Robotics: Science and Systems XV

Table of Contents

Improvisation through Physical Understanding: Using Novel Objects As Tools with Visual Foresight
Annie Xie, Frederik Ebert, Sergey Levine, Chelsea Finn
Efficient Algorithms for Optimal Perimeter Guarding
Si Wei Feng, Shuai D. Han, Kai Gao, Jingjin Yu
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
Heng Yang, Luca Carlone
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriquez, Thomas A.Funkouser
OIL: Observational Imitation Learning
Guohao Li, Matthias Mueller, Vincent Michael Casser, Neil Smith, Dominik Michels, Bernard Ghanem
DESPOT-Alpha: Online POMDP Planning with Large State and Observation Spaces
Neha Priyadarshini Garg, David Hsu, Wee Sun Lee
Collective Formation and Cooperative Function of a Magnetic Microrobotic Swarm
Xiaoguang Dong, Metin Sitti
Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control
Alexander Broad, Todd Murphey, Brenna Argall
Autonomous Tool Construction Using Part Shape and Attachment Prediction
Lakshmi Velayudhan Nair, Nithin Shrivatsav Srikanth, Zackory Erikson, Sonia Chernova
A Behavioral Approach to Visual Navigation with Graph Localization Networks
Kevin Chen, Juan Pablo de Vicente, Gabriel Sepulveda, Fei Xia, Alvaro Soto, Marynel V\E1zquez, Silvio Savarese
Learning to Walk Via Deep Reinforcement Learning
Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, Sergey Levine
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer
Ziyu Ren, Tianlu Wang, Wenqi Hu, Metin Sitti
Value Iteration Networks on Multiple Levels of Abstraction
Daniel Schleich, Tobias Klamt, Sven Behnke
From Explanation to Synthesis: Compositional Program Induction for Learning from Demonstration
Michael Burke, Svetlin Valentinov Penkov, Subramanian Ramamoorthy
Segment2Regress: Monocular 3D Vehicle Localization in Two Stages
Jaesung Choe, Kyungdon Joo, Francois Rameau, Gyu Min Shim, In So Kweon
On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)
Reinhard M. Grassmann, Jessica Burgner-Kahrs
LeTS-Drive: Driving in a Crowd by Learning from Tree Search
Panpan Cai, Yuanfu Luo, Aseem Saxena, David Hsu, Wee Sun Lee
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pf\E4ndler, Ueli Angst, Roland Siegwart, Juan Nieto
Unsupervised Visuomotor Control through Distributional Planning Networks
Tianhe Yu, Gleb Shevchuk, Dorsa Sadigh, Chelsea Finn
A Dynamical System Approach to Motion and Force Generation in Contact Tasks
Walid Amanhoud, Mahdi Khoramshahi, Aude Billard
Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts
Mathew Halm, Michael Posa
Learning Reward Functions by Integrating Human Demonstrations and Preferences
Malayandi Palan, Gleb Shevchuk, Nicholas Charles Landolfi, Dorsa Sadigh
A 2-Approximation Algorithm for the Online Tethered Coverage Problem
Gokarna Sharma, Pavan Poudel, Ayan Dutta, Vala Zeinali, Tala.Talaei Khoei, Jong-Hoon Kim
Harnessing Reinforcement Learning for Neural Motion Planning
Tom Jurgenson, Aviv Tamar
Simultaneously Learning Vision and Feature-Based Control Policies for Real-World Ball-In-A-Cup
Devin Schwab, Jost Tobias Springenberg, Murilo Fernandes Martins, Michael Neunert, Thomas Lampe, Abbas Abdolmaleki, Tim Hertweck, Roland Hafner, Francesco Nori, Martin Riedmiller
Automated Shapeshifting for Function Recovery in Damaged Robots
Sam Kriegman, Stephanie Walker, Dylan S. Shah, Michael Levin, Rebecca Kramer-Bottiglio, Josh Bongard
BayesSim: Adaptive Domain Randomization Via Probabilistic Inference for Robotics Simulators
Fabio Ramos, Rafael Possas, Dieter Fox
