Sachin Chitta

68 papers A* 26A 7B 1C 4Journal 23Unranked 7
YearRankTypeTitle / Venue / Authors
2026 J jnl
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning.
CoRR
Yiting Chen, Kenneth Kimble, Edward H. Adelson, Tamim Asfour, Podshara Chanrungmaneekul, Sachin Chitta, Yash Chitambar, Ziyang Cheng, Ken Goldberg, Danica Kragic, Hui Li, Xiang Li, Yunzhu Li, Aaron Prather, Nancy S. Pollard, Máximo Alejandro Roa-Garzón, Robert Seney, Shuo Sha, Shihefeng Wang, Yu Xiang, Kaifeng Zhang, Yuke Zhu, Kaiyu Hang
2025 J jnl
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning.
CoRR
Yunsheng Tian, Joshua Jacob, Yijiang Huang, Jialiang Zhao, Edward Gu, Pingchuan Ma, Annan Zhang, Farhad Javid, Branden Romero, Sachin Chitta, Shinjiro Sueda, Hui Li, Wojciech Matusik
2025 A* conf
Flow-based Domain Randomization for Learning and Sequencing Robotic Skills.
ICML
Aidan Curtis, Eric Li, Michael Noseworthy, Nishad Gothoskar, Sachin Chitta, Hui Li, Leslie Pack Kaelbling, Nicole E. Carey
2025 J jnl
Flow-based Domain Randomization for Learning and Sequencing Robotic Skills.
CoRR
Aidan Curtis, Eric Li, Michael Noseworthy, Nishad Gothoskar, Sachin Chitta, Hui Li, Leslie Pack Kaelbling, Nicole Carey
2025 J jnl
GraspFactory: A Large Object-Centric Grasping Dataset.
CoRR
Srinidhi Kalgundi Srinivas, Yash Shukla, Adam Arnold, Sachin Chitta
2025 — conf
MOTORCYCLE 1.0: Automating Bimanual Cable Routing Around Fixtures on the NIST Task Board.
CASE
Osher Azulay, Kavish Kondap, Jaimyn Drake, Shuangyu Xie, Hui Li, Sachin Chitta, Ken Goldberg
2025 J jnl
Text to Robotic Assembly of Multi Component Objects using 3D Generative AI and Vision Language Models.
CoRR
Alexander Htet Kyaw, Richa Gupta, Dhruv Shah, Anoop Sinha, Kory Mathewson, Stefanie Pender, Sachin Chitta, Yotto Koga, Faez Ahmed, Lawrence Sass, Randall Davis
2024 A* conf
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility.
ICRA
Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari, Jieliang Luo, Pingchuan Ma, Yichen Li, Farhad Javid, Edward Gu, Joshua Jacob, Shinjiro Sueda, Hui Li, Sachin Chitta, Wojciech Matusik
2024 J jnl
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly.
CoRR
Jiankai Sun, Aidan Curtis, Yang You, Yan Xu, Michael Koehle, Leonidas J. Guibas, Sachin Chitta, Mac Schwager, Hui Li
2024 A* conf
Toward Automated Programming for Robotic Assembly Using ChatGPT.
ICRA
Annabella Macaluso, Nicholas Cote, Sachin Chitta
2024 J jnl
Toward Automated Programming for Robotic Assembly Using ChatGPT.
CoRR
Annabella Macaluso, Nicholas Cote, Sachin Chitta
2023 J jnl
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility.
CoRR
Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari, Jieliang Luo, Pingchuan Ma, Yichen Li, Farhad Javid, Edward Gu, Joshua Jacob, Shinjiro Sueda, Hui Li, Sachin Chitta, Wojciech Matusik
2023 A* conf
Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion.
ICRA
Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta
2022 A conf
On CAD Informed Adaptive Robotic Assembly.
IROS
Yotto Koga, Heather Kerrick, Sachin Chitta
2022 J jnl
On CAD Informed Adaptive Robotic Assembly.
CoRR
Yotto Koga, Heather Kerrick, Sachin Chitta
2022 J jnl
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion.
CoRR
Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta
2017 J jnl
ros_control: A generic and simple control framework for ROS.
J. Open Source Softw.
Sachin Chitta, Eitan Marder-Eppstein, Wim Meeussen, Vijay Pradeep, Adolfo Rodríguez Tsouroukdissian, Jonathan Bohren, Dave Coleman, Bence Magyar, Gennaro Raiola, Mathias Lüdtke, Enrique Fernandez Perdomo
2016 J jnl
Learning to plan for constrained manipulation from demonstrations.
Auton. Robots
Mike Phillips, Victor Hwang, Sachin Chitta, Maxim Likhachev
2015 J jnl
Learning grounded finite-state representations from unstructured demonstrations.
