Siddarth Jain
- Phone: 617-621-7581
- Email:
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Position:
Research / Technical Staff
Research Scientist -
Education:
Ph.D., Northwestern University, 2019 -
Research Areas:
External Links:
Siddarth's Quick Links
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Biography
Siddarth's research lies at the intersection of robotics, computer vision, and machine learning. His doctoral thesis investigated mathematical models for probabilistic human intent recognition, shared autonomy for assistive human-robot systems, and perception algorithms involving point cloud processing with geometric methods and machine learning. Prior to joining MERL in 2019, he was affiliated with the Shirley Ryan Abilitylab, Chicago (nation's top ranked physical medicine and rehabilitation research hospital) where his research lead to developments in the assistive robotics domain, involving user studies and interactive robotic systems that integrate perception, machine learning, planning, and control to act with people in practical applications. Currently, Siddarth's research focuses on the core challenges in active perception, robotic manipulation, autonomy, and human-robot interaction.
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Recent News & Events
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NEWS MERL researchers Diego Romeres, Devesh Jha and Siddarth Jain co-organized a workshop on Robotic Manipulation at the RSS 2021 conference Date: July 13, 2021
Where: Robotics: Science and Systems
MERL Contacts: Siddarth Jain; Devesh K. Jha; Diego Romeres
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers Diego Romeres, Devesh Jha, and Siddarth Jain together with research groups at MIT, NVIDIA, NIST, TUM, Google DeepMind, ETH Zurich, Google AI, and UMASS Lowell organized a workshop at the Robotics: Science and Systems 2021 conference. The workshop was on "Advancing Artificial Intelligence and Manipulation for Robotics: Understanding Gaps, Industry and Academic Perspectives, and Community Building". The workshop had a list of excellent speakers both from academia and industry. Recording of the talks and of the panel discussion can be found in the link below.
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NEWS Computer vision and robotics researcher Siddarth Jain appointed as an Associate Editor for the IEEE Robotics and Automation Letters (RA-L) Date: October 13, 2020
MERL Contact: Siddarth Jain
Research Areas: Artificial Intelligence, Computer Vision, Machine Learning, RoboticsBrief- Computer vision and robotics researcher, Siddarth Jain, has been appointed to the editorial board of the IEEE Robotics and Automation Letters (RA-L) as an Associate Editor. Siddarth joined MERL in September 2019 after obtaining his Ph.D. in robotics from Northwestern University, where he developed novel robotics systems to help people with motor-impairments in performing activities of daily living tasks.
RA-L publishes peer-reviewed articles in areas of robotics and automation. RA-L also provides a unique feature to the authors with the opportunity to publish a paper in a peer-reviewed journal and present the same paper at the annual flagship robotics conferences of IEEE RAS, including ICRA, IROS, and CASE.
- Computer vision and robotics researcher, Siddarth Jain, has been appointed to the editorial board of the IEEE Robotics and Automation Letters (RA-L) as an Associate Editor. Siddarth joined MERL in September 2019 after obtaining his Ph.D. in robotics from Northwestern University, where he developed novel robotics systems to help people with motor-impairments in performing activities of daily living tasks.
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MERL Publications
- , "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", arXiv, April 2022.BibTeX arXiv
- @article{Jha2022apr,
- author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
- title = {Design of Adaptive Compliance Controllers for Safe Robotic Assembly},
- journal = {arXiv},
- year = 2022,
- month = apr,
- url = {https://arxiv.org/abs/2204.10447}
- }
- , "Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints", IEEE International Conference on Robotics and Automation (ICRA) 2022, March 2022.BibTeX TR2022-035 PDF
- @article{Zhu2022mar,
- author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
- title = {Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints},
- journal = {IEEE International Conference on Robotics and Automation (ICRA) 2022},
- year = 2022,
- month = mar,
- url = {https://www.merl.com/publications/TR2022-035}
- }
- , "InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images", IEEE International Conference on Computer Vision (ICCV), October 2021, pp. 10023-10032.BibTeX TR2021-097 PDF Video Data Software Presentation
- @inproceedings{Cherian2021oct,
- author = {Cherian, Anoop and Pais, Goncalo and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
- title = {InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images},
- booktitle = {IEEE International Conference on Computer Vision (ICCV)},
- year = 2021,
- pages = {10023--10032},
- month = oct,
- publisher = {CVF},
- url = {https://www.merl.com/publications/TR2021-097}
- }
- , "Visual 3D Perception for Interactive Robotic Tactile Data Acquisition", IEEE International Conference on Automation Science and Engineering (CASE 2021), August 2021.BibTeX TR2021-092 PDF
- @inproceedings{Jain2021aug,
- author = {Jain, Siddarth and Corcodel, Radu and van Baar, Jeroen},
- title = {Visual 3D Perception for Interactive Robotic Tactile Data Acquisition},
- booktitle = {2021 IEEE International Conference on Automation Science and Engineering (CASE)},
- year = 2021,
- month = aug,
- url = {https://www.merl.com/publications/TR2021-092}
- }
- , "Interactive Tactile Perception for Classification of Novel Object Instances", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS45743.2020.9341795, November 2020, pp. 9861-9868.BibTeX TR2020-143 PDF Video
- @inproceedings{Corcodel2020nov,
- author = {Corcodel, Radu and Jain, Siddarth and van Baar, Jeroen},
- title = {Interactive Tactile Perception for Classification of Novel Object Instances},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2020,
- pages = {9861--9868},
- month = nov,
- publisher = {IEEE},
- doi = {10.1109/IROS45743.2020.9341795},
- url = {https://www.merl.com/publications/TR2020-143}
- }
- , "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", arXiv, April 2022.
