Publications

Journals

2022

Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation.
Yifeng Zhu, Peter Stone, and Yuke Zhu.
IEEE Robotics and Automation Letters (RA-L), 2022

Hierarchical Task-Space Optimal Covariance Control with Chance Constraints.
Jaemin Lee, Efstathios Bakolas, Luis Sentis. 
Control Systems Letters (L-CSS) (2022). 

Outracing Champion Gran Turismo Drivers with Deep Reinforcement Learning.
Peter R. Wurman, Samuel Barrett, Kenta Kawamoto, James MacGlashan, Kaushik Subramanian, Thomas J. Walsh, Roberto Capobianco, Alisa Devlic, Franziska Eckert, Florian Fuchs, Leilani Gilpin, Varun Kompella, Piyush Khandelwal, HaoChih Lin, Patrick MacAlpine, Declan Oller, Craig Sherstan, Takuma Seno, Michael D. Thomure, Houmehr Aghabozorgi, Leon Barrett, Rory Douglas, Dion Whitehead, Peter Duerr, Peter Stone, Michael Spranger, and and Hiroaki Kitano. 
Nature, 62:223–28, Feb. 2022.

2021

Agent-Based Markov Modeling for Improved COVID-19 Mitigation Policies.
Roberto Capobianco, Varun Kompella, James Ault, Guni Sharon, Stacy Jong, Spencer Fox, Lauren Meyers, Peter R. Wurman, and Peter Stone. 
The Journal of Artificial Intelligence Research (JAIR), 71:953–92, August 2021.

Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness. 
U Yoo, Y Liu, A Deshpande, F Alambeigi. 
IEEE Robotics and Automation Letters. 

APPLE: Adaptive Planner Parameter Learning From Evaluative Feedback.
Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone. 
IEEE Robotics and Automation Letters (RA-L), October 2021.

An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces.
Junhyeok Ahn, Steven Jorgensen, Seun Hyeon Bang, Luis Sentis. 
Autonomous Robots (AURO) 2021

Assessment of Upper-extremity Joint Angles using Harmony Exoskeleton. 
de Oliveira, A. C., Sulzer, J. S. & Deshpande, A. D. 
IEEE Transactions on Neural Systems and Rehabilitation Engineering (2021).

Balancing Stability and Stiffness Through the Optimization of Parallel Compliance: Using Coupled Tendon Routing. 
Kim, M. & Deshpande, A. D.
IEEE Robotics & Automation Magazine 28, 14-22 (2021).

Biomechanical analysis of an unpowered hip flexion orthosis on individuals with and without Multiple Sclerosis. Journal of NeuroEngineering and Rehabilitation. Neuman, RM, Shearin, SM, McCain, KJ and Fey, NP (2021).

Challenges and outlook in robotic manipulation of deformable objects. 
Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Xiang Li, Jia Pan, Wenzhen Yuan. 
IEEE Robotics and Automation Magazine. 2021

Closed-loop EEG study on visual recognition during driving. 
Aydarkhanov R., Ušćumlić M., Chavarriaga R., Gheorghe L.A., Millán J.d.R.
J. Neural Engineering, 18:026010.

Continuous classification of locomotion in response to task complexity and anticipatory state. Frontiers in Bioengineering and Biotechnology - Biomechanics. Kazemimoghadam, M and Fey, NP (2021).

Context-aware learning for generative models. 
Perdikis S., Leeb R., Chavarriaga R., Millán J.d.R. 
IEEE Trans. Neural Networks and Learning Systems, 32(8):3471–3483.

Contribution of interaction force to the sense of hand ownership and the sense of hand agency
M Akselrod, B Vigaru, J Duenas, R Martuzzi, J Sulzer, A Serino, O Blanke, ...
Scientific reports 11 (1), 1-18

Customizing skills for assistive robotic manipulators: An inverse reinforcement learning approach with error-related potentials. 
Batzianoulis I.*, Iwane F.*, Wei S., Gaspar Pinto C., Chavarriaga R., Millán J.d.R.*, Billard A.* 
Nature Communications Biology, 4:1406.

