Publications

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2010

[1] D. H. Grollman. Teaching Old Dogs New Tricks: Incremental Multimap Regression for Interactive Robot Learning from Demonstration. PhD thesis, Brown University, May 2010. [ bib | .pdf ]
[2] S. Osentoski and S. Mahadevan. Basis function construction for hierarchical reinforcement learning. In Nineth International Conference on Autonmous Agents and Multiagent Systems (AAMAS), page in press, Toronto, Canada, May 2010. [ bib | .pdf ]
[3] M. Vondrak, L. Sigal, and O. Jenkins. Dynamics and control of multibody systems. In Motion Control, pages 1-30. Jan 2010. [ bib | http ]
[4] S. Osentoski, G. Jay, C. Crick, and O. Jenkins. Crowdsourcing for closed loop control. In NIPS Workshop on Computational Social Science and the Wisdom of Crowds, 2010. [ bib ]
[5] S. Osentoski, G. Jay, C. Crick, and O. Jenkins. Brown ros package: Reproducibility for shared experimentation and learning from demonstration. In AAAI-10 Robot Workshop, Atlanta, GA, 2010. [ bib ]

2009

[1] D. H. Grollman and O. C. Jenkins. Multimap regression for perceptual aliasing in learning finite state machine robot controllers from interactive demonstration. In Robotics: Science and Systems Workshop on Regression in Robotics, Seattle, Washington, USA, June 2009. [ bib ]
[2] D. H. Grollman and O. C. Jenkins. Can we learn finite state machine robot controllers from interactive demonstration? In From Motor to Interaction Learning in Robots, pages 405-429. Springer, 2009. [ bib | .pdf ]
[3] J. Butterfield, O. C. Jenkins, D. Sobel, and J. Schwertfeger. Modeling aspects of Theory of Mind with Markov Random Fields. International Journal of Social Robotics, 1(1):41-51, Jan 2009. [ bib | .pdf ]
[4] M. Anderson, O. Jenkins, and P. Oh. The 17th annual AAAI robot exhibition and manipulation and mobility workshop. AI Magazine, 30(1):95-102, 2009. [ bib | http ]
[5] Y. Kim, P. Oh, and O. Jenkins. The AAAI 2008 robotics and creativity workshop. AI Magazine, 30(1):103-107, 2009. [ bib | http ]
[6] M. Loper, N. Koenig, S. Chernova, O. Jenkins, and C. Jones. Mobile human-robot teaming with environmental tolerance. In Human-Robot Interaction (HRI 2009), pages 157-164, San Diego, CA, USA, Mar 2009. [ bib | .pdf ]
[7] A. Steinfeld, O. Jenkins, and B. Scassellati. The Oz of Wizard: Simulating the human for interaction research. In Human-Robot Interaction (HRI 2009), pages 101-108, San Diego, CA, USA, Mar 2009. [ bib | .pdf ]

