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19th Robotics: Science and Systems 2023: Daegu, Republic of Korea
- Kostas E. Bekris, Kris Hauser, Sylvia L. Herbert, Jingjin Yu:
Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023. 2023, ISBN 978-0-9923747-9-2 - Georg Friedrich Schuppe, Ilaria Torre, Iolanda Leite, Jana Tumova:
Follow my Advice: Assume-Guarantee Approach to Task Planning with Human in the Loop. - Matthew B. Luebbers, Aaquib Tabrez, Kyler Ruvane, Bradley Hayes:
Autonomous Justification for Enabling Explainable Decision Support in Human-Robot Teaming. - Yaohui Guo, X. Jessie Yang, Cong Shi:
Enabling Team of Teams: A Trust Inference and Propagation (TIP) Model in Multi-Human Multi-Robot Teams. - Nina M. Moorman, Nakul Gopalan, Aman Singh, Erin Botti, Mariah Schrum, Chuxuan Yang, Lakshmi Seelam, Matthew C. Gombolay:
Investigating the Impact of Experience on a User's Ability to Perform Hierarchical Abstraction. - Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu:
Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment. - David B. D'Ambrosio, Navdeep Jaitly, Vikas Sindhwani, Ken Oslund, Peng Xu, Nevena Lazic, Anish Shankar, Tianli Ding, Jonathan Abelian, Erwin Coumans, Gus Kouretas, Thinh Nguyen, Justin Boyd, Atil Iscen, Reza Mahjourian, Vincent Vanhoucke, Alex Bewley, Yuheng Kuang, Michael Ahn, Deepali Jain, Satoshi Kataoka, Omar E. Cortes, Pierre Sermanet, Corey Lynch, Pannag R. Sanketi, Krzysztof Choromanski, Wenbo Gao, Juhana Kangaspunta, Krista Reymann, Grace Vesom, Sherry Q. Moore, Avi Singh, Saminda Wishwajith Abeyruwan, Laura Graesser:
Robotic Table Tennis: A Case Study into a High Speed Learning System. - Cameron H. Berg, Vittorio Caggiano, Vikash Kumar:
SAR: Generalization of Physiological Dexterity via Synergistic Action Representation. - Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held:
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. - Siddhant Haldar, Jyothish Pari, Anant Rai, Lerrel Pinto:
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations. - Zoey Qiuyu Chen, Shosuke C. Kiami, Abhishek Gupta, Vikash Kumar:
GenAug: Retargeting behaviors to unseen situations via Generative Augmentation. - Maximilian Du, Suraj Nair, Dorsa Sadigh, Chelsea Finn:
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets. - Russell Mendonca, Shikhar Bahl, Deepak Pathak:
Structured World Models from Human Videos. - Shivin Dass, Karl Pertsch, Hejia Zhang, Youngwoon Lee, Joseph J. Lim, Stefanos Nikolaidis:
PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection. - Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly C. Stadie, Matthew R. Walter:
To the Noise and Back: Diffusion for Shared Autonomy. - Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox:
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System. - Tony Z. Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn:
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware. - Yangxiao Lu, Ninad A. Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang:
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction. - Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg:
Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features. - Aviral Kumar, Anikait Singh, Frederik D. Ebert, Mitsuhiko Nakamoto, Yanlai Yang, Chelsea Finn, Sergey Levine:
Pre-Training for Robots: Offline RL Enables Learning New Tasks in a Handful of Trials. - Gagan Khandate, Siqi Shang, Eric T. Chang, Tristan Luca Saidi, Johnson Adams, Matei T. Ciocarlie:
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation. - Yunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha S. Srinivasa:
Cherry-Picking with Reinforcement Learning. - Alexander Herzog, Kanishka Rao, Karol Hausman, Yao Lu, Paul Wohlhart, Mengyuan Yan, Jessica Lin, Montserrat Gonzalez Arenas, Ted Xiao, Daniel Kappler, Daniel Ho, Jarek Rettinghouse, Yevgen Chebotar, Kuang-Huei Lee, Keerthana Gopalakrishnan, Ryan Julian, Adrian Li, Chuyuan Fu, Bob Wei, Sangeetha Ramesh, Khem Holden, Kim Kleiven, David J. Rendleman, Sean Kirmani, Jeffrey Bingham, Jonathan Weisz, Ying Xu, Wenlong Lu, Matthew Bennice, Cody Fong, David Do, Jessica Lam, Yunfei Bai, Benjie Holson, Michael Quinlan, Noah Brown, Mrinal Kalakrishnan, Julian Ibarz, Peter Pastor, Sergey Levine:
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators. - Shuai Li, Azarakhsh Keipour
, Kevin G. Jamieson, Nicolas Hudson, Charles Swan, Kostas E. Bekris:
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success. - Andy Zeng, Brian Ichter, Fei Xia, Ted Xiao, Vikas Sindhwani:
Demonstrating Large Language Models on Robots. - Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alexander Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J. Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael S. Ryoo, Grecia Salazar, Pannag R. Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong T. Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich:
RT-1: Robotics Transformer for Real-World Control at Scale. - Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song:
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion. - Tianhe Yu, Ted Xiao, Jonathan Tompson, Austin Stone, Su Wang, Anthony Brohan, Jaspiar Singh, Clayton Tan, Dee M, Jodilyn Peralta, Karol Hausman, Brian Ichter, Fei Xia:
Scaling Robot Learning with Semantically Imagined Experience. - Moritz Reuss, Maximilian Xiling Li, Xiaogang Jia, Rudolf Lioutikov
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies. - Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson:
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models. - Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher G. Atkeson, Katerina Fragkiadaki:
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement. - Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton:
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects. - Siddharth Karamcheti, Suraj Nair, Annie S. Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, Percy Liang:
Language-Driven Representation Learning for Robotics. - Dongwon Son, Beomjoon Kim:
Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators. - David Millard, Daniel Pastor, Joseph Bowkett, Paul Backes, Gaurav S. Sukhatme:
GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials. - Daniel Fernandes Gomes, Shan Luo, Paolo Paoletti:
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning. - Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang:
Rotating without Seeing: Towards In-hand Dexterity through Touch. - Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk:
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training. - Simon Guist, Jan Schneider, Vincent Berenz, Alexander Dittrich, Bernhard Schölkopf, Dieter Büchler:
Hindsight States: Blending Sim & Real Task Elements for Efficient Reinforcement Learning. - Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj S. Narang:
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. - Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao, Cewu Lu:
SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering. - Minho Heo, Youngwoon Lee, Doohyun Lee, Joseph J. Lim:
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation. - Yuwei Wu, Weixiao Liu, Zhiyang Liu, Gregory S. Chirikjian:
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics. - Dongjun Lee, Jeongmin Lee, Minji Lee:
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features. - Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser:
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning. - Xili Yi, Nima Fazeli:
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces. - Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song:
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects. - Yixuan Wang, Yunzhu Li, Katherine Driggs Campbell, Li Fei-Fei, Jiajun Wu:
Dynamic-Resolution Model Learning for Object Pile Manipulation. - Yifan Zhu, Pranay Thangeda, Melkior Ornik, Kris Hauser:
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift. - Jiaheng Hu, Peter Stone, Roberto Martín-Martín:
Causal Policy Gradient for Whole-Body Mobile Manipulation. - Flavio De Vincenti, Stelian Coros:
Centralized Model Predictive Control for Collaborative Loco-Manipulation. - Laura M. Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine:
Learning and Adapting Agile Locomotion Skills by Transferring Experience. - Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning. - Daniel Felipe Ordoñez Apraez, Mario Martín, Antonio Agudo, Francesc Moreno:
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis. - Jonas Frey
Fast Traversability Estimation for Wild Visual Navigation. - Max Bajracharya, James Borders, Richard Cheng, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland:
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach. - Ilya Kostrikov, Laura M. Smith, Sergey Levine:
Demonstrating A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning. - Thomas Cohn
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets. - Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi:
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. - Satyanarayana Gupta Manyam, Abhishek Nayak, Sivakumar Rathinam:
G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins Gates. - Yoonchang Sung, Peter Stone:
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search. - Zhutian Yang, Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox:
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning. - Jonathan B. Michaux, Yongseok Kwon, Qingyi Chen, Ram Vasudevan:
Reachability-based Trajectory Design with Neural Implicit Safety Constraints. - Ruiqi Ni, Ahmed H. Qureshi:
Progressive Learning for Physics-informed Neural Motion Planning. - Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter:
iPlanner: Imperative Path Planning. - Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott:
Efficient volumetric mapping of multi-scale environments using wavelet-based compression. - Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd. Omama, Ganesh Iyer, Soroush Saryazdi, Tao Chen, Alaa Maalouf, Shuang Li, Nikhil Varma Keetha, Ayush Tewari, Joshua B. Tenenbaum, Celso Miguel de Melo, K. Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba:
ConceptFusion: Open-set multimodal 3D mapping. - Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, Cyrill Stachniss:
ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes. - Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard:
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects. - Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L. Waslander, Angela P. Schoellig:
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments. - Lintong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice F. Fallon:
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning. - Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza:
HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO. - Nathaniel W. Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang:
Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth. - Niclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada:
CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation. - Nur Muhammad (Mahi) Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, Arthur Szlam:
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory. - Junting Chen, Guohao Li, Suryansh Kumar
How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers. - Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone:
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. - Sheng Zhong, Dmitry Berenson, Nima Fazeli:
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. - Andrea Sipos
MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback. - Kei Ota, Devesh K. Jha, Hsiao-Yu Tung, Joshua B. Tenenbaum:
Tactile-Filter: Interactive Tactile Perception for Part Mating. - Mark J. Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli:
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. - Hann Woei Ho, Ye Zhou:
Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven Approach. - Dayi E. Dong
Time Optimal Ergodic Search. - Challen Enninful Adu, Jinsun Liu, Lucas Lymburner, Vishrut Kaushik, Lena Trang, Ram Vasudevan:
RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning. - Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. - Oswin So
Solving Stabilize-Avoid via Epigraph Form Optimal Control using Deep Reinforcement Learning. - Taekyung Kim, Jungwi Mun, Junwon Seo, Beomsu Kim, Seongil Hong:
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics. - Haoyuan Fu, Wenqiang Xu, Ruolin Ye, Han Xue, Zhenjun Yu, Tutian Tang, Yutong Li, Wenxin Du, Jieyi Zhang, Cewu Lu:
Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI. - Linh Kästner, Reyk Carstens, Lena Nahrwold, Christopher Liebig, Volodymyr Shcherbyna, Subhin Lee, Jens Lambrecht:
Demonstrating Arena-Web: A Web-based Development and Benchmarking Platform for Autonomous Navigation Approaches. - Kenneth Shaw, Ananye Agarwal, Deepak Pathak:
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning. - Son Tien Bui, Shinya Kawano, Van Anh Ho:
ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of Objects. - Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian Lu, Yue Wang:
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots. - Ning Tan, Peng Yu, Kai Huang:
Predefined-Time Convergent Motion Control for Heterogeneous Continuum Robots. - Yunhua Zhao
Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis Compensation. - Baxi Chong, Tianyu Wang, Daniel Irvine
Gait design for limbless obstacle aided locomotion using geometric mechanics. - Sha Yi, Katia P. Sycara, Fatma Zeynep Temel
Reconfigurable Robot Control Using Flexible Coupling Mechanisms. - Jieqiang Sun, Meibao Yao, Xueming Xiao, Zhibing Xie, Bo Zheng:
Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement Learning. - Siddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits. - Tim Y. Tang, Daniele De Martini, Paul M. Newman:
Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired Data. - Yuhang He, Irving Fang, Yiming Li, Rushi Bhavesh Shah, Chen Feng
Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature Space. - Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone:
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. - Ke Guo, Wei Jing, Junbo Chen, Jia Pan:
CCIL: Context-conditioned imitation learning for urban driving. - Letian Wang, Jie Liu
Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors. - Xiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, Joonho Lee, Wentao Yuan, Zoey Qiuyu Chen, Samuel Deng, Greg Okopal, Dieter Fox, Byron Boots, Amirreza Shaban:
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation. - Mahmoud Ali, Hassan Jardali, Nicholas Roy, Lantao Liu:
Autonomous Navigation, Mapping and Exploration with Gaussian Processes. - Malintha Fernando
Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility. - Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, Lihua Xie:
Path Planning for Multiple Tethered Robots Using Topological Braids. - Andrew Messing, Jacopo Banfi, Martina Stadler, Ethan Stump, Harish Ravichandar, Nicholas Roy, Seth Hutchinson:
A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty. - Sukriti Singh, Anusha Srikanthan, Vivek Mallampati, Harish Ravichandar:
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation. - Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas:
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments. - Augustinos D. Saravanos, Yihui Li, Evangelos A. Theodorou:
Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems. - Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam:
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. - Igor Spasojevic, Xu Liu, Alejandro Ribeiro, George J. Pappas, Vijay Kumar:
Active Collaborative Localization in Heterogeneous Robot Teams.
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