Publications




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
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
Hans Kumar
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