Publications

ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis

Yun Chang, Leonor Fermoselle, Duy Ta, Bernadette Bucher, Luca Carlone, Jiuguang Wang

IEEE/CVF Conference on Computer Vision and Pattern Recognition

Paper

Clio: Real-time Task-Driven Open-Set 3D Scene Graphs

Dominic Maggio*, Yun Chang*, Nathan Hughes*, Matthew Trang, Dan Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone

IEEE Robotics and Automation Letters

Paper / Code

Khronos: A unified approach for spatio-temporal metric-semantic slam in dynamic environments

Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone

2024 Robotics Science and Systems

Best System Paper Award

Paper / Code

Foundations of spatial perception for robotics: Hierarchical representations and real-time systems

Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaia Abdulhai, Jared Strader, Luca Carlone

The International Journal of Robotics Research

Paper / Code

Kimera2: Robust and accurate metric-semantic SLAM in the real world

Marcus Abate, Yun Chang, Nathan Hughes, Luca Carlone

International Symposium on Experimental Robotics

Paper / Code

Present and future of slam in extreme underground environments

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 Petráček, Matěj 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 Scherer, Roland Siegwart, Jason L Williams, Luca Carlone

IEEE Transactions on Robotics

Paper

Hydra-multi: Collaborative online construction of 3d scene graphs with multi-robot teams

Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems

Paper

Resilient and distributed multi-robot visual slam: Datasets, experiments, and lessons learned

Yulun Tian*, Yun Chang*, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P How, Luca Carlone

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems

Paper / Code

D-lite: Navigation-oriented compression of 3d scene graphs under communication constraints

Yun Chang, Luca Ballotta, Luca Carlone

IEEE Robotics and Automation Letters

Paper

LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments

Yun Chang, Kamak Ebadi, Christopher E Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone

IEEE Robotics and Automation Letters

Paper / Code

Loop closure prioritization for efficient and scalable multi-robot SLAM

Christopher E Denniston*, Yun Chang*, Andrzej Reinke, Kamak Ebadi, Gaurav S Sukhatme, Luca Carlone, Benjamin Morrell, Ali-akbar Agha-mohammadi

IEEE Robotics and Automation Letters

Paper

Locus 2.0: Robust and computationally efficient lidar odometry for real-time 3d mapping

Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-Akbar Agha-Mohammadi

IEEE Robotics and Automation Letters

Paper / Code

Hydra: A real-time spatial perception system for 3D scene graph construction and optimization

Nathan Hughes, Yun Chang, Luca Carlone

2022 Robotics Science and Systems

Paper / Code

Kimera-multi: Robust, distributed, dense metric-semantic slam for multi-robot systems

Yulun Tian*, Yun Chang*, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P How, Luca Carlone

IEEE Transactions on Robotics

King-Sun Fu Memorial Best Paper Award

Paper / Code

Kimera: From SLAM to spatial perception with 3D dynamic scene graphs

Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone

The International Journal of Robotics Research

Paper / Code

Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping

Yun Chang*, Yulun Tian*, Jonathan P How, Luca Carlone

2021 IEEE International Conference on Robotics and Automation

Paper / Code

Nebula: Quest for robotic autonomy in challenging environments; Team CoSTAR at the DARPA Subterranean Challenge

Ali Agha et. al.

Journal of Field Robotics

Paper

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environment

Kamak Ebadi*, Yun Chang*, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally Wood, Luca Carlone, Ali-akbar Agha-mohammadi

2020 IEEE International Conference on Robotics and Automation

Paper

Kimera: an open-source library for real-time metric-semantic localization and mapping

Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone

2020 IEEE International Conference on Robotics and Automation

Paper / Code

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame

IEEE Robotics and Automation Letters

Paper / Code