Planning and Execution using Inaccurate Models with Provable Guarantees
Anirudh Vemula, Yash Oza, J. Bagnell, Maxim Likhachev
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Swoosh! Rattle! Thump! - Actions that Sound
Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto
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Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image
Danny Driess, Jung-Su Ha, Marc Toussaint
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Elaborating on Learned Demonstrations with Temporal Logic Specifications
Craig Innes, Subramanian Ramamoorthy
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Non-revisiting Coverage Task with Minimal Discontinuities for Non-redundant Manipulators
Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong
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LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices
Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, Sven Behnke
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A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Valentin Peretroukhin, Matthew Giamou, W. Nicholas Greene, David Rosen, Jonathan Kelly, Nicholas Roy
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Leading Multi-Agent Teams to Multiple Goals While Maintaining Communication
Brian Reily, Christopher Reardon, Hao Zhang
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OverlapNet: Loop Closing for LiDAR-based SLAM
Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska, Alexandre Haag, Jens Behley, Cyrill Stachniss
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The Dark Side of Embodiment - Teaming Up With Robots VS Disembodied Agents
Filipa Correia, Samuel Gomes, Samuel Mascarenhas, Francisco S. Melo, Ana Paiva
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Shared Autonomy with Learned Latent Actions
Hong Jun Jeon, Dylan Losey, Dorsa Sadigh
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Regularized Graph Matching for Correspondence Identification under Uncertainty in Collaborative Perception
Peng Gao, Rui Guo, Hongsheng Lu, Hao Zhang
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Frequency Modulation of Body Waves to Improve Performance of Limbless Robots
Baxi Zhong, Tianyu Wang, Jennifer Rieser, Abdul Kaba, Howie Choset, Daniel Goldman
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Self-Reconfiguration in Two-Dimensions via Active Subtraction with Modular Robots
Matthew Hall, Anil Ozdemir, Roderich Gross
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Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning
Davide Calzolari, Roberto Lampariello, Alessandro Massimo Giordano
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Grounding Language to Non-Markovian Tasks with No Supervision of Task Specifications
Roma Patel, Ellie Pavlick, Stefanie Tellex
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Fast Uniform Dispersion of a Crash-prone Swarm
Michael Amir, Freddy Bruckstein
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Simultaneous Enhancement and Super-Resolution of Underwater Imagery for Improved Visual Perception
Md Jahidul Islam, Peigen Luo, Junaed Sattar
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Collision Probabilities for Continuous-Time Systems Without Sampling
Kristoffer Frey, Ted Steiner, Jonathan How
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Event-Driven Visual-Tactile Sensing and Learning for Robots
Tasbolat Taunyazov, Weicong Sng, Brian Lim, Hian Hian See, Jethro Kuan, Abdul Fatir Ansari, Benjamin Tee, Harold Soh
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Resilient Distributed Diffusion for Multi-Robot Systems Using Centerpoint
JIANI LI, Waseem Abbas, Mudassir Shabbir, Xenofon Koutsoukos
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Pixel-Wise Motion Deblurring of Thermal Videos
Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson Roberson
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Controlling Contact-Rich Manipulation Under Partial Observability
Florian Wirnshofer, Philipp Sebastian Schmitt, Georg von Wichert, Wolfram Burgard
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AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos
Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine
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Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal, Likhachev Maxim
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Online IMU Intrinsic Calibration: Is It Necessary?
Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang
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A Berry Picking Robot With A Hybrid Soft-Rigid Arm: Design and Task Space Control
Naveen Kumar Uppalapati, Benjamin Walt, Aaron Havens, Armeen Mahdian, Girish Chowdhary, Girish Krishnan
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Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference
Michael Jae-Yoon Chung, Maya Cakmak
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Cable Manipulation with a Tactile-Reactive Gripper
Siyuan Dong, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez, Edward Adelson
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Automated Synthesis of Modular Manipulators’ Structure and Control for Continuous Tasks around Obstacles
Thais Campos de Almeida, Samhita Marri, Hadas Kress-Gazit
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Learning Memory-Based Control for Human-Scale Bipedal Locomotion
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Francis Bermillo, Helei Duan, Alan Fern, Jonathan Hurst
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Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers
Gilhyun Ryou, Ezra Tal, Sertac Karaman
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Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
Lirui Wang, Yu Xiang, Dieter Fox
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VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
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Spatial Action Maps for Mobile Manipulation
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser
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Generalized Tsallis Entropy Reinforcement Learning and Its Application to Soft Mobile Robots
Kyungjae Lee, Sungyub Kim, Sungbin Lim, Sungjoon Choi, Mineui Hong, Jaein Kim, Yong-Lae Park, Songhwai Oh
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Learning Labeled Robot Affordance Models Using Simulations and Crowdsourcing
Adam Allevato, Elaine Short, Mitch Pryor, Andrea Thomaz
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Towards Embodied Scene Description
Sinan Tan, Huaping Liu, Di Guo, Xinyu Zhang, Fuchun Sun
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Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving
Zhangjie Cao, Erdem Biyik, Woodrow Wang, Allan Raventos, Adrien Gaidon, Guy Rosman, Dorsa Sadigh
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Deep Drone Acrobatics
Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
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Active Preference-Based Gaussian Process Regression for Reward Learning
Erdem Biyik, Nicolas Huynh, Mykel Kochenderfer, Dorsa Sadigh
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A Bayesian Framework for Nash Equilibrium Inference in Human-Robot Parallel Play
Shray Bansal, Jin Xu, Ayana Howard, Charles Isbell
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Data-driven modeling of a flapping bat robot with a single flexible wing surface
Jonathan Hoff, Seth Hutchinson
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Safe Motion Planning for Autonomous Driving using an Adversarial Road Model
Alex Liniger, Luc Van Gool
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A Motion Taxonomy for Manipulation Embedding
David Paulius, Nicholas Eales, Yu Sun
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Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger
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A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation
Bernardo Aceituno-Cabezas, Alberto Rodriguez
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Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles
Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger, Gregory Dudek
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Spatio-Temporal Stochastic Optimization: Theory and Applications to Optimal Control and Co-Design
Ethan Evans, Andrew Kendall, Georgios Boutselis, Evangelos Theodorou
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Kernel Taylor-Based Value Function Approximation for Continuous-State Markov Decision Processes
Junhong Xu, Kai Yin, Lantao Liu
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HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning
Jaesung Park, Dinesh Manocha
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Motion Planning for Variable Topology Truss Modular Robot
Chao Liu, Sencheng Yu, Mark Yim
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Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning
Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman, Shixiang Gu
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Compositional Transfer in Hierarchical Reinforcement Learning
Markus Wulfmeier, Abbas Abdolmaleki, Roland Hafner, Jost Tobias Springenberg, Michael Neunert, Noah Siegel, Tim Hertweck, Thomas Lampe, Nicolas Heess, Martin Riedmiller
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Learning from Interventions: Human-robot interaction as both explicit and implicit feedback
Jonathan Spencer, Sanjiban Choudhury, Matt Barnes, Matthew Schmittle, Mung Chiang, Peter Ramadge, Siddhartha Srinivasa
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Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations
Thibaut Kulak, Joao Silverio, Sylvain Calinon
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Self-Supervised Localisation between Range Sensors and Overhead Imagery
Tim Tang, Daniele De Martini, Shangzhe Wu, Paul Newman
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Probabilistic Swarm Guidance Subject to Graph Temporal Logic Specifications
Franck Djeumou, Zhe Xu, Ufuk Topcu
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In-Situ Learning from a Domain Expert for Real World Socially Assistive Robot Deployment
Katie Winkle, Severin Lemaignan, Praminda Caleb-Solly, Paul Bremner, Ailie Turton, Ute Leonards
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MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Kumar Shaurya Shankar, Nathan Michael
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GTI: Learning to Generalize across Long-Horizon Tasks from Human Demonstrations
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-Fei
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Agbots 2.0: Weeding Denser Fields with Fewer Robots
Wyatt McAllister, Joshua Whitman, Allan Axelrod, Joshua Varghese, Girish Chowdhary, Adam Davis
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Optimally Guarding Perimeters and Regions with Mobile Range Sensors
Siwei Feng, Jingjin Yu
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Learning Agile Robotic Locomotion Skills by Imitating Animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, Sergey Levine
