RSS 2018

71 papers

Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection

Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan How, Jonathan Kelly

Autonomous Adaptive Modification of Unstructured Environments

Maira Saboia da Silva, Vivek Thangavelu, Walker Gosrich, Nils Napp

Probabilistically Safe Robot Planning with Confidence-Based Human Predictions

Jaime Fisac, Andrea Bajcsy, Sylvia Herbert, David Fridovich-Keil, Steven Wang

Autonomous Thermalling as a Partially Observable Markov Decision Process

Iain Guilliard, Rick Rogahn, Jim Piavi, Andrey Kolobov

Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications

Nakul Gopalan, Dilip Arumugam, Lawson Wong, Stefanie Tellex

Following High-level Navigation Instructions on a Simulated Quadcopter with Imitation Learning

Valts Blukis, Nataly Brukhim, Andrew Bennett, Ross Knepper, Yoav Artzi

Generalized WarpDriver: Unified Collision Avoidance for Multi-Robot Systems in Arbitrarily Complex Environments

David Wolinski, Ming Lin

Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis

Maximilian Haas-Heger, Christos Papadimitriou, Mihalis Yannakakis, Garud Iyengar, Matei Ciocarlie

Plug-and-Play Supervisory Control Using Muscle and Brain Signals for Real-Time Gesture and Error Detection

Joseph DelPreto, Andres F. Salazar-Gomez, Stephanie Gil, Ramin M. Hasani, Frank H. Guenther

EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras

Alex Zhu, Liangzhe Yuan, Kenneth Chaney, Kostas Daniilidis

Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies

Lucas Janson, Tommy Hu, Marco Pavone

Exploiting Stochasticity for the Control of Transitions in Gyre Flows

Dhanushka Kularatne, Eric Forgoston, M. Ani Hsieh

A Novel Whisker Sensor Used for 3D Contact Point Determination and Contour Extraction

Hannah Emnett, Matthew Graff, Mitra Hartmann

In-Hand Manipulation via Motion Cones

Nikhil Chavan Dafle, Rachel Holladay, Alberto Rodriguez

Efficiently Sampling from Underlying Models

Greydon Foil, David Wettergreen

Agile Autonomous Driving using End-to-End Deep Imitation Learning

Yunpeng Pan, Ching-An Cheng, Kamil Saigol, Keuntaek Lee, Xinyan Yan

Robust Obstacle Avoidance using Tube NMPC

Gowtham Garimella, Matthew Sheckells, Joseph Moore, Marin Kobilarov

Fast Online Trajectory Optimization for the Bipedal Robot Cassie

Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan Hurst

A Variable Stiffness Gripper with Antagonistic Magnetic Springs for Enhancing Manipulation

Amirhossein Memar, Ehsan Esfahani

GPU-Based Max Flow Maps in the Plane

Renato Farias, Marcelo Kallmann

Bayesian Tactile Exploration for Compliant Docking With Uncertain Shapes

Kris Hauser

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation

Ross Hartley, Maani Ghaffari Jadidi, Jessy Grizzle, Ryan M Eustice

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman

Simplifying Reward Design through Divide-and-Conquer

Ellis Ratner, Dylan Hadfield-Menell, Anca Dragan

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams

Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile

Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance

Aleksandra Kalinowska, Kathleen Fitzsimons, Julius Dewald, Todd Murphey

Data-Driven Measurement Models for Active Localization in Sparse Environments

Ian Abraham, Anastasia Mavrommati, Todd Murphey

Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning

Marc Toussaint, Kelsey Allen, Kevin Smith, Joshua Tenenbaum

RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion

Daniel Rakita, Bilge Mutlu, Michael Gleicher

Robust Sampling Based Model Predictive Control with Sparse Objective Information

Grady Williams, Brian Goldfain, Paul Drews, Kamil Saigol, James Rehg

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert Wood

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

Riccardo Spica, Davide Falanga, Eric Cristofalo, Eduardo Montijano, Davide Scaramuzza