2008

[1] D. H. Grollman and O. C. Jenkins. Sparse incremental learning for interactive robot control policy estimation. In International Conference on Robotics and Automation (ICRA 2008), pages 3315-3320, Pasadena, CA, USA, May 2008. [ bib | .pdf ]
[2] J. Butterfield, B. Gerkey, and O. Jenkins. Multi-robot Markov Random Fields. In Autonomous Agents and Multi Agent Systems (AAMAS 2008), pages 1211-1214, Estoril, Portugal, May 2008. [ bib | .pdf ]
[3] N. Koenig, S. Chernova, C. Jones, M. Loper, and O. Jenkins. Hands-free interaction for human-robot teams. In ICRA 2008 Workshop on Social interaction with intelligent indoor robots, Pasadena, CA, USA, May 2008. [ bib ]
[4] J. Butterfield, K. Dantu, B. Gerkey, O. Jenkins, and G. Sukhatme. Autonomous biconnected networks of mobile robots. In Wireless Multihop Communications in Networked Robotics, pages 640-646, Berlin, Germany, April 2008. [ bib | .pdf ]
[5] M. Nicolescu, O. Jenkins, A. Olenderski, and E. Fritzinger. Learning behavior fusion from demonstration. Interaction Studies, 9(2):319-352, Jun 2008. [ bib | .pdf ]
[6] O. C. Jenkins. Sparse control for high-DOF assistive robots. Intelligent Service Robotics, 1(2):123-134, Apr 2008. [ bib | .pdf ]
[7] M. Vondrak, L. Sigal, and O. Jenkins. Physical simulation for probabilistic motion tracking. In Computer Vision and Pattern Recognition (CVPR 2008), pages 1-8, Anchorage, AK, USA, Jun 2008. [ bib | .pdf ]
[8] A. Tsoli and O. C. Jenkins. Neighborhood denoising for learning high-dimensional grasping manifolds. In International Conference on Intelligent Robots and Systems (IROS 2008), pages 3680-3685, Nice, France, Sep 2008. [ bib | .pdf ]
[9] O. C. Jenkins. Markov Random Fields models for multi-robot teams in cyber-physical systems (4 pages). In International Conference on Intelligent Robots and Systems (IROS 2008), Special Session on Cyber Physical Systems, Nice, France, Sep 2008. [ bib | .pdf ]
[10] M. Lapping-Carr, O. Jenkins, D. Grollman, J. Schwertfeger, and T. Hinkle. Wiimote interfaces for lifelong robot learning. In AAAI Symposium on Using AI to Motivate Greater Participation in Computer Science, Palo Alto, CA, USA, Mar 2008. [ bib | .pdf ]
[11] A. Tsoli and O. C. Jenkins. Learning 2D subspaces for user-controlled robot grasping. In International Conference on Intelligent Robots and Systems Workshop on Robot Learning, Nice, France, Sep 2008. [ bib | .pdf ]
[12] D. Grollman and O. C. Jenkins. Learning multi-objective robot control policies from demonstration. In International Conference on Intelligent Robots and Systems Workshop on Robot Learning, Nice, France, Sep 2008. [ bib | .pdf ]
[13] D. Byers, M. Lapping-Carr, J. Kumar, T. Hinkle, D. Grollman, and O. Jenkins. Game-based robot learning. In AAAI 2008 Video Program (Best Student Video), Chicago, IL, USA, Jul 2008. [ bib ]
[14] N. Koenig, S. Chernova, C. Jones, M. Loper, and O. Jenkins. Hands-free human-robot interaction. In AAAI 2008 Video Program, Chicago, IL, USA, Jul 2008. [ bib ]
[15] N. Koenig, S. Chernova, C. Jones, M. Loper, and O. Jenkins. Hands-free human-robot interaction. In HRI 2008 Video Program, Amsterdam, Netherlands, Mar 2008. [ bib ]
[16] D. Byers, M. Lapping-Carr, J. Kumar, T. Hinkle, D. Grollman, and O. Jenkins. Brown Robotics: Game-based learning. In HRI 2008 Video Program, Amsterdam, Netherlands, Mar 2008. [ bib ]
[17] F. Wood, D. H. Grollman, K. A. Heller, O. C. Jenkins, and M. Black. Incremental nonparametric bayesian regression. Technical Report CS-08-07, Brown University Department of Computer Science, 2008. [ bib | .html ]