Data Sharing and Compression for Cooperative Networked Control
J Cheng, M Pavone, S Katti, S Chinchali, A Tang
Advances in Neural Information Processing Systems 34

DEALIO: Data-Efficient Adversarial Learning for Imitation from Observation.
Faraz Torabi, Garrett Warnell, and Peter Stone. 
In Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021.

Design, Fabrication, and Validation of a New Family of 3D-Printable Structurally-Programmable Actuators for Soft Robotics. 
A. Altelbani, H Zhou, S Mehrdad, F Alambeigi, SF Atashzar. 
IEEE Robotics and Automation Letters. 2021

Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip.
Ghonasgi, K., Rose, C. G., de Oliveira, A. C., Varghese, R. J. & Deshpande, A. D.
IEEE International Conference on Robotics and Automation (ICRA) (2021).

Design of a Computed Tomography Automation Architecture. 
Nicholas Hashem; Mitchell Pryor; Derek Haas; and James Hunter. 
Journal of Applied Sciences, 11(6): 2858. March 2021.

Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design.
Varghese, R. J., Mukherjee, G. & Deshpande, A. D. 
Frontiers in Neurorobotics (2022).

Development of a Haptic Simulator for Laparoscopic Trocar Insertion Training
AF Galvan, KA Kho, J Shields, AM Fey
Journal of Minimally Invasive Gynecology 28 (11), S98-S99

Differential neural plasticity of individual fingers revealed by fMRI neurofeedback
E Oblak, J Lewis-Peacock, J Sulzer
Journal of Neurophysiology 125 (5), 1720-1734

EEG correlates of difficulty levels in dynamical transitions of simulated flying and mapping tasks.
Jao P.-K., Chavarriaga R., Dell'Agnola F., Arza A., Atienza D., Millán J.d.R. 
IEEE Trans. Human-Machine Systems, 51(2):99–108.

Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators.
Y Liu, F Alambeigi. 
IEEE Robotics and Automation Letters 2021 

The Effects of EMG-Based Classification and Robot Control Method on User's Neuromuscular Effort during Real-Time Assistive Hand Exoskeleton Operation. 
Esmatloo, P. & Deshpande, A. 
International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (2021).

Efficient Real-Time Inference in Temporal Convolution Networks.
Piyush Khandelwal, James MacGlashan, Peter Wurman, and Peter Stone. 
In Proceedings of the 2021 International Conference on Robotics and Automation (ICRA 2021), May 2021.

Evaluation of Pre-Training with the da Vinci Skills Simulator on Motor Skill Acquisition in a Surgical Robotics Curriculum
E Battaglia, B Mueller, D Hogg, R Rege, D Scott, AM Fey
Journal of Medical Robotics Research, 2150006

Expected Value of Communication for Planning in Ad Hoc Teamwork.
William Macke, Reuth Mirsky, and Peter Stone. 
In Proceedings of the 35th Conference on Artificial Intelligence (AAAI), February 2021.

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.
Gray Thomas, Orion Campbell, Nick Nichols, Nicholas Brissonneau, Binghan He, Josh James, Nick Paine, and Luis Sentis.  
Frontiers Robotics and AI (2021). 

From Agile Ground to Aerial Navigation: Learning from Learned Hallucination.
Zizhao Wang, Xuesu Xiao, Alexander J Nettekoven, Kadhiravan Umasankar, Anika Singh, Sriram Bommakanti, Ufuk Topcu, and Peter Stone. 
In Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021), October 2021.

Goal Blending for Responsive Shared Autonomy in a Navigating Vehicle.
Yu-Sian Jiang, Garrett Warnell, and Peter Stone. 
In Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI), Feb 2021.

