Publications
Journals
MoGaze: A dataset of full-body motions that includes workspace geometry and eye-gaze Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint and Jim Mainprice, - IEEE Robotics and Automation Letters (RAL), 2021.
Real-time perception meets reactive motion generation Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg, in IEEE Robotics and Automation Letters (RAL), 2018.
Goal set inverse optimal control and iterative re-planning for predicting human reaching motions in shared workspaces Jim Mainprice, Rafi Hayne, Dmitry Berenson, in IEEE Transaction on Robotics (TRO), 2016.
From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication Calder Phillips-Grafflin, Halit Bener Suay, Jim Mainprice, Nicholas Alunni, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W Lindeman, Paul Oh, in Journal of Intelligent & Robotic Systems (JIRS), 2015.
Toward a user-guided manipulation framework for high-DOF robots with limited communication Calder Phillips-Grafflin, Nicholas Alunni, Halit Bener Suay, Jim Mainprice, Sonia Chernova, Dmitry Berenson, Robert W. Lindeman, Daniel Lofaro and Paul Oh in Journal of Intelligent Service Robotics (JISR), 2014.
An attentional approach to human–robot interactive manipulation Xavier Broquère, Alberto Finzi, Jim Mainprice, Silvia Rossi and Mariacarla Staffa, In International Journal of Social Robotics (IJSR), 2014.
Book Chapters
Human-robot interactions Daniel Sidobre, Xavier Broquère, Jim Mainprice, Ernesto Burattini, Alberto Finzi, Silvia Rossi, and Mariacarla Staffa, In Advanced Bimanual Manipulation. Springer Berlin Heidelberg, 2012.
Conferences and Workshops
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint and Jim Mainprice, - RO-MAN, University of British Columbia and University of Waterloo, Canada, 2021.
GraspME -- Grasp Manifold Estimator Janik Hager, Ruben Bauer, Marc Toussaint and Jim Mainprice, - RO-MAN, University of British Columbia and University of Waterloo, Canada, 2021.
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Ges Yoojin Oh, Marc Toussaint and Jim Mainprice, - RO-MAN, University of British Columbia and University of Waterloo, Canada, 2021.
Task and Motion Planning for Human-Robot Collaboration using Non-Linear Programming and Hierarchical Motion Prediction An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint and Jim Mainprice, - ICRA ’21 WORKSHOP: Social Intelligence in Humans and Robots, 2021.
Hierarchical Prediction and Planning for Human-Robot Collaboration An T. Le, Philipp Kratzer, Simon Hagenmayer, Marc Toussaint and Jim Mainprice and Jim Mainprice, - ICRA ’21 WORKSHOP: 3rd Workshop on Long-term Human Motion Prediction, 2021.
MoGaze: A dataset for long-term motion prediction of human full-body manipulation tasks Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni, Rohit Prakash, Marc Toussaint and Jim Mainprice, - HRI ’21 WORKSHOP: Applications for nHRI, 2021.
An interior-point method solving motion planning problems with narrow passages Jim Mainprice, Nathan Ratliff, Marc Toussaint, Stefan Schaal, RO-MAN, Naples, Italy, 2020.
Learning sensory-motor associations from demonstration Vincent Berenz, Ahmed Bjelic, Lahiru Herath, Jim Mainprice, RO-MAN, Naples, Italy, 2020.
Natural gradient shared control Yoojin Oh, Shao-Wen Wu, Marc Toussaint, Jim Mainprice, RO-MAN, Naples, Italy, 2020.
Anticipating human intention for full-body motion prediction in object grasping and placing tasks Philipp Kratzer, Niteesh Balachandra Midlagajni, Marc Toussaint, Jim Mainprice, RO-MAN, Naples, Italy, 2020.
Prediction of human full-body movements with motion optimization and recurrent neural networks Philipp Kratzer, Marc Toussaint, Jim Mainprice, in ICRA Paris, France, 2020.
Natural gradient shared control Yoojin Oh, Shao-Wen Wu, Marc Toussaint, Jim Mainprice, Workshop on Shared Autonomy: Learning and Control, France, 2020.
Anticipating human intention for full-body motion prediction Philipp Kratzer, Niteesh Balachandra Midlagajni, Jim Mainprice, 2nd Workshop on Long-term Human Motion Prediction, France, 2020.
Motion prediction with recurrent neural network dynamical models and trajectory optimization Philipp Kratzer, Marc Toussaint, Jim Mainprice, in RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, Freiburg, Germany, 2019.
Learning arbitration for shared autonomy by hindsight data aggregation Yoojin Oh, Marc Toussaint, Jim Mainprice, in RSS Workshop on AI and Its Alternatives in Assistive and Collaborative Robotics, Freiburg, Germany, 2019.
A differentiable policy for shared autonomy Yoojin Oh, Hangbeom Kim, Marc Toussaint, Jim Mainprice, in ICRA Workshop on Long-term Human Motion Prediction, Montréal, Canada, 2019.
Automated generation of reactive programs from human demonstration for orchestration of robot behaviors Vincent Berenz, Ahmed Bjelic, Jim Mainprice, in Arxiv, 2019.
Towards combining motion optimization and data-driven dynamical models for human motion prediction Philipp Kratzer, Marc Toussaint, Jim Mainprice, in IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018.
Motion prediction with gaussian process dynamical models and trajectory optimization Philipp Kratzer, Marc Toussaint, Jim Mainprice, in IROS Workshop: Robotic Co-workers 4.0, Madrid, Spain, 2018.
