Ram Vasudevan

194 papers A* 16A 4C 9Misc 1Journal 140Unranked 24
YearRankTypeTitle / Venue / Authors
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
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework.
IEEE Robotics Autom. Lett.
Anja Sheppard, Parker Ewen, Joey Wilson, Advaith Venkatramanan Sethuraman, Benard Adewole, Anran Li, Yuzhen Chen, Ram Vasudevan, Katherine A. Skinner
2026 J jnl
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM.
CoRR
Onur Bagoren, Seth Isaacson, Sacchin Sundar, Yung-Ching Sun, Anja Sheppard, Haoyu Ma, Abrar Shariff, Ram Vasudevan, Katherine A. Skinner
2026 J jnl
TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objects.
CoRR
Yeheng Zong, Yizhou Chen, Alexander Bowler, Chia-Tung Yang, Ram Vasudevan
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
An Invariant Preserving Sparse Spectral Discretization of the Continuum Equation.
SIAM J. Appl. Dyn. Syst.
Parker Ewen, Henry O. Jacobs, Lucas Lymburner, Ram Vasudevan
2025 J jnl
Bring the Heat: Rapid Trajectory Optimization With Pseudospectral Techniques and the Affine Geometric Heat Flow Equation.
IEEE Robotics Autom. Lett.
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang, Ram Vasudevan
2025 J jnl
Can Not Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty.
IEEE Trans. Robotics
Jonathan B. Michaux, Patrick D. Holmes, Bohao Zhang, Che Chen, Baiyue Wang, Shrey Sahgal, Tiancheng Zhang, Sidhartha Dey, Shreyas Kousik, Ram Vasudevan
2025 A* conf
Conformalized Reachable Sets for Obstacle Avoidance with Spheres.
ICRA
Yongseok Kwon, Jonathan B. Michaux, Seth Isaacson, Bohao Zhang, Matthew Ejakov, Katherine A. Skinner, Ram Vasudevan
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
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time.
CoRR
Yizhou Chen, Xiaoyue Wu, Yeheng Zong, Anran Li, Yuzhen Chen, Julie Wu, Bohao Zhang, Ram Vasudevan
2025 J jnl
Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception.
Int. J. Robotics Res.
Spencer Carmichael, Austin Buchan, Mani Ramanagopal, Radhika Ravi, Ram Vasudevan, Katherine A. Skinner
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
Let us Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat.
IEEE Trans. Robotics
Jonathan B. Michaux, Seth Isaacson, Challen Enninful Adu, Adam Li, Rahul Kashyap Swayampakula, Parker Ewen, Sean Rice, Katherine A. Skinner, Ram Vasudevan
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 J jnl
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints.
CoRR
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou, Pearl Lin, Ruikai Yang, Bohao Zhang, Shubham Singh, Ram Vasudevan
2025 J jnl
Provably-Safe, Online System Identification.
CoRR
Bohao Zhang, Zichang Zhou, Ram Vasudevan
2025 J jnl
RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenes.
CoRR
Pou-Chun Kung, Skanda Harisha, Ram Vasudevan, Aline Eid, Katherine A. Skinner
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 J jnl
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework.
CoRR
Anja Sheppard, Parker Ewen, Joey Wilson, Advaith Venkatramanan Sethuraman, Benard Adewole, Anran Li, Yuzhen Chen, Ram Vasudevan, Katherine A. Skinner
2025 A conf
TRNeRF: Restoring Blurry, Rolling Shutter, and Noisy Thermal Images with Neural Radiance Fields.
WACV
Spencer Carmichael, Manohar Bhat, Mani Ramanagopal, Austin Buchan, Ram Vasudevan, Katherine A. Skinner
2025 J jnl
These Magic Moments: Differentiable Uncertainty Quantification of Radiance Field Models.
CoRR
Parker Ewen, Hao Chen, Seth Isaacson, Joey Wilson, Katherine A. Skinner, Ram Vasudevan
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
A Regret-Informed Evolutionary Approach for Generating Adversarial Scenarios for Black-Box Off-Road Autonomy Systems.
IEEE Robotics Autom. Lett.
