RSS

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets

Thomas Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake

Comments 14 pages, 11 figures. To appear at RSS 2023. Interactive results available at https://ggcs-anonymous-submission.github.io/

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors

Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L. Waslander

Comments Robotics: Science and Systems (RSS 2023)

Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators

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 Kelly Fu, Bob Wei, Sangeetha Ramesh, Khem Holden, Kim Kleiven, David Rendleman, Sean Kirmani, Jeff Bingham, Jon 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

Comments Published at Robotics: Science and Systems 2023

CCIL: Context-conditioned imitation learning for urban driving

Ke Guo, Wei Jing, Junbo Chen, Jia Pan

Comments Accepted by Robotics: Science and Systems

An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots

Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian Lu, Yue Wang

Comments Robotics: Science and Systems 2023

StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects

Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton

Comments Accepted to Robotics: Science and Systems (RSS) 2023. The previous version appeared in CoRL Workshop on Language and Robot Learning 2022

SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces

Zayne Sprague, Rohan Chandra, Jarrett Holtz, Joydeep Biswas

Comments Submitted to RSS 2023

MQA: Answering the Question via Robotic Manipulation

Yuhong Deng, Di Guo, Xiaofeng Guo, Naifu Zhang, Huaping Liu, Fuchun Sun

Comments has been accepted by Robotics: Science and Systems 2021

Journal ref Robotics: Science and System (RSS2021)

Collocation methods for second and higher order systems

Siro Moreno-Martín, Lluís Ros, Enric Celaya

Comments 21 pages, 7 figures, 5 tables. Submitted to Autonomous Robots RSS 2022 special issue

Optimal Control of Granular Material

Yuichiro Aoyama, Amin Haeri, Evangelos A. Theodorou

Comments 9 pages, 4 figures, submitted to RSS 2023

Multimodal Robot Programming by Demonstration: A Preliminary Exploration

Gopika Ajaykumar, Chien-Ming Huang

Comments 6 pages, 6 figures, 2021 RSS Workshop on Accessibility of Robot Programming and the Work of the Future

ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints

Dhruv Shah, Sergey Levine

Comments Best Systems Paper Finalist at XVII Robotics: Science and Systems (RSS 2022), New York City, USA. Project page https://sites.google.com/view/viking-release

Collision Probabilities for Continuous-Time Systems Without Sampling [with Appendices]

Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How

Comments Presented at RSS 2020. Updated version contains restructured proofs and analysis, as well as as a number of notational tweaks throughout

SymForce: Symbolic Computation and Code Generation for Robotics

Hayk Martiros, Aaron Miller, Nathan Bucki, Bradley Solliday, Ryan Kennedy, Jack Zhu, Tung Dang, Dominic Pattison, Harrison Zheng, Teo Tomic, Peter Henry, Gareth Cross, Josiah VanderMey, Alvin Sun, Samuel Wang, Kristen Holtz

Comments 10 pages, 5 figures. RSS 2022

Equivariant Transporter Network

Haojie Huang, Dian Wang, Robin Walters, Robert Platt

Comments Project Website: https://haojhuang.github.io/etp_page/

Journal ref RSS 2022

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu

Comments RSS 2022 Best Student Paper Award Finalist. Please check out more details at https://b0ku1.github.io/acid/

Journal ref Robotics: Science and Systems (RSS), 2022

Solving the Baby Intuitions Benchmark with a Hierarchically Bayesian Theory of Mind

Tan Zhi-Xuan, Nishad Gothoskar, Falk Pollok, Dan Gutfreund, Joshua B. Tenenbaum, Vikash K. Mansinghka

Comments 6 pages, 2 figures. Presented at the Robotics: Science and Systems 2022 Workshop on Social Intelligence in Humans and Robots

Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Aravind Sivakumar, Kenneth Shaw, Deepak Pathak

Comments RSS 2022 final version. Website and demos at https://robotic-telekinesis.github.io/

Data Augmentation for Manipulation

Peter Mitrano, Dmitry Berenson

Comments Robotics Science and Systems (RSS) 2022 Project Website: https://sites.google.com/view/data-augmentation4manipulation

Human-to-Robot Imitation in the Wild

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

Comments Published at RSS 2022. Demos at https://human2robot.github.io

POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes

Jingxing Qian, Veronica Chatrath, Jun Yang, James Servos, Angela P. Schoellig, Steven L. Waslander

Comments Published in Robotics: Science and Systems (RSS) 2022

Ab Initio Particle-based Object Manipulation

Siwei Chen, Xiao Ma, Yunfan Lu, David Hsu

Comments Robotics: Science and Systems (RSS) 2021

Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice

Duy-Nguyen Ta, Eric Cousineau, Huihua Zhao, Siyuan Feng

Comments Submitted to RSS 2022 Workshop: Implicit Representations for Robotic Manipulation (https://imrss2022.github.io)

A Local Optimization Framework for Multi-Objective Ergodic Search

Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset

Comments Robotics: Science and Systems 2022

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions

Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox

Comments RSS 2022 Workshop on Implicit Representations for Robotic Manipulation

Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation

Zixuan Huang, Xingyu Lin, David Held

Comments RSS 2022, $\href{https://sites.google.com/view/occlusion-reason/home}{\text{project website}}$

Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding

William Chen, Siyi Hu, Rajat Talak, Luca Carlone

Comments 4 pages (excluding references and appendix), 2 figures, 2 tables. Submitted to Robotics: Science and Systems 2022 2nd Workshop on Scaling Robot Learning. Corrected typos and notation

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Nathan Hughes, Yun Chang, Luca Carlone

Comments 13 pages, 10 figures, published in Robotics Science and Systems (RSS) 2022 proceedings

Decentralized Safe Multi-agent Stochastic Optimal Control using Deep FBSDEs and ADMM

Marcus A. Pereira, Augustinos D. Saravanos, Oswin So, Evangelos A. Theodorou

Journal ref Robotics: Science and Systems (RSS), 2022

Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization

Gilhyun Ryou, Ezra Tal, Sertac Karaman

Comments Accepted to appear at Robotics: Science and Systems 2022. Video at https://youtu.be/rxQiNeXvLTc