RSS - arXivDaily 期刊&会议

2109.14152 2021-09-30 cs.RO cs.SY eess.SY

Lyapunov-stable neural-network control

Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake

Comments Published at Robotics: Science and Systems (RSS) in July, 2021

2109.09975 2021-09-24 cs.LG cs.AI cs.RO

Fast nonlinear risk assessment for autonomous vehicles using learned conditional probabilistic models of agent futures

Ashkan Jasour, Xin Huang, Allen Wang, Brian C. Williams

Comments Accepted at Autonomous Robots. Author version, with 11 pages, 5 figures, 2 tables. Journal extension of "Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures" (Wang et al. RSS 2020, arXiv:2005.13458)

2006.05478 2021-09-21 cs.RO

ToolNet: Using Commonsense Generalization for Predicting Tool Use for Robot Plan Synthesis

Rajas Bansal, Shreshth Tuli, Rohan Paul, Mausam

Comments Advances & Challenges in Imitation Learning for Robotics Workshop in Robotics Science and Systems (RSS) 2020. The first two authors contributed equally

2109.00097 2021-09-02 cs.RO cs.CV

Bio-inspired robot perception coupled with robot-modeled human perception

Tobias Fischer

Comments Paper accepted to the "Robotics: Science and Systems Pioneers Workshop 2021"

1807.01866 2021-08-27 cs.RO cs.HC

Multi-Task Trust Transfer for Human-Robot Interaction

Harold Soh, Yaqi Xie, Min Chen, David Hsu

Comments IJRR and RSS conference

2107.07501 2021-08-25 cs.RO cs.AI cs.GR

An End-to-End Differentiable Framework for Contact-Aware Robot Design

Jie Xu, Tao Chen, Lara Zlokapa, Michael Foshey, Wojciech Matusik, Shinjiro Sueda, Pulkit Agrawal

Comments Robotics: Science and Systems

2005.12813 2021-08-23 cs.RO cs.CV cs.SY eess.SY

AlphaPilot: Autonomous Drone Racing

Philipp Foehn, Dario Brescianini, Elia Kaufmann, Titus Cieslewski, Mathias Gehrig, Manasi Muglikar, Davide Scaramuzza

Comments This paper is an extended version of an accepted publication from Robotics: Science and Systems, 2020. This version has been accepted for publication in Autonomous Robots (Springer). Please cite as "AlphaPilot: Autonomous Drone Racing", P. Foehn, Autonomous Robots 2021. Associated video at https://youtu.be/DGjwm5PZQT8

2106.03611 2021-08-10 cs.RO cs.MA

Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations

Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo, Claire J. Tomlin, Cyrill Stachniss

Comments Submitted to RSS2021

2105.08169 2021-08-04 cs.RO cs.SY eess.SY

Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception

Zixu Zhang, Jaime F. Fisac

Comments To be appeared in Robotics: Science and Systems (RSS), 2021

2103.11512 2021-08-03 cs.AI cs.RO

Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study

Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jon Scholz

Comments RSS 2021

2107.13356 2021-07-29 cs.RO cs.AI

Value-Based Reinforcement Learning for Continuous Control Robotic Manipulation in Multi-Task Sparse Reward Settings

Sreehari Rammohan, Shangqun Yu, Bowen He, Eric Hsiung, Eric Rosen, Stefanie Tellex, George Konidaris

Comments 5 pages, 2 figures, published at RSS 2021 workshop: Advancing Artificial Intelligence and Manipulation for Robotics: Understanding Gaps, Industry and Academic Perspectives, and Community Building

2107.10653 2021-07-23 cs.RO cs.AI

Dialogue Object Search

Monica Roy, Kaiyu Zheng, Jason Liu, Stefanie Tellex

Comments 3 pages, 1 figure. Robotics: Science and Systems (RSS) 2021 Workshop on Robotics for People (R4P): Perspectives on Interaction, Learning and Safety. Extended Abstract

2107.09170 2021-07-21 cs.CV cs.AI cs.LG cs.RO

DeepSocNav: Social Navigation by Imitating Human Behaviors

Juan Pablo de Vicente, Alvaro Soto

Comments 6 pages, Accepted paper at the RSS Workshop on Social Robot Navigation 2021

2107.08898 2021-07-20 cs.RO

Towards synthesizing grasps for 3D deformable objects with physics-based simulation

Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki

Comments 4 pages, 5 figures. Published at Robotics: Science and Systems (RSS) 2021 Workshop on Deformable Object Simulation (DO-Sim)

2107.08067 2021-07-20 cs.RO cs.AI

DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation

Bao Thach, Alan Kuntz, Tucker Hermans

Comments Published at RSS 2021 Workshop on Deformable Object Simulation in Robotics; received Honorable Mention for Best Paper Award

2107.05778 2021-07-14 cs.RO

DefGraspSim: Simulation-based grasping of 3D deformable objects

Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

Comments 11 pages, 19 figures. For associated website and code repository, see https://sites.google.com/nvidia.com/defgraspsim and https://github.com/NVlabs/deformable_object_grasping. Published in DO-Sim: Workshop on Deformable Object Simulation in Robotics at Robotics: Science and Systems (RSS) 2021

2103.05661 2021-07-14 cs.AI cs.RO

On complementing end-to-end human behavior predictors with planning

Liting Sun, Xiaogang Jia, Anca D. Dragan

Journal ref Robotics: Science and Systems, 2021

2107.05627 2021-07-13 cs.LG cs.AI cs.CV cs.RO cs.SY eess.SY

Hierarchical Neural Dynamic Policies

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

Comments Accepted at RSS 2021. Videos and code at https://shikharbahl.github.io/hierarchical-ndps/

2107.05146 2021-07-13 cs.RO

Entropy Regularized Motion Planning via Stein Variational Inference

Alexander Lambert, Byron Boots

Comments RSS 2021 Workshop on Integrating Planning and Learning

2107.04939 2021-07-13 cs.RO

Toward Certifiable Motion Planning for Medical Steerable Needles

Mengyu Fu, Oren Salzman, Ron Alterovitz

Comments To be published in Robotics: Science and Systems (RSS) 2021

2107.04001 2021-07-13 cs.RO

Incorporating Gaze into Social Navigation

Justin Hart, Reuth Mirsky, Xuesu Xiao, Peter Stone

Comments Accepted for publication in the Robotics: Science and Systems Workshop on Social Robot Navigation (RSS 2021)

2107.04034 2021-07-09 cs.LG cs.AI cs.CV cs.RO

RMA: Rapid Motor Adaptation for Legged Robots

Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik

Comments RSS 2021. Webpage at https://ashish-kmr.github.io/rma-legged-robots/

2107.04000 2021-07-09 cs.LG cs.AI cs.CV cs.RO

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees

Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held

Comments 18 pages, Published at Robotics: Science and Systems (RSS) 2021

2005.07648 2021-07-09 cs.RO cs.AI cs.CL cs.CV

Language Conditioned Imitation Learning over Unstructured Data

Corey Lynch, Pierre Sermanet

Comments Published at RSS 2021

2107.02498 2021-07-07 cs.RO math.OC

Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning

Andreas Orthey, Florian T. Pokorny, Marc Toussaint

Comments 5 pages, Extended Abstract for RSS Workshop on Geometry and Topology in Robotics

2106.14729 2021-07-06 cs.CV cs.RO

Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors

Simon Bultmann, Sven Behnke

Comments Accepted for Robotics: Science and Systems (RSS), July 2021, 10 pages, 6 figures

Journal ref Proceedings of Robotics: Science and Systems, July 2021

2107.00683 2021-07-05 cs.RO cs.AI

Active Learning of Abstract Plan Feasibility

Michael Noseworthy, Caris Moses, Isaiah Brand, Sebastian Castro, Leslie Kaelbling, Tomás Lozano-Pérez, Nicholas Roy

Comments To appear in Robotics: Science and Systems 2021

2107.00339 2021-07-02 cs.RO cs.AI cs.LG

Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding

Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J. Lim

Comments Robotics: Science and Systems (RSS), 2021

2105.14152 2021-07-02 cs.RO

Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning

Keenan Burnett, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot

Comments Accepted to Robotics Science and Systems 2021

2106.15045 2021-06-30 cs.CV cs.AI cs.RO

EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following

Nitin J. Sanket, Chahat Deep Singh, Chethan M. Parameshwara, Cornelia Fermüller, Guido C. H. E. de Croon, Yiannis Aloimonos

Comments 11 pages, 10 figures, 6 tables. Accepted in Robotics: Science and Systems (RSS) 2021