Journal publications
- 2024 Science Robotics "simPLE: A visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects", M. Bauza, A. Bronars, Y. Hou, I. Taylor, N. Chavan-Dafle and A. Rodriguez. [Bibtex]
- 2023 IJRR "Robust Planning for Multi-stage Forceful Manipulation", R. Holladay, T. Lozano-Pérez, A. Rodriguez. [Bibtex]
- 2023 IJRR "Tac2Pose: Tactile Object Pose Estimation from the First Touch", M. Bauza, A. Bronars, A. Rodriguez. [Bibtex]
- 2023 IJRR "Certified Grasping", B. Aceituno, J. Ballester and A. Rodriguez. [Bibtex]
- 2021 Science Robotics "The Unstable Queen: Uncertainty, mechanics, and tactile feedback", A. Rodriguez. [Bibtex]
- 2021 IJRR "Cable Manipulation with a Tactile-Reactive Gripper", Y. She, S. Wang, S. Dong, N. Sunil, A. Rodriguez and E. Adelson. [Bibtex]
- 2020 TRO "TossingBot: Learning to Throw Arbitrary Objects with Residual Physics", A. Zeng, S. Song, J. Lee, A. Rodriguez and T. Funkhouser. [Bibtex] IEEE TRO King-Sun Fu Memorial Best Paper Award
- 2020 IJRR "Reactive Planar Manipulation with Hybrid Model Predictive Control", F. Hogan and A. Rodriguez. [Bibtex]
- 2020 PNAS "On the Use of Modeling and Simulation in Robotics: Opportunities, Challenges, and Suggestions for Moving Forward", H. Choi, C. Crump, C. Duriez, et al.. [Bibtex]
- 2019 Advanced Robotics "What are the Important Technologies for Bin Picking? Technology Analysis of Robots in Competitions based on a Set of Performance Metrics", M. Fujita, Y. Domae, A. Noda, G. Garcia Ricardez, T. Nagatani, A. Zeng, S. Song, A. Rodriguez, A. Causo, I.M. Chen, T. Ogasawara. [Bibtex]
- 2019 IJRR "Planar In-Hand Manipulation via Motion Cones", N. Chavan-Dafle, R. Holladay and A. Rodriguez. [Bibtex]
- 2019 IJRR "Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching", A. Zeng, S. Song, K.T. Yu et al. [Bibtex]
- 2019 Science Robotics "See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion", N. Fazeli, M. Oller, J. Wu, Z. Wu, J. Tenenbaum and A. Rodriguez. [Bibtex]
- 2018 RA-L "Friction Variability in Planar Pushing Data: Anisotropic Friction and Data-Collection Bias", D. Ma and A. Rodriguez. [Bibtex]
- 2018 AURO "Optimal Shape and Motion Planning for Dynamic Planar Manipulation", O.Taylor and A. Rodriguez. [Bibtex]
- 2018 T-ASE "Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics (Editorial)", J. Mahler, R. Platt, A. Rodriguez, et al.. [Bibtex]
- 2018 T-ASE "Analysis and Observations From the First Amazon Picking Challenge", N. Correll, K. Bekris, D. Berenson, O. Brock, A. Causo, K. Hauser, K. Okada, A. Rodriguez, J. Romano, P. Wurman. [Bibtex]
- 2017 IJRR "Parameter and Contact Force Estimation of Planar Rigid-Bodies Undergoing Frictional Contact", N. Fazeli, R. Kolbert, R. Tedrake, and A. Rodriguez. [Bibtex]
- 2014 IJRR "A Data-Driven Statistical Framework for Post-Grasp Manipulation", R. Paolini, A. Rodriguez, S. Srinivasa and M. Mason. [Bibtex]
- 2012 TRO "Path-Connectivity of the Free Space", A. Rodriguez and M. Mason. [Bibtex]
- 2012 IJRR "Autonomous Manipulation with a General-Purpose Simple Hand", M. Mason, A. Rodriguez, S. Srinivasa and A. Vazquez. [Bibtex]
- 2012 IJRR "Grasp Invariance", A. Rodriguez and M. Mason. [Bibtex]
- 2012 IJRR "From Caging to Grasping", A. Rodriguez and M. Mason. [Bibtex]
Conference Publications
- 2024 ICRA "TEXterity: Tactile Extrinsic deXterity", S. Kim*, A. Bronars*, P. Patre and A. Rodriguez. [Bibtex]
- 2023 CoRL "Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement", A. Simeonov, A. Goyal, L. Manuelli, L. Yen-Chen, A. Sarmiento, A. Rodriguez, P. Agrawal and D. Fox. [Bibtex]
