Publications




Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments
Rauniyar A, Li J, and Scherer S
Journal Article, arXiv preprint arXiv:2310. 13184, 2023
Exploring the Most Sectors at the DARPA Subterranean Challenge Finals
Cao C, Nogueira L, Zhu H, Keller J, Best G, Garg R, Kohanbash D, Maier J, Zhao S, Yang F, Cujic K, Darnley R, DeBortoli R, Drozd B, Sun B, Higgins I, Willits S, Armstrong G, Zhang J, Hollinger G, Travers M, and Scherer S
Journal Article, Field Robotics, Vol. 3, No. 25, pp. 801-836, 2023
Follow the rules: Online signal temporal logic tree search for guided imitation learning in stochastic domains
Aloor JJ, Patrikar J, Kapoor P, Oh J, and Scherer S
Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1320-1326, 2023
FoundLoc: Vision-based Onboard Aerial Localization in the Wild
He Y, Cisneros I, Keetha N, Patrikar J, Ye Z, Higgins I, Hu Y, Kapoor P, and Scherer S
Journal Article, arXiv preprint arXiv:2310. 16299, 2023
Greedy Perspectives: Multi-Drone View Planning for Collaborative Coverage in Cluttered Environments
Suresh K, Rauniyar A, Corah M, and Scherer S
Journal Article, arXiv preprint arXiv:2310. 10863, 2023
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV
He G, Jangir Y, Geng J, Mousaei M, Bai D, and Scherer S
Conference Paper, Proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5042-5049, 2023
iSimLoc: Visual Global Localization for Previously Unseen Environments With Simulated Images
Yin P, Cisneros I, Zhao S, Zhang J, Choset H, and Scherer S
Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 3, pp. 1893-1909, 2023
Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace
Navarro I, Patrikar J, Dantas J, Baijal R, Higgins I, Scherer S, and Oh J
Journal Article, arXiv preprint arXiv:2304. 01428, 2023
Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation
Triest S, Castro MG, Maheshwari P, Sivaprakasam M, Wang W, and Scherer S
Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 924-930, 2023
Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models
Chen E, Ho C, Maulimov M, Wang C, and Scherer S
Journal Article, arXiv preprint arXiv:2306. 15226, 2023
MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position
Yan J, Lin X, Ren Z, Zhao S, Yu J, Cao C, Yin P, Zhang J, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 7, pp. 4299-4306, 2023
Multimodal beacon based precision landing system for autonomous aircraft
Taylor J, Singh S, Chamberlain L, Scherer S, Grocholsky B, and Brajovic V
Miscellaneous, 2023
Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments
Hu Y, Geng J, Wang C, Keller J, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 6, pp. 3780-3787, 2023
Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation
Jacinto M, Pinto J, Patrikar J, Keller J, Cunha R, Scherer S, and Pascoal A
Journal Article, arXiv preprint arXiv:2307. 05263, 2023
PIAug--Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation
Maheshwari P, Wang W, Triest S, Sivaprakasam M, Aich S, Rogers III JG, Gregory JM, and Scherer S
Journal Article, arXiv preprint arXiv:2311. 00815, 2023
PyPose v0.6: The Imperative Programming Interface for Robotics
Zhan Z, Li X, Li Q, He H, Pandey A, Xiao H, Xu Y, Chen X, Xu K, Cao K, and Others
Journal Article, arXiv preprint arXiv:2309. 13035, 2023
PyPose: A library for robot learning with physics-based optimization
Wang C, Gao D, Xu K, Geng J, Hu Y, Qiu Y, Li B, Yang F, Moon B, Pandey A, and Others
Conference Paper, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 22024-22034, 2023
Quantifying the Effect of Weather on Advanced Air Mobility Operations
Sharma A, Patrikar J, Moon B, Scherer S, and Samaras C
Journal Article, Findings, 2023
SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation
Navarro I, Patrikar J, Dantas J, Baijal R, Higgins I, Scherer S, and Oh J
Journal Article, arXiv preprint arXiv:2309. 13144, 2023
SplaTAM: Splat, track & map 3d gaussians for dense rgb-d SLAM
Keetha N, Karhade J, Jatavallabhula KM, Yang G, Scherer S, Ramanan D, and Luiten J
Journal Article, arXiv preprint arXiv:2312. 02126, 2023
SubT-MRS: A Subterranean, Multi-Robot, Multi-Spectral and Multi-Degraded Dataset for Robust SLAM
Zhao S, Singh D, Sun H, Jiang R, Gao Y, Wu T, Karhade J, Whittaker C, Higgins I, Xu J, and Others
Journal Article, arXiv preprint arXiv:2307. 07607, 2023
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
Hu Y, Xie Q, Jain V, Francis J, Patrikar J, Keetha N, Kim S, Xie Y, Zhang T, Zhao Z, and Others
Journal Article, arXiv preprint arXiv:2312. 08782, 2023
TartanDrive 1.5: Improving Large Multimodal Robotics Dataset Collection and Distribution
Sivaprakasam M, Triest S, Castro MG, Nye M, Maulimov M, Ho C, Maheshwari P, Wang W, and Scherer S
Conference Paper, Proceedings of ICRA2023 Workshop on Pretraining for Robotics (PT4R), 2023
Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification
Moon B, Sachdev S, Yuan J, and Scherer S
Journal Article, IEEE Robotics and Automation Letters, 2023
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction
Keipour A, Mousaei M, Geng J, Bai D, and Scherer S
