Siddarth Jain
- Phone: 617-621-7581
- Email:
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Position:
Research / Technical Staff
Principal 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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EVENT MERL Contributes to ICASSP 2025 Date: Sunday, April 6, 2025 - Friday, April 11, 2025
Location: Hyderabad, India
MERL Contacts: Wael H. Ali; Petros T. Boufounos; Radu Corcodel; François Germain; Chiori Hori; Siddarth Jain; Devesh K. Jha; Toshiaki Koike-Akino; Jonathan Le Roux; Yanting Ma; Hassan Mansour; Yoshiki Masuyama; Joshua Rapp; Diego Romeres; Anthony Vetro; Pu (Perry) Wang; Gordon Wichern
Research Areas: Artificial Intelligence, Communications, Computational Sensing, Electronic and Photonic Devices, Machine Learning, Robotics, Signal Processing, Speech & AudioBrief- MERL has made numerous contributions to both the organization and technical program of ICASSP 2025, which is being held in Hyderabad, India from April 6-11, 2025.
Sponsorship
MERL is proud to be a Silver Patron of the conference and will participate in the student job fair on Thursday, April 10. Please join this session to learn more about employment opportunities at MERL, including openings for research scientists, post-docs, and interns.
MERL is pleased to be the sponsor of two IEEE Awards that will be presented at the conference. We congratulate Prof. Björn Erik Ottersten, the recipient of the 2025 IEEE Fourier Award for Signal Processing, and Prof. Shrikanth Narayanan, the recipient of the 2025 IEEE James L. Flanagan Speech and Audio Processing Award. Both awards will be presented in-person at ICASSP by Anthony Vetro, MERL President & CEO.
Technical Program
MERL is presenting 15 papers in the main conference on a wide range of topics including source separation, sound event detection, sound anomaly detection, speaker diarization, music generation, robot action generation from video, indoor airflow imaging, WiFi sensing, Doppler single-photon Lidar, optical coherence tomography, and radar imaging. Another paper on spatial audio will be presented at the Generative Data Augmentation for Real-World Signal Processing Applications (GenDA) Satellite Workshop.
MERL Researchers Petros Boufounos and Hassan Mansour will present a Tutorial on “Computational Methods in Radar Imaging” in the afternoon of Monday, April 7.
Petros Boufounos will also be giving an industry talk on Thursday April 10 at 12pm, on “A Physics-Informed Approach to Sensing".
About ICASSP
ICASSP is the flagship conference of the IEEE Signal Processing Society, and the world's largest and most comprehensive technical conference focused on the research advances and latest technological development in signal and information processing. The event has been attracting more than 4000 participants each year.
- MERL has made numerous contributions to both the organization and technical program of ICASSP 2025, which is being held in Hyderabad, India from April 6-11, 2025.
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NEWS MERL at the International Conference on Robotics and Automation (ICRA) 2024 Date: May 13, 2024 - May 17, 2024
Where: Yokohama, Japan
MERL Contacts: Anoop Cherian; Radu Corcodel; Stefano Di Cairano; Chiori Hori; Siddarth Jain; Devesh K. Jha; Jonathan Le Roux; Diego Romeres; William S. Yerazunis
Research Areas: Artificial Intelligence, Machine Learning, Optimization, Robotics, Speech & AudioBrief- MERL made significant contributions to both the organization and the technical program of the International Conference on Robotics and Automation (ICRA) 2024, which was held in Yokohama, Japan from May 13th to May 17th.
MERL was a Bronze sponsor of the conference, and exhibited a live robotic demonstration, which attracted a large audience. The demonstration showcased an Autonomous Robotic Assembly technology executed on MELCO's Assista robot arm and was the collaborative effort of the Optimization and Robotics Team together with the Advanced Technology department at Mitsubishi Electric.
MERL researchers from the Optimization and Robotics, Speech & Audio, and Control for Autonomy teams also presented 8 papers and 2 invited talks covering topics on robotic assembly, applications of LLMs to robotics, human robot interaction, safe and robust path planning for autonomous drones, transfer learning, perception and tactile sensing.
- MERL made significant contributions to both the organization and the technical program of the International Conference on Robotics and Automation (ICRA) 2024, which was held in Yokohama, Japan from May 13th to May 17th.