2007

[1] E. Chang and O. C. Jenkins. Sketching articulation and pose for facial animation. In Z. Deng and U. Neumann, editors, Data-Driven 3D Facial Animation, chapter 8, pages 132-144. Springer, 2007. [ bib | http ]
[2] O. Jenkins, G. González, and M. Loper. Recognizing human pose and actions for interactive robots. In Human-Robot Interaction, chapter 6, pages 119-138. 2007. [ bib | http ]
[3] O. Jenkins, G. Gonzalez, and M. Loper. Interactive human pose and action recognition using dynamical motion primitives. International Journal of Humanoid Robotics, 4(2):365-385, Jun 2007. [ bib | .pdf ]
[4] O. Jenkins, G. González, and M. Loper. Tracking human motion and actions for interactive robots. In Human-Robot Interaction (HRI 2007), pages 365-372, Arlington, VA, USA, Mar 2007. [ bib | .pdf ]
[5] D. Grollman and O. Jenkins. Dogged learning for robots. In International Conference on Robotics and Automation (ICRA 2007), pages 2483-2488, Rome, Italy, Apr 2007. [ bib | .pdf ]
[6] D. Grollman and O. Jenkins. Learning elements of robot soccer from demonstration. In International Conference on Development and Learning (ICDL 2007), pages 276-281, London, England, Jul 2007. [ bib | .pdf ]
[7] J. Schwertfeger and O. Jenkins. Multi-robot belief propagation for distributed robot allocation. In International Conference on Development and Learning (ICDL 2007), pages 193-198, London, England, Jul 2007. [ bib | .pdf ]
[8] M. Nicolescu, O. Jenkins, and A. Stanhope. Fusing robot behaviors for human-level tasks. In International Conference on Development and Learning (ICDL 2007), pages 76-81, London, England, Jul 2007. [ bib | .pdf ]
[9] O. Jenkins, P. Wrotek, and M. McGuire. Dynamic humanoid balance through inertial control. In IEEE Intl. Conf. on Humanoid Robots (Humanoids 2007), 2007. [ bib | .pdf ]
[10] B. Dickinson, O. Jenkins, M. Moseley, D. Bloom, and D. Hartmann. Roomba Pac-Man: Teaching autonomous robotics through embodied gaming. In AAAI Symposium on Robot and Robot Venues: Resources for AI Education, pages 35-39, Palo Alto, CA, USA, Mar 2007. [ bib | .pdf ]
[11] A. Tsoli and O. Jenkins. 2D subspaces for user-driven robot grasping. In Robotics: Science and Systems - Robot Manipulation: Sensing and Adapting to the Real World, Jun 2007. [ bib | .pdf ]
[12] A. Tsoli and O. Jenkins. Robot grasping for prosthetic applications. In International Symposium of Robotics Research (ISRR2007), Nov 2007. [ bib | .pdf ]
[13] D. H. Grollman and O. C. Jenkins. Learning robot soccer from demonstration: Ball grasping. In Robotics: Science and Systems - Robot Manipulation: Sensing and Adapting to the Real World, Jun 2007. [ bib | .pdf ]
[14] D. H. Grollman and O. C. Jenkins. (machine) learning robot control policies. In NIPS 2007 Workshop on Robotics challenges for Machine Learning, Whistler, BC, Canada, Dec 2007. [ bib | .pdf ]
[15] A. Tsoli and O. Jenkins. Cursor-controlled prosthetic grasping from 2D subspaces. In MAIA Workshop “BCI Meets Robotics”: Challenging Issues in Brain-Computer Interaction and Shared Control, Leuven, Belgium, Nov 2007. [ bib | .pdf ]
[16] M. Kostandov, J. Schwertfeger, O. Jenkins, R. Jianu, M. Buller, D. Hartmann, M. Loper, A. Tsoli, M. Vondrak, and W. Zhou. Robot gaming and learning using augmented reality. In ACM SIGGRAPH Technical Posters, San Diego, CA, USA, Aug 2007. [ bib | .pdf ]