Ted Sender, Mark J. Brudnak, Reid Steiger, Ram Vasudevan, Bogdan I. Epureanu
2024 J jnl
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation.
CoRR
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang, Ram Vasudevan
2024 J jnl
Conformalized Reachable Sets for Obstacle Avoidance With Spheres.
CoRR
Yongseok Kwon, Jonathan B. Michaux, Seth Isaacson, Bohao Zhang, Matthew Ejakov, Katherine A. Skinner, Ram Vasudevan
2024 J jnl
Controllability and Observability of Temporal Hypergraphs.
IEEE Control. Syst. Lett.
Anqi Dong, Xin Mao, Ram Vasudevan, Can Chen
2024 J jnl
Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception.
CoRR
Spencer Carmichael, Austin Buchan, Mani Ramanagopal, Radhika Ravi, Ram Vasudevan, Katherine A. Skinner
2024 Misc conf
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects.
CoRL
Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan
2024 J jnl
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects.
CoRR
Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan
2024 J jnl
Group-
Int. J. Robotics Res.
Brendon Forsgren, Michael Kaess, Ram Vasudevan, Timothy W. McLain, Joshua G. Mangelson
2024 — conf
HASEL Actuator Design for Out-of-Plane Bending: A Parametric Study of Planar Geometry.
RoboSoft
Zachary Brei, Chae Woo Lim, Anneliese Ferguson, Anvay A. Pradhan, Varshni Vinayagam Sangeetha, Xiangyun Bu, Brent Usui, Daniel B. Johnson, Ram Vasudevan, Talia Y. Moore
2024 J jnl
Jointed Tails Enhance Control of Three-dimensional Body Rotation.
CoRR
Xun Fu, Bohao Zhang, Ceri J. Weber, Kimberly L. Cooper, Ram Vasudevan, Talia Y. Moore
2024 J jnl
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat.
CoRR
Jonathan B. Michaux, Seth Isaacson, Challen Enninful Adu, Adam Li, Rahul Kashyap Swayampakula, Parker Ewen, Sean Rice, Katherine A. Skinner, Ram Vasudevan
2024 J jnl
REFINE: Reachability-Based Trajectory Design Using Robust Feedback Linearization and Zonotopes.
IEEE Trans. Robotics
Jinsun Liu, Yifei Simon Shao, Lucas Lymburner, Hansen Qin, Vishrut Kaushik, Lena Trang, Ruiyang Wang, Vladimir Ivanovic, H. Eric Tseng, Ram Vasudevan
2024 J jnl
Rapid and Robust Trajectory Optimization for Humanoids.
CoRR
Bohao Zhang, Ram Vasudevan
2024 J jnl
Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions.
CoRR
Jonathan B. Michaux, Qingyi Chen, Challen Enninful Adu, Jinsun Liu, Ram Vasudevan
2024 J jnl
Reachable Sets of Homogeneous Polynomial Dynamical Systems Using Exact Solutions.
IEEE Control. Syst. Lett.
Soham Sachin Purohit, Can Chen, Ram Vasudevan
2024 — conf
SAD-GS: Shape-aligned Depth-supervised Gaussian Splatting.
CVPR Workshops
Pou-Chun Kung, Seth Isaacson, Ram Vasudevan, Katherine A. Skinner
2024 A* conf
SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints.
ICRA
Spencer Carmichael, Rahul Agrawal, Ram Vasudevan, Katherine A. Skinner
2024 J jnl
SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints.
CoRR
Spencer Carmichael, Rahul Agrawal, Ram Vasudevan, Katherine A. Skinner
2024 — conf
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres.
Robotics: Science and Systems
Jonathan B. Michaux, Adam Li, Qingyi Chen, Che Chen, Ram Vasudevan
2024 J jnl
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres.
CoRR
Jonathan B. Michaux, Adam Li, Qingyi Chen, Che Chen, Bohao Zhang, Ram Vasudevan
2024 J jnl
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects.
IEEE Robotics Autom. Lett.
Zachary Brei, Jonathan B. Michaux, Bohao Zhang, Patrick D. Holmes, Ram Vasudevan
2024 J jnl
System Identification For Constrained Robots.