See All News & Events for Siddarth -
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Awards
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AWARD Honorable Mention Award at NeurIPS 23 Instruction Workshop Date: December 15, 2023
Awarded to: Lingfeng Sun, Devesh K. Jha, Chiori Hori, Siddharth Jain, Radu Corcodel, Xinghao Zhu, Masayoshi Tomizuka and Diego Romeres
MERL Contacts: Radu Corcodel; Chiori Hori; Siddarth Jain; Devesh K. Jha; Diego Romeres
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL Researchers received an "Honorable Mention award" at the Workshop on Instruction Tuning and Instruction Following at the NeurIPS 2023 conference in New Orleans. The workshop was on the topic of instruction tuning and Instruction following for Large Language Models (LLMs). MERL researchers presented their work on interactive planning using LLMs for partially observable robotic tasks during the oral presentation session at the workshop.
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MERL Publications
- , "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), April 2025.BibTeX TR2025-034 PDF
- @inproceedings{Hori2025mar,
- author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
- title = {{Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos}},
- booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
- year = 2025,
- month = mar,
- url = {https://www.merl.com/publications/TR2025-034}
- }
- , "LLMPhy: Complex Physical Reasoning Using Large Language Models and World Models", arXiv, November 2024.
- , "Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective", IEEE International Conference on Cognitive Machine Intelligence (CogML 2024), DOI: 10.1109/CogMI62246.2024.00023, October 2024, pp. 103-110.BibTeX TR2024-150 PDF
- @inproceedings{Suresh2024nov,
- author = {Suresh, Prasanth and Romeres, Diego and Dosh, Prashant and Jain, Siddarth},
- title = {{Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective}},
- booktitle = {2024 IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
- year = 2024,
- pages = {103--110},
- month = oct,
- publisher = {IEEE Computer Society},
- doi = {10.1109/CogMI62246.2024.00023},
- url = {https://www.merl.com/publications/TR2024-150}
- }
- , "DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/IROS58592.2024.10802728, October 2024.BibTeX TR2024-138 PDF
- @inproceedings{Giacomuzzo2024oct,
- author = {Giacomuzzo, Giulio and Terreran, Matteo and Jain, Siddarth and Romeres, Diego},
- title = {{DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly}},
- booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
- year = 2024,
- month = oct,
- publisher = {IEEE},
- doi = {10.1109/IROS58592.2024.10802728},
- issn = {2153-0866},
- isbn = {979-8-3503-7770-5},
- url = {https://www.merl.com/publications/TR2024-138}
- }
- , "Insert-One: One-Shot Robust Visual-Force Servoing for Novel Object Insertion with 6-DoF Tracking", 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), DOI: 10.1109/IROS58592.2024.10801884, October 2024, pp. 2935-2942.BibTeX TR2024-137 PDF
- @inproceedings{Chang2024oct,
- author = {Chang, Haonan and Boularias, Abdeslam and Jain, Siddarth},
- title = {{Insert-One: One-Shot Robust Visual-Force Servoing for Novel Object Insertion with 6-DoF Tracking}},
- booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
- year = 2024,
- pages = {2935--2942},
- month = oct,
- publisher = {IEEE},
- doi = {10.1109/IROS58592.2024.10801884},
- issn = {2153-0866},
- isbn = {979-8-3503-7770-5},
- url = {https://www.merl.com/publications/TR2024-137}
- }
- , "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), April 2025.
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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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Software & Data Downloads
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Videos
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MERL Issued Patents
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Title: "System and Method for Controlling a Motion of a Robot"
Inventors: Lin, Chungwei; Wang, Yebin; Quirynen, Rien; Jha, Devesh; Wang, Bingnan; Vetterling, William; Jain, Siddarth; Bortoff, Scott A.
Patent No.: 12,257,718
Issue Date: Mar 25, 2025 -
Title: "Simulation-in-the-loop Tuning of Robot Parameters for System Modeling and Control"
Inventors: Jain, Siddarth; Van Baar, Jeroen; Corcodel, Radu Ioan; Sullivan, Alan; Benosman, Mouhacine
Patent No.: 11,975,451
Issue Date: May 7, 2024 -
Title: "Interactive Tactile Perception Method for Classification and Recognition of Object Instances"
Inventors: Corcodel, Radu Ioan; Jain, Siddarth; van Baar, Jeroen
Patent No.: 11,794,350
Issue Date: Oct 24, 2023
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Title: "System and Method for Controlling a Motion of a Robot"
