Publications of Tomas Lozano-Perez

Refereed Conference Articles

  1. 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. )
  2. 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.
  3. Leslie Pack Kaelbling and Tomas Lozano-Perez, Pre-image backchaining in belief space for mobile manipulation, International Symposium on Robotics Research, August 2011. PDF.
  4. 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.
  5. 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.
  6. 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
  7. Kaijen Hsiao, Leslie Pack Kaelbling and Tomas Lozano-Perez, Task-Driven Tactile Exploration, in Robotics, Science and Systems (RSS), June 2010. PDF
  8. 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
  9. 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
  10. 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
  11. 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.
  12. 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.
  13. Finney, S., Kaelbling, L., Lozano-Perez, T. Predicting Partial Paths from Planning Problem Parameters, Robotics, Science and Systems (RSS), 2007.
  14. Hsiao, K., Kaelbling, L., Lozano-Perez, T. Grasping POMDPs, IEEE Conference on Robotics and Automation (ICRA), 2007. PDF
  15. 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
  16. 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
  17. Hsiao, K., Lozano-Perez, T. Imitation Learning of Whole-Body Grasps, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2006. PDF
  18. Chiu, H-P, Lozano-Perez, T. Matching Interest Points Using Affine Invariant Concentric Circles, Intl. Conference on Pattern Recognition, 2006. pp 167-170. PDF
  19. Yang, C., Lozano-Perez, T. Image Database Retrieval With Multiple-Instance Learning Techniques, Intl. Conference on Data Engineering, San Diego, 2000. PDF
  20. Lakshmi-Ratan, A., O. Maron, W. E. L. Grimson, T. Lozano-Perez, A Framework for Learning Query Concepts in Image Classification, Computer Vision and Pattern Recognition Conference, Fort Collins, CO., June 1999. PDF
  21. Maron, O., T. Lozano-Perez, A Framework for Multiple Instance Learning. Neural Information Processing Systems 10, 1998. PDF
  22. G. Ettinger, W.E.L. Grimson, T. Lozano-Perez, W. Wells, S. J. White, R. Kikinis, Automatic Registration for Multiple Sclerosis Change Detection, IEEE CVPR Workshop on Biomedical Image Analysis, Seattle, June 1994. PDF
  23. Grimson, W.E.L., T. Lozano-Perez, W.M. Wells III, G.J. Ettinger, S.J. White, and R. Kikinis. An Automatic Registration Method for Frameless Stereotaxy, Image Guided Surgery, and Enhanced Reality Visualization, Computer Vision and Pattern Recognition Conference, Seattle, June 1994. PDF
  24. Dietterich, T. G., A. Jain, R. H. Lathrop, and, Lozano-Perez, T. A Comparison of Dynamic Reposing and Tangent Distance for Drug Activity Prediction, Neural Information Processing Systems (NIPS) Conference, December 1993.
  25. Grimson, W. E. L., T. Lozano-Perez, N. Noble and, White, S.J. An Automatic Tube Inspection System that Finds Cylinders in Range Data, Computer Vision and Pattern Recognition Conference, New York, NY., June 1993, pp. 446--452. PDF
  26. Lozano-Perez,T. and, Wilson, R.H.. Assembly Sequencing for Arbitrary Motions, IEEE International Conference on Robotics and Automation, Atlanta, Georgia, May 1993, pp.527-532. PDF
  27. Lozano-Perez, Tomas and O'Donnell, Patrick A. Parallel Robot Motion Planning, IEEE International Conference on Robotics and Automation, Sacramento, California, April 1991, pp.1000--1007. PDF
  28. Pollard, Nancy S. and Lozano-Perez, Tomas. Grasp Stability and Feasibility for an Arm with and Articulated Hand, IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp.1581--1587. PDF
  29. Jones, Joseph L. and Lozano-Perez, Tomas. Planning Two-Fingered Grasps for Pick-and-Place Operations on Polyhedra, IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp.683--687. PDF
  30. Caine, Michael E., Tomas Lozano-Perez, and Seering, Warren P. Assembly Strategies for Chamferless Parts, IEEE Robotics and Automation Conference, Scottsdale, Arizona, May 1989, pp.472--477. PDF
  31. O'Donnell, Patrick A. and Lozano-Perez, Tomas. Deadlock-Free and Collision-Free Coordination of Two Robot Manipulators, IEEE Robotics and Automation Conference, Scottsdale, Arizona, May 1989, pp.484--489. PDF
  32. Mazer, E. and Lozano-Perez, T. The structure of an interpreter for task-level robot programs, Proceedings of 1987 Third International Conference on Advanced Robots, Versailles, France, October 1987, pp.399--410.
  33. Lozano-Perez, T., Grimson, W. Eric L. and White, S. J. Finding Cylinders and Range Data, Proceedings of 1987 International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp.202--207.
  34. Tournassoud, P., Lozano-Perez, T. and Mazer, E. Regrasping, Proceedings of 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp.1924--1928.
  35. Lozano-Perez, T., Jones, J. L., Mazer, E., O'Donnell, P. A., Grimson, W. E. L., Tournassoud, P., and Lanusse, A. HANDEY: A Robot System that Recognizes, Plans, and Manipulates, Proceedings of 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp.843-849.
  36. Lozano-Perez, T. and Grimson, W. E L. Off-Line Planning for On-Line Object Localization, Proceedings of 1986 ACM/IEEE Computer Society Joint Computer Conference, Dallas, TX, November 1986, pp.127--132. PDF
  37. Lozano-Perez, T. and Brooks, R.A. An Approach to Automatic Robot Programming, Proceedings of Solid Modeling by Computers: from Theory to Applications, Research Laboratories Symposium Series, sponsored by General Motors, Warren, MI, September 1983 (Invited); Plenum Publishing Corp., NY, 1985, pp.293--328.
  38. Grimson, W. E. L. and Lozano-Perez, T. Recognition and Localization of Overlapping Parts in Two and Three Dimensions, IEEE International Conference on Robotics and Automation, St. Louis, MO, March 1985, pp.61--66.
  39. Grimson, W. E. L. and Lozano-Perez, T. Model-Based Recognition and Localization from Tactile Data, IEEE International Conf. on Robotics, Atlanta, GA, March 1984, pp.248--255.
  40. Lozano-Perez, T. Spatial Reasoning, Joint Automatic Control Conference, University of Virginia, Charlottesville, VA, June 1981, p.WP-20.
  41. Lozano-Perez, T. and Winston, P.H. LAMA: A Language for Automatic Mechanical Assembly, Fifth Int. Joint Conf. on Artificial Intelligence, M.I.T., August 1977, pp.710--716.