Conference Paper, Proceedings of AIAA SCITECH 2023 Forum, pp. 1279, 2023
WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views
Jong A, Yu M, Dhrafani D, Kailas S, Moon B, Sycara K, and Scherer S
Conference Paper, Proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11464-11471, 2023
Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study
Arnav Gupta, Yuemin Mao, Ankit Bhatia, Xianyi Cheng, Jonathan P. King, Yifan Hou, and Matthew T. Mason
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, December, 2022
3D Reconstruction Using Differential Imaging
Shumian Xin
PhD Thesis, Tech. Report, CMU-RI-TR-22-73, Robotics Institute, Carnegie Mellon University, December, 2022
AdveRsarial Calibration between Modalities
Yutian Lei
Master's Thesis, Tech. Report, CMU-RI-TR-22-78, Robotics Institute, Carnegie Mellon University, December, 2022
Search-based Planning for Sensor-based Coverage
Tushar Kusnur
Master's Thesis, Tech. Report, CMU-RI-TR-22-76, Robotics Institute, Carnegie Mellon University, December, 2022
See but Don’t Be Seen: Towards Stealthy Active Search in Heterogeneous Multi-Robot Systems
Nikhil Angad Bakshi
Master's Thesis, Tech. Report, CMU-RI-TR-22-69, Robotics Institute, Carnegie Mellon University, December, 2022
Towards Video-based Physiology Estimation
Ambareesh Revanur
Master's Thesis, Tech. Report, CMU-RI-TR-22-71, Robotics Institute, Carnegie Mellon University, December, 2022
Analogical Networks: Memory-Modulated In-Context 3D Parsing
Mayank Singh
Master's Thesis, Tech. Report, CMU-RI-TR-22-67, Robotics Institute, Carnegie Mellon University, December, 2022
Transformers are Adaptable Task Planners
Vidhi Jain, Yixin Lin, Eric Undersander, Yonatan Bisk, and Akshara Rai
Conference Paper, Vol. 205, pp. 1011-1037, December, 2022
Data-Driven Slip Model for Improved Localization and Path Following applied to Lunar Micro-Rovers
Samuel Ong
Master's Thesis, Tech. Report, CMU-RI-TR-22-74, Robotics Institute, Carnegie Mellon University, December, 2022
Mitigating Causal Confusion in Driving Agents via Gaze Supervision
Abhijat Biswas, Badal Arun Pardhi, Caleb Chuck, Jarrett Holtz, Scott Niekum, Henny Admoni, and Alessandro Allievi
Workshop Paper, Aligning Robot Representations with Humans, 6th Conference on Robot Learning, December, 2022
Safe Control Under Input Limits with Neural Control Barrier Functions
Simin Liu, Changliu Liu, and John M. Dolan
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, pp. 1-11, December, 2022
INQUIRE: INteractive Querying for User-aware Informative REasoning
Tesca Fitzgerald, Pallavi Koppol, Patrick Callaghan, Russell Q. Wong, Reid Simmons, Oliver Kroemer, and Henny Admoni
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, December, 2022
Spatial Tasking in Human-Robot Collaborative Exploration
Yves Georgy Daoud
Master's Thesis, Tech. Report, CMU-RI-TR-22-70, Robotics Institute, Carnegie Mellon University, December, 2022
MBW: Multi-view Bootstrapping in the Wild
Mosam Dabhi, Chaoyang Wang, Tim Clifford, Laszlo Attila Jeni, Ian R. Fasel, and Simon Lucey
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2022
Rewriting Geometric Rules of a GAN
Sheng-Yu Wang
Master's Thesis, Tech. Report, CMU-RI-TR-22-77, Robotics Institute, Carnegie Mellon University, December, 2022
Learning Parameter-Efficient Markovian Quadrotor Dynamics Models
Suvansh Sanjeev
Master's Thesis, Tech. Report, CMU-RI-TR-22-68, Robotics Institute, Carnegie Mellon University, December, 2022
Self-Supervising Occlusions For Vision
Dinesh Reddy Narapureddy
PhD Thesis, Tech. Report, CMU-RI-TR-22-72, Robotics Institute, Carnegie Mellon University, December, 2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Jacky Liang, Xianyi Cheng, and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, December, 2022
Learning with Structured Priors for Robust Robot Manipulation
Jacky Liang
PhD Thesis, Tech. Report, CMU-RI-TR-22-66, Robotics Institute, Carnegie Mellon University, December, 2022
Semantically-Aware Pedestrian Intent Prediction With Barrier Functions and Mixed-Integer Quadratic Programming
Jaskaran Grover, Yiwei Lyu, Wenhao Luo, Changliu Liu, John Dolan, and Katia Sycara
Conference Paper, Proceedings of the IFAC Workshop on Cyberphysical Systems, pp. 167-174, December, 2022
Survey on Fish-Eye Cameras and Their Applications in Intelligent Vehicles
Yeqiang Qian, Ming Yang, and John M. Dolan
Journal Article, IEEE Transactions on Intelligent Transportation Systems (ITIS '22), Vol. 23, No. 12, pp. 22755 - 22771, December, 2022
Task-Agnostic Adaptation for Safe Human-Robot Handover
Ruixuan Liu, Rui Chen, and Changliu Liu
Workshop Paper, IFAC Workshop on Cyber-Physical Human Systems, December, 2022
Minimax Optimal Online Imitation Learning via Replay Estimation
Gokul Swamy, Nived Rajaraman, Matt Peng, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu, Jiantao Jiao, and Kannan Ramchandran
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, November, 2022
Sequence Model Imitation Learning with Unobserved Contexts
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, November, 2022