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