RSS

DICP: Doppler Iterative Closest Point Algorithm

Bruno Hexsel, Heethesh Vhavle, Yi Chen

Comments Accepted at Robotics: Science and Systems (RSS) 2022

Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learning

Maximilian Du, Olivia Y. Lee, Suraj Nair, Chelsea Finn

Journal ref Robotics Science and Systems (RSS) 2022

End-to-End Learning of Hybrid Inverse Dynamics Models for Precise and Compliant Impedance Control

Moritz Reuss, Niels van Duijkeren, Robert Krug, Philipp Becker, Vaisakh Shaj, Gerhard Neumann

Comments Accepted for publication at Robotics: Science and System XVIII (RSS), year 2022. Paper length is 13 pages (i.e. 9 pages of technical content, 1 page of the Bibliography/References and 3 pages of Appendix)

Collision Detection Accelerated: An Optimization Perspective

Louis Montaut, Quentin Le Lidec, Vladimir Petrik, Josef Sivic, Justin Carpentier

Comments RSS 2022, 12 pages, 9 figures, 2 tables

Journal ref Robotics: Science and Systems 2022

Invariance Through Latent Alignment

Takuma Yoneda, Ge Yang, Matthew R. Walter, Bradly Stadie

Comments To appear in RSS 2022. Here's our project page: https://invariance-through-latent-alignment.github.io

FaDIV-Syn: Fast Depth-Independent View Synthesis using Soft Masks and Implicit Blending

Andre Rochow, Max Schwarz, Michael Weinmann, Sven Behnke

Comments Accepted to Robotics: Science and Systems (RSS) 2022

AK: Attentive Kernel for Information Gathering

Weizhe Chen, Roni Khardon, Lantao Liu

Comments Proceedings of Robotics: Science and Systems (RSS), 2022. https://weizhe-chen.github.io/attentive_kernels/

CURL: Continuous, Ultra-compact Representation for LiDAR

Kaicheng Zhang, Ziyang Hong, Shida Xu, Sen Wang

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

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath

Comments Accepted in Proceedings of Robotics: Science and Systems 2022 (RSS 2022)

Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection

Thomas Power, Dmitry Berenson

Comments Robotics: Science and Systems (RSS) 2022

Factory: Fast Contact for Robotic Assembly

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox

Comments Accepted to Robotics: Science and Systems (RSS) 2022

RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networks

Haochen Shi, Huazhe Xu, Zhiao Huang, Yunzhu Li, Jiajun Wu

Comments Accepted by Robotics: Science and Systems 2022; Project page: http://hxu.rocks/robocraft/

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

Journal ref Robotics: Science and Systems (RSS) 2022

Rapid Locomotion via Reinforcement Learning

Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, Pulkit Agrawal

Comments Accepted for publication at Robotics: Science and Systems (RSS) 2022

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam

Comments Published in Robotics: Science and Systems (RSS) 2022. Project page: https://joeaortiz.github.io/iSDF/

Traversing Supervisor Problem: An Approximately Optimal Approach to Multi-Robot Assistance

Tianchen Ji, Roy Dong, Katherine Driggs-Campbell

Comments RSS 2022 Camera Ready Version

PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration

Lillian Clark, Jeffrey A. Edlund, Marc Sanchez Net, Tiago Stegun Vaquero, Ali-akbar Agha-mohammadi

Comments Robotics: Science and Systems 2022, 8 pages

Certifiable Robot Design Optimization using Differentiable Programming

Charles Dawson, Chuchu Fan

Comments Accepted for RSS 2022

DextAIRity: Deformable Manipulation Can be a Breeze

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song

Comments RSS 2022. Project page: https://dextairity.cs.columbia.edu/

Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation

Yunho Kim, Chanyoung Kim, Jemin Hwangbo

Comments Accepted to Robotics: Science and Systems (RSS 2022)

Control-oriented meta-learning

Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

Comments First published in Robotics: Science and Systems (RSS) 2021. This extended version is under review for a special issue in the International Journal of Robotics Research (IJRR). arXiv admin note: substantial text overlap with arXiv:2103.04490

Parameterized Differential Dynamic Programming

Alex Oshin, Matthew D. Houghton, Michael J. Acheson, Irene M. Gregory, Evangelos A. Theodorou

Comments Submitted to RSS 2022

DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting

Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos

Comments Extended version of our RSS 2021 paper arXiv:2105.12244

Multimodal Maximum Entropy Dynamic Games

Oswin So, Kyle Stachowicz, Evangelos A. Theodorou

Comments Under review for RSS 2022. Supplementary Video: https://youtu.be/7molN_Q38dk

Surprisingly Robust In-Hand Manipulation: An Empirical Study

Aditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock

Comments Published in Robotics: Science and Systems 2021. Proceedings at http://www.roboticsproceedings.org/rss17/p089.html Spotlight talk at https://youtu.be/2vwdP4WjGoQ Complete video playlist at https://www.youtube.com/playlist?list=PLb-CNILz7vmt6Ae_yD9i15TrCw0S8bKCn

Journal ref Proceedings of Robotics: Science and Systems, 2021

Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning

Kai-Chieh Hsu, Vicenç Rubies-Royo, Claire J. Tomlin, Jaime F. Fisac

Comments Accepted in Robotics: Science and Systems (RSS), 2021

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Leonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza

Comments 9 pages + 1 pages references

Journal ref Robotics: Science and Systems (RSS), 2021

Multi-Adversarial Safety Analysis for Autonomous Vehicles

Gilbert Bahati, Marsalis Gibson, Alexandre Bayen

Comments 2 pages. 4 figures. RSS 2020 Workshop Robust Autonomy

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control

Thai Duong, Nikolay Atanasov

Comments Accepted to RSS 2021. Website: https://thaipduong.github.io/SE3HamDL/

Pareto Monte Carlo Tree Search for Multi-Objective Informative Planning

Weizhe Chen, Lantao Liu

Comments Proceeding in Robotics: Science and Systems (RSS) 2019 (http://www.roboticsproceedings.org/rss15/p72.html)