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Viewing Publication 1 - 100 from 1191

2023

CLIP-Fields: Weakly Supervised Semantic Fields for Robotic MemoryNur Muhammad (Mahi) Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, Arthur Szlam. rss 2023: [doi]

GranularGym: High Performance Simulation for Robotic Tasks with Granular MaterialsDavid Millard 0001, Daniel Pastor, Joseph Bowkett, Paul Backes, Gaurav S. Sukhatme. rss 2023: [doi]

Learning-Free Grasping of Unknown Objects Using Hidden SuperquadricsYuwei Wu 0002, Weixiao Liu, Zhiyang Liu, Gregory S. Chirikjian. rss 2023: [doi]

Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network DynamicsTaekyung Kim 0003, Jungwi Mun, Junwon Seo, Beomsu Kim, Seongil Hong. rss 2023: [doi]

CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space DataSheng Zhong 0004, Dmitry Berenson, Nima Fazeli. rss 2023: [doi]

RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion PlanningChallen Enninful Adu, Jinsun Liu, Lucas Lymburner, Vishrut Kaushik, Lena Trang, Ram Vasudevan. rss 2023: [doi]

Autonomous Navigation, Mapping and Exploration with Gaussian ProcessesMahmoud Ali, Hassan Jardali, Nicholas Roy, Lantao Liu. rss 2023: [doi]

Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed BanditsSiddharth Ancha, Gaurav Pathak, Ji Zhang, Srinivasa G. Narasimhan, David Held. rss 2023: [doi]

Task-Aware Risk Estimation of Perception Failures for Autonomous VehiclesPasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone 0001. rss 2023: [doi]

On discrete symmetries of robotics systems: A group-theoretic and data-driven analysisDaniel Felipe Ordoñez Apraez, Mario Martín, Antonio Agudo, Francesc Moreno. rss 2023: [doi]

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven ApproachMax Bajracharya, James Borders, Richard Cheng, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel 0002, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland. rss 2023: [doi]

Robotics: Science and Systems XIX, Daegu, Republic of Korea, July 10-14, 2023Kostas E. Bekris, Kris Hauser, Sylvia L. Herbert, Jingjin Yu, editors, 2023. [doi]

SAR: Generalization of Physiological Dexterity via Synergistic Action RepresentationCameron H. Berg, Vittorio Caggiano, Vikash Kumar. rss 2023: [doi]

ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of ObjectsSon Tien Bui, Shinya Kawano, Van Anh Ho. rss 2023: [doi]

Path Planning for Multiple Tethered Robots Using Topological BraidsMuqing Cao, Kun Cao 0002, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, Lihua Xie. rss 2023: [doi]

How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic FrontiersJunting Chen, Guohao Li, Suryansh Kumar, Bernard Ghanem, Fisher Yu. rss 2023: [doi]

GenAug: Retargeting behaviors to unseen situations via Generative AugmentationZoey Qiuyu Chen, Shosuke C. Kiami, Abhishek Gupta 0004, Vikash Kumar. rss 2023: [doi]

Diffusion Policy: Visuomotor Policy Learning via Action DiffusionCheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song. rss 2023: [doi]

Gait design for limbless obstacle aided locomotion using geometric mechanicsBaxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset, Daniel I. Goldman, Grigoriy Blekherman. rss 2023: [doi]

HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIOGiovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza 0001. rss 2023: [doi]

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex SetsThomas Cohn, Mark Petersen, Max Simchowitz, Russ Tedrake. rss 2023: [doi]

Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier FunctionsRyan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames. rss 2023: [doi]

PATO: Policy Assisted TeleOperation for Scalable Robot Data CollectionShivin Dass, Karl Pertsch, Hejia Zhang, Youngwoon Lee, Joseph J. Lim, Stefanos Nikolaidis. rss 2023: [doi]

Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile FeedbackMark J. Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli. rss 2023: [doi]

Time Optimal Ergodic SearchDayi E. Dong, Henry P. Berger, Ian Abraham. rss 2023: [doi]

Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled DatasetsMaximilian Du, Suraj Nair, Dorsa Sadigh, Chelsea Finn. rss 2023: [doi]

Decentralization and Acceleration Enables Large-Scale Bundle AdjustmentTaosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong 0002, Todd D. Murphey, Mustafa Mukadam. rss 2023: [doi]

Graph Attention Multi-Agent Fleet Autonomy for Advanced Air MobilityMalintha Fernando, Ransalu Senanayake, Heeyoul Choi, Martin Swany. rss 2023: [doi]

Fast Traversability Estimation for Wild Visual NavigationJonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena 0001, Maurice F. Fallon, Marco Hutter 0001. rss 2023: [doi]

NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with ObjectsJiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard. rss 2023: [doi]

Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AIHaoyuan Fu, Wenqiang Xu, Ruolin Ye, Han Xue, Zhenjun Yu, Tutian Tang, Yutong Li, Wenxin Du, Jieyi Zhang, Cewu Lu. rss 2023: [doi]

