2025
InstantPose: Zero-Shot Instance-Level 6D Pose Estimation From a Single View.
IEEE Robotics Autom. Lett., June, 2025
Learning Affordances from Interactive Exploration using an Object-level Map.
CoRR, January, 2025
2024
A framework for collaborative multi-robot mapping using spectral graph wavelets.
Int. J. Robotics Res., 2024
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.
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Field Robotics, 2024
Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies.
Proceedings of the Robotics: Science and Systems XX, 2024
On Learning Scene-aware Generative State Abstractions for Task-level Mobile Manipulation Planning.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2024
2023
Chasing millimeters: design, navigation and state estimation for precise in-flight marking on ceilings.
Auton. Robots, December, 2023
Robust Sampling-Based Control of Mobile Manipulators for Interaction With Articulated Objects.
IEEE Trans. Robotics, June, 2023
Automatic extension of a symbolic mobile manipulation skill set.
Robotics Auton. Syst., 2023
Efficient volumetric mapping of multi-scale environments using wavelet-based compression.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
Soliro - A Hybrid Dynamic Tilt-Wing Aerial Manipulator with Minimal Actuators.
Proceedings of the Experimental Robotics - The 18th International Symposium, 2023
To Fuse or Not to Fuse: Measuring Consistency in Multi-sensor Fusion for Aerial Robots.
Proceedings of the Experimental Robotics - The 18th International Symposium, 2023
Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps.
IROS, 2023
Neural Implicit Vision-Language Feature Fields.
IROS, 2023
Material-Agnostic Shaping of Granular Materials with Optimal Transport.
IROS, 2023
Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
NeRFing it: Offline Object Segmentation Through Implicit Modeling.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
SphNet: A Spherical Network for Semantic Pointcloud Segmentation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening.
Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023
2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing.
IEEE Robotics Autom. Lett., 2022
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation.
IEEE Robotics Autom. Lett., 2022
Stein ICP for Uncertainty Estimation in Point Cloud Matching.
IEEE Robotics Autom. Lett., 2022
Visual Loop Closure Detection for a Future Mars Science Helicopter.
IEEE Robotics Autom. Lett., 2022
Bayesian iterative closest point for mobile robot localization.
Int. J. Robotics Res., 2022
Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF).
CoRR, 2022
Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022
Robotic Maintenance of Road Infrastructures: The HERON Project.
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Proceedings of the PETRA '22: The 15th International Conference on PErvasive Technologies Related to Assistive Environments, Corfu, Greece, 29 June 2022, 2022
Diffeomorphic Transforms for Generalised Imitation Learning.
Proceedings of the Learning for Dynamics and Control Conference, 2022
It's Just Semantics: How to Get Robots to Understand the World the Way We Do.
Proceedings of the Robotics Research, 2022
Closed-Loop Next-Best-View Planning for Target-Driven Grasping.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots.
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Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Collaborative Robot Mapping using Spectral Graph Analysis.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses.
Proceedings of the 26th International Conference on Pattern Recognition, 2022
Learning Efficient and Robust Ordinary Differential Equations via Invertible Neural Networks.
Proceedings of the International Conference on Machine Learning, 2022
2021
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments Under Severe Odometry Drift.
IEEE Robotics Autom. Lett., 2021
Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles.
IEEE Robotics Autom. Lett., 2021
PHASER: A Robust and Correspondence-Free Global Pointcloud Registration.
IEEE Robotics Autom. Lett., 2021
Learning ODEs via Diffeomorphisms for Fast and Robust Integration.
CoRR, 2021
No-regret approximate inference via Bayesian optimisation.
Proceedings of the Thirty-Seventh Conference on Uncertainty in Artificial Intelligence, 2021
Probabilistic Trajectory Prediction with Structural Constraints.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Trajectory Generation in New Environments from Past Experiences.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
2020
Learning Dynamics for Improving Control of Overactuated Flying Systems.
