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2019

• K. Hauser. Bayesian Tactile Exploration for Compliant Docking with Uncertain Shapes. To appear in IEEE Transactions on Robotics, 2019.
• F. Wang and K. Hauser. Robot Packing with Known Items and Nondeterministic Arrival Order. To appear in Robotics: Science and Systems (RSS), June 2019.
• M. Draelos, P. Ortiz, R. Qian, B. Keller, K. Hauser, A. Kuo, and J. Izatt. Automatic Optical Coherence Tomography Imaging of Stationary and Moving Eyes with a Robotically-Aligned Scanner. IEEE International Conference on Robotics and Automation, May, 2019. ICRA video
• G. Tang and K. Hauser. Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts. IEEE International Conference on Robotics and Automation, May, 2019. (A prior version was available in ArXiv, 2018.)
• F. Wang and K. Hauser. In-hand Object Scanning via RGB-D Video Segmentation. IEEE International Conference on Robotics and Automation, May, 2019.
• F. Wang and K. Hauser. Stable Bin Packing of Non-convex 3D Objects with a Robot Manipulator. IEEE International Conference on Robotics and Automation, May, 2019. (A prior version was available in ArXiv, 2018.)
• Y. Zhu, L. Abdulmajeid, and K. Hauser. Data-driven Approach for Fast Simulation of Robot Locomotion on Granular Media. IEEE International Conference on Robotics and Automation, May, 2019. ICRA video

2018

• W. Sun, G. Tang, and K. Hauser. Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients. ArXiv, 2018.
• K. Hauser. Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles. Workshop on the Algorithmic Foundations of Robotics (WAFR), December 2018.
• S. Wang and K. Hauser. Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization. IEEE Int'l. Conf. on Humanoid Robots (Humanoids), November, 2018. Best Paper Award nominee Supplemental video
• G. Tang, W. Sun, and K. Hauser. Learning Trajectories for Real-Time Optimal Control of Quadrotors. IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2018. IROS video
• M. Aubert, H. Bader, and K. Hauser. Designing Multimodal Intent Communication Strategies for Conflict Avoidance in Industrial Human-Robot Teams. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2018.
• K. Hauser, S. Wang, and M. Cutkosky. Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models. IEEE Transactions on Robotics, July 2018.
• B. Keller, M. Draelos, G. Tang, S. Farsiu, A. N. Kuo, K. Hauser, and J. A. Izatt. Real-time Corneal Segmentation and 3D Needle Tracking in Intrasurgical OCT. Biomedical Optics Express, 9(6):2716-2732, June 2018.
• K. Hauser. Bayesian Tactile Exploration for Compliant Docking with Uncertain Shapes. Robotics: Science and Systems, June 2018.
• K. Hauser and S. Emmons. Global Redundancy Resolution via Continuous Pseudoinversion of the Forward Kinematic Map. IEEE Transactions on Automation Science and Engineering, 15(3): 932 - 944, March 2018.
• F. Wang, G. Chen, and K. Hauser. Robot Button Pressing In Human Environments . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
• M. Draelos, B. Keller, G. Tang, A. Kuo, K. Hauser, and J. Izatt.Real-Time Image-Guided Cooperative Robotic Assist Device for Deep Anterior Lamellar Keratoplasty . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
• S. Wang and K. Hauser. Realization of a Real-time Optimal Control Strategy to Stabilize a Falling Humanoid with Hand Contact . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video
• W. Zhang and K. Hauser. Single-Image Footstep Prediction for Versatile Legged Locomotion . IEEE Intl Conf. on Robotics and Automation (ICRA), 2018. ICRA video

