Publications


  1. Car That Knows Before You Do: Anticipating Maneuvers via Learning Temporal Driving Models, Ashesh Jain, Hema S Koppula, Bharad Raghavan, Shane Soh, Ashutosh Saxena. In ICCV, 2015. [PDF, more]
  2. Recurrent Neural Networks for Driver Activity Anticipation via Sensory-Fusion Architecture, Ashesh Jain, Avi Singh, Hema S Koppula, Shane Soh, Ashutosh Saxena. In Cornell Tech Report, Sept. 2015. [arXiv, more]
  3. Deep Multimodal Embedding: Manipulating Novel Objects with Point-clouds, Language, Trajectories, Jaeyong Sung, Ian Lenz, Ashutosh Saxena. In Cornell Tech Report, Sept. 2015. [PDF, more]
  4. Robobarista: Object Part-based Transfer of Manipulation Trajectories from Crowd-sourcing in 3D Pointclouds, Jaeyong Sung, Seok Hyun Jin, Ashutosh Saxena. In International Symposium on Robotics Research (ISRR), 2015. [PDF, arXiv, more]
  5. Learning Preferences for Manipulation Tasks from Online Coactive Feedback, Ashesh Jain, Shikhar Sharma, Thorsten Joachims, Ashutosh Saxena. In IJRR, 2015. [PDF, more]
  6. PlanIt: A Crowdsourcing Approach for Learning to Plan Paths from Large Scale Preference Feedback, Ashesh Jain, Debarghya Das, Jayesh Gupta, Ashutosh Saxena. In ICRA, 2015. [PDF, more]
  7. Synthesizing Manipulation Sequences for Under-Specified Tasks using Unrolled Markov Random Fields, Jaeyong Sung, Bart Selman, Ashutosh Saxena. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014. [PDF, more]
  8. Tell Me Dave: Context-Sensitive Grounding of Natural Language to Mobile Manipulation Instructions, Dipendra K Misra, Jaeyong Sung, Kevin Lee, Ashutosh Saxena. In Robotics: Science and Systems (RSS), 2014. [PDF, more]
  9. Hierarchical Semantic Labeling for Task-Relevant RGB-D Perception, Chenxia Wu, Ian Lenz, Ashutosh Saxena. In Robotics: Science and Systems (RSS), 2014. [PDF]
  10. Modeling High-Dimensional Humans for Activity Anticipation using Gaussian Process Latent CRFs, Yun Jiang, Ashutosh Saxena In Robotics: Science and Systems (RSS), 2014. [PDF]
  11. 3D Reasoning from Blocks to Stability. Zhaoyin Jia, Andy Gallagher, Ashutosh Saxena, Tsuhan Chen. Accepted with minor revisions in IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2014. [PDF coming soon]
  12. Learning Trajectory Preferences for Manipulators via Iterative Improvement, Ashesh Jain, Brian Wojcik, Thorsten Joachims, Ashutosh Saxena. In Neural Information Processing Systems (NIPS), 2013. [PDF | more]
  13. Tangled: Learning to Untangle Ropes with RGB-D Perception, Wen H Lui, Ashutosh Saxena. In International Conference on Intelligent Robots and Systems (IROS), 2013. [PDF]
  14. Anticipating Human Activities using Object Affordances for Reactive Robotic Response, Hema S. Koppula, Ashutosh Saxena. Robotics: Science and Systems (RSS), 2013. (best student paper) [PDF, more]
  15. Deep Learning for Detecting Robotic Grasps, Ian Lenz, Honglak Lee, Ashutosh Saxena. Robotics: Science and Systems (RSS), 2013. [PDF, more]
  16. Infinite Latent Conditional Random Fields for Modeling Environments through Humans, Yun Jiang, Ashutosh Saxena. Robotics: Science and Systems (RSS), 2013. [PDF, Supplementary material, more]
  17. Beyond Geometric Path Planning: Learning Context-Driven Trajectory Preferences via Sub-optimal Feedback, Ashesh Jain, Shikhar Sharma, Ashutosh Saxena. To appear in International Symposium on Robotics Research (ISRR), 2013. [PDF | more]
  18. Learning Spatio-Temporal Structure from RGB-D Videos for Human Activity Detection and Anticipation, Hema S. Koppula, Ashutosh Saxena. International Conference of Machine Learning (ICML), 2013. [PDF, more]
  19. Hallucinated Humans as the Hidden Context for Labeling 3D Scenes, Yun Jiang, Hema S. Koppula, Ashutosh Saxena. In Computer Vision and Pattern Recognition (CVPR), 2013 (oral). [PDF, more]
  20. Learning Human Activities and Object Affordances from RGB-D Videos, Hema S. Koppula, Rudhir Gupta, Ashutosh Saxena. International Journal of Robotics Research (IJRR), 32(8): 951-970, July 2013. [PDF, code/data(CAD-120), more,
    ArXiv, 2012]
  21. 3D-Based Reasoning with Blocks, Support, and Stability. Zhaoyin Jia, Andy Gallagher, Ashutosh Saxena, Tsuhan Chen. In Computer Vision and Pattern Recognition (CVPR), 2013 (oral). [PDF]
  22. Hallucinating Humans for Learning Robotic Placement of Objects,
    Yun Jiang, Ashutosh Saxena. In 13th International Symposium on Experimental Robotics (ISER), 2012. [PDF, more]
  23. Contextually Guided Semantic Labeling and Search for 3D Point Clouds,
    Abhishek Anand, Hema S. Koppula, Thorsten Joachims, Ashutosh Saxena.
