Publications - Robotics Institute Carnegie Mellon University

Seeing in 3D: Towards Generalizable 3D Visual Representations for Robotic Manipulation

Haolun (Harry) Zhang

Master's Thesis, Tech. Report, CMU-RI-TR-23-16, May, 2023

Parallelized Search on Graphs with Expensive-to-Compute Edges

Shohin Mukherjee

PhD Thesis, Tech. Report, CMU-RI-TR-23-10, May, 2023

System Identification and Control of Multiagent Systems Through Interactions

Jaskaran Singh Grover

PhD Thesis, Tech. Report, CMU-RI-TR-23-04, April, 2023

asEars: Designing and Evaluating the User Experience of Wearable Assistive Devices for Single-Sided Deafness

Ken Takaki, Etsushi Nozaki, Tomomi Kanai, Ari Hautasaari, Akinori Kashio, Daisuke Sato, Teru Kamogashira, Tsukasa Uranaka, Shinji Urata, Hajime Koyama, Tatsuya Yamasoba, and Yoshihiro Kawahara

Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 17, April, 2023

Audio-Visual State-Aware Representation Learning from Interaction-Rich, Egocentric Videos

Himangi Mittal

Master's Thesis, Tech. Report, CMU-RI-TR-23-09, April, 2023

Enhancing Blind Visitor’s Autonomy in a Science Museum Using an Autonomous Navigation Robot

Seita Kayukawa, Daisuke Sato, Masayuki Murata, Tatsuya Ishihara, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa

Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 14, April, 2023

PathFinder: Designing a Map-less Navigation System for Blind People in Unfamiliar Buildings

Masaki Kuribayashi, Tatsuya Ishihara, Daisuke Sato, Jayakorn Vongkulbhisal, Karnik Ram, Seita Kayukawa, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa

Conference Paper, Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems, pp. 16, April, 2023

Resource Limited Exploration and Coverage through Ergodic Optimization

Ananya Rao

Master's Thesis, Tech. Report, CMU-RI-TR-23-11, April, 2023

Learning Models and Cost Functions from Unlabeled Data for Off-Road Navigation

Samuel Triest

Master's Thesis, Tech. Report, CMU-RI-TR-23-07, April, 2023

Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models

Kshitij Goel, Nathan Michael, and Wennie Tabib

Journal Article, IEEE Robotics and Automation Letters, April, 2023

Learning with Diverse Forms of Imperfect and Indirect Supervision

Benedikt Boecking

PhD Thesis, Tech. Report, CMU-RI-TR-23-03, February, 2023

Imagine All Objects Are Robots: A Multi-Agent Pathfinding Perspective on Manipulation Among Movable Objects

Dhruv Mauria Saxena and Maxim Likhachev

Workshop Paper, AAAI-23 Workshop on Multi-Agent Path Finding, February, 2023

Cable Tension Optimization for an Epicardial Parallel Wire Robot

Aman Ladak, Roger J Hajjar, Srinivas Murali, Jeremy J. Michalek, and Cameron N. Riviere

Journal Article, Journal of Medical Devices, February, 2023

Computational Interferometric Imaging

Alankar Shashikant Kotwal

PhD Thesis, Tech. Report, CMU-RI-TR-23-01, Robotics Institute, Carnegie Mellon University, January, 2023

A Simulator for Fully-Actuated UAVs

Keipour A, Mousaei M, and Scherer S

Conference Paper, Proceedings of The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles, 2023

2D-3D Pose Tracking with Multi-View Constraints

Yu H, Chen K, Yang W, Scherer S, and Xia GS

Journal Article, arXiv preprint arXiv:2309. 11335, 2023

AirIMU: Learning Uncertainty Propagation for Inertial Odometry

Qiu Y, Wang C, Zhou X, Xia Y, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 04874, 2023

AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking

Ghosh S, Patrikar J, Moon B, Hamidi MM, and Scherer S

Conference Paper, Proceedings of International Conference on Robotics and Automation (ICRA), 2023

Aerial Interaction with Tactile Sensing

Guo X, He G, Mousaei M, Geng J, Shi G, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 00142, 2023

Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds

Zhao Z, Yu H, Lyu C, Yang W, and Scherer S

Journal Article, IEEE Sensors Journal, Vol. 23, No. 19, pp. 23836-23845, 2023

AutoMerge: A framework for map assembling and smoothing in city-scale environments

Yin P, Zhao S, Lai H, Ge R, Zhang J, Choset H, and Scherer S

Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 5, pp. 3686-3704, 2023

BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition

Yin P, Abuduweili A, Zhao S, Xu L, Liu C, and Scherer S

Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 6, pp. 4855-4874, 2023

DytanVO: Joint refinement of visual odometry and motion segmentation in dynamic environments

Shen S, Cai Y, Wang W, and Scherer S

Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 4048-4055, 2023

Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments

Rauniyar A, Li J, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 13184, 2023

Exploring the Most Sectors at the DARPA Subterranean Challenge Finals

Cao C, Nogueira L, Zhu H, Keller J, Best G, Garg R, Kohanbash D, Maier J, Zhao S, Yang F, Cujic K, Darnley R, DeBortoli R, Drozd B, Sun B, Higgins I, Willits S, Armstrong G, Zhang J, Hollinger G, Travers M, and Scherer S

Journal Article, Field Robotics, Vol. 3, No. 25, pp. 801-836, 2023

Follow the rules: Online signal temporal logic tree search for guided imitation learning in stochastic domains