Grounded Action Transformation for Sim-to-Real Reinforcement Learning. 
Josiah P. Hanna, Siddharth Desai, Haresh Karnan, Garrett Warnell, and Peter Stone. 
Special Issue on Reinforcement Learning for Real Life, Machine Learning, 2021, May 2021.

Haptic Simulator for Trocar Insertion Training
A Galvan, AK Da Costa, J Shields, K Kho, AM Fey
2021 IEEE World Haptics Conference (WHC), 397-402

Importance Sampling in Reinforcement Learning with an Estimated Behavior Policy. 
Josiah P. Hanna, Scott Niekum, and Peter Stone. 
Machine Learning (MLJ), 110:1267–1317, May 2021.

Improvement of Hand Functions of SCI Patients with EMG-driven Hand Exoskeleton: a Feasibility Study. 
Yun, Y. et al.
Wearable Technologies (2021).

Incorporating Gaze into Social Navigation.
Justin Hart, Reuth Mirsky, Xuesu Xiao, and Peter Stone.
In Robotics: Science and Systems Workshop on Social Robot Navigation (RSS), July 2021.

Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry. 
Y Liu, U Yoo, S Ha, SF Atashzar, F Alambeigi. 
IEEE/ASME Transactions on Mechatronics. 2021

Intelligent Disobedience and AI Rebel Agents in Assistive Robotics.
Reuth Mirsky and Peter Stone. 
In ASIMOV workshop as part of the International Conference on Intelligent Robots and Systems (IROS), November 2021.

Invariability of EEG error-related potentials during continuous feedback protocols elicited by erroneous actions at predicted or unpredicted states. 
Iwane F., Iturrate I., Chavarriaga R., Millán J.d.R. 
J. Neural Engineering, 18:046044.

Kinematic comparison of single degree-of-freedom robotic gait trainers
J Lee, L Li, SY Shin, AD Deshpande, J Sulzer
Mechanism and Machine Theory 159, 104258

Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain.
Xuesu Xiao, Joydeep Biswas, and Peter Stone. 
IEEE Robotics and Automation Letters (RA-L), July 2021.

A Lifelong Learning Approach to Mobile Robot Navigation.
Bo Liu, Xuesu Xiao, and Peter Stone. 
IEEE Robotics and Automation Letters (RA-L), 6(2), April 2021. Presented at IEEE International Conference on Robotics and Automation (ICRA),

Locomotion Planning and Control for Humanoid Robots.
Junhyeok Ahn, Steven Jorgensen, Seun Hyeon Bang, Luis Sentis. 
Versatile Frontiers Robotics and AI (2021). 

Lower-limb kinematics and kinetics during continuously varying human locomotion. Scientific Data. Reznick, E, Embry, K, Neuman, RM, Bolivar-Nieto, E, Fey, NP and Gregg, RD (2021).

Lucid Dreaming for Experience Replay: Refreshing Past States with the Current Policy. 
Yunshu Du, Garrett Warnell, Assefaw Gebremedhin, Peter Stone, and Matthew E. Taylor. Neural Computing and Applications, May 2021.

Machine Learning Methods for Local Motion Planning: A Study of End-to-End vs. Parameter Learning.
Zifan Xu, Xuesu Xiao, Garrett Warnell, Anirudh Nair, and Peter Stone. 
In Proceedings of the 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2021), October 2021.

Machine versus Human Attention in Deep Reinforcement Learning Tasks. 
Sihang Guo, Ruohan Zhang, Bo Liu, Yifeng Zhu, Mary Hayhoe, Dana Ballard, and Peter Stone.
In Conference on Neural Information Processing Systems (NeurIPS, 2021, December 2021.

A Method for the Analysis of Physical Human Robot Interaction. IEEE/ASME 
Yousaf, S. N., Esmatloo, P., Ghonasgi, K. & Deshpande, A. D. 
International Conference on Advanced Intelligent Mechatronics (AIM) (2021).

