Publications




Efficient kinodynamic multi-robot replanning in known workspaces
A. Desai, M. Collins, and N. Michael
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1021 - 1027, May, 2019
Environment Probing Interaction Policies
Wenxuan Zhou, Lerrel Pinto, and Abhinav Gupta
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2019
Episcan360: Active Epipolar Imaging for Live Omni-directional Stereo
D. W. Wilson Hamilton, J. Bourne, J. D. McMahill, J. Campoy, H. Herman, and S. G. Narasimhan
Conference Paper, Proceedings of (ICCP) IEEE International Conference on Computational Photography, May, 2019
EyeSAM: Graph-based Localization and Mapping of Retinal Vasculature during Intraocular Microsurgery
Shohin Mukherjee, Michael Kaess, Joseph N. Martel, and Cameron N. Riviere
Journal Article, International Journal of Computer Assisted Radiology and Surgery, Vol. 14, No. 5, pp. 819 - 828, May, 2019
Fast Vessel Segmentation and Tracking in High-Frequency and Ultra-High-Frequency Ultrasound Images
J. Galeotti
Miscellaneous, Invention Disclosure CMU 2019-006, May, 2019
Geppetto: Enabling Semantic Design of Expressive Robot Behaviors
Ruta Desai, Fraser Anderson, Justin Matejka, Stelian Coros, James McCann, George W. Fitzmaurice, and Tovi Grossman
Conference Paper, Proceedings of CHI Conference on Human Factors in Computing Systems (CHI '19), May, 2019
Hierarchical RL Using an Ensemble of Proprioceptive Periodic Policies
Kenneth Marino, Abhinav Gupta, Rob Fergus, and Arthur Szlam
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2019
In-sight: Tension based haptic feedback to improve navigation for people who are blind
A. Baikovitz, J. Duffy, Z. Sussman, B. A. Newman, and H. Admoni
Workshop Paper, CHI '19 Workshop on Hacking Blind Navigation, May, 2019
Integration, calibration, and experimental verification of a speed sensor for swimming animals
Joaquin Gabaldon, Ellen L. Turner, M. Johnson-Roberson, Kira Barton, Mark Johnson, Erik J. Anderson, and K. Alex Shorter
Journal Article, IEEE Sensors, Vol. 19, No. 10, pp. 3616 - 3625, May, 2019
Large-Scale Multi-Object Rearrangement
Eric Huang, Zhenzhong Jia, and Matthew T. Mason
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 211 - 218, May, 2019
Learning Exploration Policies for Navigation
Tao Chen, Saurabh Gupta, and Abhinav Gupta
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2019
Learning the Signatures of the Human Grasp Using a Scalable Tactile Glove
Subramanian Sundaram, Petr Kellnhofer, Yunzhu Li, Jun-Yan Zhu, Antonio Torralba, and Wojciech Matusik
Journal Article, Nature, Vol. 569, No. 7758, pp. 698 - 702, May, 2019
NeuralVerificaiton.jl: Algorithms for verifying deep neural networks
C. Liu, T. Arnon, C. Lazarus, and M. Kochenderfer
Workshop Paper, ICLR '19 Debugging Machine Learning Models Workshop, May, 2019
Non-line-of-sight Imaging with Partial Occluders and Surface Normals
Felix Heide, Matthew O'Toole, Kai Zang, David B. Lindell, Steven Diamond, and Gordon Wetzstein
Journal Article, ACM Transactions on Graphics (TOG), Vol. 38, No. 3, May, 2019
Online learning for proactive obstacle avoidance with powered transfemoral prostheses
M. Gordon, N. Thatte, and H. Geyer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7920 - 7925, May, 2019
Persistent multi-robot mapping in an uncertain environment
D. Mitchell and N. Michael
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4552 - 4558, May, 2019
RaD-VIO: Rangefinder-aided downward visual-inertial odometry
B. Fu, K. S. Shankar, and N. Michael
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1841 - 1847, May, 2019
Social Attention: software. https://github.com/jeanoh/big/tree/social-navigation/social-attention/srnn-pytorch
A. Vemula, K. Muelling, and J. Oh
