Maani Ghaffari

129 papers A* 12A 3B 1C 2Misc 3Journal 103Unranked 5

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks. IEEE Robotics Autom. Lett. Zeyu Han, Shuocheng Yang, Minghan Zhu, Fang Zhang, Shaobing Xu, Maani Ghaffari, Jianqiang Wang
2026	J	`jnl`	Learning Orientation Field for OSM-Guided Autonomous Navigation. J. Field Robotics Yuming Huang, Wei Gao, Zhiyuan Zhang, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong
2026	J	`jnl`	Lies We Can Trust: Quantifying Action Uncertainty With Inaccurate Stochastic Dynamics Through Conformalized Nonholonomic Lie groups. IEEE Robotics Autom. Lett. Luís Marques, Maani Ghaffari, Dmitry Berenson
2026	J	`jnl`	LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigation. CoRR Yue Hu, Avery Xi, Qixin Xiao, Seth Isaacson, Henry X. Liu, Ram Vasudevan, Maani Ghaffari
2026	J	`jnl`	MePoly: Max Entropy Polynomial Policy Optimization. CoRR Hang Liu, Sangli Teng, Maani Ghaffari
2026	J	`jnl`	REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation. CoRR Shuqi Xiao, Maani Ghaffari, Chengzhong Xu, Hui Kong
2026	J	`jnl`	SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments. CoRR Jian Sun, Yuming Huang, He Li, Shuqi Xiao, Shenyan Guo, Maani Ghaffari, Qingbiao Li, Chengzhong Xu, Hui Kong
2026	J	`jnl`	Super LiDAR Intensity for Robotic Perception. IEEE Robotics Autom. Lett. Wei Gao, Jie Zhang, Mingle Zhao, Zhiyuan Zhang, Shu Kong, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong
2026	J	`jnl`	Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network. CoRR Wenzhe Tong, Yicheng Jiang, Chi Zhang, Maani Ghaffari, Xiaonan Huang
2025	C	`conf`	A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization. ACC Sangli Teng, Kaito Iwasaki, William A. Clark, Xihang Yu, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2025	J	`jnl`	Convex geometric motion planning of multi-body systems on lie groups via variational integrators and sparse moment relaxation. Int. J. Robotics Res. Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari
2025	J	`jnl`	Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics. CoRR Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari
2025	J	`jnl`	Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding. CoRR Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari
2025	J	`jnl`	Ego-Vision World Model for Humanoid Contact Planning. CoRR Hang Liu, Yuman Gao, Sangli Teng, Yufeng Chi, Yakun Sophia Shao, Zhongyu Li, Maani Ghaffari, Koushil Sreenath
2025	J	`jnl`	Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks. CoRR Zeyu Han, Shuocheng Yang, Minghan Zhu, Fang Zhang, Shaobing Xu, Maani Ghaffari, Jian-qiang Wang
2025	J	`jnl`	Equivariant Neural Networks for General Linear Symmetries on Lie Algebras. CoRR Chankyo Kim, Sicheng Zhao, Minghan Zhu, Tzu-Yuan Lin, Maani Ghaffari
2025	J	`jnl`	GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering. CoRR Surya Pratap Singh, Tsimafei Lazouski, Maani Ghaffari
2025	J	`jnl`	Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation. CoRR Yue Hu, Junzhe Wu, Ruihan Xu, Hang Liu, Avery Xi, Henry X. Liu, Ram Vasudevan, Maani Ghaffari
2025	J	`jnl`	LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces With Quantifiable Uncertainty. IEEE Robotics Autom. Lett. Joey Wilson, Ruihan Xu, Yile Sun, Parker Ewen, Minghan Zhu, Kira Barton, Maani Ghaffari
2025	J	`jnl`	Learning Hybrid Dynamics via Convex Optimizations. CoRR Kaito Iwasaki, Sangli Teng, Anthony M. Bloch, Maani Ghaffari
2025	J	`jnl`	Learning Implicit Social Navigation Behavior Using Deep Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. Tribhi Kathuria, Ke Liu, Junwoo Jang, X. Jessie Yang, Maani Ghaffari
2025	J	`jnl`	Learning Implicit Social Navigation Behavior using Deep Inverse Reinforcement Learning. CoRR Tribhi Kathuria, Ke Liu, Junwoo Jang, X. Jessie Yang, Maani Ghaffari
2025	J	`jnl`	Learning Orientation Field for OSM-Guided Autonomous Navigation. CoRR Yuming Huang, Wei Gao, Zhiyuan Zhang, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong
2025	J	`jnl`	Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie Groups. CoRR Luís Marques, Maani Ghaffari, Dmitry Berenson
