Publications

Book Chapters

Hoffman, G., Kshirsagar, A., & Law, M. V., Human–Robot Interaction Challenges in the Workplace, The psychology of technology: Social science research in the age of Big Data (Matz, S. C., ed.), 2022

Journal Articles

Gu, S., Liu, P., Kshirsagar, A., Chen, G., Peters, J., & Knoll, A., ROSCOM: Robust Safe Reinforcement Learning on Stochastic Constraint Manifolds, IEEE Transactions on Automation Science and Engineering (T-ASE), 2024

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning Human–Robot Interactions From Demonstrations, IEEE Robotics and Automation Letters, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Dreyfuss, B., Heffetz, O., Ishai, G., Hoffman, G., & Kshirsagar, A., Additive vs. Subtractive Earning in Shared Human-Robot Work Environments, Journal of Economic Behavior and Organization (JEBO), 2024

*Gu, S., *Kshirsagar, A., *Du Y., Chen G., Peters J., & Knoll A., A Human-Centered Safe Robot Reinforcement Learning Framework with Interactive Behaviors, Frontiers in Neurorobotics, 2023

Kshirsagar, A., Fortuna, R., Xie, Z., & Hoffman, G., Dataset of Bimanual Human-to-Human Object Handovers, Data in Brief, 2023

*Faibish, T., *Kshirsagar, A., Hoffman, G., & Edan, Y., Human Preferences for Robot Eye Gaze in Human-to-Robot Handovers, International Journal of Social Robotics, 2022

Kshirsagar, A., *Hoffman, G., & *Biess, A., Evaluating Guided Policy Search for Human-Robot Handovers, IEEE Robotics and Automation Letters, and IEEE International Conference on Robotics and Automation (ICRA), 2021

Kshirsagar, A., Lim, M., Christian, S., & Hoffman, G., Robot Gaze Behaviors in Human-to-Robot Handovers, IEEE Robotics and Automation Letters, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

Kshirsagar, A. & Guha, A., Design Optimization of Rocker Bogie System and Development of Look-Up Table for Reconfigurable Wheels for a Planetary Rover, International Journal of Vehicle Structures and Systems, 2016

Loharkar S. A., Kshirsagar, A. & Pant R. S., Design and Fabrication of a Portable Semi-Rigid Airship, Annual Technical Volume of Aerospace Engineering Division Board, Institution of Engineers (India), 2016

Conference Proceedings

Spartakov, R., Kshirsagar, A., Mühl, D., Schween, R., Endres, D.M., Bremmer, F., Melzig, C., & Peters, J., Balancing on the Edge: Review and Computational Framework on the Dynamics of Fear of Falling and Fear of Heights in Postural Control, Annual Meeting of the Cognitive Science Society (CogSci), 2024

Lin, L., Boehm, A., Belousov, B., Kshirsagar, A., Schneider, T., Peters, J., Doerschner, K., & Drewing, K. , Task-Adapted Single-Finger Explorations of Complex Objects, Eurohaptics Conference, 2024

Boehm, A., Schneider, T., Belousov, B., Kshirsagar, A., Lin, L., Doerschner, K., Drewing, K., Rothkopf, C.A., & Peters, J., What Matters for Active Texture Recognition With Vision-Based Tactile Sensors, IEEE International Conference on Robotics and Automation (ICRA), 2024

*Kshirsagar, A., *Faibish, T., Hoffman, G. & Biess, A., Lessons Learned from Utilizing Guided Policy Search for Human-Robot Handovers with a Collaborative Robot, International Conference on Robotics, Automation and Artificial Intelligence (RAAI), 2022

*Kshirsagar, A., *Ravi R. K., Kress-Gazit, H., & Hoffman, G., Timing-Specified Controllers with Feedback for Human-Robot Handovers, IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022

Kshirsagar, A., Kress-Gazit, H., & Hoffman, G., Specifying and Synthesizing Human-Robot Handovers, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Kshirsagar, A., Dreyfuss, B., Ishai, G., Heffetz, O., & Hoffman, G., Monetary-Incentive Competition between Humans and Robots: Experimental Results, ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2019

Kshirsagar, A., Pant., R. & Bodi., K., Dynamic Simulation of Breakaway Aerostat with Emergency Deflation Valves, AIAA Aviation Technology, Integration and Operations Conference, AIAA Aviation, 2016

Kshirsagar, A., Harursampath, D., & Gupta, B.R., VAM Applied to Dimensional Reduction of Nonlinear Multifunctional Film-fabric Laminates, International Conference of Numerical Analysis and Applied Mathematics, 2015

Kshirsagar, A., Tejwani, A., Singh, V., Bhat, G., Singh, N., Yadav, A., Berlia, A., Saboo, K., Patil, U. & Prasad S., Mechatronic Design, Fabrication and Analysis of a Small-Size Humanoid Robot-Parinat, ICDMM, 2014

Workshops/Late-Breaking Reports

Nguyen, D.H., Schneider, T., Duret, G., Kshirsagar, A., Belousov, B., & Peters, J., TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators, German Robotics Conference (GRC), 2025

Nonnengießer, F., Kshirsagar, A., Belousov, B., & Peters, J., Visuotactile In-Hand Pose Estimation, German Robotics Conference (GRC), 2025

