Publications

A. Dechemi,* T. Olvera Hale,* C. Eng,* and K. Karydis, Design, Integration, and Field Evaluation of a New Pneumatics-based Robotic Leaf Cutting and Retrieving System.  In Academic Press: Hyperautomation in Precision Agriculture, 2025, pp. 203-215.

D. Chatziparaschis,* E. Scudiero, and K. Karydis, Robot-assisted Soil Apparent Electrical Conductivity Measurements in Orchards.  In CRC Press: Mobile Robots for Digital Farming, 2024, pp. 55-88.

K. Karydis and M. Ani Hsieh, Uncertainty Quantification for Small Robots Using Principal Orthogonal Decomposition. International Symposium on Experimental Robotics (ISER), Springer International Publishing, Springer Proceedings in Advanced Robotics, 2017, pp. 33-42.

K. Karydis, A. Stager, H. G. Tanner, and I. Poulakakis, Experimental Validation of a Template for Navigation of Miniature Legged Robots. International Symposium on Experimental Robotics (ISER), Springer International Publishing, Springer Proceedings in Advanced Robotics, 2017, pp. 420-430.

X. Zhang* and K. Karydis, Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control. In Int. Symposium. on Robotics Research (ISRR), 2026.  (To Appear)

S. Bose,* R. K. Rajendran, B. Debnath, K. Karydis, A. Roy-Chowdhury, and S. Chakradhar, GRAIL: Grounded Visual Alignment of Medical Vision-Language Models for Radiology Report Generation.  In Conf. on Empirical Methods in Natural Language Processing (EMNLP), 2026.  (To Appear)

D. Chatziparaschis,* E. Scudiero, B. Sams, and K. Karydis, An Annotation-to-Detection Framework for Autonomous and Robust Vine Trunk Localization in the Field by Mobile Agricultural Robots. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2026.  (In Press)

U. Ghosh, D. S. Raychaudhuri, J. Li, K. Karydis, and A. K. Roy-Chowdhury, Reducing Oracle Feedback with Vision–Language Embeddings for Preference-Based RL. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2026.  (In Press)

A. Dutta, S. Bose,* S. Bachu, C. Ta,  K. Karydis, and A. K. Roy-Chowdhury, Unsupervised Domain Adaptation for Occlusion Resilient Human Pose Estimation. In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2026, pp. 1054-1063.

W. Yuan, J. Li, J. Yue, D. Shah, K. Karydis, and H. Qiu, BEVCalib: LiDAR-Camera Calibration via Geometry-Guided Bird’s-Eye View Representation.  In 9th Annual Conference on Robot Learning (CORL), 2025, pp. 4824-4836.

X. Song* and K. Karydis, GS-NBV: A Geometry-based, Semantics-aware Viewpoint Planning Algorithm for Avocado Harvesting under Occlusions.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2025, pp. 690-695.

C. Simons,* Z. Liu,* B. Marcus, A. Roy-Chowdhury, and K. Karydis, Language-guided Robust Navigation for Mobile Robots in Dynamically-changing Environments.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2025, pp. 851-857.

C. Simons,* A. Samanta,* A. K. Roy-Chowdhury, and K. Karydis, SeGuE: Semantic Guided Exploration for Mobile Robots.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2025, pp. 2254-2259.

S. Bose,* A. Dutta, S. Nag, J. Zhang, J. Li, K. Karydis, and A. K. Roy-Chowdhury, Uncertainty-Aware Diffusion-Guided Refinement of 3D Scenes.  In IEEE/CVF Int. Conf. on Computer Vision (ICCV), 2025, pp. 28271-28281.

A. Samanta,* J. Banik,* D. Chatziparaschis,* E. Scudiero, and K. Karydis, Field Deployment of an Agricultural Robot for Informed Sampling of Soil Apparent Electrical Conductivity using Aisle Graphs.  In European Conference on Precision Agriculture (ECPA), 2025, pp. 1006-1013.

Z. Liu,* J. Zhou,* and K. Karydis, Hierarchical Tri-manual Planning for Vision-assisted Fruit Harvesting with Quadrupedal Robots.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2025, pp. 7153-7159.  (IP Disclosure based on this work)

K. Ye* and K. Karydis, Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2025, pp. 14433-14440. 

X. Zhang,* M. K. Bouafoura, L. Shi,* and K. Karydis, A Koopman Operator-Based NMPC Framework for Mobile Robot Navigation under Uncertainty.  In European Control Conference (ECC), 2025, pp. 2523-2530. 

J. Zhou,* Y. Zhu, X. Zhang,* S. Agrawal, and K. Karydis, Learning-Based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism.  In IEEE-RAS-EMBS Int. Conf. on Rehabilitation Robotics (ICORR), 2025, pp. 1718-1723.  

