Siddarth Jain

Siddarth Jain
  • 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.

  • Recent News & Events

  • MERL Publications

    •  Cherian, A., Pais, G., Jain, S., Marks, T.K., Sullivan, A., "InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images", IEEE International Conference on Computer Vision (ICCV), October 2021.
      BibTeX TR2021-097 PDF
      • @inproceedings{Cherian2021oct,
      • author = {Cherian, Anoop and Pais, Goncalo and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
      • title = {InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images},
      • booktitle = {IEEE International Conference on Computer Vision (ICCV)},
      • year = 2021,
      • month = oct,
      • url = {https://www.merl.com/publications/TR2021-097}
      • }
    •  Jain, S., Corcodel, R., van Baar, J., "Visual 3D Perception for Interactive Robotic Tactile Data Acquisition", IEEE International Conference on Automation Science and Engineering (CASE 2021), August 2021.
      BibTeX TR2021-092 PDF
      • @inproceedings{Jain2021aug,
      • author = {Jain, Siddarth and Corcodel, Radu and van Baar, Jeroen},
      • title = {Visual 3D Perception for Interactive Robotic Tactile Data Acquisition},
      • booktitle = {2021 IEEE International Conference on Automation Science and Engineering (CASE)},
      • year = 2021,
      • month = aug,
      • url = {https://www.merl.com/publications/TR2021-092}
      • }
    •  Corcodel, R., Jain, S., van Baar, J., "Interactive Tactile Perception for Classification of Novel Object Instances", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS45743.2020.9341795, November 2020, pp. 9861-9868.
      BibTeX TR2020-143 PDF Video
      • @inproceedings{Corcodel2020nov,
      • author = {Corcodel, Radu and Jain, Siddarth and van Baar, Jeroen},
      • title = {Interactive Tactile Perception for Classification of Novel Object Instances},
      • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      • year = 2020,
      • pages = {9861--9868},
      • month = nov,
      • publisher = {IEEE},
      • doi = {10.1109/IROS45743.2020.9341795},
      • url = {https://www.merl.com/publications/TR2020-143}
      • }
  • Other Publications

    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Deepak Gopinath, Siddarth Jain and Brenna D Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }
    •  Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi and Brenna Argall, "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}
      • }
    •  Siddarth Jain, Katherine A Barsness and Brenna Argall, "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}
      • }
    •  Siddarth Jain and Brenna Argall, "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}
      • }