Publications




FarOut Touch: Extending the Range of ad hoc Touch Sensing with Depth Cameras
Vivian Shen, James Spann, and Chris Harrison
Conference Paper, Proceedings of ACM Spatial User Interaction, November, 2021
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Mustafa Mukadam, Stuart Anderson, and Michael Kaess
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021
ReSkin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, and Abhinav Gupta
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021
Safe and Resilient Practical Waypoint-Following for Autonomous Vehicles
Qin Lin, Stefan Mitsch, André Platzer, and John M. Dolan
Journal Article, IEEE Control Systems Letters, Vol. 6, pp. 1574 - 1579, November, 2021
Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators
Pragna Mannam, Oliver Kroemer, and F. Zeynep Temel
Conference Paper, Proceedings of 17th International Symposium on Experimental Robotics (ISER '20), November, 2021
Multi-class Generative Adversarial Networks: Improving One-class Classification of Pneumonia Using Limited Labeled Data
Saman Motamed and Farzad Khalvati
Conference Paper, Proceedings of 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC '21), pp. 3817 - 3822, November, 2021
Parameter Identification for Multirobot Systems Using Optimization-based Controllers
Jaskaran Grover, Changliu Liu, and Katia Sycara
Conference Paper, Proceedings of International Symposium on Multi-Robot and Multi-Agent Systems (MRS '21), pp. 173 - 180, November, 2021
Playing with Food: Learning Food Item Representations through Interactive Exploration
Amrita Sawhney, Steven Lee, Kevin Zhang, Manuela Veloso, and Oliver Kroemer
Conference Paper, Proceedings of 17th International Symposium on Experimental Robotics (ISER '20), November, 2021
Learning Model Preconditions for Planning with Multiple Models
Alex LaGrassa and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2021
Efficient primal heuristic updates for the blocking job shop problem
Jayanth Krishna Mogali, Laura Barbulescu, and Stephen F. Smith
Journal Article, European Journal of Operational Research, Vol. 295, No. 1, pp. 82 - 101, November, 2021
Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics
Ruixuan Liu and Changliu Liu
Journal Article, IEEE Control Systems Letters, Vol. 5, No. 5, pp. 1651 - 1656, November, 2021
IMS Technical Committee TC-22: Intelligent Measurement Systems
Angelo Genovese and Mel Siegel
Magazine Article, IEEE Instrumentation & Measurement Magazine, Vol. 24, No. 8, pp. 14 - 17, November, 2021
Accessing Passersby Proxemic Signals through a Head-Worn Camera: Opportunities and Limitations for the Blind
Kyungjun Lee, Daisuke Sato, Saki Asakawa, Chieko Asakawa, and Hernisa Kacorri
Conference Paper, Proceedings of 23rd International ACM SIGACCESS Conference on Computers and Accessibility (ASSETS '21), pp. 1 - 15, October, 2021
Automated Assessment of Pain: Prospects, Progress, and a Path Forward
Kenneth Prkachin and Zakia Hammal
Workshop Paper, International Conference on Multimodal Interaction (ICMI '21 Companion), October, 2021
AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting
Ye Yuan, Xinshuo Weng, Yanglan Ou, and Kris Kitani
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, October, 2021
FOVEA: Foveated Image Magnification for Autonomous Navigation
Chittesh Thavamani, Mengtian Li, Nicolas Cebron, and Deva Ramanan
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, October, 2021
Elaborative Rehearsal for Zero-shot Action Recognition
Shizhe Chen and Dong Huang
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, October, 2021
Improving Grasp Stability with Rotation Measurement from Tactile Sensing
Raj Kolamuri, Zilin Si, Yufan Zhang, Arpit Agarwal, and Wenzhen Yuan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2021
Simulation of Vision-based Tactile Sensors using Physics based Rendering
Arpit Agarwal, Timothy Man, and Wenzhen Yuan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, October, 2021
MindfulNest: Strengthening Emotion Regulation with Tangible User Interfaces
Samantha Speer, Emily Hamner, Michael Tasota, Lauren Zito, and Sarah K. Byrne-Houser
Conference Paper, Proceedings of International Conference on Multimodal Interaction (ICMI '21), pp. 103 - 111, October, 2021
Real-Time Ellipse Detection for Robotics Applications
Keipour A, Pereira GA, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7009-7016, October, 2021
A Kinematic Model for Trajectory Prediction in General Highway Scenarios
Cyrus Anderson, Ram Vasudevan, and M. Johnson-Roberson
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 6757 - 6764, October, 2021
DPLVO: Direct Point-Line Monocular Visual Odometry
Lipu Zhou, Shengze Wang, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7113 - 7120, October, 2021
LiDAR SLAM with Plane Adjustment for Indoor Environment
Lipu Zhou, Daniel Koppel, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7073 - 7080, October, 2021
Safe Planning and Control under Uncertainty for Self-Driving
