Publications




Compositional and Scalable Object SLAM
Akash Sharma, Wei Dong, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 11626 - 11632, May, 2021
Do you See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography
Arthur Bucker, Rogerio Bonatti, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
HyperMap: Compressed 3D Map for Monocular Camera Registration
Ming-Fang Chang, Joshua G. Mangelson, Michael Kaess, and Simon Lucey
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 11739 - 11745, May, 2021
Joint Object Detection and Multi-Object Tracking with Graph Neural Networks
Yongxin Wang, Kris Kitani, and Xinshuo Weng
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models
Saumya Saxena, Alex LaGrassa, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, and Stuart Anderson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 13686 - 13692, May, 2021
Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives
Dhruv Mauria Saxena, Muhammad Suhail Saleem, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6570 - 6576, May, 2021
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 11560-11565, May, 2021
Multi-objective Conflict-based Search for Multi-agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8786 - 8791, May, 2021
Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Tushar Kusnur, Dhruv Mauria Saxena, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Tactile SLAM: Real-time Inference of Shape and Pose from Planar Pushing
Sudharshan Suresh, Maria Bauza, Kuan-Ting Yu, Joshua G. Mangelson, Alberto Rodriguez, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 11322 - 11328, May, 2021
Towards Robust Planar Translations using Delta-manipulator Arrays
Skye Thompson, Pragna Mannam, Zeynep Temel, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space
Daqian Cheng, Haowen Shi, Albert Xu, Michael Schwerin, Michelle Crivella, Lu Li, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5699 - 5705, May, 2021
π-LSAM: LiDAR Smoothing and Mapping With Planes
Lipu Zhou, Shengze Wang, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5751 - 5757, May, 2021
Multi-view NRSfM: Affordable Setup for High-Fidelity 3D Reconstruction
Mosam Dabhi
Master's Thesis, Tech. Report, CMU-RI-TR-21-12, Robotics Institute, Carnegie Mellon University, May, 2021
Dense Pixel-Labeling For Reverse-Transfer And Diagnostic Learning On Lung Ultrasound For Covid-19 And Pneumonia Detection
Gautam Rajendrakumar Gare, Andrew Schoenling, Vipin Philip, Hai V. Tran, Bennett P. deBoisblanc, Ricardo Luis Rodriguez, and John Michael Galeotti
Conference Paper, Proceedings of IEEE International Symposium on Biomedical Imaging (ISBI '21), May, 2021
Localization for Lunar Micro-Rovers
Haidar Jamal
Master's Thesis, Tech. Report, CMU-RI-TR-21-10, Robotics Institute, Carnegie Mellon University, May, 2021
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives
Murtaza Dalal, Deepak Pathak, and Ruslan Salakhutdinov
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, May, 2021
Efficient Model Performance Estimation via Feature Histories
Shengcao Cao
Master's Thesis, Tech. Report, CMU-RI-TR-21-09, Robotics Institute, Carnegie Mellon University, May, 2021
Incorporating Semantic Structure in SLAM
Akash Sharma
Master's Thesis, Tech. Report, CMU-RI-TR-21-18, Robotics Institute, Carnegie Mellon University, May, 2021
Introducing Generative Models to Facilitate Multi-Task Visual Learning
Zhipeng Bao
Master's Thesis, Tech. Report, CMU-RI-TR-21-15, Robotics Institute, Carnegie Mellon University, May, 2021
Predicting Human Trajectories by Learning and Matching Patterns
Dapeng Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-21-07, Robotics Institute, Carnegie Mellon University, May, 2021
High-Quality GPU-based Deliberative Perception for Object Pose Estimation with RGB data
Shanshan (Jessy) Xie
Master's Thesis, Tech. Report, CMU-RI-TR-21-11, Robotics Institute, Carnegie Mellon University, May, 2021
Open World Object Detection and Tracking
Achal Dave
PhD Thesis, Tech. Report, CMU-RI-TR-21-17, Robotics Institute, Carnegie Mellon University, May, 2021
Active Vision: Autonomous Aerial Cinematography with Learned Artistic Decision-Making
Rogerio Bonatti
PhD Thesis, Tech. Report, CMU-RI-TR-21-16, Robotics Institute, Carnegie Mellon University, May, 2021
Learning to Represent and Accurately Arrange Food Items
Steven Lee
Master's Thesis, Tech. Report, CMU-RI-TR-21-05, Robotics Institute, Carnegie Mellon University, May, 2021
Learning to Perceive and Manipulate Diverse Food Materials Through Interaction
Amrita Singh Sawhney
Master's Thesis, Tech. Report, CMU-RI-TR-21-06, Robotics Institute, Carnegie Mellon University, May, 2021
