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16th Robotics: Science and Systems 2020: Virtual Event / Corvalis, Oregon, USA
- Marc Toussaint, Antonio Bicchi, Tucker Hermans:
Robotics: Science and Systems XVI, Virtual Event / Corvalis, Oregon, USA, July 12-16, 2020. 2020, ISBN 978-0-9923747-6-1 - Anirudh Vemula, Yash Oza, J. Andrew Bagnell, Maxim Likhachev:
Planning and Execution using Inaccurate Models with Provable Guarantees. - Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto:
Swoosh! Rattle! Thump! - Actions that Sound. - Danny Driess, Jung-Su Ha, Marc Toussaint
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Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image. - Craig Innes, Subramanian Ramamoorthy:
Elaborating on Learned Demonstrations with Temporal Logic Specifications. - Tong Yang
Non-revisiting Coverage Task with Minimal Discontinuities for Non-redundant Manipulators. - Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, Sven Behnke
LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices. - Valentin Peretroukhin, Matthew Giamou, W. Nicholas Greene, David M. Rosen, Jonathan Kelly, Nicholas Roy:
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty. - Brian Reily, Christopher M. Reardon, Hao Zhang:
Leading Multi-Agent Teams to Multiple Goals While Maintaining Communication. - Xieyuanli Chen
OverlapNet: Loop Closing for LiDAR-based SLAM. - Filipa Correia
The Dark Side of Embodiment - Teaming Up With Robots VS Disembodied Agents. - Hong Jun Jeon, Dylan P. Losey, Dorsa Sadigh:
Shared Autonomy with Learned Latent Actions. - Peng Gao, Rui Guo, Hongsheng Lu, Hao Zhang:
Regularized Graph Matching for Correspondence Identification under Uncertainty in Collaborative Perception. - Baxi Zhong, Tianyu Wang, Jennifer M. Rieser, Abdul Kaba, Howie Choset, Daniel I. Goldman:
Frequency Modulation of Body Waves to Improve Performance of Limbless Robots. - Matthew D. Hall, Anil Özdemir, Roderich Gross
Self-Reconfiguration in Two-Dimensions via Active Subtraction with Modular Robots. - Davide Calzolari, Roberto Lampariello
Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning. - Roma Patel, Ellie Pavlick, Stefanie Tellex:
Grounding Language to Non-Markovian Tasks with No Supervision of Task Specifications. - Michael Amir, Freddy M. Bruckstein:
Fast Uniform Dispersion of a Crash-prone Swarm. - Md Jahidul Islam, Peigen Luo, Junaed Sattar:
Simultaneous Enhancement and Super-Resolution of Underwater Imagery for Improved Visual Perception. - Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How:
Collision Probabilities for Continuous-Time Systems Without Sampling. - Tasbolat Taunyazov
Event-Driven Visual-Tactile Sensing and Learning for Robots. - Jiani Li, Waseem Abbas, Mudassir Shabbir, Xenofon D. Koutsoukos:
Resilient Distributed Diffusion for Multi-Robot Systems Using Centerpoint. - Manikandasriram Srinivasan Ramanagopal, Zixu Zhang, Ram Vasudevan, Matthew Johnson-Roberson:
Pixel-Wise Motion Deblurring of Thermal Videos. - Florian Wirnshofer, Philipp Sebastian Schmitt, Georg von Wichert, Wolfram Burgard:
Controlling Contact-Rich Manipulation Under Partial Observability. - Laura M. Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine:
AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos. - Fahad Islam, Oren Salzman, Aditya Agarwal, Maxim Likhachev:
Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt. - Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang
Online IMU Intrinsic Calibration: Is It Necessary? - Naveen Kumar Uppalapati
A Berry Picking Robot With A Hybrid Soft-Rigid Arm: Design and Task Space Control. - Michael Jae-Yoon Chung, Maya Cakmak:
Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference. - Siyuan Dong, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez, Edward H. Adelson:
Cable Manipulation with a Tactile-Reactive Gripper. - Thais Campos de Almeida, Samhita Marri, Hadas Kress-Gazit:
Automated Synthesis of Modular Manipulators' Structure and Control for Continuous Tasks around Obstacles. - Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst:
Learning Memory-Based Control for Human-Scale Bipedal Locomotion. - Gilhyun Ryou, Ezra Tal
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers. - Lirui Wang, Yu Xiang, Dieter Fox:
