جست‌وجوی استاد و پژوهشگر

Jean Ohمشاهده پروفایل

پژوهشگر

• Robotics
• Artificial Intelligence
• Human-Robot Interaction
• +۵ مورد دیگر

Jean Oh is a Researcher at the Robotics Institute of Carnegie Mellon University (CMU) , leading the interdisciplinary Bot Intelligence Group (BIG) . Her work focuses on developing persistent robots that co-exist and collaborate with humans in shared environments, emphasizing continuous improvement through training, exploration, and human interaction. Education: Ph.D. in Language and Information Technologies, CMU M.S. in Computer Science, Columbia University B.S. in Biotechnology, Yonsei University Oh's research integrates vision, language, and planning systems in robotics, with applications in human-robot teaming , self-driving cars , disaster response , eldercare , and creative robotics . She has pioneered projects like socially-compliant robot navigation in human crowds and AI-driven robotic painting systems. Recent publication trends highlight her work in vision-language planning , social navigation , computational creativity , and human-robot collaboration . Notable contributions include the StyleCLIPDraw algorithm for text-to-art generation and Social-PatteRNN for human-like trajectory prediction. Scientific Awards: Best Paper Award in Cognitive Robotics (ICRA'18, ICRA'15) Best Systems Paper Finalist (HRI'25) Best Oral Paper Finalist (Humanoids'24) Best Paper in Entertainment (IROS'24) Argoverse Challenge Winner (CVPR'24) Best Student Paper (AIAA'24) Best Demo Finalist (RoboSoft'24) Oh mentors a diverse team of PhD, MS, and undergraduate students from CMU departments including Robotics, Computer Science, and Mechanical Engineering. Her research is funded by US Army Research Lab , DiDi Chuxing , and DARPA , with collaborations across industry and academia .

Deva Kannan Ramananمشاهده پروفایل

استاد

• Computer Vision
• 3-D Vision and Recognition
• Visual Servoing and Tracking
• +۸ مورد دیگر

Deva Kannan Ramanan is a Professor at the Robotics Institute of Carnegie Mellon University , focusing on computer vision , machine learning , and human-centered robotics . His work bridges neurorobotics and visual perception , with applications in autonomous driving and 4D reconstruction . Research Topics Computer Vision 3-D Vision and Recognition Visual Servoing Neurorobotics Human-Centered Robotics Graphics & Creative Tools His recent publications in CVPR , ICRA , and ICCV emphasize 4D human reconstruction , neural rendering , and vision-language models for autonomous systems. He serves as General Chair of CVPR 2027 and Program Chair of CVPR 2018 , with IARPA funding for aerial-ground rendering (2023-2027). Current students include PhD candidates Sally Chen, Kangle Deng, and Zhiqiu Lin, while past advisees like Arun Vasudevan and Olga Russakovsky now hold positions at Amazon and Meta respectively.

Luca Carloneمشاهده پروفایل

دانشیار

• Robotics
• Autonomous Systems
• Computer Vision
• +۶ مورد دیگر

Luca Carlone is the Boeing Career Development Associate Professor in the Department of Aeronautics and Astronautics at MIT and a Principal Investigator at the Laboratory for Information & Decision Systems (LIDS) . He leads the SPARK Lab , focusing on developing certifiable perception algorithms for autonomous systems. PhD in Mechatronics (Polytechnic University of Turin, 2012) Research spans robotics, computer vision, and optimization Research Interests : Certifiable Perception algorithms for high-integrity systems High-level Perception (geometric, semantic, physical understanding) Efficient Perception methods for resource-constrained robots Scientific Contributions include: 2024 Outstanding Systems Paper Award (RSS) 2023 IEEE Transactions on Robotics King-Sun Fu Award 2021 NSF CAREER Award 2020 AIAA Advising Award 2019 Amazon Research Award Advising : Teaches graduate courses like Visual Navigation for Autonomous Vehicles and Robotics: Science and Systems . Collaborates with institutions including JPL, Caltech, and KAIST through the DARPA SubT Challenge.

