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Preprints
F. Xie*, S. Wei*, Y. Song, Y. Yue and L. Gan, “Morphological-Symmetry-Equivariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning “, 2024.
D. Butterfield, S. S. Garimella, N.-J. Cheng and L. Gan, “MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception “, 2024.
S. X. Wei, L. Gan and J. W. Burdick, “A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach “, 2024.
Journal Papers
L. Gan*, Y. Kim*, J. W. Grizzle, J. M. Walls, A. Kim, R. M. Eustice and M. Ghaffari, “Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference ,” in IEEE Transactions on Robotics , vol. 39, no. 1, pp. 699-717, Feb. 2023.
L. Gan, J. W. Grizzle, R. M. Eustice and M. Ghaffari, “Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning ,” in IEEE Robotics and Automation Letters , vol. 7, no. 4, pp. 8807-8814, Oct. 2022.
A. Unnikrishnan, J. Wilson, L. Gan, A. Capodieci, P. Jayakumar, K. Barton and M. Ghaffari, “Dynamic Semantic Occupancy Mapping Using 3D Scene Flow and Closed-Form Bayesian Inference ,” in IEEE Access , vol. 10, pp. 97954-97970, 2022.
L. Gan, R. Zhang, J. W. Grizzle, R. M. Eustice and M. Ghaffari, “Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping ,” in IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 790-797, April 2020.
S. A. Parkison, M. Ghaffari, L. Gan, R. Zhang, A. K. Ushani and R. M. Eustice, “Boosting Shape Registration Algorithms via Reproducing Kernel Hilbert Space Regularizers ,” in IEEE Robotics and Automation Letters , vol. 4, no. 4, pp. 4563-4570, Oct. 2019.
Refereed Conference Papers
S. A. Deevi*, C. Lee*, L. Gan*, S. Nagesh, G. Pandey and S. -J. Chung, “RGB-X Object Detection via Scene-Specific Fusion Modules ,” Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) , 2024, pp. 7366-7375.
C. Lee, J. G. Frennert, L. Gan, M. Anderson and S. -J. Chung, “Online Self-Supervised Thermal Water Segmentation for Aerial Vehicles ,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Detroit, MI, USA, 2023, pp. 7734-7741.IROS Best Paper Award on Agri-Robotics (Finalist)
L. Gan, C. Lee and S. -J. Chung, “Unsupervised RGB-to-Thermal Domain Adaptation via Multi-Domain Attention Network ,” 2023 IEEE International Conference on Robotics and Automation (ICRA) , London, United Kingdom, 2023, pp. 6014-6020.
R. Hartley, M. G. Jadidi, L. Gan, J. -K. Huang, J. W. Grizzle and R. M. Eustice, “Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs ,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Madrid, Spain, 2018, pp. 3783-3790.
R. Hartley, J. Mangelson, L. Gan, M. G. Jadidi, J. M. Walls, R. M. Eustice and J. W. Grizzle, “Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors ,” 2018 IEEE International Conference on Robotics and Automation (ICRA) , Brisbane, QLD, Australia, 2018, pp. 4422-4429.
S. A. Parkison, L. Gan, M. G. Jadidi and R. M. Eustice, “Semantic Iterative Closest Point through Expectation-Maximization ,” 2018 British Machine Vision Conference (BMVC) , Newcastle, UK, 2018, pp. 1-17.
Theses
