Publications

• S. Singi*, Z. He*, A. Pan, S. Patel, G. Sigurdsson, R. Piramuthu, S. Song and M. Ciocarlie. “Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning”, IEEE Intl. Conf. on Robotics and Automation, Yokohama, May 2024 (*joint first authorship) [arXiv]
• G. Khandate*, C. Mehlman*, X. Wei* and M. Ciocarlie. “Value Guided Exploration with Sub-optimal Controllers for Learning Dexterous Manipulation”, IEEE Intl. Conf. on Robotics and Automation, Yokohama, May 2024 (*joint first authorship) [arXiv]
• E. Chang, R. Wang, P. Ballentine, J. Xu, T. Smith, B. Coltin, I. Kymissis and M. Ciocarlie. “An Investigation of Multi-feature Extraction and Super-resolution with Fast Microphone Arrays”, IEEE Intl. Conf. on Robotics and Automation, Yokohama, May 2024 [arXiv]
• Z. He and M. Ciocarlie. “MORPH: Design Co-optimization with Reinforcement Learning via a Differentiable Hardware Model Proxy”, IEEE Intl. Conf. on Robotics and Automation, Yokohama, May 2024 [arXiv]

• G. Khandate*, S. Shang*, E. Chang, T. Saidi, Y. Liu, S. Dennis, J. Adams and M. Ciocarlie. “Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation”, Robotics: Science and Systems Conference, 2023 (*joint first authorship) [arXiv, webpage]
• J. Xu, H. Lin, S. Song and M. Ciocarlie. "TANDEM3D: Active Tactile Exploration for 3D Object Recognition", IEEE Intl. Conference on Robotics and Automation, 2023 [arXiv, webpage]
• E. Chang, P. Ballentine, I. Kymissis and M. Ciocarlie. “Towards Development of a Signal-Dense Multimodal Tactile Finger”, ViTac Workshop: Blending Virtual and Real Visuo-Tactile Perception, IEEE Intl. Conf. on Robotics and Automation, London, May 2023 [pdf]
• J. Palacios*, A. Deli-Ivanov*, A. Chen, L. Winterbottom, D. Nilsen, J. Stein, and M. Ciocarlie. “Towards Tenodesis-Modulated Control of an Assistive Hand Exoskeleton for SCI”, Workshop on Assistive Robotics for Citizens, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Detroit, October 2023 (*joint first authors) [pdf]

• J. Xu, S. Song and M. Ciocarlie. "TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors", IEEE Robotics and Automation Letters 7(4), 2022 (also presented at IEEE/RSJ IROS 2022) [arXiv, webpage, IEEE Xplore]
• A. Chen, L. Winterbottom, K. O'Reilly, S. Park, D. Nilsen, J. Stein and M. Ciocarlie. "Design of Spiral-Cable Forearm Exoskeleton to Provide Supination Adjustment for Hemiparetic Stroke Subjects", International Conference on Rehabilitation Robotics, 2022 [arXiv]
• A. Chen, L. Winterbottom, S. Park, J. Xu, D. Nilsen, J. Stein and M. Ciocarlie. "Thumb Assistance Via Active and Passive Exotendons in a Robotic Hand Orthosis for Stroke", IEEE Robotics and Automation Letters 7(3), 2022 (also presented at IEEE BioRob 2022). Finalist for Best BioRob/RA-L Paper Award. [arXiv, IEEE Xplore]
• G. Khandate, M. Haas-Heger and M. Ciocarlie. "On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing", IEEE Intl. Conference on Robotics and Automation, 2022 [arXiv, video] 
• Z. He and M. Ciocarlie. "Discovering Synergies for Robot Manipulation with Multi-Task Reinforcement Learning", IEEE Intl. Conference on Robotics and Automation, 2022 [arXiv, webpage, video]
• J. Xu, C. Meeker, A. Chen, L. Winterbottom, M. Fraser, S. Park, L. Weber, M. Miya, D. Nilsen, J. Stein and M. Ciocarlie. "Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke", IEEE Intl. Conference on Robotics and Automation, 2022 [arXiv, video]
• C. Meeker, M. Haas-Heger and M. Ciocarlie. "A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands", IEEE Transactions on Automation Science and Engineering 19(1), 2022 [arXiv, video, link to IEEE Xplore]

• T. Chen*, Z. He* and M. Ciocarlie. "Co-designing hardware and control for robot hands", Science Robotics 6(54), 2021 [pdf, AAAS link] (*joint first authors)
• T. Chen*, T. Zhang* and M. Ciocarlie. "Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application", IEEE Intl. Conference on Robotics and Automation, 2021 [arXiv, presentation video] (*joint first authors)
• T. Chen. "On the Interplay between Mechanical and Computational Intelligence in Robot Hands", Columbia University Doctoral Dissertation, 2021 [pdf].
• M. Haas Heger. "Grasp Stability Analysis with Passive Reactions", Columbia University Doctoral Dissertation, 2021 [arXiv, video of defense seminar].

