Publications




Design and Control of a Large Modular Robot Hexapod
Matt Martone
Master's Thesis, Tech. Report, CMU-RI-TR-19-79, Robotics Institute, Carnegie Mellon University, November, 2019
Can a Robot Become a Movie Director? Learning Artistic Principles for Aerial Cinematography
Mirko Gschwindt, Efe Camci, Rogerio Bonatti, Wenshan Wang, Erdal Kayacan, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1107 - 1114, November, 2019
Improving Learning-based Ego-motion Estimation with Homomorphism-based Losses and Drift Correction
Xiangwei Wang, Daniel Maturana, Shichao Yang, Wenshan Wang, Qijun Chen, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 970 - 976, November, 2019
Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments
Rogerio Bonatti, Cherie Ho, Wenshan Wang, Sanjiban Choudhury, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 229 - 236, November, 2019
Inferring Distributions Over Depth from a Single Image
Gengshan Yang, Peiyun Hu, and Deva Ramanan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6090 - 6096, November, 2019
Criteria for Maintaining Desired Contacts for Quasi-Static Systems
Yifan Hou and Matthew T. Mason
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6555 - 6561, November, 2019
Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping
Weizhao Shao, Srinivasan Vijayarangan, Cong Li, and George Kantor
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 370 -377, 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, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 187 - 194, November, 2019
Homography-Based Deep Visual Servoing Methods for Planar Grasps
Austin S. Wang, Wuming Zhang, Daniel Troniak, Jacky Liang, and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6570 - 6577, November, 2019
Maximum Likelihood Path Planning for Fast Aerial Maneuvers and Collision Avoidance
Ji Zhang, Chen Hu, Rushat Gupta Chadha, and Sanjiv Singh
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2805 - 2812, November, 2019
Minimum k-Connectivity Maintenance for Robust Multi-Robot Systems
Wenhao Luo and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7370 - 7377, November, 2019
Non-myopic Planetary Exploration Combining In Situ and Remote Measurements
Suhit Kodgule, Alberto Candela, and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 536 - 543, November, 2019
A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments
Shibo Zhao, Zheng Fang, HaoLai Li, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1285 - 1292, November, 2019
A-EXP4: Online Social Policy Learning for Adaptive Robot-Pedestrian Interaction
Pengju Jin, Eshed Ohn-Bar, Kris Kitani, and Chieko Asakawa
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5086 - 5093, November, 2019
ALTRO: A Fast Solver for Constrained Trajectory Optimization
Taylor Howell, Brian Jackson, and Zac Manchester
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7674 - 7679, November, 2019
An efficient and accurate algorithm for the perspective-n-point problem
L. Zhou and M. Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6245 - 6252, November, 2019
Attention-based Hierarchical Deep Reinforcement Learning for Lane Change Behaviors in Autonomous Driving
Yilun C. Chen, Chiyu Dong, Praveen Palanisamy, Priyantha Mudalige, Katharina Muelling, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3697 - 3703, November, 2019
Cooperative Schedule-Driven Intersection Control with Connected and Autonomous Vehicles
H-C. Hu, S. F. Smith, and R. Goldstein
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1668 - 1673, November, 2019
Degeneracy-aware factors with applications to underwater SLAM
Akshay Hinduja, Bing-Jui Ho, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1293 - 1299, November, 2019
Dense, sonar-based reconstruction of underwater scenes
P. Teixeira, D. Fourie, M. Kaess, and J. Leonard
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8060 - 8066, November, 2019
Domain Randomization for Macromolecule Structure Classification and Segmentation in Electron Cyro-tomograms
Chengqian Che, Zhou Xian, Xiangrui Zeng, Xin Gao, and Min Xu
Conference Paper, Proceedings of IEEE International Conference on Bioinformatics and Biomedicine (BIBM '19), pp. 6 - 11, November, 2019
Following Social Groups: Socially-Compliant Autonomous Navigation in Dense Crowds
X. Yao, J. Zhang, and J. Oh
Workshop Paper, IROS '19 Cognitive Vehicles Workshop, November, 2019
Forecasting Time-to-Collision from Monocular Video: Feasibility, Dataset, and Challenges
Aashi Manglik, Xinshuo Weng, Eshed Ohn-Bar, and Kris Kitani
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8081 - 8088, November, 2019
GPU Accelerated Robust Scene Reconstruction
Wei Dong, Jaesik Park, Yi Yang, and Michael Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7863 - 7870, November, 2019
Heuristic-Based Multiple Mobile Depots Route Planning for Recharging Persistent Surveillance Robots
Yifan Ding, Wenhao Luo, and Katia Sycara
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3308 - 3313, November, 2019
Online and consistent occupancy grid mapping for planning in unknown environments
P. Sodhi, B. Ho, and M. Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7879 - 7886, November, 2019
