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ORCIDChristoffer R. Heckman
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2020 – today
- 2024
[j16]Eugene R. Rush, Christoffer Heckman, Kaushik Jayaram, J. Sean Humbert:
Neural dynamics of robust legged robots. Frontiers Robotics AI 11 (2024)- [j15]Zhaozhong Chen
, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman:
Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization. IEEE Trans. Aerosp. Electron. Syst. 60(2): 2236-2250 (2024) - [j14]Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone:
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Trans. Robotics 40: 936-959 (2024) - [j13]Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman:
A New Wave in Robotics: Survey on Recent MmWave Radar Applications in Robotics. IEEE Trans. Robotics 40: 4544-4560 (2024) - [c41]Abhidip Bhattacharyya, Martha Palmer, Christoffer Heckman:
ReCAP: Semantic Role Enhanced Caption Generation. LREC/COLING 2024: 13633-13649 - [c40]Ajay Narasimha Mopidevi, Kyle Harlow, Christoffer Heckman:
RMap: Millimeter-Wave Radar Mapping Through Volumetric Upsampling. IROS 2024: 1108-1115 - [c39]Alec Reed, Brendan Crowe, Doncey Albin, Lorin Achey, Bradley Hayes, Christoffer Heckman:
SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation. IROS 2024: 7383-7390 - [i32]Alec Reed, Brendan Crowe, Doncey Albin, Lorin Achey, Bradley Hayes, Christoffer Heckman:
SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation. CoRR abs/2403.11985 (2024) - [i31]Andrew Kramer, Christoffer Heckman:
Radar-Based Localization For Autonomous Ground Vehicles In Suburban Neighborhoods. CoRR abs/2405.00600 (2024) - [i30]Harel Biggie, Patrick Cooper, Doncey Albin, Kristen Such, Christoffer Heckman:
CogExplore: Contextual Exploration with Language-Encoded Environment Representations. CoRR abs/2406.17180 (2024) - [i29]Alec Reed, Lorin Achey, Brendan Crowe, Bradley Hayes, Christoffer Heckman:
Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation. CoRR abs/2409.10681 (2024) - [i28]Alec Farid, Peter Schleede, Aaron Huang, Christoffer Heckman:
Foundation Models for Rapid Autonomy Validation. CoRR abs/2411.03328 (2024) - 2023
- [j12]Michael J. Miles, Harel Biggie, Christoffer Heckman:
Terrain-aware semantic mapping for cooperative subterranean exploration. Frontiers Robotics AI 10 (2023) - [j11]Harel Biggie, Eugene R. Rush, Danny G. Riley, Shakeeb Ahmad, Michael Ohradzansky, Kyle Harlow, Michael J. Miles, Daniel Torres, Steve McGuire, Eric W. Frew, Christoffer Heckman, James Sean Humbert:
Flexible Supervised Autonomy for Exploration in Subterranean Environments. Field Robotics 3(1): 125-189 (2023) - [c38]Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Christoffer R. Heckman:
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation. CoRL 2023: 1640-1666 - [c37]Harel Biggie, Andrew Beathard, Christoffer Heckman:
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization. ICRA 2023: 6944-6950 - [c36]Kristen Such, Harel Biggie, Christoffer Heckman:
Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration. ISER 2023: 319-331 - [c35]Abhidip Bhattacharyya, Martha Palmer, Christoffer Heckman:
CRAPES:Cross-modal Annotation Projection for Visual Semantic Role Labeling. *SEM@ACL 2023: 61-70 - [i27]Harel Biggie, Eugene R. Rush, Danny G. Riley, Shakeeb Ahmad, Michael T. Ohradzansky, Kyle Harlow, Michael J. Miles, Daniel Torres, Steve McGuire, Eric W. Frew, Christoffer Heckman, J. Sean Humbert:
Flexible Supervised Autonomy for Exploration in Subterranean Environments. CoRR abs/2301.00771 (2023) - [i26]Harel Biggie, Andrew Beathard, Christoffer Heckman:
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization. CoRR abs/2304.13114 (2023) - [i25]Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman:
