wil thomason / publications

Conference Publications

2024
“Motions in Microseconds via Vectorized Sampling-Based Planning”
Wil Thomason, Zachary Kingston, and Lydia E. Kavraki. IEEE International Conference on Robotics and Automation (ICRA). First two authors have equal contribution.
pdf / publisher / bibtex
@inproceedings{thomason_motions_microseconds_2024,
  title = {Motions in {{Microseconds}} via {{Vectorized Sampling-Based Planning}}},
  booktitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  author = {Thomason, Wil and Kingston, Zachary and Kavraki, Lydia E.},
  date = {2024},
  eprint = {2309.14545},
  eprinttype = {arxiv},
  eprintclass = {cs},
  publisher = {{arXiv}},
  doi = {10.48550/arXiv.2309.14545},
  url = {http://arxiv.org/abs/2309.14545},
  eventtitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  pubstate = {forthcoming},
  keywords = {Computer Science - Robotics,I.2.8,I.2.9},}
}
“Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty”
Carlos Quintero-Peña, Wil Thomason, Zachary Kingston, Anastasios Kyrillidis, and Lydia E. Kavraki. IEEE International Conference on Robotics and Automation (ICRA).
pdf / publisher / bibtex
@inproceedings{quintero-pena_stochastic_implicit_2024,
  title = {Stochastic {{Implicit Neural Signed Distance Functions}} for {{Safe Motion Planning}} under {{Sensing Uncertainty}}},
  booktitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  author = {Quintero-Peña, Carlos and Thomason, Wil and Kingston, Zachary and Kyrillidis, Anastasios and Kavraki, Lydia E.},
  date = {2024},
  eprint = {2309.16862},
  eprinttype = {arxiv},
  eprintclass = {cs},
  publisher = {{arXiv}},
  doi = {10.48550/arXiv.2309.16862},
  url = {http://arxiv.org/abs/2309.16862},
  eventtitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  pubstate = {forthcoming},
  keywords = {Computer Science - Robotics,I.2.8,I.2.9},}
}
“Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Skills”
Khen Elimelech, Zachary Kingston, Wil Thomason, Moshe Y. Vardi, and Lydia E. Kavraki. IEEE International Conference on Robotics and Automation (ICRA).
pdf / publisher / bibtex
@inproceedings{elimelech_accelerating_longhorizon_2024,
  title = {Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Skills},
  booktitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  author = {Elimelech, Khen and Kingston, Zachary and Thomason, Wil and Vardi, Moshe Y. and Kavraki, Lydia E.},
  date = {2024},
  url = {http://khen.io/icra24appendix.pdf},
  eventtitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  pubstate = {forthcoming},
  keywords = {submitted}}
}
2023
“Object Reconfiguration with Simulation-Derived Feasible Actions”
Yiyuan Lee, Wil Thomason, Zachary Kingston, and Lydia E. Kavraki. IEEE International Conference on Robotics and Automation (ICRA).
pdf / publisher / bibtex
@inproceedings{lee_object_reconfiguration_2023,
  title = {Object {{Reconfiguration}} with {{Simulation-Derived Feasible Actions}}},
  booktitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
  author = {Lee, Yiyuan and Thomason, Wil and Kingston, Zachary and Kavraki, Lydia E.},
  date = {2023-05},
  pages = {8104--8111},
  doi = {10.1109/ICRA48891.2023.10160377},
  url = {https://ieeexplore.ieee.org/document/10160377},
  eventtitle = {{{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},}
}
2022
“Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning”
Wil Thomason, Marlin P. Strub, and Jonathan D. Gammell.