Int. J. Robotics Res.
Scott Niekum, Sarah Osentoski, George Dimitri Konidaris, Sachin Chitta, Bhaskara Marthi, Andrew G. Barto
2015 A* conf
Towards a data-driven approach to human preferences in motion planning.
ICRA
Arjun Menon, Pooja Kacker, Sachin Chitta
2014 J jnl
Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study.
CoRR
David Coleman, Ioan Alexandru Sucan, Sachin Chitta, Nikolaus Correll
2014 A* conf
Single- and Dual-Arm Motion Planning with Heuristic Search.
ICAPS
Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2014 J jnl
Single- and dual-arm motion planning with heuristic search.
Int. J. Robotics Res.
Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2013 A* conf
A single planner for a composite task of approaching, opening and navigating through non-spring and spring-loaded doors.
ICRA
Steven Gray, Sachin Chitta, Vijay Kumar, Maxim Likhachev
2013 A* conf
Anytime incremental planning with E-Graphs.
ICRA
Mike Phillips, Andrew Dornbush, Sachin Chitta, Maxim Likhachev
2013 — conf
Incremental Semantically Grounded Learning from Demonstration.
Robotics: Science and Systems
Scott Niekum, Sachin Chitta, Andrew G. Barto, Bhaskara Marthi, Sarah Osentoski
2013 — conf
Learning to Plan for Constrained Manipulation from Demonstrations.
Robotics: Science and Systems
Mike Phillips, Victor Hwang, Sachin Chitta, Maxim Likhachev
2013 A* conf
Real-time collision detection and distance computation on point cloud sensor data.
ICRA
Jia Pan, Ioan Alexandru Sucan, Sachin Chitta, Dinesh Manocha
2013 J jnl
Special Issue on Open Source Software-Supported Robotics Research.
Auton. Robots
Caroline Pantofaru, Sachin Chitta, Brian P. Gerkey, Radu Bogdan Rusu, William D. Smart, Richard T. Vaughan
2012 A conf
A generic infrastructure for benchmarking motion planners.
IROS
Benjamin J. Cohen, Ioan Alexandru Sucan, Sachin Chitta
2012 — conf
E-Graphs: Bootstrapping Planning with Experience Graphs.
Robotics: Science and Systems
Michael Phillips, Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2012 B conf
E-Graphs: Bootstrapping Planning with Experience Graphs.
SOCS
Mike Phillips, Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2012 A* conf
FCL: A general purpose library for collision and proximity queries.
ICRA
Jia Pan, Sachin Chitta, Dinesh Manocha
2012 C conf
Faster Sample-Based Motion Planning Using Instance-Based Learning.
WAFR
Jia Pan, Sachin Chitta, Dinesh Manocha
2012 J jnl
Mobile Manipulation in Unstructured Environments: Perception, Planning, and Execution.
IEEE Robotics Autom. Mag.
Sachin Chitta, Edward Gil Jones, Matei T. Ciocarlie, Kaijen Hsiao
2012 A conf
Motion planning with constraints using configuration space approximations.
IROS
Ioan Alexandru Sucan, Sachin Chitta
2012 J jnl
MoveIt! [ROS Topics].
IEEE Robotics Autom. Mag.
Sachin Chitta, Ioan Alexandru Sucan, Steve Cousins
2012 A* conf
Navigation in three-dimensional cluttered environments for mobile manipulation.
ICRA
Armin Hornung, Mike Phillips, Edward Gil Jones, Maren Bennewitz, Maxim Likhachev, Sachin Chitta
2012 J jnl
Robot Challenge [Competitions].
IEEE Robotics Autom. Mag.
Stephen Balakirsky, Sachin Chitta, George Dimitoglou, Jason Gorman, Kayla Kim, Mark Yim
2012 A* conf
Search-based planning for dual-arm manipulation with upright orientation constraints.
ICRA
Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2011 A* conf
Cart pushing with a mobile manipulation system: Towards navigation with moveable objects.
ICRA
Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, Maxim Likhachev
2011 J jnl
Human-Inspired Robotic Grasp Control With Tactile Sensing.
IEEE Trans. Robotics
Joseph M. Romano, Kaijen Hsiao, Günter Niemeyer, Sachin Chitta, Katherine J. Kuchenbecker
2011 A* conf
Planning for Manipulation with Adaptive Motion Primitives.
ICRA
Benjamin J. Cohen, Gokul Subramania, Sachin Chitta, Maxim Likhachev
2011 C conf
Probabilistic Collision Detection Between Noisy Point Clouds Using Robust Classification.
