Nancy Pollard -- Publications List

M. C. Koval, N. S. Pollard, and S. S. Srinivasa, 2016. Pre- and Post-Contact Policy Decomposition for Planar Contact Manipulation Under Uncertainty, International Journal of Robotics Research 35(1-3), 244--264, January-March 2016.
J. Liu, F. Feng, Y. C. Nakamura, and N. S. Pollard, 2016. Annotating Everyday Grasps in Action, In Jean-Paul Laumond and Naoko Abe (eds.) Dance Notations and Robot Motion (Springer Tracts in Robotics), Springer International Publishing, pp 263-282, 2016.
M. C. Koval, J. E. King, N. S. Pollard, and S. S. Srinivasa, 2015. Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2678-2685, Hamburg, Germany, September, 2015.
M. C. Koval, N. S. Pollard, and S. S. Srinivasa, 2015. Pose Estimation for Planar Contact Manipulation with Manifold Particle Filters, International Journal of Robotics Research 34(7), 922--945, June 2015.
S.-J. Chung, J. Kim, S. Han, and N. S. Pollard, 2015. Quadratic Encoding for Hand Pose Reconstruction from Multi-Touch Input, Eurographics (short paper), May 2015.
L. C. Trutoiu, N. S. Pollard, J. F. Cohn, and J. K. Hodgins, 2015. Data-Driven Model for Spontaneous Smiles, International Conference on Computer Animation and Social Agents (CASA), May, 2015.
G. Mehta, K. Patel, and N. S. Pollard, 2015. On Fast Iterative Mapping Algorithms for Stripe Based Coarse-Grained Reconfigurable Architectures, International Journal of Electronics, 102(1), 3--17, 2015.
J. Liu, F. Feng, Y. Nakamura, and N. S. Pollard, 2014. A Taxonomy of Everyday Grasps in Action, IEEE International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, November 2014.
L. C. Trutoiu, E. J. Carter, N. S. Pollard, J. F. Cohn, and J. K. Hodgins, 2014. Spatial and Temporal Linearities in Posed and Spontaneous Smiles, ACM Transactions on Applied Perception (TAP), 11(3), 2014.
B. Illing, T. Asfour, and N. S. Pollard, 2014. Changing Pre-Grasp Strategies with Increasing Object Location Uncertainty, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2468-2475, Chicago, September, 2014.
M. C. Koval, N. S. Pollard, and S. S. Srinivasa, 2014. Pre- and Post-Contact Decomposition for Planar Manipulation Under Uncertainty, Robotics: Science and Systems (RSS), Berkeley, July 2014.
M. Kazemi, J.-S. Valois, J. A. Bagnell, and N. Pollard, 2014. Human-Inspired Force Compliant Grasping Primitives, Autonomous Robots, 37(2), 209--225, 2014.
L. Y. Chang and N. S. Pollard, 2014. Pre-grasp interaction for object acquisition in difficult tasks, In Ravi Balasubramanian and Veronica J. Santos (eds.) The Human Hand: A Source of Inspiration for Robotic Hand Development (Springer Tracts in Advanced Robotics), Springer International Publishing, Volume 95, pp 501-530, 2014.
J. Kim, K. Iwamoto, J. J. Kuffner, Y. Ota, and N. S. Pollard, 2013. Physically-based Grasp Quality Evaluation under Pose Uncertainty, IEEE Transactions on Robotics, 29(6), 1424--1439, December 2013.
M. Koval, N. S. Pollard, and S. S. Srinivasa, 2013. Manifold Representations for State Estimation in Contact Manipulation, International Symposium of Robotics Research, Singapore, December 2013. Invited paper.
M. Koval, M. Dogar, N. S. Pollard, and S. S. Srinivasa, 2013. Pose Estimation for Contact Manipulation with Manifold Particle Filters, IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 2013.
G. Mehta, K. Patel, N. Parde, and N. S. Pollard, 2013. Data-driven Mapping using Local Patterns, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 32(11), 1668--1681, November 2013.
J. Kim, N. S. Pollard, and C. G. Atkeson, 2013. Quadratic Encoding of Optimized Human Walking, IEEE International Conference on Humanoid Robots (Humanoids 2013), Atlanta, October 2013.