Michael Kaessمشاهده پروفایل

دانشیار

• Robotics
• Computer Vision
• SLAM (Simultaneous Localization and Mapping)
• +۶ مورد دیگر

Michael Kaess is an Associate Professor at the Robotics Institute, Carnegie Mellon University (CMU), within the School of Computer Science. He leads the Robot Perception Lab (RPL) and contributes to the Field Robotics Center (FRC) and Computer Vision Group (CV). His research focuses on efficient perception algorithms for mobile robots, particularly in 3D mapping, SLAM, and sensor fusion using vision, LiDAR, inertial, and sonar data. Kaess holds a PhD in Computer Science from Georgia Tech and was a postdoc at MIT's Marine Robotics Lab. Education: Georgia Institute of Technology, PhD in Computer Science (2008) MIT, Postdoctoral Associate (2008–2010) Research Interests: Kaess develops algorithms for robust and efficient inference in robotics, emphasizing factor graphs and linear algebra. His work spans underwater robotics, aerial systems, tactile SLAM, and multi-sensor integration. Key areas include SLAM with planes/lines, imaging sonar reconstruction, and neural field methods for LiDAR-visual fusion. Publications: Over 145 papers, including work on EDPLVO (visual odometry), HoloOcean (underwater simulation), and neural radiance fields with LiDAR. Recent trends focus on robust incremental smoothing, acoustic-optical fusion, and real-time volumetric mapping. Awards: Recognized with the RSS Test of Time Award (2020), Outstanding Associate Editor (2022), and paper awards at ICRA/ICRA. Active in conference organization (IROS/ICRA program committees). Advising & Grants: Supervises 10+ current PhD/MSc students, with past advisees contributing to CoRL/ICRA work. Manages grants in perception, autonomy, and marine robotics. Teaches courses like Robot Localization and Mapping (16-833). Labs/Teams: Directs RPL, collaborates with FRC on field robotics. Develops open-source tools like GTSAM (GNU Toolkit for Smoothing and Mapping).

Shoudong Huangمشاهده پروفایل

استاد

• Mobile robot navigation
• Simultaneous localization and mapping (SLAM)
• Underwater robotics
• +۴ مورد دیگر

Shoudong Huang is a Professor at the School of Mechanical and Mechatronic Engineering , University of Technology Sydney, and Deputy Director of the UTS Robotics Institute. His research focuses on mobile robot navigation , SLAM , nonlinear state estimation , and surgical robotics . He has published over 200 papers and is recognized as one of the 100 Most Influential Scholars in Robotics (Aminer, 2018). PhD in Automatic Control, Northeastern University (China) Postdoctoral Research Fellow, University of Hong Kong (1998-2000) Research Fellow, Australian National University (2001-2003) Full-time academic roles at UTS since 2004 His work addresses challenges in robot localization across extreme environments (underwater, underground mining, surgical settings) and develops globally optimal SLAM algorithms with guaranteed performance. He has secured over $4 million AUD in external funding, including ARC Discovery grants and industry partnerships. Recent publications emphasize cross-modal calibration (camera-LiDAR), interval analysis for bounded noise , and template-based deformable surface reconstruction . These span applications in autonomous driving, surgical navigation, and UAV guidance. Chancellor’s Medal for Research Excellence (2020) Supervisor of the Year (2023) Best Paper Award (2016 ICARCV) Huang serves as Associate Editor for IEEE Transactions on Robotics and International Journal of Robotics Research , and has held leadership roles in top robotics conferences like IROS and RSS. His collaborations span MIT, USC, Zhejiang University, and industry partners including PMSW Research Pty Ltd and Multiplex Constructions Pty Ltd.

Andrew Davisonمشاهده پروفایل

استاد

• Computer Vision
• Robotics
• SLAM
• +۳ مورد دیگر

Professor Andrew Davison holds the position of Professor of Robot Vision at Imperial College London's Department of Computing. He leads the Dyson Robotics Laboratory and the Robot Vision Research Group, focusing on advancing SLAM (Simultaneous Localization and Mapping) and Spatial AI. His groundbreaking work includes the MonoSLAM algorithm (2003), enabling real-time 3D vision for robotics and AR/VR. Current research emphasizes scalable, semantic-rich Spatial AI systems, as outlined in his FutureMapping papers (2018–2019). Education: BA in Physics (Oxford, 1994), D.Phil. (Oxford, 1998). Postdoctoral work at AIST, Japan (1998–2000), followed by a lectureship at Imperial (2002–present). Industrial collaborations include SLAMcore, a Spatial AI startup, and Dyson Robotics Lab. Over 18 PhD students supervised, many now leading roles at Meta, NVIDIA, SLAMcore, and academia. Notable contributions include DTAM, KinectFusion, and Event Camera SLAM. Recognized for software tools like SceneLib and contributions to robotics benchmarks (SLAMBench). Active on Twitter (@AjdDavison) for research updates.

