Publications - Robotics Institute Carnegie Mellon University

Search Algorithms and Search Spaces for Neural Architecture Search

Xiaofang Wang

PhD Thesis, Tech. Report, CMU-RI-TR-22-12, Robotics Institute, Carnegie Mellon University, April, 2022

Unified Simulation, Perception, and Generation of Human Behavior

Ye Yuan

PhD Thesis, Tech. Report, CMU-RI-TR-22-10, Robotics Institute, Carnegie Mellon University, April, 2022

Liquid Crystal Elastomer with Integrated Soft Thermoelectrics for Shape Memory Actuation and Energy Harvesting

Mason Zadan, Dinesh K. Patel, Andrew P. Sabelhaus, Jiahe Liao, Anthony Wertz, Lining Yao, and Carmel Majidi

Journal Article, Advanced Materials, April, 2022

Empathy-Centric Design At Scale

Andrea Mauri, Yen-Chia Hsu, Marco Brambilla, Ting-Hao Kenneth Huang, Aisling Ann O'Kane, and Himanshu Verma

Conference Paper, Proceedings of CHI Conference on Human Factors in Computing Systems Extended Abstracts (CHI '22 EA), April, 2022

Learning Cooperative Multi-Agent Policies with Partial Reward Decoupling

Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 890 - 897, April, 2022

Multi-Objective Path-Based D* Lite

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3318 - 3325, April, 2022

Taxim: An Example-Based Simulation Model for GelSight Tactile Sensors

Zilin Si and Wenzhen Yuan

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 2361 - 2368, April, 2022

Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design

Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, and Kris M. Kitani

Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, April, 2022

Using Collected Vision and Tactile Sensors for Visual Servoing and Localization

Arkadeep Narayan Chaudhury, Timothy Man, Wenzhen Yuan, and Christopher G. Atkeson

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3427 - 3434, April, 2022

A Complete, Accurate and Efficient Solution for the Perspective-n-Line Problem

Lipu Zhou, Daniel Koppel, and Michael Kaess

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 699 - 706, April, 2022

Information-Theoretic Online Multi-Camera Extrinsic Calibration

Eric Dexheimer, Patrick Peluse, Jianhui Chen, James Pritts, and Michael Kaess

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 4757 - 4764, April, 2022

Learning and Inference in Factor Graphs with Applications to Tactile Perception

Paloma Sodhi

PhD Thesis, Tech. Report, CMU-RI-TR-22-08, Robotics Institute, Carnegie Mellon University, March, 2022

Real-time vessel segmentation and reconstruction for virtual fixtures for an active handheld microneurosurgical instrument

Aravind Venugopal, Sara Moccia, Simone Foti, Arpita Routray, Robert A. MacLachlan, Alessandro Perin, Leonardo S. Mattos, Alexander K. Yu, Jody Leonardo, Elena De Momi, and Cameron N. Riviere

Journal Article, International Journal of Computer Assisted Radiology and Surgery, March, 2022

Bioinspired Robotic Actuators by Electrochemical Oxidation of Liquid Metal Droplets

Jiahe Liao and Carmel Majidi

Conference Paper, Proceedings of American Physical Society March Meeting (APS '22), March, 2022

MPLP: Massively Parallelized Lazy Planning

Shohin Mukherjee, Sandip Aine, and Maxim Likhachev

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, March, 2022

DReyeVR: Democratizing Virtual Reality Driving Simulation for Behavioural & Interaction Research

Gustavo Silvera, Abhijat Biswas, and Henny Admoni

Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '22), pp. 639 - 643, March, 2022

An Agile and Dexterous Balancing Mobile Manipulator Robot

Roberto Shu

PhD Thesis, Tech. Report, CMU-RI-TR-22-07, Robotics Institute, Carnegie Mellon University, February, 2022

Contact Classification for Agriculture Manipulation in Cluttered Canopies

Moonyoung Lee, Kevin Zhang, George Kantor, and Oliver Kroemer

Workshop Paper, AI for Agriculture and Food Systems, February, 2022

Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search

Taoan Huang, Jiaoyang Li, Sven Koenig, and Bistra Dilkina

Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022

Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding

Shao-Hung Chan, Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, and Sven Koenig

Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022

MAPF-LNS2: Repairing Multi-Agent Path Finding via Large Neighborhood Search

Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey, and Sven Koenig

Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022

Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees

Christopher Leet, Jiaoyang Li, and Sven Koenig

Conference Paper, Proceedings of 36th AAAI Conference on Artificial Intelligence (AAAI '22), February, 2022

Planning and Execution using Inaccurate Models with Provable Guarantees on Task Completeness

Anirudh Vemula

PhD Thesis, Tech. Report, CMU-RI-TR-22-05, Robotics Institute, Carnegie Mellon University, February, 2022

Continuum Robots for Medical Interventions

Pierre Dupont, Nabil Simaan, Howie Choset, and Caleb Rucker

Journal Article, Proceedings of the IEEE, February, 2022

Metrics for Robot Proficiency Self-Assessment and Communication of Proficiency in Human-Robot Teams

Adam Norton, Henny Admoni, Jacob Crandall, Tesca Fitzgerald, Alvika Gautam, Michael Goodrich, Amy Saretsky, Matthias Scheutz, Reid Simmons, Aaron Steinfeld, and Holly Yanco

Journal Article, ACM Transactions on Human-Robot Interaction (THRI), February, 2022

Using Machine Learning to Support Transfer of Best Practices in Healthcare

Sebastian Caldas, Jieshi Chen, and Artur Dubrawski

Conference Paper, Proceedings of American Medical Informatics Association Annual Symposium (AMIA '21), pp. 265 - 274, February, 2022

W-Net: Dense and diagnostic semantic segmentation of subcutaneous and breast tissue in ultrasound images by incorporating ultrasound RF waveform data

Gautam Rajendrakumar Gare, Jiayuan Li, Rohan Joshi, Rishikesh Magar, Mrunal Prashant Vaze, Michael Yousefpour, Ricardo Luis Rodriguez, and John Michael Galeotti

Journal Article, Medical Image Analysis, February, 2022

Weak Supervision for Affordable Modeling of Electrocardiogram Data

Mononito Goswami, Benedikt Boecking, and Artur Dubrawski

Conference Paper, Proceedings of American Medical Informatics Association Annual Symposium (AMIA '21), pp. 536 - 545, February, 2022

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

Benjamin A. Newman, Reuben M. Aronson, Kris Kitani, and Henny Admoni

Journal Article, Frontiers in Robotics and AI, Vol. 8, January, 2022

Human-in-the-loop Planning of Mobile Robots

Xuning Yang

PhD Thesis, Tech. Report, CMU-RI-TR-22-04, Robotics Institute, Carnegie Mellon University, January, 2022

Model-Centric Verification of Artificial Intelligence

Nicholas Gisolfi

PhD Thesis, Tech. Report, CMU-RI-TR-22-02, Robotics Institute, Carnegie Mellon University, January, 2022

Person Transfers Between Multiple Service Robots

Xiang Zhi Tan

PhD Thesis, Tech. Report, CMU-RI-TR-22-01, Robotics Institute, Carnegie Mellon University, January, 2022

AirCode: A Robust Object Encoding Method

Kuan Xu, Chen Wang, Chao Chen, Wei Wu, and Sebastian Scherer

Journal Article, IEEE Robotics and Automation Letters, January, 2022

Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-Agent Search

Guillaume Sartoretti, Ananya Rao, and Howie Choset

Conference Paper, Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS), January, 2022

Aerial Field Robotics

Kulkarni M, Moon B, Alexis K, and Scherer S

Book Section/Chapter, Encyclopedia of Robotics, pp. 1-15, 2022

AdaFusion: Visual-LiDAR fusion with adaptive weights for place recognition

Lai H, Yin P, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 12038-12045, 2022

ALITA: A large-scale incremental dataset for long-term autonomy

Yin P, Zhao S, Ge R, Cisneros I, Fu R, Zhang J, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2205. 10737, 2022

ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization

Cisneros I, Yin P, Zhang J, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2207. 12317, 2022

Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace

Patrikar J, Dantas JP, Ghosh S, Kapoor P, Higgins I, Aloor JJ, Navarro I, Sun J, Stoler B, Hamidi M, Baijal R, Moon B, Oh J, and Scherer S

Journal Article, arXiv preprint arXiv:2211. 06932, 2022

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

Mousaei M, Geng J, Keipour A, Bai D, and Scherer S

Conference Paper, Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4310-4317, 2022

Detection and Physical Interaction with Deformable Linear Objects

Keipour A, Mousaei M, Bandari M, Schaal S, and Scherer S

Conference Paper, Proceedings of ICRA 2022 2nd Workshop on Representing and Manipulating Deformable Objects, 2022

Drone flight data reveal energy and greenhouse gas emissions savings for very small package delivery

Rodrigues TA, Patrikar J, Oliveira NL, Matthews HS, Scherer S, and Samaras C

Journal Article, Patterns, Vol. 3, No. 8, pp. 100569, 2022

General Place Recognition Survey: Towards the Real-world Autonomy Age

Yin P, Zhao S, Cisneros I, Abuduweili A, Huang G, Milford M, Liu C, Choset H, and Scherer S

Journal Article, arXiv preprint arXiv:2209. 04497, 2022

I2D-Loc: Camera localization via image to LiDAR depth flow

Chen K, Yu H, Yang W, Yu L, Scherer S, and Xia GS

Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 194, pp. 209-221, 2022

On Performance Impacts of Coordination via Submodular Maximization for Multi-Robot Perception Planning and the Dynamics of Target Coverage and Cinematography

Corah M and Scherer S

Conference Paper, Proceedings of RSS 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation, 2022

Predicting Like a Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace

Patrikar J, Moon B, Oh J, and Scherer S

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2022

Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots

Best G, Garg R, Keller J, Hollinger GA, and Scherer S

Conference Paper, Proceedings of Robotics: Science and Systems, 2022

Robust Modeling and Controls for Racing on the Edge

Spisak J, Saba A, Suvarna N, Mao B, Zhang CT, Chang C, Scherer S, and Ramanan D

Conference Paper, Proceedings of arXiv preprint arXiv:2205.10841, 2022

Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning

Wang SJ, Triest S, Wang W, Scherer S, and Johnson A

Conference Paper, Proceedings of the 5th Conference on Robot Learning, Vol. 164, pp. 224-233, 2022