Publications




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
Exploring Reinforcement Learning approaches for Safety Critical Environments
Shivesh Khaitan
Master's Thesis, Tech. Report, CMU-RI-TR-23-28, July, 2023
Design and Integration of Semantic Mapping System for Forest Fire Mitigation
Winnie Kuang
Master's Thesis, Tech. Report, CMU-RI-TR-23-48, July, 2023
Design and Integration of Semantic Mapping System for Forest Fire Mitigation
Winnie Kuang
Master's Thesis, Tech. Report, CMU-RI-TR-23-48, July, 2023
Towards Real-time Controllable Neural Face Avatars
Heng Yu
Master's Thesis, Tech. Report, CMU-RI-TR-23-52, July, 2023
From Reinforcement Learning to Robot Learning: Leveraging Prior Data and Shared Evaluation
Victoria Dean
PhD Thesis, Tech. Report, CMU-RI-TR-23-36, July, 2023
Test-time Adaptation with Slot-Centric Models
Mihir Prabhudesai, Anirudh Goyal, Sujoy Paul, Sjoerd van Steenkiste, Mehdi S. M. Sajjadi, Gaurav Aggarwal, Thomas Kipf, Deepak Pathak, and Katerina Fragkiadaki
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, July, 2023
On Generalization and Benchmarking on Physical Robots
Gaoyue Zhou
Master's Thesis, Tech. Report, CMU-RI-TR-23-67, July, 2023
Lights, Camera, Render: Neural Fields for Structured Lighting
Aarrushi Shandilya
Master's Thesis, Tech. Report, CMU-RI-TR-23-35, July, 2023
Design and Control of a Highly Articulated Agricultural Robot
Rohan Deshpande
Master's Thesis, Tech. Report, CMU-RI-TR-23-39, July, 2023
Emergent Communication and Decision-Making in Multi-Agent Teams
Seth Karten
Master's Thesis, Tech. Report, CMU-RI-TR-23-32, July, 2023
Reconfigurable Robot Control Using Flexible Coupling Mechanisms
Sha Yi, Katia Sycara, and Zeynep Temel
Conference Paper, Proceedings of (RSS) Robotics Science and Systems, July, 2023
Towards Safety Assured End-To-End Vision-Based Control for Autonomous Racing
Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of the 22nd IFAC World Congress, pp. 2767-2773, July, 2023
Tactile Sensing Applied to Robot Manipulation
Sashank Tirumala
Master's Thesis, Tech. Report, CMU-RI-TR-23-53, July, 2023
Predicting finger joint angle using ultrasound images of the forearm
Michael Gidaro, Linghai Wang, Roberta L. Klatzky, and George Stetten
Tech. Report, CMU-RI-TR-23-30, July, 2023
RobotSweater: Scalable, Generalizable, and Customizable Machine-Knitted Tactile Skins for Robots
Zilin Si, Tianhong Catherine Yu, Katrene Morozov, James McCann, and Wenzhen Yuan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, July, 2023
Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
Sarvesh Patil; Tony Tao; Tess Hellebrekers; Oliver Kroemer; F. Zeynep Temel
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 10324-10330, July, 2023
Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8141-8147, July, 2023
Planning for Manipulation among Movable Objects: Deciding Which Objects Go Where, in What Order, and How
Dhruv Saxena and Maxim Likhachev
Conference Paper, Proceedings of the International Conference on Automated Planning and Scheduling, Vol. 33, pp. 668-676, July, 2023