| 1 |
An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards |
Siyu Dai (MIT), Wei Xu (Horizon Robotics), Andreas Hofmann (MIT), Brian C Williams (MIT) |
| 2 |
Manipulator-Independent Representations for Visual Imitation |
Yuxiang Zhou (DeepMind), Yusuf Aytar (DeepMind), Konstantinos Bousmalis (DeepMind) |
| 3 |
Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead Imagery |
Tim Y. Tang (University of Oxford), Daniele De Martini (University of Oxford), Paul Newman (University of Oxford) |
| 4 |
Inexact Loops in Robotics Problems |
Erik Nelson (Nuro) |
| 5 |
Planning Multimodal Exploratory Actions for Online Robot Attribute Learning |
Xiaohan Zhang (SUNY at Binghamton), Jivko Sinapov (Tufts University), Shiqi Zhang (SUNY Binghamton) |
| 6 |
Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding |
Grace Zhang (University of Southern California), Linghan Zhong (University of Southern California), Youngwoon Lee (University of Southern California), Joseph J Lim (University of Southern California) |
| 7 |
Robust Value Iteration for Continuous Control Tasks |
Michael Lutter (TU Darmstadt), Shie Mannor (Technion), Jan Peters (TU Darmstadt), Dieter Fox (NVIDIA), Animesh Garg (University of Toronto, Vector Institute, NVIDIA) |
| 8 |
An End-to-End Differentiable Framework for Contact-Aware Robot Design |
Jie Xu (MIT), Tao Chen (MIT), Lara Zlokapa (MIT), Michael Foshey (MIT), Wojciech Matusik (MIT), Shinjiro Sueda (Texas A&M University), Pulkit Agrawal (MIT) |
| 9 |
Feature-Based SLAM: Why Simultaneous Localisation and Mapping? |
Liang Zhao (University of Technology Sydney), Zhehua Mao (University of Technology Sydney), Shoudong Huang (University of Technology Sydney) |
| 10 |
Discovering Generalizable Skills via Automated Generation of Diverse Tasks |
Kuan Fang (Stanford University), Yuke Zhu (University of Texas at Austin), Silvio Savarese (Stanford University), Li Fei-Fei (Stanford University) |
| 11 |
RMA: Rapid Motor Adaptation for Legged Robots |
Ashish Kumar (UC Berkeley), Zipeng Fu (CMU), Deepak Pathak (CMU), Jitendra Malik (UC Berkeley) |
| 12 |
Learning Generalizable Robotic Reward Functions from “In-The-Wild” Human Videos |
Annie S Chen (Stanford University), Suraj Nair (Stanford University), Chelsea Finn (Stanford University) |
| 13 |
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies |
Priya Sundaresan (UC Berkeley), Jennifer Grannen (UC Berkeley), Brijen Thananjeyan (UC Berkeley), Ashwin Balakrishna (UC Berkeley), Jeffrey Ichnowski (UC Berkeley), Ellen Novoseller (UC Berkeley), Minho Hwang (UC Berkeley), Michael Laskey (Toyota Research Institute), Joseph Gonzalez (UC Berkeley), Ken Goldberg (UC Berkeley) |
| 14 |
Rearrangement on Lattices with Swaps: Optimality Structures and Efficient Algorithms |
Jingjin Yu (Rutgers University) |
| 15 |
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States |
Lars Berscheid (Karlsruhe Institute of Technology), Torsten Kroeger (Karlsruhe Institute of Technology) |
| 16 |
Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning |
Amal Nanavati (University of Washington), Christoforos Mavrogiannis (University of Washington), Kevin Weatherwax (UC Santa Cruz), Leila Takayama (UC Santa Cruz), Maya Cakmak (University of Washington), Siddhartha Srinivasa (University of Washington) |
| 17 |
Proximal and Sparse Resolution of Constrained Dynamic Equations |
Justin Carpentier (INRIA), Rohan Budhiraja (INRIA), Nicolas Mansard (LAAS-CNRS) |
| 18 |
TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments |
Chao Cao (CMU), Hongbiao Zhu (CMU), Howie Choset (CMU), Ji Zhang (CMU) |
| 19 |
Learned Visual Navigation for Under-Canopy Agricultural Robots |
Arun Narenthiran V Sivakumar (UIUC), Sahil Modi (UIUC), Mateus Valverde Gasparino (UIUC), Che G Ellis (EarthSense), Andres Eduardo Baquero Velasquez (UIUC), Girish Chowdhary (UIUC), Saurabh Gupta (UIUC) |
| 20 |
INVIGORATE: Interactive Visual Grounding and Grasping in Clutter |
