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09/18/2023
Generalizing Trajectory Retiming to Quadratic Objective Functions
Trajectory retiming is the task of computing a feasible time parameteriz...
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11/26/2022
A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors
Quadrupeds are robots that have been of interest in the past few years d...
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11/08/2022
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs
Visual Inertial Odometry (VIO) is one of the most established state esti...
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10/01/2022
FAST-LIO, Then Bayesian ICP, Then GTSFM
For the Hilti Challenge 2022, we created two systems, one building upon ...
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09/19/2022
A Hybrid Cable-Driven Robot for Non-Destructive Leafy Plant Monitoring and Mass Estimation using Structure from Motion
We propose a novel hybrid cable-based robot with manipulator and camera ...
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09/12/2022
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
Legged robot locomotion is a challenging task due to a myriad of sub-pro...
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09/08/2022
im2nerf: Image to Neural Radiance Field in the Wild
We propose im2nerf, a learning framework that predicts a continuous neur...
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08/01/2022
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
We present a locally optimal tracking controller for Cable Driven Parall...
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05/09/2022
Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation
We present Panoptic Neural Fields (PNF), an object-aware neural scene re...
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04/28/2022
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
We propose factor graph optimization for simultaneous planning, control,...
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11/01/2021
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
This paper introduces a novel proprioceptive state estimator for legged ...
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09/13/2021
Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
We present GTGraffiti, a graffiti painting system from Georgia Tech that...
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05/07/2021
CoDE: Collocation for Demonstration Encoding
Roboticists frequently turn to Imitation learning (IL) for data efficien...
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04/07/2021
Optimal Control for Structurally Sparse Systems using Graphical Inference
Dynamical systems with a distributed yet interconnected structure, like ...
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03/22/2021
Continuous-time State Dynamics Estimation using a Pseudo-Spectral Parameterization
We present a novel continuous time trajectory representation based on a ...
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12/17/2020
Neural Volume Rendering: NeRF And Beyond
Besides the COVID-19 pandemic and political upheaval in the US, 2020 was...
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11/11/2020
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
In this paper, we introduce dynamics factor graphs as a graphical framew...
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11/02/2020
Equality Constrained Linear Optimal Control With Factor Graphs
This paper presents a novel factor graph-based approach to solve the dis...
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08/06/2020
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n
Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...
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05/26/2020
Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs
This paper presents a kinodynamic motion planner that is able to produce...
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03/02/2020
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model
Chinese calligraphy is a unique art form with great artistic value but d...
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11/22/2019
A Unified Method for Solving Inverse, Forward, and Hybrid Manipulator Dynamics using Factor Graphs
This paper describes a unified method solving for inverse, forward, and ...
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11/18/2019
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Simulated Brush Model
Chinese calligraphy is a unique form of art that has great artistic valu...
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11/17/2019
Robotic Sculpting with Collision-free Motion Planning in Voxel Space
In this paper, we explore the task of robot sculpting. We propose a sear...
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11/17/2019
Fast 3D Pose Refinement with RGB Images
Pose estimation is a vital step in many robotics and perception tasks su...
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12/17/2018
Taking a Deeper Look at the Inverse Compositional Algorithm
In this paper, we provide a modern synthesis of the classic inverse comp...
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08/04/2018
Learning to Align Images using Weak Geometric Supervision
Image alignment tasks require accurate pixel correspondences, which are ...
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07/27/2018
STEAP: simultaneous trajectory estimation and planning
We present a unified probabilistic framework for simultaneous trajectory...
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10/08/2016
4D Crop Monitoring: Spatio-Temporal Reconstruction for Agriculture
Autonomous crop monitoring at high spatial and temporal resolution is a ...
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07/27/2016