This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted or reproduced in any way, in whole or in part, without the explicit permission of the copyright holder.
2024
- K.-Y. Tseng, M. Zhang, K. Hauser, and G.E. Dullerud. Adaptive Trajectory Database Learning for Nonlinear Control with Hybrid Gradient Optimization. IEEE/RSJ Int'l Conf on Intelligent Robots and Systems (IROS), October 2024. (to appear)
- R. Qiu, Y. Wang, and K. Hauser. AlignDiff: Aligning Diffusion Models for General Few-Shot Segmentation. European Conference on Computer Vision (ECCV), September 2024 (to appear)
- A. Stratton, K. Hauser, and C. Mavrogiannis. Towards a Characterization of the Complexity of Social Robot Navigation Scenarios. RSS 2024 Workshop on Unsolved Problems in Social Robot Navigation, July 19, 2024. Best Workshop Paper Award
- M. Zhang, D. Jha, A. Raghunathan, and K. Hauser. Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry. RSS 2024 Workshop on Frontiers of Optimization for Robotics, July 15, 2024.
- K. Zhang, B. Li, K. Hauser, Y. Li. AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation. Robotics: Science and Systems (RSS), July 2024.
Also in ICRA 2024 4th Workshop on Representing and Manipulating Deformable Objects, May 17, 2024. Best Workshop Paper Award - R. Moan, C. McBeth, M. Morales, N. Amato, and K. Hauser. Experience-Based Multi-Agent Path Finding with Narrow Corridors. Robotics: Science and Systems (RSS), July 2024.
- M. Zhang. Optimization for Contact-rich Robotic Manipulation with High-fidelity Geometry. Ph.D. Thesis, University of Illinois, Urbana-Champaign, 2024.
- S. Yao, Y. Zhu, and K. Hauser. Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation. ICRA 2024 4th Workshop on Representing and Manipulating Deformable Objects, May 17, 2024.
- J. Xu, K. Yin, J. Gregory, K. Hauser, and L. Liu. Boundary-Aware Value Function Generation for Safe Stochastic Motion Planning. International Journal of Robotics Research, 2024 (to appear)
- J. M. C. Marques, A. Zhai, S. Wang, Kris Hauser. On the Overconfidence Problem in Semantic 3D Mapping. IEEE International Conference on Robotics and Automation, 2024. Supplemental video
- P. Naughton, J. S. Nam, A. Stratton and K. Hauser. Integrating Open-World Shared Control in Immersive Avatars. IEEE International Conference on Robotics and Automation, 2024. Also in Arxiv, January 5, 2024. Supplemental video
- J.-C. Peng, S. Yao, and K. Hauser. 3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM. IEEE International Conference on Robotics and Automation, 2024. Also in ArXiv, October 17, 2023.
- K. Hauser, E. Watson, J. Bae, J. Bankston, S. Behnke, B. Borgia, M. Catalano, S. Dafarra, J.B.F. van Erp, T. Ferris, J. Fishel, G. Hoffman, S. Ivaldi, F. Kanehiro, A. Kheddar, G. Lannuzel, J.F. Morie, P. Naughton, S. NGuyen, P. Oh, T. Padir, J. Pippine, J. Park, D. Pucci, J. Vaz, P. Whitney, P. Wu, and D Locke. Analysis and Perspectives on the ANA Avatar XPRIZE Competition. International Journal on Social Robotics, January 30, 2024. doi:10.1007/s12369-023-01095-w
- N. Zhong and K. Hauser. Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach. IEEE Robotics and Automation Letters, January 16, 2024. Print ISSN: 2377-3766, Online ISSN: 2377-3766, doi:10.1109/LRA.2024.3354613
- J. M. C. Marques, P. Naughton, J.-C. Peng, Y. Zhu, J. S. Nam, Q. Kong, X. Zhang, A. Penmetcha; R. Ji, N. Fu, V. Ravibaskar, R. Yan, N. Malhotra, and K. Hauser. Immersive Commodity Telepresence with the TRINA Robot Avatar. International Journal of Social Robotics, January 14, 2024. doi:10.1007/s12369-023-01090-1.
- P. Thangeda, A. Goel, E. Tevere, Y. Zhu, E. Kramer, A. Daca, H. Nayar, K. Hauser, and M. Ornik. Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment. 2024 AIAA SciTech, January 8, 2024.
