RSS

Language-Conditioned Change-point Detection to Identify Sub-Tasks in Robotics Domains

Divyanshu Raj, Chitta Baral, Nakul Gopalan

Comments 9 Pages, 13 figures, Accepted paper at the RSS 2023 Workshop on Articulate Robots: Utilizing Language for Robot Learning

Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility

Malintha Fernando, Ransalu Senanayake, Heeyoul Choi, Martin Swany

Comments Accepted to Robotics: Science and Systems, 2023. 14 pages, 13 figures, 3 tables

Journal ref Robotics: Science and Systems, 2023

Structured World Models from Human Videos

Russell Mendonca, Shikhar Bahl, Deepak Pathak

Comments RSS 2023. Website at https://human-world-model.github.io

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment

Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd Murphey, Mustafa Mukadam

Comments Robotics: Science and Systems (RSS), 2023

Embracing Safe Contacts with Contact-aware Planning and Control

Zhaoting Li, Miguel Zamora, Hehui Zheng, Stelian Coros

Comments RSS 2023. Workshop: Experiment-oriented Locomotion and Manipulation Research

Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features

Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg

Comments RSS 2023, site: https://sites.google.com/berkeley.edu/ssvtp

Learning Interpretable, High-Performing Policies for Autonomous Driving

Rohan Paleja, Yaru Niu, Andrew Silva, Chace Ritchie, Sugju Choi, Matthew Gombolay

Comments Robotics Science and Systems 2022

Exploiting Structure for Optimal Multi-Agent Bayesian Decentralized Estimation

Christopher Funk, Ofer Dagan, Benjamin Noack, Nisar R. Ahmed

Comments 4 pages, 4 figures. presented at the Inference and Decision Making for Autonomous Vehicles (IDMAV) RSS 2023 workshop

SAR: Generalization of Physiological Agility and Dexterity via Synergistic Action Representation

Cameron Berg, Vittorio Caggiano, Vikash Kumar

Comments Presented at RSS 2023

Fundamental Limits for Sensor-Based Robot Control

Anirudha Majumdar, Zhiting Mei, Vincent Pacelli

Comments Extended version of paper presented at the 2022 Robotics: Science and Systems (RSS) conference

Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation

Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox

Comments 5 pages, Workshop on Learning for Task and Motion Planning (RSS2023)

NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects

Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard

Comments 15 Pages and 12 figures. Accepted to RSS 2023. Project webpage: https://neuse-slam.github.io/neuse/

Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven Approach

Hann Woei Ho, Ye Zhou

Journal ref Proceedings of Robotics: Science and Systems 2023

Density-based Feasibility Learning with Normalizing Flows for Introspective Robotic Assembly

Jianxiang Feng, Matan Atad, Ismael Rodríguez, Maximilian Durner, Stephan Günnemann, Rudolph Triebel

Comments Accepted to the RSS 2023 Robotic Assembly Workshop

Euclidean Equivariant Models for Generative Graphical Inverse Kinematics

Oliver Limoyo, Filip Marić, Matthew Giamou, Petra Alexson, Ivan Petrović, Jonathan Kelly

Comments Proceedings of the Robotics: Science and Systems (RSS'23) Workshop on Symmetries in Robot Learning, Daegu, Republic of Korea, Jul. 10, 2023. arXiv admin note: substantial text overlap with arXiv:2209.08812

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning

Lintong Zhang, Tejaswi Digumarti, Georgi Tinchev, Maurice Fallon

Journal ref Robotics: Science and Systems (RSS) 2023

Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment

Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu

Comments Robotics: Science and Systems (RSS), 2023

POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments

Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L. Waslander, Angela P. Schoellig

Comments Published in Robotics: Science and Systems (RSS) 2023

Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models

Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson

Comments Published as a conference paper at RSS 2023

Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

Comments Experiment-oriented Locomotion and Manipulation Research, RSS 2023 workshop. arXiv admin note: text overlap with arXiv:2306.10133

Dynamic-Resolution Model Learning for Object Pile Manipulation

Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-Fei, Jiajun Wu

Comments Accepted to Robotics: Science and Systems (RSS) 2023. The first two authors contributed equally. Project Page: https://robopil.github.io/dyn-res-pile-manip

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIO

Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza

Journal ref Robotics: Science and Systems (RSS) 2023

Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success

Shuai Li, Azarakhsh Keipour, Kevin Jamieson, Nicolas Hudson, Charles Swan, Kostas Bekris

Comments Robotics: Science and Systems (RSS 2023) conference, July 10 - 14, 2023, Daegu, Republic of Korea

Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception

Junwon Seo, Jungwi Mun, Taekyung Kim

Comments RSS 2023 Workshop on Inference and Decision Making for Autonomous Vehicles (IDMAV)

Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination

I Made Aswin Nahrendra, Minho Oh, Byeongho Yu, Hyungtae Lim, Hyun Myung

Comments RSS 2023 Workshop on Experiment-oriented Locomotion and Manipulation Research

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments

Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held

Comments RSS 2023. Last two authors: equal advising

Path Planning for Multiple Tethered Robots Using Topological Braids

Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, Lihua Xie

Comments Accepted for presentation in Robotics: Science and Systems 2023

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning

Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser

Comments 10 pages, 9 figures, to be published in RSS 2023

Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators

Dongwon Son, Beomjoon Kim

Comments RSS 2023 https://sites.google.com/view/locc-rss2023/home

Data-Link: High Fidelity Manufacturing Datasets for Model2Real Transfer under Industrial Settings

Sunny Katyara, Mohammad Mujtahid, Court Edmondson

Comments RSS 2023