SS
Siddhartha Srinivasa
cs.ROcs.LGcs.AIcs.HCstat.MLcs.CLcs.CVcs.SYeess.SYmath.OC
On Valency
published · living versionsW_zvvvs78x·v1 · currentpublished
SwapBot: Tool-Centric Robot Manipulation via Interchangeable End-Effectors and Tactile Sensing
with Yunchu Zhang, Ray Song, Junhan Jiao, Liyiming Ke +4
1 version
Preprints & journals
109 papers in the corpus · 2012–2026Difference-Aware Retrieval Policies for Imitation Learning2606.09758v1 · Quinn Pfeifer, Ethan Pronovost, Paarth Shah et al.2026 · 0 citationsarXiv
Bidirectional Incremental Generalized Hybrid A*2605.30647v2 · Sidharth Talia, Oren Salzman, Siddhartha Srinivasa2026 · 0 citationsarXiv
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains2604.05226v1 · Yi Ru Wang, Carter Ung, Evan Gubarev et al.2026 · 0 citationsarXiv
The Geometry of Learning to Avoid Interventions2602.03825v2 · Ethan Pronovost, Khimya Khetarpal, Siddhartha Srinivasa2026 · 0 citationsarXiv
Incremental Generalized Hybrid A*2508.13392v3 · Sidharth Talia, Oren Salzman, Siddhartha Srinivasa2025 · 3 citationsarXiv
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation2507.00435v2 · Yi Ru Wang, Carter Ung, Christopher Tan et al.2025 · 1 citationarXiv
ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning2506.13867v2 · Yunchu Zhang, Shubham Mittal, Zhengyu Zhang et al.2025 · 0 citationsarXiv
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps2504.13149v1 · Matt Schmittle, Rohan Baijal, Nathan Hatch et al.2025 · 0 citationsarXiv
Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use.42016571 · Nanavati, Amal, Gordon, Ethan K, Faulkner, Taylor A Kessler et al.2026 · 6 citationsACM/IEEE International Conference on Human-Robot Interaction : [proceedings]. ACM/IEEE Conference on Human-Robot Interaction. 2025;2025:696-707
Generative Data Mining with Longtail-Guided Diffusion2502.01980v2 · David S. Hayden, Mao Ye, Timur Garipov et al.2025 · 0 citationsProceedings of the 42nd International Conference on Machine Learning (ICML), 2025
Causal Composition Diffusion Model for Closed-loop Traffic Generation2412.17920v3 · Haohong Lin, Xin Huang, Tung Phan-Minh et al.2024 · 6 citationsarXiv
DriveGPT: Scaling Autoregressive Behavior Models for Driving2412.14415v3 · Xin Huang, Eric M. Wolff, Paul Vernaza et al.2024 · 1 citationarXiv
VLM-AD: End-to-End Autonomous Driving through Vision-Language Model Supervision2412.14446v2 · Yi Xu, Yuxin Hu, Zaiwei Zhang et al.2024 · 1 citationarXiv
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels2405.19307v3 · Abhay Deshpande, Liyiming Ke, Quinn Pfeifer et al.2024 · 1 citationarXiv
Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving2403.11298v1 · Matt Schmittle, Rohan Baijal, Brian Hou et al.2024 · 5 citationsarXiv
An Adaptable, Safe, and Portable Robot-Assisted Feeding System2403.04134v1 · Ethan Kroll Gordon, Rajat Kumar Jenamani, Amal Nanavati et al.2024 · 21 citationsarXiv
Multiple Ways of Working with Users to Develop Physically Assistive Robots2403.00489v2 · Amal Nanavati, Max Pascher, Vinitha Ranganeni et al.2024 · 2 citationsarXiv
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving2311.11199v2 · Sidharth Talia, Matt Schmittle, Alexander Lambert et al.2023 · 6 citationsarXiv
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning2310.12972v2 · Liyiming Ke, Yunchu Zhang, Abhay Deshpande et al.2023 · 3 citationsarXiv
NEWTON: Are Large Language Models Capable of Physical Reasoning?2310.07018v1 · Yi Ru Wang, Jiafei Duan, Dieter Fox et al.2023 · 14 citationsarXiv
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions2303.05508v2 · Yunchu Zhang, Liyiming Ke, Abhay Deshpande et al.2023 · 1 citationarXiv
From Crowd Motion Prediction to Robot Navigation in Crowds2303.01424v1 · Sriyash Poddar, Christoforos Mavrogiannis, Siddhartha S. Srinivasa2023 · 33 citationsarXiv
PuSHR: A Multirobot System for Nonprehensile Rearrangement2303.01428v1 · Sidharth Talia, Arnav Thareja, Christoforos Mavrogiannis et al.2023 · 4 citationsarXiv
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees2210.12851v1 · Jaein Lim, Mahdi Ghanei, R. Connor Lawson et al.2022 · 2 citationsarXiv
