Maani Ghaffari

Publication Activity (10 Years)

Years Active: 2020-2024
Publications (10 Years): 78

Top Topics

Inverse Reinforcement Learning

State Estimation

Semantic Mapping

Top Venues

IEEE Robotics Autom. Lett.

IEEE Trans. Robotics

Publications

Jingwei Song, Ray Zhang, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
BDIS-SLAM: a lightweight CPU-based dense stereo SLAM for surgery. Int. J. Comput. Assist. Radiol. Surg. 19 (5) (2024)
Ray Zhang, Zheming Zhou, Min Sun, Omid Ghasemalizadeh, Cheng-Hao Kuo, Ryan Eustice, Maani Ghaffari, Arnie Sen
Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning. CoRR (2024)
Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets. IEEE Robotics Autom. Lett. 9 (5) (2024)
Jingwei Song, Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari
Iterative PnP and its application in 3D-2D vascular image registration for robot navigation. ICRA (2024)
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, Luca Carlone
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. CoRR (2024)
Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu
Legged Robot State Estimation within Non-inertial Environments. CoRR (2024)
Chien Erh Lin, Minghan Zhu, Maani Ghaffari
SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration. CoRR (2024)
Junwoo Jang, Maani Ghaffari
Social Zone as a Barrier Function for Socially-Compliant Robot Navigation. CoRR (2024)
Ray Zhang, Jingwei Song, Xiang Gao, Junzhe Wu, Tianyi Liu, Jinyuan Zhang, Ryan Eustice, Maani Ghaffari
RKHS-BA: A Semantic Correspondence-Free Multi-View Registration Framework with Global Tracking. CoRR (2024)
Jingwei Song, Keke Yang, Han Chen, Jiayi Liu, Yinan Gu, Qianxin Hui, Yanqi Huang, Meng Li, Zheng Zhang, Tuoyu Cao, Maani Ghaffari
VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics. CoRR (2024)
Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari, Shinpei Kato
Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. ICRA (2023)
Minghan Zhu, Maani Ghaffari, William A. Clark, Huei Peng
E2PN: Efficient SE(3)-Equivariant Point Network. CVPR (2023)
Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong, Maani Ghaffari
Proprioceptive Invariant Robot State Estimation. CoRR (2023)
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. IROS (2023)
Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
Robust Task Scheduling for Heterogeneous Robot Teams Under Capability Uncertainty. IEEE Trans. Robotics 39 (2) (2023)
Joey Wilson, Yuewei Fu, Joshua Friesen, Parker Ewen, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty. CoRR (2023)
Surya Pratap Singh, Billy Mazotti, Sarvesh Mayilvahanan, Guoyuan Li, Dhyey Manish Rajani, Maani Ghaffari
Twilight SLAM: A Comparative Study of Low-Light Visual SLAM Pipelines. CoRR (2023)
Prince E. Kuevor, Maani Ghaffari, Ella M. Atkins, James W. Cutler
Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression. Sensors 23 (8) (2023)
Bo Fu, Tribhi Kathuria, Denise M. Rizzo, Matthew P. Castanier, X. Jessie Yang, Maani Ghaffari, Kira Barton
Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. CoRR (2023)
Junwoo Jang, Sangli Teng, Maani Ghaffari
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles. CoRR (2023)
Tzu-Yuan Lin, Minghan Zhu, Maani Ghaffari
Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras. CoRR (2023)
Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari, Jingwei Song
Optical Flow-Based Vascular Respiratory Motion Compensation. IEEE Robotics Autom. Lett. 8 (11) (2023)
Jingwei Song, Ray Zhang, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery. CoRR (2023)
Jingwei Song, Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari
Iterative PnP and its application in 3D-2D vascular image registration for robot navigation. CoRR (2023)
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. CoRR (2023)
Junwoo Jang, Sangli Teng, Maani Ghaffari
Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles. IEEE Robotics Autom. Lett. 8 (12) (2023)
Joey Wilson, Yuewei Fu, Arthur Zhang, Jingyu Song, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
Convolutional Bayesian Kernel Inference for 3D Semantic Mapping. ICRA (2023)
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. IEEE Trans. Robotics 39 (1) (2023)
Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria, Maani Ghaffari
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning. ICRA (2023)
Yutaka Shimizu, Ashkan Jasour, Maani Ghaffari, Shinpei Kato
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. CoRR (2023)
Prince E. Kuevor, Maani Ghaffari, Ella M. Atkins, James W. Cutler
Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression. CoRR (2023)
Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching. IEEE Trans. Robotics 39 (2) (2023)
Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan J. Englot, Ryan M. Eustice, Maani Ghaffari
A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios. IEEE Access 11 (2023)
Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari, Jingwei Song
Optical flow-based vascular respiratory motion compensation. CoRR (2023)
Minghan Zhu, Shizhong Han, Maani Ghaffari, Hong Cai, Fatih Porikli, Shubhankar Borse
4D Panoptic Segmentation as Invariant and Equivariant Field Prediction. ICCV (2023)
Sangli Teng, William Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
Lie Algebraic Cost Function Design for Control on Lie Groups. CoRR (2022)
Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. CoRR (2022)