Robot Adaptation to Unstructured Terrains by Joint Representation and Apprenticeship Learning
Sriram Siva, Maggie Wigness, John G. Rogers: Hao Zhang
ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst
Mayank Bansal, Alex Krizhevsky, Abhijit Ogale
Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization
Yuquan Wang, Abderrahmane Kheddar
An Online Learning Approach to Model Predictive Control
Nolan Wagener, Ching-an Cheng, Jacob Sacks, Byron Boots
Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses
Nitish Thatte, Nandagopal Srinivasan, Hartmut Geyer
Robot Packing with Known Items and Nondeterministic Arrival Order
Fan Wang, Kris Hauser
Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution
Joao Moura, Vladimir Ivan, Mustafa Suphi Erden, Sethu Vijayakumar
Robust Singular Smoothers for Tracking Using Low-Fidelity Data
Jonathan Jonker, Aleksandr Aravkin, James Burke, Gianluigi Pillonetto, Sarah E. Webster
Teleoperator Imitation with Continuous-Time Safety
Bachir El Khadir, Jacob Varley, Vikas Sindhwani
Differentiable Algorithm Networks for Composable Robot Learning
Peter Karkus, Xiao Ma, David Hsu, Leslie Kaelbling, Wee Sun Lee, Tomas Lozano-Perez
Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration
Milos Pragr, Petr Cizek, Jan Bayer, Jan Faigl
Predicting Human Interpretations of Affect and Valence in a Social Robot
David McNeill, Casey Kennington
Proximity Queries for Absolutely Continuous Parametric Curves
Arun Lakshmanan, Andrew Patterson, Venanzio Cichella, Naira Hovakimyan
A Modular Optimization Framework for Localization and Mapping
Jose Luis Blanco-Claraco
Continuous Direct Sparse Visual Odometry from RGB-D Images
Maani Ghaffari Jadidi, William Clark, Anthony Bloch, Ryan Eustice, Jessey W. Grizzle
Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning
Alessandro Zanardi, Andreas Jianhao Aumiller, Julian Zilly, Andrea Censi, Emilio Frazzoli
DensePhysNet: Learning Dense Physical Object Representations Via Multi-Step Dynamic Interactions
Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua Tenenbaum, Shuran Song
Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks
Joseph Campbell, Simon Stepputtis, Heni Ben Amor
Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios
Mingyu Wang, Zijian Wang, John Talbot, J. Christian Gerdes, Mac Schwager
PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, Dieter Fox
Leveraging Experience in Lazy Search
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha Srinivasa
Towards Provably Not-At-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments
Sean Vaskov, Shreyas Kousik, Hannah Larson, Fan Bu, James Robert Ward, Stewart Worrall, Matthew Johnson-Roberson, Ram Vasudevan
Trajectory Optimization for Cable-Driven Soft Robot Locomotion
James Bern, Pol Banzet, Roi Poranne, Stelian Coros
Direct Drive Hands: Force-Motion Transparency in Gripper Design
Ankit Bhatia, Aaron Johnson, Matthew T. Mason
Local Koopman Operators for Data-Driven Control of Robotic Systems
Giorgos Mamakoukas, Maria Castano, Xiaobo Tan, Todd Murphey
DIViS: Domain Invariant Visual Servoing for Collision-Free Goal Reaching
Fereshteh Sadeghi
Risk Contours Map for Risk Bounded Motion Planning under Perception Uncertainties
Ashkan M. Jasour, Brian Williams
Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
High-Throughput Computation of Shannon Mutual Information on Chip
Peter Zhi Xuan Li, Zhengdong Zhang, Sertac Karaman, Vivienne Sze
Planning with State Abstractions for Non-Markovian Task Specifications
