Robot Intelligence through Perception Lab

For an up-to-date list of our publications, please see Google Scholar.

FastMap: Revisiting Dense and Scalable Structure from Motion

Jiahao Li, Haochen Wang, Muhammad Zubair Irshad, Igor Vasiljevic, Matthew R. Walter, Vitor Campagnolo Guizilini, and Greg Shakhnarovich

arXiv preprint arXiv:2505.04612 May 2025

Bib arXiv PDF Code Project Page
@article{li25, author = {Li, Jiahao and Wang, Haochen and Irshad, Muhammad Zubair and Vasiljevic, Igor and Walter, Matthew R. and Guizilini, Vitor Campagnolo and Shakhnarovich, Greg}, title = {{FastMap}: {R}evisiting Dense and Scalable Structure from Motion}, journal = {arXiv preprint arXiv:2505.04612}, year = {2025}, month = may }
PAC Learning with Improvements

Idan Attias, Avrim Blum, Keziah Naggita, Donya Saless, Dravyansh Sharma, and Matthew R. Walter

arXiv preprint arXiv:2503.03184 Mar 2025

Bib arXiv PDF
@article{attias25, title = {{PAC} Learning with Improvements}, author = {Attias, Idan and Blum, Avrim and Naggita, Keziah and Saless, Donya and Sharma, Dravyansh and Walter, Matthew R.}, year = {2025}, journal = {arXiv preprint arXiv:2503.03184}, month = mar }
Active Advantage-Aligned Online Reinforcement Learning with Offline Data

Xuefeng Liu, Hung T. C. Le, Siyu Chen, Rick Stevens, Zhuoran Yang, Matthew R. Walter, and Yuxin Chen

arXiv preprint arXiv: 2502.07937 Feb 2025

Bib arXiv
@article{liu25, title = {Active Advantage-Aligned Online Reinforcement Learning with Offline Data}, author = {Liu, Xuefeng and Le, Hung T. C. and Chen, Siyu and Stevens, Rick and Yang, Zhuoran and Walter, Matthew R. and Chen, Yuxin}, year = {2025}, journal = {arXiv preprint arXiv: 2502.07937}, month = feb }

From Vague Instructions to Task Plans: A Feedback-Driven HRC Task Planning Framework based on LLMs

Afagh Mehri Shervedani, Matthew R. Walter, and Milos Zefran

arXiv preprint arXiv:2503.01007 2025

Bib arXiv PDF Code

@article{shervedani25,
  title = {From Vague Instructions to Task Plans: {A} Feedback-Driven {HRC} Task Planning Framework based on {LLM}s},
  author = {Shervedani, Afagh Mehri and Walter, Matthew R. and Zefran, Milos},
  year = {2025},
  journal = {arXiv preprint arXiv:2503.01007}
}

Subwords as Skills: Tokenization for Sparse-Reward Reinforcement Learning

David Yunis, Justin Jung, Falcon Dai, and Matthew Walter

In Advances in Neural Information Processing Systems (NeurIPS) Dec 2024

Bib arXiv PDF Code

@inproceedings{yunis24a,
  title = {Subwords as Skills: {T}okenization for Sparse-Reward Reinforcement Learning},
  author = {Yunis, David and Jung, Justin and Dai, Falcon and Walter, Matthew},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  pages = {67663--67688},
  month = dec,
  year = {2024}
}

NeRFuser: Large-Scale Scene Representation by NeRF Fusion

Jiading Fang,* Shengjie Lin,* Igor Vasiljevic, Vitor Guizilini, Rares Ambrus, Adrien Gaidon, Gregory Shakhnarovich, and Matthew R. Walter (* denotes equal contribution)

In Proceedings of the International Symposium of Robotics Research (ISRR) Dec 2024

Bib arXiv PDF Code
@inproceedings{fang24a, author = {Fang, Jiading and Lin, Shengjie and Vasiljevic, Igor and Guizilini, Vitor and Ambrus, Rares and Gaidon, Adrien and Shakhnarovich, Gregory and Walter, Matthew R.}, title = {{NeRFuser}: {L}arge-Scale Scene Representation by {NeRF} Fusion}, booktitle = {Proceedings of the International Symposium of Robotics Research (ISRR)}, year = {2024}, month = dec }
PROGRESSOR: A Perceptually Guided Reward Estimator with Self-Supervised Online Refinement

Tewodros Ayalew, Xiao Zhang, Kevin Yuanbo Wu, Tianchong Jiang, Michael Maire, and Matthew R. Walter

arXiv preprint arXiv:2411.17764 Nov 2024

Bib arXiv PDF Project Page
@article{ayalew24, title = {{PROGRESSOR}: {A} Perceptually Guided Reward Estimator with Self-Supervised Online Refinement}, author = {Ayalew, Tewodros and Zhang, Xiao and Wu, Kevin Yuanbo and Jiang, Tianchong and Maire, Michael and Walter, Matthew R.}, year = {2024}, journal = {arXiv preprint arXiv:2411.17764}, month = nov }
MANGO: A Benchmark for Evaluating Mapping and Navigation Abilities of Large Language Models

Peng Ding, Jiading Fang, Peng Li, Kangrui Wang, Xiaochen Zhou, Mo Yu, Jing Li, Matthew R. Walter, and Hongyuan Mei

In Proceedings of the Conference on Language Modeling (COLM) Oct 2024

Bib arXiv PDF Code Project Page
@inproceedings{ding24, title = {{MANGO}: {A} Benchmark for Evaluating Mapping and Navigation Abilities of Large Language Models}, author = {Ding, Peng and Fang, Jiading and Li, Peng and Wang, Kangrui and Zhou, Xiaochen and Yu, Mo and Li, Jing and Walter, Matthew R. and Mei, Hongyuan}, booktitle = {Proceedings of the Conference on Language Modeling (COLM)}, month = oct, year = {2024} }
Transcrib3D: 3D Referring Expression Resolution through Large Language Models

Jiading Fang, Xiangshan Tan, Shengjie Lin, Igor Vasiljevic, Vitor Guizilini, Hongyuan Mei, Rares Ambrus, Gregory Shakhnarovich, and Matthew R Walter

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2024

Bib arXiv Code Project Page
@inproceedings{fang24, title = {{Transcrib3D}: 3D Referring Expression Resolution through Large Language Models}, author = {Fang, Jiading and Tan, Xiangshan and Lin, Shengjie and Vasiljevic, Igor and Guizilini, Vitor and Mei, Hongyuan and Ambrus, Rares and Shakhnarovich, Gregory and Walter, Matthew R}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, month = oct, year = {2024} }
StackGen: Generating Stable Structures from Silhouettes via Diffusion

Luzhe Sun, Takuma Yoneda, Samuel W. Wheeler, Tianchong Jiang, and Matthew R. Walter

arXiv preprint arXiv:2409.18098 Sep 2024

Bib arXiv PDF Project Page
@article{sun24, title = {{StackGen}: {G}enerating Stable Structures from Silhouettes via Diffusion}, author = {Sun, Luzhe and Yoneda, Takuma and Wheeler, Samuel W. and Jiang, Tianchong and Walter, Matthew R.}, year = {2024}, month = sep, journal = {arXiv preprint arXiv:2409.18098} }
Approaching Deep Learning through the Spectral Dynamics of Weights

David Yunis, Kumar Kshitij Patel, Samuel Wheeler, Pedro Savarese, Gal Vardi, Karen Livescu, Michael Maire, and Matthew R Walter

arXiv preprint arXiv:2408.11804 Aug 2024

Bib arXiv PDF
@article{yunis24, title = {Approaching Deep Learning through the Spectral Dynamics of Weights}, author = {Yunis, David and Patel, Kumar Kshitij and Wheeler, Samuel and Savarese, Pedro and Vardi, Gal and Livescu, Karen and Maire, Michael and Walter, Matthew R}, journal = {arXiv preprint arXiv:2408.11804}, month = aug, year = {2024} }

A Shared Autonomy System for Precise and Efficient Remote Underwater Manipulation