2006

[1] O. Jenkins, R. Bodenheimer, and R. Peters. Manipulation manifolds: Explorations into uncovering manifolds in sensory-motor spaces (8 pages). In International Conference on Development and Learning (ICDL 2006), Bloomington, IN, USA, May-Jun 2006. [ bib | .pdf ]
[2] D. H. Grollman, O. C. Jenkins, and F. Wood. Discovering natural kinds of robot sensory experiences in unstructured environments. Journal of Field Robotics, 23(11-12):1077-1089, 2006. [ bib | .pdf ]
[3] M. Katzourin, D. Ignatoff, L. Quirk, J. J. LaViola, and O. C. Jenkins. Swordplay: Innovating game development through VR. IEEE Comput. Graph. Appl., 26(6):15-19, 2006. [ bib | DOI | http ]
[4] E. Leland, O. C. Jenkins, and K. Bradford. Robosapien localization and control. Circuit Cellar Magazine, 188, Mar 2006. Honorable Mention, Freescale Semiconductor Zigbee Wireless Design Challenge. [ bib | .pdf ]
[5] O. C. Jenkins. 2D subspaces for sparse control of high-DOF robots. In Intl. Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2006), pages 2722-2725, New York, NY, USA, Aug-Sep 2006. [ bib | .pdf ]
[6] R. Peters, O. Jenkins, and R. Bodenheimer. Sensory-motor manifold structure induced by task outcome: Experiments with Robonaut. In IEEE International Conference on Humanoid Robotics (Humanoids 2006), pages 484-489, Genoa, Italy, Dec 2006. [ bib | .pdf ]
[7] O. Jenkins, G. González, and M. Loper. Learning dynamical motion vocabularies for kinematic tracking and activity recognition. In CVPR 2006 Workshop on Vision for Human-Computer Interaction, New York, NY, USA, Jun 2006. [ bib | http ]
[8] O. Jenkins, G. González, and M. Loper. Monocular virtual trajectory estimation with dynamical primitives. In AAAI 2006 Cognitive Robotics Workshop, Boston, MA, USA, Jul 2006. [ bib | .pdf ]
[9] E. Chang and O. Jenkins. Sketching articulation and pose for facial animation. In ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA 2006), Vienna, Austria, Sep 2006. [ bib | .pdf ]
[10] P. Wrotek, O. Jenkins, and M. McGuire. Dynamo: Dynamic data-driven character control with adjustable balance. In ACM SIGGRAPH Video Game Symposium, Boston, MA, USA, Jul 2006. [ bib | .pdf ]
[11] P. Wrotek, O. Jenkins, and M. McGuire. World space servoing for character animation under simulation. In ACM SIGGRAPH Technical Sketches, Boston, MA, USA, Aug 2006. [ bib | .pdf ]
[12] M. Nicolescu, O. Jenkins, and A. Olenderski. Learning behavior fusion estimation from demonstration. In IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2006), Hatfield, United Kingdom, Sep 2006. [ bib | .pdf ]
[13] M. Nicolescu, O. C. Jenkins, and A. Olenderski. Behavior fusion estimation for robot learning from demonstration. In IEEE Workshop on Distributed Intelligent Systems (DIS'06), pages 31-36, Prague, Czech Republic, 2006. [ bib | .pdf ]
[14] O. Jenkins, R. Peters, and R. Bodenheimer. Uncovering success in manipulation. In Robotics: Science and Systems Workshop on Manipulation in Human Environments, Philadelphia, PA, USA, Aug 2006. [ bib | .pdf ]
[15] S.-P. Kim, J. Simeral, O. Jenkins, J. Donoghue, and M. Black. Finding directional movement representations in motor cortical neural populations using nonlinear manifold learning. In World Congress on Medical Physics and Biomedical Engineering 2006, Seoul, Korea, Aug 2006. [ bib | .pdf ]
[16] E. Leland, O. Jenkins, B. Dickinson, D. Grollman, and M. Moseley. The brown university robocup 2006 four-legged league team report. Technical report, Brown University, Department of Computer Science, 2006. [ bib | .pdf ]

