publications | Siddarth Jain

2026

VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies

Robert Ramirez Sanchez, Daniel J Evans, Dylan P Losey, and Siddarth Jain

In arXiv preprint arXiv:2606.06323, 2026

: Imitation Learning | Learning from Demonstration | Faster-than-Demonstration | Diffusion Policy | Robotic Manipulation

Bib PDF
@inproceedings{volt2026, title = {VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies}, author = {Sanchez, Robert Ramirez and Evans, Daniel J and Losey, Dylan P and Jain, Siddarth}, booktitle = {arXiv preprint arXiv:2606.06323}, year = {2026}, }

FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model

Chenyang Ma, Yue Yang, Radu Corcodel, Siddarth Jain, Andrew Wu, Chiori Hori, and Diego Romeres

In arXiv preprint arXiv:2607.01212, 2026

: VLA | Furniture Assembly | Imitation Learning | Robotic Manipulation

@inproceedings{furnitureVLA2026,
  title = {FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model},
  author = {Ma, Chenyang and Yang, Yue and Corcodel, Radu and Jain, Siddarth and Wu, Andrew and Hori, Chiori and Romeres, Diego},
  booktitle = {arXiv preprint arXiv:2607.01212},
  year = {2026},
}

SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control

Siddarth Jain and Ho Jin Choi

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2026

Bib PDF

@inproceedings{jain2026splatctrl,
  title = {SplatCtrl: Perception-Action Coupling via Gaussian Scene Representations and Reactive Robot Control},
  author = {Jain, Siddarth and Choi, Ho Jin},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  organization = {IEEE},
}

M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation

Miquel Oller, Qiyang Qian, Radu Corcodel, and Siddarth Jain

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2026

: Pose Estimation | Insertion | Assembly | Visuo-Tactile

Bib PDF

@inproceedings{oller2026mvtop,
  title = {M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation},
  author = {Oller, Miquel and Qian, Qiyang and Corcodel, Radu and Jain, Siddarth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
  organization = {IEEE},
}

2025

Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics

Davide De Lazzari, Matteo Terreran, Giulio Giacomuzzo, Siddarth Jain, Pietro Falco, Ruggero Carli, Stefano Ghidoni, and Diego Romeres

Frontiers in Robotics and AI, 2025

: Human Progress Estimation | Temporal Alignment | Dynamic Time Warping | Collaborative Robotics

DOI Bib PDF

@article{de2025real,
  title = {Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics},
  author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Ghidoni, Stefano and Romeres, Diego},
  journal = {Frontiers in Robotics and AI},
  volume = {12},
  pages = {1623884},
  year = {2025},
  publisher = {Frontiers Media SA},
  doi = {10.3389/frobt.2025.1623884},
}

Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos

Chiori Hori, Motonari Kambara, Komei Sugiura, Kei Ota, Sameer Khurana, Siddarth Jain, Radu Corcodel, Devesh Jha, Diego Romeres, and Jonathan Le Roux

In Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2025

: Large Language Models | Human Demonstrations | Action Replanning | HRI

DOI Bib PDF

@inproceedings{hori2025interactive,
  title = {Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos},
  author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh and Romeres, Diego and Le Roux, Jonathan},
  booktitle = {Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
  pages = {1--5},
  year = {2025},
  organization = {IEEE},
  doi = {10.1109/ICASSP49660.2025.10887717},
}

Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM

Chiori Hori, Yoshiki Masuyama, Siddarth Jain, Radu Corcodel, Devesh K Jha, Diego Romeres, and Jonathan Le Roux

In IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU), 2025

: Large Language Models | Action Planning | Interactive Planning

Best Paper Nominee Bib PDF

“Best paper nominee at ASRU 2025 among 215 submissions”
@inproceedings{horirobot, title = {Robot Confirmation Generation and Action Planning Using Long-context Q-Former Integrated with Multimodal LLM}, author = {Hori, Chiori and Masuyama, Yoshiki and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K and Romeres, Diego and Le Roux, Jonathan}, booktitle = {IEEE Workshop on Automatic Speech Recognition and Understanding (ASRU)}, year = {2025}, }