Amy Phung, Gideon Billings, Andrea F Daniele, Matthew R Walter, and Richard Camilli

IEEE Transactions on Robotics Jul 2024

Bib PDF

@article{phung24,
  title = {A Shared Autonomy System for Precise and Efficient Remote Underwater Manipulation},
  author = {Phung, Amy and Billings, Gideon and Daniele, Andrea F and Walter, Matthew R and Camilli, Richard},
  journal = {IEEE Transactions on Robotics},
  month = jul,
  year = {2024}
}

READ: Retrieval-Enhanced Asymmetric Diffusion for Motion Planning

Takeru Oba, Matthew R. Walter, and Norimichi Ukita

In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR) Jul 2024

Bib PDF Code

@inproceedings{oba24,
  title = {{READ}: {R}etrieval-Enhanced Asymmetric Diffusion for Motion Planning},
  author = {Oba, Takeru and Walter, Matthew R. and Ukita, Norimichi},
  booktitle = {Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)},
  month = jul,
  year = {2024}
}

Statler: State-Maintaining Language Models for Embodied Reasoning

Takuma Yoneda, Jiading Fang, Peng Li, Huanyu Zhang, Tianchong Jiang, Shengjie Lin, Ben Picker, David Yunis, Hongyuan Mei, and Matthew R. Walter

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2024

Bib arXiv PDF Code Project Page
@inproceedings{yoneda23a, author = {Yoneda, Takuma and Fang, Jiading and Li, Peng and Zhang, Huanyu and Jiang, Tianchong and Lin, Shengjie and Picker, Ben and Yunis, David and Mei, Hongyuan and Walter, Matthew R.}, title = {Statler: {S}tate-Maintaining Language Models for Embodied Reasoning}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, year = {2024}, month = may }

Learning Actionable Counterfactual Explanations in Large State Spaces

Keziah Naggita, Matthew R Walter, and Avrim Blum

arXiv preprint arXiv:2404.17034 Apr 2024

Bib arXiv PDF

@article{naggita24,
  title = {Learning Actionable Counterfactual Explanations in Large State Spaces},
  author = {Naggita, Keziah and Walter, Matthew R and Blum, Avrim},
  journal = {arXiv preprint arXiv:2404.17034},
  month = apr,
  year = {2024}
}

Blending Imitation and Reinforcement Learning for Robust Policy Improvement

Xuefeng Liu, Takuma Yoneda, Rick L Stevens, Matthew R Walter, and Yuxin Chen

In Proceedings of the International Conference on Learning Representations (ICLR) Apr 2024

Bib arXiv PDF Project Page
@inproceedings{liu24, title = {Blending Imitation and Reinforcement Learning for Robust Policy Improvement}, author = {Liu, Xuefeng and Yoneda, Takuma and Stevens, Rick L and Walter, Matthew R and Chen, Yuxin}, booktitle = {Proceedings of the International Conference on Learning Representations (ICLR)}, month = apr, year = {2024} }

Eliciting User Preferences for Personalized Multi-Objective Decision Making through Comparative Feedback

Han Shao, Lee Cohen, Avrim Blum, Yishay Mansour, Aadirupa Saha, and Matthew R. Walter

In Advances in Neural Information Processing Systems (NeurIPS) Dec 2023

Bib arXiv PDF

@inproceedings{shao23,
  author = {Shao, Han and Cohen, Lee and Blum, Avrim and Mansour, Yishay and Saha, Aadirupa and Walter, Matthew R.},
  title = {Eliciting User Preferences for Personalized Multi-Objective Decision Making through Comparative Feedback},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year = {2023},
  month = dec,
  keyword = {conference}
}

Sim-to-real transfer of co-optimized soft robot crawlers

Chares Schaff,* Audrey Sedal,* Shiyao Ni, and Matthew R. Walter (* denotes equal contribution)

Autonomous Robots Dec 2023

Bib PDF Code

@article{schaff23,
  author = {Schaff, Chares and Sedal, Audrey and Ni, Shiyao and Walter, Matthew R.},
  journal = {Autonomous Robots},
  optnumber = {},
  title = {Sim-to-real transfer of co-optimized soft robot crawlers},
  volume = {47},
  pages = {1195--1211},
  month = dec,
  year = {2023}
}

Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States

Zidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew R. Walter, and Bradly Stadie

In Proceedings of the Conference on Robot Learning (CoRL) Nov 2023

Bib arXiv PDF
@inproceedings{wang23, title = {Cold Diffusion on the Replay Buffer: {L}earning to Plan from Known Good States}, author = {Wang, Zidan and Oba, Takeru and Yoneda, Takuma and Shen, Rui and Walter, Matthew R. and Stadie, Bradly}, booktitle = {Proceedings of the Conference on Robot Learning (CoRL)}, month = nov, year = {2023} }
To the Noise and Back: Diffusion for Shared Autonomy

Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly Stadie, and Matthew Walter

In Proceedings of Robotics: Science and Systems (RSS) Jul 2023

Bib arXiv PDF Code Video Project Page
@inproceedings{yoneda23, author = {Yoneda, Takuma and Sun, Luzhe and Yang, Ge and Stadie, Bradly and Walter, Matthew}, title = {To the Noise and Back: {D}iffusion for Shared Autonomy}, booktitle = {Proceedings of Robotics: Science and Systems (RSS)}, year = {2023}, month = jul }
Active Policy Improvement from Multiple Black-box Oracles

Xuefeng Liu,* Takuma Yoneda,* Chaoqi Wang,* Matthew R. Walter, and Yuxin Chen (* denotes equal contribution)

In Proceedings of the International Conference on Machine Learning (ICML) Jul 2023

Bib arXiv PDF Code
@inproceedings{liu23, author = {Liu, Xuefeng and Yoneda, Takuma and Wang, Chaoqi and Walter, Matthew R. and Chen, Yuxin}, title = {Active Policy Improvement from Multiple Black-box Oracles}, booktitle = {Proceedings of the International Conference on Machine Learning (ICML)}, month = jul, year = {2023} }

Enhancing scientific exploration of the deep sea through shared autonomy in remote manipulation

Amy Phung, Gideon Billings, Andrea F Daniele, Matthew R Walter, and Richard Camilli

Science Robotics 2023

Bib arXiv PDF

@article{phung23,
  title = {Enhancing scientific exploration of the deep sea through shared autonomy in remote manipulation},
  author = {Phung, Amy and Billings, Gideon and Daniele, Andrea F and Walter, Matthew R and Camilli, Richard},
  journal = {Science Robotics},
  volume = {8},
  number = {81},
  optpages = {eadi5227},
  year = {2023},
  optpublisher = {American Association for the Advancement of Science}
}

Real Robot Challenge: A Robotics Competition in the Cloud

Stefan Bauer, Manuel Wüthrich, Felix Widmaier, Annika Buchholz, Sebastian Stark, Anirudh Goyal, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vincent Berenz, V. Agrawal, Berhard Schölkopf, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles Schaff, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Takahiro Maeda, Harshit Sikchi, Jilong Wang, Qingfeng Yao, Shuyu Yang, Robert McCarthy, Francisco Roldan Sanchez, Qiang Wang, David Cordova Bulens, Kevin McGuinness, Noel O’Connor, and Stephen J. Redmond

In NeurIPS 2021 Competitions and Demonstrations Track Dec 2022

Bib arXiv PDF
@inproceedings{bauer22, title = {Real Robot Challenge: A Robotics Competition in the Cloud}, author = {Bauer, Stefan and W{\"u}thrich, Manuel and Widmaier, Felix and Buchholz, Annika and Stark, Sebastian and Goyal, Anirudh and Steinbrenner, Thomas and Akpo, Joel and Joshi, Shruti and Berenz, Vincent and Agrawal, V. and Sch{\"o}lkopf, Berhard and Funk, Niklas and Jesus, Julen Urain De and Peters, Jan and Watson, Joe and Chen, Claire and Srinivasan, Krishnan and Zhang, Junwu and Zhang, Jeffrey and Walter, Matthew R. and Madan, Rishabh and Schaff, Charles and Yoneda, Takuma and Yarats, Denis and Allshire, Arthur and Gordon, Ethan K. and Bhattacharjee, Tapomayukh and Srinivasa, Siddhartha S. and Garg, Animesh and Maeda, Takahiro and Sikchi, Harshit and Wang, Jilong and Yao, Qingfeng and Yang, Shuyu and McCarthy, Robert and Sanchez, Francisco Roldan and Wang, Qiang and Bulens, David Cordova and McGuinness, Kevin and O’Connor, Noel and Redmond, Stephen J.}, booktitle = {NeurIPS 2021 Competitions and Demonstrations Track}, pages = {190--204}, year = {2022}, month = dec }
Depth Field Networks for Generalizable Multi-view Scene Representation

