Publications - Robotics Institute Carnegie Mellon University

Unsupervised Audiovisual Synthesis via Exemplar Autoencoders

Kangle Deng, Aayush Bansal, and Deva Ramanan

Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2021

Multi-Session Periodic SLAM for Legged Robots

Master's Thesis, Tech. Report, CMU-RI-TR-21-04, Robotics Institute, Carnegie Mellon University, April, 2021

Context-sensitive, distributed, multi-domain adaptive option generation

M. K. Schneider, L. Barbulescu, L. Batlle-Rafferty, M. Cook, T. Kapler, M. Loppie, E. Pelletier, Z. Rubinstein, S. Smith, and D. Javorsek

Conference Paper, Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications III, Vol. 11746, April, 2021

Anchor Distance for 3D Multi-Object Distance Estimation from 2D Single Shot

Hyeonwoo Yu and Jean Oh

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 3405 - 3412, April, 2021

BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimation

Yu Yao, Ella Atkins, M. Johnson-Roberson, Ram Vasudevan, and Xiaoxiao Du

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 1463 - 1470, April, 2021

Carnegie Mellon Team Tartan: Mission-level Robustness with Rapidly Deployed Autonomous Aerial Vehicles in the MBZIRC 2020

Anish Bhattacharya, Akshit Gandhi, Lukas Merkle, Rohan Tiwari, Karun Warrior, Stanley Winata, Andrew Saba, Kevin Zhang, Oliver Kroemer, and Sebastian Scherer

Journal Article, Journal of Field Robotics, April, 2021

Explosion Discrimination Using Seismic Gradiometry and Spectral Filtering of Data

Cristian Challu, Christian Poppeliers, Predrag Punosevac, and Artur Dubrawski

Journal Article, Bulletin of the Seismological Society of America, April, 2021

FusionVLAD: A Multi-View Deep Fusion Networks for Viewpoint-Free 3D Place Recognition

Peng Yin, Lingyun Xu, Ji Zhang, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 2304 - 2310, April, 2021

Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment

Han Wang, Chen Wang, and Lihua Xie

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 1715 - 1721, April, 2021

Lightweight 3-D Localization and Mapping for Solid-State LiDAR

Han Wang, Chen Wang, and Lihua Xie

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 1801 - 1807, April, 2021

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning

Simon Lecleach, Mac Schwager, and Zachary Manchester

Journal Article, IEEE Robotics and Automation Letters, April, 2021

Noticing Motion Patterns: Temporal CNN with a Novel Convolution Operator for Human Trajectory Prediction

Dapeng Zhao and Jean Oh

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 628 - 634, April, 2021

Point Set Voting for Partial Point Cloud Analysis

Junming Zhang, Weijia Chen, Yuping Wang, Ram Vasudevan, and M. Johnson-Roberson

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 596 - 603, April, 2021

Policy Blending and Recombination for Multimodal Contact-Rich Tasks

Tetsuya Narita and Oliver Kroemer

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 2721 - 2728, April, 2021

Programmable Non-Epipolar Indirect Light Transport: Capture and Analysis

H. Kubo, S. Jayasuriya, T. Iwaguchi, T. Funatomi, Y. Mukaigawa, and S. G. Narasimhan

Journal Article, IEEE Transactions on Visualization and Computer Graphics, Vol. 27, No. 4, pp. 2421 - 2436, April, 2021

Reconstruction of Backbone Curves for Snake Robots

Tianyu Wang, Bo Lin, Baxi Zhong, Julian Whitman, Matthew Travers, Daniel Goldman, Grigoriy Blekherman, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 3264 - 3270, April, 2021

Vision-Based Self-Assembly for Modular Multirotor Structures

Yehonathan Litman, Neeraj Gandhi, Linh Thi Xuan Phan, and David Saldaña

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 2202 - 2208, April, 2021

Weakly-Supervised Learning of Category-specific 3D Object Shapes

J. Han, Y. Yang, D. Zhang, D. Huang, D. Xu, and F. De la Torre

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 43, No. 4, pp. 1423 - 1437, April, 2021

WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection

Teresa A. Kent, Suhan Kim, Gabriel Kornilowicz, Wenzhen Yuan, Mitra J. Z. Hartmann, and Sarah Bergbreiter