J. King, M. Klingensmith, C. Delling, M. Dogar, P. Velaguapudi, N. S. Pollard, and S. S. Srinivasa, 2013. Pregrasp Manipulation as Trajectory Optimization, Robotics: Science and Systems (RSS), Berlin, Germany, June 2013.
S. Javdani, M. Klingensmith, J. A. Bagnell, N. S. Pollard, and S. S. Srinivasa, 2013. Efficient Touch Based Localization through Submodularity, IEEE International Conference on Robotics and Automation (ICRA), 1828--1835, Karlsruhe, May 2013.
Y. P. Toh, S. Huang, J. Lin, M. Bajzek, G. Zeglin, and N. S. Pollard, 2012. Dexterous TeleManipulation with a Multi-Touch Interface, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November, 2012
J. A. Bagnell, F. Cavalcanti, L. Cui, T. Galluzzo, M. Hebert, M. Kazemi, M. Klingensmith, J. Libby, T. Liu, N. S. Pollard, M. Pivtoraiko, J.-S. Valois, and R. Zhu, 2012. An Integrated System for Autonomous Robotics Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2955-2962, October, 2012
A. Barnat and N. S. Pollard, 2012. Smoke Sheets for Graph-Structured Vortex Filaments, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Lausanne, Switzerland, July 2012
M. Kazemi, J.-S. Valois, J. A. Bagnell, and N. S. Pollard, 2012. Robust Object Grasping using Force Compliant Motion Primitives, Robotics: Science and Systems, Sydney, Australia, July 2012
J. Kim and K. Iwamoto and J. J. Kuffner and Y. Ota and N. S. Pollard, 2012. Physically-based Grasp Quality Evaluation under Uncertainty, IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, May 2012
J. McCann and N. S. Pollard, 2012. Soft Stacking, Computer Graphics Forum (Eurographics), 31(2), 469-478, May 2012
D. Kappler, L. Y. Chang, N. S. Pollard, T. Asfour, and R. Dillmann, 2012. Templates for Pre-grasp Sliding Interactions, Robotics and Autonomous Systems, 60(3), 411-423, March 2012
S. M. Gatesy and N. S. Pollard, 2011. Apples, oranges, and angles: comparative kinematic analysis of disparate limbs, Journal of Theoretical Biology, 282(1), 7-13.
J. Kim and N. S. Pollard, 2011. Fast Simulation of Skeleton-Driven Deformable Body Characters, ACM Transactions on Graphics, 30(5), October 2011.
J. Kim and N. S. Pollard, 2011. Direct Control of Simulated Non-human Characters, IEEE Computer Graphics and Applications, 31(4), 56-65, July/August 2011.
A. Barnat, Z. Li, J. McCann, and N. S. Pollard, 2011. Mid-level Smoke Control for 2D Animation, Proceedings of Graphics Interface, Newfoundland, Canada, May, 2011.
G. Koonjul, G. Zeglin, and N. S. Pollard, 2011. Measuring Contact Points from Displacements with a Compliant, Articulated Robot Hand, IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.
L. Y. Chang and N. S. Pollard, 2011. Posture Optimization for Pre-grasp Interaction Planning, IEEE International Conference on Robotics and Automation, Workshop on Manipulation Under Uncertainty, Shanghai, China, May 2011.
D. Kappler, L. Chang, M. Przybylski, N. Pollard, T. Asfour, and R. Dillmann, 2010. Representation of Pre-Grasp Strategies for Object Manipulation, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010), pp 617-624, Nashville, TN, December 2010.
L. Lei, J. McCann, N. S. Pollard, and C. Faloutsos, 2010. BoLeRO: A Principled Technique for Including Bone Length Constraints in Motion Capture Occlusion Filling, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Madrid, Spain, 2010.
L. Y. Chang, S. S. Srinivasa, and N. S. Pollard, 2010. Planning pre-grasp manipulation for transport tasks, Proceedings of the IEEE International Conference on Robotics and Automation, pp 2697-2704, Anchorage, Alaska, May 2010.
L. Y. Chang, R. L. Klatzky, and N. S. Pollard, 2010. Selection criteria for preparatory object rotation in manual lifting actions, Journal of Motor Behavior, 42(1):11--27, 2010.
