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Publications

2014 | 2013 | 2012 | 2011 | 2010 | 2009 | 2008 | 2007 | 2006 | 2005 | 2004 | 2003 | 2002 | 2001 | 2000 | 1999 | 1998 | 1997 | 1996 | 1995 | 1994 | 1993 | 1992 | 1991 | 1990 | 1989 | 1988 | 1987 | 1985


2014

Ruiken, D., Lanighan, M., and Grupen, R., Path Planning for Dexterous Mobility. To appear in the Proceedings of the 24th International Conference on Automated Planning and Scheduling (ICAPS). Portsmouth, New Hampshire, June 2014.


2013

Ruiken, D., Lanighan, M., and Grupen, R., Postural Modes and Control for Dexterous Mobile Manipulation: the UMass uBot Concept. In Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots. Atlanta, Georgia, October 2013. Best Paper Award Finalist.

Sen, S., and Grupen, R., Manipulation Planning Using Model-Based Belief Dynamics. In Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots. Atlanta, Georgia, October 2013.

Jung, H., Takahashi, T., Choe, Y., Baird, J., Foster, T., and Grupen, R. A. Towards Extended Virtual Presence of the Therapist in Stroke Rehabilitation. In Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, WA. June 2013. Note - This is a revised manuscript with typos corrected.

Kuindersma, S., Grupen, R., and Barto, A. Variable Risk Control via Stochastic Optimization. International Journal of Robotics Research, 32(7):806-825, June 2013.

Konidaris, G., Kuindersma, S., Niekum, S., Grupen, R., Barto, A. Robot Learning: Some Recent Examples. In Proceedings of the Sixteenth Yale Workshop on Adaptive and Learning Systems, pages 71-76, June 2013.

Hart, S., and Grupen, R. Intrinsically Motivated Affordance Discovery and Modeling. Intrinsically Motivated Learning in Natural and Artificial Systems, Springer, pages 279-300, 2013.

Choe, Y., Jung, H., Baird, J., and Grupen, R. A. Multidisciplinary Stroke Rehabilitation Delivered by a Humanoid Robot: Interaction between Speech and Physical Therapies. Aphasiology 27(3), pages 252-270, February 2013.

Sen, S. Bridging the Gap between Autonomous Skill Learning and Task-Specific Planning. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. February, 2013.


2012

Kuindersma, S. Variable Risk Policy Search for Dynamic Robot Control. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. September, 2012.

Kuindersma, S., Grupen, R., and Barto, A. Variational Bayesian Optimization for Runtime Risk-Sensitive Control. In Robotics: Science and Systems VIII (RSS), Sydney, Australia, July 2012. Best Spotlight Talk and E-poster Award.

Kuindersma, S., Grupen, R., and Barto, A. Variable Risk Dynamic Mobile Manipulation. In RSS 2012 Mobile Manipulation Workshop, Sydney, Australia, July 2012.

Jung, H., Choe, Y., Baird, J., and Grupen, R. A. A Follow-Up on Humanoid-Mediated Stroke Physical Rehabilitation (late-breaking results). In Proceedings of the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Boston, MA, March 2012.

Konidaris, G.D., Kuindersma, S.R., Grupen, R.A., Barto, A.G. Robot Learning from Demonstration by Constructing Skill Trees. The International Journal of Robotics Research 31(3), pages 360-375, March 2012.


2011

Kuindersma, S., Grupen, R., and Barto, A. Learning Dynamic Arm Motions for Postural Recovery. In Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots. Bled, Slovenia, October 2011.

Sen, S., Sherrick, G., Ruiken, D., and Grupen, R. Choosing Informative Actions for Manipulation Tasks. In Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots. Bled, Slovenia, October 2011.

Xie, D., Lin, Y., Grupen, R., and Hanson, A. Intention-Based Coordination and Interface Design for Human-Robot Cooperative Search. In Proceedings of the 2011 International Conference on Robotics and Systems (IROS), San Francisco, California, September, 2011.

Sen, S., Sherrick, G., Ruiken, D., and Grupen, R. Hierarchical Skills and Skill-based Representation. In Proc. Workshop on Lifelong Learning from Sensorimotor Experience, AAAI-11. San Francisco, CA, August 2011.

Konidaris, G., Kuindersma, S., Grupen, R., and Barto, A. Autonomous Skill Acquisition on a Mobile Manipulator. In Proceedings of the Twenty-Fifth Conference on Artificial Intelligence (AAAI-11), pages 1468-1473. San Francisco, CA, August 2011.

Jung, H., Baird, J., Choe, Y., and Grupen, R. A. Upper Extremity Physical Therapy for Stroke Patients using a General Purpose Robot. In Proceedings of the 20th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Atlanta, GA, August 2011.

Konidaris, G.D., Kuindersma, S.R., Grupen, R.A. and Barto, A.G. CST: Constructing Skill Trees by Demonstration. In Proceedings of the ICML Workshop on New Developments in Imitation Learning. Bellevue, WA, July 2011.

Konidaris, G.D., Kuindersma, S.R., Grupen, R.A. and Barto, A.G. Acquiring Transferable Mobile Manipulation Skills. In Proceedings of the RSS 2011 Workshop on Mobile Manipulation: Learning to Manipulate. Los Angeles, CA, June 2011.

Jung, H., Baird, J., Choe, Y., and Grupen, R. A. Upper-Limb Exercises for Stroke Patients through the Direct Engagement of an Embodied Agent (late-breaking results). In Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Lausanne, Switzerland, March 2011.


2010

Konidaris, G., Kuindersma, S., Barto, A., and Grupen, R. Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories. In Advances in Neural Information Processing Systems 23 (NIPS). Vancouver, BC. December 2010.