Energy-based Models are Zero-Shot Planners for Compositional Scene RearrangementNikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher G. Atkeson, Katerina Fragkiadaki. rss 2023: [doi]

Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real LearningDaniel Fernandes Gomes, Shan Luo 0001, Paolo Paoletti. rss 2023: [doi]

Enabling Team of Teams: A Trust Inference and Propagation (TIP) Model in Multi-Human Multi-Robot TeamsYaohui Guo, X. Jessie Yang, Cong Shi 0001. rss 2023: [doi]

CCIL: Context-conditioned imitation learning for urban drivingKe Guo, Wei Jing, Junbo Chen, Jia Pan. rss 2023: [doi]

Teach a Robot to FISH: Versatile Imitation from One Minute of DemonstrationsSiddhant Haldar, Jyothish Pari, Anant Rai, Lerrel Pinto. rss 2023: [doi]

Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature SpaceYuhang He, Irving Fang, Yiming Li, Rushi Bhavesh Shah, Chen Feng. rss 2023: [doi]

FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex ManipulationMinho Heo, Youngwoon Lee, Doohyun Lee, Joseph J. Lim. rss 2023: [doi]

Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven ApproachHann Woei Ho, Ye Zhou. rss 2023: [doi]

Causal Policy Gradient for Whole-Body Mobile ManipulationJiaheng Hu, Peter Stone, Roberto Martín-Martín. rss 2023: [doi]

Language-Driven Representation Learning for RoboticsSiddharth Karamcheti, Suraj Nair, Annie S. Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, Percy Liang. rss 2023: [doi]

Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment FeaturesJustin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg. rss 2023: [doi]

Sampling-based Exploration for Reinforcement Learning of Dexterous ManipulationGagan Khandate, Siqi Shang, Eric T. Chang, Tristan Luca Saidi, Johnson Adams, Matei T. Ciocarlie. rss 2023: [doi]

Demonstrating Arena-Web: A Web-based Development and Benchmarking Platform for Autonomous Navigation ApproachesLinh Kästner, Reyk Carstens, Lena Nahrwold, Christopher Liebig, Volodymyr Shcherbyna, Subhin Lee, Jens Lambrecht. rss 2023: [doi]

Uncertain Pose Estimation during Contact Tasks using Differentiable Contact FeaturesDongjun Lee, Jeongmin Lee 0002, Minji Lee. rss 2023: [doi]

Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick SuccessShuai Li, Azarakhsh Keipour, Kevin G. Jamieson, Nicolas Hudson, Charles Swan, Kostas E. Bekris. rss 2023: [doi]

ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic ScenesHyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, Cyrill Stachniss. rss 2023: [doi]

Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During DeploymentHuihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu. rss 2023: [doi]

StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen ObjectsWeiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton. rss 2023: [doi]

Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot InteractionYangxiao Lu, Ninad A. Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang. rss 2023: [doi]

Autonomous Justification for Enabling Explainable Decision Support in Human-Robot TeamingMatthew B. Luebbers, Aaquib Tabrez, Kyler Ruvane, Bradley Hayes. rss 2023: [doi]

SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and RenderingJun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao 0002, Cewu Lu. rss 2023: [doi]

G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins GatesSatyanarayana Gupta Manyam, Abhishek Nayak, Sivakumar Rathinam. rss 2023: [doi]

Structured World Models from Human VideosRussell Mendonca, Shikhar Bahl, Deepak Pathak. rss 2023: [doi]

TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road NavigationXiangyun Meng, Nathan Hatch, Alexander Lambert, Anqi Li, Nolan Wagener, Matthew Schmittle, Joonho Lee, Wentao Yuan, Zoey Qiuyu Chen, Sameul Deng, Greg Okopal, Dieter Fox, Byron Boots, Amirreza Shaban. rss 2023: [doi]

Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View DepthNathaniel W. Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang 0001. rss 2023: [doi]

A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal UncertaintyAndrew Messing, Jacopo Banfi, Martina Stadler, Ethan Stump, Harish Ravichandar, Nicholas Roy, Seth Hutchinson 0001. rss 2023: [doi]

Reachability-based Trajectory Design with Neural Implicit Safety ConstraintsJonathan B. Michaux, Yongseok Kwon, Qingyi Chen, Ram Vasudevan. rss 2023: [doi]

Investigating the Impact of Experience on a User's Ability to Perform Hierarchical AbstractionNina M. Moorman, Nakul Gopalan, Aman Singh, Erin Botti, Mariah Schrum, Chuxuan Yang, Lakshmi Seelam, Matthew C. Gombolay. rss 2023: [doi]

Progressive Learning for Physics-informed Neural Motion PlanningRuiqi Ni, Ahmed H. Qureshi. rss 2023: [doi]

Tactile-Filter: Interactive Tactile Perception for Part MatingKei Ota, Devesh K. Jha, Hsiao-Yu Tung, Joshua B. Tenenbaum. rss 2023: [doi]

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based TrainingAleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk. rss 2023: [doi]

POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static EnvironmentsJingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L. Waslander, Angela P. Schoellig. rss 2023: [doi]