PACE: Proactive Assistance in Human-Robot Collaboration Through Action-Completion Estimation

Davide De Lazzari, Matteo Terreran, Giulio Giacomuzzo, Siddarth Jain, Pietro Falco, Ruggero Carli, and Diego Romeres

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025

: Proactive Assistance | Action-Completion Estimation | Collaborative Robotics | HRI

DOI Bib PDF Video

@inproceedings{de2025pace,
  title = {PACE: Proactive Assistance in Human-Robot Collaboration Through Action-Completion Estimation},
  author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {6725--6731},
  year = {2025},
  organization = {IEEE},
  doi = {10.1109/ICRA55743.2025.11127399},
  url = {https://ieeexplore.ieee.org/document/11127399},
}

Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly

Davide De Lazzari, Matteo Terreran, Giulio Giacomuzzo, Siddarth Jain, Pietro Falco, Ruggero Carli, and Diego Romeres

In ICRA Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, 2025

Bib PDF

@inproceedings{dehuman,
  title = {Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly},
  author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
  booktitle = {ICRA Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
  year = {2025},
}

2024

Insert-One: One-shot Robust Visual-Force Servoing for Novel Object Insertion with 6-DoF Tracking

Haonan Chang, Abdeslam Boularias, and Siddarth Jain

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

: Assembly | Robotic Insertion | Visual-Force Servoing | Robust Manipulation | Visual Tracking

DOI Bib PDF

@inproceedings{chang2024insert,
  title = {Insert-One: One-shot Robust Visual-Force Servoing for Novel Object Insertion with 6-DoF Tracking},
  author = {Chang, Haonan and Boularias, Abdeslam and Jain, Siddarth},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2935--2942},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/IROS58592.2024.10801884},
}

Llmphy: Complex Physical Reasoning using Large Language Models and World Models

Anoop Cherian, Radu Corcodel, Siddarth Jain, and Diego Romeres

arXiv preprint arXiv:2411.08027, 2024

: Physical Reasoning | World Models | Large Language Models | Simulation-Based Inference

Bib PDF

@article{cherian2024llmphy,
  title = {Llmphy: Complex Physical Reasoning using Large Language Models and World Models},
  author = {Cherian, Anoop and Corcodel, Radu and Jain, Siddarth and Romeres, Diego},
  journal = {arXiv preprint arXiv:2411.08027},
  year = {2024},
}

Decaf: A Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly

Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain, and Diego Romeres

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

: Task Allocation | Furniture Assembly | Collaborative Robotics

DOI Bib PDF

@inproceedings{giacomuzzo2024decaf,
  title = {Decaf: A Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly},
  author = {Giacomuzzo, Giulio and Terreran, Matteo and Jain, Siddarth and Romeres, Diego},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {7085--7091},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/IROS58592.2024.10802728},
}

Autonomous Robotic Assembly: From Part Singulation to Precise Assembly

Kei Ota, Devesh K Jha, Siddarth Jain, Bill Yerazunis, Radu Corcodel, Yash Shukla, Antonia Bronars, and Diego Romeres

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

: Assembly | Part Singulation | Force-Controlled Manipulation | Pose Estimation

DOI Bib PDF

@inproceedings{ota2024autonomous,
  title = {Autonomous Robotic Assembly: From Part Singulation to Precise Assembly},
  author = {Ota, Kei and Jha, Devesh K and Jain, Siddarth and Yerazunis, Bill and Corcodel, Radu and Shukla, Yash and Bronars, Antonia and Romeres, Diego},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {13525--13532},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/IROS58592.2024.10802423},
}

Human Action Understanding-Based Robot Planning using Multimodal LLM

Motonari Kambara, Chiori Hori, Komei Sugiura, Kei Ota, Devesh K Jha, Sameer Khurana, Siddarth Jain, Radu Corcodel, Diego Romeres, and Jonathan Le Roux

In IEEE ICRA 2024 Workshop on Cooking Robotics: Perception and motion planning, 2024

