Gregory Dudek

This is a cross-section showing selected publications across my career. A more comprehensive and up-to-date list including on-line versions is on the publication list by topic and there is also lab list (not up to date) mobile robotics lab publications page.

• One of the early applications of LLMs to robotics. We used a foundation model to create a photo-acquisition robot that could adapt to different domains by using an LLM to produce domain-specific criteria and evaluation metrics. Followup papers sometimes refer to this as a photoobt, although in much earlier papers (without an LLM) we introduced a more general idea of a "photo documentarian" that would seek to document different kinds of phenomenon (final ICRA 2023 version of paper here).
• Prediction of 5G traffic on edge-based compute elements by using transfer learning with a new technique we call Similarity-based Elastic Weight Consolidation. One for All: Traffic Prediction at Heterogeneous 5G Edge with Data-Efficient Transfer Learning, IEEE Globecom 2021. Awarded best-paper at GlobeCom 2021.
• Our paper "Generating adversarial driving scenarios in high-fidelity simulators" looks at using adversarial methods to allow autonomous driving agents to improve. The paper was an early example of developing more robust agents by making the environment part of the learning cycle.
• Efficient methods for drivers to meet one another or passengers. Fast and Efficient Rendezvous in Street Networks. IEEE/RSJ IROS 2016.
• Searching for novelty in video, and using it to navigate a swimming robot to maximize what is observed. Autonomous Adaptive Underwater Exploration using Online Topic Modeling. Journal version in the Intl Journal of Robotics Research, 2013.
• Human-robot interaction (HRI) and dialog validating HRI methods. 2011.
• Graphical state space programming (2009-2011): GSSP material and code - a framework for developing lightweight robot controllers.
• Visual barcodes as fiducial targets with variable resolution: Fourier tags and an enhanced payload variant (2011).
• Inferring the topology of sensor networks using sparse event information: ICRA 2006; see also our 2010 IEEE Transactions on Robotics article.
• Recommender system work with a large user-generated tag base: WI 2003.
• Comparing PCA to landmark-based pose estimation schemes: IJCAI 2003.
• Using visual landmarks for pose estimation: CVPR 2001.
• Reconstruction of depth images from intensity data: WACV 2002.
• Multi-robot collaboration for robust exploration: Annals of Mathematics and AI, 2001.
• Learning landmarks for pose estimation: ICCV 1999.
• Taxonomy for Multi-Agent Robotics and survey: Robot Teams (2002).
• Global localization: "Localizing a Robot with Minimum Travel," SIAM J. Comput, April 1998.
• Localization from sonar models: compressed postscript.
• Just-in-time sensing from sonar and laser data: ICRA 1996.
• Classification and use of sonar landmarks: IROS 1997.
• Computing "shape texture" for recognition: compressed postscript.
• 2-D shape-from-darkness and hidden surface recovery: IROS 1995.
• Multi-robot exploration: ICRA 1996.
• 3-D shape-from-darkness with iterative carving: CVPR 1998.

See more at publications_by_topic.html and the Mobile Robotics Lab publications page.

• Interview: "Dudek on robots in depth" - robotics and marine robotics.
• Future of robotics according to Dudek - one-minute clip.
• Aqua robot "dancing": Aqua robot dance.
• Short biography (French) for OCTAS award: biography video.
• Three-minute introduction to Gregory Dudek and lab work: quick intro for undergraduates.
• Bravo 2011 honorees (including Greg Dudek): 30-second highlight.
• TEDx talk on robotics and finding interesting stuff automatically: TEDx talk.
• Fully autonomous vision-based airplane flight (UAV): Xu & Dudek.
• Learning how a carpet "feels" for a Roomba: unsupervised learning demo.
• Robotics research video for the G20/G8 summit: summit video.
• Hovering gait for Aqua robot: hovering gait demo.