Model and Controller Adaption while Learning Human Preferences. 
Adam Allevato; Mitch Pryor; and Andrea Thomaz. 
In Virtual, March 2021.

A Modular Design for Distributed Measurement of Human-Robot Interaction Forces in Wearable Devices. 
Ghonasgi, K., Yousaf, S. N., Esmatloo, P. & Deshpande, A. D.
Sensors (2021).

Monitoring Fatigue-Induced Changes in Performance during Robot-Mediated Dynamic Movement. 
Madden, K. E., Djurdjanovic, D. & Deshpande, A. D. 
IEEE International Conference on Robotics and Automation (ICRA) (2021).

Multi-scale neural decoding and analysis
HY Lu, ES Lorenc, H Zhu, J Kilmarx, J Sulzer, C Xie, PN Tobler, ...
Journal of Neural Engineering 18 (4), 045013

Network offloading policies for cloud robotics: a learning-based approach
S Chinchali, A Sharma, J Harrison, A Elhafsi, D Kang, E Pergament, ...
Autonomous Robots 45 (7), 997-1012

Non-invasive brain-machine interfaces for robotic devices. 
Tonin L., Millán J.d.R.
Annual Review of Control, Robotics, and Autonomous Systems, 4:191–214.

Non-Verbal Behaviors and Hidden Hazards: an Interactions Study. 
Matthew Horn; and Mitch Pryor. 
In ACM/IEEE International Conference on HRI Workshop: Exploring Applications for Autonomous Non-Verbal Human Robot Interactions, Virtual, March 2021. IEEE

Optimization strategies for Bayesian source localization algorithms. 
Blake Anderson; and Can Pehlivanturk. 
IEEE Transactions on Robotics. 2021.

Our child’s TBI: a rehabilitation engineer’s personal experience, technological approach, and lessons learned
J Sulzer, LS Karfeld-Sulzer
Journal of neuroengineering and rehabilitation 18 (1), 1-12

Performance of sonomyographic and electromyographic sensing for continuous estimation of joint torque during ambulation on multiple terrains. IEEE Transactions on Neural Systems and Rehabilitation Engineering. Rabe, KG, Lenzi, T and Fey, NP (2021).

Policy Evaluation in Continuous MDPs with Efficient Kernelized Gradient Temporal Difference.
Alec Koppel, Garrett Warnell, Ethan Stump, Peter Stone, and Alejandro Ribeiro. 
IEEE Transactions on Automatic Control, 66(4):1856–63, April 2021.

Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments.
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu. 
International Journal of Robotics Research (IJRR), 2021

Recent Advances in Leveraging Human Guidance for Sequential Decision-Making Tasks. 
Ruohan Zhang, Faraz Torabi, Garrett Warnell, and Peter Stone. 
Autonomous Agents and Multi-Agent Systems, 35(31), June 2021.

Rethinking autonomous surgery: focusing on enhancement over autonomy
E Battaglia, J Boehm, Y Zheng, AR Jamieson, J Gahan, AM Fey
European urology focus 7 (4), 696-705

Reward (Mis)design for Autonomous Driving.
W Bradley Knox, Alessandro Allievi, Holger Banzhaf, Felix Schmitt, and Peter Stone. 2021.

The Road Forward for Upper Extremity Rehabilitation Robotics. 
Rose, C. G., Deshpande, A. D., Carducci, J. & D.Brown, J. 
Current Opinion in Biomedical Engineering (2021).

Sequential Online Chore Division for Autonomous Vehicle Convoy Formation. 
Harel Yedidsion, Shani Alkoby, and Peter Stone. 
Technical Report arXiv e-Prints 2104.04159, arXiv, 2021.

Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination.
Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone. 
IEEE Robotics and Automation Letters (RA-L), January 2021.

Ultrasound sensing can improve continuous classification of discrete ambulation modes compared to surface electromyography. IEEE Transactions on Biomedical Engineering. Rabe, KG, Jahanandish, MH, Boehm, JR, Majewicz, A, Hoyt, K and Fey, NP (2021).