Bib PDF

@inproceedings{kambara2024human,
  title = {Human Action Understanding-Based Robot Planning using Multimodal LLM},
  author = {Kambara, Motonari and Hori, Chiori and Sugiura, Komei and Ota, Kei and Jha, Devesh K and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Romeres, Diego and Le Roux, Jonathan},
  booktitle = {IEEE ICRA 2024 Workshop on Cooking Robotics: Perception and motion planning},
  year = {2024},
}

Interactive Planning using Large Language Models for Partially Observable Robotic Tasks

Lingfeng Sun, Devesh K Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, and Diego Romeres

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024

DOI Bib PDF

@inproceedings{sun2024interactive,
  title = {Interactive Planning using Large Language Models for Partially Observable Robotic Tasks},
  author = {Sun, Lingfeng and Jha, Devesh K and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {14054--14061},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/ICRA57147.2024.10610981},
}

Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective

Prasanth Sengadu Suresh, Diego Romeres, Prashant Doshi, and Siddarth Jain

In Proceedings of the IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI), 2024

: Inverse Reinforcement Learning | Multi-Agent Systems | HRI

DOI Bib PDF

@inproceedings{suresh2024open,
  title = {Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective},
  author = {Suresh, Prasanth Sengadu and Romeres, Diego and Doshi, Prashant and Jain, Siddarth},
  booktitle = {Proceedings of the IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
  pages = {103--110},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/CogMI62246.2024.00023},
}

Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning

Prasanth Sengadu Suresh, Siddarth Jain, Prashant Doshi, and Diego Romeres

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

: Inverse Reinforcement Learning | Multi-Agent Systems | Collaborative Assembly | HRI

DOI Bib PDF

@inproceedings{suresh2024opeo,
  title = {Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning},
  author = {Suresh, Prasanth Sengadu and Jain, Siddarth and Doshi, Prashant and Romeres, Diego},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {7092--7098},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/IROS58592.2024.10801889},
}

Few-shot Transparent Instance Segmentation for Bin Picking

Anoop Cherian, Siddarth Jain, and Tim K Marks

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

: Transparent Object Segmentation | Instance Segmentation | Bin Picking | Computer Vision

DOI Bib PDF

@inproceedings{cherian2024few,
  title = {Few-shot Transparent Instance Segmentation for Bin Picking},
  author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5009--5016},
  year = {2024},
  organization = {IEEE},
  doi = {10.1109/IROS58592.2024.10802859},
}

2023

EARL: Eye-on-hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation

Baichuan Huang, Jingjin Yu, and Siddarth Jain

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

: Dynamic Grasping | Reinforcement Learning | Pose Estimation | Closed-Loop Control | Visual Servoing

DOI Bib PDF Video

@inproceedings{huang2023earl,
  title = {EARL: Eye-on-hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation},
  author = {Huang, Baichuan and Yu, Jingjin and Jain, Siddarth},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2963--2970},
  year = {2023},
  organization = {IEEE},
  doi = {10.1109/IROS55552.2023.10341988},
}

Tactile Pose Feedback for Closed-Loop Manipulation Tasks

Kei Ota, Siddarth Jain, Mengchao Zhang, and Devesh K Jha

In Robotics: Science and Systems 2023 Workshop on Learning Dexterous Manipulation, 2023

Bib PDF

@inproceedings{ota2023tactile,
  title = {Tactile Pose Feedback for Closed-Loop Manipulation Tasks},
  author = {Ota, Kei and Jain, Siddarth and Zhang, Mengchao and Jha, Devesh K},
  booktitle = {Robotics: Science and Systems 2023 Workshop on Learning Dexterous Manipulation},
  year = {2023},
}

Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks

Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddarth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka, and Diego Romeres

In Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following, 2023

Honorable Mention Award Bib PDF

“Honorable Mention award at the NeurIPS 2023 Workshop on Instruction Tuning and Instruction Following”
@inproceedings{Sun2023dec, author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego}, title = {{Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks}}, booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following}, year = {2023}, }

Design of Adaptive Compliance Controllers for Safe Robotic Assembly

Devesh K Jha, Diego Romeres, Siddarth Jain, William Yerazunis, and Daniel Nikovski

