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Theseus: A Library for Differentiable Nonlinear Optimization


Jul 19, 2022
Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam


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PatchGraph: In-hand tactile tracking with learned surface normals


Nov 15, 2021
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

* 7 pages, 8 figures 

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LEO: Learning Energy-based Models in Graph Optimization


Aug 04, 2021
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess


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CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping


Jul 15, 2021
Alexander Baikovitz, Paloma Sodhi, Michael Dille, Michael Kaess

* Accepted to the Radar in Robotics Workshop at the 2021 International Conference on Robotics and Automation 

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Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar


Mar 29, 2021
Alexander Baikovitz, Paloma Sodhi, Michael Dille, Michael Kaess

* Submitted to the International Conference on Intelligent Robots and Systems (IROS) 2021 

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Learning Tactile Models for Factor Graph-based State Estimation


Dec 07, 2020
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

* Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2021 

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