CoRR
Bohao Zhang, Daniel Haugk, Ram Vasudevan
2024 — conf
You've Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction.
Robotics: Science and Systems
Parker Ewen, Hao Chen, Yuzhen Chen, Anran Li, Anup Bagali, Gitesh Gunjal, Ram Vasudevan
2024 J jnl
You've Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction.
CoRR
Parker Ewen, Hao Chen, Yuzhen Chen, Anran Li, Anup Bagali, Gitesh Gunjal, Ram Vasudevan
2023 J jnl
CLONeR: Camera-Lidar Fusion for Occupancy Grid-Aided Neural Representations.
IEEE Robotics Autom. Lett.
Alexandra Carlson, Manikandasriram Srinivasan Ramanagopal, Nathan Tseng, Matthew Johnson-Roberson, Ram Vasudevan, Katherine A. Skinner
2023 J jnl
Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty.
CoRR
Jonathan B. Michaux, Patrick D. Holmes, Bohao Zhang, Che Chen, Baiyue Wang, Shrey Sahgal, Tiancheng Zhang, Sidhartha Dey, Shreyas Kousik, Ram Vasudevan
2023 — conf
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.
Robotics: Science and Systems
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi
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
Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging.
CoRR
Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson
2023 A* conf
Hyperspherical Embedding for Point Cloud Completion.
CVPR
Junming Zhang, Haomeng Zhang, Ram Vasudevan, Matthew Johnson-Roberson
2023 J jnl
Hyperspherical Embedding for Point Cloud Completion.
CoRR
Junming Zhang, Haomeng Zhang, Ram Vasudevan, Matthew Johnson-Roberson
2023 J jnl
LONER: LiDAR Only Neural Representations for Real-Time SLAM.
CoRR
Seth Isaacson, Pou-Chun Kung, Mani Ramanagopal, Ram Vasudevan, Katherine A. Skinner
2023 J jnl
LONER: LiDAR Only Neural Representations for Real-Time SLAM.
IEEE Robotics Autom. Lett.
Seth Isaacson, Pou-Chun Kung, Mani Ramanagopal, Ram Vasudevan, Katherine A. Skinner
2023 J jnl
Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification.
CoRR
Parker Ewen, Gitesh Gunjal, Joey Wilson, Jinsun Liu, Challen Enninful Adu, Ram Vasudevan
2023 — conf
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning.
Robotics: Science and Systems
Challen Enninful Adu, Jinsun Liu, Lucas Lymburner, Vishrut Kaushik, Lena Trang, Ram Vasudevan
2023 J jnl
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning.
CoRR
Jinsun Liu, Challen Enninful Adu, Lucas Lymburner, Vishrut Kaushik, Lena Trang, Ram Vasudevan
2023 — conf
Reachability-based Trajectory Design with Neural Implicit Safety Constraints.
Robotics: Science and Systems
Jonathan B. Michaux, Yongseok Kwon, Qingyi Chen, Ram Vasudevan
2023 J jnl
Reachability-based Trajectory Design with Neural Implicit Safety Constraints.
CoRR
Jonathan B. Michaux, Qingyi Chen, Yongseok Kwon, Ram Vasudevan
2023 J jnl
Sense, Imagine, Act: Multimodal Perception Improves Model-Based Reinforcement Learning for Head-to-Head Autonomous Racing.
CoRR
Elena Shrestha, Chetan Reddy, Hanxi Wan, Yulun Zhuang, Ram Vasudevan
2023 J jnl
Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects.
CoRR
Zachary Brei, Jonathan B. Michaux, Bohao Zhang, Patrick D. Holmes, Ram Vasudevan
2022 J jnl
BiPOCO: Bi-Directional Trajectory Prediction with Pose Constraints for Pedestrian Anomaly Detection.
CoRR
Asiegbu Miracle Kanu-Asiegbu, Ram Vasudevan, Xiaoxiao Du
2022 J jnl
CLONeR: Camera-Lidar Fusion for Occupancy Grid-aided Neural Representations.
CoRR
Alexandra Carlson, Manikandasriram Srinivasan Ramanagopal, Nathan Tseng, Matthew Johnson-Roberson, Ram Vasudevan, Katherine A. Skinner
2022 A conf
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection.
