Publications




Correspondence Matrices are Underrated
Tejas Zodage, Rahul Chakwate, Vinit Sarode, Rangaprasad Arun Srivatsan, and Howie Choset
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 603 - 612, November, 2020
Deep NRSfM++: Towards Unsupervised 2D-3D Lifting in the Wild
Chaoyang Wang, Chen-Hsuan Lin, and Simon Lucey
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 12 - 22, November, 2020
Impact of explanation on trust of a novel mobile robot
S. Rosenthal and E. J. Carter
Conference Paper, Proceedings of AAAI '20 Fall Symposium on Trust and Explainability in Artificial Intelligence for Human-Robot Interaction, November, 2020
Inverting the Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting
Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, and Nick Rhinehart
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Learning Rotation-Invariant Representations of Point Clouds Using Aligned Edge Convolutional Neural Networks
Junming Zhang, Ming-Yuan Yu, Ram Vasudevan, and M. Johnson-Roberson
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 200 - 209, November, 2020
MaskNet: A Fully-Convolutional Network to Estimate Inlier Points
Vinit Sarode, Animesh Dhagat, R. Arun Srivatsan, Nicolas Zevallos, Simon Lucey, and Howie Choset
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 1029 - 1038, November, 2020
MonoClothCap: Towards Temporally Coherent Clothing Capture from Monocular RGB Video
Donglai Xiang, Fabian Prada, Chenglei Wu, and Jessica Hodgins
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 322 - 332, November, 2020
Mutex Propagation for SAT-based Multi-Agent Path Finding
Pavel Surynek, Jiaoyang Li, Han Zhang, T. K. Satish Kumar, and Sven Koenig
Conference Paper, Proceedings of 23rd International Conference on Principles and Practice of Multi-Agent Systems (PRIMA '20), pp. 248 - 258, November, 2020
PanoNet3D: Combining Semantic and Geometric Understanding for LiDAR Point Cloud Detection
Xia Chen, Jianren Wang, David Held, and Martial Hebert
Conference Paper, Proceedings of International Conference on 3D Vision (3DV '20), pp. 753 - 761, November, 2020
PLAS: Latent Action Space for Offline Reinforcement Learning
Wenxuan Zhou, Sujay Bajracharya, and David Held
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
Kshitij Goel, Wennie Tabib, and Nathan Michael
Conference Paper, Proceedings of International Symposium on Experimental Robotics (ISER '20), pp. 436 - 448, November, 2020
Relational Learning for Skill Preconditions
Mohit Sharma and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, and David Held
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Rotational Error Metrics for Quadrotor Control
Alexander Spitzer and Nathan Michael
Workshop Paper, IROS '20 Perception, Learning, and Control for Autonomous Agile Vehicles Workshop, November, 2020
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
Xingyu Lin, Yufei Wang, Jake Olkin, and David Held
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
Visual Imitation Made Easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, and Lerrel Pinto
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, November, 2020
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang, Mohit Sharma, Jacky Liang, and Oliver Kroemer
Tech. Report, November, 2020
Lyapunov Barrier Policy Optimization
Harshit Sikchi, Wenxuan Zhou, and David Held
Workshop Paper, NeurIPS '20 Deep Reinforcement Learning Workshop, November, 2020
A model for the transfer of control from the brain to the spinal cord through synaptic learning
Preeti Sar and Hartmut Geyer
Journal Article, Journal of Computational Neuroscience, Vol. 48, No. 4, pp. 365 - 375, November, 2020
Controlled Assembly of Liquid Metal Inclusions as a General Approach for Multifunctional Composites
Michael J. Ford, Dinesh K. Patel, Chengfeng Pan, Sarah Bergbreiter, and Carmel Majidi
Journal Article, Advanced Materials, Vol. 32, No. 46, November, 2020
DLT-Net: Joint Detection of Drivable Areas, Lane Lines, and Traffic Objects
Yeqiang Qian, John M. Dolan, and Ming Yang
Journal Article, IEEE Transactions on Intelligent Transportation Systems, Vol. 21, No. 11, pp. 4670 - 4679, November, 2020
Line-based 2D-3D Registration and Camera Localization in Structured Environments
Huai Yu, Weikun Zhen, Wen Yang, and Sebastian Scherer
Journal Article, IEEE Transactions on Instrumentation and Measurement, Vol. 69, No. 11, pp. 8962 - 8972, November, 2020
Smell Pittsburgh: Engaging Community Citizen Science for Air Quality
Yen-Chia Hsu, Jennifer Cross, Paul Dille, Michael Tasota, Beatrice Dias, Randy Sargent, Ting-Hao (Kenneth) Huang, and Illah Nourbakhsh
Conference Paper, Proceedings of ACM Transactions on Interactive Intelligent Systems (TIIS), Vol. 10, No. 4, November, 2020
Snow plow route optimization: A constraint programming approach
Joris Kinable, Willem-Jan van Hoeve, and Stephen F. Smith
Journal Article, IISE Transactions, November, 2020
Teaching with robotics: creating and implementing integrated units in middle school subjects
Debra Bernstein, Karen Mutch-Jones, Michael Cassidy, and Emily Hamner
Journal Article, Journal of Research on Technology in Education, November, 2020
Ergodic Trajectory Optimization for Information Gathering
Kevin Edelson
Master's Thesis, Tech. Report, CMU-RI-TR-20-55, Robotics Institute, Carnegie Mellon University, October, 2020
