Publications




T-HTN: Timeline based HTN Planning for Multi-Agent Systems
Viraj Parimi
Master's Thesis, Tech. Report, CMU-RI-TR-21-64, Robotics Institute, Carnegie Mellon University, August, 2021
The design of a compact laser scanner and an integrated simulation environment for smart manufacturing
Haowen Shi
Master's Thesis, Tech. Report, CMU-RI-TR-21-45, Robotics Institute, Carnegie Mellon University, August, 2021
Turning Behavior of Running Systems induced by Leg Placement
Aditya Sripada
Master's Thesis, Tech. Report, CMU-RI-TR-21-54, Robotics Institute, Carnegie Mellon University, August, 2021
Underground Representations for Robot Localization and Mapping
Alexander Baikovitz
Master's Thesis, Tech. Report, CMU-RI-TR-21-42, Robotics Institute, Carnegie Mellon University, August, 2021
Wind Farm Yaw Optimization and Real-Time Control Using Graph Neural Networks
Rockey Abram Hester V
Master's Thesis, Tech. Report, CMU-RI-TR-21-49, Robotics Institute, Carnegie Mellon University, August, 2021
Point Cloud Registration as a Classification Problem
Tejas Zodage
Master's Thesis, Tech. Report, CMU-RI-TR-21-47, Robotics Institute, Carnegie Mellon University, August, 2021
Towards Practical Ultrasound AI Across Real-World Patient Diversity
Edward Chen
Master's Thesis, Tech. Report, CMU-RI-TR-21-60, Robotics Institute, Carnegie Mellon University, August, 2021
Trust-Aware Behavior Reflection for Robot Swarm Self-Healing
Fan Jia
Master's Thesis, Tech. Report, CMU-RI-TR-21-41, Robotics Institute, Carnegie Mellon University, August, 2021
Ultrasound-based Needle Tracking and Lateral Manipulation Planning for Common Needle Steering
Wanwen Chen
Master's Thesis, Tech. Report, CMU-RI-TR-21-36, Robotics Institute, Carnegie Mellon University, August, 2021
Design of a Multimodal System for Social Emotional Learning in Early Childhood Classrooms
Michael Tasota
Master's Thesis, Tech. Report, CMU-RI-TR-21-50, Robotics Institute, Carnegie Mellon University, August, 2021
Exemplar-Free Video Retrieval
Phani Krishna Uppala
Master's Thesis, Tech. Report, CMU-RI-TR-21-56, Robotics Institute, Carnegie Mellon University, August, 2021
Towards Self-supervised Object Discovery and Tracking
Yiming Zuo
Master's Thesis, Tech. Report, CMU-RI-TR-21-28, Robotics Institute, Carnegie Mellon University, August, 2021
Adaptive and Efficient Models for Intent Recognition
Tejus Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-21-51, Robotics Institute, Carnegie Mellon University, August, 2021
On Visual-Aided LiDAR-Inertial Odometry System in Challenging Subterranean Environments
Hengrui Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-21-35, Robotics Institute, Carnegie Mellon University, August, 2021
Understanding and Mitigating Biases in Evaluation
Jingyan Wang
PhD Thesis, Tech. Report, CMU-RI-TR-21-48, Robotics Institute, Carnegie Mellon University, August, 2021
Angle-Regulated Transformer Network for Pedestrian Trajectory Prediction
Xiaoxiao Du, Neha Pusalkar, Ram Vasudevan, and M. Johnson-Roberson
Workshop Paper, IJCAI '21 Artificial Intelligence for Autonomous Driving Workshop (AI4AD '21), August, 2021
Anytime Multi-Agent Path Finding via Large Neighborhood Search
Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey, and Sven Koenig
Conference Paper, Proceedings of 30th International Joint Conference on Artificial Intelligence (IJCAI '21), pp. 4127 - 4135, August, 2021
Coupling Intent and Action for Pedestrian Crossing Behavior Prediction
Yu Yao, Ella Atkins, M. Johnson-Roberson, Ram Vasudevan, and Xiaoxiao Du
Conference Paper, Proceedings of 30th International Joint Conference on Artificial Intelligence (IJCAI '21), pp. 1238 - 1244, August, 2021
Deep Interpretable Models of Theory of Mind
Ini Oguntola, Dana Hughes, and Katia Sycara
Conference Paper, Proceedings of 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN '21), pp. 657 - 664, August, 2021
Multi-objective Path-based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Workshop Paper, ICAPS '21 9th Workshop on Planning and Robotics (PLANROB '21), August, 2021
Transfer Learning for Human Navigation and Triage Strategies Prediction in a Simulated Urban Search and Rescue Task
Yue Guo, Rohit Jena, Dana Hughes, Michael Lewis, and Katia Sycara
Conference Paper, Proceedings of 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN '21), pp. 784 - 791, August, 2021
Mutual Information Maps for Single and Multi-Target Ergodic Search
Howard Coffin
Master's Thesis, Tech. Report, CMU-RI-TR-21-62, Robotics Institute, Carnegie Mellon University, August, 2021
Activity Detection in Untrimmed Surveillance Videos
Seunghwan Cha
Master's Thesis, Tech. Report, CMU-RI-TR-21-61, Robotics Institute, Carnegie Mellon University, August, 2021
Semantic Mapping for Autonomous Navigation and Exploration
Daniel Maturana
PhD Thesis, Tech. Report, CMU-RI-TR-21-55, August, 2021
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