Peter K. Allen

Affiliations:
  • Columbia University, New York City, USA


According to our database1, Peter K. Allen authored at least 146 papers between 1985 and 2022.

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Bibliography

2022
Mobile Manipulation Leveraging Multiple Views.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021
Dynamic Grasping with Reachability and Motion Awareness.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

CLAMGen: Closed-Loop Arm Motion Generation via Multi-view Vision-Based RL.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

2020
Generative Attention Learning: a "GenerAL" framework for high-performance multi-fingered grasping in clutter.
Auton. Robots, 2020

SQUIRL: Robust and Efficient Learning from Video Demonstration of Long-Horizon Robotic Manipulation Tasks.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Learning Your Way Without Map or Compass: Panoramic Target Driven Visual Navigation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Maximizing BCI Human Feedback using Active Learning.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Accelerated Robot Learning via Human Brain Signals.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019
Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Multi-Modal Geometric Learning for Grasping and Manipulation.
Proceedings of the International Conference on Robotics and Automation, 2019

MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018
Model-Driven Feedforward Prediction for Manipulation of Deformable Objects.
IEEE Trans Autom. Sci. Eng., 2018

Human Robot Interface for Assistive Grasping.
CoRR, 2018

Workspace Aware Online Grasp Planning.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

2017
Assistive grasping with an augmented reality user interface.
Int. J. Robotics Res., 2017

Shape completion enabled robotic grasping.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Task level hierarchical system for BCI-enabled shared autonomy.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016
Shape Completion Enabled Robotic Grasping.
CoRR, 2016

Model-Driven Feed-Forward Prediction for Manipulation of Deformable Objects.
CoRR, 2016

Toward a Science of Autonomy for Physical Systems: Service.
CoRR, 2016

RoboBench: Towards sustainable robotics system benchmarking.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Multi-sensor surface analysis for robotic ironing.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Articulated Pose Estimation Using Hierarchical Exemplar-Based Models.
Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence, 2016

2015
Grasping with Your Brain: A Brain-Computer Interface for Fast Grasp Selection.
Proceedings of the Robotics Research, 2015

Generating multi-fingered robotic grasps via deep learning.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Folding deformable objects using predictive simulation and trajectory optimization.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Regrasping and unfolding of garments using predictive thin shell modeling.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Grasp Planning Using Low Dimensional Subspaces.
Proceedings of the Human Hand as an Inspiration for Robot Hand Development, 2014

Appearance learning for 3D tracking of robotic surgical tools.
Int. J. Robotics Res., 2014

Semantic grasping: planning task-specific stable robotic grasps.
Auton. Robots, 2014

Stable grasping under pose uncertainty using tactile feedback.
Auton. Robots, 2014

Real-time teleop with non-prehensile manipulation.
Proceedings of the 2014 IEEE International Conference on Technologies for Practical Robot Applications, 2014

Single muscle site sEMG interface for assistive grasping.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Surgical Structured Light for 3D minimally invasive surgical imaging.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Real-time pose estimation of deformable objects using a volumetric approach.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Recognition of deformable object category and pose.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Planning complex physical tasks for disaster response with a humanoid robot.
Proceedings of the 2013 IEEE Conference on Technologies for Practical Robot Applications, 2013

A user interface for assistive grasping.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Grasp adjustment on novel objects using tactile experience from similar local geometry.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

2012
Feature Classification for Tracking Articulated Surgical Tools.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2012, 2012

Grasping with Your Face.
Proceedings of the Experimental Robotics, 2012

Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Pose error robust grasping from contact wrench space metrics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Towards a design optimization method for reducing the mechanical complexity of underactuated robotic hands.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Learning grasp stability.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Learning features on robotic surgical tools.
Proceedings of the 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2012

2011
Data-driven grasping.
Auton. Robots, 2011

A highly-underactuated robotic hand with force and joint angle sensors.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A learning algorithm for visual pose estimation of continuum robots.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Blind grasping: Stable robotic grasping using tactile feedback and hand kinematics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
An online learning approach to in-vivo tracking using synergistic features.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Robot learning of everyday object manipulations via human demonstration.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Design, simulation and evaluation of kinematic alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Data-driven optimization for underactuated robotic hands.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
View planning and automated data acquisition for three-dimensional modeling of complex sites.
J. Field Robotics, 2009

Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting.
Int. J. Robotics Res., 2009

Hand Posture Subspaces for Dexterous Robotic Grasping.
Int. J. Robotics Res., 2009

System design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Data-driven grasping with partial sensor data.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

A design and analysis tool for underactuated compliant hands.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

The Columbia grasp database.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Functional analysis of finger contact locations during grasping.
Proceedings of the World Haptics 2009, 2009

2008
Building Illumination Coherent 3D Models of Large-Scale Outdoor Scenes.
Int. J. Comput. Vis., 2008

SHREC'08 entry: Training set expansion via autotags.
Proceedings of the 2008 International Conference on Shape Modeling and Applications (SMI 2008), 2008

Autotagging to improve text search for 3D models.
Proceedings of the 2008 International Conference on Shape Modeling and Applications (SMI 2008), 2008

In Vivo Pan/Tilt Endoscope with Integrated Light Source, Zoom and Auto-focusing.
Proceedings of the Medicine Meets Virtual Reality 16, 2008

Biomimetic grasp planning for cortical control of a robotic hand.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

On-Line Interactive Dexterous Grasping.
Proceedings of the Haptics: Perception, 2008

Two-stage robotic crystal mounting of protein crystals for X-ray data collection.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

2007
Shadow based texture registration for 3D modeling of outdoor scenes.
Mach. Vis. Appl., 2007

In-vivo pan/tilt endoscope with integrated light source.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Dimensionality reduction for hand-independent dexterous robotic grasping.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Data acquisition and view planning for 3-D modeling tasks.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Grasp Planning via Decomposition Trees.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks.
Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007

2006
View Planning for Automated Site Modeling.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Recovering Illumination and Texture Using Ratio Images.
Proceedings of the 3rd International Symposium on 3D Data Processing, 2006

Two Stage View Planning for Large-Scale Site Modeling.
Proceedings of the 3rd International Symposium on 3D Data Processing, 2006

2005
Microrobotic Streak Seeding For Protein Crystal Growth.
Proceedings of the Robotics: Science and Systems I, 2005

Grasp analysis using deformable fingers.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Relighting Acquired Models of Outdoor Scenes.
Proceedings of the Fifth International Conference on 3D Digital Imaging and Modeling (3DIM 2005), 2005

2004
Localization methods for a mobile robot in urban environments.
IEEE Trans. Robotics, 2004

Graspit! A versatile simulator for robotic grasping.
IEEE Robotics Autom. Mag., 2004

Digitally modeling, visualizing and preserving archaeological sites.
Proceedings of the ACM/IEEE Joint Conference on Digital Libraries, 2004

Visually-guided protein crystal manipulation using micromachined silicon tools.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

An SVM Learning Approach to Robotic Grasping.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

A Shadow Based Method for Image to Model Registration.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2004

Seeing into the Past: Creating a 3D Modeling Pipeline for Archaeological Visualization.
Proceedings of the 2nd International Symposium on 3D Data Processing, 2004

2003
New Methods for Digital Modeling of Historic Sites.
IEEE Computer Graphics and Applications, 2003

Automatic grasp planning using shape primitives.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

TopBot: automated network topology detection with a mobile robot.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

3D Modeling of Historic Sites Using Range and Image Data.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

The Beauvais Cathedral Project.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2003

2002
Geometry and Texture Recovery of Scenes of Large Scale.
Comput. Vis. Image Underst., 2002

Visual servoed micropositioning for protein manipulation tasks.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

Vision for mobile robot localization in urban environments.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

Topological Mobile Robot Localization using Fast Vision Techniques.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Visual servoing by partitioning degrees of freedom.
IEEE Trans. Robotics Autom., 2001