2023
- W.D. Null, W. Edwards, D. Jeong, T. Tchalakov, J. Menezes, K. Hauser, Y Z. Automatically-Tuned Model Predictive Control for an Underwater Soft Robot. IEEE Robotics and Automation Letters, November 16, 2023. doi:10.1109/LRA.2023.3333662
- Y. Zhu. Data-Efficient Learning for Manipulation, Locomotion, and Information Gathering Involving Granular Media and Deformable Objects. Ph.D. Thesis, University of Illinois, Urbana-Champaign, 2023.
- Y. Zhu, P. Thangeda, M. Ornik, and K. Hauser. Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift. Robotics: Science and Systems (RSS), July 2023.
- M. Zhang, D. Jha, A. Raghunathan, and K. Hauser. Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning. Robotics: Science and Systems (RSS), July 2023. Presentation video
- R. Qiu, P. Chen, W. Sun, Y.-X. Wang, and K. Hauser. GAPS: Few-Shot Incremental Semantic Segmentation via Guided Copy-Paste Synthesis. CVPR 2023 Workshop on Learning with Limited Labelled Data, June 19, 2023.
- J. M. C. Marques, J.-C. Peng, P. Naughton, Y. Zhu, J. S. Nam, and K. Hauser. Commodity Telepresence with Team AVATRINA's Nursebot in the ANA Avatar XPRIZE Finals. ICRA 2023 2nd Workshop on Toward Robot Avatars, June 2, 2023.
- P. Naughton, J. S. Nam, J. M. C. Marques, J.-C. Peng, Y. Zhu, Q. Kong, and K. Hauser. Pan-Tilt-Roll Televisualization With Adjustable Baseline Stereo. ICRA 2023 2nd Workshop on Toward Robot Avatars, June 2, 2023.
- B. Li, W. Edwards, and K. Hauser. Efficient Automatic Tuning for Data-driven Model Predictive Control via Meta-Learning. In ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots), May 29, 2023.
- S. Yao and K. Hauser. Estimating Tactile Models of Heterogeneous Deformable Objects in Real Time. IEEE International Conference on Robotics and Automation (ICRA), May 2023.
- Z. Pan, A. Zheng, Y. Li, J. Yu, and K. Hauser. Algorithms and Systems for Manipulating Multiple Objects. IEEE Transactions on Robotics, 39(1):2-20, 2023.
2022
- R. Qiu, Y. Sun, J. M. C. Marques, and K. Hauser. Real-time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
- A. Partap, S. Grayson, M. Huzaifa, S. Adve, B. Godfrey, S. Gupta, K. Hauser, R. Mittal. On-Device CPU Scheduling for Robot Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
- J. M. C. Marques, P. Naughton, Y. Zhu, N. Malhotra, and K. Hauser. Commodity Telepresence with the AvaTRINA Nursebot in the ANA Avatar XPRIZE Semifinals. RSS 2022 Workshop on Toward Robot Avatars: Perspectives on the ANA Avatar XPRIZE Competition. July 1, 2022.
- S. Yao and K. Hauser. Online Estimation of Point-based Volumetric Stiffness Model Using Joint Torque Sensors. ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, May 23, 2022.
- D. Null, T. Tchalakov, W. Edwards, Kris Hauser, and Y Z. Automatically-Tuned Model Predictive Control for an Underwater Soft Robotic Arm. ICRA 2022 Workshop on Compliant Manipulation, May 23, 2022.
- Y. Zhou and K. Hauser. CPI: Conservativeness, Permissiveness and Intervention Metrics for Shared Control Evaluation. IEEE Robotics and Automation Letters, 7(3):6367-6374, July 2022. doi: 10.1109/LRA.2022.3169581
- M. Zhang and K. Hauser. Non-Penetration Iterative Closest Points for Single-View Multi-Object 6D Pose Estimation. IEEE International Conference on Robotics and Automation (ICRA), May 2022.
- Y. Zhu, A. Smith, and K. Hauser. Automated Heart and Lung Auscultation in Robotic Physical Examinations. IEEE Robotics and Automation Letters, 7(2):4204-4211, April 2022. doi: 10.1109/LRA.2022.3149576
- P. Naughton and K. Hauser. Structured Action Prediction for Teleoperation in Open Worlds. IEEE Robotics and Automation Letters, 7(2):3099-3105, April 2022. doi: 10.1109/LRA.2022.3145953. Supplemental video
- W. Edwards, G. Tang, Y. Tian, M. Draelos, J. Izatt, A. Kuo, and K. Hauser. Data-driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty. IEEE Robotics and Automation Letters, 7(2):1526-1533, April 2022. doi: 10.1109/LRA.2022.3140458.