Presented at IROS 2022. Published in IEEE Robotics and Automation Letters.
pdf / publisher / bibtex
@article{thomason_task_motion_2022,
  title = {Task and {{Motion Informed Trees}} ({{TMIT}}*): {{Almost-Surely Asymptotically Optimal Integrated Task}} and {{Motion Planning}}},
  shorttitle = {Task and {{Motion Informed Trees}} ({{TMIT}}*)},
  author = {Thomason, Wil and Strub, Marlin P. and Gammell, Jonathan D.},
  date = {2022-10},
  journaltitle = {IEEE Robotics and Automation Letters},
  shortjournal = {IEEE Robot. Autom. Lett.},
  volume = {7},
  number = {4},
  pages = {11370--11377},
  doi = {10.1109/LRA.2022.3199676},
  url = {https://ieeexplore.ieee.org/document/9869707},}
}
2019
“A Unified Sampling-Based Approach to Integrated Task and Motion Planning”
Wil Thomason and Ross A. Knepper. International Symposium on Robotics Research (ISRR).
pdf / publisher / bibtex
@inproceedings{thomason_unified_samplingbased_2019,
  title = {A {{Unified Sampling-Based Approach}} to {{Integrated Task}} and {{Motion Planning}}},
  booktitle = {International {{Symposium}} on {{Robotics Research}} ({{ISRR}})},
  author = {Thomason, Wil and Knepper, Ross A.},
  editor = {Asfour, Tamim and Yoshida, Eiichi and Park, Jaeheung and Christensen, Henrik and Khatib, Oussama},
  date = {2019},
  series = {Springer {{Proceedings}} in {{Advanced Robotics}}},
  pages = {773--788},
  publisher = {{Springer International Publishing}},
  doi = {10.1007/978-3-030-95459-8_47},
  url = {https://link.springer.com/chapter/10.1007/978-3-030-95459-8_47},
  langid = {english},}
}
2018
“Social Momentum: A Framework for Legible Navigation in Dynamic Multi-Agent Environments”
Christoforos I. Mavrogiannis, Wil B. Thomason, and Ross A. Knepper. ACM/IEEE International Conference on Human-Robot Interaction (HRI). Acceptance rate: 23%
pdf / publisher / bibtex
@inproceedings{mavrogiannis_social_momentum_2018,
  title = {Social {{Momentum}}: {{A Framework}} for {{Legible Navigation}} in {{Dynamic Multi-Agent Environments}}},
  shorttitle = {Social {{Momentum}}},
  booktitle = {{{ACM}}/{{IEEE International Conference}} on {{Human-Robot Interaction}} ({{HRI}})},
  author = {Mavrogiannis, Christoforos I. and Thomason, Wil B. and Knepper, Ross A.},
  date = {2018-03},
  pages = {361--369},
  url = {https://ieeexplore.ieee.org/document/9473631},
  eventtitle = {{{ACM}}/{{IEEE International Conference}} on {{Human-Robot Interaction}} ({{HRI}})},}
}
2016
“Recognizing Unfamiliar Gestures for Human-Robot Interaction Through Zero-Shot Learning”
Wil Thomason and Ross A. Knepper. International Symposium on Experimental Robotics (ISER).
pdf / publisher / bibtex
@inproceedings{thomason_recognizing_unfamiliar_2016,
  title = {Recognizing {{Unfamiliar Gestures}} for {{Human-Robot Interaction Through Zero-Shot Learning}}},
  booktitle = {International {{Symposium}} on {{Experimental Robotics}} ({{ISER}})},
  author = {Thomason, Wil and Knepper, Ross A.},
  editor = {Kulić, Dana and Nakamura, Yoshihiko and Khatib, Oussama and Venture, Gentiane},
  date = {2016},
  series = {Springer {{Proceedings}} in {{Advanced Robotics}}},
  pages = {841--852},
  publisher = {{Springer International Publishing}},
  doi = {10.1007/978-3-319-50115-4_73},
  url = {https://link.springer.com/chapter/10.1007/978-3-319-50115-4_73},
  eventtitle = {International {{Symposium}} on {{Experimental Robotics}}},
  langid = {english},
  keywords = {Human Teammates,Understandable Gesture,Unfamiliar Gestures,Word Embedding Space,Zero-shot Learning},}
}

