Collaborations
For important deadlines for paper submissions, please visit AI Deadlines .
@inproceedings{sripada2026zsip,
title={Zero-shot Interactive Perception},
author={Sripada, Venkatesh and Guerin, Frank and Ghalamzan-E, Amir},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year={2026},
url={https://arxiv.org/abs/2602.18374}
}
@article{nazari2025bioinspired,
title={Bioinspired trajectory modulation for effective slip control in robot manipulation},
author={Nazari, Kiyanoush and Mandil, Willow and Santello, Marco and Park, Seongjun and Ghalamzan-E, Amir},
journal={Nature Machine Intelligence},
volume={7},
number={7},
pages={1119--1128},
year={2025},
doi={10.1038/s42256-025-01062-2},
publisher={Nature Publishing Group}
}
@inproceedings{sripada2025harmoni,
title={{HARMONI}: Haptic-Guided Assistance for Unified Robotic Tele-Manipulation and Tele-Navigation},
author={Sripada, Venkatesh and Khan, Muhammad Arshad and F{\"o}cker, Julia and Parsa, Soran and Susmitha, P and Maior, Horia and Ghalamzan-E, Amir},
booktitle={IEEE International Conference on Automation Science and Engineering (CASE)},
pages={312--318},
year={2025},
doi={10.1109/CASE58245.2025.11164131}
}
@article{nelson2025advancing,
title={Advancing Slip Classification in Robotic Manipulation Through Tactile Data Representation and Model Selection},
author={Nelson, Elijah and Nazari, Kiyanoush and Esfandiari, Mojtaba and Ghalamzan-E, Amir},
journal={IEEE Sensors Journal},
year={2025},
url={https://ieeexplore.ieee.org/document/11098591}
}
@article{sripada2024scene,
title={Scene Exploration by Vision-Language Models},
author={Sripada, Venkatesh and Carter, Samuel and Guerin, Frank and Ghalamzan-E, Amir},
journal={arXiv preprint arXiv:2409.17641},
year={2024},
url={https://arxiv.org/abs/2409.17641}
}
@article{sofla2024curvature,
title={Soft Acoustic Curvature Sensor: Design and Development},
author={Sofla, Mohammad Sadegh and Ghalamzan-E, Amir and Sadati, Seyedmohammadhadi and Esfahani, Amir Masoud Ghalamzan},
journal={IEEE Robotics and Automation Letters},
volume={9},
number={11},
pages={9518--9525},
year={2024},
doi={10.1109/LRA.2024.3460429},
publisher={IEEE}
}
@inproceedings{snpe2024tactile,
title={Enabling Tactile Feedback for Robotic Strawberry Handling Using {AST} Skin},
author={Sripada, Venkatesh and Nazari, Kiyanoush and Parsons, Simon and Ghalamzan-E, Amir},
booktitle={Towards Autonomous Robotic Systems (TAROS)},
year={2024}
}
@article{zahidi2024edge,
title={Optimising robotic operation speed with edge computing via 5G network: Insights from selective harvesting robots},
author={Zahidi, Usman and Khan, Muhammad Arshad and Zarafshan, Payam and Debnath, Bappaditya and Luo, Shan and Parsa, Soran and Heselden, James and Crossman, Michael and Sherwood, Chris and Parsons, Simon and Ghalamzan-E, Amir},
journal={Journal of Field Robotics},
volume={41},
number={8},
pages={2771--2789},
year={2024},
publisher={Wiley}
}
@article{debnath2024review,
title={Towards autonomous selective harvesting: A review of robot perception, robot design, motion planning and control},
author={Debnath, Bappaditya and Mghames, Sariah and Mandil, Willow and Parsa, Soran and Parsons, Simon and Ghalamzan-E, Amir and others},
journal={Journal of Field Robotics},
volume={41},
number={7},
pages={2247--2279},
year={2024},
publisher={Wiley}
}
@article{rajendran2023acoustic,
title={Acoustic soft tactile skin (ast skin)},
author={Rajendran and Ghalamzan},
