Publications

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Grasp Evaluation with Graspable Feature Matching Zhang, Li(Emma)., Ciocarlie, Matei., and Hsiao, Kaijen RSS Workshop on Mobile Manipulation: Learning to Manipulate, (2011)  Download: graspable_features.pdf (1.39 MB)
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Object Weight Classification Using Proprioceptive Feedback Sinapov, Jivko., Hsiao, Kaijen., and Rusu, Radu Bogdan Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), workshop on Defining and Solving Realistic Perception Problems in Personal Robotics, October 8, 2010, Taipei, Taiwan, (2010)
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Human-Inspired Robotic Grasp Control with Tactile Sensing Romano, Joseph., Hsiao, Kaijen., Niemeyer, Günter., Chitta, Sachin., and Kuchenbecker, Katharine J. IEEE Transactions on Robotics, Volume 27, Issue 6, p.1067-1079, (2011)  Download: romano2011.pdf (2.82 MB)
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ROS Commander: Flexible Behavior Creation for Home Robots Nguyen, Hai., Ciocarlie, Matei., Hsiao, Kaijen., and Kemp, Charles ICRA , 05/2013, (2013)
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Arm Teleoperation in Clutter Using Virtual Constraints from Real Sensor Data Leeper, Adam., Hsiao, Kaijen., Ciocarlie, Matei., Sucan, Ioan., and Salisbury, Kenneth RSS Workshop on Robots in Clutter: Preparing Robots for the Real World , (2013)  Download: clutter_workshop.pdf (1.42 MB)
Using Near-Field Stereo Vision for Robotic Grasping in Cluttered Environments Leeper, Adam., Hsiao, Kaijen., Chu, Eric., and Salisbury Jr., J. Kenneth ISER, (2010)  Download: iser2010.pdf (4.22 MB)
Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data Leeper, Adam., Hsiao, Kaijen., Ciocarlie, Matei., Sucan, Ioan., and Salisbury, Kenneth IEEE Intl. Conf. on Humanoid Robots, 10/2013, Atlanta, GA, (2013)
Strategies for Human-in-the-Loop Robotic Grasping Leeper, Adam., Hsiao, Kaijen., Ciocarlie, Matei., Takayama, Leila., and Gossow, David Proc. of Human-Robot Interaction (HRI), Boston, MA, p.1-8, (2012)  Download: hri2012_grasping.pdf (1.82 MB)
Constraint-Based Haptic Rendering of Point Data for Teleoperated Robot Grasping Leeper, Adam., Chan, Sonny., Hsiao, Kaijen., Ciocarlie, Matei., and Salisbury, Kenneth Haptics Symposium, 03/2012, Vancouver, Canada, (2012)  Download: haptics2012.pdf (809.35 KB)
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Relatively Robust Grasping Hsiao, Kaijen Electrical Engineering and Computer Science, Volume PhD, (2009)  Download: KaijenThesis.pdf (10.93 MB)
Robust Grasping Under Object Pose Uncertainty Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas Autonomous Robots: Special Issue on RSS 2010, (2011)  Download: grasping_under_uncertainty.pdf (1.96 MB)
Grasping POMDPs Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas ICRA, (2007)  Download: pomdp-grasp-final.pdf (2.05 MB)
Bayesian Grasp Planning Hsiao, Kaijen., Ciocarlie, Matei., and Brook, Peter ICRA 2011 Workshop on Mobile Manipulation: Integrating Perception and Manipulation, (2011)  Download: bayesian_grasp_planning.pdf (1.25 MB)
Relatively Robust Grasping Hsiao, Kaijen., Lozano-Perez, Tomas., and Kaelbling, Leslie Pack ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, (2009)  Download: Hsiao_BTAMP09.pdf (1008.41 KB)
Task-Driven Tactile Exploration Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas RSS, (2010)  Download: HsiaoRSS2010.pdf (745.48 KB)
Imitation Learning of Whole-Body Grasps Hsiao, Kaijen., and Lozano-Perez, Tomas IROS, (2006)  Download: IROSpaper.pdf (1.02 MB)
Robust Belief-Based Execution of Manipulation Programs Hsiao, Kaijen., Lozano-Perez, Tomas., and Kaelbling, Leslie Pack WAFR, (2008)  Download: Hsiao-WAFR2008.pdf (682.03 KB)
Contact-Reactive Grasping of Objects with Partial Shape Information Hsiao, Kaijen., Chitta, Sachin., Ciocarlie, Matei., and Jones, Gil E. IROS, 10/2010, (2010)  Download: contactreactive.pdf (1.88 MB)
Reactive Grasping Using Optical Proximity Sensors Hsiao, Kaijen., Nangeroni, Paul., Huber, Manfred., Saxena, Ashutosh., and Ng, Andrew Y. ICRA, (2009)  Download: proximitygrasping.pdf (1.44 MB)
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Grasping POMDPs: Theory and Experiments Glashan, Ross., Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas RSS Manipulation Workshop: Sensing and Adapting to the Real World, (2007)  Download: paper__grasping_pomdps_theory_and_experiments__glashan.pdf (3.47 MB)
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Physics-Based Grasp Planning Through Clutter Dogar, Mehmet., Hsiao, Kaijen., Ciocarlie, Matei., and Srinivasa, Siddhartha Robotics: Science and Systems (RSS), (2012)  Download: push_grasping.pdf (7.52 MB)
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Towards Reliable Grasping and Manipulation in Household Environments Ciocarlie, Matei., Hsiao, Kaijen., Jones, Gil E.., Chitta, Sachin., Rusu, Radu Bogdan., and Sucan, Ioan Alexandru Intl. Symposium on Experimental Robotics (ISER), 12/2010, New Delhi, India, (2010)  Download: grasp_pipeline.pdf (857.62 KB)
Mobile Manipulation Through An Assistive Home Robot Ciocarlie, Matei., Hsiao, Kaijen., Leeper, Adam., and Gossow, David IROS, 10/2012, (2012)  Download: rfh_im.pdf (3.16 MB)
A Side of Data with My Robot: Three Datasets for Mobile Manipulation in Human Environments Ciocarlie, Matei., Pantofaru, Caroline., Hsiao, Kaijen., Bradski, Gary., Brook, Peter., and Dreyfuss, Ethan IEEE Robotics & Automation Magazine, Special Issue: Towards a WWW for Robots, 06/2011, Volume 18, Issue 2, (2011)  Download: ram_2011_datasets.pdf (2.63 MB)
A Dataset for Grasping and Manipulation using ROS Ciocarlie, Matei., Bradski, Gary., Hsiao, Kaijen., and Brook, Peter IROS Workshop: RoboEarth - Towards a World Wide Web for Robots, 10/2010, Taipei, Taiwan, (2010)