2025	—	`conf`	MDMP: Multi-modal Diffusion for supervised Motion Predictions with uncertainty. CVPR Workshops Leo Bringer, Joey Wilson, Kira Barton, Maani Ghaffari
2025	J	`jnl`	Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. CoRR Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari, Luca Carlone
2025	A*	`conf`	Modeling Uncertainty in 3D Gaussian Splatting Through Continuous Semantic Splatting. ICRA Joey Wilson, Marcelino Almeida, Min Sun, Sachit Mahajan, Maani Ghaffari, Parker Ewen, Omid Ghasemalizadeh, Cheng-Hao Kuo, Arnie Sen
2025	J	`jnl`	Object Reconstruction under Occlusion with Generative Priors and Contact-induced Constraints. CoRR Minghan Zhu, Zhiyi Wang, Qihang Sun, Maani Ghaffari, Michael Posa
2025	J	`jnl`	Online Learning-Enhanced Lie Algebraic MPC for Robust Trajectory Tracking of Autonomous Surface Vehicles. CoRR Yinan Dong, Ziyu Xu, Tsimafei Lazouski, Sangli Teng, Maani Ghaffari
2025	A*	`conf`	POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality. CVPR Joey Wilson, Marcelino Almeida, Sachit Mahajan, Martin Labrie, Maani Ghaffari, Omid Ghasemalizadeh, Min Sun, Cheng-Hao Kuo, Arnab Sen
2025	J	`jnl`	POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality. CoRR Joey Wilson, Marcelino Almeida, Sachit Mahajan, Martin Labrie, Maani Ghaffari, Omid Ghasemalizadeh, Min Sun, Cheng-Hao Kuo, Arnab Sen
2025	J	`jnl`	RKHS-BA: A Robust Correspondence-Free Multi-View Bundle Adjustment Framework for Semantic Point Clouds. IEEE Trans. Pattern Anal. Mach. Intell. Ray Zhang, Jingwei Song, Xiang Gao, Junzhe Wu, Tiany Liu, Jinyuan Zhang, Ryan M. Eustice, Maani Ghaffari
2025	J	`jnl`	Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold. CoRR Jaeho Shin, Hyeonjae Gil, Junwoo Jang, Maani Ghaffari, Ayoung Kim
2025	J	`jnl`	Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups. CoRR Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari
2025	A*	`conf`	SLAM Assisted 3D Tracking System for Laparoscopic Surgery. ICRA Jingwei Song, Ray Zhang, Wenwei Zhang, Hao Zhou, Maani Ghaffari
2025	J	`jnl`	Super LiDAR Reflectance for Robotic Perception. CoRR Wei Gao, Jie Zhang, Mingle Zhao, Zhiyuan Zhang, Shu Kong, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong
2025	J	`jnl`	Switching Network System Identification via Convex Optimizations. CoRR Kaito Iwasaki, Anthony M. Bloch, Maani Ghaffari
2025	J	`jnl`	Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints. IEEE Robotics Autom. Lett. Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi, Yicheng Jiang, Maani Ghaffari, Xiaonan Huang
2025	A*	`conf`	VascularPilot3D: Toward a 3D Fully Autonomous Navigation for Endovascular Robotics. ICRA Jingwei Song, Keke Yang, Han Chen, Jiayi Liu, Yinan Gu, Qianxin Hui, Yanqi Huang, Meng Li, Zheng Zhang, Tuoyu Cao, Maani Ghaffari
2024	J	`jnl`	A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization. CoRR Sangli Teng, Kaito Iwasaki, William Clark, Xihang Yu, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2024	J	`jnl`	BDIS-SLAM: a lightweight CPU-based dense stereo SLAM for surgery. Int. J. Comput. Assist. Radiol. Surg. Jingwei Song, Ray Zhang, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2024	J	`jnl`	ConvBKI: Real-Time Probabilistic Semantic Mapping Network With Quantifiable Uncertainty. IEEE Trans. Robotics Joey Wilson, Yuewei Fu, Joshua Friesen, Parker Ewen, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2024	—	`conf`	Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning. ECCV (88) Ray Zhang, Zheming Zhou, Min Sun, Omid Ghasemalizadeh, Cheng-Hao Kuo, Ryan M. Eustice, Maani Ghaffari, Arnie Sen
2024	J	`jnl`	Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning. CoRR Ray Zhang, Zheming Zhou, Min Sun, Omid Ghasemalizadeh, Cheng-Hao Kuo, Ryan Eustice, Maani Ghaffari, Arnie Sen
2024	J	`jnl`	DynaWeightPnP: Toward global real-time 3D-2D solver in PnP without correspondences. CoRR Jingwei Song, Maani Ghaffari
2024	J	`jnl`	Efficient Data Collection Strategy for Modeling the Dynamics of Floating Robotic Vehicles Using Neural Networks. J. Intell. Robotic Syst. Junwoo Jang, Haggi Do, Maani Ghaffari, Jinwhan Kim
2024	J	`jnl`	GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. CoRR Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, Luca Carlone