journal={IEEE International Conference on Robotics and Automation (ICRA)},
pages={2303},
year={2024}
}
@inproceedings{parsons2024single,
title={Single and Bi-Layered 2-D Acoustic Soft Tactile Skin},
author={Rajendran, Vishnu and Parsons, Simon and Ghalamzan, Amir and others},
booktitle={2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)},
pages={133--138},
year={2024},
pages={1--18},
organization={IEEE}
}
@article{zahidi2024,
title={Modular autonomous strawberry picking robotic system},
author={Zahidi, Usman and Ghalamzan, Amir},
journal={Journal of Field Robotics},
year={2024},
pages={1--18},
publisher={Wiley Online Library}
}
@article{parsa2023modular,
title={Modular autonomous strawberry picking robotic system},
author={Parsa, Soran and Debnath, Bappaditya and Khan, Muhammad Arshad and E, Amir Ghalamzan},
journal={Journal of Field Robotics},
year={2023},
publisher={Wiley Online Library}
}
@article{mandil2023combining,
title={Combining Vision and Tactile Sensation for Video Prediction},
author={Mandil, Willow and Ghalamzan-E, Amir},
journal={arXiv preprint arXiv:2304.11193},
year={2023}
}
@article{debnath2023towards,
title={Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control},
author={Debnath, Bappaditya and Mghames, Sariah and Mandil, Willow and Parsa, Soran and Parsons, Simon and Ghalamzan-E, Amir and others},
journal={Journal of Field Robotics, arXiv preprint arXiv:2304.09617},
year={2023}
}
@article{rahal2023haptic,
title={Haptic-guided grasping to minimise torque effort during robotic telemanipulation},
author={Rahal, Rahaf and Ghalamzan-E, Amir M and Abi-Farraj, Firas and Pacchierotti, Claudio and Robuffo Giordano, Paolo},
journal={Autonomous Robots},
pages={1--19},
year={2023},
publisher={Springer}
}
@article{khan2023natural,
title={Natural Language Robot Programming: NLP integrated with autonomous robotic grasping},
author={Khan, Muhammad Arshad and Kenney, Max and Painter, Jack and Kamale, Disha and Batista-Navarro, Riza and Ghalamzan-E, Amir},
journal={arXiv preprint arXiv:2304.02993},
year={2023}
}
@article{nazari2023deep,
title={Deep Functional Predictive Control for Strawberry Cluster Manipulation using Tactile Prediction},
author={Nazari, Kiyanoush and Gandolfi, Gabriele and Talebpour, Zeynab and Rajendran, Vishnu and Rocco, Paolo and others},
journal={arXiv preprint arXiv:2303.05393},
year={2023}
}
@article{rajendran2023acoustic,
title={Acoustic Soft Tactile Skin (AST Skin)},
author={Rajendran, S and Mandil, Willow and Ghalamzan, E and others},
journal={arXiv e-prints},
pages={arXiv--2303},
year={2023}
}
@article{parsa2023autonomous,
title={Autonomous Strawberry Picking Robotic System (Robofruit)},
author={Parsa, Soran and Debnath, Bappaditya and Khan, Muhammad Arshad and others},
journal={Journal of Field Robotics, arXiv preprint arXiv:2301.03947},
year={2023}
}
@inproceedings{nazari2023proactive,
title={Proactive slip control by learned slip model and trajectory adaptation},
author={Nazari, Kiyanoush and Mandil, Willow and Esfahani, Amir Masoud Ghalamzan},
booktitle={Conference on Robot Learning},
pages={751--761},
year={2023},
organization={PMLR}
}
@inproceedings{vishnu2022peduncle,
title={Peduncle Gripping and Cutting Force for Strawberry Harvesting Robotic end-effector Design},
author={Vishnu, Rajendran Sugathakumary and Parsa, Soran and Parsons, Simon and Ghalamzan Esfahani, Amir and others},
booktitle={4th International Conference on Control and Robotics (ICCR 2022)},
year={2022}