• Robotics
• 3D Computer Vision
• State Estimation
• +۵ مورد دیگر

Xingxing Zuo is an Assistant Professor (tenure-track) in the Robotics Department at MBZUAI. He holds a PhD from Zhejiang University (2021) and a Bachelor’s from UESTC (2016). Previously, he was a Postdoctoral Scholar at Caltech (2024–2025), a Postdoc at ETH Zurich (2019–2021), and held visiting roles at TU Munich, University of Delaware, and University of Technology Sydney. His research focuses on robotics, 3D computer vision, and embodied AI, with emphasis on robot-human collaboration, state estimation, and sensor fusion. Educations: PhD in Robotics, Zhejiang University (2021, with honors) Bachelor’s in Computer Science, University of Electronic Science and Technology of China (2016, with honors) Research Highlights: Develops novel methods for LiDAR-camera-inertial fusion, neural radiance fields, and radar-cameras systems Pioneered techniques like Flying Co-Stereo (long-range aerial mapping) and FMGS (vision-language embedded 3D splatting) Focuses on real-time SLAM, robust depth estimation, and photorealistic scene reconstruction Awards & Recognition: Best Paper Finalist at ICRA 2021 (CodeVIO) Oral Presentation at ICCV 2021 (MBA-VO) Recipient of Google Visiting Faculty Researcher (2023) Grants & Labs: Organized Thermal Infrared in Robotics workshop at ICRA 2025 Leads research on embodied AI and multi-sensor SLAM systems Develops open-source tools like LIC-Fusion and Coco-LIC frameworks

Sanjiv Singhمشاهده پروفایل

استاد پژوهشی

• Aerial Robotics
• Robotics in Agriculture and Forestry
• Mining Robotics
• +۱۱ مورد دیگر

Sanjiv Singh is a Research Professor at the Robotics Institute within Carnegie Mellon University's School of Computer Science. His academic journey at CMU spans from Systems Scientist (1995-2001), to Senior Research Scientist (2001-2003), Associate Research Professor (2003-2007), and finally Research Professor since 2007. He also holds an adjunct faculty position in Mechanical Engineering since 2009. Singh serves as Editor-in-Chief of the Journal of Field Robotics, demonstrating his leadership in the robotics community. His educational background includes a Ph.D. and M.S. in Robotics from Carnegie Mellon University (1995, 1992), an M.S. in Electrical Engineering from Lehigh University (1985), and a B.S. in Computer Science from the University of Denver (1983). Dr. Singh's research focuses on three primary themes: Autonomous Navigation (developing motion planning and control for ground and air vehicles with applications in agriculture, exploration, and low-flying aircraft), Coordinated Multi-Robots (examining team-based tasks like structure assembly and search/rescue operations), and Forceful Interaction with the world (using physical models to enable robots to handle complex, high-force interactions). His work spans aerial robotics, agricultural and forestry robotics, mining robotics, 3D vision, sensing and perception, visual servoing, motion planning, and field service robotics. Analysis of his recent publications (2016-2020) reveals a strong focus on collision avoidance algorithms, sensor fusion techniques, and real-time navigation systems. His research demonstrates consistent advancement in SLAM (Simultaneous Localization and Mapping) technologies, particularly in GPS-denied environments, with increasing sophistication in handling complex aerial maneuvers and multi-robot coordination. Editor-in-Chief of Journal of Field Robotics Dr. Singh has advised numerous graduate students throughout his career, with current advisees including Matt Aasted (Ph.D), Andrew Chambers (M.S), Hugh Cover (M.S), Michael Dille (Ph.D), and Justin Haines (M.S). His past students include prominent researchers like Sebastian Scherer, Joe Djugash, Fred Heger, Geoff Hollinger, and Ji Zhang who have gone on to make significant contributions in robotics. His research has been supported through various projects including CASC (agricultural applications), Riverine, Transformer, Trestle, and Ember. His laboratory work focuses on developing practical robotic systems capable of operating in challenging real-world environments, with particular emphasis on agricultural applications, search and rescue operations, and coordinated multi-robot teams that can work effectively alongside humans.