Towards activity recognition and anticipation using motion data and gaze Jan Hoffmann, Philipp Kratzner, Marc Toussaint, Jim Mainprice, in IROS Workshop: Robotic Co-workers 4.0, Madrid, Spain, 2018.
Towards learning disentangled objective functions for motion planning with value iteration networks Jie Zhong, and Jim Mainprice in IROS Workshop Machine Learning in Robot Motion Planning, Madrid, Spain, 2018.
Abstract: real-time perception meets reactive motion generation Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg, in ICRA Late Breaking Results, Singapore, 2017.
Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks Jim Mainprice, Nathan Ratliff, Stefan Schaal in IEEE/RSJ IROS, Daejeon, South-Korea, 2016.
Functional manifold projections in Deep-LEARCH Jim Mainprice, Arunkumar Byravan, Daniel Kappler, Dieter Fox, Stefan Schaal, Nathan Ratliff, NeurIPS Workshop on Neurorobotics, Barcelona, Spain, 2016.
Goal region inverse optimal control to predict human reaching motion in shared workspaces Jim Mainprice, Rafi Hayne, Dmitry Berenson, IEEE/RSJ IROS Workshop on Human Movement Understanding and Robotics, Daejeon, South-Korea, 2016.
Reactions and continuous adaptation: A system for realtime control and continuous motion optimization for collaborative robots Nathan Ratliff, Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Manuel Wuthrich, Cristina Garcia-Cifuentes, Vincent Berenz, Dieter Fox, Jeannette Bohg, Stefan Schaal, in IEEE/RSJ IROS Late breaking reports, Daejeon, South-Korea, 2016.
Interlocking perception-action loops at multiple time scales - A system for manipulation in uncertain and dynamic environments Jeannette Bohg, Daniel Kappler, Franziska Meier, Nathan Ratliff, Jim Mainprice, Jan Issac, Manuel Wüthrich, Cristina Garcia-Cifuentes, Vincent Berenz, Stefan Schaal, Workshop on Dynamic Locomotion and Manipulation, ETH, Zurich, Switzerland, 2016.
Predicting human reaching motion in collaborative tasks using inverse optimal control and iterative re-planning Jim Mainprice, Rafi Hayne, Dmitry Berenson in ICRA, Seattle, USA, 2015.
Using inverse optimal control to predict human reaching motion in collaborative tasks Jim Mainprice, Rafi Hayne, Dmitry Berenson in Workshop on Human Movement Understanding and Neuromechanics, Seattle, USA, 2015.
From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication: system design and lessons learned Jim Mainprice, Calder Phillips-Grafflin, Halit Bener Suay, Nicholas Alunni, Dmitry Berenson, Sonia Chrenova, Robert W. Linderman, Daniel Lofaro and Paul Oh, in IROS, Chicago, USA, 2014.
Learning cost functions for motion planning of human-robot collaborative manipulation tasks from human-human demonstration Jim Mainprice, Dmitry Berenson, "AAAI Fall Symposium Series, Artificial Intelligence for Human-Robot Interaction”, 2014.
Motion planning for human-robot collaborative manipulation tasks using prediction of human motion Jim Mainprice and Dmitry Berenson in HRCIM RSS Workshop, San Francisco, USA, 2014.
DARPA Robotics Challenge (DRC): Towards a user-guided manipulation framework for high-DOF robots: video abstract Nicholas Alunni, Halit Bener Suay, Calder Phillips-Grafflin, Jim Mainprice, Dmitry Berenson, Sonia Chrenova, Robert W. Lindema, Daniel Lofaro and Paul Oh, in ICRA Video presentation, Hong Kong, China, 2014.
Human-robot collaborative manipulation planning using early prediction of human motion Jim Mainprice and Dmitry Berenson in IROS, Tokyo, Japan, 2013.
Natural interaction for object handover Mamoun Gharbi, Séverin Lemaigan, Jim Mainprice and Rachid Alami in Hri, Tokyo, Japan, 2013.
Sharing effort in planning human-robot handover tasks Jim Mainprice, Mamoun Gharbi, Thierry Simeon and Rachid Alami in Roman, Paris, France, 2012.
Human-robot interaction in the MORSE simulator Séverin Lemaignan, Gilberto Echeverría1, Michael Karg, Jim Mainprice, Alexandra Kirsch, and Rachid Alami in HRI, Boston, USA, 2012.
Roboscopie : video abstract Séverin Lemaignan, Mamoun Gharbi, Jim Mainprice, Matthieu Herrb, and Rachid Alami in HRI, Boston, USA 2012.
Planning human-aware motions using a sampling-based costmap planner Jim Mainprice, E. Akin Sisbot, Léonard Jaillet, Juan Cortés, Rachid Alami and Thierry Siméon in ICRA, Shanghai, China, 2011.
Planning safe and legible handhover motions for human-robot interaction Jim Mainprice, E. Akin Sisbot, Thierry Siméon and Rachid Alami in IARP, Workshop on Technical Challenges for Dependable Robots in Human Environments, Toulouse, France, 2010.
Reactive grasping for human-robot interaction Daniel Sidobre, Jean-Philippe Saut, Xavier Broquère, Jim Mainprice in RSS Workshop on representations for object grasping and manipulation in single and dual arm tasks, Zaragosa, Spain, 2010.
French
Planification de mouvement pour la manipulation d'objets sous contraintes d'interactions homme-robot Jim Mainprice, Thèse de doctorat, Université de Toulouse, 2012.
Planification de mouvement avec considération de contraintes d’interaction homme-robot Jim Mainprice, Thierry Siméon And Rachid Alami in Congrès EDSYS, 2011.