Publications




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
Soft actuators by electrochemical oxidation of liquid metal surfaces
Jiahe Liao and Carmel Majidi
Journal Article, Soft Matter, Vol. 17, No. 7, pp. 1921 - 1928, February, 2021
Soft magnetic skin for super-resolution tactile sensing with force self-decoupling
Youcan Yan, Zhe Hu, Zhengbao Yang, Wenzhen Yuan, Chaoyang Song, Jia Pan, and Yajing Shen
Journal Article, Science Robotics, Vol. 6, No. 51, February, 2021
Simulating Performance of a Dual Angle Particle Monitor for Atmospheric Particulate Matter
Charles Litton, Aranya Venkatesh, Jill Andersen, Dömötör Gulyás, Sara Longo, Chris Bartley, and Illah Nourbakhsh
Journal Article, Aerosol and Air Quality Research, Vol. 21, No. 5, January, 2021
Unsupervised Learning of the 4D Audio-Visual World from Sparse Unconstrained Real-World Samples
Aayush Bansal
PhD Thesis, Tech. Report, CMU-RI-TR-21-02, Robotics Institute, Carnegie Mellon University, January, 2021
Expressive Real-time Intersection Scheduling: New Methods for Adaptive Traffic Signal Control
Rick Goldstein
PhD Thesis, Tech. Report, CMU-RI-TR-21-01, Robotics Institute, Carnegie Mellon University, January, 2021
Now You See It: The Effect of Multiple Audience Perspectives on Path Legibility
Ada Taylor and Henny Admoni
Workshop Paper, IJCAI '20 2nd Workshop on AIxFood, January, 2021
Learning Shape Representations for Person Re-Identification under Clothing Change
Yu-Jhe Li, Xinshuo Weng, and Kris Kitani
Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '21), pp. 2432 - 2441, January, 2021
Iterative-Deepening Conflict-Based Search
Eli Boyarski, Ariel Felner, Daniel Harabor, Peter J. Stuckey, Liron Cohen, Jiaoyang Li, and Sven Koenig
Conference Paper, Proceedings of 29th International Joint Conference on Artificial Intelligence (IJCAI '20), pp. 4084 - 4090, January, 2021
LT-GAN: Self-Supervised GAN With Latent Transformation Detection
Parth Patel, Nupur Kumari, Mayank Singh, and Balaji Krishnamurthy
Conference Paper, Proceedings of IEEE/CVF Winter Conference on Applications of Computer Vision (WACV '21), pp. 3189 - 3198, January, 2021
Multi-Directional Heuristic Search
Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf Shperberg, Nathan Sturtevant, and Sven Koenig
Conference Paper, Proceedings of 29th International Joint Conference on Artificial Intelligence (IJCAI '20), pp. 4062 - 4068, January, 2021
Integration of Fully-Actuated Multirotors into Real-World Applications
Keipour A, Mousaei M, Ashley A, and Scherer S
Journal Article, arXiv preprint arXiv:2011. 06666, 2021
Model-based real-time robust controller for a small helicopter
He M, He J, and Scherer S
Journal Article, Mechanical Systems and Signal Processing, Vol. 146, pp. 107022, 2021
TartanVO: A Generalizable Learning-based VO
Wang W, Hu Y, and Scherer S
Conference Paper, Proceedings of the 2020 Conference on Robot Learning, Vol. 155, pp. 1761-1772, 2021
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms
Oliver Kroemer, Scott Niekum, and George Konidaris
Journal Article, Journal of Machine Learning Research, Vol. 22, No. 30, pp. 1 - 82, 2021
Deep Survival Machines: Fully Parametric Survival Regression and Representation Learning for Censored Data with Competing Risks
Chirag Nagpal, Xinyu Rachel Li, and Artur Dubrawski
Journal Article, IEEE Journal of Biomedical and Health Informatics, 2021
Planning With Attitude
Brian E. Jackson, Kevin Tracy, and Zachary Manchester
Journal Article, IEEE Robotics and Automation Letters, 2021
Technology to Make Signalized Intersections Safer for Pedestrians with Disabilities