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection. - Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation. - Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz
Spatial Action Maps for Mobile Manipulation. - Kyungjae Lee
Generalized Tsallis Entropy Reinforcement Learning and Its Application to Soft Mobile Robots. - Adam Allevato, Elaine Short, Mitch Pryor, Andrea Thomaz:
Learning Labeled Robot Affordance Models Using Simulations and Crowdsourcing. - Sinan Tan, Huaping Liu, Di Guo, Xinyu Zhang, Fuchun Sun:
Towards Embodied Scene Description. - Zhangjie Cao, Erdem Biyik, Woodrow Z. Wang, Allan Raventos, Adrien Gaidon, Guy Rosman, Dorsa Sadigh:
Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving. - Elia Kaufmann, Antonio Loquercio, René Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza
Deep Drone Acrobatics. - Erdem Biyik, Nicolas Huynh, Mykel J. Kochenderfer, Dorsa Sadigh:
Active Preference-Based Gaussian Process Regression for Reward Learning. - Shray Bansal, Jin Xu, Ayanna M. Howard, Charles Isbell:
A Bayesian Framework for Nash Equilibrium Inference in Human-Robot Parallel Play. - Jonathan Hoff, Seth Hutchinson
Data-driven modeling of a flapping bat robot with a single flexible wing surface. - Alexander Liniger, Luc Van Gool:
Safe Motion Planning for Autonomous Driving using an Adversarial Road Model. - David Paulius
A Motion Taxonomy for Manipulation Embedding. - Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger:
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing. - Bernardo Aceituno-Cabezas, Alberto Rodriguez:
A Global Quasi-Dynamic Model for Contact-Trajectory Optimization in Manipulation. - Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger
Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles. - Ethan N. Evans, Andrew P. Kendall, George I. Boutselis, Evangelos A. Theodorou:
Spatio-Temporal Stochastic Optimization: Theory and Applications to Optimal Control and Co-Design. - Junhong Xu, Kai Yin, Lantao Liu:
Kernel Taylor-Based Value Function Approximation for Continuous-State Markov Decision Processes. - Jae Sung Park, Dinesh Manocha:
HMPO: Human Motion Prediction in Occluded Environments for Safe Motion Planning. - Chao Liu, Sencheng Yu
Motion Planning for Variable Topology Truss Modular Robot. - Archit Sharma, Michael Ahn, Sergey Levine, Vikash Kumar, Karol Hausman, Shixiang Gu:
Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning. - Markus Wulfmeier, Abbas Abdolmaleki, Roland Hafner, Jost Tobias Springenberg, Michael Neunert, Noah Y. Siegel, Tim Hertweck, Thomas Lampe, Nicolas Heess, Martin A. Riedmiller:
Compositional Transfer in Hierarchical Reinforcement Learning. - Jonathan C. Spencer, Sanjiban Choudhury, Matt Barnes, Matthew Schmittle, Mung Chiang, Peter J. Ramadge, Siddhartha S. Srinivasa:
Learning from Interventions: Human-robot interaction as both explicit and implicit feedback. - Thibaut Kulak, João Silvério, Sylvain Calinon:
Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations. - Tim Y. Tang, Daniele De Martini, Shangzhe Wu
Self-Supervised Localisation between Range Sensors and Overhead Imagery. - Franck Djeumou, Zhe Xu, Ufuk Topcu:
Probabilistic Swarm Guidance Subject to Graph Temporal Logic Specifications. - Katie Winkle, Séverin Lemaignan, Praminda Caleb-Solly
In-Situ Learning from a Domain Expert for Real World Socially Assistive Robot Deployment. - Kumar Shaurya Shankar, Nathan Michael:
MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models. - Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-Fei:
GTI: Learning to Generalize across Long-Horizon Tasks from Human Demonstrations. - Wyatt McAllister, Joshua Whitman, Allan Axelrod, Joshua Varghese, Girish Chowdhary, Adam Davis:
Agbots 2.0: Weeding Denser Fields with Fewer Robots. - Siwei Feng, Jingjin Yu:
Optimally Guarding Perimeters and Regions with Mobile Range Sensors. - Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Edward Lee, Jie Tan, Sergey Levine:
Learning Agile Robotic Locomotion Skills by Imitating Animals. - Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, Pieter Abbeel:
Learning to Manipulate Deformable Objects without Demonstrations. - Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, Dinesh Manocha:
Deep Differentiable Grasp Planner for High-DOF Grippers. - Ahalya Prabhakar, Ian Abraham, Annalisa T. Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava I. Simidchieva