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 3357 - 3364, April, 2021

Robust Manipulation with Active Compliance

Yifan Hou

PhD Thesis, Tech. Report, CMU-RI-TR-21-03, Robotics Institute, Carnegie Mellon University, March, 2021

All photon analysis of ultrasonically sculpted virtual optical waveguides using a custom-designed physics-based renderer

Matteo Giuseppe Scopelliti, Adithya Kumar Pediredla, Hengji Huang, Yasin Karimi, Srinivasa G. Narasimhan, Ioannis Gkioulekas, and Maysamreza Chamanzar

Conference Paper, Proceedings of SPIE Photons Plus Ultrasound: Imaging and Sensing, Vol. 11642, March, 2021

Axon Arbor Trade-off Between Wiring Cost, Delay, and Synchronization in Neuronal Networks

Quanying Liu, Christian Kurniawan, Chenxi Xu, Siddhant Jagtap, Xiyu Deng, Kexin Lou, Yong Sheng Soh, and Yorie Nakahira

Conference Paper, Proceedings of 55th Annual Conference on Information Sciences and Systems (CISS '21), March, 2021

Charting Sequential Person Transfers Between Devices, Agents, and Robots

Xiang Zhi Tan, Michal Luria, Aaron Steinfeld, and Jodi Forlizzi

Conference Paper, Proceedings of 16th ACM/IEEE International Conference on Human-Robot Interaction (HRI '21), pp. 43 - 52, March, 2021

Co-designing Socially Assistive Sidekicks for Motion-based AAC

Stephanie Valencia, Michal Luria, Amy Pavel, Jeffrey P. Bigham, and Henny Admoni

Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '21), pp. 24 - 33, March, 2021

Flailing, Hailing, Prevailing: Perceptions of Multi-Robot Failure Recovery Strategies

Samantha Reig, Elizabeth J. Carter, Terrence W. Fong, Jodi Forlizzi, and Aaron Steinfeld

Conference Paper, Proceedings of 16th ACM/IEEE International Conference on Human-Robot Interaction (HRI '21), pp. 158 - 167, March, 2021

Nematode omega turns improve reorientation in a limbless robot

Tianyu Wang, Baxi Chong, Kelimar Diaz, Julian Whitman, Hang Lu, Daniel Goldman, and Howie Choset

Conference Paper, Proceedings of APS March Meeting: Session R14: Robophysics: Robotics Meets Physics III: Limbless & Collective Locomotion, March, 2021

Perception of Emotion in Torso and Arm Movements on Humanoid Robot Quori

Roshni Kaushik and Reid Simmons

Conference Paper, Proceedings of Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction (HRI '21 Companion), pp. 62 - 66, March, 2021

3D Human Pose, Shape and Texture from Low-Resolution Images and Videos

Xiangyu Xu, Hao Chen, Francesc Moreno-Noguer, Laszlo A. Jeni, and Fernando De la Torre

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, March, 2021

An electrically conductive silver–polyacrylamide–alginate hydrogel composite for soft electronics

Yunsik Ohm, Chengfeng Pan, Michael J. Ford, Xiaonan Huang, Jiahe Liao, and Carmel Majidi

Journal Article, Nature Electronics, Vol. 4, No. 3, pp. 185 - 192, March, 2021

Computational Nanosatellite Constellations: Opportunities and Challenges

Brandon Lucia, Brad Denby, Zachary Manchester, Harsh Desai, Emily Ruppel, and Alexei Colin

Journal Article, GetMobile: Mobile Computing and Communications, Vol. 25, No. 1, pp. 16 - 23, March, 2021

Contact Localization for Robot Arms in Motion without Torque Sensing

Jacky Liang and Oliver Kroemer

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, March, 2021

Extending the focal distance without sacrificing the spatial resolution using virtual ultrasonic optical waveguides

Matteo Giuseppe Scopelliti, Hengji Huang, Adithya Pediredla, Srinivasa G. Narasimhan, Ioannis Gkioulekas, and Maysamreza Chamanzar

Conference Paper, Proceedings of SPIE Photons Plus Ultrasound: Imaging and Sensing, Vol. 11642, March, 2021

Generalizing Object-Centric Task-Axes Controllers using Keypoints

Mohit Sharma and Oliver Kroemer

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, March, 2021

Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight

Ramkumar Natarajan, Howie Choset, and Maxim Likhachev

Journal Article, IEEE Robotics and Automation Letters, March, 2021

Leveraging tangible interfaces in primary school math: Pilot testing of the Owlet math program

