Publications

Rover relocalization for Mars Sample Return by virtual template synthesis and matching
T.-H. Pham, W. Seto, S. Daftry, B. Ridge, J. Hansen, T. Thrush, M. Van der Merwe, G. Maggiolino, A. Brinkman, J. Mayo, Y. Cheng, C. Padgett, E. Kulczycki, R. Detry, IEEE Robotics and Automation Letters (RAL), 2021. [pdf], [dataset]

Machine vision based sample-tube localization for Mars Sample Return S. Daftry, B. Ridge, W. Seto, T.-H. Pham, P. Ilhardt, G. Maggiolino, M. Van der Merwe, A. Brinkman, J. Mayo, E. Kulczyski, R. Detry, IEEE Aerospace Conference, Big Sky, MT, USA, 2021. [pdf].

Rover localization for tube pickup: dataset, methods and validation for Mars Sample Return planning T.-H. Pham, W. Seto, S. Daftry, A. Brinkman, J. Mayo, Y. Cheng, C. Padgett, E. Kulczycki, R. Detry, IEEE Aerospace Conference, Big Sky, MT, USA, 2020. [pdf].

Reinforcement learning testbed for power-consumption optimization T. Moriyama, G. De Magistris, M. Tatsubori, T.-H. Pham, A. Munawar, R. Tachibana, Asian Simulation Conference (AsiaSim), Singapore, 2018. [pdf], [code].

Constrained exploration and recovery from experience shaping T.-H. Pham, G. De Magistris, D. J. Agravante, S. Chaudhury, A. Munawar, R. Tachibana, arXiv preprint arXiv:1809.08925, September, 2018. I wrote this before leaving IBM. It has not been publicized much but I consider this to be some of my best work :’). [pdf], [code].

Experimental force-torque dataset for robot learning of multi-shape insertion G. De Magistris, A. Munawar, T.-H. Pham, T. Inoue, P. Vinayavekhin, R. Tachibana, 36th Annual Conference of the Robotics Society of Japan (RSJ), Kasugai, Japan, September, 2018. [pdf], [video].

OptLayer - practical constrained optimization for deep reinforcement learning in the real world
T.-H. Pham, G. De Magistris, R. Tachibana, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May, 2018. [pdf], [video].

MaestROB: a robotics framework for integrated orchestration of low-level control and high-level reasoning
A. Munawar, G. De Magistris, T.-H. Pham, D. Kimura, M. Tatsubori, T. Moriyama, R. Tachibana, G. Booch, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May, 2018. [pdf], [video].

Multi-contact interaction force sensing from whole-body motion capture
T.-H. Pham, S. Caron, A. Kheddar, IEEE Transactions on Industrial Informatics (TII), 2017. [pdf], [dataset]

Hand-object contact force estimation from markerless visual tracking
T.-H. Pham, N. Kyriazis, A. A. Argyros, A. Kheddar, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2017. [pdf], [video], [dataset].

Whole-body contact force sensing from motion capture
T.-H. Pham, A. Bufort, S. Caron, A. Kheddar, IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, December, 2016. Best Paper Award. [pdf].

Capturing and reproducing hand-object interactions through vision-based force sensing
T.-H. Pham, A. Kheddar, A. Qammaz, A. A. Argyros, IEEE ICCV Workshop on Object Understanding for Interaction (OUI), Santiago, Chile, December, 2015. [pdf].

Towards force sensing from vision: observing hand-object interactions to infer manipulation forces
T.-H. Pham, A. Kheddar, A. Qammaz, A. A. Argyros, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston, MA, USA, June, 2015. [pdf], [video].