Vitor Guizilini,* Igor Vasiljevic,* Jiading Fang,* Rares Ambrus, Greg Shakhnarovich, Matthew R. Walter, and Adrien Gaidon (* denotes equal contribution)

In Proceedings of the European Conference on Computer Vision (ECCV) Oct 2022

Bib arXiv PDF Code Project Page
@inproceedings{guizilini22, author = {Guizilini, Vitor and Vasiljevic, Igor and Fang, Jiading and Ambrus, Rares and Shakhnarovich, Greg and Walter, Matthew R. and Gaidon, Adrien}, title = {Depth Field Networks for Generalizable Multi-view Scene Representation}, year = {2022}, month = oct, booktitle = {Proceedings of the European Conference on Computer Vision (ECCV)} }

Invariance Through Latent Alignment

Takuma Yoneda, Ge Yang, Matthew R. Walter, and Bradly Stadie

In Proceedings of Robotics: Science and Systems (RSS) Jul 2022

Bib arXiv PDF Code Project Page Presentation

@inproceedings{yoneda22,
  author = {Yoneda, Takuma and Yang, Ge and Walter, Matthew R. and Stadie, Bradly},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  title = {Invariance Through Latent Alignment},
  year = {2022},
  month = jul
}

N-LIMB: Neural Limb Optimization for Efficient Morphological Design

Charles Schaff, and Matthew R. Walter

arXiv:2207.11773 Jul 2022

Bib arXiv PDF Code Video Project Page

@article{schaff22a,
  author = {Schaff, Charles and Walter, Matthew R.},
  title = {{N-LIMB}: {N}eural Limb Optimization for Efficient Morphological Design},
  journal = {arXiv:2207.11773},
  year = {2022},
  month = jul
}

Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer

Charles Schaff, Audrey Sedal, and Matthew R. Walter

In Proceedings of Robotics: Science and Systems (RSS) Jul 2022

Bib arXiv PDF Code Video Project Page Presentation

@inproceedings{schaff22,
  author = {Schaff, Charles and Sedal, Audrey and Walter, Matthew R.},
  title = {Soft Robots Learn to Crawl: {J}ointly Optimizing Design and Control with Sim-to-Real Transfer},
  year = {2022},
  month = jul,
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)}
}

Self-Supervised Camera Self-Calibration from Video

Jiading Fang, Igor Vasiljevic, Vitor Guizilini, Rares Ambrus, Greg Shakhnarovich, Adrien Gaidon, and Matthew R Walter

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2022

Bib arXiv PDF Video
@inproceedings{fang22, title = {Self-Supervised Camera Self-Calibration from Video}, author = {Fang, Jiading and Vasiljevic, Igor and Guizilini, Vitor and Ambrus, Rares and Shakhnarovich, Greg and Gaidon, Adrien and Walter, Matthew R}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, pages = {8468--8475}, month = may, year = {2022} }

Boosting contrastive self-supervised learning with false negative cancellation

Tri Huynh, Simon Kornblith, Matthew R Walter, Michael Maire, and Maryam Khademi

In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision Jan 2022

Bib arXiv PDF Code

@inproceedings{huynh22,
  title = {Boosting contrastive self-supervised learning with false negative cancellation},
  author = {Huynh, Tri and Kornblith, Simon and Walter, Matthew R and Maire, Michael and Khademi, Maryam},
  booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision},
  pages = {2785--2795},
  month = jan,
  year = {2022}
}

Language Understanding for Field and Service Robots in a Priori Unknown Environments

Matthew R Walter, Siddharth Patki, Andrea F Daniele, Ethan Fahnestock, Felix Duvallet, Sachithra Hemachandra, Jean Oh, Anthony Stentz, Nicholas Roy, and Thomas M. Howard

Field Robotics 2022

Bib arXiv PDF
@article{walter21, author = {Walter, Matthew R and Patki, Siddharth and Daniele, Andrea F and Fahnestock, Ethan and Duvallet, Felix and Hemachandra, Sachithra and Oh, Jean and Stentz, Anthony and Roy, Nicholas and Howard, Thomas M.}, title = {Language Understanding for Field and Service Robots in a Priori Unknown Environments}, year = {2022}, journal = {Field Robotics}, volume = {2}, pages = {1191--1231} }

Towards Automated Sample Collection and Return in Extreme Underwater Environments

Gideon Billings, Matthew R. Walter, Oscar Pizarro, Matthew Johnson-Roberson, and Richard Camilli

Field Robotics 2022

Bib arXiv PDF Video

@article{billings21,
  author = {Billings, Gideon and Walter, Matthew R. and Pizarro, Oscar and Johnson-Roberson, Matthew and Camilli, Richard},
  title = {Towards Automated Sample Collection and Return in Extreme Underwater Environments},
  year = {2022},
  journal = {Field Robotics},
  volume = {2},
  pages = {1351--1358}
}

An Intelligence Architecture for Grounded Language Communication with Field Robots

Thomas M. Howard, Ethan Stump, Jonathan Fink, Jacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Daniel Barber, Rhyse Bendell, Karl Schmeckpeper, Junjiao Tian, Jean Oh, Maggie Wigness, Long Quang, Brandon Rothrock, Jeremy Nash, Matthew R. Walter, Florian Jentsch, and Nicholas Roy

Field Robotics 2022

Bib PDF
@article{howard21, author = {Howard, Thomas M. and Stump, Ethan and Fink, Jonathan and Arkin, Jacob and Paul, Rohan and Park, Daehyung and Roy, Subhro and Barber, Daniel and Bendell, Rhyse and Schmeckpeper, Karl and Tian, Junjiao and Oh, Jean and Wigness, Maggie and Quang, Long and Rothrock, Brandon and Nash, Jeremy and Walter, Matthew R. and Jentsch, Florian and Roy, Nicholas}, title = {An Intelligence Architecture for Grounded Language Communication with Field Robots}, year = {2022}, journal = {Field Robotics}, volume = {2}, pages = {406--436} }

Loop Estimator for Discounted Values in Markov Reward Processes

Falcon Z. Dai, and Matthew R. Walter

In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2021

Bib arXiv PDF

@inproceedings{dai21,
  author = {Dai, Falcon Z. and Walter, Matthew R.},
  journal = {arXiv:2002.06299},
  title = {Loop Estimator for Discounted Values in {M}arkov Reward Processes},
  booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
  month = feb,
  year = {2021}
}

Self-Supervised Camera Self-Calibration from Video

Jiading Fang, Igor Vasiljevic, Vitor Guizilini, Rares Ambrus, Greg Shakhnarovich, Adrien Gaidon, and Matthew R. Walter

arXiv:2112.03325 2021

Bib arXiv PDF Video
@article{fang21, author = {Fang, Jiading and Vasiljevic, Igor and Guizilini, Vitor and Ambrus, Rares and Shakhnarovich, Greg and Gaidon, Adrien and Walter, Matthew R.}, journal = {arXiv:2112.03325}, title = {Self-Supervised Camera Self-Calibration from Video}, year = {2021} }
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

Niklas Funk,* Charles Schaff,* Rishabh Madan,* Takuma Yoneda,* Julen Urain De Jesus, Joe Watson, Ethan K Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S Srinivasa, Tapomayukh Bhattacharjee, Matthew R Walter, and Jan Peters (* denotes equal contribution)

