Matei Ciocarlie - Curriculum Vitae


EDUCATION

Columbia University, New York, NY:

  • Ph.D. in Computer Science, conferred February 2010
    • Thesis: “Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation”. Advisor: Prof. Peter Allen.
    • Winner of the 2010 Robotdalen Scientific Award
    • Honorary Mention for Distinction, Columbia University, Department of Computer Science
  • M.S. in Computer Science, conferred May 2005. GPA 4.11 / 4.0

Polytechnic University of Bucharest, Romania:

  • B.S. in Engineering, conferred June 2003. GPA 9.35 / 10.0
    • Major: Automatic Control and Industrial Informatics.


POSITIONS HELD

  • Willow Garage Inc., Menlo Park, CA
    • Manager, Interactive Manipulation and Gripper Design (05/2012 – present)
    • Research Scientist (09/2009 – present)
  • Robotics Laboratory, Department of Computer Science, Columbia University
    • Graduate Research Assistant (01/2004 – 08/2009)


AWARDS

  • Winner of the 2013 IEEE Robotics and Automation Society Early Career Award
  • Winner of the 2010 Robotdalen Scientific Award international competition for recent doctoral dissertations, Orebro, Sweden
  • Doctoral Thesis awarded with Honorary Mention for Distinction, Columbia University, Department of Computer Science
  • The Paul Michelman Memorial Award for exemplary service to the community life of the Department of Computer Science, Columbia University (05/2009)
  • Best Student Paper Award, 2nd Joint Eurohaptics Conference and IEEE Symposium on Haptic Interfaces, Tsukuba, Japan (03/2007)
  • Extraordinary Teaching Assistant Award, The Fu Foundation School of Engineering and Applied Science, Columbia University (12/2005)
  • Ph.D. Service Award for superior contributions to the community life of the Department of Computer Science, Columbia University (awarded twice, 05/2007 and 05/2008)
  • CanestaVision Contest: winner of the design stage (01/2005) and second prize winner of the final implementation stage (10/2005) with the project “Eye-in-Hand Sensor for Robotic Grasping”, competing against teams from major US and international universities.


PUBLICATIONS

Peer Reviewed Journal Publications

  • M. Ciocarlie, F. Hicks, R. Holmberg, J. Hawke, M. Schlicht, J. Gee, S. Stanford and R. Bahadur. “The Velo Gripper: A Versatile Single-actuator Design for Enveloping, Parallel and Fingertip Grasps”, submitted to the International Journal of Robotics Research, 2013 (under review)
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper,  H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart, and L. Takayama. "Robots for Humanity: A Case Study in Assistive Mobile Manipulation", IEEE Robotics & Automation Magazine, Special issue on Assistive Robotics, 20(1), 2013
  • S. Chitta, E. G. Jones, M. Ciocarlie and K. Hsiao. “Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments”, IEEE Robotics & Automation Magazine Special Issue on Mobile Manipulation, 19(2), 2012
  • M. Ciocarlie, C. Pantofaru, K. Hsiao, G. Bradski, P. Brook and E. Dreyfuss. “A Side of Data with My Robot: Three Datasets for Mobile Manipulation in Human Environments”, IEEE Robotics & Automation Magazine Special Issue: Towards a WWW for Robots, 18(2), 2011
  • M. Ciocarlie and P. Allen. “A Constrained Optimization Framework for Compliant Underactuated Grasping”, Mechanical Sciences, 2, 17-26, 2011
  • M. Ciocarlie and P. Allen. “Hand Posture Subspaces for Dexterous Robotic Grasping”, International Journal of Robotics Research, 28(7), 2009 (IJRR Top Ten Impact Factor in 2011)

