Publications




Towards Object-generic 6D Pose Estimation
Qiao Gu
Master's Thesis, Tech. Report, CMU-RI-TR-21-33, Robotics Institute, Carnegie Mellon University, August, 2021
Discovering Audiovisual Ontology
Haochen Wang
Master's Thesis, Tech. Report, CMU-RI-TR-21-52, Robotics Institute, Carnegie Mellon University, August, 2021
Bimanual Cloth Manipulation using Flow
Sujay Bajracharya
Master's Thesis, Tech. Report, CMU-RI-TR-21-27, Robotics Institute, Carnegie Mellon University, August, 2021
A physical model of mantis shrimp for exploring the dynamics of ultrafast systems
Emma Steinhardt, Nak-seung P. Hyun, Je-sung Koh, Gregory Freeburn, Michelle H. Rosen, Fatma Zeynep Temel, S. N. Patek, and Robert J. Wood
Journal Article, Proceedings of the National Academy of Sciences, Vol. 118, No. 33, August, 2021
Deep relightable appearance models for animatable faces
Sai Bi, Stephen Lombardi, Shunsuke Saito, Tomas Simon, Shih-En Wei, Kevyn Mcphail, Ravi Ramamoorthi, Yaser Sheikh, and Jason Saragih
Journal Article, ACM Transactions on Graphics (TOG), Vol. 40, No. 4, August, 2021
Detecting Generalized Replay Attacks via Time-Varying Dynamic Watermarking
M. Porter, P. Hespanhol, M. Johnson-Roberson, A. Aswani, and R. Vasudevan
Journal Article, IEEE Transactions on Automatic Control, Vol. 66, No. 8, pp. 3502 - 3517, August, 2021
Driving-signal aware full-body avatars
Timur Bagautdinov, Chenglei Wu, Tomas Simon, Fabian Prada, Takaaki Shiratori, Shih-En Wei, Weipeng Xu, Yaser Sheikh, and Jason Saragih
Journal Article, ACM Transactions on Graphics (TOG), Vol. 40, No. 4, August, 2021
Good and bad boundaries in ultrasound compounding: preserving anatomic boundaries while suppressing artifacts
Alex Ling Yu Hung and John Galeotti
Journal Article, International Journal of Computer Assisted Radiology and Surgery, August, 2021
PSE-Match: A Viewpoint-free Place Recognition Method with Parallel Semantic Embedding
Peng Yin, Lingyun Xu, Anton Egorov, and Bing Li
Journal Article, IEEE Transactions on Intelligent Transportation Systems, August, 2021
Real-time 3D neural facial animation from binocular video
Chen Cao, Vasu Agrawal, F. De la Torre, Lele Chen, Jason M. Saragih, Tomas Simon, and Yaser Sheikh
Journal Article, ACM Transactions on Graphics (TOG), Vol. 40, No. 4, August, 2021
Smart Skin: Vision-Based Soft Pressure Sensing System for In-Home Hand Rehabilitation
Yuanfeng Han, Aadith Varadarajan, Taekyoung Kim, Gang Zheng, Kris Kitani, Aisling Kelliher, Thanassis Rikakis, and Yong-Lae Park
Journal Article, Soft Robotics, August, 2021
SocNavBench: A Grounded Simulation Testing Framework for Evaluating Social Navigation
Abhijat Biswas, Allan Wang, Gustavo Silvera, Aaron Steinfeld, and Henny Admoni
Journal Article, ACM Transactions on Human-Robot Interaction (THRI), August, 2021
ULSD: Unified line segment detection across pinhole, fisheye, and spherical cameras
Hao Li, Huai Yu, Jinwang Wang, Wen Yang, Lei Yu, and Sebastian Scherer
Journal Article, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 178, pp. 187 - 202, August, 2021
Multi-Echo 3D Object Detection
Yunze Man
Master's Thesis, Tech. Report, CMU-RI-TR-21-39, Robotics Institute, Carnegie Mellon University, July, 2021
On Combining Reinforcement Learning & Adversarial Training
Ankur Deka
Master's Thesis, Tech. Report, CMU-RI-TR-21-32, Robotics Institute, Carnegie Mellon University, July, 2021
Visual Identification of Articulated Object Parts
Vicky Zeng, Tabitha Edith Lee, Jacky Liang, and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 2021
Learning Mental Models of Experts in a Simulated Search and Rescue Scenario
Rohit Jena
Master's Thesis, Tech. Report, CMU-RI-TR-21-34, Robotics Institute, Carnegie Mellon University, July, 2021
Data-Efficient Behavior Prediction for Safe Human-Robot Collaboration
Ruixuan Liu
Master's Thesis, Tech. Report, CMU-RI-TR-21-30, Robotics Institute, Carnegie Mellon University, July, 2021
Provably Constant-Time Motion Planning
Fahad Islam
PhD Thesis, Tech. Report, CMU-RI-TR-21-25, Robotics Institute, Carnegie Mellon University, July, 2021
Towards Explainable Embodied AI
Vidhi Jain
Master's Thesis, Tech. Report, CMU-RI-TR-21-31, Robotics Institute, Carnegie Mellon University, July, 2021
BusEdge: Efficient Live Video Analytics for Transit Buses via Edge Computing
Canbo Ye
Master's Thesis, Tech. Report, CMU-RI-TR-21-46, Robotics Institute, Carnegie Mellon University, July, 2021
Towards Safe and Resilient Autonomy in Multi-Robot Systems
Wenhao Luo
PhD Thesis, Tech. Report, CMU-RI-TR-21-26, Robotics Institute, Carnegie Mellon University, July, 2021
Policy Decomposition: Approximate Optimal Control with Suboptimality Estimates
Ashwin Khadke and Hartmut Geyer
Conference Paper, Proceedings of IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids '20), pp. 185 - 192, July, 2021
A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation
Pragna Mannam, Avi Rudich, Kevin Zhang, Manuela Veloso, Oliver Kroemer, and F. Zeynep Temel
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021
Jerk-Minimized CILQR for Human-Like Driving on Two-Lane Roadway