Using a System-Based Monitoring Paradigm to Assess Fatigue during Submaximal Static Exercise of the Elbow Extensor Muscles. 
Madden, K., Djurdjanovic, D. & Deshpande, A. 
Sensors (2021)


Conferences

Scalable Multiagent Driving Policies For Reducing Traffic Congestion. 
Jiaxun Cui, William Macke, Harel Yedidsion, Aastha Goyal, Daniel Urieli, and Peter Stone. In Proceedings of the 20th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), May 2021.

SCAPE: Learning Stiffness Control from Augmented Position Control Experiences. 
Kim, M., Niekum, S. & Deshpande, A. 
Conference on Robot Learning. Proceedings of Machine Learning Research (2021).

A Scavenger Hunt for Service Robots.
Harel Yedidsion, Jennifer Suriadinata, Zifan Xu, Stefan Debruyn, and Peter Stone. 
In Proceedings of the 2021 International Conference on Robotics and Automation (ICRA 2021), May 2021.

Team Orienteering Coverage Planning with Uncertain Reward.
Bo Liu, Xuesu Xiao, and Peter Stone.
In International Conference on Intelligent Robots and Systems (IROS), 2021, September 2021.

TeMoto: A Software Framework for Supporting Mixed-Modality Command Inputs Necessary for Integration of Nonverbal-HRI. 
Robert Valner; Selma Wanna; Mitch Pryor; and Karl Kruusamae. 
In ACM/IEEE International Conference on HRI Workshop: Exploring Applications for Autonomous Non-Verbal Human Robot Interactions, Virtual, March 2021. IEEE

Temporal-Logic-Based Reward Shaping for Continuing Reinforcement Learning Tasks.
Yuqian Jiang, Suda Bharadwaj, Bo Wu, Rishi Shah, Ufuk Topcu, and Peter Stone. 
In Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI 2021), February 2021.

Watch Where You're Going! Gaze and Head Orientation as Predictors for Social Robot Navigation.
Blake Holman, Abrar Anwar, Akash Singh, Mauricio Tec, Justin Hart, and Peter Stone. 
In Proceedings of the International Conference on Robotics and Automation (ICRA 202), May 2021.

An Actuated Indenter for Characterization of Soft Tissue Towards Human-Centered Design.
Yousaf, S. N., Ghonasgi, K., Esmatloo, P. & Deshpande, A. D. 
IEEE/ASME  International Conference on Advanced Intelligent Mechatronics (AIM) (2021).

Adversarial Intrinsic Motivation for Reinforcement Learning. 
Ishan Durugkar, Mauricio Tec, Scott Niekum, and Peter Stone. In Proceedings of the 35th International Conference on Neural Information Processing Systems (NeurIPS 2021), December 2021.

Agile Robot Navigation through Hallucinated Learning and Sober Deployment.
Xuesu Xiao, Bo Liu, and Peter Stone. 
In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), June 2021.

APPLI: Adaptive Planner Parameter Learning From Interventions. 
Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, and Peter Stone. 
In Proceedings of the International Conference on Robotics and Automation (ICRA 2021), May 2021.

APPLR: Adaptive Planner Parameter Learning from Reinforcement.
Zifan Xu, Gauraang Dhamankar, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Bo Liu, Zizhao Wang, and Peter Stone. 
In. Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), June 2021.

Capturing Skill State in Curriculum Learning for Human Skill Acquisition. 
Keya Ghonasgi, Reuth Mirsky, Sanmit Narvekar, Bharath Masetty, Adrian M. Haith, Peter Stone, and Ashish D. Deshpande. 
In International Conference on Intelligent Robots and Systems (IROS), September 2021.

Is the Cerebellum a Model-Based Reinforcement Learning Agent?.
Bharath Masetty, Reuth Mirsky, Ashish D. Deshpande, Michael Mauk, and Peter Stone. 
In Adaptive and Learning Agents Workshop at AAMAS, May 2021.

Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition.
Bo Liu, Qiang Liu, Peter Stone, Animesh Garg, Yuke Zhu, and Animashree Anandkumar. 
In Proceedings of the 38th International Conference on Machine Learning, PMLR 139, 2021 (ICML), July 2021.

Conflict-Averse Gradient Descent for Multi-task learning.
Bo Liu, Xingchao Liu, Xiaojie Jin, Peter Stone, and Qiang Liu. 
In Conference on Neural Information Processing Systems (NeurIPS), 2021, December 2021.

Decentralized Sharing and Valuation of Fleet Robotic Data. Geng, Y., Zhang, D., Li, P.H., Akcin, O., Tang, A. and Chinchali, S.P., 2022, January. In Conference on Robot Learning (pp. 1795-1800). PMLR.

Nakanoya, M., Chinchali, S., Anemogiannis, A., Datta, A., Katti, S. and Pavone, M., 2021. Co-design of communication and machine inference for cloud robotics. Robotics: Science and Systems XVII, Virtual Event.

Adaptive Surgical Robotic Training Using Real-Time Stylistic Behavior Feedback Through Haptic Cues
M Ershad, R Rege, AM Fey
IEEE Transactions on Medical Robotics and Bionics 3 (4), 959-969

Approximate solutions to a class of reachability games.
D. Fridovich-Keil and C. J. Tomlin.
ICRA 2021.

Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System. Junhyeok Ahn and Luis Sentis. Proceedings of the 3rd Conference on Learning for Dynamics and Control, PMLR 144:779-790, 2021

A Barrier Pair Method for Safe Human-Robot Sh.ared Autonomy. Binghan He, Mahsa Ghasemi, Ufuk Topcu, Luis Sentis,  IEEE Conference on Decision and Control, December 2021

Information-Theoretic Based Target Search with Multiple Agents. Minkyu Kim, Ryan Gupta, Luis Sentis. RSS Workshop on ​​Robotics for People: Perspectives on Interaction, Learning, and Safety, July 2021

Social Navigation Based on People’s Awareness of Robots. Minkyu Kim, Jaemin Lee, Steven Jens Jorgensen, Luis Sentis, HRI workshop on Exploring Applications for Autonomous Nonverbal Human-Robot Interaction, 2021

Active Target Search for Autonomous Person Following,Minkyu Kim, Miguel Arduengo, Nick Walker, Yuqian Jiang, Justin Hart, Peter Stone, and Luis Sentis, AAAI Spring Symposium on Machine Learning for Mobile Robot Navigation in the Wild, March 2021

An Open-Source Framework for Last Mile Delivery with Heterogeneous Robots. Asha Jain, Max Svetlik, Nick Machak, Kavan Sikand, Cem Karamanli, Kaiyou Zhou, Justin Hart, Joydeep Biswas, Luis Sentis, Junfeng Jiao,  AAAI Spring Symposium on Machine Learning for Mobile Robot Navigation in the Wild, 2021

Assured Learning-Based Optimal Control subject to Timed Temporal Logic Constraints
F Fotiadis, CK Verginis, KG Vamvoudakis, U Topcu
2021 60th IEEE Conference on Decision and Control (CDC), 750-756

Augmented Lagrangian method for instantaneously constrained reinforcement learning problems.
J. Li, D. Fridovich-Keil, S. Sojoudi, and C. Tomlin. 
2021 60th IEEE Conference on Decision and Control (CDC)

An Anthropomorphic Passive Instrumented Hand for Validating Wearable Robotic Systems. 
Baskaran, A., Esmatloo, P., Times, M., Deshpande, A. & Rose, C. G. 
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2021).

