RSS 2022

74 papers

Adaptive Manipulation of Conductive, Nonmagnetic Objects via a Continuous Model of Magnetically Induced Force and Torque

Griffin F. Tabor, Lan N. Pham, Jake J. Abbott, Tucker Hermans

Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings

Christian Lanegger, Marco Ruggia, Marco Tognon, Lionel Ott, Roland Siegwart

Understanding Dynamic Tactile Sensing for Liquid Property Estimation

Hung-Jui Huang, Xiaofeng Guo, Wenzhen Yuan

Sample Efficient Grasp Learning Using Equivariant Models

Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters

Action Conditioned Tactile Prediction: case study on slip prediction

Willow Mandil, Kiyanoush Nazari, Amir Ghalamzan

Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation

Yunho Kim, Chanyoung Kim, Jemin Hwangbo

Learning Interpretable, High-Performing Policies for Autonomous Driving

Rohan Paleja, Yaru Niu, Andrew Silva, Chace Ritchie, Sugju Choi

FuseBot: RF-Visual Mechanical Search

Tara Boroushaki, Laura Dodds, Nazish Naeem, Fadel Adib

End-to-End Learning of Hybrid Inverse Dynamics Models for Precise and Compliant Impedance Control

Moritz Reuss, Niels van Duijkeren, Robert Krug, Philipp Becker, Vaisakh Shaj

Correcting Robot Plans with Natural Language Feedback

Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans

Invariance Through Latent Alignment

Takuma Yoneda, Ge Yang, Matthew R. Walter, Bradly C. Stadie

Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets

Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis

Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer

Charles Schaff, Audrey Sedal, Matthew R. Walter

Meta Value Learning for Fast Policy-Centric Optimal Motion Planning

Siyuan Xu, Minghui Zhu

Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization

Gilhyun Ryou, Ezra Tal, Sertac Karaman

Traversing Supervisor Problem: An Approximately Optimal Approach to Multi-Robot Assistance

Tianchen Ji, Roy Dong, Katherine Driggs-Campbell

Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset

Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time

Teng Guo, Jingjin Yu

CALI: Coarse-to-Fine ALIgnments Based Unsupervised Domain Adaptation of Traversability Prediction for Deployable Autonomous Navigation

Zheng Chen, Durgakant Pushp, Lantao Liu

Decentralized Safe Multi-agent Stochastic Optimal Control using Deep FBSDEs and ADMM

Marcus A Pereira, Augustinos D Saravanos, Oswin So, Evangelos A. Theodorou

FaDIV-Syn: Fast Depth-Independent View Synthesis using Soft Masks and Implicit Blending

Andre Rochow, Max Schwarz, Michael Weinmann, Sven Behnke

Multi-Robot Adversarial Resilience using Control Barrier Functions

Matthew Cavorsi, Beatrice Capelli, Lorenzo Sabattini, Stephanie Gil

A Local Optimization Framework for Multi-Objective Ergodic Search

Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset

Learning Mixed Strategies in Trajectory Games

Lasse Peters, David Fridovich-Keil, Laura Ferranti, Cyrill Stachniss, Javier Alonso-Mora

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Nathan Hughes, Yun Chang, Luca Carlone

TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators

Tianrui Guan, Zhenpeng He, Ruitao Song, Dinesh Manocha, Liangjun Zhang

SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater Robot

Md Jahidul Islam, Ruobing Wang, Junaed Sattar

AK: Attentive Kernel for Information Gathering

Weizhe Chen, Roni Khardon, Lantao Liu

Parameterized Differential Dynamic Programming

Alex Oshin, Matthew D Houghton, Michael J. Acheson, Irene M. Gregory, Evangelos Theodorou