IEEE Robotics Autom. Lett., 2020
An Efficient Sampling-Based Method for Online Informative Path Planning in Unknown Environments.
IEEE Robotics Autom. Lett., 2020
Autonomous Extension of a Symbolic Mobile Manipulation Skill Set.
CoRR, 2020
Go Fetch: Mobile Manipulation in Unstructured Environments.
CoRR, 2020
Estimating Motion Uncertainty with Bayesian ICP.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
DISCO: Double Likelihood-free Inference Stochastic Control.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter.
Proceedings of the 4th Conference on Robot Learning, 2020
2019
Spatiotemporal Learning of Directional Uncertainty in Urban Environments With Kernel Recurrent Mixture Density Networks.
IEEE Robotics Autom. Lett., 2019
Learning to Plan Hierarchically From Curriculum.
IEEE Robotics Autom. Lett., 2019
Occupancy map building through Bayesian exploration.
Int. J. Robotics Res., 2019
Bayesian Curiosity for Efficient Exploration in Reinforcement Learning.
CoRR, 2019
OCTNet: Trajectory Generation in New Environments from Past Experiences.
CoRR, 2019
Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps.
Proceedings of the International Conference on Robotics and Automation, 2019
Speeding Up Iterative Closest Point Using Stochastic Gradient Descent.
Proceedings of the International Conference on Robotics and Automation, 2019
Fast Stochastic Functional Path Planning in Occupancy Maps.
Proceedings of the International Conference on Robotics and Automation, 2019
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019
Bayesian optimisation under uncertain inputs.
Proceedings of the 22nd International Conference on Artificial Intelligence and Statistics, 2019
2018
Improving Reinforcement Learning Pre-Training with Variational Dropout.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Learning to Race Through Coordinate Descent Bayesian Optimisation.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Learning to Navigate by Growing Deep Networks.
CoRR, 2017
Stochastic Functional Gradient Path Planning in Occupancy Maps.
CoRR, 2017
Bayesian Optimisation for Safe Navigation Under Localisation Uncertainty.
Proceedings of the Robotics Research, The 18th International Symposium, 2017
Functional Path Optimisation for Exploration in Continuous Occupancy Maps.
Proceedings of the Robotics Research, The 18th International Symposium, 2017
Stochastic functional gradient for motion planning in continuous occupancy maps.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Online learning for scene segmentation with laser-constrained CRFs.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
2016
Hilbert maps: Scalable continuous occupancy mapping with stochastic gradient descent.
Int. J. Robotics Res., 2016
Spatio-Temporal Hilbert Maps for Continuous Occupancy Representation in Dynamic Environments.
Proceedings of the Advances in Neural Information Processing Systems 29: Annual Conference on Neural Information Processing Systems 2016, 2016
Urban scene segmentation with laser-constrained CRFs.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Alextrac: Affinity learning by exploring temporal reinforcement within association chains.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Simple online and realtime tracking.
Proceedings of the 2016 IEEE International Conference on Image Processing, 2016
Online Adaptation of Deep Architectures with Reinforcement Learning.
Proceedings of the ECAI 2016 - 22nd European Conference on Artificial Intelligence, 29 August-2 September 2016, The Hague, The Netherlands, 2016
2015
Unsupervised learning for long-term autonomy.
PhD thesis, 2015
2014
Integer Programming Relaxations for Integrated Clustering and Outlier Detection.
CoRR, 2014
On Integrated Clustering and Outlier Detection.
Proceedings of the Advances in Neural Information Processing Systems 27: Annual Conference on Neural Information Processing Systems 2014, 2014
Bayesian optimisation for active perception and smooth navigation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
2013
Unsupervised online learning for long-term autonomy.
Int. J. Robotics Res., 2013
Multi-sensor clustering using Layered Affinity Propagation.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
2012
Real-Time Clustering for Long-Term Autonomy.
Proceedings of the Experimental Robotics, 2012
Unsupervised incremental learning for long-term autonomy.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012