Peer Reviewed Conference Publications

  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, IEEE Intl. Conf. on Humanoid Robots, 2013 (in press)
  • M. Ciocarlie, F. Hicks and S. Stanford. "Kinetic and Dimensional Optimization for a Tendon-driven Gripper", IEEE Intl. Conference on Robotics and Automation, 2013 
  • H. Nguyen, M. Ciocarlie, K. Hsiao and C. Kemp. "ROS Commander: Flexible Behavior Creation for Home Robots", IEEE Intl. Conference on Robotics and Automation, 2013
  • M. Ciocarlie, K. Hsiao, A. Leeper and D. Gossow. “Mobile Manipulation Through An Assistive Home Robot”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012
  • T. Chen, M. Ciocarlie, S. Cousins, P. Grice, K. Hawkins, K. Hsiao, C. Kemp, C. King, D. Lazewatsky, A. Leeper, H. Nguyen, A. Paepcke, C. Pantofaru, W. Smart and Leila Takayama. “Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation”, Video Session Contribution, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012
  • M. Dogar, K. Hsiao, M. Ciocarlie and S. Srinivasa. “Physics-based Grasp Planning Through Clutter”, Robotics: Science and Systems, Sydney, July 2012
  • A. Leeper, K. Hsiao, M. Ciocarlie, D. Gossow and L. Takayama. “Strategies for Human-in-the-Loop Robotic Grasping”, IEEE/ACM Intl. Conf. on Human-Robot Interaction, Boston, March 2012
  • A. Leeper, S. Chan, K. Hsiao, M. Ciocarlie and K. Salisbury. “Constraint-based Haptic Rendering of Point Data for Teleoperated Robot Grasping”, IEEE Haptics Symposium, Vancouver, March 2012
  • P. Brook, M. Ciocarlie and K. Hsiao. “Collaborative Grasp Planning with Multiple Object Representations”, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011
  • M. Ciocarlie, K. Hsiao, E. G. Jones, S. Chitta, R. B. Rusu and I. A. Sucan. “Towards Reliable Grasping and Manipulation in Household Environments”, Intl. Symp. on Experimental Robotics, Delhi, December 2010
  • K. Hsiao, S. Chitta, M. Ciocarlie and E. Gil Jones. “Contact-Reactive Grasping of Objects with Partial Shape Information”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Taipei, October 2010
  • M. Ciocarlie and P. Allen. “Data-driven Optimization for Underactuated Robotic Hands”, IEEE Intl. Conference on Robotics and Automation, Anchorage, May 2010
  • M. Ciocarlie and P. Allen. “A Design and Analysis Tool for Underactuated Compliant Hands”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009
  • C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang and P. Allen. “Data-Driven Grasping with Partial Sensor Data”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009
  • C. Goldfeder, M. Ciocarlie, H. Dang and P. Allen. “The Columbia Grasp Database”, IEEE Intl. Conference on Robotics and Automation, Kobe, May 2009
  • M. Ciocarlie, H. Dang, J. Lukos, M. Santello and P. Allen. “Functional Analysis of Finger Contact Locations during Grasping”, 3rd Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces, Salt Lake City, March 2009
  • M. Ciocarlie, S. Clanton, M. Spalding and P. Allen. “Biomimetic Grasp Planning for Cortical Control of a Robotic Hand”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Nice, September 2008
  • M. Ciocarlie and P. Allen. “On-Line Interactive Dexterous Grasping”, EuroHaptics Conference, Madrid, June 2008
  • M. Ciocarlie, C. Goldfeder and P. Allen. “Dimensionality Reduction for Hand-Independent Dexterous Robotic Grasping”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, October 2007
  • M. Ciocarlie, C. Lackner and P. Allen. “Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks”, 2nd Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces, Tsukuba, March 2007 (Best Student Paper Award)
  • M. Ciocarlie, A. Miller and P. Allen. “Grasp Analysis Using Deformable Fingers”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Edmonton, August 2005

Peer Reviewed Workshop Presentations

  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Assisted Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, Workshop on Robots in Clutter, Robotics: Science and Systems Conference, Berlin, June 2013
  • L. Zhang, M. Ciocarlie and K. Hsiao. “Grasp Evaluation With Graspable Feature Matching”, Workshop on Mobile Manipulation, Robotics: Science and Systems Conference, Los Angeles, June 2011
  • K. Hsiao, M. Ciocarlie and P. Brook. “Bayesian Grasp Planning”, Workshop on Mobile Manipulation, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011
  • M. Ciocarlie, G. Bradski, K. Hsiao and P. Brook. “A Dataset for Grasping and Manipulation using ROS”, RoboEarth Workshop, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Taipei, October 2010
  • M. Ciocarlie and P. Allen. “A Constrained Optimization Framework for Compliant Underactuated Grasping”, Workshop on Underactuated Grasping, Montreal, August 2010
  • M. Ciocarlie, K. Hsiao, E. Gil Jones, S. Chitta, R. B. Rusu and I. A. Sucan. “Towards Reliable Grasping and Manipulation in Household Environments”, Robotics: Science and Systems Manipulation Workshop, Zaragoza, June 2010
  • K. Hsiao, S. Chitta, M. Ciocarlie and Gil E. Jones. “Contact-reactive Grasping of Objects with Partial Shape Information”, Workshop on Mobile Manipulation, IEEE Intl. Conference on Robotics and Automation, Anchorage, May 2010
  • M. Ciocarlie and P. Allen. “Low-Dimensional Dexterous Grasping for Robotic and Prosthetic Hands”, IEEE Intl. Conf. on Robotics and Automation Full-Day Tutorial on Dexterous Manipulation, Pasadena, May 2008
  • M. Ciocarlie, C. Goldfeder, and P. Allen. “Dexterous Grasping via Eigengrasps: a Low-Dimensional Approach to a High-Complexity Problem,” Robotics: Science and Systems Manipulation Workshop - Sensing and Adapting to the Real World, Atlanta, June 2007.

