Robotics: Science and Systems XIV

Table of Contents

Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors
Rico Jonschkowski, Divyam Rastogi, Oliver Brock
One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning
Tianhe Yu, Chelsea Finn, Sudeep Dasari, Annie Xie, Tianhao Zhang, Pieter Abbeel, Sergey Levine
SegMap: 3D Segment Mapping using Data-Driven Descriptors
Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Juan Nieto, Roland Siegwart, Cesar Cadena
HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty
Panpan Cai, Yuanfu Luo, David Hsu, Wee Sun Lee
Shared Autonomy via Deep Reinforcement Learning
Siddharth Reddy, Anca Dragan, Sergey Levine
FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing
Lei Han, Lu Fang
Creating Foldable Polyhedral Nets Using Evolution Control
Yue Hao, Yun-hyeong Kim, Zhonghua Xi, Jyh-Ming Lien
Asymmetric Actor Critic for Image-Based Robot Learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel
Reinforcement and Imitation Learning for Diverse Visuomotor Skills
Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, Vincent Vanhoucke
Directionally Controlled Time-of-Flight Ranging for Mobile Sensing Platforms
Zaid Tasneem, Dingkang Wang, Huikai Xie, Koppal Sanjeev
Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision
Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese
Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids
Jingjin Yu
Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees
Lucas Liebenwein, Cenk Baykal, Igor Gilitschenski, Sertac Karaman, Daniela Rus
Full-Frame Scene Coordinate Regression for Image-Based Localization
Xiaotian Li, Juha Ylioinas, Juho Kannala
Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments
Jens Behley, Cyrill Stachniss
The Critical Radius in Sampling-based Motion Planning
Kiril Solovey, Michal Kleinbort
Handling implicit and explicit constraints in manipulation planning
Florent Lamiraux, Joseph Mirabel
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox
Coordination of back bending and leg movements for quadrupedal locomotion
Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer Rieser, Haosen Xing, Jeffery Rankin, Krijn Michel, Alfredo Nicieza, John Hutchinson, Daniel Goldman, Howie Choset
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
Douglas Morrison, Juxi Leitner, Peter Corke
LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics
Sourav Garg, Niko Suenderhauf, Michael Milford
Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2
Michael Watterson, Sikang Liu, Ke Sun, Trey Smith, Vijay Kumar
Push-Net: Deep Planar Pushing for Objects with Unknown Physical Properties
Juekun Li, Wee Sun Lee, David Hsu
View Selection with Geometric Uncertainty Modeling
Cheng Peng, Volkan Isler
A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information
Nicolas Zevallos, Arun Srivatsan Rangaprasad, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
Geometry-aware Tracking of Manipulability Ellipsoids
Noémie Jaquier, Leonel Rozo, Darwin Caldwell, Sylvain Calinon
Interactive Visual Grounding of Referring Expressions for Human-Robot Interaction
Mohit Shridhar, David Hsu
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction
Wei Gao, Russ Tedrake
Dual-Speed MR Safe Pneumatic Stepper Motors
Vincent Groenhuis, Françoise Siepel, Stefano Stramigioli
Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation
Philipp Schillinger, Mathias Buerger, Dimos Dimarogonas
Lightweight Unsupervised Deep Loop Closure
Nathaniel Merrill, Guoquan Huang
The Transfer of Human Trust in Robot Capabilities across Tasks
Harold Soh, Shu Pan, Chen Min, David Hsu
Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results
Andrew Spielvogel, Louis Whitcomb
Optimal Solution of the Generalized Dubins Interval Problem
Petr Váňa, Jan Faigl
Embedded High Precision Control and Corn Stand Counting Algorithms for an Ultra-Compact 3D Printed Field Robot
Erkan Kayacan, Zhongzhong Zhang, Girish Chowdhary
On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms
Federico Rossi, Ramon Iglesias, Mahnoosh Alizadeh, Marco Pavone
