Robotics: Science and Systems XIX

Table of Contents

Follow my Advice: Assume-Guarantee Approach to Task Planning with Human in the Loop Georg Schuppe, Ilaria Torre, Iolanda Leite, Jana Tumova
Autonomous Justification for Enabling Explainable Decision Support in Human-Robot Teaming Matthew Luebbers, Aaquib Tabrez, Kyler Ruvane, Bradley Hayes
Enabling Team of Teams: A Trust Inference and Propagation (TIP) Model in Multi-Human Multi-Robot Teams Yaohui Guo, X. Jessie Yang, Cong Shi
Investigating the Impact of Experience on a User's Ability to Perform Hierarchical Abstraction Nina M Moorman, Nakul Gopalan, Aman Singh, Erin Botti, Mariah Schrum, Chuxuan Yang, Lakshmi Seelam, Matthew Gombolay
Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu
Robotic Table Tennis: A Case Study into a High Speed Learning System David B D'Ambrosio, Navdeep Jaitly, Vikas Sindhwani, Ken Oslund, Peng Xu, Nevena Lazic, Anish Shankar, Tianli Ding, Jonathan Abelian, Erwin Coumans, Gus Kouretas, Thinh Nguyen, Justin Boyd, Atil Iscen, Reza Mahjourian, Vincent Vanhoucke, Alex Bewley, Yuheng Kuang, Michael Ahn, Deepali Jain, Satoshi Kataoka, Omar E Cortes, Pierre Sermanet, Corey Lynch, Pannag R Sanketi, Krzysztof Choromanski, Wenbo Gao, Juhana Kangaspunta, Krista Reymann, Grace Vesom, Sherry Q Moore, Avi Singh, Saminda W Abeyruwan, Laura Graesser
SAR: Generalization of Physiological Dexterity via Synergistic Action Representation Cameron H Berg, Vittorio Caggiano, Vikash Kumar
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations Siddhant Haldar, Jyothish Pari, Anant Rai, Lerrel Pinto
GenAug: Retargeting behaviors to unseen situations via Generative Augmentation Qiuyu Chen, Shosuke C Kiami, Abhishek Gupta, Vikash Kumar
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets Maximilian Du, Suraj Nair, Dorsa Sadigh, Chelsea Finn
Structured World Models from Human Videos Russell Mendonca, Shikhar Bahl, Deepak Pathak
PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection Shivin Dass, Karl Pertsch, Hejia Zhang, Youngwoon Lee, Joseph J Lim, Stefanos Nikolaidis
To the Noise and Back: Diffusion for Shared Autonomy Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly C Stadie, Matthew R Walter
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware Tony Z. Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction Yangxiao Lu, Ninad A Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features Justin Kerr, Huang Huang, Albert Wilcox, Ryan I Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg
Pre-Training for Robots: Offline RL Enables Learning New Tasks in a Handful of Trials Aviral Kumar, Anikait Singh, Frederik D Ebert, Mitsuhiko Nakamoto, Yanlai Yang, Chelsea Finn, Sergey Levine
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation Gagan Khandate, Siqi Shang, Eric T Chang, Tristan L Saidi, Johnson Adams, Matei Ciocarlie
Cherry-Picking with Reinforcement Learning Yunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha Srinivasa
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators Alexander Herzog, Kanishka Rao, Karol Hausman, Yao Lu, Paul Wohlhart, Mengyuan Yan, Jessica Lin, Montserrat Gonzalez Arenas, Ted Xiao, Daniel Kappler, Daniel Ho, Jarek Rettinghouse, Yevgen Chebotar, Kuang-Huei Lee, Keerthana Gopalakrishnan, Ryan Julian, Adrian Li, Chuyuan Fu, Bob Wei, Sangeetha Ramesh, Khem Holden, Kim Kleiven, David J Rendleman, Sean Kirmani, Jeffrey Bingham, Jonathan Weisz, Ying Xu, Wenlong Lu, Matthew Bennice, Cody Fong, David Do, Jessica Lam, Yunfei Bai, Benjie Holson, Michael Quinlan, Noah Brown, Mrinal Kalakrishnan, Julian Ibarz, Peter Pastor, Sergey Levine
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success Shuai Li, Azarakhsh Keipour, Kevin Jamieson, Nicolas Hudson, Charles Swan, Kostas Bekris
Demonstrating Large Language Models on Robots Andy Zeng, Brian Ichter, Fei Xia, Ted Xiao, Vikas Sindhwani
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alexander Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael S Ryoo, Grecia Salazar, Pannag R Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan H Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin CM Burchfiel, Shuran Song
Scaling Robot Learning with Semantically Imagined Experience Tianhe Yu, Ted Xiao, Jonathan Tompson, Austin Stone, Su Wang, Anthony Brohan, Jaspiar Singh, Clayton Tan, Dee M, Jodilyn Peralta, Karol Hausman, Brian Ichter, Fei Xia
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies Moritz Reuss, Maximilian Li, Xiaogang Jia, Rudolf Lioutikov