Hanbo Zhang (Xi'an Jiaotong University), Yunfan Lu (National University of Singapore), Cunjun Yu (National University of Singapore), David Hsu (National University of Singapore), Xuguang Lan (Xi'an Jiaotong University), Nanning Zheng (Xi'an Jiaotong University) |
| 21 |
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation |
David D Fan (Georgia Technology), Kyohei Otsu (NASA-JPL), Yuki Kubo (University of Tokyo), Anushri Dixit (Caltech), Joel Burdick (Caltech), Ali-akbar Agha-mohammadi (NASA-JPL, Caltech) |
| 22 |
Bayesian Deep Graph Matching for Correspondence Identification in Collaborative Perception |
Peng Gao (Colorado School of Mines), Hao Zhang (Colorado School of Mines) |
| 23 |
Hierarchical Neural Dynamic Policies |
Shikhar Bahl (CMU), Abhinav Gupta (CMU/FAIR), Deepak Pathak (CMU) |
| 24 |
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations |
Zhenyu Jiang (University of Texas at Austin), Yifeng Zhu (University of Texas at Austin), Maxwell Svetlik (University of Texas at Austin), Kuan Fang (Stanford University), Yuke Zhu (University of Texas at Austin) |
| 25 |
Optimal Pose and Shape Estimation for Category-level 3D Object Perception |
Jingnan Shi (MIT), Heng Yang (MIT), Luca Carlone (MIT) |
| 26 |
Safe Reinforcement Learning via Statistical Model Predictive Shielding |
Osbert Bastani (University of Pennsylvania), Shuo Li (University of Pennsylvania), Anton Xue (University of Pennsylvania) |
| 27 |
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions |
Peng Yin (CMU), Lingyun Xu (CMU), Ji Zhang (CMU), Howie Choset (CMU), Sebastian Scherer (CMU) |
| 28 |
Skill-based Shared Control |
Christopher E Mower (University of Edinburgh), Joao Moura (University of Edinburgh), Sethu Vijayakumar (University of Edinburgh) |
| 29 |
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning |
Keenan Burnett (University of Toronto), David Yoon (University of Toronto), Angela P Schoellig (University of Toronto), Tim Barfoot (University of Toronto) |
| 30 |
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations |
Lasse Peters (University of Bonn), David Fridovich-Keil (Stanford University), Vicenç Rubies Royo (UC Berkeley), Claire Tomlin (UC Berkeley), Cyrill Stachniss (University of Bonn) |
| 31 |
Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics |
Baxi Chong (Georgia Tech), Tianyu Wang (Georgia Tech), Bo Lin (Georgia Tech), Shengkai Li (Georgia Tech), Howie Choset (CMU), Grigoriy Blekherman (Georgia Tech), Daniel Goldman (Georgia Tech) |
| 32 |
Generalized Comprehensive Motion Theory for High-Order Differential Dynamics |
Vincent Samy (AIST), Ko Ayusawa (AIST), Eiichi Yoshida (AIST) |
| 33 |
On Minimizing the Number of Running Buffers for Tabletop Rearrangement |
Kai Gao (Rutgers University), Siwei Feng (Rutgers University), Jingjin Yu (Rutgers University) |
| 34 |
Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints |
Keenon Werling (Stanford University), Dalton Omens (Stanford University), Jeongseok Lee (Amazon), Ioannis Exarchos (Stanford University), C. Karen Liu (Stanford University) |
| 35 |
Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday Environments |
Weiyu Liu (Georgia Tech), Dhruva Bansal (Georgia Tech), Angel Daruna (Georgia Tech), Sonia Chernova (Georgia Tech) |
| 36 |
A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared Autonomy |
Matthew Fontaine (University of Southern California), Stefanos Nikolaidis (University of Southern California) |
| 37 |
On complementing end-to-end human behavior predictors with planning |
Liting Sun (UC Berkeley), Xiaogang Jia (UC Berkeley), Anca Dragan (UC Berkeley) |
| 38 |
On the Importance of Environments in Human-Robot Coordination |
Matthew Fontaine (University of Southern California), Ya-Chuan Hsu (University of Southern California), Yulun Zhang (University of Southern California), Bryon Tjanaka (University of Southern California), Stefanos Nikolaidis (University of Southern California) |
| 39 |
Sampling-Based Motion Planning on Sequenced Manifolds |
