RSS 2021

92 papers

RMP2: A Structured Composable Policy Class for Robot Learning

Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk

Fast and Memory Efficient Graph Optimization via ICM for Visual Place Recognition

Stefan Schubert, Peer Neubert, Peter Protzel

Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown Environments

Kush Grover, Fernando S Barbosa, Jana Tumova, Jan Křetínský

Surprisingly Robust In-Hand Manipulation: An Empirical Study

Aditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock

Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study

Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su

Filter-Based Online System-Parameter Estimation for Multicopter UAVs

Christoph Böhm, Martin Scheiber, Stephan Weiss

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

Thai P Duong, Nikolay A Atanasov

Towards finding the shortest-paths for 3D rigid bodies

Weifu Wang, Ping Li

Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories

Talha Kavuncu, Ayberk Yaraneri, Negar Mehr

Vector Semantic Representations as Descriptors for Visual Place Recognition

Peer Neubert, Stefan Schubert, Kenny Schlegel, Peter Protzel

Learning Riemannian Manifolds for Geodesic Motion Skills

Hadi Beik-Mohammadi, Søren Hauberg, Georgios Arvanitidis, Gerhard Neumann, Leonel Rozo

Toward Certifiable Motion Planning for Medical Steerable Needles

Mengyu Fu, Oren Salzman, Ron Alterovitz

GROUNDED: The Localizing Ground Penetrating Radar Evaluation Dataset

Teddy Ort, Igor Gilitschenski, Daniela Rus

Safe Policies for Factored Partially Observable Stochastic Games

Steven Carr, Nils Jansen, Sudarshanan Bharadwaj, Matthijs T. J. Spaan, Ufuk Topcu

Continuous Integration over SO(3) for IMU Preintegration

Cédric Le Gentil, Teresa A. Vidal-Calleja

Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning

Kai-Chieh Hsu, Vicenç Rubies-Royo, Claire Tomlin, Jaime F Fisac

A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation

Pragna Mannam, Avi Rudich, Kevin Zhang, Manuela Veloso, Oliver Kroemer

Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent Systems

Augustinos D Saravanos, Alexandros Tsolovikos, Efstathios Bakolas, Evangelos Theodorou

EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following

Nitin J Sanket, Chahat Deep Singh, Chethan Parameshwara, Cornelia Fermuller, Guido de Croon

Variational Inference MPC using Tsallis Divergence

Ziyi Wang, Oswin So, Jason Gibson, Bogdan Vlahov, Manan Gandhi

NeRP: Neural Rearrangement Planning for Unknown Objects

Ahmed H Qureshi, Arsalan Mousavian, Chris Paxton, Michael Yip, Dieter Fox

Ab Initio Particle-based Object Manipulation

SIWEI CHEN, Xiao Ma, Yunfan Lu, David Hsu

Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly Tasks

Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar

Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments

Ashkan Jasour, Weiqiao Han, Brian C. Williams

Dual Online Stein Variational Inference for Control and Dynamics

Lucas Barcelos, Alexander Lambert, Rafael Oliveira, Paulo Borges, Byron Boots

DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting

Eric Heiden, Miles Macklin, Yashraj S Narang, Dieter Fox, Animesh Garg

Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active Perception

Zixu Zhang, Jaime F Fisac

Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments

Visak C V Kumar, Sehoon Ha, C. Karen Liu

Learning Proofs of Motion Planning Infeasibility

Sihui Li, Neil Dantam

Lyapunov-stable neural-network control

Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake

HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing

Keiko Nagami, Mac Schwager

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning

Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan Hurst

GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels

Dylan Turpin, Liquan Wang, Stavros Tsogkas, Sven Dickinson, Animesh Garg

Scale invariant robot behavior with fractals

Sam Kriegman, Amir Mohammadi Nasab, Douglas Blackiston, Hannah Steele, Michael Levin

PROMPT: Probabilistic Motion Primitives based Trajectory Planning

Tobias Loew, Tirthankar Bandyopadhyay, Jason Williams, Paulo Borges

Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem

John Lloyd, Yijiong Lin, Nathan Lepora

Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems

Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

Falling Into Place: Drop Assembly of Interlocking Puzzles

Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Samuel E Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain

Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation

Muchen Sun, Francesca Baldini, Peter Trautman, Todd Murphey

Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning

Julen Urain, Puze Liu, Anqi Li, Carlo D'Eramo, Jan Peters

Entropy-Guided Control Improvisation

Marcell J Vazquez-Chanlatte, Sebastian Junges, Daniel J Fremont, Sanjit Seshia

Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics

Shen Li, Nadia Figueroa, Ankit Shah, Julie A. Shah

Resolving Conflict in Decision-Making for Autonomous Driving

Jack Geary, Subramanian Ramamoorthy, Henry Gouk

Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle

Friedrich M Rockenbauer, Simon Jeger, Liberto Beltran, Maximilian Berger, Marvin Harms

