RSS 2020

103 papers

A social robot mediator to foster collaboration and inclusion among children

Sarah Gillet, Wouter van den Bos, Iolanda Leite

Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following

Nakul Gopalan, Eric Rosen, George Konidaris, Stefanie Tellex

Learning Task-Driven Control Policies via Information Bottlenecks

Vincent Pacelli, Anirudha Majumdar

Reachable Sets for Safe, Real-Time Manipulator Trajectory Design

Patrick Holmes, Shreyas Kousik, Bohao Zhang, Daphna Raz, Corina Barbalata

Learning to Slide Unknown Objects with Differentiable Physics Simulations

Changkyu Song, Abdeslam Boularias

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Ruben Grandia, Andrew Taylor, Andrew Singletary, Marco Hutter, Aaron Ames

Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations

Glen Chou, Necmiye Ozay, Dmitry Berenson

Eyes-Closed Safety Kernels: Safety of Autonomous Systems Under Loss of Observability

Forrest Laine, Chih-Yuan Chiu, Claire Tomlin

Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks

Guangyao Shi, Pratap Tokekar, Lifeng Zhou

Heterogeneous Graph Attention Networks for Scalable Multi-Robot Scheduling with Temporospatial Constraints

Zheyuan Wang, Matthew Gombolay

The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation

Qiujie Lu, Nicholas Baron, Angus Clark, Nicolas Rojas

Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion

Caelan Garrett, Yijiang Huang, Tomás Lozano-Pérez, Caitlin Mueller

ALGAMES: A Fast Solver for Constrained Dynamic Games

Simon Le Cleac'h, Mac Schwager, Zachary Manchester

Online Domain Adaptation for Occupancy Mapping

Anthony Tompkins, Ransalu Senanayake, Fabio Ramos

Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures

Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams

Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

Jason Choi, Fernando Castaneda, Claire Tomlin, Koushil Sreenath

Deep Learning Tubes for Tube MPC

David Fan, Ali Agha, Evangelos Theodorou

Manipulation with Shared Grasping

Yifan Hou, Zhenzhong Jia, Matthew Mason

Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap

Jacky Liang, Saumya Saxena, Oliver Kroemer

Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework

Yashraj Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain

Adar Gaathon, Amir Degani

Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations

Lin Shao, Toki Migimatsu, Qiang Zhang, Kaiyuan Yang, Jeannette Bohg

AlphaPilot: Autonomous Drone Racing

Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig

Robot Object Retrieval with Contextual Natural Language Queries

Thao Nguyen, Nakul Gopalan, Roma Patel, Matthew Corsaro, Ellie Pavlick

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans

Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone

NH-TTC: A gradient-based framework for generalized anticipatory collision avoidance

Bobby Davis, Ioannis Karamouzas, Stephen Guy

MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks

Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott

Scaling data-driven robotics with reward sketching and batch reinforcement learning

Serkan Cabi, Sergio Gómez Colmenarejo, Alexander Novikov, Ksenia Konyushova, Scott Reed

Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping

Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan

Towards neuromorphic control: A spiking neural network based PID controller for UAV

Rasmus Stagsted, Antonio Vitale, Jonas Binz, Alpha Renner, Leon Bonde Larsen

Efficient Parametric Multi-Fidelity Surface Mapping

Aditya Dhawale, Nathan Michael

Residual Policy Learning for Shared Autonomy

Charles Schaff, Matthew Walter

Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space

Sungjoon Choi, Matthew Pan, Joohyung Kim

Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots

Utku Culha, Sinan Ozgun Demir, Sebastian Trimpe, Metin Sitti

Latent Belief Space Motion Planning under Cost, Dynamics, and Intent Uncertainty

Dicong Qiu, Yibiao Zhao, Chris Baker

Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints

Shushman Choudhury, Jayesh Gupta, Mykel Kochenderfer, Dorsa Sadigh, Jeannette Bohg

