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Kshitij Goel Robotics Researcher

Tokenizing the World into Gaussians

Encoding raw sensor streams into a compact vocabulary of Gaussian tokens — one representation for reconstruction, registration, and occupancy.

Research overview

Related publications

Work in this area

Distance and Collision Probability Estimation from Gaussian Surface Models

Distance and Collision Probability Estimation from Gaussian Surface Models

Kshitij Goel and Wennie Tabib

IROS 2025

GIRA: Gaussian Mixture Models for Inference and Robot Autonomy

GIRA: Gaussian Mixture Models for Inference and Robot Autonomy

Kshitij Goel and Wennie Tabib

ICRA 2024

Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models

Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models

Kshitij Goel and Wennie Tabib

RAL 2023

Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models

Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models

Kshitij Goel, Nathan Michael, and Wennie Tabib

RAL 2023

Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots

Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots

Kshitij Goel, Wennie Tabib, and Nathan Michael

ISER 2021 National Science Foundation (NSF) Ph.D. Student Travel Award

Autonomous Cave Surveying with an Aerial Robot

Autonomous Cave Surveying with an Aerial Robot

Wennie Tabib, Kshitij Goel, John Yao, Curtis Boirum, and Nathan Michael

TRO 2022 King-Sun Fu Memorial Best Paper Award (Honorable Mention)

Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps

Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps

Wennie Tabib, Kshitij Goel, John Yao, Mosam Dabhi, Curtis Boirum, and Nathan Michael

RSS 2019