IROS
Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson
2022 J jnl
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection.
CoRR
Brendon Forsgren, Ram Vasudevan, Michael Kaess, Timothy W. McLain, Joshua G. Mangelson
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
Leveraging Trajectory Prediction for Pedestrian Video Anomaly Detection.
CoRR
Asiegbu Miracle Kanu-Asiegbu, Ram Vasudevan, Xiaoxiao Du
2022 J jnl
LiSnowNet: Real-time Snow Removal for LiDAR Point Cloud.
CoRR
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2022 A conf
LiSnowNet: Real-time Snow Removal for LiDAR Point Clouds.
IROS
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
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 — conf
Predicting Sagittal-Plane Swing Hip Kinematics in Response to Trips.
BioRob
Shannon M. Danforth, Xinyi Liu, Martin J. Ward, Patrick D. Holmes, Ram Vasudevan
2022 J jnl
Predicting Sagittal-Plane Swing Hip Kinematics in Response to Trips.
IEEE Robotics Autom. Lett.
Shannon M. Danforth, Xinyi Liu, Martin J. Ward, Patrick D. Holmes, Ram Vasudevan
2022 J jnl
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes.
CoRR
Jinsun Liu, Yifei Simon Shao, Lucas Lymburner, Hansen Qin, Vishrut Kaushik, Lena Trang, Ruiyang Wang, Vladimir Ivanovic, H. Eric Tseng, Ram Vasudevan
2022 J jnl
These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots.
CoRR
Parker Ewen, Adam Li, Yuxin Chen, Steven Hong, Ram Vasudevan
2022 J jnl
These Maps are Made for Walking: Real-Time Terrain Property Estimation for Mobile Robots.
IEEE Robotics Autom. Lett.
Parker Ewen, Adam Li, Yuxin Chen, Steven Hong, Ram Vasudevan
2021 J jnl
A Kinematic Model for Trajectory Prediction in General Highway Scenarios.
CoRR
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2021 J jnl
A Kinematic Model for Trajectory Prediction in General Highway Scenarios.
IEEE Robotics Autom. Lett.
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2021 J jnl
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems With Unknown Dynamics.
IEEE Robotics Autom. Lett.
Daniel Bruder, Xun Fu, Ram Vasudevan
2021 J jnl
BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation.
IEEE Robotics Autom. Lett.
Yu Yao, Ella M. Atkins, Matthew Johnson-Roberson, Ram Vasudevan, Xiaoxiao Du
2021 A* conf
Coupling Intent and Action for Pedestrian Crossing Behavior Prediction.
IJCAI
Yu Yao, Ella M. Atkins, Matthew Johnson-Roberson, Ram Vasudevan, Xiaoxiao Du
2021 J jnl
Coupling Intent and Action for Pedestrian Crossing Behavior Prediction.
CoRR
Yu Yao, Ella M. Atkins, Matthew Johnson-Roberson, Ram Vasudevan, Xiaoxiao Du
2021 J jnl
Data-Driven Control of Soft Robots Using Koopman Operator Theory.
IEEE Trans. Robotics
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2021 A* conf
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation.
ICRA
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan
2021 J jnl
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation.
CoRR
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan
2021 J jnl
Koopman-Based Control of a Soft Continuum Manipulator Under Variable Loading Conditions.
IEEE Robotics Autom. Lett.
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2021 J jnl
Learning Rotation-Invariant Representations of Point Clouds Using Aligned Edge Convolutional Neural Networks.
CoRR
Junming Zhang, Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2021 — conf
Leveraging Trajectory Prediction for Pedestrian Video Anomaly Detection.
SSCI
Asiegbu Miracle Kanu-Asiegbu, Ram Vasudevan, Xiaoxiao Du
2021 J jnl
Point Set Voting for Partial Point Cloud Analysis.
IEEE Robotics Autom. Lett.
Junming Zhang, Weijia Chen, Yuping Wang, Ram Vasudevan, Matthew Johnson-Roberson
2021 J jnl
Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control.
IEEE Robotics Autom. Lett.
