Publications




Randomized Algorithm for Informative Path Planning with Budget Constraints
Sankalp Arora and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4997 - 5004, May, 2017
Revisiting Visual Pattern Mining
Tanmay Batra
Master's Thesis, Tech. Report, CMU-RI-TR-17-22, Robotics Institute, Carnegie Mellon University, May, 2017
Robust Localization and Localizability Estimation with a Rotating Laser Scanner
Weikun Zhen, Sam Zeng, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6240 - 6245, May, 2017
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou
Master's Thesis, Tech. Report, CMU-RI-TR-17-10, Robotics Institute, Carnegie Mellon University, May, 2017
Robust Stereo Matching with Surface Normal Prediction
Shuangli Zhang, Weijian Xie, Guofeng Zhang, Hujun Bao, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2540 - 2547, May, 2017
Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor
Wenzhen Yuan, Chenzhuo Zhu, Andrew Owens, Mandayam A. Srinivasan, and Edward H. Adelson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 951 - 958, May, 2017
Speech-based Robot Manipulation Demo Video Channel. https://youtu.be/Q1Ni-EYjKUM
B. Hanzra, S. Dong, J. Hu, T-H Kim, T. Chugh, W. Seto, K. Muelling, and J. Oh
Miscellaneous, Video Production, May, 2017
Speech-based Shmoo (Ballbot) Demo Video. https://youtu.be/1N3Il4FxDB4
M. Wilson, R. Shu, R. Hollis, and J. Oh
Miscellaneous, Video Production, May, 2017
Synthesizing Scenes for Instance Detection
Debidatta Dwibedi
Master's Thesis, Tech. Report, CMU-RI-TR-17-21, Robotics Institute, Carnegie Mellon University, May, 2017
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy Pollard, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4673 - 4680, May, 2017
Touch Based Localization for High-Precision Manufacturing
Shiyuan Chen
Master's Thesis, Tech. Report, CMU-RI-TR-17-29, Robotics Institute, Carnegie Mellon University, May, 2017
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes Jr., Joseph N. Martel, and Cameron Riviere
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2951 - 2956, May, 2017
Towards Vision Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee
Master's Thesis, Tech. Report, CMU-RI-TR-17-20, Robotics Institute, Carnegie Mellon University, May, 2017
Virtual overlays for guiding object placement, orientation, and motion
J. Galeotti
Miscellaneous, Invention Disclosure CMU 2017-191, May, 2017
Vision-Based Navigation and Deep-Learning Explanation for Autonomy
Sandeep Konam
Master's Thesis, Tech. Report, CMU-RI-TR-17-27, Robotics Institute, Carnegie Mellon University, May, 2017
Multisensory Augmented Reality
M. Mahler, J. Mars, J. McCann, A. Israr, S. Lawson, K. McIntosh, and J. Bedford
Miscellaneous, U. S. Patent US20180315243A1, April, 2017
Regions of Inaccurate Modeling for Robot Anomaly Detection and Model Correction
Juan Pablo Mendoza
PhD Thesis, Tech. Report, CMU-RI-TR-17-43, Robotics Institute, Carnegie Mellon University, April, 2017
Activity Forecasting: An Invitation to Predictive Perception
Kris M. Kitani, Wei-Chiu Ma, and De-An Huang
Book Section/Chapter, Group and Crowd Behavior for Computer Vision. Chapter 12, pp. 273 - 294, April, 2017
Improving Prediction of Traversability for Planetary Rovers Using Thermal Imaging
Christopher Cunningham
PhD Thesis, Tech. Report, CMU-RI-TR-17-28, Robotics Institute, Carnegie Mellon University, April, 2017
Designing Collaborative Planning Systems: Putting Joint Cognitive Systems Principles to Practice
E. M. Roth, B. DePass, R. Scott, R. Truxler, S. F. Smith, and J. Wample
Book Section/Chapter, Cognitive Systems Engineering: A Future for a Changing World, April, 2017
Achieving Practical and Accurate Indoor Navigation for People with Visual Impairments
Dragan Ahmetovic, Masayuki Murata, Cole Gleason, Erin Brady, Kris M. Kitani, Hironobu Takagi, and Chieko Asakawa
Conference Paper, Proceedings of 14th Web For All Conference on The Future of Accessible Work (W4A '17), April, 2017
Obstacle Avoidance through Deep Networks based Intermediate Perception
Yang S, Konam S, Ma C, Rosenthal S, Veloso M, and Scherer S
Journal Article, arXiv preprint arXiv:1704. 08759, April, 2017
A Comparison of Autoregressive Hidden Markov Models for Multi-Modal Manipulations with Variable Masses
Oliver Kroemer and Jan Peters
Journal Article, IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 1101 - 1108, April, 2017
A Framework For Optimal Grasp Contact Planning
Kaiyu Hang, Johannes A. Stork, Nancy Pollard, and Danica Kragic
Journal Article, IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 704 - 711, April, 2017
A sample-efficient black-box optimizer to train policies for human-in-the- loop systems with user preferences
Nitish Thatte, Helei Duan, and Hartmut Geyer
Journal Article, IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 993 - 1000, April, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): Assessment of Relevant Research
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias, and Zachary Rubinstein
Tech. Report, CMU-RI-TR-17-17, Robotics Institute, Carnegie Mellon University, April, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): Innovation Scan
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias, and Zachary Rubinstein
Tech. Report, CMU-RI-TR-17-16, Robotics Institute, Carnegie Mellon University, April, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): State of the Practice Scan
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias, and Zachary Rubinstein
Tech. Report, CMU-RI-TR-17-15, Robotics Institute, Carnegie Mellon University, April, 2017
Direct Visual Odometry in Low Light using Binary Descriptors
Hatem Alismail, Michael Kaess, Brett Browning, and Simon Lucey
Journal Article, IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 444 - 451, April, 2017
Evaluations on Multi-scale Camera Networks for Precise and Geo-accurate Reconstructions from Aerial and Terrestrial Images with User Guidance
Markus Rumpler, Alexander Tscharf, Christian Mostegel, Shreyansh Daftry, Christof Hoppe, Rudolf Prettenthaler, Friedrich Fraundorfer, Gerhard Mayer, and Horst Bischof
Journal Article, Computer Vision and Image Understanding, Vol. 157, pp. 255 - 273, April, 2017
Experimental evaluation of deadbeat running on the ATRIAS biped
William Martin, Albert Wu, and Hartmut Geyer
Journal Article, IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 1085 - 1092, April, 2017
Gradient Boosting on Stochastic Data Streams
Hanzhang Hu, Wen Sun, Arun Venkatraman, Martial Hebert, and J. Andrew (Drew) Bagnell
Conference Paper, Proceedings of 20th International Conference on Artificial Intelligence and Statistics (AISTATS '17), pp. 595 - 603, April, 2017
Learning to Extract Actionable Evidence from Medical Insurance Claims Data
Jieshi Chen and Artur Dubrawski
Book Section/Chapter, Actionable Intelligence in Healthcare, April, 2017
Multiobjective Optimization Based on Expensive Robotic Experiments under Heteroscedastic Noise
Ryo Ariizumi, Matthew Tesch, Kenta Kato, Howie Choset, and Fumitoshi Matsuno
Journal Article, IEEE Transactions on Robotics, Vol. 33, No. 2, pp. 468 - 483, April, 2017
Planning and Localization Using Contacts
Bradley Saund
Master's Thesis, Tech. Report, CMU-RI-TR-17-26, Robotics Institute, Carnegie Mellon University, April, 2017
Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields
Zhe Cao, Tomas Simon, Shih-En Wei, and Yaser Ajmal Sheikh
Tech. Report, CMU-RI-TR-17-18, Robotics Institute, Carnegie Mellon University, April, 2017
Risk for Cardiorespiratory Instability Following Transfer to a Monitored Step-Down Unit
Eliezer Bose, Lujie Chen, Gilles Clermont, Artur Dubrawski, Michael R. Pinsky, Dianxu Ren, Leslie A. Hoffman, and Marilyn Hravnak
Journal Article, Respiratory Care, Vol. 62, No. 4, pp. 415 - 422, April, 2017
Safe, Efficient, and Robust Predictive Control of Constrained Nonlinear Systems
Vishnu R. Desaraju
PhD Thesis, Tech. Report, CMU-RI-TR-17-25, Robotics Institute, Carnegie Mellon University, April, 2017
The Development, Evaluation and Applications of a Neuromechanical Control Model of Human Locomotion
Seungmoon Song
PhD Thesis, Tech. Report, CMU-RI-TR-17-24, Robotics Institute, Carnegie Mellon University, April, 2017
Improving Prosody Through Analysis by Synthesis
Kevin A. Lenzo
PhD Thesis, Tech. Report, CMU-RI-TR-17-11, Robotics Institute, Carnegie Mellon University, March, 2017
Beacon-guided Structure from Motion for Smartphone-based Navigation
Tatsuya Ishihara, Jayakorn Vongkulbhisal, Kris M. Kitani, and Chieko Asakawa
Conference Paper, Proceedings of IEEE Winter Conference on the Applications of Computer Vision (WACV '17), pp. 769 - 777, March, 2017
Techniques for epicardial mapping and ablation with a miniature robotic walker
Dwight A. Meglan, Wener Lv, Richard J. Cohen, and Cameron N. Riviere
Journal Article, Robotic Surgery Research and Reviews, Vol. 4, pp. 25 - 31, March, 2017
Inference Machines for Supervised Bluetooth Localization
Tatsuya Ishihara, Kris M. Kitani, Chieko Asakawa, and Michitaka Hirose
Conference Paper, Proceedings of International Conference on Acoustics, Speech and Signal Processing (ICASSP '17), pp. 5950 - 5954, March, 2017
Evaluation of a neuromechanical walking control model using disturbance experiments
Seungmoon Song and Hartmut Geyer
Journal Article, Frontiers in Computational Neuroscience, Vol. 11, March, 2017
Automation Toward Tether-less Robotic Operations in Nuclear Facilities
William Whittaker, Heather Jones, Sebastian Scherer, Joseph Bartels, Warren Whittaker, Matthew Hanczor, Michael Lee, and Weikun Zhen
Conference Paper, Proceedings of Waste Management Conference (WM '17), March, 2017
Forecasting Tachycardia In the Intensive Care Unit
L. Mu, L. Chen, J. H. Yoon, G. Clermont, and A. Dubrawski
Conference Paper, Proceedings of 37th International Symposium on Intensive Care and Emergency Medicine (ISICEM '17), March, 2017
Learning from Learning Curves: Discovery of Interpretable Learning Trajectory Groups
Lujie Chen and Artur Dubrawski
Conference Paper, Proceedings of 7th International Conference on Learning Analytics and Knowledge (LAK '17), pp. 544 - 545, March, 2017
Natural Language Explanations in Human-Collaborative Systems
Rosario Scalise, Stephanie Rosenthal, and Siddhartha Srinivasa
Conference Paper, Proceedings of Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 377 - 378, March, 2017
Occlusions are Fleeting - Texture is Forever: Moving Past Brightness Constancy
C. Ham, S. Singh, and S. Lucey
Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '17), pp. 273 - 281, March, 2017
Personal Safety is More Important Than Cost of Damage During Robot Failure
Obehioye Adubor, Rhomni St. John, and Aaron Steinfeld
Conference Paper, Proceedings of Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 403, March, 2017