Robotics and Artificial Intelligence Laboratory

Below is a list of journal articles, conference papers, workshop papers, technical reports, and theses that have been a product of research conducted by faculty and students from the Robotics and Artificial Intelligence Laboratory at the University of Rochester. Research conducted by the laboratory has been published in the International Journal of Robotics Research (IJRR), Robotics: Science and Systems (RSS), International Symposium of Robotics Research (ISRR), International Symposium on Experimental Robotics (ISER), Conference on Field and Service Robotics (FSR), International Joint Conference on Artificial Intelligence (IJCAI), IEEE/RSJ Intelligent Robots and Systems (IROS), IEEE International Conference on Robotics and Automation (ICRA), Conference on Robot Learning (CoRL), and other venues. For a complete list of publications by Prof. Howard, please refer to his faculty webpage. A BibTex file of all publications by members of the laboratory can be found here.

2020


J. Arkin, D. Park, S. Roy, M. Walter, N. Roy, T.M. Howard, and R. Paul, "Multimodal estimation and communication of latent semantic knowledge for robust execution of robot instructions," International Journal of Robotics Research. Jun. 2020 [abstract] [paper] [bibtex]

J. Rosser, J. Arkin, S. Patki, and T.M. Howard, "Natural Language Interaction with Synthesis Based Control for Simulated Free-Flying Robots," In 2020 International Symposium on Artificial Intelligence, Robotics and Automation in Space. Oct. 2020 [abstract] [paper] [bibtex]

N. Kent, R.M. Bhirangi, M. Travers, and T.M. Howard, "Inferring Task-Space Central Pattern Generator Parameters for Closed-loop Control of Underactuated Robots," In 2020 IEEE International Conference on Robotics and Automation. Sep. 2020, pp. 8833-8839 [abstract] [paper] [bibtex]

J. Arkin, R. Paul, S. Roy, D. Park, N. Roy, and T.M. Howard, "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments," In Proceedings of the 2018 International Symposium on Experimental Robotics. Springer International Publishing, Nov. 2020, pp. 448-460 [abstract] [paper] [bibtex]

2019


S. Patki, E. Fahnestock, T.M. Howard, and M. Walter, "Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments," In Conference on Robot Learning. PMLR, Oct. 2019, vol. 100, pp. 1201-1210 [abstract] [paper] [bibtex]

M. Napoli, S. Goswami, S. McAleavey, M. Doyley, and T.M. Howard, "Probabilistic Mapping of Tissue Elasticity for Robot-Assisted Medical Ultrasound," In International Symposium on Robotics Research. Oct. 2019, forthcoming [bibtex]

S. Patki, A. Daniele, M. Walter, and T.M. Howard, "Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions," In 2019 IEEE International Conference on Robotics and Automation. May 2019, pp. 6926-6933 [abstract] [paper] [bibtex]

R.A. Chavali, N. Kent, M.E. Napoli, T.M. Howard, and M. Travers, "Inferring Distributions of Parameterized Controllers for Efficient Sampling-Based Locomotion of Underactuated Robots," In 2019 American Control Conference. Jul. 2019, pp. 5767-5773 [abstract] [paper] [bibtex]

E. Fahnestock, S. Patki, and T.M. Howard, "Language-guided Adaptive Perception with Hierarchical Symbolic Representations for Mobile Manipulators," In 6th AAAI Fall Symposium Series on Artificial Intelligence for Human-Robot Interaction. Nov. 2019 [abstract] [paper] [bibtex]

2018


R. Paul, J. Arkin, D. Aksaray, N. Roy, and T.M. Howard, "Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Platforms," International Journal of Robotics Research. Jun. 2018 [abstract] [paper] [bibtex]

S. Patki and T.M. Howard, "Language-guided Adaptive Perception for Efficient Grounded Communication with Robotic Manipulators in Cluttered Environments," In 19th Annual Meeting of the Special Interest Group on Discourse and Dialogue. Jul. 2018 [abstract] [paper] [bibtex]

M. Napoli, C. Freitas, S. Goswami, S. McAleavey, M. Doyley, and T.M. Howard, "Hybrid Force/Velocity Control with Compliance Estimation via Strain Elastography for Robot Assisted Ultrasound Screening," In 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE, Aug. 2018 [abstract] [paper] [bibtex]

M. Napoli, H. Biggie, and T.M. Howard, "Learning Models for Predictive Adaptation in State Lattices," In Field and Service Robotics: Results of the 11th International Conference. Springer Proceedings in Advanced Robotics. Springer, Cham, 2018, vol. 5, pp. 285-300 [abstract] [paper] [bibtex]

M. Esponda and T.M. Howard, "Adaptive Grasp Control through Multi-Modal Interactions for Assistive Prosthetic Devices," In 5th AAAI Fall Symposium Series on Artificial Intelligence for Human-Robot Interaction. Oct. 2018 [abstract] [paper] [bibtex]

J. Arkin and T.M. Howard, "Experiments in Proactive Symbol Grounding for Efficient Physically Situated Human-Robot Dialogue," In Special Session on Physically Situated Dialogue at the 19th Annual Meeting of the Special Interest Group on Discourse and Dialogue. Jul. 2018 [abstract] [paper] [bibtex]

2017


A. Broad, J. Arkin, N. Ratliff, T.M. Howard, and B. Argall, "Real-Time Natural Language Corrections for Assistive Robotic Manipulators," International Journal of Robotics Research. vol. 36, pp. 684-698, May 2017 [abstract] [paper] [bibtex]