Tribhi Kathuria, Yifan Xu, Theodor Chakhachiro, X. Jessie Yang, Maani Ghaffari
Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction. RO-MAN (2022)
Chien Erh Lin, Jingwei Song, Ray Zhang, Minghan Zhu, Maani Ghaffari
SE(3)-Equivariant Point Cloud-Based Place Recognition. CoRL (2022)
Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, Jingwei Song
Progress in symmetry preserving robot perception and control through geometry and learning. Future Internet 9 (2022)
Sangli Teng, Dianhao Chen, William Clark, Maani Ghaffari
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. IROS (2022)
Jingwei Song, Mitesh Patel, Maani Ghaffari
Fusing Convolutional Neural Network and Geometric Constraint for Image-Based Indoor Localization. IEEE Robotics Autom. Lett. 7 (2) (2022)
Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. CoRR (2022)
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. 7 (4) (2022)
Sangli Teng, Dianhao Chen, William Clark, Maani Ghaffari
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. CoRR (2022)
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. CoRR (2022)
Jingwei Song, Mitesh Patel, Ashkan Jasour, Maani Ghaffari
A Closed-Form Uncertainty Propagation in Non-Rigid Structure From Motion. IEEE Robotics Autom. Lett. 7 (3) (2022)
Aishwarya Unnikrishnan, Joey Wilson, Lu Gan, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
Dynamic Semantic Occupancy Mapping Using 3D Scene Flow and Closed-Form Bayesian Inference. IEEE Access 10 (2022)
Joey Wilson, Jingyu Song, Yuewei Fu, Arthur Zhang, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments. IEEE Robotics Autom. Lett. 7 (3) (2022)
Sangli Teng, William Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari
Lie Algebraic Cost Function Design for Control on Lie Groups. CDC (2022)
Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
Bayesian Dense Inverse Searching Algorithm for Real-Time Stereo Matching in Minimally Invasive Surgery. MICCAI (8) (2022)
Joey Wilson, Jingyu Song, Yuewei Fu, Arthur Zhang, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments. CoRR (2022)
Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation. CoRR (2022)
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. CoRR (2022)
Jingwei Song, Mitesh Patel, Maani Ghaffari
Fusing Convolutional Neural Network and Geometric Constraint for Image-based Indoor Localization. CoRR (2022)
Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. ACC (2022)
Joey Wilson, Yuewei Fu, Arthur Zhang, Jingyu Song, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
Convolutional Bayesian Kernel Inference for 3D Semantic Mapping. CoRR (2022)
Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching. CoRR (2022)
Yifan Xu, Theodor Chakhachiro, Tribhi Kathuria, Maani Ghaffari
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning. CoRR (2022)
Bo Fu, Tribhi Kathuria, Denise M. Rizzo, Matthew P. Castanier, X. Jessie Yang, Maani Ghaffari, Kira Barton
Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. CoRR (2022)
Minghan Zhu, Maani Ghaffari, William A. Clark, Huei Peng
PN: Efficient SE(3)-Equivariant Point Network. CoRR (2022)
Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, Jingwei Song
Progress in symmetry preserving robot perception and control through geometry and learning. Frontiers Robotics AI 9 (2022)
Tribhi Kathuria, Yifan Xu, Theodor Chakhachiro, X. Jessie Yang, Maani Ghaffari
Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction. CoRR (2022)
Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events. CoRL (2021)
Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari, Jessy W. Grizzle
LiDARTag: A Real-Time Fiducial Tag System for Point Clouds. IEEE Robotics Autom. Lett. 6 (3) (2021)
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. ICRA (2021)
Bo Fu, William Smith, Denise M. Rizzo, Matthew P. Castanier, Maani Ghaffari, Kira Barton
Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty. CoRR (2021)
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. CoRR (2021)
William Clark, Maani Ghaffari, Anthony M. Bloch
Nonparametric Continuous Sensor Registration. J. Mach. Learn. Res. 22 (2021)
Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari
Toward Safety-Aware Informative Motion Planning for Legged Robots. CoRR (2021)
Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari
Deep Multi-Modal Contact Estimation for Invariant Observer Design on Quadruped Robots. CoRR (2021)
Minghan Zhu, Maani Ghaffari, Huei Peng
Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations. CoRL (2021)
Jingwei Song, Qiuchen Zhu, Jianyu Lin, Maani Ghaffari
Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery. CoRR (2021)
Minghan Zhu, Maani Ghaffari, Huei Peng
Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations. CoRR (2021)
Aysegül Uçar, Jessy W. Grizzle, Maani Ghaffari, Mattias Wahde, H. Levent Akin, Jacky Baltes, H. Isil Bozma, Jaime Valls Miró
IEEE Access Special Section Editorial: Real-Time Machine Learning Applications in Mobile Robotics. IEEE Access 9 (2021)
Aishwarya Unnikrishnan, Joseph Wilson, Lu Gan, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari
Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference. CoRR (2021)
Minghan Zhu, Maani Ghaffari, Yuanxin Zhong, Pingping Lu, Zhong Cao, Ryan M. Eustice, Huei Peng
Monocular Depth Prediction through Continuous 3D Loss. IROS (2020)
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. CoRR (2020)