2017

• S. Wang and K. Hauser. Real-time Stabilization of a Falling Humanoid Robot using Hand Contact: An Optimal Control Approach. IEEE Intl Conf. on Humanoid Robots (Humanoids), 2017.
• G. Tang and K. Hauser. A Data-driven Indirect Method for Nonlinear Optimal Control. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
• M. Draelos, B. Keller, C. Toth, A. Kuo, K. Hauser, and J. Izatt. Teleoperating Robots from Arbitrary Viewpoints in Surgical Contexts. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2017.
• Y. Zhou and K. Hauser. 6DOF Grasp Planning by Optimizing a Deep Learning Scoring Function. RSS Workshop on Revisiting Contact - Turning a Problem into a Solution, 2017.
• K. Hauser, S. Wang, and M. Cutkosky. Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models. Robotics: Science and Systems Conference (RSS), 2017.
• J. Luo and K. Hauser. Robust Trajectory Optimization Under Frictional Contact with Iterative Learning. Autonomous Robots, 41(6), 1447-1461, 2017.
• M. C. Aubert, A. W. Draelos, M. Draelos, Y. Feng, H. He, B. Keller, J. Li, B. Vincent, F. Wang, S. Wu, K. Zhou, T. Zhu, and K. Hauser. A Rapid Development Methodology for an Autonomous Warehouse Picking Robot. ICRA 2017 Warehouse Picking Automation Workshop, May 2017.
• Z. Li, P. Moran, C. Dong, R. Shaw, and K. Hauser. Development of a Tele-Nursing Mobile Manipulator for Remote Care-giving in Quarantine Areas. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
• J. Li, Z. Li and K. Hauser. A Study of Bidirectionally Telepresent Tele-action During Robot-Mediated Handover. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
• Z. Xie, K. Liu, and K. Hauser. Differential Dynamic Programming with Nonlinear Constraints. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
• Y. Zhou and K. Hauser. Incorporating Side-Channel Information into Convolutional Neural Networks for Robotic Tasks. IEEE Int'l. Conf. on Robotics and Automation (ICRA), May 2017.
• K. Hauser. Learning the Problem-Optimum Map: Analysis and Application to Global Optimization in Robotics. In IEEE Transactions on Robotics, 33(1):141-152, 2017. Also in arXiv:1605.04636 [cs.RO], 2016

2016

• K. Hauser. Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution. Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. Best Paper Award nominee.
• A. Rocchi and K. Hauser. . A Generic Simulator for Underactuated Compliant Hands. IEEE Int'l Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016.
• K. Hauser and Y. Zhou. Asymptotically Optimal Planning by Feasible Kinodynamic Planning in State-Cost Space. IEEE Transactions of Robotics, 32(6): 1431-1443, 2016. Also in arXiv:1505.04098 [cs.RO], 2015.
• A. Rocchi, B. Ames, J. Li, and K. Hauser. Stable Simulation of Underactuated Compliant Hands. IEEE Int'l. Conf. on Robotics and Automation (ICRA), 2016.
• N. Correll, K. E. Bekris, D. Berenson, O. Brock, A. Causo, K. Hauser, K. Okada, A. Rodriguez, J. M. Romano, P. R. Wurman. Analysis and Observation From the First Amazon Picking Challenge.IEEE Transactions on Automation Science and Engineering. (PP)99:1-17 Also in arXiv:1601.05484 [cs.RO], 2016.

2015

• O. Ramos and K. Hauser. Generalizations of the Capture Point to Nonlinear Center of Mass Paths and Uneven Terrain. IEEE-RAS Int'l Conference on Humanoid Robots, November, 2015. Best Paper Award
• Z. Li, K. Hauser, J. R. Roldan, D. Milutinović, and J. Rosen. A Novel Method for Quantifying Arm Motion Similarity. IEEE Engineering in Medicine and Biology Conference (EMBC), August, 2015.
• J. Luo and K. Hauser. Robust Trajectory Optimization Under Frictional Contact with Iterative Learning. Robotics: Science and Systems (RSS), July 2015.
• K. Hauser. Lazy Collision Checking in Asymptotically-Optimal Motion Planning. IEEE Intl. Conference on Robotics and Automation (ICRA), May 2015.
• D. Simshaw, K. Hauser, N. Terry, and M. Cummings. Regulating Healthcare Robots in the Hospital and the Home: Considerations for Maximizing Opportunities and Minimizing Risks. We Robot Conference, April 2015.
• A. Proia, D. Simshaw, and K. Hauser. Consumer Cloud Robotics and the Fair Information Practice Principles: Recognizing the Challenges and Opportunities Ahead Minnesota Journal of Law, Science & Technology, 16(1), Winter, 2015
• D. Coroian and K. Hauser. Learning Stroke Treatment Progression Models for an MDP Clinical Decision Support System. In SIAM Int'l Conference on Data Mining (SDM15), April 2015.

2014

• S. Yang, T. Khot, K. Kersting, G. Kunapuli, K. Hauser, and S. Natarajan. Learning from Imbalanced Data in Relational Domains: A Soft Margin Approach. IEEE Intl. Conference on Data Mining (ICDM), December 2014.
• A. Eilering, G. Franchi, and K. Hauser. RoboPuppet: Low-Cost, 3D Printed Miniatures for Teleoperating Full-Size Robots. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2014.
• J. Luo and K. Hauser. An Empirical Study of Optimal Motion Planning. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS), September 2014.
• M. Poffald, Y. Zhang, and K. Hauser. Learning problem space metrics for motion primitive selection. IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion, September 2014.
• A. Eilering, V. Yap, J. Johnson, and K. Hauser. Identifying Support Surfaces of Climbable Structures from 3D Point Clouds. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
• K. Hauser. Fast Interpolation and Time-Optimization with Contact. International Journal of Robotics Research (IJRR), 33(9):1231-1250, August, 2014. doi: 10.1177/0278364914527855
• K. Hauser. Fast Dynamic Optimization of Robot Paths under Actuator Limits and Frictional Contact. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
• J. Luo, Y. Zhang, K. Hauser, H.A. Park, M. Paldhe, C.S.G. Lee, M. Grey, M. Stilman, J.H. Oh, J. Lee, I. Kim, and P. Oh. Robust Ladder-Climbing with a Humanoid Robot with Application to the DARPA Robotics Challenge. IEEE Int'l. Conf. on Robotics and Automation, May 2014.
• K. Hauser and Y. Zhang. Planning-Aided Robot Design: Unified Optimization of Form, Physics, and Motion. ICRA 2014 Workshop on Task-Based Optimal Design of Robots, Hong Kong, May 2014.
• A. Proia, D. Simshaw, and K . Hauser Consumer Cloud Robotics and the Fair Information Practice Principles: The Policy Risks and Opportunities Ahead. We Robot 2014, April 2014.
• G. Franchi and K. Hauser. Use of Hybrid Systems to model the RobotiQ Adaptive Gripper. Indiana University Computer Science Technical Report TR711, February 2014.
• K. Hauser. The Minimum Constraint Removal Problem with Three Robotics Applications. International Journal of Robotics Research, 33(1):5-17, January, 2014. doi: 10.1177/0278364913507795

2013

• K. Hauser. Robust Contact Generation for Robot Simulation with Unstructured Meshes. International Symposium on Robotics Research, December 2013. Supplemental video
• Y. Zhang and K. Hauser. Unbiased, scalable sampling of protein loop conformations from probabilistic priors. BMC Structural Biology 13(Supplement 1):S9, November 8, 2013.
• K. Hauser. Recognition, Prediction, and Planning for Assisted Teleoperation with Freeform Tasks. Autonomous Robots, 35(4): 241-254, August, 2013. doi:10.1007/s10514-013-9350-3.
• K. Hauser. Minimum Constraint Displacement Motion Planning. In proceedings of Robotics: Science and Systems (RSS), Berlin, Germany, June 2013.
• K. Hauser. Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds. In proceedings of Robotics: Science and Systems (RSS), Berlin, Germany, June 2013.
• Y. Zhang, K. Hauser, and J. Luo. Unbiased, Scalable Sampling of Closed Kinematic Chains. In proceedings of IEEE Int'l Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013.
• J. Johnson and K. Hauser. Optimal Longitudinal Control Planning with Moving Obstacles. In ICRA 2013 Workshop on Vehicle Autonomy for Urban Transportation Systems. Karlsruhe, Germany, May 2013.
• Y. Zhang, J. Luo, and K. Hauser. Planner-aided Design of Ladder Climbing Capabilities for a DARPA Robotics Challenge Humanoid. In ICRA 2013 Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids. Karlsruhe, Germany, May 2013.
• J. Johnson and K. Hauser. Optimal Longitudinal Control Planning with Moving Obstacles. In proceedings of IEEE Int'l Intelligent Vehicles Symposium, May 2013. (oral presentation)
• Y. Zhang, J. Luo, K. Hauser, R. Ellenberg, P. Oh, H.A. Park, M. Paldhe, and C.S.G. Lee. Motion Planning of Ladder Climbing for Humanoid Robots. In proceedings of IEEE Conf. on Technologies for Practical Robot Applications (TePRA), April 2013.
• C. Bennett and K. Hauser. Artificial Intelligence Framework for Simulating Clinical Decision-Making: A Markov Decision Process Approach. In Artificial Intelligence in Medicine, 57(1):9-19, January 2013. doi: 10.1016/j.artmed.2012.12.003.