Peter Englert (University of Southern California), Isabel M Rayas Fernández (University of Southern California), Ragesh Kumar Ramachandran (University of Southern California), Gaurav Sukhatme (University of Southern California) |
| 40 |
Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors |
Simon Bultmann (University of Bonn), Sven Behnke (University of Bonn) |
| 41 |
MAGIC: Learning Macro-Actions for Online POMDP Planning |
Yiyuan Lee (National University of Singapore), Panpan Cai (National University of Singapore), David Hsu (National University of Singapore) |
| 42 |
NeuroBEM: Hybrid Aerodynamic Quadrotor Model |
Leonard Bauersfeld (University of Zürich), Elia Kaufmann (University of Zürich), Philipp Foehn (University of Zürich), Sihao Sun (University of Zürich), Davide Scaramuzza (University of Zürich) |
| 43 |
Active Learning of Abstract Plan Feasibility |
Michael Noseworthy (MIT), Isaiah Brand (MIT), Caris Moses (MIT), Sebastian Castro (MIT), Leslie Kaelbling (MIT), Tomas Lozano-Perez (MIT), Nicholas Roy (MIT) |
| 44 |
MQA: Answering the Question via Robotic Manipulation |
Yuhong Deng (Tsinghua University), Di Guo (Tsinghua University), Xiaofeng Guo (Tsinghua University), NAIFU ZHANG (Tsinghua University), Huaping Liu (Tsinghua University), Fuchun Sun (Tsinghua University) |
| 45 |
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees |
Siddharth Ancha (CMU), Gaurav Pathak (CMU), Srinivasa Narasimhan (CMU), David Held (CMU) |
| 46 |
Co-Design of Communication and Machine Inference for Cloud Robotics |
Manabu Nakanoya (NEC, Japan), Sandeep Chinchali (Stanford University), Alexandros Anemogiannis (VMWare, Inc.), Akul Datta, Sachin Katti (Stanford University), Marco Pavone (Stanford University) |
| 47 |
Language Conditioned Imitation Learning Over Unstructured Data |
Corey Lynch (Google), Pierre Sermanet (Google) |
| 48 |
Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle |
Friedrich M Rockenbauer (ETH Zürich), Simon Jeger (ETH Zürich), Liberto Beltran (ETH Zürich), Maximilian Berger (ETH Zürich), Marvin Harms (ETH Zürich), Noah Kaufmann (ETH Zürich), Marc Rauch (ETH Zürich), Moritz Reinders (ETH Zürich), Nicholas Lawrance (ETH Zürich), Thomas Stastny (ETH Zürich), Roland Siegwart (ETH Zürich) |
| 49 |
Resolving Conflict in Decision-Making for Autonomous Driving |
Jack Geary (University of Edinburgh), Subramanian Ramamoorthy (University of Edinburgh), Henry Gouk (University of Edinburgh) |
| 50 |
Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics |
Shen Li (MIT), Nadia Figueroa (MIT), Ankit Shah (MIT), Julie A. Shah (MIT) |
| 51 |
Entropy-Guided Control Improvisation |
Marcell J Vazquez-Chanlatte (UC Berkeley), Sebastian Junges (UC Berkeley), Daniel J Fremont (UC Santa Cruz), Sanjit Seshia (UC Berkeley) |
| 52 |
Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning |
Julen Urain (TU Darmstadt), Puze Liu (IAS, TU Darmstadt), Anqi Li (University of Washington), Carlo D'Eramo (TU Darmstadt), Jan Peters (TU Darmstadt) |
| 53 |
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation |
Muchen Sun (Northwestern University), Francesca Baldini (Caltech), Peter Trautman (Honda Research Institute), Todd Murphey (Northwestern University) |
| 54 |
Droplet: Towards Autonomous Underwater Assembly of Modular Structures |
Samuel E Lensgraf (Dartmouth University), Amy Sniffen (Dartmouth University), Zachary Zitzewitz (Proof School), Evan Honnold (Uber), Jennifer Jain (Amazon), Weifu Wang (Baidu Research), Alberto Quattrini Li (Dartmouth University), Devin Balkcom (Dartmouth University) |
| 55 |
Falling Into Place: Drop Assembly of Interlocking Puzzles |
Amy Sniffen (Dartmouth University), Zezhou Sun (Boston University), Samuel E Lensgraf (Dartmouth University), Emily Whiting (Boston University), Alberto Quattrini Li (Dartmouth University), Devin Balkcom (Dartmouth University) |
| 56 |
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems |
Spencer M. Richards (Stanford University), Navid Azizan (Stanford University), Jean-Jacques Slotine (MIT), Marco Pavone (Stanford University) |
