I’m a graduate student in Computer Science and Engineering at the University of Michigan, advised by Professor Chad Jenkins. I earned my BSE (2014-2018) and MSE (2019-2020) in computer science at the University of Michigan. Between degree programs, I worked on applied machine learning research at MIT Lincoln Laboratory under the direction of Dr. Jason Thornton and Dr. Pedro Torres-Carrasquillo. I’m proud to be a recipient of the Qualcomm Innovation Fellowship. This past summer (2023), I was fortunate to work as an Applied Scientist Intern at Amazon Lab126 under the direction of Dr. Aravindhan Krishnan, Dr. Shreekant Gayaka, and Professor Min Sun.

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Publications

Journal Articles

J3

Configurable Embodied Data Generation for Class-Agnostic RGB-D Video Segmentation.
Anthony Opipari, Aravindhan K. Krishnan, Shreekant Gayaka, Min Sun, Cheng-Hao Kuo, Arnie Sen, Odest Chadwicke Jenkins.
Accepted: IEEE Robotics and Automation Letters (RA-L). 2024.

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 article

 code

@article{opipari2024mvpd,
 author={Opipari, Anthony and Krishnan, Aravindhan K and Gayaka, Shreekant and Sun, Min and Kuo, Cheng-Hao and Sen, Arnie and Jenkins, Odest Chadwicke},
 journal={IEEE Robotics and Automation Letters},
 title={Configurable Embodied Data Generation for Class-Agnostic RGB-D Video Segmentation}, 
 year={2024},
 doi={10.1109/LRA.2024.3486213}
 }

J2

DNBP: Differentiable Nonparametric Belief Propagation.
Anthony Opipari, Jana Pavlasek, Chao Chen, Shoutian Wang, Karthik Desingh, Odest Chadwicke Jenkins.
ACM / IMS Journal of Data Science. 2024.

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@article{10.1145/3592762, 
 author = {Opipari, Anthony and Pavlasek, Jana and Chen, Chao and Wang, Shoutian and Desingh, Karthik and Jenkins, Odest Chadwicke},
 title = {DNBP: Differentiable Nonparametric Belief Propagation},
 year = {2024},
 issue_date = {March 2024},
 publisher = {Association for Computing Machinery},
 address = {New York, NY, USA},
 volume = {1},
 number = {1},
 url = {https://doi.org/10.1145/3592762},
 doi = {10.1145/3592762},
 journal = {ACM / IMS J. Data Sci.},
 month = {jan},
 articleno = {3},
 numpages = {24}
}

J1

Efficient Nonparametric Belief Propagation for Pose Estimation and Manipulation of Articulated Objects.
Karthik Desingh, Shiyang Lu, Anthony Opipari, Odest Chadwicke Jenkins.
Science Robotics. 2019.

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 talk

@article{doi:10.1126/scirobotics.aaw4523,
 author = {Karthik Desingh  and Shiyang Lu  and Anthony Opipari  and Odest Chadwicke Jenkins },
 title = {Efficient nonparametric belief propagation for pose estimation and manipulation of articulated objects},
 journal = {Science Robotics},
 volume = {4},
 number = {30},
 year = {2019},
 doi = {10.1126/scirobotics.aaw4523},
 URL = {https://www.science.org/doi/abs/10.1126/scirobotics.aaw4523},
 eprint = {https://www.science.org/doi/pdf/10.1126/scirobotics.aaw4523}
}

Peer-Reviewed Conference Proceedings

C4

A Reconfigurable Hardware Library for Robot Scene Perception.
Yanqi Liu, Anthony Opipari, Odest Chadwicke Jenkins, Ruth Iris Bahar.
IEEE / ACM International Conference on Computer-Aided Design. 2022.

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 article

@inproceedings{doi:10.1145/3508352.3561110,
 author = {Liu, Yanqi and Opipari, Anthony and Jenkins, Odest Chadwicke and Bahar, R. Iris},
 title = {A Reconfigurable Hardware Library for Robot Scene Perception},
 year = {2022},
 isbn = {9781450392174},
 publisher = {Association for Computing Machinery},
 url = {https://doi.org/10.1145/3508352.3561110},
 doi = {10.1145/3508352.3561110},
 booktitle = {Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design}
}

C3

ClearPose: Large-scale Transparent Object Dataset and Benchmark.
Xiaotong Chen, Huijie Zhang, Zeren Yu, Anthony Opipari, Odest Chadwicke Jenkins.
ECVA European Conference on Computer Vision. 2022.