2021
- F. Wang and K. Hauser. Dense Robot Packing of Irregular and Novel 3D Objects. IEEE Transactions on Robotics, 2021. doi:10.1109/TRO.2021.3097261.
- W. Sun, G. Tang, and K. Hauser. Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients. IEEE Transactions on Robotics, 37(6):2010-2024, Dec, 2021. doi:10.1109/TRO.2021.3076454.
- M. Draelos, P. Ortiz, R. Qian, B. Keller, K. Hauser, A. Kuo, and J. Izatt. Robotic Optical Coherence Tomography Scanner for Contactless Autonomous Eye Imaging of Freestanding Subjects. Nature Transactions on Biomedical Engineering, 5(7), 726-736, 2021. doi:10.1038/s41551-021-00753-6.
- G. Tang. Exploiting Structures of Trajectory Optimization for Efficient Optimal Motion Planning. Ph.D. Thesis, Duke University, 2021.
- Y. Zhu, A. Smith, and K. Hauser. Informative Path Planning for Automatic Robotic Auscultation. ICRA 2021 Workshop on Impact of COVID-19 on Medical Robotics and Wearables Research, June 4, 2021. Summary video
- Y. Ding, M. Zhang, C. Li, H.-W. Park, and K. Hauser. Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains. IEEE International Conference on Robotics and Automation (ICRA), May 2021.
- W. Edwards, G. Tang, G. Mamakoukas, T. Murphey, and K. Hauser. Automatic Tuning for Data-driven Model Predictive Control. IEEE International Conference on Robotics and Automation (ICRA), May 2021.
Errata - Y. Kim, Z. Pan, and K. Hauser. MO-BBO: Multi-Objective Bilevel Bayesian Optimization for Robot and Behavior Co-Design. IEEE International Conference on Robotics and Automation (ICRA), May 2021.
- J. M. C. Marques, R. Ramalingam, Z. Pan, and K. Hauser. Optimized Coverage Planning for UV Surface Disinfection. IEEE International Conference on Robotics and Automation (ICRA), May 2021. Supplemental video
- Z. Pan and K. Hauser. Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting. IEEE International Conference on Robotics and Automation (ICRA), May 2021. Supplemental video
- Z. Pan and K. Hauser. Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle. IEEE International Conference on Robotics and Automation (ICRA), May 2021.
- M. Zhang and K. Hauser. Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact. IEEE International Conference on Robotics and Automation (ICRA), May 2021.
Errata - Y. Zhu, Z. Pan, and K. Hauser. Contact-Implicit Trajectory Optimization with Learned Deformable Contacts Using Bilevel Optimization. IEEE International Conference on Robotics and Automation (ICRA), May 2021. Supplemental video
- K. Hauser. Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles. International Journal of Robotics Research, Jan. 10, 2021. doi:10.1177/0278364920983353
2020
- F. Wang and K. Hauser. Robot Packing with Known Items and Nondeterministic Arrival Order. IEEE Transactions on Automation Science and Engineering, 2020.
- W. Edwards, G. Tang, J. Izatt, A. Kuo, and K. Hauser. Model Learning for Automatic Needle Insertion in Deep Anterior Lamellar Keratoplasty. 2020 IROS Cognitive Robotic Surgery Workshop, Las Vegas, NV, USA, Nov. 6, 2020. Honorable Mention.
- K. Hauser. Path/Motion Planning. In M. H. Ang Jr., O. Khatib, and B. Siciliano (eds), Encyclopedia of Robotics, Springer, 2020. doi:10.1007/978-3-642-41610-1_165-1
- S. Wang. Optimization-Based Motion Planning for Humanoid Fall Recovery. Ph.D. Thesis, Duke University, 2020.
- A. Causo, J. Durham, K. Hauser, K. Okada, and A. Rodriguez (eds). Advances on Robotic Item Picking: Applications in Warehousing & E-Commerce Fulfillment. Springer, 2020. ISBN 978-3-030-35679-8.
- W. Sun, G. Tang, and K. Hauser. Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients. 2020 American Control Conference (ACC), July 2020.
