Publications




Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots
Prasanna Sriganesh, Namya Bagree, Bhaskar Vundurthy, and Matthew Travers
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, June, 2023
CBF-inspired Weighted Buffered Voronoi Cells for Distributed Multi-agent Collision Avoidance
Yiwei Lyu, John M. Dolan, and Wenhao Luo
Conference Paper, Proceedings of the American Control Conference (ACC), pp. 4513-4518, May, 2023
Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves
Srujan Deolasee, Qin Lin, Jialun Li, and John M. Dolan
Conference Paper, Proceedings of the American Control Conference (ACC), pp. 3207-3214, May, 2023
Towards Reconstructing Non-rigidity from Single Camera
Chaoyang Wang
PhD Thesis, Tech. Report, CMU-RI-TR-23-25, May, 2023
Efficient Recovery Learning using Model Predictive Meta-Reasoning
Shivam Vats, Maxim Likhachev, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
Focused Adaptation of Dynamics Models for Deformable Object Manipulation
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, and Dmitry Berenson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
3D Reconstruction-Based Seed Counting of Sorghum Panicles for Agricultural Inspection
Harry Freeman, Eric Schneider, Chung Hee Kim, Moonyoung Lee, and George Kantor
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
Active Probing and Influencing Human Behaviors Via Autonomous Agents
Shuangge Wang, Yiwei Lyu, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1514-1521, May, 2023
Decentralized Safe Navigation for Multi-agent Systems via Risk-aware Weighted Buffered Voronoi Cells
Yiwei Lyu, John M. Dolan, and Wenhao Luo
Conference Paper, Proceedings of the International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pp. 1476-1484, May, 2023
How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
Mateo Guaman Castro, Samuel Triest, Wenshan Wang, Jason M. Gregory, Felix Sanchez, John G. Rogers III, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
Model-based Dynamic Shielding for Safe and Efficient Multi-agent Reinforcement Learning
Wenli Xiao, Yiwei Lyu, and John M. Dolan
Conference Paper, Proceedings of the International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pp. 1587-1596, May, 2023
Multi-Objective Ergodic Search for Dynamic Information Maps
Ananya Rao, Abigail Breitfeld, Alberto Candela, Benjamin Jensen, David Wettergreen, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies
Chung Hee Kim and George Kantor
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2023
Reinforcement Learning with Probabilistically Safe Control Barrier Functions for Ramp Merging
Soumith Udatha, Yiwei Lyu, and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5625-5630, May, 2023
Optimization of Small Unmanned Ground Vehicle Design using Reconfigurability, Mobility, and Complexity
Hannah Lyness
PhD Thesis, Tech. Report, CMU-RI-TR-23-24, May, 2023
Learning to Solve Real-World Physics Puzzles
Alisa Allaire
Master's Thesis, Tech. Report, CMU-RI-TR-23-21, May, 2023
Latent Skill Models for Offline Reinforcement Learning
Siddarth Venkatraman
Master's Thesis, Tech. Report, CMU-RI-TR-23-26, May, 2023
Large Scale Dense 3D Reconstruction via Sparse Representations
Wei Dong
PhD Thesis, Tech. Report, CMU-RI-TR-23-29, May, 2023
Soft Delta Robots for Dexterous Manipulation
Sarvesh Patil
Master's Thesis, Tech. Report, CMU-RI-TR-23-18, May, 2023
Learn2Plan: Learning variable ordering heuristics for scalable planning
Ashwin Misra
Master's Thesis, Tech. Report, CMU-RI-TR-23-14, May, 2023
On Privacy and Personalization in Machine Learning
Ken Ziyu Liu
Master's Thesis, Tech. Report, CMU-RI-TR-23-17, May, 2023
Robot Information Gathering for Wildland Fire Monitoring
Andrew Jong
Tech. Report, CMU-RI-TR-23-08, May, 2023
Robot Information Gathering for Wildland Fire Monitoring
Andrew Jong
Master's Thesis, Tech. Report, CMU-RI-TR-23-08, May, 2023
Simulation-guided Design for Vision-based Tactile Sensing on a Soft Robot Gripper
Yichen Li
Tech. Report, CMU-RI-TR-23-20, May, 2023
Edge Detection by Centimeter Scale Low-Cost Mobile Robots
Erin Wong
Master's Thesis, Tech. Report, CMU-RI-TR-23-12, May, 2023
Efficient Spatially Sparse Inference for Conditional GANs and Diffusion Models
Muyang Li
Master's Thesis, Tech. Report, CMU-RI-TR-23-15, May, 2023
