RSS 2017

75 papers

From the Lab to the Desert: Fast Prototyping and Learning of Robot Locomotion

Kevin Sebastian Luck, Joseph Campbell, Michael Jansen, Daniel Aukes, Heni Ben Amor

Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots

Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian Pokorny

Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

Ayush Agrawal, Koushil Sreenath

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview

Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer

Geometry of 3D Environments and Sum of Squares Polynomials

Amir Ali Ahmadi, Georgina Hall, Ameesh Makadia, Vikas Sindhwani

Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment

Micah Corah, Nathan Michael

Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models

Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone

Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning

Edward Schmerling, Marco Pavone

Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty

Vishnu Desaraju, Alexander Spitzer, Nathan Michael

Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions

Giorgos Mamakoukas, Malcolm MacIver, Todd Murphey

Discovering Action Primitive Granularity from Human Motion for Human-Robot Collaboration

Elena Corina Grigore, Brian Scassellati

Safe Visual Navigation via Deep Learning and Novelty Detection

Charles Richter, Nicholas Roy

Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization

Ko Ayusawa, Eiichi Yoshida

Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks

Zack Bright, H. Harry Asada

Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models

Kris Hauser, Shiquan Wang, Mark Cutkosky

Rich Time Series Classification Using Temporal Logic

Chanyeol Yoo, Calin Belta

Enabling Robots to Communicate Their Objectives

Sandy Huang, David Held, Pieter Abbeel, Anca Dragan

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan

DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback

Zachary Manchester, Scott Kuindersma

Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities

Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Lawson Wong, Stefanie Tellex

Optimal Shape and Motion Planning for Dynamic Planar Manipulation

Orion Taylor, Alberto Rodriguez

Trajectory Optimization for Self-Calibration and Navigation

James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Weiss

Active Preference-Based Learning of Reward Functions

Dorsa Sadigh, Anca Dragan, Shankar Sastry, Sanjit Seshia

Model-Based Control Using Koopman Operators

Ian Abraham, Gerardo de la Torre, Todd Murphey

High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods

Shuai Han, Nicholas Stiffler, Athanasios Krontiris, Kostas Bekris, Jingjin Yu

Unsupervised Perceptual Rewards for Imitation Learning

Pierre Sermanet, Kelvin Xu, Sergey Levine

Learning Lyapunov (Potential) Functions from Counterexamples and Demonstrations

Hadi Ravanbakhsh, Sriram Sankaranarayanan

Preparing for the Unknown: Learning a Universal Policy with Online System Identification

Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk

Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization

Erich Mielke, Eric Townsend, Marc Killpack

Mode Switch Assistance To Maximize Human Intent Disambiguation

Deepak Edakkattil Gopinath, Brenna Argall

Intention-Aware Motion Planning Using Learning Based Human Motion Prediction

Jae Sung Park, Chonhyon Park, Dinesh Manocha

Collisions as Information Sources in Densely Packed Multi-Robot Systems Under Mean-Field Approximations

Siddharth Mayya, Pietro Pierpaoli, Girish Nair, Magnus Egerstedt

Synthesizing Training Data for Object Detection in Indoor Scenes

Georgios Georgakis, Arsalan Mousavian, Alexander Berg, Jana Kosecka

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion

Diego Pardo, Michael Neunert, Alexander Winkler, Ruben Grandia, Jonas Buchli

Adaptive Information Gathering via Imitation Learning

Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey

A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation

Jiaji Zhou, James Bagnell, Matthew Mason

Sample-Based Methods for Factored Task and Motion Planning

Caelan Garrett, Tomás Lozano-Pérez, Leslie Kaelbling

Improving Slip Prediction on Mars Using Thermal Inertia Measurements

Christopher Cunningham, Issa Nesnas, William Whittaker

Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics

Alexander Broad, Todd Murphey, Brenna Argall

Learning Constrained Generalizable Policies by Demonstration

Leopoldo Armesto, Vladimir Ivan, João Moura, Antonio Sala, Sethu Vijayakumar

A neuromorphic controller for a robotic vehicle equipped with a dynamic vision sensor

