Publications




Resource-Constrained Learning and Inference for Visual Perception
Mengtian Li
PhD Thesis, Tech. Report, CMU-RI-TR-22-20, Robotics Institute, Carnegie Mellon University, May, 2022
Multi-Agent Path Finding for Precedence-Constrained Goal Sequences
Han Zhang, Jingkai Chen, Jiaoyang Li, Brian Williams, and Sven Koenig
Conference Paper, Proceedings of 21th International Joint Conference on Autonomous Agents and MultiAgent Systems (AAMAS '22), May, 2022
Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Xinyi Zhong, Jiaoyang Li, Sven Koenig, and Hang Ma
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Understanding, Exploiting and Improving Inter-view Relationships
Sibi Venkatesan
PhD Thesis, Tech. Report, CMU-RI-TR-22-19, Robotics Institute, Carnegie Mellon University, May, 2022
Stabilizing the Training Dynamics of Generative Models using Self-Supervision
Akshay Dharmavaram
Master's Thesis, Tech. Report, CMU-RI-TR-22-18, Robotics Institute, Carnegie Mellon University, May, 2022
Stiffness Mapping of Deformable Objects Through Supervised Embedding and Gaussian Process Regression
Evan Harber
Master's Thesis, Tech. Report, CMU-RI-TR-22-14, Robotics Institute, Carnegie Mellon University, May, 2022
Physical Interaction and Manipulation of the Environment using Aerial Robots
Azarakhsh Keipour
PhD Thesis, Tech. Report, CMU-RI-TR-22-17, Robotics Institute, Carnegie Mellon University, May, 2022
Visual Representation and Recognition without Human Supervision
Senthil Purushwalkam
PhD Thesis, Tech. Report, CMU-RI-TR-22-21, Robotics Institute, Carnegie Mellon University, May, 2022
Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020
Bhattacharya A, Gandhi A, Merkle L, Tiwari R, Warrior K, Winata S, Saba A, Zhang K, Kroemer O, and Scherer S
Journal Article, Field Robotics Journal, pp. 172-200, May, 2022
Resilient and Modular Subterranean Exploration with a Team of Roving and Flying Robots
Scherer S, Agrawal V, Best G, Cao C, Cujic K, Darnley R, DeBortoli R, Dexheimer E, Drozd B, Garg R, Higgins I, Keller J, Kohanbash D, Nogueira L, Pradhan R, Tatum M, K. Viswanathan V, Willits S, Zhao S, Zhu H, Abad D, Angert T, Armstrong G, Boirum R, Dongare A, Dworman M, Hu S, Jaekel J, Ji R, Lai A, Hsuan Lee Y, Luong A, Mangelson J, Maier J, Picard J, Pluckter K, Saba A, Saroya M, Scheide E, Shoemaker-Trejo N, Spisak J, Teza J, Yang F, Wilson A, Zhang H, Choset H, Kaess M, Rowe A, Singh S, Zhang J, A. Hollinger G, and Travers M
Journal Article, Field Robotics Journal, pp. 678-734, May, 2022
Fundamental Science and Engineering Questions in Planetary Cave Exploration
J. Judson Wynne, Timothy N. Titus, Ali-akbar Agha-Mohammadi, Armando Azua-Bustos, Penelope J. Boston, Pablo de León, Cansu Demirel-Floyd, Jo De Waele, Heather Jones, Michael J. Malaska, Ana Z. Miller, Haley M. Sapers, Francesco Sauro, Derek L. Sonderegger, Kyle Uckert, Uland Y. Wong, E. Calvin Alexander Jr., Leroy Chiao, Glen E. Cushing, John DeDecker, Alberto G. Fairén, Amos Frumkin, Gary L. Harris, Michelle L. Kearney, Laura Kerber, Richard J. Léveillé, Kavya Manyapu, Matteo Massironi, John E. Mylroie, Bogdan P. Onac, Scott E. Parazynski, Charity M. Phillips-Lander, Thomas H. Prettyman, Dirk Schulze-Makuch, Robert V. Wagner, William L. Whittaker, and Kaj E. Williams
Journal Article, Journal of Geophysical Research: Planets, May, 2022
Model-Accuracy Aware Anytime Planning with Simulation Verification for Navigating Complex Terrains
Manash Pratim Das
Master's Thesis, Tech. Report, CMU-RI-TR-22-25, Robotics Institute, Carnegie Mellon University, April, 2022
ControllerPose: Inside-Out Body Capture with VR Controller Cameras
Karan Ahuja, Vivian Shen, Cathy Fang, Nathan Riopelle, Andy Kong, and Chris Harrison
Conference Paper, Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, April, 2022
MouthHaptics in VR using a Headset Ultrasound Phased Array
Vivian Shen, Craig Shultz, and Chris Harrison
Conference Paper, Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, April, 2022
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