Yifei Simon Shao, Chen Chao, Shreyas Kousik, Ram Vasudevan
2021 J jnl
Resilient Control of Platooning Networked Robitic Systems via Dynamic Watermarking.
CoRR
Matthew Porter, Arnav Joshi, Sidhartha Dey, Qirui Wu, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2021 J jnl
Safe, Optimal, Real-Time Trajectory Planning With a Parallel Constrained Bernstein Algorithm.
IEEE Trans. Robotics
Shreyas Kousik, Bohao Zhang, Pengcheng Zhao, Ram Vasudevan
2020 J jnl
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics.
CoRR
Daniel Bruder, Xun Fu, Ram Vasudevan
2020 J jnl
BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimation.
CoRR
Yu Yao, Ella M. Atkins, Matthew Johnson-Roberson, Ram Vasudevan, Xiaoxiao Du
2020 J jnl
Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots.
Int. J. Robotics Res.
Shreyas Kousik, Sean Vaskov, Fan Bu, Matthew Johnson-Roberson, Ram Vasudevan
2020 J jnl
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra.
IEEE Trans. Robotics
Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice
2020 — conf
Covariance-Robust Dynamic Watermarking.
CDC
Matt Olfat, Stephen Sloan, Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2020 J jnl
Covariance-Robust Dynamic Watermarking.
CoRR
Matt Olfat, Stephen Sloan, Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2020 — conf
Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking.
CCTA
Matthew Porter, Sidhartha Dey, Arnav Joshi, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2020 J jnl
Detecting Deception Attacks on Autonomous Vehicles via Linear Time-Varying Dynamic Watermarking.
CoRR
Matthew Porter, Sidhartha Dey, Arnav Joshi, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2020 A* conf
Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform.
ICRA
Shannon M. Danforth, Margaret Kohler, Daniel Bruder, Alison R. Davis Rabosky, Sridhar Kota, Ram Vasudevan, Talia Y. Moore
2020 J jnl
Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform.
CoRR
Shannon M. Danforth, Margaret Kohler, Daniel Bruder, Alison R. Davis Rabosky, Sridhar Kota, Ram Vasudevan, Talia Y. Moore
2020 J jnl
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions.
CoRR
Daniel Bruder, Xun Fu, R. Brent Gillespie, C. David Remy, Ram Vasudevan
2020 — conf
Learning Rotation-Invariant Representations of Point Clouds Using Aligned Edge Convolutional Neural Networks.
3DV
Junming Zhang, Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2020 A* conf
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design.
ICRA
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, Matthew Johnson-Roberson, Ram Vasudevan
2020 A* conf
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery.
ICRA
Junming Zhang, Manikandasriram Srinivasan Ramanagopal, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Low Latency Trajectory Predictions for Interaction Aware Highway Driving.
IEEE Robotics Autom. Lett.
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Off The Beaten Sidewalk: Pedestrian Prediction In Shared Spaces For Autonomous Vehicles.
CoRR
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Off the Beaten Sidewalk: Pedestrian Prediction in Shared Spaces for Autonomous Vehicles.
IEEE Robotics Autom. Lett.
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Optimal Control of Polynomial Hybrid Systems via Convex Relaxations.
IEEE Trans. Autom. Control.
Pengcheng Zhao, Shankar Mohan, Ram Vasudevan
2020 J jnl
Pedestrian Planar LiDAR Pose (PPLP) Network for Oriented Pedestrian Detection Based on Planar LiDAR and Monocular Images.
IEEE Robotics Autom. Lett.
Fan Bu, Trinh Le, Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2020 — conf
Pixel-Wise Motion Deblurring of Thermal Videos.
Robotics: Science and Systems
Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Pixel-Wise Motion Deblurring of Thermal Videos.
CoRR
Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Point Set Voting for Partial Point Cloud Analysis.
CoRR
Junming Zhang, Weijia Chen, Yuping Wang, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control.
CoRR
Yifei Simon Shao, Chen Chao, Shreyas Kousik, Ram Vasudevan
2020 — conf
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design.
Robotics: Science and Systems
Patrick D. Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson-Roberson, Ram Vasudevan
2020 J jnl
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design.
CoRR
Patrick D. Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson-Roberson, Ram Vasudevan
2020 A* conf
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving.
