Publications - Robotics Institute Carnegie Mellon University

Alankar Shashikant Kotwal

PhD Thesis, Tech. Report, CMU-RI-TR-23-01, Robotics Institute, Carnegie Mellon University, January, 2023

Conference Paper, Proceedings of The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles, 2023

2D-3D Pose Tracking with Multi-View Constraints

Yu H, Chen K, Yang W, Scherer S, and Xia GS

Journal Article, arXiv preprint arXiv:2309. 11335, 2023

AirIMU: Learning Uncertainty Propagation for Inertial Odometry

Qiu Y, Wang C, Zhou X, Xia Y, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 04874, 2023

AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking

Ghosh S, Patrikar J, Moon B, Hamidi MM, and Scherer S

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2023

Aerial Interaction with Tactile Sensing

Guo X, He G, Mousaei M, Geng J, Shi G, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 00142, 2023

Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds

Zhao Z, Yu H, Lyu C, Yang W, and Scherer S

Journal Article, IEEE Sensors Journal, Vol. 23, No. 19, pp. 23836-23845, 2023

AutoMerge: A framework for map assembling and smoothing in city-scale environments

Yin P, Zhao S, Lai H, Ge R, Zhang J, Choset H, and Scherer S

Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 5, pp. 3686-3704, 2023

BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition

Yin P, Abuduweili A, Zhao S, Xu L, Liu C, and Scherer S

Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 6, pp. 4855-4874, 2023

DytanVO: Joint refinement of visual odometry and motion segmentation in dynamic environments

Shen S, Cai Y, Wang W, and Scherer S

Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 4048-4055, 2023

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