Publications

arXiv preprints | BibTex

2024

• "Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics"; Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg; CoRL Workshop on Learning Effective Abstractions for Planning (LEAP), 2024.

• "Differentiable GPU-Parallelized Task and Motion Planning"; William Shen, Caelan Reed Garrett, Ankit Goyal, Tucker Hermans, Fabio Ramos; CoRL Workshop on Differentiable Optimization Everywhere, 2024.

• “Magnetic Manipulation of Unknown and Complex Conductive Nonmagnetic Objects with Application in the Remediation of Space Debris”; Griffin F Tabor, Lan N Pham, Jake J Abbott, Tucker Hermans; The International Journal of Robotics Research (IJRR), 2024.

• "DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics"; Tyler Ga Wei Lum*, Martin Matak*, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk; Conference on Robot Learning (CoRL), 2024.

• "Position Regulation of a Conductive Nonmagnetic Object with Two Stationary Field Sources"; Devin Dalton, Griffin Tabor, Tucker Hermans, Jake J. Abbott; IEEE Transaction on Robotics (TRO), 2024.

• "V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes"; Herbert Wright, Weiming Zhi, Matthew Johnson-Roberson, Tucker Hermans; IEEE International Conference on Intelligent Robots and Systems (IROS), 2024.

• "L4KDE: Learning for Kinodynamic Tree Expansion"; Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos; IEEE International Conference on Intelligent Robots and Systems (IROS), 2024.

• "Hospitals not Homes, Applied not Speculative"; Jason Wiese, Tucker Hermans; RoboCare Design Workshop @ DIS '24, 2024.

• "DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation"; Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz; IEEE International Conference on Robotics and Automation (ICRA), 2024.

• "Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models"; Yixuan Huang, Jialin Yuan, Chanho Kim, Pupul Pradhan, Bryan Chen, Li Fuxin, Tucker Hermans; IEEE International Conference on Robotics and Automation (ICRA), 2024.

• "Point Cloud Models Improve Visual Robustness in Robotic Learners"; Skand Peri, Iain Lee, Chanho Kim, Li Fuxin, Tucker Hermans, Stefan Lee; IEEE International Conference on Robotics and Automation (ICRA), 2024.

• "Pick and Place Planning is Better than Pick Planning then Place Planning"; Mohanraj Devendran Shanthi, Tucker Hermans; IEEE Robotics & Automation Letters (RA-L) (Presented at ICRA@40), 2024.

• "Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers"; Yixuan Huang, Nichols Crawford Taylor, Adam Conkey, Weiyu Liu, Tucker Hermans; IEEE Transactions on Robotics (T-RO), 2024.

2023

• "Probabilistic Pick and Place Planning instead of Pick then Place Planning"; Mohanraj Devendran Shanthi, Tucker Hermans; IROS Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning, 2023.

• "Adaptive Magnetic Control using Stein Variational Gradient Descent computed Distribution of Object Parameters"; Griffin Tabor, Tucker Hermans; IROS Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning, 2023.

• "Ready, Set, Plan! Planning to Goal Sets using Generalized Bayesian Inference"; Jana Pavlasek, Stanley Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans; Conference on Robot Learning (CoRL), 2023.

• "Composable Part-Based Manipulation"; Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu; Conference on Robot Learning (CoRL), 2023.

• "Latent Space Planning for Unobserved Objects with Environment-Aware Relational Classifiers"; Yixuan Huang, Jialin Yuan, Weiyu Liu, Chanho Kim, Fuxin Li, Tucker Hermans; IROS Workshop on Causality for Robotics: Answering the Question of Why , 2023.

• "23 DoF Grasping Policies from a Raw Point Cloud"; Martin Matak, Karl Van Wyk, Tucker Hermans; ICRA Workshop on Geometric Representations, 2023.

• "StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects"; Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton; Robotics: Science and Systems, 2023.

• "Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers"; Yixuan Huang, Adam Conkey, Tucker Hermans; IEEE International Conference on Robotics and Automation (ICRA), 2023.

• "DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets"; Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox; IEEE International Conference on Robotics and Automation (ICRA), 2023.

• "Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch"; Martin Matak, Tucker Hermans; IEEE Robotics and Automation Letters (RA-L) (Presented at IROS 2023), 2023.

2022

• "StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects"; Weiyu Liu, Tucker Hermans, Sonia Chernova, Chris Paxton; CoRL Workshop on Language and Robot Learning, 2022.

