Publications




Domesticating Soft Robotics Research and Development with Accessible Biomaterials
Kiyn Chin
PhD Thesis, Tech. Report, CMU-RI-TR-24-65, September, 2024
Exploration for Continually Improving Robots
Russell Mendonca
PhD Thesis, Tech. Report, CMU-RI-TR-24-62, September, 2024
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
Learning and Translating Temporal Abstractions of Behaviour across Humans and Robots
Tanmay Shankar
PhD Thesis, Tech. Report, CMU-RI-TR-24-63, September, 2024
Eye Gaze for Intelligent Driving
Abhijat Biswas
PhD Thesis, Tech. Report, CMU-RI-TR-24-60, September, 2024
Tactile sensing for Robot Learning: Development to Deployment
Raunaq Mahesh Bhirangi
PhD Thesis, Tech. Report, CMU-RI-TR-24-61, August, 2024
Plan to Learn: Active Robot Learning by Planning
Shivam Vats
PhD Thesis, Tech. Report, CMU-RI-TR-24-40, August, 2024
Learning to Perceive and Predict Everyday Hand-Object Interactions
Yufei Ye
PhD Thesis, Tech. Report, CMU-RI-TR-24-59, August, 2024
Estimating Object Importance and Modeling Drivers’ Situational Awareness for Intelligent Driving
Pranay Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-24-52, August, 2024
Continual Personalization of Human Actions To New Categories Over Time
Prachi Garg
Master's Thesis, Tech. Report, CMU-RI-TR-24-27, August, 2024
Developing Novel Hardware Platforms for Model-Predictive Control
Sofia Kwok
Master's Thesis, Tech. Report, CMU-RI-TR-24-43, August, 2024
DeltaWalker: A Soft, Linearly Actuated Delta Quadruped Robot
Jennifer Yang
Master's Thesis, Tech. Report, CMU-RI-TR-24-23, August, 2024
Improving Robotic Lego Assembly with Vibro-Tactile Feedback
Chris Chang
Master's Thesis, Tech. Report, CMU-RI-TR-24-41, August, 2024
Analysis by Synthesis for Modern Computer Vision
Nathaniel Chodosh
PhD Thesis, Tech. Report, CMU-RI-TR-24-55, August, 2024
Online-Adaptive Self-Supervised Learning with Visual Foundation Models for Autonomous Off-Road Driving
Matthew Sivaprakasam
Master's Thesis, Tech. Report, CMU-RI-TR-24-57, August, 2024
Model Predictive Control on Resource Constrained Microcontrollers
Samuel Schoedel
Master's Thesis, Tech. Report, CMU-RI-TR-24-44, August, 2024
Propagative Distance Optimization for Constrained Inverse Kinematics
Yu Chen
Master's Thesis, Tech. Report, CMU-RI-TR-24-48, August, 2024
Estimation, Modeling, and Control of Mixed Material Flows on Variable-Speed Conveyor Belt Systems with Applications in Recycling
James Maier
Master's Thesis, Tech. Report, CMU-RI-TR-24-50, August, 2024
Learning for Perception and Strategy: Adaptive Omnidirectional Stereo Vision and Tactical Reinforcement Learning
Conner Pulling
Master's Thesis, Tech. Report, CMU-RI-TR-24-56, August, 2024
Towards Universal Place Recognition
Jay Karhade
Master's Thesis, Tech. Report, CMU-RI-TR-24-31, August, 2024
Advancing Legged Robot Agility: from Video Imitation to GPU Acceleration
John Z. Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-24-46, August, 2024
GNSS-denied Ground Vehicle Localization for Off-road Environments with Bird’s-eye-view Synthesis
Lihong Jin
Master's Thesis, Tech. Report, CMU-RI-TR-24-54, August, 2024
Automating Annotation Pipelines by leveraging Multi-Modal Data
Anish Madan
Master's Thesis, Tech. Report, CMU-RI-TR-24-39, August, 2024
Safe, Robust and Adaptive Model-based Learning for Agile Robots: Autonomous Racing
Dvij Kalaria
Master's Thesis, Tech. Report, CMU-RI-TR-24-53, August, 2024
