Projects

Robotics

Biology

Games

Publications & Papers

  • Hao-Tien (Lewis) Chiang, Aleksandra Faust, Lydia Tapia, "Fast Swept Volume Estimation with Deep Learning", In Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR), Merida, Mexico, Dec. 2018.(pdf, appendix)

  • Hao-Tien (Lewis) Chiang, Aleksandra Faust, Lydia Tapia, "Deep Neural Networks for Swept Volume Prediction Between Configurations", In Proceedings of the Third Workshop on Machine Learning in Planning and Control of Robot Motion Workshop (MLPC 18), IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May. 2018.(pdf)

  • Hao-Tien (Lewis) Chiang and Lydia Tapia, "COLREG-RRT: A RRT-based COLREGS-Compliant Motion Planner for Surface Vehicle Navigation", In Proc. of IEEE International Conference on Robotics and Automation (ICRA), to appear, 2018.(pdf)

  • Hao-Tien Chiang, Baisravan HomChauhudri, Lee Smith, Lydia Tapia, "Safety, Challenges, and Performance of Motion Planners in Dynamic Environments", In 2017 International Symposium of Robotics Research (ISRR), Puerto Varas, Chile, Dec. 2017. (pdf, Bibtex)

  • Torin Adamson, Hao-Tien Chiang, Meeko Oishi, Lydia Tapia. "Busy Beeway: A Game for Testing Human-Automation Collaboration for Navigation", In 2017 ACM SIGGRAPH Conference on Motion in Games (MIG), Barcelona, Spain, Nov. 2017. (pdf, Bibtex)

  • Nick Malone, Hao-Tien (Lewis) Chiang, Kendra Lesser, Meeko Oishi, Lydia Tapia, "Hybrid Dynamic Moving Obstacle Avoidance Using a Stochastic Reachable Set-Based Potential Field", IEEE Transactions on Robotics, 33(8), pp. 1124-1138, Oct. 2017. (pdf, Bibtex)

  • Kasra Manavi, Sahba Tashakkori and Lydia Tapia, "Gaussian Mixture Models with Constrained Flexibility for Fitting Tomographic Tilt Series", In Proc. of the Computational Structural Bioinformatics Workshop (CSBW), ACM Conference on Bioinformatics, Computational Biology, and Health Informatics (ACM-BCB), pp. 710-715, Boston, Aug. 2017.(pdf, Biblex)

  • Bruna Jacobson, Jon Christian L. David, Mitchell C. Malone, Kasra Manavi, Susan R. Atlas and Lydia Tapia, "Geometric Sampling Framework for Exploring Molecular Walker Energetics and Dynamics", In Proc. of the 8th ACM International Conference on Bioinformatics, Computational Biology, and Health Informatics, pp.704-709, Boston, USA, Aug. 2017. (pdf)

  • Hao-Tien (Lewis) Chiang, Baisravan HomChaudhuri, Abraham Vinod, Meeko Oishi, Lydia Tapia, "Dynamic Risk Tolerance: Motion Planning by Balancing Short-Term and Long-Term Stochastic Dynamic Predictions", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 1023-1030, Singapore, May 2017. (pdf, Bibtex)

  • Avanika Mahajan, Lama A. Youssef, Cédric Cleyrat, Rachel Grattan, Shayna R. Lucero, Christopher P. Mattison, M. Frank Erasmus, Bruna Jacobson, Lydia Tapia, William S. Hlavacek and Mark Schuyler, "Allergen Valency, Dose, and FcεRI Occupancy Set Thresholds for Secretory Responses to Pen a 1 and Motivate Design of Hypoallergens", In The Journal of Immunology, 198(3) pp.1034-1046, Feb. 2017. (pdf)

  • Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Runtime SES Planning: Online Motion Planning in Environments with Stochastic Dynamics and Uncertainty", In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4802-4809, Deajon, South Korea, Oct. 2016. (pdf, Bibtex)

  • Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Avoiding Moving Obstacles with Stochastic Hybrid Dynamics using PEARL:PrEference Appraisal Reinforcement Learning", In Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 484-490, Stockholm, Sweeden, May 2016. (pdf, Bibtex)

  • Kasra Manavi, Bruna Jacobson, Brittany Hoard, Lydia Tapia, "Influence of model resolution on geometric simulations of antibody aggregation," Robotica, 34(8), pp. 1754-1776, May 2016. (link, pdf, Bibtex)

  • Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Aerial Suspendend Cargo Delivery through Reinforcement Learning", Artificial Intelligence Journal Special Issue on Learning and Robotic, 247, June 2017. (Bibtex)