• "Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields"; Devin K Dalton, Griffin F Tabor, Tucker Hermans, Jake J Abbott; IEEE Robotics and Automation Letters (RA-L) , 2022.

• "DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI"; Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather, Tucker Hermans; IEEE International Conference on Intelligent Robots and Systems (IROS), 2022.

• "Adaptive Manipulation of Conductive, Nonmagnetic Objects via a Continuous Model of Magnetically Induced Force and Torque"; Griffin F Tabor, Lan N Pham, Jake J Abbott, Tucker Hermans; Robotics: Science and Systems (RSS), 2022.

• "Correcting Robot Plans with Natural Language Feedback"; Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox; Robotics: Science and Systems (RSS), 2022.

• "DefGraspSim: Physics-based Simulation of Grasp Outcomes for 3D Deformable Objects"; Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox; IEEE Robotics and Automation Letters (RA-L) (Special Issue on Robotic Handling of Deformable Objects), 2022.

• "StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects"; Weiyu Liu, Chris Paxton, Tucker Hermans, Dieter Fox; IEEE International Conference on Robotics and Automation (ICRA), 2022.

• "Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds"; Bao Thach, Brian Y Cho, Alan Kuntz, Tucker Hermans; IEEE International Conference on Robotics and Automation (ICRA), 2022.

• "In Vitro Simulation of Shoulder Motion Driven by 3D Scapular and Humeral Kinematics"; Hema J Sulkar, Tyler W. Knighton, Linda Amoafo, Klevis Aliaj, Christopher W. Kolz, Yue Zhang, Tucker Hermans, Heath B. Henninger; Journal of Biomechanical Engineering, 2022.

2021

• "Predicting Stable Configurations for Semantic Placement of Novel Objects"; Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox; Conference on Robot Learning (CoRL), 2021.

• "Parallelised Diffeomorphic Sampling-based Motion Planning"; Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos; Conference on Robot Learning (CoRL), 2021.

• "Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization"; Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather, Tucker Hermans; AAAI Artificial Intelligence for Human-Robot Interaction Symposium (AI-HRI), 2021.

• "Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots"; Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz; International Symposium on Medical Robotics (ISMR), 2021. Best Paper Award–Finalist; Best Student Paper Award–Finalist.

• "Planning Sensing Sequences for Subsurface 3D Tumor Mapping"; Brian Y. Cho, Tucker Hermans, Alan Kuntz; International Symposium on Medical Robotics (ISMR), 2021.

• "Dexterous magnetic manipulation of conductive non-magnetic objects"; Lan N. Pham, Griffin F. Tabor, Ashkan Pourkand, Jacob L. B. Aman, Tucker Hermans, Jake J. Abbott; Nature, 2021.

• "DULA: A Differentiable Ergonomics Model for Postural Optimization in pHRI"; Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather, Tucker Hermans; RSS Workshop on Robotics for People: Perspectives on Interaction, Learning and Safety (R4P), 2021.

• "DefGraspSim: Simulation-based grasping of 3D deformable objects"; Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox; RSS Workshop on Deformable Object Simulation in Robotics (DO-Sim), 2021. Best Paper Award.

• "DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation"; Bao Thach, Alan Kuntz, Tucker Hermans; RSS Workshop on Deformable Object Simulation in Robotics (DO-Sim), 2021. Best Paper Award–Honorable Mention.

• "Is The Leader Robot an Adequate Sensor for Posture Estimation and Ergonomic Assessment of A Human Teleoperator?"; Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather, Tucker Hermans; IEEE International Conference on Automation Science and Engineering (CASE), 2021.

• "Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals"; Roya Sabbagh Novin, Amir Yazdani, Andrew Merryweather, Tucker Hermans; IEEE International Conference on Robotics & Automation (ICRA), 2021.

• "A Model Predictive Approach for Online Mobile Manipulation of Nonholonomic Objects using Learned Dynamics"; Roya Sabbagh Novin, Amir Yazdani, Andrew Merryweather, Tucker Hermans; International Journal of Robotics Research, 2021.

• "Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls"; Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz; International Conference on Operations Research and Enterprise Systems (ICORES), 2021.

• "In-Hand Object-Dynamics Inference using Tactile Fingertips"; Balakumar Sundaralingam, Tucker Hermans; IEEE Transactions on Robotics, 2021.

• "Near-Optimal Area-Coverage Path Planning of Energy Constrained Aerial Robots with Application in Autonomous Environmental Monitoring"; Katharin Jensen-Nau, Tucker Hermans, Kam K. Leang; IEEE Transactions on Automation Science and Engineering, 2021.