• T. Chen*, Z. He* and M. Ciocarlie. "Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning", Conference on Robot Learning, 2020 (*joint first authors) [arXiv, paper webpage, 5-minute CoRL presentation video]
• S. Park, M. Fraser, L. Weber, C. Meeker, L. Bishop, D. Geller, J. Stein and M. Ciocarlie. "User-Driven Functional Movement Training with a Wearable Hand Robot after Stroke", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(10), 2020 [arXiv, video, link to IEEE XPlore]
• P. Piacenza, K. Behrman, B. Schifferer, I. Kymissis and M. Ciocarlie. "A Sensorized Multicurved Robot Finger with Data-driven Touch Sensing via Overlapping Light Signals", IEEE/ASME Transactions on Mechatronics, 25(5), 2020 [arXiv, video, link to IEEE XPlore]
• M. Haas Heger and M. Ciocarlie. " Accurate Energetic Constraints for Passive Grasp Stability Analysis", IEEE Transactions on Robotics, 36(4), 2020 [arXiv, link to IEEE Xplore]
• T. Chen, L. Wang, M. Haas Heger and M. Ciocarlie. "Tendon-driven Underactuated Hand Design via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces", IEEE Transactions on Robotics 36(3), 2020 [arXiv, link to IEEE XPlore, video]
• E. Hannigan, B. Song, G. Khandate, M. Haas-Heger, J. Yin and M. Ciocarlie. "Automatic Snake Gait Generation Using Model Predictive Control", IEEE Intl. Conference on Robotics and Automation, 2020 [arXiv, video]
• S. Park. "Advancing the Functionality and Wearability of Robotic Hand Orthoses Towards Activities of Daily Living in Stroke Patients", Columbia University Doctoral Dissertation, 2020 [pdf]
• C. Meeker. "Intuitive Human-Machine Interfaces for Non-Anthropomorphic Robotic Hands", Columbia University Doctoral Dissertation, 2020 [pdf, video of defense seminar].
• P. Piacenza. "Data-driven Tactile Sensing using Spatially Overlapping Signals", Columbia University Doctoral Dissertation, 2020 [pdf]

• C. Meeker and M. Ciocarlie. "EMG-Controlled Hand Teleoperation Using a Continuous Teleoperation Subspace", IEEE Intl. Conference on Robotics and Automation, 2019 [arXiv, video]
• S. Park, C. Meeker, L. Weber, L. Bishop, J. Stein and M. Ciocarlie. "Multimodal Sensing and Interaction for a Robotic Hand Orthosis", IEEE Robotics and Automation Letters, 4(2), 2019 [arXiv]
• P. Piacenza, C. Baumgart, E. Hannigan, Y. Xiao, S. Park, W. Dang, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “Touch Sensors with Overlapping Signals: Concept Investigation on Planar Sensors with Resistive or Optical Transduction”, [arXiv]
• L. Wang, T. Chen and M. Ciocarlie. “A Platform for Remotely Assisted Versatile Manipulation In Orbit”,  Workshop on High Accuracy Mobile Manipulation in Challenging Environments, IEEE Intl. Conf. on Robotics and Automation, Montreal, May 2019 [poster]
• C. Meeker, M. Haas-Heger and M. Ciocarlie. “An Object-Based, Hand-Independent Algorithm for Creating Teleoperation Mappings”, Workshop on Human Movement Science for Physical Human-Robot Collaboration, IEEE Intl. Conf. on Robotics and Automation, Montreal, May 2019 [pdf][poster]
• G. Khandate, E. Hannigan, M. Haas-Heger, B. Song, J. Yin and M. Ciocarlie. “Algorithmic Gait Synthesis for a Snake Robot”, Toward Online Optimal Control of Dynamic Robots Workshop: From Algorithmic Advances to Field Applications, IEEE Intl. Conf. on Robotics and Automation, Montreal, May 2019 [pdf][poster]
• E. Hannigan, B. Song, G. Khandate, J. Yin, M. Haas Heger and M. Ciocarlie. “SBP-Guided MPC to Overcome Local Minima in Trajectory Planning”, Toward Online Optimal Control of Dynamic Robots Workshop: From Algorithmic Advances to Field Applications, IEEE Intl. Conf. on Robotics and Automation, Montreal, May 2019 [pdf][poster]