Autonomous Data-Driven Manipulation of an Unknown Deformable Tissue Within Constrained Environments: A Pilot Study. 
Manuel Retana, Drew T. Conyers, S. Farokh Atashzar, and Farshid Alambeigi.
ISMR 2022

Brain computer interface-driven neuromuscular electrical stimulation therapy for motor recovery of sub-acute stroke patients: Preliminary results.
Nguyen-Danse A., Hernandez Z., Fakhreddine R.Y., Alawieh H., Nicolo P., Mac-Auliffe D., Guggisberg A., Millán J.d.R.
8th Int. BCI Meeting. Virtual Meeting. 2021

Brain signals to rescue aphasia, apraxia and dysarthria speech recognition.
Krishna G., Carnahan M., Shamapant S., Surendranath Y., Jain S. Ghosh A., Tran C., Millán J.d.R., Tewfik A.
IEEE EMBC. Virtual Meeting. 2021

Combining Reinforcement Learning with Model Predictive Control for On-Ramp Merging
J Lubars, H Gupta, S Chinchali, L Li, A Raja, R Srikant, X Wu
2021 IEEE International Intelligent Transportation Systems Conference (ITSC)

Compromised Robotic Surgical Visualization: Archaic Issues in a Modern Operating Room. 
N. Venkatayogi, J. M. Uecker, A. Laviana, A. Cohen, C. R. Idelson, and F. Alambeigi. 
2022 SAGES Annual Meeting. 

Convex Optimization for Parameter Synthesis in MDPs
M Cubuktepe, N Jansen, S Junges, JP Katoen, U Topcu
IEEE Transactions on Automatic Control

Decoding of error-related potentials for characterizing individual subjective preferences. 
Iwane F., Wei S., Iturrate I., Batzianoulis I., Chavarriaga R., Billard A., Millán J.d.R. 
8th Int. BCI Meeting. Virtual Meeting. 2021

Design and Evaluation of a Soft Robotic Catheter Tip Prototype with Self-Propulsion and Shape Changeable Teleoperation
A Galvan, A Madan, M Narayan, S Kalva, AM Fey
2021 International Symposium on Medical Robotics (ISMR), 1-6

Encoding defensive driving as a dynamic nash game.
C.-Y. Chiu*, D. Fridovich-Keil*, and C. J. Tomlin.  
ICRA 2021

A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments.
B Thamo, F Alambeigi*, K Dhaliwal*, M Khadem*. 
IROS 2021

Identifying Kinematic Markers Associated with Intraoperative Stress during Surgical Training Tasks
Y Zheng, G Leonard, J Tellez, H Zeh, AM Fey
2021 International Symposium on Medical Robotics (ISMR), 1-7

Inferring objectives in continuous dynamic games from noise-corrupted partial state observations.
L. Peters, D. Fridovich-Keil, V. Rubies-Royo, C. Tomlin, and C. Stachniss. 
RSS 2021

Interpretable trade-offs between robot task accuracy and compute efficiency
B Ghosh, S Chinchali, PS Duggirala
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems

Move apart: A geometrical learning approach for training of motor imagery. 
Kumar S., Alawieh H., Millán J.d.R. 
8th Int. BCI Meeting. Virtual Meeting. 2021.

Multi-hypothesis interactions in game-theoretic motion planning.
F. Laine, D. Fridovich-Keil, C.-Y. Chiu, and C. J. Tomlin. 
ICRA 2021.

Rabe, KG and Fey, NP (2021). Continuous prediction of leg kinematics during ambulation using peripheral sensing of muscle activity and morphology. IEEE RAS International Symposium on Medical Robotics (ISMR). 

Jones, RF and Fey, NP (2021). Femur abduction associated with transfemoral amputation alters the profile of lumbopelvic mechanical loads during generalized endlimb loading. 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 

Childress, JD and Fey, NP (2021). A computational framework based on medical imaging and random sampling to guide optimal residual limb designs for individuals with transfemoral limb loss. 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 

Ultrasound-derived features of muscle architecture provide unique temporal characterization of volitional knee motion. Rabe, KG, Jahanandish, MH and Fey, NP (2021). 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 

A predictive framework to provide neuromuscular insights in reshaping dynamic balance during transient locomotion. Li, W and Fey, NP (2021). 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 

Whole-body and segmental contributions to dynamic balance in stair ambulation are sensitive to early-stage Parkinson’s disease. Li, W and Fey, NP (2021).43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 

Considering the human form and its influence on the moment- and power-generating abilities of soft hip-flexion exosuits: effects of wearer bmi and sex. Neuman, RM and Fey, NP (2021).17th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR).