Christian Rupprechtمشاهده پروفایل

دانشیار

• Computer Vision
• Machine Learning
• Unsupervised Learning
• +۴ مورد دیگر

Christian Rupprecht is an Associate Professor at the Department of Computer Science, University of Oxford, specializing in computer vision and machine learning. His research focuses on unsupervised learning, 3D reconstruction, and visual understanding. His work includes contributions to conferences such as GCPR'25, ICCV'25, and CVPR'25, with papers spanning topics like correspondence estimation, animal pose modeling, and synthetic data generation. He leads projects within the prestigious Visual Geometry Group (VGG). Notably, his paper VGGT received the Best Paper Award at CVPR'25. His research integrates deep learning and geometric modeling, emphasizing robustness and generalization in visual systems. Best Paper Award at CVPR'25

Stefan Leuteneggerمشاهده پروفایل

استادیار

• Mobile Robotics
• SLAM (Simultaneous Localization and Mapping)
• Computer Vision
• +۷ مورد دیگر

Prof. Stefan Leutenegger is a tenure-track Assistant Professor at Technische Universität München (TUM), leading the Machine Learning for Robotics group within the TUM School of Computation, Information, and Technology. Previously, he held roles as Senior Lecturer (2018–2021) and Lecturer (2014–2018) at Imperial College London's Dyson Robotics Lab, where he founded the Smart Robotics Lab. He earned his PhD (2014) from ETH Zurich, focusing on autonomous solar-powered aircraft navigation, and holds BSc (2006) and MSc (2009) in Mechanical Engineering from ETH Zurich. His research centers on mobile robotics, particularly enabling robots (e.g., drones) to perceive and navigate complex environments using machine learning and sensor data fusion. Key focus areas include SLAM, event-based vision, 3D reconstruction, and autonomous exploration. He has pioneered algorithms like BRISK (2011), OKVIS (2014), and ElasticFusion (2016), advancing real-time robotics perception. Notable Awards: Imperial College President's Award (2018), Best ECCV Paper (2016), ETH Medal for Dissertations (2015). Labs: TUM's Machine Learning for Robotics Group, Imperial's Smart Robotics Lab. Publications: Over 100 papers, including seminal works in CVPR, ECCV, and Robotics: Science and Systems. Current projects include DigiForests (forest inventory via robotics), aerial additive manufacturing, and object-centric semantic mapping. His work bridges theory and practice, with applications in autonomous drones, construction robotics, and human-robot interaction.

Lourdes Agapitoمشاهده پروفایل

استاد

• 3D Vision
• Non-Rigid Structure from Motion (NR-SFM)
• Computer Vision
• +۵ مورد دیگر

Lourdes Agapito is a Professor of 3D Vision at the Department of Computer Science, University College London (UCL), within the Faculty of Engineering Sciences. She leads research in Non-Rigid Structure from Motion (NR-SFM) and 3D reconstruction from monocular video sequences. Her work addresses dynamic scenes, deformable objects, and articulated structures, with applications in robotics and computer vision. She holds an ERC Starting Grant (2008–2014) and led the EU Horizon 2020-funded Second Hands project (2014–2019), collaborating with institutions like EPFL and KIT to develop robots with 3D visual perception for maintenance tasks. Her research group focuses on dense optical flow estimation, video registration, and deformable tracking. Agapito’s research interests include monocular 3D reconstruction, non-rigid motion analysis, and neural approaches to 3D modeling. She has supervised multiple PhD students and postdocs, including notable researchers such as Ravi Garg and Marco Paladini (Sullivan Prize recipient). Her contributions to conferences include roles as Program Chair for CVPR 2016 and CVPR 2017, and she has authored influential papers on topics like Video-Popup (ECCV 2014) and Modal Space (CVPR 2017). Current projects involve advancing neural parametric models and real-time 3D reconstruction techniques. Awards include the ERC Starting Grant and recognition for her team’s work in non-rigid reconstruction. She actively mentors students and collaborates on grants, with recent openings for postdocs and PhD candidates in 3D vision and robotics.

