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Neighborhood Mixup Experience Replay: Local Convex Interpolation for Improved Sample Efficiency in Continuous Control Tasks


May 18, 2022
Ryan Sander, Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Sertac Karaman, Daniela Rus

* Accepted to L4DC 2022 

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Learning Interactive Driving Policies via Data-driven Simulation


Nov 23, 2021
Tsun-Hsuan Wang, Alexander Amini, Wilko Schwarting, Igor Gilitschenski, Sertac Karaman, Daniela Rus

* The first two authors contributed equally to this this work. Code is available here: http://vista.csail.mit.edu/ 

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VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehicles


Nov 23, 2021
Alexander Amini, Tsun-Hsuan Wang, Igor Gilitschenski, Wilko Schwarting, Zhijian Liu, Song Han, Sertac Karaman, Daniela Rus

* First two authors contributed equally. Code and project website is available here: https://vista.csail.mit.edu 

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Is Bang-Bang Control All You Need? Solving Continuous Control with Bernoulli Policies


Nov 03, 2021
Tim Seyde, Igor Gilitschenski, Wilko Schwarting, Bartolomeo Stellato, Martin Riedmiller, Markus Wulfmeier, Daniela Rus


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HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling


Oct 05, 2021
Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

* 12 pages, 10 figures, 4 tables 

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Deep Latent Competition: Learning to Race Using Visual Control Policies in Latent Space


Feb 19, 2021
Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Lucas Liebenwein, Ryan Sander, Sertac Karaman, Daniela Rus

* Wilko, Tim, and Igor contributed equally to this work; published in Conference on Robot Learning 2020 

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Deep Context Map: Agent Trajectory Prediction using Location-specific Latent Maps


Dec 14, 2019
Igor Gilitschenski, Guy Rosman, Arjun Gupta, Sertac Karaman, Daniela Rus


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SiPPing Neural Networks: Sensitivity-informed Provable Pruning of Neural Networks


Oct 11, 2019
Cenk Baykal, Lucas Liebenwein, Igor Gilitschenski, Dan Feldman, Daniela Rus

* First two authors contributed equally 

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Data-Dependent Coresets for Compressing Neural Networks with Applications to Generalization Bounds


Sep 05, 2018
Cenk Baykal, Lucas Liebenwein, Igor Gilitschenski, Dan Feldman, Daniela Rus

* First two authors contributed equally 

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Map Management for Efficient Long-Term Visual Localization in Outdoor Environments


Aug 08, 2018
Mathias Bürki, Marcin Dymczyk, Igor Gilitschenski, Cesar Cadena, Roland Siegwart, Juan Nieto

* 7p 

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Appearance-Based Landmark Selection for Efficient Long-Term Visual Localization


Aug 08, 2018
Mathias Bürki, Igor Gilitschenski, Elena Stumm, Roland Siegwart, Juan Nieto

* 7 pages 

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LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization


Jul 13, 2018
Marcin Dymczyk, Igor Gilitschenski, Juan Nieto, Simon Lynen, Bernhard Zeisl, Roland Siegwart


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Learning 3D Segment Descriptors for Place Recognition


Apr 24, 2018
Andrei Cramariuc, Renaud Dubé, Hannes Sommer, Roland Siegwart, Igor Gilitschenski

* Presented at IROS 2017 Workshop on Learning for Localization and Mapping 

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Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes


Feb 25, 2018
Timo Hinzmann, Thomas Stastny, Cesar Cadena, Roland Siegwart, Igor Gilitschenski

* Accepted for publication in IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisbane and IEEE Robotics and Automation Letters (RA-L), 2018 

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Why and How to Avoid the Flipped Quaternion Multiplication


Feb 05, 2018
Hannes Sommer, Igor Gilitschenski, Michael Bloesch, Stephan Weiss, Roland Siegwart, Juan Nieto

* 16 pages, 1 figure, 2 tables (minor improvements and fixes over v1, smaller page margins) 

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Voliro: An Omnidirectional Hexacopter With Tiltable Rotors


Jan 14, 2018
Mina Kamel, Sebastian Verling, Omar Elkhatib, Christian Sprecher, Paula Wulkop, Zachary Taylor, Roland Siegwart, Igor Gilitschenski

* Submitted to Robotics and Automation Magazine 

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Directional Statistics and Filtering Using libDirectional


Dec 28, 2017
Gerhard Kurz, Igor Gilitschenski, Florian Pfaff, Lukas Drude, Uwe D. Hanebeck, Reinhold Haeb-Umbach, Roland Y. Siegwart

* Version accepted for Publication in the Journal of Statistical Software 

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maplab: An Open Framework for Research in Visual-inertial Mapping and Localization


Nov 28, 2017
Thomas Schneider, Marcin Dymczyk, Marius Fehr, Kevin Egger, Simon Lynen, Igor Gilitschenski, Roland Siegwart


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Visual-inertial self-calibration on informative motion segments


Aug 08, 2017
Thomas Schneider, Mingyang Li, Michael Burri, Juan Nieto, Roland Siegwart, Igor Gilitschenski

* Robotics and Automation (ICRA), 2017 IEEE International Conference on 

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Recursive Bayesian Filtering in Circular State Spaces


Jan 21, 2015
Gerhard Kurz, Igor Gilitschenski, Uwe D. Hanebeck


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Unscented Orientation Estimation Based on the Bingham Distribution


Nov 22, 2013
Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck


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Recursive Estimation of Orientation Based on the Bingham Distribution


Apr 30, 2013
Gerhard Kurz, Igor Gilitschenski, Simon Julier, Uwe D. Hanebeck


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