Journal Publications

2023
“Counterexample-Guided Repair for Symbolic-Geometric Action Abstractions”
Wil Thomason and Hadas Kress-Gazit. IEEE Transactions on Robotics.
pdf / publisher / bibtex
@article{thomason_counterexampleguided_repair_2023,
  title = {Counterexample-{{Guided Repair}} for {{Symbolic-Geometric Action Abstractions}}},
  author = {Thomason, Wil and Kress-Gazit, Hadas},
  date = {2023},
  journaltitle = {IEEE Transactions on Robotics},
  shortjournal = {IEEE Trans. Robot.},
  pages = {1--14},
  doi = {10.1109/TRO.2023.3294918},
  url = {https://ieeexplore.ieee.org/document/10214189},}
}
2022
“Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning”
Wil Thomason, Marlin P. Strub, and Jonathan D. Gammell. IEEE Robotics and Automation Letters.
pdf / publisher / bibtex
@article{thomason_task_motion_2022,
  title = {Task and {{Motion Informed Trees}} ({{TMIT}}*): {{Almost-Surely Asymptotically Optimal Integrated Task}} and {{Motion Planning}}},
  shorttitle = {Task and {{Motion Informed Trees}} ({{TMIT}}*)},
  author = {Thomason, Wil and Strub, Marlin P. and Gammell, Jonathan D.},
  date = {2022-10},
  journaltitle = {IEEE Robotics and Automation Letters},
  shortjournal = {IEEE Robot. Autom. Lett.},
  volume = {7},
  number = {4},
  pages = {11370--11377},
  doi = {10.1109/LRA.2022.3199676},
  url = {https://ieeexplore.ieee.org/document/9869707},}
}
“Social Momentum: Design and Evaluation of a Framework for Socially Competent Robot Navigation”
Christoforos Mavrogiannis, Patrícia Alves-Oliveira, Wil Thomason, and Ross A. Knepper. ACM Transactions on Human-Robot Interaction.
pdf / publisher / bibtex
@article{mavrogiannis_social_momentum_2022,
  title = {Social {{Momentum}}: {{Design}} and {{Evaluation}} of a {{Framework}} for {{Socially Competent Robot Navigation}}},
  shorttitle = {Social {{Momentum}}},
  author = {Mavrogiannis, Christoforos and Alves-Oliveira, Patrícia and Thomason, Wil and Knepper, Ross A.},
  date = {2022-02-08},
  journaltitle = {ACM Transactions on Human-Robot Interaction},
  shortjournal = {J. Hum.-Robot Interact.},
  volume = {11},
  number = {2},
  pages = {14:1--14:37},
  doi = {10.1145/3495244},
  url = {https://dl.acm.org/doi/10.1145/3495244},
  keywords = {benchmarking,multiagent systems,Social navigation,social robotics},}
}
2018
“An Accurate Real-Time RFID-based Location System”
Kirti Chawla, Christopher McFarland, Gabriel Robins, and Wil Thomason. International Journal of Radio Frequency Identification Technology and Applications. Authors ordered alphabetically.
publisher / bibtex
@article{chawla_accurate_realtime_2018,
  title = {An Accurate Real-Time {{RFID-based}} Location System},
  author = {Chawla, Kirti and McFarland, Christopher and Robins, Gabriel and Thomason, Wil},
  date = {2018-01},
  journaltitle = {International Journal of Radio Frequency Identification Technology and Applications},
  shortjournal = {Int. J. Radio Freq. Identif. Technol. Appl.},
  volume = {5},
  number = {1},
  pages = {48--76},
  publisher = {{Inderscience Publishers}},
  doi = {10.1504/IJRFITA.2018.091306},
  url = {https://www.inderscienceonline.com/doi/abs/10.1504/IJRFITA.2018.091306},
  keywords = {empirical power-distance relationship,localisation,RFID,RSS,tag-reader pairs},}
}

Workshop Presentations

2024
“Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty”
Carlos Quintero-Peña, Wil Thomason, Zachary K. Kingston, and Lydia E. Kavraki. Presented at Back to the Future: Robot Learning Going Probabilistic at IEEE International Conference on Robotics and Automation (ICRA)
“Dynamic Motion Planning from Perception via Accelerated Point Cloud Collision Checking”
Clayton W. Ramsey, Zachary K. Kingston, Wil Thomason, and Lydia E. Kavraki. Presented at Agile Robotics: From Perception to Dynamic Action at IEEE International Conference on Robotics and Automation (ICRA)
2019
“A Flexible Sampling-Based Approach to Task and Motion Planning”
Wil Thomason and Ross A. Knepper. Presented at the Workshop on Robust Task and Motion Planning at Robotics: Science and Systems (RSS)
pdf
2017
“Toward Contextual Grounding of Unfamiliar Gestures for Human-Robot Interaction”
Wil Thomason and Ross A. Knepper. Presented at the first International Workshop on Adaptive Shot Learning for Gesture Understanding and Production at the IEEE International Conference on Automatic Face and Gesture Recognition (FG)
pdf
“Exploiting Heterogeneity in Robot Teams Through a Formalism of Capabilities”
Wil Thomason and Ross A. Knepper. Presented at the Workshop on Heterogeneity and Diversity for Resilience in Multi-Robot Systems at Robotics: Science and Systems (RSS)
pdf
2016
“Recognizing Unfamiliar Gestures for Human-Robot Interaction through Zero-Shot Learning”
Wil Thomason and Ross A. Knepper. Presented at the the 2nd Workshop on Model Learning for Human-Robot Communication at Robotics: Science and Systems (RSS)
pdf

Grants

NSF-FRR
#2336612
“A Framework for Manipulation Planning and Execution under Uncertainty in Partially-Known Environments”
Co-author with Lydia E. Kavraki, Anshumali Shrivastava, Zachary K. Kingston, and Tianyang Pan.
award
NSF-CCF
#1646417
“Coordinated Action Among Independent Mobile Cyber-Physical Systems”
Co-author with Ross A. Knepper, Greg Morrisett, Abhishek Anand.
award

Class Notes

2016
Cornell CS 4750/5750: Foundations of Robotics
Ross A. Knepper, Christoforos Mavrogiannis, Julia Proft, and Wil Thomason.
course page