Controlling Basin Breakout for Robots Operating in Uncertain Flow Environments. - Christoffer R. Heckman; M. Ani Hsieh; Ira B. Schwartz (ISER, 2014)

Small and Adrift with Self-Control: Using the Environment to Improve Autonomy. - M. Ani Hsieh; Hadi Hajieghrary; Dhanushka Kularatne; Christoffer R. Heckman; Eric Forgoston; Ira B. Schwartz; Philip A. Yecko (ISRR (2), 2015)

Toward efficient navigation in uncertain gyre-like flows. - Christoffer R. Heckman; Ira B. Schwartz; M. Ani Hsieh (Int. J. Robotics Res., 2015)

Light Source Estimation in Synthetic Images. - Mike Kasper; Nima Keivan; Gabe Sibley; Christoffer R. Heckman (ECCV Workshops (3), 2016)

Multi-Sensor SLAM with Online Self-Calibration and Change Detection. - Fernando Nobre; Christoffer R. Heckman; Gabe T. Sibley (ISER, 2016)

Drift-correcting self-calibration for visual-inertial SLAM. - Fernando Nobre; Michael Kasper; Christoffer R. Heckman (ICRA, 2017)

Materials That Make Robots Smart. - Nikolaus Correll; Christoffer Heckman (ISRR, 2017)

Reinforcement Learning for Assisted Visual-Inertial Robotic Calibration. - Fernando Nobre; Christoffer Heckman (ISRR, 2017)

Light Source Estimation with Analytical Path-tracing. - Mike Kasper; Nima Keivan; Gabe Sibley; Christoffer R. Heckman (CoRR, 2017)

Hidden Markov Random Field Iterative Closest Point. - John Stechschulte; Christoffer Heckman (CoRR, 2017)

Weak in the NEES?: Auto-Tuning Kalman Filters with Bayesian Optimization. - Zhaozhong Chen; Christoffer Heckman; Simon Julier; Nisar R. Ahmed (FUSION, 2018)

Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles. - Sina Aghli; Christoffer Heckman (ICRA, 2018)

Online Probabilistic Change Detection in Feature-Based Maps. - Fernando Nobre; Christoffer R. Heckman; Paul Ozog; Ryan W. Wolcott; Jeffrey M. Walls (ICRA, 2018)

Game-Theoretic Cooperative Lane Changing Using Data-Driven Models. - Guohui Ding 002; Sina Aghli; Christoffer Heckman; Lijun Chen 001 (IROS, 2018)

Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy. - Joseph Micah Prendergast; Gregory A. Formosa; Christoffer R. Heckman; Mark E. Rentschler (IROS, 2018)

Path-Following through Control Funnel Functions. - Hadi Ravanbakhsh; Sina Aghli; Christoffer Heckman; Sriram Sankaranarayanan 001 (IROS, 2018)

FastCal: Robust Online Self-calibration for Robotic Systems. - Fernando Nobre; Christoffer R. Heckman (ISER, 2018)

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. - Steve McGuire; Christoffer Heckman; Daniel Szafir; Simon Julier; Nisar R. Ahmed (CoRR, 2018)

Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. - Steve McGuire; P. Michael Furlong; Christoffer Heckman; Simon Julier; Daniel Szafir; Nisar R. Ahmed (IEEE Robotics Autom. Lett., 2018)

Multiple Point Light Estimation from Low-Quality 3D Reconstructions. - Mike Kasper; Christoffer Heckman (3DV, 2019)

VI-SLAM for Subterranean Environments. - Andrew Kramer; Mike Kasper; Christoffer Heckman (FSR, 2019)

Scalable Event-Triggered Data Fusion for Autonomous Cooperative Swarm Localization. - Ian Loefgren; Nisar R. Ahmed; Eric W. Frew; Christoffer Heckman; J. Sean Humbert (FUSION, 2019)

SUN-Spot: An RGB-D Dataset With Spatial Referring Expressions. - Cecilia Mauceri; Martha Palmer; Christoffer Heckman (ICCV Workshops, 2019)

Robust low-overlap 3-D point cloud registration for outlier rejection. - John Stechschulte; Nisar R. Ahmed; Christoffer Heckman (ICRA, 2019)

A Benchmark for Visual-Inertial Odometry Systems Employing Onboard Illumination. - Mike Kasper; Steve McGuire; Christoffer Heckman (IROS, 2019)

Embedded Neural Networks for Robot Autonomy. - Sarah Aguasvivas Manzano; Dana T. Hughes; Cooper R. Simpson; Radhen Patel; Christoffer Heckman; Nikolaus Correll (ISRR, 2019)

SUN-Spot Referring Expressions Dataset. - Cecilia Mauceri; Martha Palmer; Christoffer Heckman (Zenodo, 2019)