2024	A*	`conf`	Iterative PnP and its application in 3D-2D vascular image registration for robot navigation. ICRA Jingwei Song, Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari
2024	J	`jnl`	Latent BKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces with Quantifiable Uncertainty. CoRR Joey Wilson, Ruihan Xu, Yile Sun, Parker Ewen, Minghan Zhu, Kira Barton, Maani Ghaffari
2024	—	`conf`	Legged Robot State Estimation within Non-inertial Environments. CDC Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu
2024	J	`jnl`	Legged Robot State Estimation within Non-inertial Environments. CoRR Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu
2024	A*	`conf`	Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras. ICML Tzu-Yuan Lin, Minghan Zhu, Maani Ghaffari
2024	J	`jnl`	MDMP: Multi-modal Diffusion for supervised Motion Predictions with uncertainty. CoRR Leo Bringer, Joey Wilson, Kira Barton, Maani Ghaffari
2024	J	`jnl`	Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting. CoRR Joey Wilson, Marcelino Almeida, Min Sun, Sachit Mahajan, Maani Ghaffari, Parker Ewen, Omid Ghasemalizadeh, Cheng-Hao Kuo, Arnie Sen
2024	J	`jnl`	RKHS-BA: A Semantic Correspondence-Free Multi-View Registration Framework with Global Tracking. CoRR Ray Zhang, Jingwei Song, Xiang Gao, Junzhe Wu, Tianyi Liu, Jinyuan Zhang, Ryan Eustice, Maani Ghaffari
2024	J	`jnl`	SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration. CoRR Chien Erh Lin, Minghan Zhu, Maani Ghaffari
2024	J	`jnl`	SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration. IEEE Robotics Autom. Lett. Chien Erh Lin, Minghan Zhu, Maani Ghaffari
2024	J	`jnl`	SLAM assisted 3D tracking system for laparoscopic surgery. CoRR Jingwei Song, Ray Zhang, Wenwei Zhang, Hao Zhou, Maani Ghaffari
2024	J	`jnl`	Social Zone as a Barrier Function for Socially-Compliant Robot Navigation. CoRR Junwoo Jang, Maani Ghaffari
2024	J	`jnl`	Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints. CoRR Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi, Yicheng Jiang, Maani Ghaffari, Xiaonan Huang
2024	J	`jnl`	Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets. IEEE Robotics Autom. Lett. Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
2024	J	`jnl`	VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics. CoRR Jingwei Song, Keke Yang, Han Chen, Jiayi Liu, Yinan Gu, Qianxin Hui, Yanqi Huang, Meng Li, Zheng Zhang, Tuoyu Cao, Maani Ghaffari
2023	A*	`conf`	4D Panoptic Segmentation as Invariant and Equivariant Field Prediction. ICCV Minghan Zhu, Shizhong Han, Maani Ghaffari, Hong Cai, Fatih Porikli, Shubhankar Borse
2023	J	`jnl`	A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios. IEEE Access Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan J. Englot, Ryan M. Eustice, Maani Ghaffari
2023	J	`jnl`	BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery. CoRR Jingwei Song, Ray Zhang, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2023	J	`jnl`	BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching. IEEE Trans. Robotics Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2023	J	`jnl`	ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty. CoRR Joey Wilson, Yuewei Fu, Joshua Friesen, Parker Ewen, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2023	J	`jnl`	Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. CoRR Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari
2023	J	`jnl`	Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles. IEEE Robotics Autom. Lett. Junwoo Jang, Sangli Teng, Maani Ghaffari
2023	J	`jnl`	Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles. CoRR Junwoo Jang, Sangli Teng, Maani Ghaffari
2023	A*	`conf`	Convolutional Bayesian Kernel Inference for 3D Semantic Mapping. ICRA Joey Wilson, Yuewei Fu, Arthur Zhang, Jingyu Song, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2023	A*	`conf`	E2PN: Efficient SE(3)-Equivariant Point Network. CVPR Minghan Zhu, Maani Ghaffari, William A. Clark, Huei Peng
2023	J	`jnl`	Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression. CoRR Prince E. Kuevor, Maani Ghaffari, Ella M. Atkins, James W. Cutler
2023	J	`jnl`	Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression. Sensors Prince E. Kuevor, Maani Ghaffari, Ella M. Atkins, James W. Cutler
