Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots. - Ehsan Hashemi; Maani Ghaffari Jadidi; Omid Bakhshandeh Babarsad (CIRA, 2009)

Model-based PI-fuzzy control of four-wheeled omni-directional mobile robots. - Ehsan Hashemi; Maani Ghaffari Jadidi; Navid Ghaffari Jadidi (Robotics Auton. Syst., 2011)

Exploration on continuous Gaussian process frontier maps. - Maani Ghaffari Jadidi; Jaime Valls Miró; Rafael Valencia; Juan Andrade-Cetto (ICRA, 2014)

Mutual information-based exploration on continuous occupancy maps. - Maani Ghaffari Jadidi; Jaime Valls Miró; Gamini Dissanayake (IROS, 2015)

Information-based view initialization in visual SLAM with a single omnidirectional camera. - David Valiente; Maani Ghaffari Jadidi; Jaime Valls Miró; Arturo Gil; Óscar Reinoso (Robotics Auton. Syst., 2015)

Optimal preview control of the Nao biped robot using a UKF-based state observer. - Maani Ghaffari Jadidi; Ehsan Hashemi (AIM, 2016)

Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots. - Maani Ghaffari Jadidi; Jaime Valls Miró; Gamini Dissanayake (CoRR, 2016)

Gaussian processes online observation classification for RSSI-based low-cost indoor positioning systems. - Maani Ghaffari Jadidi; Mitesh Patel; Jaime Valls Miró (ICRA, 2017)

Gaussian Processes Semantic Map Representation. - Maani Ghaffari Jadidi; Lu Gan 006; Steven A. Parkison; Jie Li 017; Ryan M. Eustice (CoRR, 2017)

Calibrationless Radio-Inertial Localization and Tracking Systems using Smart Handheld Devices. - Maani Ghaffari Jadidi; Mitesh Patel; Jaime Valls Miró; Gamini Dissanayake; Jacob T. Biehl; Andreas Girgensohn (CoRR, 2017)

Sparse Bayesian Inference for Dense Semantic Mapping. - Lu Gan 006; Maani Ghaffari Jadidi; Steven A. Parkison; Ryan M. Eustice (CoRR, 2017)

Warped Gaussian Processes Occupancy Mapping With Uncertain Inputs. - Maani Ghaffari Jadidi; Jaime Valls Miró; Gamini Dissanayake (IEEE Robotics Autom. Lett., 2017)

Gaussian processes for information-theoretic robotic mapping and exploration - Maani Ghaffari Jadidi (2017)

Semantic Iterative Closest Point through Expectation-Maximization. - Steven A. Parkison; Lu Gan 006; Maani Ghaffari Jadidi; Ryan M. Eustice (BMVC, 2018)

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. - Ross Hartley; Josh Mangelson; Lu Gan 006; Maani Ghaffari Jadidi; Jeffrey M. Walls; Ryan M. Eustice; Jessy W. Grizzle (ICRA, 2018)

A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps. - Maani Ghaffari Jadidi; Mitesh Patel; Jaime Valls Miró; Gamini Dissanayake; Jacob T. Biehl; Andreas Girgensohn (IPIN, 2018)

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs. - Ross Hartley; Maani Ghaffari Jadidi; Lu Gan 006; Jiunn-Kai Huang; Jessy W. Grizzle; Ryan M. Eustice (IROS, 2018)

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. - Ross Hartley; Maani Ghaffari Jadidi; Jessy W. Grizzle; Ryan M. Eustice (Robotics: Science and Systems, 2018)

Gaussian processes autonomous mapping and exploration for range-sensing mobile robots. - Maani Ghaffari Jadidi; Jaime Valls Miró; Gamini Dissanayake (Auton. Robots, 2018)

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs. - Ross Hartley; Maani Ghaffari Jadidi; Lu Gan 006; Jiunn-Kai Huang; Jessy W. Grizzle; Ryan M. Eustice (CoRR, 2018)

DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems. - Sahib Singh Dhanjal; Maani Ghaffari Jadidi; Ryan M. Eustice (IROS, 2019)

Continuous Direct Sparse Visual Odometry from RGB-D Images. - Maani Ghaffari Jadidi; William A. Clark; Anthony M. Bloch; Ryan Eustice; Jessy W. Grizzle (Robotics: Science and Systems, 2019)

LiDARTag: A Real-Time Fiducial Tag using Point Clouds. - Jiunn-Kai Huang; Maani Ghaffari Jadidi; Ross Hartley; Lu Gan 006; Ryan M. Eustice; Jessy W. Grizzle (CoRR, 2019)

Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping. - Lu Gan 006; Ray Zhang 001; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari Jadidi (CoRR, 2019)

Adaptive Continuous Visual Odometry from RGB-D Images. - Tzu-Yuan Lin; William A. Clark; Ryan M. Eustice; Jessy W. Grizzle; Anthony M. Bloch; Maani Ghaffari Jadidi (CoRR, 2019)

A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation. - Xi Lin 006; Dingyi Sun; Tzu-Yuan Lin; Ryan M. Eustice; Maani Ghaffari Jadidi (CoRR, 2019)

Sampling-based incremental information gathering with applications to robotic exploration and environmental monitoring. - Maani Ghaffari Jadidi; Jaime Valls Miró; Gamini Dissanayake (Int. J. Robotics Res., 2019)

Boosting Shape Registration Algorithms via Reproducing Kernel Hilbert Space Regularizers. - Steven A. Parkison; Maani Ghaffari Jadidi; Lu Gan 006; Ray Zhang 001; Arash K. Ushani; Ryan M. Eustice (IEEE Robotics Autom. Lett., 2019)

Monocular Depth Prediction through Continuous 3D Loss. - Minghan Zhu; Maani Ghaffari; Yuanxin Zhong; Pingping Lu; Zhong Cao; Ryan M. Eustice; Huei Peng (IROS, 2020)

A Path-Dependent Variational Framework for Incremental Information Gathering. - William A. Clark; Maani Ghaffari Jadidi (CoRR, 2020)

Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs. - Jiunn-Kai Huang; Chenxi Feng; Madhav Achar; Maani Ghaffari Jadidi; Jessy W. Grizzle (CoRR, 2020)

Contact-aided invariant extended Kalman filtering for robot state estimation. - Ross Hartley; Maani Ghaffari Jadidi; Ryan M. Eustice; Jessy W. Grizzle (Int. J. Robotics Res., 2020)

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping. - Lu Gan 006; Ray Zhang 001; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari Jadidi (IEEE Robotics Autom. Lett., 2020)

Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. - Joshua G. Mangelson; Maani Ghaffari Jadidi; Ram Vasudevan; Ryan M. Eustice (IEEE Trans. Robotics, 2020)

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events. - Tzu-Yuan Lin; Ray Zhang 001; Justin Yu; Maani Ghaffari (CoRL, 2021)

Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations. - Minghan Zhu; Maani Ghaffari; Huei Peng (CoRL, 2021)

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. - Ray Zhang 001; Tzu-Yuan Lin; Chien Erh Lin; Steven A. Parkison; William A. Clark; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari (ICRA, 2021)

IEEE Access Special Section Editorial: Real-Time Machine Learning Applications in Mobile Robotics. - Aysegül Uçar; Jessy W. Grizzle; Maani Ghaffari; Mattias Wahde; H. Levent Akin; Jacky Baltes; H. Isil Bozma; Jaime Valls Miró (IEEE Access, 2021)

Toward Safety-Aware Informative Motion Planning for Legged Robots. - Sangli Teng; Yukai Gong; Jessy W. Grizzle; Maani Ghaffari (CoRR, 2021)

Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. - Lu Gan 006; Youngji Kim; Jessy W. Grizzle; Jeffrey M. Walls; Ayoung Kim; Ryan M. Eustice; Maani Ghaffari (CoRR, 2021)