Yoonseon Oh, Roma Patel, Thao Nguyen, Baichuan Huang, Ellie Pavlick, Stefanie Tellex
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Daniel Bruder, Brent Gillespie, C. David Remy, Ram Vasudevan
Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps
Wennie Tabib, Kshitij Goel, John Yao, Mosam Dabhi, Curtis Boirum, Nathan Michael
Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering
Yiannis Kantaros, Brent Schlotfeldt, Nikolay Atanasov, George J. Pappas
Network Offloading Policies for Cloud Robotics: A Learning-Based Approach
Sandeep Chinchali, Apoorva Sharma, James Harrison, Amine Elhafsi, Daniel Kang, Evgenya Pergament, Eyal Cidon, Sachin Katti, Marco Pavone
Learning to Plan with Logical Automata
Brandon Arak, Kiran Vodrahalli, Thomas Leech, Cristian Ioan Vasile, Mark Donahue, Daniela Rus
Inverting Learned Dynamics Models for Aggressive Multirotor Control
Alexander Spitzer, Nathan Michael
Scalable and Congestion-Aware Routing for Autonomous Mobility-On-Demand Via Frank-Wolfe Optimization
Kiril Solovey, Mauro Salazar, Marco Pavone
A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots
Baxi Zhong, Yasemin Ozkan-Aydin, Guillaume Sartoretti, Jennifer Rieser, Chaohui Gong, Haosen Xing, Howie Choset, Daniel Goldman
Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments
Daniel Rakita, Bilge Mutlu, Michael Gleicher
Reachable Space Characterization of Markov Decision Processes with Time Variability
Junhong Xu, Kai Yin, Lantao Liu
Learning Deep Stochastic Optimal Control Policies Using Forward-Backward SDEs
Ziyi Wang, Marcus Pereira, , Ioannis Exarchos, Evangelos Theodorou
Conditional Neural Movement Primitives
Muhammet Yunus Seker, Mert Imre, Justus Piater, Emre Ugur
Pareto Monte Carlo Tree Search for Multi-Objective Informative Planning
Weizhe Chen, Lantao Liu
End-To-End Robotic Reinforcement Learning without Reward Engineering
Avi Singh, Larry Yang, Chelsea Finn, Sergey Levine
Learning Robotic Manipulation through Visual Planning and Acting
Angelina Wang, Thanard Kurutach, Kara Liu, Pieter Abbeel, Aviv Tamar
Influencing Leading and Following in Human-Robot Teams
Minae Kwon, Mengxi Li, Alexandre Bucquet, Dorsa Sadigh
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators
Seyedmohammadhadi Sadati, Ali Shiva, Seyedeh Elnaz Naghibi, Caleb Rucker, Ludovic Renson, Christos Bergeles, Kaspar Althoefer, Thrishantha Nanayakkara, Helmut Hauser, Ian Walker
Commonsense Reasoning and Knowledge Acquisition to Guide Deep Learning on Robots
Tiago Mota, Mohan Sridharan
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard, Thomas Lew, Marco Pavone
Motion Planning, Design Optimization and Fabrication of Ferromagnetic Swimmers
Jaskaran Singh Grover, Daniel Vedova, Nalini Jain, Matthew Travers, Howie Choset
Bayesian Estimator for Partial Trajectory Alignment
Przemyslaw A. Lasota, Julie A. Shah
Semi-Autonomous Robot Teleoperation with Obstacle Avoidance Via Model Predictive Control
Matteo Rubagotti, Tasbolat Taunyazov, Bukeikhan Omarali, Almas Shintemirov
VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation
Barza Nisar, Philipp Foehn, Davide Falanga, Davide Scaramuzza
Approximate Bayesian Inference in Spatial Environments
Atanas Mirchev, Baris Kayalibay, Maximilian Soelch, Patrick van der Smagt, Justin Bayer
Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization
Irvin Aloise, Bartolomeo Della Corte, Federico Nardi, Giorgio Grisetti
Idiothetic Verticality Estimation through Head Stabilization Strategy
Ildar Farkhatdinov, Hannah Michalska, Alain Berthoz, Vincent Hayward