- G. Tang, W. Sun, and K. Hauser. Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach. IEEE International Conference on Robotics and Automation (ICRA), June 2020 Summary video ICRA 10-minute talk video
- Y. Tian, M. Draelos, G. Tang, R. Qian, A. Kuo, J. A. Izatt, and K. Hauser. Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning. IEEE International Conference on Robotics and Automation (ICRA), June 2020 Summary video ICRA 10-minute talk video
- Y. Zhu, K. Lu, and K. Hauser. Semi-Empirical Simulation of Learned Force Response Models for Heterogeneous Elastic Objects. IEEE International Conference on Robotics and Automation (ICRA), June 2020 Summary video ICRA 10-minute talk video
- F. Wang. Autonomous Robot Packing of Complex-Shaped Objects. Ph.D. Thesis, Duke University, 2020.
- K. Hauser and R. Shaw. How Medical Robots Will Help Treat Patients in Future Outbreaks. IEEE Spectrum, May 4, 2020.
- B. Keller, M. Draelos, K. Zhou, R. Kuan, A. Kuo, G. Konidaris, K. Hauser, J. A. Izatt. Optical Coherence Tomography Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration. IEEE Transactions on Robotics, Apr., 2020. doi:10.1109/TRO.2020.2980158
2019
- M. Draelos, G. Tang, B. Keller, A. Kuo, K. Hauser, J. A. Izatt. Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty. IEEE Transactions on Biomedical Engineering, Nov. 20, 2019. doi:10.1109/TBME.2019.2954505
- G. Tang and K. Hauser. A Data-Driven Indirect Method for Nonlinear Optimal Control. Astrodynamics, 3(4):345-359, December 2019.
- G. Tang, W. Sun, and K. Hauser. Time-Optimal Trajectory Generation for Dynamic Vehicles: A Bilevel Optimization Approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2019.
- K. Hauser. Bayesian Tactile Exploration for Compliant Docking with Uncertain Shapes. IEEE Transactions on Robotics, 35(5): 1084-1096, October 2019.
- F. Wang and K. Hauser. Robot Packing with Known Items and Nondeterministic Arrival Order. Robotics: Science and Systems (RSS), June 2019. Best Paper Award nominee.
- M. Draelos, P. Ortiz, R. Qian, B. Keller, K. Hauser, A. Kuo, and J. Izatt. Automatic Optical Coherence Tomography Imaging of Stationary and Moving Eyes with a Robotically-Aligned Scanner. IEEE International Conference on Robotics and Automation, May, 2019. ICRA video
- G. Tang and K. Hauser. Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts. IEEE International Conference on Robotics and Automation, May, 2019. (A prior version was available in ArXiv, 2018.)
- F. Wang and K. Hauser. In-hand Object Scanning via RGB-D Video Segmentation. IEEE International Conference on Robotics and Automation, May, 2019.
- F. Wang and K. Hauser. Stable Bin Packing of Non-convex 3D Objects with a Robot Manipulator. IEEE International Conference on Robotics and Automation, May, 2019. (A prior version was available in ArXiv, 2018.)
- Y. Zhu, L. Abdulmajeid, and K. Hauser. Data-driven Approach for Fast Simulation of Robot Locomotion on Granular Media. IEEE International Conference on Robotics and Automation, May, 2019. ICRA video
2018
- W. Sun, G. Tang, and K. Hauser. Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients. ArXiv, 2018.
- K. Hauser. Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles. Workshop on the Algorithmic Foundations of Robotics (WAFR), December 2018.
- S. Wang and K. Hauser. Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization. IEEE Int'l. Conf. on Humanoid Robots (Humanoids), November, 2018. Best Paper Award nominee Supplemental video
- G. Tang, W. Sun, and K. Hauser. Learning Trajectories for Real-Time Optimal Control of Quadrotors. IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2018. IROS video
- M. Aubert, H. Bader, and K. Hauser. Designing Multimodal Intent Communication Strategies for Conflict Avoidance in Industrial Human-Robot Teams. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2018.
- K. Hauser, S. Wang, and M. Cutkosky. Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models. IEEE Transactions on Robotics, 34(5):1157-1169, Oct 2018.
- B. Keller, M. Draelos, G. Tang, S. Farsiu, A. N. Kuo, K. Hauser, and J. A. Izatt. Real-time Corneal Segmentation and 3D Needle Tracking in Intrasurgical OCT. Biomedical Optics Express, 9(6):2716-2732, June 2018.
- K. Hauser. Bayesian Tactile Exploration for Compliant Docking with Uncertain Shapes. Robotics: Science and Systems, June 2018.
- K. Hauser and S. Emmons. Global Redundancy Resolution via Continuous Pseudoinversion of the Forward Kinematic Map. IEEE Transactions on Automation Science and Engineering, 15(3): 932 - 944, March 2018.
