Publications
“Anytime Motion Planning For Prehensile Manipulation In Dense Clutter”. Advanced Robotics.
. 2020. “Asymptotically Optimal Sampling-Based Planners”. In Encyclopedia of Robotics, https://arxiv.org/abs/1911.04044.
. 2020. “That And There: Judging The Intent Of Pointing Actions With Robotic Arms”. Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20).
. 2020. “Adaptive Tensegrity Locomotion: Controlling A Compliant Icosahedron With Symmetry-Reduced Reinforcement Learning”. International Journal of Robotics Research (IJRR). https://www.cs.rutgers.edu/~kb572/pubs/reinf_learning_tensegrity_locomotion.pdf.
. 2019. “Anytime Multi-Arm Task And Motion Planning For Pick-And-Place Of Individual Objects Via Handoffs”. In IEEE International Conference on Multi-Robot and Multi-Agent Systems (MRS), New Brunswick, NJ.
. 2019. “Belief-Space Planning Using Learned Models With Application To Underactuated Hands”. In International Symposium on Robotics Research (ISRR), Hanoi, Vietnam.
. 2019. “Closing The Reality Gap Of Robotic Simulators Through Task-Oriented Bayesian Optimization”. Journal of Machine Learning Research.
. 2019. . 2019.
“Exploring The Utility Of Robots In Exposure Studies”. Journal of Exposure Science and Environmental Epidemiology (JESEE). https://www.nature.com/articles/s41370-019-0190-x.
. 2019. “Generation Of Crowd Arrival And Destination Locations/times In Complex Transit Facilities”. The Visual Computer Journal. https://rdcu.be/bUBid.
. 2019. “Kinodynamic Planning For Spherical Tensegrity Locomotion With Effective Gait Primitives”. International Journal of Robotics Research (IJRR). https://www.cs.rutgers.edu/~kb572/pubs/kinodynamic_tensegrity.pdf.
. 2019. “Learning A State Transition Model Of An Underactuated Adaptive Hand”. IEEE Robotics and Automation Letters (RA-L) (also appearing at IEEE ICRA 2019).
. 2019. “Physics-Based Scene-Level Reasoning For Object Pose Estimation In Clutter”. International Journal of Robotics Research (IJRR). https://arxiv.org/pdf/1806.10457.pdf.
. 2019. “Probabilistic Completeness Of Rrt For Geometric And Kinodynamic Planning With Forward Propagation”. IEEE Robotics and Automation Letters (RA-L) (also appearing at IEEE ICRA 2019). https://www.cs.rutgers.edu/~kb572/pubs/prob_completeness_rrt.pdf.
. 2019. “Scene-Level Pose Estimation For Multiple Instances Of Densely Packed Objects”. In Conference on Robot Learning (CoRL), Osaka, Japan. https://arxiv.org/pdf/1910.04953.pdf.
. 2019. . 2019. 7th ICAPS Workshop on Planning and Robotics (PlanRob)
“Towards Robust Product Packing With A Minimalistic End-Effector”. In IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada: Nomination for Best Paper Award in Automation. http://robotpacking.org/.
. 2019. “Any-Axis Tensegrity Rolling Via Bootstrapped Learning And Symmetry Reduction”. In International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina. https://www.cs.rutgers.edu/~kb572/pubs/any_axis_tensegrity_rolling.pdf.
. 2018. “Complexity Results And Fast Methods For Optimal Tabletop Rearrangement With Overhand Grasps”. International Journal of Robotics Research (IJRR). https://www.cs.rutgers.edu/~kb572/pubs/optimal_tabletop_rearrangement.pdf.
. 2018. “Discovering A Library Of Rhythmic Gaits For Spherical Tensegrity Locomotion”. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia. https://www.cs.rutgers.edu/~kb572/pubs/gps_bo_svm_tensegrity.pdf.
. 2018. “Efficient And Asymptotically Optimal Kinodynamic Motion Planning Via Dominance-Informed Regions”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain. https://www.cs.rutgers.edu/~kb572/pubs/iros_dirt.pdf.
. 2018. “Efficient, High-Quality Stack Rearrangement”. IEEE Robotics and Automation Letters (RA-L) [Also accepted to appear at the 2018 IEEE International Conference on Robotics and Automation (ICRA)] 3(3): 1608--1615. https://www.cs.rutgers.edu/~kb572/pubs/stack_rearrangement.pdf.
. 2018. “Efficient Model Identification For Tensegrity Locomotion”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain. https://www.cs.rutgers.edu/~kb572/pubs/model_identification_tensegrity.pdf.
. 2018. “Fast And High-Quality Dual-Arm Rearrangement In Synchronous, Monotone Tabletop Setups”. In Workshop on the Algorithmic Foundations of Robotics (WAFR), Mérida, México. http://www.cs.rutgers.edu/~kb572/pubs/Fast_High_Quality_Dual_Arm_Rearrangement.pdf.
. 2018. “Fast, Anytime Motion Planning For Prehensile Manipulation In Clutter”. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018), Beijing, China. https://www.cs.rutgers.edu/~kb572/pubs/gmp.pdf.
. 2018. “Fast Model Identification Via Physics Engines For Data-Efficient Policy Search”. In International Joint Conference on Artificial Intelligence (IJCAI), Stockholm, Sweden. https://www.cs.rutgers.edu/~kb572/pubs/physics_model_id.pdf.
. 2018. “Improving 6D Pose Estimation Of Objects In Clutter Via Physics-Aware Monte Carlo Tree Search”. In IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia. https://www.cs.rutgers.edu/~kb572/pubs/physics_mcts_pose_estimation.pdf.
. 2018. Information-Efficient Model Identification For Tensegrity Robot Locomotion. Stanford University, CA, USA.
. 2018. AAAI Spring Symposium Series 2018 “Path Planning For Within-Hand Manipulation Over Learned Representations Of Safe States”. In International Symposium on Experimental Robotics (ISER), Buenos Aires, Argentina. http://www.cs.rutgers.edu/~kb572/pubs/within_hand_planning_over_learning.pdf.
. 2018. “Robust 6D Pose Estimation With Stochastic Congruent Sets”. In British Machine Vision (BMVC) conference, Newcastle, UK. https://arxiv.org/abs/1805.06324.
. 2018.