Working Papers

• S. Li, M. Burke, S. Ramamoorthy, J. Gall, Learning a neural association network for self-supervised multi-object tracking.
     arXiv link
• R. Rubavičius, A. V. Miceli-Barone, A. Lascarides, S. Ramamoorthy, Generating Driving Simulations via Conversation.
     arXiv link
• R. Rubavičius, P.D. Fagan, A. Lascarides, S. Ramamoorthy, SECURE: Semantics-aware embodied conversation under unawareness for lifelong robot learning.
     arXiv link
• P.D. Fagan, S. Ramamoorthy, Learning from demonstration with implicit nonlinear dynamics models.
     arXiv link
• L. Chen, M.A. Raza, C. Innes, S. Ramamoorthy, R.B. Fisher, Unobtrusive monitoring of physical weakness: A simulated approach.
     arXiv link
• X. Du, B. Legastelois, B. Ganesh, A. Rajan, H. Chockler, V. Belle, S. Anderson, S. Ramamoorthy, Vision Checklist: Towards testable error analysis of image models to help system designers interrogate model capabilities.
     arXiv link
• A.M. Deiana, N. Tran, et al., Applications and techniques for fast machine learning in science.
     arXiv link
• J. Geary, H. Gouk, S. Ramamoorthy, Active altruism learning and information sufficiency for autonomous driving.
     arXiv link
• X. Du, S. Ramamoorthy, W. Duivesteijn, J. Tian, M. Pechenizkiy, Beyond discriminant patterns: On the robustness of decision rule ensembles.
     arXiv link
• T. Davchev, S. Bechtle, S. Ramamoorthy, F. Meier, Learning time-invariant reward functions through model-based inverse reinforcement learning.
     arXiv link
• M. Burke, S. Ramamoorthy, Learning data association without data association: An EM approach to neural assignment prediction.
     arXiv link
• P. Ardón, È. Pairet, K. Lohan, S. Ramamoorthy, R. Petrick, Affordances in robotic tasks -- a survey.
     arXiv link, Bibtex
• S. Penkov, S. Ramamoorthy, Explaining transition systems through program induction.
     arXiv link, Bibtex
• M. Hawasly, F.T. Pokorny, S. Ramamoorthy, Estimating activity at multiple scales using spatial abstractions.
     arXiv link, Bibtex
• M.M.H. Mahmud, M. Hawasly, B. Rosman, S. Ramamoorthy, Clustering Markov decision processes for continual transfer.
     arXiv link, Bibtex

2025

• J. Park, A. Lascarides, S. Ramamoorthy, Learning visually grounded domain ontologies via embodied conversation and explanation. In Proc. AAAI Conference on Artificial Intelligence (AAAI-25), 2025.
     arXiv link

2024

• A. Straižys, Learning human-like skills for cutting soft objects using force sensing. Ph.D. Dissertation, The University of Edinburgh, 2024.
     Report,
• D.B. Abeywickrama, A. Bennaceur, G. Chance, Y. Demiris, A. Kordoni, M. Levine, L. Moffat, L. Moreau, M.R. Mousavi, B. Nuseibeh, S. Ramamoorthy, J.O. Ringert, J. Wilson, S. Windsor, K. Eder, On specifying for trustworthiness. Communications of the ACM, Vol. 67 no. 1, pp. 98-109, 2024.
     Publisher's Link, arXiv link
• C. Tiseo, Q. Rouxel, M. Asenov, K.K. Babarahmati, S. Ramamoorthy, Z. Li, M. Mistry, Achieving dexterous bidirectional interaction in uncertain conditions for medical robotics. IEEE Transactions on Medical Robotics and Bionics, 2024. Presented at IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2024.
     Publisher's Link, arXiv link
• C. Innes, S. Ramamoorthy, Adaptive splitting of reusable temporal monitors for rare traffic violations. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
     arXiv link
• N. Tsagkas, J. Rome, S. Ramamoorthy, O. Mac Aodha, X. Lu, Click to Grasp: Zero-shot precise manipulation via visual diffusion descriptors. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
     arXiv link
• The DROID Dataset Team, DROID: A large-scale in-the-wild robot manipulation dataset. Robotics: Science and Systems (R:SS), 2024.
     arXiv link, Project webpage
• Open-X Embodiment Collaboration, Open X-Embodiment: Robotic learning datasets and RT-X models. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024.
  [Best Conference Paper Award]
     arXiv link, Project webpage
• A. Straizys, M. Burke, S. Ramamoorthy, Generating robotic elliptical excisions with human-like tool-tissue interactions. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2024.
     arXiv link, Video
• L. Chen, S. Ramamoorthy, R.B. Fisher, OPPH: A vision-based operator for measuring body movements for personal healthcare. In Proc. 12th International Workshop on Assistive Computer Vision and Robotics (ACVR), The European Conference on Computer Vision (ECCV), 2024.
     arXiv link

2023

• A. Straižys, M. Burke, P.M. Brennan, S. Ramamoorthy, A generative force model for surgical skill quantification using sensorised instruments. Communications Engineering Vol. 2, Article 36, 2023.
     Publisher's link
• M. Burke, K. Lu, D. Angelov, A. Straižys, C. Innes, K. Subr, S. Ramamoorthy, Learning rewards from exploratory demonstrations using probabilistic temporal ranking. Autonomous Robots, 2023.
     Publisher's Link, arXiv link, Webpage, Video
• A. Knittel, M. Hawasly, S.V. Albrecht, J. Redford, S. Ramamoorthy, DiPA: Probabilistic multi-modal interactive prediction for autonomous driving. IEEE Robotics and Automation Letters (RA-L), 2023.
  [Work done at Five]
     arXiv link
• A.R. Srinivasan, Y.-S. Lin, M. Antonello, A. Knittel, M. Hasan, M. Hawasly, J. Redford, S. Ramamoorthy, M. Leonetti, J. Billington, R. Romano, G. Markkula, Beyond RMSE: Do machine-learned models of road user interaction produce human-like behavior? IEEE Transactions on Intelligent Transportation Systems, 2023.
  [Work done at Five]
     arXiv link
• J. Park, A. Lascarides, S. Ramamoorthy, Interactive acquisition of fine-grained visual concepts by exploiting semantics of generic characterizations in discourse. In Proc. International Conference on Computational Semantics (IWCS), 2023.
  [Outstanding Paper Award]
     arXiv link
• A. Straižys, M. Burke, S. Ramamoorthy, Learning robotic cutting from demonstration: Non-holonomic DMPs using the Udwadia-Kalaba method. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2023.
     arXiv link, Code
• C. Innes, S. Ramamoorthy, Testing rare downstream safety violations via upstream adaptive sampling of perception error models. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2023.
     arXiv link
• C. Innes, A. Ireland, Y. Lin, S. Ramamoorthy, Anticipating accidents through reasoned simulation. In Proc. International Symposium on Trustworthy Autonomous Systems (TAS), 2023.
     Publisher's Link, arXiv link
• A. Knittel, M. Antonello, J. Redford, S. Ramamoorthy, Comparison of pedestrian prediction models from trajectory and appearance data for autonomous driving. In Proc. Workshop on Long-term Human Motion Prediction (LHMP), IEEE International Conference on Robotics and Automation (ICRA), 2023.
  [Work done at Five]
     arXiv link

