Publications

GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials.

Millard, David; Pastor, Daniel; Bowkett, Joseph; Backes, Paul; Sukhatme, Gaurav S.: GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials. Bekris, Kostas E.; Hauser, Kris; Herbert, Sylvia L.; Yu, Jingjin (Ed.): Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023, 2023

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation.

Heiden, Eric; Denniston, Christopher E.; Millard, David; Ramos, Fabio; Sukhatme, Gaurav S.: Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 3638-3645, IEEE, 2022
[Video]

Inferring Articulated Rigid Body Dynamics from RGBD Video.

Heiden, Eric; Liu, Ziang; Vineet, Vibhav; Coumans, Erwin; Sukhatme, Gaurav S.: Inferring Articulated Rigid Body Dynamics from RGBD Video. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 8383-8390, IEEE, 2022

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation.

Heiden, Eric; Denniston, Christopher E.; Millard, David; Ramos, Fabio; Sukhatme, Gaurav S.: Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. CoRR, vol. abs/2109.08815, 2021

NeuralSim: Augmenting Differentiable Simulators with Neural Networks.

Heiden, Eric; Millard, David; Coumans, Erwin; Sheng, Yizhou; Sukhatme, Gaurav S.: NeuralSim: Augmenting Differentiable Simulators with Neural Networks. IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, May 30 - June 5, 2021, pp. 9474-9481, IEEE, 2021
[Video]

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap.

Heiden, Eric; Millard, David; Coumans, Erwin; Sukhatme, Gaurav S.: Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. CoRR, vol. abs/2007.06045, 2020

NeuralSim: Augmenting Differentiable Simulators with Neural Networks.

Heiden, Eric; Millard, David; Coumans, Erwin; Sheng, Yizhou; Sukhatme, Gaurav S.: NeuralSim: Augmenting Differentiable Simulators with Neural Networks. CoRR, vol. abs/2011.04217, 2020

Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT.

Abdelzaher, Tarek F.; Ayanian, Nora; Basar, Tamer; Diggavi, Suhas N.; Diesner, Jana; Ganesan, Deepak; Govindan, Ramesh; Jha, Susmit; Lepoint, TancrŁde; Marlin, Benjamin M.; Nahrstedt, Klara; Nicol, David M.; Rajkumar, Raj; Russell, Stephen; Seshia, Sanjit A.; Sha, Fei; Shenoy, Prashant J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Swami, Ananthram; Tabuada, Paulo; Towsley, Don; Vaidya, Nitin H.; Veeravalli, Venugopal V.: Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT. 38th IEEE International Conference on Distributed Computing Systems, ICDCS 2018, Vienna, Austria, July 2-6, 2018, pp. 1129-1138, IEEE Computer Society, 2018

Toward an Internet of Battlefield Things: A Resilience Perspective.

Abdelzaher, Tarek F.; Ayanian, Nora; Basar, Tamer; Diggavi, Suhas N.; Diesner, Jana; Ganesan, Deepak; Govindan, Ramesh; Jha, Susmit; Lepoint, TancrŁde; Marlin, Benjamin M.; Nahrstedt, Klara; Nicol, David M.; Rajkumar, Raj; Russell, Stephen; Seshia, Sanjit A.; Sha, Fei; Shenoy, Prashant J.; Srivastava, Mani B.; Sukhatme, Gaurav S.; Swami, Ananthram; Tabuada, Paulo; Towsley, Don; Vaidya, Nitin H.; Veeravalli, Venugopal V.: Toward an Internet of Battlefield Things: A Resilience Perspective. Computer, vol. 51, no. 11, pp. 24-36, 2018

Informative planning and online learning with sparse Gaussian processes.

Ma, Kai-Chieh; Liu, Lantao; Sukhatme, Gaurav S.: Informative planning and online learning with sparse Gaussian processes. 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 4292-4298, IEEE, 2017

Informative Planning and Online Learning with Sparse Gaussian Processes.

Ma, Kai-Chieh; Liu, Lantao; Sukhatme, Gaurav S.: Informative Planning and Online Learning with Sparse Gaussian Processes. CoRR, vol. abs/1609.07560, 2016

Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena.

Chen, Jie; Low, Kian Hsiang; Tan, Colin Keng-Yan; Oran, Ali; Jaillet, Patrick; Dolan, John M.; Sukhatme, Gaurav S.: Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena. CoRR, vol. abs/1408.2046, 2014

Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena.

Chen, Jie; Low, Kian Hsiang; Tan, Colin Keng-Yan; Oran, Ali; Jaillet, Patrick; Dolan, John M.; Sukhatme, Gaurav S.: Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena. Freitas, Nando; Murphy, Kevin P. (Ed.): Proceedings of the Twenty-Eighth Conference on Uncertainty in Artificial Intelligence, Catalina Island, CA, USA, August 14-18, 2012, pp. 163-173, AUAI Press, 2012

Determining Energy Expenditure From Treadmill Walking Using Hip-Worn Inertial Sensors: An Experimental Study.