2012

• Y. Zhang and K. Hauser. Unbiased, Scalable Sampling of Constrained Kinematic Loops. In BIBM 2012 Computational Structural Biology Workshop. October, 2012.
• J. Johnson, Y. Zhang, and K. Hauser. Minimizing Driver Interference Under a Probabilistic Safety Constraint in Emergency Collision Avoidance Systems. IEEE Intelligent Transportation Safety Conference, Anchorage, USA, Sep. 2012.
• K. Hauser. Recognition, Prediction, and Planning for Assisted Teleoperation with Freeform Tasks. Robotics: Science and Systems, Sydney, Australia, July 2012.
• K. Hauser. The Minimum Constraint Removal Problem with Three Robotics Applications. Workshop on the Algorithmic Foundations of Robotics, Boston, June 2012.
• Y. Zhang, J. Luo, and K. Hauser. Sampling-based Motion Planning With Dynamic Intermediate State Objectives: Application to Throwing. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
• J. Luo and K. Hauser. Interactive Generation of Dynamically Feasible Robot Trajectories from Sketches Using Temporal Mimicking. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
• J. Johnson and K. Hauser. Optimal Acceleration-Bounded Trajectory Planning in Dynamic Environments Along a Specified Path. IEEE Int'l Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.
• K. Hauser. On Responsiveness, Safety, and Completeness in Real-Time Motion Planning. Autonomous Robots, 32(1):35-48, 2012.

2011

• K. Hauser. Design of Optimal Robot User Interfaces. In IROS 2011 Workshop on Open Problems in Motion Planning, September, 2011.
• J. Johnson, Y. Zhang, and K. Hauser. Semiautonomous Longitudinal Collision Avoidance Using a Probabilistic Decision Threshold. In IROS 2011 Workshop on Perception and Navigation for Autonomous Vehicles in Human Environments, September, 2011.
• K. Hauser. Online Planning in Continuous POMDPs with Open-Loop Information-Gathering Plans. In ICML Workshop on Planning and Acting with Uncertain Models, Seattle, USA, July, 2011.
• E. You and K. Hauser. Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input. In Robotics: Science and Systems, Los Angeles, July 2011.
• Y Zhang and K. Hauser. Driver Interference and Risk in Semiautonomous Braking Under Uncertainty. In Intl. Workshop on Collaborative Robots and Human Robot Interaction, Philadelphia, USA, May, 2011.
• K. Hauser and V. Ng-Thow-Hing. Randomized Multi-Modal Motion Planning for a Humanoid Robot Manipulation Task. In International Journal of Robotics Research, 30(6):678-698, 2011. doi: 10.1177/0278364910386985.

2010

• K. Hauser. Adaptive Time Stepping in Real-Time Motion Planning. In Workshop on the Algorithmic Foundations of Robotics, Singapore, 2010.
• K. Hauser. Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces. In Workshop on the Algorithmic Foundations of Robotics, Singapore, 2010.
• K. Hauser and V. Ng-Thow-Hing. Multi-Modal Motion Planning for Precision Pushing on a Humanoid Robot. In K. Harada, E. Yoshida, and K. Yokoi (eds), Motion Planning for Humanoid Robots, Springer, 2010.
• K. Hauser. Task Planning with Continuous Actions and Nondeterministic Motion Planning Queries. In proceedings of AAAI Workshop on Bridging the Gap between Task and Motion Planning, Atlanta, USA, July 11, 2010.
• K. Hauser and V. Ng-Thow-Hing. Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts. In IEEE Intl. Conf. of Robotics and Automation (ICRA), Anchorage, USA, May 2010.
• K. Hauser and J.-C. Latombe. Multi-Modal Motion Planning in Non-Expansive Spaces. In International Journal of Robotics Research, 29(7):897-915, 2010. doi 10.1177/0278364909352098

