Publications




Online Connectivity-aware Dynamic Distribution for Heterogeneous Multi-Robot
Chendi Lin
Master's Thesis, Tech. Report, CMU-RI-TR-20-03, Robotics Institute, Carnegie Mellon University, May, 2020
Visual-Inertial Source Localization for Co-Robot Rendezvous
Xi Sun
Master's Thesis, Tech. Report, CMU-RI-TR-20-15, Robotics Institute, Carnegie Mellon University, May, 2020
DeepBLE: Generalizing RSSI-based Localization Across Different Devices
Harsh Agarwal
Master's Thesis, Tech. Report, CMU-RI-TR-20-10, Robotics Institute, Carnegie Mellon University, May, 2020
Grounding Abstract Concepts Through Robotic Manipulatives
Samantha Speer
Master's Thesis, Tech. Report, CMU-RI-TR-20-18, Robotics Institute, Carnegie Mellon University, May, 2020
Multi-hypothesis Incremental Smoothing and Mapping for Ambiguity-aware Passive and Active SLAM
Ming Hsiao
PhD Thesis, Tech. Report, CMU-RI-TR-20-14, Robotics Institute, Carnegie Mellon University, May, 2020
Hybrid Soft Sensing in Robotic Systems
Tess Hellebrekers
PhD Thesis, Tech. Report, CMU-RI-TR-20-12, Robotics Institute, Carnegie Mellon University, May, 2020
Evolutionary Population Curriculum for Scaling Multi-Agent Reinforcement Learning
Qian Long
Master's Thesis, Tech. Report, CMU-RI-TR-20-13, Robotics Institute, Carnegie Mellon University, May, 2020
MGpi: A Computational Model of Multiagent Group Perception and Interaction
Navyata Sanghvi, Ryo Yonetani, and Kris Kitani
Conference Paper, Proceedings of 19th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '20), pp. 1196 - 1205, May, 2020
A Fast and Accurate Solution for Pose Estimation from 3D Correspondences
Lipu Zhou, Shengze Wang, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1308 - 1314, May, 2020
A Generative Approach for Socially Compliant Navigation
Chieh-En Tsai and Jean Oh
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2160 - 2166, May, 2020
A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction
Eric Westman, Ioannis Gkioulekas, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 9645 - 9651, May, 2020
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles C. Kemp
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 10169 - 10176, May, 2020
BiGAN: Collaborative Filtering with Bidirectional Generative Adversarial Networks
Rui Ding, Guibing Guo, Xiaochun Yan, Bowei Chen, Zhirong Liu, and Xiuqiang He
Conference Paper, Proceedings of SIAM International Conference on Data Mining (SDM '20), pp. 82 - 90, May, 2020
Contact Localization for Transparent Robots using Velocity Constraints
Sean J. Wang, Ankit Bhatia, Matthew T. Mason, and Aaron M. Johnson
Conference Paper, Proceedings of Dynamic Walking '20, May, 2020
Cooperative Perception and Localization for Cooperative Driving
Aaron Miller, Kyungzun Rim, Parth Chopra, Paritosh Kelkar, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1256 - 1262, May, 2020
Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction
Yaoyu Hu, Weikun Zhen, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8637 - 8643, May, 2020
Detecting Execution Anomalies As an Oracle for Autonomy Software Robustness
Deborah S. Katz, Casidhe Hutchison, Milda Zizyte, and Claire Le Goues
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 9366 - 9373, May, 2020
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, and Dieter Fox
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 9164 - 9170, May, 2020
Driving in Dense Traffic with Model-Free Reinforcement Learning
Dhruv Mauria Saxena, Sangjae Bae, Alireza Nakhaei, Kikuo Fujimura, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5385 - 5392, May, 2020
Electromechanical characterization of 3D printable conductive elastomer for soft robotics
Suhan Kim, Sukjun Kim, Houriyeh Majditehran, Dinesh K. Patel, Carmel Majidi, and Sarah Bergbreiter
Conference Paper, Proceedings of 3rd IEEE International Conference on Soft Robotics (RoboSoft '20), pp. 318 - 324, May, 2020
ICS: Incremental Constrained Smoothing for State Estimation
Paloma Sodhi, Sanjiban Choudhury, Joshua G. Mangelson, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 279 - 285, May, 2020
Incremental shape and pose estimation from planar pushing using contact implicit surfaces
Sudharshan Suresh, Joshua G. Mangelson, and Michael Kaess
Workshop Paper, ICRA '20 Workshop on Closing the Perception-Action Loop with Vision and Tactile Sensing (ViTac '20), May, 2020
Inferring Task-Space Central Pattern Generator Parameters for Closed-loop Control of Underactuated Robots
Nathan D. Kent, Raunaq M. Bhirangi, Matthew J. Travers, and Thomas M. Howard
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8833 - 8839, May, 2020
Learning an Action-Conditional Model for Haptic Texture Generation
Negin Heravi, Wenzhen Yuan, Allison M. Okamura, and Jeannette Bohg
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 11088 - 11095, May, 2020
Learning hierarchical control for robust in-hand manipulation
Tingguang Li, Krishnan Srinivasan, Max Qing-Hu Meng, Wenzhen Yuan, and Jeannette Bohg
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8855 - 8862, May, 2020
Learning Shape-based Representation for Visual Localization in Extremely Changing Conditions
Hae-Gon Jeon, Sunghoon Im, Jean Oh, and Martial Hebert
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7135 - 7141, May, 2020
