Publications - The Robotics Institute Carnegie Mellon University

Cooperative Schedule-Driven Intersection Control with Connected and Autonomous Vehicles
Hsu-Chieh Hu, Stephen F. Smith and Rick Goldstein
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), November, 2019

DISC: A Large-scale Virtual Dataset for Simulating Disaster Scenarios
Hae-Gon Jeon, Sunghoon Im, Byeong-Uk Lee, Dong-Geol Choi, Martial Hebert and In So Kweon
Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2019

Using Bi-Directional Information Exchange to Improve Decentralized Schedule-Driven Traffic Control
Hsu-Chieh Hu and Stephen Smith
Conference Paper, Proceedings 29th International Conference on Automated Planning and Scheduling, July, 2019

POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics
Sung Kyun Kim, Oren Salzman and Maxim Likhachev
Conference Paper, Proceedings of International Conference on Automated Planning and Scheduling (ICAPS), July, 2019

Human motion prediction using semi-adaptable neural networks
Yujiao Cheng, Weiye Zhao, Changliu Liu and Masayoshi Tomizuka
Conference Paper, American Control Conference, 2019, July, 2019

Analysis of Inching for Planetary Rover Exploration
Karen Orton
Master's Thesis, Tech. Report, CMU-RI-TR-19-41, July, 2019

Deep Non-Rigid Structure from Motion
Chen Kong
PhD Thesis, Tech. Report, CMU-RI-TR-19-43, July, 2019

Few-shot Learning for Segmentation
Chia Dai
Master's Thesis, Tech. Report, CMU-RI-TR-19-35, July, 2019

Detailed Image Captioning
Junjiao Tian
Master's Thesis, Tech. Report, CMU-RI-TR-19-34, Carnegie Mellon University, July, 2019

Real-Time Collision Forecasting from Monocular Video
Aashi Manglik
Master's Thesis, Tech. Report, CMU-RI-TR-19-42, July, 2019

Surfel-based RGB-D Reconstruction and SLAM with Global and Local Consistency
Yi Yang
Master's Thesis, Tech. Report, CMU-RI-TR-19-45, July, 2019

HITSnDIFFS: A fast algorithm for consecutive ones with applications in item labeling
Subhodeep Mitra
Master's Thesis, Tech. Report, CMU-RI-TR-19-30, July, 2019

Improving Scalability in Multi-Robot Systems with Abstraction and Specialization
Sha Yi
Master's Thesis, Tech. Report, CMU-RI-TR-19-46, July, 2019

Stereo Visual-Inertial-LiDAR Simultaneous Localization and Mapping
Weizhao Shao
Master's Thesis, Tech. Report, CMU-RI-TR-19-48, July, 2019

Self-Supervised Robot Learning
Dhiraj Prakashchand Gandhi
Master's Thesis, Tech. Report, CMU-RI-TR-19-36, June, 2019

Volumetric Correspondence Networks for Stereo Matching and Optical Flow
Gengshan Yang
Master's Thesis, Tech. Report, CMU-RI-TR-19-44, June, 2019

Aggressive Flight Performance using Robust Experience-driven Predictive Control Strategies: Experimentation and Analysis
Mosam Dabhi, Alexander Spitzer and Nathan Michael
Tech. Report, CMU-RI-TR-19-08, June, 2019

Improving efficiency of autonomous vehicles via V2V communication
Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi and Masayoshi Tomizuka
Conference Paper, 2018 Annual American Control Conference (ACC), June, 2019

Learning to detect occluded objects in videos
Satyaki Chakraborty
Master's Thesis, Tech. Report, CMU-RI-TR-19-33, June, 2019

Semantic Gaze Labeling for Human-Robot Shared Manipulation
Reuben M. Aronson and Henny Admoni
Conference Paper, ACM Symposium on Eye Tracking Research and Applications (ETRA), June, 2019

Direct Drive Hands: Force-Motion Transparency in Gripper Design
Ankit Bhatia, Aaron M. Johnson and Matthew T. Mason
Conference Paper, Robotics: Science and Systems, June, 2019

A Generative Approach for Socially Compliant Navigation
Chieh-En Tsai
Master's Thesis, Tech. Report, CMU-RI-TR-19-28, June, 2019

A Structured Model For Action Detection
Yubo Zhang, Pavel Tokmakov, Martial Hebert and Cordelia Schmid
Conference Paper, Proceeding of Computer Vision and Pattern Recognition, June, 2019

Computer Vision for Live Map Updates
Kevin Christensen
Master's Thesis, Tech. Report, CMU-RI-TR-19-40, June, 2019