IEEE Robotics and Automation Letters 2021

Bib arXiv PDF Code Video Project Page
@article{funk21, title = {Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation}, author = {Funk, Niklas and Schaff, Charles and Madan, Rishabh and Yoneda, Takuma and De Jesus, Julen Urain and Watson, Joe and Gordon, Ethan K and Widmaier, Felix and Bauer, Stefan and Srinivasa, Siddhartha S and Bhattacharjee, Tapomayukh and Walter, Matthew R and Peters, Jan}, journal = {IEEE Robotics and Automation Letters}, year = {2021} }
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents

Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi, Amaury Camus, Aleksandar Petrov, Anthony Courchesne, Bhairav Mehta, Rohit Suri, Tomasz Zaluska, Matthew R. Walter, Emilio Frazzoli1, Liam Paull, and Andrea Censi

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2020

Bib arXiv PDF VentureBeat
@inproceedings{tani20, author = {Tani, Jacopo and Daniele, Andrea F. and Bernasconi, Gianmarco and Camus, Amaury and Petrov, Aleksandar and Courchesne, Anthony and Mehta, Bhairav and Suri, Rohit and Zaluska, Tomasz and Walter, Matthew R. and Frazzoli1, Emilio and Paull, Liam and Censi, Andrea}, title = {Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, month = oct }

Pow-Wow: A Dataset and Study on Collaborative Communication in Pommerman

Takuma Yoneda, Matthew R. Walter, and Jason Naradowsky

In Proceedings of the International Conference on Machine Learning Workshop on Language in Reinforcement Learning Jul 2020

Bib arXiv PDF Project Page

@inproceedings{yoneda20,
  author = {Yoneda, Takuma and Walter, Matthew R. and Naradowsky, Jason},
  title = {Pow-{W}ow: {A} Dataset and Study on Collaborative Communication in {P}ommerman},
  booktitle = {Proceedings of the International Conference on Machine Learning Workshop on Language in Reinforcement Learning},
  year = {2020},
  month = jul
}

Residual Policy Learning for Shared Autonomy

Charles Schaff, and Matthew R. Walter

In Proceedings of Robotics: Science and Systems (RSS) Jul 2020

Bib arXiv PDF Code Video Project Page Presentation

@inproceedings{schaff20,
  author = {Schaff, Charles and Walter, Matthew R.},
  title = {Residual Policy Learning for Shared Autonomy},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  year = {2020},
  month = jul
}

Multigrid Neural Memory

Tri Huynh, Michael Maire, and Matthew R. Walter

In Proceedings of the International Conference on Machine Learning (ICML) Jun 2020

Bib arXiv PDF Code Project Page Presentation

@inproceedings{huynh20,
  author = {Huynh, Tri and Maire, Michael and Walter, Matthew R.},
  title = {Multigrid Neural Memory},
  booktitle = {Proceedings of the International Conference on Machine Learning (ICML)},
  year = {2020},
  month = jun
}

Multimodal Estimation and Communication of Latent Semantic Knowledge for Robust Execution of Robot Instructions

Jacob Arkin, Daehyung Park, Subhro Roy, Matthew R. Walter, Nicholas Roy, Thomas M Howard, and Rohan Paul

International Journal of Robotics Research 2020

Bib PDF

@article{arkin20,
  author = {Arkin, Jacob and Park, Daehyung and Roy, Subhro and Walter, Matthew R. and Roy, Nicholas and Howard, Thomas M and Paul, Rohan},
  title = {Multimodal Estimation and Communication of Latent Semantic Knowledge for Robust Execution of Robot Instructions},
  journal = {International Journal of Robotics Research},
  volume = {39},
  number = {10--11},
  pages = {1279--1304},
  year = {2020}
}

The AI Driving Olympics at NeurIPS 2018

Julian Zilly, Jacopo Tani, Breandan Considine, Bhairav Mehta, Andrea F. Daniele, Manfred Diaz, Gianmarco Bernasconi, Claudio Ruch, Jan Hakenberg, Florian Golemo, A. Kirsten Bowser, Matthew R. Walter, Ruslan Hristov, Sunil Mallya, Emilio Frazzoli, Andrea Censi, and Liam Paull

The NeurIPS ‘18 Competition 2020

Bib arXiv Project Page
@article{zilly20, author = {Zilly, Julian and Tani, Jacopo and Considine, Breandan and Mehta, Bhairav and Daniele, Andrea F. and Diaz, Manfred and Bernasconi, Gianmarco and Ruch, Claudio and Hakenberg, Jan and Golemo, Florian and Bowser, A. Kirsten and Walter, Matthew R. and Hristov, Ruslan and Mallya, Sunil and Frazzoli, Emilio and Censi, Andrea and Paull, Liam}, journal = {The NeurIPS `18 Competition}, title = {The {AI} {D}riving {O}lympics at {NeurIPS} 2018}, pages = {37--68}, year = {2020} }

The AI Driving Olympics: An Accessible Robot Learning Benchmark

Andrea Censi, Liam Paull, Jacopo Tani, and Matthew R. Walter

In Proceedings of the Neural Information Processing Systems (NeurIPS) Workshop on Machine Learning Competitions for All (CiML) Dec 2019

Bib PDF

@inproceedings{censi19,
  author = {Censi, Andrea and Paull, Liam and Tani, Jacopo and Walter, Matthew R.},
  title = {The {AI} {D}riving {O}lympics: {A}n Accessible Robot Learning Benchmark},
  booktitle = {Proceedings of the Neural Information Processing Systems (NeurIPS) Workshop on Machine Learning Competitions for All (CiML)},
  year = {2019},
  month = dec,
  address = {Vancouver, B.C. Canada}
}

Maximum Expected Hitting Cost of a Markov Decision Process and Informativeness of Rewards

Falcon Z. Dai, and Matthew R. Walter

In Advances in Neural Information Processing Systems (NeurIPS) Dec 2019

Bib arXiv PDF

@inproceedings{dai19a,
  author = {Dai, Falcon Z. and Walter, Matthew R.},
  title = {Maximum Expected Hitting Cost of a {M}arkov Decision Process and Informativeness of Rewards},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  year = {2019},
  month = dec,
  address = {Vancouver, B.C. Canada}
}

Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments

Siddharth Patki, Ethan Fahnestock, Thomas M. Howard, and Matthew R. Walter

In Proceedings of the Conference on Robot Learning (CoRL) Oct 2019

Bib arXiv PDF Video

@inproceedings{patki19a,
  author = {Patki, Siddharth and Fahnestock, Ethan and Howard, Thomas M. and Walter, Matthew R.},
  title = {Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments},
  booktitle = {Proceedings of the Conference on Robot Learning (CoRL)},
  year = {2019},
  address = {Osaka, Japan},
  month = oct
}

DIODE: A Dense Indoor and Outdoor DEpth Dataset

Igor Vasiljevic, Nick Kolkin, Shanyi Zhang, Ruotian Luo, Haochen Wang, Falcon Z. Dai, Andrea F. Daniele, Mohammadreza Mostajabi, Steven Basart, Matthew R. Walter, and Gregory Shakhnarovich

CoRR Aug 2019

Bib arXiv Project Page
@article{diode_dataset, title = {{DIODE}: {A} {D}ense {I}ndoor and {O}utdoor {DE}pth {D}ataset}, author = {Vasiljevic, Igor and Kolkin, Nick and Zhang, Shanyi and Luo, Ruotian and Wang, Haochen and Dai, Falcon Z. and Daniele, Andrea F. and Mostajabi, Mohammadreza and Basart, Steven and Walter, Matthew R. and Shakhnarovich, Gregory}, journal = {CoRR}, volume = {abs/1908.00463}, year = {2019}, month = aug, url = {http://arxiv.org/abs/1908.00463} }

Finite time analysis of potential-based reward shaping

Zhongtian Dai, and Matthew R. Walter

In Proceedings of the Multi-Disciplinary Conference on Reinforcement Learning and Decision Making (RLDM) Jul 2019

