Publications




Towards Natural Language-Driven Shape Arrangement Synthesis with Semantically-Aware Geometric Constraint Systems
Vihaan Misra
Master's Thesis, Tech. Report, CMU-RI-TR-25-19, April, 2025
Simulated Encounters of the Third Kind: A Scenario-Based Approach to Designing Robotic Mobility Aids
Abena Boadi-Agyemang
Master's Thesis, Tech. Report, CMU-RI-TR-25-10, March, 2025
Mass-Constrained Robotic Climbing on Irregular Terrain
Paul Nadan
PhD Thesis, Tech. Report, CMU-RI-TR-25-05, February, 2025
Low-Cost Multimodal Sensing and Dexterity for Deformable Object Manipulation
Kevin Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-25-08, February, 2025
Enabling Reliable Model-Based Planning with Inaccurate Models
Alex LaGrassa
PhD Thesis, Tech. Report, CMU-RI-TR-25-07, February, 2025
Rover Science Autonomy in Planetary Exploration : Field Analog Tests
Eldar Noe Dobrea, Maria Banks, Roger Clark, David Wettergreen, Alberto Candela, Amanda Hendrix, Caitlin Ahrens, Ernie Bell, Abigail Breitfeld, Thomas Bristow, Sanlyn Buxner, Margaret Hansen, Gregory Holsclaw, and Srinivasan Vijayarangan
Journal Article, The Planetary Science Journal, Vol. 6, No. 2, February, 2025
Personalized Context-aware Multimodal Robot Feedback
Roshni Kaushik
PhD Thesis, Tech. Report, CMU-RI-TR-25-03, February, 2025
Holistic Soft Material Systems for Advancing Robotic and Wearable Sensing Functionality
Anthony Tyler Wertz
PhD Thesis, Tech. Report, CMU-RI-TR-25-04, February, 2025
Unlocking Generalization for Robotics via Modularity and Scale
Murtaza Dalal
PhD Thesis, Tech. Report, CMU-RI-TR-25-02, January, 2025
Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal, Min Liu, Walter Talbott, Chen Chen, Deepak Pathak, Jian Zhang, and Ruslan Salakhutdinov
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, January, 2025
Whisker-Inspired Sensors for Unstructured Environments
Teresa A. Kent
PhD Thesis, Tech. Report, CMU-RI-TR-24-80, January, 2025
Efficient Quadruped Mobility: Harnessing a Generalist Policy for Streamlined Planning
Sayan Mondal
Master's Thesis, Tech. Report, CMU-RI-TR-24-72, December, 2024
Multi-Resolution Informative Path Planning for Small Teams of Robots
Nayana Suvarna
Master's Thesis, Tech. Report, CMU-RI-TR-24-79, December, 2024
Autonomous Sensor Insertion and Exchange for Cornstalk Monitoring Robot
Janice Seungyeon Lee
Master's Thesis, Tech. Report, CMU-RI-TR-24-73, December, 2024
Robust Reinforcement Learning via Curricular Learning
Yeeho Song
PhD Thesis, Tech. Report, CMU-RI-TR-24-75, December, 2024
Communication-Efficient Active Reconstruction using Self-Organizing Gaussian Mixture Models
Kshitij Goel
PhD Thesis, Tech. Report, CMU-RI-TR-24-76, December, 2024
Vision-language Models for Hand-Object Interaction Prediction
Chen Bao
Master's Thesis, Tech. Report, CMU-RI-TR-24-77, December, 2024
A Generative Paradigm for Building Generalist Robots: Infrastructure, Scaling, and Policy Learning
Xian Zhou
PhD Thesis, Tech. Report, CMU-RI-TR-24-74, November, 2024
Differentiable Convex Modeling for Robotic Planning and Control
Kevin Sledge Tracy
PhD Thesis, Tech. Report, CMU-RI-TR-24-68, November, 2024
A Generative Paradigm for Building Generalist Robots: Infrastructure, Scaling, and Policy Learning
Xian Zhou
PhD Thesis, Tech. Report, CMU-RI-TR-24-74, November, 2024
Learning-Based Planning for Improving Science Return of Earth Observation Satellites
Abigail Breitfeld, Alberto Candela, Juan Delfa, Akseli Kangaslahti, Itai Zilberstein, Steve Chien, and David Wettergreen
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space, November, 2024
Improving Predictive Modeling for Robotic Resource Mapping with Non-Stationary Process Effects and Sensor Noise Estimation
Margaret Hansen, Richard Elphic, Terrence Fong, and David Wettergreen
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space, November, 2024
Segmenting Homogeneous Regions in Images using Variance Wells
Satyaj Bhargava, John Lorence, Ben Cohen, Minjie Wu, Howard Aizenstein, and George Stetten
Tech. Report, CMU-RI-TR-24-33, November, 2024
ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation
Vidhi Jain, Rishi Veerapaneni, and Yonatan Bisk
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2024
Interleaving Discrete Search and Continuous Optimization for Kinodynamic Motion Planning
Ramkumar Natarajan
PhD Thesis, Tech. Report, CMU-RI-TR-24-67, October, 2024
Moving Lights and Cameras for Better 3D Perception of Indoor Scenes
Arkadeep Narayan Chaudhury
PhD Thesis, Tech. Report, CMU-RI-TR-24-71, October, 2024
Voxel Learning for Novel Instance Detection
Bowen Li
Master's Thesis, Tech. Report, CMU-RI-TR-24-70, October, 2024
Trustworthy Learning using Uncertain Interpretation of Data
Jack H. Good
PhD Thesis, Tech. Report, CMU-RI-TR-24-69, October, 2024
Interleaving Discrete Search and Continuous Optimization for Kinodynamic Motion Planning
Ramkumar Natarajan
PhD Thesis, Tech. Report, CMU-RI-TR-24-67, September, 2024
Assistive value alignment using in-situ naturalistic human behaviors
Benjamin A Newman
PhD Thesis, Tech. Report, CMU-RI-TR-24-66, September, 2024
Goal-Expressive Movement for Social Navigation: Where and When to Behave Legibly
Ada V. Taylor
PhD Thesis, Tech. Report, CMU-RI-TR-24-64, September, 2024
Domesticating Soft Robotics Research and Development with Accessible Biomaterials
Kiyn Chin
PhD Thesis, Tech. Report, CMU-RI-TR-24-65, September, 2024
Exploration for Continually Improving Robots
Russell Mendonca
PhD Thesis, Tech. Report, CMU-RI-TR-24-62, September, 2024
Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments
Moonyoung Lee, Aaron Berger, Dominic Guri, Kevin Zhang, Lisa Coffey, George Kantor, and Oliver Kroemer
Journal Article, IEEE Robotics and Automation Letters, September, 2024
Learning and Translating Temporal Abstractions of Behaviour across Humans and Robots
Tanmay Shankar
PhD Thesis, Tech. Report, CMU-RI-TR-24-63, September, 2024
Eye Gaze for Intelligent Driving
Abhijat Biswas
PhD Thesis, Tech. Report, CMU-RI-TR-24-60, September, 2024
Tactile sensing for Robot Learning: Development to Deployment
Raunaq Mahesh Bhirangi
PhD Thesis, Tech. Report, CMU-RI-TR-24-61, August, 2024
Plan to Learn: Active Robot Learning by Planning
Shivam Vats
PhD Thesis, Tech. Report, CMU-RI-TR-24-40, August, 2024
Learning to Perceive and Predict Everyday Hand-Object Interactions
Yufei Ye
PhD Thesis, Tech. Report, CMU-RI-TR-24-59, August, 2024
Estimating Object Importance and Modeling Drivers’ Situational Awareness for Intelligent Driving
Pranay Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-24-52, August, 2024
Continual Personalization of Human Actions To New Categories Over Time
Prachi Garg
Master's Thesis, Tech. Report, CMU-RI-TR-24-27, August, 2024
Developing Novel Hardware Platforms for Model-Predictive Control
Sofia Kwok
Master's Thesis, Tech. Report, CMU-RI-TR-24-43, August, 2024
DeltaWalker: A Soft, Linearly Actuated Delta Quadruped Robot
Jennifer Yang
Master's Thesis, Tech. Report, CMU-RI-TR-24-23, August, 2024
Improving Robotic Lego Assembly with Vibro-Tactile Feedback
Chris Chang
Master's Thesis, Tech. Report, CMU-RI-TR-24-41, August, 2024
Analysis by Synthesis for Modern Computer Vision
Nathaniel Chodosh
PhD Thesis, Tech. Report, CMU-RI-TR-24-55, August, 2024
Online-Adaptive Self-Supervised Learning with Visual Foundation Models for Autonomous Off-Road Driving
Matthew Sivaprakasam
Master's Thesis, Tech. Report, CMU-RI-TR-24-57, August, 2024
Model Predictive Control on Resource Constrained Microcontrollers
Samuel Schoedel
Master's Thesis, Tech. Report, CMU-RI-TR-24-44, August, 2024
Propagative Distance Optimization for Constrained Inverse Kinematics
Yu Chen
Master's Thesis, Tech. Report, CMU-RI-TR-24-48, August, 2024
Estimation, Modeling, and Control of Mixed Material Flows on Variable-Speed Conveyor Belt Systems with Applications in Recycling
James Maier
Master's Thesis, Tech. Report, CMU-RI-TR-24-50, August, 2024
Learning for Perception and Strategy: Adaptive Omnidirectional Stereo Vision and Tactical Reinforcement Learning
Conner Pulling
Master's Thesis, Tech. Report, CMU-RI-TR-24-56, August, 2024