Publications




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
Selective Transfer Machine for Personalized Facial Expression Analysis
Wen-Sheng Chu, Fernando De la Torre Frade, and Jeffrey Cohn
Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 39, No. 3, pp. 529 - 545, March, 2017
SLHAP: Simultaneous Learning of Hierarchy and Primitives
Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace Sidner, and Charles Rich
Conference Paper, Proceedings of Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 412, March, 2017
Ultrasound tracking using ProbeSight: Camera pose estimation relative to external anatomy by inverse rendering of a prior high-resolution 3D surface map
J. Wang, C. Che, J. Galeotti, S. Horvath, V. Gorantla, and G. Stetten
Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '17), pp. 825 - 833, March, 2017
Using robot manipulation to assist navigation by people who are blind or low vision
Xiang Zhi Tan and Aaron Steinfeld
Conference Paper, Proceedings of Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 379 - 380, March, 2017
“Fly Like This”: Natural Language Interfaces for UAV Mission Planning
Meghan Chandarana, Erica L. Meszaros, Anna Trujillo, and Bonnie Danette Allen
Conference Paper, Proceedings of 10th International Conference on Advances in Computer-Human Interactions (ACHI '17), March, 2017
Deeply AggreVaTeD: Differentiable Imitation Learning for Sequential Prediction
Wen Sun, Arun Venkatraman, Geoffrey J. Gordon, Byron Boots, and J. Andrew (Drew) Bagnell
Tech. Report, CMU-RI-TR-17-05, Robotics Institute, Carnegie Mellon University, March, 2017
Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
G. Clark Haynes, David Stager, Anthony Stentz, Michael Vande Weghe, Brian Zajac, Herman Herman, Alonzo Kelly, Eric Meyhofer, Dean M. Anderson, Dane Bennington, Jordan Brindza, David Butterworth, Christopher M. Dellin, Michael David George, Jose Gonzalez-Mora, Morgan Jones, Prathamesh Kini, Michel Laverne, Nick Letwin, Eric Perko, Chris Pinkston, David Rice, Justin Scheifflee, Kyle Strabala, Mark Waldbaum, and Randy Warner
Journal Article, Journal of Field Robotics, Vol. 34, No. 2, pp. 281 - 304, March, 2017
Developing, evaluating, and refining an automatic generator of diagnostic multiple choice cloze questions to assess children's comprehension while reading
Jack Mostow, Yi-Ting Huang, Hyeju Jang, Anders Weinstein, Joe Valeri, and Donna Gates
Journal Article, Natural Language Engineering, Vol. 23, No. 2, pp. 245 - 294, March, 2017
Dynamic and Personalized Risk Forecast in Step-Down Units: Implications for Monitoring Paradigms
Lujie Chen, Olufunmilayo Ogundele, Gilles Clermont, Marilyn T. Hravnak, Michael R. Pinsky, and Artur W. Dubrawski
Journal Article, Annals of American Thoracic Society, Vol. 14, No. 3, pp. 384 - 391, March, 2017
Dynamic skin deformation simulation using musculoskeletal model and soft tissue dynamics
Akihiko Murai, Q. Youn Hong, Katsu Yamane, and Jessica K. Hodgins
Journal Article, Computational Visual Media, Vol. 3, No. 1, pp. 49 - 60, March, 2017
Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration
Stefanos Nikolaidis, Swaprava Nath, Ariel Procaccia, and Siddhartha Srinivasa
Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 323 - 331, March, 2017
Guaranteed Parameter Estimation for Discrete Energy Minimization
Mengtian Li and Daniel Huber
Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '17), pp. 473 - 482, March, 2017
Human-Robot Mutual Adaptation in Shared Autonomy
Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu, and Siddhartha Srinivasa
Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 294 - 302, March, 2017
Modular platforms for Advanced Inspection, Locomotion, and Manipulation
Alex R. Ansari, Julian Whitman, Brad Saund, and Howie Choset
Conference Paper, Proceedings of Waste Management Symposium (WM '17), March, 2017
Multi-Operator Gesture Control of Robotic Swarms Using Wearable Devices
Sasanka Nagavalli, Meghan Chandarana, Michael Lewis, and Katia Sycara
Conference Paper, Proceedings of 10th International Conference on Advances in Computer-Human Interactions (ACHI '17), pp. 25 - 33, March, 2017
Novel serpentine robot combinations for inspection in hard-to-reach areas of damaged or decommissioned structures
Richard Voyles, Praveen Abbaraju, Howie Choset, and Alex R. Ansari
Conference Paper, Proceedings of Waste Management Symposium (WM '17), March, 2017
Online adaptive teleoperation via incremental intent modeling
X. Yang, K. Sreenath, and N. Michael
Conference Paper, Proceedings of Companion of the ACM / IEEE International Conference on Human-Robot Interaction (HRI'17), March, 2017