Bib

@inproceedings{dai19,
  author = {Dai, Zhongtian and Walter, Matthew R.},
  title = {Finite time analysis of potential-based reward shaping},
  booktitle = {Proceedings of the Multi-Disciplinary Conference on Reinforcement Learning and Decision Making (RLDM)},
  year = {2019},
  month = jul,
  address = {Montr{\'e}al, Canada}
}

Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions

Siddharth Patki, Andrea F. Daniele, Matthew R. Walter, and Thomas M. Howard

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2019

Bib arXiv PDF Video

@inproceedings{patki19,
  author = {Patki, Siddharth and Daniele, Andrea F. and Walter, Matthew R. and Howard, Thomas M.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions},
  year = {2019},
  month = may,
  pages = {6926--6933}
}

Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning

Charles Schaff, David Yunis, Ayan Chakrabarti, and Matthew R. Walter

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2019

Bib arXiv PDF Code Video Project Page

@inproceedings{schaff19,
  author = {Schaff, Charles and Yunis, David and Chakrabarti, Ayan and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning},
  year = {2019},
  month = may
}

A Multiview Approach to Learning Articulated Motion Models

Andrea F. Daniele, Thomas M. Howard, and Matthew R. Walter

In Proceedings of the International Symposium of Robotics Research (ISRR) Dec 2017

Bib PDF

@inproceedings{daniele17a,
  author = {Daniele, Andrea F. and Howard, Thomas M. and Walter, Matthew R.},
  booktitle = {Proceedings of the International Symposium of Robotics Research (ISRR)},
  title = {A Multiview Approach to Learning Articulated Motion Models},
  year = {2017},
  month = dec
}

Jointly Optimizing Placement and Inference for Beacon-based Localization

Charles Schaff, David Yunis, Ayan Chakrabarti, and Matthew R. Walter

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Sep 2017

Bib arXiv PDF Code Project Page

@inproceedings{schaff17,
  author = {Schaff, Charles and Yunis, David and Chakrabarti, Ayan and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Jointly Optimizing Placement and Inference for Beacon-based Localization},
  year = {2017},
  month = sep,
  address = {Vancouver, B.C. Canada}
}

Contextual Awareness: Understanding Monologic Natural Language Instructions for Autonomous Robots

Jacob Arkin, Matthew R. Walter, Adrian Boteanu, Michael E. Napoli, Harel Biggie, Hadas Kress-Gazit, and Thomas M. Howard

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Aug 2017

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@inproceedings{arkin17, author = {Arkin, Jacob and Walter, Matthew R. and Boteanu, Adrian and Napoli, Michael E. and Biggie, Harel and Kress-Gazit, Hadas and Howard, Thomas M.}, booktitle = {Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)}, title = {Contextual Awareness: {U}nderstanding Monologic Natural Language Instructions for Autonomous Robots}, year = {2017}, month = aug }

Satellite Image-based Localization via Learned Embeddings

Dong-Ki Kim, and Matthew R. Walter

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2017

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@inproceedings{kim17,
  address = {Singapore},
  author = {Kim, Dong-Ki and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  title = {Satellite Image-based Localization via Learned Embeddings},
  year = {2017}
}

Navigational Instruction Generation as Inverse Reinforcement Learning with Neural Machine Translation

Andrea F. Daniele, Mohit Bansal, and Matthew R. Walter

In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) Mar 2017

Bib arXiv PDF

@inproceedings{daniele17,
  address = {Vienna, Austria},
  author = {Daniele, Andrea F. and Bansal, Mohit and Walter, Matthew R.},
  booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  month = mar,
  title = {Navigational Instruction Generation as Inverse Reinforcement Learning with Neural Machine Translation},
  year = {2017},
  pages = {109--118}
}

Coherent Dialogue with Attention-Based Language Models

Hongyuan Mei, Mohit Bansal, and Matthew R. Walter

In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2017

Bib arXiv PDF

@inproceedings{mei17,
  address = {San Francisco, CA},
  author = {Mei, Hongyuan and Bansal, Mohit and Walter, Matthew R.},
  booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
  month = feb,
  title = {Coherent Dialogue with Attention-Based Language Models},
  year = {2017}
}

A Review of Spatial Reasoning and Interaction for Real-World Robotics

Christian Landsiedel, Verena Rieser, Matthew R. Walter, and Dirk Wollherr

Advanced Robotics Jan 2017

Bib PDF

@article{landsiedel17,
  author = {Landsiedel, Christian and Rieser, Verena and Walter, Matthew R. and Wollherr, Dirk},
  journal = {Advanced Robotics},
  title = {A Review of Spatial Reasoning and Interaction for Real-World Robotics},
  year = {2017},
  volume = {31},
  number = {5},
  pages = {222--242},
  month = jan
}

Integrated Intelligence for Human-Robot Teams

Jean Oh, Thomas M. Howard, Matthew R. Walter, Daniel Barber, Menglong Zhu, Zangdon Park, Arne Suppe, Luis Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Oscar Romero, Jerry Vinokurov, Terence Keegan, Robert Dean, Lennon, Barry Bodt, Marshal Childers, Jianbo Shi, Kostas daniilidis, Nicholas Roy, Christian Lebiere, Martial Hebert, and Anthony Stentz

In Proceedings of the International Symposium on Experimental Robotics (ISER) Oct 2016

Bib PDF
@inproceedings{oh16, address = {Tokyo, Japan}, author = {Oh, Jean and Howard, Thomas M. and Walter, Matthew R. and Barber, Daniel and Zhu, Menglong and Park, Zangdon and Suppe, Arne and Navarro-Serment, Luis and Duvallet, Felix and Boularias, Abdeslam and Romero, Oscar and Vinokurov, Jerry and Keegan, Terence and Dean, Robert and craig Lennon and Bodt, Barry and Childers, Marshal and Shi, Jianbo and daniilidis, Kostas and Roy, Nicholas and Lebiere, Christian and Hebert, Martial and Stentz, Anthony}, booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)}, month = oct, title = {Integrated Intelligence for Human-Robot Teams}, year = {2016} }

What to talk about and how? Selective Generation using LSTMs with Coarse-to-Fine Alignment

Hongyuan Mei, Mohit Bansal, and Matthew R. Walter

In Proceedings of the Conference of the North American Chapter of the Association for Computational Linguistics — Human Language Technologies (NAACL HLT) Jun 2016

Bib arXiv PDF Code

@inproceedings{mei16a,
  address = {San Diego, CA},
  author = {Mei, Hongyuan and Bansal, Mohit and Walter, Matthew R.},
  booktitle = {Proceedings of the Conference of the North American Chapter of the Association for Computational Linguistics --- Human Language Technologies (NAACL HLT)},
  month = jun,
  pages = {720--730},
  title = {What to talk about and how? {S}elective Generation using {LSTM}s with Coarse-to-Fine Alignment},
  year = {2016}
}

Natural Language Generation in the Context of Providing Indoor Route Instructions

Andrea F. Daniele, Mohit Bansal, and Matthew R. Walter

In Proceedings Robotics: Science and Systems Workshop on Model Learning for Human-Robot Communication Jun 2016

Bib PDF

@inproceedings{daniele16,
  address = {Ann Arbor, MI},
  author = {Daniele, Andrea F. and Bansal, Mohit and Walter, Matthew R.},
  booktitle = {Proceedings Robotics: Science and Systems Workshop on Model Learning for Human-Robot Communication},
  month = jun,
  title = {Natural Language Generation in the Context of Providing Indoor Route Instructions},
  year = {2016}
}

A Multimodal Interface for Real-Time Soldier-Robot Teaming

Daniel J. Barber, Thomas M. Howard, and Matthew R. Walter

In Proceedings of SPIE, Unmanned Systems Technology Apr 2016

Bib PDF

@inproceedings{barber16,
  address = {Baltimore, MD},
  author = {Barber, Daniel J. and Howard, Thomas M. and Walter, Matthew R.},
  booktitle = {Proceedings of SPIE, Unmanned Systems Technology},
  month = apr,
  title = {A Multimodal Interface for Real-Time Soldier-Robot Teaming},
  year = {2016}
}

Listen, Attend, and Walk: Neural Mapping of Navigational Instructions to Action Sequences