}
@inproceedings{Sanni2022,
title={Deep robot path planning from demonstrations for breast cancer examination},
author=Sanni, Oluwatoin and Bonvicini, Giorgio and Khan, Arshad, MA Khan and Lopez-Custodio, Pablo and Nazari, Kiyanoush and Ghalamzan E., Amir,
booktitle=Proceedings of 36th AAAI conference on Artificial Intelligence,
year={2022},
url={https://arxiv.org/pdf/2202.09265.pdf}
}
@inproceedings{Mandil2022,
title={Action Conditioned Tactile Prediction: case study on slip prediction},
author=Mandill, Willow and Nazari, Kiyanoush and Ghalamzan E., Amir,
booktitle=Proceedings of Robotics: Science and Systems (RSS),
year={2022},
url={https://arxiv.org/pdf/2202.09265.pdf}
}
@inproceedings{Parsal2022,
title={The Impact of Motion Scaling and Haptic Guidance on Operators’ Workload and Performance in Teleoperation},
author=Parsa, Soran and Maior, Horia and Thumwood, Alex and Wilson, Max and Ghalamzan E., Amir,
booktitle=CHI Conference on Human Factors in Computing Systems,
year={2022},
url={https://arxiv.org/pdf/2202.09265.pdf}
}
@inproceedings{Tafurol2022,
title={Strawberry picking pont, wieght and quality estimation},
author=Tafuro, Alessandra and Adewumi, Adeayo and Parsa, Soran and Ghalamzan E., Amir and Debnat, Bappaditya,
booktitle=IEEE Conference on Robotics and Automation (ICRA),
year={2022},
url={https://arxiv.org/pdf/2202.09265.pdf}
}
@inproceedings{Ghalamzanl2022,
title={Solar Energy Technology in Precision Agriculture and Smart Farming},
author=Ghalamzan E., Amir and et al.,
booktitle=Elsevier book on Solar Energy,
year={2022},
url={}
}
@inproceedings{Nazari2021,
title={Tactile Dynamic Behaviour Prediction Based on Robot Action},
author={Nazari, Kiyanoush and Mandil, Willow and Hanheide, Marc and Ghalamzan, Amir},
booktitle={Proceedings of TAROS 2021},
year={2021},
url={https://lcas.lincoln.ac.uk/wp/wp-content/uploads/2021/09/t5.3-TAROS2021paper18.pdf}
}
@inproceedings{crivellari2021deep,
title={Deep Robot Path Planning from Demonstrations for Breast Cancer Examination},
author={Crivellari, Marta and Sanni, Oluwatoyin and Zanchettin, Andrea and Esfahani, Amir Ghalamzan},
booktitle={Annual Conference Towards Autonomous Robotic Systems},
pages={260--272},
year={2021},
organization={Springer}
}
@inproceedings{mohtasib2021neural,
title={Neural Task Success Classifiers for Robotic Manipulation from Few Real Demonstrations},
author={Mohtasib, Abdalkarim and Ghalamzan, E Amir and Bellotto, Nicola and Cuay{\'a}huitl, Heriberto},
booktitle={2021 International Joint Conference on Neural Networks (IJCNN)},
pages={1--8},
year={2021},
organization={IEEE}
}
@inproceedings{esfahani2021tactile,
title={Tactile Dynamic Behaviour Prediction Based on Robot Action},
author={Esfahani, Amir Ghalamzan},
booktitle={Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8--10, 2021, Proceedings},
volume={13054},
pages={284},
year={2021},
organization={Springer Nature}
}
@article{ghalamzan2021deep,
title={Deep-LfD: deep robot learning from demonstrations},
author={Ghalamzan, Amir and Nazari, Kiyanoush and Hashempour, Hamidreza and Zhong, Fangxun},
journal={Software Impacts},
volume={9},
pages={100087},
year={2021},
publisher={Elsevier}
}
@article{pardi2020planning,
title={Planning maximum-manipulability cutting paths},
author={Pardi, Tommaso and Ortenzi, Valerio and Fairbairn, Colin and Pipe, Tony and Esfahani, Amir Masoud Ghalamzan and Stolkin, Rustam},
journal={IEEE Robotics and Automation Letters},
volume={5},