Language Conditioned Imitation Learning Over Unstructured Data

Corey Lynch, Pierre Sermanet

Co-Design of Communication and Machine Inference for Cloud Robotics

Manabu Nakanoya, Sandeep Chinchali, Alexandros Anemogiannis, Akul Datta, Sachin Katti

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees

Siddharth Ancha, Gaurav Pathak, Srinivasa Narasimhan, David Held

MQA: Answering the Question via Robotic Manipulation

Yuhong Deng, Di Guo, Xiaofeng Guo, Naifu Zhang, Huaping Liu

Active Learning of Abstract Plan Feasibility

Michael Noseworthy, Isaiah Brand, Caris Moses, Sebastian Castro, Leslie Kaelbling

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza

MAGIC: Learning Macro-Actions for Online POMDP Planning

Yiyuan Lee, Panpan Cai, David Hsu

Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors

Simon Bultmann, Sven Behnke

Sampling-Based Motion Planning on Sequenced Manifolds

Peter Englert, Isabel M Rayas Fernández, Ragesh Kumar Ramachandran, Gaurav Sukhatme

On the Importance of Environments in Human-Robot Coordination

Matthew Fontaine, Ya-Chuan Hsu, Yulun Zhang, Bryon Tjanaka, Stefanos Nikolaidis

On complementing end-to-end human behavior predictors with planning

Liting Sun, Xiaogang Jia, Anca Dragan

A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared Autonomy

Matthew Fontaine, Stefanos Nikolaidis

Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday Environments

Weiyu Liu, Dhruva Bansal, Angel Daruna, Sonia Chernova

Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints

Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu

On Minimizing the Number of Running Buffers for Tabletop Rearrangement

Kai Gao, Siwei Feng, Jingjin Yu

Generalized Comprehensive Motion Theory for High-Order Differential Dynamics

Vincent Samy, Ko Ayusawa, Eiichi Yoshida

Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics

Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset

Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations

Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo, Claire Tomlin, Cyrill Stachniss

Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning

Keenan Burnett, David J. Yoon, Angela P Schoellig, Tim Barfoot

Skill-based Shared Control

Christopher E Mower, João Moura, Sethu Vijayakumar

i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions

Peng Yin, Lingyun Xu, Ji Zhang, Howie Choset, Sebastian Scherer

Safe Reinforcement Learning via Statistical Model Predictive Shielding

Osbert Bastani, Shuo Li

Optimal Pose and Shape Estimation for Category-level 3D Object Perception

Jingnan Shi, Heng Yang, Luca Carlone

Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations

Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu

Hierarchical Neural Dynamic Policies

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

Bayesian Deep Graph Matching for Correspondence Identification in Collaborative Perception

peng gao, Hao Zhang

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation

David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick

INVIGORATE: Interactive Visual Grounding and Grasping in Clutter

Hanbo Zhang, Yunfan Lu, Cunjun Yu, David Hsu, Xuguang Lan

Learned Visual Navigation for Under-Canopy Agricultural Robots

Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino, Che Ellis, Andres Eduardo Baquero Velasquez

TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments

Chao Cao, Hongbiao Zhu, Howie Choset, Ji Zhang

Proximal and Sparse Resolution of Constrained Dynamic Equations

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard

Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning

Amal Nanavati, Christoforos Mavrogiannis, Kevin Weatherwax, Leila Takayama, Maya Cakmak

Jerk-limited Real-time Trajectory Generation with Arbitrary Target States

Lars Berscheid, Torsten Kroeger

Rearrangement on Lattices with Swaps: Optimality Structures and Efficient Algorithms

Jingjin Yu

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies

Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski

Learning Generalizable Robotic Reward Functions from “In-The-Wild” Human Videos

Annie S. Chen, Suraj Nair, Chelsea Finn

RMA: Rapid Motor Adaptation for Legged Robots

Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik

Discovering Generalizable Skills via Automated Generation of Diverse Tasks

Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-fei

Feature-Based SLAM: Why Simultaneous Localisation and Mapping?

Liang Zhao, Zhehua Mao, Shoudong Huang

An End-to-End Differentiable Framework for Contact-Aware Robot Design

Jie Xu, Tao Chen, Lara Zlokapa, Michael Foshey, Wojciech Matusik

Robust Value Iteration for Continuous Control Tasks

Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, Animesh Garg

Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding

Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J Lim

Planning Multimodal Exploratory Actions for Online Robot Attribute Learning

Xiaohan Zhang, Jivko Sinapov, Shiqi Zhang

Inexact Loops in Robotics Problems

Erik Nelson

Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead Imagery

Tim Y. Tang, Daniele De Martini, Paul Newman

Manipulator-Independent Representations for Visual Imitation

Yuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis

An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards

Siyu Dai, Wei Xu, Andreas Hofmann, Brian C. Williams