Miscellaneous, Software Artifact, May, 2019
STORM: Super-resolving Transients by OveRsampled Measurements
A. Pediredla, A. Raghuram, S. Narasimhan, I. Gkioulekas, and A. Veeraraghavan
Conference Paper, Proceedings of (ICCP) IEEE International Conference on Computational Photography, May, 2019
Using deep reinforcement learning to learn high-level policies on the ATRIAS biped
T. Li, H. Geyer, C. G. Atkeson, and A. Rai
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 263 - 269, May, 2019
Visual semantic navigation using scene priors
Wei Yang, Xiaolong Wang, Ali Farhadi, Abhinav Gupta, and Roozbeh Mottaghi
Conference Paper, Proceedings of (ICLR) International Conference on Learning Representations, May, 2019
Workspace CPG with Body Pose Control for Stable, Directed Vision during Omnidirectional Locomotion
Samuel Shaw, Guillaume Sartoretti, Jake Olkin, William Paivine, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6316 - 6322, May, 2019
Intra-Robot Replanning and Learning for Multi-Robot Teams in Complex Dynamic Domains
Philip Cooksey
PhD Thesis, Tech. Report, CMU-RI-TR-19-21, Robotics Institute, Carnegie Mellon University, April, 2019
Light Sheet Depth Imaging
Joseph Bartels
PhD Thesis, Tech. Report, CMU-RI-TR-19-05, Robotics Institute, Carnegie Mellon University, April, 2019
Characterization of Machine Learning Algorithms for Slippage Estimation in Planetary Exploration Rovers
R. Gonzalez, S. Chandler, and D. Apostolopoulos
Journal Article, Journal of Terramechanics, Vol. 82, pp. 23 - 34, April, 2019
Discriminative Optimization: Theory and Applications to Computer Vision Problems
J. Vongkulbhisal, R. Cabral, F. De la Torre, and J. Paulo Costeira
Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 41, No. 4, pp. 829 - 843, April, 2019
Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device
S. Nisar, M. Orta Martinez, T. Endo, F. Matsuno, and A. M. Okamura
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 351 - 358, April, 2019
Fractional GPUs: Software-based compute and memory bandwidth reservation for GPUs
Saksham Jain, Iljoo Baek, Shige Wang, and Ragunathan Rajkumar
Conference Paper, Proceedings of IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS '19), pp. 29 - 41, April, 2019
Identifying commonly used and potentially unsafe transit connections with crowdsourcing
Elizabeth J. Traut and Aaron Steinfeld
Journal Article, Transportation Research Part A: Policy and Practice, Vol. 122, pp. 99 - 111, April, 2019
Illumination-invariant face recognition by fusing thermal and visual images via gradient transfer
Sumit Agarwal, Harshit S. Sikchi, Suparna Rooj, Shubhobrata Bhattacharya, and Aurobinda Routray
Conference Paper, Proceedings of Science and Information Conference (CVC '19), pp. 658 - 670, April, 2019
Learning to Segment Corneal Tissue Interfaces in OCT Images
T. Mathai, K. Lathrop, and J. Galeotti
Conference Paper, Proceedings of IEEE International Symposium on Biomedical Imaging (ISBI '19), pp. 1432 - 1436, April, 2019
Managing Wind-based Electricity Generation in the Presence of Storage and Transmission Capacity
Y. Zhou, A. Scheller-Wolf, N. Secomandi, and S. F. Smith
Journal Article, Journal of Production and Operations Management, Vol. 28, No. 4, pp. 970 - 989, April, 2019
On the Interaction Effects Between Prediction and Clustering
Matt Barnes and Artur Dubrawski
Conference Paper, Proceedings of 22nd International Conference on Artificial Intelligence and Statistics (AISTATS '19), April, 2019
Soft-matter damage detection systems for electronics and structures
Michael D. Bartlett, Eric J. Markvicka, Ravi Tutika, and Carmel Majidi
Conference Paper, Proceedings of SPIE Nondestructive Characterization and Monitoring of Advanced Materials, Aerospace, Civil Infrastructure, and Transportation XIII, Vol. 10971, April, 2019
