Summers, M. Rockett, J. R. Smith, S. Choudhury, C. Mavrogiannis, and F. Sadeghi

CoRR, abs/1908.08031, 2019

Planning with Verbal Communication for Human-Robot Collaboration

S. Nikolaidis, M. Kwon, J. Forlizzi, and S. Srinivasa

ACM Transactions on Human-Robot Interaction, 7(3), 2018

DART: Dynamic Animation and Robotics Toolkit

J. Lee, M. X. Grey, S. Ha, T. Kunz, S. Jain, Y. Ye, S. S. Srinivasa, M. Stilman, and C. K. Liu

The Journal of Open Source Software, 3(22), 2018
URL.

Shared Autonomy via Hindsight Optimization for Teleoperation and Teaming

S. Javdani, H. Admoni, S. Pellegrinelli, S. Srinivasa, and J. Bagnell

The International Journal of Robotics Research, 37(7), 2018

Informed Sampling for Asymptotically Optimal Path Planning

J. Gammell, T. Barfoot, and S. Srinivasa

IEEE Transactions on Robotics, 34(4), 2018

Sampling of Pareto-Optimal Trajectories using Progressive Objective Evaluation in Multi-Objective Motion Planning

J. Lee, D. Yi, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Recurrent Predictive State Policy Networks

A. Hefny, Z. Marinho, W. Sun, S. Srinivasa, and G. Gordon

International Conference on Machine Learning, 2018

Bayesian Active Edge Evaluation on Expensive Graphs

S. Choudhury, S. Srinivasa, and S. Scherer

International Joint Conference on Artificial Intelligence, 2018

Generalizing Informed Sampling for Asymptotically-Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo

D. Yi, R. Thakker, C. Gulino, O. Salzman, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2018

Eye-Hand Behavior in Human-Robot Shared Manipulation

R. Aronson, T. Santini, T. Kübler, E. Kasneci, S. Srinivasa, and H. Admoni

ACM/IEEE International Conference on Human-Robot Interaction, 2018

Planning with Trust for Human-Robot Collaboration

M. Chen^*, S. Nikolaidis^*, H. Soh, D. Hsu, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2018
Best Conference Paper Award Finalist

The Provable Virtue of Laziness in Motion Planning

N. Haghtalab, S. Mackenzie, A. Procaccia, O. Salzman, and S. Srinivasa

International Conference on Automated Planning and Scheduling, 2018
Best Conference Paper Award Winner

Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges

A. Mandalika, O. Salzman, and S. Srinivasa

International Conference on Automated Planning and Scheduling, 2018

A Study of Reaching Motions for Collaborative Human-Robot Interaction

S. Sheikholeslami, G. Lee, J. Hart, S. Srinivasa, and E. Croft

International Symposium on Experimental Robotics, 2018

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs

S. Niyaz, A. Kuntz, O. Salzman, R. Alterovitz, and S. Srinivasa

International Symposium on Experimental Robotics, 2018

Autonomous robot feeding for upper-extremity mobility impaired people: Integrating sensing, perception, learning, motion planning, and robot control

T. Bhattacharjee, D. Gallenberger, D. Dubois, L. L'Écuyer-Lapiere, Y. Kim, A. Mandalika, R. Scalise, R. Qu, H. Song, E. Gordon, and S. Srinivasa

Conference on Neural Information Processing Systems, 2018
Video. Best Demo Award Winner

robotfeeding

Human-robot mutual adaptation in collaborative tasks: Models and experiments

S. Nikolaidis, D. Hsu, and 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. Klingensmith, 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. Srinivasa, P. Abbeel, and A. 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. Srinivasa

International Journal of Social Robotics, 2017

A Bayesian Active Learning Approach to Adaptive Motion Planning

S. Choudhury and S. Srinivasa

International Symposium on Robotics Research, 2017

Near-optimal edge evaluation in explicit generalized binomial graphs

S. Choudhury, S. Javdani, S. Srinivasa, and S. Scherer

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. Srinivasa, and G. Gordon

Conference on Robot Learning, 2017

Sensor Fusion for Fiducial Tags: Highly Robust Pose Estimation from Single Frame RGBD

P. Jin, P. Matikainen, and S. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Hybrid control trajectory optimization under uncertainty

J. Pajarinen, V. Kyrki, M. Koval, S. Srinivasa, J. Peters, and G. Neumann

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. Srinivasa

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Modeling Human Adaptation in Repeated Collaborative Tasks

S. Nikolaidis and S. Srinivasa

International Conference on Pervasive Technologies Related to Assistive Environments, 2017

