Publications




Deliberative Object Pose Estimation in Clutter
Venkatraman Narayanan and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3125 - 3130, May, 2017
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, and Siddhartha Srinivasa
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3770 - 3777, May, 2017
Designing Convolutional Neural Networks for Urban Scene Understanding
Ye Yuan
Master's Thesis, Tech. Report, CMU-RI-TR-17-06, Robotics Institute, Carnegie Mellon University, May, 2017
Exploiting Robotic Swarm Characteristics for Adversarial Subversion in Coverage Tasks
Navyata Sanghvi, Sasanka Nagavalli, and Katia Sycara
Conference Paper, Proceedings of 16th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '17), pp. 511 - 519, May, 2017
Human-Centered Design of Robot Explanations
Rosario Scalise
Master's Thesis, Tech. Report, CMU-RI-TR-17-12, Robotics Institute, Carnegie Mellon University, May, 2017
Keyframe-based Dense Planar SLAM
Ming Hsiao, Eric Westman, Guofeng Zhang, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5110 - 5117, May, 2017
Learning Game Design
Roger Liu and Stephen Chen
Tech. Report, May, 2017
Learning to Gather Information via Imitation
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, and Debadeepta Dey
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 908 - 915, May, 2017
Leveraging experience for computationally efficient adaptive nonlinear model predictive control
V. R. Desaraju and N. Michael
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5314 - 5320, May, 2017
Leveraging Inexpensive Supervision Signals for Visual Learning
Senthil Purushwalkam Shiva Prakash
Master's Thesis, Tech. Report, CMU-RI-TR-17-13, Robotics Institute, Carnegie Mellon University, May, 2017
Object Category Understanding via Eye Fixations on Freehand Sketches
Ravi Kiran Sarvadevabhatla, Sudharshan Suresh, and R Venkatesh Babu
Journal Article, IEEE Transactions on Image Processing, Vol. 26, No. 5, pp. 2508 - 2518, May, 2017
People with Visual Impairment Training Personal Object Recognizers: Feasibility and Challenges
Hernisa Kacorri, Kris M. Kitani, Jeff Bigham, and Chieko Asakawa
Conference Paper, Proceedings of CHI Conference on Human Factors in Computing Systems (CHI '17), pp. 5839 - 5849, May, 2017
Probabilistically Safe Policy Transfer
David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, and Pieter Abbeel
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5798 - 5805, May, 2017
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