Selected Publications

A full and current list of my publications can be found on my google scholar profile here. Bolded names indicate equal contribution.

• Maggio, Dominic and Chang, Yun and Hughes, Nathan and Trang, Matthew and Griffith, Dan and Dougherty, Carlyn and Cristofalo, Eric and Schmid, Lukas and Carlone, Luca, Clio: Real-time Task-Driven Open-Set 3D Scene Graphs, IEEE Robotics and Automation Letters, 2024.

• Strader, Jared and Hughes, Nathan and Chen, William and Speranzon, Alberto and Carlone, Luca, Indoor and outdoor 3d scene graph generation via language-enabled spatial ontologies, IEEE Robotics and Automation Letters, 2024.

• Hughes, Nathan and Chang, Yun and Hu, Siyi and Talak, Rajat and Abdulhai, Rumaisa and Strader, Jared and Carlone, Luca, Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems, The International Journal of Robotics Research, 2024.

• Abate, Marcus and Chang, Yun and Hughes, Nathan and Carlone, Luca, Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World, International Symposium on Experimental Robotics, 2023.

• Chang, Yun and Hughes, Nathan and Ray, Aaron and Carlone, Luca, Hydra-multi: Collaborative online construction of 3d scene graphs with multi-robot teams, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

• Hughes, Nathan and Chang, Yun and Carlone, Luca, Hydra: a Real-time Spatial Perception System for 3d Scene Graph Construction and Optimization, Proceedings of Robotics: Science and Systems. New York City, NY, USA, http://dx. doi. org/10.15607/RSS, 2022.

• Ravichandran, Zachary and Peng, Lisa and Hughes, Nathan and Griffith, J Daniel and Carlone, Luca, Hierarchical representations and explicit memory: Learning effective navigation policies on 3D scene graphs using graph neural networks, 2022 International Conference on Robotics and Automation (ICRA), 2022.

• Rosinol, Antoni and Violette, Andrew and Abate, Marcus and Hughes, Nathan and Chang, Yun and Shi, Jingnan and Gupta, Arjun and Carlone, Luca, Kimera: From SLAM to spatial perception with 3D dynamic scene graphs, The International Journal of Robotics Research, 2021.

• Fishman, Joshua and Ubellacker, Samuel and Hughes, Nathan and Carlone, Luca, Dynamic Grasping with a” Soft” Drone: From Theory to Practice, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

• Wang, Weiying and Jadhav, Ninad and Vohs, Paul and Hughes, Nathan and Mazumder, Mark and Gil, Stephanie, Active rendezvous for multi-robot pose graph optimization using sensing over Wi-Fi, The International Symposium of Robotics Research, 2019.