2009

• R. Jansen, K. Hauser, N. Chentanez, F. van der Stappen, and K. Goldberg, Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Oct. 2009.
• K. Hauser. On the Connectivity of Motion Spaces for Biologically-Inspired Legged Robots. In proceedings of IROS 2009 Workshop on Biologically-Inspired Robots, St. Louis, Oct. 2009.
• K. Hauser. A Decision-Theoretic Formalism for Belief-Optimal Reasoning. In proceedings of Performance Measurement for Intelligent Systems Workshop (PerMIS), Gaithersburg, MD, Sep. 2009.
• R. B. Rusu, A. Sundaresan, B. Morisset, K. Hauser, M. Agrawal, J.-C. Latombe, M. Beetz. Leaving Flatland: Efficient real-time three-dimensional perception and motion planning. In Journal of Field Robotics, 26(10):841-862, 2009.
• K. Hauser and J.-C. Latombe. Integrating task and PRM motion planning: Dealing with many infeasible motion planning queries. In proceedings of ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, Thessaloniki, Greece, Sep. 2009.
• N. Chentanez, R. Alterovitz, D. Richie, J. Cho, K. Hauser, K. Goldberg, J.R. Shewchuk, and J. O'Brien, Interactive Simulation of Surgical Needle Insertion and Steering. In ACM SIGGRAPH, New Orleans, LA, 2009.
• K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. In Robotics: Science and Systems, Seattle, WA, 2009.
• B. Morisset, R.B. Rusu, A. Sundaresan, K. Hauser, M. Agrawal, J.-C. Latombe, and M. Beetz, Leaving Flatland. Toward Real-Time 3D Navigation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Example video (wmv, 1.7mb)
• M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, and K. Goldberg, Guiding Medical Needles Using Single-Point Tissue Manipulation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Best Medical Robotics Paper Finalist Example video (wmv, 2.9mb)

2008

• K. Hauser and J.-C. Latombe, Multi-Modal Motion Planning for Non-Expansive Spaces. In the Workshop on the Algorithm Foundations of Robotics (WAFR), Guanajuato, Mexico, Dec. 2008.
• K. Hauser, Motion Planning for Legged and Humanoid Robots. Ph.D. Thesis, Stanford University, September 2008. (8.9mb, single sided)
• K. Hauser, T. Bretl, J.-C. Latombe, K. Harada, and B. Wilcox, Motion planning for legged robots on varied terrain. In Intl. J. of Robotics Research 27(11-12):1325-1349, 2008.

2007 and earlier

• V. Ng-Thowhing, E. Drumwright, K. Hauser, Q. Wu, and J. Wormer, Expanding Task Functionality in Established Humanoid Robots. In proceedings of IEEE Conference on Humanoid Robots, 2007.
• K. Hauser, V. Ng-Thow-Hing, H. Gonzalez-Banos, Multi-Modal Motion Planning for a Humanoid Manipulation Task. In proceedings of the International Symposium on Robotics Research (ISRR) 2007. ASIMO videos (user:anonymous, pass:isrr07)
• K. Hauser, T. Bretl, J.-C. Latombe, Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 5.7mb)
• K. Hauser, T. Bretl, J.-C. Latombe, B. Wilcox, Motion Planning for a Six-Legged Lunar Robot. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 6.7mb)
• K. Harada, K. Hauser, T. Bretl, J.-C. Latombe, Natural motion generation for humanoid robots. In proceedings of IEEE Conference on Intelligent Robots and systems (IROS), 2006
• K. Hauser, T. Bretl, J.-C. Latombe, Non-gaited Humanoid Locomotion Planning. In proceedings of IEEE Intl. Conf. of Humanoid Robots 2005
• K. Hauser, T. Bretl, J.-C. Latombe, Learning-Assisted Multi-Step Planning. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), 2005
• K. Hauser, C. Shen, J. F. O'Brien, Interactive Deformation Using Modal Analysis With Constraints. Graphics Interface 2003 Proceedings. pp. 247-255
• C. Shen, K. Hauser, C. G. Gatchalian, J. F. O'Brien, Modal Analysis for Real-Time Viscoelastic Deformation. Technical Sketch. ACM SIGGRAPH 2002 Conference Abstracts and Applications