ICRA
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2020 J jnl
Safe, Optimal, Real-time Trajectory Planning with a Parallel Constrained Bernstein Algorithm.
CoRR
Shreyas Kousik, Bohao Zhang, Pengcheng Zhao, Ram Vasudevan
2020 J jnl
Trip Recovery in Lower-Limb Prostheses using Reachable Sets of Predicted Human Motion.
CoRR
Shannon M. Danforth, Patrick D. Holmes, Ram Vasudevan
2020 J jnl
Unsupervised Pedestrian Pose Prediction: A Deep Predictive Coding Network-Based Approach for Autonomous Vehicle Perception.
IEEE Robotics Autom. Mag.
Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2019 A* conf
A constrained control-planning strategy for redundant manipulators.
ICRA
Corina Barbalata, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
An Energy-Optimal Warm-Up Strategy for Li-Ion Batteries and Its Approximations.
IEEE Trans. Control. Syst. Technol.
Shankar Mohan, Jason B. Siegel, Anna G. Stefanopoulou, Ram Vasudevan
2019 J jnl
Bio-LSTM: A Biomechanically Inspired Recurrent Neural Network for 3-D Pedestrian Pose and Gait Prediction.
IEEE Robotics Autom. Lett.
Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra.
CoRR
Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice
2019 J jnl
Detecting Generalized Replay Attacks via Time-Varying Dynamic Watermarking.
CoRR
Matthew Porter, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2019 J jnl
DispSegNet: Leveraging Semantics for End-to-End Learning of Disparity Estimation From Stereo Imagery.
IEEE Robotics Autom. Lett.
Junming Zhang, Katherine A. Skinner, Ram Vasudevan, Matthew Johnson-Roberson
2019 A* conf
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming.
ICRA
Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan
2019 J jnl
Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design.
CoRR
Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, Matthew Johnson-Roberson, Ram Vasudevan
2019 J jnl
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery.
CoRR
Junming Zhang, Manikandasriram Srinivasan Ramanagopal, Ram Vasudevan, Matthew Johnson-Roberson
2019 — conf
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control.
Robotics: Science and Systems
Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan
2019 J jnl
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control.
CoRR
Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan
2019 C conf
Nonlinear Hybrid Optimal Control with Switching Costs via Occupation Measures and LMI-Relaxations.
ACC
Pengcheng Zhao, Ram Vasudevan
2019 A* conf
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory.
ICRA
Daniel Bruder, C. David Remy, Ram Vasudevan
2019 — conf
Not-at-Fault Driving in Traffic: A Reachability-Based Approach.
ITSC
Sean Vaskov, Hannah Larson, Shreyas Kousik, Matthew Johnson-Roberson, Ram Vasudevan
2019 J jnl
Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments.
IEEE Robotics Autom. Lett.
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
On-Demand Trajectory Predictions for Interaction Aware Highway Driving.
CoRR
Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
PedX: Benchmark Dataset for Metric 3-D Pose Estimation of Pedestrians in Complex Urban Intersections.
IEEE Robotics Autom. Lett.
Wonhui Kim, Manikandasriram Srinivasan Ramanagopal, Charles Barto, Ming-Yuan Yu, Karl Rosaen, Nick Goumas, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving.
CoRR
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
Sensor Switching Control Under Attacks Detectable by Finite Sample Dynamic Watermarking Tests.
CoRR
Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2019 J jnl
Sensor Transfer: Learning Optimal Sensor Effect Image Augmentation for Sim-to-Real Domain Adaptation.
IEEE Robotics Autom. Lett.
Alexandra Carlson, Katherine A. Skinner, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
Shadow Transfer: Single Image Relighting For Urban Road Scenes.
CoRR
Alexandra Carlson, Ram Vasudevan, Matthew Johnson-Roberson
2019 C conf
Simulation and Real-World Evaluation of Attack Detection Schemes.
ACC
Matthew Porter, Arnav Joshi, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2019 A conf
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction.
IROS
Cyrus Anderson, Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2019 J jnl
Stochastic Sampling Simulation for Pedestrian Trajectory Prediction.
CoRR
Cyrus Anderson, Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2019 — conf
Towards Provably Not-At-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments.
