Selected Publications

Inferring Articulated Rigid Body Dynamics from RGBD Video

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly …

Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme

Inferring Articulated Rigid Body Dynamics from RGBD Video

Robotic Lime Picking by Considering Leaves as Permeable Obstacles

The problem of robotic lime picking is challeng- ing; lime plants have dense foliage which makes it difficult for a robotic arm to …

Heramb Nemlekar, Ziang Liu, Suraj Kothawade, Sherdil Niyaz, Barath Raghavan and Stefanos Nikolaidis

Robotic Lime Picking by Considering Leaves as Permeable Obstacles

A Hierarchical Approach to Multi-Agent Path Finding

We propose a hierarchical framework for solving the Multi-Agent Path Finding (MAPF) problem. We spatially divide a large map instance …

Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T.K. Satish Kumar, Sven Koenig

A Hierarchical Approach to Multi-Agent Path Finding

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking

Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and …

Eric Heiden, Ziang Liu, Ragesh K Ramachandran, Gaurav S Sukhatme

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking