Sachin Patil I am a postdoctoral researcher in the research groups of Prof. Pieter Abbeel and Prof. Ken Goldberg at the University of California, Berkeley. Previously, I was pursuing a Ph.D. under the supervision of Prof. Ron Alterovitz in the Computational Robotics Group at the University of North Carolina at Chapel Hill. Email: sachinpatil [at] gmail.com Curriculum Vitae (Feb 2015): [pdf]

PUBLICATIONS Preprints [Suggestions are welcome!] Unsupervised Surgical Task Segmentation with Milestone Learning Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, Ken Goldberg Proc. Int. Symposium of Robotics Research - ISRR [Under Review], 2015. [pdf]   Cooperative Occlusion-Aware Multi-Robot Target Tracking using Optimization Karol Hausman, Gregory Kahn, Sachin Patil, Jorg Muller, Ken Goldberg, Pieter Abbeel, Gaurav S. Sukhatme Proc. IEEE Int. Conf. on Intelligent Robots and Systems - IROS [Under Review], 2015. [pdf]   Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg IEEE Trans. on Automation Science and Engineering - T-ASE [Conditionally Accepted], 2015. [pdf]   Journals Motion Planning with Sequential Convex Optimization and Convex Collision Checking John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel Int. Journal Robotics Research - IJRR, vol. 33(9), pp. 1251-1270, 2014. [pdf]   Needle Steering in 3D via Rapid Replanning Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz IEEE Trans. on Robotics - T-RO, vol. 30(4), pp. 853-864, 2014. [pdf]   High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning Wen Sun, Sachin Patil, Ron Alterovitz IEEE Trans. on Robotics - T-RO, vol. 31(1), pp. 104-115, 2015. [pdf]   Ultrasound-Guided Three-Dimensional Needle Steering in Biological Tissue with Curved Surfaces Momen Abayazid, Pedro Moreira, Navid Shahriari, Sachin Patil, Ron Alterovitz, Sarthak Misra Journal of Medical Engineering & Physics, vol. 37(1), pp. 145-150, 2015. [pdf]   A Survey of Research on Cloud Robotics and Automation Ben Kehoe, Sachin Patil, Pieter Abbeel, Ken Goldberg IEEE Trans. on Automation Science and Engineering - T-ASE, vol. 12(2), pp. 398-409, 2015. [Open Access] [pdf]   Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling Ben Kehoe, Deepak Warrier, Sachin Patil, Ken Goldberg IEEE Trans. on Automation Science and Engineering - T-ASE, vol. 12(2), pp. 455-470, 2015. [pdf]   Needle Path Planning and Steering in a Three-Dimensional Non-Static Environment using Two-Dimensional Ultrasound Images Gustaaf Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra Int. Journal Robotics Research - IJRR, vol. 33(10), pp. 1361-1374, 2014. [pdf]   Experimental Evaluation of Ultrasound-Guided 3D Needle Steering in Biological Tissue Momen Abayazid, Gustaaf Vrooijink, Sachin Patil, Ron Alterovitz, Sarthak Misra Int. Journal of Computer Assisted Radiology and Surgery - IJCARS, 2014. [pdf]   Motion Planning under Uncertainty using Iterative Local Optimization in Belief Space Jur van den Berg, Sachin Patil, Ron Alterovitz Int. Journal Robotics Research - IJRR, vol. 31(11), pp. 1263-1278, 2012. [pdf]   Directing Crowd Simulations Using Navigation Fields Sachin Patil, Jur van den Berg, Sean Curtis, Ming Lin, Dinesh Manocha IEEE Trans. on Visualization and Computer Graphics - TVCG, vol. 17(2), pp. 244-254, 2011. [pdf]   Conference Proceedings Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar Proc. Robotics: Science and Systems - RSS, 2015. [pdf]   Multi-Arm Bandit Models for 2D Sample Based Grasp Planning with Uncertainty Michael Laskey, Jeff Mahler, Zoe McCarthy, Florian T. Pokorny, Sachin Patil, Jur Van Den Berg, Danica Kragic, Pieter Abbeel, Ken Goldberg Proc. IEEE Int. Conf. on Automation Science and Engineering - CASE, 2015. [pdf]   A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg Proc. IEEE Int. Conf. on Automation Science and Engineering - CASE, 2015. [pdf]   The Slip-Pad: A Haptic Display Using Interleaved Belts to Simulate Lateral and Rotational Slip Colin Ho, Jonathan Kim, Sachin Patil, Ken Goldberg World Haptics Conference - WHC, 2015. [pdf]   Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015. [pdf]   Active Exploration using Trajectory Optimization for Robotic Grasping in the Presence of Occlusions Gregory Kahn, Peter Sujan, Sachin Patil, Shaunak D. Bopardikar, Julian Ryde, Ken Goldberg, Pieter Abbeel Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015. [pdf]   Toward Asymptotically Optimal Motion Planning for Kinodynamic Systems using a Two-Point Boundary Value Problem Solver Christopher Xie, Jur van den Berg, Sachin Patil, Pieter Abbeel Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015. [pdf]   Physics-Based Trajectory Optimization for Grasping in Cluttered Environments Nikita Kitaev, Igor Mordatch, Sachin Patil, Pieter Abbeel Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015. [pdf]   GP-GPIS-OPT: Grasp Planning Under Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming Jeffrey Mahler, Sachin Patil, Ben Kehoe, Jur van den Berg, Matei Ciocarlie, Pieter Abbeel, Ken Goldberg Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2015. [pdf]   Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel Proc. Workshop on Algorithmic Foundations of Robotics - WAFR, 2014. [pdf]   Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg Proc. Workshop on Algorithmic Foundations of Robotics - WAFR, 2014. [pdf]   Gaussian Belief Space Planning with Discontinuities in Sensing Domains Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf]   Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf]   Autonomous Multilateral Surgical Debridement with the Raven Surgical Robot Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, Walter Boyd, Pieter Abbeel, Ken Goldberg Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf]   Needle Steering in Biological Tissue using Ultrasound-based Online Curvature Estimation Pedro Moreira, Sachin Patil, Ron Alterovitz, Sarthak Misra Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2014. [pdf]   Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamturk, Ken Goldberg Proc. IEEE Int. Conf. on Automation Science and Engineering - CASE, 2014. [pdf]   Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg Proc. IEEE Int. Conf. on Automation Science and Engineering - CASE, 2014. [pdf]   Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles Alex Lee, Yan Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel Proc. IEEE Int. Conf. on Intelligent Robots and Systems - IROS, 2013. [pdf]   An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery Animesh Garg, Sachin Patil, Timmy Siauw, Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, Ken Goldberg Proc. IEEE Int. Conf. on Automation Science and Engineering - CASE, 2013. [pdf]   Efficient Approximate Value Iteration for Continuous Gaussian POMDPs Jur van den Berg, Sachin Patil, Ron Alterovitz Proc. AAAI Conference on Artificial Intelligence - AAAI, 2012. [pdf]   Estimating Probability of Collision for Safe Planning under Gaussian Motion and Sensing Uncertainty Sachin Patil, Jur van den Berg, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2012. [pdf]   Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space Jur van den Berg, Sachin Patil, Ron Alterovitz Proc. Int. Symposium of Robotics Research - ISRR, 2011. [pdf]   Motion Planning Under Uncertainty in Highly Deformable Environments Sachin Patil, Jur van den Berg, Ron Alterovitz Proc. Robotics: Science and Systems - RSS, 2011. [pdf]   Planning Curvature-Constrained Paths to Multiple Goals Using Circle Sampling Edgar Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2011. [pdf]   Rapidly-Exploring Roadmaps: Weighing Exploration vs. Refinement in Optimal Motion Planning Ron Alterovitz, Sachin Patil, Anna Derbakova Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2011. [pdf]   LQG-Based Planning, Sensing, and Control of Steerable Needles Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg Proc. Workshop on Algorithmic Foundations of Robotics - WAFR, 2010. [pdf]   Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles Sachin Patil, Ron Alterovitz Proc. IEEE RAS and EMBS Int. Conf. on Biomedical Robotics and Biomechatronics - BioRob, 2010. [pdf]   Toward Automated Tissue Retraction in Robot-Assisted Surgery Sachin Patil, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2010. [pdf]   Composite Agents Hengchin Yeh, Sean Curtis, Sachin Patil, Jur van den Berg, Dinesh Manocha, Ming Lin Proc. Symposium on Computer Animation - SCA, 2008. [pdf]   Interactive Navigation of Individual Agents in Crowded Environments Jur van den Berg, Sachin Patil, Jason Sewall, Dinesh Manocha, Ming Lin Proc. Symposium on Interactive 3D Graphics and Games - I3D, 2008. [pdf]   Workshops, Survey Papers, and Posters Gaussian Belief Space Planning for Imprecise Articulated Robots Alex Lee, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel RSS Workshop on Manipulation with Uncertain Models, 2013. [pdf]   Three-Dimensional Flexible Needle Steering using Two-Dimensional Ultrasound Images Guus Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra 4th Dutch Bio-Medical Engineering Conference - BME, 2013. [pdf]   Integrating Motion Planning and Control of Steerable Needles: Real-time Replanning vs. Deformation-aware LQG Control Sachin Patil, Ron Alterovitz IEEE ICRA 2012 Needle Steering Workshop - Pathways to Clinical Needle Steering: Recent Advances and Future Applications, 2012. [pdf] Motion Planning Under Uncertainty for Steerable Needles Sachin Patil, Ron Alterovitz, Jur van den Berg, Kris Hauser, Vincent Duindam, Gregory S. Chirikjian, Noah J. Cowan, Allison Okamura, Ken Goldberg IEEE IROS 2011 Demonstrations - A Robotic System for Needle Steering, 2011. [pdf] Interactive Modeling, Simulation and Control of Large-Scale Crowds and Traffic Ming Lin, Stephen J. Guy, Rahul Narain, Jason Sewall, Sachin Patil, Jatin Chhugani, Abhinav Golas, Jur van den Berg, Sean Curtis, David Wilkie, Paul Merrell, Changkyu Kim, Nadathur Satish, Pradeep Dubey, Dinesh Manocha Proc. Motion in Games - MiG, 2009. [pdf]   Real-Time Path Planning for Multi-Agent and Crowd Simulation Ming Lin, Avneesh Sud, Jur van den Berg, Russell Gayle, Sean Curtis, Hengchin Yeh, Stephen J. Guy, Eric Andersen, Sachin Patil, Jason Sewall, Dinesh Manocha Proc. Motion in Games - MiG, 2008. [pdf]