Hongyuan Mei, Mohit Bansal, and Matthew R. Walter

In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2016

Bib arXiv PDF Code

@inproceedings{mei16,
  address = {Phoenix, AZ},
  author = {Mei, Hongyuan and Bansal, Mohit and Walter, Matthew R.},
  booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
  month = feb,
  pages = {2772--2778},
  title = {Listen, Attend, and Walk: {N}eural Mapping of Navigational Instructions to Action Sequences},
  year = {2016}
}

On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions

Istvan Chung, Oron Propp, Matthew R. Walter, and Thomas M. Howard

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2015

Bib PDF Code

@inproceedings{chung15,
  address = {Hamburg, Germany},
  author = {Chung, Istvan and Propp, Oron and Walter, Matthew R. and Howard, Thomas M.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = oct,
  title = {On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions},
  year = {2015},
  pages = {5247--5252}
}

Information-Theoretic Dialog to Improve Spatial-Semantic Representations

Sachithra Hemachandra, and Matthew R. Walter

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2015

Bib PDF

@inproceedings{hemachandra15a,
  address = {Hamburg, Germany},
  author = {Hemachandra, Sachithra and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = oct,
  title = {Information-Theoretic Dialog to Improve Spatial-Semantic Representations},
  year = {2015}
}

A Situationally-Aware Voice-Commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments

Matthew R. Walter, Matthew Antone, Ekapol Chuangsuwanich, Andrew Correa, Randall Davis, Luke Fletcher, Emilio Frazzoli, Yuli Friedman, James Glass, Jonathan P. How, Jeong H. Jeon, Sertac Karaman, Brandon Luders, Nicholas Roy, Stefanie Tellex, and Seth Teller

Journal of Field Robotics Jun 2015

Bib PDF
@article{walter15, author = {Walter, Matthew R. and Antone, Matthew and Chuangsuwanich, Ekapol and Correa, Andrew and Davis, Randall and Fletcher, Luke and Frazzoli, Emilio and Friedman, Yuli and Glass, James and How, Jonathan P. and Jeon, Jeong H. and Karaman, Sertac and Luders, Brandon and Roy, Nicholas and Tellex, Stefanie and Teller, Seth}, journal = {Journal of Field Robotics}, month = jun, number = {4}, pages = {590--628}, title = {A Situationally-Aware Voice-Commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments}, volume = {32}, year = {2015} }

Learning Models for Following Natural Language Directions in Unknown Environments

Sachithra Hemachandra, Felix Duvallet, Thomas M. Howard, Nicholas Roy, Anthony Stentz, and Matthew R. Walter

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2015

Bib arXiv PDF

@inproceedings{hemachandra15,
  address = {Seattle, WA},
  author = {Hemachandra, Sachithra and Duvallet, Felix and Howard, Thomas M. and Roy, Nicholas and Stentz, Anthony and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  title = {Learning Models for Following Natural Language Directions in Unknown Environments},
  year = {2015}
}

Accurate Vision-based Vehicle Localization using Satellite Imagery

Hang Chu, Hongyuan Mei, Mohit Bansal, and Matthew R. Walter

arXiv:1510.09171 2015

Bib arXiv PDF

@article{chu15,
  author = {Chu, Hang and Mei, Hongyuan and Bansal, Mohit and Walter, Matthew R.},
  journal = {arXiv:1510.09171},
  title = {Accurate Vision-based Vehicle Localization using Satellite Imagery},
  year = {2015}
}

Information Theoretic Question Asking to Improve Spatial Semantic Representations

Sachithra Hemachandra, Matthew R. Walter, and Seth Teller

In AAAI Fall Symposium on Knowledge, Skill, and Behavior Transfer in Autonomous Robots Nov 2014

Bib PDF

@inproceedings{hemachandra14b,
  address = {Arlington, VA},
  author = {Hemachandra, Sachithra and Walter, Matthew R. and Teller, Seth},
  booktitle = {AAAI Fall Symposium on Knowledge, Skill, and Behavior Transfer in Autonomous Robots},
  month = nov,
  title = {Information Theoretic Question Asking to Improve Spatial Semantic Representations},
  year = {2014}
}

Learning Semantic Maps Through Dialog for A Voice-Commandable Wheelchair

Sachithra Hemachandra, and Matthew R. Walter

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics Sep 2014

Bib PDF

@inproceedings{hemachandra14a,
  address = {Chicago, IL},
  author = {Hemachandra, Sachithra and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics},
  month = sep,
  title = {Learning Semantic Maps Through Dialog for A Voice-Commandable Wheelchair},
  year = {2014}
}

Efficient Natural Language Interfaces for Assistive Robots

Thomas M. Howard, Istvan Chung, Oron Propp, Matthew R. Walter, and Nicholas Roy

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics Sep 2014

Bib PDF

@inproceedings{howard14a,
  address = {Chicago, IL},
  author = {Howard, Thomas M. and Chung, Istvan and Propp, Oron and Walter, Matthew R. and Roy, Nicholas},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics},
  month = sep,
  title = {Efficient Natural Language Interfaces for Assistive Robots},
  year = {2014}
}

A Framework for Learning Semantic Maps from Grounded Natural Language Descriptions

Matthew R. Walter, Sachithra Hemachandra, Bianca Homberg, Stefanie Tellex, and Seth Teller

International Journal of Robotics Research Aug 2014

Bib PDF

@article{walter14,
  author = {Walter, Matthew R. and Hemachandra, Sachithra and Homberg, Bianca and Tellex, Stefanie and Teller, Seth},
  journal = {International Journal of Robotics Research},
  month = aug,
  number = {9},
  volume = {31},
  pages = {1167--1190},
  title = {A Framework for Learning Semantic Maps from Grounded Natural Language Descriptions},
  year = {2014}
}

Learning Articulated Motions from Visual Demonstrations

Sudeep Pillai, Matthew R. Walter, and Seth Teller

In Proceedings of Robotics: Science and Systems (RSS) Jul 2014

Bib arXiv PDF

@inproceedings{pillai14,
  address = {Berkeley, CA},
  author = {Pillai, Sudeep and Walter, Matthew R. and Teller, Seth},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  month = jul,
  title = {Learning Articulated Motions from Visual Demonstrations},
  year = {2014}
}

Inferring Maps and Behaviors from Natural Language Instructions

Felix Duvallet, Matthew R. Walter, Thomas Howard, Sachithra Hemachandra, Jean Oh, Seth Teller, Nicholas Roy, and Antony Stentz

In Proceedings of the International Symposium on Experimental Robotics (ISER) Jun 2014

Bib PDF

@inproceedings{duvallet14,
  address = {Marrakech, Morocco},
  author = {Duvallet, Felix and Walter, Matthew R. and Howard, Thomas and Hemachandra, Sachithra and Oh, Jean and Teller, Seth and Roy, Nicholas and Stentz, Antony},
  booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
  month = jun,
  title = {Inferring Maps and Behaviors from Natural Language Instructions},
  year = {2014}
}

Learning Spatially-Semantic Representations from Natural Language Descriptions and Scene Classifications

Sachithra Hemachandra, Matthew R. Walter, Stefanie Tellex, and Seth Teller

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2014

Bib PDF

@inproceedings{hemachandra14,
  address = {Hong Kong},
  author = {Hemachandra, Sachithra and Walter, Matthew R. and Tellex, Stefanie and Teller, Seth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  title = {Learning Spatially-Semantic Representations from Natural Language Descriptions and Scene Classifications},
  year = {2014}
}

Learning Semantic Maps from Natural Language Descriptions

Matthew R. Walter, Sachithra Hemachandra, Bianca Homberg, Stefanie Tellex, and Seth Teller

In Proceedings of Robotics: Science and Systems (RSS) Jun 2013

Bib PDF Video

@inproceedings{walter13,
  address = {Berlin, Germany},
  author = {Walter, Matthew R. and Hemachandra, Sachithra and Homberg, Bianca and Tellex, Stefanie and Teller, Seth},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  month = jun,
  title = {Learning Semantic Maps from Natural Language Descriptions},
  year = {2013}
}

