Publications

For an up-to-date list of our publications, please see Google Scholar.

  1. Statler: State-Maintaining Language Models for Embodied Reasoning
    Takuma Yoneda, Jiading Fang, Peng Li, Huanyu Zhang, Tianchong Jiang, Shengjie Lin, Ben Picker, David Yunis, Hongyuan Mei, and Matthew R. Walter
    arXiv:2306.17840 Jul 2023
  2. Active Policy Improvement from Multiple Black-box Oracles
    Xuefeng Liu,* Takuma Yoneda,* Chaoqi Wang,* Matthew R. Walter, and Yuxin Chen (* denotes equal contribution)
    In Proceedings of the International Conference on Machine Learning (ICML) Jul 2023
  3. NeRFuser: Large-Scale Scene Representation by NeRF Fusion
    Jiading Fang,* Shengjie Lin,* Igor Vasiljevic, Vitor Guizilini, Rares Ambrus, Adrien Gaidon, Gregory Shakhnarovich, and Matthew R. Walter (* denotes equal contribution)
    arXiv:2305.13307 May 2023
  4. Eliciting User Preferences for Personalized Multi-Objective Decision Making through Comparative Feedback
    Han Shao, Lee Cohen, Avrim Blum, Yishay Mansour, Aadirupa Saha, and Matthew R. Walter
    arXiv:2302.03805 Feb 2023
  5. To the Noise and Back: Diffusion for Shared Autonomy
    Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly Stadie, and Matthew Walter
    arXiv:2302.12244 Feb 2023
  6. Depth Field Networks for Generalizable Multi-view Scene Representation
    Vitor Guizilini,* Igor Vasiljevic,* Jiading Fang,* Rares Ambrus, Greg Shakhnarovich, Matthew R. Walter, and Adrien Gaidon (* denotes equal contribution)
    In Proceedings of the European Conference on Computer Vision (ECCV) Oct 2022
  7. Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer
    Charles Schaff, Audrey Sedal, and Matthew R. Walter
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2022
  8. Invariance Through Latent Alignment
    Takuma Yoneda, Ge Yang, Matthew R. Walter, and Bradly Stadie
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2022
  9. N-LIMB: Neural Limb Optimization for Efficient Morphological Design
    Charles Schaff, and Matthew R. Walter
    arXiv:2207.11773 Jul 2022
  10. Loop Estimator for Discounted Values in Markov Reward Processes
    Falcon Z. Dai, and Matthew R. Walter
    In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2021
  11. Language Understanding for Field and Service Robots in a Priori Unknown Environments
    Matthew R Walter, Siddharth Patki, Andrea F Daniele, Ethan Fahnestock, Felix Duvallet, Sachithra Hemachandra, Jean Oh, Anthony Stentz, Nicholas Roy, and Thomas M. Howard
    Field Robotics 2021 (Accepted, to appear)
  12. Towards Automated Sample Collection and Return in Extreme Underwater Environments
    Gideon Billings, Matthew R. Walter, Oscar Pizarro, Matthew Johnson-Roberson, and Richard Camilli
    Field Robotics 2021 (Accepted, to appear)
  13. Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
    Niklas Funk,* Charles Schaff,* Rishabh Madan,* Takuma Yoneda,* Julen Urain De Jesus, Joe Watson, Ethan K Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S Srinivasa, Tapomayukh Bhattacharjee, Matthew R Walter, and Jan Peters (* denotes equal contribution)
    IEEE Robotics and Automation Letters 2021
  14. A Robot Cluster for Reproducible Research in Dexterous Manipulation
    Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, and Bernhard Schölkopf
    arXiv:2109.10957 2021
  15. Self-Supervised Camera Self-Calibration from Video
    Jiading Fang, Igor Vasiljevic, Vitor Guizilini, Rares Ambrus, Greg Shakhnarovich, Adrien Gaidon, and Matthew R. Walter
    arXiv:2112.03325 2021
  16. An Intelligence Architecture for Grounded Language Communication with Field Robots
    Thomas M. Howard, Ethan Stump, Jonathan Fink, Jacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Daniel Barber, Rhyse Bendell, Karl Schmeckpeper, Junjiao Tian, Jean Oh, Maggie Wigness, Long Quang, Brandon Rothrock, Jeremy Nash, Matthew R. Walter, Florian Jentsch, and Nicholas Roy