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 talk

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@inproceedings{chen2022clearpose,
 title = {ClearPose: Large-scale Transparent Object Dataset and Benchmark},
 author = {Chen, Xiaotong and Zhang, Huijie and Yu, Zeren and Opipari, Anthony and Jenkins, Odest Chadwicke},
 booktitle = {European Conference on Computer Vision},
 year = {2022}
}

C2

Hardware Acceleration of Nonparametric Belief Propagation for Efficient Robot Manipulation.
Yanqi Liu, Anthony Opipari, Theo Guerin, Ruth Iris Bahar.
ACM / SIGDA International Symposium on Field-Programmable Gate Arrays. 2022.

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@inproceedings{doi:10.1145/3490422.3502329,
 author = {Liu, Yanqi and Opipari, Anthony and Guerin, Theo and Bahar, Ruth Iris},
 title = {Hardware Acceleration of Nonparametric Belief Propagation for Efficient Robot Manipulation},
 year = {2022},
 isbn = {9781450391498},
 publisher = {Association for Computing Machinery},
 url = {https://doi.org/10.1145/3490422.3502329},
 doi = {10.1145/3490422.3502329}
}

C1

Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation.
Karthik Desingh, Shiyang Lu, Anthony Opipari, Odest Chadwicke Jenkins.
IEEE International Conference on Robotics and Automation. 2019.

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 talk

@inproceedings{desingh2019factored,
 author = {Desingh, Karthik and Lu, Shiyang and Opipari, Anthony and Jenkins, Odest Chadwicke},
 booktitle = {2019 International Conference on Robotics and Automation (ICRA)}, 
 title = {Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation}, 
 year = {2019},
 pages = {7221-7227},
 doi = {10.1109/ICRA.2019.8793973}
}

Workshop Papers

W7

SO(2)-Equivariant Single-View 3D Reconstruction via Gaussian Sculpting Networks.
Ruihan Xu, Anthony Opipari, Joshua Mah, Stanley Lewis, Haoran Zhang, Hanzhe Guo, Odest Chadwicke Jenkins.
Geometric and Algebraic Structure in Robot Learning (RSS). 2024.

 article

@inproceedings{xu2024soequivariant,
 title={{SO}(2)-Equivariant Single-View 3D Reconstruction via Gaussian Sculpting Networks},
 author={Ruihan Xu and Anthony Opipari and Joshua Mah and Stanley Robert Lewis and Haoran Zhang and Hanzhe Guo and Odest Chadwicke Jenkins},
 booktitle={RSS 2024 Workshop on Geometric and Algebraic Structure in Robot Learning},
 year={2024},
 url={https://openreview.net/forum?id=pyySfCzP8F}
}

W6

OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding.
Edmond Tong, Anthony Opipari, Stanley Lewis, Zhen Zeng, Odest Chadwicke Jenkins.
Vision-Language Models for Navigation and Manipulation (IEEE ICRA). 2024.

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 article

@inproceedings{tong2024oval,
 title={OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding},
 author={Edmond Tong and Anthony Opipari and Stanley Lewis and Zhen Zeng and Odest Chadwicke Jenkins},
 booktitle={Workshop on Vision-Language Models for Navigation and Manipulation at ICRA 2024},
 year={2024}
}

W5

Visual Robot Pose Tracking through Counter-Hypothetical Nonparametric Belief Propagation.
Elizabeth Olson, J. Arden Knoll, Anthony Opipari, Grant Gibson, Odest Chadwicke Jenkins.
Distributed Graph Algorithms for Robotics (IEEE ICRA). 2023.

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@inproceedings{olson2023visual,
 title={Visual Robot Pose Tracking through Counter-Hypothetical Nonparametric Belief Propagation},
 author={Elizabeth Olson and John Arden Knoll and Anthony Opipari and Grant Gibson and Odest Jenkins},
 booktitle={Workshop on Distributed Graph Algorithms for Robotics at ICRA 2023},
 year={2023},
 url={https://openreview.net/forum?id=rkU8gnHOFz}
}

W4

TransNet: Category-Level Transparent Object Pose Estimation.
Huijie Zhang, Anthony Opipari, Xiaotong Chen, Jiyue Zhu, Zeren Yu, Odest Chadwicke Jenkins.
7th International Workshop on Recovering 6D Object Pose (ECVA ECCV). 2022.