Robotics: Science and Systems
Sean Vaskov, Shreyas Kousik, Hannah Larson, Fan Bu, James Robert Ward, Stewart Worrall, Matthew Johnson-Roberson, Ram Vasudevan
2019 J jnl
Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments.
CoRR
Sean Vaskov, Shreyas Kousik, Hannah Larson, Fan Bu, James R. Ward, Stewart Worrall, Matthew Johnson-Roberson, Ram Vasudevan
2019 J jnl
Walking With Confidence: Safety Regulation for Full Order Biped Models.
IEEE Robotics Autom. Lett.
Nils Smit-Anseeuw, C. David Remy, Ram Vasudevan
2019 J jnl
Walking with Confidence: Safety Regulation for Full Order Biped Models.
CoRR
Nils Smit-Anseeuw, C. David Remy, Ram Vasudevan
2018 J jnl
A constrained control-planning strategy for redundant manipulators.
CoRR
Corina Barbalata, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Automated Camera-Based Estimation of Rehabilitation Criteria Following ACL Reconstruction.
CoRR
Choong Hee Kim, Shannon M. Danforth, Patrick D. Holmes, Daphna Raz, Darlene Yao, Asheesh Bedi, Ram Vasudevan
2018 J jnl
Bio-LSTM: A Biomechanically Inspired Recurrent Neural Network for 3D Pedestrian Pose and Gait Prediction.
CoRR
Xiaoxiao Du, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Bridging the Gap Between Safety and Real-Time Performance in Receding-Horizon Trajectory Design for Mobile Robots.
CoRR
Shreyas Kousik, Sean Vaskov, Fan Bu, Matthew Johnson-Roberson, Ram Vasudevan
2018 J jnl
DispSegNet: Leveraging Semantics for End-to-End Learning of Disparity Estimation from Stereo Imagery.
CoRR
Junming Zhang, Katherine A. Skinner, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Failing to Learn: Autonomously Identifying Perception Failures for Self-Driving Cars.
IEEE Robotics Autom. Lett.
Manikandasriram Srinivasan Ramanagopal, Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators.
CoRR
Daniel Bruder, Audrey Sedal, Ram Vasudevan, C. David Remy
2018 J jnl
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators.
IEEE Robotics Autom. Lett.
Daniel Bruder, Audrey Sedal, Ram Vasudevan, C. David Remy
2018 J jnl
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming.
CoRR
Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan
2018 — conf
Modeling Camera Effects to Improve Visual Learning from Synthetic Data.
ECCV Workshops (1)
Alexandra Carlson, Katherine A. Skinner, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory.
CoRR
Daniel Bruder, C. David Remy, Ram Vasudevan
2018 J jnl
Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments.
CoRR
Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson
2018 A* conf
Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging.
ICRA
Joshua G. Mangelson, Derrick Dominic, Ryan M. Eustice, Ram Vasudevan
2018 J jnl
PedX: Benchmark Dataset for Metric 3D Pose Estimation of Pedestrians in Complex Urban Intersections.
CoRR
Wonhui Kim, Manikandasriram Srinivasan Ramanagopal, Charles Barto, Ming-Yuan Yu, Karl Rosaen, Nick Goumas, Ram Vasudevan, Matthew Johnson-Roberson
2018 A* conf
Robust Environmental Mapping by Mobile Sensor Networks.
ICRA
Hyongju Park, Jinsun Liu, Matthew Johnson-Roberson, Ram Vasudevan
2018 J jnl
Sensor Transfer: Learning Optimal Sensor Effect Image Augmentation for Sim-to-Real Domain Adaptation.
CoRR
Alexandra Carlson, Katherine A. Skinner, Ram Vasudevan, Matthew Johnson-Roberson
2018 J jnl
Simulation and Real-World Evaluation of Attack Detection Schemes.
CoRR
Matthew Porter, Arnav Joshi, Pedro Hespanhol, Anil Aswani, Matthew Johnson-Roberson, Ram Vasudevan
2018 C conf
Statistical Watermarking for Networked Control Systems.
ACC
Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2017 C conf
Control synthesis for nonlinear optimal control via convex relaxations.