    Field Robotics 2021 (Accepted, to appear)
  17. Boosting Contrastive Self-Supervised Learning with False Negative Cancellation
    Tri Huynh, Simon Kornblith, Matthew R. Walter, Michael Maire, and Maryam Khademi
    arXiv:2011.11765 Nov 2020
  18. Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents
    Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi, Amaury Camus, Aleksandar Petrov, Anthony Courchesne, Bhairav Mehta, Rohit Suri, Tomasz Zaluska, Matthew R. Walter, Emilio Frazzoli1, Liam Paull, and Andrea Censi
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2020
  19. Residual Policy Learning for Shared Autonomy
    Charles Schaff, and Matthew R. Walter
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2020
  20. Pow-Wow: A Dataset and Study on Collaborative Communication in Pommerman
    Takuma Yoneda, Matthew R. Walter, and Jason Naradowsky
    In Proceedings of the International Conference on Machine Learning Workshop on Language in Reinforcement Learning Jul 2020
  21. Multigrid Neural Memory
    Tri Huynh, Michael Maire, and Matthew R. Walter
    In Proceedings of the International Conference on Machine Learning (ICML) Jun 2020
  22. Multimodal Estimation and Communication of Latent Semantic Knowledge for Robust Execution of Robot Instructions
    Jacob Arkin, Daehyung Park, Subhro Roy, Matthew R. Walter, Nicholas Roy, Thomas M Howard, and Rohan Paul
    International Journal of Robotics Research 2020
  23. The AI Driving Olympics: An Accessible Robot Learning Benchmark
    Andrea Censi, Liam Paull, Jacopo Tani, and Matthew R. Walter
    In Proceedings of the Neural Information Processing Systems (NeurIPS) Workshop on Machine Learning Competitions for All (CiML) Dec 2019
  24. Maximum Expected Hitting Cost of a Markov Decision Process and Informativeness of Rewards
    Falcon Z. Dai, and Matthew R. Walter
    In Advances in Neural Information Processing Systems (NeurIPS) Dec 2019
  25. Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments
    Siddharth Patki, Ethan Fahnestock, Thomas M. Howard, and Matthew R. Walter
    In Proceedings of the Conference on Robot Learning (CoRL) Oct 2019
  26. DIODE: A Dense Indoor and Outdoor DEpth Dataset
    Igor Vasiljevic, Nick Kolkin, Shanyi Zhang, Ruotian Luo, Haochen Wang, Falcon Z. Dai, Andrea F. Daniele, Mohammadreza Mostajabi, Steven Basart, Matthew R. Walter, and Gregory Shakhnarovich
    CoRR Aug 2019
  27. Finite time analysis of potential-based reward shaping
    Zhongtian Dai, and Matthew R. Walter
    In Proceedings of the Multi-Disciplinary Conference on Reinforcement Learning and Decision Making (RLDM) Jul 2019
  28. Multigrid Neural Memory
    Tri Huynh, Michael Maire, and Matthew R. Walter
    arXiv:1906.05948 Jun 2019
  29. Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions
    Siddharth Patki, Andrea F. Daniele, Matthew R. Walter, and Thomas M. Howard
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2019
  30. Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning
    Charles Schaff, David Yunis, Ayan Chakrabarti, and Matthew R. Walter
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2019
  31. The AI Driving Olympics at NeurIPS 2018
    Julian Zilly, Jacopo Tani, Breandan Considine, Bhairav Mehta, Andrea F. Daniele, Manfred Diaz, Gianmarco Bernasconi, Claudio Ruch, Jan Hakenberg, Florian Golemo, A. Kirsten Bowser, Matthew R. Walter, Ruslan Hristov, Sunil Mallya, Emilio Frazzoli, Andrea Censi, and Liam Paull
    arXiv:1903.02503 2019
  32. A Multiview Approach to Learning Articulated Motion Models
    Andrea F. Daniele, Thomas M. Howard, and Matthew R. Walter
    In Proceedings of the International Symposium of Robotics Research (ISRR) Dec 2017
  33. Jointly Optimizing Placement and Inference for Beacon-based Localization
