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] berkeley.edu

Curriculum Vitae (August 2014): [pdf]

PUBLICATIONS

Under Review
[Suggestions are welcome!]
  • 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]
     
  • 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]
     
  • 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]
     
  • Budgeted Multi-Armed Bandit Models for Sample-Based Grasp Planning in the Presence of Uncertainty
    Michael Laskey, Zoe McCarthy, Jeff Mahler, Florian T. Pokorny, Sachin Patil, Jur Van Den Berg, Danica Kragic, Pieter Abbeel, Ken Goldberg
    Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 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]
     
  • 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. [To Appear]
     
  • 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. [In Press] [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. [In Press] [pdf]
     
  • High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning
    Wen Sun, Sachin Patil, Ron Alterovitz
    IEEE Trans. on Robotics - T-RO. [In Revision]
     
  • 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
  • Learning 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]
     
  • Learning 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]