Prognostication of Neurological Recovery by Analyzing Structural Breaks in EEG Data
David Bethge, Jieshi Chen, Oliver Grothe, Jonathan Elmer, and Artur Dubrawski
Workshop Paper, ICDM '19 Workshops, pp. 933 - 940, November, 2019
Reducing the Complexity of Fingerprinting-Based Positioning using Locality-Sensitive Hashing
Larry Tang, Ramina Ghods, and Christoph Studer
Conference Paper, Proceedings of 53rd Asilomar Conference on Signals, Systems, and Computers, pp. 1086 - 1090, November, 2019
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction
Cyrus Anderson, Xiaoxiao Du, Ram Vasudevan, and M. Johnson-Roberson
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4236 - 4243, November, 2019
Toward A Ballbot for Physically Leading People: A Human-Centered Approach
Zhongyu Li and Ralph Hollis
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4827 - 4833, November, 2019
Wide aperture imaging sonar reconstruction using generative models
E. Westman and M. Kaess
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 8067 - 8074, November, 2019
A differential theory of radiative transfer
Cheng Zhang, Lifan Wu, Changxi Zheng, Ioannis Gkioulekas, Ravi Ramamoorthi, and Shuang Zhao
Journal Article, ACM Transactions on Graphics (TOG), Vol. 38, No. 6, November, 2019
Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration
A. Abuduweili, S. Li, and C. Liu
Conference Paper, Proceedings of AAAI '19 Fall Symposium on Artificial Intelligence and Human-Robot Interaction for Service Robots in Human Environments, November, 2019
Bidirectional Heuristic Search for Motion Planning with an Extend Operator
Allen Cheng, Dhruv Mauria Saxena, and Maxim Likhachev
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7425 - 7430, November, 2019
Escaping Local Minima in Search-Based Planning Using Soft Duplicate Detection
Wei Du, Sung Kyun Kim, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2365 - 2371, November, 2019
Follow the robot: Modeling coupled human-robot dyads during navigation
Amal Nanavati, Xiang Zhi Tan, Joe Connolly, and Aaron Steinfeld
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3836 - 3843, November, 2019
Knock on Wood: The Effects of Material Choice on the Perception of Social Robots
Sanne van Waveren, Linnéa Björklund, Elizabeth J. Carter, and Iolanda Leite
Conference Paper, Proceedings of International Conference on Social Robotics (ICSR '19), pp. 211 - 221, November, 2019
Predicting Grasp Success with a Soft Sensing Skin and Shape-Memory Actuated Gripper
Julian Zimmer, Tess Hellebrekers, Tamim Asfour, Carmel Majidi, and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7120 - 7127, November, 2019
Graph-Structured Visual Imitation
Maximilian Sieb, Zhou Xian, Audrey Huang, Oliver Kroemer, and Katerina Fragkiadaki
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, pp. 979 - 989, October, 2019
Multiagent Sensor Fusion for Connected & Autonomous Vehicles to Enhance Navigation Safety
Suryansh S. Saxena, Isaac K. Isukapati, Stephen F. Smith, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '19), pp. 2490 - 2495, October, 2019
CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People
João Guerreiro, Daisuke Sato, Saki Asakawa, Huixu Dong, Kris M. Kitani, and Chieko Asakawa
Conference Paper, Proceedings of 21st International ACM SIGACCESS Conference on Computers and Accessibility (ASSETS '19), pp. 68 - 82, October, 2019
LIDAR and Monocular Camera Fusion: On-road Depth Completion for Autonomous Driving
Chen Fu, Christoph Mertz, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '19), pp. 273 - 278, October, 2019
Ego-Pose Estimation and Forecasting as Real-Time PD Control
Ye Yuan and Kris M. Kitani
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 10081 - 10091, October, 2019
PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings
Nicholas Rhinehart, Rowan McAllister, Kris M. Kitani, and Sergey Levine
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 2821 - 2830, October, 2019
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Abhijeet Tallavajhula, Adrian Schoisengeier, Sung Kyun Kim, Anirudh Vemula, Levi Lister, and Oren Salzman
Miscellaneous, October, 2019
Underwater Localization and Mapping with Imaging Sonar
Eric Westman
PhD Thesis, Tech. Report, CMU-RI-TR-19-77, Robotics Institute, Carnegie Mellon University, October, 2019
GroundNet: Monocular Ground Plane Normal Estimation with Geometric Consistency
Yunze Man, Xinshuo Weng, Xi Li, and Kris Kitani
Conference Paper, Proceedings of 27th ACM International Conference on Multimedia (MM '19), pp. 2170 - 2178, October, 2019
The 2nd 3D Face Alignment in the Wild Challenge (3DFAW-Video): Dense Reconstruction From Video
Rohith Krishnan Pillai, Laszlo A. Jeni, Huiyuan Yang, Zheng Zhang, Lijun Yin, and Jeffrey F. Cohn
Workshop Paper, ICCV '19 Workshop, pp. 3082 - 3089, October, 2019
Leveraging Multimodal Haptic Sensory Data for Robust Cutting
Kevin Zhang, Mohit Sharma, Manuela Veloso, and Oliver Kroemer
Conference Paper, Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids '19), pp. 409 - 416, October, 2019
3D-RelNet: Joint Object and Relational Network for 3D Prediction
Nilesh Kulkarni, Ishan Misra, Shubham Tulsiani, and Abhinav Gupta
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 2212 - 2221, October, 2019