Hermann Blum, Alexander Dietmüller, Moritz Milde, Jörg Conradt, Giacomo Indiveri

CAD2RL: Real Single-Image Flight Without a Single Real Image

Fereshteh Sadeghi, Sergey Levine

Introspective Evaluation of Perception Performance for Parameter Tuning without Ground Truth

Humphrey Hu, George Kantor

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization

Michael Posa, Twan Koolen, Russ Tedrake

Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza

Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments

Michael Grey, Aaron Ames, C. Karen Liu

Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach

Zhengdong Zhang, Amr Suleiman, Luca Carlone, Vivienne Sze, Sertac Karaman

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

Wyatt Felt, Maria Telleria, Thomas Allen, Gabriel Hein, Jonathan Pompa

Time-Lapse Light Field Photography for Perceiving Non-Lambertian Scenes

John Oberlin, Stefanie Tellex

Simultaneous Trajectory Estimation and Planning via Probabilistic Inference

Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Groups of humans and robots: Understanding membership preferences and team formation

Filipa Correia, Sofia Petisca, Patricia Alves-Oliveira, Tiago Ribeiro, Francisco Melo

Provably Safe Robot Navigation with Obstacle Uncertainty

Brian Axelrod, Leslie Kaelbling, Tomás Lozano-Pérez

Effective Metrics for Multi-Robot Motion-Planning

Aviel Atias, Kiril Solovey, Dan Halperin

Generalized Cylinders for Learning, Reproduction, Generalization, and Refinement of Robot Skills

S. Reza Ahmadzadeh, Muhammad Asif Rana, Sonia Chernova

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning

Cenk Baykal, Ron Alterovitz

Underactuated tendon-driven robotic/prosthetic hands: design issues

Annick Mottard, Thierry Laliberté, Clément Gosselin

Job Selection in a Network of Autonomous UAVs for Delivery of Goods

Pasquale Grippa, Doris Behrens, Christian Bettstetter, Friederike Wall

Resolution of Referential Ambiguity in Human-Robot Dialogue Using Dempster-Shafer Theoretic Pragmatics

Tom Williams, Matthias Scheutz

Bingham Distribution-Based Linear Filter for Online Pose Estimation

Arun Srivatsan Rangaprasad, Mengyun Xu, Nicolas Zevallos-Roberts, Howie Choset

Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization

Balakumar Sundaralingam, Tucker Hermans

Reasoning About Liquids via Closed-Loop Simulation

Connor Schenck, Dieter Fox

DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks

Yu Xiang, Dieter Fox

First-Person Action-Object Detection with EgoNet

Gedas Bertasius, Hyun Soo Park, Stella Yu, Jianbo Shi

Bayesian Eigenobjects: A Unified Framework for 3D Robot Perception

Benjamin Burchfiel, George Konidaris

Exact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling

Eric Huang, Ankit Bhatia, Byron Boots, Matthew Mason

Learning to Reconstruct 3D Structures for Occupancy Mapping

Vitor Guizilini, Fabio Ramos

Deformable Rapidly-Exploring Random Trees

Florian Hauer, Panagiotis Tsiotras

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots

Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin Caldwell

XPose: Reinventing User Interaction with Flying Cameras

Ziquan Lan, Mohit Shridhar, David Hsu, Shengdong Zhao

Breaking the Human-Robot Deadlock: Surpassing Shared Control Performance Limits with Sparse Human-Robot Interaction

Peter Trautman

Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators

Jun Zhang, Michael Yip

Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem

Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane

Uncertainty Models for TTC-Based Collision-Avoidance

Zahra Forootaninia, Ioannis Karamouzas, Rahul Narain

Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots

Lionel Birglen