Mila > Team > Gregory Dudek

# Gregory Dudek

Associate Academic Member
dudek@cim.mcgill.ca
http://www.cim.mcgill.ca/~dudek/
514-398-4325
Associate Academic Member
Full Professor, McGill University, Samsung

Gregory Dudek is a professor of the School of C omputer Science at McGill Research Centre for Intelligent Machines (CIM)and Research Director of Mobile Robotics Lab at McGill. Lab Head and VP, Research of Samsung’s AI Center in Montreal.

He has authored and co-authored over 300 research publications on subjects including visual object description, recognition, RF localization, robotic navigation and mapping, distributed system design, 5G telecommunications, and biological perception. This includes a book entitled “Computational Principles of Mobile Robotics” co-authored with Michael Jenkin and published by Cambridge University Press. He has chaired and been otherwise involved in numerous national and international conferences and professional activities concerned with Robotics, Machine Sensing and Computer Vision. His research interests include perception for mobile robotics, navigation and position estimation, environment and shape modelling, computational vision and collaborative filtering

## Publications

### 2021-11

Average Outward Flux Skeletons for Environment Mapping and Topology Matching
Morteza Rezanejad, Babak Samari, Elham Karimi, Ioannis M. Rekleitis, Gregory Dudek and Kaleem Siddiqi
arXiv preprint arXiv:2111.13826
(2021-11-27)
dblp.uni-trier.de PDF

### 2021-10

An Autonomous Probing System for Collecting Measurements at Depth from Small Surface Vehicles.
Yuying Huang, Yiming Yao, Johanna Hansen, Jeremy Mallette, Sandeep Manjanna, Gregory Dudek and David Meger
arXiv preprint arXiv:2110.14738
(2021-10-27)
dblp.uni-trier.de PDF

### 2021-06

Sample Efficient Social Navigation Using Inverse Reinforcement Learning.
Bobak H. Baghi and Gregory Dudek
arXiv preprint arXiv:2106.10318
(2021-06-18)
ui.adsabs.harvard.edu PDF
UWB-Assisted Fast mmWave Beam Alignment
Ju Wang, Xi Chen, Xue Liu and Gregory Dudek
ICC 2021
(2021-06-14)
ieeexplore.ieee.org
Hierarchical Policy Learning for Hybrid Communication Load Balancing
Jikun Kang, Xi Chen, Di Wu, Yi Tian Xu, Xue Liu, Gregory Dudek, Taeseop Lee and Intaik Park
ICC 2021
(2021-06-01)
doi.org

### 2021-05

Optimizing Cellular Networks via Continuously Moving Base Stations on Road Networks
Yogesh Girdhar, Dmitriy Rivkin, Di Wu, Michael Jenkin, Xue Liu and Gregory Dudek
ICRA 2021
(2021-05-30)
dblp.uni-trier.de
Multimodal dynamics modeling for off-road autonomous vehicles
Jean-Francois Tremblay, Travis Manderson, Aurelio Noca, Gregory Dudek and David Meger
ICRA 2021
(2021-05-30)
dblp.uni-trier.de PDF[Also on arXiv preprint arXiv:2011.11751 (2020-11-23)]
Scalable Multi-Robot System for Non-myopic Spatial Sampling.
Sandeep Manjanna, Ani Hsieh and Gregory Dudek
arXiv preprint arXiv:2105.10018
(2021-05-20)
ui.adsabs.harvard.edu PDF
Learning Intuitive Physics with Multimodal Generative Models
Sahand Rezaei-Shoshtari, Francois Robert Hogan, Michael Jenkin, David Meger and Gregory Dudek
AAAI 2021
(2021-05-18)
ojs.aaai.org[Also on arXiv preprint arXiv:2101.04454 (2021-01-12)]

