Publications




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
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
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
Multi-Robot Information Gathering for Spatiotemporal Environment Modelling
Siva Kailas
Master's Thesis, Tech. Report, CMU-RI-TR-23-64, August, 2023
Phenotyping and Skeletonization for Agricultural Robotics
Eric Schneider
Master's Thesis, Tech. Report, CMU-RI-TR-23-23, August, 2023
SuperLoop: a LIDAR-based SLAM Back-end for Underground Exploration
Lucas Nogueira
Master's Thesis, Tech. Report, CMU-RI-TR-23-50, August, 2023
Using Drones and Remote Sensing to Understand Forests with Limited Groundtruth Data
David Russell
Master's Thesis, Tech. Report, CMU-RI-TR-23-34, August, 2023
Scaling up Camera Calibration and Amodal 3D Object Reconstruction for Smart Cities
Khiem Vuong
Master's Thesis, Tech. Report, CMU-RI-TR-23-38, August, 2023
Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
Mateo Guaman Castro
Master's Thesis, Tech. Report, CMU-RI-TR-23-44, August, 2023
Multi Robot Control for Non-Cooperative Herding using Control Barrier Functions
Nishant Mohanty
Master's Thesis, Tech. Report, CMU-RI-TR-23-45, August, 2023
Vision Model Diagnosis: A Generative Perspective
Jinqi Luo
Master's Thesis, Tech. Report, CMU-RI-TR-23-57, August, 2023
A Learning Approach to Understand How Spinal Cord Learns Multiple Behaviors
Yuyao Shi
Master's Thesis, Tech. Report, CMU-RI-TR-23-61, August, 2023
Unfolding the Potential of Point-Based Correspondences for Cloth Manipulation
Mansi Agarwal
Master's Thesis, Tech. Report, CMU-RI-TR-23-46, August, 2023
Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Yimin Tang
Tech. Report, CMU-RI-TR-23-41, August, 2023
Mapping of Potential Fuel Regions Using Uncrewed Aerial Vehicles for Wildfire Prevention
Maria Eduarda Andrada, David Russell, Tito Arevalo-Ramirez, Winnie Kuang, George Kantor, and Francisco Yandun
Journal Article, Forests, Vol. 14, No. 8, August, 2023
PyCubed-Mini: A Low-Cost, Open-Source Satellite Research Platform
Neil Khera
Master's Thesis, Tech. Report, CMU-RI-TR-23-47, August, 2023
Improving Robotic Ultrasound AI using Optical Flow
FNU Abhimanyu
Master's Thesis, Tech. Report, CMU-RI-TR-23-63, August, 2023
Multi-Agent Multi-Objective Ergodic Search
Akshaya Kesarimangalam Srinivasan
Master's Thesis, Tech. Report, CMU-RI-TR-23-55, August, 2023
Computer Vision-Based Phenotyping in Agriculture: Leveraging Semantic Information for Non-Destructive Small Crop Analysis
Harry Freeman
Master's Thesis, Tech. Report, CMU-RI-TR-23-59, August, 2023
Building 4D Models of Objects and Scenes from Monocular Videos
Gengshan Yang
PhD Thesis, Tech. Report, CMU-RI-TR-23-54, July, 2023
Stochastic Optimization for Autonomous Navigation, Leveraging Parallel Computation
Joshua Spisak
Master's Thesis, Tech. Report, CMU-RI-TR-23-56, July, 2023
Surface Ripples: Analyzing Transient Vibrations on Object’s Surfaces
Tianyuan Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-23-40, July, 2023
Fast Staircase Detection and Estimation with Multi-View Merging for Multi-Robot Systems
Prasanna Kettavarapalyam Sriganesh
Master's Thesis, Tech. Report, CMU-RI-TR-23-51, July, 2023
LightSpeed: Light and Fast Neural Light Fields on Mobile Devices
Aarush Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-23-37, July, 2023
Distributional Distance Classifiers for Goal-Conditioned Reinforcement Learning
Ravi Tej Akella
Master's Thesis, Tech. Report, CMU-RI-TR-23-27, July, 2023