Govindarajan Vadakpat, Stephen F. Smith, Zachary B. Rubinstein, and M. Bernardine Dias
Journal Article, Public Roads, Vol. 84, No. 4, 2021
Constraint-Based Coverage Path Planning: A Novel Approach to Achieving Energy-Efficient Coverage
Christopher Krzysztof Tomaszewski
PhD Thesis, Tech. Report, CMU-RI-TR-20-60, Robotics Institute, Carnegie Mellon University, December, 2020
Towards Interpretable Reinforcement Learning: Interactive Visualizations to Increase Insight
Shuby Deshpande
Master's Thesis, Tech. Report, CMU-RI-TR-20-61, Robotics Institute, Carnegie Mellon University, December, 2020
Learning Cyber-Physical Models of Resuscitation
Mayra Melendez
Master's Thesis, Tech. Report, CMU-RI-TR-20-62, Robotics Institute, Carnegie Mellon University, December, 2020
Pilot Results of a Digital Manipulative for Elementary Mathematics
Jennifer Cross, Bambi Brewer, Emily Hamner, Lauren Zito, Samantha Speer, and Michael Tasota
Conference Paper, Proceedings of American Educational Research Association Annual Meeting (AERA '20), December, 2020
Multi-agent Deception in Attack-Defense Stochastic Game
Xueting Li
Master's Thesis, Tech. Report, CMU-RI-TR-20-59, Robotics Institute, Carnegie Mellon University, December, 2020
3D Face Reconstruction from Monocular Video and its Applications In the Wild
Rohith Krishnan Pillai
Master's Thesis, Tech. Report, CMU-RI-TR-20-58, Robotics Institute, Carnegie Mellon University, December, 2020
Fine-Tuning Offline Reinforcement Learning with Model-Based Policy Optimization
Adam Villaflor, John M. Dolan, and Jeff Schneider
Workshop Paper, NeurIPS '20 Offline Reinforcement Learning Workshop, December, 2020
Learning Embeddings that Capture Spatial Semantics for Indoor Navigation
Vidhi Jain, Prakhar Agarwal, Shishir Patil, and Katia Sycara
Workshop Paper, NeurIPS '20 Workshop on Object Representations for Learning and Reasoning, December, 2020
Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates
Wenhao Luo, Wen Sun, and Ashish Kapoor
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Learning to navigate in unseen cluttered structured environments
Vidhi Jain ad Ganesh Iyer and Katia Sycara
Workshop Paper, NeurIPS '20 WiML Virtual Workshop, December, 2020
Comprehensive Attention Self-Distillation for Weakly-Supervised Object Detection
Zeyi Huang, Yang Zou, Vijayakumar Bhagavatula, and Dong Huang
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis
Ye Yuan and Kris Kitani
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Addressing reward bias in Adversarial Imitation Learning with neutral reward functions
Rohit Jena, Siddharth Agrawal, and Katia Sycara
Workshop Paper, NeurIPS '20 Workshop on Deep Reinforcement Learning, December, 2020
Demystifying Contrastive Self-Supervised Learning: Invariances, Augmentations and Dataset Biases
Senthil Purushwalkam Shiva Prakash and Abhinav Gupta
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Differentiable Augmentation for Data-Efficient GAN Training
Shengyu Zhao, Zhijian Liu, Ji Lin, Jun-Yan Zhu, and Song Han
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World
Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, Vladimir Egorov, Dmitry Ivanov, Aleksei Shpilman, Evgenija Spirovska, Oliver Tanevski, Aleksandar Nikov, Ramon Grunder, David Galevski, Jakov Mitrovski, Guillaume Sartoretti, Zhiyao Luo, Mehul Damani, Nilabha Bhattacharya, Shivam Agarwal, Adrian Egli, Erik Nygren, and Sharada Mohanty
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, Vol. 133, pp. 275 - 301, December, 2020