Kuindersma, S., Konidaris, G., Grupen, R., and Barto, A. Learning from a Single Demonstration: Motion Planning with Skill Segmentation (extended abstract). NIPS Workshop on Learning and Planning from Batch Time Series Data. Whistler, BC. December 2010.

Hart, S., and Grupen, R. Learning Generalizable Control Programs. IEEE Transactions on Autonomous Mental Development. Special Issue on Representations and Architectures for Cognitive Systems. July 2010.

Kuindersma, S., Control Model Learning for Whole-Body Mobile Manipulation (extended abstract). In Proceedings of the Twenty-Fourth Conference on Artificial Intelligence (AAAI-10). Atlanta, Georgia, USA. July 2010.

Jung, H., Ou, S., Grupen R. Learning to Perceive Human Intention and Assist in A Situated Context (poster abstract). Workshop on Learning for Human-Robot Interaction Modeling, Robotics: Science and Systems (RSS), Zaragoza, Spain. June 2010.

Sweeney, J., A Teleological Approach to Robot Programming by Demonstration. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. May, 2010.

Deegan, P., Whole-Body Strategies for Mobility and Manipulation. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. May, 2010.

Platt, R., Fagg, A. H., Grupen, R., Null Space Grasp Control: Theory and Experiments, IEEE Transactions on Robotics, Vol 26, No 2, April 2010.

Ou, S. and Grupen, R. From Manipulation to Communicative Gesture, In Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Nara, Japan, March, 2010.

Ou, S., A Behavioral Approach to Human-Robot Communication. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. February, 2010.


2009

Xie, D., Grupen, R., and Hanson, A. Context-Aware Search using Cooperative Agents in a Smart Environment, IEEE Workshop on Applications of Computer Vision (WACV). December 2009.

Hart, S., The Development of Hierarchical Knowledge in Robot Systems. Ph.D. Dissertation, Department of Computer Science, University of Massachusetts Amherst. September, 2009.

Ou, S. Lee, R. and Grupen R., Learn to Detect and Recognize Humans using Small Data Sets, Technical Report UM-CS-2009-042. Computer Science Department, University of Massachusetts Amherst, December 2009, (pdf)

Hart, S. An Intrinsic Reward for Affordance Exploration, In 8th IEEE International Conference on Development and Learning (ICDL). Shanghai, China. June, 2009.

Kuindersma, S., Hannigan, E., Ruiken, D., and Grupen, R. Dexterous Mobility with the uBot-5 Mobile Manipulator, In Proceedings of the 14th International Conference on Advanced Robotics (ICAR). Munich, Germany. June, 2009.

Hart, S., and Grupen, R. Intrinsically Motivated Affordance Learning, Workshop on Approaches to Sensorimotor Learning on Humanoids, IEEE Conference on Robotics and Automation (ICRA), Kobe, Japan. May, 2009.

Hart, S., Sen, S., Ou, S., and Grupen, R. The Control Basis API - A Layered Software Architecture for Autonomous Robot Learning, Workshop on Software Development and Integration in Robotics, IEEE Conference on Robotics and Automation (ICRA), Kobe, Japan. May, 2009.

Ou, S., and Grupen, R. Learning Prospective Robot Behavior, in AAAI Spring Symposium 2009. Stanford University, Palo Alto. March, 2009.


2008

Hannigan, E., Endpoint Force Sensing for Mobile Manipulators, Masters Thesis, Department of Computer Science, University of Massachusetts Amherst. September 2008.

Hart, S., Sen S., and Grupen, R., Generalization and Transfer in Robot Control, in 8th International Conference on Epigenetic Robotics (Epirob08). University of Sussex, Brighton, UK. July, 2008.

Hart, S., Sen S., and Grupen, R., Intrinsically Motivated Hierarchical Manipulation, in Proceedings of the IEEE International Conference on Robotics and Automation. Pasadena, CA. May, 2008.


2007

Sweeney, J.D., and Grupen, R., A Model of Shared Grasp Affordances from Demonstration, in Proceedings of the IEEE/RAS International Conference on Humanoid Robots, Pittsburgh, PA, November 2007.

Deegan, P. Grupen, R., Hanson, A., Horrell, E., Ou, S., Riseman, E., Sen, S., Thibodeau, B., Williams, A., Xie, D. Mobile Manipulators for Assisted Living in Residential Settings, Autonomous Robots, 24(2), p. 179-192, 2007.

Hart, S., Grupen, R., Natural Task Decomposition with Intrinisic Potential Fields, Proceedings of the 2007 International Conference on Robotics and Systems (IROS), San Diego, California, October-November, 2007.

Li, H., Ramamritham, K., Shenoy, P., Grupen, R.A., and Sweeney, J.D., Resource management for real-time tasks in mobile robotics, The Journal of Systems and Software, Volume 80, Issue 7, July 2007.


2006

Williams, A., Xie, D., Ou, S., Grupen, S., Hanson, A., and Riseman, E., Distributed Smart Cameras for Aging in Place, DSC06, Boulder, Colorado, November, 2006.

Platt, R., Learning and Generalizing Control Based Grasping and Manipulation Skills, PhD Dissertation, Department of Computer Science, University of Massachusetts Amherst, September, 2006.

Hart, S., Ou, S., Sweeney, J., Grupen, R. A Framework for Learning Declarative Structure, Robotics: Science and Systems - Workshop on Manipulation for Human Environments. Philadelphia, Pennsylvania. August, 2006.

Deegan, P., Thibodeau, B., Grupen, R. Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation, Robotics: Science and Systems - Workshop on Manipulation for Human Environments. Philadelphia, Pennsylvania. August, 2006.

Platt, R., Grupen, R., Fagg, A. Improving Grasp Skills Using Schema Structured Learning, International Conference on Development and Learning. Bloomington, Indiana. May, 2006.

