Publications




DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots
Zilin Si, Kevin Zhang, Oliver Kroemer, and Zeynep Temel
Journal Article, IEEE Robotics and Automation Letters, Vol. 9, No. 2, pp. 1795-1802, January, 2024
Toward Planet-Wide Traffic Camera Calibration
Khiem Vuong, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, January, 2024
A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning
Chen Q, Hu Z, Geng J, Bai D, Mousaei M, and Scherer S
Conference Paper, Proceedings of AIAA SCITECH 2024 Forum, pp. 2878, 2024
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
Ebadi K, Bernreiter L, Biggie H, Catt G, Chang Y, Chatterjee A, Denniston CE, Deschênes SP, Harlow K, Khattak S, Nogueira L, Palieri M, Petráček P, Petrlík M, Reinke A, Krátký V, Zhao S, Agha-mohammadi AA, Alexis K, Heckman C, Khosoussi K, Kottege N, Morrell B, Hutter M, Pauling F, Pomerleau F, Saska M, Scherer S, Siegwart R, Williams JL, and Carlone L
Journal Article, IEEE Transactions on Robotics, Vol. 40, pp. 936-959, 2024
Kitchen Robot Case Studies: Learning Manipulation Tasks from Human Video Demonstrations
Dingkun Guo
Master's Thesis, Tech. Report, CMU-RI-TR-23-87, December, 2023
Development and Testing of a Software Stack for an Autonomous Racing Vehicle
Andrew Saba
Master's Thesis, Tech. Report, CMU-RI-TR-23-85, December, 2023
Neural Implicit Representations for Medical Ultrasound Volumes and 3D Anatomy-specific Reconstructions
Ananya Bal
Master's Thesis, Tech. Report, CMU-RI-TR-23-82, December, 2023
Enhancing RHex Robot Performance with Innovative Bioplastic Legs Responsive to Humidity
Yi Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-23-79, December, 2023
Temporally Abstract Model-Based Reinforcement Learning with Variable-Length Skills
Thomas Wei
Master's Thesis, Tech. Report, CMU-RI-TR-23-80, December, 2023
Alignment for Vision-Language Foundation Models
Zhiqiu Lin
Master's Thesis, Tech. Report, CMU-RI-TR-23-83, December, 2023
Architecture and Algorithms for Space-Based Global Wildlife Tracking
Fausto Vega
Master's Thesis, Tech. Report, CMU-RI-TR-23-71, December, 2023
AnyLoc: Towards Universal Visual Place Recognition
Nikhil Keetha, Avneesh Mishra, Jay Karhade, Krishna Murthy Jatavallabhula, Sebastian Scherer, Madhava Krishna, and Sourav Garg
Journal Article, IEEE Robotics and Automation Letters, Vol. 9, No. 2, pp. 1286-1293, December, 2023
Social Navigation with Pedestrian Groups
Allan Wang
PhD Thesis, Tech. Report, CMU-RI-TR-23-88, December, 2023
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
Seungchan Kim, Micah Corah, John Keller, Graeme Best, and Sebastian Scherer
Journal Article, IEEE Robotics and Automation Letters, December, 2023
Range-based GP Maps: Local Surface Mapping for Mobile Robots using Gaussian Process Regression in Range Space
Margaret Hansen and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7241-7248, December, 2023
Designing Anthropomorphic Soft Hands through Interaction
Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, and Nancy Pollard
Conference Paper, Proceedings of IEEE-RAS International Conference on Humanoid Robots, December, 2023
Sample-Efficient Reinforcement Learning with Applications in Nuclear Fusion
Viraj Mehta
PhD Thesis, Tech. Report, CMU-RI-TR-23-86, December, 2023
Optimization-based Methods for Satellite Control
Jacob Willis
Master's Thesis, Tech. Report, CMU-RI-TR-23-84, December, 2023
Towards StabilEyes: Detecting Repetitive Pupil Motion in Nystagmus using Discrete Period Quadrature
Julia Foust, Roberta L. Klatzky, Rene Canady, Bhamini Sundararaman, and George Stetten
Tech. Report, CMU-RI-TR-23-31, December, 2023
LightSpeed: Light and Fast Neural Light Fields on Mobile Devices
Gupta, Aarush, Junli Cao, Chaoyang Wang, Ju Hu, Sergey Tulyakov, Jian Ren, and László A. Jeni.