Expressive Attentional Communication Learning using Graph Neural Networks
Yu Quan Chong
Master's Thesis, Tech. Report, CMU-RI-TR-24-51, July, 2024
Learning to Manipulate Using Diverse Datasets
Sudeep Dasari
PhD Thesis, Tech. Report, CMU-RI-TR-24-30, July, 2024
Simulation as a Tool for Conspicuity Measurement
Brandon Rishi
Master's Thesis, Tech. Report, CMU-RI-TR-24-58, July, 2024
Reinforcement Learning with Spatial Reasoning for Dexterous Robotic Manipulation
Bowen Jiang
Master's Thesis, Tech. Report, CMU-RI-TR-24-47, July, 2024
Next-Generation 6-DoF Handheld Manipulator for Microsurgery
Christian Berger
Master's Thesis, Tech. Report, CMU-RI-TR-24-42, July, 2024
Super Odometry: A Robust LiDAR-Visual-Inertial Estimator for Challenging Environments
Shibo Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-24-49, July, 2024
Leveraging Affordances for Accelerating Online Reinforcement Learning
Aman Mehra
Master's Thesis, Tech. Report, CMU-RI-TR-24-45, July, 2024
VP4D: View Planning for 3D and 4D Scene Understanding
Aditya Rauniyar
Master's Thesis, Tech. Report, CMU-RI-TR-24-36, July, 2024
Policy Decomposition: A Framework for Discovery of Control Hierarchies for Efficient Policy Optimization with Suboptimality Estimates
Ashwin Khadke
PhD Thesis, Tech. Report, CMU-RI-TR-24-38, July, 2024
Spectral Unmixing and Mapping of Coral Reef Benthic Cover
Rohan Zeng, Eric J. Hochberg, Alberto Candela, and David S. Wettergreen
Conference Paper, Proceedings of IEEE International Geoscience and Remote Sensing Symposium, July, 2024
Causal Robot Learning for Manipulation
Tabitha Edith Lee
PhD Thesis, Tech. Report, CMU-RI-TR-24-25, July, 2024
Scaling up Robot Skill Learning with Generative Simulation
Pushkal Katara
Master's Thesis, Tech. Report, CMU-RI-TR-24-35, July, 2024
Leveraging Simulation-Based Model Preconditions for Fast Action Parameter Optimization with Multiple Models
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 2024
WALT3D: Generating Realistic Training Data from Time-Lapse Imagery for Reconstructing Dynamic Objects under Occlusion
Khiem Vuong, N Dinesh Reddy, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2024
3D-LFM: Lifting Foundation Model
Mosam Dabhi, László A. Jeni, and Simon Lucey
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 10466-10475, June, 2024
Leveraging Vision, Force Sensing, and Language Feedback for Deformable Object Manipulation
Zhanyi Sun
Master's Thesis, Tech. Report, CMU-RI-TR-24-32, June, 2024
CBGT-Net: A Neuromimetic Architecture for Robust Classification of Streaming Data
Shreya Sharma
Master's Thesis, Tech. Report, CMU-RI-TR-24-29, June, 2024
Enhancing Robot Perception and Interaction Through Structured Domain Knowledge
Sarthak Bhagat
Master's Thesis, Tech. Report, CMU-RI-TR-24-28, June, 2024
Learning on the Move: Integrating Action and Perception for Mobile Manipulation
Shagun Uppal
Master's Thesis, Tech. Report, CMU-RI-TR-24-26, May, 2024
Analyzing the Effectiveness of Neural Radiance Fields for Geometric Modeling of Lunar Terrain
Margaret Hansen, Caleb Adams, Terrence Fong, and David Wettergreen
Conference Paper, Proceedings of IEEE Aerospace Conference, May, 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
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel and Wennie Tabib
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
Estimating Material Properties of Interacting Objects Using Sum-GP-UCB
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024