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@inproceedings{zhang2022transnet,
 title={TransNet: Category-Level Transparent Object Pose Estimation},
 author={Zhang, Huijie and Opipari, Anthony and Chen, Xiaotong and Zhu, Jiyue and Yu, Zeren and Jenkins, Odest Chadwicke},
 booktitle={ECCV 7th International Workshop on Recovering 6D Object Pose},
 year={2022}
}

W3

NeRF-Frenemy: Co-Opting Adversarial Learning for Autonomy-Directed Co-Design.
Stanley Lewis, Bahaa Aldeeb, Anthony Opipari, Elizabeth Olson, Cameron Kisailus, Odest Chadwicke Jenkins.
Implicit Representations for Robotic Manipulation (RSS). 2022.

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 article

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@article{lewis2022nerfrenemy,
 author = {Lewis, Stanley and Aldeeb, Bahaa and Opipari, Anthony and Olson, Elizabeth and Kisailus, Cameron and Jenkins, Odest Chadwicke},
 title = {NeRF-Frenemy: Co-Opting Adversarial Learning for Autonomy-Directed Co-Design},
 year = {2022},
 journal={RSS Workshop-Implicit Representations for Robotic Manipulation}
}

W2

Differentiable Nonparametric Belief Propagation.
Anthony Opipari, Jana Pavlasek, Chao Chen, Shoutian Wang, Karthik Desingh, Odest Chadwicke Jenkins.
Robotic Perception and Mapping: Emerging Techniques (IEEE ICRA). 2022.

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 talk

 code

@article{opipari2022dnbp,
 author = {Opipari, Anthony and Pavlasek, Jana and Chen, Chao and Wang, Shoutian and Desingh, Karthik and Jenkins, Odest Chadwicke},
 title = {Differentiable Nonparametric Belief Propagation},
 year = {2022},
 journal={ICRA Workshop: Robotic Perception and Mapping: Emerging Techniques}
}

W1

Analysis of Goal-Directed Manipulation in Clutter using Scene Graph Belief Propagation.
Karthik Desingh, Anthony Opipari, Odest Chadwicke Jenkins.
Multimodal Robot Perception (IEEE ICRA). 2018.

 article

@article{desingh2018analysis,
 title={Analysis of Goal-directed Manipulation in Clutter using Scene Graph Belief Propagation},
 author={Desingh, Karthik and Opipari, Anthony and Jenkins, Odest Chadwicke}
 year = {2018},
 journal={ICRA Workshop: Multimodal Robot Perception}
}

Patents

P1

Systems and Methods for Detection of Concealed Threats.
Marianne DeAngelus, Justin Goodwin, Neela Kaushik, Anthony Opipari, Taylor Killian.
United States Patent and Trademark Office: US-20220334243-A1. 2022.

 article

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Organizing

Curr.
04/24

IEEE RAS Technical Committee
for Computer & Robot Vision

Student Representative

ICRA'24

Back to the Future:
Robot Learning Going Probabilistic

Co-Organizer

IROS'23

Differentiable Probabilistic Robotics:
Emerging Perspectives on Robot Learning

Co-Organizer

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Industry

09/24
06/24

Amazon Lab126

Applied Scientist Intern

09/23
05/23

Amazon Lab126

Applied Scientist Intern

08/21
01/21

MIT Lincoln Laboratory

Associate Staff

07/19
06/18

MIT Lincoln Laboratory

Assistant Staff

12/17
09/17

RightHook, Inc.

Software Engineering Intern

07/17
05/17

Ford Motor Company

Software Engineering Intern

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Consulting

04/24
01/24

Economics Study on Bias in Hiring

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Teaching

Winter 2024

DeepRob: Deep Learning for Robot Perception

Secondary Instructor

Winter 2023

DeepRob: Deep Learning for Robot Perception

Instructor of Record

Winter 2022

AutoRob: Robot Operating Systems

Instructor of Record

Fall 2021

Advanced Cryptography

Grad. Student Instructor

Fall 2019

AutoRob: Robot Kinematics and Dynamics

Grad. Student Instructor