Siddarth Jain
- Phone: 617-621-7581
- Email:
-
Position:
Research / Technical Staff
Research Scientist -
Education:
Ph.D., Northwestern University, 2019 -
Research Areas:
External Links:
Siddarth's Quick Links
-
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
-
NEWS MERL researchers presented 5 papers and an invited workshop talk at ICRA 2022 Date: May 23, 2022 - May 27, 2022
Where: International Conference on Robotics and Automation (ICRA)
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Siddarth Jain; Devesh K. Jha; Pedro Miraldo; Daniel N. Nikovski; Rien Quirynen; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers presented 5 papers at the IEEE International Conference on Robotics and Automation (ICRA) that was held in Philadelphia from May 23-27, 2022. The papers covered a broad range of topics from manipulation, tactile sensing, planning and multi-agent control. The invited talk was presented in the "Workshop on Collaborative Robots and Work of the Future" which covered some of the work done by MERL researchers on collaborative robotic assembly. The workshop was co-organized by MERL, Mitsubishi Electric Automation's North America Development Center (NADC), and MIT.
-
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.
See All News & Events for Siddarth -
-
MERL Publications
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "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}
- }
- , "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", IEEE ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
-
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.
-
Software Downloads
