Publications

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

  1. 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
  2. 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)
  3. 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)
  4. 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
    IEEE Robotics and Automation Letters 2021 (Accepted, to appear)
  5. 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
  6. 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
  7. 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
  8. Residual Policy Learning for Shared Autonomy
    Charles Schaff, and Matthew R. Walter
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2020
  9. Multigrid Neural Memory
    Tri Huynh, Michael Maire, and Matthew R. Walter
    In Proceedings of the International Conference on Machine Learning (ICML) Jun 2020
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. Multigrid Neural Memory
    Tri Huynh, Michael Maire, and Matthew R. Walter
    arXiv:1906.05948 Jun 2019
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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
  26. 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
  27. 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
  28. 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
  29. 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
  30. 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
  31. 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
  32. 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
  33. 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
  34. 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
  35. 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
  36. Accurate Vision-based Vehicle Localization using Satellite Imagery
    Hang Chu, Hongyuan Mei, Mohit Bansal, and Matthew R. Walter
    arXiv:1510.09171 2015
  37. 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
  38. 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
  39. 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
  40. 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
  41. Learning Articulated Motions from Visual Demonstrations
    Sudeep Pillai, Matthew R. Walter, and Seth Teller
    In Proceedings of Robotics: Science and Systems (RSS) Jul 2014
  42. 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
  43. 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
  44. 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
  45. 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
  46. 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
  47. 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
  48. 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
  49. 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
  50. 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
  51. 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
  52. 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
  53. 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
  54. 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
  55. 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
  56. 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
  57. 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
  58. 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
  59. 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
  60. 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
  61. 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
  62. 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
  63. 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
  64. Sparse Bayesian Information Filters for Localization and Mapping
    Matthew R. Walter
    Feb 2008
  65. 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
  66. 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
  67. 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
  68. 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
  69. 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
  70. 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
  71. An Experimental Investigation of Cooperative SLAM
    Matthew Walter, and John Leonard
    In Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles (IAV) Jul 2004