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Learning to Manipulate Deformable Objects without Demonstrations
Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, Pieter Abbeel
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Deep Differentiable Grasp Planner for High-DOF Grippers
Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, Dinesh Manocha
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Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
Ahalya Prabhakar, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
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Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints
Shushman Choudhury, Jayesh Gupta, Mykel Kochenderfer, Dorsa Sadigh, Jeannette Bohg
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Latent Belief Space Motion Planning under Cost, Dynamics, and Intent Uncertainty
Dicong Qiu, Yibiao Zhao, Chris Baker
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Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots
Utku Culha, Sinan Ozgun Demir, Sebastian Trimpe, Metin Sitti
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Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space
Sungjoon Choi, Matthew Pan, Joohyung Kim
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Residual Policy Learning for Shared Autonomy
Charles Schaff, Matthew Walter
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Efficient Parametric Multi-Fidelity Surface Mapping
Aditya Dhawale, Nathan Michael
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Towards neuromorphic control: A spiking neural network based PID controller for UAV
Rasmus Stagsted, Antonio Vitale, Jonas Binz, Alpha Renner, Leon Bonde Larsen, Yulia Sandamirskaya
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Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping
Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan
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Scaling data-driven robotics with reward sketching and batch reinforcement learning
Serkan Cabi, Sergio Gómez Colmenarejo, Alexander Novikov, Ksenia Konyushova, Scott Reed, Rae Jeong, Konrad Zolna, Yusuf Aytar, David Budden, Mel Vecerik, Oleg Sushkov, David Barker, Jonathan Scholz, Misha Denil, Nando de Freitas, Ziyu Wang
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MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks
Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schaeffer
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NH-TTC: A gradient-based framework for generalized anticipatory collision avoidance
Bobby Davis, Ioannis Karamouzas, Stephen Guy
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3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone
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Robot Object Retrieval with Contextual Natural Language Queries
Thao Nguyen, Nakul Gopalan, Roma Patel, Matthew Corsaro, Ellie Pavlick, Stefanie Tellex
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AlphaPilot: Autonomous Drone Racing
Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza
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Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations
Lin Shao, Toki Migimatsu, Qiang Zhang, Kaiyuan Yang, Jeannette Bohg
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A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain
Adar Gaathon, Amir Degani
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Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework
Yashraj Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
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Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Jacky Liang, Saumya Saxena, Oliver Kroemer
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Manipulation with Shared Grasping
Yifan Hou, Zhenzhong Jia, Matthew Mason
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Deep Learning Tubes for Tube MPC
David Fan, Ali Agha, Evangelos Theodorou
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Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
Jason Choi, Fernando Castañeda, Claire Tomlin, Koushil Sreenath
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Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures
Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams
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Online Domain Adaptation for Occupancy Mapping
Anthony Tompkins, Ransalu Senanayake, Fabio Ramos
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ALGAMES: A Fast Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
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Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion
Caelan Garrett, Yijiang Huang, Tomas Lozano-Perez, Caitlin Mueller
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The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation
Qiujie Lu, Nicholas Baron, Angus Clark, Nicolas Rojas
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Heterogeneous Graph Attention Networks for Scalable Multi-Robot Scheduling with Temporospatial Constraints
Zheyuan Wang, Matthew Gombolay
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Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks
Guangyao Shi, Pratap Tokekar, Lifeng Zhou
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Eyes-Closed Safety Kernels: Safety of Autonomous Systems Under Loss of Observability
Forrest Laine, Chih-Yuan Chiu, Claire Tomlin
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Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations
Glen Chou, Necmiye Ozay, Dmitry Berenson
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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Ruben Grandia, Andrew Taylor, Andrew Singletary, Marco Hutter, Aaron Ames
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Learning to Slide Unknown Objects with Differentiable Physics Simulations
Changkyu Song, Abdeslam Boularias
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Reachable Sets for Safe, Real-Time Manipulator Trajectory Design
Patrick Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson Roberson, Ram Vasudevan
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Learning Task-Driven Control Policies via Information Bottlenecks
Vincent Pacelli, Anirudha Majumdar
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Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following
Nakul Gopalan, Eric Rosen, George Konidaris, Stefanie Tellex
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A social robot mediator to foster collaboration and inclusion among children
Sarah Gillet, Wouter van den Bos, Iolanda Leite
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