Deep Multi-Modal Contact Estimation for Invariant Observer Design on Quadruped Robots. - Tzu-Yuan Lin; Ray Zhang 001; Justin Yu; Maani Ghaffari (CoRR, 2021)

Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference. - Aishwarya Unnikrishnan; Joseph Wilson; Lu Gan 006; Andrew Capodieci; Paramsothy Jayakumar; Kira Barton; Maani Ghaffari (CoRR, 2021)

Nonparametric Continuous Sensor Registration. - William A. Clark; Maani Ghaffari; Anthony M. Bloch (J. Mach. Learn. Res., 2021)

LiDARTag: A Real-Time Fiducial Tag System for Point Clouds. - Jiunn-Kai Huang; Shoutian Wang; Maani Ghaffari; Jessy W. Grizzle (IEEE Robotics Autom. Lett., 2021)

Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. - Sangli Teng; Amit K. Sanyal; Ram Vasudevan; Anthony M. Bloch; Maani Ghaffari (ACC, 2022)

Lie Algebraic Cost Function Design for Control on Lie Groups. - Sangli Teng; William A. Clark; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (CDC, 2022)

SE(3)-Equivariant Point Cloud-Based Place Recognition. - Chien Erh Lin; Jingwei Song; Ray Zhang 001; Minghan Zhu; Maani Ghaffari (CoRL, 2022)

An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. - Sangli Teng; Dianhao Chen; William A. Clark; Maani Ghaffari (IROS, 2022)

Bayesian Dense Inverse Searching Algorithm for Real-Time Stereo Matching in Minimally Invasive Surgery. - Jingwei Song; Qiuchen Zhu; Jianyu Lin; Maani Ghaffari (MICCAI (8), 2022)

Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction. - Tribhi Kathuria; Yifan Xu; Theodor Chakhachiro; X. Jessie Yang; Maani Ghaffari (RO-MAN, 2022)

Dynamic Semantic Occupancy Mapping Using 3D Scene Flow and Closed-Form Bayesian Inference. - Aishwarya Unnikrishnan; Joey Wilson; Lu Gan 006; Andrew Capodieci; Paramsothy Jayakumar; Kira Barton; Maani Ghaffari (IEEE Access, 2022)

Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. - Bo Fu 008; Tribhi Kathuria; Denise M. Rizzo; Matthew P. Castanier; X. Jessie Yang; Maani Ghaffari; Kira Barton (CoRR, 2022)

E2PN: Efficient SE(3)-Equivariant Point Network. - Minghan Zhu; Maani Ghaffari; William A. Clark; Huei Peng (CoRR, 2022)

Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. - Duong Le; Shihao Cheng; Robert D. Gregg; Maani Ghaffari (CoRR, 2022)

Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation. - Bo Fu 008; William Smith 003; Denise M. Rizzo; Matthew P. Castanier; Maani Ghaffari; Kira Barton (CoRR, 2022)

Progress in symmetry preserving robot perception and control through geometry and learning. - Maani Ghaffari; Ray Zhang 001; Minghan Zhu; Chien Erh Lin; Tzu-Yuan Lin; Sangli Teng; Tingjun Li; Tianyi Liu; Jingwei Song (Frontiers Robotics AI, 2022)

Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. - Lu Gan 006; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

Fusing Convolutional Neural Network and Geometric Constraint for Image-Based Indoor Localization. - Jingwei Song; Mitesh Patel; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

A Closed-Form Uncertainty Propagation in Non-Rigid Structure From Motion. - Jingwei Song; Mitesh Patel; Ashkan Jasour; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments. - Joey Wilson; Jingyu Song; Yuewei Fu; Arthur Zhang; Andrew Capodieci; Paramsothy Jayakumar; Kira Barton; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

E2PN: Efficient SE(3)-Equivariant Point Network. - Minghan Zhu; Maani Ghaffari; William A. Clark; Huei Peng (CVPR, 2023)