Toward Learning Perceptually Grounded Word Meanings from Unaligned Parallel Data

Stefanie Tellex, Pratiksha Thaker, Josh Joseph, Matthew R. Walter, and Nicholas Roy

In Proceedings of the NAACL HLT Workshop on Semantic Interpretation in an Actionable Context Jun 2012

Bib PDF

@inproceedings{tellex12,
  address = {Montr{\'e}al, Canada},
  author = {Tellex, Stefanie and Thaker, Pratiksha and Joseph, Josh and Walter, Matthew R. and Roy, Nicholas},
  booktitle = {Proceedings of the NAACL HLT Workshop on Semantic Interpretation in an Actionable Context},
  month = jun,
  pages = {7--14},
  title = {Toward Learning Perceptually Grounded Word Meanings from Unaligned Parallel Data},
  year = {2012}
}

One-shot Visual Appearance Learning for Mobile Manipulation

Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller

International Journal of Robotics Research Apr 2012

Bib PDF

@article{walter12,
  author = {Walter, Matthew R. and Friedman, Yuli and Antone, Matthew and Teller, Seth},
  journal = {International Journal of Robotics Research},
  month = apr,
  number = {4},
  pages = {554--567},
  title = {One-shot Visual Appearance Learning for Mobile Manipulation},
  volume = {31},
  year = {2012}
}

Approaching the Symbol-Grounding Problem with Probabilistic Graphical Models

Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashish G. Banerjee, Seth Teller, and Nicholas Roy

AI Magazine Dec 2011

Bib PDF

@article{tellex11b,
  author = {Tellex, Stefanie and Kollar, Thomas and Dickerson, Steven and Walter, Matthew R. and Banerjee, Ashish G. and Teller, Seth and Roy, Nicholas},
  journal = {AI Magazine},
  month = dec,
  number = {4},
  pages = {64--76},
  title = {Approaching the Symbol-Grounding Problem with Probabilistic Graphical Models},
  volume = {32},
  year = {2011}
}

Asymptotically-optimal Path Planning for Manipulation Using Incremental Sampling-based Algorithms

Alejandro Perez, Sertac Karaman, Alexander Shkolnik, Emilio Frazzoli, Seth Teller, and Matthew R. Walter

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Sep 2011

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@inproceedings{perez11,
  address = {San Francisco, CA},
  author = {Perez, Alejandro and Karaman, Sertac and Shkolnik, Alexander and Frazzoli, Emilio and Teller, Seth and Walter, Matthew R.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = sep,
  pages = {4307--4313},
  title = {Asymptotically-optimal Path Planning for Manipulation Using Incremental Sampling-based Algorithms},
  year = {2011}
}

Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation

Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashish G. Banerjee, Seth Teller, and Nicholas Roy

In Proceedings of the National Conference on Artificial Intelligence (AAAI) Aug 2011

Bib PDF

@inproceedings{tellex11,
  address = {San Francisco, CA},
  author = {Tellex, Stefanie and Kollar, Thomas and Dickerson, Steven and Walter, Matthew R. and Banerjee, Ashish G. and Teller, Seth and Roy, Nicholas},
  booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
  month = aug,
  pages = {1507--1514},
  title = {Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation},
  year = {2011}
}

Anytime Motion Planning Using the RRT^*

Sertac Karaman, Matthew R. Walter, Alejandro Perez, Emilio Frazzoli, and Seth Teller

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2011

Bib PDF

@inproceedings{karaman11,
  address = {Shanghai, China},
  author = {Karaman, Sertac and Walter, Matthew R. and Perez, Alejandro and Frazzoli, Emilio and Teller, Seth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  pages = {1478--1483},
  title = {Anytime Motion Planning Using the {RRT}$^*$},
  year = {2011}
}

Vision-based Reacquisition for Task-level Control

Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller

In Proceedings of the International Symposium on Experimental Robotics (ISER) Dec 2010

Bib PDF

@inproceedings{walter10b,
  address = {New Delhi, India},
  author = {Walter, Matthew R. and Friedman, Yuli and Antone, Matthew and Teller, Seth},
  booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
  month = dec,
  title = {Vision-based Reacquisition for Task-level Control},
  year = {2010}
}

Closed-loop Pallet Engagement in Unstructured Environments

Matthew R. Walter, Sertac Karaman, Emilio Frazzoli, and Seth Teller

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2010

Bib PDF

@inproceedings{walter10a,
  address = {Taipei, Taiwan},
  author = {Walter, Matthew R. and Karaman, Sertac and Frazzoli, Emilio and Teller, Seth},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = oct,
  pages = {5119--5126},
  title = {Closed-loop Pallet Engagement in Unstructured Environments},
  year = {2010}
}

Appearance-based Object Reacquisition for Mobile Manipulation

Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller

In Proceedings of the IEEE Computer Vision and Pattern Recognition Workshops (CVPRW) Jun 2010

Bib PDF

@inproceedings{walter10,
  address = {San Francisco, CA},
  author = {Walter, Matthew R. and Friedman, Yuli and Antone, Matthew and Teller, Seth},
  booktitle = {Proceedings of the IEEE Computer Vision and Pattern Recognition Workshops (CVPRW)},
  month = jun,
  title = {Appearance-based Object Reacquisition for Mobile Manipulation},
  year = {2010}
}

Ground Robot Navigation using Uncalibrated Cameras

Olivier Koch, Matthew R. Walter, Albert S. Huang, and Seth Teller

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2010

Bib PDF

@inproceedings{koch10,
  address = {Anchorage, AK},
  author = {Koch, Olivier and Walter, Matthew R. and Huang, Albert S. and Teller, Seth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  pages = {2423--2430},
  title = {Ground Robot Navigation using Uncalibrated Cameras},
  year = {2010}
}

A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments

Seth Teller, Matthew R. Walter, Matthew Antone, Andrew Correa, Randall Davis, Luke Fletcher, Emilio Frazzoli, James Glass, Jonathan P. How, Albert S. Huang, Jeong H. Jeon, Sertac Karaman, Brandon Luders, Nicholas Roy, and Tara Sainath

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2010

Bib PDF Popular Mechanics
@inproceedings{teller10, address = {Anchorage, AK}, author = {Teller, Seth and Walter, Matthew R. and Antone, Matthew and Correa, Andrew and Davis, Randall and Fletcher, Luke and Frazzoli, Emilio and Glass, James and How, Jonathan P. and Huang, Albert S. and Jeon, Jeong H. and Karaman, Sertac and Luders, Brandon and Roy, Nicholas and Sainath, Tara}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}, month = may, pages = {526--533}, title = {A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments}, year = {2010} }

Closed-loop Pallet Engagement in an Unstructured Environment

Sertac Karaman, Matthew R. Walter, Emilio Frazzoli, and Seth Teller

In Proceeding of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Mobile Manipulation May 2010

Bib PDF

@inproceedings{karaman10,
  address = {Anchorage, AK},
  author = {Karaman, Sertac and Walter, Matthew R. and Frazzoli, Emilio and Teller, Seth},
  booktitle = {Proceeding of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Mobile Manipulation},
  month = may,
  title = {Closed-loop Pallet Engagement in an Unstructured Environment},
  year = {2010}
}

Multimodal Interaction with an Autonomous Forklift

Andrew Correa, Matthew R. Walter, Luke Fletcher, James Glass, Seth Teller, and Randall Davis

In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) Mar 2010

Bib PDF

@inproceedings{correa10,
  address = {Osaka, Japan},
  author = {Correa, Andrew and Walter, Matthew R. and Fletcher, Luke and Glass, James and Teller, Seth and Davis, Randall},
  booktitle = {Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  month = mar,
  pages = {243--250},
  title = {Multimodal Interaction with an Autonomous Forklift},
  year = {2010}
}

A Perception-driven Autonomous Urban Vehicle

John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhhartha Krishnamurthy, and Jonathan Williams