J. McCann and N. S. Pollard, 2009. Local Layering, ACM Transactions on Graphics 28(3), SIGGRAPH 2009 Proceedings, August 2009. (project page).
L. Li, J. McCann, N. S. Pollard, and C. Faloutsos, 2009. DynaMMo: Mining and Summarization of Coevolving Sequences with Missing Values, ACM SIGKDD, June/July 2009, pp 527--534.
L. Y. Chang and N. S. Pollard, 2009. Video survey of pre-grasp interactions in natural hand activities, Robotics: Science and Systems (RSS) 2009 Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, June 2009. (poster)
L. Y. Chang, G. J. Zeglin, and N. S. Pollard, 2008. Preparatory object rotation as a human-inspired grasping strategy, IEEE International Conference on Humanoid Robots (Humanoids 2008), December 2008, pp 527--534.
L. Y. Chang and N. S. Pollard, (in press). Method for determining kinematic parameters of the in vivo thumb carpometacarpal joint, IEEE Transactions on Biomedical Engineering, 55(7), 1897 -- 1906, 2008.
J. McCann and N. S. Pollard, 2008. Real-Time Gradient-Domain Painting, ACM Transactions on Graphics 27(3), SIGGRAPH 2008 Proceedings. (project page)
R. Chang, T. Butkiewicz, C. Ziemkiewicz, Z. Wartell, N. Pollard, and W. Ribarsky, 2008. Legible Simplification of Textured Urban Models, IEEE Computer Graphics and Applications, 28(3), 27 -- 36, May/June 2008.
L. Li, J. McCann, C. Faloutsos, and N. S. Pollard, 2008. Laziness is a virtue: Motion stitching using effort minimization, Eurographics (short paper), 2008.
P. S. A. Reitsma, J. Andrews and N. S. Pollard, 2008. Effect of Character Animacy and Preparatory Motion on Perceptual Magnitude of Errors in Ballistic Motion, Computer Graphics Forum (Eurographics), 27(2), 201 - 210, 2008.
P. S. A. Reitsma and N. S. Pollard, 2007. Evaluating Motion Graphs for Character Animation, ACM Transactions on Graphics, 26(4), Oct 2007.
L. Y. Chang and N. S. Pollard, 2007. Robust Estimation of Dominant Axis of Rotation, Journal of Biomechanics, 40(12), 2707--2715, 2007.
L. Y. Chang, N. S. Pollard, T. M. Mitchell, and E. P. Xing, 2007. Feature selection for grasp recognition from optical markers, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2944-2950, San Diego, CA, 2007.
J. McCann and N. S. Pollard, 2007. Responsive Characters from Motion Fragments, ACM Transactions on Graphics 26(3), SIGGRAPH 2007 Proceedings.
Y. Li, J. L. Fu, and N. S. Pollard, 2007. Data Driven Grasp Synthesis using Shape Matching and Task-Based Pruning, IEEE Transactions on Visualization and Computer Graphics, 13(4), 732--747, July/August 2007.
L. Y. Chang and N. S. Pollard, 2007. Constrained Least-Squares Optimization for Robust Estimation of Center of Rotation, Journal of Biomechanics, 40(6), 1392--1400, 2007.
J. L. Fu, S. S. Srinivasa, N. S. Pollard, and B. C. Nabbe, 2007. Planar Batting with Shape and Pose Uncertainty, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007.
J. L. Fu and N. S. Pollard, 2006. On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, pp 1068-1075, 2006.
J. McCann, N. S. Pollard, and S. Srinivasa, 2006. Physics-Based Motion Retiming, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Vienna, Austria, 2006.
R. Chang, T. Butkiewicz, C. Ziemkiewicz, Z. Wartell, N. Pollard, and W. Ribarsky, 2006. Hierarchical Simplification of City Models to Maintain Urban Legibility, SIGGRAPH Sketches Program, 2006.
Y. Li and N. S. Pollard, 2005. A Shape Matching Algorithm for Synthesizing Humanlike Enveloping Grasps, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2005), Tsukuba, Japan, pp 442-449, 2005.
N. S. Pollard and Victor B. Zordan, 2005. Physically Based Grasping Control from Example, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Los Angeles, CA, pp 311-318, 2005.