- 2023 IROS "Object manipulation through contact configuration regulation: Multiple and intermittent contacts", O. Taylor, N. Doshi and A. Rodriguez. [Bibtex]
- 2023 IROS "Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects", R. Jiang, N. Doshi, R. Gondhalekar and A. Rodriguez. [Bibtex]
- 2023 ICRA "Simultaneous Tactile Estimation and Control of Extrinsic Contact", S. Kim, D. Jha, D. Romeres, P. Patre, A. Rodriguez. [Bibtex]
- 2023 ICRA "A Tactile-enabled Hybrid Rigid-Soft Continuum Manipulator for Forceful Enveloping Grasps via Scale Invariant Design", I. Taylor, M. Bawa A. Rodriguez. [Bibtex]
- 2022 CoRL "Efficient Tactile Simulation with Differentiability for Robotic Manipulation", J. Xu, S. Kim, T. Chen, A. Rodriguez, P. Agrawal, W. Matusik, S. Sueda. [Bibtex]
- 2022 CoRL "MIRA: Mental Imagery for Robotic Affordances", L. Yen-Chen, P. Florence, A. Zeng, J. Barron, Y. Du, W. Ma, A. Simeonov, A. Rodriguez, P. Isola. [Bibtex]
- 2022 CoRL "SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields", A. Simeonov, Y. Du, L. Yen-Chen, A. Rodriguez, L. Pack Kaelbling, T. Lozano-Perez, P. Agrawal. [Bibtex]
- 2022 CoRL "Visuotactile Affordances for Cloth Manipulation with Local Control", N. Sunil*, S. Wang*, Y. She, E. Adelson, A. Rodriguez. [Bibtex]
- 2022 IROS "A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories", B. Aceituno, A. Rodriguez. [Bibtex]
- 2022 IROS "Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction", R. Jiang, N. Doshi, R. Gondhalekar, A. Rodriguez. [Bibtex]
- 2022 ICRA "NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields", L. Yen-Chen, P. Florence, J. T. Barron, T. Lin, A. Rodriguez, P. Isola. [Bibtex]
- 2022 ICRA "Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion", S. Kim and A. Rodriguez. [Bibtex]
- 2022 ICRA "Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation", A. Simeonov*, Y. Du*, A. Tagliasacchi, J. Tenenbaum, A. Rodriguez, P. Agrawal**, and V. Sitzmann**. [Bibtex]
- 2022 ICRA "Manipulation of unknown objects via contact configuration regulation", N. Doshi, O. Taylor, and A. Rodriguez. [Bibtex] Outstanding Manipulation Paper
- 2022 ICRA "GelSlim 3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger", I. Taylor, S. Dong and A. Rodriguez. [Bibtex]
- 2021 CoRL "A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation", B. Aceituno, A. Rodriguez, S. Tulsiani, A. Gupta, and M. Mukadam. [Bibtex]
- 2021 IROS "iNeRF: Inverting Neural Radiance Fields for Pose Estimation", L. Yen-Chen, P. Florence, J. Barron, A. Rodriguez, P. Isola, T. Lin. [Bibtex]
- 2021 ICRA "Robotic Grasping of Fully-Occluded Objects using RF Perception", T. Boroushaki, J. Leng, I. Clester, A. Rodriguez and F. Adib. [Bibtex]
- 2021 ICRA "Tactile SLAM: Real-time inference of shape and pose from planar pushing", S. Suresh, M. Bauza, KT. Yu, JG. Mangelson, A. Rodriguez, M. Kaess. [Bibtex] Finalist for Best Paper Award in Service Robotics
- 2021 ICRA "Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry", S. Dong, D. Jha, D. Romeres, S. Kim, D. Nikovski and A. Rodriguez. [Bibtex]
- 2021 ICRA "Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements", D. Ma, S. Dong and A. Rodriguez. [Bibtex] Best Conference Paper Award
- 2021 ICRA "Planning for Multi-stage Forceful Manipulation", R. Holladay, T. Lozano-Perez and A. Rodriguez. [Bibtex]
- 2020 CoRL "A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects", A. Simeonov, Y. Du, B. Kim, F. Hogan, J. Tenenbaum, P. Agrawal, A. Rodriguez. [Bibtex]
- 2020 CoRL "Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering", M. Bauza, E. Valls, B. Lim, T. Sechopoulos, and A. Rodriguez. [Bibtex]