M. Ayazi,* I. Sahin, C. Mucchiani,* E. Kokkoni, and K. Karydis, Analysis of Forces Exerted by Shoulder and Elbow Fabric-Based Pneumatic Actuators for Pediatric Exosuits.  In IEEE-RAS-EMBS Int. Conf. on Rehabilitation Robotics (ICORR), 2025, pp. 958-963. 

T. McCarty, J. Dube, O. O'Mari, C. Rico, A. Farha, M. McHugh, R. McKee,  K. Karydis, and E. Kokkoni, Design of a Pneumatic Splint for Forearm Fracture Immobilization.  In IEEE-RAS-EMBS Int. Conf. on Rehabilitation Robotics (ICORR), 2025, pp. 1687-1692.  

P. Peiris,* A. Samanta,* C. Mucchiani,* C. Simons,* A. K. Roy-Chowdhury, and K. Karydis, Vision-based Xylem Wetness Classification in Stem Water Potential Determination.  In 19th Int. Symposium on Visual Computing (ISVC), 2024, pp. 119-133. 

D. Chatziparaschis,* S. Zhong, V. Christopoulos, and K. Karydis, Adaptive Environment-Aware Robotic Arm Reaching Based on a Bio-Inspired Neurodynamical Computational Framework.  In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2024, pp. 510-515.   --> Best Conference Paper Award Finalist

J. Zhou,* X. Song,* and K. Karydis, Design of an End-effector with Application to Avocado Harvesting.  In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), 2024, pp. 1241-1246. (IP Disclosure based on this work)

D. Chatziparaschis,* H. Teng,* Y. Wang,* P. Peiris,* E. Scudiero, and K. Karydis, On-the-Go Tree Detection and Geometric Traits Estimation with Ground Mobile Robots in Fruit Tree Groves.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2024, pp. 15840-15846. (Submitted patent based on this work)

T. Bishop,* K. Ye,* and K. Karydis, Design and Central Pattern Generator Control of a New Transformable Wheel-Legged Robot.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2024, pp. 11383-11389.  (IP Disclosure based on this work)

I. Sahin, M. Ayazi,* C. Mucchiani,* J. Dube, K. Karydis, and E. Kokkoni, A Fabric-based Pneumatic Actuator for the Infant Elbow: Design and Comparative Kinematic Analysis.  In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2023, pp.1-6. 

H. Teng,* Y. Wang,* X. Song,* and K. Karydis, Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms. In 18th Int. Symposium on Visual Computing (ISVC), 2023, pp. 571-582. 

Z. Liu* and K. Karydis, Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023, pp. 4285-4292. 

K. Ye,* K. Chung,* and K. Karydis, A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023, pp. 2776-2783. (Submitted patent based on this work)

C. Mucchiani,* Z. Liu,* I. Sahin, E. Kokkoni, and K. Karydis, Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2023, pp. 559-566.

C. Simons,* D. S. Raychaudhuri, Sk M. Ahmed, S. You, K. Karydis, and A. K. Roy-Chowdhury, SUMMIT: Source-Free Adaptation of Uni-Modal Models to Multi-Modal Targets.  In IEEE/CVF International Conference on Computer Vision (ICCV), 2023, pp. 1239-1249. 

K. Ye* and K. Karydis, Evaluation of Legged Robot Landing Capability Under Aggressive Linear and Angular Velocities.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2023, pp. 12184-12190. 

H. Teng,* D. Chatziparaschis,* X. Kan,* A. K. Roy-Chowdhury, and K. Karydis, Centroid Distance Keypoint Detector for Colored Point Clouds.  In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2023, pp. 1196-1205.  

M. Campbell,* A. Dechemi,* and K. Karydis, An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2022, pp. 9210-9216.  (Submitted patent based on this work)

L. Shi,* C. Mucchiani,* and K. Karydis, Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2022, pp. 1946-1952. 

K. Urrutia Avila,* M. Campbell,* K. Mauck, M. Gebiola, and K. Karydis, Development and Testing of a Smart Bin toward Automated Rearing of Black Soldier Fly Larvae.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2022, pp. 1238-1243.  

C. Mucchiani,* Z. Liu,* I. Sahin, J. Dube, L. Vu, E. Kokkoni, and K. Karydis, Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance.  In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 1514-1519. 

I. Sahin, J. Dube, C. Mucchiani,* K. Karydis, and E. Kokkoni, A Bidirectional Fabric-based Pneumatic Actuator for the Infant Shoulder: Design and Comparative Kinematic Analysis.  In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 371-376. 

G. Kouvoutsakis,* E. Kokkoni, and K. Karydis, Using Infant Limb Movement Data to Control Small Aerial Robots.  In IEEE Int. Conf. on Development and Learning (ICDL), 2022, pp. 287-292. 