### 2021-04

SYSTEM AND METHOD FOR WIFI-BASED INDOOR LOCALIZATION VIA UNSUPERVISED DOMAIN ADAPTATION
Chen Xi, Li Hang, Zhou Chenyi, Liu Xue, Wu Di and Dudek Gregory Lewis
(venue unknown)
(2021-04-08)
lens.org

### 2021-02

Scale-invariant localization using quasi-semantic object landmarks
Andrew Holliday and Gregory Dudek
Autonomous Robots
(2021-02-25)
link.springer.com PDF

### 2021-01

Learning Goal Conditioned Socially Compliant Navigation From Demonstration Using Risk-Based Features
Abhisek Konar, Bobak H. Baghi and Gregory Dudek
ICRA 2021
(2021-01-01)
ieeexplore.ieee.org
Seeing Through your Skin: Recognizing Objects with a Novel Visuotactile Sensor
F. R. Hogan, M. Jenkin, S. Rezaei-Shoshtari, Y. Girdhar, D. Meger and G. Dudek
WACV 2021
(2021-01-01)
openaccess.thecvf.com PDF[Also on arXiv preprint arXiv:2011.09552 (2020-11-18)]

### 2020-10

PresSense: Passive Respiration Sensing via Ambient WiFi Signals in Noisy Environments
Yi Tian Xu, Xi Chen, Xue Liu, David Meger and Gregory Dudek
IROS 2020
(2020-10-24)
dblp.uni-trier.de
Learning Domain Randomization Distributions for Training Robust Locomotion Policies
Melissa Mozian, Juan Camilo Gamboa Higuera, David Meger and Gregory Dudek
IROS 2020
(2020-10-24)
dblp.uni-trier.de PDF
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Modasshir, Travis Manderson, Hunter Damron, Marios Xanthidis, Alberto Quattrini Li, Ioannis Rekleitis and Gregory Dudek
IROS 2020
(2020-10-24)
dblp.uni-trier.de PDF[Also on arXiv preprint arXiv:2003.05523 (2020-03-11)]
One-Shot Informed Robotic Visual Search in the Wild
Karim Koreitem, Florian Shkurti, Travis Manderson, Wei-Di Chang, Juan Camilo Gamboa Higuera and Gregory Dudek
IROS 2020
(2020-10-24)
dblp.uni-trier.de[Also on arXiv preprint arXiv:2003.10010 (2020-03-22)]

### 2020-08

Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework
Daniele Di Vito, Mathieux Bergeron, David Meger, Gregory Dudek and Gianluca Antonelli
2020 IEEE Conference on Control Technology and Applications (CCTA)
(2020-08-01)
dblp.uni-trier.de

### 2020-07

Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles
Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger and Gregory Dudek
RSS 2020
(2020-07-12)
www.roboticsproceedings.org PDF[Also on arXiv preprint arXiv:2006.16235 (2020-06-29)]

### 2020-05

Pre-trained CNNs as Visual Feature Extractors: A Broad Evaluation
Andrew Holliday and Gregory Dudek
CRV 2020
(2020-05-13)
doi.org
View-Invariant Loop Closure with Oriented Semantic Landmarks
Jimmy Li, Karim Koreitem, David Meger and Gregory Dudek
ICRA 2020
(2020-05-01)
doi.org
Depth Prediction for Monocular Direct Visual Odometry
Ran Cheng, Christopher Agia, David Meger and Gregory Dudek
CRV 2020
(2020-05-01)
www.computer.org

### 2020-04

FiDo: Ubiquitous Fine-Grained WiFi-based Localization for Unlabelled Users via Domain Adaptation
Xi Chen, Hang Li, Chenyi Zhou, Xue Liu, Di Wu and Gregory Dudek
WWW 2020
(2020-04-20)
dl.acm.org
Learning to Drive Off Road on Smooth Terrain in Unstructured Environments Using an On-Board Camera and Sparse Aerial Images
Travis Manderson, Stefan Wapnick, David Meger and Gregory Dudek
ICRA 2020
(2020-04-09)
ieeexplore.ieee.org PDF[LATEST on arXiv preprint arXiv:2004.04697 (2020-04-09)]