In Proceedings of the European Control Conference (ECC), 2023

DOI Bib PDF

@inproceedings{jha2023design,
  title = {Design of Adaptive Compliance Controllers for Safe Robotic Assembly},
  author = {Jha, Devesh K and Romeres, Diego and Jain, Siddarth and Yerazunis, William and Nikovski, Daniel},
  booktitle = {Proceedings of the European Control Conference (ECC)},
  pages = {1--8},
  year = {2023},
  organization = {IEEE},
  doi = {10.23919/ECC57647.2023.10178229},
}

Generalizable Human-Robot Collaborative Assembly using Imitation Learning and Force Control

Devesh K Jha, Siddarth Jain, Diego Romeres, William Yerazunis, and Daniel Nikovski

In Proceedings of the European Control Conference (ECC), 2023

: Imitation Learning | Collaborative Assembly | Compliant Control | Computer Vision

DOI Bib PDF

@inproceedings{jha2023generalizable,
  title = {Generalizable Human-Robot Collaborative Assembly using Imitation Learning and Force Control},
  author = {Jha, Devesh K and Jain, Siddarth and Romeres, Diego and Yerazunis, William and Nikovski, Daniel},
  booktitle = {Proceedings of the European Control Conference (ECC)},
  pages = {1--8},
  year = {2023},
  organization = {IEEE},
  doi = {10.23919/ECC57647.2023.10178330},
}

Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects

Aidan Curtis, Leslie Kaelbling, and Siddarth Jain

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023

: Articulated Object Manipulation | POMDPs | Task Uncertainty | TAMP

DOI Bib PDF

@inproceedings{curtis2023task,
  title = {Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects},
  author = {Curtis, Aidan and Kaelbling, Leslie and Jain, Siddarth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2023},
  organization = {IEEE},
  doi = {10.1109/ICRA48891.2023.10160306},
}

Learning Generalizable Pivoting Skills

Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, and Diego Romeres

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023

: Pivoting Manipulation | Reinforcement Learning | Skill Learning

DOI Bib PDF

@inproceedings{zhang2023learning,
  title = {Learning Generalizable Pivoting Skills},
  author = {Zhang, Xiang and Jain, Siddarth and Huang, Baichuan and Tomizuka, Masayoshi and Romeres, Diego},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {5865--5871},
  year = {2023},
  organization = {IEEE},
  doi = {10.1109/ICRA48891.2023.10161271},
  url = {https://ieeexplore.ieee.org/abstract/document/10161271},
}

Vision Guided Food Assembly by Robot Teaching from Target Composition

Siddarth Jain, Radu Corcodel, Devesh K Jha, and Diego Romeres

In ICRA Workshop on Task Informed Grasping From Farm to Fork, 2023

: Food Assembly | Food Manipulation | Computer Vision | Learning from Demonstration

Bib PDF

@inproceedings{jain2023vision,
  title = {Vision Guided Food Assembly by Robot Teaching from Target Composition},
  author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K and Romeres, Diego},
  booktitle = {ICRA Workshop on Task Informed Grasping From Farm to Fork},
  year = {2023},
}

Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation

Anoop Cherian, Siddarth Jain, Tim K Marks, and Alan Sullivan

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023

: Instance Segmentation | Shape Modeling | Few-Shot Learning | Computer Vision

DOI Bib PDF

@inproceedings{cherian2023discriminative,
  title = {Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation},
  author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K and Sullivan, Alan},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {9296--9302},
  year = {2023},
  organization = {IEEE},
  doi = {10.1109/ICRA48891.2023.10160644},
}

Learning Generalizable Pivoting Skills with Object Feature Based State/Action Projections

Xiang Zhang, Siddarth Jain, Baichuan Huang, Masayoshi Tomizuka, and Diego Romeres

In ICRA Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots), 2023

: Pivoting Manipulation | Reinforcement Learning | Skill Learning

Bib PDF

@inproceedings{zhanglearning,
  title = {Learning Generalizable Pivoting Skills with Object Feature Based State/Action Projections},
  author = {Zhang, Xiang and Jain, Siddarth and Huang, Baichuan and Tomizuka, Masayoshi and Romeres, Diego},
  booktitle = {ICRA Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)},
  year = {2023},
}