- F. Wang, G. Chen, and K. Hauser. Robot Button Pressing In Human Environments . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
- M. Draelos, B. Keller, G. Tang, A. Kuo, K. Hauser, and J. Izatt.Real-Time Image-Guided Cooperative Robotic Assist Device for Deep Anterior Lamellar Keratoplasty . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
- S. Wang and K. Hauser. Realization of a Real-time Optimal Control Strategy to Stabilize a Falling Humanoid with Hand Contact . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
- W. Zhang and K. Hauser. Single-Image Footstep Prediction for Versatile Legged Locomotion . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
2017
- S. Wang and K. Hauser. Real-time Stabilization of a Falling Humanoid Robot using Hand Contact: An Optimal Control Approach. IEEE Intl Conf. on Humanoid Robots (Humanoids), 2017.
- G. Tang and K. Hauser. A Data-driven Indirect Method for Nonlinear Optimal Control. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
- M. Draelos, B. Keller, C. Toth, A. Kuo, K. Hauser, and J. Izatt. Teleoperating Robots from Arbitrary Viewpoints in Surgical Contexts. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2017.
- Y. Zhou and K. Hauser. 6DOF Grasp Planning by Optimizing a Deep Learning Scoring Function. RSS Workshop on Revisiting Contact - Turning a Problem into a Solution, 2017.
- K. Hauser, S. Wang, and M. Cutkosky. Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models. Robotics: Science and Systems Conference (RSS), 2017.
- J. Luo and K. Hauser. Robust Trajectory Optimization Under Frictional Contact with Iterative Learning. Autonomous Robots, 41(6), 1447-1461, 2017.
- M. C. Aubert, A. W. Draelos, M. Draelos, Y. Feng, H. He, B. Keller, J. Li, B. Vincent, F. Wang, S. Wu, K. Zhou, T. Zhu, and K. Hauser. A Rapid Development Methodology for an Autonomous Warehouse Picking Robot. ICRA 2017 Warehouse Picking Automation Workshop, May 2017.
- Z. Li, P. Moran, C. Dong, R. Shaw, and K. Hauser. Development of a Tele-Nursing Mobile Manipulator for Remote Care-giving in Quarantine Areas. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
- J. Li, Z. Li and K. Hauser. A Study of Bidirectionally Telepresent Tele-action During Robot-Mediated Handover. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
- Z. Xie, K. Liu, and K. Hauser. Differential Dynamic Programming with Nonlinear Constraints. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
- Y. Zhou and K. Hauser. Incorporating Side-Channel Information into Convolutional Neural Networks for Robotic Tasks. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
- K. Hauser. Learning the Problem-Optimum Map: Analysis and Application to Global Optimization in Robotics. In IEEE Transactions on Robotics, 33(1):141-152, 2017. Also in arXiv:1605.04636 [cs.RO], 2016
2016
- K. Hauser. Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution. Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. Best Paper Award nominee.
- A. Rocchi and K. Hauser. . A Generic Simulator for Underactuated Compliant Hands. IEEE Int'l Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016.
- K. Hauser and Y. Zhou. Asymptotically Optimal Planning by Feasible Kinodynamic Planning in State-Cost Space. IEEE Transactions of Robotics, 32(6): 1431-1443, 2016. Also in arXiv:1505.04098 [cs.RO], 2015.
- A. Rocchi, B. Ames, J. Li, and K. Hauser. Stable Simulation of Underactuated Compliant Hands. IEEE Int'l. Conf. on Robotics and Automation (ICRA), 2016.
- N. Correll, K. E. Bekris, D. Berenson, O. Brock, A. Causo, K. Hauser, K. Okada, A. Rodriguez, J. M. Romano, P. R. Wurman. Analysis and Observation From the First Amazon Picking Challenge.IEEE Transactions on Automation Science and Engineering. (PP)99:1-17 Also in arXiv:1601.05484 [cs.RO], 2016.
2015
- O. Ramos and K. Hauser. Generalizations of the Capture Point to Nonlinear Center of Mass Paths and Uneven Terrain. IEEE-RAS Int'l Conference on Humanoid Robots, November, 2015. Best Paper Award
- Z. Li, K. Hauser, J. R. Roldan, D. Milutinović, and J. Rosen. A Novel Method for Quantifying Arm Motion Similarity. IEEE Engineering in Medicine and Biology Conference (EMBC), August, 2015.
- J. Luo and K. Hauser. Robust Trajectory Optimization Under Frictional Contact with Iterative Learning. Robotics: Science and Systems (RSS), July 2015.