Thibodeau, B., Deegan, P., Grupen, R. Static Analysis of Contact Forces With a Mobile Manipulator, IEEE International Conference on Robotics and Automation. Orlando, Florida. May, 2006.


2005

Brock, O., Grupen, R., NSF/NASA Workshop on Autonomous Mobile Manipulation (AMM), Final Report, November, 2005.

Karuppiah, D., Grupen, R., Hanson, A., Riseman, E., Smart Resource Reconfiguration by Exploiting Dynamics in Perceptual Tasks, Proceedings of the 2005 International Conference on Robotics and Systems (IROS), Edmonton, Alberta, August, 2005

Brock, O., Fagg, A., Grupen, R., Platt, R., Rosenstein, M., and Sweeney, J. A Framework for Learning and Control in Intelligent Humanoid Robots, the International Journal of Humanoid Robotics, Volume 2, Number 3, September 2005.

R. Platt, A. Fagg, and R. Grupen, Reusing Schematic Grasping Policies IEEE-RAS International Conference on Humanoid Robots. Tsukuba, Japan. December, 2005

S. Hart, R. Grupen, and D. Jensen A Relational Representation for Procedural Task Knowledge Proceedings of the 2005 American Association for Artificial Intelligence (AAAI) Conference. Pittsburgh, Pennsylvania. July, 2005

Grupen, R., Huber M., A Framework for the Development of Robot Behavior, 2005 AAAI Spring Symposium Series: Developmental Robotics, Stanford University, CA. © 2005 LPR (pdf : 1,204,862 bytes)

Rosenstein, M. T., A. H. Fagg, S. Ou, and R. A. Grupen. User intentions funneled through a human-robot interface. In Proceedings of the 10th International Conference on Intelligent User Interfaces, pp. 257–259. ACM Press, New York, 2005 (pdf : 2,980,518 bytes)

Rosenstein, M. T., A. H. Fagg, R. Platt, J. D. Sweeney, and R. A. Grupen. Remote supervisory control of a humanoid robot. In Proceedings of the Twentieh National Conference on Artificial Intelligence, pp. 1702–1703. AAAI Press, Menlo Park, CA, 2005


2004

S. Hart, R. Grupen, and D. Jensen, A Relational Representation for Generalized Knowledge in Robotic Tasks, Technical Report 04-101. Computer Science Department, University of Massachusetts Amherst, December 2004, (pdf : 479KB)

K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen, Coarticulation in Markov Decision Processes, Eighteenth International Conference on Neural Information Processing Systems (NIPS), December 2004, (ps : 447KB)

K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen, A Framework for Coarticulation in Markov Decision Processes, Technical Report 04-33, University of Massachusetts, 2004

Piyanuch Silapachote, Deepak Karuppiah, and Allen Hanson, Feature Selection Using ADABOOST for Face Expression Recognition, The 4th IASTED International Conference on Visualization, Imaging, and Image Processing, VIIP 2004, Marbella, Spain, September 2004. pdf : 195KB)

Sweeney, J.D., Grupen, R.A., Shenoy, P., Active QoS Flow Maintenance in Controlled Mobile Networks, Proceedings of the Fourth International Symposium on Robotics and Automation (ISRA), Queretaro, Mexico, August 2004 © 2004 IEEE. (pdf : 163KB)

Thibodeau, B.J., Fagg, A.H., Levine, B.N., Signal Strength Coordination for Cooperative Mapping, University of Massachusetts Amherst Computer Science Technical Report #04-64, July 2004. (pdf : 296KB)

Platt, R., Fagg, A. H., Grupen, R., Manipulation Gaits: Sequences of Grasp Control Tasks, Proceedings of the 2004 IEEE Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004 © 2004 IEEE. (pdf : 175KB)

T. B. Martin, R. O. Ambrose, M. A. Diftler, R. Platt Jr., M. J. Butzer, Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut, Proceedings of the 2004 IEEE Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004 © 2004 IEEE. (pdf : 175KB)

Sweeney, J.D., Grupen, R.A., and Shenoy, P., Active QoS Flow Maintenance in Robotic, Mobile, Ad Hoc Networks, University of Massachusetts Amherst Computer Science Technical Report #04-20, April 2004. (pdf : 191KB)

Thibodeau, B.J., Hart, S.W., Karuppiah, D.R., Sweeney, J.D., and Brock, O., Cascaded Filter Approach to Multi-Objective Control, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004. © 2004 IEEE. (pdf : 1.4M)

Ou, S., Karuppiah, D.R, Fagg, A.H., Riseman, E.,Grupen, R., An Augmented Virtual Reality Interface for Assistive Monitoring of Smart Spaces, Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications, Orlando, Florida, March, 2004, (pdf : 912K)


2003

Platt, R., Brock, O., Fagg, A. H., Karupiah, D., Rosenstein, M., Coelho, J., Huber, M., Piater, J., Wheeler, D., Grupen, R., A Framework For Humanoid Control and Intelligence, Proceedings of the 2003 IEEE International Conference on Humanoid Robots, Karlsruhe & Munich, Germany, October 2003 © 2003 IEEE. (pdf : 293KB; ps.gz : 199KB)

Platt, R., Fagg, A. H., Grupen, R., Extending Fingertip Grasping to Whole Body Grasping, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf : 353KB; ps.gz : 1424KB)

Diftler, M.A., Platt, R., Culbert, C.J., Ambrose, R.O., Buethmann, W.J., Evolution of the NASA/DARPA Robonaut Control System, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf : 357KB)

Grupen, R., A Developmental Organization for Robot Behavior, Proceedings of the third International Workshop on Epigenenetic Robotics, Boston, MA, August, 2003 © 2003 IEEE. (pdf : 268KB; ps.gz : 168KB)

