I’m a graduate student in Computer Science and Engineering at the University of Michigan, advised by Professor Chad Jenkins. My research interests are in advanced computing topics and especially those that make connections between nondeterminstic computing, probabilistic inference, and perception for robotics.

I’m proud to be a recipient of the Qualcomm Innovation Fellowship. 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.

Publications

Journal Articles

DNBP: Differentiable Nonparametric Belief Propagation.
Anthony Opipari, Jana Pavlasek, Chao Chen, Shoutian Wang, Karthik Desingh, Odest Chadwicke Jenkins.
Accepted: ACM / IMS Journal of Data Science. 2023.

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

Peer-Reviewed Conference Proceedings

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.

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.

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.

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.

Workshop Papers

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.

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.

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.

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.

Preprint Papers

TransNet: Category-Level Transparent Object Pose Estimation.
Huijie Zhang, Anthony Opipari, Xiaotong Chen, Jiyue Zhu, Zeren Yu, Odest Chadwicke Jenkins.
arXiv preprint arXiv:2208.10002. 2022.

ClearPose: Large-scale Transparent Object Dataset and Benchmark.
Xiaotong Chen, Huijie Zhang, Zeren Yu, Anthony Opipari, Odest Chadwicke Jenkins.
arXiv preprint arXiv:2203.03890. 2022.

Differentiable Nonparametric Belief Propagation.
Anthony Opipari, Chao Chen, Shoutian Wang, Jana Pavlasek, Karthik Desingh, Odest Chadwicke Jenkins.
arXiv preprint arXiv:2101.05948. 2021.

Pull Message Passing for Nonparametric Belief Propagation.
Karthik Desingh, Anthony Opipari, Odest Chadwicke Jenkins.
arXiv preprint arXiv:1807.10487. 2018.

Patents

PAT1

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

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

Industry

08/21
01/21

MIT Lincoln Laboratory

Associate Staff,
Machine Learning Algorithm Developer

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

Words to Live by

“Nobody ever figures out what life is all about, and it doesn’t matter. Explore the world. Nearly everything is really interesting if you go into it deeply enough. Work as hard and as much as you want to on the things you like to do the best. Don’t think about what you want to be, but what you want to do.” — R. P. Feynman

“Study hard what interests you the most in the most undisciplined, irreverent and original manner possible.” — R. P. Feynman

“A month in the laboratory can often save an hour in the library.” — F. Westheimer

“Chase the state, not the observation.” — O. C. Jenkins