Publications




A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, and Howie Choset
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Gaze Complements Control Input for Goal Prediction During Assisted Teleoperation
Reuben M. Aronson and Henny Admoni
Conference Paper, Proceedings of Robotics: Science and Systems (RSS '22), June, 2022
Online Kinematic Calibration for Legged Robots
Shuo Yang, Howie Choset, and Zachary Manchester
Journal Article, IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 8178 - 8185, June, 2022
Nonuniform-to-Uniform Quantization: Towards Accurate Quantization via Generalized Straight-Through Estimation
Zechun Liu, Kwang-Ting Cheng, Dong Huang, Eric Xing, and Zhiqiang Shen
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
The Two Dimensions of Worst-case Training and Their Integrated Effect for Out-of-domain Generalization
Zeyi Huang, Haohan Wang, Dong Huang, Yong Jae Lee, and Eric P. Xing
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
AirObject: A Temporally Evolving Graph Embedding for Object Identification
Nikhil Keetha, Chen Wang, Yuheng Qiu, Kuan Xu, and Sebastian Scherer
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 8407-8416, June, 2022
Lifelong Graph Learning
Chen Wang, Yuheng Qiu, Dasong Gao, and Sebastian Scherer
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Long-term Visual Map Sparsification with Heterogeneous GNN
Ming-Fang Chang, Yipu Zhao, Rajvi Shah, Jakob J. Engel, Michael Kaess, and Simon Lucey
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2406 - 2415, June, 2022
Discovering Objects that Can Move
Zhipeng Bao, Pavel Tokmakov, Allan Jabri, Yu-Xiong Wang, Adrien Gaidon, and Martial Hebert
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles Using Parametric Control Barrier Functions
Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '22), pp. 542 - 547, June, 2022
Delay-Aware Robust Control for Safe Autonomous Driving
Dvij Kalaria, Qin Lin, and John M. Dolan
Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV), pp. 1565-1571, June, 2022
Provable Probabilistic Safety and Feasibility-Assured Control for Autonomous Vehicles Using Exponential Control Barrier Functions
Spencer Van Koevering, Yiwei Lyu, Wenhao Luo, and John M. Dolan
Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV), pp. 952-957, June, 2022
Large-scale Heterogeneous Multi-Robot Coverage via Domain Decomposition and Generative Allocation
Jiaheng Hu, Howard Coffin, Julian Whitman, Matthew Travers, and Howie Choset
Workshop Paper, 15th International Workshop on the Algorithmic Foundations of Robotics (WAFR '22), June, 2022
Scaling distributed artificial intelligence/machine learning for decision dominance in all-domain operations
Shane Shaneman, Jemin George, and Carl Busart
Conference Paper, Proceedings of SPIE Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications IV, Vol. 12113, June, 2022
WALT:Watch And Learn 2D Amodal Representation using Time-lapse Imagery
Dinesh Reddy Narapureddy, Robert Tamburo, and Srinivasa G. Narasimhan
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2022
Core Challenges in Embodied Vision-Language Planning
Jonathan Francis, Nariaki Kitamura, Felix Labelle, Xiaopeng Lu, Ingrid Navarro, and Jean Oh
Journal Article, Journal of Artificial Intelligence Research, Vol. 74, pp. 459-515, May, 2022
Autonomous Ultrasound Scanning using Bayesian Optimization and Hybrid Force Control
Raghavv Goel, FNU Abhimanyu, Kirtan Patel, John Galeotti, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Unmanned Aerial Vehicle Mapping with Semantic and Traversability Metrics for Forest Fire Mitigation
David Russell, Tito Arevalo, Chinmay Garg, Winnie Kuang, Francisco Yandun, David Wettergreen, and George Kantor
Workshop Paper, ICRA 2022 Innovation in Forestry Robotics: Research and Industry Adoption, May, 2022
Community-based participatory research for low-cost air pollution monitoring in the wake of unconventional oil and gas development in the Ohio River Valley: Empowering impacted residents through community science
Garima Raheja, Leatra Harper, Ana Tsuhlares Hoffman, Yuri Gorby, Lyssa Freese, Brendan O'Leary, Nathan Deron, Shannon Smith, Ted Auch, Melissa Goodwin, and Daniel M. Westervelt
Journal Article, Environmental Research Letters, Vol. 17, No. 6, pp. 1 - 13, May, 2022
Speed Planning in Dynamic Environments over a Fixed Path for Autonomous Vehicles
Wenda Xu and John M. Dolan
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3321 - 3327, May, 2022
AirDOS: Dynamic SLAM benefits from Articulated Objects
Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
AirLoop: Lifelong Loop Closure Detection
Dasong Gao, Chen Wang, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
AMRA*: Anytime Multi-Resolution Multi-Heuristic A*