DiPCAN: Distilling Privileged Information for Crowd-Aware Navigation

Gianluca Monaci, Michel Aractingi, Tomi Silander

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

Proxima: An Approach for Time or Accuracy Budgeted Collision Proximity Queries

Daniel Rakita, Bilge Mutlu, Michael Gleicher

Failure Prediction with Statistical Guarantees for Vision-Based Robot Control

Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar

SymForce: Symbolic Computation and Code Generation for Robotics

Hayk Martiros, Aaron Miller, Nathan Bucki, Bradley Solliday, Ryan Kennedy

PROX-QP: Yet another Quadratic Programming Solver for Robotics and beyond

Antoine Bambade, Sarah El-Kazdadi, Adrien Taylor, Justin Carpentier

Collision Detection Accelerated: An Optimization Perspective

Louis Montaut, Quentin Le Lidec, Vladimír Petrík, Josef Sivic, Justin Carpentier

Collocation Methods for Second Order Systems

Siro Moreno-Martin, Lluis Ros, Enric Celaya

Certifiable Robot Design Optimization using Differentiable Programming

Charles Dawson, Chuchu Fan

Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning

Anirudha Majumdar, Vincent Pacelli

Factory: Fast Contact for Robotic Assembly

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist

Autonomously Untangling Long Cables

Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen Novoseller

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath

Embodied Multi-Agent Task Planning from Ambiguous Instruction

Xinzhu Liu, Xinghang Li, Di Guo, Sinan Tan, Huaping Liu

Data Augmentation for Manipulation

Peter Mitrano, Dmitry Berenson

Distributed Optimisation and Deconstruction of Bridges by Self-Assembling Robots

Edward Bray, Roderich Gross

A Learning-based Iterative Control Framework for Controlling a Robot Arm with Pneumatic Artificial Muscles

Hao Ma, Dieter Büchler, Bernhard Schölkopf, Michael Muehlebach

Negative Result for Learning from Demonstration: Challenges for End-Users Teaching Robots with Task And Motion Planning Abstractions

Nakul Gopalan, Nina Moorman, Manisha Natarajan, Matthew Gombolay

Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection

Thomas Power, Dmitry Berenson

Human-to-Robot Imitation in the Wild

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

Gaze Complements Control Input for Goal Prediction During Assisted Teleoperation

Reuben M Aronson, Henny Admoni

Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation

Michael Fulton, Muntaqim Mehtaz, Junaed Sattar, Owen Queeglay

Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on YouTube

Aravind Sivakumar, Kenneth Shaw, Deepak Pathak

Rapid Locomotion via Reinforcement Learning

Gabriel B. Margolis, Ge Yang, Kartik Paigwar, Tao Chen, Pulkit Agrawal

Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning

Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha

MIRROR: Differentiable Deep Social Projection for Assistive Human-Robot Communication

Kaiqi Chen, Jeffrey Fong, Harold Soh

ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints

Dhruv Shah, Sergey Levine

FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects

Ben Eisner, Harry Zhang, David Held

DextAIRity: Deformable Manipulation Can be a Breeze

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng

Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Objects

Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song

DICP: Doppler Iterative Closest Point Algorithm

Bruno Hexsel, Heethesh Vhavle, Yi Chen

PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration

Lillian Clark, Jeffrey Edlund, Marc Sanchez Net, Tiago Stegun Vaquero, Ali-akbar Agha-mohammadi

POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes

Jingxing Qian, Veronica Chatrath, Jun Yang, James Servos, Angela P. Schoellig

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny

Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation

Zixuan Huang, Xingyu Lin, David Held

The Surprising Effectiveness of Representation Learning for Visual Imitation

Jyothish Pari, Nur Muhammad (Mahi) Shafiullah, Sridhar Pandian Arunachalam, Lerrel Pinto

Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learning

Maximilian Du, Olivia Y Lee, Suraj Nair, Chelsea Finn

RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks

Haochen Shi, Huazhe Xu, Zhiao Huang, Yunzhu Li, Jiajun Wu

Equivariant Transporter Network

Haojie Huang, Dian Wang, Robin Walters, Robert Platt

SEER: Unsupervised and sample-efficient environment specialization of image descriptors

Peer Neubert, Stefan Schubert

CURL: Continuous, Ultra-compact Representation for LiDAR

Kaicheng Zhang, Ziyang Hong, Shida Xu, Sen Wang

Resilient Multi-Sensor Exploration of Multifarious Environments with a Team of Aerial Robots

Graeme Best, Rohit Garg, John Keller, Geoffrey A. Hollinger, Sebastian Scherer

Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map

Liang Zhao, Yingyu Wang, Shoudong Huang

KernelGPA: A Deformable SLAM Back-end

Fang Bai, Adrien Bartoli

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Bokui Shen, Zhenyu Jiang, Christopher Choy, Silvio Savarese, Leonidas J. Guibas