RSS

On the Sensory Commutativity of Action Sequences for Embodied Agents

Hugo Caselles-Dupré, Michael Garcia-Ortiz, David Filliat

Comments Accepted to RSS'20 Workshop on Self-Supervised Robot Learning & to the Workshop on Learning in Artificial Open Worlds at ICML20 & Extended abstract at AAMAS21

A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty

Valentin Peretroukhin, Matthew Giamou, David M. Rosen, W. Nicholas Greene, Nicholas Roy, Jonathan Kelly

Comments In Proceedings of Robotics: Science and Systems (RSS'20), Corvallis , Oregon, USA, Jul. 12-16, 2020

Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection

Lirui Wang, Yu Xiang, Dieter Fox

Journal ref Robotics: Science and Systems 2020

Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap

Jacky Liang, Saumya Saxena, Oliver Kroemer

Comments Published at Robotics: Science and Systems 2020

Inverting Learned Dynamics Models for Aggressive Multirotor Control

Alexander Spitzer, Nathan Michael

Comments Accepted at Robotics: Science and Systems (RSS), June 2019

Journal ref Proceedings of Robotics: Science and Systems, 2019

Planning and Execution using Inaccurate Models with Provable Guarantees

Anirudh Vemula, Yash Oza, J. Andrew Bagnell, Maxim Likhachev

Comments Accepted at RSS 2020. 12 pages, 5 figures. Code at https://github.com/vvanirudh/CMAX , video at https://youtu.be/eQmAeWIhjO8 and blog post at https://vvanirudh.github.io/blog/cmax

Spatial Action Maps for Mobile Manipulation

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser

Comments To appear at Robotics: Science and Systems (RSS), 2020. Project page: https://spatial-action-maps.cs.princeton.edu

Self-Supervised Localisation between Range Sensors and Overhead Imagery

Tim Y. Tang, Daniele De Martini, Shangzhe Wu, Paul Newman

Comments Robotics: Science and Systems (RSS) 2020

Event-Driven Visual-Tactile Sensing and Learning for Robots

Tasbolat Taunyazov, Weicong Sng, Hian Hian See, Brian Lim, Jethro Kuan, Abdul Fatir Ansari, Benjamin C. K. Tee, Harold Soh

Comments RSS 2020, Code and Datasets are available at https://clear-nus.github.io/visuotactile/index.html

Mitigating undesirable emergent behavior arising between driver and semi-automated vehicle

Timo Melman, Niek Beckers, David Abbink

Comments RSS 2020 Emergent behavior workshop

Self-Supervised Goal-Conditioned Pick and Place

Coline Devin, Payam Rowghanian, Chris Vigorito, Will Richards, Khashayar Rohanimanesh

Comments In RSS 2020 Visual Learning and Reasoning for Robotic Manipulation Workshop

Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints

Shushman Choudhury, Jayesh K. Gupta, Mykel J. Kochenderfer, Dorsa Sadigh, Jeannette Bohg

Comments Robotics Science and Systems (RSS) 2020; Source code at https://github.com/sisl/SCoBA.jl

Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks

Yifang Liu, Diego Romeres, Devesh K. Jha, Daniel Nikovski

Comments Published at a RSS20 workshop

Altruistic Decision-Making for Autonomous Driving with Sparse Rewards

Jack Geary, Henry Gouk

Comments 8 pages, 5 figures, submitted to RSS 2020: Interaction and Decision-Making in Autonomous-Driving Workshop

A Motion Taxonomy for Manipulation Embedding

David Paulius, Nicholas Eales, Yu Sun

Comments RSS 2020 Submission -- Corrected Several Errors in Paper (last updated July 13th, 2020)

Journal ref Proceedings of Robotics: Science and Systems 2020

Residual Policy Learning for Shared Autonomy

Charles Schaff, Matthew R. Walter

Comments Published at Robotics: Science and Systems 2020 (RSS)

PODDP: Partially Observable Differential Dynamic Programming for Latent Belief Space Planning

Dicong Qiu, Yibiao Zhao, Chris L. Baker

Comments 16 pages, 6 figures, preprint

Journal ref Robotics: Science and Systems, 2020. 69.1-69.10

Learning Manifolds for Sequential Motion Planning

Isabel M. Rayas Fernández, Giovanni Sutanto, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

Comments Accepted for presentation at the Robotics: Science and Systems (RSS) 2020 Workshop for Learning (in) Task and Motion Planning. Paper length is 4 pages (i.e. 3 pages of technical content and 1 page of the references)

Swoosh! Rattle! Thump! -- Actions that Sound

Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto

Comments To be presented at Robotics: Science and Systems 2020

Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping

Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan

Comments Camera-ready version for RSS 2020. Contains 8 pages, 7 figures

Journal ref Proceedings of Robotics: Science and Systems (2020)

Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving

Zhangjie Cao, Erdem Bıyık, Woodrow Z. Wang, Allan Raventos, Adrien Gaidon, Guy Rosman, Dorsa Sadigh

Comments 10 pages, 7 figures. Published at Robotics: Science and Systems (RSS) 2020

Online Domain Adaptation for Occupancy Mapping

Anthony Tompkins, Ransalu Senanayake, Fabio Ramos

Comments Robotics: Science and Systems (RSS) 2020 conference

Robust Multi-Agent Task Assignment in Failure-Prone and Adversarial Environments

Russell Schwartz, Pratap Tokekar

Comments 6 pages, 3 figures, 3 algorithms; submitted to the Workshop on Heterogeneous Multi-Robot Task Allocation and Coordination (RSS 2020)

Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles

Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger, Gregory Dudek

Comments RSS 2020. Video and project details can be found at http://www.cim.mcgill.ca/mrl/nav2goal/

Cable Manipulation with a Tactile-Reactive Gripper

Yu She, Shaoxiong Wang, Siyuan Dong, Neha Sunil, Alberto Rodriguez, Edward Adelson

Comments Accepted to RSS 2020

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine

Comments Robotics: Science and Systems (RSS) 2020 camera ready submission. Project website: https://sites.google.com/view/rss20avid

Robot Perception enables Complex Navigation Behavior via Self-Supervised Learning

Marvin Chancán, Michael Milford

Comments Submitted to RSS 2020 Workshop on Self-Supervised Robot Learning

MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models

Kumar Shaurya Shankar, Nathan Michael

Comments Paper to be published at RSS 2020

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation

Ahalya Prabhakar, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey

Journal ref Robotics: Science and Systems (RSS), 2020

Deep Drone Acrobatics

Elia Kaufmann, Antonio Loquercio, René Ranftl, Matthias Müller, Vladlen Koltun, Davide Scaramuzza

Comments 8 pages + 2 pages references. Video: https://youtu.be/2N_wKXQ6MXA. Code: https://github.com/uzh-rpg/deep_drone_acrobatics

Journal ref Robotics, Science, and Systems (RSS), 2020