Dhruv Mauria Saxena, Tushar Kusnur, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Autonomous Exploration Development Environment and the Planning Algorithms
Chao Cao, Hongbiao Zhu, Fan Yang, Yukun Xia, Howie Choset, Jean Oh, and Ji Zhang
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Configuration Control for Physical Coupling of Heterogeneous Robot Swarms
Sha Yi, Zeynep Temel, and Katia Sycara
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Design of a Biomimetic Tactile Sensor for Material Classification
Kevin Dai, Xinyu Wang, Allison M. Rojas, Evan Harber, Yu Tian, Nicholas Paiva, Joseph Gnehm, Evan Schindewolf, Howie Choset, Victoria A. Webster-Wood, and Lu Li
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
EDPLVO: Efficient Direct Point-Line Visual Odometry
Lipu Zhou, Guoquan Huang, Yinian Mao, Shengze Wang, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7559 - 7565, May, 2022
Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environment
Tianyu Wang, Baxi Chong, Yuelin Deng, Ruijie Fu, Howie Choset, and Daniel I. Goldman
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Global Visual-Inertial Ground Vehicle State Estimation via Image Registration
Yehonathan Litman, Daniel McGann, Eric Dexheimer, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 8178 - 8184, May, 2022
HoloOcean: An Underwater Robotics Simulator
Easton Potokar, Spencer Ashford, Michael Kaess, and Josh Mangelson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3040 - 3046, May, 2022
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors
Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
PatchGraph: In-hand Tactile Tracking with Learned Surface Normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, and Stuart Anderson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2164 - 2170, May, 2022
Planning with learned model preconditions for water manipulation
Alex LaGrassa and Oliver Kroemer
Workshop Paper, 2nd Workshop on Representing and Manipulating Deformable Objects, May, 2022
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua Mangelson, Wenzhen Yuan, and Michael Kaess
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 7073 - 7080, May, 2022
Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams
Shivam Vats, Oliver Kroemer, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Modular Robot Design Optimization with Generative Adversarial Networks
Jiaheng Hu, Julian Whitman, Matthew Travers, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022
Distributed Reinforcement Learning for Autonomous Driving
Zhe Huang
Master's Thesis, Tech. Report, CMU-RI-TR-22-09, Robotics Institute, Carnegie Mellon University, May, 2022
Fast 6D Object Pose Refinement via Deep Texture Rendering
Shun Iwase
Master's Thesis, Tech. Report, CMU-RI-TR-22-24, Robotics Institute, Carnegie Mellon University, May, 2022
Learning Multi-Modal Navigation in Unstructured Environments
Arne Suppe
PhD Thesis, Tech. Report, CMU-RI-TR-22-22, Robotics Institute, Carnegie Mellon University, May, 2022
Smartphone Localization for Indoor Pedestrian Navigation
Vivek Roy
Master's Thesis, Tech. Report, CMU-RI-TR-22-23, Robotics Institute, Carnegie Mellon University, May, 2022
Spatially-Adaptive Multilayer Selection for GAN Inversion and Editing
Gaurav Parmar
Master's Thesis, Tech. Report, CMU-RI-TR-22-26, Robotics Institute, Carnegie Mellon University, May, 2022
Direct-Drive Hands: Making Robot Hands Transparent and Reactive to Contacts
Ankit Bhatia
PhD Thesis, Tech. Report, CMU-RI-TR-22-16, Robotics Institute, Carnegie Mellon University, May, 2022
Vision-based Aircraft Detection and Tracking for Detect-and-Avoid
Sourish Ghosh
Master's Thesis, Tech. Report, CMU-RI-TR-22-11, Robotics Institute, Carnegie Mellon University, May, 2022
Amodal Visual Scene Representations With and Without Geometry
Adam W. Harley
PhD Thesis, Tech. Report, CMU-RI-TR-22-13, Robotics Institute, Carnegie Mellon University, May, 2022
RCA: Ride Comfort-Aware First-Person Navigation via Self-Supervised Learning
Xinjie Yao
Master's Thesis, Tech. Report, CMU-RI-TR-22-15, Robotics Institute, Carnegie Mellon University, May, 2022
Resource-Constrained Learning and Inference for Visual Perception
Mengtian Li
PhD Thesis, Tech. Report, CMU-RI-TR-22-20, Robotics Institute, Carnegie Mellon University, May, 2022
Multi-Agent Path Finding for Precedence-Constrained Goal Sequences
Han Zhang, Jingkai Chen, Jiaoyang Li, Brian Williams, and Sven Koenig
Conference Paper, Proceedings of 21th International Joint Conference on Autonomous Agents and MultiAgent Systems (AAMAS '22), May, 2022
Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Xinyi Zhong, Jiaoyang Li, Sven Koenig, and Hang Ma
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2022