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publications

up-to-date list on google scholar

Theses

  1. Sodhi, P. (2022). Learning and Inference in Factor Graphs with Applications to Tactile Perception. Ph.D. Thesis, Carnegie Mellon University.
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          1. Sodhi, P. (2017). In-field Plant Phenotyping using Model-free and Model-based methods. Master’s Thesis, Carnegie Mellon University.
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            Peer-Reviewed Proceedings

            1. PatchGraph: In-hand tactile tracking with learned surface normals
              Sodhi, Paloma, Kaess, Michael, Mukadam, Mustafa, and Anderson, Stuart
              In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2022
              PDF Code Video
            1. Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar
              Baikovitz, Alex,  Sodhi, Paloma, Dille, Michael, and Kaess, Michael
              In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) 2021
              PDF Video
            2. LEO: Learning Energy-based Models in Factor Graph Optimization
              Sodhi, Paloma, Dexheimer, Eric, Mukadam, Mustafa, Anderson, Stuart, and Kaess, Michael
              In Conference on Robot Learning (CoRL) 2021
              PDF Code Video
            3. Learning Tactile Models for Factor Graph-based Estimation
              Sodhi, Paloma, Kaess, Michael, Mukadam, Mustafa, and Anderson, Stuart
              In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2021
              PDF Code Video
            1. ICS: Incremental Constrained Smoothing for State Estimation
              Sodhi, Paloma, Choudhury, Sanjiban, Mangelson, Joshua, and Kaess, Michael
              In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2020
              PDF Video
            2. Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration
              Suresh, Sudharshan,  Sodhi, Paloma, Mangelson, Joshua, Wettergreen, David, and Kaess, Michael
              In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2020
              PDF
            1. Online and Consistent Occupancy Grid Mapping for Planning in Unknown Environments
              Sodhi, Paloma, Ho, Bing-Jui, and Kaess, Michael
              In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) 2019
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            1. Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments
              Ho, Bing-Jui,  Sodhi, Paloma, Teixeira, Pedro V., Hsiao, Ming, Kusnur, Tushar, and Kaess, Michael
              In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) 2018
              PDF
            2. Robust Plant Phenotyping via Model-Based Optimization
              Sodhi, Paloma, Sun, Hanqi, Póczos, Barnabas, and Wettergreen, David
              In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) 2018
              PDF
            3. High-throughput robotic phenotyping of energy sorghum crops
              Vijayarangan, Srinivasan,  Sodhi, Paloma, Kini, Prath, Bourne, James, Du, Simon, Sun, Hanqi, Póczos, Barnabas, Apostolopoulos, Dimi, and Wettergreen, David
              In Field and Service Robotics 2018
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            1. In-field segmentation and identification of plant structures using 3D imaging
              Sodhi, Paloma, Vijayarangan, Srinivasan, and Wettergreen, David
              In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) 2017
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              Workshop and Tech Reports

                1. CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
                  Baikovitz, Alex,  Sodhi, Paloma, Dille, Michael, and Kaess, Michael
                  In arXiv:2107.07606 2021
                  PDF Code
                1. Learning rich observation models in factor graphs
                  Sodhi, Paloma, Kaess, Michael, Mukadam, Mustafa, and Anderson, Stuart
                  In WiML Workshop, NeurIPS 2020
                  Video