• 3D Computer Vision
• Machine Learning
• VR and AR
• +۴ مورد دیگر

Professor Hongdong Li is a Tenured Professor at the School of Computing, Australian National University (ANU), within the College of Engineering and Computer Science. His research focuses on 3D Computer Vision, Machine Learning, and their applications in dynamic environments. He has held visiting roles at Carnegie Mellon University and has contributed to significant projects like the Australia Bionic Eyes initiative. Education: PhD (Electrical Engineering). Research Interests : 3D Computer Vision fundamentals and applied AI systems Learning-based 3D perception for plant sciences Robot navigation in unfamiliar environments Awards : Marr Prize Honourable Mention CVPR Best Paper Award Advising & Grants : Supervised 40+ PhD students, with funding from ARC, CSIRO, Microsoft, and firms like OPPO/Tencent. Active in projects such as bushfire detection via video analytics and sign language translation systems. Labs/Teams : Co-founder of the Australian Centre for Robotic Vision (ACRV). Collaborates globally on cross-view localization and autonomous systems.

• Computer Vision
• Machine Learning
• Data-Driven Learning
• +۵ مورد دیگر

Alexei A. Efros is the Howard Friesen Professor in the EECS Department at the University of California, Berkeley, and a core member of the Berkeley Artificial Intelligence Research (BAIR) Lab. Previously, he spent a decade at Carnegie Mellon University’s Robotics Institute. His research focuses on data-driven computer vision, self-supervised learning, computational photography, and generative models. He has pioneered advancements in visual representation learning, including seminal work on neural radiance fields and generative adversarial networks. Education Background: Efros holds a PhD in Computer Science from MIT, though specific details of his academic journey are not explicitly provided in the text. His career includes postdoctoral research at the University of Oxford with Andrew Zisserman and collaborative work with Team WILLOW at INRIA Paris. Research Interests: Efros explores how vast uncurated visual data can be leveraged for understanding and synthesizing the visual world. Key areas include self-supervised learning, generative models, and applications in robotics and art. His lab has contributed influential techniques such as Style Transfer, GAN-based image synthesis, and neural scene representation learning. Recent work emphasizes real-time adaptation (Test-Time Training), 3D perception models, and ethical AI implications of generative systems. Publications: Over 150+ publications span topics like Generative Adversarial Networks (GANs), unsupervised learning, and visual-linguistic models. Notable works include Unpaired Image-to-Image Translation (CUT/GAU), Style Transfer , and Swapping Autoencoder . His research has significant industry impact, with techniques adopted in Adobe’s software and generative AI applications. Grants & Collaborations: Efros has secured major funding from NSF, DARPA, and industry partnerships (e.g., Adobe, NVIDIA). He co-leads projects on scalable vision models, ethical AI, and real-world perception systems. Current collaborations include work with MIT, NYU, and INRIA Paris. Labs & Teams: Leads the BAIR Vision Group at Berkeley, fostering interdisciplinary research between computer vision, graphics, and robotics. The group emphasizes Slow Science principles, prioritizing deep exploration over rapid publication.

