RSS 2024

134 papers

INTERPRET: Interactive Predicate Learning from Language Feedback for Generalizable Task Planning

Muzhi Han, Yifeng Zhu, Song-chun Zhu, Ying Nian Wu, Yuke Zhu

Leveraging Large Language Model for Heterogeneous Ad Hoc Teamwork Collaboration

Xinzhu Liu, Peiyan Li, Wenju Yang, Di Guo, Huaping Liu

The Benefits of Sound Resound: An In-Person Replication of the Ability of Character-Like Robot Sound to Improve Perceived Social Warmth

Nnamdi Nwagwu, Adeline Schneider, Ibrahim Syed, Brian J. Zhang, Naomi T. Fitter

FLAIR: Feeding via Long-Horizon AcquIsition of Realistic dishes

Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr, Tapomayukh Bhattacharjee, Dorsa Sadigh

Developing Design Guidelines for Older Adults with Robot Learning from Demonstration

Erin Hedlund-Botti, Lakshmi Seelam, Chuxuan Yang, Nathaniel Belles, Zulfiqar Haider Zaidi

Demonstrating HumanTHOR: A Simulation Platform and Benchmark for Human-Robot Collaboration in a Shared Workspace

Chenxu Wang, Boyuan Du, Jiaxin Xu, Huaping Liu

Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation

Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian, Pratik Chaudhari, Vijay Kumar

Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction

Justin Lidard, Hang Pham, Ariel Bachman, Bryan Boateng, Anirudha Majumdar

Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies

Mike Allenspach, Michael Pantic, Rik Girod, Lionel Ott, Roland Siegwart

Yell At Your Robot: Improving On-the-Fly from Language Corrections

Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao, Archit Sharma, Karl Pertsch

SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks

Muhammad Fadhil Ginting, Sung-Kyun Kim, David Fan, Matteo Palieri, Mykel Kochenderfer

Demonstrating CropFollow++: Robust Under-Canopy Navigation with Keypoints

Arun Narenthiran Sivakumar, Mateus Valverde Gasparino, Michael McGuire, Vitor Akihiro Hisano Higuti, M. Ugur Akcal

Model Predictive Control for Aggressive Driving Over Uneven Terrain

Tyler Han, Alex Liu, Anqi Li, Alexander Spitzer, Guanya Shi

Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving

Sidharth Talia, Matthew Schmittle, Alexander Lambert, Alexander Spitzer, Christoforos Mavrogiannis

Blending Data-Driven Priors in Dynamic Games

Justin Lidard, Haimin Hu, Asher Hancock, Zixu Zhang, Albert Gimo Contreras

POAM: Probabilistic Online Attentive Mapping for Efficient Robotic Information Gathering

Weizhe Chen, Lantao Liu, Roni Khardon

CraterGrader: Autonomous Robotic Terrain Manipulation for Lunar Site Preparation and Earthmoving

Ryan Lee, Benjamin Younes, Alexander Pletta, John Harrington, Russell Q. Wong

Demonstrating Event-Triggered Investigation and Sample Collection for Human Scientists using Field Robots and Large Foundation Models

Tirthankar Bandyopadhyay, Fletcher Talbot, Callum Bennie, Hashini Senaratne, Xun Li

SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions

Haoran Geng, Songlin Wei, Congyue Deng, Bokui Shen, He Wang

Reconciling Reality through Simulation: A Real-To-Sim-to-Real Approach for Robust Manipulation

Marcel Torne Villasevil, Anthony Simeonov, Zechu Li, April Chan, Tao Chen

Demonstrating Learning from Humans on Open-Source Dexterous Robot Hands

Kenneth Shaw, Ananye Agarwal, Shikhar Bahl, Mohan Kumar Srirama, Alexandre Kirchmeyer

Efficient Data Collection for Robotic Manipulation via Compositional Generalization

Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh

Dynamic On-Palm Manipulation via Controlled Sliding

William Yang, Michael Posa

Human-oriented Representation Learning for Robotic Manipulation

Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu

AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li

Optimal Non-Redundant Manipulator Surface Coverage with Rank-Deficient Manipulability Constraints

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

Conformalized Teleoperation: Confidently Mapping Human Inputs to High-Dimensional Robot Actions

Michelle D Zhao, Reid Simmons, Henny Admoni, Andrea Bajcsy

JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments

Nikhil Uday Shinde, Xiao Liang, Fei Liu, Yutong Zhang, Florian Richter

Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions

Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal

Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty

Yupeng Yang, Yiwei Lyu, Yanze Zhang, Sha Yi, Wenhao Luo

Computation-Aware Learning for Stable Control with Gaussian Process

Wenhan Cao, Alexandre Capone, Rishabh Yadav, Sandra Hirche, Wei Pan

Differentiable Robust Model Predictive Control

Alex Oshin, Hassan Almubarak, Evangelos Theodorou

Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control

Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier

Stein Variational Ergodic Search

Darrick Lee, Cameron Lerch, Fabio Ramos, Ian Abraham