2005

[1] R. A. Peters and O. C. Jenkins. Uncovering manifold structures in Robonaut's sensory-data state space. In IEEE International Conference on Humanoid Robotics (Humanoids 2005), pages 369-374, Tsukuba, Japan, Dec 2005. [ bib | .pdf ]
[2] D. H. Grollman, O. C. Jenkins, and F. Wood. Discovering natural kinds of robot sensory experiences in unstructured environments. In NIPS 2005 Workshop on Machine Learning Based Robotics in Unstructured Environments, Whistler, BC, Canada, Dec 2005. [ bib | .pdf ]
[3] O. C. Jenkins. Data-driven motion modeling from kinematic time-series. In NIPS 2005 Workshop on Activity Recognition and Discovery, Whistler, BC, Canada, Dec 2005. [ bib | www: ]
[4] O. C. Jenkins and C. I. Swepson. Keyframing by segmentation of kinematic motion. In ACM Symposium on Computer Animation Posters (SCA 2005), 2005. [ bib ]
[5] J. Mallios, N. Mehta, C. Street, and O. C. Jenkins. Modular dynamic response from motion databases. In SIGGRAPH 2005 Posters, 2005. [ bib | .pdf ]
[6] M. M. Loper and O. C. Jenkins. Real-time silhouette intersection by maintaining the distribution of occupancy. Technical Report Technical Report, cs05-12, Brown Computer Science Department, Jul 2005. [ bib | .html ]
[7] D. H. Grollman, O. C. Jenkins, and F. Wood. Extensible data-driven classification of robot sensor data. Technical Report Technical Report, cs05-11, Brown Computer Science Department, Jul 2005. [ bib | .html ]

2004

[1] O. C. Jenkins and M. J. Matarić. Performance-derived behavior vocabularies: Data-driven acqusition of skills from motion. International Journal of Humanoid Robotics, 1(2):237-288, Jun 2004. [ bib | .pdf ]
[2] O. C. Jenkins and M. J. Matarić. A spatio-temporal extension to Isomap nonlinear dimension reduction. In The International Conference on Machine Learning (ICML 2004), pages 441-448, Banff, Alberta, Canada, Jul 2004. [ bib | .pdf ]
[3] E. Drumwright, O. C. Jenkins, and M. J. Matarić. Exemplar-based primitives for humanoid movement classification and control. In IEEE International Conference on Robotics and Automation, pages 140-145, New Orleans, LA, USA, Apr 2004. [ bib | http ]
[4] N. Miller, O. C. Jenkins, M. Kallmann, and M. J. Matarić. Motion capture from inertial sensing for untethered humanoid teleoperation. In IEEE International Conference on Humanoid Robots (Humanoids 2004), pages 547-565, Nov 2004. [ bib | .pdf ]
[5] W. Bluethmann, R. Ambrose, M. Diftler, E. Huber, A. Fagg, M. Rosenstein, R. Platt, R. Grupen, C. Breazeal, A. Brooks, A. Lockerd, R. A. Peters, O. C. Jenkins, M. J. Matarić, and M. Bugajska. Building an autonomous humanoid tool user. In IEEE International Conference on Humanoid Robots (Humanoids 2004), pages 402-421, Nov 2004. [ bib | http ]
[6] O. C. Jenkins, M. N. Nicolescu, and M. J. Matarić. Autonomy and supervision for robot skills and tasks learned from demonstration. In AAAI-04 Workshop on Supervisory Control of Learning and Adaptive Systems, 2004. [ bib | .pdf ]
[7] O. C. Jenkins, C.-W. Chu, and M. J. Matarić. Nonlinear spherical shells for approximate principal curve skeletonization. Technical Report Technical Report, CRES-04-004, USC Center for Robotics and Embedded Systems, Feb 2004. [ bib | .pdf ]
[8] O. C. Jenkins and M. J. Matarić. A spatio-temporal extension to Isomap nonlinear dimension reduction. Technical Report Technical Report, CRES-04-003, USC Center for Robotics and Embedded Systems, Feb 2004. [ bib | .pdf ]
[9] N. Miller, O. C. Jenkins, M. Kallmann, and M. J. Matarić. Motion capture from inertial sensing for untethered humanoid teleoperation. Technical Report Technical Report, CRES-04-010, USC Center for Robotics and Embedded Systems, Jun 2004. [ bib | .pdf ]

