Kostas E. Bekris

ORCID

Publication Activity (10 Years)

Years Active: 2001-2024
Publications (10 Years): 154

Top Venues

CoRR

ICRA

IROS

IEEE Robotics Autom. Lett.

Publications

Ewerton R. Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados, Konstantin Mischaikow, Kostas E. Bekris
MORALS: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space. ICRA (2024)
Shiyang Lu, Yunfu Deng, Abdeslam Boularias, Kostas E. Bekris
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos. ICRA (2023)
Daniel Nakhimovich, Yinglong Miao, Kostas E. Bekris
Resolution Complete In-Place Object Retrieval given Known Object Models. CoRR (2023)
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Pu Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, Lifeng Zhou, Kostas E. Bekris, Abdeslam Boularias
Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs. CoRL (2023)
Kristin J. Dana, Clinton Andrews, Kostas E. Bekris, Jacob Feldman, Matthew Stone, Pernille Hemmer, Aaron Mazzeo, Hal Salzman, Jingang Yi
Socially Cognizant Robotics for a Technology Enhanced Society. CoRR (2023)
Shuai Li, Azarakhsh Keipour, Kevin G. Jamieson, Nicolas Hudson, Charles Swan, Kostas E. Bekris
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success. Robotics: Science and Systems (2023)
Ewerton R. Vieira, Aravind Sivaramakrishnan, Yao Song, Edgar Granados, Marcio Gameiro, Konstantin Mischaikow, Ying Hung, Kostas E. Bekris
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees. ICRA (2023)
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin
Corrections to "Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation". IEEE Robotics Autom. Lett. 8 (2) (2023)
Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas E. Bekris
OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data. CoRR (2023)
Shuai Li, Azarakhsh Keipour, Kevin Jamieson, Nicolas Hudson, Charles Swan, Kostas E. Bekris
Large-Scale Package Manipulation via Learned Metrics of Pick Success. CoRR (2023)
Luyang Zhao, Yijia Wu, Wenzhong Yan, Weishu Zhan, Xiaonan Huang, Joran W. Booth, Ankur Mehta, Kostas E. Bekris, Rebecca Kramer-Bottiglio, Devin J. Balkcom
StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures. IEEE Robotics Autom. Lett. 8 (8) (2023)
Aravind Sivaramakrishnan, Noah R. Carver, Sumanth Tangirala, Kostas E. Bekris
Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics. CoRR (2023)
Kun Wang, William R. Johnson III, Shiyang Lu, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Mridul Aanjaneya, Kostas E. Bekris
Real2Sim2Real Transfer for Control of Cable-Driven Robots Via a Differentiable Physics Engine. IROS (2023)
Daniel Nakhimovich, Yinglong Miao, Kostas E. Bekris
Resolution Complete In-Place Object Retrieval given Known Object Models. ICRA (2023)
Shiyang Lu, Yunfu Deng, Abdeslam Boularias, Kostas E. Bekris
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos. CoRR (2023)
Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas E. Bekris
OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data. CoRL (2023)
Shuai Li, Azarakhsh Keipour, Kevin Jamieson, Nicolas Hudson, Sicong Zhao, Charles Swan, Kostas E. Bekris
Pick Planning Strategies for Large-Scale Package Manipulation. CoRR (2023)
Ewerton R. Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados, Konstantin Mischaikow, Kostas E. Bekris
MORALS: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space. CoRR (2023)
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, Lifeng Zhou, Kostas E. Bekris, Abdeslam Boularias
Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs. CoRR (2023)
Ewerton R. Vieira, Kai Gao, Daniel Nakhimovich, Kostas E. Bekris, Jingjin Yu
Persistent Homology Guided Monte-Carlo Tree Search for Effective Non-Prehensile Manipulation. CoRR (2022)
Rui Wang, Kai Gao, Jingjin Yu, Kostas E. Bekris
Lazy Rearrangement Planning in Confined Spaces. CoRR (2022)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data. ICRA (2022)
Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration. CoRR (2022)
Ewerton R. Vieira, Edgar Granados, Aravind Sivaramakrishnan, Marcio Gameiro, Konstantin Mischaikow, Kostas E. Bekris
Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers. WAFR (2022)
Junchi Liang, Bowen Wen, Kostas E. Bekris, Abdeslam Boularias
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations. CoRR (2022)
Troy McMahon, Aravind Sivaramakrishnan, Edgar Granados, Kostas E. Bekris
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning. Found. Trends Robotics 9 (4) (2022)
Ewerton R. Vieira, Edgar Granados, Aravind Sivaramakrishnan, Marcio Gameiro, Konstantin Mischaikow, Kostas E. Bekris
Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers. CoRR (2022)
Troy McMahon, Aravind Sivaramakrishnan, Kushal Kedia, Edgar Granados, Kostas E. Bekris
Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains. IROS (2022)
Shiyang Lu, William R. Johnson III, Kun Wang, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Kostas E. Bekris
6N-DoF Pose Tracking for Tensegrity Robots. CoRR (2022)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data. CoRR (2022)