    International Journal of Robotics Research (IJRR), 2012. [PDF ,more]
  24. Learning Object Arrangements in 3D Scenes using Human Context, Yun Jiang, Marcus Lim, Ashutosh Saxena. In International Conference of Machine Learning (ICML), 2012. [PDF, more]
  25. Learning to Place New Objects in a Scene, Yun Jiang, Marcus Lim, Changxi Zheng, Ashutosh Saxena. In International Journal of Robotics Research (IJRR), 2012. [PDF, more]
  26. Learning to Place New Objects, Yun Jiang, Changxi Zheng, Marcus Lim, Ashutosh Saxena. In International Conference on Robotics and Automation (ICRA), 2012. First appeared in RSS workshop on mobile manipulation, June 2011. [PDF, slides, more, data/code]
  27. Unstructured Human Activity Detection from RGBD Images, Jaeyong Sung, Colin Ponce, Bart Selman, Ashutosh Saxena. In International Conference on Robotics and Automation (ICRA), 2012. [PDF, more, code/data(CAD-60)]
  28. Learning Hardware Agnostic Grasps for a Universal Jamming Gripper, Yun Jiang, John Amend, Hod Lipson, Ashutosh Saxena. In International Conference on Robotics and Automation (ICRA), 2012. [PDF, more]
  29. Semantic Labeling of 3D Point Clouds for Indoor Scenes, Hema S. Koppula, Abhishek Anand, Thorsten Joachims, Ashutosh Saxena. In Neural Information Processing Systems (NIPS), 2011. [PDF, More, code/data]
  30. Efficient Grasping from RGBD images: Learning using a new Rectangle Representation, Yun Jiang, Stephen Moseson, Ashutosh Saxena. In International Conference on Robotics and Automation (ICRA), 2011. [PDF, More]
  31. Robotic Object Detection: Learning to Improve the Classifiers using Sparse Graphs for Path Planning. Zhaoyin Jia, Ashutosh Saxena, Tsuhan Chen. In 22nd International Joint Conference on Artificial Intelligence (IJCAI), 2011. [PDF]
  32. Towards Holistic Scene Understanding: Feedback Enabled Cascaded Classification Models, Congcong Li, Adarsh Kowdle, Ashutosh Saxena, and Tsuhan Chen. In Neural Information Processing Systems (NIPS), 2010. [PDF, More]
  33. Robotic Grasping of Novel Objects using Vision, Ashutosh Saxena, Justin Driemeyer, and Andrew Y. Ng. International Journal of Robotics Research (IJRR), vol. 27, no. 2, pp. 157-173, Feb 2008. [PDF, more]
  34. Learning grasp strategies with partial shape information, Ashutosh Saxena, Lawson Wong, and Andrew Y. Ng. In AAAI, 2008. [PDF, More]
  35. Learning 3-D Object Orientation from Images, Ashutosh Saxena, Justin Driemeyer, Andrew Y Ng. In International Conference on Robotics and Automation (ICRA), 2009. [PDF]
    (Preliminary version previously presentd in the NIPS workshop on Robotic Challenges for Machine Learning, 2007.)
