Table of Contents

• Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active PerceptionZixu Zhang, Jaime F. Fisac. [doi]
• Manipulator-Independent Representations for Visual ImitationYuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis. [doi]
• Vector Semantic Representations as Descriptors for Visual Place RecognitionPeer Neubert, Stefan Schubert, Kenny Schlegel, Peter Protzel. [doi]
• Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive TrajectoriesTalha Kavuncu, Ayberk Yaraneri, Negar Mehr. [doi]
• Towards finding the shortest-paths for 3D rigid bodiesWeifu Wang 0001, Ping Li. [doi]
• On Minimizing the Number of Running Buffers for Tabletop RearrangementKai Gao, Siwei Feng, Jingjin Yu. [doi]
• Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State ObservationsLasse Peters, David Fridovich-Keil, Vicenç Rúbies Royo, Claire J. Tomlin, Cyrill Stachniss. [doi]
• Learning Proofs of Motion Planning InfeasibilitySihui Li, Neil Dantam. [doi]
• Proximal and Sparse Resolution of Constrained Dynamic EquationsJustin Carpentier, Rohan Budhiraja, Nicolas Mansard. [doi]
• DiSECt: A Differentiable Simulation Engine for Autonomous Robotic CuttingEric Heiden, Miles Macklin, Yashraj S. Narang, Dieter Fox, Animesh Garg, Fabio Ramos. [doi]
• Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown EnvironmentsKush Grover, Fernando S. Barbosa, Jana Tumova, Jan Kretínský. [doi]
• Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge SensorsSimon Bultmann, Sven Behnke. [doi]
• Probabilistic Discriminative Models address the Tactile Perceptual Aliasing ProblemJohn Lloyd, Yijiong Lin, Nathan F. Lepora. [doi]
• Inexact Loops in Robotics ProblemsErik Nelson. [doi]
• Planning Multimodal Exploratory Actions for Online Robot Attribute LearningXiaohan Zhang, Jivko Sinapov, ShiQi Zhang. [doi]
• GIFT: Generalizable Interaction-aware Functional Tool Affordances without LabelsDylan Turpin, Liquan Wang, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg. [doi]
• Surprisingly Robust In-Hand Manipulation: An Empirical StudyAditya Bhatt, Adrian Sieler, Steffen Puhlmann, Oliver Brock. [doi]
• Active Learning of Abstract Plan FeasibilityMichael Noseworthy, Isaiah Brand, Caris Moses, Sebastian Castro, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Nicholas Roy. [doi]
• On complementing end-to-end human behavior predictors with planningLiting Sun, Xiaogang Jia, Anca D. Dragan. [doi]
• RMP2: A Structured Composable Policy Class for Robot LearningAnqi Li, Ching-An Cheng, Muhammad Asif Rana, Man Xie, Karl Van Wyk, Nathan D. Ratliff, Byron Boots. [doi]
• Ab Initio Particle-based Object ManipulationSiwei Chen, Xiao Ma 0006, Yunfan Lu, David Hsu. [doi]
• Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and ControlThai P. Duong, Nikolay A. Atanasov. [doi]
• Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent SystemsAugustinos D. Saravanos, Alexandros Tsolovikos, Efstathios Bakolas, Evangelos Theodorou. [doi]
• Safe Reinforcement Learning via Statistical Model Predictive ShieldingOsbert Bastani, Shuo Li. [doi]
• NeuroBEM: Hybrid Aerodynamic Quadrotor ModelLeonard Bauersfeld, Elia Kaufmann, Philipp Foehn, Sihao Sun, Davide Scaramuzza 0001. [doi]
• An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse RewardsSiyu Dai, Wei Xu, Andreas Hofmann, Brian C. Williams. [doi]
• Variational Inference MPC using Tsallis DivergenceZiyi Wang, Oswin So, Jason Gibson, Bogdan I. Vlahov, Manan Gandhi, Guan-Horng Liu, Evangelos Theodorou. [doi]
• EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And FollowingNitin J. Sanket, Chahat Deep Singh, Chethan Parameshwara, Cornelia Fermüller, Guido de Croon, Yiannis Aloimonos. [doi]
• Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic EnvironmentsVisak C. V. Kumar, Sehoon Ha, C. Karen Liu. [doi]
• Toward Certifiable Motion Planning for Medical Steerable NeedlesMengyu Fu, Oren Salzman, Ron Alterovitz. [doi]
• Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature LearningKeenan Burnett, David J. Yoon, Angela P. Schoellig, Tim D. Barfoot. [doi]
• Language Conditioned Imitation Learning Over Unstructured DataCorey Lynch, Pierre Sermanet. [doi]
• Adaptive-Control-Oriented Meta-Learning for Nonlinear SystemsSpencer M. Richards, Navid Azizan, Jean-Jacques E. Slotine, Marco Pavone. [doi]
• Discovering Generalizable Skills via Automated Generation of Diverse TasksKuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei 0001. [doi]
• TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D EnvironmentsChao Cao, Hongbiao Zhu, Howie Choset, Ji Zhang. [doi]
• Sampling-Based Motion Planning on Sequenced ManifoldsPeter Englert, Isabel M. Rayas Fernández, Ragesh Kumar Ramachandran, Gaurav S. Sukhatme. [doi]
• MAGIC: Learning Macro-Actions for Online POMDP PlanningYiyuan Lee, Panpan Cai, David Hsu. [doi]
• Composable Energy Policies for Reactive Motion Generation and Reinforcement LearningJulen Urain, Puze Liu, Anqi Li, Carlo D'Eramo, Jan Peters 0001. [doi]
• Fast and Memory Efficient Graph Optimization via ICM for Visual Place RecognitionStefan Schubert, Peer Neubert, Peter Protzel. [doi]
• Hierarchical Neural Dynamic PoliciesShikhar Bahl, Abhinav Gupta 0001, Deepak Pathak. [doi]
• Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human VideosAnnie S. Chen, Suraj Nair, Chelsea Finn. [doi]
• A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared AutonomyMatthew C. Fontaine, Stefanos Nikolaidis. [doi]
• Generalized Comprehensive Motion Theory for High-Order Differential DynamicsVincent Samy, Ko Ayusawa, Eiichi Yoshida. [doi]
• Learned Visual Navigation for Under-Canopy Agricultural RobotsArun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino, Che Ellis, Andres Eduardo Baquero Velasquez, Girish Chowdhary 0001, Saurabh Gupta. [doi]
• Provably Safe and Efficient Motion Planning with Uncertain Human DynamicsShen Li, Nadia Figueroa, Ankit J. Shah, Julie A. Shah. [doi]
• Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery PoliciesPriya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez 0001, Ken Goldberg. [doi]
• Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned VehicleFriedrich M. Rockenbauer, Simon Jeger, Liberto Beltran, Maximilian Berger, Marvin Harms, Noah Kaufmann, Marc Rauch, Moritz Reinders, Nicholas R. J. Lawrance, Thomas Stastny, Roland Siegwart. [doi]
• HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone RacingKeiko Nagami, Mac Schwager. [doi]
• GROUNDED: The Localizing Ground Penetrating Radar Evaluation DatasetTeddy Ort, Igor Gilitschenski, Daniela Rus. [doi]
• PROMPT: Probabilistic Motion Primitives based Trajectory PlanningTobias Löw, Tirthankar Bandyopadhyay, Jason Williams, Paulo V. K. Borges. [doi]
• Jerk-limited Real-time Trajectory Generation with Arbitrary Target StatesLars Berscheid, Torsten Kroeger. [doi]
• Bayesian Deep Graph Matching for Correspondence Identification in Collaborative PerceptionPeng Gao, Hao Zhang. [doi]
• Co-Design of Communication and Machine Inference for Cloud RoboticsManabu Nakanoya, Sandeep Chinchali, Alexandros Anemogiannis, Akul Datta, Sachin Katti, Marco Pavone. [doi]
• Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit RepresentationsZhenyu Jiang 0002, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu. [doi]
• Resolving Conflict in Decision-Making for Autonomous DrivingJack Geary, Subramanian Ramamoorthy, Henry Gouk. [doi]
• Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex EnvironmentsAshkan Jasour, Weiqiao Han, Brian C. Williams. [doi]
• Falling Into Place: Drop Assembly of Interlocking PuzzlesAmy Sniffen, Zezhou Sun, Samuel E. Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom. [doi]
• Rearrangement on Lattices with Swaps: Optimality Structures and Efficient AlgorithmsJingjin Yu. [doi]