Efficient Motion Planning for Problems Lacking Optimal Substructure

O. Salzman, B. Hou, and S. and Srinivasa

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. Srinivasa

IEEE International Conference on Robotics and Automation, 2017

Unobservable Monte Carlo planning for nonprehensile rearrangement tasks

J. King, V. Ranganeni, and S. Srinivasa

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. Srinivasa, N. Pollard, and M. Kaess

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. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2017

Human-Robot Mutual Adaptation in Shared Autonomy

S. Nikolaidis, Z. Y., D. Hsu, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2017

Yale-CMU-Berkeley dataset for robotic manipulation research

B. Calli, A. Singh, J. Bruce, W. W. Aaron, K. Konolige, S. Srinivasa, P. Abbeel, and A. Dollar

The International Journal of Robotics Research (Data Paper), 36(3), 2017

Convergent Planning

A. Johnson, J. King, and S. Srinivasa

IEEE Robotics and Automation Letters, 2016

Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM)

M. Klingensmith, S. Srinivasa, and M. Kaess

IEEE Robotics and Automation Letters, 2016

Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty

M. Koval, N. Pollard, and S. Srinivasa

The International Journal of Robotics Research, 35(1--3), 2016

A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments

S. Srinivasa, A. Johnson, G. Lee, M. Koval, S. Choudhury, J. King, C. Dellin, M. Harding, D. Butterworth, P. Velagapudi, and A. Thackston

International Symposium on Experimental Robotics, 2016

Distance Metrics and Algorithms for Task Space Path Optimization

R. Holladay and S. Srinivasa

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. Srinivasa

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. Srinivasa

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. Srinivasa

International Conference on Automated Planning and Scheduling, 2016

Configuration Lattices for Planar Contact Manipulation Under Uncertainty

M. Koval, D. Hsu, N. Pollard, and S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2016

A Linear-Time Variational Integrator for Multibody Systems

J. Lee, K. Liu, F. Park, and S. Srinivasa

Workshop on the Algorithmic Foundations of Robotics, 2016

Spatial references and perspective in natural language instructions for collaborative manipulation

S. Li, S. R., H. Admoni, S. Srinivasa, and R. S.

IEEE International Symposium on Robot and Human Interactive Communication, 2016

Articulated Robot Manipulator Simultaneous Localization and Mapping (ARM-SLAM)

M. Klingensmith, S. Srinivasa, and M. Kaess

IEEE International Conference on Robotics and Automation, 2016
Best Vision Paper Award Finalist

Convergent Planning

A. Johnson, J. King, and S. Srinivasa

IEEE International Conference on Robotics and Automation, 2016

Rearrangement planning using object-centric and robot-centric action spaces

J. King, M. Cognetti, and S. Srinivasa

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. Srinivasa

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. Srinivasa

Robotics: Science and Systems, 2016

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching

L. Herlant, R. Holladay, and S. Srinivasa

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. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2016

Viewpoint-Based Legibility Optimization

S. Nikolaidis, A. Dragan, and S. Srinivasa

ACM/IEEE International Conference on Human-Robot Interaction, 2016

Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty

J. Peters, J. Piater, R. Platt, and S. Srinivasa

Dagstuhl Reports, 5(10), 2016

RoGuE: Robot Gesture Engine

R. Holladay and S. Srinivasa

AAAI Spring Symposium on Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform, 2016

Deceptive robot motion: synthesis, analysis and experiments

A. Dragan, R. Holladay, and 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. Srinivasa, P. Abbeel, and A. 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. Haynes, D. Stager, B. Zajac, J. Bagnell, J. Brindza, C. Dellin, M. George, J. Gonzalez-Mora, S. Hyde, M. Jones, M. Laverne, M. Likhachev, L. Lister, M. Powers, O. Ramos, J. Ray, D. Rice, J. Scheifflee, R. Sidki, S. Srinivasa, K. Strabala, J. Tardif, J. Valois, J. Vandeweghe, M. Wagner, and C. Wellington

Journal of Field Robotics, 32(2), 2015

Pose Estimation for Planar Contact Manipulation with Manifold Particle Filters

M. Koval, N. Pollard, and 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. Srinivasa

The International Journal of Robotics Research, 34(1), 2015

Perceived Robot Capability

E. Cha, A. Dragan, and S. Srinivasa

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. Pollard, and S. Srinivasa

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

Shared Autonomy via Hindsight Optimization

S. Javdani, S. Srinivasa, and J. Bagnell

Robotics: Science and Systems, 2015

CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device

M. Klingensmith, I. Dryanovski, S. Srinivasa, and J. Xiao

Robotics: Science and Systems, 2015
Best Systems Paper Award Finalist

Lazy Validation of Experience Graphs

V. Hwang, M. Phillips, S. Srinivasa, and M. Likhachev