Publications




Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments
Moonyoung Lee, Aaron Berger, Dominic Guri, Kevin Zhang, Lisa Coffey, George Kantor, and Oliver Kroemer
Journal Article, IEEE Robotics and Automation Letters, September, 2024
LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration
Paul Nadan, Spencer Backus, and Aaron M. Johnson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Towards Robotic Tree Manipulation: Leveraging Graph Representations
Chung Hee Kim, Moonyoung Lee, Oliver Kroemer, and George Kantor
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Sparse-view 3D in the Wild
Jason Y. Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-24-09, May, 2024
Tightly Coupled LiDAR-Inertial Odometry
Taylor Pool
Master's Thesis, Tech. Report, CMU-RI-TR-24-17, May, 2024
Building Robot Hands and Teaching Dexterity
Kenneth Shaw
Master's Thesis, Tech. Report, CMU-RI-TR-24-02, May, 2024
Tightly Coupled LiDAR-Inertial Odometry
Taylor Pool
Master's Thesis, Tech. Report, CMU-RI-TR-24-17, May, 2024
PIE-FRIDA: Personalized Interactive Emotion-Guided Collaborative Human-Robot Art Creation
Beverley-Claire Okogwu
Master's Thesis, Tech. Report, CMU-RI-TR-24-18, May, 2024
Towards Equitable Representation in Text-to-Image Generation
Zhixuan Liu
Master's Thesis, Tech. Report, CMU-RI-TR-24-14, May, 2024
In Pursuit of Open-World Mobile Manipulation
Haoyu Xiong
Master's Thesis, Tech. Report, May, 2024
Vision Model Diagnosis and Improvement Via Large Pretrained Models
Yinong Wang
Master's Thesis, Tech. Report, CMU-RI-TR-24-22, May, 2024
3D Inference from Unposed Sparse View Images
Bharath Raj Nagoor Kani
Master's Thesis, Tech. Report, CMU-RI-TR-24-15, May, 2024
Learning Distributional Models for Relative Placement in Robotics
Jenny Wang
Master's Thesis, Tech. Report, CMU-RI-TR-24-24, May, 2024
Indoor Localization and Mapping with 4D mmWave Imaging Radar
Jui-Te Huang
Master's Thesis, Tech. Report, CMU-RI-TR-24-19, May, 2024
Spectral Mapping using Simple Sensors
Srinivasan Vijayarangan
PhD Thesis, Tech. Report, CMU-RI-TR-24-20, May, 2024
Improving Robot Capabilities Through Reconfigurability
Sha Yi
PhD Thesis, Tech. Report, CMU-RI-TR-24-16, May, 2024
Geometric Heuristics Enhance POCUS AI for Pneumothorax
Viekash Vinoth Kumar, John Galeotti, Deva Kannan Ramanan, and Nishant Thumbavanam Arun
Master's Thesis, Tech. Report, CMU-RI-TR-24-11, May, 2024
Human Perception of Robot Failure and Explanation
Huy Quyen Ngo
Master's Thesis, Tech. Report, CMU-RI-TR-24-12, May, 2024
Towards Mechanical Communication in Multi-Agent Locomotive Systems: Principally Kinematic Robots on a Shared Platform
Ruijie Fu
Master's Thesis, Tech. Report, CMU-RI-TR-23-62, May, 2024
Optimal Control and Robot Learning on Agile Safety-Critical Systems
Haoru Xue
Master's Thesis, Tech. Report, CMU-RI-TR-24-21, May, 2024
Transfer Learning via Temporal Contrastive Learning
Weihao Zeng
Master's Thesis, Tech. Report, CMU-RI-TR-24-10, April, 2024
Offline Learning for Stochastic Multi-Agent Planning in Autonomous Driving
Adam Villaflor
PhD Thesis, Tech. Report, CMU-RI-TR-24-13, April, 2024
Improving Kalman Filter-based Multi-Object Tracking in Occlusion and Non-linear Motion
Jinkun Cao
Master's Thesis, Tech. Report, CMU-RI-TR-24-08, March, 2024
Improving the Transparency of Agent Decision Making to Humans Using Demonstrations
Michael S. Lee
PhD Thesis, Tech. Report, CMU-RI-TR-24-05, February, 2024
Perception amidst interaction: spatial AI with vision and touch for robot manipulation
Sudharshan Suresh
PhD Thesis, Tech. Report, CMU-RI-TR-24-06, February, 2024
Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM
Nikhil Keetha
Master's Thesis, Tech. Report, CMU-RI-TR-24-07, February, 2024
Watch, Practice, Improve: Towards In-the-wild Manipulation
Shikhar Bahl
PhD Thesis, Tech. Report, CMU-RI-TR-24-04, February, 2024
Deep learning methods for single camera based clinical in-bed movement action recognition