number={2},
pages={1999--2006},
year={2020},
publisher={IEEE}
}
@inproceedings{Mavrakis2020,
doi = {10.1109/iros45743.2020.9341112},
url = {https://doi.org/10.1109/iros45743.2020.9341112},
year = {2020},
month = oct,
publisher = {{IEEE}},
author = {Nikos Mavrakis and Amir M. Ghalamzan E. and Rustam Stolkin},
title = {Estimating An Object's Inertial Parameters By Robotic Pushing: A Data-Driven Approach},
booktitle = {2020 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Parsa2020,
doi = {10.1109/case48305.2020.9216789},
url = {https://doi.org/10.1109/case48305.2020.9216789},
year = {2020},
month = aug,
publisher = {{IEEE}},
author = {Soran Parsa and Disha Kamale and Sariah Mghames and Kiyanoush Nazari and Tommaso Pardi and Aravinda R. Srinivasan and Gerhard Neumann and Marc Hanheide and Ghalamzan E. Amir},
title = {Haptic-guided shared control grasping: collision-free manipulation},
booktitle = {2020 {IEEE} 16th International Conference on Automation Science and Engineering ({CASE})}
}
@inproceedings{Mghames2020,
doi = {10.1109/iros45743.2020.9341728},
url = {https://doi.org/10.1109/iros45743.2020.9341728},
year = {2020},
month = oct,
publisher = {{IEEE}},
author = {Sariah Mghames and Marc Hanheide and Amir Ghalamzan E.},
title = {Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking},
booktitle = {2020 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Selvaggio2019,
doi = {10.1109/iros40897.2019.8968109},
url = {https://doi.org/10.1109/iros40897.2019.8968109},
year = {2019},
month = nov,
publisher = {{IEEE}},
author = {Mario Selvaggio and Amir M. Ghalamzan E and Rocco Moccia and Fanny Ficuciello and Bruno Siciliano},
title = {Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery},
booktitle = {2019 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@article{GhalamzanE2018,
doi = {10.1016/j.robot.2017.12.001},
url = {https://doi.org/10.1016/j.robot.2017.12.001},
year = {2018},
month = mar,
publisher = {Elsevier {BV}},
volume = {101},
pages = {45--56},
author = {Amir M. Ghalamzan E. and Matteo Ragaglia},
title = {Robot learning from demonstrations: Emulation learning in environments with moving obstacles},
journal = {Robotics and Autonomous Systems}
}
@article{Shang2018,
doi = {10.1016/j.sigpro.2017.07.023},
url = {https://doi.org/10.1016/j.sigpro.2017.07.023},
year = {2018},
month = jan,
publisher = {Elsevier {BV}},
volume = {142},
pages = {375--387},
author = {Ronghua Shang and Yijing Yuan and Licheng Jiao and Yang Meng and Amir Masoud Ghalamzan},
title = {A self-paced learning algorithm for change detection in synthetic aperture radar images},
journal = {Signal Processing}
}
@article{Shang2017,
doi = {10.1007/s12293-017-0224-7},
url = {https://doi.org/10.1007/s12293-017-0224-7},
year = {2017},
month = feb,
publisher = {Springer Science and Business Media {LLC}},
volume = {10},
number = {1},
pages = {81--102},
author = {Ronghua Shang and Bingqi Du and Kaiyun Dai and Licheng Jiao and Amir M. Ghalamzan Esfahani and Rustam Stolkin},
title = {Quantum-Inspired Immune Clonal Algorithm for solving large-scale capacitated arc routing problems},
journal = {Memetic Computing}
}
@article{Shang2017,
doi = {10.1016/j.asoc.2017.08.050},
url = {https://doi.org/10.1016/j.asoc.2017.08.050},
year = {2017},
month = dec,
publisher = {Elsevier {BV}},
volume = {61},
pages = {1060--1073},
author = {Ronghua Shang and Huan Liu and Licheng Jiao and Amir M.Ghalamzan Esfahani},