Theses and Technical Reports

  • M. Ciocarlie. “Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation”, Doctoral Thesis, Department of Computer Science, Columbia University, February 2010
  • M. Ciocarlie. “Obstacle Avoidance and Path Planning Using a Sparse Array of Sonars”, Technical Report 04904, Department of Computer Science, Columbia University, December 2004
  • M. Ciocarlie. “Parallel Numerical Algorithms Using MPI”, B.S. Eng. Graduation Thesis, School of Automatic Control and Computers, Polytechnic University of Bucharest, June 2003


INVITED TALKS

Conferences and Workshops

  • "The Humans in the Cloud: Shared Autonomy Over the Internet", IEEE/NSF Workshop on Cloud Manufacturing and Automation, IEEE Intl. Conf. on Automation Science and Engineering, August 2013
  • "From Co-robot to Extension of Self: Mobile Manipulation through an Assistive Home Robot", Workshop on Human Robot Collaboration, Robotics: Science and Systems Conference, June 2013
  • "The Humans in the Cloud: Shared Autonomy Over the Web", Cloud Robotics Workshop, European Robotics Forum, March 2013
  • "Assistive Robotics for Motor Impaired Users:  Manipulation in the Home Through A Mobile Robot", Piper Health Solutions Workshop on Rehabilitation Robotics, Tempe, Arizona, February 2013
  • "Mobile Manipulation Through an Assistive Home Robot", UTARI Symposium in Assistive Robotics, Arlington, Texas, February 2013
  • "Mobile Manipulation Through an Assistive Home Robot" - Keynote Presentation, Workshop on Assistance and Service Robotics in a Human Environment, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012
  • "Manipulation in ROS: the Good, the Bad and the Research", Handling ROS Tutorial, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Vilamoura, October 2012
  • "Interactive Manipulation with the PR2 Robot" (joint with Kaijen Hsiao), Robotics Workshop, AAAI Conference on Artificial Intelligence, San Francisco, August 2011
  • “Towards Reliable Grasping and Manipulation in Household Environments: Applications on the PR2 Robot using ROS”, Towards a Robotics Software Platform Workshop, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Taipei, October 2010
  • “Grasp Planning and Hand Design Optimization”, Workshop on Grasp Acquisition: How to Realize Good Grasps, Robotics: Science and Systems Conference, June 2010
  • “Combining Perception and Manipulation in ROS”, Workshop on Representations for Object Grasping and Manipulation, IEEE Intl. Conference on Robotics and Automation, May 2010

Universities and Industry

  • "Versatility in Robotic Manipulation: the Long Road to Everywhere", Robotics and State Estimation Lab, University of Washington, June 2013
  • "Versatile Mobile Manipulation: the Long Road to Everywhere", University of California Berkeley Automation Sciences Lab, March 2013
  • “Robotic Manipulation in the Home: Challenges, Solutions and Perspectives”, University of California Merced EECS Seminar, October 2011
  • “From Human Hands to Robot Hands: Ideas and Applications for Robotic and Prosthetic Manipulation”, Neural Prosthetic Systems Laboratory, Stanford University, February 2011
  • “Mobile Manipulation for Human Environments”, Samsung Robotics Group (via telepresence robot), Suwon, Korea, November 2010
  • “Towards Reliable Grasping in Unstructured Environments”, Centre for Autonomous Systems, KTH Royal Institute of Technology, September 2010
  • “Low-dimensional Robotic Grasping”, Dept. of Mechanical Engineering, Yale University, November 2009
  • “Robotic Grasping: the Brains and the Brawn”, Dept. of Computer Science, Brown University, May 2009