Maria Gorlatovaمشاهده پروفایل

دانشیار

• Augmented Reality
• Virtual Reality
• Internet of Things
• +۷ مورد دیگر

Maria Gorlatova is an Associate Professor of Electrical and Computer Engineering at Duke University's Pratt School of Engineering, where she leads the Intelligent Interactive Internet of Things (I3T) Lab. She also holds a secondary affiliation as Faculty Network Member of the Duke Institute for Brain Sciences and has previously served as Assistant Professor of Computer Science. Dr. Gorlatova earned her Ph.D. in Electrical Engineering from Columbia University (2013), following M.Sc. and B.Sc. (Summa Cum Laude) degrees in Electrical Engineering from University of Ottawa, Canada. Prior to joining Duke, she was an Associate Research Scholar in the Electrical Engineering Department and Associate Director of the Princeton EDGE Lab at Princeton University (2016-2018). She also has industry experience with Telcordia Technologies, IBM, and D. E. Shaw Research. Her research focuses on advancing intelligent behavior in Internet of Things systems and applications, particularly in mobile pervasive systems and the Internet of Things. Her work crosses traditional discipline boundaries, requiring thinking across multiple layers of system and protocol stacks. Current research themes include breaking barriers for technologies that enable fundamentally new deployments and experiences, such as energy harvesting, artificial intelligence adapted to IoT constraints, and augmented reality. Her lab specifically develops edge- and IoT-enabled intelligent augmented reality platforms, with applications in healthcare and human-robot collaboration. Analyzing her recent publications reveals a strong focus on augmented reality systems, particularly for medical applications. Her work spans computer vision for AR, spatial tracking, SLAM systems, vision-language models for AR security, and VR/AR applications in neurosurgery and rehabilitation. A significant portion of her recent work addresses challenges in mixed reality for medical procedures, demonstrating the translational impact of her research. Google Anita Borg USA Fellowship Canadian Graduate Scholar CGS NSERC Fellowships Columbia University Presidential Fellowship Columbia University Jury Award for Outstanding Achievement in Communications ACM SenSys Best Student Demonstration Award IEEE Communications Society Young Author Best Paper Award IEEE Communications Society Award for Advances in Communications Best Research Artifact Award, IEEE IPSN (2020) N2 Women Rising Star, Networking Networking Women (N2Women) (2019) Dr. Gorlatova's research has been supported by various funding sources that enable her work on edge computing for augmented reality, IoT systems, and medical applications. She actively mentors graduate students who frequently appear as first authors on her publications, indicating strong student involvement in her research. Her I3T Lab at Duke focuses on creating human-facing pervasive mobile computing platforms that enable transformative applications, with recent emphasis on creating advanced augmented reality platforms that integrate edge computing and IoT technologies. The I3T Lab is developing next-generation AR systems with capabilities in edge AI, collaborative spatial awareness, AR user cognitive context sensing, and AR QoS/QoE evaluation. Current projects include applications in healthcare (particularly neurosurgery guidance and rehabilitation) and human-robot collaboration scenarios, demonstrating the lab's focus on real-world impact of pervasive computing technologies.

Sarita V Adveمشاهده پروفایل

استاد

• Computer Architecture
• Extended Reality Systems
• Heterogeneous Computing
• +۴ مورد دیگر

Sarita V Adve is the Richard T. Cheng Professor of Computer Science at the University of Illinois at Urbana-Champaign, where she conducts research spanning hardware, programming languages, operating systems, and applications with a focus on domain-specific systems. Her work bridges theoretical foundations and practical implementations, particularly in extended reality and heterogeneous computing. Her educational background includes a Ph.D. and M.S. in Computer Science from the University of Wisconsin-Madison (1993, 1989) and a B.Tech in Electrical Engineering from the Indian Institute of Technology Bombay (1987). Prior to joining Illinois, she served on the faculty at Rice University from 1993 to 1999. Adve's research centers on generalizable and scalable specialization for domain-specific systems, with current emphasis on extended reality (XR) systems including virtual, augmented, and mixed reality. She chairs the ILLIXR consortium to democratize XR research and developed the first fully open-source XR system (ILLIXR). Her foundational contributions include memory consistency models for C++ and Java programming languages, the Spandex coherence framework for heterogeneous systems, and software-driven approaches for hardware reliability. Her work spans hardware reliability (SWAT and RAMP projects), power management (GRACE system), and instruction-level parallelism. Recent publications reveal a strong focus on energy-efficient XR systems, hardware-software co-design for AI workloads, and resilience analysis. Her team explores rendering offload, visual-inertial odometry optimization, and compositional error injection frameworks, often targeting tradeoffs between energy, latency, and accuracy in mobile and edge environments. Fellow of the American Academy of Arts and Sciences Fellow of the ACM and IEEE ACM/IEEE-CS Ken Kennedy Award Anita Borg Institute Woman of Vision in Innovation Award ACM SIGARCH Maurice Wilkes Award Alfred P. Sloan Research Fellowship UIUC University Scholar University of Illinois Campus Award for Excellence in Graduate Student Mentoring Adve actively mentors students and has received multiple teaching awards. She co-founded the CARES movement to address discrimination in CS research events and chairs CS@Illinois CARES. Her service includes leadership roles in ACM SIGARCH (2015-2019), DARPA/ISAT study group, ACM Council, and Computing Research Association. She has secured significant funding including DARPA initiatives and Google Faculty Research Awards. She leads the ILLIXR consortium and has established collaborative research programs such as the $8.3M DARPA Joint University Microelectronics Program. Her lab focuses on open-source XR development, heterogeneous system architectures, and reliability-aware designs, with strong industry and government partnerships.