RSS

Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering

Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki

Comments Accpeted at Robotics: Science and Systems 2024

Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning

Vitalis Vosylius, Younggyo Seo, Jafar Uruç, Stephen James

Comments Robotics: Science and Systems (RSS) 2024. Videos are available on our project webpage at https://vv19.github.io/render-and-diffuse/

World Models for General Surgical Grasping

Hongbin Lin, Bin Li, Chun Wai Wong, Juan Rojas, Xiangyu Chu, Kwok Wai Samuel Au

Journal ref Robotics: Science and Systems 2024

THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation

Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, Dieter Fox

Comments RSS 2024. 33 pages

Efficient Data Collection for Robotic Manipulation via Compositional Generalization

Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh

Comments RSS 2024

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Tairan He, Chong Zhang, Wenli Xiao, Guanqi He, Changliu Liu, Guanya Shi

Comments Published at RSS 2024, Project website: https://agile-but-safe.github.io/

Practice Makes Perfect: Planning to Learn Skill Parameter Policies

Nishanth Kumar, Tom Silver, Willie McClinton, Linfeng Zhao, Stephen Proulx, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Jennifer Barry

Comments RSS 2024

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments

Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone

Comments Accepted to Robotics: Science and Systems, 2024. Code to be released at https://github.com/MIT-SPARK/Khronos Video available at https://www.youtube.com/watch?v=YsH6YIL5_kc

Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map

Liang Zhao, Yingyu Wang, Shoudong Huang

Comments This paper has been accpeted by Robotics: Science and Systems 2022

Journal ref Robotics: Science and Systems 2022

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox

Comments http://anyteleop.com/ Robotics: Science and Systems 2023

JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments

Nikhil Uday Shinde, Xiao Liang, Fei Liu, Yutong Zhang, Florian Richter, Sylvia Herbert, Michael C. Yip

Comments Accepted at RSS 2024

Action Conditioned Tactile Prediction: case study on slip prediction

Willow Mandil, Kiyanoush Nazari, Amir Ghalamzan E

Comments Proceeding of Robotics: Science and Systems (RSS 2022)

RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes

Kyle Stachowicz, Sergey Levine

Comments In review, RSS 2024

FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects

Ben Eisner, Harry Zhang, David Held

Comments Accepted to Robotics Science and Systems (RSS) 2022, Best Paper Finalist

Learned Visual Navigation for Under-Canopy Agricultural Robots

Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino, Che Ellis, Andres Eduardo Baquero Velasquez, Girish Chowdhary, Saurabh Gupta

Comments RSS 2021. Project website with data and videos: https://ansivakumar.github.io/learned-visual-navigation/

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, Shuran Song

Comments An extended journal version of the original RSS2023 paper

Human Robot Pacing Mismatch

Muchen Sun, Peter Trautman, Todd Murphey

Comments Accepted to 2022 Robotics: Science and Systems (RSS) Workshop in Close Proximity Human-Robot Collaboration

ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of Objects

Son Tien Bui, Shinya Kawano, Van Anh Ho

Comments 9 pages, 9 figures, RSS2023 conference

Journal ref Robotics: Science and System 2023

A versatile robotic hand with 3D perception, force sensing for autonomous manipulation

Nikolaus Correll, Dylan Kriegman, Stephen Otto, James Watson

Comments RSS Workshop on Perception and Manipulation Challenges for Warehouse Automation, Daejeon, Korea

R$\times$R: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training

Gagan Khandate, Tristan L. Saidi, Siqi Shang, Eric T. Chang, Yang Liu, Seth Dennis, Johnson Adams, Matei Ciocarlie

Comments 20 pages, 14 figures, submitted to Autonomous Robots, RSS 2023 Special Issue. arXiv admin note: substantial text overlap with arXiv:2303.03486

Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement

Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher Atkeson, Katerina Fragkiadaki

Comments First two authors contributed equally | RSS 2023

Singing the Body Electric: The Impact of Robot Embodiment on User Expectations

Nathaniel Dennler, Stefanos Nikolaidis, Maja Matarić

Comments Presented at the RSS Workshop on Social Intelligence in Humans and Robots, 2023

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach

Max Bajracharya, James Borders, Richard Cheng, Dan Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland

Comments Presented at RSS 2023 [Best Demo Paper Award]

A Two-stage Fine-tuning Strategy for Generalizable Manipulation Skill of Embodied AI

Fang Gao, XueTao Li, Jun Yu, Feng Shaung

Comments 5 pages, 2 figures, 5 tables, accept by Robotics: Science and Systems 2023 - Workshop Interdisciplinary Exploration of Generalizable Manipulation Policy Learning:Paradigms and Debates

VidereX: A Navigational Application inspired by ants

Nam Ho Koh, Doran Amos, Paul Graham, Andrew Philippides

Comments 6 pages, 7 figures, Workshop on Rapid and Robust Robotic Active Learning (R3AL) - Robotics: Science and Systems 2023 (RSS 2023)

DoUnseen: Tuning-Free Class-Adaptive Object Detection of Unseen Objects for Robotic Grasping

Anas Gouda, Moritz Roidl

Comments presented at RSS 2023 Workshop on Perception and Manipulation Challenges for Warehouse Automation

Evolutionary Curriculum Training for DRL-Based Navigation Systems

Max Asselmeier, Zhaoyi Li, Kelin Yu, Danfei Xu

Comments Robotics: Science and Systems

ConceptFusion: Open-set Multimodal 3D Mapping

Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Alaa Maalouf, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, Joshua B. Tenenbaum, Celso Miguel de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba

Comments RSS 2023. Project page: https://concept-fusion.github.io Explainer video: https://www.youtube.com/watch?v=rkXgws8fiDs Code: https://github.com/concept-fusion/concept-fusion

Causal Policy Gradient for Whole-Body Mobile Manipulation

Jiaheng Hu, Peter Stone, Roberto Martín-Martín

Journal ref Robotics: science and systems. 2023

RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot

Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, Cewu Lu

Comments RSS 2023 workshop on LTAMP. The project page is at rh20t.github.io