Analytical Derivatives of Rigid Body Dynamics Algorithms
Justin Carpentier, Nicolas Mansard
Multi-Objective Analysis of Ridesharing in Automated Mobility-on-Demand
Michal Cap, Javier Alonso-Mora
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
Riccardo Spica, Davide Falanga, Eric Cristofalo, Eduardo Montijano, Davide Scaramuzza, Mac Schwager
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert Wood, Scott Kuindersma
Robust Sampling Based Model Predictive Control with Sparse Objective Information
Grady Williams, Brian Goldfain, Paul Drews, Kamil Saigol, James Rehg, Evangelos Theodorou
RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion
Daniel Rakita, Bilge Mutlu, Michael Gleicher
Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning
Marc Toussaint, Kelsey Allen, Kevin Smith, Joshua Tenenbaum
Data-Driven Measurement Models for Active Localization in Sparse Environments
Ian Abraham, Anastasia Mavrommati, Todd Murphey
Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance
Aleksandra Kalinowska, Kathleen Fitzsimons, Julius Dewald, Todd Murphey
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile, Ali Agha, Richard Murray, Aaron Ames
Simplifying Reward Design through Divide-and-Conquer
Ellis Ratner, Dylan Hadfield-Menell, Anca Dragan
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, Sergey Levine
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy Grizzle, Ryan M Eustice
Bayesian Tactile Exploration for Compliant Docking With Uncertain Shapes
Kris Hauser
GPU-Based Max Flow Maps in the Plane
Renato Farias, Marcelo Kallmann
A Variable Stiffness Gripper with Antagonistic Magnetic Springs for Enhancing Manipulation
Amirhossein Memar, Ehsan Esfahani
Fast Online Trajectory Optimization for the Bipedal Robot Cassie
Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan Hurst
Robust Obstacle Avoidance using Tube NMPC
Gowtham Garimella, Matthew Sheckells, Joseph Moore, Marin Kobilarov
Agile Autonomous Driving using End-to-End Deep Imitation Learning
Yunpeng Pan, Ching-An Cheng, Kamil Saigol, Keuntaek Lee, Xinyan Yan, Evangelos Theodorou, Byron Boots
Efficiently Sampling from Underlying Models
Greydon Foil, David Wettergreen
In-Hand Manipulation via Motion Cones
Nikhil Chavan Dafle, Rachel Holladay, Alberto Rodriguez
A Novel Whisker Sensor Used for 3D Contact Point Determination and Contour Extraction
Hannah Emnett, Matthew Graff, Mitra Hartmann
Exploiting Stochasticity for the Control of Transitions in Gyre Flows
Dhanushka Kularatne, Eric Forgoston, M. Ani Hsieh
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies
Lucas Janson, Tommy Hu, Marco Pavone
EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras
Alex Zhu, Liangzhe Yuan, Kenneth Chaney, Kostas Daniilidis
Plug-and-Play Supervisory Control Using Muscle and Brain Signals for Real-Time Gesture and Error Detection
Joseph DelPreto, Andres F. Salazar-Gomez, Stephanie Gil, Ramin M. Hasani, Frank H. Guenther, Daniela Rus
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
Maximilian Haas-Heger, Christos Papadimitriou, Mihalis Yannakakis, Garud Iyengar, Matei Ciocarlie
Generalized WarpDriver: Unified Collision Avoidance for Multi-Robot Systems in Arbitrarily Complex Environments
David Wolinski, Ming Lin
Following High-level Navigation Instructions on a Simulated Quadcopter with Imitation Learning
Valts Blukis, Nataly Brukhim, Andrew Bennett, Ross Knepper, Yoav Artzi
Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications
Nakul Gopalan, Dilip Arumugam, Lawson Wong, Stefanie Tellex
Autonomous Thermalling as a Partially Observable Markov Decision Process
Iain Guilliard, Rick Rogahn, Jim Piavi, Andrey Kolobov
Probabilistically Safe Robot Planning with Confidence-Based Human Predictions
Jaime Fisac, Andrea Bajcsy, Sylvia Herbert, David Fridovich-Keil, Steven Wang, Claire Tomlin, Anca Dragan
Autonomous Adaptive Modification of Unstructured Environments
Maira Saboia da Silva, Vivek Thangavelu, Walker Gosrich, Nils Napp
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan How, Jonathan Kelly