    Charles Schaff, David Yunis, Ayan Chakrabarti, and Matthew R. Walter
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Sep 2017
  34. Contextual Awareness: Understanding Monologic Natural Language Instructions for Autonomous Robots
    Jacob Arkin, Matthew R. Walter, Adrian Boteanu, Michael E. Napoli, Harel Biggie, Hadas Kress-Gazit, and Thomas M. Howard
    In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) Aug 2017
  35. Satellite Image-based Localization via Learned Embeddings
    Dong-Ki Kim, and Matthew R. Walter
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2017
  36. Navigational Instruction Generation as Inverse Reinforcement Learning with Neural Machine Translation
    Andrea F. Daniele, Mohit Bansal, and Matthew R. Walter
    In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) Mar 2017
  37. Coherent Dialogue with Attention-Based Language Models
    Hongyuan Mei, Mohit Bansal, and Matthew R. Walter
    In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2017
  38. A Review of Spatial Reasoning and Interaction for Real-World Robotics
    Christian Landsiedel, Verena Rieser, Matthew R. Walter, and Dirk Wollherr
    Advanced Robotics Jan 2017
  39. Integrated Intelligence for Human-Robot Teams
    Jean Oh, Thomas M. Howard, Matthew R. Walter, Daniel Barber, Menglong Zhu, Zangdon Park, Arne Suppe, Luis Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Oscar Romero, Jerry Vinokurov, Terence Keegan, Robert Dean, Lennon, Barry Bodt, Marshal Childers, Jianbo Shi, Kostas daniilidis, Nicholas Roy, Christian Lebiere, Martial Hebert, and Anthony Stentz
    In Proceedings of the International Symposium on Experimental Robotics (ISER) Oct 2016
  40. Natural Language Generation in the Context of Providing Indoor Route Instructions
    Andrea F. Daniele, Mohit Bansal, and Matthew R. Walter
    In Proceedings Robotics: Science and Systems Workshop on Model Learning for Human-Robot Communication Jun 2016
  41. What to talk about and how? Selective Generation using LSTMs with Coarse-to-Fine Alignment
    Hongyuan Mei, Mohit Bansal, and Matthew R. Walter
    In Proceedings of the Conference of the North American Chapter of the Association for Computational Linguistics — Human Language Technologies (NAACL HLT) Jun 2016
  42. A Multimodal Interface for Real-Time Soldier-Robot Teaming
    Daniel J. Barber, Thomas M. Howard, and Matthew R. Walter
    In Proceedings of SPIE, Unmanned Systems Technology Apr 2016
  43. Listen, Attend, and Walk: Neural Mapping of Navigational Instructions to Action Sequences
    Hongyuan Mei, Mohit Bansal, and Matthew R. Walter
    In Proceedings of the National Conference on Artificial Intelligence (AAAI) Feb 2016
  44. On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions
    Istvan Chung, Oron Propp, Matthew R. Walter, and Thomas M. Howard
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2015
  45. Information-Theoretic Dialog to Improve Spatial-Semantic Representations
    Sachithra Hemachandra, and Matthew R. Walter
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2015
  46. A Situationally-Aware Voice-Commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments
    Matthew R. Walter, Matthew Antone, Ekapol Chuangsuwanich, Andrew Correa, Randall Davis, Luke Fletcher, Emilio Frazzoli, Yuli Friedman, James Glass, Jonathan P. How, Jeong H. Jeon, Sertac Karaman, Brandon Luders, Nicholas Roy, Stefanie Tellex, and Seth Teller
    Journal of Field Robotics Jun 2015
  47. Learning Models for Following Natural Language Directions in Unknown Environments
    Sachithra Hemachandra, Felix Duvallet, Thomas M. Howard, Nicholas Roy, Anthony Stentz, and Matthew R. Walter
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2015
  48. Accurate Vision-based Vehicle Localization using Satellite Imagery