A Hierarchical Approach to Multi-Agent Path Finding
Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T. K. Satish Kumar, and Sven Koenig
Workshop Paper, ICAPS '21 Workshop on Hierarchical Planning (HPLAN), May, 2021
Conflict-Based Increasing Cost Search
Thayne Walker, Nathan R. Sturtevant, Han Zhang, Jiaoyang Li, Ariel Felner, and T. K. Satish Kumar
Conference Paper, Proceedings of 31th International Conference on Automated Planning and Scheduling (ICAPS '21), Vol. 31, pp. 385 - 395, May, 2021
Of Moments and Matching: A Game-Theoretic Framework for Closing the Imitation Gap
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, May, 2021
Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge
Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Daniel Harabor, Peter J. Stuckey, Hang Ma, and Sven Koenig
Conference Paper, Proceedings of 31th International Conference on Automated Planning and Scheduling (ICAPS '21), Vol. 31, pp. 477 - 485, May, 2021
Robotic Manipulation Primitives
Eric Huang
PhD Thesis, Tech. Report, CMU-RI-TR-21-14, Robotics Institute, Carnegie Mellon University, May, 2021
Graph-Based Topological Exploration Planning in Large-Scale 3D Environments
Yang F, Lee DH, Keller J, and Scherer S
Conference Paper, Proceedings - IEEE International Conference on Robotics and Automation, pp. 12730-12736, May, 2021
Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions
Sivaprakasam M, Triest S, Wang W, Yin P, and Scherer S
Conference Paper, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4844-4850, May, 2021
ALTRO-C: A Fast Solver for Conic Model-Predictive Control
Brian E. Jackson, Tarun Punnoose, Daniel Neamati, Kevin Tracy, Rianna Jitosho, and Zachary Manchester
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Broad Dataset and Methods for Counting and Localization of On-Ear Corn Kernels
Jennifer Anne Hobbs, Vachik Khachatryan, Barathwaj S. Anandan, Harutyun Hovhannisyan, and David Wilson
Journal Article, Frontiers in Robotics and AI, Vol. 8, May, 2021
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies
Tabitha Edith Lee, Jialiang Zhao, Amrita S. Sawhney, Siddharth Girdhar, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands
Jiatian Sun, Jonathan King, and Nancy Pollard
Journal Article, Frontiers in Robotics and AI: Research Topic: On the Planning, Control, and Perception of Soft Robotic End-Effectors, May, 2021
CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
Alexander Baikovitz, Paloma Sodhi, Michael Dille, and Michael Kaess
Workshop Paper, ICRA '21 Radar in Robotics Workshop, May, 2021
Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems
Sha Yi, Wenhao Luo, and Katia Sycara
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Energy-Optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles
Niankai Yang, Dongsik Chang, M. Johnson-Roberson, and Jing Sun
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 9928 - 9934, May, 2021
Formative Evaluation of MindfulNest: A Tangible User Interface for Emotion Regulation
Samantha Speer, Emily Hamner, Michael Tasota, Sarah K. Byrne-Houser, and Lauren Zito
Tech. Report, CMU-RI-TR-21-19, Robotics Institute, Carnegie Mellon University, May, 2021
Hierarchical Bayesian Framework For Bus Dwell Time Prediction
Isaac K. Isukapati, Conor Igoe, Eli Bronstein, Viraj Parimi, and Stephen F. Smith
Journal Article, IEEE Transactions on Intelligent Transportation Systems, Vol. 22, No. 5, pp. 3068 - 3077, May, 2021
Human–Autonomy Teaming: Definitions, Debates, and Directions
Joseph B. Lyons, Katia Sycara, Michael Lewis, and August Capiola
Journal Article, Frontiers in Psychology, Vol. 12, May, 2021
Interactive Weak Supervision: Learning Useful Heuristics for Data Labeling
Benedikt Boecking, Willie Neiswanger, Eric P. Xing, and Artur Dubrawski
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2021
Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems
Chendi Lin, Wenhao Luo, and Katia Sycara
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Priorities, Technology & Power: Co-Designing an Inclusive Transit Agenda in Kampala, Uganda
Lynn Kirabo, Elizabeth Jeanne Carter, Devon Barry, and Aaron Steinfeld
Conference Paper, Proceedings of CHI Conference on Human Factors in Computing Systems (CHI '21), May, 2021
Probabilistic Safety-Assured Adaptive Merging Control for Autonomous Vehicles
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
PuzzleBots: Physical Coupling of Robot Swarms
Sha Yi, Zeynep Temel, and Katia Sycara
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Towards Real-time Semantic RGB-D SLAM in Dynamic Environments
Tete Ji, Chen Wang, and Lihua Xie
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021