Publications




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
Towards HD Map Updates with Crosswalk Change Detection from Vehicle-Mounted Cameras
Tom Bu
Master's Thesis, Tech. Report, CMU-RI-TR-22-34, Robotics Institute, Carnegie Mellon University, August, 2022
Efficient Methods for Model Performance Inference
Zhihao Zhang
Master's Thesis, Tech. Report, CMU-RI-TR-22-54, Robotics Institute, Carnegie Mellon University, August, 2022
Programmable light curtains for Safety Envelopes, SLAM and Navigation
Gaurav Suresh Pathak
Master's Thesis, Tech. Report, CMU-RI-TR-22-56, Robotics Institute, Carnegie Mellon University, August, 2022
Seeing the Unseen: Closed-loop Occlusion Reasoning for Cloth Manipulation
Zixuan Huang
Master's Thesis, Tech. Report, CMU-RI-TR-22-32, Robotics Institute, Carnegie Mellon University, August, 2022
Socially-Aware Trajectory Prediction Guided by Motion Patterns
Ingrid Navarro
Master's Thesis, Tech. Report, CMU-RI-TR-22-38, Robotics Institute, Carnegie Mellon University, August, 2022
6D Object Pose Estimation for Manipulation via Weak Supervision
Chuer Pan
Master's Thesis, Tech. Report, CMU-RI-TR-22-36, Robotics Institute, Carnegie Mellon University, August, 2022
Features in Extra Dimensions: Spatial and Temporal Scene Representations
Zhaoyuan Fang
Master's Thesis, Tech. Report, CMU-RI-TR-22-39, Robotics Institute, Carnegie Mellon University, August, 2022
Causal Imitation Learning under Temporally Correlated Noise
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, August, 2022
Coordinating Heterogeneous Teams for Urban Search and Rescue
Zongyue Zhao
Master's Thesis, Tech. Report, CMU-RI-TR-22-44, Robotics Institute, Carnegie Mellon University, August, 2022
Game-Theoretic Algorithms for Conditional Moment Matching
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu
Tech. Report, CMU-RI-TR-22-53, Robotics Institute, Carnegie Mellon University, August, 2022
Introspective Perception through Identifying Blur, Light Direction, and Angle-of-View
Mary Theresa Hatfalvi
Master's Thesis, Tech. Report, CMU-RI-TR-22-33, Robotics Institute, Carnegie Mellon University, August, 2022
Learning to Imitate Datasets by Long-Range Matching of Expert Training Trajectories
George Cazenavette
Master's Thesis, Tech. Report, CMU-RI-TR-22-45, Robotics Institute, Carnegie Mellon University, August, 2022
Image Synthesis with Appearance Decomposition
Bowei Chen
Master's Thesis, Tech. Report, CMU-RI-TR-22-52, Robotics Institute, Carnegie Mellon University, August, 2022
A Low-Cost Attitude Determination and Control System and Hardware-in-the-Loop Testbed for CubeSats
Benjamin Jensen
Master's Thesis, Tech. Report, CMU-RI-TR-22-43, Robotics Institute, Carnegie Mellon University, August, 2022
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors and its Sim-to-Real Applications
Zilin Si
Master's Thesis, Tech. Report, CMU-RI-TR-22-55, Robotics Institute, Carnegie Mellon University, August, 2022
GPS-Denied Global Visual-Inertial Ground Vehicle State Estimation via Image Registration
Yehonathan Litman
Master's Thesis, Tech. Report, CMU-RI-TR-22-46, Robotics Institute, Carnegie Mellon University, August, 2022
Enhancing Quadruped Locomotion Stability with Reaction Wheel Systems and Model Predictive Control
Chi-Yen Lee
Master's Thesis, Tech. Report, CMU-RI-TR-22-57, Robotics Institute, Carnegie Mellon University, July, 2022
Learning Structured World Model for Deformable Object Manipulation
Xingyu Lin
PhD Thesis, Tech. Report, CMU-RI-TR-22-48, Robotics Institute, Carnegie Mellon University, July, 2022
Lidar-Visual-Inertial Odometry via Modifications and Improvements to Super Odometry
Andrew VanOsten
Master's Thesis, Tech. Report, CMU-RI-TR-22-35, Robotics Institute, Carnegie Mellon University, July, 2022
Using 3D Imaging Radar for Indoor Localization and Mapping
Ruoyang Xu
Master's Thesis, Tech. Report, CMU-RI-TR-22-37, Robotics Institute, Carnegie Mellon University, July, 2022
Control Input and Natural Gaze for Goal Prediction in Shared Control
Reuben M. Aronson
PhD Thesis, Tech. Report, CMU-RI-TR-22-30, Robotics Institute, Carnegie Mellon University, July, 2022
Real-Time Visual Localization System in Changing and Challenging Environments via Visual Place Recognition
Ruohai Ge
Master's Thesis, Tech. Report, CMU-RI-TR-22-31, Robotics Institute, Carnegie Mellon University, July, 2022
Muscle-Inspired Linear Actuators by Electrochemical Oxidation of Liquid Metal Bridges
Jiahe Liao and Carmel Majidi
Journal Article, Advanced Science, July, 2022
Turning data into better mental health: past, present, and future
Nidal Moukaddam, Akane Sano, Ramiro Salas, Zakia Hammal, and Ashutosh Sabharwal
Journal Article, Frontiers in Digital Health, July, 2022
Learning by Doing: Controlling a Dynamical System using Causality, Control, and Reinforcement Learning
Sebastian Weichwald, Søren Wengel Mogensen, Tabitha Edith Lee, Dominik Baumann, Oliver Kroemer, Isabelle Guyon, Sebastian Trimpe, Jonas Peters, and Niklas Pfister
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, Vol. 176, pp. 246 - 258, July, 2022
Detect Active Object in a Sequential Voting Process
Qichen Fu
Master's Thesis, Tech. Report, CMU-RI-TR-22-40, Robotics Institute, Carnegie Mellon University, July, 2022
Addressing Optimism Bias in Sequence Modeling for Reinforcement Learning
Adam Villaflor, Zhe Huang, Swapnil Pande, John M. Dolan, and Jeff Schneider
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, pp. 22270 - 22283, July, 2022
Effectively Incorporating Weighted Cost-to-go Heuristic in Suboptimal CBS
Rishi Veerapaneni, Tushar Kusnur, and Maxim Likhachev
Conference Paper, Proceedings of 15th International Symposium on Combinatorial Search (SoCS '22), pp. 327 - 328, July, 2022
ePA*SE: Edge-based Parallel A* for Slow Evaluations
Shohin Mukherjee, Sandip Aine, and Maxim Likhachev
Conference Paper, Proceedings of International Symposium on Combinatorial Search (SoCS '22), July, 2022
Generative Modeling for Multi-task Visual Learning
Zhipeng Bao, Martial Hebert, and Yu-Xiong Wang
Conference Paper, Proceedings of (ICML) International Conference on Machine Learning, July, 2022