Robotics: Science and Systems XIII

Table of Contents

Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots
Lionel Birglen
Uncertainty Models for TTC-Based Collision-Avoidance
Zahra Forootaninia, Ioannis Karamouzas, Rahul Narain
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators
Jun Zhang, Michael Yip
Breaking the Human-Robot Deadlock: Surpassing Shared Control Performance Limits with Sparse Human-Robot Interaction
Peter Trautman
XPose: Reinventing User Interaction with Flying Cameras
Ziquan Lan, Mohit Shridhar, David Hsu, Shengdong Zhao
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots
Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin Caldwell, Claudio Semini, Maurice Fallon
Deformable Rapidly-Exploring Random Trees
Florian Hauer, Panagiotis Tsiotras
Learning to Reconstruct 3D Structures for Occupancy Mapping
Vitor Guizilini, Fabio Ramos
Exact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling
Eric Huang, Ankit Bhatia, Byron Boots, Matthew Mason
Bayesian Eigenobjects: A Unified Framework for 3D Robot Perception
Benjamin Burchfiel, George Konidaris
First-Person Action-Object Detection with EgoNet
Gedas Bertasius, Hyun Soo Park, Stella Yu, Jianbo Shi
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks
Yu Xiang, Dieter Fox
Reasoning About Liquids via Closed-Loop Simulation
Connor Schenck, Dieter Fox
Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization
Balakumar Sundaralingam, Tucker Hermans
Bingham Distribution-Based Linear Filter for Online Pose Estimation
Arun Srivatsan Rangaprasad, Mengyun Xu, Nicolas Zevallos-Roberts, Howie Choset
Resolution of Referential Ambiguity in Human-Robot Dialogue Using Dempster-Shafer Theoretic Pragmatics
Tom Williams, Matthias Scheutz
Job Selection in a Network of Autonomous UAVs for Delivery of Goods
Pasquale Grippa, Doris Behrens, Christian Bettstetter, Friederike Wall
Underactuated tendon-driven robotic/prosthetic hands: design issues
Annick Mottard, Thierry Laliberté, Clément Gosselin
Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning
Cenk Baykal, Ron Alterovitz
Generalized Cylinders for Learning, Reproduction, Generalization, and Refinement of Robot Skills
S. Reza Ahmadzadeh, Muhammad Asif Rana, Sonia Chernova
Effective Metrics for Multi-Robot Motion-Planning
Aviel Atias, Kiril Solovey, Dan Halperin
Provably Safe Robot Navigation with Obstacle Uncertainty
Brian Axelrod, Leslie Kaelbling, Tomas Lozano-Perez
Groups of humans and robots: Understanding membership preferences and team formation
Filipa Correia, Sofia Petisca, Patrícia Alves-Oliveira, Tiago Ribeiro, Francisco Melo, Ana Paiva
Simultaneous Trajectory Estimation and Planning via Probabilistic Inference
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
Time-Lapse Light Field Photography for Perceiving Non-Lambertian Scenes
John Oberlin, Stefanie Tellex
An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots
Wyatt Felt, Maria Telleria, Thomas Allen, Gabriel Hein, Jonathan Pompa, Kevin Albert, David Remy
Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach
Zhengdong Zhang, Amr Suleiman, Luca Carlone, Vivienne Sze, Sertac Karaman
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments
Michael Grey, Aaron Ames, C. Karen Liu
Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload
Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
Michael Posa, Twan Koolen, Russ Tedrake
Introspective Evaluation of Perception Performance for Parameter Tuning without Ground Truth
Humphrey Hu, George Kantor
CAD2RL: Real Single-Image Flight Without a Single Real Image
Fereshteh Sadeghi, Sergey Levine
A neuromorphic controller for a robotic vehicle equipped with a dynamic vision sensor
Hermann Blum, Alexander Dietmüller, Moritz Milde, Jörg Conradt, Giacomo Indiveri, Yulia Sandamirskaya
Learning Constrained Generalizable Policies by Demonstration
Leopoldo Armesto, Vladimir Ivan, Joao Moura, Antonio Sala, Sethu Vijayakumar
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics
Alexander Broad, Todd Murphey, Brenna Argall
Improving Slip Prediction on Mars Using Thermal Inertia Measurements
