Publications

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A
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)
B
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)
C
Collaborative Grasp Planning with Multiple Object Representations Brook, Peter., Ciocarlie, Matei., and Hsiao, Kaijen ICRA, (2011)  Download: Brook_ICRA2011.pdf (1.08 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)
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)
D
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)
G
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)
Grasping POMDPs Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas ICRA, (2007)  Download: pomdp-grasp-final.pdf (2.05 MB)
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)
H
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)
I
Imitation Learning of Whole-Body Grasps Hsiao, Kaijen., and Lozano-Perez, Tomas IROS, (2006)  Download: IROSpaper.pdf (1.02 MB)
M
Manipulation with Multiple Action Types Barry, Jennifer., Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas International Symposium on Experimental Robotics (ISER), (2012)  Download: iser2012.pdf (8.9 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)
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)
O
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)
P
Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments Chitta, Sachin., Jones, Edward Gil., Ciocarlie, Matei., and Hsiao, Kaijen IEEE Robotics and Automation Magazine, Special Issue on Mobile Manipulation, Volume 19, Issue 2, (2012)  Download: chitta_ram_2011.pdf (1.8 MB)
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)
R
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)
Refining Object Recognition, Localization, and Grasping with Tactile Feedback Binney, Jonathan., Hsiao, Kaijen., and Ciocarlie, Matei RSS Workshop on Manipulation with Uncertain Models, (2013)  Download: binney_active_grasping_abstract.pdf (67.24 KB); binney_active_grasping_poster.pdf (829.41 KB)
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)
Relatively Robust Grasping Hsiao, Kaijen Electrical Engineering and Computer Science, Volume PhD, (2009)  Download: KaijenThesis.pdf (10.93 MB)
Robot Web Tools Alexander, Brandon., Hsiao, Kaijen., Jenkins, Chad., Suay, Bener., and Toris, Russell IEEE Robotics and Automation Magazine, 12/2012, (2012)  Download: 2012_RAM_Alexander_Hsiao_Jenkins_Suay_Toris.pdf (1.82 MB)
Robots for Humanity: A Case Study in Assistive Mobile Manipulation Chen, Tiffany., Ciocarlie, Matei., Cousins, Steve., Grice, Phillip M.., Hawkins, Kelsey., Hsiao, Kaijen., Kemp, Charlie., King, Chih-Hung., Lazewatsky, Daniel., Leeper, Adam Eric, et al. IEEE Robotics & Automation Magazine, Special issue on Assistive Robotics, Volume 20, Issue 1, (2013)  Download: Chen_RFH_ram_2013.pdf (2.82 MB)
Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation Chen, Tiffany., Ciocarlie, Matei., Cousins, Steve., Grice, Phillip., Hawkins, Kelsey., Hsiao, Kaijen., Kemp, Charlie., King, Chih-Hung., Lazewatsky, Daniel., Leeper, Adam, et al. IROS Video Proceedings, 10/2012, (2012)
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)