Joshua A. Haustein

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About Me

I'm a postdoctoral researcher at the Division of Robotics, Perception and Learning (RPL), Royal Institute of Technology (KTH), Stockholm. Before my current position, I received my PhD in Computer Science at KTH under the supervision of Danica Kragic Jensfelt and Johannes A. Stork. My dissertation is publicly accessible on DiVa. My current research interests lie within the field of manipulation planning for autonomous robots, in particular in grasp, motion and rearrangement planning.

I received both my Bachelor's and my Master's degree in Computer Science from Karlsruhe Institute of Technology (KIT), Germany, in 2011 and 2014 respectively. During my studies I worked at Tamim Asfour's High Performance Humanoid Technologies (H²T) Lab at KIT. For my master's thesis I visited Siddhartha Srinivasa's Personal Robotics Lab at Carnegie Mellon University (CMU) in Pittsburgh, USA, where I worked together with Jennifer King on rearrangement planning for manipulation in clutter.

Publications

Conference paper Workshop/Arxiv PDF Video Website

Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting
H. Song, J. A. Haustein, W. Yuan, K. Hang, M. Yu Wang, D. Kragic, J. A. Stork
in International Conference on Intelligent Robots and Systems (IROS) 2020
Placing Objects with Prior In-hand Manipulation using Dexterous Manipulation Graphs
J. A. Haustein, S. Cruciani, R. Asif, K. Hang, D. Kragic
in Humanoid Robotics (Humanoids) 2019
Object Placement Planning and Optimization for Robot Manipulators
J. A. Haustein, K. Hang, J. A. Stork, D. Kragic
in International Conference on Intelligent Robots and Systems (IROS) 2019
Non-prehensile Rearrangement Planning with Learned Manipulation States and Actions
J. A. Haustein, I. Arnekvist, J. A. Stork, K. Hang, D. Kragic
in Workshop "Machine Learning in Robot Motion Planning"
at International Conference on Intelligent Robots and Systems (IROS) 2018
Extended manuscript:
Leaning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
Affordance Detection for Task-specific Grasping using Deep Learning
M. Kokic, J. A. Stork, J. A. Haustein, D. Kragic
in Humanoid Robotics (Humanoids) 2017
Integrating Motion and Hierarchical Fingertip Grasp Planning
J. A. Haustein, K. Hang, D. Kragic
in International Conference in Robotics and Automation (ICRA) 2017
On the Evolution of Fingertip Grasping Manifolds
K. Hang, J. A. Haustein, M. Li, A. Billard, C. Smith and D. Kragic
in International Conference in Robotics and Automation (ICRA) 2016
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
J. A. Haustein, J. King, S. S. Srinivasa, T. Asfour
in International Conference in Robotics and Automation (ICRA) 2015
Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds
J. King, J. A.Haustein, S. S. Srinivasa, T. Asfour
in International Conference in Robotics and Automation (ICRA) 2015