Robotics: Science and Systems XVI

Table of Contents

Planning and Execution using Inaccurate Models with Provable Guarantees Anirudh Vemula, Yash Oza, J. Bagnell, Maxim Likhachev
Swoosh! Rattle! Thump! - Actions that Sound Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto
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
Elaborating on Learned Demonstrations with Temporal Logic Specifications Craig Innes, Subramanian Ramamoorthy
Non-revisiting Coverage Task with Minimal Discontinuities for Non-redundant Manipulators Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong
LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, Sven Behnke
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
Leading Multi-Agent Teams to Multiple Goals While Maintaining Communication Brian Reily, Christopher Reardon, Hao Zhang
OverlapNet: Loop Closing for LiDAR-based SLAM Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska, Alexandre Haag, Jens Behley, Cyrill Stachniss
The Dark Side of Embodiment - Teaming Up With Robots VS Disembodied Agents Filipa Correia, Samuel Gomes, Samuel Mascarenhas, Francisco S. Melo, Ana Paiva
Shared Autonomy with Learned Latent Actions Hong Jun Jeon, Dylan Losey, Dorsa Sadigh
Regularized Graph Matching for Correspondence Identification under Uncertainty in Collaborative Perception Peng Gao, Rui Guo, Hongsheng Lu, Hao Zhang
Frequency Modulation of Body Waves to Improve Performance of Limbless Robots Baxi Zhong, Tianyu Wang, Jennifer Rieser, Abdul Kaba, Howie Choset, Daniel Goldman
Self-Reconfiguration in Two-Dimensions via Active Subtraction with Modular Robots Matthew Hall, Anil Ozdemir, Roderich Gross
Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning Davide Calzolari, Roberto Lampariello, Alessandro Massimo Giordano
Grounding Language to Non-Markovian Tasks with No Supervision of Task Specifications Roma Patel, Ellie Pavlick, Stefanie Tellex
Fast Uniform Dispersion of a Crash-prone Swarm Michael Amir, Freddy Bruckstein
Simultaneous Enhancement and Super-Resolution of Underwater Imagery for Improved Visual Perception Md Jahidul Islam, Peigen Luo, Junaed Sattar
Collision Probabilities for Continuous-Time Systems Without Sampling Kristoffer Frey, Ted Steiner, Jonathan How
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
Resilient Distributed Diffusion for Multi-Robot Systems Using Centerpoint JIANI LI, Waseem Abbas, Mudassir Shabbir, Xenofon Koutsoukos
Pixel-Wise Motion Deblurring of Thermal Videos Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson Roberson
Controlling Contact-Rich Manipulation Under Partial Observability Florian Wirnshofer, Philipp Sebastian Schmitt, Georg von Wichert, Wolfram Burgard
AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine
Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt Fahad Islam, Oren Salzman, Aditya Agarwal, Likhachev Maxim
Online IMU Intrinsic Calibration: Is It Necessary? Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang
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
Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference Michael Jae-Yoon Chung, Maya Cakmak
Cable Manipulation with a Tactile-Reactive Gripper Siyuan Dong, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez, Edward Adelson
Automated Synthesis of Modular Manipulators’ Structure and Control for Continuous Tasks around Obstacles Thais Campos de Almeida, Samhita Marri, Hadas Kress-Gazit
Learning Memory-Based Control for Human-Scale Bipedal Locomotion Jonah Siekmann, Srikar Valluri, Jeremy Dao, Francis Bermillo, Helei Duan, Alan Fern, Jonathan Hurst
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers Gilhyun Ryou, Ezra Tal, Sertac Karaman
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection Lirui Wang, Yu Xiang, Dieter Fox
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
Spatial Action Maps for Mobile Manipulation Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser
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
Learning Labeled Robot Affordance Models Using Simulations and Crowdsourcing Adam Allevato, Elaine Short, Mitch Pryor, Andrea Thomaz
Towards Embodied Scene Description Sinan Tan, Huaping Liu, Di Guo, Xinyu Zhang, Fuchun Sun
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
Deep Drone Acrobatics Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Active Preference-Based Gaussian Process Regression for Reward Learning Erdem Biyik, Nicolas Huynh, Mykel Kochenderfer, Dorsa Sadigh
A Bayesian Framework for Nash Equilibrium Inference in Human-Robot Parallel Play Shray Bansal, Jin Xu, Ayana Howard, Charles Isbell
Data-driven modeling of a flapping bat robot with a single flexible wing surface Jonathan Hoff, Seth Hutchinson
Safe Motion Planning for Autonomous Driving using an Adversarial Road Model Alex Liniger, Luc Van Gool
A Motion Taxonomy for Manipulation Embedding David Paulius, Nicholas Eales, Yu Sun
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger
A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation Bernardo Aceituno-Cabezas, Alberto Rodriguez
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
Spatio-Temporal Stochastic Optimization: Theory and Applications to Optimal Control and Co-Design Ethan Evans, Andrew Kendall, Georgios Boutselis, Evangelos Theodorou
