Publications




Development of a Flexible Parallel Wire Robot for Epicardial Interventions
Aman Ladak, Johannes O. Bonatti, Roger J. Hajjar, Alaaeldin A. Shalaby, and Cameron N. Riviere
Journal Article, The International Journal of Medical Robotics and Computer Assisted Surgery, January, 2026
Building richer 3D maps: utilizing a hybrid geometry representation and auxiliary inputs in neural surface reconstruction
Montiel Abello
PhD Thesis, Tech. Report, CMU-RI-TR-25-104, December, 2025
Reduced Degree-of-Freedom Mobility: Investigating Skid and Passive Steering for Planetary Rovers
Ethan Holand
Master's Thesis, Tech. Report, CMU-RI-TR-25-87, December, 2025
3D Thermal Perception for Autonomous Navigation in Visually Degraded, Unstructured Environments
Yifei Liu
Master's Thesis, Tech. Report, CMU-RI-TR-25-103, December, 2025
Towards Personalized Assistive Systems: Leveraging Large Language Models for Prediction and Intervention
Michaela Tecson
Master's Thesis, Tech. Report, CMU-RI-TR-25-106, December, 2025
A Modularized Approach to Vision-based Tactile Sensor Design Using Physics-based Rendering
Arpit Agarwal
PhD Thesis, Tech. Report, CMU-RI-TR-24-37, December, 2025
Vision-Based Multi-Wire Detection and Tracking for UAV Wire Approach
Tyler Harp
Master's Thesis, Tech. Report, CMU-RI-TR-25-100, December, 2025
Robotic System Design Principles for Human-Human Collaboration
Samantha Speer
PhD Thesis, Tech. Report, CMU-RI-TR-25-105, December, 2025
Towards Scaling Embodied Data for Robot Learning
Tony (Long) Tao
Master's Thesis, Tech. Report, CMU-RI-TR-25-102, December, 2025
Multi-View 4D Human Reconstruction under Interaction Scenarios
Jyun-Ting Song
Master's Thesis, Tech. Report, CMU-RI-TR-25-98, December, 2025
Scaling in Robot Design for Locomotion and Manipulation
Steven Man
Master's Thesis, Tech. Report, CMU-RI-TR-25-48, December, 2025
Towards Modernization of Long-Range Image-Space Planning for Off-Road Navigation
Shubhra Aich
Master's Thesis, Tech. Report, CMU-RI-TR-25-96, November, 2025
Generative Robotics: Self-Supervised Learning for Human-Robot Collaborative Creation
Peter Schaldenbrand
PhD Thesis, Tech. Report, CMU-RI-TR-25-101, November, 2025
Toward a Low-Cost Perception System in Autonomous Vehicles: A Spectrum Learning Approach
Mohammed Alsakabi, Aidan Erickson, John M. Dolan, and Ozan K. Tonguz
Conference Paper, Proceedings of the IEEE International Conference on Intelligent Transportation Systems, November, 2025
Leveraging Geometric Priors for Robust Robotic Manipulation
Shun Iwase
PhD Thesis, Tech. Report, CMU-RI-TR-25-97, November, 2025
Unifying Perception and Creation with Generative Models
Zhipeng Bao
PhD Thesis, Tech. Report, CMU-RI-TR-25-99, November, 2025
Influence-Aware Safety for Human-Robot Interaction
Ravi Pandya
PhD Thesis, Tech. Report, CMU-RI-TR-25-95, October, 2025
Embodied Artificial Intelligence for Emergency Care in Unstructured Environments
Cecilia Gabriela Morales Garza
PhD Thesis, Tech. Report, CMU-RI-TR-25-94, October, 2025
Towards 4D Perception with Foundational Priors
Tarasha Khurana
PhD Thesis, Tech. Report, CMU-RI-TR-25-91, October, 2025
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2025
Disturbance Observer-based Control Barrier Functions with Residual Model Learning for Safe Reinforcement Learning
Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2345-2351, October, 2025
PIPE Planner: Pathwise Information Gain with Map Predictions for Indoor Robot Exploration
Seungjae Baek, Brady Moon, Seungchan Kim, Muqing Cao, Cherie Ho, Sebastian Scherer, and Jeong hwan Jeon
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2025
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
Omar Alama, Avigyan Bhattacharya, Haoyang He, Seungchan Kim, Yuheng Qiu, Wenshan Wang, Cherie Ho, Nikhil Keetha, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2025
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel, Ibrahima Sory Sow, Juee Chandrachud, Sheitej Sharma, Will Kraus, Beomyeong Park, Robert J. Griffin, John M. Dolan, and Zachary Manchester
Conference Paper, Proceedings of the IEEE-RAS International Conference on Humanoids, pp. 1-7, September, 2025
Robust Incremental Distributed Collaborative Simultaneous Localization and Mapping