    Hang Chu, Hongyuan Mei, Mohit Bansal, and Matthew R. Walter
    arXiv:1510.09171 2015
  49. Information Theoretic Question Asking to Improve Spatial Semantic Representations
    Sachithra Hemachandra, Matthew R. Walter, and Seth Teller
    In AAAI Fall Symposium on Knowledge, Skill, and Behavior Transfer in Autonomous Robots Nov 2014
  50. Efficient Natural Language Interfaces for Assistive Robots
    Thomas M. Howard, Istvan Chung, Oron Propp, Matthew R. Walter, and Nicholas Roy
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics Sep 2014
  51. Learning Semantic Maps Through Dialog for A Voice-Commandable Wheelchair
    Sachithra Hemachandra, and Matthew R. Walter
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Rehabilitation and Assistive Robotics Sep 2014
  52. A Framework for Learning Semantic Maps from Grounded Natural Language Descriptions
    Matthew R. Walter, Sachithra Hemachandra, Bianca Homberg, Stefanie Tellex, and Seth Teller
    International Journal of Robotics Research Aug 2014
  53. Learning Articulated Motions from Visual Demonstrations
    Sudeep Pillai, Matthew R. Walter, and Seth Teller
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2014
  54. Inferring Maps and Behaviors from Natural Language Instructions
    Felix Duvallet, Matthew R. Walter, Thomas Howard, Sachithra Hemachandra, Jean Oh, Seth Teller, Nicholas Roy, and Antony Stentz
    In Proceedings of the International Symposium on Experimental Robotics (ISER) Jun 2014
  55. Learning Spatially-Semantic Representations from Natural Language Descriptions and Scene Classifications
    Sachithra Hemachandra, Matthew R. Walter, Stefanie Tellex, and Seth Teller
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2014
  56. Learning Semantic Maps from Natural Language Descriptions
    Matthew R. Walter, Sachithra Hemachandra, Bianca Homberg, Stefanie Tellex, and Seth Teller
    In Proceedings of Robotics: Science and Systems (RSS) Jun 2013
  57. Toward Learning Perceptually Grounded Word Meanings from Unaligned Parallel Data
    Stefanie Tellex, Pratiksha Thaker, Josh Joseph, Matthew R. Walter, and Nicholas Roy
    In Proceedings of the NAACL HLT Workshop on Semantic Interpretation in an Actionable Context Jun 2012
  58. One-shot Visual Appearance Learning for Mobile Manipulation
    Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller
    International Journal of Robotics Research Apr 2012
  59. Approaching the Symbol-Grounding Problem with Probabilistic Graphical Models
    Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashish G. Banerjee, Seth Teller, and Nicholas Roy
    AI Magazine Dec 2011
  60. Asymptotically-optimal Path Planning for Manipulation Using Incremental Sampling-based Algorithms
    Alejandro Perez, Sertac Karaman, Alexander Shkolnik, Emilio Frazzoli, Seth Teller, and Matthew R. Walter
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Sep 2011
  61. Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation
    Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashish G. Banerjee, Seth Teller, and Nicholas Roy
    In Proceedings of the National Conference on Artificial Intelligence (AAAI) Aug 2011
  62. Anytime Motion Planning Using the RRT^*
    Sertac Karaman, Matthew R. Walter, Alejandro Perez, Emilio Frazzoli, and Seth Teller
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2011
  63. Vision-based Reacquisition for Task-level Control
    Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller
    In Proceedings of the International Symposium on Experimental Robotics (ISER) Dec 2010
  64. Closed-loop Pallet Engagement in Unstructured Environments
    Matthew R. Walter, Sertac Karaman, Emilio Frazzoli, and Seth Teller
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Oct 2010
  65. Appearance-based Object Reacquisition for Mobile Manipulation