2023	A	`conf`	Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. IROS Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
2023	J	`jnl`	Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. CoRR Bo Fu, Tribhi Kathuria, Denise M. Rizzo, Matthew P. Castanier, X. Jessie Yang, Maani Ghaffari, Kira Barton
2023	J	`jnl`	Iterative PnP and its application in 3D-2D vascular image registration for robot navigation. CoRR Jingwei Song, Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari
2023	J	`jnl`	Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras. CoRR Tzu-Yuan Lin, Minghan Zhu, Maani Ghaffari
2023	A*	`conf`	Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. ICRA Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari, Shinpei Kato
2023	J	`jnl`	Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. CoRR Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari, Shinpei Kato
2023	J	`jnl`	Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. IEEE Trans. Robotics Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
2023	J	`jnl`	Optical Flow-Based Vascular Respiratory Motion Compensation. IEEE Robotics Autom. Lett. Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari, Jingwei Song
2023	J	`jnl`	Optical flow-based vascular respiratory motion compensation. CoRR Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari, Jingwei Song
2023	J	`jnl`	Proprioceptive Invariant Robot State Estimation. CoRR Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong, Maani Ghaffari
2023	J	`jnl`	Robust Task Scheduling for Heterogeneous Robot Teams Under Capability Uncertainty. IEEE Trans. Robotics Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
2023	A*	`conf`	SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning. ICRA Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria, Maani Ghaffari
2023	J	`jnl`	Twilight SLAM: A Comparative Study of Low-Light Visual SLAM Pipelines. CoRR Surya Pratap Singh, Billy Mazotti, Sarvesh Mayilvahanan, Guoyuan Li, Dhyey Manish Rajani, Maani Ghaffari
2022	J	`jnl`	A Closed-Form Uncertainty Propagation in Non-Rigid Structure From Motion. IEEE Robotics Autom. Lett. Jingwei Song, Mitesh Patel, Ashkan Jasour, Maani Ghaffari
2022	A	`conf`	An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. IROS Sangli Teng, Dianhao Chen, William A. Clark, Maani Ghaffari
2022	J	`jnl`	An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. CoRR Sangli Teng, Dianhao Chen, William A. Clark, Maani Ghaffari
2022	J	`jnl`	BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching. CoRR Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2022	—	`conf`	Bayesian Dense Inverse Searching Algorithm for Real-Time Stereo Matching in Minimally Invasive Surgery. MICCAI (8) Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2022	J	`jnl`	Convolutional Bayesian Kernel Inference for 3D Semantic Mapping. CoRR Joey Wilson, Yuewei Fu, Arthur Zhang, Jingyu Song, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2022	J	`jnl`	Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. CoRR Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
2022	J	`jnl`	Dynamic Semantic Occupancy Mapping Using 3D Scene Flow and Closed-Form Bayesian Inference. IEEE Access Aishwarya Unnikrishnan, Joey Wilson, Lu Gan, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2022	J	`jnl`	E CoRR Minghan Zhu, Maani Ghaffari, William A. Clark, Huei Peng
2022	J	`jnl`	Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2022	J	`jnl`	Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. CoRR Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2022	J	`jnl`	Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. CoRR Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
2022	J	`jnl`	Fusing Convolutional Neural Network and Geometric Constraint for Image-Based Indoor Localization. IEEE Robotics Autom. Lett. Jingwei Song, Mitesh Patel, Maani Ghaffari
2022	J	`jnl`	Fusing Convolutional Neural Network and Geometric Constraint for Image-based Indoor Localization. CoRR Jingwei Song, Mitesh Patel, Maani Ghaffari
2022	C	`conf`	Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. ACC Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