  36. Reactive Grasping using Optical Proximity Sensors, Kaijen Hsiao, Paul Nangeroni, Manfred Huber, Ashutosh Saxena, Andrew Y Ng. In International Conference on Robotics and Automation (ICRA), 2009. [pdf, More]
  37. A Fast Data Collection and Augmentation Procedure for Object Recognition, Benjamin Sapp, Ashutosh Saxena, and Andrew Y. Ng. In Twenty-Third Conference on Artificial Intelligence (AAAI), 2008. [PDF, More]
  38. A Vision-based System for Grasping Novel Objects in Cluttered Environments, Ashutosh Saxena, Lawson Wong, Morgan Quigley, and Andrew Y. Ng. In International Symposium of Robotics Research (ISRR), 2007. [PDF]
  39. Depth Estimation Using Monocular and Stereo Cues, Ashutosh Saxena, Jamie Schulte and Andrew Y. Ng. Proceedings on the Twentieth International Joint Conference on Artificial Intelligence (IJCAI-07), 2007. [PDF, more]
  40. Spatial priors for part-based recognition using statistical models, David Crandall, Pedro Felzenszwalb, Daniel Huttenlocher. CVPR 2005. [PDF]
  41. Efficient Graph-Based Image Segmentation, P. Felzenszwalb and Daniel Huttenlocher. Intl. Journal of Computer Vision, vol. 59, no. 2, pp. 167-181, 2004. [PDF]
  42. Learning to grasp novel objects using vision, Ashutosh Saxena, Justin Driemeyer, Justin Kearns, Chioma Osondu, and Andrew Y. Ng. International Symposium on Experimental Robotics (ISER), 2006. [PDF]
  43. Robotic Grasping of Novel Objects, Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Y. Ng. Neural Information Processing Systems (NIPS 19), 2006. [PDF, More]

Workshop papers


  1. Learning Sequences of Controllers for Complex Manipulation Tasks, Jaeyong Sung, Bart Selman, Ashutosh Saxena. In ICML workshop on Prediction with Sequential Models, 2013. [PDF, arXiv]
  2. Learning Trajectory Preferences for Manipulators via Iterative Improvement, Ashesh Jain, Thorsten Joachims, Ashutosh Saxena. In ICML workshop on Robot Learning, 2013. [PDF,arXiv]
  3. Learning to Place Objects: Organizing a Room, Gaurab Basu, Yun Jiang, Ashutosh Saxena. Video contribution in ICRA, 2012. [youtube video]
  4. Human Activity Detection from RGBD Images, Jaeyong Sung, Colin Ponce, Bart Selman, Ashutosh Saxena. In AAAI workshop on Pattern, Activity and Intent Recognition (PAIR), 2011. [PDF, arXiv, More]
  5. Labeling 3D Scenes for Personal Assistant Robots, Hema S. Koppula, Abhishek Anand, Thorsten Joachims, Ashutosh Saxena. In R:SS workshop on RGB-D cameras, 2011. [PDF, More]
  6. Inferring 3D Articulated Models for Box Packaging Robot, Paul Heran Yang, Tiffany Low, Matthew Cong, Ashutosh Saxena. In RSS workshop on mobile manipulation, 2011. [pdf, More]
  7. Pose estimation from a single depth image for arbitrary kinematic skeletons, Daniel Ly, Ashutosh Saxena, Hod Lipson. In R:SS workshop on RGB-D cameras, 2011. [PDF]
  8. FeCCM for Scene Understanding: Helping the Robot to Learn Multiple Tasks, Congcong Li, TP Wong, Norris Xu, Ashutosh Saxena. Video contribution in International Conference on Robotics and Automation (ICRA 2011), 2011. [pdf, mp4, youtube, More]
  9. Learning to Open New Doors, Ellen Klingbeil, Ashutosh Saxena, Andrew Y. Ng. In RSS Workshop on Robot Manipulation, 2008. [PDF, More]
  10. Learning to Open New Doors, Ellen Klingbeil, Ashutosh Saxena, Andrew Y. Ng. Presented in AAAI 17th Annual Robot Workshop and Exhibition, 2008.
  11. STAIR: The STanford Artificial Intelligence Robot project, Andrew Y. Ng, Stephen Gould, Morgan Quigley, Ashutosh Saxena, Eric Berger. Snowbird, 2008.
  12. STAIR: Hardware and Software Architecture, Andrew Y. Ng, Stephen Gould, Morgan Quigley, Ashutosh Saxena and Eric Berger. Presented in AAAI 2007 Robotics Workshop, 2007. [PDF]
  13. Learning to grasp novel objects using vision, Ashutosh Saxena, Justin Driemeyer, Justin Kearns and Andrew Y. Ng. Presented in RSS workshop on Robotic Manipulation, 2006.