2003

[1] O. C. Jenkins. Data-driven Derivation of Skills for Autonomous Humanoid Agents. PhD thesis, The University of Southern California, 2003. [ bib | .pdf ]
[2] O. C. Jenkins and M. J. Matarić. Automated derivation of behavior vocabularies for autonomous humanoid motion. In Autonomous Agents and Multiagent Systems (AAMAS 2003), pages 225-232, Melbourne, Australia, Jul 2003. [ bib | .pdf ]
[3] D. Erol, J. Park, E. Turkay, K. Kawamura, O. Jenkins, and M. Matarić. Motion generation for humanoid robots with automatically derived behaviors. In IEEE Systems, Man, and Cybernetics (SMC 2003), pages 1816-1822, Washington, DC, USA, Oct 2003. [ bib | .pdf ]
[4] C.-W. Chu, O. C. Jenkins, and M. J. Matarić. Markerless kinematic model and motion capture from volume sequences. In IEEE Computer Vision and Pattern Recognition (CVPR 2003), pages II: 475-482, Madison, Wisconsin, USA, Jun 2003. [ bib | .pdf ]
[5] O. C. Jenkins. Relative localization from pairwise distance relationships using kernel pca. Technical Report CRES-03-010, Center for Robotics and Embedded Systems, University of Southern California, Apr 2003. [ bib | .pdf ]

2002

[1] A. Fod, M. Matarić, and O. Jenkins. Automated derivation of primitives for movement classification. Autonomous Robots, 12(1):39-54, Jan 2002. [ bib | .pdf ]
[2] O. C. Jenkins and M. J. Matarić. Deriving action and behavior primitives from human motion data. In IEEE Intelligent Robots and Systems (IROS 2002), volume 3, pages 2551-2556, Lausanne, Switzerland, Oct 2002. [ bib | .pdf ]
[3] C.-W. Chu, O. C. Jenkins, and M. J. Matarić. Converting sequences of human volumes into kinematic motion. Technical Report CRES-02-003, Center for Robotics and Embedded Systems, University of Southern California, Sep 2002. [ bib | .pdf ]

2001

[1] O. C. Jenkins and M. J. Matarić. Primitives and behavior-based architectures for interactive entertainment. In AAAI Spring Symposium on AI and Interactive Entertainment, Stanford, CA, USA, Mar 2001. [ bib | .pdf ]

2000

[1] A. Fod, M. Matarić, and O. Jenkins. Automated derivation of primitives for movement classification. In IEEE-RAS International Conference on Humanoid Robots (Humanoids 2000), Cambridge, MA, USA, Oct 2000. [ bib | .pdf ]
[2] O. C. Jenkins, M. Matarić, and S. Weber. Primitive-based movement classification for humanoid imitation. In IEEE International Conference on Humanoid Robots (Humanoids 2000), Cambridge, MA, USA, Oct 2000. [ bib | .pdf ]
[3] M. J. Matarić, O. C. Jenkins, A. Fod, and V. B. Zordan. Control and imitation in humanoids. In AAAI Fall Symposium on Simulating Human Agents, North Falmouth, MA, USA, Nov 2000. [ bib | .ps.gz ]
[4] S. Weber, M. Matarić, and O. Jenkins. Imitation using perceptuo-motor primitives. In Autonomous Agents, pages 136-137, Barcelona, Spain, 2000. [ bib | .ps.gz ]
[5] O. C. Jenkins, M. J. Matarić, and S. Weber. Primitive-based movement classification for humanoid imitation. Technical Report IRIS-00-385, Institute for Robotics and Intelligent Systems, University of Southern California, 2000. [ bib | .pdf ]

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