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Taosha Fan
Taosha Fan
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Theseus: A Library for Differentiable Nonlinear Optimization
L Pineda, T Fan, M Monge, S Venkataraman, P Sodhi, R Chen, J Ortiz, ...
Advances in Neural Information Processing Systems (NeurIPS), 2022
732022
CPL-SLAM: Efficient and certifiably correct planar graph-based SLAM using the complex number representation
T Fan, H Wang, M Rubenstein, T Murphey
IEEE Transactions on Robotics 36 (6), 1719-1737, 2020
312020
Majorization minimization methods for distributed pose graph optimization with convergence guarantees
T Fan, T Murphey
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
282020
Revitalizing optimization for 3d human pose and shape estimation: A sparse constrained formulation
T Fan, KV Alwala, D Xiang, W Xu, T Murphey, M Mukadam
Proceedings of the IEEE/CVF International Conference on Computer Vision …, 2021
252021
Online feedback control for input-saturated robotic systems on Lie groups
T Fan, T Murphey
2016 Proceedings of Robotics: Science and Systems, 2016
162016
Efficient and guaranteed planar pose graph optimization using the complex number representation
T Fan, H Wang, M Rubenstein, T Murphey
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
122019
Generalized proximal methods for pose graph optimization
T Fan, T Murphey
The International Symposium of Robotics Research, 393-409, 2019
112019
Efficient computation of higher-order variational integrators in robotic simulation and trajectory optimization
T Fan, J Schultz, T Murphey
International Workshop on the Algorithmic Foundations of Robotics, 689-706, 2018
112018
Decentralized and recursive identification for cooperative manipulation of unknown rigid body with local measurements
T Fan, H Weng, T Murphey
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2842-2849, 2017
92017
Structured linearization of discrete mechanical systems on lie groups: A synthesis of analysis and control
T Fan, T Murphey
2015 54th IEEE Conference on Decision and Control (CDC), 1092-1099, 2015
82015
Majorization minimization methods for distributed pose graph optimization
T Fan, T Murphey
IEEE Transactions on Robotics 40 (1), 22-42, 2024
72024
Inverse kinematics of active rotation ball joint manipulators using workspaces density functions
H Dong, T Fan, Z Du, GS Chirikjian
Advances in Reconfigurable Mechanisms and Robots II, 633-644, 2016
52016
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
S Suresh, H Qi, T Wu, T Fan, L Pineda, M Lambeta, J Malik, ...
arXiv preprint arXiv:2312.13469, 2023
42023
Inverse kinematics of discretely actuated ball-joint manipulators using workspace density
H Dong, T Fan, Z Du, G Chirikjian
International Design Engineering Technical Conferences and Computers and …, 2015
42015
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
T Fan, J Ortiz, M Hsiao, M Monge, J Dong, T Murphey, M Mukadam
2023 Proceedings of Robotics: Science and Systems, 2023
22023
Efficient and Guaranteed Geometric Methods for Motion Generation and Perception
T Fan
Northwestern University, 2022
2022
Supplementary Materials Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
T Fan, KV Alwala, D Xiang, W Xu, T Murphey, M Mukadam
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