Papers and presentations
Numerical algorithms, robotics, and evaluation. Code and datasets are linked alongside each manuscript.
Accepted · IROS 2026 WORLDS Workshop · 2026
A Fetch robot builds a geometric map once, then updates an open-vocabulary semantic object graph across revisits as objects move, appear, or disappear.
Submitted · Research manuscript · 2026
Semiring-based sparse algebraic path algorithms unify shortest paths, widest paths, and reachability, with open-source Julia implementations for CPUs and NVIDIA GPUs.
Submitted · ICRA 2027 · 2026
* Equal contribution
A real-world perception benchmark across scene changes: 100 scenes, 70 objects, and 133,121 frames, with 49 models tested in 65 model–task evaluations.
Six tasks cover image depth, video depth, object tracking, relative camera pose, general VQA, and in-context VQA. The dataset includes over 5.2 million VQA question records.
Submitted · ICRA 2027 · 2026
A U-Net predicts local coverage gain from partial maps, guiding memory- and structure-aware planning for efficient indoor robot exploration.
Submitted · ACC 2027 cycle · 2026
A layered approach to multi-agent coordination using cellular sheaves and constrained harmonic extension. CellularSheaves.jl provides companion software.
Presented · IISE Annual Conference & Expo · 2026
An experimental study of how task rotation and cognitive workload affect mental fatigue, worker errors, and task completion times.