Real-time Tracking Meets Online Grasp Planning.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Automatic Registration of 2-D with 3-D Imagery in Urban Environments.
Proceedings of the Eighth International Conference On Computer Vision (ICCV-01), Vancouver, British Columbia, Canada, July 7-14, 2001, 2001

AVENUE: Automated Site Modeling in Urban Environments.
Proceedings of the 3rd International Conference on 3D Digital Imaging and Modeling (3DIM 2001), 28 May, 2001

2000
Constraint-Based Sensor Planning for Scene Modeling.
IEEE Trans. Pattern Anal. Mach. Intell., 2000

Computing swept volumes.
Comput. Animat. Virtual Worlds, 2000

Integration of Range and Image Sensing for Photorealistic 3D Modeling.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Joint Coupled Compensation Effects in Visually Servoed Tracking.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Design, Architecture and Control of a Mobile Site-Modeling Robot.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

3-D Model Construction Using Range and Image Data.
Proceedings of the 2000 Conference on Computer Vision and Pattern Recognition (CVPR 2000), 2000

1999
3-D Modeling from Range Imagery: An Incremental Method with a Planning Component.
Image Vis. Comput., 1999

Computing Camera Viewpoints in an Active Robot Work Cell.
Int. J. Robotics Res., 1999

Performance of a Partitioned Visual Feedback Controller.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Examples of 3D Grasp Quality Computations.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
Registering, Integrating and Building CAD Models from Range Data.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Design of a Partitioned Visual Feedback Controller.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Interactive Sensor Planning.
Proceedings of the 1998 Conference on Computer Vision and Pattern Recognition (CVPR '98), 1998

1997
A robotic system for 3D model acquisition from multiple range images.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Using tactile and visual sensing with a robotic hand.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Integrating Real-Time Vision And Manipulation.
Proceedings of the 30th Annual Hawaii International Conference on System Sciences (HICSS-30), 1997

Automated Model Acquisition from Range Images with View Planning.
Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97), 1997

Visual control of grasping.
Proceedings of the confluence of vision and control, 1997

The block island workshop: Summary report.
Proceedings of the confluence of vision and control, 1997

3-D Modeling from Range Imagery: An Incremental Method with a Planning Component.
Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling (3DIM '97), 1997

1996
Computing camera viewpoints in a robot work-cell.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
Alignment using an uncalibrated camera system.
IEEE Trans. Robotics Autom., 1995

The MVP sensor planning system for robotic vision tasks.
IEEE Trans. Robotics Autom., 1995

A survey of sensor planning in computer vision.
IEEE Trans. Robotics Autom., 1995

CAD model acquisition using BSP trees.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

1994
Shared autonomy in a robot hand teleoperation system.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1994

Active, Uncalibrated Visual Servoing.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Probability-Driven Motion Planning for Mobile Robots.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Forming Complex Dextrous Manipulations from Task Primitives.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Automated tracking and grasping of a moving object with a robotic hand-eye system.
IEEE Trans. Robotics Autom., 1993

Planning Velocity Profiles from Task-Level Constraints and Environment Uncertainties.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Modeling Dynamics Uncertainty in Robot Motions.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Compliant Manipulation with a Dextrous Robot Hand.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Dynamic Sensor Planning.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992
Trajectory filtering and prediction for automated tracking and grasping of a moving object.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991
Real-time visual servoing.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990
A system for programming and controlling a multisensor robotic hand.
IEEE Trans. Syst. Man Cybern., 1990

Acquisition and interpretation of 3-D sensor data from touch.
IEEE Trans. Robotics Autom., 1990

Dissertation abstract.
Mach. Vis. Appl., 1990

Mapping haptic exploratory procedures to multiple shape representations.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1989
An Intelligent Grasping System.
Computer, 1989

Haptic object recognition using a multi-fingered dextrous hand.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

An integrated system for dextrous manipulation.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

1988
Integrating Vision and Touch for Object Recognition Tasks.
Int. J. Robotics Res., 1988

1985
Object Recognition Using Vision and Touch.
Proceedings of the 9th International Joint Conference on Artificial Intelligence. Los Angeles, 1985


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