Refereed Journal Articles

  1. 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
  2. Kaijen Hsiao, Leslie Pack Kaelbling, and Tomas Lozano-Perez, Robust grasping under object pose uncertainty, Autonomous Robots, Vol. 31, Numbers 2--3, 2011. PDF.
  3. 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.
  4. 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
  5. C. M. Rienstra, L. Tucker-Kellogg, C. P. Jaroniec, M. Hohwy, B. Reif, M. T. McMahon, B. Tidor, T. Lozano-Perez, R. G. Griffin, De Novo Determination of Peptide Structure with Solid-State MAS NMR Spectroscopy, Proc. Nat'l. Acad Sci. 99, 10260-10265 (2002). PDF
  6. Wang, E., Lozano-Perez, T. and Tidor, B. AmbiPack: A Systematic Algorithm for Packing of Rigid Macromolecular Structures with Ambiguous Constraints, Proteins: Structure, Function and Genetics, 32: 26-42 (1998). PDF
  7. Dietterich, T. G., Lathrop, R. H. and Lozano-Perez, T. Solving the Multiple-Instance Problem with Axis-Parallel Rectangles, Artificial Intelligence, Vol. 89, Nos. 1-2, January 1997, pp. 31-- 72. PDF
  8. Grimson, W.E.L., G.J. Ettinger, S.J. White, T. Lozano-Perez, W.M. Wells III, and R. Kikinis. An Automatic Registration Method for Frameless Stereotaxy, Image Guided Surgery, and Enhanced Reality Visualization, IEEE Transactions on Medical Imaging, Vol. 15, No. 2, April 1996, pp.129--140. PDF
  9. Wilson, R. H., Kavraki, L., Lozano-Perez, T. and Latombe, J. C. Two-Handed Assembly Sequencing, International Journal of Robotics Research, Vol. 14, No. 4, August 1995, pp.335--350.
    10. PDF
  10. Jain, A., Dietterich, T. G., Lathrop, R. H., Chapman, D. E., Critchlow, R. E., Bauer, B. E., Webster, T. A., Lozano-Perez, T. Compass: A Shape-Based Machine Learning Tool for Drug Design, Journal of Computer Aided Molecular Design, Vol. 8, December 1994, pp.635--652.
  11. Ward, Allen C., Lozano-Perez, Tomas, and Seering, Warren P. Extending the Constraint Propagation of Intervals, Artificial Intelligence for Engineering, Design, Analysis and Manufacturing, Vol. 4, No. 1, 1990, pp.47--54. Also, Eleventh International Joint Conference on Artificial Intelligence, Detroit, MI, August 1989, pp.1453-1458.
  12. Lozano-Perez, T., Jones, Joseph, Mazer, Emmanuel, and O'Donnell, Patrick A. Task-Level Planning of Pick-and-Place Robot Motions, IEEE Computer, Volume 22, Number 3, March 1989, pp.21--29. PDF
  13. Grimson, W. E. L. and Lozano-Perez, T. Localizing Overlapping Parts by Searching the Interpretation Tree, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-9, No. 4, July 1987, pp.469--482. Also, Three-Dimensional Machine Vision, Takeo Kanade (ed.), Kluwer Academic Publishers; Boston, MA, pgs. 451-510, 1987.
  14. M. Erdmann and Lozano-Perez, T. On Multiple Moving Objects, Algorithmica, Vol. 2, 1987, pp.477 -- 521; also appeared in Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, CA, April 1986, pp.1419-1424.