Learning Single Image 3D Reconstruction from Single-View Image Collections
Shivam Duggal
Master's Thesis, Tech. Report, CMU-RI-TR-23-19, May, 2023
Spectral Unmixing and Mapping of Coral Reef Benthic Cover
Rohan Zeng
Master's Thesis, Tech. Report, CMU-RI-TR-23-06, May, 2023
Total-Recon: Deformable Scene Reconstruction for Embodied View Synthesis
Chonghyuk Song
Master's Thesis, Tech. Report, CMU-RI-TR-23-13, May, 2023
Bridging the Gap Between Human Vision and Computer Vision
Nadine Chang
PhD Thesis, Tech. Report, CMU-RI-TR-23-05, May, 2023
Seeing in 3D: Towards Generalizable 3D Visual Representations for Robotic Manipulation
Haolun (Harry) Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-23-16, May, 2023
Parallelized Search on Graphs with Expensive-to-Compute Edges
Shohin Mukherjee
PhD Thesis, Tech. Report, CMU-RI-TR-23-10, May, 2023
System Identification and Control of Multiagent Systems Through Interactions
Jaskaran Singh Grover
PhD Thesis, Tech. Report, CMU-RI-TR-23-04, April, 2023
asEars: Designing and Evaluating the User Experience of Wearable Assistive Devices for Single-Sided Deafness
Ken Takaki, Etsushi Nozaki, Tomomi Kanai, Ari Hautasaari, Akinori Kashio, Daisuke Sato, Teru Kamogashira, Tsukasa Uranaka, Shinji Urata, Hajime Koyama, Tatsuya Yamasoba, and Yoshihiro Kawahara
Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 17, April, 2023
Audio-Visual State-Aware Representation Learning from Interaction-Rich, Egocentric Videos
Himangi Mittal
Master's Thesis, Tech. Report, CMU-RI-TR-23-09, April, 2023
Enhancing Blind Visitor’s Autonomy in a Science Museum Using an Autonomous Navigation Robot
Seita Kayukawa, Daisuke Sato, Masayuki Murata, Tatsuya Ishihara, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa
Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 14, April, 2023
PathFinder: Designing a Map-less Navigation System for Blind People in Unfamiliar Buildings
Masaki Kuribayashi, Tatsuya Ishihara, Daisuke Sato, Jayakorn Vongkulbhisal, Karnik Ram, Seita Kayukawa, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa
Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 16, April, 2023
Resource Limited Exploration and Coverage through Ergodic Optimization
Ananya Rao
Master's Thesis, Tech. Report, CMU-RI-TR-23-11, April, 2023
Learning Models and Cost Functions from Unlabeled Data for Off-Road Navigation
Samuel Triest
Master's Thesis, Tech. Report, CMU-RI-TR-23-07, April, 2023
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models
Kshitij Goel, Nathan Michael, and Wennie Tabib
Journal Article, IEEE Robotics and Automation Letters, April, 2023
Learning with Diverse Forms of Imperfect and Indirect Supervision
Benedikt Boecking
PhD Thesis, Tech. Report, CMU-RI-TR-23-03, February, 2023
Imagine All Objects Are Robots: A Multi-Agent Pathfinding Perspective on Manipulation Among Movable Objects
Dhruv Mauria Saxena and Maxim Likhachev
Workshop Paper, AAAI-23 Workshop on Multi-Agent Path Finding, February, 2023
Cable Tension Optimization for an Epicardial Parallel Wire Robot
Aman Ladak, Roger J Hajjar, Srinivas Murali, Jeremy J. Michalek, and Cameron N. Riviere
Journal Article, Journal of Medical Devices, February, 2023
Computational Interferometric Imaging
Alankar Shashikant Kotwal
PhD Thesis, Tech. Report, CMU-RI-TR-23-01, Robotics Institute, Carnegie Mellon University, January, 2023
A Simulator for Fully-Actuated UAVs
Keipour A, Mousaei M, and Scherer S
Conference Paper, Proceedings of The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles, 2023
2D-3D Pose Tracking with Multi-View Constraints
Yu H, Chen K, Yang W, Scherer S, and Xia GS
Journal Article, arXiv preprint arXiv:2309. 11335, 2023
AirIMU: Learning Uncertainty Propagation for Inertial Odometry
Qiu Y, Wang C, Zhou X, Xia Y, and Scherer S
Journal Article, arXiv preprint arXiv:2310. 04874, 2023
AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking
Ghosh S, Patrikar J, Moon B, Hamidi MM, and Scherer S
Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2023
Aerial Interaction with Tactile Sensing
Guo X, He G, Mousaei M, Geng J, Shi G, and Scherer S
Journal Article, arXiv preprint arXiv:2310. 00142, 2023
Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds
Zhao Z, Yu H, Lyu C, Yang W, and Scherer S
Journal Article, IEEE Sensors Journal, Vol. 23, No. 19, pp. 23836-23845, 2023