Real World Offline Reinforcement Learning with Realistic Data Source2210.06479v1 · Gaoyue Zhou, Liyiming Ke, Siddhartha Srinivasa et al.2022 · 11 citationsarXiv
Git Re-Basin: Merging Models modulo Permutation Symmetries2209.04836v6 · Samuel K. Ainsworth, Jonathan Hayase, Siddhartha Srinivasa2022 · 46 citationsarXiv
Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates2207.06362v2 · Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel et al.2022 · 4 citationsarXiv
On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control2204.02322v2 · Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel et al.2022 · 1 citationarXiv
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation2204.02371v2 · Patrick Lancaster, Pratik Gyawali, Christoforos Mavrogiannis et al.2022 · 11 citationsarXiv
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots2204.02460v2 · Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha Srinivasa et al.2022 · 5 citationsarXiv
Benchmarking Robot Manipulation with the Rubik's Cube2202.07074v1 · Boling Yang, Patrick E. Lancaster, Siddhartha S. Srinivasa et al.2022 · 20 citationsIEEE Robotics and Automation Letters 5.2 (2020): 2094-2099
Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer2111.11401v2 · Suneel Belkhale, Ethan K. Gordon, Yuxiao Chen et al.2021 · 17 citationsarXiv
Stein Variational Probabilistic Roadmaps2111.02972v2 · Alexander Lambert, Brian Hou, Rosario Scalise et al.2021 · 6 citationsarXiv
Real Robot Challenge: A Robotics Competition in the Cloud2109.10957v2 · Stefan Bauer, Felix Widmaier, Manuel Wuthrich et al.2021 · 5 citationsarXiv
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids2109.07060v2 · Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S. Srinivasa2021 · 10 citationsarXiv
Winding Through: Crowd Navigation via Topological Invariance2109.05084v4 · Christoforos Mavrogiannis, Krishna Balasubramanian, Sriyash Poddar et al.2021 · 32 citationsarXiv
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation2105.12076v1 · Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras2021 · 4 citationsarXiv
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation2105.02087v2 · Niklas Funk, Charles Schaff, Rishabh Madan et al.2021 · 24 citationsIEEE Robotics and Automation Letters 7 (2022) 478-485
Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning2104.05037v1 · Aditya Mandalika, Rosario Scalise, Brian Hou et al.2021 · 7 citationsarXiv
Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics2104.01021v1 · Matthew Schmittle, Sanjiban Choudhury, Siddhartha S. Srinivasa2021 · 2 citationsarXiv
Faster Policy Learning with Continuous-Time Gradients2012.06684v2 · Samuel Ainsworth, Kendall Lowrey, John Thickstun et al.2020 · 6 citationsL4DC 2021
Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation2011.06719v1 · Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee et al.2020 · 38 citationsarXiv
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections2011.03894v1 · Junha Roh, Christoforos Mavrogiannis, Rishabh Madan et al.2020 · 19 citationsarXiv
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding2011.02604v2 · Ethan K. Gordon, Sumegh Roychowdhury, Tapomayukh Bhattacharjee et al.2020 · 9 citationsarXiv
Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity2009.13146v1 · William Agnew, Christopher Xie, Aaron Walsman et al.2020 · 11 citationsarXiv
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations2008.00101v1 · Liyiming Ke, Ajinkya Kamat, Jingqiang Wang et al.2020 · 11 citationsarXiv
Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids2004.05205v2 · Christoforos Mavrogiannis, Jonathan A. DeCastro, Siddhartha S. Srinivasa2020 · 9 citationsarXiv
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges2002.11853v2 · Brian Hou, Sanjiban Choudhury, Gilwoo Lee et al.2020 · 11 citationsarXiv
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts2002.03042v1 · Gilwoo Lee, Brian Hou, Sanjiban Choudhury et al.2020 · 4 citationsarXiv
Lyceum: An efficient and scalable ecosystem for robot learning2001.07343v1 · Colin Summers, Kendall Lowrey, Aravind Rajeswaran et al.2020 · 7 citationsarXiv
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