Lauren Zito, Jennifer L. Cross, Bambi Brewer, Samantha Speer, Michael Tasota, Emily Hamner, Molly Johnson, Tom Lauwers, and Illah Nourbakhsh

Journal Article, International Journal of Child-Computer Interaction: Special Issue on Frontiers of Interaction Design and Children (IDC '20), Vol. 27, March, 2021

Planning and Monitoring Multi-Job Type Swarm Search and Service Missions

Meghan Chandarana, Dana Hughes, Michael Lewis, Katia Sycara, and Sebastian Scherer

Journal Article, Journal of Intelligent & Robotic Systems, Vol. 101, No. 3, March, 2021

Adaptive Agent Architecture for Real-time Human-Agent Teaming

Tianwei Ni, Huao Li, Siddharth Agrawal, Suhas Raja, Fan Jia, Yikang Gui, Dana Hughes, Michael Lewis, and Katia Sycara

Workshop Paper, AAAI '21 W20: Workshop on Plan, Activity, and Intent Recognition (PAIR '21), February, 2021

EECBS: Bounded-Suboptimal Search for Multi-Agent Path Finding

Jiaoyang Li, Wheeler Ruml, and Sven Koenig

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 12353 - 12362, February, 2021

Inverse Reinforcement Learning with Explicit Policy Estimates

Navyata Sanghvi, Shinnosuke Usami, Mohit Sharma, Joachim Groeger, and Kris Kitani

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 8398 - 8400, February, 2021

Lifelong Multi-Agent Path Finding in Large-Scale Warehouses

Jiaoyang Li, Andrew Tinka, Scott Kiesel, Joseph W. Durham, T. K. Satish Kumar, and Sven Koenig

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 11272 - 11281, February, 2021

Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances

Jingkai Chen, Jiaoyang Li, Chuchu Fan, and Brian Williams

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 11237 - 11245, February, 2021

Symmetry Breaking for k-Robust Multi-Agent Path Finding

Zhe Chen, Daniel Harabor, Jiaoyang Li, and Peter J. Stuckey

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 12267 - 12274, February, 2021

CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models

Anirudh Vemula, J. Andrew Bagnell, and Maxim Likhachev

Conference Paper, Proceedings of 35th AAAI Conference on Artificial Intelligence (AAAI '21), pp. 6147 - 6155, February, 2021

Fast Sequence-matching Enhanced Viewpoint-invariant 3D Place Recognition

Peng Yin, Fuying Wang, Anton Egorov, Jiafan Hou, Zhenzhong Jia, and Jianda Han

Journal Article, IEEE Transactions on Industrial Electronics, February, 2021

Accuracy of identifying hospital acquired venous thromboembolism by administrative coding: implications for big data and machine learning research

Tiffany Pellathy, Melissa Saul, Gilles Clermont, Artur W. Dubrawski, Michael R. Pinsky, and Marilyn Hravnak

Journal Article, Journal of Clinical Monitoring and Computing, Vol. 35, No. 1, February, 2021

ALFA: A dataset for UAV fault and anomaly detection

Azarakhsh Keipour, Mohammadreza Mousaei, and Sebastian Scherer

Journal Article, International Journal of Robotics Research, Vol. 40, No. 2, pp. 515 - 520, February, 2021

Efficient Large-Scale Multi-Drone Delivery using Transit Networks

Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, and Marco Pavone

Journal Article, Journal of Artificial Intelligence Research, Vol. 70, pp. 757 - 788, February, 2021

Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras

Manash Pratim Das, Larry H. Matthies, and Shreyansh Daftry

Journal Article, IEEE Robotics and Automation Letters, February, 2021

Perceptions of Agent Loyalty with Ancillary Users

Samantha Reig, Elizabeth Jeanne Carter, Xiang Zhi Tan, Aaron Steinfeld, and Jodi Forlizzi

Journal Article, International Journal of Social Robotics, February, 2021

Rain Rendering for Evaluating and Improving Robustness to Bad Weather

Maxime Tremblay, Shirsendu Sukanta Halder, Raoul de Charette, and Jean-Francois Lalonde

Journal Article, International Journal of Computer Vision: Special Issue on Computer Vision for All Seasons: Adverse Weather and Lighting Conditions, Vol. 129, No. 2, pp. 341 - 360, February, 2021