  • Bruna D. Jacobson, Kasra Manavi, Susan R. Atlas, Lydia Tapia, "Impact of Structural and Dynamical Complexity on Kinesin Kinetics", Poster at the Biophysical Society Annual Meeting (BPS), Baltimore, Maryland, Feb. 2015. Also, Biophysical Journal, 108(2), pp. 138a-139a, Jan. 2015. (pdf, Bibtex)

  • Brittany Hoard, Bruna Jacobson, Kasra Manavi, Lydia Tapia, "Extending Rule-Based Methods to Model Molecular Geometry," BMC Systems Biology: Selected articles from the IEEE International Conference on Bioinformatics and Biomedicine 2015: Systems Biology, 10(Suppl 2)(48), Aug. 2016. (link, Bibtex)

  • Aleksandra Faust, Nick Malone, Lydia Tapia, "Preference-balancing motion planning under stochastic disturbances", In Proc. IEEE International Conference on Robotics and Automation (ICRA), page 3555-3562, Seattle, WA, U.S.A., May 2015. (pdf, Bibtex)

  • Brittany Hoard, Bruna Jacobson, Kasra Manavi, Lydia Tapia, "Extending Rule-Based Methods to Model Molecular Geometry", In Proc. of the IEEE International Conference on Bioinformatics and Biomedicine (BIBM 2015), Washington, D.C., U.S.A., Nov. 2015. (pdf, Bibtex)

  • Aleksandra Faust, Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Dynamic Obstacle Avoidance with PEARL: PrEference Appraisal Reinforcement Learning", In International Conference on Robotics and Automation (ICRA), pp. 484-490, Hamburg, Germany, Sept. 2015. (pdf, Bibtex)

  • Hao-Tien Chiang, Nathanael Rackley, Lydia Tapia, "Stochastic Ensemble Simulation Motion Planning in Stochastic Dynamic Environments", In International Conference on Intelligent Robots and Systems (IROS), pp 2347-2354, Hamburg, Germany, Oct. 2015. (pdf, Bibtex)

  • Hao-Tien Chiang, Nick Malone, Kendra Lesser, Meeko Oishi, Lydia Tapia, "Path-Guided Artificial Potential Fields with Stochastic Reachable Sets for Motion Planning in Highly Dynamic Environments", In International Conference on Robotics and Automation (ICRA), pp. 2347-2354, Seattle, WA, U.S.A., May 2015. (pdf, Bibtex)

  • Torin Adamson, John Baxter, Kasra Manavi, April Suknot, Bruna Jacobson, Patrick Kelley, Lydia Tapia, "Molecular Tetris: Crowdsourcing Molecular Docking Using Path-Planning and Haptic Devices", In Proceedings of the ACM SIGGRAPH Motion in Games (MIG), pp. 133-138, Los Angeles, CA, U.S.A., Nov. 2014. (pdf, Bibtex)

  • Hao-Tien Chiang, Nick Malone, Kendra Lesser, Meeko Oishi, Lydia Tapia, "Aggressive Moving Obstacle Avoidance Using a Stochastic Reachable Set Based Potential Field", In International Workshop on the Algorithmic Foundations of Robotics (WAFR), Istanbul, Turkey, 3-5 Aug. 2014. (pdf, Bibtex)

  • Kasra Manavi and Lydia Tapia, "Influence of Model Resolution on Antibody Aggregation Simulations", In Proc. RSS Workshop on Robotics Methods for Structural and Dynamic Modeling of Molecular Systems (RMMS), pp. 1754-1776, Berkeley, CA, U.S.A., July 2014.
    (pdf, BibTex, abstract)

  • Torin Adamson, John Baxter, Kasra Manavi, Bruna Jacobson and Lydia Tapia, "Crowdsourced Molecular Docking Using Path-Planning and Haptic Devices", In Proc. RSS Workshop on Robotics Methods for Structural and Dynamic Modeling of Molecular Systems (RMMS), Berkeley, CA, U.S.A., July 2014.
    (pdf, BibTex )

  • Aleksandra Faust, Nick Malone, Lydia Tapia, "Planning Preference-balancing Motions with Stochastic Disturbances", Machine Learning in Planning and Control of Robot Motion Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, U.S.A., Sep. 2014.
    (pdf, BibTex, abstract)

  • Nick Malone, Kendra Lesser, Meeko Oishi, Lydia Tapia, "Stochastic Reachability Based Motion Planning for Multiple Moving Obstacle Avoidance", In Proc. International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 51-60, Berlin, Germany, Apr. 2014.
    (pdf, Bibtex, Video)

  • Nick Malone, Aleksandra Faust, Brandon Rohrer, Ron Lumia, John Wood, Lydia Tapia, "Efficient Motion-based Task Learning for a Serial Link Manipulator", In Transactions on Control and Mechanical Systems, 3(1), Jan. 2014. (pdf, Bibtex)