A. Daniele, T.M. Howard, and M. Walter, "A Multiview Approach to Learning Articulated Motion Models," In International Symposium on Robotics Research. Dec. 2017 [abstract] [paper] [bibtex]

M. Napoli, H. Biggie, and T.M. Howard, "On the Performance of Selective Adaptation in State Lattices for Mobile Robot Motion Planning," In IEEE/RSJ International Conference on Intelligent Robots and Systems. Sep. 2017 [abstract] [paper] [bibtex]

J. Arkin, M. Walter, A. Boteanu, M. Napoli, H. Biggie, H. Kress-Gazit, and T.M. Howard, "Contextual Awareness: Understanding Monologic Natural Language Instructions for Autonomous Robots," In IEEE International Symposium on Robot and Human Interactive Communication. Aug. 2017 [abstract] [paper] [bibtex]

R. Paul, J. Arkin, N. Roy, and T.M. Howard, "Grounding Abstract Spatial Concepts for Language Interaction with Robots," In International Joint Conference on Artificial Intelligence. Aug. 2017 [abstract] [paper] [bibtex]

D. Yi, M. Goodrich, T.M. Howard, and K. Seppi, "Topology-Aware RRT* for Parallel Optimal Sampling in Topologies," In 2017 IEEE International Conference on Systems, Man, and Cybernetics. IEEE, Oct. 2017 [abstract] [paper] [bibtex]

J. Oh, T.M. Howard, M.R. Walter, D. Barber, M. Zhu, S. Park, A. Suppe, L. Navarro-Serment, F. Duvallet, A. Boularias, O. Romero, J. Vinokurov, T. Keegan, R. Dean, C. Lennon, B. Bodt, M. Childers, J. Shi, K. Daniilidis, N. Roy, C. Lebiere, M. Hebert, and A. Stentz, "Integrated Intelligence for Human-Robot Teams," In Experimental Robotics: 2016 International Symposium on Experimental Robotics. Springer Proceedings in Advanced Robotics. Springer, Mar. 2017, vol. 1, pp. 309-322 [abstract] [paper] [bibtex]

A. Boteanu, J. Arkin, S. Patki, T.M. Howard, and H. Kress-Gazit, "Robot-Initiated Specification Repair through Grounded Language Interaction," In AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration. Nov. 2017 [abstract] [paper] [bibtex]

A. Daniele, T.M. Howard, and M. Walter, "Learning Articulated Object Models from Language and Vision," In AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration. Nov. 2017 [abstract] [paper] [bibtex]

2016


A. Boteanu, J. Arkin, T.M. Howard, and H. Kress-Gazit, "A Model for Verifiable Grounding and Execution of Complex Language Instructions," In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2016, pp. 2649-2654 [abstract] [paper] [bibtex]

D. Yi, T.M. Howard, K. Seppi, and M. Goodrich, "Expressing Homotopic Requirements for Mobile Robot Navigation through Natural Language Instructions," In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2016, pp. 1462-1468 [abstract] [paper] [bibtex]

M. Wijesundara, C. Tapparello, A. Gamage, G. Yadhavan, L. Gittelson, T.M. Howard, and W. Heinzelman, "Design of a Kinetic Energy Harvester for Elephant Mounted Sensor Nodes of JumboNet," In 2016 IEEE Global Communication Conference (GLOBECOM). Dec. 2016 [abstract] [paper] [bibtex]

R. Paul, J. Arkin, N. Roy, and T.M. Howard, "Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators," In 2016 Robotics: Science and Systems Conference. Jun. 2016 [abstract] [paper] [bibtex]

D. Barber, T.M. Howard, and M.R. Walter, "A Multimodal Interface for Real-Time Soldier-Robot Teaming," In Unmanned Systems Technology XVIII. International Society for Optics and Photonics, Apr. 2016, vol. 9837 [abstract] [paper] [bibtex]

A. Broad, J. Arkin, N. Ratliff, T.M. Howard, and B. Argall, "Towards Real-Time Natural Language Corrections for Assistive Robots," In 2nd Workshop on Model Learning for Human-Robot Communcation at the Robotics: Science and Systems Conference. Jun. 2016 [abstract] [paper] [bibtex]

2015


I. Chung, O. Propp, M.R. Walter, and T.M. Howard, "On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions," In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2015 [abstract] [paper] [bibtex]

S. Hemachandra, F. Duvallet, T.M. Howard, N. Roy, A. Stentz, and M.R. Walter, "Learning Models for Following Natural Language Directions in Unknown Environments," In 2015 IEEE International Conference on Robotics and Automation. IEEE, May 2015, pp. 5608-5615 [abstract] [paper] [bibtex]

F. Duvallet, M.R. Walter, T.M. Howard, S. Hemachandra, J. Oh, S. Teller, N. Roy, and A. Stentz, "Inferring Maps and Behaviors from Natural Language Instructions," In Proceedings of the 14th International Symposium on Experimental Robotics. Springer, Nov. 2015, pp. 373-388 [abstract] [paper] [bibtex]

J. Arkin and T.M. Howard, "Learning Efficient Models for Natural Language Understanding of Quantifiable Spatial Relationships," In Workshop on Model Learning for Human-Robot Communication at the Robotics: Science and Systems Conference. Jul. 2015 [abstract] [paper] [bibtex]