L. Shi* and K. Karydis, ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems. Jointly accepted for presentation in 2022 IEEE Int. Conf. on Robotics and Automation (ICRA). 

K. Ye* and K. Karydis, Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 902-908.  

Z. Liu* and K. Karydis, Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 1708-1715.  

Z. Lu,* Z. Liu,* and K. Karydis, Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021, pp. 2030-2037.

A. Dechemi,* V. Bhakri,* I. Sahin, A. Modi, J. Mestas, P. Peiris,* D. Barrundia, E. Kokkoni and K. Karydis, BabyNet: A Lightweight Network for Infant Reaching Action Recognition in Unconstrained Environments to Support Pediatric Rehabilitation Applications. In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2021, pp. 461-467.  

M. Campbell,* K. Ye,* E. Scudiero, and K. Karydis, A Portable Agricultural Robot  for Continuous Apparent Soil Electrical Conductivity Measurements to Improve Irrigation Practices.  In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2021, pp. 2228-2234. (Submitted patent based on this work)

L. Shi* and K. Karydis, Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2021, pp. 2503-2510.

Z. Liu* and K. Karydis, Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions.  In IEEE Int. Conf. on Robotics and Automation (ICRA), 2021, pp. 183-189. (Submitted patent based on this work)

X. Kan,* T. C. Thayer, S. Carpin, and K. Karydis, Task Planning on Stochastic Aisle Graphs for Precision Agriculture.  Jointly accepted for presentation in 2021 IEEE Int. Conf. on Robotics and Automation (ICRA).

Z. Lu,* Z. Liu,* G. J. Correa,* and K. Karydis, Motion Planning for Collision-resilient Mobile Robots in Obstacle-cluttered Unknown Environments with Risk Reward trade-offs.  In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020, pp. 7064-7070. 

X. Kan,* H. Teng,* and K. Karydis, Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments. Jointly accepted for presentation in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020. 

K. Ye,* G. J. Correa,* T. Guda, H. Teng,* A. Ray, and K. Karydis, Development and Testing of a Novel Automated Insect Capture Module for Sample Collection and Transfer. In IEEE Int. Conf. on Automation Science and Engineering (CASE), 2020, pp. 1063-1069. (Submitted provisional patent application based on this work)

L. Shi,* H. Teng,* X. Kan,* and K. Karydis, A Data-driven Hierarchical Control Structure for Systems with Uncertainty. In IEEE Conf. on Control Technology and Applications (CCTA), 2020, pp. 57-63.  

Z. Liu,* Z. Lu,* and K. Karydis, SoRX: A Soft Pneumatic Hexapedal Robot to Traverse Rough, Steep, and Unstable Terrain. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2020, pp. 420-426.  (Submitted patent based on this work)

X. Kan,* H. Teng,* and K. Karydis, Multi-robot Field Exploration in Hex-Decomposed Environments for Dubins Vehicles. In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2019, pp. 449-455.  

Z. Lu* and K. Karydis, Optimal Steering of Stochastic Mobile Robots that Undergo Collisions with their Environment. In IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2019, pp. 668-675.  

X. Kan,* A. Ganlath, S. Ucar, K. Han, P, Tiwari, and K. Karydis, Edge Assisted Misbehavior Detection for Platoons. In IEEE Vehicular Networking Conf. (VNC), 2019, pp. 1-4. 

X. Kan,* J. Thomas, H. Teng,* H. G. Tanner, V. Kumar, and K. Karydis, Analysis of Ground Effect for Small-scale UAVs in Forward Flight. Jointly accepted for publication in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2019. 

L. Wang, Y. Yang, G. J. Correa,* K. Karydis, and R. S. Fearing, OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS). In IEEE Int. Conf. on Robotics and Automation (ICRA), 2019, pp. 9466-9472. 

X. Kan* and K. Karydis, Minimalistic Neural Network Architectures for Navigation of Small Robots. In IEEE Int. Symp. on Safety, Security, and Rescue Robotics (SSRR), 2018, pp. 1-8. 

A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Memory Augmented Control Networks. In Int. Conf. on Learning Representations (ICLR), 2018.

N. Kreciglowa, K. Karydis, and V. Kumar, Energy Efficiency of Trajectory Generation Methods for Stop-and-Go Aerial Robot Navigation.  In Int. Conf. on Unmanned Aircraft Systems (ICUAS), 2017, pp. 656-662.

P. Kannappan, K. Karydis, H. G. Tanner, A. Jardine, and J. Heinz, Incorporating Learning Modules to Improve the Resilient Design of Supervisory Cyber-Physical Systems. In Mediterranean Conf. on Control and Automation (MED), 2016, pp. 996-1001.