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2023
Multi-Resolution Sensing for Real-Time Control with Vision-Language Models
Saumya Saxena, Mohit Sharma, and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2023
Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, and Dieter Fox
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2023
SCALE: Causal Learning and Discovery of Robot Manipulation Skills using Simulation
Tabitha Edith Lee, Shivam Vats, Siddharth Girdhar, and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2023
VoxDet: Voxel Learning for Novel Instance Detection
Bowen Li, Jiashun Wang, Yaoyu Hu, Chen Wang, and Sebastian Scherer
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, November, 2023
HomeRobot: Open-Vocabulary Mobile Manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander Clegg, John M Turner, Zsolt Kira, Manolis Savva, Angel X Chang, Devendra Singh Chaplot, Dhruv Batra, and Roozbeh Mottaghi
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, October, 2023
Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models
Kshitij Goel and Wennie Tabib
Journal Article, IEEE Robotics and Automation Letters, October, 2023
Generalizable Dexterity with Reinforcement Learning
Wenxuan Zhou
PhD Thesis, Tech. Report, CMU-RI-TR-23-78, October, 2023
PVT++: A Simple End-to-End Latency-Aware Visual Tracking Framework
Bowen Li, Ziyuan Huang, Junjie Ye, Yiming Li, Sebastian Scherer, Hang Zhao, and Changhong Fu
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 10006-10016, October, 2023
Risk-Aware Safe Control for Decentralized Multi-Agent Systems via Dynamic Responsibility Allocation
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9737-9744, October, 2023
TEMPO: Efficient multi- view pose estimation, tracking, and forecasting
Choudhury, Rohan, Kris M. Kitani, and László A. Jeni.
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, October, 2023
Towards Optimal Head-to-head Autonomous Racing with Curriculum Reinforcement Learning
Dvij Kalaria, Qin Lin, and John M. Dolan
Workshop Paper, IROS Workshop on Multi-Agent Dynamic Games (MADGames), October, 2023
Decentralized Model Predictive Control for Constrained Multi-Robot System
Allison Seo, Sha Yi, and Katia Sycara
Workshop Paper, IROS 2023 Workshop in Advances in Multi-Agent Learning, October, 2023
Gaussian Representations for Differentiable Rendering and Optimization
Leonid Keselman
PhD Thesis, Tech. Report, CMU-RI-TR-23-70, September, 2023
Continual Robot Learning: Benchmarks and Modular Methods
Sam Powers
PhD Thesis, Tech. Report, CMU-RI-TR-23-74, September, 2023
Manipulation Among Movable Objects for Pick-and-Place Tasks in Cluttered 3D Workspaces
Dhruv Mauria Saxena
PhD Thesis, Tech. Report, CMU-RI-TR-23-76, September, 2023
Multi-Human 3D Reconstruction from In-the-Wild Videos
Rawal Khirodkar
PhD Thesis, Tech. Report, CMU-RI-TR-23-72, September, 2023
Redefining the Perception-Action Interface: Visual Action Representations for Contact-Centric Manipulation
Thomas Weng
PhD Thesis, Tech. Report, CMU-RI-TR-23-73, September, 2023
Towards Photorealistic Dynamic Capture and Animation of Human Hair and Head
Ziyan Wang
PhD Thesis, Tech. Report, CMU-RI-TR-23-77, September, 2023
Modeling Dynamic Clothing for Data-Driven Photorealistic Avatars
Donglai Xiang
PhD Thesis, Tech. Report, CMU-RI-TR-23-75, September, 2023
Towards Large-Scale and Long-Term Neural Map Representations
Ming-Fang Chang
PhD Thesis, Tech. Report, CMU-RI-TR-23-66, September, 2023
Language-Conditioned Object Detection and Manipulation
Ayush Jain
Master's Thesis, Tech. Report, CMU-RI-TR-23-69, September, 2023
SLAP: Spatial-Language Attention Policies
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, and Chris Paxton
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, August, 2023
DEFT: Dexterous Fine-Tuning for Real-World Hand Policies
Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, and Deepak Pathak
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, August, 2023
Learning Via Visual-Tactile Interaction
Helen Jiang
PhD Thesis, Tech. Report, CMU-RI-TR-23-65, August, 2023
Strategy assessment for solving rich physical problems
Chiheb Boussema
Master's Thesis, Tech. Report, CMU-RI-TR-23-68, August, 2023
Learning Agile Locomotion and Manipulation with Legged Robots
Xuxin Cheng
Master's Thesis, Tech. Report, CMU-RI-TR-23-60, August, 2023
Distilling Diffusion Models for 3D Reconstruction
Zhizhuo Zhou
Master's Thesis, Tech. Report, CMU-RI-TR-23-33, August, 2023
A Single View Perspective Prior for Efficient Detection
Anurag Ghosh
Master's Thesis, Tech. Report, CMU-RI-TR-23-42, August, 2023
Learning Task Preferences from Real-World Data
Daphne Chen
Master's Thesis, Tech. Report, CMU-RI-TR-23-49, August, 2023
Learning To See In The Dark and Beyond
Anirudha Ramesh
Master's Thesis, Tech. Report, CMU-RI-TR-23-43, August, 2023