| 57 |
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem |
John Lloyd (University of Bristol), Yijiong Lin (University of Bristol), Nathan Lepora (University of Bristol) |
| 58 |
PROMPT: Probabilistic Motion Primitives based Trajectory Planning |
Tobias Loew (ETH Zürich), Tirthankar Bandyopadhyay (CSIRO), Jason Williams (CSIRO), Paulo Borges (CSIRO) |
| 59 |
Scale invariant robot behavior with fractals |
Sam Kriegman (University of Vermont), Amir Mohammadi Nasab (Yale University), Douglas Blackiston (Tufts University), Hannah Steele (Yale University), Michael Levin (Tufts University), Rebecca Kramer-Bottiglio (Yale University), Josh Bongard (University of Vermont) |
| 60 |
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels |
Dylan Turpin (University of Toronto), Liquan Wang (University of Toronto), Stavros Tsogkas (University of Toronto), Sven Dickinson (University of Toronto), Animesh Garg (University of Toronto, Vector Institute, NVIDIA) |
| 61 |
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning |
Jonah Siekmann (Oregon State University), Kevin Green (Oregon State University), John Warila (Oregon State University), Alan Fern (Oregon State University), Jonathan Hurst (Oregon State University) |
| 62 |
HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing |
Keiko Nagami (Stanford University), Mac Schwager (Stanford University) |
| 63 |
Lyapunov-stable neural-network control |
Hongkai Dai (Toyota Research Institute), Benoit Landry (Stanford University), Lujie Yang (MIT), Marco Pavone (Stanford University), Russ Tedrake (MIT) |
| 64 |
Learning Proofs of Motion Planning Infeasibility |
Sihui Li (Colorado School of Mines), Neil Dantam (Colorado School of Mines) |
| 65 |
Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments |
Visak C V Kumar (Georgia Tech), Sehoon Ha (Georgia Tech), C. Karen Liu (Stanford University) |
| 66 |
Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active Perception |
Zixu Zhang (Princeton University), Jaime F Fisac (Princeton University) |
| 67 |
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting |
Eric Heiden (University of Southern California), Miles Macklin (NVIDIA), Yashraj S Narang (NVIDIA), Dieter Fox (NVIDIA), Animesh Garg (University of Toronto, Vector Institute, NVIDIA), Fabio Ramos (NVIDIA, University of Sydney) |
| 68 |
Dual Online Stein Variational Inference for Control and Dynamics |
Lucas Barcelos (University of Sydney), Alexander Lambert (Georgia Tech), Rafael Oliveira (University of Sydney), Paulo Borges (CSIRO), Byron Boots (University of Washington), Fabio Ramos (NVIDIA, University of Sydney) |
| 69 |
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments |
Ashkan Jasour (MIT), Weiqiao Han (MIT), Brian C Williams (MIT) |
| 70 |
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks |
Andrew S Morgan (Yale University), Bowen Wen (Rutgers University), Junchi Liang (Rutgers University), Abdeslam Boularias (Rutgers University), Aaron M. Dollar (Yale University), Kostas Bekris (Rutgers University) |
| 71 |
Ab Initio Particle-based Object Manipulation |
Siwei Chen (National University of Singapore), Xiao Ma (National University of Singapore), Yunfan Lu (National University of Singapore), David Hsu (National University of Singapore) |
| 72 |
NeRP: Neural Rearrangement Planning for Unknown Objects |
Ahmed H Qureshi (UC San Diego), Arsalan Mousavian (NVIDIA), Chris Paxton (NVIDIA), Michael Yip (UC San Diego), Dieter Fox (NVIDIA) |
| 73 |
Variational Inference MPC using Tsallis Divergence |
Ziyi O Wang (Georgia Tech), Oswin So (Georgia Tech), Jason Gibson (Georgia Tech), Bogdan Vlahov (Georgia Tech), Manan Gandhi (Georgia Tech), Guan-Horng Liu (Georgia Tech), Evangelos Theodorou (Georgia Tech) |
| 74 |
EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following |
Nitin J Sanket (University of Maryland, College Park), Chahat Deep Singh (University of Maryland), Chethan Parameshwara (University of Maryland, College Park), Cornelia Fermuller (University of Maryland, College Park), Guido de Croon (TU Delft), Yiannis Aloimonos (University of Maryland, College Park) |
