Publications




Library of behaviors and tools for robot manipulation
Yunchu Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-22-41, Robotics Institute, Carnegie Mellon University, August, 2022
Towards HD Map Updates with Crosswalk Change Detection from Vehicle-Mounted Cameras
Tom Bu
Master's Thesis, Tech. Report, CMU-RI-TR-22-34, Robotics Institute, Carnegie Mellon University, August, 2022
Efficient Methods for Model Performance Inference
Zhihao Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-22-54, Robotics Institute, Carnegie Mellon University, August, 2022
Programmable light curtains for Safety Envelopes, SLAM and Navigation
Gaurav Suresh Pathak
Master's Thesis, Tech. Report, CMU-RI-TR-22-56, Robotics Institute, Carnegie Mellon University, August, 2022
Seeing the Unseen: Closed-loop Occlusion Reasoning for Cloth Manipulation
Zixuan Huang
Master's Thesis, Tech. Report, CMU-RI-TR-22-32, Robotics Institute, Carnegie Mellon University, August, 2022
Socially-Aware Trajectory Prediction Guided by Motion Patterns
Ingrid Navarro
Master's Thesis, Tech. Report, CMU-RI-TR-22-38, Robotics Institute, Carnegie Mellon University, August, 2022
6D Object Pose Estimation for Manipulation via Weak Supervision
Chuer Pan
Master's Thesis, Tech. Report, CMU-RI-TR-22-36, Robotics Institute, Carnegie Mellon University, August, 2022
Features in Extra Dimensions: Spatial and Temporal Scene Representations
Zhaoyuan Fang
Master's Thesis, Tech. Report, CMU-RI-TR-22-39, Robotics Institute, Carnegie Mellon University, August, 2022
Causal Imitation Learning under Temporally Correlated Noise
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, August, 2022
Coordinating Heterogeneous Teams for Urban Search and Rescue
Zongyue Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-22-44, Robotics Institute, Carnegie Mellon University, August, 2022
Game-Theoretic Algorithms for Conditional Moment Matching
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Tech. Report, CMU-RI-TR-22-53, Robotics Institute, Carnegie Mellon University, August, 2022
Introspective Perception through Identifying Blur, Light Direction, and Angle-of-View
Mary Theresa Hatfalvi
Master's Thesis, Tech. Report, CMU-RI-TR-22-33, Robotics Institute, Carnegie Mellon University, August, 2022
Learning to Imitate Datasets by Long-Range Matching of Expert Training Trajectories
George Cazenavette
Master's Thesis, Tech. Report, CMU-RI-TR-22-45, Robotics Institute, Carnegie Mellon University, August, 2022
Image Synthesis with Appearance Decomposition
Bowei Chen
Master's Thesis, Tech. Report, CMU-RI-TR-22-52, Robotics Institute, Carnegie Mellon University, August, 2022
A Low-Cost Attitude Determination and Control System and Hardware-in-the-Loop Testbed for CubeSats
Benjamin Jensen
Master's Thesis, Tech. Report, CMU-RI-TR-22-43, Robotics Institute, Carnegie Mellon University, August, 2022
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors and its Sim-to-Real Applications
Zilin Si
Master's Thesis, Tech. Report, CMU-RI-TR-22-55, Robotics Institute, Carnegie Mellon University, August, 2022
GPS-Denied Global Visual-Inertial Ground Vehicle State Estimation via Image Registration
Yehonathan Litman
Master's Thesis, Tech. Report, CMU-RI-TR-22-46, Robotics Institute, Carnegie Mellon University, August, 2022
Enhancing Quadruped Locomotion Stability with Reaction Wheel Systems and Model Predictive Control
Chi-Yen Lee
Master's Thesis, Tech. Report, CMU-RI-TR-22-57, Robotics Institute, Carnegie Mellon University, July, 2022
Learning Structured World Model for Deformable Object Manipulation
Xingyu Lin
PhD Thesis, Tech. Report, CMU-RI-TR-22-48, Robotics Institute, Carnegie Mellon University, July, 2022
Lidar-Visual-Inertial Odometry via Modifications and Improvements to Super Odometry
Andrew VanOsten
Master's Thesis, Tech. Report, CMU-RI-TR-22-35, Robotics Institute, Carnegie Mellon University, July, 2022
Using 3D Imaging Radar for Indoor Localization and Mapping
Ruoyang Xu
Master's Thesis, Tech. Report, CMU-RI-TR-22-37, Robotics Institute, Carnegie Mellon University, July, 2022
Control Input and Natural Gaze for Goal Prediction in Shared Control
Reuben M. Aronson
PhD Thesis, Tech. Report, CMU-RI-TR-22-30, Robotics Institute, Carnegie Mellon University, July, 2022
Real-Time Visual Localization System in Changing and Challenging Environments via Visual Place Recognition
Ruohai Ge
Master's Thesis, Tech. Report, CMU-RI-TR-22-31, Robotics Institute, Carnegie Mellon University, July, 2022
Safe Reinforcement Learning with Probabilistic Control Barrier Functions for Ramp Merging
Soumith Udatha, Yiwei Lyu, and John M. Dolan
Workshop Paper, IJCAI Workshop on Artificial Intelligence for Autonomous Driving (AI4AD), July, 2022