Online Lidar and Vision based Ego-motion Estimation and Mapping
Ji Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-17-04, Robotics Institute, Carnegie Mellon University, March, 2017
Probabilistic Movement Primitives for Coordination of Multiple Human-Robot Collaborative Tasks
Guilherme Maeda, Gerhard Neumann, Marco Ewerton, Rudolf Lioutikov, Oliver Kroemer, and Jan Peters
Journal Article, Autonomous Robots, Vol. 41, No. 3, pp. 593 - 612, March, 2017
Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
Vishal Dugar, Sanjiban Choudhury, and Sebastian Scherer
Conference Paper, Proceedings of AHS 73rd Annual Forum, March, 2017
Stability of a Light Sail Riding on a Laser Beam
Zac Manchester and Abraham Loeb
Journal Article, Astrophysical Journal Letters, Vol. 837, No. 2, pp. L20, March, 2017
Towards Robot Autonomy in Group Conversations: Understanding the Effects of Body Orientation and Gaze
Marynel Vazquez, Elizabeth J. Carter, Braden McDorman, Jodi Forlizzi, Aaron Steinfeld, and Scott Hudson
Conference Paper, Proceedings of ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), pp. 42 - 52, March, 2017
Video segmentation and stabilization for BallCam
Ryohei Funakoshi, Vishnu Naresh Boddeti, Kris M. Kitani, and Hideki Koike
Conference Paper, Proceedings of 8th Augmented Human International Conference (AH '17), March, 2017
The theory, implementation, and evaluation of spring mass running on ATRIAS, a bipedal robot
Albert Wu
PhD Thesis, Tech. Report, CMU-RI-TR-17-08, Robotics Institute, Carnegie Mellon University, February, 2017
High frequency ultrasound in-plane registration of deformable finger vessels
C. Che, J. Wang, V. Gorantla, and J. Galeotti
Conference Paper, Proceedings of SPIE Medical Imaging, Image Processing, February, 2017
Query Efficient Posterior Estimation in Scientific Experiments via Bayesian Active Learning
K. Kandasamy, J. Schneider, and B. Poczos
Journal Article, Artificial Intelligence Journal, Vol. 243, pp. 45 - 56, February, 2017
Techniques for Avoidance of Coronary Vasculature during Epicardial Needle Insertions with a Miniature Robotic Walker
Dwight A. Meglan, Bryan P. Bergeron, Ryan S. Bardsley, John M. Galeotti, and Cameron N. Riviere
Conference Paper, Proceedings of 3rd International Conference on Mechatronics and Robotics Engineering (ICMRE '17), pp. 1 - 5, February, 2017
Ultrasound Registration:  A Review
C. Che, T. Mathai, and J. Galeotti
Journal Article, Methods: Special Issue on Image Processing in Biology, Vol. 115, pp. 128 - 143, February, 2017
Toward Improved Electromagnetic Tracking for Handheld Robotics
Robert A. MacLachlan, Ralph L. Hollis, Joseph N. Martel, Louis A. Lobes Jr.,, and Cameron N. Riviere
Conference Paper, Proceedings of 3rd International Conference on Mechatronics and Robotics Engineering (ICMRE '17), pp. 75 - 80, February, 2017
Active Search for Sparse Signals with Region Sensing
Y. Ma, R. Garnett, and J. Schneider
Conference Paper, Proceedings of 31st AAAI Conference on Artificial Intelligence (AAAI '17), pp. 2315 - 2321, February, 2017
Low-drift and Real-time Lidar Odometry and Mapping
Ji Zhang and Sanjiv Singh
Journal Article, Autonomous Robots, Vol. 41, No. 2, pp. 401 - 416, February, 2017
Planetary Pits and Caves: Targets for Science Exploration
W. L. Whittaker, P. J. Boston, G. Cushing, T. N. Titus, R. V. Wagner, A. Colaprete, J. Haruyama, H. L. Jones, J. G. Blank, R. P. Mueller, J. D. Stopar, W. Tabib, and U. Wong
Workshop Paper, Planetary Science Vision (PSV) 2050 Workshop, February, 2017
Vision-Language Fusion for Object Recognition
Sz-Rung Shiang, Stephanie Rosenthal, Anatole Gershman, Jaime Carbonell, and Jean Hyaejin Oh
Conference Paper, Proceedings of 31st AAAI Conference on Artificial Intelligence (AAAI '17), pp. 4603 - 4610, February, 2017
Automatic Analysis of Facial Actions: Learning from Transductive, Supervised and Unsupervised Frameworks
Wen-Sheng Chu
PhD Thesis, Tech. Report, CMU-RI-TR-17-01, Robotics Institute, Carnegie Mellon University, February, 2017
Class specific centralized dictionary learning for face recognition
Bao-Di Liu, Liangke Gui, Yuting Wang, Yuxiong Wang, Bin Shen, Xue Li, and Yan-Jiang Wang
Journal Article, Multimedia Tools and Applications, Vol. 76, No. 3, pp. 4159 - 4177, February, 2017
Dense 3D Face Alignment from 2D Video for Real-Time Use
Laszlo A. Jeni, Jeffrey F. Cohn, and Takeo Kanade
Journal Article, Image and Vision Computing, Vol. 58, pp. 13 - 24, February, 2017
Enabling Dark Energy Science with Deep Generative Models of Galaxy Images
S. Ravanbakhsh, F. Lanusse, R. Mandelbaum, J. Schneider, and B. Poczos
Conference Paper, Proceedings of 31st AAAI Conference on Artificial Intelligence (AAAI '17), pp. 1488 - 1494, February, 2017