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, M. Johnson-Roberson, and Ram Vasudevan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 10869 - 10875, May, 2020
LiDAR-enhanced Structure-from-Motion
Weikun Zhen, Yaoyu Hu, Huai Yu, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6773 - 6779, May, 2020
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery
Junming Zhang, Manikandasriram Srinivasan Ramanagopal, Ram Vasudevan, and M. Johnson-Roberson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7829 - 7836, May, 2020
Moving Agents in Formation in Congested Environments
Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Satish Kumar, and Sven Koenig
Conference Paper, Proceedings of 19th International Joint Conference on Autonomous Agents and MultiAgent Systems (AAMAS '20), pp. 726 - 734, May, 2020
Object-centric Forward Modeling for Model Predictive Control
Yufei Ye, Dhiraj Gandhi, Abhinav Gupta, and Shubham Tulsiani
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, pp. 100 - 109, May, 2020
Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects
Muhammad Suhail Saleem and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6752 - 6758, May, 2020
Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam, Anirudh Vemula, Sung Kyun Kim, Andrew Dornbush, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5011 - 5017, May, 2020
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving
Ming-Yuan Yu, M. Johnson-Roberson, and Ram Vasudevan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5363 - 5369, May, 2020
Scaled Autonomy: Enabling Human Operators to Control Robot Fleets
Gokul Swamy, Siddharth Reddy, Sergey Levine, and Anca D. Dragan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5942 - 5948, May, 2020
Signal Sensing and Reconstruction Paradigms for a Novel Multi-Source Static Computed Tomography System
Alankar Kotwal, Avilash Cramer, Dufan Wu, Kai Yang, Wolfgang Krull, Ioannis Gkioulekas, and Rajiv Gupta
Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP '20), pp. 9274 - 9278, May, 2020
Towards distortion based underwater domed viewport camera calibration
Eduardo Iscar and M. Johnson-Roberson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1896 - 1902, May, 2020
Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration
S. Suresh, P. Sodhi, J. Mangelson, D. Wettergreen, and M. Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3132 - 3138, May, 2020
Cooperative Pursuit With Multi-Pursuer and One Faster Free-Moving Evader
Xu Fang, Chen Wang, Lihua Xie, and Jie Chen
Journal Article, IEEE Transactions on Cybernetics, May, 2020
How to Evaluate Proving Grounds for Self-Driving? A Quantitative Approach
Rui Chen, Mansur Arief, Weiyang Zhang, and Ding Zhao
Journal Article, IEEE Transactions on Intelligent Transportation Systems, May, 2020
Learning to Plan Precise and Task-oriented Grasps for Autonomous Robotic Assembly
Jialiang Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-20-06, Robotics Institute, Carnegie Mellon University, May, 2020
Neural Batch Sampling with Reinforcement Learning for Semi-Supervised Anomaly Detection
Wen-Hsuan Chu
Master's Thesis, Tech. Report, CMU-RI-TR-20-09, Robotics Institute, Carnegie Mellon University, May, 2020
Parsimony of hemodynamic monitoring data sufficient for the detection of hemorrhage
M. R. Pinsky, A. Wertz, G. Clermont, and A. Dubrawski
Journal Article, Anesthesia & Analgesia, Vol. 130, No. 5, pp. 1176 - 1187, May, 2020
Planetary Rover Exploration Combining Remote and In Situ Measurements for Active Spectroscopic Mapping
A. Candela, S. Kodgule, S. Vijayarangan, K. Edelson, D. Thompson, E. Noe Dobrea, and D. Wettergreen
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5986 - 5993, May, 2020
State of the Art on Neural Rendering
Ayush Tewari, Ohad Fried, Justus Thies, Vincent Sitzmann, Stephen Lombardi, Kalyan Sunkavalli, Ricardo Martin-Brualla, Tomas Simon, Jason Saragih, Matthias Nießner, Rohit Pandey, Sean Fanello, Gordon Wetzstein, Jun-Yan Zhu, Christian Theobalt, Maneesh Agrawala, Eli Shechtman, Dan B. Goldman, and Michael Zollhöfer
Journal Article, Computer Graphics Forum (Eurographics '20): State of the Art Reports, Vol. 39, No. 2, pp. 701 - 727, May, 2020
A person- and time-varying autoregressive model to capture interactive infant-mother head movement dynamics
Meng Chen, Sy-Miin Chow, Zakia Hammal, Daniel S. Messinger, and Jeffrey F. Cohn
Journal Article, Multivariate Behavioral Research, April, 2020
Resource-Constrained State Estimation with Multi-Modal Sensing
John W. Yao
PhD Thesis, Tech. Report, CMU-RI-TR-20-05, Robotics Institute, Carnegie Mellon University, April, 2020
Budgeted Training: Rethinking Deep Neural Network Training Under Resource Constraints
Mengtian Li, Ersin Yumer, and Deva Ramanan
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, April, 2020
Diverse Trajectory Forecasting with Determinantal Point Processes
Ye Yuan and Kris Kitani
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, April, 2020
An integrated perception pipeline for robot mission execution in unstructured environments
Priya Narayanan, Bryanna Yeh, Emma Holmes, Scott Martucci, Karl Schmeckpeper, Christoph Mertz, Philip Osteen, and Maggie Wigness
Conference Paper, Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations, Vol. 11413, April, 2020