2022

• T. Davchev, Structured machine learning models for robustness against different factors of variability in robot control. Ph.D. Dissertation, The University of Edinburgh, 2022.
     Report
• M. Asenov, Architectures for online simulation-based inference applied to robot motion planning. Ph.D. Dissertation, The University of Edinburgh, 2022.
     Report
• M. Hawasly, J. Sadeghi, M. Antonello, S.V. Albrecht, J. Redford, S. Ramamoorthy, Perspectives on the system-level design of a safe autonomous driving stack, AI Communications, Special Issue on Multi-agent Systems Research in the UK, Vol. 35, no. 4, pp. 285 - 294, 2022.
  [Work done at Five]
     arXiv link
• T. Davchev, K.S. Luck, M. Burke, F. Meier, S. Schaal, S. Ramamoorthy, Residual learning from demonstration: Adapting DMPs for contact-rich manipulation, IEEE Robotics and Automation Letters (RA-L), 2022. Presented at the IEEE International Conference on Robotics and Automation (ICRA), 2022.
     arXiv link, Webpage, Video, Bibtex
• J. Hartley, H.P.H. Shum, E.S.L. Ho, H. Wang, S. Ramamoorthy, Formation control for UAVs using a flux guided approach. Expert Systems with Applications, 2022.
     arXiv link, Code
• A.L. Corso, S.M. Katz, C. Innes, X. Du, S. Ramamoorthy, M.J. Kochenderfer, Risk-driven design of perception systems. In Proc. Conference on Neural Information Processing Systems (NeurIPS), 2022.
     arXiv link
• M. Lahariya, C. Innes, C. Develder, S. Ramamoorthy, Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
     arXiv link
• M. Antonello, M. Dobre, S.V. Albrecht, J. Redford, S. Ramamoorthy, Flash: Fast and light motion prediction for autonomous driving with Bayesian inverse planning and learned motion profiles. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
  [Work done at Five]
     arXiv link
• Y. Tsvetkov, S. Ramamoorthy, A novel design and evaluation of a dactylus-equipped quadruped robot for mobile manipulation. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
     arXiv link
• C. Innes, S. Ramamoorthy, Automated testing with temporal logic specifications for robotic controllers using adaptive experiment design. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2022.
     arXiv link
• L. Viano, Y.-T. Huang, P. Kamalaruban, C. Innes, S. Ramamoorthy, A. Weller, Robust learning from observation with model misspecification, In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2022.
     arXiv link
• S. Ramamoorthy, J. Hays, C. Tetzlaff, eds., Robust Artificial Intelligence for Neurorobotics. Lausanne: Frontiers Media SA, 2022.
     e-book
• K. Vyas, A. Ezzat, M. Asenov, M. Chauhan, S. Ramamoorthy, A. Jha, D. Leff, Line-scan confocal endomicroscopy for rapid digital histology of early breast cancer. In Proc. Conference on Lasers and Electro-Optics (CLEO), 2022.
     Preprint
• A. Ezzat, K. Vyas, M. Chauhan, M. Asenov, A. Silvanto, A. Jha, S. Ramamoorthy, A. Thompson, D.R. Leff, Preliminary findings of confocal laser endomicroscopy and Raman spectroscopy in human breast tissue characterisation. European Journal of Surgical Oncology, Vol. 48, no. 5, pp. e221-e222, 2022.
     Publisher's link
• A. Ezzat, K. Vyas, M. Asenov, M. Chauhan, A. Jha, S. Ramamoorthy, D. Leff, Portable confocal endomicroscopy for ductal feature characterization: Toward margin assessment in breast-conserving surgery. Annals of Surgical Oncology, Vol. 29, no. SUPPL 1, pp. 190-191, 2022.
     Publisher's link

2021

• E. Kahembwe, Efficient methods and architectures for deep neural network sequence models. Ph.D. Dissertation, The University of Edinburgh, 2021.
     Report
• D. Angelov, Composing diverse policies for long horizon tasks. Ph.D. Dissertation, The University of Edinburgh, 2021.
     Report
• Y. Hristov, Interactive robot learning with human alignment. Ph.D. Dissertation, The University of Edinburgh, 2021.
     Report
• F. Eiras, M. Hawasly, S.V. Albrecht, S. Ramamoorthy, A two-stage optimization-based motion planner for safe urban driving, IEEE Transactions on Robotics (T-RO), 2021.
  [Work done at FiveAI]
     arXiv link, Webpage
• P. Ardón, M. Cabrera, È. Pairet, R. Petrick, S. Ramamoorthy, K. Lohan, M. Cakmak, Affordance-aware handovers with human arm mobility constraints, IEEE Robotics and Automation Letters, 2021. Presented at the IEEE International Conference on Robotics and Automation (ICRA) and ICRA 2021 Workshop on Learning for Caregiving Robots, 2021.
  [Best Workshop Presentation Award]
     arXiv link, Video, Bibtex
• M. Burke, K. Subr, S. Ramamoorthy, Action sequencing using visual permutations, IEEE Robotics and Automation Letters, 2021. Presented at the IEEE International Conference on Robotics and Automation (ICRA), 2021.
     arXiv link, Video, Bibtex
• T. Davchev, M. Burke, S. Ramamoorthy, Learning structured representations of spatial and interactive dynamics for trajectory prediction in crowded scenes, IEEE Robotics and Automation Letters, Special Issue on Long-Term Human Motion Prediction, 2021.
     arXiv link, Bibtex
• S.D.S. Marín, D. Gomez-Vargas, N. Céspedes, M. Múnera, F. Roberti, P. Barria, S. Ramamoorthy, M. Becker, R. Carelli, C. A. Cifuentes, Expectations and perceptions of healthcare professionals for robot deployment in hospital environments during the COVID-19 pandemic, Research topic: Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, Frontiers in Robotics and AI - Biomedical Robotics, 2021.
     Publisher's link, e-book
• J. Geary, S. Ramamoorthy, H. Gouk, Resolving conflict in decision-making for autonomous driving, Robotics: Science and Systems (R:SS), 2021.
     arXiv link
• P. Ardón, È. Pairet, K.S. Lohan, S. Ramamoorthy, R.P.A. Petrick, Building affordance relations for robotic agents - A review, In Proc. International Joint Conference on Artificial Intelligence (IJCAI), 2021.
  