2022

Learning to Synthesize Volumetric Meshes from Vision-Based Tactile Imprints

Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, and Jeroen Van Baar

In Proceedings of the International Conference on Robotics and Automation (ICRA), 2022

: Tactile Perception | Volumetric Meshes | Reconstruction | Representation Learning

DOI Bib PDF

@inproceedings{zhu2022learning,
  title = {Learning to Synthesize Volumetric Meshes from Vision-Based Tactile Imprints},
  author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and Van Baar, Jeroen},
  booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  pages = {4833--4839},
  year = {2022},
  organization = {IEEE},
  doi = {10.1109/ICRA46639.2022.9812092},
}

2021

InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images

Anoop Cherian, Gonçalo Dias Pais, Siddarth Jain, Tim K Marks, and Alan Sullivan

In Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), 2021

: Instance Segmentation | Generative Models | Bin Picking | Sim-to-Real | Computer Vision

DOI Bib PDF

@inproceedings{cherian2021insegan,
  title = {InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images},
  author = {Cherian, Anoop and Pais, Gon{\c{c}}alo Dias and Jain, Siddarth and Marks, Tim K and Sullivan, Alan},
  booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
  pages = {10023--10032},
  year = {2021},
  organization = {IEEE},
  doi = {10.1109/ICCV48922.2021.00987},
}

Visual 3D Perception for Interactive Robotic Tactile Data Acquisition

Siddarth Jain, Radu Corcodel, and Jeroen Baar

In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), 2021

: Object Exploration | Interactive Robotics | Visual–Tactile | Tactile Perception

Bib PDF

@inproceedings{jain2021visual,
  title = {Visual 3D Perception for Interactive Robotic Tactile Data Acquisition},
  author = {Jain, Siddarth and Corcodel, Radu and van Baar, Jeroen},
  booktitle = {Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE)},
  year = {2021},
  organization = {IEEE},
}

2020

Interactive Tactile Perception for Classification of Novel Object Instances

Radu Corcodel, Siddarth Jain, and Jeroen Baar

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

DOI Bib PDF

@inproceedings{corcodel2020interactive,
  title = {Interactive Tactile Perception for Classification of Novel Object Instances},
  author = {Corcodel, Radu and Jain, Siddarth and van Baar, Jeroen},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {9861--9868},
  year = {2020},
  organization = {IEEE},
  url = {https://ieeexplore.ieee.org/abstract/document/9341795},
  doi = {10.1109/IROS45743.2020.9341795},
}

2019

Probabilistic Human Intent Recognition for Shared Autonomy in Assistive Robotics

Siddarth Jain and Brenna Argall

ACM Transactions on Human-Robot Interaction (THRI), 2019

: Shared Autonomy | Human Intent Recognition | Bayesian Inference | Assistive Robotics | HRI

DOI Bib HTML PDF

@article{jain2019probabilistic,
  title = {Probabilistic Human Intent Recognition for Shared Autonomy in Assistive Robotics},
  author = {Jain, Siddarth and Argall, Brenna},
  journal = {ACM Transactions on Human-Robot Interaction (THRI)},
  volume = {9},
  number = {1},
  pages = {1--23},
  year = {2019},
  publisher = {ACM New York, NY, USA},
  url = {https://dl.acm.org/doi/pdf/10.1145/3359614},
  doi = {10.1145/3359614},
}

2018

Recursive Bayesian Human Intent Recognition in Shared-Control Robotics

Siddarth Jain and Brenna Argall

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

: Human Intent Recognition | Bayesian Filtering | Shared Autonomy | HRI

DOI Bib PDF

@inproceedings{jain2018recursive,
  title = {Recursive Bayesian Human Intent Recognition in Shared-Control Robotics},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3905--3912},
  year = {2018},
  organization = {IEEE},
  doi = {10.1109/IROS.2018.8593766},
}

2017

Estimation of Surface Geometries in Point Clouds for the Manipulation of Novel Household Objects

Siddarth Jain and Brenna Argall

In RSS Workshop on Spatial-Semantic Representations in Robotics, Cambridge, MA, USA, 2017

: Surface Geometry | Point Clouds | Shape Reconstruction | Representation Learning