Omid Jahanmahin, Qin Lin, Yanjun Pan, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IVS '21), pp. 1282 - 1289, July, 2021
TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments
Chao Cao, Hongbiao Zhu, Howie Choset, and Ji Zhang
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021
Traffic4D: Single View Reconstruction of Repetitious Activity Using Longitudinal Self-Supervision
Fangyu Li, N. Dinesh Reddy, Xudong Chen, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '21), July, 2021
Building The Foundation of Robot Explanation Generation Using Behavior Trees
Zhao Han, Daniel Giger, Jordan Allspaw, Michael S. Lee, Henny Admoni, and Holly A. Yanco
Journal Article, ACM Transactions on Human-Robot Interaction (THRI), Vol. 10, No. 3, July, 2021
Fast Bounded Suboptimal Probabilistic Planning with Clear Preferences on Missing Information
Ishani Chatterjee, Tushar Kusnur, and Maxim Likhachev
Conference Paper, Proceedings of 14th International Symposium on Combinatorial Search (SoCS '21), Vol. 12, No. 1, pp. 37 - 45, July, 2021
Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics
Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, and Daniel Goldman
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021
PC-MLP: Model-based Reinforcement Learning with Policy Cover Guided Exploration
Yuda Song and Wen Sun
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, pp. 9801 - 9811, July, 2021
Wait Wait, Nonverbally Tell Me: Legibility for Use in Restaurant Navigation
Ada Taylor, Ellie Mamantov, and Henny Admoni
Workshop Paper, RSS '21 2nd Workshop on Social Robot Navigation, July, 2021
3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors
Peng Yin, Lingyun Xu, Jianmin Ji, Sebastian Scherer, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 3, pp. 5953 - 5960, July, 2021
Exploring Non-Expert Robot Programming Through Crowdsourcing
Sanne van Waveren, Elizabeth J. Carter, Oscar Örnberg, and Iolanda Leite
Journal Article, Frontiers in Robotics and AI, July, 2021
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions
Peng Yin, Lingyun Xu, Ji Zhang, Howie Choset, and Sebastian Scherer
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021
PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling
Xinshuo Weng, Ye Yuan, and Kris Kitani
Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 3, pp. 4640 - 4647, July, 2021
Machine Teaching for Human Inverse Reinforcement Learning
Michael S. Lee, Henny Admoni, and Reid Simmons
Journal Article, Frontiers in Robotics and AI, June, 2021
Shelf-Supervised Mesh Prediction in the Wild
Yufei Ye, Shubham Tulsiani, and Abhinav Gupta
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 8843 - 8852, June, 2021
Learning 3D Registration and Reconstruction from the Visual World
Chen-Hsuan Lin
PhD Thesis, Tech. Report, CMU-RI-TR-21-13, Robotics Institute, Carnegie Mellon University, June, 2021
Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization
Dennis Melamed
Master's Thesis, Tech. Report, CMU-RI-TR-21-22, Robotics Institute, Carnegie Mellon University, June, 2021
Wide-Baseline Multi-Camera Calibration using Person Re-Identification
Yan Xu, Yu-Jhe Li, Xinshuo Weng, and Kris Kitani
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021
3D SLAM for Powered Lower Limb Prosthesis
Manan Shah
Master's Thesis, Tech. Report, CMU-RI-TR-21-21, Robotics Institute, Carnegie Mellon University, June, 2021
TesseTrack: End-to-End Learnable Multi-Person Articulated 3D Pose Tracking
N. Dinesh Reddy, Laurent Guigues, Leonid Pischulini, Jayan Eledath, and Srinivasa Narasimhan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021
Optimal Gradient Checkpoint Search for Arbitrary Computation Graphs
Jianwei Feng and Dong Huang
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021
How Do Adam and Training Strategies Help BNNs Optimization?
Zechun Liu, Zhiqiang Shen, Shichao Li, Koen Helwegen, Dong Huang, and Kwang-Ting Cheng
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, June, 2021
Anycost GANs for Interactive Image Synthesis and Editing
Ji Lin, Richard Zhang, Frieder Ganz, Song Han, and Jun-Yan Zhu
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021
Deadlock Analysis and Resolution for Multi-Robot Systems
Jaskaran Singh Grover, Changliu Liu, and Katia Sycara
Workshop Paper, 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR '21), pp. 294 - 312, June, 2021
Early Prediction of Children’s Disengagement in a Tablet Tutor Using Visual Features
Bikram Boote, Mansi Agarwal, and Jack Mostow
Conference Paper, Proceedings of International Conference on Artificial Intelligence in Education (AIED '21), pp. 98 - 103, June, 2021
Implicit HRTF Modeling Using Temporal Convolutional Networks
Israel D. Gebru, Dejan Markovic, Alexander Richard, Steven Krenn, Gladstone Butler, Fernando De la Torre, and Yaser Sheikh
Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP '21), pp. 3385 - 3389, June, 2021
Safe Local Motion Planning with Self-Supervised Freespace Forecasting
Peiyun Hu amd Aaron Huang, John Dolan, David Held, and Deva Ramanan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 12732 - 12741, June, 2021