arXiv link, Webpage
• Y. Hristov, S. Ramamoorthy, Learning from demonstration with weakly supervised disentanglement, In Proc. International Conference on Learning Representations (ICLR), 2021.
     Publisher's link, arXiv link, Webpage, Video, Bibtex
• C. Innes, S. Ramamoorthy, ProbRobScene: A probabilistic specification language for 3D robotic manipulation environments, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2021.
     arXiv link
• S.V. Albrecht, C. Brewitt, J. Wilhelm, F. Eiras, M. Dobre, S. Ramamoorthy, Interpretable goal-based prediction and planning for autonomous driving, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2021.
  [Work done at FiveAI]
     arXiv link, Webpage, Bibtex
• J. Hanna, E. Fosong, F. Eiras, M. Dobre, S. Ramamoorthy, S. Albrecht, Interpretable goal recognition in the presence of hidden obstacles for autonomous vehicles, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  [Work done at FiveAI]
     arXiv link
• S.C. Smith, S. Ramamoorthy, Attainment regions in feature-parameter space for high-level debugging in autonomous robots, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
     arXiv link
• H. Pulver, F. Eiras, L. Carozza, M. Hawasly, S.V. Albrecht, S. Ramamoorthy, PILOT: Efficient planning by imitation learning and optimisation for safe autonomous driving, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. Also presented at CVPR Workshop on Autonomous Driving: Perception, Prediction and Planning, 2021.
  [Work done at FiveAI]
     arXiv link, Webpage
• Y. Hristov, S. Ramamoorthy, Robust physical parameter identification through global linearisation of system dynamics, In Proc. NeurIPS Workshop on Safe and Robust Control of Uncertain Systems, 2021.
     Preprint
• C. Innes, Y. Hristov, G. Kamaras, S. Ramamoorthy, Automatic synthesis of experiment designs from probabilistic environment specifications, In Proc. 10th Workshop on Synthesis (SYNT 2021), Co-located with International Conference on Computer Aided Verification (CAV).
     arXiv link, Video
• F.J.C. Garcia, S.C. Smith, J. Lopes, S. Ramamoorthy, H. Hastie, Self-explainable robots in remote environments, Videos and Demos track. In Proc. ACM/IEEE International Conference on Human-Robot Interaction, 2021.
     Publisher's link, Preprint, Bibtex, Video

2020

• E. Kahembwe, S. Ramamoorthy, Lower dimensional kernels for video discriminators, Neural Networks Journal, Special Issue on Deep Neural Network Representation and Generative Adversarial Learning, 2020.
     Publisher's link, arXiv link, Bibtex
• D. Angelov, Y. Hristov, S. Ramamoorthy, From demonstrations to task-space specifications. Using causal analysis to extract rule parameterization from demonstrations, Autonomous Agents and Multi-Agent Systems, Vol. 34(45), 2020.
     Publisher's link, arXiv link, Bibtex
• A. Blake, A. Bordallo, K. Brestnichki, M. Hawasly, S.V. Penkov, S. Ramamoorthy, A. Silva, FPR-Fast Path Risk algorithm to evaluate collision probability, IEEE Robotics and Automation Letters, Vol 5(1): 1-7, 2020.
  [Work done at FiveAI]
     Publisher's link, arXiv link, Bibtex
• D. Angelov, Y. Hristov, M. Burke, S. Ramamoorthy, Composing diverse policies for temporally extended tasks, IEEE Robotics and Automation Letters, Vol 5(2): 2658-2665, 2020.
     Publisher's link, arXiv link, Video, Bibtex
• M. Asenov, M. Burke, D. Angelov, T. Davchev, K. Subr, S. Ramamoorthy, Vid2Param: Modelling of dynamics parameters from video, IEEE Robotics and Automation Letters, Vol 5(2): 414-421, 2020. Presented at the IEEE International Conference on Robotics and Automation (ICRA), 2020.
     Publisher's link, arXiv link, Video, Bibtex
• C. Innes, S. Ramamoorthy, Elaborating on learned demonstrations with temporal logic specifications, Robotics: Science and Systems (R:SS), 2020.
     Publisher's link, arXiv link, Webpage, Bibtex
• S.C. Smith, S. Ramamoorthy, Counterfactual explanation and causal inference in service of robustness in control, In Proc. IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2020.
  