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher G Atkeson, Katerina Fragkiadaki
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton
Language-Driven Representation Learning for Robotics Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, Percy Liang
Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators Dongwon Son, Beomjoon Kim
GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials David R Millard, Daniel Pastor, Joseph Bowkett, Paul Backes, Gaurav S Sukhatme
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning Daniel Fernandes Gomes, Shan Luo, Paolo Paoletti
Rotating without Seeing: Towards In-hand Dexterity through Touch Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk
Hindsight States: Blending Sim & Real Task Elements for Efficient Reinforcement Learning Simon Guist, Jan Schneider, Vincent Berenz, Alexander Dittrich, Bernhard Schölkopf, Dieter Büchler
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang, Michael A Lin, Iretiayo A Akinola, Ankur Handa, Gaurav S Sukhatme, Fabio Ramos, Dieter Fox, Yashraj S Narang
SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao, Cewu Lu
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo, Youngwoon Lee, Doohyun Lee, Joseph J Lim
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics Yuwei Wu, Weixiao Liu, Zhiyang Liu, Gregory S Chirikjian
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features Dongjun Lee, Jeongmin Lee, Minji Lee
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning Mengchao Zhang, Devesh K Jha, Arvind U Raghunathan, Kris Hauser
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces Xili Yi, Nima Fazeli
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song
Dynamic-Resolution Model Learning for Object Pile Manipulation Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-Fei, Jiajun Wu
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift Yifan Zhu, Pranay Thangeda, Melkior Ornik, Kris Hauser
Causal Policy Gradient for Whole-Body Mobile Manipulation Jiaheng Hu, Peter Stone, Roberto Martín-Martín
Centralized Model Predictive Control for Collaborative Loco-Manipulation Flavio De Vincenti, Stelian Coros
Learning and Adapting Agile Locomotion Skills by Transferring Experience Laura M Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis Daniel F Ordonez-Apraez, Martin, Mario, Antonio Agudo, Francesc Moreno
Fast Traversability Estimation for Wild Visual Navigation Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach Max Bajracharya, James Borders, Richard Cheng, Dan Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland
Demonstrating A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning Ilya Kostrikov, Laura M Smith, Sergey Levine
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets Thomas B Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi
G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates Satyanarayana Gupta Manyam, Abhishek Nayak, Sivakumar Rathinam
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search Yoonchang Sung, Peter Stone
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning Zhutian Yang, Caelan R Garrett, Tomas Lozano-Perez, Leslie Kaelbling, Dieter Fox
Reachability-based Trajectory Design with Neural Implicit Safety Constraints Jonathan B Michaux, Yong Seok Kwon, Qingyi Chen, Ram Vasudevan
Progressive Learning for Physics-informed Neural Motion Planning Ruiqi Ni, Ahmed H Qureshi
iPlanner: Imperative Path Planning Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
Efficient volumetric mapping of multi-scale environments using wavelet-based compression Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott
ConceptFusion: Open-set multimodal 3D mapping Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Ganesh Iyer, Soroush Saryazdi, Tao Chen, Alaa Maalouf, Shuang Li, Nikhil Varma Keetha, Ayush Tewari, Joshua Tenenbaum, Celso de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba
ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, Cyrill Stachniss
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects Jiahui Fu, Yilun Du, Kurran Singh, Joshua Tenenbaum, John Leonard
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L Waslander, Angela Schoellig
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning Lintong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice Fallon
HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza
Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth Nathaniel W Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang
CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation Niclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory Nur Muhammad (Mahi)Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, Arthur Szlam
How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers Junting Chen, Guohao Li, Suryansh Kumar, Bernard Ghanem, Fisher Yu
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data Sheng Zhong, Dmitry Berenson, Nima Fazeli
MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback Andrea Sipos, Nima Fazeli
Tactile-Filter: Interactive Tactile Perception for Part Mating Kei Ota, Devesh K Jha, Hsiao-Yu Tung, Joshua Tenenbaum
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback Mark J Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven Approach Hann Woei Ho, Ye Zhou
Time Optimal Ergodic Search Dayi E Dong, Henry P Berger, Ian Abraham
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning Challen Enninful Adu, Jinsun Liu, Lucas Lymburner, Vishrut Kaushik, Lena Trang, Ram Vasudevan
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions Ryan Cosner, Preston Culbertson, Andrew Taylor, Aaron Ames
Solving Stabilize-Avoid via Epigraph Form Optimal Control using Deep Reinforcement Learning Oswin So, Chuchu Fan
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics Taekyung Kim, Jungwi Mun, Junwon Seo, Beomsu Kim, Seongil Hong
Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI Haoyuan Fu, Wenqiang Xu, Ruolin Ye, Han Xue, Zhenjun Yu, Tutian Tang, Yutong Li, Wenxin Du, Jieyi Zhang, Cewu Lu
Demonstrating Arena-Web: A Web-based Development and Benchmarking Platform for Autonomous Navigation Approaches Linh Kästner, Reyk Carstens, Lena Nahrwold, Christopher Liebig, Volodymyr Shcherbyna, Subhin Lee, Jens Lambrecht
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Kenneth Shaw, Ananye Agarwal, Deepak Pathak
ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of Objects Son Tien Bui, Shinya Kawano, Van Anh Ho
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian LU, Yue Wang
Predefined-Time Convergent Motion Control for Heterogeneous Continuum Robots Ning Tan, Peng Yu, Kai Huang
Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis Compensation Yunhua Zhao, Li Wen
Gait design for limbless obstacle aided locomotion using geometric mechanics Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov , Bo Lin, Howie Choset, Daniel Goldman, Grigoriy Blekherman
Reconfigurable Robot Control Using Flexible Coupling Mechanisms Sha Yi, Katia Sycara, Zeynep Temel
Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement Learning Jieqiang Sun, Meibao Yao, Xueming Xiao, Zhibing Xie, Bo Zheng
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa Narasimhan, David Held
Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired Data Tim Y. Tang, Daniele De Martini, Paul M Newman
Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature Space Yuhang He, Irving Fang, Yiming Li, Rushi Bhavesh Shah, Chen Feng
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone
CCIL: Context-conditioned imitation learning for urban driving Ke Guo, Wei Jing, Junbo Chen, Jia Pan
Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L Waslander
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, JoonHo Lee, Wentao Yuan, Zoey Chen, Sameul Deng, Greg Okopal, Dieter Fox, Byron Boots, Amirreza Shaban
Autonomous Navigation, Mapping and Exploration with Gaussian Processes Mahmoud Ali, Hassan Jardali, Nicholas Roy, Lantao Liu
Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility Malintha Fernando, Ransalu Senanayake, Heeyoul Choi, Martin Swany
Path Planning for Multiple Tethered Robots Using Topological Braids Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, Lihua Xie
A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty Andrew Messing, Jacopo Banfi, Martina Stadler, Ethan Stump, Harish Ravichandar, Nicholas Roy, Seth Hutchinson
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation Sukriti Singh, Anusha Srikanthan, Vivek Mallampati, Harish Ravichandar
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems Augustinos D Saravanos, Yihui Li, Evangelos Theodorou
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd Murphey, Mustafa Mukadam
Active Collaborative Localization in Heterogeneous Robot Teams Igor Spasojevic, Xu Liu, Alejandro Ribeiro, George J. Pappas, Vijay Kumar