Publications




SimPoE: Simulated Character Control for 3D Human Pose Estimation
Ye Yuan, Shih-En Wei, Tomas Simon, Kris Kitani, and Jason Saragih
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021
Probabilistic Safe Adaptive Merging Control for Autonomous Vehicles Under Motion Uncertainty
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Workshop Paper, Safe Robot Control with Learned Motion and Environment Models, June, 2021
A roadmap for planetary caves science and exploration
Timothy N. Titus, J. Judson Wynne, Michael J. Malaska, Ali-akbar Agha-Mohammadi, Peter B. Buhler, E. Calvin Alexander, James W. Ashley, Armando Azua-Bustos, Penelope J. Boston, Debra L. Buczkowski, Leroy Chiao, Glen E. Cushing, John DeDecker, Pablo de León, Cansu Demirel-Floyd, Jo De Waele, Alberto G. Fairén, Amos Frumkin, Gary L. Harris, Heather Jones, Laura H. Kerber, Erin J. Leonard, Richard J. Léveillé, Kavya Manyapu, Matteo Massironi, Ana Z. Miller, John E. Mylroie, Bogdan P. Onac, Scott Parazynski, Cynthia B. Phillips, Charity M. Phillips-Lander, Thomas H. Prettyman, Haley M. Sapers, Francesco Sauro, Norbert Schorghofer, Dirk Schulze-Makuch, Jennifer E. Scully, Kyle Uckert, Robert V. Wagner, William L. Whittaker, Kaj E. Williams, and Uland Y. Wong
Journal Article, Nature Astronomy, Vol. 5, pp. 524 - 525, June, 2021
A Soft Resistive Sensor with a Semicircular Cross-Sectional Channel for Soft Cardiac Catheter Ablation
Eric Rasmussen, Daniel Guo, Vybhav Murthy, Rachit Mishra, Cameron Riviere, and Carmel Majidi
Journal Article, Sensors, Vol. 21, No. 12, pp. 4130 - 4131, June, 2021
Autonomous Vehicle Motion Planning via Recurrent Spline Optimization
Wenda Xu, Qian Wang, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7730 - 7736, June, 2021
Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning
Zhiqian Qiao, Jeff Schneider, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2667 - 2673, June, 2021
Coronary Vessel Detection Methods for Organ-Mounted Robots
Eric T. Rasmussen, Eric C. Shiao, Lee Zourelias, M. Scott Halbreiner, Michael J. Passineau, Srinivas Murali, and Cameron N. Riviere
Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, June, 2021
ENCODE: a dEep poiNt Cloud ODometry nEtwork
Yihuan Zhang, Liang Wang, Chen Fu, Yifan Dai, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 14375 - 14381, June, 2021
Exploiting Uncertainty in Triangulation Light Curtains for Object Tracking and Depth Estimation
Yaadhav Raaj
Master's Thesis, Tech. Report, CMU-RI-TR-21-08, Robotics Institute, Carnegie Mellon University, June, 2021
In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery
Thiago A. Rodrigues, Jay Patrikar, Arnav Choudhry, Jacob Feldgoise, Vaibhav Arcot, Aradhana Gahlaut, Sophia Lau, Brady Moon, Bastian Wagner, H. Scott Matthews, Sebastian Scherer, and Constantine Samaras
Journal Article, Scientific Data, Vol. 8, June, 2021
Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios
Christoph Killing, Adam Villaflor, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8090 - 8096, June, 2021
Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion
Chen Fu, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 14127 - 14133, June, 2021
Scheduling for multi-robot routing with blocking and enabling constraints
Jayanth Krishna Mogali, Joris Kinable, Stephen F. Smith, and Zachary B. Rubinstein
Journal Article, Journal Of Scheduling, Vol. 24, No. 3, pp. 291 - 318, June, 2021
CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model
Arnav Choudhry, Brady Moon, Jay Patrikar, Constantine Samaras, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
Exploring Large and Complex Environments Fast and Efficiently
Chao Cao, Hongbiao Zhu, Howie Choset, and Ji Zhang
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences
Montiel Abello, Joshua G. Mangelson, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 9565 - 9571, May, 2021
Batteries, camera, action! Learning a semantic control space for expressive robot cinematography
Rogerio Bonatti, Arthur Bucker, Sebastian Scherer, Mustafa Mukadam, and Jessica Hodgins
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2021
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