arXiv link, Bibtex
• P. Ardón, È. Pairet, R. Petrick, S. Ramamoorthy, K. Lohan, Self-assessment of grasp affordance transfer, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
     arXiv link, Video, Bibtex
• T. López-Guevara, R. Pucci, N.K. Taylor, M.U. Gutmann, S. Ramamoorthy, K. Subr, Stir to pour: efficient calibration of liquid properties for pouring actions, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
  [Conference version of NeurIPS ’18 and RSS ’18 workshop papers]
     Preprint, Video, Bibtex
• A. Straizys, M. Burke, S. Ramamoorthy, Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2020.
     arXiv link, Video, Bibtex
• Y. Hristov, S. Ramamoorthy, Separating manners of execution of forceful tasks when learning from multimodal demonstrations, In Proc. Workshop on Advances & Challenges in Imitation Learning for Robotics, Robotics: Science and Systems (R:SS), 2020.
     Preprint
• M. Asenov, N. Zotev, S. Ramamoorthy, A. Kirrander, Inversion of ultrafast X-ray scattering with dynamics constraints, In Proc. NeurIPS Workshop on Machine Learning and the Physical Sciences, 2020.
     Preprint, Bibtex, Webpage
• S.C. Smith, S. Ramamoorthy, Semi-supervised learning from demonstration through program synthesis: An inspection robot case study, Workshop on Agents and Robots for reliable Engineered Autonomy (AREA), European Conference on Artificial Intelligence (ECAI), 2020.
     Publisher's link, arXiv link, Bibtex
• F. Eiras, M. Hawasly, S.V. Albrecht, S. Ramamoorthy, An optimization-based motion planner for safe autonomous driving, In Proc. R:SS Workshop on Robust Autonomy: Tools for Safety in Real-World Uncertain Environments, Robotics: Science and Systems (R:SS), 2020.
  [Work done at FiveAI]
     Preprint, Webpage, Bibtex
• C. Brewitt, S.V. Albrecht, J. Wilhelm, B. Gyevnar, F. Eiras, M. Dobre, S. Ramamoorthy, Autonomous driving with interpretable goal recognition and Monte Carlo Tree Search, In Proc. Workshop on Interaction and Decision Making in Autonomous Driving, Robotics: Science and Systems (R:SS), 2020.
  [Work done at FiveAI]
     Preprint, Webpage, Bibtex
• M. Rutkauskas, M. Asenov, S. Ramamoorthy, D. T. Reid, Multi-species environmental gas sensing using drone-based Fourier-Transform Infrared Spectroscopy, In Proc. Optical Sensors and Sensing Congress, OSA Technical Digest (Optical Society of America), paper SM1B.1, 2020.
     Publisher's link

2019

• S.V. Penkov, Learning structured task related abstractions. Ph.D. Dissertation, The University of Edinburgh, 2019.
     Report, Bibtex
• P. Andreadis, Coarse preferences: representation, elicitation, and decision making. Ph.D. Dissertation, The University of Edinburgh, 2019.
    Report, Bibtex
• M. Rutkauskas, M. Asenov, S. Ramamoorthy, D.T. Reid, Autonomous multi-species environmental gas sensing using drone-based Fourier-transform infrared spectroscopy, Optics Express, Vol. 27, Issue 7, pp. 9578-9587, 2019.
     Publisher's link, Preprint, Bibtex
• M. Asenov, M. Rutkauskas, D.T. Reid, K. Subr, S. Ramamoorthy, Active localization of gas leaks using fluid simulation, IEEE Robotics and Automation Letters, Vol 4(2): 1776-1783, 2019. Presented at the IEEE International Conference on Robotics and Automation, 2019.
     Publisher's link, arXiv link, Video, Bibtex
• P. Ardón, È. Pairet, R. Petrick, S. Ramamoorthy, K. Lohan, Learning grasp affordance reasoning through semantic relations, IEEE Robotics and Automation Letters 4(4): 4571-4578, 2019. Presented at the IEEE International Conference on Intelligent Robots and Systems, 2019.
     Publisher's link, arXiv link, Video, Bibtex
• M. Burke, Y. Hristov, S. Ramamoorthy, Hybrid system identification using switching density networks, Conference on Robot Learning (CoRL), 2019.
     arXiv link, Bibtex
• Y. Hristov, D. Angelov, A.Lascarides, M. Burke, S. Ramamoorthy, Disentangled Relational Representations for Explaining and Learning from Demonstration, Conference on Robot Learning (CoRL), 2019.
  [Best Paper Award Runner-up]
     arXiv link, Webpage, Bibtex
• M. Burke, S. Penkov, S. Ramamoorthy, From explanation to synthesis: Compositional program induction for learning from demonstration, Robotics: Science and Systems (R:SS), 2019.
     Publisher's link, arXiv link, Video, Bibtex
• D. Angelov, Y. Hristov, S. Ramamoorthy, Using causal analysis to learn specifications from task demonstrations, In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2019.
     Publisher's link, Preprint, Bibtex
• S.V. Penkov, S. Ramamoorthy, Learning programmatically structured representations with perceptor gradients, In Proc. International Conference on Learning Representations (ICLR), 2019.
     Publisher's link, Preprint, Bibtex
• D. Angelov, Y. Hristov, S. Ramamoorthy, DynoPlan: Combining Motion Planning and Deep Neural Network based Controllers for Safe HRL, In Proc. The Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM), 2019.
     Publisher's link, arXiv link, Bibtex
• T. Davchev, T. Korres, S. Fotiadis, N. Antonopoulos, S. Ramamoorthy, An empirical evaluation of adversarial robustness under transfer learning, In Proc. ICML Workshop on Understanding and Improving Generalization in Deep Learning, 2019.
     Publisher's link, arXiv link, Bibtex
• A. Mufti, S.V. Penkov, S. Ramamoorthy, Iterative model-based reinforcement learning using simulations in the differentiable neural computer, In Proc. ICML Workshop on Multi-Task and Lifelong Reinforcement Learning, 2019.
     Publisher's link, Preprint, Bibtex
• P. Ardón, È.Pairet, R. Petrick, S. Ramamoorthy, K. Lohan, Reasoning on grasp-action affordances, In Proc. Annual Conference Towards Autonomous Robotic Systems (TAROS), 2019.
  [Best Paper Award Nominee]
     Publisher's link, arXiv link, Bibtex
• S. Ramamoorthy, J. Thompson, C. von Tiesenhausen, Y. Zhang, 5G network enabled robotics applications, Whitepaper, 2019.
     Preprint
• P. Koopman, R. Hierons, S. Khastgir, J.A. Clark, M. Fisher, R. Alexander, K. Eder, P. Thomas, G. Barrett, Philip H.S. Torr, A. Blake, S. Ramamoorthy, J. McDermid, Certification of highly automated vehicles for use on UK roads: Creating an industry-wide framework for safety, Whitepaper, 2019.
  [Work done at FiveAI]
     Publisher's link, Preprint, Bibtex