ISRR
Jia Pan, Sachin Chitta, Dinesh Manocha
2011 A* conf
STOMP: Stochastic trajectory optimization for motion planning.
ICRA
Mrinal Kalakrishnan, Sachin Chitta, Evangelos A. Theodorou, Peter Pastor, Stefan Schaal
2011 A* conf
Skill learning and task outcome prediction for manipulation.
ICRA
Peter Pastor, Mrinal Kalakrishnan, Sachin Chitta, Evangelos A. Theodorou, Stefan Schaal
2011 J jnl
Tactile Sensing for Mobile Manipulation.
IEEE Trans. Robotics
Sachin Chitta, Jürgen Sturm, Matthew Piccoli, Wolfram Burgard
2010 A* conf
Autonomous door opening and plugging in with a personal robot.
ICRA
Wim Meeussen, Melonee Wise, Stuart Glaser, Sachin Chitta, Conor McGann, Patrick Mihelich, Eitan Marder-Eppstein, Marius Constantin Muja, Victor Eruhimov, Tully Foote, John M. Hsu, Radu Bogdan Rusu, Bhaskara Marthi, Gary R. Bradski, Kurt Konolige, Brian P. Gerkey, Eric Berger
2010 A* conf
Combining planning techniques for manipulation using realtime perception.
ICRA
Ioan Alexandru Sucan, Mrinal Kalakrishnan, Sachin Chitta
2010 A conf
Contact-reactive grasping of objects with partial shape information.
IROS
Kaijen Hsiao, Sachin Chitta, Matei T. Ciocarlie, Edward Gil Jones
2010 A* conf
Planning for autonomous door opening with a mobile manipulator.
ICRA
Sachin Chitta, Benjamin J. Cohen, Maxim Likhachev
2010 A* conf
Search-based planning for manipulation with motion primitives.
ICRA
Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev
2010 A* conf
Tactile object class and internal state recognition for mobile manipulation.
ICRA
Sachin Chitta, Matthew Piccoli, Jürgen Sturm
2010 — conf
Towards Reliable Grasping and Manipulation in Household Environments.
ISER
Matei T. Ciocarlie, Kaijen Hsiao, Edward Gil Jones, Sachin Chitta, Radu Bogdan Rusu, Ioan Alexandru Sucan
2009 J jnl
Dynamic Rolling for a Modular Loop Robot.
Int. J. Robotics Res.
Jimmy Sastra, Sachin Chitta, Mark Yim
2009 — conf
Laser-based perception for door and handle identification.
ICAR
Radu Bogdan Rusu, Wim Meeussen, Sachin Chitta, Michael Beetz
2009 A conf
Real-time perception-guided motion planning for a personal robot.
IROS
Radu Bogdan Rusu, Ioan Alexandru Sucan, Brian P. Gerkey, Sachin Chitta, Michael Beetz, Lydia E. Kavraki
2009 A* conf
Search-based planning for a legged robot over rough terrain.
ICRA
Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, Daniel D. Lee
2008 J jnl
Automatic Configuration Recognition Methods in Modular Robots.
Int. J. Robotics Res.
Michael Park, Sachin Chitta, Alex Teichman, Mark Yim
2007 A* conf
Proprioceptive localilzatilon for a quadrupedal robot on known terrain.
ICRA
Sachin Chitta, Paul Vemaza, Roman Geykhman, Daniel D. Lee
2006 — conf
Dynamic Rolling for a Modular Loop Robot.
ISER
Jimmy Sastra, Sachin Chitta, Mark Yim
2005 A* conf
RoboTrikke: A Novel Undulatory Locomotion System.
ICRA
Sachin Chitta, Peng Cheng, Emilio Frazzoli, Vijay Kumar
2004 A* conf
Design and Gait Control of a Rollerblading Robot.
ICRA
Sachin Chitta, Frederik W. Heger, Vijay Kumar
2003 A conf
Dynamics and generation of gaits for a planar rollerblader.
IROS
Sachin Chitta, Vijay Kumar
2002 A* conf
Motion Planning for Heterogeneous Modular Mobile Systems.
ICRA
Sachin Chitta, James P. Ostrowski
2001 A conf
New insights into quasi-static and dynamic omnidirectional quadrupedal walking.
IROS
Sachin Chitta, James P. Ostrowski
2001 C conf
The University of Pennsylvania RoboCup Legged Soccer Team.
RoboCup
Sachin Chitta, William Sacks, James P. Ostrowski, Aveek K. Das, P. K. Mishra
2000 C conf
The University of Pennsylvania RoboCup Legged Soccer Team.
RoboCup
James P. Ostrowski, Kenneth A. McIsaac, Aveek K. Das, Sachin Chitta, Julie Neiling