Li, H., Sweeney, J., Ramamritham, K., Grupen, R., and Shenoy, P., Real-Time Support for Mobile Robotics, Proceedings of the Ninth IEEE Real/Time Embedded Technology and Applications Symposium (RTAS), Toronto, Canada, May 2003 © 2003 IEEE. (pdf : 353KB; ps.gz : 168KB)

Sweeney, J.D., Li, H., Grupen, R.A., and Ramamritham, K., Scalability and Schedulability in Large, Coordinated, Distributed Robot Systems, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf : 101KB)

Y. Yang, O. Brock and R. Grupen, Exploiting redundancy to Implement Multi-Objective Behavior, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf : 667KB)


2002

Fagg, A. H., Shah, A., Barto, A. G., A Computational Model of Muscle Recruitment for Wrist Movements, Journal of Neurophysiology, 88(6):3348-3358, 2002. (pdf : 361K)

Wheeler, D., Fagg, A. H., and Grupen, R., Learning Prospective Pick and Place Behavior, Proceedings of the IEEE/RSJ International Conference on Development and Learning, 2002 © 2002 IEEE. (ps : 330KB)

Huber, M. and Grupen, R., Robust Finger Gaits from Closed-Loop Controllers, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE. (ps.gz : 976KB)

Wang, Y., Thibodeau, B., Fagg, A., and Grupen, R., Learning Optimal Switching Policies for Path Tracking Tasks on a Mobile Robot, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE. (ps : 2.3MB)

Platt, R., Fagg, A. H., Grupen, R., Nullspace Composition of Control Laws for Grasping, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE. (pdf : 316KB; ps : 596KB)

Grupen, R. and Coelho, J., Acquiring State from Control Dynamics to Learn Grasping Policies for Robot Hands, nternational Journal on Advanced Robotics, 16:5 pp. 427-444, 2002 © 2002 Robotics Society of Japan (RSJ). (pdf : 314,546 bytes; ps.gz : 282,548 bytes)

Uppala, S., Karuppiah, D., Brewer, M., Ravela, S. and Grupen, R., On Viewpoint Control, 2002 International Conference on Robotics and Automation, Washington, DC, May, 2002. (pdf : 330,416 bytes)

Sweeney, J., Brunette, TJ, Yang, Y., and Grupen, R., Coordinated Teams of Reactive Mobile Platforms, Proceedings of the 2002 IEEE Conference on Robotics and Automation, Washington, D.C. May, 2002 © 2002 IEEE. (pdf : 274,244 bytes; ps.gz : 234,979 bytes)

Rosenstein, M., Grupen, R., Velocity-Dependent Dynamic Manipulability, Proceedings of 2002 International Conference on Robotics and Automation, Washington, D.C. May, 2002 © 2002 IEEE. (pdf : 343,766 bytes; ps.gz : 189,084 bytes)


2001

Coelho, J, Piater, J. and Grupen, R., Developing Haptic and Visual Perceptual Categories for Reaching and Grasping with a Humanoid Robot, Robotics and Autonomous Systems Journal, special issue on Humanoid Robots, 37:2-3, pp. 195-219, November, 2001, Elsevier. (ps.gz : 777,005 bytes)

Coelho, J., Multifingered Grasping: Grasp Reflexes and Control Context, Ph.D. Dissertation, September 2001. (ps.gz : 3,262,451 bytes)

Piater, JH., Visual Feature Learning, Ph.D. Dissertation, February 2001. (ps.gz; pdf)

Karuppiah, D., Zhu, Z., Shenoy, P., and Riseman, E., A fault-tolerant distributed vision system architecture for object tracking in a smart room, International Workshop on Computer Vision Systems (ICCV 2001), July 2001, Vancouver, Canada ©2001 Springer-Verlag, LNCS. (ps.gz; pdf)

Holness, G., Karuppiah, D., Uppala, S., and Ravela, S. C., A Service Paradigm for Reconfigurable Agents, Proceeings of the 2nd Workshop on Infrastructure for Agents, MAS and Scalable MAS (Agents 2001), May 29, 2001, Montreal, Canada. (ps.gz; pdf)


2000

Popplestone, R. and Grupen, R., Symmetries in World Geometry and Adaptive System Behaviour, 2nd International Workshop on Algebraic Frames for the Perception-Action Cycle (AFPAC 2000), September 10-11, 2000, Kiel, Germany. (ps.gz : 74,008 bytes; pdf : 215,887 bytes)

Grupen, R. and Coelho, J., Structure and Growth: A Model of Development for Grasping with Robot Hands, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), November, 2000, Takamatsu, Japan. (ps.gz : 247,936 bytes; pdf : 1,013,544 bytes)

Huber, M., A Hybrid Architecture for Adaptive Robot Control, Ph.D. Dissertation, September 2000. (ps.gz : 2,555,677 bytes)

Araujo, E., Karuppiah, D., Yang, Y., Grupen, R., Deegan, P., Lerner, B., Riseman, E., Zhu, Z., Software Mode Changes for Continuous Motion Tracking, International Workshop on Self Adaptive Software, Oxford, England, April, 2000. (ps.gz : 1,061,132 bytes; pdf : 909,006 bytes)

Jefferson A. Coelho Jr., Justus H. Piater, Roderic A. Grupen, Developing Haptic and Visual Perceptual Categories for Reaching and Grasping with a Humanoid Robot, First IEEE-RAS International Conference on Humanoid Robots, 7-8 September 2000, Cambridge, MA, USA. (ps.gz : 666,441 bytes; pdf : 723,455 bytes)

Justus H. Piater, Learning Visual Features to Recommend Grasp Configurations, ICML-2000 Workshop on Machine Learning of Spatial Knowledge, Stanford, CA, July 2, 2000. Available as Technical Report #2000-40. (ps.gz : 209,090 bytes)

Luiz M G Gonçalves, Rod Grupen, Antonio A.F. Oliveira, David Wheeler, and Andy Fagg, Attention and Categorization: Basis for Cognition in a Humanoid Robot, IEEE Intelligent Systems and Applications, Special Issue on Humanoids. July 2000. (ps.gz : 957,475 bytes; pdf : 231,073 bytes)

Luiz M G Gonçalves, Cosimo Distante, Antonio A F Oliveira, David Wheeler, and Rod A. Grupen, Neural Mechanisms for Learning of Attention Control and Pattern Categorization as Basis for Robot Cognition, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000). In contribution to Special Session "Robotics and Neurosciences - Prof. Del Pobil". October 30 - November 5, 2000, Kagawa University, Takamatsu, Japan.