Kalman Filter Tuning with Bayesian Optimization. - Zhaozhong Chen; Nisar R. Ahmed; Simon Julier; Christoffer Heckman (CoRR, 2019)

Materials that make robots smart. - Dana Hughes 001; Christoffer Heckman; Nikolaus Correll (Int. J. Robotics Res., 2019)

Learning to calibrate: Reinforcement learning for guided calibration of visual-inertial rigs. - Fernando Nobre; Christoffer Heckman (Int. J. Robotics Res., 2019)

Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. - Steve McGuire; P. Michael Furlong; Terry Fong; Christoffer Heckman; Daniel Szafir; Simon J. Julier; Nisar R. Ahmed (IEEE Robotics Autom. Lett., 2019)

Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation. - Guohui Ding 002; Joewie J. Koh; Kelly Merckaert; Bram Vanderborght; Marco M. Nicotra; Christoffer Heckman; Alessandro Roncone; Lijun Chen 001 (AAMAS, 2020)

Unsupervised Metric Relocalization Using Transform Consistency Loss. - Mike Kasper; Fernando Nobre; Christoffer Heckman; Nima Keivan (CoRL, 2020)

Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments. - Andrew Kramer; Carl Stahoviak; Angel Santamaria-Navarro; Ali-akbar Agha-mohammadi; Christoffer Heckman (ICRA, 2020)

Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps. - Samuel Bateman; Kyle Harlow; Christoffer Heckman (IROS, 2020)

Cooperative Control of Mobile Robots with Stackelberg Learning. - Joewie J. Koh; Guohui Ding 002; Christoffer Heckman; Lijun Chen 001; Alessandro Roncone (IROS, 2020)

Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog. - Andrew Kramer; Christoffer Heckman (ISER, 2020)

Leveraging Non-Specialists for Accurate and Time Efficient AMR Annotation. - Mary Martin; Cecilia Mauceri; Martha Palmer; Christoffer Heckman (CLLRD@LREC, 2020)

Time Dependence in Kalman Filter Tuning. - Zhaozhong Chen; Christoffer Heckman; Simon Julier; Nisar R. Ahmed (FUSION, 2021)

Robust Pose Estimation Based on Normalized Information Distance. - Zhaozhong Chen; Christoffer Heckman (IROS, 2021)

A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics. - Michael E. Walker; Zhaozhong Chen; Matthew Whitlock; David Blair; Danielle Albers Szafir; Christoffer Heckman; Daniel Szafir (IROS, 2021)

Deformable Bayesian Convolutional Networks for Disease-Robust Cardiac MRI Segmentation. - Mitchell J. Fulton; Christoffer R. Heckman; Mark E. Rentschler (STACOM@MICCAI, 2021)

Formalizing and guaranteeing human-robot interaction. - Hadas Kress-Gazit; Kerstin Eder; Guy Hoffman; Henny Admoni; Brenna Argall; Rüdiger Ehlers; Christoffer Heckman; Nils Jansen 001; Ross A. Knepper; Jan Kretínský; Shelly Levy-Tzedek; Jamy Li; et al. (Commun. ACM, 2021)

ColoRadar: The Direct 3D Millimeter Wave Radar Dataset. - Andrew Kramer; Kyle Harlow; Christopher Williams; Christoffer Heckman (CoRR, 2021)

A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation. - Joseph Micah Prendergast; Gregory A. Formosa; Mitchell J. Fulton; Christoffer R. Heckman; Mark E. Rentschler (IEEE Trans. Robotics, 2021)

Human-Aware Reinforcement Learning for Fault Recovery Using Contextual Gaussian Processes. - Steve McGuire; P. Michael Furlong; Christoffer Heckman; Simon Julier; Nisar R. Ahmed (J. Aerosp. Inf. Syst., 2021)

Verified Path Following Using Neural Control Lyapunov Functions. - Alec Reed; Guillaume O. Berger; Sriram Sankaranarayanan 001; Christoffer Heckman (CoRL, 2022)

Aligning Images and Text with Semantic Role Labels for Fine-Grained Cross-Modal Understanding. - Abhidip Bhattacharyya; Cecilia Mauceri; Martha Palmer; Christoffer Heckman (LREC, 2022)

Present and Future of SLAM in Extreme Underground Environments. - Kamak Ebadi; Lukas Bernreiter; Harel Biggie; Gavin Catt; Yun Chang; Arghya Chatterjee 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (CoRR, 2022)

ColoRadar: The direct 3D millimeter wave radar dataset. - Andrew Kramer; Kyle Harlow; Christopher R. Williams; Christoffer Heckman (Int. J. Robotics Res., 2022)

Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration. - Michael Ohradzansky; Eugene R. Rush; Danny G. Riley; Andrew B. Mills; Shakeeb Ahmad; Steve McGuire; Harel Biggie; Kyle Harlow; Michael J. Miles; Eric W. Frew; Christoffer Heckman; James Sean Humbert (Field Robotics, 2022)

Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation. - Harel Biggie; Ajay Narasimha Mopidevi; Dusty Woods; Christoffer R. Heckman (CoRL, 2023)

BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization. - Harel Biggie; Andrew Beathard; Christoffer Heckman (ICRA, 2023)

Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration. - Kristen Such; Harel Biggie; Christoffer Heckman (ISER, 2023)

CRAPES:Cross-modal Annotation Projection for Visual Semantic Role Labeling. - Abhidip Bhattacharyya; Martha Palmer; Christoffer Heckman (*SEM@ACL, 2023)

Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking. - Ofer Dagan; Tycho L. Cinquini; Luke Morrissey; Kristen Such; Nisar R. Ahmed; Christoffer Heckman (CoRR, 2023)

Looking Around Corners: Generative Methods in Terrain Extension. - Alec Reed; Christoffer Heckman (CoRR, 2023)

Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization. - Zhaozhong Chen; Harel Biggie; Nisar R. Ahmed; Simon Julier; Christoffer Heckman (CoRR, 2023)

A Population-Level Analysis of Neural Dynamics in Robust Legged Robots. - Eugene R. Rush; Christoffer Heckman; Kaushik Jayaram; J. Sean Humbert (CoRR, 2023)

Flexible Supervised Autonomy for Exploration in Subterranean Environments. - Harel Biggie; Eugene R. Rush; Danny G. Riley; Shakeeb Ahmad; Michael Ohradzansky; Kyle Harlow; Michael J. Miles; Daniel Torres; Steve McGuire; Eric W. Frew; Christoffer Heckman; James Sean Humbert (Field Robotics, 2023)

Terrain-aware semantic mapping for cooperative subterranean exploration. - Michael J. Miles; Harel Biggie; Christoffer Heckman (Frontiers Robotics AI, 2023)

ReCAP: Semantic Role Enhanced Caption Generation. - Abhidip Bhattacharyya; Martha Palmer; Christoffer Heckman (LREC/COLING, 2024)

RMap: Millimeter-Wave Radar Mapping Through Volumetric Upsampling. - Ajay Narasimha Mopidevi; Kyle Harlow; Christoffer Heckman (IROS, 2024)

SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation. - Alec Reed; Brendan Crowe; Doncey Albin; Lorin Achey; Bradley Hayes; Christoffer Heckman (IROS, 2024)

Radar-Based Localization For Autonomous Ground Vehicles In Suburban Neighborhoods. - Andrew Kramer; Christoffer Heckman (CoRR, 2024)

CogExplore: Contextual Exploration with Language-Encoded Environment Representations. - Harel Biggie; Patrick Cooper; Doncey Albin; Kristen Such; Christoffer Heckman (CoRR, 2024)

Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation. - Alec Reed; Lorin Achey; Brendan Crowe; Bradley Hayes; Christoffer Heckman (CoRR, 2024)

Foundation Models for Rapid Autonomy Validation. - Alec Farid; Peter Schleede; Aaron Huang; Christoffer Heckman (CoRR, 2024)

Neural dynamics of robust legged robots. - Eugene R. Rush; Christoffer Heckman; Kaushik Jayaram; J. Sean Humbert (Frontiers Robotics AI, 2024)

Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization. - Zhaozhong Chen; Harel Biggie; Nisar R. Ahmed; Simon Julier; Christoffer Heckman (IEEE Trans. Aerosp. Electron. Syst., 2024)

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. - Kamak Ebadi; Lukas Bernreiter; Harel Biggie; Gavin Catt; Yun Chang; Arghya Chatterjee 002; Christopher E. Denniston; Simon-Pierre Deschênes; Kyle Harlow; Shehryar Khattak; Lucas Nogueira; Matteo Palieri; et al. (IEEE Trans. Robotics, 2024)

A New Wave in Robotics: Survey on Recent MmWave Radar Applications in Robotics. - Kyle Harlow; Hyesu Jang; Timothy D. Barfoot; Ayoung Kim; Christoffer Heckman (IEEE Trans. Robotics, 2024)

Spatial-LLaVA: Enhancing Large Language Models with Spatial Referring Expressions for Visual Understanding. - Xuefei Sun; Doncey Albin; Cecilia Mauceri; Dusty Woods; Christoffer Heckman (CoRR, 2025)

CU-Multi: A Dataset for Multi-Robot Data Association. - Doncey Albin; Miles Mena; Annika Thomas; Harel Biggie; Xuefei Sun; Dusty Woods; Steve McGuire; Christoffer Heckman (CoRR, 2025)

Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis. - Lorin Achey; Alec Reed; Brendan Crowe; Bradley Hayes; Christoffer Heckman (CoRR, 2025)