Daniel McGann
PhD Thesis, Tech. Report, CMU-RI-TR-25-92, September, 2025
Algorithms and Architectures for Improving Learning with Optimization Layers
SWAMINATHAN GURUMURTHY
PhD Thesis, Tech. Report, CMU-RI-TR-25-90, September, 2025
Supervised Segmentation of the Circle of Willis in 7-Tesla MRI using Variance Wells
Satyaj Bhargava, John Lorence, Benjamin Cohen, Isaiah Jefferson III, Therese Nneji, Anisha Virmani, Minjie Wu, Howard Aizenstein, Tamer Ibrahim, and George Stetten
Tech. Report, CMU-RI-TR-25-52, September, 2025
Dataset-Driven and Generative Approaches to Domain Generalization in Human-Centric Vision
Emily Kim
PhD Thesis, Tech. Report, September, 2025
Object-Centric Grounding for Deployable and Interactive Vision-Language Navigation Agents
Haochen Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-25-86, September, 2025
MapExRL: Human-Inspired Indoor Exploration with Predicted Environment Context and Reinforcement Learning
Narek Harutyunyan, Brady Moon, Seungchan Kim, Cherie Ho, Adam Hung, and Sebastian Scherer
Conference Paper, Proceedings of International Conference on Advanced Robotics, September, 2025
Reachable Sets for Control and Planning: from Reactive Safety to Contact-Rich Manipulation
Simin Liu
PhD Thesis, Tech. Report, CMU-RI-TR-25-88, September, 2025
Estimating and Generating Human Motions from Interactions
Jinkun Cao
PhD Thesis, Tech. Report, CMU-RI-TR-25-89, September, 2025
Towards Generalizable Robotic Policies via Data-Driven Learning at Scale
Jiahui Yang
Master's Thesis, Tech. Report, CMU-RI-TR-25-65, August, 2025
Learning to Create 3D Content: Geometry, Appearance, and Physics
Kangle Deng
PhD Thesis, Tech. Report, CMU-RI-TR-25-85, August, 2025
Learning Generalizable Robot Skills for Dynamic and Interactive Tasks
Saumya Saxena
PhD Thesis, Tech. Report, CMU-RI-TR-25-84, August, 2025
Lowering Barriers to Human-Robot Communication
Vidhi Jain
PhD Thesis, Tech. Report, CMU-RI-TR-25-83, August, 2025
Underwater 3D Visual Perception and Generation
Tianyi Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-25-82, August, 2025
3D Video Models through Point Tracking, Reconstructing and Forecasting
Wen-Hsuan Chu
PhD Thesis, Tech. Report, CMU-RI-TR-25-79, August, 2025
Echoes of the Coliseum: Towards 3D Live streaming of Sports Events
Junkai Huang, Saswat Subhajyoti Mallick, Alejandro Amat, Marc Ruiz Olle, Albert Mosella-Montoro, Bernhard Kerbl, Francisco Vicente Carrasco, and Fernando De la Torre
Journal Article, ACM Transactions on Graphics, 2025, Vol. 44, No. 4, pp. 1-17, August, 2025
MV-SSM: Multi-View State Space Modeling for 3D Human Pose Estimation
Aviral Chharia, Wenbo Gou, and Haoye Dong
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 11590-11599, August, 2025
Neural Inverse Rendering with Physics-Based Light Transport and Active Sensors
Benjamin Attal
PhD Thesis, Tech. Report, CMU-RI-TR-25-81, August, 2025
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting
Mohammad Nomaan Qureshi
Master's Thesis, Tech. Report, CMU-RI-TR-25-54, August, 2025
Unified 3D Perception and Generative Control for Generalist Robots
Nikolaos Gkanatsios
PhD Thesis, Tech. Report, CMU-RI-TR-25-76, August, 2025
Digital Twins for Hydroponic Lettuce Growth
Morgan Mayborne
Master's Thesis, Tech. Report, CMU-RI-TR-25-69, August, 2025
Scalable Imitation Learning for Lifelong Multi-Agent Path Finding
He Jiang
Master's Thesis, Tech. Report, CMU-RI-TR-25-67, August, 2025
Towards Automating Accessibility in Digital Authoring Workflows
Peya Mowar
Master's Thesis, Tech. Report, CMU-RI-TR-25-61, August, 2025
Depth-based Reactive Quadrotor Motion Planning and Control in Diverse Environments
Jonathan Lee
Master's Thesis, Tech. Report, CMU-RI-TR-25-68, August, 2025
Enhancing Safety and Performance in Multi-agent Systems and Soft Robots via Reinforcement Learning
Yogita Choudhary
Master's Thesis, Tech. Report, CMU-RI-TR-25-70, August, 2025
A Robotic Disaster Response System for Autonomous Inspection, Respiration Rate Estimation, and Amputation Detection of Casualties
Mayank Mishra
Master's Thesis, Tech. Report, CMU-RI-TR-25-73, August, 2025
Object-Centric Goal Prediction Towards Precise, Generalizable Placement
Eric Cai
Master's Thesis, Tech. Report, CMU-RI-TR-25-57, August, 2025