Publications




Iterative-Deepening Conflict-Based Search
Eli Boyarski, Ariel Felner, Daniel Harabor, Peter J. Stuckey, Liron Cohen, Jiaoyang Li, and Sven Koenig
Conference Paper, Proceedings of 29th International Joint Conference on Artificial Intelligence (IJCAI '20), pp. 4084 - 4090, January, 2021
LT-GAN: Self-Supervised GAN With Latent Transformation Detection
Parth Patel, Nupur Kumari, Mayank Singh, and Balaji Krishnamurthy
Conference Paper, Proceedings of IEEE/CVF Winter Conference on Applications of Computer Vision (WACV '21), pp. 3189 - 3198, January, 2021
Multi-Directional Heuristic Search
Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf Shperberg, Nathan Sturtevant, and Sven Koenig
Conference Paper, Proceedings of 29th International Joint Conference on Artificial Intelligence (IJCAI '20), pp. 4062 - 4068, January, 2021
Integration of Fully-Actuated Multirotors into Real-World Applications
Keipour A, Mousaei M, Ashley A, and Scherer S
Journal Article, arXiv preprint arXiv:2011. 06666, 2021
Model-based real-time robust controller for a small helicopter
He M, He J, and Scherer S
Journal Article, Mechanical Systems and Signal Processing, Vol. 146, pp. 107022, 2021
TartanVO: A Generalizable Learning-based VO
Wang W, Hu Y, and Scherer S
Conference Paper, Proceedings of the 2020 Conference on Robot Learning, Vol. 155, pp. 1761-1772, 2021
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms
Oliver Kroemer, Scott Niekum, and George Konidaris
Journal Article, Journal of Machine Learning Research, Vol. 22, No. 30, pp. 1 - 82, 2021
Deep Survival Machines: Fully Parametric Survival Regression and Representation Learning for Censored Data with Competing Risks
Chirag Nagpal, Xinyu Rachel Li, and Artur Dubrawski
Journal Article, IEEE Journal of Biomedical and Health Informatics, 2021
Planning With Attitude
Brian E. Jackson, Kevin Tracy, and Zachary Manchester
Journal Article, IEEE Robotics and Automation Letters, 2021
Technology to Make Signalized Intersections Safer for Pedestrians with Disabilities
Govindarajan Vadakpat, Stephen F. Smith, Zachary B. Rubinstein, and M. Bernardine Dias
Journal Article, Public Roads, Vol. 84, No. 4, 2021
Constraint-Based Coverage Path Planning: A Novel Approach to Achieving Energy-Efficient Coverage
Christopher Krzysztof Tomaszewski
PhD Thesis, Tech. Report, CMU-RI-TR-20-60, Robotics Institute, Carnegie Mellon University, December, 2020
Towards Interpretable Reinforcement Learning: Interactive Visualizations to Increase Insight
Shuby Deshpande
Master's Thesis, Tech. Report, CMU-RI-TR-20-61, Robotics Institute, Carnegie Mellon University, December, 2020
Learning Cyber-Physical Models of Resuscitation
Mayra Melendez
Master's Thesis, Tech. Report, CMU-RI-TR-20-62, Robotics Institute, Carnegie Mellon University, December, 2020
Pilot Results of a Digital Manipulative for Elementary Mathematics
Jennifer Cross, Bambi Brewer, Emily Hamner, Lauren Zito, Samantha Speer, and Michael Tasota
Conference Paper, Proceedings of American Educational Research Association Annual Meeting (AERA '20), December, 2020
Multi-agent Deception in Attack-Defense Stochastic Game
Xueting Li
Master's Thesis, Tech. Report, CMU-RI-TR-20-59, Robotics Institute, Carnegie Mellon University, December, 2020
3D Face Reconstruction from Monocular Video and its Applications In the Wild
Rohith Krishnan Pillai
Master's Thesis, Tech. Report, CMU-RI-TR-20-58, Robotics Institute, Carnegie Mellon University, December, 2020
Fine-Tuning Offline Reinforcement Learning with Model-Based Policy Optimization
Adam Villaflor, John M. Dolan, and Jeff Schneider
Workshop Paper, NeurIPS '20 Offline Reinforcement Learning Workshop, December, 2020
Learning Embeddings that Capture Spatial Semantics for Indoor Navigation
Vidhi Jain, Prakhar Agarwal, Shishir Patil, and Katia Sycara