  • Rafael Figueroa, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "Reinforcement Learning for Balancing a Flying Inverted Pendulum", In Proc. The 11th World Congress on Intelligent Control and Automation (WCICA), pp. 3555-3562, Shenyang, China, July 2014.
    (pdf, BibTex, abstract, Video)

  • Aleksandra Faust, Peter Ruymgaart, Molly Salman, Rafael Fierro, Lydia Tapia, "Continuous Action Reinforcement Learning for Control-Affine Systems with Unknown Dynamics", Acta Automatica Sinica Special Issue of Extensions of Reinforcement Learning and Adaptive Control, 1(3) pp. 323-336, July 2014. Also, Technical Report TR13-002, Department of Computer Science, University of New Mexico, June 2014.
    (pdf, BibTex, abstract, Video) Technical Report( pdf)

  • Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Aerial Suspended Cargo Delivery through Reinforcement Learning", Artifical Intelligence Journal 247 Special Issue on Leaning and Robotics, pp. 381-398, June 2015. Also, Technical Report TR13-001, Department of Computer Science, University of New Mexico, Aug. 2013.
    (pdf, abstract, Video)

  • Nick Malone, Kasra Manavi, John Wood, Lydia Tapia, "Construction and Use of Roadmaps that Incorporate Workspace Modeling Errors," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1264-1271, Tokyo, Japan, Nov. 2013.
    (pdf, BibTex, abstract)

  • Kasra Manavi, Alan Kuntz, Lydia Tapia, "Geometrical Insights into the Process of Antibody Aggregation," In Proc. the AAAI Workshop on Artificial Intelligence and Robotics Methods in Computational Biology (AIRMCB), Bellevue, WA, U.S.A., July 2013.
    (pdf, BibTex, abstract)

  • Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load," IEEE International Conference on Robotics and Automation (ICRA), pp. 4887-4894, Karlsruhe, Germany, May 2013.
    (pdf, BibTex, abstract, Video, Matlab source code, presentation)

  • Ivana Palunko, Aleksandra Faust, Patricio Cruz, Lydia Tapia, Rafael Fierro, "A Reinforcement Learning Approach to Suspended Load Manipulation with Aerial Robots," IEEE International Conference on Robotics and Automation (ICRA), pp. 4881-4886, Karlsruhe, Germany, May 2013.
    (pdf, BibTex, abstract)

  • Aleksandra Faust, Ivana Palunko, Patricio Cruz, Rafael Fierro, Lydia Tapia, "Learning Swing-free Trajectories for UAVs with a Suspended Load in Obstacle-free Environments", Autonomous Learning workshop at IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013. (pdf)

  • Kasra Manavi, Bridget Wilson, Lydia Tapia, "Simulation and Analysis of Antibody Aggregation on Cell Surfaces Using Motion Planning and Graph Analysis," In Proc. the ACM Conf. on Bioinformatics, Computational Biology and Biomedicine (ACM-BCB), pp. 458-465, Orlando, Florida, U.S.A., Oct. 2012.
    (pdf, BibTex, abstract)

  • Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, "Local Randomization in Neighbor Selection Improves PRM Roadmap Quality," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4441-4448, Vilamoura, Portugal, Oct. 2012.
    Proceedings(pdf, abstract)

  • Nick Malone, Aleksandra Faust, Brandon Rohrer, John Wood, Lydia Tapia, "Efficient Motion-based Task Learning," Robot Motion Planning Workshop, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012.
    (pdf, BibTex, abstract, presentation)

  • Nick Malone, Brandon Rohrer, Lydia Tapia, Ron Lumia, John Wood, "Implementation of an Embodied General Reinforcement Learner on a Serial Link Manipulator," In Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 862-869, St. Paul, MN, U.S.A., May 2012.
    (pdf, BibTex, abstract, presentation)

  • Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, "Evaluation of the K-closest Neighbor Selection Strategy for PRM Construction," Technical Report, TR12-001, Department of Computer Science and Engineering, Texas A&M University, Jan. 2012.
    Technical Report(pdf, abstract)

  • Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, "Evaluation of the K-closest Neighbor Selection Strategy for PRM Construction (Full Version)," Technical Report, TR12-002, Department of Computer Science and Engineering, Texas A&M University, Jan. 2012.
    Technical Report(pdf, abstract)

  • Jory Denny, Anshul Agrawal, Evan Greco, Lydia Tapia, Nancy M. Amato, "Region Identification Methods for Efficient and Automated Motion Planning," Technical Report, TR10-002, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Sep. 2010.
    Technical Report(ps, pdf, abstract)

