Publications




Policy Decomposition: A Framework for Discovery of Control Hierarchies for Efficient Policy Optimization with Suboptimality Estimates
Ashwin Khadke
PhD Thesis, Tech. Report, CMU-RI-TR-24-38, July, 2024
Risk-based Socially-Compliant Behavior Planning for Autonomous Driving
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of the American Control Conference (ACC), pp. 3827-3832, July, 2024
Spectral Unmixing and Mapping of Coral Reef Benthic Cover
Rohan Zeng, Eric J. Hochberg, Alberto Candela, and David S. Wettergreen
Conference Paper, Proceedings of IEEE International Geoscience and Remote Sensing Symposium, July, 2024
Causal Robot Learning for Manipulation
Tabitha Edith Lee
PhD Thesis, Tech. Report, CMU-RI-TR-24-25, July, 2024
Scaling up Robot Skill Learning with Generative Simulation
Pushkal Katara
Master's Thesis, Tech. Report, CMU-RI-TR-24-35, July, 2024
Leveraging Simulation-Based Model Preconditions for Fast Action Parameter Optimization with Multiple Models
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 2024
Synthesis and Verification of Robust-Adaptive Safe Controllers
Simin Liu, Kai S. Yun, John M. Dolan, and Changliu Liu
Conference Paper, pp. 2265-2272, June, 2024
WALT3D: Generating Realistic Training Data from Time-Lapse Imagery for Reconstructing Dynamic Objects under Occlusion
Khiem Vuong, N Dinesh Reddy, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2024
3D-LFM: Lifting Foundation Model
Mosam Dabhi, László A. Jeni, and Simon Lucey
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 10466-10475, June, 2024
Leveraging Vision, Force Sensing, and Language Feedback for Deformable Object Manipulation
Zhanyi Sun
Master's Thesis, Tech. Report, CMU-RI-TR-24-32, June, 2024
CBGT-Net: A Neuromimetic Architecture for Robust Classification of Streaming Data
Shreya Sharma
Master's Thesis, Tech. Report, CMU-RI-TR-24-29, June, 2024
Enhancing Robot Perception and Interaction Through Structured Domain Knowledge
Sarthak Bhagat
Master's Thesis, Tech. Report, CMU-RI-TR-24-28, June, 2024
Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers
Vidhi Jain, Maria Attarian, Nikhil J Joshi, Ayzaan Wahid, Danny Driess, Quan Vuong, Pannag R Sanketi, Pierre Sermanet, Stefan Welker, Christine Chan, Igor Gilitschenski, Yonatan Bisk, and Debidatta Dwibedi
Conference Paper, Proceedings of (RSS) Robotics Science and Systems, May, 2024
Learning on the Move: Integrating Action and Perception for Mobile Manipulation
Shagun Uppal
Master's Thesis, Tech. Report, CMU-RI-TR-24-26, May, 2024
Analyzing the Effectiveness of Neural Radiance Fields for Geometric Modeling of Lunar Terrain
Margaret Hansen, Caleb Adams, Terrence Fong, and David Wettergreen
Conference Paper, Proceedings of IEEE Aerospace Conference, May, 2024
WROOM: An Autonomous Driving Approach for Off-Road Navigation
Dvij Kalaria, Shreya Sharma, Sarthak Bhagat, Haoru Xue, and John M. Dolan
Workshop Paper, ICRA Workshop on Resilient Off-road Autonomy, May, 2024
LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration
Paul Nadan, Spencer Backus, and Aaron M. Johnson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Safe Deep Policy Adaptation
Wenli Xiao, Tairan He, John M. Dolan, and Guanya Shi
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 17286-17292, May, 2024
Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
Haoru Xue, Edward L. Zhu, John M. Dolan, and Francesco Borrelli
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 13250-13256, May, 2024
Tractable Joint Prediction and Planning over Discrete Behavior Modes for Urban Driving
Adam Villaflor, Brian Yang, Huangyuan Su, Katerina Fragkiadaki, John M. Dolan, and Jeff Schneider
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 14785-14791, May, 2024
Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling
Nathan Ludlow, Yiwei Lyu, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2223-2229, May, 2024
Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine
Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 10443-10449, May, 2024
