Robotics: Science and Systems XVII

Table of Contents

An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards
Siyu Dai, Wei Xu, Andreas Hofmann, Brian C. Williams
 
Manipulator-Independent Representations for Visual Imitation
Yuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis
 
Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead Imagery
Tim Y. Tang, Daniele De Martini, Paul Newman
 
Inexact Loops in Robotics Problems
Erik Nelson
 
Planning Multimodal Exploratory Actions for Online Robot Attribute Learning
Xiaohan Zhang, Jivko Sinapov, Shiqi Zhang
 
Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding
Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J Lim
 
Robust Value Iteration for Continuous Control Tasks
Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, Animesh Garg
 
An End-to-End Differentiable Framework for Contact-Aware Robot Design
Jie Xu, Tao Chen, Lara Zlokapa, Michael Foshey, Wojciech Matusik, Shinjiro Sueda, Pulkit Agrawal
 
Feature-Based SLAM: Why Simultaneous Localisation and Mapping?
Liang Zhao, Zhehua Mao, Shoudong Huang
 
Discovering Generalizable Skills via Automated Generation of Diverse Tasks
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
 
RMA: Rapid Motor Adaptation for Legged Robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik
 
Learning Generalizable Robotic Reward Functions from “In-The-Wild” Human Videos
Annie S. Chen, Suraj Nair, Chelsea Finn
 
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, Ken Goldberg
 
Rearrangement on Lattices with Swaps: Optimality Structures and Efficient Algorithms
Jingjin Yu
 
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States
Lars Berscheid, Torsten Kroeger
 
Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning
Amal Nanavati, Christoforos Mavrogiannis, Kevin Weatherwax, Leila Takayama, Maya Cakmak, Siddhartha Srinivasa
 
Proximal and Sparse Resolution of Constrained Dynamic Equations
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
 
TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments
Chao Cao, Hongbiao Zhu, Howie Choset, Ji Zhang
 
Learned Visual Navigation for Under-Canopy Agricultural Robots
Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino, Che Ellis, Andres Eduardo Baquero Velasquez, Girish Chowdhary, Saurabh Gupta
 
INVIGORATE: Interactive Visual Grounding and Grasping in Clutter
Hanbo Zhang, Yunfan Lu, Cunjun Yu, David Hsu, Xuguang Lan, Nanning Zheng
 
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-akbar Agha-mohammadi
 
Bayesian Deep Graph Matching for Correspondence Identification in Collaborative Perception
Peng Gao, Hao Zhang
 
Hierarchical Neural Dynamic Policies
Shikhar Bahl, Abhinav Gupta, Deepak Pathak
 
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
 
Optimal Pose and Shape Estimation for Category-level 3D Object Perception
Jingnan Shi, Heng Yang, Luca Carlone
 
Safe Reinforcement Learning via Statistical Model Predictive Shielding
Osbert Bastani, Shuo Li
 
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions
Peng Yin, Lingyun Xu, Ji Zhang, Howie Choset, Sebastian Scherer
 
Skill-based Shared Control
Christopher E Mower, Joao Moura, Sethu Vijayakumar
 
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning
Keenan Burnett, David J. Yoon, Angela P Schoellig, Tim Barfoot
 
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations
Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo, Claire Tomlin, Cyrill Stachniss
 
Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics
Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, Daniel Goldman
 
Generalized Comprehensive Motion Theory for High-Order Differential Dynamics
Vincent Samy, Ko Ayusawa, Eiichi Yoshida
 
On Minimizing the Number of Running Buffers for Tabletop Rearrangement
Kai Gao, Siwei Feng, Jingjin Yu
 
Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints
Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu
 
Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday Environments
Weiyu Liu, Dhruva Bansal, Angel Daruna, Sonia Chernova
 
A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared Autonomy
Matthew Fontaine, Stefanos Nikolaidis
 
On complementing end-to-end human behavior predictors with planning
Liting Sun, Xiaogang Jia, Anca Dragan
 
On the Importance of Environments in Human-Robot Coordination
Matthew Fontaine, Ya-Chuan Hsu, Yulun Zhang, Bryon Tjanaka, Stefanos Nikolaidis
 
Sampling-Based Motion Planning on Sequenced Manifolds
Peter Englert, Isabel M Rayas Fernández, Ragesh Kumar Ramachandran, Gaurav Sukhatme
 
Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors
Simon Bultmann, Sven Behnke
 
MAGIC: Learning Macro-Actions for Online POMDP Planning
Yiyuan Lee, Panpan Cai, David Hsu
 
NeuroBEM: Hybrid Aerodynamic Quadrotor Model
Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza
 
Active Learning of Abstract Plan Feasibility
Michael Noseworthy, Isaiah Brand, Caris Moses, Sebastian Castro, Leslie Kaelbling, Tomas Lozano-Perez, Nicholas Roy
 
MQA: Answering the Question via Robotic Manipulation
Yuhong Deng, Di Guo, Xiaofeng Guo, Naifu Zhang, Huaping Liu, Fuchun Sun
 
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees
Siddharth Ancha, Gaurav Pathak, Srinivasa Narasimhan, David Held
 
Co-Design of Communication and Machine Inference for Cloud Robotics
Manabu Nakanoya, Sandeep Chinchali, Alexandros Anemogiannis, Akul Datta, Sachin Katti, Marco Pavone
 
Language Conditioned Imitation Learning Over Unstructured Data
Corey Lynch, Pierre Sermanet
 
Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle
Friedrich M Rockenbauer, Simon Jeger, Liberto Beltran, Maximilian Berger, Marvin Harms, Noah Kaufmann, Marc Rauch, Moritz Reinders, Nicholas Lawrance, Thomas Stastny, Roland Siegwart
 
Resolving Conflict in Decision-Making for Autonomous Driving
Jack Geary, Subramanian Ramamoorthy, Henry Gouk
 
Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics
Shen Li, Nadia Figueroa, Ankit Shah, Julie A. Shah
 
Entropy-Guided Control Improvisation
Marcell J Vazquez-Chanlatte, Sebastian Junges, Daniel J Fremont, Sanjit Seshia
 
Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning
Julen Urain, Puze Liu, Anqi Li, Carlo D'Eramo, Jan Peters
 
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Muchen Sun, Francesca Baldini, Peter Trautman, Todd Murphey
 
Droplet: Towards Autonomous Underwater Assembly of Modular Structures
Samuel E Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang, Alberto Quattrini Li, Devin Balkcom
 
Falling Into Place: Drop Assembly of Interlocking Puzzles
Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom
 
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems
Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone
 
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem
John Lloyd, Yijiong Lin, Nathan Lepora
 
PROMPT: Probabilistic Motion Primitives based Trajectory Planning
Tobias Loew, Tirthankar Bandyopadhyay, Jason Williams, Paulo Borges
 
Scale invariant robot behavior with fractals
Sam Kriegman, Amir Mohammadi Nasab, Douglas Blackiston, Hannah Steele, Michael Levin, Rebecca Kramer-Bottiglio, Josh Bongard
 
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels
Dylan Turpin, Liquan Wang, Stavros Tsogkas, Sven Dickinson, Animesh Garg
 
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan Hurst
 
HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing
Keiko Nagami, Mac Schwager
 
Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
 
Learning Proofs of Motion Planning Infeasibility
Sihui Li, Neil Dantam
 
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments
Visak C V Kumar, Sehoon Ha, C. Karen Liu
 
Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active Perception
Zixu Zhang, Jaime F Fisac
 
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
Eric Heiden, Miles Macklin, Yashraj S Narang, Dieter Fox, Animesh Garg, Fabio Ramos
 
Dual Online Stein Variational Inference for Control and Dynamics
Lucas Barcelos, Alexander Lambert, Rafael Oliveira, Paulo Borges, Byron Boots, Fabio Ramos
 
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian C. Williams
 
Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly Tasks
Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas Bekris
 
Ab Initio Particle-based Object Manipulation
Siwei Chen, Xiao Ma, Yunfan Lu, David Hsu
 
NeRP: Neural Rearrangement Planning for Unknown Objects
Ahmed H Qureshi, Arsalan Mousavian, Chris Paxton, Michael Yip, Dieter Fox
 
Variational Inference MPC using Tsallis Divergence
Ziyi Wang, Oswin So, Jason Gibson, Bogdan Vlahov, Manan Gandhi, Guan-Horng Liu, Evangelos Theodorou
 
EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following
Nitin J Sanket, Chahat Deep Singh, Chethan Parameshwara, Cornelia Fermüller, Guido de Croon, Yiannis Aloimonos
 
Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent Systems
Augustinos D Saravanos, Alexandros Tsolovikos, Efstathios Bakolas, Evangelos Theodorou
 
A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation
Pragna Mannam, Avi Rudich, Kevin Zhang, Manuela Veloso, Oliver Kroemer, F. Zeynep Temel
 
Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning
Kai-Chieh Hsu, Vicenç Rubies-Royo, Claire Tomlin, Jaime F Fisac
 
Continuous Integration over SO(3) for IMU Preintegration
Cédric Le Gentil, Teresa A. Vidal-Calleja
 
Safe Policies for Factored Partially Observable Stochastic Games
Steven Carr, Nils Jansen, Sudarshanan Bharadwaj, Matthijs T. J. Spaan, Ufuk Topcu
 
GROUNDED: The Localizing Ground Penetrating Radar Evaluation Dataset
Teddy Ort, Igor Gilitschenski, Daniela Rus
 
Toward Certifiable Motion Planning for Medical Steerable Needles
Mengyu Fu, Oren Salzman, Ron Alterovitz
 
Learning Riemannian Manifolds for Geodesic Motion Skills
Hadi Beik-Mohammadi, Søren Hauberg, Georgios Arvanitidis, Gerhard Neumann, Leonel Rozo
 
Vector Semantic Representations as Descriptors for Visual Place Recognition
Peer Neubert, Stefan Schubert, Kenny Schlegel, Peter Protzel
 
Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories
Talha Kavuncu, Ayberk Yaraneri, Negar Mehr
 
Towards finding the shortest-paths for 3D rigid bodies
Weifu Wang, Ping Li
 
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
Thai P Duong, Nikolay A Atanasov
 
Filter-Based Online System-Parameter Estimation for Multicopter UAVs
Christoph Böhm, Martin Scheiber, Stephan Weiss
 
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study
Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jonathan Scholz
 
Surprisingly Robust In-Hand Manipulation: An Empirical Study
Aditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock
 
Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown Environments
Kush Grover, Fernando S Barbosa, Jana Tumova, Jan Kretinsky
 
Fast and Memory Efficient Graph Optimization via ICM for Visual Place Recognition
Stefan Schubert, Peer Neubert, Peter Protzel
 
RMP2: A Structured Composable Policy Class for Robot Learning
Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots