Publications - Robotics Institute Carnegie Mellon University

Jerk-Minimized CILQR for Human-Like Driving on Two-Lane Roadway

Omid Jahanmahin, Qin Lin, Yanjun Pan, and John M. Dolan

Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IVS '21), pp. 1282 - 1289, July, 2021

TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments

Chao Cao, Hongbiao Zhu, Howie Choset, and Ji Zhang

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021

Traffic4D: Single View Reconstruction of Repetitious Activity Using Longitudinal Self-Supervision

Fangyu Li, N. Dinesh Reddy, Xudong Chen, and Srinivasa G. Narasimhan

Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '21), July, 2021

Building The Foundation of Robot Explanation Generation Using Behavior Trees

Zhao Han, Daniel Giger, Jordan Allspaw, Michael S. Lee, Henny Admoni, and Holly A. Yanco

Journal Article, ACM Transactions on Human-Robot Interaction (THRI), Vol. 10, No. 3, July, 2021

Fast Bounded Suboptimal Probabilistic Planning with Clear Preferences on Missing Information

Ishani Chatterjee, Tushar Kusnur, and Maxim Likhachev

Conference Paper, Proceedings of 14th International Symposium on Combinatorial Search (SoCS '21), Vol. 12, No. 1, pp. 37 - 45, July, 2021

Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics

Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, and Daniel Goldman

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021

PC-MLP: Model-based Reinforcement Learning with Policy Cover Guided Exploration

Yuda Song and Wen Sun

Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, pp. 9801 - 9811, July, 2021

Wait Wait, Nonverbally Tell Me: Legibility for Use in Restaurant Navigation

Ada Taylor, Ellie Mamantov, and Henny Admoni

Workshop Paper, RSS '21 2nd Workshop on Social Robot Navigation, July, 2021

3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors

Peng Yin, Lingyun Xu, Jianmin Ji, Sebastian Scherer, and Howie Choset

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 3, pp. 5953 - 5960, July, 2021

Exploring Non-Expert Robot Programming Through Crowdsourcing

Sanne van Waveren, Elizabeth J. Carter, Oscar Örnberg, and Iolanda Leite

Journal Article, Frontiers in Robotics and AI, July, 2021

i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions

Peng Yin, Lingyun Xu, Ji Zhang, Howie Choset, and Sebastian Scherer

Conference Paper, Proceedings of Robotics: Science and Systems (RSS '21), July, 2021

PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling

Xinshuo Weng, Ye Yuan, and Kris Kitani

Journal Article, IEEE Robotics and Automation Letters, Vol. 6, No. 3, pp. 4640 - 4647, July, 2021

Machine Teaching for Human Inverse Reinforcement Learning

Michael S. Lee, Henny Admoni, and Reid Simmons

Journal Article, Frontiers in Robotics and AI, June, 2021

Shelf-Supervised Mesh Prediction in the Wild

Yufei Ye, Shubham Tulsiani, and Abhinav Gupta

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 8843 - 8852, June, 2021

Learning 3D Registration and Reconstruction from the Visual World

Chen-Hsuan Lin

PhD Thesis, Tech. Report, CMU-RI-TR-21-13, Robotics Institute, Carnegie Mellon University, June, 2021

Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization

Dennis Melamed

Master's Thesis, Tech. Report, CMU-RI-TR-21-22, Robotics Institute, Carnegie Mellon University, June, 2021

Wide-Baseline Multi-Camera Calibration using Person Re-Identification

Yan Xu, Yu-Jhe Li, Xinshuo Weng, and Kris Kitani

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021

3D SLAM for Powered Lower Limb Prosthesis

Manan Shah

Master's Thesis, Tech. Report, CMU-RI-TR-21-21, Robotics Institute, Carnegie Mellon University, June, 2021

TesseTrack: End-to-End Learnable Multi-Person Articulated 3D Pose Tracking

N. Dinesh Reddy, Laurent Guigues, Leonid Pischulini, Jayan Eledath, and Srinivasa Narasimhan

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021

Optimal Gradient Checkpoint Search for Arbitrary Computation Graphs

Jianwei Feng and Dong Huang

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021

How Do Adam and Training Strategies Help BNNs Optimization?