Chen, J., Kshirsagar, A., Heller, F., G´omez Andreu, M., Belousov, B., Schneider, T., Lin, L. P. Y., Doerschner, K., Drewing, K., & Peters, J., Active Sampling for Hardness Classification with Vision-Based Tactile Sensors, German Robotics Conference (GRC), 2025

Kornmann, M., He, Q., Kshirsagar, A., Ploeger, K., & Peters, J., Learning to Accurately Throw Paper Planes, Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control at Conference on Robot Learning (CoRL), 2024

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning HRI from Demonstrations, Workshop on Nonverbal Cues for Human-Robot Cooperative Intelligence at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 🏆Best Workshop Paper

Kshirsagar, A., Heller, F., G´omez Andreu, M., Belousov, B., Schneider, T., Lin, L. P. Y., Doerschner, K., Drewing, K., & Peters, J., Hardness Similarity Detection Using Vision-Based Tactile Sensors, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), 2024

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning Human–Robot Interactions From Demonstrations, Workshop on Structural Priors as Inductive Biases for Learning Robot Dynamics at Robotics: Science and Systems (RSS), 2024

Kshirsagar, A., Robot Arms in Action: Manipulation, Interaction, and Perception, Robotics: Science and Systems (RSS) - Pioneers Workshop, 2024

Racca, M., Mirsky, R., Senft, E., Xiao, X., Idrees, I., Kshirsagar, A., & Prakash, R., 3rd Workshop on Human-Interactive Robot Learning (HIRL), ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Workshop, 2024

Hahne, F., Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R.M., Peters, J., & Chalvatzaki, G., Transition State Clustering for Interaction Segmentation and Learning, ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late Breaking Report, 2024

Goeksu, Y., Almeida-Correia, A., Prasad, V., Kshirsagar, A., Koert, D., Peters, J., & Chalvatzaki, G., Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers, ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late Breaking Report, 2024

Boehm, A., Schneider, T., Belousov, B., Kshirsagar, A., Lin, L., Doerschner, K., Drewing, K., Rothkopf, C.A., & Peters, J., Tactile Active Texture Recognition With Vision-Based Tactile Sensors, NeurIPS Workshop on Touch Processing: a new Sensing Modality for AI, 2023

Kshirsagar, A. & Hoffman, G., Empowering Robots for Object Handovers, ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Pioneers Workshop, 2022

Kshirsagar, A., Kress-Gazit, H. & Hoffman, G., Human-Robot Handovers with Signal Temporal Logic Specifications, IEEE International Conference on Robot and Human Interactive Communication - Late Breaking Report, 2019 🏆Best Late Breaking Report

Kshirsagar, A., Sharma V. & Pant R. S., Design and Development of a Dismantable Semi Rigid Remotely Controlled Airship, International Airship Convention and Exhibition, 2015

Rajagopal, A., Bende, P., Yadav, S., Agarwal, R., Sathawane, A., Kshirsagar, A., Hemanth, M.C., Kumar N. and Gatkine, P., Design, Modelling and Control of a 6 Degrees of Freedom Robotic Arm with specific applications in Planetary Exploration Missions, International Astronautical Congress, 2015

Theses

Kshirsagar, A., Robot Controllers, Gaze Behaviors and Human Motion Datasets for Object Handovers, Ph.D. Thesis, Cornell University, 2022

Kshirsagar, A., iGPS Based Motion Control of a Robotic Manipulator using Robot Operating System, Master's Thesis, IIT Madras, 2017

Kshirsagar, A., Design Optimization and Motion Dynamics of Mobility System for Mars Rover, Bachelor's Thesis, IIT Bombay, 2014

Workshop Organization

Workshop on Athletic Robots and Dynamic Motor Skills (Roboletics 2.0)

ICRA, Atlanta, USA – 23 May 2025

Co-organizers: Matthew Gombolay (Georgia Tech), Zulfiqar Zaidi (Georgia Tech), Kin Man Lee (Georgia Tech), Kai Ploeger (TU Darmstadt), Zixuan Wu (Georgia Tech), Qingyu Xiao (Georgia Tech)

Workshop on Embodiment Aware Robot Learning

RSS Conference, Delft, Netherlands – 15 Jul 2024

Co-organizers: Boris Belousov (DFKI), Jan Peters (TU Darmstadt)

Workshop on Human-Interactive Robot Learning

HRI Conference, Boulder, USA – 15 Mar 2024

Co-organizers: Mattia Racca (Naver Labs), Reuth Mirsky (Bar Ilan Univ.), Emmanuel Senft (Idiap Research Institute), Xuesu Xiao (George Mason Univ.), Ifrah Idrees (Amazon), Ravi Prakash (IISc Bangalore)

IGSTC funded Indo-German Workshop on Frontiers of Robot Learning

Mumbai, India – 4 – 6 Mar 2024

Co-organizers: Arpita Sinha (IIT Bombay), Leena Vachhani (IIT Bombay), Jan Peters (TU Darmstadt)

Safe Reinforcement Learning Seminar

Online – Dec 2022 - Dec 2023

Co-organizers: Shangding Gu (UC Berkeley), Josip Josifovski (TU Munich), Yali Du (KCL), Yuhao Ding (UC Berkeley), Ming Jin (Virginia Tech)