74 citations · 227 across the 87 of their papers we have counts for
18 papers · 1 filter
GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry
Chankyo Kim, Minghan Zhu, Tzu-Yuan Lin +2
Neural inertial odometry increasingly uses networks as learned measurements inside filtering pipelines. Such measurements should transform consistently under arbitrary IMU mounting…
LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery
Jingwei Song, Javid Hussain Jakir, Ray Zhang +4
This work proposes a real-time 6 Degree-of-Freedom (6 DoF) tracking algorithm for monocular laparoscopic surgery. It provides alignment between intra-operative video and pre-operat…
Cyclops: LiDAR as a Camera That Dreams in Color
Wei Gao, Jian Shu, Mingle Zhao +4
Conventionally, robotic perception relies heavily on cameras due to the rich semantic texture they provide. However, their performance degrades significantly in low-light or high-d…
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
Duong Le, Ryan Posh, Shihao Cheng +2
Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on tim…
NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
Junzhe Wu, Yue Hu, Zeyu Han +4
Robots deployed in delivery, campus, and emergency-response settings often need to navigate from buildings to streets within a single continuous episode. Existing benchmarks usuall…
E3DGS: Unified Geometric-Photometric Equivariance for 3D Gaussian Splatting via Color-as-Geometry Embedding
Chankyo Kim, Maani Ghaffari
3D Gaussian Splatting (3DGS) captures scenes by coupling explicit geometry (position, covariance) with view-dependent photometry (Spherical Harmonics). However, building $\mathrm{S…
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
Max-Entropy Moment Filtering for Stochastic Hybrid Systems
Kaito Iwasaki, Tejaswi K. C., Anthony Bloch +2
Stochastic hybrid systems combine continuous-time stochastic dynamics with discrete reset events, producing intrinsically non-Gaussian and often multimodal uncertainty. A consisten…
The Score Kalman Filter
Kaito Iwasaki, Anthony Bloch, Taeyoung Lee +1
A central obstacle in nonlinear Bayesian filtering is representing the belief distribution. Moment-based filters address this by propagating polynomial moments and reconstructing a…
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
LaWM: Least Action World Models for Long-Horizon Physical Consistency from Visual Observations
Qixin Xiao, Maani Ghaffari
Learning predictive world models from visual observations is a core problem in embodied AI, with applications to model-based reinforcement learning and robotic planning. Existing l…
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments
Jian Sun, Yuming Huang, He Li +6
Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals…
Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network
Wenzhe Tong, Yicheng Jiang, Chi Zhang +2
Tensegrity robots possess lightweight and resilient structures but present significant challenges for state estimation due to compliant and distributed ground contacts. This paper…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
Shuqi Xiao, Maani Ghaffari, Chengzhong Xu +1
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical solutions mainly focus o…
MePoly: Max Entropy Polynomial Policy Optimization
Hang Liu, Sangli Teng, Maani Ghaffari
Stochastic Optimal Control provides a unified mathematical framework for solving complex decision-making problems, encompassing paradigms such as maximum entropy reinforcement lear…
LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigation
Yue Hu, Avery Xi, Qixin Xiao +4
This paper develops LongNav-R1, an end-to-end multi-turn reinforcement learning (RL) framework designed to optimize Visual-Language-Action (VLA) models for long-horizon navigation.…