Workshop Paper, NeurIPS '20 Workshop on Object Representations for Learning and Reasoning, December, 2020
Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates
Wenhao Luo, Wen Sun, and Ashish Kapoor
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Learning to navigate in unseen cluttered structured environments
Vidhi Jain ad Ganesh Iyer and Katia Sycara
Workshop Paper, NeurIPS '20 WiML Virtual Workshop, December, 2020
Comprehensive Attention Self-Distillation for Weakly-Supervised Object Detection
Zeyi Huang, Yang Zou, Vijayakumar Bhagavatula, and Dong Huang
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis
Ye Yuan and Kris Kitani
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Addressing reward bias in Adversarial Imitation Learning with neutral reward functions
Rohit Jena, Siddharth Agrawal, and Katia Sycara
Workshop Paper, NeurIPS '20 Workshop on Deep Reinforcement Learning, December, 2020
Demystifying Contrastive Self-Supervised Learning: Invariances, Augmentations and Dataset Biases
Senthil Purushwalkam Shiva Prakash and Abhinav Gupta
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Differentiable Augmentation for Data-Efficient GAN Training
Shengyu Zhao, Zhijian Liu, Ji Lin, Jun-Yan Zhu, and Song Han
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World
Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, Vladimir Egorov, Dmitry Ivanov, Aleksei Shpilman, Evgenija Spirovska, Oliver Tanevski, Aleksandar Nikov, Ramon Grunder, David Galevski, Jakov Mitrovski, Guillaume Sartoretti, Zhiyao Luo, Mehul Damani, Nilabha Bhattacharya, Shivam Agarwal, Adrian Egli, Erik Nygren, and Sharada Mohanty
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, Vol. 133, pp. 275 - 301, December, 2020
Neural Dynamic Policies for End-to-End Sensorimotor Learning
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, and Deepak Pathak
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Predicting Human Strategies in Simulated Search and Rescue Task
Vidhi Jain, Rohit Jena, Huao Li, Tejus Gupta, Dana Hughes, Michael Lewis, and Katia P. Sycara
Workshop Paper, NeurIPS '20 Workshop on Artificial Intelligence for Humanitarian Assistance and Disaster Response (AI+HADR '20), December, 2020
SDF-SRN: Learning Signed Distance 3D Object Reconstruction from Static Images
Chen-Hsuan Lin, Chaoyang Wang, and Simon Lucey
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
See, Hear, Explore: Curiosity via Audio-Visual Association
Victoria Dean, Shubham Tulsiani, and Abhinav Gupta
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
Swapping Autoencoder for Deep Image Manipulation
Taesung Park, Jun-Yan Zhu, Oliver Wang, Jingwan Lu, Eli Shechtman, Alexei A. Efros, and Richard Zhang
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, December, 2020
TRON: A Fast Solver for Trajectory Optimization with Non-Smooth Cost Functions
Anirudh Vemula and J. Andrew Bagnell
Conference Paper, Proceedings of 59th IEEE Conference on Decision and Control (CDC '20), pp. 4157 - 4163, December, 2020
Using seismic gradiometry and machine learning to discriminate between explosion and earthquake seismic sources
Christian Poppeliers, Cristian Challu, Predrag Punosevac, Charlie Vollmer, and Artur Dubrawski
Conference Paper, Proceedings of AGU Fall Meeting, December, 2020
Falco: Fast likelihood‐based collision avoidance with extension to human‐guided navigation
Ji Zhang, Chen Hu, Rushat Gupta Chadha, and Sanjiv Singh
Journal Article, Journal of Field Robotics, Vol. 37, No. 8, pp. 1300 - 1313, December, 2020
A Review of Tactile Information: Perception and Action Through Touch
Qiang Li, Oliver Kroemer, Zhe Su, Filipe Veiga, Mohsen Kaboli, and Helge Ritter
Journal Article, IEEE Transactions on Robotics, Vol. 30, No. 6, pp. 1619 - 1634, December, 2020
Constraining dense hand surface tracking with elasticity
