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