Luiz M G Gonçalves and Rod A. Grupen, Integrating Attention and Categorization Behaviors in Robotics, Proceedings of Sixth Intelligent and Autonomous System Conference, June 25-27th 2000, Venice, Italy.

Luiz M G Gonçalves and Rod A. Grupen, Toward a Real-time Framework for Visual Monitoring Tasks, Proceedings of Third IEEE International Workshop on Visual Surveillance, in conjunction with ECCV'2000, July 1st 2000, Dublin, Ireland.

Luiz M G Gonçalves, Fernando W. da Silva, Ricardo C. Farias, and Rod A. Grupen, Toward an Architecture for Artificial Animated Creatures, Proceedings of "Computer Animation 2000 Conference". May 3-5th 2000, Philadelphia, PA, USA.

Piater J. H., Grupen R. A., Feature Learning for Recognition With Bayesian Networks, Proceedings of the Fifteenth International Conference on Pattern Recognition, Barcelona, Spain © 2000 IEEE. (ps.gz : 103,447 bytes; pdf : 135,609 bytes)

Coelho, Jr. J. A., Grupen R. A., Learning in Non-stationary Conditions: A Control Theoretic Approach, Proceedings of the Seventeenth International Conference on Machine Learning, Stanford, CA, USA. (ps.gz : 256635 bytes)

Piater J. H., Grupen R. A., Constructive Feature Learning and the Development of Visual Expertise, Proceedings of the Seventeenth International Conference on Machine Learning, Stanford, CA, USA. (ps.gz : 267,660 bytes; pdf : 316,453 bytes)

Piater J. H., Grupen, R. A., Distinctive Features Should Be Learned, Proceedings of the IEEE International Workshop on Biologically Motivated Computer Vision (BMCV2000), Seoul, Korea. ©2000 Springer-Verlag, LNCS. (ps.gz : 139,384 bytes) An expanded version that provides a more thorough background discussion of human vision is available as Technical Report #2000-08 (ps.gz : 158,408 bytes)

Araujo E. G., Grupen R. A., Feature Extraction for Autonomous Navigation Using an Active Sonar Head, Proceedings of the 2000 IEEE Conference on Robotics and Automation, San Francisco, CA. © 2000 IEEE (ps.gz : 623,893 bytes)


1999

Gonçalves Luiz M. G., Oliveira Antonio A. F., Grupen R. A., Framework for Attention and Object Categorization Using a Stereo Head Robot, Proceedings of the XII SIBGRAPI'99 International Conference, Campinas, SP, Brazil. © 1999 IEEE (ps.gz : 110173 bytes)

Gonçalves Luiz M. G., Gilson A. Giraldi, Oliveira Antonio A. F., Grupen R. A., Learning Policies for Attentional Control, Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99), Monterey, CA, USA. © 1999 IEEE (ps.gz : 86283 bytes)

Gonçalves Luiz M. G., David Wheeler, Oliveira Antonio A. F., Grupen R. A., Towards a Framework for Robot Cognition, Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99) , Monterey, CA, USA. © 1999 IEEE (ps.gz : 93784 bytes)

Piater J. H., Grupen R. A., Learning Visual Recognition With Bayesian Networks, Computer Science Technical Report #99-43, March 1999. (ps.gz : 180,343 bytes)

Piater J. H., Grupen R. A., Ramamritham K., Learning Real-Time Stereo Vergence Control, Proceedings of the 1999 IEEE International Symposium on Intelligent Control, Cambridge, MA. © 1999 IEEE (ps.gz : 63,165 bytes)

Gonçalves Luiz M. G., Oliveira Antonio A. F., and Grupen R. A., Multi-modal Stereognosis, Proceedings of the Third International Conference on Autonomous Agents (Agents'99), Seattle WA, May 1999. © 1999 ACM (ps.gz : 79,453 bytes)

Piater J. H., Grupen R. A., Toward Learning Visual Discrimination Strategies, Proceedings of the 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Fort Collins, CO. © 1999 IEEE (ps.gz : 179,460 bytes)

Piater J. H., Grupen R. A., A Framework for Learning Visual Discrimination, Proceedings of the 12th International FLAIRS Conference, Orlando, FL. © 1999 AAAI Press (ps.gz : 170,724 bytes)

Huber M., Grupen R. A., A Hybrid Architecture for Learning Robot Control Tasks, 1999 AAAI Spring Symposium Series: Hybrid Systems and AI: Modeling, Analysis and Control of Discrete + Continuous Systems, Stanford University, CA. © 1999 LPR (ps.gz : 321,346 bytes)

Piater J. H., Ramamritham K., Grupen R. A., Learning Real-Time Strategies for Binocular Vergence, UMass Computer Science Technical Report #99-06, February 1999 (ps.gz : 144,519 bytes)


1998

Huber M., Grupen R. A., Learning Robot Control - Using Control Policies as Abstract Actions, NIPS'98 Workshop : Abstraction and Hierarchy in Reinforcement Learning, Breckenridge, CO. © 1998 LPR (ps.gz : 313,923 bytes)

Coelho Jr. J. A., Grupen R. A., Dynamic Control Models as State Abstractions, NIPS'98 Workshop : Abstraction and Hierarchy in Reinforcement Learning, Breckenridge, CO. © 1998 LPR (ps.gz : 65,485 bytes)

Souccar K., Coelho Jr. J. A., Grupen R. A., A Control Basis for Haptically-Guided Grasping and Manipulation, UMass Computer Science Technical Report #98-46, October 1998. (ps.gz : 613,856 bytes)

Gonçalves Luiz M. G., Grupen R. A., Oliveira Antonio A. F., A Control Architecture for Multi-modal Sensory Integration, Proceedings of the XI SIBGRAPI'98 Conference, Rio de Janeiro, RJ, Brazil. © 1998 IEEE (ps.gz : 63,849 bytes)

Coelho, Jr. J. A., Araujo E. G., Huber M., Grupen R. A., Dynamical Categories and Control Policy Selection, Proceedings of the ISIC/CIRA/ISAS'98 Conference, Gaithersburg, MD. © 1998 IEEE (ps.gz : 84,235 bytes)

Coelho, Jr. J. A., Araujo E. G., Huber M., Grupen R. A., Contextual Control Policy Selection, Workshop on Robot Exploration and Learning/Conald'98, Pittsburgh, PA. (ps.gz : 131,697 bytes)

Araujo E. G., Grupen R. A., Feature Detection and Identification using a Sonar-Array, Proceedings of the 1998 IEEE Conference on Robotics and Automation, pp. 1584-1589, Leuven, Belgium. © 1998 IEEE (ps.gz : 125,159 bytes)

Huber M., Grupen R. A., A Control Structure for Learning Locomotion Gaits, Proceedings of the Seventh International Symposium on Robotic and Applications. (ps.gz : 289,916 bytes)


1997

Araujo E. G., Grupen R. A., Feature Extraction for Autonomous Navigation, UMass Computer Science technical report #97-55, October 1997. (ps.gz : 488,186 bytes)

Huber M., Grupen R. A., A Feedback Control Structure for On-line Learning Tasks, Robots and Autonomous Systems, 22(3-4):303-315. © 1997 Elsevier. (ps.gz : 410,042 bytes)

Coelho, Jr. J. A., Grupen R. A., A Control Basis for Learning Multifingered Grasps, Journal of Robotic Systems, 14(7):545-557. © 1997 Wiley (ps.gz : 245,676 bytes)

Huber M., Grupen R. A., Learning to Coordinate Controllers - Reinforcement Learning on a Control Basis, Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, pp. 1366-1371, Nagoya, Japan. © 1997 IJCAI. (ps.gz : 128,706 bytes)

Huber M., Grupen R. A., Prior Structure for On-line Learning, Proceedings of CIRA'97, pp. 124-129, Monterey, CA. © 1997 IEEE (ps.gz : 155,534 bytes)

MacDonald W. S., Grupen R. A., Building Walking Gaits for Irregular Terrain from Basis Controllers, Proceedings of the 1997 IEEE Conference on Robotics and Automation, pp. 481-486, Albuquerque, NM. © 1997 IEEE (ps.gz : 340,975 bytes)


1996

Haugsjaa K. A., Souccar K., Connolly C. I., Grupen R. A., A Computational Model for Repetitive Motion, Timing of Behavior: Neural, Computational, and Psychological Perspectives, C. E. Collyer and D. A. Rosenbaum, eds., © 1996 MIT Press. (ps.gz : 142,347 bytes)

Huber M., Grupen R. A., A Hybrid Discrete Event Dynamic Systems Approach to Robot Control, UMass Computer Science technical report #96-43, October 1996. (ps.gz : 622,619 bytes)

MacDonald W., Legged Locomotion over Irregular Terrain using the Control Bais Approach, Master Thesis. (ps.gz : 2,579,696 bytes)

Araujo E. G., Grupen R. A., Learning Control Composition in a Complex Environment, From Animals to Animats 4: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, pp. 333-342, Pattie Maes, Maja Mataric, Jean-Arcady Meyer, Jordan Pollack, and Stewart W. Wilson, eds., Cambridge, MA. © 1996 MIT Press/Bradford Books. (ps.gz : 171,970 bytes)

Souccar K., Grupen R. A., Distributed Motion Control for Multiple Robotic Manipulators, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 3434-3439, Minneapolis, MN. © 1996 IEEE (ps.gz : 1,350,044 bytes)

Coelho, Jr. J. A., Grupen R. A., Online Grasp Synthesis, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 2137-2142, Minneapolis, MN. © 1996 IEEE (ps.gz : 149,865 bytes)

Huber M., MacDonald W. S., Grupen R. A., A Control Basis for Multilegged Walking, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 2988-2993, Minneapolis, MN. © 1996 IEEE (ps.gz : 415,177 bytes)


1995

Araujo E. G., Dakin G. A., Huber M., Grupen R. A., Hierarchical Scheduling of Robotic Assembly Operations in a Flexible Manufacturing System, International Journal of Flexible Automation and Integrated Manufacturing, 3(3&4):301-316. (Republication of previous FAIM'95 conference paper) © 1995 Begell House (ps.gz : 135,075 bytes)

Coelho, Jr. J. A., Sitaraman, R. K., Grupen R. A., Parallel Optimization of Motion Controllers via Policy Iteration, 1995 NIPS Conference, pp. 996-1002. (ps.gz : 367,125 bytes)

Ravela S. S., Schnackertz TJ, Grupen R. A., Weiss R. S., Riseman E. M., Hanson A. R., Temporal Registration for Assembly, 1995 IROS Computer Vision Workshop (ps.gz : 451,734 bytes)

Grupen R. A., Connolly C. I., Souccar K., Burleson W. P., Toward a Path Co-Processor for Automated Vehicle Control, Proceedings of the Intelligent Vehicles '95 Symposium, Detroit, MI. © 1995 IEEE (ps.gz : 66,529 bytes)

Araujo E. G., Dakin G. A., Huber M., Grupen R. A., Hierarchical Scheduling of Robotic Assembly Operations in a Flexible Manufacturing System, Proceedings of the 5th International Conference Flexible Automation & Intelligent Manufacturing '95, pp. 778-789, Stuttgart, Germany. © 1995 Begell House (ps.gz : 77,550 bytes)

Grupen R. A., Huber M., Coelho Jr. J. A., Souccar K., Distributed Control of Manipulation Tasks, IEEE Expert, Special Track on Intelligent Robotic Systems, 10(2):9-14. © 1995 IEEE (ps.gz : 3,218,103 bytes)

Connolly C. I., Grupen R. A., Souccar K., A Hamiltonian Framework for Kinodynamic Planning, Proceedings of the 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan. © 1995 IEEE (ps.gz : 56,668 bytes)

Schnackertz TJ, Grupen R. A., A Control Basis for Visual Servoing Tasks, Proceedings of the 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan. © 1995 IEEE (ps.gz : 290,394 bytes)

Liu Y., Popplestone R. J., A Group Theoretic Formalization of Surface Contact, International Journal of Robotics Research.

Connolly C. I., Burns J. B., A State-Space Striatal Model, Models of Information Processing in the Basal Ganglia, J. C. Houk, J. L. Davis and D. G. Beiser, eds., MIT Press. (ps.gz : 86,022 bytes)


1994

MacDonald W., Design and Implementation of a Four-Legged Walking Robot, Senior Honors Thesis. (ps.gz : 1,486,850 bytes)

Dakin G., Fine-Motion Planning for Robotic Assembly in Local Contact Space, Ph.D. dissertation. (ps.gz : 308,581 bytes)

Connolly C. I., Grupen R. A., Nonholonomic Path Planning Using Harmonic Functions, UMass Computer Science technical report #94-50. (ps.gz : 80,883 bytes)

Huber M., Grupen R. A., 2D Contact Detection and Localization: Using Proprioceptive Information, IEEE Transactions on Robotics and Automation, 10(1):23-33. © 1994 IEEE (ps.gz : 702,622 bytes)

Coelho Jr. J. A., Grupen R. A., Effective Multifingered Grasp Synthesis, UMass Computer Science technical report #94-12. (ps.gz : 1,037,831 bytes)

Grupen R. A., Coelho Jr. J. A., Connolly C. I., Gullapalli V., Huber M., Souccar K., Toward Physical Interaction and Manipulation: Screwing in a Light Bulb, AAAI 1994 Spring Symposium on Physical Interaction and Manipulation. (ps.gz : 3,271,266 bytes)

Coelho Jr. J. A., Grupen R. A., Optimal Multifingered Grasp Synthesis, 1994 IEEE Conference on Robotics and Automation, pp. 1937-1942, San Diego, CA. (ps.gz : 77,661 bytes)

Coelho Jr. J. A., Grupen R. A., Control Pre-Imaging for Multifingered Grasp Synthesis, 1994 IEEE Conference on Robotics and Automation, pp. 3117-3122, San Diego, CA. (ps.gz : 583,996 bytes)

Gullapalli, V., Barto, A. G., and Grupen, R. A. (1994) Learning admittance mappings for force-guided assembly. Proceedings of the 1994 International Conference on Robotics and Automation, 1994, pp. 2633-2638.

Connolly C. I., Harmonic Functions and Collision Probabilities, 1994 IEEE Conference on Robotics and Automation, pp. 3015-3019, San Diego, CA. (ps.gz : 31,336 bytes)


1993

Grupen R. A., Souccar K., Manipulation-Based Spatial Isotropy: A Kinematic Reflex, MCPA'93, pp. 157-163, June 1-3, 1993. (ps.gz : 125,272 bytes)

Grupen R. A., Coelho Jr. J. A., Contact Geometry Optimization for Multifingered Robot Hands, MCPA93, pp. 147-156, June 1-3, 1993. (ps.gz : 73,675 bytes)

Singh S. P., Barto A. G., Grupen R. A., Connolly C. I., Robust Reinforcement Learning in Motion Planning, Advances in Neural Information Processing Systems 6 (NIPS 6), pp. 655-662. (ps.gz : 65,517 bytes)

Dakin G., Popplestone R. J., Fine-motion planning in the contact space of narrow-clearance assemblies, Proceedings of the IASTED International Conference on Robotics and Manufacturing, pp. 206-208. (ps.gz : 80,962 bytes)

Connolly C. I., Grupen R. A., The Applications of Harmonic Functions to Robotics, Journal of Robotic Systems, 10(7):931-946. (ps.gz : 186,251 bytes)

Connolly C. I., Burns J. B., A New Striatal Model and its Relationship to Basal Ganglia Diseases, Neuroscience Research, 13:271-274. (ps.gz : 34,531 bytes)

Grupen R. A., Huber M., 2D Contact Detection and Localization Using Proprioceptive Information, Proceedings of the 1993 IEEE Conference on Robotics and Automation, Vol.2, pp. 130-135, May 2-7, 1993. (ps.gz : 180,071 bytes)

Connolly C. I., Burns J. B., A Model for the Functioning of the Striatum, Biological Cybernetics 68(6):535-544. (ps.gz : 134,946 bytes)

Huber M., Grupen R. A., Contact Information from Proprioception, Proceedings of the Conference on Intelligent Autonomous Systems (IAS), IOS Press, pp. 643-652, Feb. 1993. (ps.gz : 409,759 bytes)

Dakin G., Popplestone R. J., Contact space analysis for narrow-clearance assemblies, UMass Computer Science technical report #93-59. (ps.gz : 59,504 bytes)

Dakin G., Popplestone R. J., Fine-motion planning in the contact space of narrow-clearance assemblies, UMass Computer Science technical report #93-60. (ps.gz : 80,962 bytes)


