Publications

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In Press
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, (In Press)  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), (In Press)
2012
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)
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)
2011
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)
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)
Collaborative Grasp Planning with Multiple Object Representations Brook, Peter., Ciocarlie, Matei., and Hsiao, Kaijen ICRA, (2011)  Download: Brook_ICRA2011.pdf (1.08 MB)
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)
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)
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)
2010
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)
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)
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)
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)
Task-Driven Tactile Exploration Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas RSS, (2010)  Download: HsiaoRSS2010.pdf (745.48 KB)
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)
2009
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)
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)
2008
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)
2007
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)
2006
Imitation Learning of Whole-Body Grasps Hsiao, Kaijen., and Lozano-Perez, Tomas IROS, (2006)  Download: IROSpaper.pdf (1.02 MB)