2018

• A. Linson, A. Clark, S. Ramamoorthy, K. Friston, The active inference approach to ecological perception: General information dynamics for natural and artificial embodied cognition, Frontiers in Robotics and AI, 2018.
     Publisher's link, Bibtex
• S. Gerakaris, S. Ramamoorthy, Learning best response strategies for agents in ad exchanges, In Proc. European Conference on Multi-Agent Systems (EUMAS), 2018.
     Publisher's link, arXiv link, Bibtex
• Y. Hristov, A. Lascarides, S. Ramamoorthy, Interpretable latent spaces for learning from demonstration, Conference on Robot Learning (CoRL), 2018.
     Publisher's link, arXiv link, Bibtex
• A. Ghosh, B. Rozemberczki, S. Ramamoorthy, R. Sarkar, Topological signatures for fast mobility analysis, In Proc. ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, 2018.
     Publisher's link, Preprint, Bibtex
• B. Krause, E. Kahembwe, I. Murray, S. Renals, Dynamic evaluation of neural sequence models, International Conference on Machine Learning (ICML), 2018.
     Publisher's link, arXiv link, Bibtex
• P. Ardón, È.Pairet, S. Ramamoorthy, K. Lohan, Towards robust grasps: Using the environment semantics for robotic object affordances , In Proc. AAAI Fall Symposium Series, Reasoning and Learning in Real-world Systems for Long-term Autonomy, 2018.
     Preprint, Bibtex
• T. López-Guevara, R. Pucci, N.K. Taylor, M.U. Gutmann, S. Ramamoorthy, K. Subr, To stir or not to stir: Online estimation of liquid properties for pouring actions, In Proc. Robotics: Science and Systems Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models (RSS18-LAIR), 2018; In Proc. NeurIPS Workshop on Modeling the Physical World: Perception, Learning, and Control, 2018.
     Publisher's link, arXiv link, Bibtex
• D. Angelov, S. Ramamoorthy, Learning from demonstration of trajectory preferences through causal modeling and inference, In Proc. Robotics: Science and Systems Workshop on Causal Imitation in Robotics (CIR 2018), 2018.
     Publisher's link, Preprint, Bibtex
• P.A.Ramirez, S. Ramamoorthy, K.S. Lohan, Object affordances by inferring on the surroundings, In Proc. IEEE Workshop on Advance Robotics and its Social Impact, 2018.
     Publisher's link, Preprint, Bibtex
• H. Hastie, K. Lohan, M. Chantler, D.A. Robb, S. Ramamoorthy, R. Petrick, S. Vijayakumar, D. Lane, The ORCA Hub: Explainable offshore robotics through intelligent interfaces, In Proc. Explainable Robotic Systems Workshop, ACM Human-Robot Interaction conference, 2018.
     arXiv link, Bibtex

2017

• A. Bordallo, Intention prediction for interactive navigation in distributed robotic systems. Ph.D. Dissertation, The University of Edinburgh, 2017.
    Report, Bibtex
• T. López-Guevara, N.K. Taylor, M.U. Gutmann, S. Ramamoorthy, K. Subr, Adaptable pouring: Teaching robots not to spill using fast but approximate fluid simulation, Conference on Robot Learning (CoRL), 2017.
     Publisher's link, Bibtex
• M. Hawasly, F.T. Pokorny, S. Ramamoorthy, Multi-Scale activity estimation with spatial abstractions, In Proc. Conf. Geometric Science of Information, 2017.
     Publisher's link, Preprint, Bibtex
• S.V. Albrecht, S. Ramamoorthy, Exploiting causality for selective belief filtering in dynamic Bayesian networks, Journal Track Paper, International Joint Conference on Artificial Intelligence (IJCAI), 2017.
     Preprint, Bibtex
• S. Penkov, A. Bordallo, S. Ramamoorthy, Physical symbol grounding and instance learning through demonstration and eye tracking, IEEE International Conference on Robotics and Automation, 2017.
     Preprint, Video, Bibtex
• L. de Miranda, S. Ramamoorthy, M. Rovatsos, We, Anthrobot: Learning from human forms of interaction and Esprit de Corps to develop more plural social robotics, In J Seibt, M Nørskov, S.S. Andersen (eds.), What Social Robots Can and Should Do, Vol. 290, Frontiers in Artificial Intelligence and Applications, 2017.
     Preprint, Publisher's link, Bibtex
• S. Penkov, S. Ramamoorthy, Using program induction to interpret transition system dynamics, In Proc. ICML Workshop on Human Interpretability in Machine Learning (ICML-WHI), 2017.
     Publisher's link, Bibtex
• Yordan Hristov, Svetlin Penkov, Alex Lascarides, Subramanian Ramamoorthy, Grounding Symbols in Multi-Modal Instructions, Language Grounding for Robotics Workshop, Annual Meeting of the Association for Computational Linguistics (ACL), 2017.
     Publisher's link, arXiv link, Bibtex

2016

• S. Albrecht, S. Ramamoorthy, Exploiting causality for selective belief filtering in dynamic Bayesian networks, Journal of Artificial Intelligence Research 55: 1135 - 1178, 2016.
     arXiv link, Publisher's link, Bibtex
• S. Albrecht, J. Crandall, S. Ramamoorthy, Belief and truth in hypothesised behaviours, Artificial Intelligence Journal 235: 63–94 , 2016.
     arXiv link, Publisher's link, Bibtex
• B. Rosman, M. Hawasly, S. Ramamoorthy, Bayesian policy reuse, Machine Learning Journal 104(1):99 - 127, 2016.
     arXiv link, Publisher's link, Bibtex
• F.T. Pokorny, M. Hawasly, S. Ramamoorthy, Topological trajectory classification with filtrations of simplicial complexes and persistent homology, International Journal of Robotics Research 35(1-3): 204-223, 2016.
    Preprint, Publisher's link, Bibtex
• J. Cano Reyes, D. White, A. Bordallo, C. McCreesh, P. Prosser, J. Singer, V. Nagarajan, Task variant allocation in distributed robotics, Robotics: Science and Systems (R:SS), 2016.
    Preprint, Publisher's link, Bibtex
• J. Cano Reyes, A. Bordallo, V. Nagarajan, S. Ramamoorthy, S. Vijayakumar, Automatic configuration of ROS applications for near-optimal performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
    Preprint, Publisher's link, Bibtex
• F. Previtali, A. Bordallo, L. Iocchi, S. Ramamoorthy, Predicting future agent motions for dynamic environments, IEEE/AMLA International Conference on Machine Learning and Applications (ICMLA), 2016.
    Preprint, Publisher's link, Bibtex
• S. Penkov, A. Bordallo, S. Ramamoorthy, Inverse eye tracking for intention inference and symbol grounding in human-robot collaboration, Robotics: Science and Systems Workshop on Planning for Human-Robot Interaction, 2016.
    Preprint, Publisher's link, Bibtex
• P. Andreadis, S. Ceppi, M. Rovatsos, S. Ramamoorthy, Diversity-aware recommendation for human collectives, European Conference on Artificial Intelligence Workshop on Diversity-aware Artificial Intelligence, 2016.
    Preprint, Publisher's link, Bibtex

