Featured Publications

Preprints

Legged Robot State Estimation within Non-inertial Environments

Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, and Yan Gu

arXiv (Submitted to CDC 2024), 2024

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Proprioceptive Invariant Robot State Estimation

Tzu-Yuan Lin, Tingjun Li, Wenzhe Tong, and Maani Ghaffari

arXiv, 2023

Paper Code Video

Adaptive Continuous Visual Odometry from RGB-D Images

Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony Bloch, and Maani Ghaffari

arXiv, 2019

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Journal Articles

A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios

Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan Englot, Ryan M Eustice, Maani Ghaffari

IEEE Access, 2023

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Progress in symmetry preserving robot perception and control through geometry and learning

Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, and Jingwei Song

Frontiers in Robotics and AI, 2022

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Refereed Conference Papers

Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras

Tzu-Yuan Lin, Minghan Zhu, and Maani Ghaffari

International Conference on Machine Learning (ICML), 2024

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Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer

Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, and Maani Ghaffari

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari

IEEE International Conference on Robotics and Automation (ICRA), 2021

Paper Code Video

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Tzu-Yuan Lin, Ray Zhang, Justin Yu, and Maani Ghaffari

Conference on Robot Learning (CoRL), 2021

Paper Code Video