Rachel Holladay Research     Publications     CV

Conference Papers

Planning for Multi-stage Forceful Manipulation. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. ICRA, 2021. websitetalkvideo

Force-and-Motion Constrained Planning for Tool Use. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. IROS, 2019. website talk video

In-Hand Manipulation via Motion Cones. Nikhil Chavan Dafle, Rachel Holladay, and Alberto Rodriguez. RSS, 2018. Best Student Paper Award. video

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, and Alberto Rodriguez. ICRA, 2018. Amazon Robotics Best Systems Paper Award in Manipulation. video

Distance Metrics and Algorithms for Task Space Path Optimization. Rachel Holladay and Siddhartha Srinivasa. IROS, 2016. talk video

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching. Laura Herlant, Rachel Holladay, and Siddhartha Srinivasa. HRI, 2016.

Legible Robot Pointing. Rachel Holladay, Anca Dragan, and Siddhartha Srinivasa. RO-MAN, 2014. talk

An Analysis of Deceptive Robot Motion. Anca Dragan, Rachel Holladay, and Siddhartha Srinivasa. RSS, 2014. video

Journal Articles

Integrated Task and Motion Planning. Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez. Annual Review of Control, Robotics, and Autonomous Systems, 2021.

Planar In-Hand Manipulation via Motion Cones. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. IJRR, 2019.

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez. IJRR, 2019.

Minimizing Task Space Fréchet Error via Efficient Incremental Graph Search. Rachel Holladay, Oren Salzman, and Siddhartha Srinivasa. RA-L, 2019. website

Deceptive Robot Motion: Synthesis, Analysis and Experiments. Anca Dragan, Rachel Holladay, and Siddhartha Srinivasa. Autonomous Robots, 2015.

Workshop Papers

Force-and-Motion Grasp Planning for Tool Use. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. RSS Workshop on "Task-Informed Grasping (TIG-II): From Perception to Physical Interaction" 2019. poster

Minimizing the Fréchet Error of Task-Space Paths for Manipulators and Surgical Robots. Oren Salzman, Rachel Holladay, Sherdil Niyaz, Alan Kuntz, Ron Alterovitz, and Siddhartha Srinivasa. RSS "Pioneers Workshop", 2018.

A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study. Rachel Holladay and Siddhartha Srinivasa. SigBovik, CMU's April Fool's Day Conference, 2017.

Visibility Optimization in Robot Manipulation Tasks. Rachel Holladay, Laura Herlant, Henny Admoni and Siddhartha Srinivasa. RO-MAN "Workshop on Human-Oriented Approaches for Assistive and Rehabilitation Robotics (HUMORARR)", 2016. poster

Active Comparison Based Learning Incorporating User Uncertainity and Noise. Rachel Holladay, Shervin Javdani, Anca Dragan and Siddhartha Srinivasa. RSS "Workshop Model Learning for Human-Robot Communication", 2016. poster talk

RoGuE: Robot Gesture Engine. Rachel Holladay and Siddhartha Srinivasa. AAAI Spring Symposium: "Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform". 2016. talk video

Patents

Robotic Manipulation of Objects for Grip Adjustment. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. [US 62/765278, PCT/US2019/046771] Under review.

Robotic Manipulation of Objects using External Contacts. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. [US 62/765255, PCT/US2019/046780‚Äč] Under review.

Theses

Force-and-Motion Constrained Planning for Tool Use. Rachel Holladay. Master's Thesis, MIT 2019.

Following Paths in Task Space: Distance Metrics and Planning Algorithms. Rachel Holladay. Undergraduate Honors Thesis, CMU 2017. Allen Newell Award for Excellence in Undergraduate Research. poster talk video

Other

Multi-Agent Robotic Drawing System. Zhaodong Zheng, Neil Jassal, Yichu Jin and Rachel Holladay. CMU Robotics Major Capstone Project, 2017. video

Parallel A* Graph Search. Ariana Weinstock and Rachel Holladay. CMU 15-418/618 Parallel Computer Architecture and Programming final project, 2016. poster

Adaptive Ecosystem Climatology (AEC) Ocean Science Kit (OS Kit). Rachel Holladay, Samuel Holladay, Sergio deRada. Internship Project at the Naval Research Laboratory, Stennis Space Center, 2014. website video

Gulf Of Mexico Modelling System (GOMMS) Website. Rachel Holladay, Samuel Holladay, Sergio deRada. Internship Project at the Naval Research Laboratory, Stennis Space Center, 2012-13.


All Rights Reserved 2022. Accessibility.