2010

Bib PDF
@inbook{leonard10, address = {Berlin, Heidelberg}, author = {Leonard, John and How, Jonathan and Teller, Seth and Berger, Mitch and Campbell, Stefan and Fiore, Gaston and Fletcher, Luke and Frazzoli, Emilio and Huang, Albert and Karaman, Sertac and Koch, Olivier and Kuwata, Yoshiaki and Moore, David and Olson, Edwin and Peters, Steve and Teo, Justin and Truax, Robert and Walter, Matthew and Barrett, David and Epstein, Alexander and Maheloni, Keoni and Moyer, Katy and Jones, Troy and Buckley, Ryan and Antone, Matthew and Galejs, Robert and Krishnamurthy, Siddhhartha and Williams, Jonathan}, chapter = {5}, editor = {Buehler, M. and Iagnemma, K. and Singh, S.}, pages = {163--230}, publisher = {Springer-Verlag}, series = {Springer Tracts in Advanced Robotics}, title = {A Perception-driven Autonomous Urban Vehicle}, volume = {56}, year = {2010} }

Reachability-Guided Sampling for Planning Under Differential Constraints

Alexander Shkolnik, Matthew Walter, and Russ Tedrake

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2009

Bib PDF

@inproceedings{shkolnik09,
  address = {Kobe, Japan},
  author = {Shkolnik, Alexander and Walter, Matthew and Tedrake, Russ},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  pages = {2859--2865},
  title = {Reachability-Guided Sampling for Planning Under Differential Constraints},
  year = {2009}
}

Simultaneous Local and Global State Estimation for Robotic Navigation

David C. Moore, Albert S. Huang, Matthew Walter, Edwin Olson, Luke Fletcher, John Leonard, and Seth Teller

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009

Bib PDF

@inproceedings{moore09,
  address = {Kobe, Japan},
  author = {Moore, David C. and Huang, Albert S. and Walter, Matthew and Olson, Edwin and Fletcher, Luke and Leonard, John and Teller, Seth},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3794--3799},
  title = {Simultaneous Local and Global State Estimation for Robotic Navigation},
  year = {2009}
}

Consistent Cooperative Localization

Alexander Bahr, Matthew R. Walter, and John J. Leonard

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009

Bib PDF

@inproceedings{bahr09,
  address = {Kobe, Japan},
  author = {Bahr, Alexander and Walter, Matthew R. and Leonard, John J.},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3415--3422},
  title = {Consistent Cooperative Localization},
  year = {2009},
  bibtex_show = {true}
}

A Perception-driven Autonomous Urban Vehicle

John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, and Jonathan Williams

Journal of Field Robotics Oct 2008

Bib PDF
@article{leonard08, author = {Leonard, John and How, Jonathan and Teller, Seth and Berger, Mitch and Campbell, Stefan and Fiore, Gaston and Fletcher, Luke and Frazzoli, Emilio and Huang, Albert and Karaman, Sertac and Koch, Olivier and Kuwata, Yoshiaki and Moore, David and Olson, Edwin and Peters, Steve and Teo, Justin and Truax, Robert and Walter, Matthew and Barrett, David and Epstein, Alexander and Maheloni, Keoni and Moyer, Katy and Jones, Troy and Buckley, Ryan and Antone, Matthew and Galejs, Robert and Krishnamurthy, Siddhartha and Williams, Jonathan}, journal = {Journal of Field Robotics}, month = oct, number = {10}, pages = {727--774}, title = {A Perception-driven Autonomous Urban Vehicle}, volume = {25}, year = {2008} }

SLAM For Ship Hull Inspection using Exactly Sparse Extended Information Filters

Matthew Walter, Franz Hover, and John Leonard

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2008

Bib PDF

@inproceedings{walter08,
  address = {Pasadena, CA},
  author = {Walter, Matthew and Hover, Franz and Leonard, John},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = may,
  pages = {1463--1470},
  title = {{SLAM} For Ship Hull Inspection using Exactly Sparse Extended Information Filters},
  year = {2008}
}

Sparse Bayesian Information Filters for Localization and Mapping

Matthew R. Walter

Feb 2008

Bib PDF

@phdthesis{walter08a,
  address = {Cambridge, MA},
  author = {Walter, Matthew R.},
  month = feb,
  school = {Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution},
  title = {Sparse {Bayesian} Information Filters for Localization and Mapping},
  year = {2008}
}

Exactly Sparse Extended Information Filters for Feature-based SLAM

Matthew R. Walter, Ryan M. Eustice, and John J. Leonard

International Journal of Robotics Research Apr 2007

Bib PDF

@article{walter07,
  author = {Walter, Matthew R. and Eustice, Ryan M. and Leonard, John J.},
  journal = {International Journal of Robotics Research},
  month = apr,
  number = {4},
  pages = {335--359},
  title = {Exactly Sparse Extended Information Filters for Feature-based {SLAM}},
  volume = {26},
  year = {2007}
}

Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters

Ryan M. Eustice, Hanumant Singh, John J. Leonard, and Matthew R. Walter

International Journal of Robotics Research Dec 2006

Bib PDF

@article{eustice06,
  author = {Eustice, Ryan M. and Singh, Hanumant and Leonard, John J. and Walter, Matthew R.},
  journal = {International Journal of Robotics Research},
  month = dec,
  number = {12},
  pages = {1223--1242},
  title = {Visually Mapping the {RMS} {T}itanic: {C}onservative Covariance Estimates for {SLAM} Information Filters},
  volume = {25},
  year = {2006}
}

A Provably Consistent Method for Imposing Exact Sparsity in Feature-based SLAM Information Filters

Matthew Walter, Ryan Eustice, and John Leonard

In Proceedings of the International Symposium of Robotics Research (ISRR) Oct 2005

Bib PDF

@inproceedings{walter05a,
  address = {San Francisco, CA},
  author = {Walter, Matthew and Eustice, Ryan and Leonard, John},
  booktitle = {Proceedings of the International Symposium of Robotics Research (ISRR)},
  month = oct,
  pages = {214--234},
  publisher = {Springer},
  title = {A Provably Consistent Method for Imposing Exact Sparsity in Feature-based {SLAM} Information Filters},
  year = {2005}
}

Sparse Extended Information Filters: Insights into Sparsification

Ryan Eustice, Matthew Walter, and John Leonard

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Aug 2005

Bib PDF

@inproceedings{eustice05c,
  address = {Edmonton, Alberta, Canada},
  author = {Eustice, Ryan and Walter, Matthew and Leonard, John},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  month = aug,
  pages = {641--648},
  title = {Sparse Extended Information Filters: Insights into Sparsification},
  year = {2005}
}

Single-Cluster Spectral Graph Partitioning for Robotics Applications

Edwin Olson, Matthew Walter, Seth Teller, and John Leonard

In Proceedings of Robotics: Science and Systems (RSS) Jul 2005

Bib PDF Project Page

@inproceedings{olson05,
  address = {Cambridge, MA},
  author = {Olson, Edwin and Walter, Matthew and Teller, Seth and Leonard, John},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  month = jul,
  title = {Single-Cluster Spectral Graph Partitioning for Robotics Applications},
  year = {2005}
}

Visually Navigating the RMS Titanic with SLAM Information Filters

Ryan Eustice, Hanumant Singh, John Leonard, Matthew Walter, and Robert Ballard

In Proceedings of Robotics: Science and Systems (RSS) Jun 2005

Bib PDF

@inproceedings{eustice05b,
  address = {Cambridge, MA},
  author = {Eustice, Ryan and Singh, Hanumant and Leonard, John and Walter, Matthew and Ballard, Robert},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  month = jun,
  pages = {57--64},
  title = {Visually Navigating the {RMS Titanic} with {SLAM} Information Filters},
  year = {2005}
}

An Experimental Investigation of Cooperative SLAM

Matthew Walter, and John Leonard

In Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV) Jul 2004

Bib PDF

@inproceedings{walter04,
  address = {Lisbon, Portugal},
  author = {Walter, Matthew and Leonard, John},
  booktitle = {Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV)},
  month = jul,
  title = {An Experimental Investigation of Cooperative {SLAM}},
  year = {2004}
}