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation. - Shushman Choudhury, Jayesh K. Gupta, Mykel J. Kochenderfer, Dorsa Sadigh, Jeannette Bohg:
Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints. - Dicong Qiu
Latent Belief Space Motion Planning under Cost, Dynamics, and Intent Uncertainty. - Utku Culha
Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots. - Sungjoon Choi, Matthew K. X. J. Pan, Joohyung Kim
Nonparametric Motion Retargeting for Humanoid Robots on Shared Latent Space. - Charles B. Schaff, Matthew R. Walter:
Residual Policy Learning for Shared Autonomy. - Aditya Dhawale, Nathan Michael:
Efficient Parametric Multi-Fidelity Surface Mapping. - Rasmus Karnøe Stagsted, Antonio Vitale, Jonas Binz, Alpha Renner
Towards neuromorphic control: A spiking neural network based PID controller for UAV. - Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan:
Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping. - Serkan Cabi, Sergio Gómez Colmenarejo, Alexander Novikov, Ksenia Konyushkova, Scott E. Reed, Rae Jeong, Konrad Zolna, Yusuf Aytar, David Budden, Mel Vecerík, Oleg Sushkov, David Barker, Jonathan Scholz, Misha Denil, Nando de Freitas, Ziyu Wang:
Scaling data-driven robotics with reward sketching and batch reinforcement learning. - Johannes Englsberger
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. - Bobby Davis, Ioannis Karamouzas, Stephen J. Guy:
NH-TTC: A gradient-based framework for generalized anticipatory collision avoidance. - Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone:
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. - Thao Nguyen, Nakul Gopalan, Roma Patel, Matthew Corsaro, Ellie Pavlick, Stefanie Tellex
Robot Object Retrieval with Contextual Natural Language Queries. - Philipp Foehn
AlphaPilot: Autonomous Drone Racing. - Lin Shao, Toki Migimatsu, Qiang Zhang, Kaiyuan Yang, Jeannette Bohg:
Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations. - Adar Gaathon, Amir Degani:
A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain. - Yashraj S. Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox:
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework. - Jacky Liang, Saumya Saxena, Oliver Kroemer:
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap. - Yifan Hou, Zhenzhong Jia, Matthew T. Mason:
Manipulation with Shared Grasping. - David D. Fan, Ali Agha, Evangelos A. Theodorou:
Deep Learning Tubes for Tube MPC. - Jason J. Choi, Fernando Castañeda, Claire J. Tomlin, Koushil Sreenath:
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. - Allen Wang, Xin Huang
Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures. - Anthony Tompkins, Ransalu Senanayake, Fabio Ramos:
Online Domain Adaptation for Occupancy Mapping. - Simon Le Cleac'h, Mac Schwager, Zachary Manchester:
ALGAMES: A Fast Solver for Constrained Dynamic Games. - Caelan Reed Garrett, Yijiang Huang
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion. - Qiujie Lu, Nicholas Baron, Angus B. Clark
The RUTH Gripper: Systematic Object-Invariant Prehensile In-Hand Manipulation via Reconfigurable Underactuation. - Zheyuan Wang, Matthew C. Gombolay:
Heterogeneous Graph Attention Networks for Scalable Multi-Robot Scheduling with Temporospatial Constraints. - Guangyao Shi, Pratap Tokekar, Lifeng Zhou:
Robust Multiple-Path Orienteering Problem: Securing Against Adversarial Attacks. - Forrest Laine
Eyes-Closed Safety Kernels: Safety of Autonomous Systems Under Loss of Observability. - Glen Chou, Necmiye Ozay
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. - Ruben Grandia, Andrew J. Taylor
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. - Changkyu Song, Abdeslam Boularias:
Learning to Slide Unknown Objects with Differentiable Physics Simulations. - Patrick D. Holmes, Shreyas Kousik
Reachable Sets for Safe, Real-Time Manipulator Trajectory Design. - Vincent Pacelli
Learning Task-Driven Control Policies via Information Bottlenecks. - Nakul Gopalan, Eric Rosen, George Konidaris, Stefanie Tellex
Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following. - Sarah Gillet
A social robot mediator to foster collaboration and inclusion among children.
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