4D Panoptic Segmentation as Invariant and Equivariant Field Prediction. - Minghan Zhu; Shizhong Han; Maani Ghaffari; Hong Cai; Fatih Porikli; Shubhankar Borse (ICCV, 2023)

Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation. - Yutaka Shimizu; Ashkan Jasour; Maani Ghaffari; Shinpei Kato (ICRA, 2023)

Convolutional Bayesian Kernel Inference for 3D Semantic Mapping. - Joey Wilson; Yuewei Fu; Arthur Zhang; Jingyu Song; Andrew Capodieci; Paramsothy Jayakumar; Kira Barton; Maani Ghaffari (ICRA, 2023)

SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning. - Yifan Xu; Theodor Chakhachiro; Tribhi Kathuria; Maani Ghaffari (ICRA, 2023)

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. - Xihang Yu; Sangli Teng; Theodor Chakhachiro; Wenzhe Tong; Tingjun Li; Tzu-Yuan Lin; Sarah Koehler; Manuel Ahumada; Jeffrey M. Walls; Maani Ghaffari (IROS, 2023)

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. - Sangli Teng; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari Jadidi (Robotics: Science and Systems, 2023)

A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios. - Xi Lin 006; Yewei Huang; Dingyi Sun; Tzu-Yuan Lin; Brendan J. Englot; Ryan M. Eustice; Maani Ghaffari (IEEE Access, 2023)

Twilight SLAM: A Comparative Study of Low-Light Visual SLAM Pipelines. - Surya Pratap Singh; Billy Mazotti; Sarvesh Mayilvahanan; Guoyuan Li; Dhyey Manish Rajani; Maani Ghaffari (CoRR, 2023)

Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty. - Bo Fu 008; Tribhi Kathuria; Denise M. Rizzo; Matthew P. Castanier; X. Jessie Yang; Maani Ghaffari; Kira Barton (CoRR, 2023)

Proprioceptive Invariant Robot State Estimation. - Tzu-Yuan Lin; Tingjun Li; Wenzhe Tong; Maani Ghaffari (CoRR, 2023)

Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression. - Prince E. Kuevor; Maani Ghaffari; Ella M. Atkins; James W. Cutler (Sensors, 2023)

Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. - Lu Gan 006; Youngji Kim; Jessy W. Grizzle; Jeffrey M. Walls; Ayoung Kim; Ryan M. Eustice; Maani Ghaffari (IEEE Trans. Robotics, 2023)

Robust Task Scheduling for Heterogeneous Robot Teams Under Capability Uncertainty. - Bo Fu 008; William Smith 003; Denise M. Rizzo; Matthew P. Castanier; Maani Ghaffari; Kira Barton (IEEE Trans. Robotics, 2023)

BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching. - Jingwei Song; Qiuchen Zhu; Jianyu Lin; Maani Ghaffari (IEEE Trans. Robotics, 2023)

Optical Flow-Based Vascular Respiratory Motion Compensation. - Keke Yang; Zheng Zhang; Meng Li 054; Tuoyu Cao; Maani Ghaffari; Jingwei Song (IEEE Robotics Autom. Lett., 2023)

Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles. - Junwoo Jang; Sangli Teng; Maani Ghaffari (IEEE Robotics Autom. Lett., 2023)

Legged Robot State Estimation within Non-inertial Environments. - Zijian He; Sangli Teng; Tzu-Yuan Lin; Maani Ghaffari; Yan Gu (CDC, 2024)

Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning. - Ray Zhang 001; Zheming Zhou; Min Sun 001; Omid Ghasemalizadeh; Cheng-Hao Kuo; Ryan M. Eustice; Maani Ghaffari; Arnie Sen (ECCV (88), 2024)

Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras. - Tzu-Yuan Lin; Minghan Zhu; Maani Ghaffari (ICML, 2024)

