Maani Ghaffari
Associate Professor, Naval Architecture and Marine Engineering and Robotics
Studies robot perception, machine learning and planning under uncertainty, including geometric and equivariant methods for state estimation.
Maani Ghaffari's lab at Michigan works on robot perception & SLAM, planning, control & multi-robot systems and probabilistic & causal inference. 45 papers since 2023, 19 at top venues, mostly ICRA and ACC. 8 PhD students and 1 master's student. 46 alumni, most often to Amazon and ByteDance. Applications close .
At a glance
- papers, 2023–2026
- 12/ year
- at T1 venues
- 42%
- PhD students
- 8
- MS students
- 1
- alumni listed
- 46
Papers by yearfrom DBLP, 2023–2026
- 9 papers2026 · T1 2 · collecting
- 13 papers2025 · T1 7
- 9 papers2024 · T1 3
- 14 papers2023 · T1 7
T1 venuesOtherVenues: ICRA, ACC, CVPR, ECCV, ICCV
Research focuspaper titles that use each topic's words
- Planning, control & multi-robot systems10 papers
- Robot perception & SLAM9 papers
- Probabilistic & causal inference4 papers
- state estimation3 papers
- state3 papers
Paper list
From DBLP.
20269 papers
- ICRA (T1)Ego-Vision World Model for Humanoid Contact Planning (opens in a new tab)
- IEEE Robotics Autom. Lett.Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks (opens in a new tab)
- IEEE Robotics Autom. Lett.Imaginative World Modeling With Scene Graphs via VLM for Object Navigation (opens in a new tab)
- ACCLearning Hybrid Dynamics via Convex Optimization (opens in a new tab)
- J. Field RoboticsLearning Orientation Field for OSM-Guided Autonomous Navigation (opens in a new tab)
- IEEE Robotics Autom. Lett.Lies We Can Trust: Quantifying Action Uncertainty With Inaccurate Stochastic Dynamics Through Conformalized Nonholonomic Lie groups (opens in a new tab)
- ECCV (T1)RIGS: Radar-Informed Gaussian Splatting for Uncertainty-Aware 3D Occupancy and Motion Prediction (opens in a new tab)
- IEEE Robotics Autom. Lett.SignNav: Directional Signage-Cue Guided Visual Navigation in Large-Scale Indoor Environments (opens in a new tab)
- IEEE Robotics Autom. Lett.Super LiDAR Intensity for Robotic Perception (opens in a new tab)
202513 papers
- ACCA Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization (opens in a new tab)
- Int. J. Robotics Res.Convex geometric motion planning of multi-body systems on lie groups via variational integrators and sparse moment relaxation (opens in a new tab)
- IEEE Robotics Autom. Lett.LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces With Quantifiable Uncertainty (opens in a new tab)
- IEEE Robotics Autom. Lett.Learning Implicit Social Navigation Behavior Using Deep Inverse Reinforcement Learning (opens in a new tab)
- NeurIPS (T1)Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise (opens in a new tab)
- CVPR WorkshopMDMP: Multi-modal Diffusion for supervised Motion Predictions with uncertainty (opens in a new tab)
- ICRA (T1)Modeling Uncertainty in 3D Gaussian Splatting Through Continuous Semantic Splatting (opens in a new tab)
- CVPR (T1)POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality (opens in a new tab)
- ICCV (T1)Registration beyond Points: General Affine Subspace Alignment via Geodesic Distance on Grassmann Manifold (opens in a new tab)
- TPAMI (T1)RKHS-BA: A Robust Correspondence-Free Multi-View Bundle Adjustment Framework for Semantic Point Clouds (opens in a new tab)
- ICRA (T1)SLAM Assisted 3D Tracking System for Laparoscopic Surgery (opens in a new tab)
- IEEE Robotics Autom. Lett.Tensegrity Robot Proprioceptive State Estimation With Geometric Constraints (opens in a new tab)
20249 papers
- Int. J. Comput. Assist. Radiol. Surg.BDIS-SLAM: a lightweight CPU-based dense stereo SLAM for surgery (opens in a new tab)
- IEEE Trans. RoboticsConvBKI: Real-Time Probabilistic Semantic Mapping Network With Quantifiable Uncertainty (opens in a new tab)
- ECCV (T1)Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning (opens in a new tab)
- J. Intell. Robotic Syst.Efficient Data Collection Strategy for Modeling the Dynamics of Floating Robotic Vehicles Using Neural Networks (opens in a new tab)
- ICRA (T1)Iterative PnP and its application in 3D-2D vascular image registration for robot navigation (opens in a new tab)
- CDCLegged Robot State Estimation within Non-inertial Environments (opens in a new tab)
- ICML (T1)Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras (opens in a new tab)
- IEEE Robotics Autom. Lett.SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration (opens in a new tab)
- IEEE Robotics Autom. Lett.Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets (opens in a new tab)
202314 papers
- ICCV (T1)4D Panoptic Segmentation as Invariant and Equivariant Field Prediction (opens in a new tab)
- IEEE AccessA Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios (opens in a new tab)
- IEEE Trans. RoboticsBDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching (opens in a new tab)
- RSS (T1)Convex Geometric Motion Planning on Lie Groups via Moment Relaxation (opens in a new tab)
- IEEE Robotics Autom. Lett.Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles (opens in a new tab)
- ICRA (T1)Convolutional Bayesian Kernel Inference for 3D Semantic Mapping (opens in a new tab)
- CVPR (T1)E2PN: Efficient SE(3)-Equivariant Point Network (opens in a new tab)
- SensorsFast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression (opens in a new tab)
- IROS (T1)Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer (opens in a new tab)
- ICRA (T1)Moment-Based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation (opens in a new tab)
- IEEE Trans. RoboticsMultitask Learning for Scalable and Dense Multilayer Bayesian Map Inference (opens in a new tab)
- IEEE Robotics Autom. Lett.Optical Flow-Based Vascular Respiratory Motion Compensation (opens in a new tab)
Where alumni went46 listed, 33% to industry
Industry 12Academia 24
Most often to
- Amazon
- ByteDance
Also to
- University of Michigan
- MIT
- USC
Apply to MichiganFall 2027
Michigan CSE Computer Science PhD
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Not yet confirmed for this intake.
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