PROFESSIONAL ACTIVITY

Program Committee Membership, Editorship and Reviewing

  • Associate Editor,  IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2013
  • Program Committee Member, AAAI Conference on Artificial Intelligence, Robotics Track, 2013
  • Program Committee Member, AAAI Conference on Artificial Intelligence, Main Track and Robotics Special Track, 2012
  • Program Committee Member, Workshop on Challenges and Opportunities in Robot Perception, Intl. Conference on Computer Vision, 2011
  • Program Committee Member, Intl. Conference on Simulation, Modeling and Programming for Autonomous Robots, 2010
  • Program Committee Member, Workshop on Mobile Manipulation, Robotics: Science and Systems Conference, 2010
  • Panel Member, National Science Foundation, 2010
  • Program Committee Member, Robotics: Science and Systems Conference, 2009
  • Program Committee Member, Workshop on Mobile Manipulation in Human Environments, Robotics: Science and Systems Conference, 2009
  • Program Committee Member, Workshop on Semantic Perception for Mobile Manipulation, IEEE/RSJ Intl. Conference on Intelligent Robots and System, 2009
  • Journal and book reviewing (selection): Springer STAR Series, Trans. of the IEEE, Intl. Journal of Robotics Research, IEEE Trans. On Robotics, IEEE Trans. on Haptics, IEEE Robotics & Automation Mag., Autonomous Robots, Robotics and Autonomous Systems, Robotica
  • Conference reviewing (selection): IEEE ICRA, IEEE/RSJ IROS, AAAI, World Haptics, IEEE Haptics Symposium, SIGGRAPH, ROSCon, SIMPAR, WAFR

Event Organization

 

  • Co-Organizer, Workshop on Cloud Robotics, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2013 (accepted)
  • Co-Organizer, Workshop on Common Platforms in Robotic Manipulation, Robotics: Science and Systems Conference, 2013
  • Co-Organizer, Worskhop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, Robotics: Science and Systems Conference, 2012
  • Co-Organizer, Special Symposium on Grasping and Manipulation,  IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2011
  • Co-Organizer, Workshop on Manipulation Under Uncertainty, IEEE Intl. Conference on Robotics and Automation, 2011
  • Chair, Mobile Manipulation Challenge, IEEE Intl. Conference on Robotics and Automation, 2010
  • Co-Chair, Mobile Manipulation Challenge, Intl. Joint Conference on Artificial Intelligence, 2009

 


RESEARCH FUNDING
  • Principal Investigator, “Personal Service Robotics with Tiered Human-in-the-Loop Assistance”, National Science Foundation SBIR Phase II, 03/2013 – 03/2015
  • Principal Investigator, “Personal Service Robotics with Tiered Human-in-the-Loop Assistance”, National Science Foundation SBIR Phase I (8% funding rate), 01/2012 – 06/2012


MEDIA HIGHLIGHTS

  • "Is It Really A Robot?", Forbes Magazine, December 2012
  • "Willow Garage scientists who make robots to help disabled people", San Jose Mercury News, November 2012
  • "Robot developer attempts to speed up A.I. tech", CBS This Morning, November 2012
  • "Willow Garage Introduces Velo 2G Adaptive Gripper", IEEE Spectrum Robotics (online), October 2012
  • "How You Could Help Your Future Robot Coworker", MIT Technology Review (online), September 2012
  • " 'Co-robots' Join Workforce" (cover story), EETimes, August 2012
  • "New robots give disabled some freedom", CBS Evening National News, June 2012
  • “America Revealed: Robots”, PBS Network, May 2012
  • “Prophets of Science Fiction: Isaac Asimov”, Science Channel, March 2012
  • “Innovation Nation: Artificial Intelligence”, SCN Network (Canada), June 2011
  • “Robot Manipulation Challenge: Clean Up Dining Table, Load Dishwasher”, IEEE Spectrum Robotics (online), November 2009
  • “Helping Robots Get a Grip”, MIT Technology Review (print), July 2009


MENTORING

Willow Garage interns mentored or co-mentored (along with program enrolled in at time of internship or most recent degree, and semester of internship):

  • Jon Weisz (PhD, Columbia University), Spring 2013
  • Ian O'Hara (MS, University of Pennsylvania), Spring 2013
  • Jeffrey Hawke (MS, Georgia Institute of Technology), Summer 2012
  • Adam Leeper (PhD, Stanford University), Summer 2011, Summer 2012
  • Aaron Blasdel (MS, University of Tokyo), Spring 2012
  • Fernando Mier Hicks (BS, Monterrey Institute of Technology), Fall 2011
  • Mehmet Dogar (PhD, Carnegie Mellon University), Fall 2011
  • Hai Nguyen (PhD, Georgia Institute of Technology), Summer 2011
  • David Gossow (MS, University of Koblenz-Landau), Spring 2011
  • Li Zhang (PhD, Rensselaer Polytechnic Institute), 2011, Spring 2011
  • Jeannette Bohg (PhD, KTH Stockholm), Spring 2011
  • Peter Brook (BS, University of Washington), Summer 2010


INTERNSHIPS

  • Willow Garage Inc., Menlo Park, CA
    • Summer Intern (06/2008 – 08/2008)
  • IBM T.J. Watson Research Center, Hawthorne, NY
    • Summer Intern – Visualization Systems Group (06/2006 – 09/2006 and 06/2005 – 09/2005)
  • High Performance Computing research group, Polytechnic University of Bucharest     
    • Undergraduate Student Member (09/2002 – 06/2003)


REFERENCES

Available upon request.