Adaptive Informative Sampling with Environment Partitioning for Heterogeneous Multi-Robot Systems
Yunfei Shi, Ning Wang, Jianmin Zheng, Yang Zhang, Sha Yi, Wenhao Luo, and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11718 - 11723, October, 2020
Minimally Disruptive Connectivity Enhancement for Resilient Multi-Robot Teams
Wenhao Luo, Nilanjan Chakraborty, and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 11809 - 11816, October, 2020
Single Camera Worker Detection, Tracking and Action Recognition in Construction Site
Hiroaki Ishioka, Xinshuo Weng, Yunze Man, and Kris Kitani
Conference Paper, Proceedings of 37th International Symposium on Automation and Robotics in Construction (ISARC '20), pp. 653 - 660, October, 2020
3D Multi-Object Tracking: A Baseline and New Evaluation Metrics
Xinshuo Weng, Jianren Wang, David Held, and Kris Kitani
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10359 - 10366, October, 2020
A Theory of Fermat Paths for 3D Imaging Sonar Reconstruction
Eric Westman, Ioannis Gkioulekas, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5082 - 5088, October, 2020
A Tunable Magnet-based Tactile Sensor Framework
Evan Harber, Evan Schindewolf, Vickie Webster-Wood, Howie Choset, and Lu Li
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
Hierarchical Reinforcement Learning Method for Autonomous Vehicle Behavior Planning
Zhiqian Qiao, Zachariah Tyree, Priyantha Mudalige, Jeff Schneider, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6084 - 6089, October, 2020
Learning Orientation Distributions for Object Pose Estimation
Brian Okorn, Mengyun Xu, Martial Hebert, and David Held
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10580 - 10587, October, 2020
Learning Skills to Patch Plans Based on Inaccurate Models
Alex LaGrassa, Steven Lee, and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 9441 - 9448, October, 2020
Localization and Force-Feedback with Soft Magnetic Stickers for Precise Robot Manipulation
Tess Hellebrekers, Kevin Zhang, Manuela Veloso, Oliver Kroemer, and Carmel Majidi
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8867 - 8874, October, 2020
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
Huai Yu, Weikun Zhen, Wen Yang, Ji Zhang, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4588 - 4594, October, 2020
Online Visual Place Recognition via Saliency Re-identification
Han Wang, Chen Wang, and Lihua Xie
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5030 - 5036, October, 2020
SeqSphereVLAD: Sequence Matching Enhanced Orientation-invariant Place Recognition
Peng Yin, Fuying Wang, Anton Egorov, Jiafan Hou, Ji Zhang, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5024 - 5029, October, 2020
Sparse Discrete Communication Learning for Multi-Agent Cooperation Through Backpropagation
Benjamin Freed, Rohan James, Guillaume Sartoretti, and Howie Choset
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7993 - 7998, October, 2020
When We First Met: Visual-Inertial Person Localization for Co-Robot Rendezvous
Xi Sun, Xinshuo Weng, and Kris Kitani
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 10408 - 10415, October, 2020
Wind and the City: Utilizing UAV-Based In-Situ Measurements for Estimating Urban Wind Fields
Jay Patrikar, Brady Moon, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1254 - 1260, October, 2020
Mars Rover Exploration Combining Remote and In Situ Measurements for Wide-Area Mapping
Alberto Candela, Kevin Edelson, and David Wettergreen
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Terrain Mapping and Pose Estimation for Polar Shadowed Regions of the Moon
Haidar Jamal, Vaibhav Gupta, Neil Khera, Srinivasan Vijayarangan, David S. Wettergreen, and William L. Whittaker
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '20), October, 2020
Machine Learning Parallelism Could Be Adaptive, Composable and Automated
Hao Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-20-54, Robotics Institute, Carnegie Mellon University, October, 2020
Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints
Blake Buchanan, Matthew Travers, Howie Choset, and Scott D. Kelly
Conference Paper, Proceedings of ASME Dynamic Systems and Control Conference (DSCC '20), Vol. 2, October, 2020
A Compact and Infrastructure-free Confined Space Sensor for 3D Scanning and SLAM
Daqian Cheng, Haowen Shi, Michael Schwerin, Michelle Crivella, Lu Li, and Howie Choset
Conference Paper, Proceedings of IEEE SENSORS, October, 2020
A Kalman estimation model of human trust in supervisory control of robotic swarms
Huao Li, Michael Lewis, and Katia Sycara
Conference Paper, Proceedings of Human Factors and Ergonomics Society 64th Annual Meeting (HFES '20), pp. 329 - 333, October, 2020
A Long-Term Evaluation of Adaptive Interface Design for Mobile Transit Information
Oscar J. Romero, Alexander Haig, Lynn Kirabo, Qian Yang, John Zimmerman, Anthony Tomasic, and Aaron Steinfeld
Conference Paper, Proceedings of 22nd International Conference on Human-Computer Interaction with Mobile Devices and Services (MobileHCI '20), October, 2020
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline
Joshua Jaekel, Joshua G. Mangelson, Sebastian A. Scherer, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4623 - 4630, October, 2020