RSS 2023

112 papers

Active Collaborative Localization in Heterogeneous Robot Teams

Igor Spasojevic, Xu Liu, Alejandro Ribeiro, George J. Pappas, Vijay Kumar

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment

Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong

Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems

Augustinos D Saravanos, Yihui Li, Evangelos Theodorou

Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments

Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas

Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation

Sukriti Singh, Anusha Srikanthan, Vivek Mallampati, Harish Ravichandar

A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty

Andrew Messing, Jacopo Banfi, Martina Stadler, Ethan Stump, Harish Ravichandar

Path Planning for Multiple Tethered Robots Using Topological Braids

Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong

Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility

Malintha Fernando, Ransalu Senanayake, Heeyoul Choi, Martin Swany

Autonomous Navigation, Mapping and Exploration with Gaussian Processes

Mahmoud Ali, Hassan Jardali, Nicholas Roy, Lantao Liu

TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation

Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen

CCIL: Context-conditioned imitation learning for urban driving

Ke Guo, Wei Jing, Junbo Chen, Jia Pan

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone

Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature Space

Yuhang He, Irving Fang, Yiming Li, Rushi Bhavesh Shah, Chen Feng

Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired Data

Tim Y. Tang, Daniele De Martini, Paul M Newman

Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits

Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa Narasimhan, David Held

Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement Learning

Jieqiang Sun, Meibao Yao, Xueming Xiao, Zhibing Xie, Bo Zheng

Reconfigurable Robot Control Using Flexible Coupling Mechanisms

Sha Yi, Katia Sycara, Zeynep Temel

Gait design for limbless obstacle aided locomotion using geometric mechanics

Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin

Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis Compensation

Yunhua Zhao, Li Wen

Predefined-Time Convergent Motion Control for Heterogeneous Continuum Robots

Ning Tan, peng yu, Kai Huang

An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots

Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian LU

ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of Objects

Son Tien Bui, Van Anh Ho

LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning

Kenneth Shaw, Ananye Agarwal, Deepak Pathak

Demonstrating Arena-Web: A Web-based Development and Benchmarking Platform for Autonomous Navigation Approaches

Linh Kästner, Reyk Carstens, Lena Nahrwold, Christopher Liebig, Volodymyr Shcherbyna

Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI

Haoyuan Fu, Wenqiang Xu, Ruolin Ye, Han Xue, Zhenjun Yu

Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics

Taekyung Kim, Jungwi Mun, Junwon Seo, Beomsu Kim, Seongil Hong

Solving Stabilize-Avoid via Epigraph Form Optimal Control using Deep Reinforcement Learning

Oswin So, Chuchu Fan

Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions

Ryan Cosner, Preston Culbertson, Andrew Taylor, Aaron Ames

RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning

Challen Enninful Adu, Jinsun Liu, Lucas Lymburner, Vishrut Kaushik, Lena Trang

Time Optimal Ergodic Search

Dayi E Dong, Henry P Berger, Ian Abraham

Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven Approach

Hann Woei Ho, Ye Zhou

Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback

Mark J Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli

Tactile-Filter: Interactive Tactile Perception for Part Mating

Kei Ota, Devesh K Jha, Hsiao-Yu Tung, Joshua Tenenbaum

MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback

Andrea Sipos, Nima Fazeli

CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data

Sheng Zhong, Dmitry Berenson, Nima Fazeli

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training

Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone

How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers

Junting Chen, Guohao Li, Suryansh Kumar, Bernard Ghanem, Fisher Yu

CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory

Nur Muhammad (Mahi)Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, arthur szlam

CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation

Niclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada

Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth

Nathaniel W Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning

Lintong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice Fallon

POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments

Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard

NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects

Jiahui Fu, Yilun Du, Kurran Singh, Joshua Tenenbaum, John Leonard

ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes

Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley

ConceptFusion: Open-set multimodal 3D mapping

Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Ganesh Iyer

Efficient volumetric mapping of multi-scale environments using wavelet-based compression

Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott

iPlanner: Imperative Path Planning

Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter

Progressive Learning for Physics-informed Neural Motion Planning

Ruiqi Ni, Ahmed H Qureshi

Reachability-based Trajectory Design with Neural Implicit Safety Constraints

Jonathan B Michaux, Yong Seok Kwon, Qingyi Chen, Ram Vasudevan

Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

Zhutian Yang, Caelan R Garrett, Tomás Lozano-Pérez, Leslie Kaelbling, Dieter Fox

Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search

Yoonchang Sung, Peter Stone

G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates

Satyanarayana Gupta Manyam, Abhishek Nayak, Sivakumar Rathinam

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets

Thomas B Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake

Demonstrating A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning

Ilya Kostrikov, Laura M Smith, Sergey Levine

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach

Max Bajracharya, James Borders, Richard Cheng, Dan Helmick, Lukas Kaul

Fast Traversability Estimation for Wild Visual Navigation

Jonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon

On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis

Daniel F Ordonez-Apraez, Martin, Mario, Antonio Agudo, Francesc Moreno

Robust and Versatile Bipedal Jumping Control through Reinforcement Learning

Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth

Learning and Adapting Agile Locomotion Skills by Transferring Experience

Laura M Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng

Centralized Model Predictive Control for Collaborative Loco-Manipulation

Flavio De Vincenti, Stelian Coros

Causal Policy Gradient for Whole-Body Mobile Manipulation

Jiaheng Hu, Peter Stone, Roberto Martín-Martín

Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift

Yifan Zhu, Pranay Thangeda, Melkior Ornik, Kris Hauser

Dynamic-Resolution Model Learning for Object Pile Manipulation

Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-fei, Jiajun Wu

RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang

Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces

Xili Yi, Nima Fazeli

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning

Mengchao Zhang, Devesh K Jha, Arvind U Raghunathan, Kris Hauser

Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features

Dongjun Lee, Jeongmin Lee, Minji Lee

Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics

Yuwei Wu, Weixiao Liu, Zhiyang Liu, Gregory S Chirikjian

FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation

Minho Heo, Youngwoon Lee, Doohyun Lee, Joseph J Lim

SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering

Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Bingjie Tang, Michael A Lin, Iretiayo A Akinola, Ankur Handa, Gaurav S Sukhatme

Hindsight States: Blending Sim & Real Task Elements for Efficient Reinforcement Learning

Simon Guist, Jan Schneider, Vincent Berenz, Alexander Dittrich, Bernhard Schölkopf

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training

Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk

Rotating without Seeing: Towards In-hand Dexterity through Touch

Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang

Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning

Daniel Fernandes Gomes, Shan Luo, Paolo Paoletti

GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials

David R Millard, Daniel Pastor, Joseph Bowkett, Paul Backes, Gaurav S Sukhatme

Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators

Dongwon Son, Beomjoon Kim

Language-Driven Representation Learning for Robotics

Siddharth Karamcheti, Suraj Nair, Annie S Chen, Thomas Kollar, Chelsea Finn

StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects

Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton

Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement

Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher G Atkeson

Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models

Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan

Goal-Conditioned Imitation Learning using Score-based Diffusion Policies

Moritz Reuss, Maximilian Li, Xiaogang Jia, Rudolf Lioutikov

Scaling Robot Learning with Semantically Imagined Experience

Tianhe Yu, Ted Xiao, Jonathan Tompson, Austin Stone, Su Wang

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau

RT-1: Robotics Transformer for Real-World Control at Scale

Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis

Demonstrating Large Language Models on Robots

Andy Zeng, brian ichter, Fei Xia, Ted Xiao, Vikas Sindhwani

Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success

Shuai Li, Azarakhsh Keipour, Kevin Jamieson, Nicolas Hudson, Charles Swan

Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators

Alexander Herzog, Kanishka Rao, Karol Hausman, Yao Lu, Paul Wohlhart

Cherry-Picking with Reinforcement Learning

Yunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha Srinivasa

Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation

Gagan Khandate, Siqi Shang, Eric T Chang, Tristan L Saidi, Johnson Adams

Pre-Training for Robots: Offline RL Enables Learning New Tasks in a Handful of Trials

Aviral Kumar, Anikait Singh, Frederik D Ebert, Mitsuhiko Nakamoto, Yanlai Yang

Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features

Justin Kerr, Huang Huang, Albert Wilcox, Ryan I Hoque, Jeffrey Ichnowski

Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction

Yangxiao Lu, Ninad A Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy

Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Tony Z. Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su

To the Noise and Back: Diffusion for Shared Autonomy

Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly C Stadie, Matthew R Walter

PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection

Shivin Dass, Karl Pertsch, Hejia Zhang, Youngwoon Lee, Joseph J Lim