2015

• S.V. Albrecht, Utilising policy types for effective ad hoc coordination in multiagent systems. Ph.D. Dissertation, The University of Edinburgh, 2015.
    Report
• E. Vafeias, Recognising activities by jointly modelling actions and their effects. Ph.D. Dissertation, The University of Edinburgh, 2015.
    Report
• B. Rosman, S. Ramamoorthy, Action priors for learning domain invariances, IEEE Transactions on Autonomous Mental Development 7(2): 107-118, 2015.
    Preprint
• A. Bordallo, F. Previtali, N. Nardelli, S. Ramamoorthy, Counterfactual reasoning about intent for interactive navigation in dynamic environments, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
    Preprint, Video, Publisher's link, Bibtex
• S. Albrecht, S. Ramamoorthy, Are you doing what I think you are doing? Criticising uncertain agent models, In Proc. Conference on Uncertainty in Artificial Intelligence (UAI), 2015.
    Preprint, Bibtex
• S. Albrecht, J. Crandall, S. Ramamoorthy, An empirical study on the practical impact of prior beliefs over policy types, In Proc. AAAI Conference on Artificial Intelligence (AAAI), 2015.
    Preprint, Appendix, Bibtex
• A.H. Cruickshank, R. Shillcock, S. Ramamoorthy, Predicting actions using an adaptive probabilistic model of human decison behaviours, Poster, In Ext. Proc. Conference on User Modelling, Adaptation and Personalization (UMAP), 2015.
    Preprint, Bibtex
• F. Previtali, A. Bordallo, S. Ramamoorthy, IRL-based prediction of goals for dynamic environments, IEEE International Conference on Robotics and Automation (ICRA) 2015, Workshop on Machine Learning for Social Robotics.
    Preprint
• S. Albrecht, J. Crandall, S. Ramamoorthy, E-HBA: Using action policies for expert advice and agent typification, In Proc. AAAI-Workshop on Multiagent Interaction without Prior Coordination (MIPC), 2015.
    Preprint, Appendix, Bibtex

2014

• M. Hawasly, Policy space abstractions for a lifelong learning agent. Ph.D. Dissertation, The University of Edinburgh, 2014.
    Report
• B. Rosman, Learning domain abstractions for long lived robots. Ph.D. Dissertation, The University of Edinburgh, 2014.
    Report
• F. T. Pokorny, M. Hawasly, S. Ramamoorthy, Multiscale topological trajectory classification with persistent homology, In Proc. Robotics: Science and Systems (R:SS), 2014.
    Preprint, Publisher's link, Bibtex, [Talk]
• S. Albrecht, S. Ramamoorthy, On convergence and optimality of best-response learning with policy types in multiagent systems, In Proc. Conference on Uncertainty in Artificial Intelligence (UAI), 2014.
    Preprint, Appendix, Bibtex
 (The workshop paper, below, is a self-contained version of the same work.) 

• S. Albrecht, S. Ramamoorthy, On convergence and optimality of best-response learning with policy types in multiagent systems, In Proc. Workshop on Adaptive Learning Agents (ALA), at the International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2014.
    Preprint
• E. Vafeias, S. Ramamoorthy, Joint classification of actions and object state changes with a latent variable discriminative model, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014.  
    Preprint, Bibtex
• B. Rosman, S. Ramamoorthy, Giving advice to agents with hidden goals, In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014.  
    Preprint, Bibtex
• A. Eshky, B. Allison, S. Ramamoorthy, M. Steedman, A generative model for user simulation in a spatial navigation domain, In Proc. Conference of the European Chapter of the Association for Computational Linguistics (EACL), 2014.  
  [Best Paper Award Nominee]
    Preprint, Bibtex
• B. Rosman, M.M.H. Mahmud, S. Ramamoorthy, P. Kohli, On user behaviour adaptation under interface change, In Proc. International Conference on Intelligent User Interfaces (IUI), 2014.  
    Preprint, Publisher's link, Bibtex
• M.M.H. Mahmud, B. Rosman, S. Ramamoorthy, P. Kohli, Adapting interaction environments to diverse users through online action set selection, In Proc. AAAI Workshop on Machine Learning for Interactive Systems (AAAI-MLIS), 2014.
  Preprint, Bibtex
 (The technical report below is a more detailed technical account of this work.) 

• S. Ramamoorthy, M.M.H. Mahmud, B. Rosman, P. Kohli, Latent-variable MDP models for adapting the interaction environment of diverse users, Technical Report, University of Edinburgh, 2013.
    Report, Bibtex
• G.Y.R. Schropp, J-J. Ch. Meyer, S. Ramamoorthy, A formalization of the coach problem, In Proc. RoboCup International Symposium, 2014.  
    Preprint, Bibtex

2013

• A. Valtazanos, Decision shaping and strategy learning in multi-robot interactions. Ph.D. Dissertation, The University of Edinburgh, 2013.
    Report
• I. Havoutis, S. Ramamoorthy, Motion planning and reactive control on learnt skill manifolds, International Journal of Robotics Research 32 (9-10): 1120 - 1150, 2013.  
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, Book review: "S. A. Levin (ed), Games, Groups and the Global Good", J. Operational Research Society 64, 1867, 2013.
    Publisher's link, Bibtex
• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Latent space segmentation for mobile gait analysis, ACM Transactions on Embedded Computing Systems - Special Section on Wireless Health Systems, On-Chip and Off-Chip Network Architectures 12(4) : 101, 2013. 
    Preprint, Publisher's link, Bibtex
• M. Hawasly, S. Ramamoorthy, Lifelong transfer learning with an option hierarchy, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    Preprint, Publisher's link, Bibtex
 (The symposium paper below was a preliminary account of the same work.) 

