Research

My research interests are loosely organized into two thrusts:

Building 3D Representations with Vision

How can we build representations of the world that are informative but lightweight enough for embodied agents?

Decision Making for Embodied Agents

How can we use novel 3D representations to effectively plan under real-world conditions?

  • View-Invariant Policy Learning via Zero-Shot Novel View Synthesis. S Tian, B Wulfe, K Sargent, K Liu, S Zakharov, V Guizilini, J Wu. To appear at CoRL 2024. [pdf][cite]

  • Zero-Shot Multi-Object Shape Completion. S Iwase, K Liu, V Guizilini, A Gaidon, K Kitani, R Ambrus, S Zakharov. To appear at ECCV 2024. [pdf]

  • DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation. T Ikeda, S Zakharov, T Ko, MZ Irshad, R Lee, K Liu, R Ambrus, K Nishiwaki. To appear at IROS 2024. [pdf]

  • ReFiNe: Recursive Field Networks for Cross-modal Multi-scene Representation. S Zakharov, K Liu, A Gaidon, R Ambrus. SIGGRAPH 2024. [pdf][site]

  • NeO360: Neural Fields for Sparse View Synthesis of Outdoor Scenes. M Z Irshad, S Zakharov, K Liu, V Guizilini, T Kollar, A Gaidon, Z Kira, R Ambrus. ICCV 2023. [pdf][site]

  • CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects. N Heppert, MZ Irshad, S Zakharov, K Liu, RA Ambrus, J Bohg, A Valada, T Kollar. CVPR 2023. [pdf][site]

  • Multi-Object Manipulation via Object-Centric Neural Scattering Functions. S Tian, Y Cai, HX Yu, S Zakharov, K Liu, A Gaidon, Y Li, J Wu. CVPR 2023. [pdf][site]

  • ROAD: Learning an Implicit Recursive Octree Auto-Decoder to Efficiently Encode 3D Shapes. S Zakharov, R Ambrus, K Liu, A Gaidon. CoRL 2022. [pdf][site]

  • VoluMon: Weakly-Supervised Volumetric Monocular Estimation with Ellipsoid Representations. K Liu, K Ok, N Roy. IROS 2021. [pdf][video][read more]

  • Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation. M Stadler, K Liu, N Roy. IROS 2021. [pdf]

  • Hierarchical Object Map Estimation for Efficient and Robust Navigation. K Ok, K Liu, N Roy. ICRA 2021. [pdf]

  • Learned Sampling Distributions for Efficient Planning in Hybrid Geometric and Object-Level Representations. K Liu꙳, M Stadler꙳, N Roy. ICRA 2020. [pdf][video][read more]

  • Robust Object-Based SLAM for High-Speed Autonomous Navigation. K Ok꙳, K Liu꙳, K Frey, JP How, N Roy. ICRA 2019. [pdf][read more]

  • Search and Rescue Under the Forest Canopy Using Multiple UAVs. Y Tian, K Liu, K Ok, L Tran, D. Allen, N Roy, J P How. ISER 2019 and IJRR 2020. [pdf][video]

  • Deep Inference for Covariance Estimation: Learning Gaussian Noise Models for State Estimation. K Liu꙳, K Ok꙳, W Vega-Brown, N Roy. ICRA 2018. [pdf][video]