Kun Wang, William R. Johnson III, Shiyang Lu, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Mridul Aanjaneya, Kostas E. Bekris
Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine. CoRR (2022)
Troy McMahon, Aravind Sivaramakrishnan, Edgar Granados, Kostas E. Bekris
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning. CoRR (2022)
Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration. Robotics: Science and Systems (2022)
Rui Wang, Kai Gao, Jingjin Yu, Kostas E. Bekris
Lazy Rearrangement Planning in Confined Spaces. ICAPS (2022)
Junchi Liang, Bowen Wen, Kostas E. Bekris, Abdeslam Boularias
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations. ICRA (2022)
Seth Karten, Aravind Sivaramakrishnan, Edgar Granados, Troy McMahon, Kostas E. Bekris
Data-Efficient Learning of High-Quality Controls for Kinodynamic Planning used in Vehicular Navigation. CoRR (2022)
Shiyang Lu, Rui Wang, Yinglong Miao, Chaitanya Mitash, Kostas E. Bekris
Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation. ICRA (2022)
Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris
Physics-based scene-level reasoning for object pose estimation in clutter. Int. J. Robotics Res. 41 (6) (2022)
Yinglong Miao, Rui Wang, Kostas E. Bekris
Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces. CoRR (2022)
Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas E. Bekris, Aaron M. Dollar
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning. CoRR (2022)
Yinglong Miao, Rui Wang, Kostas E. Bekris
Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces. ISRR (2022)
Rui Wang, Yinglong Miao, Kostas E. Bekris
Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces. ICRA (2022)
Ewerton R. Vieira, Daniel Nakhimovich, Kai Gao, Rui Wang, Jingjin Yu, Kostas E. Bekris
Persistent Homology for Effective Non-Prehensile Manipulation. ICRA (2022)
Shiyang Lu, William R. Johnson III, Kun Wang, Xiaonan Huang, Joran W. Booth, Rebecca Kramer-Bottiglio, Kostas E. Bekris
6N-DoF Pose Tracking for Tensegrity Robots. ISRR (2022)
Ewerton R. Vieira, Aravind Sivaramakrishnan, Yao Song, Edgar Granados, Marcio Gameiro, Konstantin Mischaikow, Ying Hung, Kostas E. Bekris
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees. CoRR (2022)
Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas E. Bekris, Aaron M. Dollar
Complex In-Hand Manipulation Via Compliance-Enabled Finger Gaiting and Multi-Modal Planning. IEEE Robotics Autom. Lett. 7 (2) (2022)
Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation. ICRA (2022)
Kai Gao, Darren Lau, Baichuan Huang, Kostas E. Bekris, Jingjin Yu
Fast High-Quality Tabletop Rearrangement in Bounded Workspace. ICRA (2022)
Edgar Granados, Abdeslam Boularias, Kostas E. Bekris, Mridul Aanjaneya
Model Identification and Control of a Low-cost Mobile Robot with Omnidirectional Wheels using Differentiable Physics. ICRA (2022)
Ewerton R. Vieira, Daniel Nakhimovich, Kai Gao, Rui Wang, Jingjin Yu, Kostas E. Bekris
Persistent Homology for Effective Non-Prehensile Manipulation. CoRR (2022)
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
Sim2Real in Robotics and Automation: Applications and Challenges. IEEE Trans Autom. Sci. Eng. 18 (2) (2021)
Bowen Wen, Wenzhao Lian, Kostas E. Bekris, Stefan Schaal
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation. CoRR (2021)
Si Wei Feng, Teng Guo, Kostas E. Bekris, Jingjin Yu
Team RuBot's experiences and lessons from the ARIAC. Robotics Comput. Integr. Manuf. 70 (2021)
Shiyang Lu, Rui Wang, Yinglong Miao, Chaitanya Mitash, Kostas E. Bekris
Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation. CoRR (2021)
Rahul Shome, Daniel Nakhimovich, Kostas E. Bekris
Pushing the Boundaries of Asymptotic Optimality in Integrated Task and Motion Planning. WAFR (2021)
Aravind Sivaramakrishnan, Edgar Granados, Seth Karten, Troy McMahon, Kostas E. Bekris
Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers. CoRR (2021)
Bowen Wen, Kostas E. Bekris
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models. IROS (2021)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots. IROS (2021)
Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas E. Bekris
Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly Tasks. Robotics: Science and Systems (2021)
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin
Fast, High-Quality Two-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. IEEE Trans Autom. Sci. Eng. 18 (3) (2021)
David Allen Surovik, Kun Wang, Massimo Vespignani, Jonathan Bruce, Kostas E. Bekris
Adaptive tensegrity locomotion: Controlling a compliant icosahedron with symmetry-reduced reinforcement learning. Int. J. Robotics Res. 40 (1) (2021)
Bowen Wen, Kostas E. Bekris
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models. CoRR (2021)
Bowen Wen, Chaitanya Mitash, Kostas E. Bekris
Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains. CoRR (2021)
Kai Gao, Darren Lau, Baichuan Huang, Kostas E. Bekris, Jingjin Yu
Fast High-Quality Tabletop Rearrangement in Bounded Workspace. CoRR (2021)