- 2020 IROS "PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation", I. Taylor, N. Chavan-Dafle, G. Li, N. Doshi and A. Rodriguez. [Bibtex]
- 2020 RSS "A Global Quasi-Dynamic Model for Contact-Trajectory Optimization", B. Aceituno-Cabezas and A. Rodriguez. [Bibtex]
- 2020 RSS "Cable Manipulation with a Tactile-Reactive Gripper", Y. She, S. Wang, S. Dong, N. Sunil, A. Rodriguez and E. Adelson. [Bibtex] Best Paper Award Finalist
- 2020 ICRA "Tactile Dexterity: Manipulation Primitives with Tactile Feedback", F. Hogan, J. Ballester, S. Dong and A. Rodriguez. [Bibtex] Best Manipulation Paper Award Finalist
- 2020 ICRA "Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners", N. Fazeli, A. Ajay and A. Rodriguez. [Bibtex]
- 2020 ICRA "Accurate Vision-based Manipulation through Contact Reasoning", A. Kloss, M. Bauza, J. Wu, J. Tenenbaum, A. Rodriguez and J. Bohg. [Bibtex]
- 2020 ICRA "Hybrid Differential Dynamic Programming for Planar Manipulation Primitives", N. Doshi, F. Hogan and A. Rodriguez. [Bibtex]
- 2019 ISRR "Certified Grasping", B. Aceituno-Cabezas, J. Ballester and A. Rodriguez. [Bibtex]
- 2019 IROS "Force-and-Motion Constrained Planning for Tool Use", R. Holladay, T. Lozano-Perez and A. Rodriguez. [Bibtex]
- 2019 IROS "Tactile-Based Insertion for Dense Box-Packing", S. Dong and A. Rodriguez. [Bibtex]
- 2019 IROS "Omnipush: accurate, diverse, real-world dataset of pushing dynamics with RGBD images", M. Bauza, F. Alet, Y. Lin, T. Lozano-Perez, L. Kaelbling, P. Isola and A. Rodriguez. [Bibtex]
- 2019 IROS "A Convex-Combinatorial Model for Planar Caging", B. Aceituno-Cabezas, H. Dai and A. Rodriguez. [Bibtex]
- 2019 RSS "TossingBot: Learning to Throw Arbitrary Objects with Residual Physics", A. Zeng, S. Song, J. Lee, A. Rodriguez and T. Funkhouser. [Bibtex] Best Systems Paper Award
- 2019 ICML "Graph Element Networks: Adaptive, Structured Computation and Memory", F. Alet, A. Jeewajee, M. Bauza, A. Rodriguez, T. Lozano-Perez and L. Kaebling. [Bibtex]
- 2019 ICRA "Tactile Mapping and Localization from High-Resolution Tactile Imprints", M. Bauza, O. Canal and A. Rodriguez. [Bibtex]
- 2019 ICRA "Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM", D. Ma*, E. Donlon*, S. Dong and A. Rodriguez. [Bibtex]
- 2019 ICRA "Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip", S. Dong, D. Ma, E. Donlon and A. Rodriguez. [Bibtex]
- 2018 WAFR "GP-SUM. Gaussian Processes Filtering of non-Gaussian Beliefs", M. Bauza and A. Rodriguez. [Bibtex]
- 2018 CoRL "A Data-Efficient Approach to Precise and Controlled Pushing", M. Bauza*, F. Hogan*, and A. Rodriguez. [Bibtex]
- 2018 CASE "Pneumatic Shape-shifting Fingers to Reorient and Grasp", N. Chavan-Dafle, K. Lee, and A. Rodriguez. [Bibtex]
- 2018 CASE "Regrasping by Fixtureless Fixturing", N. Chavan-Dafle, A. Rodriguez. [Bibtex]
- 2018 IROS "Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning", A. Zeng, S. Song, S. Welker, J. Lee, A. Rodriguez and T. Funkhouser. [Bibtex] Finalist for Best Cognitive Paper
- 2018 IROS "Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object", K.T. Yu and A. Rodriguez. [Bibtex]
- 2018 IROS "Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations", F. Hogan*, M. Bauza*, O. Canal, E. Donlon and A. Rodriguez. [Bibtex]
- 2018 IROS "Augmenting Physical Simulators with Stochastic Neural Networks: Case Study of Planar Pushing and Bouncing", A. Ajay, J. Wu, N. Fazeli, M. Bauza, L. Kaelbling, J. Tenebaum and A. Rodriguez. [Bibtex] Best Cognitive Paper