P. S. A. Reitsma and N. S. Pollard, 2004. Evaluating Motion Graphs for Character Navigation, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, Grenoble, France, 2004.
N. S. Pollard and A. Wolf, 2004. Grasp synthesis from example: tuning the example to a task or object, Workshop on Multi-point Interaction in Robotics and Virtual Reality, IEEE International Conference on Robotics and Automation, pp 77-90, 2004.
A. Safonova, J. K. Hodgins, and N. S. Pollard, 2004. Synthesizing Physically Realistic Human Motion in Low-Dimensional, Behavior-Specific Spaces, ACM Transactions on Graphics 23(3), SIGGRAPH 2004 Proceedings. (web page)
N. S. Pollard, 2004. Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples, International Journal of Robotics Research 23(6), 595--614, June 2004.
A. C. Fang and N. S. Pollard, 2004. Efficient Computation of Optimal, Physically Valid Motion, Journal of Robotics Society of Japan 22(2), Special issue on Motor Learning of Robots, March 2004.
J. Barbic, A. Safonova, J.-Y. Pan, C. Faloutsos, J. K. Hodgins, and N. S. Pollard, 2004. Segmenting Motion Capture Data into Distinct Behaviors, Proceedings of Graphics Interface, May 2004. (web page)
A. C. Fang and N. S. Pollard, 2003. Efficient Synthesis of Physically Valid Human Motion, ACM Transactions on Graphics 22(3) 417-426, SIGGRAPH 2003 Proceedings. (web page)
P. S. A. Reitsma and N. S. Pollard. Perceptual Metrics for Character Animation: Sensitivity to Errors in Ballistic Motion, ACM Transactions on Graphics 22(3) 537-542, SIGGRAPH 2003 Proceedings. (web page)
A. Safonova, N. S. Pollard, and J. K. Hodgins, 2003. Optimizing Human Motion for the Control of a Humanoid Robot, 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003), Kyoto, Japan, March 2003. (web page)
N. S. Pollard and J. K. Hodgins, 2002. Generalizing Demonstrated Manipulation Tasks, Workshop on the Algorithmic Foundations of Robotics (WAFR '02), Nice, France, December 2002. (web page)
J. Lee, J. Chai, P. S. A. Reitsma, J. K. Hodgins, and N. S. Pollard, 2002. Interactive Control of Avatars Animated with Human Motion Data, ACM Transactions on Graphics, SIGGRAPH 2002 Proceedings, 21(3), pp. 491-500. (web page)
N. S. Pollard and R. C. Gilbert, 2002. Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger, Proceedings of the IEEE International Conference on Robotics and Automation, Washington, D.C., May 2002. (web page)
N. S. Pollard, J. K. Hodgins, M. J. Riley, and C. G. Atkeson, 2002. Adapting Human Motion for the Control of a Humanoid Robot, Proceedings of the IEEE International Conference on Robotics and Automation, Washington, D.C., May 2002.
N. S. Pollard and P. S. A. Reitsma, 2001. Animation of Humanlike Characters: Dynamic Motion Filtering with a Physically Plausible Contact Model. Yale Workshop on Adaptive and Learning Systems.
N. S. Pollard and F. Behmaram-Mosavat, 2000. Force-Based Motion Editing for Locomotion Tasks . Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000.
N. S. Pollard, 1999. Simple Machines for Scaling Human Motion . Eurographics Workshop on Animation and Simulation,Milan, Italy, 1999.
N. S. Pollard and J. K. Hodgins, 1998. Adapting Behaviors to New Environments, Characters, and Tasks . Yale Workshop on Adaptive and Learning Systems.
J. K. Hodgins and N. S. Pollard, 1997. Adapting Simulated Behaviors For New Characters, SIGGRAPH 97 Proceedings, Los Angeles, CA.
N. S. Pollard, 1997. Parallel Algorithms for Synthesis of Whole-Hand Grasps,Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM.
N. S. Pollard, 1996. Synthesizing Grasps from Generalized Prototypes, Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN.
N. S. Pollard, 1994. Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes, MIT Artificial Intelligence Laboratory Technical Report AI-TR 1464.


Contact Information

Robotics Institute, NSH
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Carnegie Mellon University
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412-268-6436 (fax)
nsp __at__ cs.cmu.edu