Publications




Learning Parameter-Efficient Markovian Quadrotor Dynamics Models
Suvansh Sanjeev
Master's Thesis, Tech. Report, CMU-RI-TR-22-68, Robotics Institute, Carnegie Mellon University, December, 2022
Self-Supervising Occlusions For Vision
Dinesh Reddy Narapureddy
PhD Thesis, Tech. Report, CMU-RI-TR-22-72, Robotics Institute, Carnegie Mellon University, December, 2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Jacky Liang, Xianyi Cheng, and Oliver Kroemer
Conference Paper, Proceedings of (CoRL) Conference on Robot Learning, December, 2022
Learning with Structured Priors for Robust Robot Manipulation
Jacky Liang
PhD Thesis, Tech. Report, CMU-RI-TR-22-66, Robotics Institute, Carnegie Mellon University, December, 2022
Semantically-Aware Pedestrian Intent Prediction With Barrier Functions and Mixed-Integer Quadratic Programming
Jaskaran Grover, Yiwei Lyu, Wenhao Luo, Changliu Liu, John Dolan, and Katia Sycara
Conference Paper, Proceedings of the IFAC Workshop on Cyberphysical Systems, pp. 167-174, December, 2022
Survey on Fish-Eye Cameras and Their Applications in Intelligent Vehicles
Yeqiang Qian, Ming Yang, and John M. Dolan
Journal Article, IEEE Transactions on Intelligent Transportation Systems (ITIS '22), Vol. 23, No. 12, pp. 22755 - 22771, December, 2022
Task-Agnostic Adaptation for Safe Human-Robot Handover
Ruixuan Liu, Rui Chen, and Changliu Liu
Workshop Paper, IFAC Workshop on Cyber-Physical Human Systems, December, 2022
Minimax Optimal Online Imitation Learning via Replay Estimation
Gokul Swamy, Nived Rajaraman, Matt Peng, Sanjiban Choudhury, J. Andrew Bagnell, Zhiwei Steven Wu, Jiantao Jiao, and Kannan Ramchandran
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, November, 2022
Sequence Model Imitation Learning with Unobserved Contexts
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, November, 2022
Sparse Sensing in Ergodic Optimization
Ananya Rao, Ian Abraham, Guillaume Sartoretti, and Howie Choset
Conference Paper, Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS), November, 2022
Spectral Unmixing and Mapping of Coral Reef Benthic Cover with Deep Learning
Rohan Zeng, Eric J. Hochberg, Alberto Candela, and David S. Wettergreen
Conference Paper, Proceedings of (WHISPERS) Workshop on Hyperspectral Imaging and Signal Processing: Evolution in Remote Sensing, November, 2022
Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse
Ananya Rao, Robin Murphy, David Merrick, and Howie Choset
Conference Paper, Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), November, 2022
Collaborative Human-Robot Exploration via Implicit Coordination
Yves Georgy Daoud, Kshitij Goel, Nathan Michael, and Wennie Tabib
Conference Paper, Proceedings of 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 80-86, November, 2022
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation
Kshitij Goel, Yves Georgy Daoud, Nathan Michael, and Wennie Tabib
Conference Paper, Proceedings of 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 20-27, November, 2022
Pull Gestures with Coordinated Graphics on Dual-Screen Devices
Vivian Shen and Chris Harrison
Conference Paper, Proceedings of the 2022 International Conference on Multimodal Interaction, November, 2022
Accelerating Numerical Methods for Optimal Control
Brian E. Jackson
PhD Thesis, Tech. Report, CMU-RI-TR-22-64, Robotics Institute, Carnegie Mellon University, October, 2022
Motion Planning by Search in Derivative Space and Convex Optimization with Enlarged Solution Space
Jialun Li, Xiaojia Xie, Qin Lin, Jianping He, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 13500 - 13507, October, 2022
State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersections
Shivesh Khaitan and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 12219 - 12224, October, 2022
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
Rui Chen, Chenxi Wang, Tianhao Wei, and Changliu Liu
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
Sarvesh Patil and Samuel C. Alvares and Pragna Mannam and Oliver Kroemer and F. Zeynep Temel
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Dynamic Inference on Graphs using Structured Transition Models
Saumya Saxena and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Efficiently Learning Manipulations by Selecting Structured Skill Representations
Mohit Sharma and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Microspine Design for Additive Manufacturing
Paul Nadan, Dinesh K. Patel, Catherine Pavlov, Spencer Backus, and Aaron M. Johnson
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Multi-Goal Multi-Agent Pickup and Delivery
Qinghong Xu, Jiaoyang Li, Sven Koenig, and Hang Ma
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Safe and Efficient Exploration of Human Models During Human-Robot Interaction
Ravi Pandya and Changliu Liu
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning
Michael S. Lee, Henny Admoni, and Reid Simmons
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Minimizing Coordination in Multi-Agent Path Finding with Dynamic Execution
