Collaborative & Autonomous Robotics Research

Publications

For a complete list of our publications please visit the PI’s google scholar page.

Highlighted

Selecting Source Tasks for Transfer Learning of Human Preferences
Selecting Source Tasks for Transfer Learning of Human Preferences
Heramb Nemlekar, Naren Sivagnanadasan, Subham Banga, Neel Dhanaraj, Satyandra K. Gupta, Stefanos Nikolaidis
IEEE Robotics and Automation Letters  ·  01 Aug 2024  ·  doi:10.1109/LRA.2024.3415432
robot-learning

All

2025

L2D2: Robot Learning from 2D drawings
L2D2: Robot Learning from 2D drawings
Shaunak A. Mehta, Heramb Nemlekar, Hari Sumant, Dylan P. Losey
Autonomous Robots  ·  01 Sep 2025  ·  doi:10.1007/s10514-025-10210-x
robot-learning
PECAN: Personalizing Robot Behaviors through a Learned Canonical Space
PECAN: Personalizing Robot Behaviors through a Learned Canonical Space
Heramb Nemlekar, Robert Ramirez Sanchez, Dylan P. Losey
ACM Transactions on Human-Robot Interaction  ·  20 Aug 2025  ·  doi:10.1145/3737894
human-interaction robot-learning
Personalizing Interfaces to Humans with User-Friendly Priors
Personalizing Interfaces to Humans with User-Friendly Priors
Benjamin A. Christie, Heramb Nemlekar, Dylan P. Losey
2025 IEEE International Conference on Robotics and Automation (ICRA)  ·  19 May 2025  ·  doi:10.1109/icra55743.2025.11128246
human-interaction robot-learning
Kiri-Spoon: A Kirigami Utensil for Robot-Assisted Feeding
Kiri-Spoon: A Kirigami Utensil for Robot-Assisted Feeding
Maya Keely, Brandon Franco, Casey Grothoff, Rajat Kumar Jenamani, Tapomayukh Bhattacharjee, Dylan P. Losey, Heramb Nemlekar
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2501.01323
mechanism-design human-interaction
CIVIL: Causal and Intuitive Visual Imitation Learning
CIVIL: Causal and Intuitive Visual Imitation Learning
Yinlong Dai, Robert Ramirez Sanchez, Ryan Jeronimus, Shahabedin Sagheb, Cara M. Nunez, Heramb Nemlekar, Dylan P. Losey
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2504.17959
robot-learning
Towards Balanced Behavior Cloning from Imbalanced Datasets
Towards Balanced Behavior Cloning from Imbalanced Datasets
Sagar Parekh, Heramb Nemlekar, Dylan P. Losey
arXiv  ·  01 Jan 2025  ·  doi:10.48550/arXiv.2508.06319
robot-learning
Proactive Contingency-Aware Task Allocation and Scheduling in Multi-Robot Multi-Human Cells via Hindsight Optimization
Proactive Contingency-Aware Task Allocation and Scheduling in Multi-Robot Multi-Human Cells via Hindsight Optimization
Neel Dhanaraj, Heramb Nemlekar, Stefanos Nikolaidis, Satyandra K. Gupta
IEEE Transactions on Automation Science and Engineering  ·  01 Jan 2025  ·  doi:10.1109/TASE.2025.3546281
multi-agent-coordination planning

2024

Kiri-Spoon: A Soft Shape-Changing Utensil for Robot-Assisted Feeding
Kiri-Spoon: A Soft Shape-Changing Utensil for Robot-Assisted Feeding
Maya N. Keely, Heramb Nemlekar, Dylan P. Losey
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  14 Oct 2024  ·  doi:10.1109/iros58592.2024.10801346
mechanism-design human-interaction
Selecting Source Tasks for Transfer Learning of Human Preferences
Selecting Source Tasks for Transfer Learning of Human Preferences
Heramb Nemlekar, Naren Sivagnanadasan, Subham Banga, Neel Dhanaraj, Satyandra K. Gupta, Stefanos Nikolaidis
IEEE Robotics and Automation Letters  ·  01 Aug 2024  ·  doi:10.1109/LRA.2024.3415432
robot-learning
Multi-Robot Task Allocation Under Uncertainty Via Hindsight Optimization
Multi-Robot Task Allocation Under Uncertainty Via Hindsight Optimization
Neel Dhanaraj, Jeon Ho Kang, Anirban Mukherjee, Heramb Nemlekar, Stefanos Nikolaidis, Satyandra K. Gupta
2024 IEEE International Conference on Robotics and Automation (ICRA)  ·  13 May 2024  ·  doi:10.1109/icra57147.2024.10611370
multi-agent-coordination planning
RECON: Reducing Causal Confusion with Human-Placed Markers
RECON: Reducing Causal Confusion with Human-Placed Markers
Robert Ramirez Sanchez, Heramb Nemlekar, Shahabedin Sagheb, Cara M. Nunez, Dylan P. Losey
arXiv  ·  01 Jan 2024  ·  doi:10.48550/arXiv.2409.13607
robot-learning