Multispectral Imaging for Fine-Grained Recognition of Powders on Complex Backgrounds
Tiancheng Zhi, Bernardo R. Pires, Martial Hebert and Srinivasa G. Narasimhan
Conference Paper, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, June, 2019

PointNetLK: Robust & Efficient Point Cloud Registration using PointNet
Hunter Goforth, Yasuhiro Aoki, Arun Srivatsan Rangaprasad and Simon Lucey
Conference Paper, Proceedings of IEEE conference on Computer Vision and Pattern Recognition (CVPR), June, 2019

Generalizable Learning-based Registration
Hunter Goforth
Master's Thesis, Tech. Report, CMU-RI-TR-19-38, June, 2019

AGen: Adaptable generative prediction networks for autonomous driving
Wenwen Si, Tianhao Wei and Changliu Liu
Conference Paper, IEEE Intelligent Vehicle Symposium, 2019, June, 2019

Simulated Basic Safety Message: Concept & Application
Suryansh S. Saxena and Isaac K. Isukapati
Conference Paper, IEEE Intelligent Vehicle Symposium, June, 2019

Towards Generalization and Efficiency in Reinforcement Learning
Wen Sun
PhD Thesis, Tech. Report, CMU-RI-TR-19-37, June, 2019

A structured model for action detection in the video
Yubo Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-19-32, June, 2019

A Theory of Fermat Paths for Non-Line-of-Sight Shape Reconstruction
Shumian Xin, Sotiris Nousias, Kiriakos N. Kutulakos, Aswin C. Sankaranarayanan, Srinivasa G. Narasimhan and Ioannis Gkioulekas
Conference Paper, IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), June, 2019

Beyond Volumetric Albedo—A Surface Optimization Framework for Non-Line-of-Sight Imaging
Chia-Yin Tsai, Aswin C. Sankaranarayanan and Ioannis Gkioulekas
Conference Paper, IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), June, 2019

Unsupervised Learning for 3D Reconstruction and Blocks World Representation
Tejas Khot
Master's Thesis, Tech. Report, CMU-RI-TR-19-29, June, 2019

Optimal control of compliant bipedal gaits and their implementation on robot hardware
William Campbell Martin
PhD Thesis, Tech. Report, CMU-RI-TR-19-25, May, 2019

Depth Completion with Deep Geometry and Context Guidance
Byeong-Uk Lee, Hae-Gon Jeon, Sunghoon Im and In So Kweon
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2019

3D Face Geometry Capture Using Monocular Video
Shubham Agrawal
Master's Thesis, Tech. Report, CMU-RI-TR-19-47, May, 2019

Dense Surface Reconstruction from Monocular Vision and LiDAR
Zimo Li, Prakruti C. Gogia and Michael Kaess
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019

Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB
Weikun Zhen and Sebastian Scherer
Conference Paper, 2019 International Conference on Robotics and Automation (ICRA), May, 2019

MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree
Ming Hsiao and Michael Kaess
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019

Multi-view Reconstruction of Wires using a Catenary Model
Ratnesh Madaan, Michael Kaess and Sebastian Scherer
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019

Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
Yifan Hou and Matthew T. Mason
Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2019

Surfel-Based Dense RGB-D Reconstruction with Global and Local Consistency
Yi Yang, Wei Dong and Michael Kaess
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019

Decentralized Multiple Mobile Depots Route Planning for Replenishing Persistent Surveillance Robots
Yifan Ding
Master's Thesis, Tech. Report, CMU-RI-TR-19-17, May, 2019

Highly Miniaturized Robots for Inspection of Small Nuclear Piping
Nikhil Jog
Master's Thesis, Tech. Report, CMU-RI-TR-19-13, May, 2019

Model-free Sensorless Manipulation
Pragna Mannam
Master's Thesis, Tech. Report, CMU-RI-TR-19-06, May, 2019

Topological Path Planning For Crowd Navigation
Chao Cao
Master's Thesis, Tech. Report, CMU-RI-TR-19-18, May, 2019

Visual Imitation Learning for Robot Manipulation
Maximilian Sieb
Master's Thesis, Tech. Report, CMU-RI-TR-19-07, May, 2019

3D Object Detection from CT Scans using a Slice-and-fuse Approach
Anqi Yang
Master's Thesis, Tech. Report, CMU-RI-TR-19-23, May, 2019

3D Shape Completion and Canonical Pose Estimation with Structured Neural Networks
Wentao Yuan
Master's Thesis, Tech. Report, CMU-RI-TR-19-22, May, 2019