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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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Majorization Minimization Methods for Distributed Pose Graph Optimization


Aug 03, 2021
Taosha Fan, Todd Murphey

* 33 pages 

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Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation


May 28, 2021
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam

* 20 pages, including appendix 

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Generalized Proximal Methods for Pose Graph Optimization


Dec 04, 2020
Taosha Fan, Todd Murphey

* International Symposium on Robotics Research (ISRR), 2019 
* 29 pages 

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CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation


Jun 25, 2020
Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd Murphey

* IEEE Transactions on Robotics, 2020 

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Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees


Mar 11, 2020
Taosha Fan, Todd Murphey

* 13 pages 

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Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization


Apr 29, 2019
Taosha Fan, Jarvis Schultz, Todd Murphey

* Workshop on the Algorithmic Foundations of Robotics, 2018 
* 42 pages, includes appendix 

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Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups


Aug 31, 2017
Taosha Fan, Todd Murphey

* Robotics: Science and Systems Proceedings, 2016 

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