Structured linearization of discrete mechanical systems on Lie groups: A synthesis of analysis and control. - Taosha Fan; Todd D. Murphey (CDC, 2015)

Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups. - Taosha Fan; Todd D. Murphey (Robotics: Science and Systems, 2016)

Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements. - Taosha Fan; Huan Weng; Todd D. Murphey (CDC, 2017)

Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization. - Taosha Fan; Jarvis A. Schultz; Todd D. Murphey (WAFR, 2018)

Efficient and Guaranteed Planar Pose Graph optimization Using the Complex Number Representation. - Taosha Fan; Hanlin Wang; Michael Rubenstein; Todd D. Murphey (IROS, 2019)

Generalized Proximal Methods for Pose Graph Optimization. - Taosha Fan; Todd D. Murphey (ISRR, 2019)

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees. - Taosha Fan; Todd D. Murphey (IROS, 2020)

Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees. - Taosha Fan; Todd D. Murphey (CoRR, 2020)

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation. - Taosha Fan; Hanlin Wang; Michael Rubenstein; Todd D. Murphey (IEEE Trans. Robotics, 2020)

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. - Taosha Fan; Kalyan Vasudev Alwala; Donglai Xiang; Weipeng Xu; Todd D. Murphey; Mustafa Mukadam (ICCV, 2021)

Theseus: A Library for Differentiable Nonlinear Optimization. - Luis Pineda; Taosha Fan; Maurizio Monge; Shobha Venkataraman; Paloma Sodhi; Ricky T. Q. Chen; Joseph Ortiz; Daniel DeTone; Austin S. Wang; Stuart Anderson; Jing Dong 002; Brandon Amos; et al. (NeurIPS, 2022)

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. - Taosha Fan; Joseph Ortiz; Ming Hsiao; Maurizio Monge; Jing Dong 002; Todd D. Murphey; Mustafa Mukadam (Robotics: Science and Systems, 2023)

Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation. - Sudharshan Suresh; Haozhi Qi; Tingfan Wu; Taosha Fan; Luis Pineda; Mike Lambeta; Jitendra Malik; Mrinal Kalakrishnan; Roberto Calandra; Michael Kaess; Joseph Ortiz; Mustafa Mukadam (CoRR, 2023)

Sparsh: Self-supervised touch representations for vision-based tactile sensing. - Carolina Higuera; Akash Sharma; Chaithanya Krishna Bodduluri; Taosha Fan; Patrick Lancaster; Mrinal Kalakrishnan; Michael Kaess; Byron Boots; Mike Lambeta; Tingfan Wu; Mustafa Mukadam (CoRL, 2024)

NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation. - Sudharshan Suresh; Haozhi Qi; Tingfan Wu; Taosha Fan; Luis Pineda; Mike Lambeta; Jitendra Malik; Mrinal Kalakrishnan; Roberto Calandra; Michael Kaess; Joseph Ortiz; Mustafa Mukadam (Sci. Robotics, 2024)

Majorization Minimization Methods for Distributed Pose Graph Optimization. - Taosha Fan; Todd D. Murphey (IEEE Trans. Robotics, 2024)

Self-supervised perception for tactile skin covered dexterous hands. - Akash Sharma; Carolina Higuera; Chaithanya Krishna Bodduluri; Zixi Liu; Taosha Fan; Tess Hellebrekers; Mike Lambeta; Byron Boots; Michael Kaess; Tingfan Wu; Francois Robert Hogan; Mustafa Mukadam (CoRR, 2025)

Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation. - Carolina Higuera; Akash Sharma; Taosha Fan; Chaithanya Krishna Bodduluri; Byron Boots; Michael Kaess; Mike Lambeta; Tingfan Wu; Zixi Liu; Francois Robert Hogan; Mustafa Mukadam (CoRR, 2025)