### 2020-01

The Answer Is Blowing in the Wind: Directed Air Flow for Socially-acceptable Human-Robot Interaction.
Vincent Zhang, Natalie Friedman, David Goedicke, Dmitriy Rivkin, Michael Jenkin, Xue Liu and Gregory Dudek
ICRCV 2020
(2020-01-01)
dblp.uni-trier.de

### 2019-12

Detecting GAN generated errors.
Xiru Zhu, Fengdi Che, Tianzi Yang, Tzu-Yang Yu, David Meger and Gregory Dudek
arXiv: Image and Video Processing
(2019-12-02)
ui.adsabs.harvard.edu PDF

### 2019-06

Heterogeneous Robot Teams for Informative Sampling.
Travis Manderson, Sandeep Manjanna and Gregory Dudek
arXiv: Robotics
(2019-06-17)
ui.adsabs.harvard.edu PDF
Reinforcement Learning with Non-uniform State Representations for Adaptive Search
Sandeep Manjanna, Herke van Hoof and Gregory Dudek
arXiv preprint arXiv:1906.06588
(2019-06-15)
ui.adsabs.harvard.edu
Learning Domain Randomization Distributions for Training Robust Locomotion Policies
Melissa Mozifian, Juan Camilo Gamboa Higuera, David Meger and Gregory Dudek
arXiv: Learning
(2019-06-02)
ui.adsabs.harvard.edu PDF
Learning Domain Randomization Distributions for Transfer of Locomotion Policies.
Melissa Mozifian, Juan Camilo Gamboa Higuera, David Meger and Gregory Dudek
(venue unknown)
(2019-06-02)
dblp.uni-trier.de PDF

### 2019-05

Investigating Trust Factors in Human-Robot Shared Control: Implicit Gender Bias Around Robot Voice
Alex Wong, Anqi Xu and Gregory Dudek
CRV 2019
(2019-05-29)
ieeexplore.ieee.org
Underwater Communication Using Full-Body Gestures and Optimal Variable-Length Prefix Codes
Karim Koreitem, Jimmy Li, Ian Karp, Travis Manderson and Gregory Dudek
ICRA 2019
(2019-05-20)
ieeexplore.ieee.org
Semantic Mapping for View-Invariant Relocalization
Jimmy Li, David Meger and Gregory Dudek
ICRA 2019
(2019-05-20)
ieeexplore.ieee.org
Generating Adversarial Driving Scenarios in High-Fidelity Simulators
Yasasa Abeysirigoonawardena, Florian Shkurti and Gregory Dudek
ICRA 2019
(2019-05-20)
ieeexplore.ieee.org

### 2019-01

EnviroNet: ImageNet analog for environment & global AI challenge
Gregory Dudek, Lucas Joppa, Valliappa Lakshmanan, Vipin Kumar and Surya Karthik Mukkavilli
99th American Meteorological Society Annual Meeting
(2019-01-08)

### 2018-11

Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields
Johanna Hansen, Sandeep Manjanna, Alberto Quattrini Li, Ioannis Rekleitis and Gregory Dudek
OCEANS 2018
(2018-11-25)
ui.adsabs.harvard.edu PDF
Planning in Dynamic Environments with Conditional Autoregressive Models.
Johanna Hansen, Kyle Kastner, Aaron C. Courville and Gregory Dudek
arXiv preprint arXiv:1811.10097
(2018-11-25)
ui.adsabs.harvard.edu PDF
Navigation in the Service of Enhanced Pose Estimation
Travis Manderson, Ran Cheng, David Meger and Gregory Dudek
ISER 2018
(2018-11-05)
doi.org
Policy Search on Aggregated State Space for Active Sampling
Sandeep Manjanna, Herke Van Hoof and Gregory Dudek
ISER 2018
(2018-11-05)
link.springer.com

Publications collected and formatted using Paperoni