RSS 2019

84 papers

Idiothetic Verticality Estimation through Head Stabilization Strategy

Ildar Farkhatdinov, Hannah Michalska, Alain Berthoz, Vincent Hayward

Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization

Irvin Aloise, Bartolomeo Della Corte, Federico Nardi, Giorgio Grisetti

Approximate Bayesian Inference in Spatial Environments

Atanas Mirchev, Baris Kayalibay, Maximilian Soelch, Patrick van der Smagt, Justin Bayer

VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation

Barza Nisar, Philipp Foehn, Davide Falanga, Davide Scaramuzza

Semi-Autonomous Robot Teleoperation with Obstacle Avoidance Via Model Predictive Control

Matteo Rubagotti, Tasbolat Taunyazov, Bukeikhan Omarali, Almas Shintemirov

Bayesian Estimator for Partial Trajectory Alignment

Przemyslaw A. Lasota, Julie A. Shah

Motion Planning, Design Optimization and Fabrication of Ferromagnetic Swimmers

Jaskaran Singh Grover, Daniel Vedova, Nalini Jain, Matthew Travers, Howie Choset

Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach

Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard, Thomas Lew, Marco Pavone

Commonsense Reasoning and Knowledge Acquisition to Guide Deep Learning on Robots

Tiago Mota, Mohan Sridharan

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators

Seyedmohammadhadi Sadati, Ali Shiva, Seyedeh Elnaz Naghibi, Caleb Rucker, Ludovic Renson

Influencing Leading and Following in Human-Robot Teams

Minae Kwon, Mengxi Li, Alexandre Bucquet, Dorsa Sadigh

Learning Robotic Manipulation through Visual Planning and Acting

Angelina Wang, Thanard Kurutach, Kara Liu, Pieter Abbeel, Aviv Tamar

End-To-End Robotic Reinforcement Learning without Reward Engineering

Avi Singh, Larry Yang, Chelsea Finn, Sergey Levine

Pareto Monte Carlo Tree Search for Multi-Objective Informative Planning

Weizhe Chen, Lantao Liu

Conditional Neural Movement Primitives

Muhammet Yunus Seker, Mert Imre, Justus Piater, Emre Ugur

Learning Deep Stochastic Optimal Control Policies Using Forward-Backward SDEs

Ziyi Wang, Marcus Pereira, Ioannis Exarchos, Evangelos Theodorou

Reachable Space Characterization of Markov Decision Processes with Time Variability

Junhong Xu, Kai Yin, Lantao Liu

Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments

Daniel Rakita, Bilge Mutlu, Michael Gleicher

A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots

Baxi Zhong, Yasemin Ozkan-Aydin, Guillaume Sartoretti, Jennifer Rieser, Chaohui Gong

Scalable and Congestion-Aware Routing for Autonomous Mobility-On-Demand Via Frank-Wolfe Optimization

Kiril Solovey, Mauro Salazar, Marco Pavone

Inverting Learned Dynamics Models for Aggressive Multirotor Control

Alexander Spitzer, Nathan Michael

Learning to Plan with Logical Automata

Brandon Araki, Kiran Vodrahalli, Thomas Leech, Cristian Ioan Vasile, Mark Donahue

Network Offloading Policies for Cloud Robotics: A Learning-Based Approach

Sandeep Chinchali, Apoorva Sharma, James Harrison, Amine Elhafsi, Daniel Kang

Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering

Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, George J. Pappas

Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps

Wennie Tabib, Kshitij Goel, John Yao, Mosam Dabhi, Curtis Boirum

Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control

Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan

Planning with State Abstractions for Non-Markovian Task Specifications

Yoonseon Oh, Roma Patel, Thao Nguyen, Baichuan Huang, Ellie Pavlick

High-Throughput Computation of Shannon Mutual Information on Chip

Peter Zhi Xuan Li, Zhengdong Zhang, Sertac Karaman, Vivienne Sze

Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search

Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz

Risk Contours Map for Risk Bounded Motion Planning under Perception Uncertainties

Ashkan M. Jasour, Brian Williams

DIViS: Domain Invariant Visual Servoing for Collision-Free Goal Reaching

Fereshteh Sadeghi

Local Koopman Operators for Data-Driven Control of Robotic Systems

Giorgos Mamakoukas, Maria Castano, Xiaobo Tan, Todd Murphey

Direct Drive Hands: Force-Motion Transparency in Gripper Design

Ankit Bhatia, Aaron Johnson, Matthew T. Mason

Trajectory Optimization for Cable-Driven Soft Robot Locomotion

James Bern, Pol Banzet, Roi Poranne, Stelian Coros

Towards Provably Not-At-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments

Sean Vaskov, Shreyas Kousik, Hannah Larson, Fan Bu, James Robert Ward

Leveraging Experience in Lazy Search

Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha Srinivasa

PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation

Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl

Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios

Mingyu Wang, Zijian Wang, John Talbot, J. Christian Gerdes, Mac Schwager

Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks

Joseph Campbell, Simon Stepputtis, Heni Ben Amor

DensePhysNet: Learning Dense Physical Object Representations Via Multi-Step Dynamic Interactions

Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua Tenenbaum, Shuran Song

Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning

Alessandro Zanardi, Andreas Jianhao Aumiller, Julian Zilly, Andrea Censi, Emilio Frazzoli

Continuous Direct Sparse Visual Odometry from RGB-D Images

Maani Ghaffari Jadidi, William Clark, Anthony Bloch, Ryan Eustice, Jessey W. Grizzle