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel and Wennie Tabib
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Towards Robotic Tree Manipulation: Leveraging Graph Representations
Chung Hee Kim, Moonyoung Lee, Oliver Kroemer, and George Kantor
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Disturbance Observer-based Control Barrier Functions with Residual Model Learning for Safe Reinforcement Learning
Dvij Kalaria, Qin Lin, and John M. Dolan
Workshop Paper, ICRA Workshop on Agile Robots, May, 2024
Sparse-view 3D in the Wild
Jason Y. Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-24-09, May, 2024
Estimating Material Properties of Interacting Objects Using Sum-GP-UCB
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Tightly Coupled LiDAR-Inertial Odometry
Taylor Pool
Master's Thesis, Tech. Report, CMU-RI-TR-24-17, May, 2024
Building Robot Hands and Teaching Dexterity
Kenneth Shaw
Master's Thesis, Tech. Report, CMU-RI-TR-24-02, May, 2024
Tightly Coupled LiDAR-Inertial Odometry
Taylor Pool
Master's Thesis, Tech. Report, CMU-RI-TR-24-17, May, 2024
PIE-FRIDA: Personalized Interactive Emotion-Guided Collaborative Human-Robot Art Creation
Beverley-Claire Okogwu
Master's Thesis, Tech. Report, CMU-RI-TR-24-18, May, 2024
Towards Equitable Representation in Text-to-Image Generation
Zhixuan Liu
Master's Thesis, Tech. Report, CMU-RI-TR-24-14, May, 2024
In Pursuit of Open-World Mobile Manipulation
Haoyu Xiong
Master's Thesis, Tech. Report, May, 2024
Reasoning with Latent Diffusion in Offline Reinforcement Learning
Siddharth Venkatraman, Shivesh Khaitan, Ravi Tej Akella, John M. Dolan, Jeff Schneider, and Glen Berseth
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2024
Vision Model Diagnosis and Improvement Via Large Pretrained Models
Yinong Wang
Master's Thesis, Tech. Report, CMU-RI-TR-24-22, May, 2024
3D Inference from Unposed Sparse View Images
Bharath Raj Nagoor Kani
Master's Thesis, Tech. Report, CMU-RI-TR-24-15, May, 2024
Learning Distributional Models for Relative Placement in Robotics
Jenny Wang
Master's Thesis, Tech. Report, CMU-RI-TR-24-24, May, 2024
Indoor Localization and Mapping with 4D mmWave Imaging Radar
Jui-Te Huang
Master's Thesis, Tech. Report, CMU-RI-TR-24-19, May, 2024
Spectral Mapping using Simple Sensors
Srinivasan Vijayarangan
PhD Thesis, Tech. Report, CMU-RI-TR-24-20, May, 2024
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks
Murtaza Dalal, Tarun Chiruvolu, Devendra Chaplot, and Ruslan Salakhutdinov
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, May, 2024
Improving Robot Capabilities Through Reconfigurability
Sha Yi
PhD Thesis, Tech. Report, CMU-RI-TR-24-16, May, 2024
Geometric Heuristics Enhance POCUS AI for Pneumothorax
Viekash Vinoth Kumar, John Galeotti, Deva Kannan Ramanan, and Nishant Thumbavanam Arun
Master's Thesis, Tech. Report, CMU-RI-TR-24-11, May, 2024
Human Perception of Robot Failure and Explanation
Huy Quyen Ngo
Master's Thesis, Tech. Report, CMU-RI-TR-24-12, May, 2024
Bootstrapping Linear Models for Fast Online Adaptation in Human-Agent Collaboration
Benjamin A Newman, Kris Kitani, Chris Paxton, and Henny Admoni
Conference Paper, Proceedings of the International Conference on Autonomous Agents and Multiagent Systems, pp. 1463-1472, May, 2024
Towards Mechanical Communication in Multi-Agent Locomotive Systems: Principally Kinematic Robots on a Shared Platform
Ruijie Fu
Master's Thesis, Tech. Report, CMU-RI-TR-23-62, May, 2024
Optimal Control and Robot Learning on Agile Safety-Critical Systems
Haoru Xue
Master's Thesis, Tech. Report, CMU-RI-TR-24-21, May, 2024
Transfer Learning via Temporal Contrastive Learning
Weihao Zeng
Master's Thesis, Tech. Report, CMU-RI-TR-24-10, April, 2024
Offline Learning for Stochastic Multi-Agent Planning in Autonomous Driving
Adam Villaflor
PhD Thesis, Tech. Report, CMU-RI-TR-24-13, April, 2024
Multi-Agent Transfer Learning via Temporal Contrastive Learning
Weihao Zeng, Joseph Campbell, Simon Stepputtis, and Katia Sycara
Workshop Paper, MAD-GAMES: MULTI-AGENT DYNAMIC GAMES, April, 2024