- K. Hauser. Lazy Collision Checking in Asymptotically-Optimal Motion Planning. IEEE Intl. Conference on Robotics and Automation (ICRA), May 2015.
- D. Simshaw, K. Hauser, N. Terry, and M. Cummings. Regulating Healthcare Robots in the Hospital and the Home: Considerations for Maximizing Opportunities and Minimizing Risks. We Robot Conference, April 2015.
- A. Proia, D. Simshaw, and K. Hauser. Consumer Cloud Robotics and the Fair Information Practice Principles: Recognizing the Challenges and Opportunities Ahead Minnesota Journal of Law, Science & Technology, 16(1), Winter, 2015
- D. Coroian and K. Hauser. Learning Stroke Treatment Progression Models for an MDP Clinical Decision Support System. In SIAM Int'l Conference on Data Mining (SDM15), April 2015.
2014
- S. Yang, T. Khot, K. Kersting, G. Kunapuli, K. Hauser, and S. Natarajan. Learning from Imbalanced Data in Relational Domains: A Soft Margin Approach. IEEE Intl. Conference on Data Mining (ICDM), December 2014.
- A. Eilering, G. Franchi, and K. Hauser. RoboPuppet: Low-Cost, 3D Printed Miniatures for Teleoperating Full-Size Robots. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2014.
- J. Luo and K. Hauser. An Empirical Study of Optimal Motion Planning. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2014.
- M. Poffald, Y. Zhang, and K. Hauser. Learning problem space metrics for motion primitive selection. IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion, September 2014.
- A. Eilering, V. Yap, J. Johnson, and K. Hauser. Identifying Support Surfaces of Climbable Structures from 3D Point Clouds. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
- K. Hauser. Fast Interpolation and Time-Optimization with Contact. International Journal of Robotics Research (IJRR), 33(9):1231-1250, August, 2014. doi: 10.1177/0278364914527855
- K. Hauser. Fast Dynamic Optimization of Robot Paths under Actuator Limits and Frictional Contact. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
- J. Luo, Y. Zhang, K. Hauser, H.A. Park, M. Paldhe, C.S.G. Lee, M. Grey, M. Stilman, J.H. Oh, J. Lee, I. Kim, and P. Oh. Robust Ladder-Climbing with a Humanoid Robot with Application to the DARPA Robotics Challenge. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
- K. Hauser and Y. Zhang. Planning-Aided Robot Design: Unified Optimization of Form, Physics, and Motion. ICRA 2014 Workshop on Task-Based Optimal Design of Robots, Hong Kong, May 2014.
- A. Proia, D. Simshaw, and K . Hauser Consumer Cloud Robotics and the Fair Information Practice Principles: The Policy Risks and Opportunities Ahead. We Robot 2014, April 2014.
- G. Franchi and K. Hauser. Use of Hybrid Systems to model the RobotiQ Adaptive Gripper. Indiana University Computer Science Technical Report TR711, February 2014.
- K. Hauser. The Minimum Constraint Removal Problem with Three Robotics Applications. International Journal of Robotics Research, 33(1):5-17, January, 2014. doi: 10.1177/0278364913507795
2013
- K. Hauser. Robust Contact Generation for Robot Simulation with Unstructured Meshes. International Symposium on Robotics Research, December 2013. Supplemental video
- Y. Zhang and K. Hauser. Unbiased, scalable sampling of protein loop conformations from probabilistic priors. BMC Structural Biology 13(Supplement 1):S9, November 8, 2013.
- K. Hauser. Recognition, Prediction, and Planning for Assisted Teleoperation with Freeform Tasks. Autonomous Robots, 35(4): 241-254, August, 2013. doi:10.1007/s10514-013-9350-3.
- K. Hauser. Minimum Constraint Displacement Motion Planning. In proceedings of Robotics: Science and Systems (RSS), Berlin, Germany, June 2013.
- K. Hauser. Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds. In proceedings of Robotics: Science and Systems (RSS), Berlin, Germany, June 2013.
- Y. Zhang, K. Hauser, and J. Luo. Unbiased, Scalable Sampling of Closed Kinematic Chains. In proceedings of IEEE Int'l Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013.
- J. Johnson and K. Hauser. Optimal Longitudinal Control Planning with Moving Obstacles. In ICRA 2013 Workshop on Vehicle Autonomy for Urban Transportation Systems. Karlsruhe, Germany, May 2013.