- 2018 IROS "GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger", E. Donlon, S. Dong, M.Liu, J. Li, E. Adelson and A. Rodriguez. [Bibtex] Finalist for Amazon Robotics Best Technical Paper Award in Manipulation
- 2018 RSS "In-Hand Manipulation via Motion Cones", N. Chavan-Dafle, R. Holladay and A. Rodriguez. [Bibtex] Best Student Paper Award
- 2018 ICRA "Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
- 2018 ICRA "Reactive Planar Manipulation with Convex Hybrid MPC", F. Hogan, E. Romo, and A. Rodriguez. [Bibtex]
- 2018 ICRA "Realtime State Estimation with Tactile and Visual sensing. Application to Planar Manipulation", K.T. Yu and A. Rodriguez. [Bibtex]
- 2018 ICRA "Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching", A. Zeng, S. Song, K.T. Yu et al. [Bibtex] Amazon Robotics Best Systems Paper Award in Manipulation
- 2017 Humanoids "The Complexities of Grasping in the Wild", Y. Nakamura, D. Troniak, A. Rodriguez, M. T. Mason, and N. Pollard. [Bibtex]
- 2017 ISRR "Sampling-based Planning of In-Hand Manipulation with External Pushes", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
- 2017 ISRR "Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models", N. Fazeli, S. Zapolsky, E. Drumwright, and A. Rodriguez. [Bibtex]
- 2017 CoRL "Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact", N. Fazeli, S. Zapolsky, E. Drumwright, and A. Rodriguez. [Bibtex]
- 2017 RSS "Optimal Shape and Motion Planning for Dynamic Planar Manipulation", O. Taylor, and A. Rodriguez. [Bibtex]
- 2017 ICRA "A Probabilistic Data-Driven Model for Planar Pushing", M. Bauza, and A. Rodriguez. [Bibtex]
- 2017 ICRA "Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge", A. Zeng, K.T. Yu, S. Song, D. Suo, E. Walker, A. Rodriguez, and J. Xiao. [Bibtex]
- 2017 ICRA "Empirical Evaluation of Common Impact Models on a Planar Impact Task", N. Fazeli, E. Donlon, E. Drumwright and A. Rodriguez. [Bibtex]
- 2016 ISER "Experimental Validation of Contact Dynamics for In-Hand Manipulation", R. Kolbert, N. Chavan-Dafle, and A. Rodriguez. [Bibtex]
- 2016 WAFR "Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics", F. Hogan and A. Rodriguez. [Bibtex]
- 2016 IROS "More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing", KT. Yu, M. Bauza, N. Fazeli, and A. Rodriguez. [Bibtex] Best Paper Award Finalist
- 2015 ISRR "Identifiability Analysis of Rigid Body Frictional Contact", N. Fazeli, R. Tedrake, A. Rodriguez. [Bibtex]
- 2015 IROS "Shape and Pose Recovery from Planar Pushing", KT. Yu, J. Leonard, and A. Rodriguez. [Bibtex]
- 2015 IROS "Prehensile Pushing: In-hand Manipulation with Push-Primitives", N. Chavan-Dafle and A. Rodriguez. [Bibtex]
- 2015 IROS "A novel nonlinear compliant link on simple grippers", Z. Zhang, A. Rodriguez, and M. T. Mason. [Bibtex]
- 2015 CASE "A two-phase gripper to reorient and grasp", N. Chavan-Dafle, MT. Mason, H. Staab, G. Rossano, and A. Rodriguez. [Bibtex]
- 2014 ICRA "Extrinsic Dexterity: In-Hand Manipulation with External Forces", N. Chavan-Dafle, A. Rodriguez, R. Paolini, B. Tang, S. S. Srinivasa, M. A. Erdmann, M. T. Mason, I. Lundberg, H. Staab, and T. A. Fuhlbrigge. [Bibtex] Best Video Award Finalist
Patents
- 2021 "Robotic Grippers (application)", N. Chavan-Dafle, A. Rodriguez, N. Doshi, I. Taylor. Application Number: US20220105642 A1 (US).(Pending)
- 2020 "Tactile Dexterity and Control (application)", A. Rodriguez, F. Hogan. Application Number: US20210146532 A1 (US) WO2021097166 A1(International).(Pending)
- 2022 "Robotic Manipulation of Objects for Grip Adjustment (granted)", N. Chavan-Dafle, A. Rodriguez, R. Holladay. Publication Number: US20200055680 A1 (US) WO2020041117 A1 (International).