    Matthew R. Walter, Yuli Friedman, Matthew Antone, and Seth Teller
    In Proceedings of the IEEE Computer Vision and Pattern Recognition Workshops (CVPRW) Jun 2010
  66. Closed-loop Pallet Engagement in an Unstructured Environment
    Sertac Karaman, Matthew R. Walter, Emilio Frazzoli, and Seth Teller
    In Proceeding of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Mobile Manipulation May 2010
  67. A Voice-Commandable Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments
    Seth Teller, Matthew R. Walter, Matthew Antone, Andrew Correa, Randall Davis, Luke Fletcher, Emilio Frazzoli, James Glass, Jonathan P. How, Albert S. Huang, Jeong H. Jeon, Sertac Karaman, Brandon Luders, Nicholas Roy, and Tara Sainath
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2010
  68. Ground Robot Navigation using Uncalibrated Cameras
    Olivier Koch, Matthew R. Walter, Albert S. Huang, and Seth Teller
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2010
  69. Multimodal Interaction with an Autonomous Forklift
    Andrew Correa, Matthew R. Walter, Luke Fletcher, James Glass, Seth Teller, and Randall Davis
    In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) Mar 2010
  70. A Perception-driven Autonomous Urban Vehicle
    John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhhartha Krishnamurthy, and Jonathan Williams
    2010
  71. Reachability-Guided Sampling for Planning Under Differential Constraints
    Alexander Shkolnik, Matthew Walter, and Russ Tedrake
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2009
  72. Simultaneous Local and Global State Estimation for Robotic Navigation
    David C. Moore, Albert S. Huang, Matthew Walter, Edwin Olson, Luke Fletcher, John Leonard, and Seth Teller
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009
  73. Consistent Cooperative Localization
    Alexander Bahr, Matthew R. Walter, and John J. Leonard
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009
  74. A Perception-driven Autonomous Urban Vehicle
    John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, and Jonathan Williams
    Journal of Field Robotics Oct 2008
  75. SLAM For Ship Hull Inspection using Exactly Sparse Extended Information Filters
    Matthew Walter, Franz Hover, and John Leonard
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May 2008
  76. Sparse Bayesian Information Filters for Localization and Mapping
    Matthew R. Walter
    Feb 2008
  77. Exactly Sparse Extended Information Filters for Feature-based SLAM
    Matthew R. Walter, Ryan M. Eustice, and John J. Leonard
    International Journal of Robotics Research Apr 2007
  78. Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
    Ryan M. Eustice, Hanumant Singh, John J. Leonard, and Matthew R. Walter
    International Journal of Robotics Research Dec 2006
  79. A Provably Consistent Method for Imposing Exact Sparsity in Feature-based SLAM Information Filters
    Matthew Walter, Ryan Eustice, and John Leonard
    In Proceedings of the International Symposium of Robotics Research (ISRR) Oct 2005
  80. Sparse Extended Information Filters: Insights into Sparsification
    Ryan Eustice, Matthew Walter, and John Leonard
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Aug 2005
  81. Single-Cluster Spectral Graph Partitioning for Robotics Applications
    Edwin Olson, Matthew Walter, Seth Teller, and John Leonard
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2005
  82. Visually Navigating the RMS Titanic with SLAM Information Filters
    Ryan Eustice, Hanumant Singh, John Leonard, Matthew Walter, and Robert Ballard
    In Proceedings of Robotics: Science and Systems (RSS) Jun 2005
  83. An Experimental Investigation of Cooperative SLAM
    Matthew Walter, and John Leonard
    In Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV) Jul 2004