Multi-Objective Analysis of Ridesharing in Automated Mobility-on-Demand

Michal Cap, Javier Alonso-Mora

Analytical Derivatives of Rigid Body Dynamics Algorithms

Justin Carpentier, Nicolas Mansard

On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms

Federico Rossi, Ramon Iglesias, Mahnoosh Alizadeh, Marco Pavone

Embedded High Precision Control and Corn Stand Counting Algorithms for an Ultra-Compact 3D Printed Field Robot

Erkan Kayacan, Zhongzhong Zhang, Girish Chowdhary

Optimal Solution of the Generalized Dubins Interval Problem

Petr Váňa, Jan Faigl

Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results

Andrew Spielvogel, Louis Whitcomb

The Transfer of Human Trust in Robot Capabilities across Tasks

Harold Soh, Shu Pan, Chen Min, David Hsu

Lightweight Unsupervised Deep Loop Closure

Nathaniel Merrill, Guoquan Huang

Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation

Philipp Schillinger, Mathias Buerger, Dimos Dimarogonas

Dual-Speed MR Safe Pneumatic Stepper Motors

Vincent Groenhuis, Françoise Siepel, Stefano Stramigioli

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction

Wei Gao, Russ Tedrake

Interactive Visual Grounding of Referring Expressions for Human-Robot Interaction

Mohit Shridhar, David Hsu

Geometry-aware Tracking of Manipulability Ellipsoids

Noémie Jaquier, Leonel Rozo, Darwin Caldwell, Sylvain Calinon

A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information

Nicolas Zevallos, Arun Srivatsan Rangaprasad, Hadi Salman, Lu Li, Jianing Qian

View Selection with Geometric Uncertainty Modeling

Cheng Peng, Volkan Isler

Push-Net: Deep Planar Pushing for Objects with Unknown Physical Properties

Juekun Li, Wee Sun Lee, David Hsu

Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2

Michael Watterson, Sikang Liu, Ke Sun, Trey Smith, Vijay Kumar

LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics

Sourav Garg, Niko Suenderhauf, Michael Milford

Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach

Douglas Morrison, Juxi Leitner, Peter Corke

Coordination of back bending and leg movements for quadrupedal locomotion

Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox

Handling implicit and explicit constraints in manipulation planning

Florent Lamiraux, Joseph Mirabel

The Critical Radius in Sampling-based Motion Planning

Kiril Solovey, Michal Kleinbort

Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments

Jens Behley, Cyrill Stachniss

Full-Frame Scene Coordinate Regression for Image-Based Localization

Xiaotian Li, Juha Ylioinas, Juho Kannala

Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees

Lucas Liebenwein, Cenk Baykal, Igor Gilitschenski, Sertac Karaman, Daniela Rus

Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids

Jingjin Yu

Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision

Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta

Directionally Controlled Time-of-Flight Ranging for Mobile Sensing Platforms

Zaid Tasneem, Dingkang Wang, Huikai Xie, Koppal Sanjeev

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai

Reinforcement and Imitation Learning for Diverse Visuomotor Skills

Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez

Asymmetric Actor Critic for Image-Based Robot Learning

Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

Creating Foldable Polyhedral Nets Using Evolution Control

Yue Hao, Yun-hyeong Kim, Zhonghua Xi, Jyh-Ming Lien

FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing

Lei Han, Lu Fang

Shared Autonomy via Deep Reinforcement Learning

Siddharth Reddy, Anca Dragan, Sergey Levine

HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty

Panpan Cai, Yuanfu Luo, David Hsu, Wee Sun Lee

SegMap: 3D Segment Mapping using Data-Driven Descriptors

Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Juan Nieto, Roland Siegwart

One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning

Tianhe Yu, Chelsea Finn, Sudeep Dasari, Annie Xie, Tianhao Zhang

Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors

Rico Jonschkowski, Divyam Rastogi, Oliver Brock