Comparing sonomyography and electromyography using Bayesian regression to continuously estimate joint torques during ambulation on varying terrains. Rabe, KG, Lenzi, T and Fey, NP (2021). 17th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR).

Benchmark comparisons of ultrasound to electromyography for estimation of joint torques during ambulation. Rabe, KG and Fey, NP (2021). Military Health System Research Symposium (MHSRS), Advancements in Prosthetic and Orthotic Technologies that Facilitate Return to Duty Following Neuromusculoskeletal Injuries. 

Understanding speed-curvature relationships to analyze the influence of surgical recontouring to enhance residual limb form and prosthetic limb function. Levy, ET and Fey, NP (2021). Military Health System Research Symposium (MHSRS).

Online recognition of bimanual coordination provides important context for movement data in bimanual teleoperated robots. Boehm, JR, Fey, NP and Majewicz, A (2021). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 

Task-invariant learning of continuous joint kinematics during steady-state and transient ambulation using ultrasound sensing. Jahanandish, MH, Rabe, KG, Srinivas, A, Fey, NP, and Hoyt, K (2021). IEEE International Conference on Robotics and Automation (ICRA).


ICRA 2022 Acceptances - May 23-27th, 2022

Adversarial Imitation Learning from Video using a State Observer
Haresh Karnan, Garrett Warnell, Faraz Torabi, and Peter Stone. 

Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
Soroush Nasiriany, Huihan Liu, Yuke Zhu.

Back to the future: Efficient, time-consistent solutions in reach-avoid games. 
D. R. Anthony, D. P. Nguyen, D. Fridovich-Keil, and J. F. Fisac. 

Bottom-up Discovery of Reusable Sensorimotor Skills from Unstructured Demonstrations. 
Yifeng Zhu, Peter Stone, and Yuke Zhu. 

Competence-Aware Path Planning via Introspective Perception.
Sadegh Rabiee, Connor Basich (UMass), Kyle Hollins Wray (Nissan), Shlomo Zilberstein (UMass), Joydeep Biswas. 

Impact of Generic Tendon Routing on Tension Loss of Tendon-Driven Continuum Manipulators with Planar Deformation. 
Yang Liu and Farshid Alambeigi. 

OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
Josiah Wong, Viktor Makoviychuk, Anima Anandkumar, Yuke Zhu.

Skeletal Feature Compensation for Imitation Learning with Embodiment Mismatch
Eddy Hudson, Garrett Warnell, Faraz Torabi and Peter Stone. 

Visual Representation Learning for Preference-Aware Path Planning
Kavan Singh Sikand, Sadegh Rabiee, Adam Uccello, Xuesu Xiao, Garrett Warnell, Joydeep Biswas. 

Visually Grounded Task and Motion Planning for Mobile Manipulation. 
Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, and Shiqi Zhang. 

VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation
Haresh Karnan, Garrett Warnell, Xuesu Xiao, and Peter Stone.

Forward models that integrate high-dimensional and localized sensing of peripheral muscle behavior enable task-independent future prediction of lower-extremity torque and position trajectories. Rabe, KG and Fey, NP.

 

Patents

Adaptable robotic gait trainer
J Sulzer, SY Shin
US Patent 11,135,119

Methods, Systems and Controllers for Facilitating Cleaning of an Imaging Element of an Imaging Device. 
F Alambeigi, A Cohen, CR Idelson, C Rylander. 
US Patent 11,102,381 B1