MERL - Mitsubishi Electric Research Laboratories

Siddarth Jain

Siddarth Jain
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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.

  • Recent News & Events


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  • MERL Publications

    •  Cherian, A., Jain, S., Marks, T.K., Sullivan, A., "Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation", IEEE International Conference on Robotics and Automation (ICRA), March 2023.
      BibTeX TR2023-010 PDF
      • @inproceedings{Cherian2023mar,
      • author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
      • title = {Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2023,
      • month = mar,
      • url = {https://www.merl.com/publications/TR2023-010}
      • }
    •  Curtis, A., Kaelbling, L., Jain, S., "Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects", arXiv, December 2022.
      BibTeX arXiv
      • @article{Curtis2022dec,
      • author = {Curtis, Aidan and Kaelbling, Leslie and Jain, Siddarth},
      • title = {Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects},
      • journal = {arXiv},
      • year = 2022,
      • month = dec,
      • url = {https://arxiv.org/abs/2212.04554}
      • }
    •  Jha, D.K., Jain, S., Romeres, D., Yerazunis, W.S., Nikovski, D., "Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control", arXiv, December 2022.
      BibTeX arXiv
      • @article{Jha2022dec,
      • author = {Jha, Devesh K. and Jain, Siddarth and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel},
      • title = {Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control},
      • journal = {arXiv},
      • year = 2022,
      • month = dec,
      • url = {https://arxiv.org/abs/2212.01434}
      • }
    •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", IEEE ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
      BibTeX TR2022-058 PDF
      • @inproceedings{Zhu2022may3,
      • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
      • title = {Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints},
      • booktitle = {IEEE ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation},
      • year = 2022,
      • month = may,
      • url = {https://www.merl.com/publications/TR2022-058}
      • }
    •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812092, May 2022, pp. 4833-4839.
      BibTeX TR2022-055 PDF
      • @inproceedings{Zhu2022may2,
      • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
      • title = {Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints},
      • booktitle = {2022 IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2022,
      • pages = {4833--4839},
      • month = may,
      • publisher = {IEEE},
      • doi = {10.1109/ICRA46639.2022.9812092},
      • isbn = {978-1-7281-9681-7},
      • url = {https://www.merl.com/publications/TR2022-055}
      • }
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  • Other Publications

    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Deepak Gopinath, Siddarth Jain and Brenna D Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi and Brenna Argall, "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}
      • }
    •  Siddarth Jain, Katherine A Barsness and Brenna Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }

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