• M. Hawasly, S. Ramamoorthy, Lifelong learning of structure in the space of policies, In Proc. AAAI Spring Symposium on Lifelong Machine Learning, 2013.
    Preprint, Publisher's link, Bibtex
• J.D. Mankowitz, S. Ramamoorthy, BRISK-based visual feature extraction for resource constrained robots, In Proc. RoboCup International Symposium, 2013.  
    Preprint, Publisher's link, Bibtex
• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Using wearable inertial sensors for posture and position tracking in unconstrained environments through learned translation manifolds, ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), 2013.  
    Preprint, Publisher's link, Bibtex
• A. Valtazanos, S. Ramamoorthy, Bayesian interaction shaping: learning to influence strategic interactions in mixed robotic domains, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
    Preprint, Publisher's link, Bibtex, video
• A. Valtazanos, S. Ramamoorthy, Evaluating the effects of limited perception on interactive decisions in mixed robotic environments, In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013.  
    Preprint, Publisher's link, Bibtex, video
• I. Havoutis, S. Ramamoorthy, Motion generation with geodesic paths on learnt skill manifolds. In K. Mombaur, K. Berns (eds.): Modeling, Simulation and Optimization of Bipedal Walking. Cognitive Systems Monographs, vol 18. Springer, 2013.  
    Publisher's link , Bibtex
• S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
    Preprint, Publisher's link, Bibtex
 (The technical report, below, gives a more detailed account of the same material.) 

• S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems, Technical Report, The University of Edinburgh, 2013.
    Report, Bibtex
• M.M.H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
    Preprint, Publisher's link, Bibtex
 (The technical report, below, gives a more detailed account of the same material.) 

• M. M. H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning, Technical Report, The University of Edinburgh, 2013.
    Report, Publisher's link, Bibtex

2012

• I. Havoutis, Motion planning and reactive control on learnt skill manifolds. Ph.D. Dissertation, The University of Edinburgh, 2012.
    Report
• T. Larkworthy, Motion planning for self-reconfiguring robotic systems. Ph.D. Dissertation, The University of Edinburgh, 2012.
    Report
• B. Rosman, S. Ramamoorthy, What good are actions? Accelerating learning using learned action priors, In Proc. International Conference on Development and Learning (ICDL-EpiRob), 2012. 
  [Paper of Excellence Award]
    Preprint, Publisher's link, Bibtex
• S. Albrecht, S. Ramamoorthy, Comparative evaluation of MAL algorithms in a diverse set of ad hoc team problems, In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Induction and learning of finite-state controllers from simulation (Extended Abstract), In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
    Preprint, Publisher's link, Bibtex
• M. Hawasly, S. Ramamoorthy, Task variability in autonomous robots: Offline learning for online performance, In Proc. Int. Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2012. 
    Preprint, Bibtex
• S. Ramamoorthy, A. Salamon, R. Santhanam, Macroscopes: models for collective decision making, In Proc. Collective Intelligence, 2012.
    Preprint, Publisher's link, Bibtex
• B. Rosman, S. Ramamoorthy, A multitask representation using reusable local policy templates, In Proc. AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012.
    Preprint, Publisher's link, Bibtex

2011

• B. Rosman, S. Ramamoorthy, Learning spatial relationships between objects. International Journal of Robotics Research 30(11): 1328-1342, 2011.
    Preprint, Publisher's link, Bibtex
• T. Larkworthy, S. Ramamoorthy, A characterization of the reconfiguration space of self-reconfiguring robotic systems. Robotica (Special Issue on Self-X Systems) 29(1): 73-85, 2011.
    Preprint, Publisher's link, Bibtex
• A. Valtazanos, S. Ramamoorthy, Intent inference and strategic escape in multi-robot games with physical limitations and uncertainty, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Reinforcement learning through global stochastic search in N-MDPs, In Proc. European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD), 2011. 
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Learning finite state controllers from simulation, In Proc. European Workshop on Reinforcement Learning (EWRL-9), 2011.
    Workshop link, Bibtex
• A. Valtazanos, S. Ramamoorthy, Online motion planning for multi-robot interaction using composable reachable sets. In Proc. RoboCup International Symposium, 2011.
    Preprint, Bibtex
• A. Valtazanos, S. Ramamoorthy, NaOISIS: A 3-D behavioural simulator for the NAO humanoid robot. In Proc. RoboCup International Symposium, 2011.
    Preprint, Bibtex
• S. Ramamoorthy, Book review: "B. Øksendal, A. Sulem, Applied Stochastic Control of Jump Diffusions", J. Operational Research Society 62: 246 - 250, 2011.
    Preprint, Publisher's link, Bibtex

2010

• I. Havoutis, S.Ramamoorthy, Constrained geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
  [Finalist, RoboCup Best Paper Award]
    Preprint, Publisher's link, Bibtex
• E. Ho, T. Komura, S. Ramamoorthy, S. Vijayakumar, Controlling humanoid robots in topology coordinates. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
    Preprint, Publisher's link, Bibtex
• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Comparative study of segmentation of periodic motion data for mobile gait analysis. In Proc. Wireless Health Conference, 2010.
    Preprint, Publisher's link, Bibtex
• B. Rosman, S. Ramamoorthy, A game theoretic procedure for learning hierarchically structured strategies. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link, Bibtex
• I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link, Bibtex
• T. Larkworthy, S. Ramamoorthy, An efficient algorithm for self-reconfiguration planning in a modular robot. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link, Bibtex
• M. Leonetti, S. Ramamoorthy, A heuristic strategy for learning in partially observable and non-Markovian domains, In Proc. International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS 2010).
    Preprint, Workshop link, Bibtex
• T. Larkworthy, S. Ramamoorthy, Graph minor analysis of reconfiguring state spaces, In Proc. Workshop on Modular Robotics: State of the Art, IEEE International Conference on Robotics and Automation, 2010.
    Bibtex