Kernel Taylor-Based Value Function Approximation for Continuous-State Markov Decision Processes Junhong Xu, Kai Yin, Lantao Liu
HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning Jaesung Park, Dinesh Manocha
Motion Planning for Variable Topology Truss Modular Robot Chao Liu, Sencheng Yu, Mark Yim
Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman, Shixiang Gu
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
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
Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations Thibaut Kulak, Joao Silverio, Sylvain Calinon
Self-Supervised Localisation between Range Sensors and Overhead Imagery Tim Tang, Daniele De Martini, Shangzhe Wu, Paul Newman
Probabilistic Swarm Guidance Subject to Graph Temporal Logic Specifications Franck Djeumou, Zhe Xu, Ufuk Topcu
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
MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models Kumar Shaurya Shankar, Nathan Michael
GTI: Learning to Generalize across Long-Horizon Tasks from Human Demonstrations Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-Fei
Agbots 2.0: Weeding Denser Fields with Fewer Robots Wyatt McAllister, Joshua Whitman, Allan Axelrod, Joshua Varghese, Girish Chowdhary, Adam Davis
Optimally Guarding Perimeters and Regions with Mobile Range Sensors Siwei Feng, Jingjin Yu
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, Sergey Levine
Learning to Manipulate Deformable Objects without Demonstrations Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, Pieter Abbeel
Deep Differentiable Grasp Planner for High-DOF Grippers Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, Dinesh Manocha
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
Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints Shushman Choudhury, Jayesh Gupta, Mykel Kochenderfer, Dorsa Sadigh, Jeannette Bohg
Latent Belief Space Motion Planning under Cost, Dynamics, and Intent Uncertainty Dicong Qiu, Yibiao Zhao, Chris Baker
Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots Utku Culha, Sinan Ozgun Demir, Sebastian Trimpe, Metin Sitti
Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space Sungjoon Choi, Matthew Pan, Joohyung Kim
Residual Policy Learning for Shared Autonomy Charles Schaff, Matthew Walter
Efficient Parametric Multi-Fidelity Surface Mapping Aditya Dhawale, Nathan Michael
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
Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan
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
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
NH-TTC: A gradient-based framework for generalized anticipatory collision avoidance Bobby Davis, Ioannis Karamouzas, Stephen Guy
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone
Robot Object Retrieval with Contextual Natural Language Queries Thao Nguyen, Nakul Gopalan, Roma Patel, Matthew Corsaro, Ellie Pavlick, Stefanie Tellex
AlphaPilot: Autonomous Drone Racing Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza
Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations Lin Shao, Toki Migimatsu, Qiang Zhang, Kaiyuan Yang, Jeannette Bohg
A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain Adar Gaathon, Amir Degani
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework Yashraj Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap Jacky Liang, Saumya Saxena, Oliver Kroemer
Manipulation with Shared Grasping Yifan Hou, Zhenzhong Jia, Matthew Mason
Deep Learning Tubes for Tube MPC David Fan, Ali Agha, Evangelos Theodorou
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
Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams
Online Domain Adaptation for Occupancy Mapping Anthony Tompkins, Ransalu Senanayake, Fabio Ramos
ALGAMES: A Fast Solver for Constrained Dynamic Games Simon Le Cleac'h, Mac Schwager, Zachary Manchester
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion Caelan Garrett, Yijiang Huang, Tomas Lozano-Perez, Caitlin Mueller
The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation Qiujie Lu, Nicholas Baron, Angus Clark, Nicolas Rojas
Heterogeneous Graph Attention Networks for Scalable Multi-Robot Scheduling with Temporospatial Constraints Zheyuan Wang, Matthew Gombolay
Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks Guangyao Shi, Pratap Tokekar, Lifeng Zhou
Eyes-Closed Safety Kernels: Safety of Autonomous Systems Under Loss of Observability Forrest Laine, Chih-Yuan Chiu, Claire Tomlin
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations Glen Chou, Necmiye Ozay, Dmitry Berenson
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions Ruben Grandia, Andrew Taylor, Andrew Singletary, Marco Hutter, Aaron Ames
Learning to Slide Unknown Objects with Differentiable Physics Simulations Changkyu Song, Abdeslam Boularias
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design Patrick Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata, Matthew Johnson Roberson, Ram Vasudevan
Learning Task-Driven Control Policies via Information Bottlenecks Vincent Pacelli, Anirudha Majumdar
Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following Nakul Gopalan, Eric Rosen, George Konidaris, Stefanie Tellex
A social robot mediator to foster collaboration and inclusion among children Sarah Gillet, Wouter van den Bos, Iolanda Leite