Publications - Robotics Institute Carnegie Mellon University

Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours

Master's Thesis, Tech. Report, CMU-RI-TR-16-48, Robotics Institute, Carnegie Mellon University, July, 2016

The three-link nonholonomic snake as a hybrid kinodynamic system

T. Dear, S. D. Kelly, M. Travers, and H. Choset

Conference Paper, Proceedings of American Control Conference (ACC '16), pp. 7269 - 7274, July, 2016

Using supervised machine learning to classify real alerts and artifact in online multi-signal vital sign monitoring data

Lujie Chen, Artur Dubrawski, Donghan Wang, Madalina Fiterau, Mathieu Guillame-Bert, Eliezer Bose, Ata Murat Kaynar, David J. Wallace, Jane Guttendorf, Gilles Clermont, Michael R. Pinsky, and Marilyn Hravnak

Journal Article, Critical Care Medicine, Vol. 44, No. 7, pp. 456 - 463, July, 2016

Visual inertial perception for autonomous inspection in nuclear power plants

S. Srivastava, N. Michael, and L. J. Petrosky

Conference Paper, Proceedings of ANS Decommissioning and Remote Systems Conference (D&RS '16), July, 2016

Efficient Feature Group Sequencing for Anytime Linear Prediction

Hanzhang Hu, Alexander Grubb, J. Andrew (Drew) Bagnell, and Martial Hebert

Conference Paper, Proceedings of 32nd Conference on Uncertainty in Artificial Intelligence (UAI '16), pp. 279 - 288, June, 2016

3D Shape Attributes

David F. Fouhey, Abhinav Gupta, and Andrew Zisserman

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 1516 - 1524, June, 2016

Actions ~ Transformations

Xiaolong Wang, Ali Farhadi, and Abhinav Gupta

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2658 - 2667, June, 2016

Marr Revisited: 2D-3D Alignment via Surface Normal Prediction

Aayush Bansal, Bryan Russell, and Abhinav Gupta

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 5965 - 5974, June, 2016

Training Region-based Object Detectors with Online Hard Example Mining

Abhinav Shrivastava, Abhinav Gupta, and Ross Girshick

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 761 - 769, June, 2016

Effects of Form and Motion on Judgments of Social Robots’ Animacy, Likability, Trustworthiness and Unpleasantness

Alvaro Castro-Gonzalez, Henny Admoni, and Brian Scassellati

Journal Article, International Journal of Human-Computer Studies, Vol. 90, pp. 27 - 38, June, 2016

Recognizing micro-actions and reactions from paired egocentric videos

Ryo Yonetani, Kris M. Kitani, and Yoichi Sato

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2629 - 2638, June, 2016

3D Photogrammetry for Measuring Reef Productivity: Advances in Light Propagation and Self-Occlusion

M. Johnson-Roberson, W. K. Fitt, B. M. Hopkinson, M. H. Long, Eduardo Iscar Ruland, and Katherine A. Skinner

Conference Paper, Proceedings of 13th International Coral Reef Symposium (ICRS '16), June, 2016

Accelerated Generative Models for 3D Point Cloud Data

B. Eckart, K. Kim, A. Troccoli, A. Kelly, and J. Kautz

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 5497 - 5505, June, 2016

Blockout: Dynamic model selection for hierarchical deep networks

Calvin Murdock, Zhen Li, Howard Zhou, and Tom Duerig

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2583 - 2591, June, 2016

Bottom-Up and Top-Down Reasoning with Hierarchical Rectified Gaussians

P. Hu and D. Ramanan

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 5600 - 5609, June, 2016

Communication through movement: An alternative method of interaction for HRI

Xiang Zhi Tan, Aaron Steinfeld, and M. Bernardine Dias

Workshop Paper, RSS '16 Workshop on Socially and Physically Assistive Robotics for Humanity, June, 2016