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation

Ahalya Prabhakar, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic

Deep Differentiable Grasp Planner for High-DOF Grippers

Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, Dinesh Manocha

Learning to Manipulate Deformable Objects without Demonstrations

Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, Pieter Abbeel

Learning Agile Robotic Locomotion Skills by Imitating Animals

Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan

Optimally Guarding Perimeters and Regions with Mobile Range Sensors

Siwei Feng, Jingjin Yu

Agbots 2.0: Weeding Denser Fields with Fewer Robots

Wyatt McAllister, Joshua Whitman, Allan Axelrod, Joshua Varghese, Girish Chowdhary

GTI: Learning to Generalize across Long-Horizon Tasks from Human Demonstrations

Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-fei

MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models

Kumar Shaurya Shankar, Nathan Michael

In-Situ Learning from a Domain Expert for Real World Socially Assistive Robot Deployment

Katie Winkle, Severin Lemaignan, Praminda Caleb-Solly, Paul Bremner, Ailie Turton

Probabilistic Swarm Guidance Subject to Graph Temporal Logic Specifications

Franck Djeumou, Zhe Xu, Ufuk Topcu

Self-Supervised Localisation between Range Sensors and Overhead Imagery

Tim Tang, Daniele De Martini, Shangzhe Wu, Paul Newman

Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations

Thibaut Kulak, Joao Silverio, Sylvain Calinon

Learning from Interventions: Human-robot interaction as both explicit and implicit feedback

Jonathan Spencer, Sanjiban Choudhury, Matt Barnes, Matthew Schmittle, Mung Chiang

Compositional Transfer in Hierarchical Reinforcement Learning

Markus Wulfmeier, Abbas Abdolmaleki, Roland Hafner, Jost Tobias Springenberg, Michael Neunert

Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning

Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman

Motion Planning for Variable Topology Truss Modular Robot

Chao Liu, Sencheng Yu, Mark Yim

HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning

Jaesung Park, Dinesh Manocha

Kernel Taylor-Based Value Function Approximation for Continuous-State Markov Decision Processes

Junhong Xu, Kai Yin, Lantao Liu

Spatio-Temporal Stochastic Optimization: Theory and Applications to Optimal Control and Co-Design

Ethan Evans, Andrew Kendall, Georgios Boutselis, Evangelos Theodorou

Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles

Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti

A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation

Bernardo Aceituno-Cabezas, Alberto Rodriguez

Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing

Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic

A Motion Taxonomy for Manipulation Embedding

David Paulius, Nicholas Eales, Yu Sun

Safe Motion Planning for Autonomous Driving using an Adversarial Road Model

Alex Liniger, Luc Van Gool

Data-driven modeling of a flapping bat robot with a single flexible wing surface

Jonathan Hoff, Seth Hutchinson

A Bayesian Framework for Nash Equilibrium Inference in Human-Robot Parallel Play

Shray Bansal, Jin Xu, Ayana Howard, Charles Isbell

Active Preference-Based Gaussian Process Regression for Reward Learning

Erdem Biyik, Nicolas Huynh, Mykel Kochenderfer, Dorsa Sadigh

Deep Drone Acrobatics

Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Matthias Müller, Vladlen Koltun

Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving

ZHANGJIE CAO, Erdem Biyik, Woodrow Wang, Allan Raventós, Adrien Gaidon

Towards Embodied Scene Description

Sinan Tan, Huaping Liu, Di Guo, Xinyu Zhang, Fuchun Sun

Learning Labeled Robot Affordance Models Using Simulations and Crowdsourcing

Adam Allevato, Elaine Short, Mitch Pryor, Andrea Thomaz

Generalized Tsallis Entropy Reinforcement Learning and Its Application to Soft Mobile Robots