2022	J	`jnl`	Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. CoRR Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
2022	J	`jnl`	Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation. CoRR Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
2022	—	`conf`	Lie Algebraic Cost Function Design for Control on Lie Groups. CDC Sangli Teng, William A. Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2022	J	`jnl`	Lie Algebraic Cost Function Design for Control on Lie Groups. CoRR Sangli Teng, William A. Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
2022	J	`jnl`	MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments. CoRR Joey Wilson, Jingyu Song, Yuewei Fu, Arthur Zhang, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2022	J	`jnl`	MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments. IEEE Robotics Autom. Lett. Joey Wilson, Jingyu Song, Yuewei Fu, Arthur Zhang, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2022	J	`jnl`	Progress in symmetry preserving robot perception and control through geometry and learning. Frontiers Robotics AI Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, Jingwei Song
2022	B	`conf`	Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction. RO-MAN Tribhi Kathuria, Yifan Xu, Theodor Chakhachiro, X. Jessie Yang, Maani Ghaffari
2022	J	`jnl`	Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction. CoRR Tribhi Kathuria, Yifan Xu, Theodor Chakhachiro, X. Jessie Yang, Maani Ghaffari
2022	Misc	`conf`	SE(3)-Equivariant Point Cloud-Based Place Recognition. CoRL Chien Erh Lin, Jingwei Song, Ray Zhang, Minghan Zhu, Maani Ghaffari
2022	J	`jnl`	Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. CoRR Bo Fu, Tribhi Kathuria, Denise M. Rizzo, Matthew P. Castanier, X. Jessie Yang, Maani Ghaffari, Kira Barton
2022	J	`jnl`	SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning. CoRR Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria, Maani Ghaffari
2021	A*	`conf`	A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. ICRA Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2021	J	`jnl`	Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery. CoRR Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
2021	Misc	`conf`	Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations. CoRL Minghan Zhu, Maani Ghaffari, Huei Peng
2021	J	`jnl`	Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations. CoRR Minghan Zhu, Maani Ghaffari, Huei Peng
2021	J	`jnl`	Deep Multi-Modal Contact Estimation for Invariant Observer Design on Quadruped Robots. CoRR Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari
2021	J	`jnl`	Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference. CoRR Aishwarya Unnikrishnan, Joseph Wilson, Lu Gan, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
2021	J	`jnl`	IEEE Access Special Section Editorial: Real-Time Machine Learning Applications in Mobile Robotics. IEEE Access Aysegül Uçar, Jessy W. Grizzle, Maani Ghaffari, Mattias Wahde, H. Levent Akin, Jacky Baltes, H. Isil Bozma, Jaime Valls Miró
2021	Misc	`conf`	Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events. CoRL Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari
2021	J	`jnl`	LiDARTag: A Real-Time Fiducial Tag System for Point Clouds. IEEE Robotics Autom. Lett. Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari, Jessy W. Grizzle
2021	J	`jnl`	Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. CoRR Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
2021	J	`jnl`	Nonparametric Continuous Sensor Registration. J. Mach. Learn. Res. William A. Clark, Maani Ghaffari, Anthony M. Bloch
2021	J	`jnl`	Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty. CoRR Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
2021	J	`jnl`	Toward Safety-Aware Informative Motion Planning for Legged Robots. CoRR Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari
2020	J	`jnl`	A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. CoRR Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2020	A	`conf`	Monocular Depth Prediction through Continuous 3D Loss. IROS Minghan Zhu, Maani Ghaffari, Yuanxin Zhong, Pingping Lu, Zhong Cao, Ryan M. Eustice, Huei Peng