Breannan Smith, Chenglei Wu, He Wen, Patrick Peluse, Yaser Sheikh, Jessica Hodgins, and Takaaki Shiratori
Journal Article, ACM Transactions on Graphics (TOG), Vol. 39, No. 6, December, 2020
Evaluation of Hybrid Control and Palpation Assistance for Situational Awareness in Telemanipulated Task Execution
Rashid Yasin, Preetham Chalasani, Nicolas Zevallos, Mahya Shahbazi, Zhaoshuo Li, Anton Deguet, Peter Kazanzides, Howie Choset, Russell H. Taylor, and Nabil Simaan
Journal Article, IEEE Transactions on Medical Robotics and Bionics, pp. 31 - 43, December, 2020
Outbreak of Pseudomonas aeruginosa Infections from a Contaminated Gastroscope Detected by Whole Genome Sequencing Surveillance
Alexander J. Sundermann, Jieshi Chen, James K. Miller, Melissa I. Saul, Kathleen A. Shutt, Marissa P. Griffith, Mustapha M. Mustapha, Chinelo Ezeonwuka, Kady Waggle, Vatsala Srinivasa, Praveen Kumar, A. William Pasculle, Ashley M. Ayres, Graham M. Snyder, Vaughn S. Cooper, Daria Van Tyne, Jane W. Marsh, Artur W. Dubrawski, and Lee H. Harrison
Journal Article, Clinical Infectious Diseases, December, 2020
Overcoming the tradeoff between confinement and focal distance using virtual ultrasonic optical waveguides
Matteo Giuseppe Scopelliti, Hengji Huang, Adithya Pediredla, Srinivasa G. Narasimhan, Ioannis Gkioulekas, and Maysamreza Chamanzar
Journal Article, Optics Express, Vol. 28, No. 25, pp. 37459 - 37473, December, 2020
Path tracing estimators for refractive radiative transfer
Adithya Pediredla, Yasin Karimi Chalmiani, Matteo Giuseppe Scopelliti, Maysam Chamanzar, Srinivasa Narasimhan, and Ioannis Gkioulekas
Journal Article, ACM Transactions on Graphics (TOG), Vol. 39, No. 6, December, 2020
The impact of adding perspective-taking to spatial referencing during human–robot interaction
Fethiye Irmak Doğan, Sarah Gillet, Elizabeth J. Carter, and Iolanda Leite
Journal Article, Robotics and Autonomous Systems, Vol. 134, December, 2020
Understanding the role of individual units in a deep neural network
David Bau, Jun-Yan Zhu, Hendrik Strobelt, Agata Lapedriza, Bolei Zhou, and Antonio Torralba
Journal Article, PNAS 2020: Arthur M. Sackler Colloquium of the National Academy of Sciences, “The Science of Deep Learning”, Vol. 117, No. 48, pp. 30071 - 30078, December, 2020
Development of a Balancing Robot as an Indoor Service Agent
Shreyas Srivatchan
Master's Thesis, Tech. Report, CMU-RI-TR-20-57, Robotics Institute, Carnegie Mellon University, November, 2020
f-IRL: Inverse Reinforcement Learning via State Marginal Matching
Tianwei Ni, Harshit Sikchi, Yufei Wang, Tejus Gupta, Lisa Lee, and Benjamin Eysenbach
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma, Jacky Liang, Jialiang (Alan) Zhao, Alex LaGrassa, and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Examining the Effects of Anticipatory Robot Assistance on Human Decision Making
Benjamin A. Newman, Abhijat Biswas, Sarthak Ahuja, Siddharth Girdhar, Kris M. Kitani, and Henny Admoni
Conference Paper, Proceedings of International Conference on Social Robotics (ICSR '20), pp. 590 - 603, November, 2020
An Efficient Planar Bundle Adjustment Algorithm
Lipu Zhou, Daniel Koppel, Hui Ju, Frank Steinbruecker, and Michael Kaess
Conference Paper, Proceedings of IEEE International Symposium on Mixed and Augmented Reality (ISMAR '20), pp. 136 - 145, November, 2020
3D Human Motion Estimation via Motion Compression and Refinement
Zhengyi Luo, S. Alireza Golestaneh, and Kris M. Kitani
Conference Paper, Proceedings of Asian Conference on Computer Vision (ACCV '20), pp. 324 - 340, November, 2020
Augmenting GAIL with BC for sample efficient imitation learning
Rohit Jena, Changliu Liu, and Katia Sycara
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
CLOUD: Contrastive Learning of Unsupervised Dynamics
Jianren Wang, Yujie Lu, and Hang Zhao
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020