Concept and Realization of a Diagnostic System for Smart Environments. - Eric Heiden; Sebastian Bader 001; Thomas Kirste (ICAART (2), 2017)

Planning high-speed safe trajectories in confidence-rich maps. - Eric Heiden; Karol Hausman; Gaurav S. Sukhatme; Ali-akbar Agha-mohammadi (IROS, 2017)

Web Text-based Network Industry Classifications: Preliminary Results. - Eric Heiden; Gerard Hoberg; Craig A. Knoblock; Palak Modi; Gordon Phillips; Gaurangi Raul; Pedro A. Szekely (DSMM@SIGMOD, 2017)

Gradient-Informed Path Smoothing for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Sven Koenig; Kai Oliver Arras; Gaurav S. Sukhatme (ICRA, 2018)

Heterogeneous Sensor Fusion via Confidence-Rich 3D Grid Mapping: Application to Physical Robots. - Eric Heiden; Daniel Pastor; Pradyumna Vyshnav; Ali-Akbar Agha-Mohammadi (ISER, 2018)

Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills. - Ryan Julian; Eric Heiden; Zhanpeng He; Hejia Zhang; Stefan Schaal; Joseph J. Lim; Gaurav S. Sukhatme; Karol Hausman (ISER, 2018)

Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation. - Hejia Zhang; Eric Heiden; Ryan Julian; Zhangpeng He; Joseph J. Lim; Gaurav S. Sukhatme (CoRR, 2018)

Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations. - Zhanpeng He; Ryan Julian; Eric Heiden; Hejia Zhang; Stefan Schaal; Joseph J. Lim; Gaurav S. Sukhatme; Karol Hausman (CoRR, 2018)

Interactive Differentiable Simulation. - Eric Heiden; David Millard 001; Hejia Zhang; Gaurav S. Sukhatme (CoRR, 2019)

Confidence-rich grid mapping. - Ali-akbar Agha-mohammadi; Eric Heiden; Karol Hausman; Gaurav S. Sukhatme (Int. J. Robotics Res., 2019)

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. - Kamak Ebadi; Yun Chang; Matteo Palieri; Alex Stephens; Alex Hatteland; Eric Heiden; Abhishek Thakur; Nobuhiro Funabiki; Benjamin Morrell; Sally L. Wood; Luca Carlone; Ali-akbar Agha-mohammadi (ICRA, 2020)

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking. - Eric Heiden; Ziang Liu 002; Ragesh K. Ramachandran; Gaurav S. Sukhatme (ICRA, 2020)

Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics. - David Millard 001; Eric Heiden; Shubham Agrawal; Gaurav S. Sukhatme (CoRR, 2020)

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Kai Oliver Arras; Gaurav S. Sukhatme; Sven Koenig (CoRR, 2020)

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. - Eric Heiden; David Millard 001; Erwin Coumans; Gaurav S. Sukhatme (CoRR, 2020)

Scaling simulation-to-real transfer by learning a latent space of robot skills. - Ryan Julian; Eric Heiden; Zhanpeng He; Hejia Zhang; Stefan Schaal; Joseph J. Lim; Gaurav S. Sukhatme; Karol Hausman (Int. J. Robotics Res., 2020)

NeuralSim: Augmenting Differentiable Simulators with Neural Networks. - Eric Heiden; David Millard 001; Erwin Coumans; Yizhou Sheng; Gaurav S. Sukhatme (ICRA, 2021)

DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting. - Eric Heiden; Miles Macklin; Yashraj S. Narang; Dieter Fox; Animesh Garg; Fabio Ramos 001 (Robotics: Science and Systems, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots. - Eric Heiden; Luigi Palmieri; Leonard Bruns; Kai O. Arras; Gaurav S. Sukhatme; Sven Koenig (IEEE Robotics Autom. Lett., 2021)

Grasp'D: Differentiable Contact-Rich Grasp Synthesis for Multi-Fingered Hands. - Dylan Turpin; Liquan Wang; Eric Heiden; Yun-Chun Chen; Miles Macklin; Stavros Tsogkas; Sven J. Dickinson; Animesh Garg (ECCV (6), 2022)

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. - Eric Heiden; Christopher E. Denniston; David Millard 001; Fabio Ramos 001; Gaurav S. Sukhatme (ICRA, 2022)

Inferring Articulated Rigid Body Dynamics from RGBD Video. - Eric Heiden; Ziang Liu 002; Vibhav Vineet; Erwin Coumans; Gaurav S. Sukhatme (IROS, 2022)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation. - Dylan Turpin; Tao Zhong 003; Shutong Zhang; Guanglei Zhu; Eric Heiden; Miles Macklin; Stavros Tsogkas; Sven J. Dickinson; Animesh Garg (ICRA, 2023)

Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation. - Dylan Turpin; Tao Zhong 003; Shutong Zhang; Guanglei Zhu; Jingzhou Liu; Ritvik Singh; Eric Heiden; Miles Macklin; Stavros Tsogkas; Sven J. Dickinson; Animesh Garg (CoRR, 2023)

DiSECt: a differentiable simulator for parameter inference and control in robotic cutting. - Eric Heiden; Miles Macklin; Yashraj S. Narang; Dieter Fox; Animesh Garg; Fabio Ramos 001 (Auton. Robots, 2023)

Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation. - Ignat Georgiev; Krishnan Srinivasan; Jie Xu 028; Eric Heiden; Animesh Garg (ICML, 2024)

HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors. - Shutong Zhang; Yi-Ling Qiao; Guanglei Zhu; Eric Heiden; Dylan Turpin; Jingzhou Liu; Ming C. Lin; Miles Macklin; Animesh Garg (ICRA, 2024)

STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent. - Yewon Lee; Andrew Zou Li; Philip Huang; Eric Heiden; Krishna Murthy Jatavallabhula; Fabian Damken; Kevin Smith; Derek Nowrouzezahrai; Fabio Ramos 001; Florian Shkurti (IEEE Robotics Autom. Lett., 2025)

Neural Robot Dynamics. - Jie Xu 028; Eric Heiden; Iretiayo Akinola; Dieter Fox; Miles Macklin; Yashraj S. Narang (CoRR, 2025)