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics. CoRR abs/2305.01135 (2023) - [i24]Ofer Dagan, Tycho L. Cinquini, Luke Morrissey, Kristen Such, Nisar R. Ahmed, Christoffer Heckman:
Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking. CoRR abs/2306.04570 (2023) - [i23]Alec Reed, Christoffer Heckman:
Looking Around Corners: Generative Methods in Terrain Extension. CoRR abs/2306.07160 (2023) - [i22]Zhaozhong Chen, Harel Biggie, Nisar R. Ahmed, Simon Julier, Christoffer Heckman:
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization. CoRR abs/2306.07225 (2023) - [i21]Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Christoffer Heckman:
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation. CoRR abs/2306.09523 (2023) - [i20]Eugene R. Rush, Christoffer Heckman, Kaushik Jayaram, J. Sean Humbert:
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots. CoRR abs/2306.15793 (2023) - [i19]Ajay Narasimha Mopidevi, Kyle Harlow, Christoffer Heckman:
RMap: Millimeter-Wave Radar Mapping Through Volumetric Upsampling. CoRR abs/2310.13188 (2023) - [i18]Kristen Such, Harel Biggie, Christoffer Heckman:
Restorebot: Towards an Autonomous Robotics Platform for Degraded Rangeland Restoration. CoRR abs/2312.07724 (2023) - 2022
- [j10]Michael Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, James Sean Humbert:
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration. Field Robotics 2(1): 1068-1104 (2022) - [j9]Andrew Kramer, Kyle Harlow, Christopher R. Williams, Christoffer Heckman:
ColoRadar: The direct 3D millimeter wave radar dataset. Int. J. Robotics Res. 41(4): 351-360 (2022) - [c34]Alec Reed, Guillaume O. Berger, Sriram Sankaranarayanan, Christoffer Heckman:
Verified Path Following Using Neural Control Lyapunov Functions. CoRL 2022: 1949-1958 - [c33]Abhidip Bhattacharyya, Cecilia Mauceri, Martha Palmer, Christoffer Heckman:
Aligning Images and Text with Semantic Role Labels for Fine-Grained Cross-Modal Understanding. LREC 2022: 4944-4954 - [i17]Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone:
Present and Future of SLAM in Extreme Underground Environments. CoRR abs/2208.01787 (2022) - 2021
- [j8]Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh:
Formalizing and guaranteeing human-robot interaction. Commun. ACM 64(9): 78-84 (2021) - [j7]Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Nisar R. Ahmed:
Human-Aware Reinforcement Learning for Fault Recovery Using Contextual Gaussian Processes. J. Aerosp. Inf. Syst. 18(7): 429-441 (2021) - [j6]Joseph Micah Prendergast, Gregory A. Formosa, Mitchell J. Fulton, Christoffer R. Heckman, Mark E. Rentschler:
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation. IEEE Trans. Robotics 37(3): 918-934 (2021) - [c32]Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed:
Time Dependence in Kalman Filter Tuning. FUSION 2021: 1-8 - [c31]Zhaozhong Chen, Christoffer Heckman:
Robust Pose Estimation Based on Normalized Information Distance. IROS 2021: 2217-2223 - [c30]Michael E. Walker, Zhaozhong Chen, Matthew Whitlock, David Blair, Danielle Albers Szafir, Christoffer Heckman, Daniel Szafir:
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics. IROS 2021: 2345-2352 - [c29]Mitchell J. Fulton, Christoffer R. Heckman, Mark E. Rentschler:
Deformable Bayesian Convolutional Networks for Disease-Robust Cardiac MRI Segmentation. STACOM@MICCAI 2021: 296-305 - [i16]Andrew Kramer, Kyle Harlow, Christopher Williams, Christoffer Heckman:
ColoRadar: The Direct 3D Millimeter Wave Radar Dataset. CoRR abs/2103.04510 (2021) - [i15]Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed:
Time Dependence in Kalman Filter Tuning. CoRR abs/2108.10712 (2021) - [i14]Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, J. Sean Humbert:
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration. CoRR abs/2110.04390 (2021) - 2020
- [c28]Guohui Ding, Joewie J. Koh, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen:
Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation. AAMAS 2020: 1831-1833 - [c27]Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan:
Unsupervised Metric Relocalization Using Transform Consistency Loss. CoRL 2020: 1736-1745 - [c26]Andrew Kramer, Carl Stahoviak, Angel Santamaria-Navarro, Ali-akbar Agha-mohammadi, Christoffer Heckman:
Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments. ICRA 2020: 5739-5746 - [c25]Samuel Bateman, Kyle Harlow, Christoffer Heckman:
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps. IROS 2020: 4878-4885 - [c24]Joewie J. Koh, Guohui Ding, Christoffer Heckman, Lijun Chen, Alessandro Roncone:
Cooperative Control of Mobile Robots with Stackelberg Learning. IROS 2020: 7985-7992 - [c23]Andrew Kramer, Christoffer Heckman:
Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog. ISER 2020: 3-16 - [c22]Mary Martin, Cecilia Mauceri, Martha Palmer, Christoffer Heckman:
Leveraging Non-Specialists for Accurate and Time Efficient AMR Annotation. CLLRD@LREC 2020: 35-39 - [i13]Guohui Ding, Joewie J. Koh, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen:
Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation. CoRR abs/2003.09540 (2020) - [i12]Hadas Kress-Gazit, Kerstin Eder, Guy Hoffman, Henny Admoni, Brenna Argall, Rüdiger Ehlers, Christoffer Heckman, Nils Jansen, Ross A. Knepper, Jan Kretínský, Shelly Levy-Tzedek, Jamy Li, Todd D. Murphey, Laurel D. Riek, Dorsa Sadigh:
Formalizing and Guaranteeing* Human-Robot Interaction. CoRR abs/2006.16732 (2020) - [i11]Samuel Bateman, Kyle Harlow, Christoffer Heckman:
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps. CoRR abs/2008.00372 (2020) - [i10]Joewie J. Koh, Guohui Ding, Christoffer Heckman, Lijun Chen, Alessandro Roncone:
Cooperative Control of Mobile Robots with Stackelberg Learning. CoRR abs/2008.00679 (2020) - [i9]Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan:
Unsupervised Metric Relocalization Using Transform Consistency Loss. CoRR abs/2011.00608 (2020)
2010 – 2019
- 2019
- [j5]Dana Hughes, Christoffer Heckman, Nikolaus Correll:
Materials that make robots smart. Int. J. Robotics Res. 38(12-13) (2019) - [j4]Fernando Nobre, Christoffer Heckman:
Learning to calibrate: Reinforcement learning for guided calibration of visual-inertial rigs. Int. J. Robotics Res. 38(12-13) (2019) - [j3]Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed:
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. IEEE Robotics Autom. Lett. 4(2): 1216-1223 (2019) - [c21]Mike Kasper, Christoffer Heckman:
Multiple Point Light Estimation from Low-Quality 3D Reconstructions. 3DV 2019: 738-746 - [c20]Andrew Kramer, Mike Kasper, Christoffer Heckman:
VI-SLAM for Subterranean Environments. FSR 2019: 159-172 - [c19]Ian Loefgren, Nisar R. Ahmed, Eric W. Frew, Christoffer Heckman, J. Sean Humbert:
Scalable Event-Triggered Data Fusion for Autonomous Cooperative Swarm Localization. FUSION 2019: 1-8 - [c18]Cecilia Mauceri, Martha Palmer, Christoffer Heckman:
SUN-Spot: An RGB-D Dataset With Spatial Referring Expressions. ICCV Workshops 2019: 1883-1886 - [c17]John Stechschulte, Nisar R. Ahmed, Christoffer Heckman:
Robust low-overlap 3-D point cloud registration for outlier rejection. ICRA 2019: 7143-7149 - [c16]Mike Kasper, Steve McGuire, Christoffer Heckman:
A Benchmark for Visual-Inertial Odometry Systems Employing Onboard Illumination. IROS 2019: 5256-5263 - [c15]Sarah Aguasvivas Manzano, Dana T. Hughes, Cooper R. Simpson, Radhen Patel, Christoffer Heckman, Nikolaus Correll:
Embedded Neural Networks for Robot Autonomy. ISRR 2019: 242-257 - [i8]Fernando Nobre, Christoffer Heckman:
FastCal: Robust Online Self-Calibration for Robotic Systems. CoRR abs/1902.10585 (2019) - [i7]Zhaozhong Chen, Nisar R. Ahmed, Simon Julier, Christoffer Heckman:
Kalman Filter Tuning with Bayesian Optimization. CoRR abs/1912.08601 (2019) - 2018
- [j2]Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed:
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. IEEE Robotics Autom. Lett. 3(3): 1639-1646 (2018) - [c14]Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed:
Weak in the NEES?: Auto-Tuning Kalman Filters with Bayesian Optimization. FUSION 2018: 1072-1079 - [c13]Fernando Nobre, Christoffer R. Heckman, Paul Ozog, Ryan W. Wolcott, Jeffrey M. Walls:
Online Probabilistic Change Detection in Feature-Based Maps. ICRA 2018: 1-9 - [c12]Sina Aghli, Christoffer Heckman:
Online System Identification and Calibration of Dynamic Models for Autonomous Ground Vehicles. ICRA 2018: 4933-4939 - [c11]Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman, Sriram Sankaranarayanan:
Path-Following through Control Funnel Functions. IROS 2018: 401-408 - [c10]Joseph Micah Prendergast, Gregory A. Formosa, Christoffer R. Heckman, Mark E. Rentschler:
Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy. IROS 2018: 783-790 - [c9]Guohui Ding, Sina Aghli, Christoffer Heckman, Lijun Chen:
Game-Theoretic Cooperative Lane Changing Using Data-Driven Models. IROS 2018: 3640-3647 - [c8]Fernando Nobre, Christoffer R. Heckman:
FastCal: Robust Online Self-calibration for Robotic Systems. ISER 2018: 737-747 - [i6]Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman, Sriram Sankaranarayanan:
Path-Following through Control Funnel Functions. CoRR abs/1804.05288 (2018) - [i5]Zhaozhong Chen, Christoffer Heckman, Simon Julier, Nisar R. Ahmed:
Weak in the NEES?: Auto-tuning Kalman Filters with Bayesian Optimization. CoRR abs/1807.08855 (2018) - [i4]Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed:
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. CoRR abs/1812.08280 (2018) - 2017
- [c7]Fernando Nobre, Michael Kasper, Christoffer R. Heckman:
Drift-correcting self-calibration for visual-inertial SLAM. ICRA 2017: 6525-6532 - [c6]Nikolaus Correll, Christoffer Heckman:
Materials That Make Robots Smart. ISRR 2017: 41-48 - [c5]Fernando Nobre, Christoffer Heckman:
Reinforcement Learning for Assisted Visual-Inertial Robotic Calibration. ISRR 2017: 473-488 - [i3]Mike Kasper, Nima Keivan, Gabe Sibley, Christoffer R. Heckman:
Light Source Estimation with Analytical Path-tracing. CoRR abs/1701.04101 (2017) - [i2]Nikolaus Correll, Christoffer R. Heckman:
Materials that make robots smart. CoRR abs/1711.00537 (2017) - [i1]John Stechschulte, Christoffer Heckman:
Hidden Markov Random Field Iterative Closest Point. CoRR abs/1711.05864 (2017) - 2016
- [c4]Mike Kasper, Nima Keivan, Gabe Sibley, Christoffer R. Heckman:
Light Source Estimation in Synthetic Images. ECCV Workshops (3) 2016: 887-893 - [c3]Fernando Nobre, Christoffer R. Heckman, Gabe T. Sibley:
Multi-Sensor SLAM with Online Self-Calibration and Change Detection. ISER 2016: 764-774 - 2015
- [j1]Christoffer R. Heckman, Ira B. Schwartz, M. Ani Hsieh:
Toward efficient navigation in uncertain gyre-like flows. Int. J. Robotics Res. 34(13): 1590-1603 (2015) - [c2]M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Christoffer R. Heckman, Eric Forgoston, Ira B. Schwartz, Philip A. Yecko:
Small and Adrift with Self-Control: Using the Environment to Improve Autonomy. ISRR (2) 2015: 387-402 - 2014
- [c1]Christoffer R. Heckman, M. Ani Hsieh, Ira B. Schwartz:
Controlling Basin Breakout for Robots Operating in Uncertain Flow Environments. ISER 2014: 561-576
Coauthor Index
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