Publications
. 2020. “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. “A First Principles Approach For Data-Efficient System Identification Of Spring-Rod Systems Via Differentiable Physics Engines”. In Learning for Dynamics & Control (L4DC), Berkeley, CA. https://arxiv.org/abs/2004.13859.
. 2020. “Motion Planning With Competency-Aware Transition Models For Underactuated Adaptive Hands”. In IEEE International Conference on Robotics and Automation (ICRA), Paris, France.
. 2020. “Proof-Of-Concept Designs For The Assembly Of Modular, Dynamic Tensegrities Into Easily Deployable Structures”. In ASCE Earth and Space Conference 2020, Seattle, WA.
. 2020. “Pushing The Boundaries Of Asymptotic Optimality In Integrated Task And Motion Planning”. In Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland. http://www.cs.rutgers.edu/~kb572/pubs/asymptotic_optimality_task_motion_planning.pdf.
. 2020. “Refined Analysis Of Asymptotically-Optimal Kinodynamic Planning In The State-Cost Space”. In IEEE International Conference on Robotics and Automation (ICRA), Paris, France. https://arxiv.org/abs/1909.05569.
. 2020. “Robust, Occlusion-Aware Pose Estimation For Objects Grasped By Adaptive Hands”. In IEEE International Conference on Robotics and Automation (ICRA), Paris, France.
. 2020. “Safe And Effective Picking Paths In Clutter Given Discrete Distributions Of Object Poses”. In IEEE/RSJ International Confernece on Intelligent Robots and Systems (IROS), Las Vegas, NV.
. 2020. “Se(3)-Tracknet: Data-Driven 6D Pose Tracking By Calibrating Image Residuals In Synthetic Domains”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV. http://arxiv.org/abs/2007.13866.
. 2020. “Synchronized Multi-Arm Rearrangement Guided By Mode Graphs With Capacity Constraints”. In Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland. http://www.cs.rutgers.edu/~kb572/pubs/multi_arm_rearrangement_capacity_constraints.pdf.
. 2020. “Task-Driven Perception And Manipulation For Constrained Placement Of Unknown Objects”. IEEE Robotics and Automation Letters (RA-L) (also appearing at IEEE/RSJ IROS 2020). https://robotics.cs.rutgers.edu/task-driven-perception/.
. 2020. “That And There: Judging The Intent Of Pointing Actions With Robotic Arms”. Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20).
. 2020. “Tools For Data-Driven Modeling Of Within-Hand Manipulation With Underactuated Adaptive Hands”. In Learning for Dynamics & Control (L4DC), Berkeley, CA.
. 2019. “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. https://arxiv.org/abs/1905.03179.
. 2019. “Belief-Space Planning Using Learned Models With Application To Underactuated Hands”. In International Symposium on Robotics Research (ISRR), Hanoi, Vietnam. http://www.cs.rutgers.edu/~kb572/pubs/belief_space_learned_models_adaptive_hands.pdf.
. 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). http://www.cs.rutgers.edu/~kb572/pubs/Learning_a_State_Transition_Model.pdf.
. 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. 7th ICAPS Workshop on Planning and Robotics (PlanRob) Towards Learning Efficient Maneuver Sets For Kinodynamic Motion Planning. https://www.cs.rutgers.edu/~kb572/pubs/Learning_Maneuver_Sets_PlanRob2019.pdf.
. 2019. “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/.
. 2018. “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.