2023

Transfer Learning of Human Preferences for Proactive Robot Assistance in Assembly Tasks
Transfer Learning of Human Preferences for Proactive Robot Assistance in Assembly Tasks
Heramb Nemlekar, Neel Dhanaraj, Angelos Guan, Satyandra K. Gupta, Stefanos Nikolaidis
Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction  ·  13 Mar 2023  ·  doi:10.1145/3568162.3576965
robot-learning human-interaction
Surrogate Assisted Generation of Human-Robot Interaction Scenarios
Surrogate Assisted Generation of Human-Robot Interaction Scenarios
Varun Bhatt, Heramb Nemlekar, Matthew C. Fontaine, Bryon Tjanaka, Hejia Zhang, Ya-Chuan Hsu, Stefanos Nikolaidis
arXiv  ·  01 Jan 2023  ·  doi:10.48550/arXiv.2304.13787
robot-learning

2022

Towards Transferring Human Preferences from Canonical to Actual Assembly Tasks
Towards Transferring Human Preferences from Canonical to Actual Assembly Tasks
Heramb Nemlekar, Runyu Guan, Guanyang Luo, Satyandra K. Gupta, Stefanos Nikolaidis
2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)  ·  29 Aug 2022  ·  doi:10.1109/ro-man53752.2022.9900872
human-interaction
Human-Guided Goal Assignment to Effectively Manage Workload for a Smart Robotic Assistant
Human-Guided Goal Assignment to Effectively Manage Workload for a Smart Robotic Assistant
Neel Dhanaraj, Rishi Malhan, Heramb Nemlekar, Stefanos Nikolaidis, Satyandra K. Gupta
2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)  ·  29 Aug 2022  ·  doi:10.1109/ro-man53752.2022.9900551
multi-agent-coordination human-interaction

2021

Robotic Lime Picking by Considering Leaves as Permeable Obstacles
Robotic Lime Picking by Considering Leaves as Permeable Obstacles
Heramb Nemlekar, Ziang Liu, Suraj Kothawade, Sherdil Niyaz, Barath Raghavan, Stefanos Nikolaidis
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  27 Sep 2021  ·  doi:10.1109/iros51168.2021.9636396
planning
Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks
Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks
Heramb Nemlekar, Jignesh Modi, Satyandra K. Gupta, Stefanos Nikolaidis
2021 IEEE International Conference on Robotics and Automation (ICRA)  ·  30 May 2021  ·  doi:10.1109/icra48506.2021.9561649
robot-learning human-interaction

2020

Fair Contextual Multi-Armed Bandits: Theory and Experiments
Fair Contextual Multi-Armed Bandits: Theory and Experiments
Yifang Chen, Alex Cuellar, Haipeng Luo, Jignesh Modi, Heramb Nemlekar, Stefanos Nikolaidis
Conference on Uncertainty in Artificial Intelligence  ·  27 Aug 2020  ·  [no id info]
multi-agent-coordination human-interaction

2019

Object Transfer Point Estimation for Fluent Human-Robot Handovers
Object Transfer Point Estimation for Fluent Human-Robot Handovers
Heramb Nemlekar, Dharini Dutia, Zhi Li
2019 International Conference on Robotics and Automation (ICRA)  ·  01 May 2019  ·  doi:10.1109/icra.2019.8794008
human-interaction

Web of Science
Web of Science
[no publisher info]  ·  [no date info]  ·  wosuid:WOS:000723388600019
Web of Science
Web of Science
[no publisher info]  ·  [no date info]  ·  wosuid:WOS:001221201500024