Vathsangam, Harshvardhan; Emken, B. Adar; Schroeder, E. Todd; Spruijt-Metz, Donna; Sukhatme, Gaurav S.: Determining Energy Expenditure From Treadmill Walking Using Hip-Worn Inertial Sensors: An Experimental Study. IEEE Trans. Biomed. Eng., vol. 58, no. 10, pp. 2804-2815, 2011

An architecture-driven software mobility framework.

Malek, Sam; Edwards, George; Brun, Yuriy; Tajalli, Hossein; Garcia, Joshua; Krka, Ivo; Medvidovic, Nenad; Mikic-Rakic, Marija; Sukhatme, Gaurav S.: An architecture-driven software mobility framework. J. Syst. Softw., vol. 83, no. 6, pp. 972-989, 2010

Identifying and Addressing Uncertainty in Architecture-Level Software Reliability Modeling.

Cheung, Leslie; Golubchik, Leana; Medvidovic, Nenad; Sukhatme, Gaurav S.: Identifying and Addressing Uncertainty in Architecture-Level Software Reliability Modeling. 21th International Parallel and Distributed Processing Symposium (IPDPS 2007), Proceedings, 26-30 March 2007, Long Beach, California, USA, pp. 1-6, IEEE, 2007

AMBROSia: An Autonomous Model-Based Reactive Observing System.

Caron, David A.; Das, Abhimanyu; Dhariwal, Amit; Golubchik, Leana; Govindan, Ramesh; Kempe, David; Oberg, Carl; Sharma, Abhishek B.; Stauffer, Beth; Sukhatme, Gaurav S.; Zhang, Bin: AMBROSia: An Autonomous Model-Based Reactive Observing System. Shi, Yong; Albada, G. Dick; Dongarra, Jack J.; Sloot, Peter M. A. (Ed.): Computational Science - ICCS 2007, 7th International Conference Beijing, China, May 27-30, 2007, Proceedings, Part I, pp. 995-1001, Springer, 2007

Engineering reliability into hybrid systems via rich design models: recent results and current directions.

Banerjee, Somo; Cheung, Leslie; Golubchik, Leana; Medvidovic, Nenad; Roshandel, Roshanak; Sukhatme, Gaurav S.: Engineering reliability into hybrid systems via rich design models: recent results and current directions. 20th International Parallel and Distributed Processing Symposium (IPDPS 2006), Proceedings, 25-29 April 2006, Rhodes Island, Greece, IEEE, 2006

A Generic Multi-scale Modeling Framework for Reactive Observing Systems: An Overview.

Golubchik, Leana; Caron, David A.; Das, Abhimanyu; Dhariwal, Amit; Govindan, Ramesh; Kempe, David; Oberg, Carl; Sharma, Abhishek B.; Stauffer, Beth; Sukhatme, Gaurav S.; Zhang, Bin: A Generic Multi-scale Modeling Framework for Reactive Observing Systems: An Overview. Alexandrov, Vassil N.; Albada, G. Dick; Sloot, Peter M. A.; Dongarra, Jack J. (Ed.): Computational Science - ICCS 2006, 6th International Conference, Reading, UK, May 28-31, 2006, Proceedings, Part III, pp. 514-521, Springer, 2006

Studying the Feasibility of Energy Harvesting in a Mobile Sensor Network.

Rahimi, Mohammad H.; Shah, Hardik; Sukhatme, Gaurav S.; Heidemann, John S.; Estrin, Deborah: Studying the Feasibility of Energy Harvesting in a Mobile Sensor Network. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan, pp. 19-24, IEEE, 2003

Connecting the Physical World with Pervasive Networks.

Estrin, Deborah; Culler, David E.; Pister, Kris; Sukhatme, Gaurav S.: Connecting the Physical World with Pervasive Networks. IEEE Pervasive Comput., vol. 1, no. 1, pp. 59-69, 2002

A testbed for Mars precision landing experiments by emulating spacecraft dynamics on a model helicopter.

Saripalli, Srikanth; Sukhatme, Gaurav S.: A testbed for Mars precision landing experiments by emulating spacecraft dynamics on a model helicopter. IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, pp. 2097-2102, IEEE, 2002

An implicit-based haptic rendering technique.

Kim, Laehyun; Kyrikou, Anna; Sukhatme, Gaurav S.; Desbrun, Mathieu: An implicit-based haptic rendering technique. IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, pp. 2943-2948, IEEE, 2002