I don't know CMU well, is it privately hold ? I really wonder if the work we see here was paid by taxpayers' money. I guess the papers are freely available but the implementation is not.
I'd say it would cost 5% royalty on sales assuming that algorithm was key. Ten years ago I negotiated a licencing agreement with CMU for a computer vision algorithm. I was leading an unknown startup. 5% with no upfront fee is what we ended at.