  15. Lozano-Perez, T. A Simple Motion Planning Algorithm for General Robot Manipulators, IEEE Journal of Robotics and Automation, Vol RA-3, No. 3, June 1987, pp. 224--238; also appeared in Proceedings of Fifth National Conference for the American Association of Artificial Intelligence, Philadelphia, PA, August 1986, pp. 626--631.
  16. R. A. Brooks and Lozano-Perez, T. A Subdivision Algorithm in Configuration Space for Findpath with Rotation, IEEE Transactions on Systems, Man and Cybernetics, Vol. SMC-15, No. 2, March/April 1985, pp.224-233. Also in Proc. Eighth Int. Joint Conf. on Artificial Intelligence, Karlsruhe, W. Germany, August 1983, pp.799-806. Also MIT AI Memo 684, February 1983.
  17. Grimson, W. E. L. and Lozano-Perez, T. Model-Based Recognition and Localization from Sparse Three-Dimensional Sensory Data, International Journal of Robotics Research, Vol. 3, No. 3, 1984, pp.3--35. Also Readings in Computer Vision: Issues, Problems, Principles, and Paradigms, Martin A. Fischler and Oscar Firschein (eds.), Morgan Kaufmann: Los Altos, CA, 1987, pp.382-414; Techniques for 3-D Machine Perception, A. Rosenfeld (ed.), North-Holland: New York, NY, 1986, pp.113-148; and MIT AI Memo 738, August 1983.
  18. Lozano-Perez, T., Mason, M. T. and Taylor, R. H. Automatic Synthesis of Fine-Motion Strategies for Robots, International Journal of Robotics Research, Vol. 3, No. 1, 1984, pp.3--24. Also MIT AI Memo 759, December 1983.
  19. Gaston, P. C. and Lozano-Perez, T. Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-6, No. 3, May 1984, pp.257--266. Also MIT AI Memo 705, March 1983.
  20. Lozano-Perez, T. Robot Programming, Proceedings of the IEEE, Vol 71, July 1983, pp.821--841 (Invited). Also IEEE Tutorial on Robotics, IEEE Computer Society, 1986, pp.455--475. Also, MIT AI Memo 698, December 1982.
  21. Lozano-Perez, T. Spatial Planning: A Configuration Space Approach, IEEE Transactions on Computers, Vol C-32, No. 2, February 1983, pp.108--120. Also, IEEE Tutorial on Robotics, IEEE Computer Society, 1986, pp.26--38. Also, AI Memo 605, December 1980.
  22. Lozano-Perez, T. Automatic Planning of Manipulator Transfer Movements, IEEE Transactions on Systems, Man and Cybernetics, Vol. SMC-11, No. 10, October 1981, pp.681--698. Also MIT AI Memo 606, December 1980.
  23. Wesley, M. A., Lozano-Perez, T., Lieberman, L. I., Lavin, M. A. and Grossman, D. D. A Geometric Modeling System for Automated Mechanical Assembly, IBM Journal of Research and Development, Vol. 24, No. 1, January 1980, pp.64--74.
  24. Lozano-Perez, T. and Wesley, M. A. An Algorithm for Planning Collision-Free Paths Among Polyhedral Obstacles, Communications of the ACM, Vol. 22, No. 10, October 1979, pp.560--570. Also, IEEE Tutorial on Robotics, IEEE Computer Society, 1983, pp.65--175. Also, IBM Research Report RC7171, June 1978. PDF
  25. Lozano-Perez, T. Parsing Intensity Profiles, Computer Graphics and Image Processing, Vol. 6, No. 1, February 1977, pp.43--60. Also MIT AI Memo 329, May 1975.
  26. Rothnie, J. B. and Lozano, T. Attribute Based File Organization in a Paged Memory Environment, Communications of the ACM, Vol. 17, No. 2, February 1974, pp.63--69.