2020

• "Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies"; Visak C. V. Kumar, Tucker Hermans, Dieter Fox, Stan Birchfield, Jonathan Tremblay; NeurIPs Workshop on Robot Learning, 2020.

• "Replicating Dynamic Humerus Motion using an Industrial Robot"; Klevis Aliaj, Gentry Feeney, Balakumar Sundaralingam, Tucker Hermans, K. Bo Foremen, Kent N Bachus, Heath B. Henninger; PLOS ONE, 2020.

• "Multi-Fingered Active Grasp Learning"; Qingkai Lu, Mark Van der Merwe, Tucker Hermans; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

• "Autonomous Light Assessment Drone for Dark Skies Studies"; Matthew N. Goodell, Takara E. Truong, Stephanie R. Marston, Brett J. Smiley, Elliot R. Befus, Alex Bingham, Kent Allen, Joseph R. Bourne, Yi Wei, Kate E. Magargal, Vellachi Ganesan, Daniel L. Mendoza, Anil C. Seth, Stacy A. Harwood, Marc Bodson, Tucker Hermans, Kam K. Leang; ASME Dynamic Systems and Control Conference, 2020.

• "Multi-Fingered Grasp Planning via Inference in Deep Neural Networks"; Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans; IEEE Robotics & Automation Magazine (Special Issue on Deep Learning and Machine Learning in Robotics), 2020.

• "Learning Continuous 3D Reconstructions for Geometrically Aware Grasping"; Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans; IEEE International Conference on Robotics and Automation (ICRA), 2020.

• "Benchmarking In-Hand Manipulation"; Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic; IEEE Robotics and Automation Letters (RA-L) (Special Issue: Benchmarking Protocols for Robotic Manipulation), 2020.

• "Development of a Novel Computational Model for Evaluating Fall Risk in Patient Room Design"; Roya Sabbagh Novin, Ellen Taylor, Tucker Hermans, Andrew Merryweather; Health Environments Research & Design Journal (HERD), 2020.

2019

• "Learning to Manipulate Object Collections Using Grounded State Representations"; Matthew Wilson, Tucker Hermans; Conference on Robot Learning (CoRL), 2019. Best Systems Paper Award.

• "3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators"; J. D. Carrico, T. Hermans, K. J. Kim, K. K. Leang; Scientific Reports (Special Collection: Soft Sensors and Actuators), 2019.

• "Learning Task Constraints from Demonstration for Hybrid Force/Position Control"; Adam Conkey, Tucker Hermans; IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2019.

• "Active Learning of Probabilistic Movement Primitives"; Adam Conkey, Tucker Hermans; IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2019.

• "Assembly Planning using a Multi-arm System for Polygonal Furniture"; Seth Payne, C. Fletcher Garrison IV, Steven E. Markhan, Tucker Hermans, Kam K Leang; ASME Dynamic Systems and Control Conference (DSCC), 2019.

• "Modeling Grasp Type Improves Learning-Based Grasp Planning"; Qingkai Lu, Tucker Hermans; IEEE Robotics and Automation Letters (RA-L) (Presented at ICRA 2019), 2019.

• "Robust Learning of Tactile Force Estimation through Robot Interaction"; Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox; IEEE International Conference on Robotics and Automation (ICRA), 2019. Best Paper in Robot Manipulation Award–Finalist.

• “In Vitro Simulation of Physiologic Human Shoulder Motion”; Hema J. Sulkar, Christopher W. Kolz, Klevis Aliaj, Tyler W. Knighton, Tucker Hermans, Heath B.Henninger; Congress of the International Society of Biomechanics / American Society of Biomechanics (ISB/ASB), 2019.

• "Assembly Planning by Subassembly Decomposition Using Blocking Reduction"; James R. Watson, Tucker Hermans; IEEE Robotics and Automation Letters (RA-L) , 2019.

• "Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation"; Balakumar Sundaralingam, Tucker Hermans; Autonomous Robots, 2019.

2018

• "Dynamics Model Learning and Manipulation Planning for Objects in Hospitals using a Patient Assistant Mobile (PAM) Robot"; Roya Sabbagh Novin, Amir Yazdani, Tucker Hermans, Andrew Merryweather; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

• "Grip Stabilization of Novel Objects using Slip Prediction"; Filipe Veiga, Jan Peters, Tucker Hermans; IEEE Transactions on Haptics, 2018.

