My publications are listed below, with links to the papers, citation, associated code, and videos. Any open source code not tied to publications is listed at the bottom of this page.
Note: Many of my previous publications may be listed under a different first/given name. While I don’t use that name anymore, changing a name in publication databases, search indexing, and the published files themselves ranges from difficult to impossible. When citing any of my work, kindly list my name as “Cassandra Kent”.
Cassandra Kent. Robot Manipulation Alongside and in Collaboration with People. Doctoral Dissertation, Georgia Institute of Technology, 2021. [official document]
Russell Toris, Sarah Elliott, and Cassandra Kent. Method and System for Selecting a Preferred Robotic Grasp of an Object-of-Interest Using Pairwise Ranking. US Patent 10,899,011. 2021. [official document]
Kevin Chen, Nithin Shrivatsav, Cassandra Kent, Harish Ravichandar, and Sonia Chernova. Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations. Conference on Robot Learning (CoRL), 2020. [official proceedings] [code]
Abhinav Jain, Daphne Chen, Dhruva Bansal, Sam Scheele, Mayank Kishore, Hritik Sapra, Cassandra Kent, Harish Ravichandar, and Sonia Chernova. Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization. Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on, 2020. [official proceedings] [arXiv]
Cassandra Kent and Sonia Chernova. Human-Centric Active Perception for Autonomous Observation. Robotics and Automation (ICRA), IEEE International Conference on, 2020. [official proceedings] [arXiv] [code]
Cassandra Kent, Carl Saldanha, and Sonia Chernova. Leveraging depth data in remote robot teleoperation interfaces for general object manipulation. The International Journal of Robotics Research, vol. 39, no. 1, 2020. [journal article] [pdf] [code] [video]
Siddhartha Banerjee, Angel Daruna, Cassandra Kent, Weiyu Liu, et al. Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks. In International Symposium on Robotics Research (ISRR), 2019. [arXiv] [code] [video] [full FetchIt! challenge run]
Cassandra Kent and Sonia Chernova. Schedule-based Motion Prediction for Human-Centric Autonomous Observation. In Long-term Human Motion Prediction Workshop (LHMP) at ICRA, 2019. [pdf] [poster]
Cassandra Kent, Siddhartha Banerjee, and Sonia Chernova. Learning Sequential Decision Tasks for Robot Manipulation with Abstract Markov Decision Processes and Demonstration-Guided Exploration. IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018. [official proceedings] [code] [video]
Cassandra Kent and Russell Toris. Adaptive Autonomous Grasp Selection Via Pairwise Ranking. Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on, 2018. [official proceedings] [code]
Cassandra Kent, Siddhartha Banerjee, and Sonia Chernova. Learning Real-World Sequential Decision Tasks with Abstract Markov Decision Processes and Demonstration-Guided Exploration. In Robotics: Science and Systems Workshop on Learning from Demonstration for High Level Robotic Tasks (RSSWLfD18), 2018. [pdf] [poster]
Cassandra Kent, Ung Hee Lee, Sarah Elliot, and Russell Toris. Leveraging Autonomous Segmentation and Grasp Calculation for Programming by Demonstration. In The Third Workshop on Machine Learning in Planning and Control of Robot Motion (MLPC18) at ICRA, 2018. [pdf] [code]
Cassandra Kent, Carl Saldanha, and Sonia Chernova. A Comparison of Remote Robot Teleoperation Interfaces for General Object Manipulation. Human-Robot Interaction (HRI), Conference on, 2017. [official proceedings] [code] [video (task 1)] [video (task 2)]
Cassandra Kent. Leveraging the Crowd to Capture Highly Variable Task Models. In HRI2017 Pioneers Workshop, 2017. [pdf] [poster]
Russell Toris, Cassandra Kent, and Sonia Chernova. Unsupervised learning of multi-hypothesized pick-and-place task templates via crowdsourcing. Robotics and Automation (ICRA), IEEE International Conference on, 2014. [official proceedings] [video]
Cassandra Kent and Sonia Chernova. Construction of a 3D Object Recognition and Manipulation Database from Grasp Demonstrations. In Robotics: Science and Systems Workshop on Human versus Robot Grasping and Manipulation, 2014. [pdf]
Cassandra Kent and Sonia Chernova. Construction of an object manipulation database from grasp demonstrations. Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on, 2014. [official proceedings] [code] [video]
Russell Toris, Cassandra Kent, and Sonia Chernova. The robot management system: A framework for conducting human-robot interaction studies through crowdsourcing. Journal of Human-Robot Interaction, vol. 3, no. 2, 2014. [official proceedings] [code] [robot web tools]
Cassandra Kent, Morteza Behrooz, and Sonia Chernova. Crowdsourcing the construction of a 3D object recognition database for robotic grasping. Robotics and Automation (ICRA), IEEE International Conference on, 2014. [official proceedings] [code] [video]
The majority of open-source robotics code that I have contributed to can be found on the GT-RAIL github page. See the RAIL package documentation page for examples of how much of this code can be combined to achieve complex behavior, such as the manipulation pipeline described here.