Publications




A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang, Mohit Sharma, Jacky Liang, and Oliver Kroemer
Tech. Report, November, 2020
Lyapunov Barrier Policy Optimization
Harshit Sikchi, Wenxuan Zhou, and David Held
Workshop Paper, NeurIPS '20 Deep Reinforcement Learning Workshop, November, 2020
A model for the transfer of control from the brain to the spinal cord through synaptic learning
Preeti Sar and Hartmut Geyer
Journal Article, Journal of Computational Neuroscience, Vol. 48, No. 4, pp. 365 - 375, November, 2020
Controlled Assembly of Liquid Metal Inclusions as a General Approach for Multifunctional Composites
Michael J. Ford, Dinesh K. Patel, Chengfeng Pan, Sarah Bergbreiter, and Carmel Majidi
Journal Article, Advanced Materials, Vol. 32, No. 46, November, 2020
DLT-Net: Joint Detection of Drivable Areas, Lane Lines, and Traffic Objects
Yeqiang Qian, John M. Dolan, and Ming Yang
Journal Article, IEEE Transactions on Intelligent Transportation Systems, Vol. 21, No. 11, pp. 4670 - 4679, November, 2020
Line-based 2D-3D Registration and Camera Localization in Structured Environments
Huai Yu, Weikun Zhen, Wen Yang, and Sebastian Scherer
Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 69, No. 11, pp. 8962 - 8972, November, 2020
Smell Pittsburgh: Engaging Community Citizen Science for Air Quality
Yen-Chia Hsu, Jennifer Cross, Paul Dille, Michael Tasota, Beatrice Dias, Randy Sargent, Ting-Hao (Kenneth) Huang, and Illah Nourbakhsh
Conference Paper, Proceedings of ACM Transactions on Interactive Intelligent Systems (TIIS), Vol. 10, No. 4, November, 2020
Snow plow route optimization: A constraint programming approach
Joris Kinable, Willem-Jan van Hoeve, and Stephen F. Smith
Journal Article, IISE Transactions, November, 2020
Teaching with robotics: creating and implementing integrated units in middle school subjects
Debra Bernstein, Karen Mutch-Jones, Michael Cassidy, and Emily Hamner
Journal Article, Journal of Research on Technology in Education, November, 2020
Ergodic Trajectory Optimization for Information Gathering
Kevin Edelson
Master's Thesis, Tech. Report, CMU-RI-TR-20-55, Robotics Institute, Carnegie Mellon University, October, 2020
Adaptive Informative Sampling with Environment Partitioning for Heterogeneous Multi-Robot Systems
Yunfei Shi, Ning Wang, Jianmin Zheng, Yang Zhang, Sha Yi, Wenhao Luo, and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11718 - 11723, October, 2020
Minimally Disruptive Connectivity Enhancement for Resilient Multi-Robot Teams
Wenhao Luo, Nilanjan Chakraborty, and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11809 - 11816, October, 2020
Single Camera Worker Detection, Tracking and Action Recognition in Construction Site
Hiroaki Ishioka, Xinshuo Weng, Yunze Man, and Kris Kitani
Conference Paper, Proceedings of 37th International Symposium on Automation and Robotics in Construction (ISARC '20), pp. 653 - 660, October, 2020
3D Multi-Object Tracking: A Baseline and New Evaluation Metrics
Xinshuo Weng, Jianren Wang, David Held, and Kris Kitani
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10359 - 10366, October, 2020
A Theory of Fermat Paths for 3D Imaging Sonar Reconstruction
Eric Westman, Ioannis Gkioulekas, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5082 - 5088, October, 2020
A Tunable Magnet-based Tactile Sensor Framework
Evan Harber, Evan Schindewolf, Vickie Webster-Wood, Howie Choset, and Lu Li
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
Hierarchical Reinforcement Learning Method for Autonomous Vehicle Behavior Planning
Zhiqian Qiao, Zachariah Tyree, Priyantha Mudalige, Jeff Schneider, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6084 - 6089, October, 2020
Learning Orientation Distributions for Object Pose Estimation
Brian Okorn, Mengyun Xu, Martial Hebert, and David Held
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10580 - 10587, October, 2020
Learning Skills to Patch Plans Based on Inaccurate Models
Alex LaGrassa, Steven Lee, and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9441 - 9448, October, 2020
Localization and Force-Feedback with Soft Magnetic Stickers for Precise Robot Manipulation
Tess Hellebrekers, Kevin Zhang, Manuela Veloso, Oliver Kroemer, and Carmel Majidi
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8867 - 8874, October, 2020
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
Huai Yu, Weikun Zhen, Wen Yang, Ji Zhang, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4588 - 4594, October, 2020
Online Visual Place Recognition via Saliency Re-identification
Han Wang, Chen Wang, and Lihua Xie
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5030 - 5036, October, 2020
SeqSphereVLAD: Sequence Matching Enhanced Orientation-invariant Place Recognition
Peng Yin, Fuying Wang, Anton Egorov, Jiafan Hou, Ji Zhang, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5024 - 5029, October, 2020
Sparse Discrete Communication Learning for Multi-Agent Cooperation Through Backpropagation
Benjamin Freed, Rohan James, Guillaume Sartoretti, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7993 - 7998, October, 2020
When We First Met: Visual-Inertial Person Localization for Co-Robot Rendezvous
Xi Sun, Xinshuo Weng, and Kris Kitani
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10408 - 10415, October, 2020
Wind and the City: Utilizing UAV-Based In-Situ Measurements for Estimating Urban Wind Fields
Jay Patrikar, Brady Moon, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1254 - 1260, October, 2020