2009

• T. Larkworthy, G.M. Hayes, S. Ramamoorthy, General motion planning methods for self-reconfiguration planning. In Proc. Towards Autonomous Robotic Systems, 2009.
    Bibtex
• I. Havoutis, S. Ramamoorthy, Motion synthesis through randomized exploration on submanifolds in configuration space. In J. Baltes et al. (Eds.): RoboCup 2009, Lecture Notes in Artificial Intelligence, Volume 5949, pp. 92-103. Springer Verlag, Heidelberg (2010).
     Publisher's link, Bibtex
• S. Ramamoorthy, L. Wenzel, J. Nagle, B. Wang, M. Cerna, A differential geometric approach to discrete-coefficient filter design. In Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2009.
     Publisher's link, Bibtex
• I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds, Modeling, Simulation and Optimization of Bipedal Walking Workshop, IEEE-RAS International Conference on Humanoid Robots, 7 Dec. 2009.
    Preprint, Workshop link, Bibtex
• H. Mlnařík, S. Ramamoorthy, R. Savani, Multi-strategy trading utilizing market regimes, Advances in Machine Learning for Computational Finance Workshop, London, 20-21 July 2009.
    Preprint, Bibtex, Slides and Video
  [Slightly modified presentation from the Stats in the Château workshop, whose proceedings are available as P. Alquier, E. Gautier, G. Stoltz (Eds.), Inverse Problems and High-Dimensional Estimation, Lecture Notes in Statistics Vol. 203, Springer 2011]
  
• I. Havoutis, S. Ramamoorthy, Motion synthesis on learned skill manifolds, Poster, Robot Learning Summer School (RLSS). Lisbon, Portugal, 2009.
     Preprint

2008

• S. Ramamoorthy, R. Rajagopal, L. Wenzel, Efficient, incremental coverage of space with a continuous curve. Robotica (Special Issue on Geometry in Robotics) 26: 503-512, 2008.
     Publisher's link, Bibtex
• R. Rajagopal, S. Ramamoorthy, L. Wenzel, H. Andrade, A rapid prototyping tool for embedded, real time hierarchical control systems. EURASIP Journal on Embedded Systems, Article ID 162747, 2008.
    Publisher's link, Bibtex
• S. Ramamoorthy, B.J. Kuipers, Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning. In Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 359-366, 2008.
  [Finalist, Best Conference Paper Award - Top 4 from 661 Accepted Papers]
    Preprint, Bibtex
• S. Ramamoorthy, G.M. Hayes (Eds.), Towards Autonomous Robotic Systems (TAROS 2008), ISBN 978 1 906849 00 9.
    Bibtex

2007

• S. Ramamoorthy, B.J. Kuipers, Qualitative hybrid control of dynamic bipedal walking. In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II, pp. 89-96, MIT Press, 2007.
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, R. Rajagopal, Q. Ruan, L. Wenzel, Low-discrepancy curves and efficient coverage of space. In S. Akella, N. Amato, W. Huang, B. Mishra (Eds.), Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics, Springer Verlag, 2007.
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, Task encoding, motion planning and intelligent control using qualitative models. Ph.D. Dissertation, AI Lab Technical Report 07-342, The University of Texas at Austin, 2007.
    Report, Archival link, Bibtex

2006 and earlier

• S. Ramamoorthy, B.J. Kuipers, L. Wenzel, Parametrization and computations in shape spaces with area and boundary invariants. In Proc. 16th Fall Workshop on Computational and Combinatorial Geometry, Nov. 10-11, 2006.
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, B.J. Kuipers, Dynamic bipedal walking on irregular terrain: An online adaptive algorithm, In A. Kuo (Ed.), In Proc. Dynamic Walking Workshop: Mechanics and Control of Human and Robot Locomotion, Ann Arbor, May 6-8, 2006.
    Preprint, Publisher's link, Bibtex
• H. Subramanian, S. Ramamoorthy, P. Stone, B.J. Kuipers, Designing safe, profitable automated stock trading agents using evolutionary algorithms. In Proc. 8th Annual Conference on Genetic and Evolutionary Computation, pp. 1777-1784, 2006.
  [Link to the competition that initiated this research project.]
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, H.K. Subramanian, P. Stone, B.J. Kuipers, Safe strategies for autonomous financial trading agents: A qualitative multiple-model approach, Poster Spotlight, Machine Learning in Finance Workshop, Neural Information Processing Systems, December 9, 2005.
  [Term paper that initiated this line of research]
  
• S. Ramamoorthy, B.J. Kuipers, Controller synthesis using qualitative models and constraints. In J. de Kleer and K. Forbus (Eds.), Proc. 18th International Workshop on Qualitative Reasoning, pp. 41-50, 2004.
    Preprint, Publisher's link, Bibtex
• S. Ramamoorthy, B.J. Kuipers, Qualitative heterogeneous control of higher order systems. In O. Maler and A. Pnueli (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2623, pp. 417-434, Springer Verlag, 2003.
  [Associated videos: Global Control, Recovery from Large Perturbation.]
    Preprint, Publisher's link, Bibtex
• B.J. Kuipers, S. Ramamoorthy, Qualitative modeling and heterogeneous control of global system behavior. In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2289, pp. 294-307, Springer Verlag, 2002.
    Preprint, Publisher's link, Bibtex

Patents

• J.M. Lewis, M.D. Cerna, K.P. Gupton, J.C. Nagle, Y. Rao, S. Ramamoorthy, D.R. Schmidt, B.R. Weidman, L. Wenzel, N. Zhang, B. Wang, Approximating a system using an abstract geometrical space, US patent 8364446, January 29, 2013.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Automatically generating a second graphical program based on a first graphical program, US patent 8205188, June 19, 2012.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Converting a first graphical program into an intermediate abstract representation for new graphical program generation, US patent 8146007, March 27, 2012.
• D. Nair, M.S. Fisher, S.V. Kumar, B. Smyth, S. Ramamoorthy, Geometric pattern matching using dynamic feature combinations, US patent 7340089, March 4, 2008.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7340684, March 4, 2008. 
• L. Wenzel, S. Ramamoorthy, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7043693, May 9, 2006.
• S. Ramamoorthy, J.S. Falcon, Automatic tuning of motion controllers using search techniques, US patent 7035694, April 25, 2006.