Tamás Karácsony, László Attila Jeni, Fernando De la Torre, and João Paulo Silva Cunha
Journal Article, Image and Vision Computing, Vol. 143, No. 104928, February, 2024
Representation Reuse for Learning Robust Robot Manipulations
Mohit Sharma
PhD Thesis, Tech. Report, CMU-RI-TR-24-03, February, 2024
Exploring Diverse Interaction Types for Human-in-the-Loop Robot Learning
Patrick Callaghan
Master's Thesis, Tech. Report, CMU-RI-TR-23-81, January, 2024
Design Iteration of Dexterous Compliant Robotic Manipulators
Pragna Mannam
PhD Thesis, Tech. Report, CMU-RI-TR-24-01, January, 2024
DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots
Zilin Si, Kevin Zhang, Oliver Kroemer, and Zeynep Temel
Journal Article, IEEE Robotics and Automation Letters, Vol. 9, No. 2, pp. 1795-1802, January, 2024
Toward Planet-Wide Traffic Camera Calibration
Khiem Vuong, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, January, 2024
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning
Chen Q, Hu Z, Geng J, Bai D, Mousaei M, and Scherer S
Conference Paper, Proceedings of AIAA SCITECH 2024 Forum, pp. 2878, 2024
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
Ebadi K, Bernreiter L, Biggie H, Catt G, Chang Y, Chatterjee A, Denniston CE, Deschênes SP, Harlow K, Khattak S, Nogueira L, Palieri M, Petráček P, Petrlík M, Reinke A, Krátký V, Zhao S, Agha-mohammadi AA, Alexis K, Heckman C, Khosoussi K, Kottege N, Morrell B, Hutter M, Pauling F, Pomerleau F, Saska M, Scherer S, Siegwart R, Williams JL, and Carlone L
Journal Article, IEEE Transactions on Robotics, Vol. 40, pp. 936-959, 2024
Kitchen Robot Case Studies: Learning Manipulation Tasks from Human Video Demonstrations
Dingkun Guo
Master's Thesis, Tech. Report, CMU-RI-TR-23-87, December, 2023
Development and Testing of a Software Stack for an Autonomous Racing Vehicle
Andrew Saba
Master's Thesis, Tech. Report, CMU-RI-TR-23-85, December, 2023
Neural Implicit Representations for Medical Ultrasound Volumes and 3D Anatomy-specific Reconstructions
Ananya Bal
Master's Thesis, Tech. Report, CMU-RI-TR-23-82, December, 2023
Enhancing RHex Robot Performance with Innovative Bioplastic Legs Responsive to Humidity
Yi Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-23-79, December, 2023
Temporally Abstract Model-Based Reinforcement Learning with Variable-Length Skills
Thomas Wei
Master's Thesis, Tech. Report, CMU-RI-TR-23-80, December, 2023
Alignment for Vision-Language Foundation Models
Zhiqiu Lin
Master's Thesis, Tech. Report, CMU-RI-TR-23-83, December, 2023
Architecture and Algorithms for Space-Based Global Wildlife Tracking
Fausto Vega
Master's Thesis, Tech. Report, CMU-RI-TR-23-71, December, 2023
AnyLoc: Towards Universal Visual Place Recognition
Nikhil Keetha, Avneesh Mishra, Jay Karhade, Krishna Murthy Jatavallabhula, Sebastian Scherer, Madhava Krishna, and Sourav Garg
Journal Article, IEEE Robotics and Automation Letters, Vol. 9, No. 2, pp. 1286-1293, December, 2023
Social Navigation with Pedestrian Groups
Allan Wang
PhD Thesis, Tech. Report, CMU-RI-TR-23-88, December, 2023
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
Seungchan Kim, Micah Corah, John Keller, Graeme Best, and Sebastian Scherer
Journal Article, IEEE Robotics and Automation Letters, December, 2023
Range-based GP Maps: Local Surface Mapping for Mobile Robots using Gaussian Process Regression in Range Space
Margaret Hansen and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7241-7248, December, 2023
Designing Anthropomorphic Soft Hands through Interaction
Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, and Nancy Pollard
Conference Paper, Proceedings of IEEE-RAS International Conference on Humanoid Robots, December, 2023
Sample-Efficient Reinforcement Learning with Applications in Nuclear Fusion
Viraj Mehta
PhD Thesis, Tech. Report, CMU-RI-TR-23-86, December, 2023
Optimization-based Methods for Satellite Control
Jacob Willis
Master's Thesis, Tech. Report, CMU-RI-TR-23-84, December, 2023