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17th Robotics: Science and Systems 2021: Virtual Event
- Dylan A. Shell, Marc Toussaint, M. Ani Hsieh:
Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021. 2021, ISBN 978-0-9923747-7-8 - Siyu Dai, Wei Xu, Andreas G. Hofmann, Brian C. Williams:
An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards. - Yuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis:
Manipulator-Independent Representations for Visual Imitation. - Tim Y. Tang, Daniele De Martini, Paul Newman:
Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead Imagery. - Erik Nelson:
Inexact Loops in Robotics Problems. - Xiaohan Zhang, Jivko Sinapov, Shiqi Zhang:
Planning Multimodal Exploratory Actions for Online Robot Attribute Learning. - Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J. Lim:
Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding. - Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, Animesh Garg:
Robust Value Iteration for Continuous Control Tasks. - Jie Xu, Tao Chen
, Lara Zlokapa, Michael Foshey, Wojciech Matusik, Shinjiro Sueda, Pulkit Agrawal:
An End-to-End Differentiable Framework for Contact-Aware Robot Design. - Liang Zhao, Zhehua Mao
Feature-Based SLAM: Why Simultaneous Localisation and Mapping? - Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei:
Discovering Generalizable Skills via Automated Generation of Diverse Tasks. - Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik:
RMA: Rapid Motor Adaptation for Legged Robots. - Annie S. Chen, Suraj Nair, Chelsea Finn:
Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos. - Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. - Jingjin Yu:
Rearrangement on Lattices with Swaps: Optimality Structures and Efficient Algorithms. - Lars Berscheid, Torsten Kroeger:
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States. - Amal Nanavati, Christoforos I. Mavrogiannis
Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning. - Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Proximal and Sparse Resolution of Constrained Dynamic Equations. - Chao Cao, Hongbiao Zhu, Howie Choset, Ji Zhang:
TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments. - Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino, Che Ellis, Andres Eduardo Baquero Velasquez, Girish Chowdhary, Saurabh Gupta:
Learned Visual Navigation for Under-Canopy Agricultural Robots. - Hanbo Zhang
INVIGORATE: Interactive Visual Grounding and Grasping in Clutter. - David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation. - Peng Gao, Hao Zhang:
Bayesian Deep Graph Matching for Correspondence Identification in Collaborative Perception. - Shikhar Bahl, Abhinav Gupta, Deepak Pathak:
Hierarchical Neural Dynamic Policies. - Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu:
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations. - Jingnan Shi, Heng Yang, Luca Carlone:
Optimal Pose and Shape Estimation for Category-level 3D Object Perception. - Osbert Bastani, Shuo Li:
Safe Reinforcement Learning via Statistical Model Predictive Shielding. - Peng Yin
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions. - Christopher E. Mower, João Moura
Skill-based Shared Control. - Keenan Burnett, David J. Yoon, Angela P. Schoellig, Tim D. Barfoot:
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning. - Lasse Peters, David Fridovich-Keil, Vicenc Rubies-Royo, Claire J. Tomlin, Cyrill Stachniss
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations. - Baxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, Daniel I. Goldman:
Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics. - Vincent Samy, Ko Ayusawa, Eiichi Yoshida
Generalized Comprehensive Motion Theory for High-Order Differential Dynamics. - Kai Gao, Siwei Feng, Jingjin Yu:
On Minimizing the Number of Running Buffers for Tabletop Rearrangement. - Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu:
Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints. - Weiyu Liu, Dhruva Bansal, Angel Andres Daruna, Sonia Chernova:
Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday Environments. - Matthew C. Fontaine, Stefanos Nikolaidis
A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared Autonomy. - Liting Sun, Xiaogang Jia, Anca D. Dragan:
On complementing end-to-end human behavior predictors with planning. - Matthew C. Fontaine, Ya-Chuan Hsu, Yulun Zhang
On the Importance of Environments in Human-Robot Coordination. - Peter Englert, Isabel M. Rayas Fernández, Ragesh Kumar Ramachandran, Gaurav S. Sukhatme:
Sampling-Based Motion Planning on Sequenced Manifolds. - Simon Bultmann
Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors. - Yiyuan Lee
MAGIC: Learning Macro-Actions for Online POMDP Planning. - Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza
NeuroBEM: Hybrid Aerodynamic Quadrotor Model. - Michael Noseworthy, Isaiah Brand, Caris Moses, Sebastian Castro, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Nicholas Roy:
Active Learning of Abstract Plan Feasibility. - Yuhong Deng
MQA: Answering the Question via Robotic Manipulation. - Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees. - Manabu Nakanoya, Sandeep Chinchali, Alexandros Anemogiannis, Akul Datta, Sachin Katti, Marco Pavone:
Co-Design of Communication and Machine Inference for Cloud Robotics. - Corey Lynch, Pierre Sermanet:
Language Conditioned Imitation Learning Over Unstructured Data. - Friedrich M. Rockenbauer
Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle. - Jack Geary, Subramanian Ramamoorthy, Henry Gouk:
Resolving Conflict in Decision-Making for Autonomous Driving. - Shen Li, Nadia Figueroa, Ankit J. Shah, Julie A. Shah:
Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics. - Marcell Vazquez-Chanlatte, Sebastian Junges
Entropy-Guided Control Improvisation. - Julen Urain, Puze Liu
Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning. - Muchen Sun
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation. - Samuel E. Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang, Alberto Quattrini Li
Droplet: Towards Autonomous Underwater Assembly of Modular Structures. - Amy Sniffen, Zezhou Sun, Samuel E. Lensgraf, Emily Whiting
Falling Into Place: Drop Assembly of Interlocking Puzzles. - Spencer M. Richards, Navid Azizan
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems. - John Lloyd, Yijiong Lin, Nathan F. Lepora:
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem. - Tobias Löw
PROMPT: Probabilistic Motion Primitives based Trajectory Planning. - Sam Kriegman, Amir Mohammadi Nasab, Douglas Blackiston, Hannah Steele, Michael Levin, Rebecca Kramer-Bottiglio, Josh C. Bongard:
Scale invariant robot behavior with fractals. - Dylan Turpin, Liquan Wang, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg:
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels. - Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst:
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. - Keiko Nagami, Mac Schwager:
HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing. - Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake:
Lyapunov-stable neural-network control. - Sihui Li, Neil Dantam
Learning Proofs of Motion Planning Infeasibility. - Visak C. V. Kumar, Sehoon Ha, C. Karen Liu:
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments. - Zixu Zhang, Jaime F. Fisac:
Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active Perception. - Eric Heiden, Miles Macklin, Yashraj S. Narang, Dieter Fox, Animesh Garg, Fabio Ramos:
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting. - Lucas Barcelos, Alexander Lambert, Rafael Oliveira, Paulo V. K. Borges, Byron Boots, Fabio Ramos:
Dual Online Stein Variational Inference for Control and Dynamics. - Ashkan Jasour, Weiqiao Han, Brian C. Williams:
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments. - Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas E. Bekris:
Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly Tasks. - Siwei Chen, Xiao Ma, Yunfan Lu, David Hsu:
Ab Initio Particle-based Object Manipulation. - Ahmed Hussain Qureshi, Arsalan Mousavian, Chris Paxton, Michael C. Yip, Dieter Fox:
NeRP: Neural Rearrangement Planning for Unknown Objects. - Ziyi Wang, Oswin So
Variational Inference MPC using Tsallis Divergence. - Nitin J. Sanket, Chahat Deep Singh, Chethan Parameshwara, Cornelia Fermüller, Guido de Croon, Yiannis Aloimonos:
EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following. - Augustinos D. Saravanos, Alexandros Tsolovikos, Efstathios Bakolas, Evangelos A. Theodorou:
Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent Systems. - Pragna Mannam, Avi Rudich, Kevin Zhang, Manuela Veloso, Oliver Kroemer, Fatma Zeynep Temel
A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation. - Kai-Chieh Hsu
Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning. - Cédric Le Gentil, Teresa A. Vidal-Calleja
Continuous Integration over SO(3) for IMU Preintegration. - Steven Carr, Nils Jansen
Safe Policies for Factored Partially Observable Stochastic Games. - Teddy Ort, Igor Gilitschenski, Daniela Rus:
GROUNDED: The Localizing Ground Penetrating Radar Evaluation Dataset. - Mengyu Fu, Oren Salzman, Ron Alterovitz:
Toward Certifiable Motion Planning for Medical Steerable Needles. - Hadi Beik-Mohammadi, Søren Hauberg
Learning Riemannian Manifolds for Geodesic Motion Skills. - Peer Neubert, Stefan Schubert, Kenny Schlegel, Peter Protzel:
Vector Semantic Representations as Descriptors for Visual Place Recognition. - Talha Kavuncu, Ayberk Yaraneri, Negar Mehr:
Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories. - Weifu Wang, Ping Li:
Towards finding the shortest-paths for 3D rigid bodies. - Thai Duong, Nikolay A. Atanasov:
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control. - Christoph Böhm, Martin Scheiber
Filter-Based Online System-Parameter Estimation for Multicopter UAVs. - Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerík, Ning Ye, Stefan Schaal, Jonathan Scholz:
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study. - Aditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock:
Surprisingly Robust In-Hand Manipulation: An Empirical Study. - Kush Grover
Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown Environments. - Stefan Schubert, Peer Neubert, Peter Protzel:
Fast and Memory Efficient Graph Optimization via ICM for Visual Place Recognition. - Anqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots:
RMP2: A Structured Composable Policy Class for Robot Learning.
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