- 2022 "Robotic Manipulation of Objects Using External Contacts (granted)", N. Chavan-Dafle, A. Rodriguez, R. Holladay. Publication Number: US20200055152 A1 (US) WO2020041120 A1(International).
- 2017 "Two-Phase Gripper to Reorient and Grasp (granted)", N. Chavan-Dafle, A. Rodriguez and M. Mason. Publication Number: US9808936 B2 (US).
- 2014 "Method and Apparatus for Using Post Assembly Process Interaction Signatures to Detect Assembly Failures (granted)", J. Wang, T. Fuhlbrigge, J. Hauiling, G. Rossano, D. Bourne, B. Zhang and A. Rodriguez. Publication Number: WO2014160760 A3 (International).
Theses
- 2024 PhD "TEXterity: Tactile Extrinsic deXterity", S. Kim. PhD Thesis, MIT [Bibtex]
- 2023 PhD "Neural Fields for Robotic Manipulation", Y. Lin. PhD Thesis, MIT [Bibtex]
- 2023 PhD "Manipulation of Unknown Objects via Contact Configuration Regulation", O. Taylor. PhD Thesis, MIT [Bibtex]
- 2022 Master "Effector Shape and Motion Optimization", R. Jiang. Master's Thesis, MIT [Bibtex]
- 2023 PhD "An Optimization Approach to Certified Manipulation", B. Aceituno. PhD Thesis, MIT [Bibtex]
- 2022 PhD "Visuo-Tactile Perception for Dexterous Manipulation", M. Bauza. PhD Thesis, MIT [Bibtex]
- 2020 Master "Certified Grasping", B. Aceituno. Master's Thesis, MIT [Bibtex]
- 2020 PhD "High-resolution Tactile Sensing for Reactive Robotic Manipulation", S. Dong. PhD Thesis, MIT [Bibtex]
- 2019 PhD "Reactive Manipulation with Contact Models and Tactile Feedback", F. Hogan. PhD Thesis, MIT [Bibtex]
- 2019 PhD "Dexterous Manipulation with Simple Grippers", N. Chavan-Dafle. PhD Thesis, MIT [Bibtex]
- 2019 PhD "Inference and Learning for Rigid-Body Models of Manipulation", N. Fazeli. PhD Thesis, MIT [Bibtex]
- 2019 Master "Force-and-Motion Constrained Planning for Tool Use", R. Holladay. Master's Thesis, MIT [Bibtex]
- 2018 Master "Probabilistic Model of Planar Pushing", M. Bauza. Master's Thesis, MIT [Bibtex]
- 2018 PhD "Realtime State Estimation for Contact Manipulation", K. Yu. PhD's Thesis, MIT [Bibtex]
- 2017 Master "Optimal Shape and Motion Planning for Dynamic Planar Manipulation", O. Taylor. Master's Thesis, MIT [Bibtex]
- 2013 PhD "Shape for Design", A. Rodriguez. PhD Thesis, CMU [Bibtex]