Convolutional Pose Machines

Shih-En Wei, Varun Ramakrishna, Takeo Kanade, and Yaser Sheikh

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 4724 - 4732, June, 2016

Geometric Swimming on a Granular Surface

J. Dai, H. Faraji, C. Gong, R. L. Hatton, D. I. Goldman, and H. Choset

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '16), June, 2016

Going Deeper into First-Person Activity Recognition

Minghuang Ma, Haoqi Fan, and Kris M. Kitani

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 1894 - 1903, June, 2016

High-Fidelity Yet Fast Dynamic Models of Wheeled Mobile Robots

N. Seegmiller and A. Kelly

Journal Article, IEEE Transactions on Robotics, Vol. 32, No. 3, pp. 614 - 625, June, 2016

Learning Action Maps of Large Environments via First-Person Vision

Nicholas Rhinehart and Kris M. Kitani

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 580 - 588, June, 2016

Map-supervised road detection

Ankit Laddha, Mehmet Kemal Kocamaz, Luis E. Navarro-Serment, and Martial Hebert

Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '16), pp. 118 - 123, June, 2016

Motion from Structure (MfS): Searching for 3D Objects in Cluttered Point Trajectories

J. Vongkulbhisal, R. Cabral, F. De la Torre, and J. Paulo Costeira

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 5639 - 5647, June, 2016

Online learning of robot soccer free kick plans using a bandit approach

Juan Pablo Mendoza, Reid Simmons, and Manuela Veloso

Conference Paper, Proceedings of 26th International Conference on Automated Planning and Scheduling (ICAPS '16), pp. 504 - 508, June, 2016

Prior-Less Compressible Structure from Motion

C. Kong and S. Lucey

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 4123 - 4131, June, 2016

Riding an emotional roller-coaster: A multimodal study of young child's math problem solving activities

Lujie Chen, Xin Li, Zhuyun Xia, Zhanmei Song, Louis-Philippe Morency, and Artur Dubrawski

Conference Paper, Proceedings of 9th International Conference on Educational Data Mining (EDM '16), June, 2016

Simplifying Gait Design via Shape Basis Optimization

C. Gong, D. I. Goldman, and H. Choset

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '16), June, 2016

A Framework for Optimal Repairing of Vector Field-based Motion Plans

Guilherme Augusto Silva Pereira, Sanjiban Choudhury, and Sebastian Scherer

Conference Paper, Proceedings of International Conference of Unmanned Aircraft Systems (ICUAS '16), pp. 261 - 266, June, 2016

A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues

David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, and Silvio Savarese

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '16), June, 2016

Active Comparison Based Learning Incorporating User Uncertainty and Noise

Rachel Holladay, Shervin Javdani, Anca Dragan, and Siddhartha Srinivasa

Workshop Paper, RSS '16 Workshop on Model Learning for Human-Robot Communication, June, 2016

Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning

Oren Salzman and Dan Halperin

Journal Article, IEEE Transactions on Robotics, Vol. 32, No. 3, pp. 473 - 483, June, 2016

Coordinated active perception and manipulation of a payload with unknown center-of-mass location

M. Corah and N. Michael

Workshop Paper, RSS '16 Workshop on Robot-Environment Interaction for Perception and Manipulation, June, 2016

Cross-stitch Networks for Multi-task Learning

Ishan Misra, Abhinav Shrivastava, Abhinav Gupta, and Martial Hebert

Conference Paper, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, June, 2016

Cross-stitch Networks for Multi-task Learning

Ishan Misra, Abhinav Shrivastava, Abhinav Gupta, and Martial Hebert

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 3994 - 4003, June, 2016

Designing Animated Characters for Children of Different Ages

Elizabeth J. Carter, Moshe Mahler, Maryyann Landlord, Kyna McIntosh, and Jessica K. Hodgins

Conference Paper, Proceedings of Conference on Interaction Design and Children (IDC '16), pp. 421 - 427, June, 2016

Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances

Venkatraman Narayanan and Maxim Likhachev

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '16), June, 2016

Estimating cosmological parameters from the dark matter distribution

S. Ravanbakhsh, J. Oliva, S. Fromenteau, L. Price, S. Ho, J. Schneider, and B. Poczos

Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, Vol. 48, pp. 2407 - 2416, June, 2016

Estimating SE(3) elements using a dual quaternion based linear Kalman filter

Arun Srivatsan Rangaprasad, Gillian T. Rosen, Feroze Naina Mohamed Dheen Mohamed Ismail, and Howie Choset

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '16), June, 2016

Experience-driven predictive control

V. R. Desaraju and N. Michael

Workshop Paper, RSS '16 Workshop on Robot Learning and Planning, June, 2016

Factoring Scenes into 3D Structure and Style

David Fouhey

PhD Thesis, Tech. Report, CMU-RI-TR-16-45, Robotics Institute, Carnegie Mellon University, June, 2016

Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers

Hiroaki Inotsume, Colin Creager, David Wettergreen, and William (Red) L. Whittaker

Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '16), June, 2016

From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication

Calder Phillips-Grafflin, Halit Bener Suay, Jim Mainprice, Nicholas Alunni, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, and Paul Oh

Journal Article, Journal of Intelligent & Robotic Systems, Vol. 82, No. 3, pp. 341 - 361, June, 2016

Hierarchical Relative Entropy Policy Search

Christian Daniel, Gerhard Neumann, Oliver Kroemer, and Jan Peters

Journal Article, Journal of Machine Learning Research, Vol. 17, No. 93, pp. 1 - 50, June, 2016

How Do You Fly to Alpha Centauri in Just 20 Years? Ride a Laser Beam

Zac Manchester

Magazine Article, IEEE Spectrum, June, 2016

Human-like Planning of Swerve Maneuvers for Autonomous Vehicles

Tianyu Gu, John M. Dolan, and Jin-Woo Lee

Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '16), pp. 716 - 721, June, 2016

Interactive online choreography for a multiquadrotor system

E. A. Cappo, A. Desai, N. Dehghani, A. Momeni, and N. Michael

Workshop Paper, RSS '16 Workshop on Human Robot Interaction for Small and Personal Unmanned Aerial Vehicles, June, 2016

iSTEP 2012: Waste Monitoring and Water Monitoring and Management at Ashesi University College in Ghana

Scott Andes, Corinne Clinch, Julie Mallis, Sandeep Reddy Munnangi, Ronnell Perry, Sarah M. Belousov, Mary Beatrice Dias, Malcolm Frederick Dias, Balajee Kannan, Ermine A. Teves, Yonina Cooper, and M. Bernardine Dias

Tech. Report, CMU-RI-TR-16-29, Robotics Institute, Carnegie Mellon University, June, 2016

iSTEP 2013: Development and Assessment of Assistive Technology for a School for the Blind in India

Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Aditya Kodkany, Vivek Nair, Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Ermine A. Teves, Mary Beatrice Dias, and M. Bernardine Dias

Tech. Report, CMU-RI-TR-16-30, Robotics Institute, Carnegie Mellon University, June, 2016

iSTEP 2013: Exploring the Feasibility and Suitability of Assistive Technology at the Mathru Center for Differently-Abled

Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Aditya Kodkany, Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Vivek Nair, Ermine A. Teves, Mary Beatrice Dias, and M. Bernardine Dias

Tech. Report, CMU-RI-TR-16-31, Robotics Institute, Carnegie Mellon University, June, 2016

iSTEP 2015: Cross-Cultural Technology Development Toward Language Access for the Deaf and Hard of Hearing

Maya Lassiter, Amal Nanavati, Erik Pintar, Minnar Xie, Ermine A. Teves, and M. Bernardine Dias

Tech. Report, CMU-RI-TR-16-32, Robotics Institute, Carnegie Mellon University, June, 2016