Christopher Cunningham, Issa Nesnas, William Whittaker
Sample-Based Methods for Factored Task and Motion Planning
Caelan Garrett, Tomas Lozano-Perez, Leslie Kaelbling
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, James Bagnell, Matthew Mason
Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion
Diego Pardo, Michael Neunert, Alexander Winkler, Ruben Grandia, Jonas Buchli
Synthesizing Training Data for Object Detection in Indoor Scenes
Georgios Georgakis, Arsalan Mousavian, Alexander Berg, Jana Kosecka
Collisions as Information Sources in Densely Packed Multi-Robot Systems Under Mean-Field Approximations
Siddharth Mayya, Pietro Pierpaoli, Girish Nair, Magnus Egerstedt
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction
Jae Sung Park, Chonhyon Park, Dinesh Manocha
Mode Switch Assistance To Maximize Human Intent Disambiguation
Deepak Edakkattil Gopinath, Brenna Argall
Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization
Erich Mielke, Eric Townsend, Marc Killpack
Preparing for the Unknown: Learning a Universal Policy with Online System Identification
Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk
Learning Lyapunov (Potential) Functions from Counterexamples and Demonstrations
Hadi Ravanbakhsh, Sriram Sankaranarayanan
Unsupervised Perceptual Rewards for Imitation Learning
Pierre Sermanet, Kelvin Xu, Sergey Levine
High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods
Shuai Han, Nicholas Stiffler, Athanasios Krontiris, Kostas Bekris, Jingjin Yu
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo de la Torre, Todd Murphey
Active Preference-Based Learning of Reward Functions
Dorsa Sadigh, Anca Dragan, Shankar Sastry, Sanjit Seshia
Trajectory Optimization for Self-Calibration and Navigation
James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Weiss
Optimal Shape and Motion Planning for Dynamic Planar Manipulation
Orion Taylor, Alberto Rodriguez
Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities
Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Lawson Wong, Stefanie Tellex
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback
Zachary Manchester, Scott Kuindersma
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio, Ken Goldberg
Enabling Robots to Communicate Their Objectives
Sandy Huang, David Held, Pieter Abbeel, Anca Dragan
Rich Time Series Classification Using Temporal Logic
Chanyeol Yoo, Calin Belta
Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models
Kris Hauser, Shiquan Wang, Mark Cutkosky
Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks
Zack Bright, H. Harry Asada
Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization
Ko Ayusawa, Eiichi Yoshida
Safe Visual Navigation via Deep Learning and Novelty Detection
Charles Richter, Nicholas Roy
Discovering Action Primitive Granularity from Human Motion for Human-Robot Collaboration
Elena Corina Grigore, Brian Scassellati
Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions
Giorgos Mamakoukas, Malcolm MacIver, Todd Murphey
Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty
Vishnu Desaraju, Alexander Spitzer, Nathan Michael
Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning
Edward Schmerling, Marco Pavone
Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models
Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone
Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment
Micah Corah, Nathan Michael
Geometry of 3D Environments and Sum of Squares Polynomials
Amir Ali Ahmadi, Georgina Hall, Ameesh Makadia, Vikas Sindhwani
Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview
Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer, Jessy Grizzle, Koushil Sreenath
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation
Ayush Agrawal, Koushil Sreenath
Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots
Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian Pokorny
From the Lab to the Desert: Fast Prototyping and Learning of Robot Locomotion
Kevin Sebastian Luck, Joseph Campbell, Michael Jansen, Daniel Aukes, Heni Ben Amor