• "Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation"; Balakumar Sundaralingam, Tucker Hermans; IEEE International Conference on Robotics and Automation (ICRA), 2018.

2017

• "Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network"; Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans; International Symposium on Robotics Research (ISRR), 2017.

• "Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization"; Balakumar Sundaralingam, Tucker Hermans; Robotics: Science and Systems (RSS), 2017.

• "First Demonstration of Simultaneous Localization and Propulsion of a Magnetic Capsule in a Lumen using a Single Rotating Magnet"; Katie M. Popek, Tucker Hermans, Jake J. Abbott; IEEE International Conference on Robotics and Automation (ICRA), 2017. Best Medical Robotics Paper Award.

2016

• "Active Tactile Object Exploration with Gaussian Processes"; Zhengkun Yi, Roberto Calandra, Filipe Veiga, Herke van Hoof, Tucker Hermans, Yilei Zhang, Jan Peters; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

2015

• "Learning Robot In-Hand Manipulation with Tactile Features"; Herke van Hoof, Tucker Hermans, Gerhard Neumann, Jan Peters; IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2015.

• "Evaluation of Tactile Feature Extraction for Interactive Object Recognition"; Janine Hoelscher, Jan Peters, Tucker Hermans; IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2015.

• "Stabilizing Novel Objects by Learning to Predict Tactile Slip"; Filipe Veiga, Herke van Hoof, Jan Peters, Tucker Hermans; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

2014

• "Demonstration: Learning for Tactile Manipulation"; Tucker Hermans, Filipe Veiga, Janine Hoelscher, Herke van Hoof, Jan Peters; Advances in Neural Information Processing Systems (NeurIPS), Demonstration Track, 2014.

• "Representing and Learning Affordance-Based Behaviors"; Tucker Hermans; PhD Thesis, Georgia Institute of Technology, 2014.

2013

• "Learning Contact Locations for Pushing and Orienting Unknown Objects"; Tucker Hermans, Fuxin Li, James M. Rehg, Aaron F. Bobick; IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2013.

• "An In Depth View of Saliency"; Arridhana Ciptadi, Tucker Hermans, James M. Rehg; British Machine Vision Conference (BMVC), 2013.

• "Learning Stable Pushing Locations"; Tucker Hermans, Fuxin Li, James M. Rehg, Aaron F. Bobick; IEEE International Conference on Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), 2013.

• "Decoupling Behavior, Perception, and Control for Autonomous Learning of Affordances"; Tucker Hermans, James M. Rehg, Aaron F. Bobick; IEEE International Conference on Robotics and Automation (ICRA), 2013.

2012

• "Decoupling Behavior, Control, and Perception in Affordance-Based Manipulation"; Tucker Hermans, James M. Rehg, Aaron F. Bobick; IROS Workshop on Cognitive Assistive Systems, 2012.

• "Guided Pushing for Object Singulation"; Tucker Hermans, James M. Rehg, Aaron F. Bobick; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

2011

• "Push Planning for Object Placement on Cluttered Table Surfaces"; Akansel Cosgun, Tucker Hermans, Victor Emeli, Mike Stilman; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

• "Affordance Prediction via Learned Object Attributes"; Tucker Hermans, James M. Rehg, Aaron F. Bobick; ICRA Workshop on Semantic Perception, Mapping, and Exploration, 2011.

2010

• "Movie Genre Classification via Scene Categorization"; Howard Zhou, Tucker Hermans, Asmita V. Karandikar, James M. Rehg; ACM Multimedia, 2010.

2009

• "Northern Bites 2009 Team Report"; Tucker Hermans, Johannes Strom, George Slavov, John Morrison, Andrew Lawrence, Elise Krob, Eric Chown; Bowdoin College, 2009.

2008

• "Player Positioning in the Four-Legged League"; Henry Work, Eric Chown, Tucker Hermans, Jesse Butterfield, Mark McGranaghan; RoboCup 2008: Robot Soccer World Cup XII, 2008.

• "Robust Team-Play in Highly Uncertain Environments"; Henry Work, Eric Chown, Tucker Hermans, Jesse Butterfield; International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2008.

• "Northern Bites 2008 Standard Platform Robot Team"; Eric Chown, Jeremy Fishman, Johannes Strom, George Slavov, Tucker Hermans, Nicholas Dunn, Andrew Lawrence, John Morrison, Elise Krob; Bowdoin College, 2008.