Kyungjae Lee, SungYub Kim, Sungbin Lim, Sungjoon Choi, Mineui Hong

Spatial Action Maps for Mobile Manipulation

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee

VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation

Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Tanwani

Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection

Lirui Wang, Yu Xiang, Dieter Fox

Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers

Gilhyun Ryou, Ezra Tal, Sertac Karaman

Learning Memory-Based Control for Human-Scale Bipedal Locomotion

Jonah Siekmann, Srikar Valluri, Jeremy Dao, Francis Bermillo, Helei Duan

Automated Synthesis of Modular Manipulators’ Structure and Control for Continuous Tasks around Obstacles

Thais Campos de Almeida, Samhita Marri, Hadas Kress-Gazit

Cable Manipulation with a Tactile-Reactive Gripper

Siyuan Dong, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez

Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference

Michael Jae-Yoon Chung, Maya Cakmak

A Berry Picking Robot With A Hybrid Soft-Rigid Arm: Design and Task Space Control

Naveen Kumar Uppalapati, Benjamin Walt, Aaron Havens, Armeen Mahdian, Girish Chowdhary

Online IMU Intrinsic Calibration: Is It Necessary?

Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang

Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt

Fahad Islam, Oren Salzman, Aditya Agarwal, Likhachev Maxim

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine

Controlling Contact-Rich Manipulation Under Partial Observability

Florian Wirnshofer, Philipp Sebastian Schmitt, Georg von Wichert, Wolfram Burgard

Pixel-Wise Motion Deblurring of Thermal Videos

Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson Roberson

Resilient Distributed Diffusion for Multi-Robot Systems Using Centerpoint

Jiani Li, Waseem Abbas, Mudassir Shabbir, Xenofon Koutsoukos

Event-Driven Visual-Tactile Sensing and Learning for Robots

Tasbolat Taunyazov, Weicong Sng, Brian Lim, Hian Hian See, Jethro Kuan

Collision Probabilities for Continuous-Time Systems Without Sampling

Kristoffer Frey, Ted Steiner, Jonathan How

Simultaneous Enhancement and Super-Resolution of Underwater Imagery for Improved Visual Perception

Md Jahidul Islam, Peigen Luo, Junaed Sattar

Fast Uniform Dispersion of a Crash-prone Swarm

Michael Amir, Freddy Bruckstein

Grounding Language to Non-Markovian Tasks with No Supervision of Task Specifications

Roma Patel, Ellie Pavlick, Stefanie Tellex

Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning

Davide Calzolari, Roberto Lampariello, Alessandro Massimo Giordano

Self-Reconfiguration in Two-Dimensions via Active Subtraction with Modular Robots

Matthew Hall, Anil Ozdemir, Roderich Gross

Frequency Modulation of Body Waves to Improve Performance of Limbless Robots

Baxi Zhong, Tianyu Wang, Jennifer Rieser, Abdul Kaba, Howie Choset

Regularized Graph Matching for Correspondence Identification under Uncertainty in Collaborative Perception

peng gao, Rui Guo, Hongsheng Lu, Hao Zhang

Shared Autonomy with Learned Latent Actions

Hong Jun Jeon, Dylan Losey, Dorsa Sadigh

The Dark Side of Embodiment - Teaming Up With Robots VS Disembodied Agents

Filipa Correia, Samuel Gomes, Samuel Mascarenhas, Francisco S. Melo, Ana Paiva

OverlapNet: Loop Closing for LiDAR-based SLAM

Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska

Leading Multi-Agent Teams to Multiple Goals While Maintaining Communication

Brian Reily, Christopher Reardon, Hao Zhang

A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty

Valentin Peretroukhin, Matthew Giamou, W. Nicholas Greene, David Rosen, Jonathan Kelly

LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices

Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, Sven Behnke

Non-revisiting Coverage Task with Minimal Discontinuities for Non-redundant Manipulators

Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong

Elaborating on Learned Demonstrations with Temporal Logic Specifications

Craig Innes, Subramanian Ramamoorthy