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation SystemYuzhe Qin, Wei Yang 0019, Binghao Huang, Karl Van Wyk, Hao Su 0001, Xiaolong Wang, Yu-Wei Chao, Dieter Fox. rss 2023: [doi]

An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature RobotsKe Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian Lu, Yue Wang 0020. rss 2023: [doi]

Efficient volumetric mapping of multi-scale environments using wavelet-based compressionVictor Reijgwart, Cesar Cadena 0001, Roland Siegwart, Lionel Ott. rss 2023: [doi]

Goal-Conditioned Imitation Learning using Score-based Diffusion PoliciesMoritz Reuss, Maximilian Li, Xiaogang Jia, Rudolf Lioutikov. rss 2023: [doi]

Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent SystemsAugustinos D. Saravanos, Yihui Li, Evangelos A. Theodorou. rss 2023: [doi]

Follow my Advice: Assume-Guarantee Approach to Task Planning with Human in the LoopGeorg Friedrich Schuppe, Ilaria Torre 0001, Iolanda Leite, Jana Tumova. rss 2023: [doi]

LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot LearningKenneth Shaw, Ananye Agarwal, Deepak Pathak. rss 2023: [doi]

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-TrainingJingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone. rss 2023: [doi]

Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task AllocationSukriti Singh, Anusha Srikanthan, Vivek Mallampati, Harish Ravichandar. rss 2023: [doi]

MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile FeedbackAndrea Sipos, Nima Fazeli. rss 2023: [doi]

Solving Stabilize-Avoid via Epigraph Form Optimal Control using Deep Reinforcement LearningOswin So, Chuchu Fan. rss 2023: [doi]

Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulatorsDongwon Son, Beomjoon Kim. rss 2023: [doi]

Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement LearningJieqiang Sun, Meibao Yao, Xueming Xiao, Zhibing Xie, Bo Zheng. rss 2023: [doi]

Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut SearchYoonchang Sung, Peter Stone. rss 2023: [doi]

Predefined-Time Convergent Motion Control for Heterogeneous Continuum RobotsNing Tan, Peng Yu, Kai Huang. rss 2023: [doi]

Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired DataTim Y. Tang, Daniele De Martini, Paul M. Newman. rss 2023: [doi]

Convex Geometric Motion Planning on Lie Groups via Moment RelaxationSangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi. rss 2023: [doi]

Centralized Model Predictive Control for Collaborative Loco-ManipulationFlavio De Vincenti, Stelian Coros. rss 2023: [doi]

CoDEPS: Online Continual Learning for Depth Estimation and Panoptic SegmentationNiclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada. rss 2023: [doi]

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and GarmentsYufei Wang, Zhanyi Sun, Zackory Erickson, David Held. rss 2023: [doi]

Dynamic-Resolution Model Learning for Object Pile ManipulationYixuan Wang, Yunzhu Li, Katherine Driggs-Campbell, Li Fei-Fei 0001, Jiajun Wu 0001. rss 2023: [doi]

Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and PriorsLetian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen 0005, Yu Liu, Steven L. Waslander. rss 2023: [doi]

RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material ObjectsZhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song. rss 2023: [doi]

Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion PlanningZhutian Yang, Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox. rss 2023: [doi]

Precise Object Sliding with Top Contact via Asymmetric Dual Limit SurfacesXili Yi, Nima Fazeli. rss 2023: [doi]

Reconfigurable Robot Control Using Flexible Coupling MechanismsSha Yi, Katia P. Sycara, Zeynep Temel. rss 2023: [doi]

Rotating without Seeing: Towards In-hand Dexterity through TouchZhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang. rss 2023: [doi]

To the Noise and Back: Diffusion for Shared AutonomyTakuma Yoneda, Luzhe Sun, Ge Yang 0003, Bradly C. Stadie, Matthew R. Walter. rss 2023: [doi]

Scaling Robot Learning with Semantically Imagined ExperienceTianhe Yu, Ted Xiao, Jonathan Tompson, Austin Stone, Su Wang, Anthony Brohan, Jaspiar Singh, Clayton Tan, Dee M, Jodilyn Peralta, Karol Hausman, Brian Ichter, Fei Xia. rss 2023: [doi]

Demonstrating Large Language Models on RobotsAndy Zeng, Brian Ichter, Fei Xia, Ted Xiao, Vikas Sindhwani. rss 2023: [doi]

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance LearningLinTong Zhang, Sundara Tejaswi Digumarti, Georgi Tinchev, Maurice F. Fallon. rss 2023: [doi]

Cherry-Picking with Reinforcement LearningYunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha S. Srinivasa. rss 2023: [doi]

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation PlanningMengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser. rss 2023: [doi]

Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis CompensationYunhua Zhao, Li Wen. rss 2023: [doi]

Few-shot Adaptation for Manipulating Granular Materials Under Domain ShiftYifan Zhu, Pranay Thangeda, Melkior Ornik, Kris Hauser. rss 2023: [doi]

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