Aloor JJ, Patrikar J, Kapoor P, Oh J, and Scherer S

Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1320-1326, 2023

FoundLoc: Vision-based Onboard Aerial Localization in the Wild

He Y, Cisneros I, Keetha N, Patrikar J, Ye Z, Higgins I, Hu Y, Kapoor P, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 16299, 2023

Greedy Perspectives: Multi-Drone View Planning for Collaborative Coverage in Cluttered Environments

Suresh K, Rauniyar A, Corah M, and Scherer S

Journal Article, arXiv preprint arXiv:2310. 10863, 2023

Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV

He G, Jangir Y, Geng J, Mousaei M, Bai D, and Scherer S

Conference Paper, Proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5042-5049, 2023

iSimLoc: Visual Global Localization for Previously Unseen Environments With Simulated Images

Yin P, Cisneros I, Zhao S, Zhang J, Choset H, and Scherer S

Journal Article, IEEE Transactions on Robotics, Vol. 39, No. 3, pp. 1893-1909, 2023

Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace

Navarro I, Patrikar J, Dantas J, Baijal R, Higgins I, Scherer S, and Oh J

Journal Article, arXiv preprint arXiv:2304. 01428, 2023

Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation

Triest S, Castro MG, Maheshwari P, Sivaprakasam M, Wang W, and Scherer S

Conference Paper, Proceedings of 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 924-930, 2023

Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models

Chen E, Ho C, Maulimov M, Wang C, and Scherer S

Journal Article, arXiv preprint arXiv:2306. 15226, 2023

MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position

Yan J, Lin X, Ren Z, Zhao S, Yu J, Cao C, Yin P, Zhang J, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 7, pp. 4299-4306, 2023

Multimodal beacon based precision landing system for autonomous aircraft

Taylor J, Singh S, Chamberlain L, Scherer S, Grocholsky B, and Brajovic V

Miscellaneous, 2023

Off-Policy Evaluation With Online Adaptation for Robot Exploration in Challenging Environments

Hu Y, Geng J, Wang C, Keller J, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, Vol. 8, No. 6, pp. 3780-3787, 2023

Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation

Jacinto M, Pinto J, Patrikar J, Keller J, Cunha R, Scherer S, and Pascoal A

Journal Article, arXiv preprint arXiv:2307. 05263, 2023

PIAug--Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation

Maheshwari P, Wang W, Triest S, Sivaprakasam M, Aich S, Rogers III JG, Gregory JM, and Scherer S

Journal Article, arXiv preprint arXiv:2311. 00815, 2023

PyPose v0.6: The Imperative Programming Interface for Robotics

Zhan Z, Li X, Li Q, He H, Pandey A, Xiao H, Xu Y, Chen X, Xu K, Cao K, and Others

Journal Article, arXiv preprint arXiv:2309. 13035, 2023

PyPose: A library for robot learning with physics-based optimization

Wang C, Gao D, Xu K, Geng J, Hu Y, Qiu Y, Li B, Yang F, Moon B, Pandey A, and Others

Conference Paper, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 22024-22034, 2023

Quantifying the Effect of Weather on Advanced Air Mobility Operations

Sharma A, Patrikar J, Moon B, Scherer S, and Samaras C

Journal Article, Findings, 2023

SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation

Navarro I, Patrikar J, Dantas J, Baijal R, Higgins I, Scherer S, and Oh J

Journal Article, arXiv preprint arXiv:2309. 13144, 2023

SplaTAM: Splat, track & map 3d gaussians for dense rgb-d SLAM

Keetha N, Karhade J, Jatavallabhula KM, Yang G, Scherer S, Ramanan D, and Luiten J

Journal Article, arXiv preprint arXiv:2312. 02126, 2023

SubT-MRS: A Subterranean, Multi-Robot, Multi-Spectral and Multi-Degraded Dataset for Robust SLAM

Zhao S, Singh D, Sun H, Jiang R, Gao Y, Wu T, Karhade J, Whittaker C, Higgins I, Xu J, and Others

Journal Article, arXiv preprint arXiv:2307. 07607, 2023

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Hu Y, Xie Q, Jain V, Francis J, Patrikar J, Keetha N, Kim S, Xie Y, Zhang T, Zhao Z, and Others

Journal Article, arXiv preprint arXiv:2312. 08782, 2023

TartanDrive 1.5: Improving Large Multimodal Robotics Dataset Collection and Distribution

Sivaprakasam M, Triest S, Castro MG, Nye M, Maulimov M, Ho C, Maheshwari P, Wang W, and Scherer S

Conference Paper, Proceedings of ICRA2023 Workshop on Pretraining for Robotics (PT4R), 2023

Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification

Moon B, Sachdev S, Yuan J, and Scherer S

Journal Article, IEEE Robotics and Automation Letters, 2023

UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction

Keipour A, Mousaei M, Geng J, Bai D, and Scherer S

Conference Paper, Proceedings of AIAA SCITECH 2023 Forum, pp. 1279, 2023

WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views

Jong A, Yu M, Dhrafani D, Kailas S, Moon B, Sycara K, and Scherer S

Conference Paper, Proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11464-11471, 2023

Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study

Arnav Gupta, Yuemin Mao, Ankit Bhatia, Xianyi Cheng, Jonathan P. King, Yifan Hou, and Matthew T. Mason

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, December, 2022