- Y. Zhang, J. Luo, and K. Hauser. Planner-aided Design of Ladder Climbing Capabilities for a DARPA Robotics Challenge Humanoid. In ICRA 2013 Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids. Karlsruhe, Germany, May 2013.
- J. Johnson and K. Hauser. Optimal Longitudinal Control Planning with Moving Obstacles. In proceedings of IEEE Int'l Intelligent Vehicles Symposium, May 2013. (oral presentation)
- Y. Zhang, J. Luo, K. Hauser, R. Ellenberg, P. Oh, H.A. Park, M. Paldhe, and C.S.G. Lee. Motion Planning of Ladder Climbing for Humanoid Robots. In proceedings of IEEE Conf. on Technologies for Practical Robot Applications (TePRA), April 2013.
- C. Bennett and K. Hauser. Artificial Intelligence Framework for Simulating Clinical Decision-Making: A Markov Decision Process Approach. In Artificial Intelligence in Medicine, 57(1):9-19, January 2013. doi: 10.1016/j.artmed.2012.12.003.
2012
- Y. Zhang and K. Hauser. Unbiased, Scalable Sampling of Constrained Kinematic Loops. In BIBM 2012 Computational Structural Biology Workshop. October, 2012.
- J. Johnson, Y. Zhang, and K. Hauser. Minimizing Driver Interference Under a Probabilistic Safety Constraint in Emergency Collision Avoidance Systems. IEEE Intelligent Transportation Safety Conference, Anchorage, USA, Sep. 2012.
- K. Hauser. Recognition, Prediction, and Planning for Assisted Teleoperation with Freeform Tasks. Robotics: Science and Systems, Sydney, Australia, July 2012.
- K. Hauser. The Minimum Constraint Removal Problem with Three Robotics Applications. Workshop on the Algorithmic Foundations of Robotics, Boston, June 2012.
- Y. Zhang, J. Luo, and K. Hauser. Sampling-based Motion Planning With Dynamic Intermediate State Objectives: Application to Throwing. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
- J. Luo and K. Hauser. Interactive Generation of Dynamically Feasible Robot Trajectories from Sketches Using Temporal Mimicking. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
- J. Johnson and K. Hauser. Optimal Acceleration-Bounded Trajectory Planning in Dynamic Environments Along a Specified Path. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
- K. Hauser. On Responsiveness, Safety, and Completeness in Real-Time Motion Planning. Autonomous Robots, 32(1):35-48, 2012.
2011
- K. Hauser. Design of Optimal Robot User Interfaces. In IROS 2011 Workshop on Open Problems in Motion Planning, September, 2011.
- J. Johnson, Y. Zhang, and K. Hauser. Semiautonomous Longitudinal Collision Avoidance Using a Probabilistic Decision Threshold. In IROS 2011 Workshop on Perception and Navigation for Autonomous Vehicles in Human Environments, September, 2011.
- K. Hauser. Online Planning in Continuous POMDPs with Open-Loop Information-Gathering Plans. In ICML Workshop on Planning and Acting with Uncertain Models, Seattle, USA, July, 2011.
- E. You and K. Hauser. Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input. In Robotics: Science and Systems, Los Angeles, July 2011.
- Y Zhang and K. Hauser. Driver Interference and Risk in Semiautonomous Braking Under Uncertainty. In Intl. Workshop on Collaborative Robots and Human Robot Interaction, Philadelphia, USA, May, 2011.
- K. Hauser and V. Ng-Thow-Hing. Randomized Multi-Modal Motion Planning for a Humanoid Robot Manipulation Task. In International Journal of Robotics Research, 30(6):678-698, 2011. doi: 10.1177/0278364910386985.
2010
- K. Hauser. Adaptive Time Stepping in Real-Time Motion Planning. In Workshop on the Algorithmic Foundations of Robotics, Singapore, 2010.
- K. Hauser. Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces. In Workshop on the Algorithmic Foundations of Robotics, Singapore, 2010.
- K. Hauser and V. Ng-Thow-Hing. Multi-Modal Motion Planning for Precision Pushing on a Humanoid Robot. In K. Harada, E. Yoshida, and K. Yokoi (eds), Motion Planning for Humanoid Robots, Springer, 2010.
- K. Hauser. Task Planning with Continuous Actions and Nondeterministic Motion Planning Queries. In proceedings of AAAI Workshop on Bridging the Gap between Task and Motion Planning, Atlanta, USA, July 11, 2010.
- K. Hauser and V. Ng-Thow-Hing. Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts. In IEEE Intl. Conf. of Robotics and Automation (ICRA), Anchorage, USA, May 2010.