Communication-efficient planning and mapping for multi-robot exploration in large environments
M. Corah, C. O'Meadhra, K. Goel, and N. Michael
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1715 - 1721, April, 2019
Task-Specific Manipulator Design and Trajectory Synthesis
Julian Whitman and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 301 - 308, April, 2019
Variable resolution occupancy mapping using gaussian mixture models
C. O’Meadhra, W. Tabib, and N. Michael
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 2015 - 2022, April, 2019
Bio-LSTM: A Biomechanically Inspired Recurrent Neural Network for 3D Pedestrian Pose and Gait Prediction
Xiaoxiao Du, Ram Vasudevan, and Matthew Johnson-Roberson
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1501 - 1508, April, 2019
Classification of Household Materials via Spectroscopy
Zackory Erickson, Nathan Luskey, Sonia Chernova, and Charles C. Kemp
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 700 - 707, April, 2019
DispSegNet: Leveraging Semantics for End-to-End Learning of Disparity Estimation from Stereo Imagery
Junming Zhang, Katherine Skinner, Ram Vasudevan, and Matthew Johnson-Roberson
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1162 - 1169, April, 2019
Minimizing task-space frechet error via efficient incremental graph search
Rachel Holladay, Oren Salzman, and Siddhartha Srinivasa
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1999 - 2006, April, 2019
Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments
Ming-Yuan Yu, Ram Vasudevan, and Matthew Johnson-Roberson
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 2235 - 2241, April, 2019
Organ-mounted robot localization via function approximation
Nathan A. Wood, David Schwartzman, Michael J. Passineau, M. Scott Halbreiner, Robert J. Moraca, Marco A. Zenati, and Cameron N. Riviere
Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 15, No. 2, pp. e1971, April, 2019
Parallel Position/Force Control of Epicardial Wire Robot Based on Ellipsoid Geodesy
Eric Wilde, Sumit Dan, Nathan A. Wood, Michael J. Passineau, Michael Scott Halbreiner, Marco A. Zenati, and Cameron N. Riviere
Conference Paper, Proceedings of International Symposium on Medical Robotics (ISMR '19), April, 2019
PedX: Benchmark Dataset for Metric 3D Pose Estimation of Pedestrians in Complex Urban Intersections
Wonhui Kim, Manikandasriram Srinivasan Ramanagopal, Charles Barto, Ming-Yuan Yu, Karl Rosaen, Nick Goumas, Ram Vasudevan, and Matthew Johnson-Roberson
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1940 - 1947, April, 2019
Real-time incremental estimation of retinal surface using laser aiming beam
Arpita Routray, Robert A. MacLachlan, Joseph N. Martel, and Cameron N. Riviere
Conference Paper, Proceedings of International Symposium on Medical Robotics (ISMR '19), April, 2019
Simultaneous learning of hierarchy and primitives for complex robot tasks
Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace Sidner, and Charles Rich
Journal Article, Autonomous Robots, Vol. 43, No. 4, pp. 859 - 874, April, 2019
Through-water Stereo SLAM with Refraction Correction for AUV Localization
Sudharshan Suresh, Eric Westman, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 692 - 699, April, 2019
Towards Robotic Feeding: Role of Haptics in Fork-Based Food Manipulation
Tapomayukh Bhattacharjee, Gilwoo Lee, Hanjun Song, and Siddhartha S. Srinivasa
Journal Article, IEEE Robotics and Automation Letters, Vol. 4, No. 2, pp. 1485 - 1492, April, 2019
Algorithms for verifying deep neural networks
Changliu Liu, Tomer Arnon, Christopher Lazarus, Clark Barrett, and Mykel J. Kochenderfer
Miscellaneous, March, 2019