  • Lydia Tapia, Shawna Thomas, Nancy M. Amato, "A Motion Planning Approach to Studying Molecular Motions," Communications in Information and Systems, 10(1), pp. 53-68, 2010. Also, Technical Report, TR08-006, Parasol Laboratory, Department of Computer Science, Texas A&M University, Nov. 2008.
    Journal(pdf, abstract) Technical Report(abstract)

  • Lydia Tapia, "Intelligent Motion Planning and Analysis with Probabilistic Roadmap Methods for the Study of Complex and High-Dimensional Motions," Ph.D. Thesis, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, Dec. 2009.
    Ph.D. Thesis(pdf, abstract)

  • Lydia Tapia, Shawna Thomas, Bryan Boyd, Nancy M. Amato, "An Unsupervised Adaptive Strategy for Constructing Probabilistic Roadmaps," In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 4037-4044, Kobe, Japan, May 2009. Also, Technical Report, TR08-004, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Sep. 2008.
    Proceedings(pdf) Technical Report(ps, pdf, abstract)

  • Shawna Thomas, Lydia Tapia, Nancy M. Amato, "Protein Folding Core Identification from Rigidity Analysis and Motion Planning," Technical Report, TR08-001, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct. 2008.
    Technical Report(ps, pdf, abstract)

  • Lydia Tapia, Shawna Thomas, Nancy M. Amato, "Using Dimensionality Reduction to Better Capture RNA and Protein Folding Motions," Technical Report, TR08-005, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, TX, U.S.A., Oct. 2008.
    Technical Report(ps, pdf, abstract)

  • Xinyu Tang, Shawna Thomas, Lydia Tapia, David P. Giedroc, Nancy M. Amato, "Simulating RNA Folding Kinetics on Approximated Energy Landscapes," Journal of Molecular Biology, 3811(4), pp. 1055-1067, Sep. 2008. Also, Technical Report, TR07-008, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct. 2007.
    Journal(pdf, abstract) Technical Report(ps, pdf, abstract)

  • Xinyu Tang, Shawna Thomas, Lydia Tapia, Nancy M. Amato, "Tools for Simulating and Analyzing RNA Folding Kinetics," Technical Report, TR07-007, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct. 2007. Also, In Proc. Int. Conf. Comput. Molecular Biology (RECOMB), pp. 268-282, San Francisco, CA, U.S.A., Apr. 2007.
    Technical Report(ps, pdf, abstract) Proceedings(ps, pdf, abstract)

  • Lydia Tapia, Xinyu Tang, Shawna Thomas, Nancy M. Amato, "Kinetics Analysis Methods For Approximate Folding Landscapes," In Int. Conf. on Int. Sys. for Mol. Bio. (ISMB)/European Conf. on Comp. Bio.(ECCB), Vienna, Austria, Jul 2007. Also, Bioinformatics, 23(13), pp. i539-i548, Jul. 2007. Also, Technical Report, TR07-002, Parasol Laboratory, Department of Computer Science, Texas A&M University, Feb. 2007.
    Journal(pdf, abstract) Technical Report(ps, pdf, abstract)

  • Shawna Thomas, Xinyu Tang, Lydia Tapia, Nancy M. Amato, "Simulating Protein Motions with Rigidity Analysis," Journal of Computational Biology, 14(6) pp. 839-855, Jul. 2007. Also, In Proc. Int. Conf. Comput. Molecular Biology (RECOMB), pp. 394-409, Apr. 2006. Also, Technical Report, TR05-008, Parasol Laboratory, Department of Computer Science, Texas A&M University, Sep. 2005.
    Journal(ps, pdf, abstract) Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

  • Lydia Tapia, Xinyu Tang, Shawna Thomas, Nancy M. Amato, "Roadmap-Based Methods for Studying Protein Folding Kinetics," Technical Report, TR06-011, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct. 2006.
    Technical Report(ps, pdf, abstract)

  • Marco A. Morales A., Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato, "C-Space Subdivision and Integration in Feature-Sensitive Motion Planning," In Proc. IEEE Int. Conf. Robot.
    Autom. (ICRA)
    , pp. 3114-3119, Barcelona, Spain, May 2005. Also, Technical Report, TR04-004, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Sep. 2004.
    Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

  • Marco Morales, Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato, "A Machine Learning Approach for Feature-Sensitive Motion Planning," In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. 361-376, Utrecht/Zeist, The Netherlands, Jul 2004. Also, Technical Report, TR04-001, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Feb. 2004.
    Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

  • Sharon Stansfield, Dan Shawver, Annette Sobel, Monica Prasad, Lydia Tapia, "Design and Implementation of a Virtual Reality System and Its Application to Training Medical First Responders", Presence Teleoperators and Virtual Environments, 9(6), pp. 524-556, Dec. 2000. (ps, pdf)