Muscle-Inspired Linear Actuators by Electrochemical Oxidation of Liquid Metal Bridges
Jiahe Liao and Carmel Majidi
Journal Article, Advanced Science, July, 2022
Turning data into better mental health: past, present, and future
Nidal Moukaddam, Akane Sano, Ramiro Salas, Zakia Hammal, and Ashutosh Sabharwal
Journal Article, Frontiers in Digital Health, July, 2022
Learning by Doing: Controlling a Dynamical System using Causality, Control, and Reinforcement Learning
Sebastian Weichwald, Søren Wengel Mogensen, Tabitha Edith Lee, Dominik Baumann, Oliver Kroemer, Isabelle Guyon, Sebastian Trimpe, Jonas Peters, and Niklas Pfister
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, Vol. 176, pp. 246 - 258, July, 2022
Detect Active Object in a Sequential Voting Process
Qichen Fu
Master's Thesis, Tech. Report, CMU-RI-TR-22-40, Robotics Institute, Carnegie Mellon University, July, 2022
Addressing Optimism Bias in Sequence Modeling for Reinforcement Learning
Adam Villaflor, Zhe Huang, Swapnil Pande, John M. Dolan, and Jeff Schneider
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, pp. 22270 - 22283, July, 2022
Effectively Incorporating Weighted Cost-to-go Heuristic in Suboptimal CBS
Rishi Veerapaneni, Tushar Kusnur, and Maxim Likhachev
Conference Paper, Proceedings of 15th International Symposium on Combinatorial Search (SoCS '22), pp. 327 - 328, July, 2022
ePA*SE: Edge-based Parallel A* for Slow Evaluations
Shohin Mukherjee, Sandip Aine, and Maxim Likhachev
Conference Paper, Proceedings of International Symposium on Combinatorial Search (SoCS '22), July, 2022
Generative Modeling for Multi-task Visual Learning
Zhipeng Bao, Martial Hebert, and Yu-Xiong Wang
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, July, 2022
Polarized Self-Attention: Towards High-quality Pixel-wise Mapping
Huajun Liu, Fuqiang Liu, Xinyi Fan, and Dong Huang
Journal Article, Neurocomputing, July, 2022
Preprocessing-based Methods for Robotic Manipulation
Yash Oza
Master's Thesis, Tech. Report, CMU-RI-TR-22-29, Robotics Institute, Carnegie Mellon University, July, 2022
Liquid Metal Actuators
Jiahe Liao
PhD Thesis, Tech. Report, CMU-RI-TR-22-51, Robotics Institute, Carnegie Mellon University, July, 2022
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm
Ruixuan Liu, Rui Chen, and Changliu Liu
Conference Paper, Proceedings of International Symposium on Flexible Automation (ISFA '22), July, 2022
PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders
Lipu Zhou, Guoquan Huang, Yinian Mao, Jincheng Yu, Shengze Wang, and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 7163 - 7170, July, 2022
Multi-Objective Safe-Interval Path Planning with Dynamic Obstacles
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 8154 - 8161, June, 2022
A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, and Howie Choset
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Gaze Complements Control Input for Goal Prediction During Assisted Teleoperation
Reuben M. Aronson and Henny Admoni
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Online Kinematic Calibration for Legged Robots
Shuo Yang, Howie Choset, and Zachary Manchester
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 8178 - 8185, June, 2022
Nonuniform-to-Uniform Quantization: Towards Accurate Quantization via Generalized Straight-Through Estimation
Zechun Liu, Kwang-Ting Cheng, Dong Huang, Eric Xing, and Zhiqiang Shen
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
The Two Dimensions of Worst-case Training and Their Integrated Effect for Out-of-domain Generalization
Zeyi Huang, Haohan Wang, Dong Huang, Yong Jae Lee, and Eric P. Xing
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
AirObject: A Temporally Evolving Graph Embedding for Object Identification
Nikhil Keetha, Chen Wang, Yuheng Qiu, Kuan Xu, and Sebastian Scherer
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 8407-8416, June, 2022
Lifelong Graph Learning
Chen Wang, Yuheng Qiu, Dasong Gao, and Sebastian Scherer
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Long-term Visual Map Sparsification with Heterogeneous GNN
Ming-Fang Chang, Yipu Zhao, Rajvi Shah, Jakob J. Engel, Michael Kaess, and Simon Lucey
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2406 - 2415, June, 2022
Discovering Objects that Can Move
Zhipeng Bao, Pavel Tokmakov, Allan Jabri, Yu-Xiong Wang, Adrien Gaidon, and Martial Hebert
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles Using Parametric Control Barrier Functions
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '22), pp. 542 - 547, June, 2022
Delay-Aware Robust Control for Safe Autonomous Driving
Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV), pp. 1565-1571, June, 2022