A Modular Optimization Framework for Localization and Mapping

Jose Luis Blanco-Claraco

Proximity Queries for Absolutely Continuous Parametric Curves

Arun Lakshmanan, Andrew Patterson, Venanzio Cichella, NAIRA HOVAKIMYAN

Predicting Human Interpretations of Affect and Valence in a Social Robot

David McNeill, Casey Kennington

Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration

Milos Pragr, Petr Cizek, Jan Bayer, Jan Faigl

Differentiable Algorithm Networks for Composable Robot Learning

Peter Karkus, Xiao Ma, David Hsu, Leslie Kaelbling, Wee Sun Lee

Teleoperator Imitation with Continuous-Time Safety

Bachir El Khadir, Jacob Varley, Vikas Sindhwani

Robust Singular Smoothers for Tracking Using Low-Fidelity Data

Jonathan Jonker, Aleksandr Aravkin, James Burke, Gianluigi Pillonetto, Sarah E. Webster

Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution

João Moura, Vladimir Ivan, Mustafa Suphi Erden, Sethu Vijayakumar

Robot Packing with Known Items and Nondeterministic Arrival Order

Fan Wang, Kris Hauser

Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses

Nitish Thatte, Nandagopal Srinivasan, Hartmut Geyer

An Online Learning Approach to Model Predictive Control

Nolan Wagener, Ching-An Cheng, Jacob Sacks, Byron Boots

Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization

Yuquan Wang, Abderrahmane Kheddar

ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst

Mayank Bansal, Alex Krizhevsky, Abhijit Ogale

Robot Adaptation to Unstructured Terrains by Joint Representation and Apprenticeship Learning

Sriram Siva, Maggie Wigness, John G. Rogers: Hao Zhang

BayesSim: Adaptive Domain Randomization Via Probabilistic Inference for Robotics Simulators

Fabio Ramos, Rafael Possas, Dieter Fox

Automated Shapeshifting for Function Recovery in Damaged Robots

Sam Kriegman, Stephanie Walker, Dylan S. Shah, Michael Levin, Rebecca Kramer-Bottiglio

Simultaneously Learning Vision and Feature-Based Control Policies for Real-World Ball-In-A-Cup

Devin Schwab, Jost Tobias Springenberg, Murilo Fernandes Martins, Michael Neunert, Thomas Lampe

Harnessing Reinforcement Learning for Neural Motion Planning

Tom Jurgenson, Aviv Tamar

A 2-Approximation Algorithm for the Online Tethered Coverage Problem

Gokarna Sharma, Pavan Poudel, Ayan Dutta, Vala Zeinali, Tala.Talaei Khoei

Learning Reward Functions by Integrating Human Demonstrations and Preferences

Malayandi Palan, Gleb Shevchuk, Nicholas Charles Landolfi, Dorsa Sadigh

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts

Mathew Halm, Michael Posa

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Walid Amanhoud, Mahdi Khoramshahi, Aude Billard

Unsupervised Visuomotor Control through Distributional Planning Networks

Tianhe Yu, Gleb Shevchuk, Dorsa Sadigh, Chelsea Finn

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pf\E4ndler

LeTS-Drive: Driving in a Crowd by Learning from Tree Search

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

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Reinhard M. Grassmann, Jessica Burgner-Kahrs

Segment2Regress: Monocular 3D Vehicle Localization in Two Stages

Jaesung Choe, Kyungdon Joo, Francois Rameau, Gyu Min Shim, In So Kweon

From Explanation to Synthesis: Compositional Program Induction for Learning from Demonstration

Michael Burke, Svetlin Valentinov Penkov, Subramanian Ramamoorthy

Value Iteration Networks on Multiple Levels of Abstraction

Daniel Schleich, Tobias Klamt, Sven Behnke

A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer

Ziyu Ren, Tianlu Wang, Wenqi Hu, Metin Sitti

A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization

Benoit Landry, Zachary Manchester, Marco Pavone

Learning to Walk Via Deep Reinforcement Learning

Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker

A Behavioral Approach to Visual Navigation with Graph Localization Networks

Kevin Chen, Juan Pablo de Vicente, Gabriel Sepulveda, Fei Xia, Alvaro Soto

Autonomous Tool Construction Using Part Shape and Attachment Prediction

Lakshmi Velayudhan Nair, Nithin Shrivatsav Srikanth, Zackory Erikson, Sonia Chernova

Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control

Alexander Broad, Todd Murphey, Brenna Argall

Collective Formation and Cooperative Function of a Magnetic Microrobotic Swarm

Xiaoguang Dong, Metin Sitti

DESPOT-Alpha: Online POMDP Planning with Large State and Observation Spaces

Neha Priyadarshini Garg, David Hsu, Wee Sun Lee

OIL: Observational Imitation Learning

Guohao Li, Matthias Mueller, Vincent Michael Casser, Neil Smith, Dominik Michels

TossingBot: Learning to Throw Arbitrary Objects with Residual Physics

Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriquez, Thomas A.Funkouser

A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates

Heng Yang, Luca Carlone

Efficient Algorithms for Optimal Perimeter Guarding

Si Wei Feng, Shuai D. Han, Kai Gao, Jingjin Yu

Improvisation through Physical Understanding: Using Novel Objects As Tools with Visual Foresight

Annie Xie, Frederik Ebert, Sergey Levine, Chelsea Finn