title = {Community mining using three closely joint techniques based on community mutual membership and refinement strategy},
journal = {Applied Soft Computing}
}
@article{Osa2017,
doi = {10.1109/lra.2017.2653850},
url = {https://doi.org/10.1109/lra.2017.2653850},
year = {2017},
month = apr,
publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
volume = {2},
number = {2},
pages = {819--826},
author = {Takayuki Osa and Amir M. Ghalamzan Esfahani and Rustam Stolkin and Rudolf Lioutikov and Jan Peters and Gerhard Neumann},
title = {Guiding Trajectory Optimization by Demonstrated Distributions},
journal = {{IEEE} Robotics and Automation Letters}
}
@inproceedings{Ghalamzan2017,
doi = {10.1109/iros.2017.8206178},
url = {https://doi.org/10.1109/iros.2017.8206178},
year = {2017},
month = sep,
publisher = {{IEEE}},
author = {E. Amir M. Ghalamzan and Firas Abi-Farraj and Paolo Robuffo Giordano and Rustam Stolkin},
title = {Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions},
booktitle = {2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Mavrakis2017,
doi = {10.1109/iros.2017.8206258},
url = {https://doi.org/10.1109/iros.2017.8206258},
year = {2017},
month = sep,
publisher = {{IEEE}},
author = {Nikos Mavrakis and E. Amir M. Ghalamzan and Rustam Stolkin},
title = {Safe robotic grasping: Minimum impact-force grasp selection},
booktitle = {2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Amir2017,
doi = {10.1109/icrom.2017.8466161},
url = {https://doi.org/10.1109/icrom.2017.8466161},
year = {2017},
month = oct,
publisher = {{IEEE}},
author = {M. Amir and E. Ghalamzan and Nikos Mavrakis and Rustam Stolkin},
title = {Grasp that optimises objectives along post-grasp trajectories},
booktitle = {2017 5th {RSI} International Conference on Robotics and Mechatronics ({ICRoM})}
}
@inproceedings{GhalamzanE2016,
doi = {10.1109/iros.2016.7759158},
url = {https://doi.org/10.1109/iros.2016.7759158},
year = {2016},
month = oct,
publisher = {{IEEE}},
author = {Amir M. Ghalamzan E. and Nikos Mavrakis and Marek Kopicki and Rustam Stolkin and Ales Leonardis},
title = {Task-relevant grasp selection: A joint solution to planning grasps and manipulative motion trajectories},
booktitle = {2016 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
}
@inproceedings{Mavrakis2016,
doi = {10.1109/humanoids.2016.7803274},
url = {https://doi.org/10.1109/humanoids.2016.7803274},
year = {2016},
month = nov,
publisher = {{IEEE}},
author = {Nikos Mavrakis and Amir M. Ghalamzan E. and Rustam Stolkin and Luca Baronti and Marek Kopicki and Marco Castellani},
title = {Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable torque-efficient post-grasp manipulations},
booktitle = {2016 {IEEE}-{RAS} 16th International Conference on Humanoid Robots (Humanoids)}
}
@inproceedings{Talha2016,
doi = {10.1109/ssrr.2016.7784294},
url = {https://doi.org/10.1109/ssrr.2016.7784294},
year = {2016},
month = oct,
publisher = {{IEEE}},
author = {M. Talha and E. A. M. Ghalamzan and C. Takahashi and J. Kuo and W. Ingamells and R. Stolkin},
title = {Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning},
booktitle = {2016 {IEEE} International Symposium on Safety, Security, and Rescue Robotics ({SSRR})}
}
@inproceedings{GhalamzanE2015,
doi = {10.1109/icra.2015.7139467},
url = {https://doi.org/10.1109/icra.2015.7139467},
year = {2015},
month = may,
publisher = {{IEEE}},
author = {Amir M. Ghalamzan E. and Luca Bascetta and Marcello Restelli and Paolo Rocco},