Aidan Wagner, Rishi Veerapaneni, and Maxim Likhachev
Conference Paper, Proceedings of 18h AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE '22), Vol. 18, pp. 61-69, October, 2022
AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration
Bowen Li, Chen Wang, Pranay Reddy, Seungchan Kim, and Sebastian Scherer
Conference Paper, Proceedings of (ECCV) European Conference on Computer Vision, October, 2022
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of International Conference on Intelligent Transportation Systems (ICITS '22), pp. 3645 - 3651, October, 2022
Robotic Interestingness via Human-Informed Few-Shot Object Detection
Seungchan Kim, Chen Wang, Bowen Li, and Sebastian Scherer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-based Control Barrier Functions
Emanuel Munoz Panduro, Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2022
Heuristic Search Based Planning by Minimizing Anticipated Search Efforts
Ishani Chatterjee
PhD Thesis, Tech. Report, CMU-RI-TR-22-62, Robotics Institute, Carnegie Mellon University, September, 2022
Object Pose Estimation without Direct Supervision
Brian Okorn
PhD Thesis, Tech. Report, CMU-RI-TR-22-61, Robotics Institute, Carnegie Mellon University, September, 2022
Corridor-Walker: Mobile Indoor Walking Assistance for Blind People to Avoid Obstacles and Recognize Intersections
Masaki Kuribayashi, Seita Kayukawa, Jayakorn Vongkulbhisal, Chieko Asakawa, Daisuke Sato, Hironobu Takagi, and Shigeo Morishima
Journal Article, Proc. ACM Hum.-Comput. Interact., Vol. 6, No. MHCI, pp. 22, September, 2022
Learning State-Aware Visual Representations from Audible Interactions
Himangi Mittal, Pedro Morgado, Unnat Jain, and Abhinav Gupta
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, September, 2022
Automatic Estimation of Self-Reported Pain by Trajectory Analysis in the Manifold of Fixed Rank Positive Semi-Definite Matrices
Benjamin Szczapa, Mohamed Daoudi, Stefano Berretti, Pietro Pala, Alberto Del Bimbo, and Zakia Hammal
Journal Article, IEEE Transactions on Affective Computing, September, 2022
Activity Recognition in Restaurants to Address Underlying Needs: A Case Study
Ada V. Taylor, Michael Huang, Roman Kaufman, and Henny Admoni
Conference Paper, Proceedings of 31st IEEE International Conference on Robot & Human Interactive Communication, September, 2022
Observer-Aware Legibility for Social Navigation
Ada V. Taylor, Ellie Mamantov, and Henny Admoni
Conference Paper, Proceedings of 31st IEEE International Conference on Robot & Human Interactive Communication, September, 2022
How Users, Facility Managers, and Bystanders Perceive and Accept a Navigation Robot for Visually Impaired People in Public Buildings
Seita Kayukawa, Daisuke Sato, Masayuki Murata, Tatsuya Ishihara, Akihiro Kosugi, Hironobu Takagi, Shigeo Morishima, and Chieko Asakawa
Conference Paper, Proceedings of 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 546-553, August, 2022
Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots
Ruixuan Liu, Rui Chen, Yifan Sun, Yu Zhao, and Changliu Liu
Conference Paper, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, August, 2022
Complete, Decomposition-Free Coverage Path Planning
Tushar Kusnur and Maxim Likhachev
Conference Paper, Proceedings of IEEE 18th International Conference on Automation Science and Engineering (CASE '22), August, 2022
A VPR-Based Technique for UAV Localization In Unvisited Environments
Ivan Cisneros
Master's Thesis, Tech. Report, CMU-RI-TR-22-42, Robotics Institute, Carnegie Mellon University, August, 2022
Addressing Time-series Signal Quality in Healthcare Data
Chufan Gao
Master's Thesis, Tech. Report, CMU-RI-TR-22-47, Robotics Institute, Carnegie Mellon University, August, 2022
An efficient approach for sequential human performance capture from monocular video
Jianchun Chen
Master's Thesis, Tech. Report, CMU-RI-TR-22-58, Robotics Institute, Carnegie Mellon University, August, 2022
Boundary-Aware Demons Algorithm with Applications in Electronic Waste Recycling
Bassam Bikdash
Master's Thesis, Tech. Report, CMU-RI-TR-22-50, Robotics Institute, Carnegie Mellon University, August, 2022
Composition Learning in “Modular” Robot Systems
Jiaheng Hu
Master's Thesis, Tech. Report, CMU-RI-TR-22-28, Robotics Institute, Carnegie Mellon University, August, 2022
Dense Human Pose Estimation From WiFi
Jiaqi Geng
Master's Thesis, Tech. Report, CMU-RI-TR-22-59, Robotics Institute, Carnegie Mellon University, August, 2022
Driving by Dreaming: Offline Model-Based Reinforcement Learning for Autonomous Vehicles
Swapnil Pande
Master's Thesis, Tech. Report, CMU-RI-TR-22-49, Robotics Institute, Carnegie Mellon University, August, 2022
Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method
Alvin Shek
Master's Thesis, Tech. Report, CMU-RI-TR-22-60, Robotics Institute, Carnegie Mellon University, August, 2022
Library of behaviors and tools for robot manipulation
Yunchu Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-22-41, Robotics Institute, Carnegie Mellon University, August, 2022