Journal Articles

In-Hand Manipulation with a Simple Belted Parallel-Jaw Gripper. Gregory Xie, Rachel Holladay, Lillian Chin, Daniela Rus. IEEE Robotics and Automation Letters, 2023.

Robust Planning for Multi-stage Forceful Manipulation. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. International Journal of Robotics Research (IJRR), 2023.

Integrated Task and Motion Planning. Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez. Annual Review of Control, Robotics, and Autonomous Systems, 2021.

Planar In-Hand Manipulation via Motion Cones. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. International Journal of Robotics Research (IJRR), 2019.

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez. International Journal of Robotics Research (IJRR), 2019.

Minimizing Task Space Fréchet Error via Efficient Incremental Graph Search. Rachel Holladay, Oren Salzman, and Siddhartha Srinivasa. IEEE Robotics and Automation Letters, 2019.

Deceptive Robot Motion: Synthesis, Analysis and Experiments. Anca Dragan, Rachel Holladay, and Siddhartha Srinivasa. Autonomous Robots, 2015.

Conference Papers

Strong Compliant Grasps Using a Cable-Driven Soft Gripper. Gregory Xie, Lillian Chin, Byungchul Kim, Rachel Holladay, Daniela Rus. IEEE/RSJ Interational Conference on Intelligent Robots and Systems (IROS), 2024.

Planning for Multi-stage Forceful Manipulation. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. IEEE Interational Conference on Robotics and Automation (ICRA), 2021.

Force-and-Motion Constrained Planning for Tool Use. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. IEEE/RSJ Interational Conference on Intelligent Robots and Systems (IROS), 2019.

In-Hand Manipulation via Motion Cones. Nikhil Chavan Dafle, Rachel Holladay, and Alberto Rodriguez. Robotics: Science and Systems (RSS), 2018. Best Student Paper Award.

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching. Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, and Alberto Rodriguez. IEEE Interational Conference on Robotics and Automation (ICRA), 2018. Amazon Robotics Best Systems Paper Award in Manipulation.

Distance Metrics and Algorithms for Task Space Path Optimization. Rachel Holladay and Siddhartha Srinivasa. IEEE/RSJ Interational Conference on Intelligent Robots and Systems (IROS), 2016.

Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching. Laura Herlant, Rachel Holladay, and Siddhartha Srinivasa. Human Robot Interaction (HRI), 2016.

Legible Robot Pointing. Rachel Holladay, Anca Dragan, and Siddhartha Srinivasa. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2014.

An Analysis of Deceptive Robot Motion. Anca Dragan, Rachel Holladay, and Siddhartha Srinivasa. Robotics: Science and Systems (RSS), 2014.

Workshop Papers

Force-and-Motion Grasp Planning for Tool Use. Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez. Robotics: Science and Systems (RSS) Workshop on "Task-Informed Grasping (TIG-II): From Perception to Physical Interaction" 2019.

Minimizing the Fréchet Error of Task-Space Paths for Manipulators and Surgical Robots. Oren Salzman, Rachel Holladay, Sherdil Niyaz, Alan Kuntz, Ron Alterovitz, and Siddhartha Srinivasa. Robotics: Science and Systems (RSS) "Pioneers Workshop", 2018.

A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study. Rachel Holladay and Siddhartha Srinivasa. SigBovik, CMU's April Fool's Day Conference, 2017.

Visibility Optimization in Robot Manipulation Tasks. Rachel Holladay, Laura Herlant, Henny Admoni and Siddhartha Srinivasa. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) "Workshop on Human-Oriented Approaches for Assistive and Rehabilitation Robotics (HUMORARR)", 2016.

Active Comparison Based Learning Incorporating User Uncertainity and Noise. Rachel Holladay, Shervin Javdani, Anca Dragan and Siddhartha Srinivasa. Robotics: Science and Systems (RSS) "Workshop Model Learning for Human-Robot Communication", 2016.

RoGuE: Robot Gesture Engine. Rachel Holladay and Siddhartha Srinivasa. AAAI Spring Symposium: "Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform". 2016.

Patents

Robotic Manipulation of Objects for Grip Adjustment. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. [US 62/765278, PCT/US2019/046771] Under review.

Robotic Manipulation of Objects using External Contacts. Nikhil Chavan-Dafle, Rachel Holladay and Alberto Rodriguez. [US 62/765255, PCT/US2019/046780​] Under review.

Theses

Leveraging Mechanics for Multi-step Robotic Manipulation Planning. Rachel Holladay. Doctoral Thesis, MIT 2024.

Force-and-Motion Constrained Planning for Tool Use. Rachel Holladay. Master's Thesis, MIT 2019.

Following Paths in Task Space: Distance Metrics and Planning Algorithms. Rachel Holladay. Undergraduate Honors Thesis, CMU 2017. Allen Newell Award for Excellence in Undergraduate Research.

Other

Graduate Women in Robotics Community: Creation and Early Years. Rachel Holladay. Report on Student Organization, 2023.

Multi-Agent Robotic Drawing System. Zhaodong Zheng, Neil Jassal, Yichu Jin and Rachel Holladay. CMU Robotics Major Capstone Project, 2017.

Parallel A* Graph Search. Ariana Weinstock and Rachel Holladay. CMU 15-418/618 Parallel Computer Architecture and Programming final project, 2016.

Adaptive Ecosystem Climatology (AEC) Ocean Science Kit (OS Kit). Rachel Holladay, Samuel Holladay, Sergio deRada. Internship Project at the Naval Research Laboratory, Stennis Space Center, 2014.

Gulf Of Mexico Modelling System (GOMMS) Website. Rachel Holladay, Samuel Holladay, Sergio deRada. Internship Project at the Naval Research Laboratory, Stennis Space Center, 2012-13.