Iterative PnP and its application in 3D-2D vascular image registration for robot navigation. - Jingwei Song; Keke Yang; Zheng Zhang; Meng Li 054; Tuoyu Cao; Maani Ghaffari (ICRA, 2024)

RKHS-BA: A Semantic Correspondence-Free Multi-View Registration Framework with Global Tracking. - Ray Zhang 001; Jingwei Song; Xiang Gao; Junzhe Wu; Tianyi Liu; Jinyuan Zhang; Ryan Eustice; Maani Ghaffari (CoRR, 2024)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Maani Ghaffari; Luca Carlone (CoRR, 2024)

Social Zone as a Barrier Function for Socially-Compliant Robot Navigation. - Junwoo Jang; Maani Ghaffari (CoRR, 2024)

DynaWeightPnP: Toward global real-time 3D-2D solver in PnP without correspondences. - Jingwei Song; Maani Ghaffari (CoRR, 2024)

A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization. - Sangli Teng; Kaito Iwasaki; William Clark; Xihang Yu; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (CoRR, 2024)

Latent BKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces with Quantifiable Uncertainty. - Joey Wilson; Ruihan Xu 003; Yile Sun; Parker Ewen; Minghan Zhu; Kira Barton; Maani Ghaffari (CoRR, 2024)

ConvBKI: Real-Time Probabilistic Semantic Mapping Network With Quantifiable Uncertainty. - Joey Wilson; Yuewei Fu; Joshua Friesen; Parker Ewen; Andrew Capodieci; Paramsothy Jayakumar; Kira Barton; Maani Ghaffari (IEEE Trans. Robotics, 2024)

BDIS-SLAM: a lightweight CPU-based dense stereo SLAM for surgery. - Jingwei Song; Ray Zhang 001; Qiuchen Zhu; Jianyu Lin; Maani Ghaffari (Int. J. Comput. Assist. Radiol. Surg., 2024)

Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets. - Duong Le; Shihao Cheng; Robert D. Gregg; Maani Ghaffari (IEEE Robotics Autom. Lett., 2024)

SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration. - Chien Erh Lin; Minghan Zhu; Maani Ghaffari (IEEE Robotics Autom. Lett., 2024)

Efficient Data Collection Strategy for Modeling the Dynamics of Floating Robotic Vehicles Using Neural Networks. - Junwoo Jang; Haggi Do; Maani Ghaffari; Jinwhan Kim (J. Intell. Robotic Syst., 2024)

A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization. - Sangli Teng; Kaito Iwasaki; William A. Clark; Xihang Yu; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (ACC, 2025)

MDMP: Multi-modal Diffusion for supervised Motion Predictions with uncertainty. - Leo Bringer; Joey Wilson; Kira Barton; Maani Ghaffari (CVPR Workshops, 2025)

POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality. - Joey Wilson; Marcelino Almeida; Sachit Mahajan; Martin Labrie; Maani Ghaffari; Omid Ghasemalizadeh; Min Sun 001; Cheng-Hao Kuo; Arnab Sen (CVPR, 2025)

VascularPilot3D: Toward a 3D Fully Autonomous Navigation for Endovascular Robotics. - Jingwei Song; Keke Yang; Han Chen; Jiayi Liu; Yinan Gu; Qianxin Hui; Yanqi Huang; Meng Li 054; Zheng Zhang; Tuoyu Cao; Maani Ghaffari (ICRA, 2025)

SLAM Assisted 3D Tracking System for Laparoscopic Surgery. - Jingwei Song; Ray Zhang 001; Wenwei Zhang; Hao Zhou; Maani Ghaffari (ICRA, 2025)

Modeling Uncertainty in 3D Gaussian Splatting Through Continuous Semantic Splatting. - Joey Wilson; Marcelino Almeida; Min Sun 001; Sachit Mahajan; Maani Ghaffari; Parker Ewen; Omid Ghasemalizadeh; Cheng-Hao Kuo; Arnie Sen (ICRA, 2025)

