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ORCIDNathan Hughes
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Journal Articles
- 2024
[j4]Nathan Hughes
, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, Luca Carlone:
Foundations of spatial perception for robotics: Hierarchical representations and real-time systems. Int. J. Robotics Res. 43(10): 1457-1505 (2024)- [j3]Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone:
Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies. IEEE Robotics Autom. Lett. 9(6): 4886-4893 (2024) - [j2]Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, J. Daniel Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone:
Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs. IEEE Robotics Autom. Lett. 9(10): 8921-8928 (2024) - 2021
- [j1]Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone:
Kimera: From SLAM to spatial perception with 3D dynamic scene graphs. Int. J. Robotics Res. 40(12-14): 1510-1546 (2021)
Conference and Workshop Papers
- 2025
- [c9]Christian Prothmann, Vijay Gadepally, Jeremy Kepner, Koley Borchard, Luca Carlone, Zachary Folcik, J. Daniel Griffith, Michael Houle, Jonathan P. How, Nathan Hughes, Ifueko Igbinedion, Hayden Jananthan, Tejas Jayashankar, Michael Jones, Sertac Karaman, Binoy G. Kurien, Alejandro Lancho, Giovanni Lavezzi, Gary C. F. Lee, Charles E. Leiserson, Richard Linares, Lindsey McEvoy, Peter Michaleas, Chasen Milner, Alex Pentland, Yury Polyanskiy, Jovan Popovich, Jeffrey Price, Tim W. Reid, Stephanie Riley, Siddharth Samsi, Peter Saunders, Olga Simek, Mark S. Veillette, Amir Weiss, Gregory W. Wornell, Daniela Rus, Scott T. Ruppel:
Advancing AI Challenges for the United States Department of the Air Force*. HPEC 2025: 1-8 - 2023
- [c8]Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone:
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. IROS 2023: 10995-11002 - [c7]Marcus Abate, Yun Chang, Nathan Hughes, Luca Carlone:
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. ISER 2023: 81-95 - 2022
- [c6]Zachary Ravichandran, Lisa R. Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone:
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. ICRA 2022: 9272-9279 - [c5]Nathan Hughes, Yun Chang, Luca Carlone:
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization. Robotics: Science and Systems 2022 - 2021
- [c4]Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone:
Dynamic Grasping with a "Soft" Drone: From Theory to Practice. IROS 2021: 4214-4221 - 2019
- [c3]Weiying Wang, Ninad Jadhav, Paul Vohs, Nathan Hughes, Mark Mazumder, Stephanie Gil:
Active Rendezvous for Multi-robot Pose Graph Optimization Using Sensing over Wi-Fi. ISRR 2019: 832-849 - 2017
- [c2]Jinyi Wang, Oskar Juhlin, Nathan Hughes:
Fashion Film as Design Fiction for Wearable Concepts. CHI Extended Abstracts 2017: 461 - 2014
- [c1]Joseph P. Macker, David J. Claypool, Nathan Hughes:
Improving Routing Path Stability in Mobile Ad Hoc Networks That Use a CDS Control Plane. MILCOM 2014: 1099-1104
Informal and Other Publications
- 2025
- [i12]Jared Strader, Aaron Ray, Jacob Arkin, Mason B. Peterson, Yun Chang, Nathan Hughes, Christopher Bradley, Yi Xuan Jia, Carlos Nieto-Granda, Rajat Talak, Chuchu Fan, Luca Carlone, Jonathan P. How, Nicholas Roy:
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs. CoRR abs/2506.07454 (2025) - [i11]Christian Prothmann, Vijay Gadepally, Jeremy Kepner, Koley Borchard, Luca Carlone, Zachary Folcik, J. Daniel Griffith, Michael Houle, Jonathan P. How, Nathan Hughes, Ifueko Igbinedion, Hayden Jananthan, Tejas Jayashankar, Michael Jones, Sertac Karaman, Binoy G. Kurien, Alejandro Lancho, Giovanni Lavezzi, Gary C. F. Lee, Charles E. Leiserson, Richard Linares, Lindsey McEvoy, Peter Michaleas, Chasen Milner, Alex Pentland, Yury Polyanskiy, Jovan Popovich, Jeffrey Price, Tim W. Reid, Stephanie Riley, Siddharth Samsi, Peter Saunders, Olga Simek, Mark S. Veillette, Amir Weiss, Gregory W. Wornell, Daniela Rus, Scott T. Ruppel:
Advancing AI Challenges for the United States Department of the Air Force. CoRR abs/2511.00267 (2025) - 2024
- [i10]Marcus Abate, Yun Chang, Nathan Hughes, Luca Carlone:
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World. CoRR abs/2401.06323 (2024) - [i9]Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, J. Daniel Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone:
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs. CoRR abs/2404.13696 (2024) - 2023
- [i8]Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone:
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. CoRR abs/2304.13487 (2023) - [i7]Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, Luca Carlone:
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. CoRR abs/2305.07154 (2023) - [i6]Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone:
Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies. CoRR abs/2312.11713 (2023) - 2022
- [i5]Nathan Hughes, Yun Chang, Luca Carlone:
Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. CoRR abs/2201.13360 (2022) - 2021
- [i4]Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone:
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs. CoRR abs/2101.06894 (2021) - [i3]Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone:
Dynamic Grasping with a "Soft" Drone: From Theory to Practice. CoRR abs/2103.06465 (2021) - [i2]Zachary Ravichandran, Lisa R. Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone:
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. CoRR abs/2108.01176 (2021) - 2019
- [i1]Weiying Wang, Ninad Jadhav, Paul Vohs, Nathan Hughes, Mark Mazumder, Stephanie Gil:
Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi. CoRR abs/1907.05538 (2019)
Coauthor Index
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