- K. Hauser and J.-C. Latombe. Multi-Modal Motion Planning in Non-Expansive Spaces. In International Journal of Robotics Research, 29(7):897-915, 2010. doi 10.1177/0278364909352098
2009
- R. Jansen, K. Hauser, N. Chentanez, F. van der Stappen, and K. Goldberg, Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Oct. 2009.
- K. Hauser. On the Connectivity of Motion Spaces for Biologically-Inspired Legged Robots. In proceedings of IROS 2009 Workshop on Biologically-Inspired Robots, St. Louis, Oct. 2009.
- K. Hauser. A Decision-Theoretic Formalism for Belief-Optimal Reasoning. In proceedings of Performance Measurement for Intelligent Systems Workshop (PerMIS), Gaithersburg, MD, Sep. 2009.
- R. B. Rusu, A. Sundaresan, B. Morisset, K. Hauser, M. Agrawal, J.-C. Latombe, M. Beetz. Leaving Flatland: Efficient real-time three-dimensional perception and motion planning. In Journal of Field Robotics, 26(10):841-862, 2009.
- K. Hauser and J.-C. Latombe. Integrating task and PRM motion planning: Dealing with many infeasible motion planning queries. In proceedings of ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, Thessaloniki, Greece, Sep. 2009.
- N. Chentanez, R. Alterovitz, D. Richie, J. Cho, K. Hauser, K. Goldberg, J.R. Shewchuk, and J. O'Brien, Interactive Simulation of Surgical Needle Insertion and Steering. In ACM SIGGRAPH, New Orleans, LA, 2009.
- K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. In Robotics: Science and Systems, Seattle, WA, 2009.
- B. Morisset, R.B. Rusu, A. Sundaresan, K. Hauser, M. Agrawal, J.-C. Latombe, and M. Beetz, Leaving Flatland. Toward Real-Time 3D Navigation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Example video (wmv, 1.7mb)
- M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, and K. Goldberg, Guiding Medical Needles Using Single-Point Tissue Manipulation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Best Medical Robotics Paper Finalist Example video (wmv, 2.9mb)
2008
- K. Hauser and J.-C. Latombe, Multi-Modal Motion Planning for Non-Expansive Spaces. In the Workshop on the Algorithm Foundations of Robotics (WAFR), Guanajuato, Mexico, Dec. 2008.
- K. Hauser, Motion Planning for Legged and Humanoid Robots. Ph.D. Thesis, Stanford University, September 2008. (8.9mb, single sided)
- K. Hauser, T. Bretl, J.-C. Latombe, K. Harada, and B. Wilcox, Motion planning for legged robots on varied terrain. In Intl. J. of Robotics Research 27(11-12):1325-1349, 2008.
2007 and earlier
- V. Ng-Thowhing, E. Drumwright, K. Hauser, Q. Wu, and J. Wormer, Expanding Task Functionality in Established Humanoid Robots. In proceedings of IEEE Conference on Humanoid Robots, 2007.
- K. Hauser, V. Ng-Thow-Hing, H. Gonzalez-Banos, Multi-Modal Motion Planning for a Humanoid Manipulation Task. In proceedings of the International Symposium on Robotics Research (ISRR) 2007. ASIMO videos (user:anonymous, pass:isrr07)
- K. Hauser, T. Bretl, J.-C. Latombe, Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 5.7mb)
- K. Hauser, T. Bretl, J.-C. Latombe, B. Wilcox, Motion Planning for a Six-Legged Lunar Robot. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 6.7mb)
- K. Harada, K. Hauser, T. Bretl, J.-C. Latombe, Natural motion generation for humanoid robots. In proceedings of IEEE Conference on Intelligent Robots and systems (IROS), 2006
- K. Hauser, T. Bretl, J.-C. Latombe, Non-gaited Humanoid Locomotion Planning. In proceedings of IEEE Intl. Conf. of Humanoid Robots 2005
- K. Hauser, T. Bretl, J.-C. Latombe, Learning-Assisted Multi-Step Planning. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), 2005
- K. Hauser, C. Shen, J. F. O'Brien, Interactive Deformation Using Modal Analysis With Constraints. Graphics Interface 2003 Proceedings. pp. 247-255
- C. Shen, K. Hauser, C. G. Gatchalian, J. F. O'Brien, Modal Analysis for Real-Time Viscoelastic Deformation. Technical Sketch. ACM SIGGRAPH 2002 Conference Abstracts and Applications