• T. Chen and M. Ciocarlie. “Grasping Unknown Objects with Proprioception Using a Series-Elastic-Actuated Gripper”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018 (in press) [arXiv, video]
• M. Haas Heger, C. Papadimitriou, M. Yannakakis, G. Iyengar and M. Ciocarlie. “Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis”, Robotics: Science and Systems Conference, 2018 [arXiv, video of 5-minute RSS presentation]
• P. Piacenza, S. Sherman and M. Ciocarlie. “Data-driven super resolution on a tactile dome”, IEEE Robotics & Automation Letters, 3(3), 2018 [arXiv, video]
• M. Haas Heger, G. Iyengar and M. Ciocarlie. “Passive Reaction Analysis for Grasp Stability”, IEEE Transactions on Automation Science and Engineering, 15(3), 2018 [arXiv]
• S. Park, L. Bishop, L. Weber, J. Stein and M. Ciocarlie. “Design and Development of Effective Transmission Mechanisms on a Tendon Driven Orthosis for Stroke Patients”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]
• C. Meeker, T. Rasmussen and M. Ciocarlie. “Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]
• T. Chen , M. Haas Heger and M. Ciocarlie. “Underactuated Hand Design Using Mechanically Realizable Manifolds”, IEEE Intl. Conference on Robotics and Automation, 2018 [arXiv, video]

• C. Meeker, S. Park, L. Bishop, J. Stein and M. Ciocarlie. “EMG Pattern Classification to Control a Hand Orthosis for Functional Grasp Assistance after Stroke”, IEEE International Conference on Rehabilitation Robotics, 2017 [arXiv]
• I. Park, T. Smith, H. Sanchez, S. W. Wong, P. Piacenza and M. Ciocarlie. “Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station”, IEEE International Conference on Advanced Intelligent Mechatronics, 2017 [IEEE Xplore]
• P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussain, I. Kymissis and M. Ciocarlie. "Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor", IEEE Intl. Conference on Robotics and Automation, Singapore, May 2017 [arXiv, see also extended preprint]

• M. Haas-Heger, G. Iyengar and M. Ciocarlie. “On the Distinction between Active and Passive Reaction in Grasp Stability Analysis”, 12th Intl. Workshop on the Algorithmic Foundations of Robotics, San Francisco, December 2016 [pdf, see also journal version]
• P. Piacenza, Y. Xiao, S. Park, I. Kymissis and M. Ciocarlie. “Contact Localization through Spatially Overlapping Piezoresistive Signals”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [arXiv, see also extended preprint]
• S. Park, L. Bishop, T. Post, Y. Xiao, J. Stein, M. Ciocarlie. "On the Feasibility of Wearable Exotendon Networks for Whole-Hand Movement Patterns in Stroke Patients",  IEEE Intl. Conference on Robotics and Automation, Stockholm, May 2016 [arXiv]
• P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “An Optics-based Tactile Sensor: Design and Operation”, Workshop on Tactile Sensing for Manipulation: New Progress and Challenges, IEEE Intl. Conf. on Humanoid Robots, Cancun, November 2016 [pdf, see also conference version and extended preprint]
• M. Haas-Heger, G. Iyengar and M. Ciocarlie. “Active and Passive Reaction in Grasp Stability Analysis of Underactuated Hands”, Workshop on Evaluation and Benchmarking of Underactuated and Soft Robotic Hands, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [pdf, see also journal version]
• P. Piacenza, W. Dang, E. Hannigan, J. Espinal, I. Hussein, I. Kymissis and M. Ciocarlie. “Tactile Sensing with Overlapping Optical Signals”, Workshop on Closed-loop Grasping and Manipulation: Challenges and Progress, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Daejon, October 2016 [pdf, see also conference version and extended preprint]
• P. Piacenza, Y. Xiao, S. Park, I. Kymissis and M. Ciocarlie. “An Investigation of Contact Localization through Overlapping Signals”, Workshop on Exploiting Contact and Dynamics in Manipulation,  IEEE Intl. Conference on Robotics and Automation, Stockholm, May 2016 [see also conference version and extended preprint]

• J. Mahler, S. Patil, B. Kehoe, J. van den Berg, M. Ciocarlie, P. Abbeel, K. Goldberg. “GP-GPIS-OPT: Grasp Planning Under Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming”,  IEEE Intl. Conference on Robotics and Automation, Seattle, May 2015 [pdf]

• I. Park, T. Smith, H. Sanchez, S. Wong, P. Piacenza and M. Ciocarlie. “Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station”, Late-breaking Result Abstract, IEEE Intl. Conference on Robotics and Automation, Seattle, May 2015 [video, see also conference version]

for Matei Ciocarlie's publications before starting the ROAM Lab (including work done at Willow Garage Inc. and doctoral work) please see this page.