Shivesh Khaitan, Qin Lin, and John Dolan
Journal Article, IEEE Transactions on Vehicular Technology, Vol. 70, No. 10, pp. 9826-9837, October, 2021
Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 7153 - 7160, October, 2021
Using perception cues for context-aware navigation in dynamic outdoor environments
Maggie Wigness, John G. Rogers III, Chieh-En Tsai, Christoph Mertz, Luis Navarro-Serment, and Jean Oh
Journal Article, Field Robotics, Vol. 1, No. 1, pp. 1 - 33, October, 2021
Heuristics for routing and scheduling of spatio-temporal type problems in industrial environments
Jayanth Krishna Mogali
PhD Thesis, Tech. Report, CMU-RI-TR-21-69, Robotics Institute, Carnegie Mellon University, September, 2021
Inferring Goals with Gaze during Teleoperated Manipulation
Reuben M. Aronson, Nadia AlMutlak, and Henny Admoni
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9714 - 9719, September, 2021
Map Compressibility Assessment for LiDAR Registration
Ming-Fang Chang, W. Dong, Joshua G. Mangelson, Michael Kaess, and Simon Lucey
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5560 - 5567, September, 2021
Stereo Perception in the Dark using Uncalibrated Line Laser
Srinivasan Vijayarangan and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Bayesian Models for Science-Driven Robotic Exploration
Alberto Candela Garza
PhD Thesis, Tech. Report, CMU-RI-TR-21-68, Robotics Institute, Carnegie Mellon University, September, 2021
A Simulation-Based Benchmark for Behavioral Anomaly Detection in Autonomous Vehicles
Tarang Shah, John R. Lepird, Andrew T. Hartnett, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '21), pp. 2074 - 2081, September, 2021
Self-Calibration of Multiple LiDARs for Autonomous Vehicles
Zherui Zhang, Chen Fu, Chiyu Dong, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 2897 - 2902, September, 2021
Using Remote Sensing and in situ Measurements for Efficient Mapping and Optimal Sampling of Coral Reefs
Alberto Candela, Kevin Edelson, Michelle M. Gierach, David R. Thompson, Gail Woodward, and David Wettergreen
Journal Article, Frontiers in Marine Science, September, 2021
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
Cherie Ho, Andrew Jong, Harry Freeman, Rohan Rao, Rogerio Bonatti, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
A Robust Illumination-Invariant Camera System for Agricultural Applications
Abhisesh Silwal, Tanvir Parhar, Francisco Yandun, Harjatin Baweja, and George Kantor
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
CARLA Simulated Data for Rare Road Object Detection
Tom Bu, Xinhe Zhang, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 2794 - 2801, September, 2021
Detection of Lymph Nodes in T2 MRI Using Neural Network Ensembles
Tejas Sudharshan Mathai, Sungwon Lee, Daniel C. Elton, Thomas C. Shen, Yifan Peng, Zhiyong Lu, and Ronald M. Summers
Workshop Paper, International Workshop on Machine Learning in Medical Imaging (MLMI '21), pp. 682 - 691, September, 2021
Ground Encoding: Learned Factor Graph-Based Models for Localizing Ground Penetrating Radar
Alexander Baikovitz, Paloma Sodhi, Michael Dille, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2021
Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning
Kaleb Ben Naveed, Zhiqian Qiao, and John M. Dolan
Conference Paper, Proceedings of IEEE International Intelligent Transportation Systems Conference (ITSC '21), pp. 601 - 606, September, 2021
Introducer Design Concepts for an Epicardial Parallel Wire Robot
Aman Ladak, Deepika Dixit, Michael S. Halbreiner, Michael J. Passineau, Srinivas Murali, and Cameron N. Riviere
Journal Article, Robotic Surgery: Research and Reviews, Vol. 8, pp. 21 - 38, September, 2021
Robotic Vision for 3D Modeling and Sizing in Agriculture
Mohamad Qadri
Master's Thesis, Tech. Report, CMU-RI-TR-21-43, Robotics Institute, Carnegie Mellon University, August, 2021
Planning to Optimize and Learn Reward in Navigation Tasks in Structured Environments with Time Constraints
Max Korein
PhD Thesis, Tech. Report, CMU-RI-TR-21-53, Robotics Institute, Carnegie Mellon University, August, 2021
Robust and Scalable Perception For Autonomy
Peiyun Hu
PhD Thesis, Tech. Report, CMU-RI-TR-21-67, Robotics Institute, Carnegie Mellon University, August, 2021
Decentralized Navigation of Quadrotor Teams in Uncertain Workspaces
Arjav Ashesh Desai
PhD Thesis, Tech. Report, CMU-RI-TR-21-57, Robotics Institute, Carnegie Mellon University, August, 2021
Robot Planning for Achieving Multiple Independent Tasks with Discrepancies through Model Decomposition and Augmentation
Anahita Mohseni-Kabir
PhD Thesis, Tech. Report, CMU-RI-TR-21-66, Robotics Institute, Carnegie Mellon University, August, 2021
End-to-End Deep Stereo Layout Estimation
Divam Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-21-29, Robotics Institute, Carnegie Mellon University, August, 2021
Coordinated Aerial Exploration of Subterranean Voids
Rohit Garg
Master's Thesis, Tech. Report, CMU-RI-TR-21-44, Robotics Institute, Carnegie Mellon University, August, 2021