Books

  1. Lozano-Perez, T., J.L. Jones, E. Mazer, and P.A. O'Donnell, HANDEY: A Robot Task Planner, M.I.T. Press, Cambridge, MA, 1992.
  2. Khatib, O., J.J. Craig, T. Lozano-Perez (eds.), The Robotics Review 2, M.I.T. Press, Cambridge, MA, 1992.
  3. Khatib, O., J.J. Craig, T. Lozano-Perez (eds.), The Robotics Review 1, M.I.T. Press, Cambridge, MA, 1989.
  4. Brady, M., J. Hollerbach, T. Johnson, T. Lozano-Perez, and M.T. Mason (eds.), Robot Motion: Planning and Control, M.I.T. Press, Cambridge, MA, 1983.
  5. Freuder, E., M.A. Lavin, T. Lozano-Perez. Instructor's Manual for Artificial Intelligence, Addison Wesley, Reading, MA, 1977.

Refereed Publications (based on supervised theses) of Tomas Lozano-Perez's Students

  1. Mellor, J. P. Geometry and Texture from Thousands of Images, International Journal of Computer Vision, Volume 51, No. 1, 2003, pp. 5--35.
  2. Wang, Ed. ConfMatch: automating elecron-density map interpretation by matching conformations, Acta Crystallographica (2000) D56, 1591--1611.
  3. Wang, Ed. An Efficient Algorithm for Conformational Search of Macrocyclic Molecules, Journal of Computational Chemistry, 1996.
  4. Pollard, N. Synthesizing Grasps from Generalized Prototypes, Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, May 1996,
  5. Erdmann, M. On a Representation of Friction in Configuration Space, International Journal of Robotics Research, Vol. 13, No. 3, June 1993, pp. 240--271.
  6. Erdmann, M. Randomization for Robot Tasks: Using Dynamic Programming in the Space of Knowledge States, Algorithimica, Vol. 10, April 1993, pp. 248--291.
  7. Erdmann, M. Randomization in Robot Tasks, International Journal of Robotics Research, Vol. 11, No. 5, October 1992, pp. 399--436.
  8. Erdmann, M. Randomization in Robot Tasks, Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp. 1744--1749.
  9. Erdmann, M. A. Using Backprojections for Fine-Motion Planning with Uncertainty, International Journal of Robotics Research, Vol. 5, No. 1, Spring 1986, pp.19--45.
  10. Cass, T.A. Polynomial-Time Object Recognition in the Presence of Clutter, Occlusion, and Uncertainty, Proceedings of the Second European Conf. on Computer Vision, Genova Italy, May 1992, (ECCV-92).
  11. Weld, Daniel S. Theories of Comparative Analysis, MIT Press, 1990.
  12. Buckley, S. J. Planning Compliant Motion Strategies, International Journal of Robotics Research, Vol. 8, No. 5, October 1989, pp. 28--44.
  13. Nguyen, V. D. Constructing Stable Grasps, International Journal of Robotics Research, Vol. 8, No. 1, February 1989, pp.26--37.
  14. Nguyen, V. D. Constructing Force-Closure Grasps, International Journal of Robotics Research, Vol. 7, No. 3, 1988, pp.3--16.
  15. Donald, B.R. A Geometric Approach to Error Detection and Recovery for Robot Motion Planning with Uncertainty, Artificial Intelligence, Vol. 37, 1988, pp. 223--271.
  16. Donald, B. R. A Search Algorithm for Motion Planning with Six Degrees of Freedom, Artificial Intelligence, Vol. 31, No. 3, March 1987, pp. 295--353.
  17. Donald, B. R. On Motion Planning with Six Degrees of Freedom: Solving the Intersection Problems in Configuration Space, Proceedings of the Ninth International Conference on Artificial Intelligence, Los Angeles, CA, 1985, pp 536--541.
  18. Canny, J. F. The Complexity of Robot Motion Planning, MIT Press, 1988.
  19. Canny, J. F. Constructing roadmaps of semi-algebraic sets I: Completeness. Artificial Intelligence, 37:203-222, 1988.