Mars Rover Exploration Combining Remote and In Situ Measurements for Wide-Area Mapping
Alberto Candela, Kevin Edelson, and David Wettergreen
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Terrain Mapping and Pose Estimation for Polar Shadowed Regions of the Moon
Haidar Jamal, Vaibhav Gupta, Neil Khera, Srinivasan Vijayarangan, David S. Wettergreen, and William L. Whittaker
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Machine Learning Parallelism Could Be Adaptive, Composable and Automated
Hao Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-20-54, Robotics Institute, Carnegie Mellon University, October, 2020
Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset, and Scott D. Kelly
Conference Paper, Proceedings of ASME Dynamic Systems and Control Conference (DSCC '20), Vol. 2, October, 2020
A Compact and Infrastructure-free Confined Space Sensor for 3D Scanning and SLAM
Daqian Cheng, Haowen Shi, Michael Schwerin, Michelle Crivella, Lu Li, and Howie Choset
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
A Kalman estimation model of human trust in supervisory control of robotic swarms
Huao Li, Michael Lewis, and Katia Sycara
Conference Paper, Proceedings of Human Factors and Ergonomics Society 64th Annual Meeting (HFES '20), pp. 329 - 333, October, 2020
A Long-Term Evaluation of Adaptive Interface Design for Mobile Transit Information
Oscar J. Romero, Alexander Haig, Lynn Kirabo, Qian Yang, John Zimmerman, Anthony Tomasic, and Aaron Steinfeld
Conference Paper, Proceedings of 22nd International Conference on Human-Computer Interaction with Mobile Devices and Services (MobileHCI '20), October, 2020
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline
Joshua Jaekel, Joshua G. Mangelson, Sebastian A. Scherer, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4623 - 4630, October, 2020
A Tunable Magnet-based Tactile Sensor Framework
Evan Harber, Evan Schindewolf, Vickie Webster-Wood, Howie Choset, and Lu Li
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
A Whisker-inspired Fin Sensor for Multi-directional Airflow Sensing
Suhan Kim, Regan Kubicek, Aleix Paris, Andrea Tagliabue, Jonathan P. How, and Sarah Bergbreiter
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1330 - 1337, October, 2020
Allocating Limited Sensing Resources to Accurately Map Dynamic Environments
Derek Mitchell and Nathan Michael
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4706 - 4711, October, 2020
An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion
Zach J. Patterson, Andrew P. Sabelhaus, Keene Chin, Tess Hellebrekers, and Carmel Majidi
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8758 - 8764, October, 2020
ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations
Ming Hsiao, Joshua G. Mangelson, Sudharshan Suresh, Christian Debrunner, and M. Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5037 - 5044, October, 2020
Assessing Lesion Segmentation Bias of Neural Networks on Motion Corrupted Brain MRI
Tejas Sudharshan Mathai, Yi Wang, and Nathan Cross
Workshop Paper, MICCAI '20 Brain-Lesion Workshop, October, 2020
Assisted Mobile Robot Teleoperation with Intent-aligned Trajectories via Biased Incremental Action Sampling
Xuning Yang and Nathan Michael
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10998 - 11003, October, 2020
Automated Detection of Optimal DBS Device Settings
Yaohan Ding, Itir Onal Ertugrul, Ali Darzi, Nicole Provenza, Laszlo A. Jeni, David Borton, Wayne Goodman, and Jeffrey Cohn
Conference Paper, Proceedings of Companion Publication of the 2020 International Conference on Multimodal Interaction (ICMI '20), pp. 354 - 356, October, 2020
Back-Hand-Pose: 3D Hand Pose Estimation for a Wrist-worn Camera via Dorsum Deformation Network
Erwin Wu, Ye Yuan, Hui-Shyong Yeo, Aaron Quigley, Hideki Koike, and Kris M. Kitani
Conference Paper, Proceedings of 33rd Annual ACM Symposium on User Interface Software and Technology (UIST '20), pp. 1147 - 1160, October, 2020
Cloth Region Segmentation for Robust Grasp Selection
Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, and David Held
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9553 - 9560, October, 2020
Comparison of Balance Recovery Among Current Control Strategies for Robotic Leg Prostheses
Nitish Thatte and Hartmut Geyer
Conference Paper, Proceedings of International Symposium on Wearable Robotics (WeRob '20), pp. 63 - 67, October, 2020
Contact Localization using Velocity Constraints
Sean Wang, Ankit Bhatia, Matthew T. Mason, and Aaron M. Johnson
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7351 - 7358, October, 2020
Depth Completion via Inductive Fusion of Planar LIDAR and Monocular Camera
Chen Fu, Chiyu Dong, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10843 - 10848, October, 2020
Diminished Reality for Close Quarters Robotic Telemanipulation
Ada Virginia Taylor, Ayaka Matsumoto, Elizabeth J. Carter, Alexander Plopski, and Henny Admoni
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11531 - 11538, October, 2020
Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance
Eric Dexheimer, Joshua G. Mangelson, Sebastian Scherer, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4758 - 4765, October, 2020
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
Vaibhav K. Viswanathan, Eric Dexheimer, Guanrui Li, Giuseppe Loianno, Michael Kaess, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2510 - 2517, October, 2020