Tomas Lozano-Perez

MIT Building 32-G492
32 Vassar Street,
Cambridge, MA 02139
(617) 253-7889 (office)
(617) 452-5034 (fax)
Electronic mail address is T followed by L followed by P at mit dot edu

Professor of Computer Science and Engineering

MIT Computer Science and Artificial Intelligence Laboratory
Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology.

Learning in Intelligent Systems Group

Recent Publications

2012

Alejandro Perez, Robert Platt Jr., George Konidaris, Leslie Kaelbling and Tomas Lozano-Perez, LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics, To appear in IEEE Conference on Robotics and Automation (ICRA), May 2012. PDF.
Robert Platt, Leslie Kaelbling, Tomas Lozano-Perez, Russ Tedrake, Non-Gaussian Belief Space Planning: Correctness and Complexity, To appear in IEEE Conference on Robotics and Automation (ICRA), May 2012. PDF.
Leslie Pack Kaelbling and Tomas Lozano-Perez, Unifying Perception, Estimation and Action for Mobile Manipulation via Belief Space Planning, To appear in IEEE Conference on Robotics and Automation (ICRA), May 2012. PDF.
Lawson Wong, Leslie Pack Kaelbling, Tomas Lozano-Perez, Collision-Free State Estimation, To appear in IEEE Conference on Robotics and Automation (ICRA), May 2012. PDF.

2011

Robert Platt, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Russ Tedrake, Simultaneous Localization and Grasping as a Belief Space Control Problem, Proceedings of the International Symposium on Robotics Research, August 2011. PDF (Extended version available in CSAIL Tech Report MIT-CSAIL-TR-2011-039. )
Leslie Pack Kaelbling and Tomas Lozano-Perez, Pre-image backchaining in belief space for mobile manipulation, International Symposium on Robotics Research, August 2011. PDF.
Jennifer L. Barry, Leslie Pack Kaelbling, and Tomas Lozano-Perez, DetH*: Approximate Hierarchical Solution of Large Markov Decision Processes,International Joint Conference on Artificial Intelligence, July 2011. PDF.
Kaijen Hsiao, Leslie Pack Kaelbling, and Tomas Lozano-Perez, Robust grasping under object pose uncertainty, Autonomous Robots, Vol. 31, Numbers 2--3, 2011. PDF.
Leslie Pack Kaelbling and Tomas Lozano-Perez, Domain and Plan Representation for Task and Motion Planning in Uncertain Domains, IROS workshop on Knowledge Representation for Autonomous Robots, September 2011. PDF. Substantially similar to "Hiearchical Planning in the Know: Hierarchical Belief-Space Task and Motion Planning," ICRA workshop on Mobile Manipulation, May 2011.
Leslie Pack Kaelbling and Tomas Lozano-Perez, Hierarchical Planning in the Now (Finalist, Best Manipulation Paper Award), IEEE Conference on Robotics and Automation (ICRA), May 2011. PDF.
Truong-Huy Dinh Nguyen, David Hsu, Wee-Sun Lee, Tze-Yun Leong, Leslie Pack Kaelbling, Tomas Lozano-Perez, Andrew Haydn Grant, CAPIR: Collaborative Action Planning with Intention Recognition, Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE) Oct 2011. PDF.

2010

Han-Pang Chiu, Huan Liu, Leslie Kaelbling, Tomas Lozano-Perez Class-Specific Grasping of 3D Objects from a Single 2D Image, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2010. PDF
Emma Brunskill, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Nicholas Roy, Planning in partially observable switching-mode continuous domains, Annals of Mathematics and Artificial Intelligence, July, 2010. PDF.
Kaijen Hsiao, Leslie Pack Kaelbling and Tomas Lozano-Perez, Task-Driven Tactile Exploration, in Robotics, Science and Systems (RSS), June 2010. PDF
Robert Platt, Russell Tedrake, Tomas Lozano-Perez, and Leslie Pack Kaelbling, Belief space planning assuming maximum likelihood observations, in Robotics Science and Systems (RSS), June 2010. PDF
Jennifer Barry, Leslie Pack Kaelbling, and Tomas Lozano-Perez, Hierarchical Solution of Large Markov Decision Processes, ICAPS Workshop on Planning and Scheduling in Uncertain Domains, May, 2010. PDF
Selim Temizer, Mykel J. Kochenderfer, Leslie Pack Kaelbling, Tomas Lozano-Perez, and James K. Kuchar, Collision Avoidance for Unmanned Aircraft using Markov Decision Processes in AIAA Guidance, Navigation and Control Conference, 2010. PDF

2009

Han-Pang Chiu, Leslie Pack Kaelbling, Tomas Lozano-Perez, Learning to generate novel views of objects for class recognition, Computer Vision and Image Understanding 113 (2009) 1183--1197 PDF
E.J. Hong, S.M. Lippow, B. Tidor, T. Lozano-Perez. Rotamer optimization for protein design through MAP estimation and problem-size reduction. J. Comput. Chem., 2009 30(12):1923-45. PDF

2008

Kaijen Hsiao, Tomas Lozano-Perez, and Leslie Pack Kaelbling, Robust Belief-Based Execution of Manipulation Programs, in Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2008. PDF
Emma Brunskill, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Nicholas Roy, Continuous-state POMDPs with hybrid dynamics, AAAI 2008 Workshop on Advancements in POMDP Solvers, July 2008. PDF

2007

Finney, S., Kaelbling, L., Lozano-Perez, T. Predicting Partial Paths from Planning Problem Parameters, Robotics, Science and Systems (RSS), 2007. PDF
Hsiao, K., Kaelbling, L., Lozano-Perez, T. Grasping POMDPs, IEEE Conference on Robotics and Automation (ICRA), 2007. PDF
Chiu, H-P., Kaelbling, L., Lozano-Perez, T. Virtual Training for Multi-View Object Class Regnition, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), 2007. PDF

2006

Hong, E., Lozano-Perez, T. Protein Side-Chain Placement Through MAP Estimation and Problem-Size Reduction, 6th Workshop on Algorithms in Bioinformatics (WABI) 2006, pp. 219-230. PDF
Hsiao, K., Lozano-Perez, T. Imitation Learning of Whole-Body Grasps, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2006. PDF
Chiu, H-P, Lozano-Perez, T. Matching Interest Points Using Affine Invariant Concentric Circles, Intl. Conference on Pattern Recognition (ICPR), 2006. pp 167-170. PDF