Publications




APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, and Jiaoyang Li
Conference Paper, Proceedings of (RSS) Robotics Science and Systems, June, 2025
Incrementally Learned Shared Autonomy and Intelligent Mode Switching for Assistive Teleoperation
Yiran Tao
Master's Thesis, Tech. Report, CMU-RI-TR-25-43, May, 2025
Dynamic Multi-Objective Ergodic Path Planning Using Decomposition Methods
Abigail Breitfeld and David Wettergreen
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2025
Watch, Predict, Act: Robot Learning meets Web Videos
Homanga Bharadhwaj
PhD Thesis, Tech. Report, CMU-RI-TR-25-42, May, 2025
Towards Dexterous Robotic Manipulation by Imitating Experts
Yulong Li
Master's Thesis, Tech. Report, CMU-RI-TR-25-29, May, 2025
Learning to Generalize via Human Manipulation Priors
Mohan Kumar Srirama
Master's Thesis, Tech. Report, May, 2025
Enhancing the Physical Capability of Aerial Robots: From Inspection to Manipulation
Guanqi He
Master's Thesis, Tech. Report, CMU-RI-TR-25-31, May, 2025
Adaptive Pushing with a Balancing Mobile Manipulator
Cunxi Dai
Master's Thesis, Tech. Report, CMU-RI-TR-25-25, May, 2025
Advancing 3D Semantic and Geometric Reasoning
Pujith Kachana
Master's Thesis, Tech. Report, CMU-RI-TR-25-18, May, 2025
Robotic Manipulation and Dense Tracking for Complex and Deformable Object Dynamics
Yunchao Yao
Master's Thesis, Tech. Report, CMU-RI-TR-25-40, May, 2025
Reconstructing Tree Skeletons in Agricultural Robotics: A Comparative Study of Single-View and Volumetric Methods
Xinyu Wang
Master's Thesis, Tech. Report, CMU-RI-TR-25-06, May, 2025
Acoustic Neural 3D Reconstruction Under Pose Drift
Tianxiang Lin
Master's Thesis, Tech. Report, CMU-RI-TR-25-14, May, 2025
Towards Pragmatic Time Series Intelligence
Mononito Goswami
PhD Thesis, Tech. Report, CMU-RI-TR-25-28, May, 2025
Deep 3D Geometric Reasoning for Robot Manipulation
Benjamin Andrew Eisner
PhD Thesis, Tech. Report, CMU-RI-TR-25-30, May, 2025
Reinforcement Learning Control of Shape Memory Alloy Based Soft Robotic Platform
Guo Ning (Andrew) Sue
Master's Thesis, Tech. Report, CMU-RI-TR-25-16, May, 2025
SmokeSeer: 3D Gaussian Splatting for Smoke Removal and Scene Reconstruction
Neham Jain
Master's Thesis, Tech. Report, CMU-RI-TR-25-34, May, 2025
Zero-Shot 3D Understanding and Task-Oriented Grasping via Grounding Symbolic Representations
Samuel Li
Master's Thesis, Tech. Report, CMU-RI-TR-25-20, May, 2025
Localization and Mapping through Multi-Sensor Fusion for Pipe Inspection: From Theory To Deployment
Tina Tian
Master's Thesis, Tech. Report, CMU-RI-TR-25-17, May, 2025
Towards Controllable Sampling and Diverse Score Distillation in Diffusion Models
Yanbo Xu
Master's Thesis, Tech. Report, CMU-RI-TR-25-27, May, 2025
Toward Realistic Visual Content Creation: Generative AI for Human-Centric and Product-Centric Scene Synthesis
Jialu Gao
Master's Thesis, Tech. Report, CMU-RI-TR-25-32, May, 2025
Towards Efficient and Accurate Neural Geometry and Appearance Representations
Silong Yong
Master's Thesis, Tech. Report, CMU-RI-TR-25-36, May, 2025
Flexible Perception for High-Performance Robot Navigation
Cherie Ho
PhD Thesis, Tech. Report, CMU-RI-TR-25-33, May, 2025
Generative 3D Garment Modeling with Sparse Visual Cues
Yuanhao Wang
Tech. Report, CMU-RI-TR-25-39, May, 2025
Echoes of the Coliseum: Towards 3D Live streaming of Human-centric Events
Junkai Huang
Master's Thesis, Tech. Report, CMU-RI-TR-25-24, May, 2025
Informative Path Planning Toward Autonomous Real-World Applications
Brady Moon
PhD Thesis, Tech. Report, CMU-RI-TR-25-13, May, 2025
Rethinking the Safety Case for Risk-Aware Social Embodied Intelligence
Jay Patrikar
PhD Thesis, Tech. Report, CMU-RI-TR-25-26, May, 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Eliot Xing
Master's Thesis, Tech. Report, CMU-RI-TR-25-09, May, 2025
Learning Humanoid Control from Simulation to Real to Simulation
Tairan He
Master's Thesis, Tech. Report, CMU-RI-TR-25-38, May, 2025
Enhancing Reinforcement Learning with Error-Prone Language Models
Muhan Lin
Master's Thesis, Tech. Report, CMU-RI-TR-25-12, April, 2025
Learning Universal Humanoid Control
Zhengyi Luo
PhD Thesis, Tech. Report, CMU-RI-TR-25-35, April, 2025
Unified Vision-Language Modeling
Alexander Swerdlow
Master's Thesis, Tech. Report, CMU-RI-TR-25-23, April, 2025
Creating Tendon-Driven Soft Dexterous Robot Hands for the Real World
Dominik Bauer
PhD Thesis, Tech. Report, CMU-RI-TR-25-22, April, 2025
RESCUE Rollers: A Platform for Collaborative, Multi-robot Exploration in Search and Rescue
Sidney Nimako-Boateng
Master's Thesis, Tech. Report, CMU-RI-TR-25-21, April, 2025
Experience-Based Action Advising for Multi-Agent Teaming
Shuyang Shi
Master's Thesis, Tech. Report, CMU-RI-TR-25-11, April, 2025
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
Foundation Control Model for General Embodied Intelligence
Wenli Xiao
Master's Thesis, Tech. Report, CMU-RI-TR-25-37, 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
Multi-Resolution Informative Path Planning for Small Teams of Robots
Nayana Suvarna
Master's Thesis, Tech. Report, CMU-RI-TR-24-79, December, 2024
Efficient Quadruped Mobility: Harnessing a Generalist Policy for Streamlined Planning
Sayan Mondal
Master's Thesis, Tech. Report, CMU-RI-TR-24-72, 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