Bib PDF

@inproceedings{jain2017estimation,
  title = {Estimation of Surface Geometries in Point Clouds for the Manipulation of Novel Household Objects},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {RSS Workshop on Spatial-Semantic Representations in Robotics, Cambridge, MA, USA},
  volume = {16},
  year = {2017},
}

2016

Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics

Deepak Gopinath, Siddarth Jain, and Brenna D Argall

IEEE Robotics and Automation letters (RA-L), 2016

: Shared Autonomy | Online Optimization | User-Centered Design | Assistive Robotics | HRI

DOI Bib PDF

@article{gopinath2016human,
  title = {Human-in-the-Loop Optimization of Shared Autonomy in Assistive Robotics},
  author = {Gopinath, Deepak and Jain, Siddarth and Argall, Brenna D},
  journal = {IEEE Robotics and Automation letters (RA-L)},
  volume = {2},
  number = {1},
  pages = {247--254},
  year = {2016},
  publisher = {IEEE},
  doi = {10.1109/LRA.2016.2593928},
}

Grasp Detection for Assistive Robotic Manipulation

Siddarth Jain and Brenna Argall

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016

: Grasping | Shape Primitives | Point Clouds | Grasp Detection

DOI Bib PDF

@inproceedings{jain2016grasp,
  title = {Grasp Detection for Assistive Robotic Manipulation},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2015--2021},
  year = {2016},
  organization = {IEEE},
  doi = {10.1109/ICRA.2016.7487348},
}

Robot Learning to Switch Control Modes for Assistive Teleoperation

Siddarth Jain and Brenna Argall

In RSS Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics, 2016

Bib PDF

@inproceedings{jain2016robot,
  title = {Robot Learning to Switch Control Modes for Assistive Teleoperation},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {RSS Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics},
  year = {2016},
}

An Approach for Online User Customization of Shared Autonomy for Intelligent Assistive Devices

Siddarth Jain and Brenna Argall

In ICRA Workshop, 2016

Bib PDF

@inproceedings{jain2016approach,
  title = {An Approach for Online User Customization of Shared Autonomy for Intelligent Assistive Devices},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {ICRA Workshop},
  year = {2016},
}

2015

Automated and Objective Assessment of Surgical Training: Detection of Procedural Steps on Videotaped Performances

Siddarth Jain, Katherine A Barsness, and Brenna Argall

In Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2015

: Video-Based Assessment | Skill Assessment | Computer Vision

DOI Bib PDF

@inproceedings{jain2015automated,
  title = {Automated and Objective Assessment of Surgical Training: Detection of Procedural Steps on Videotaped Performances},
  author = {Jain, Siddarth and Barsness, Katherine A and Argall, Brenna},
  booktitle = {Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA)},
  pages = {1--6},
  year = {2015},
  organization = {IEEE},
  doi = {10.1109/DICTA.2015.7371233},
}

Assistive Robotic Manipulation through Shared Autonomy and a Body-Machine Interface

Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi, and Brenna Argall

In Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), 2015

: Body-Machine Interface | Shared Control | Assistive Robotics

DOI Bib PDF

@inproceedings{jain2015assistive,
  title = {Assistive Robotic Manipulation through Shared Autonomy and a Body-Machine Interface},
  author = {Jain, Siddarth and Farshchiansadegh, Ali and Broad, Alexander and Abdollahi, Farnaz and Mussa-Ivaldi, Ferdinando and Argall, Brenna},
  booktitle = {Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR)},
  pages = {526--531},
  year = {2015},
  organization = {IEEE},
  doi = {10.1109/ICORR.2015.7281253},
}

2014

Automated Perception of Safe Docking Locations with Alignment Information for Assistive Wheelchairs

Siddarth Jain and Brenna Argall

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014

: Docking Detection | Point Clouds | Computer Vision | Assistive Robotics

DOI Bib PDF

@inproceedings{jain2014automated,
  title = {Automated Perception of Safe Docking Locations with Alignment Information for Assistive Wheelchairs},
  author = {Jain, Siddarth and Argall, Brenna},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4997--5002},
  year = {2014},
  organization = {IEEE},
  doi = {10.1109/IROS.2014.6943272},
}