RSS

LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments

Federico Ceola, Lorenzo Natale, Niko Sünderhauf, Krishan Rana

Comments RSS 2024 Workshop on Data Generation for Robotics

RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing

Bo Ai, Stephen Tian, Haochen Shi, Yixuan Wang, Cheston Tan, Yunzhu Li, Jiajun Wu

Comments Robotics: Science and Systems (RSS), 2024. Project page: https://robo-pack.github.io/

CAMON: Cooperative Agents for Multi-Object Navigation with LLM-based Conversations

Pengying Wu, Yao Mu, Kangjie Zhou, Ji Ma, Junting Chen, Chang Liu

Comments Accepted to the RSS 2024 Workshop: GROUND

An abstract theory of sensor eventification

Yulin Zhang, Dylan A. Shell

Comments 21 pages, 14 figures

Journal ref Robotics: Science and Systems 2024

NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation

Jiazhao Zhang, Kunyu Wang, Rongtao Xu, Gengze Zhou, Yicong Hong, Xiaomeng Fang, Qi Wu, Zhizheng Zhang, He Wang

Comments Accepted by Robotics: Science and Systems (RSS 2024)

Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies

Mike Allenspach, Michael Pantic, Rik Girod, Lionel Ott, Roland Siegwart

Comments 9 pages; Robotics, Science and Systems (RSS) 2024

Journal ref Robotics, Science and Systems (RSS) 2024

Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots

Haimin Hu, Gabriele Dragotto, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato, Jaime F. Fisac

Comments Robotics: Science and Systems (RSS) 2024

Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty

Yupeng Yang, Yiwei Lyu, Yanze Zhang, Sha Yi, Wenhao Luo

Comments Accepted by RSS 2024

Demonstrating Agile Flight from Pixels without State Estimation

Ismail Geles, Leonard Bauersfeld, Angel Romero, Jiaxu Xing, Davide Scaramuzza

Journal ref Robotics: Science and Systems (RSS), 2024

Stein Variational Ergodic Search

Darrick Lee, Cameron Lerch, Fabio Ramos, Ian Abraham

Comments 16 pages, 12 figures, accepted to Robotics: Science and Systems 2024

One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation

Xinyu Zhang, Abdeslam Boularias

Comments RSS 2024

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza

Comments 12 pages, 6 figures

Journal ref Robotics: Science and Systems (RSS), 2024

RVT-2: Learning Precise Manipulation from Few Demonstrations

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, Dieter Fox

Comments Accepted to RSS 2024

iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping

Daniel McGann, Michael Kaess

Comments Accepted to Robotic Science and Systems (RSS) 2024 in Delft, Netherlands

Demonstrating HumanTHOR: A Simulation Platform and Benchmark for Human-Robot Collaboration in a Shared Workspace

Chenxu Wang, Boyuan Du, Jiaxin Xu, Peiyan Li, Di Guo, Huaping Liu

Comments In RSS 2024

iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce Communication

Zhuoli Tian, Yuyang Zhang, Jinsheng Wei, Meng Guo

Comments Accepted at RSS 2024

POAM: Probabilistic Online Attentive Mapping for Efficient Robotic Information Gathering

Weizhe Chen, Lantao Liu, Roni Khardon

Comments Robotics: Science and Systems (RSS), 2024. https://github.com/Weizhe-Chen/POAM

Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning

Xiaoyu Zhang, Matthew Chang, Pranav Kumar, Saurabh Gupta

Comments Accepted by Robotics: Science and Systems (RSS) 2024. project website with video, see https://sites.google.com/view/diffusion-meets-dagger

Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking

Clayton W. Ramsey, Zachary Kingston, Wil Thomason, Lydia E. Kavraki

Comments 9 pages, 4 figures. Robotics: Science and Systems 2024

Octopi: Object Property Reasoning with Large Tactile-Language Models

Samson Yu, Kelvin Lin, Anxing Xiao, Jiafei Duan, Harold Soh

Comments Accepted at Robotics: Science and Systems (R:SS 2024)

RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, Yuke Zhu

Comments RSS 2024

Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters

Yitong Li, Ruihai Wu, Haoran Lu, Chuanruo Ning, Yan Shen, Guanqi Zhan, Hao Dong

Comments RSS 2024

DrEureka: Language Model Guided Sim-To-Real Transfer

Yecheng Jason Ma, William Liang, Hung-Ju Wang, Sam Wang, Yuke Zhu, Linxi Fan, Osbert Bastani, Dinesh Jayaraman

Comments Robotics: Science and Systems (RSS) 2024. Project website and open-source code: https://eureka-research.github.io/dr-eureka/

Configuration Space Distance Fields for Manipulation Planning

Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon

Comments 13 pages, 10 figures. Accepted to Robotics: Science and Systems(RSS), 2024

Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments

Linh Kästner, Volodymyir Shcherbyna, Huajian Zeng, Tuan Anh Le, Maximilian Ho-Kyoung Schreff, Halid Osmaev, Nam Truong Tran, Diego Diaz, Jan Golebiowski, Harold Soh, Jens Lambrecht

Comments 11 pages, 6 figures

Journal ref Robotics Science and Systems 2024, Delft Netherlands

Learning Manipulation by Predicting Interaction

Jia Zeng, Qingwen Bu, Bangjun Wang, Wenke Xia, Li Chen, Hao Dong, Haoming Song, Dong Wang, Di Hu, Ping Luo, Heming Cui, Bin Zhao, Xuelong Li, Yu Qiao, Hongyang Li

Comments Accepted to RSS 2024. Project page: https://github.com/OpenDriveLab/MPI

Constrained Dynamics Simulation: More With Less

Ajay Suresha Sathya

Comments Accepted submission to RSS:24 Pioneers Workshop

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers

Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros

Comments RSS 2024

URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images

Zoey Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang, Karthikeya Vemuri, Alan Wu, Dieter Fox, Abhishek Gupta

Comments Accepted at RSS2024

InterPreT: Interactive Predicate Learning from Language Feedback for Generalizable Task Planning

Muzhi Han, Yifeng Zhu, Song-Chun Zhu, Ying Nian Wu, Yuke Zhu

Comments RSS 2024; https://interpret-robot.github.io