Zechun Liu, Zhiqiang Shen, Shichao Li, Koen Helwegen, Dong Huang, and Kwang-Ting Cheng

Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, June, 2021

Anycost GANs for Interactive Image Synthesis and Editing

Ji Lin, Richard Zhang, Frieder Ganz, Song Han, and Jun-Yan Zhu

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021

Deadlock Analysis and Resolution for Multi-Robot Systems

Jaskaran Singh Grover, Changliu Liu, and Katia Sycara

Workshop Paper, 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR '21), pp. 294 - 312, June, 2021

Early Prediction of Children’s Disengagement in a Tablet Tutor Using Visual Features

Bikram Boote, Mansi Agarwal, and Jack Mostow

Conference Paper, Proceedings of International Conference on Artificial Intelligence in Education (AIED '21), pp. 98 - 103, June, 2021

Implicit HRTF Modeling Using Temporal Convolutional Networks

Israel D. Gebru, Dejan Markovic, Alexander Richard, Steven Krenn, Gladstone Butler, Fernando De la Torre, and Yaser Sheikh

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP '21), pp. 3385 - 3389, June, 2021

Safe Local Motion Planning with Self-Supervised Freespace Forecasting

Peiyun Hu amd Aaron Huang, John Dolan, David Held, and Deva Ramanan

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 12732 - 12741, June, 2021

SimPoE: Simulated Character Control for 3D Human Pose Estimation

Ye Yuan, Shih-En Wei, Tomas Simon, Kris Kitani, and Jason Saragih

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2021

Probabilistic Safe Adaptive Merging Control for Autonomous Vehicles Under Motion Uncertainty

Yiwei Lyu, Wenhao Luo, and John M. Dolan

Workshop Paper, Safe Robot Control with Learned Motion and Environment Models, June, 2021

A roadmap for planetary caves science and exploration

Timothy N. Titus, J. Judson Wynne, Michael J. Malaska, Ali-akbar Agha-Mohammadi, Peter B. Buhler, E. Calvin Alexander, James W. Ashley, Armando Azua-Bustos, Penelope J. Boston, Debra L. Buczkowski, Leroy Chiao, Glen E. Cushing, John DeDecker, Pablo de León, Cansu Demirel-Floyd, Jo De Waele, Alberto G. Fairén, Amos Frumkin, Gary L. Harris, Heather Jones, Laura H. Kerber, Erin J. Leonard, Richard J. Léveillé, Kavya Manyapu, Matteo Massironi, Ana Z. Miller, John E. Mylroie, Bogdan P. Onac, Scott Parazynski, Cynthia B. Phillips, Charity M. Phillips-Lander, Thomas H. Prettyman, Haley M. Sapers, Francesco Sauro, Norbert Schorghofer, Dirk Schulze-Makuch, Jennifer E. Scully, Kyle Uckert, Robert V. Wagner, William L. Whittaker, Kaj E. Williams, and Uland Y. Wong

Journal Article, Nature Astronomy, Vol. 5, pp. 524 - 525, June, 2021

A Soft Resistive Sensor with a Semicircular Cross-Sectional Channel for Soft Cardiac Catheter Ablation

Eric Rasmussen, Daniel Guo, Vybhav Murthy, Rachit Mishra, Cameron Riviere, and Carmel Majidi

Journal Article, Sensors, Vol. 21, No. 12, pp. 4130 - 4131, June, 2021

Autonomous Vehicle Motion Planning via Recurrent Spline Optimization

Wenda Xu, Qian Wang, and John M. Dolan

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7730 - 7736, June, 2021

Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning

Zhiqian Qiao, Jeff Schneider, and John M. Dolan

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2667 - 2673, June, 2021

Coronary Vessel Detection Methods for Organ-Mounted Robots

Eric T. Rasmussen, Eric C. Shiao, Lee Zourelias, M. Scott Halbreiner, Michael J. Passineau, Srinivas Murali, and Cameron N. Riviere

Journal Article, International Journal of Medical Robotics and Computer Assisted Surgery, June, 2021

ENCODE: a dEep poiNt Cloud ODometry nEtwork

Yihuan Zhang, Liang Wang, Chen Fu, Yifan Dai, and John M. Dolan

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 14375 - 14381, June, 2021

Exploiting Uncertainty in Triangulation Light Curtains for Object Tracking and Depth Estimation

Yaadhav Raaj

Master's Thesis, Tech. Report, CMU-RI-TR-21-08, Robotics Institute, Carnegie Mellon University, June, 2021

In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery

Thiago A. Rodrigues, Jay Patrikar, Arnav Choudhry, Jacob Feldgoise, Vaibhav Arcot, Aradhana Gahlaut, Sophia Lau, Brady Moon, Bastian Wagner, H. Scott Matthews, Sebastian Scherer, and Constantine Samaras

Journal Article, Scientific Data, Vol. 8, June, 2021

Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios

Christoph Killing, Adam Villaflor, and John M. Dolan

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8090 - 8096, June, 2021

Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion

Chen Fu, Christoph Mertz, and John M. Dolan

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 14127 - 14133, June, 2021

Scheduling for multi-robot routing with blocking and enabling constraints

Jayanth Krishna Mogali, Joris Kinable, Stephen F. Smith, and Zachary B. Rubinstein

Journal Article, Journal Of Scheduling, Vol. 24, No. 3, pp. 291 - 318, June, 2021

CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model

Arnav Choudhry, Brady Moon, Jay Patrikar, Constantine Samaras, and Sebastian Scherer