Convex geometric motion planning of multi-body systems on lie groups via variational integrators and sparse moment relaxation. - Sangli Teng; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari (Int. J. Robotics Res., 2025)

Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding. - Hang Liu; Sangli Teng; Ben Liu; Wei Zhang; Maani Ghaffari (CoRR, 2025)

Learning Orientation Field for OSM-Guided Autonomous Navigation. - Yuming Huang 007; Wei Gao; Zhiyuan Zhang 012; Maani Ghaffari; Dezhen Song; Cheng-Zhong Xu 001; Hui Kong 001 (CoRR, 2025)

Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics. - Ben Liu; Tzu-Yuan Lin; Wei Zhang; Maani Ghaffari (CoRR, 2025)

Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints. - Wenzhe Tong; Tzu-Yuan Lin; Jonathan Mi; Yicheng Jiang; Maani Ghaffari; Xiaonan Huang (IEEE Robotics Autom. Lett., 2025)

LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces With Quantifiable Uncertainty. - Joey Wilson; Ruihan Xu 003; Yile Sun; Parker Ewen; Minghan Zhu; Kira Barton; Maani Ghaffari (IEEE Robotics Autom. Lett., 2025)

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups. - Sangli Teng; Tzu-Yuan Lin; William A. Clark; Ram Vasudevan; Maani Ghaffari (CoRR, 2025)

Learning Implicit Social Navigation Behavior Using Deep Inverse Reinforcement Learning. - Tribhi Kathuria; Ke Liu; Junwoo Jang; X. Jessie Yang; Maani Ghaffari (IEEE Robotics Autom. Lett., 2025)

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari; Luca Carlone (CoRR, 2025)

GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering. - Surya Pratap Singh; Tsimafei Lazouski; Maani Ghaffari (CoRR, 2025)

Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold. - Jaeho Shin; Hyeonjae Gil; Junwoo Jang; Maani Ghaffari; Ayoung Kim (CoRR, 2025)

Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation. - Yue Hu; Junzhe Wu; Ruihan Xu 003; Hang Liu; Avery Xi; Henry X. Liu; Ram Vasudevan; Maani Ghaffari (CoRR, 2025)

Super LiDAR Reflectance for Robotic Perception. - Wei Gao; Jie Zhang; Mingle Zhao; Zhiyuan Zhang 012; Shu Kong; Maani Ghaffari; Dezhen Song; Cheng-Zhong Xu 001; Hui Kong 001 (CoRR, 2025)

Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks. - Zeyu Han; Shuocheng Yang; Minghan Zhu; Fang Zhang; Shaobing Xu; Maani Ghaffari; Jian-qiang Wang 003 (CoRR, 2025)

Learning Hybrid Dynamics via Convex Optimizations. - Kaito Iwasaki; Sangli Teng; Anthony M. Bloch; Maani Ghaffari (CoRR, 2025)

Ego-Vision World Model for Humanoid Contact Planning. - Hang Liu; Yuman Gao; Sangli Teng; Yufeng Chi; Yakun Sophia Shao; Zhongyu Li 003; Maani Ghaffari; Koushil Sreenath (CoRR, 2025)

Equivariant Neural Networks for General Linear Symmetries on Lie Algebras. - Chankyo Kim; Sicheng Zhao; Minghan Zhu; Tzu-Yuan Lin; Maani Ghaffari (CoRR, 2025)

Switching Network System Identification via Convex Optimizations. - Kaito Iwasaki; Anthony M. Bloch; Maani Ghaffari (CoRR, 2025)

RKHS-BA: A Robust Correspondence-Free Multi-View Bundle Adjustment Framework for Semantic Point Clouds. - Ray Zhang 001; Jingwei Song; Xiang Gao; Junzhe Wu; Tiany Liu; Jinyuan Zhang; Ryan M. Eustice; Maani Ghaffari (IEEE Trans. Pattern Anal. Mach. Intell., 2025)