Rui Wang, Yinglong Miao, Kostas E. Bekris
Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces. CoRR (2021)
Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas E. Bekris
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks. CoRR (2021)
Rui Wang, Kai Gao, Daniel Nakhimovich, Jingjin Yu, Kostas E. Bekris
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search. CoRR (2021)
Rui Wang, Kai Gao, Daniel Nakhimovich, Jingjin Yu, Kostas E. Bekris
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search. ICRA (2021)
Rahul Shome, Kostas E. Bekris
Synchronized Multi-arm Rearrangement Guided by Mode Graphs with Capacity Constraints. WAFR (2021)
Aravind Sivaramakrishnan, Edgar Granados, Seth Karten, Troy McMahon, Kostas E. Bekris
Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers. IROS (2021)
Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris
: Scalable and informed asymptotically-optimal multi-robot motion planning. Auton. Robots 44 (3-4) (2020)
Rahul Shome, Kostas E. Bekris
Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints. CoRR (2020)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines. CoRR (2020)
Rui Wang, Chaitanya Mitash, Shiyang Lu, Daniel Boehm, Kostas E. Bekris
Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses. CoRR (2020)
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. CoRR (2020)
Bowen Wen, Chaitanya Mitash, Sruthi Soorian, Andrew Kimmel, Avishai Sintov, Kostas E. Bekris
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands. CoRR (2020)
Michal Kleinbort, Edgar Granados, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space. ICRA (2020)
Avishai Sintov, Andrew Kimmel, Bowen Wen, Abdeslam Boularias, Kostas E. Bekris
Tools for Data-driven Modeling of Within-Hand Manipulation with Underactuated Adaptive Hands. L4DC (2020)
Avishai Sintov, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias
Motion Planning with Competency-Aware Transition Models for Underactuated Adaptive Hands. ICRA (2020)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
Spring-Rod System Identification via Differentiable Physics Engine. CoRR (2020)
Rui Wang, Chaitanya Mitash, Shiyang Lu, Daniel Boehm, Kostas E. Bekris
Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses. IROS (2020)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines. L4DC (2020)
Brian Ricks, Andrew Dobson, Athanasios Krontiris, Kostas E. Bekris, Mubbasir Kapadia, Fred S. Roberts
Generation of crowd arrival and destination locations/times in complex transit facilities. Vis. Comput. 36 (8) (2020)
Bowen Wen, Chaitanya Mitash, Sruthi Soorian, Andrew Kimmel, Avishai Sintov, Kostas E. Bekris
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands. ICRA (2020)
Malihe Alikhani, Baber Khalid, Rahul Shome, Chaitanya Mitash, Kostas E. Bekris, Matthew Stone
That and There: Judging the Intent of Pointing Actions with Robotic Arms. AAAI (2020)
Bowen Wen, Chaitanya Mitash, Baozhang Ren, Kostas E. Bekris
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains. IROS (2020)
Kun Wang, Mridul Aanjaneya, Kostas E. Bekris
An End-to-End Differentiable but Explainable Physics Engine for Tensegrity Robots: Modeling and Control. CoRR (2020)
Chaitanya Mitash, Rahul Shome, Bowen Wen, Abdeslam Boularias, Kostas E. Bekris
Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects. CoRR (2020)
Bowen Wen, Chaitanya Mitash, Baozhang Ren, Kostas E. Bekris
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains. CoRR (2020)
Chaitanya Mitash, Rahul Shome, Bowen Wen, Abdeslam Boularias, Kostas E. Bekris
Task-Driven Perception and Manipulation for Constrained Placement of Unknown Objects. IEEE Robotics Autom. Lett. 5 (4) (2020)
Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning. CoRR (2019)
Kostas E. Bekris, Rahul Shome
Asymptotically Optimal Sampling-based Planners. CoRR (2019)
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin
Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation. IEEE Robotics Autom. Lett. 4 (2) (2019)
Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning. CoRR (2019)
Rahul Shome, Kostas E. Bekris
Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs. MRS (2019)
Andrew Kimmel, Avishai Sintov, Juntao Tan, Bowen Wen, Abdeslam Boularias, Kostas E. Bekris
Belief-Space Planning Using Learned Models with Application to Underactuated Hands. ISRR (2019)
Chaitanya Mitash, Bowen Wen, Kostas E. Bekris, Abdeslam Boularias
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects. CoRL (2019)
Malihe Alikhani, Baber Khalid, Rahul Shome, Chaitanya Mitash, Kostas E. Bekris, Matthew Stone
That and There: Judging the Intent of Pointing Actions with Robotic Arms. CoRR (2019)
Rahul Shome, Kostas E. Bekris
Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs. CoRR (2019)
Chaitanya Mitash, Bowen Wen, Kostas E. Bekris, Abdeslam Boularias
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects. CoRR (2019)

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Publication Activity (10 Years)

Top Topics

Top Venues

Kostas E. Bekris