ACC
Pengcheng Zhao, Shankar Mohan, Ram Vasudevan
2017 A* conf
Driving in the Matrix: Can virtual worlds replace human-generated annotations for real world tasks?
ICRA
Matthew Johnson-Roberson, Charles Barto, Rounak Mehta, Sharath Nittur Sridhar, Karl Rosaen, Ram Vasudevan
2017 J jnl
Dynamic Watermarking for General LTI Systems.
CoRR
Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2017 — conf
Dynamic watermarking for general LTI systems.
CDC
Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2017 J jnl
Failing to Learn: Autonomously Identifying Perception Failures for Self-driving Cars.
CoRR
Manikandasriram Srinivasan Ramanagopal, Cyrus Anderson, Ram Vasudevan, Matthew Johnson-Roberson
2017 A* conf
Model based control of fiber reinforced elastofluidic enclosures.
ICRA
Daniel Bruder, Audrey Sedal, Joshua Bishop-Moser, Sridhar Kota, Ram Vasudevan
2017 J jnl
Real-Time Certified Probabilistic Pedestrian Forecasting.
IEEE Robotics Autom. Lett.
Henry O. Jacobs, Owen K. Hughes, Matthew Johnson-Roberson, Ram Vasudevan
2017 J jnl
Robust Environmental Mapping by Mobile Sensor Networks.
CoRR
Hyongju Park, Jinsun Liu, Matthew Johnson-Roberson, Ram Vasudevan
2017 J jnl
Statistical Watermarking for Networked Control Systems.
CoRR
Pedro Hespanhol, Matthew Porter, Ram Vasudevan, Anil Aswani
2017 — conf
Synthesizing the optimal luenberger-type observer for nonlinear systems.
CDC
Shankar Mohan, Jinsun Liu, Ram Vasudevan
2017 J jnl
Technical Report for Real-Time Certified Probabilistic Pedestrian Forecasting.
CoRR
Henry O. Jacobs, Owen K. Hughes, Matthew Johnson-Roberson, Ram Vasudevan
2017 J jnl
The Energetic Benefit of Robotic Gait Selection - A Case Study on the Robot RAMone.
IEEE Robotics Autom. Lett.
Nils Smit-Anseeuw, Rodney Gleason, Ram Vasudevan, C. David Remy
2016 J jnl
Convex Computation of the Basin of Stability to Measure the Likelihood of Falling: A Case Study on the Sit-to-Stand Task.
CoRR
Victor Shia, Talia Y. Moore, Ruzena Bajcsy, Ram Vasudevan
2016 J jnl
Convex Computation of the Reachable Set for Hybrid Systems with Parametric Uncertainty.
CoRR
Shankar Mohan, Victor Shia, Ram Vasudevan
2016 C conf
Convex computation of the reachable set for hybrid systems with parametric uncertainty.
ACC
Shankar Mohan, Ram Vasudevan
2016 — conf
Convex estimation of the α-confidence reachable set for systems with parametric uncertainty.
CDC
Patrick D. Holmes, Shreyas Kousik, Shankar Mohan, Ram Vasudevan
2016 J jnl
Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?
CoRR
Matthew Johnson-Roberson, Charles Barto, Rounak Mehta, Sharath Nittur Sridhar, Ram Vasudevan
2014 J jnl
A Multiscale Advection Scheme for Densities on Manifolds.
CoRR
Henry O. Jacobs, Ram Vasudevan
2014 — conf
Convex computation of the reachable set for controlled polynomial hybrid systems.
CDC
Victor Shia, Ram Vasudevan, Ruzena Bajcsy, Russ Tedrake
2014 J jnl
Convex optimization of nonlinear feedback controllers via occupation measures.
Int. J. Robotics Res.
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2013 — conf
Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
Robotics: Science and Systems
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2013 J jnl
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures.
CoRR
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, Russ Tedrake
2012 C conf
Safe semi-autonomous control with enhanced driver modeling.
ACC
Ram Vasudevan, Victor Shia, Yiqi Gao, Ricardo Cervera-Navarro, Ruzena Bajcsy, Francesco Borrelli
2011 C conf
Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking.
ISRR
Ram Vasudevan