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Other Publications
- , "Probabilistic Human Intent Recognition for Shared Autonomy in Assistive Robotics", ACM Transactions on Human-Robot Interaction (THRI), 2019.BibTeX
- @Article{jain2019intent,
- author = {Jain, Siddarth and Argall, Brenna},
- title = {Probabilistic Human Intent Recognition for Shared Autonomy in Assistive Robotics},
- booktitle = {ACM Transactions on Human-Robot Interaction (THRI)},
- year = 2019,
- organization = {ACM}
- }
- , "Recursive Bayesian Human Intent Recognition in Shared-Control Robotics", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.BibTeX
- @Inproceedings{jain2018recursive,
- author = {Jain, Siddarth and Argall, Brenna},
- title = {Recursive Bayesian Human Intent Recognition in Shared-Control Robotics},
- booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2018,
- organization = {IEEE}
- }
- , "Human-in-the-loop optimization of shared autonomy in assistive robotics", IEEE robotics and automation letters, Vol. 2, No. 1, pp. 247-254, 2016.BibTeX
- @Article{gopinath2016human,
- author = {Gopinath, Deepak and Jain, Siddarth and Argall, Brenna D},
- title = {Human-in-the-loop optimization of shared autonomy in assistive robotics},
- journal = {IEEE robotics and automation letters},
- year = 2016,
- volume = 2,
- number = 1,
- pages = {247--254},
- publisher = {IEEE}
- }
- , "Grasp detection for assistive robotic manipulation", In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016.BibTeX
- @Inproceedings{jain2016grasp,
- author = {Jain, Siddarth and Argall, Brenna},
- title = {Grasp detection for assistive robotic manipulation},
- booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2016,
- organization = {IEEE}
- }
- , "Assistive robotic manipulation through shared autonomy and a body-machine interface", In Proceedings of the IEEE international conference on rehabilitation robotics (ICORR), 2015.BibTeX
- @Inproceedings{jain2015assistive,
- author = {Jain, Siddarth and Farshchiansadegh, Ali and Broad, Alexander and Abdollahi, Farnaz and Mussa-Ivaldi, Ferdinando and Argall, Brenna},
- title = {Assistive robotic manipulation through shared autonomy and a body-machine interface},
- booktitle = {In Proceedings of the IEEE international conference on rehabilitation robotics (ICORR)},
- year = 2015,
- organization = {IEEE}
- }
- , "Automated and objective assessment of surgical training: detection of procedural steps on videotaped performances", In Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA), 2015.BibTeX
- @Inproceedings{jain2015automated,
- author = {Jain, Siddarth and Barsness, Katherine A and Argall, Brenna},
- title = {Automated and objective assessment of surgical training: detection of procedural steps on videotaped performances},
- booktitle = {In Proceedings of the International Conference on Digital Image Computing: Techniques and Applications (DICTA)},
- year = 2015,
- organization = {IEEE}
- }
- , "Automated perception of safe docking locations with alignment information for assistive wheelchairs", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.BibTeX
- @Inproceedings{jain2014automated,
- author = {Jain, Siddarth and Argall, Brenna},
- title = {Automated perception of safe docking locations with alignment information for assistive wheelchairs},
- booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2014,
- organization = {IEEE}
- }
- , "Probabilistic Human Intent Recognition for Shared Autonomy in Assistive Robotics", ACM Transactions on Human-Robot Interaction (THRI), 2019.
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