1992

Huber M., Grupen R. A., 2-D Contact Detection and Localization Using Proprioceptive Information, UMass Computer Science Technical Report #92-59, August 1992. (ps.gz : 97,448 bytes)

Connolly C. I., A Robotics Perspective on Motor Programs and Path Planning, Behav. Brain Sciences, 15(4):728-729. (ps.gz : 21,178 bytes)

Connolly C. I., Grupen R. A., Harmonic Control, Proc. 1992 International Symposium on Intelligent Control. (ps.gz : 75,405 bytes)

Connolly C. I., Applications of Harmonic Functions to Robotics, Proc. 1992 International Symposium on Intelligent Control. (ps.gz : 230,754 bytes)

Dakin G., Popplestone R. J., Simplified Fine-Motion Planning in Generalized Contact Space, Proc. 1992 International Symposium on Intelligent Control. (ps.gz : 59,504 bytes)

Gullapalli V., Learning Control Under Extreme Uncertainty, Advances in Neural Information Processing Systems 5 (NIPS 5), SJ Hanson, JD Cowan, CL Giles, Eds. pp. 327-334, Morgan Kaufmann 1993. (ps.gz : 69,158 bytes)

Gullapalli V., Grupen R. A., Barto A. G., Learning Reactive Admittance Control, Proceedings of the IEEE Conference on Robotics and Automation, pp. 1475-1480, May 10-15, 1992. (ps.gz : 65,439 bytes)

Connolly C. I., Burns J. B., The Planning of Actions and The Basal Ganglia, AI Planning Systems: Proceedings of the 1st Int'l Conference. (ps.gz : 18,942 bytes)

Connolly C. I., Grupen R. A., Applications of Harmonic Functions to Robotics, UMass Computer Science Technical Report 92#12, Feb. 1992.


1991

Gullapalli V., A Comparison of Supervised and Reinforcement Learning Methods on a Reinforcement Learning Task, Proceedings of the 1991 IEEE International Symposium on Intelligent Control. (ps.gz : 42,191 bytes)

Gullapalli V., Associative Reinforcement Learning of Real-Valued Functions, Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics, pp. 1453-1458, Oct. 1991.

Dakin G., Popplestone R. J., Augmenting a Nominal Assembly Motion Plan with a Compliant Behavior, Proceedings of the 1991 AAAI Conference, Vol. 1, pp. 653-658.

Grupen, R., Weiss, R., Issues in System Integration and Control for Interpreting and Manipulating the Environment, Proceedings of the International Symposium on Intelligent Control, IEEE, p. 221-227, August, 1991.

Grupen, R., Weiss, R., Sensor-Based Control for Multifingered Manipulators, 1991 AAAI Fall Symposium on the Sensory Aspects of Artificial Intelligence.

Grupen, R. and Weiss, R., Force Domain Models for Multifingered Grasp Control, Proceedings of the 1991 Conference on Robotics and Automation, IEEE, Sacramento, CA, p. 418-424, April 7-12, 1991.

Grupen, R., Planning Grasp Strategies for Multifingered Robot Hands, In Proceedings of the 1991 Conference on Robotics and Automation, IEEE, Sacramento, CA, April 7-12, 1991.


1990

Connolly C. I., Burns J. B., Weiss R., Path Planning Using Laplace's Equation, Proceedings of the IEEE Conference on Robotics and Automation, pp. 2102-2106, May 1990. (ps.gz : 42,252 bytes)

Popplestone R. J., Liu Y., Weiss R., A Group Theoretic Approach to Assembly Planning, AI Magazine, 11(1), 1990.

Grupen, R., Weiss, R., and Oskard, D., Grasp-Oriented Sensing and Control, SPIE Conference on Advances in Intelligent Robotics Systems, Boston, MA, November, 1990.


1989

Hansen, C., Henderson, T., and Grupen, R., CAD-Based 3-D Object Recognition, In Proceedings of the IEEE Conference on Systems, Man and Cybernetics, Boston, MA, November 14-17, 1989.

Popplestone, R., Grupen, R., Liu, Y., Dakin, G., Nair, S., and Oskard, D., Planning for Assembly with Robot Hands, In SPIE Conference on Advances in Intelligent Robotic Systems}, Philadelphia, PA, November, 1989.

Grupen, R., and Henderson, T., Autochthonous Behaviors - Mapping Perception to Action, In NATO Conference on Sensor Fusion, pp. 285-312, Springer-Verlag, Italy, September, 1989.

Grupen, R., Behavior Based Control for Cognitive and Physical Prosthetics, In Proceedings of the NSF Conference on Intelligent Control to Aid Persons with Cognitive and Physical Disabilities, Bethesda, MD, February 1989.


1988

Popplestone R. J., Weiss R., Liu Y., Using Characteristic Invariants to Infer New Spatial Relationships From Old, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1107-1112, Apr. 25-29, 1988.

Grupen, R., Henderson, T., and Biggers, K., General Purpose Grasping and Manipulation, In Third IEEE International Symposium on Intelligent Control, 9 pages, Arlington, VA, August 1988.

Grupen, R., and Henderson, T., A Control Paradigm for General Purpose Manipulation Systems, Proceedings of the 1988 Conference on Robotics and Automation, pages 710--715, IEEE, Philadelphia, PA, April 1988.


1987

Henderson, T., Weitz, E., Hansen, C., Grupen, R., Ho, C., and B. Bhanu, CAD-Based Robotics, Proceedings of the 1987 Conference on Robotics and Automation, pages 631-635, IEEE, Raleigh, NC, April 1987.


1985

Drake, S., Grupen, R., and Hammond, D., Development of a Robotic Material-Handling Vehicle - II, In SME Conference on Manufacturing Systems Research, May 1985.