title = {Estimating a Mean-Path from a set of 2-D curves},
booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
}
@inproceedings{GhalamzanE2015,
doi = {10.1109/icra.2015.7139985},
url = {https://doi.org/10.1109/icra.2015.7139985},
year = {2015},
month = may,
publisher = {{IEEE}},
author = {Amir M. Ghalamzan E and Chris Paxton and Gregory D. Hager and Luca Bascetta},
title = {An incremental approach to learning generalizable robot tasks from human demonstration},
booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
}
@inproceedings{Mura2014,
doi = {10.1109/acc.2014.6859468},
url = {https://doi.org/10.1109/acc.2014.6859468},
year = {2014},
month = jun,
publisher = {{IEEE}},
author = {Roberto Mura and Amir Masoud Ghalamzan Esfahani and Marco Lovera},
title = {Robust harmonic control for helicopter vibration attenuation},
booktitle = {2014 American Control Conference}
}
@inproceedings{Mura2014,
url = {http://hdl.handle.net/11311/821944},
year = {2013},
author = {Luca Bascetta and Gianni Ferretti and Amir Ghalamzan and Gianantonio Magnani and Matteo Pirotta and Marcello Restelli and Paolo Rocco},
title = {Sistema autonomo di sbavatura robotizzata},
booktitle = {Motion Control 2013}
}
@article{GhalamzanE2021,
doi = {10.1016/j.simpa.2021.100087},
url = {https://doi.org/10.1016/j.simpa.2021.100087},
year = {2021},
month = aug,
publisher = {Elsevier {BV}},
volume = {9},
pages = {100087},
author = {Amir Ghalamzan E. and Kiyanoush Nazari and Hamidreza Hashempour and Fangxun Zhong},
title = {Deep-{LfD}: Deep robot learning from demonstrations},
journal = {Software Impacts}
}
@article{DBLP:journals/corr/abs-2012-02458,
author = {Hamidreza Hashempour and
Kiyanoush Nazari and
Fangxun Zhong and
Ghalamzan E. Amir},
title = {A data-set of piercing needle through deformable objects for Deep
Learning from Demonstrations},
journal = {CoRR},
volume = {abs/2012.02458},
year = {2020},
url = {https://arxiv.org/abs/2012.02458},
eprinttype = {arXiv},
eprint = {2012.02458},
timestamp = {Wed, 09 Dec 2020 15:29:05 +0100},
biburl = {https://dblp.org/rec/journals/corr/abs-2012-02458.bib},
bibsource = {dblp computer science bibliography, https://dblp.org}
}
@INCOLLECTION {book,
author = "Amir Ghalamzan Esfahani and Gautham P Das and Iain Gould and Payam Zarafshan and Rajendran S Vishnu and James Heselden and Amir Badiee and Isobel Wright and Simon Pearson",
title = "Applications of Solar Energy in Precision Agriculture and Smart Farming",
booktitle = "Solar Energy Advancements in Agriculture and Food Production Systems",
publisher = "Elsevier",
year = "In press",
chapter = "10"
}
@INPROCEEDINGS {icra2021,
author = "Rajendran S Vishnu and Simon Parsons and Amir Ghalamzan Esfahani",
title = "Comparison of Manual and Robotic Picking Actions for Strawberry Harvesting: A Discussion",
booktitle = "ICRA Workshop on Agri-Food Manipulation 2021",
year = "2021"
}
Haptic-guided shared control grasping for collision-free manipulation
Parsa; Disha Kamale; Sariah Mghameh; Kiyanoush Nazari; G. Neumann, Mark Hanheide and Amir M. Ghalamzan
Esfahani.
Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable
torque-efficient post-grasp manipulations
Mavrakis, N., Stolkin, R., Baronti, L., Kopicki, M. and Castellani, M.
2nd UK manipulation workshop at the Imperial College-London, 2017.
Workshop on Machine Learning in Planning and Control of Robot Motion, IROS 2015.
Workshop on Learning Plans with Context from Human Signals, Robotics: Science and Systems (RSS), 2014.