Maani Ghaffari
- Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
2019/04/19 by Ross Hartley, Maani Ghaffari, Hartley, Ross +5 · 21 citations
Engineering · Health Professions · Medicine · #Robotic Locomotion and Control #Balance, Gait, and Falls Prevention #Spinal Cord Injury Research
- Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events
2021/06/29 by Tzu-Yuan Lin, Lin, Tzu-Yuan, Ray Zhang +5 · 4 citations
Engineering · Agricultural and Biological Sciences · Computer Science · #Robotic Locomotion and Control #Bat Biology and Ecology Studies #Human Pose and Action Recognition
- Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty
2021/06/23 by Bo Fu, William Smith, Fu, Bo +9 · 4 citations
Business, Management and Accounting · Decision Sciences · Engineering · #93A16 #FOS: Computer and information sciences #Facility Location and Emergency Management #Multiagent Systems (cs.MA) #Risk and Portfolio Optimization #Robotics (cs.RO) #Transportation and Mobility Innovations
- 4D Panoptic Segmentation as Invariant and Equivariant Field Prediction
2023/03/28 by Minghan Zhu, Zhu, Minghan, Han, Shizhong +8 · 3 citations
Computer Science · Engineering · #Image and Object Detection Techniques #Image Processing and 3D Reconstruction #Robotics and Sensor-Based Localization
- Lie Algebraic Cost Function Design for Control on Lie Groups
2022/04/20 by Sangli Teng, William R. Clark, Teng, Sangli +7 · 2 citations
Biochemistry, Genetics and Molecular Biology · #Eicosanoids and Hypertension Pharmacology #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
- Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
2025/03/03 by Hang Liu, Liu, Hang, Sangli Teng +7 · 1 voice · 5 citations
#cs.RO
- E2PN: Efficient SE(3)-Equivariant Point Network
2022/06/11 by Minghan Zhu, Maani Ghaffari, Zhu, Minghan +5 · 2 citations
Engineering · Earth and Planetary Sciences · Computer Science · #3D Shape Modeling and Analysis #3D Surveying and Cultural Heritage #Image Processing and 3D Reconstruction
- Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
2023/05/23 by Sangli Teng, Ashkan Jasour, Teng, Sangli +5 · 2 citations
Engineering · Computer Science · #Robotic Mechanisms and Dynamics #Adaptive Control of Nonlinear Systems #Robotic Path Planning Algorithms
- Nonparametric Continuous Sensor Registration
2020/01/08 by William Clark, Maani Ghaffari, Clark, William +3 · 2 citations
Computer Science · Engineering · #46C05 #46C07 #53B21 #68T40 #68T45 #93C85 #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Mathematics #G.1.6 #G.4 #I.2.10 #I.2.9 #I.4.10 #Machine Learning (cs.LG) #Medical Image Segmentation Techniques #Optimization and Control (math.OC) #Robotics (cs.RO) #Robotics and Sensor-Based Localization
- Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting
2024/11/04 by Joey Wilson, Wilson, Joey, Marcelino Almeida +14 · 3 citations
Computer Science · Engineering · #Anomaly Detection Techniques and Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Industrial Vision Systems and Defect Detection #Robotics (cs.RO)
- LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces with Quantifiable Uncertainty
2024/10/15 by Joey Wilson, Wilson, Joey, Ruihan Xu +11 · 3 citations
Computer Science · #Multimodal Machine Learning Applications #Natural Language Processing Techniques #Topic Modeling
- SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning
2022/09/16 by Yifan Xu, Xu, Yifan, Theodor Chakhachiro +5 · 1 citation
Computer Science · Engineering · #Human Pose and Action Recognition #Robotic Locomotion and Control #Multimodal Machine Learning Applications
- POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality
2025/03/10 by Joey Wilson, Wilson, Joey, Marcelino Almeida +14 · 3 citations
Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Industrial Vision Systems and Defect Detection #Robotics (cs.RO)
- Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
2022/03/16 by Sangli Teng, Amit K. Sanyal, Teng, Sangli +7 · 1 citation
Engineering · Physics and Astronomy · #Advanced MEMS and NEMS Technologies #Mechanical and Optical Resonators #Adaptive Control of Nonlinear Systems
- GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
2024/03/07 by Sangli Teng, Harry Zhang, Teng, Sangli +9 · 2 citations
Computer Science · Engineering · #Target Tracking and Data Fusion in Sensor Networks #Fault Detection and Control Systems
- Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning
2024/07/29 by Ray Zhang, Zheming Zhou, Zhang, Ray +13 · 1 citation
Computer Science · Engineering · #3D Shape Modeling and Analysis #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Robotics (cs.RO) #Robotics and Sensor-Based Localization
- Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
2025/05/05 by Sangli Teng, Tzu-Yuan Lin, Teng, Sangli +7 · 2 citations
Physics and Astronomy · Mathematics · #Advanced Differential Geometry Research #Morphological variations and asymmetry
- A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
2024/10/08 by Sangli Teng, Teng, Sangli, Kaito Iwasaki +11 · 3 citations
Engineering · Mathematics · #Control Systems and Identification #Advanced Optimization Algorithms Research #Stability and Control of Uncertain Systems
- E3DGS: Unified Geometric-Photometric Equivariance for 3D Gaussian Splatting via Color-as-Geometry Embedding
2026/07/17 by Chankyo Kim, Maani Ghaffari
#cs.CV #cs.LG
- A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
2026/07/24 by Duong Le, Ryan Posh, Shihao Cheng +2
#cs.RO
- NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
2026/07/22 by Junzhe Wu, Yue Hu, Zeyu Han +4
#cs.RO #cs.CV