K. Karydis, Y. Liu, I. Poulakakis, and H. G. Tanner, Navigation of Miniature Legged Robots Using a New Template. In Mediterranean Conf. on Control and Automation (MED), 2015, pp. 1112-1117.

A. Stager, K. Karydis, and H. G. Tanner, A Passively Sprawling Miniature Legged Robot. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2015, pp. 3134-3139.

K. Karydis, D. Zarrouk, I. Poulakakis, R. S. Fearing, and H. G. Tanner, Planning with the STAR(s). In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014, pp. 3033-3038.

K. Karydis, I. Poulakakis, and H. G. Tanner, Probabilistic validation of a stochastic kinematic model for an eight-legged robot. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2013, pp. 2562-2567.

K. Karydis, I. Poulakakis, and H. G. Tanner, A switching kinematic model for an octapedal robot. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012, pp. 507-512.

J. Chandlee, J. Fu, K. Karydis, C. Koirala, J. Heinz and H. G. Tanner, Integrating Grammatical Inference into Robotic Planning. In Journal of Machine Learning Research (JMLR) – Proceedings Track, 2012, 21, 69-83.

K. Karydis, L. Valbuena, and H. G. Tanner, Model Predictive Navigation for Position and Orientation Control of Nonholonomic Vehicles. In IEEE Int. Conf. on Robotics and Automation (ICRA), 2012, pp. 3206-3211.

J. Banik,* A. Singh, D. Chatziparaschis,* K. Karydis, T. H. Skaggs, and E. Scudiero, Innovative Data Integration for on-the-Go Plant and Soil Sensing: The Short Vectorization Approach. In ASA, CSSA & SSSA International Annual Meeting, 2023.  (Acceptance rate N/A)

E. Scudiero, A. Singh, G. Mahajan, D. Chatziparaschis,* K. Karydis, D. Houtz, and T. H. Skaggs, On-the-Go Microwave Radiometry for High-Resolution Soil Moisture Mapping in Micro-Irrigated Orchards. In ASA, CSSA & SSSA International Annual Meeting, 2022.  (Acceptance rate N/A)

N. Godinez, S. Lopez, A. Mulji, A. Pickle, P. R. Jayaseelan, K. Karydis, and Elena Kokkoni, Development and Preliminary Evaluation of a Pneumatic Sitting Postural Device for Infants. In Archives of Physical Medicine and Rehabilitation, Dec. 2020, vol. 101 (12), pp. e136-e137.  (Acceptance rate N/A)

Z. Lu* and K. Karydis, Optimal Steering of Stochastic Mobile Agents that Undergo Collisions with their Environment. In Southwest Robotics Symposium, 2019. (Acceptance rate: 61%)

X. Kan* and K. Karydis, Multi-agent Field Covering and Path Planning in Partially-Known Hex-Decomposed Environments. In Southwest Robotics Symposium, 2019. (Acceptance rate: 61%; invited for oral presentation)

A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Policies for Planning. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) – Abstracts Track, 2017.

A. Khan, C. Zhang, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, End-to-End Navigation in Unknown Environments using Neural Networks. In Workshop on Learning Perception and Control for Autonomous Flight: Safety, Memory, and Efficiency, part of Robotics: Science and Systems (RSS) Conference, 2017.

S. Chen, A. Khan, N. Atanasov, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Memory Architectures for Autonomous Robot Navigation, The Multi-Disciplinary Conf. on Reinforcement Learning and Decision Making (RLDM) – Abstracts Track, 2017.

S. Bose,* A. Dutta, S. Nag, J. Zhang, J. Li, K. Karydis, and A. K. Roy-Chowdhury, Uncertainty-Aware Diffusion-Guided Refinement of 3D Scenes.  In IEEE/CVF International Conference on Computer Vision - Workshops (ICCV-W) [Wild3D], 2025.  (In Press)

S. Bose,* H. Cruz, A. Dutta, E. Kokkoni, K. Karydis, and A. K. Roy-Chowdhury, Leveraging Synthetic Adult Datasets for Unsupervised Infant Pose Estimation.  In IEEE/CVF Computer Vision and Pattern Recognition Workshops (CVPRW), 2025.  (In Press)

M. Ayazi,* I. Sahin, C. Mucchiani,* E. Kokkoni, and K. Karydis, Force Profiling of a Shoulder Bidirectional Fabric-based Pneumatic Actuator for a Pediatric Exosuit.  In IEEE Int. Conf. on Robot and Human Interactive Communication (RO-MAN), 2024.  (Acceptance rate N/A)

S. W. Chen, N. Atanasov, A. Khan, K. Karydis, D. D. Lee, and V. Kumar, Neural Network Memory Architectures for Autonomous Robot Navigation. arXiv preprint, arXiv:1705.08049.