Publications

List of peer-reviewed technical publications


2020

Recent Advances in Robot Learning from Demonstration [preprint] [J4]
H. Ravichandar* , A. Polydoros* , S. Chernova#, A. Billard#
Annual Review of Control, Robotics, and Autonomous Systems, vol. 3, no. 1, 2020.
(*equal contribution, #equal contribution)


2019

Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations [C16]
M. A. Rana, A. Li, H. Ravichandar, M. Mukadam, S. Chernova, B. Boots, N.Ratliff, D. Fox
Conference on Robot Learning (CoRL), 2019.

Taking Recoveries to Task: Recovery-Driven Development for Recipe-Based Robot Tasks [C15]
S. Banerjee, A. Daruna, D. Kent, W. Liu, J. Balloch, A. Jain, A. Krishnan, M. A. Rana, H. Ravichandar, B. Shah, N. S. Srikanth, S. Chernova
International Symposium on Robotics Research (ISRR), 2019.

Skill Acquisition via Automated Multi-Coordinate Cost Balancing [C14]
H. Ravichandar*, S. R. Ahmadzadeh*, M. A. Rana, S. Chernova
IEEE International Conference on Robotics and Automation (ICRA), 2019.
(*equal contribution)

STRATA: Unified Framework for Task Assignments in Large Teams of Heterogeneous Robots [W1]
H. Ravichandar, K. Shaw, S. Chernova
Workshop on Resilient Robot Teams
IEEE International Conference on Robotics and Automation (ICRA), 2019.

Learning Pose Dynamics from Demonstrations via Contraction Analysis [J3]
H. Ravichandar, A. P. Dani
Autonomous Robots, vol. 43, no. 4, pp. 897–912, 2019.


2018

Gaze and Motion Information Fusion for Human Intention Inference [J2]
H. Ravichandar, A. Kumar, A. P. Dani
International Journal of Intelligent Robotics and Applications, vol. 2, no. 2, pp. 136-148, 2018.

Human Intention-Driven Learning Control for Trajectory Synchronization in Human-Robot Collaborative Tasks [C13]
H. Ravichandar, D. Trombotta, A. P. Dani 
IFAC International Conference on Cyber-Physical & Human Systems (CPHS), 2018.

Approaches for Creation and Evaluation of Computationally Efficient Thermofluid System Models [C12]
B. Baillie, H. Ravichandar, I. Salehi, A. P. Dani, G. Bollas
IFAC International Symposium on Advanced Control of Chemical Processes (ADCHEM), 2018.

Learning Stable Nonlinear Dynamical Systems with External Inputs using Gaussian Mixture Models [C11]
H. Ravichandar, I. Salehi, B. Baillie, G. Bollas, A. P. Dani
American Control Conference (ACC), 2018, pp. 4825-4830.


2017

Human Intention Inference using E-M Algorithm with Online Learning [J1]
H. Ravichandar, A. P. Dani
IEEE Transactions on Automation Science and Engineering (TASE), vol. 14, no. 2, pp. 855-868, 2017.

Learning Partially Contracting Dynamical Systems from Demonstrations [C10]
H. Ravichandar, I. Salehi, A. P. Dani
Proceedings of the Machine Learning Research (PMLR), vol. 78 (Conference on Robot Learning), 2017, pp. 369-378.


2016

Human Intention Inference using Expectation-Maximization Algorithm with Online Model Learning [BC1]
H. Ravichandar, A. P. Dani
Human Modeling: System-level Investigation into Human Mechanisms for Assistive Technologies“, Edited by Jun Ueda and Yuichi Kurita, Elsevier, 2016.

Learning and Predicting Sequential Tasks using Recurrent Neural Networks and Multiple Model Filtering [C9]
H. Ravichandar, A. Kumar, A. P. Dani, K. R. Pattipati
AAAI Fall Symposium on Shared Autonomy in Research and Practice (FSS), 2016, pp. 331-337.

Learning and Synchronization of Movement Primitives for Bimanual Manipulation Tasks [C8]
 Pavan kumar Thota, H. Ravichandar, A. P. Dani
IEEE Conference on Decision and Control (CDC), 2016, pp. 945-950.

Bayesian Human Intention Inference Through Multiple Model Filtering with Gaze-based Priors [C7]
H. Ravichandar*, Avnish Kumar*, A. P. Dani
International Conference on Information Fusion (FUSION), 2016, pp. 2296-2302.
(*equal contribution)

Learning Periodic Motions from Human Demonstrations using Transverse Contraction Analysis [C6]
H. Ravichandar, Pavan kumar Thota, A. P. Dani
IEEE American Control Conference (ACC), 2016, pp. 4853-4858.


2015

Learning Contracting Nonlinear Dynamics from Human Demonstrations for Robot Motion Planning [C5]
H. Ravichandar, A. P. Dani
ASME Dynamic Systems, and Control Conference (DSCC), 2015.
Best Robotics Student Paper Award

Expectation Maximization Method to Identify an Electrically Stimulated Musculoskeletal Model [C4]
H. Ravichandar, A. P. Dani, J. Khadijah-Hajdu, N. Kirsch, Q. Zhong, N. Sharma
ASME Dynamic Systems, and Control Conference (DSCC), 2015.

Human Intention Inference and Motion Modeling using Approximate E-M with Online Learning [C3]
H. Ravichandar, A. P. Dani
IEEE International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 1819-1824.

Human Intention Inference using Interacting Multiple Model Filtering [C2]
H. Ravichandar, A. P. Dani
IEEE International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2015, pp. 220-225.


2014

Gyro-aided Image-Based Tracking using Mutual Information Optimization and User Inputs [C1]
H. Ravichandar, A. P. Dani
IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2014, pp. 858-863.


Dissertation

Methods for Imitation Learning and Human Intention Inference: Towards Seamless Human-Robot Collaboration [D1]
H. Ravichandar
Doctoral Dissertations, University of Connecticut, 2018, no. 1747.


Patents

Early Prediction of an Intention of a User’s Actions [P2]
A. P. Dani and H. Ravichandar
Serial # 15/659,827 – patent pending.

Skill Transfer From a Person to a Robot [P1]
A. P. Dani and H. Ravichandar
Serial # 15/659,881 – patent pending.