| 75 |
Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent Systems |
Augustinos D Saravanos (Georgia Tech), Alexandros Tsolovikos (University of Texas at Austin), Efstathios Bakolas (University of Texas at Austin), Evangelos Theodorou (Georgia Tech) |
| 76 |
A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous Manipulation |
Pragna Mannam (CMU), Avi Rudich (CMU), Kevin L Zhang (CMU), Manuela Veloso (CMU), Oliver Kroemer (CMU), Zeynep Temel (CMU) |
| 77 |
Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning |
Kai-Chieh Hsu (Princeton University), Vicenç Rubies Royo (UC Berkeley), Claire Tomlin (UC Berkeley), Jaime F Fisac (Princeton University) |
| 78 |
Continuous Integration over SO(3) for IMU Preintegration |
Cedric Le Gentil (University of Technology Sydney), Teresa A. Vidal-Calleja (University of Technology Sydney) |
| 79 |
Safe Policies for Factored Partially Observable Stochastic Games |
Steven Carr (University of Texas at Austin), Nils Jansen (Radboud University Nijmegen), Sudarshanan Bharadwaj (University of Texas at Austin), Matthijs T. J. Spaan (Delft University of Technology), Ufuk Topcu (University of Texas at Austin) |
| 80 |
GROUNDED: The Localizing Ground Penetrating Radar Evaluation Dataset |
Teddy Ort (MIT), Igor Gilitschenski (MIT), Daniela Rus (MIT) |
| 81 |
Toward Certifiable Motion Planning for Medical Steerable Needles |
Mengyu Fu (University of North Carolina at Chapel Hill), Oren Salzman (Technion), Ron Alterovitz (University of North Carolina at Chapel Hill) |
| 82 |
Learning Riemannian Manifolds for Geodesic Motion Skills |
Hadi Beik-mohammadi (Bosch Center for Artificial Intelligence), Soren Hauberg (TU Denmark), Georgios Arvanitidis (MPI for Intelligent Systems, Tübingen), Gerhard Neumann (Karlsruhe Institute of Technology), Leonel Rozo (Bosch Center for Artificial Intelligence) |
| 83 |
Vector Semantic Representations as Descriptors for Visual Place Recognition |
Peer Neubert (TU Chemnitz), Stefan Schubert (TU Chemnitz), Kenny Schlegel (TU Chemnitz), Peter Protzel (TU Chemnitz) |
| 84 |
Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories |
Talha Kavuncu (UIUC), Ayberk Yaraneri (UIUC), Negar Mehr (UIUC) |
| 85 |
Towards finding the shortest-paths for 3D rigid bodies |
Weifu Wang (Baidu Research), Ping Li (Baidu Research) |
| 86 |
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control |
Thai P Duong (UC San Diego), Nikolay A Atanasov (UC San Diego) |
| 87 |
Filter-Based Online System-Parameter Estimation for Multicopter UAVs |
Christoph Böhm (Universität Klagenfurt), Martin Scheiber (Universität Klagenfurt), Stephan Weiss (Universität Klagenfurt) |
| 88 |
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study |
Jianlan Luo (Google), Oleg Sushkov (DeepMind), Rugile Pevceviciute (DeepMind), Wenzhao Lian (Google [X]), Chang Su (Google [X]), Mel Vecerik (University College London, Deepmind), Ning Ye (Google [X]), Stefan Schaal (Google), Jonathan Scholz (DeepMind) |
| 89 |
Surprisingly Robust In-Hand Manipulation: An Empirical Study |
Aditya Bhatt (TU Berlin), Adrian Sieler (TU Berlin), Steffen Puhlmann (TU Berlin), Oliver Brock (TU Berlin) |
| 90 |
Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown Environments |
Kush Grover (TU Munich), Fernando S Barbosa (KTH Royal Institute of Technology), Jana Tumova (KTH Royal Institute of Technology), Jan Kretinsky (TU Munich) |
| 91 |
Fast and Memory Efficient Graph Optimization via ICM for Visual Place Recognition |
Stefan Schubert (TU Chemnitz), Peer Neubert (TU Chemnitz), Peter Protzel (TU Chemnitz) |
| 92 |
RMP2: A Structured Composable Policy Class for Robot Learning |
Anqi Li (University of Washington), Ching-An Cheng (Microsoft), Muhammad Asif Rana (Georgia Tech), Man Xie (Georgia Tech), Karl Van Wyk (NVIDIA), Nathan Ratliff (NVIDIA), Byron Boots (University of Washington) |
