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

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. 2023.

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 article

 code

@misc{opipari2023dnbp,
 title={DNBP: Differentiable Nonparametric Belief Propagation},
 author={Anthony Opipari and Jana Pavlasek and Chao Chen and Shoutian Wang and Karthik Desingh and Odest Chadwicke Jenkins},
 year={2023},
 eprint={2303.04616},
 archivePrefix={arXiv},
 primaryClass={cs.RO}
}

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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@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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@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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@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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@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

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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@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.

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@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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Industry

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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Organizing

IROS 2023

Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning

Co-Organizer

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Teaching

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