• Skill-based Shared ControlChristopher E. Mower, João Moura 0003, Sethu Vijayakumar. [doi]
• Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly TasksAndrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas E. Bekris. [doi]
• Modeling Human Helpfulness with Individual and Contextual Factors for Robot PlanningAmal Nanavati, Christoforos I. Mavrogiannis, Kevin Weatherwax, Leila Takayama, Maya Cakmak, Siddhartha S. Srinivasa. [doi]
• i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental ConditionsPeng Yin, Lingyun Xu, Ji Zhang, Howie Choset, Sebastian A. Scherer. [doi]
• Policy Transfer across Visual and Dynamics Domain Gaps via Iterative GroundingGrace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J. Lim. [doi]
• Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanicsBaxi Chong, Tianyu Wang, Bo Lin, Shengkai Li, Howie Choset, Grigoriy Blekherman, Daniel I. Goldman. [doi]
• MQA: Answering the Question via Robotic ManipulationYuhong Deng, Di Guo, Xiaofeng Guo, Naifu Zhang, Huaping Liu 0001, Fuchun Sun 0001. [doi]
• Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday EnvironmentsWeiyu Liu, Dhruva Bansal, Angel Andres Daruna, Sonia Chernova. [doi]
• Continuous Integration over SO(3) for IMU PreintegrationCédric Le Gentil, Teresa A. Vidal-Calleja. [doi]
• Lyapunov-stable neural-network controlHongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake. [doi]
• STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road NavigationDavid D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-akbar Agha-mohammadi. [doi]
• A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous ManipulationPragna Mannam, Avi Rudich, Kevin Zhang, Manuela Veloso, Oliver Kroemer, Fatma Zeynep Temel. [doi]
• Optimal Pose and Shape Estimation for Category-level 3D Object PerceptionJingnan Shi, Heng Yang 0002, Luca Carlone. [doi]
• Learning Riemannian Manifolds for Geodesic Motion SkillsHadi Beik Mohammadi, Søren Hauberg, Georgios Arvanitidis, Gerhard Neumann, Leonel Dario Rozo. [doi]
• Droplet: Towards Autonomous Underwater Assembly of Modular StructuresSamuel E. Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang 0001, Alberto Quattrini Li, Devin J. Balkcom. [doi]
• Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement LearningJonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst. [doi]
• Active Safety Envelopes using Light Curtains with Probabilistic GuaranteesSiddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan, David Held. [doi]
• Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact ConstraintsKeenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu. [doi]
• Safe Policies for Factored Partially Observable Stochastic GamesSteven Carr, Nils Jansen 0001, Sudarshanan Bharadwaj, Matthijs T. J. Spaan, Ufuk Topcu. [doi]
• Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale StudyJianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerík, Ning Ye, Stefan Schaal, Jonathan Scholz. [doi]
• An End-to-End Differentiable Framework for Contact-Aware Robot DesignJie Xu, Tao Chen, Lara Zlokapa, Michael Foshey, Wojciech Matusik, Shinjiro Sueda, Pulkit Agrawal. [doi]
• Move Beyond Trajectories: Distribution Space Coupling for Crowd NavigationMuchen Sun, Francesca Baldini, Peter Trautman, Todd D. Murphey. [doi]
• NeRP: Neural Rearrangement Planning for Unknown ObjectsAhmed Hussain Qureshi, Arsalan Mousavian, Chris Paxton, Michael C. Yip, Dieter Fox. [doi]
• Feature-Based SLAM: Why Simultaneous Localisation and Mapping?Liang Zhao 0003, Zhehua Mao, Shoudong Huang. [doi]
• Filter-Based Online System-Parameter Estimation for Multicopter UAVsChristoph Böhm 0004, Martin Scheiber, Stephan Weiss 0002. [doi]
• On the Importance of Environments in Human-Robot CoordinationMatthew C. Fontaine, Ya-Chuan Hsu, Yulun Zhang, Bryon Tjanaka, Stefanos Nikolaidis. [doi]
• Robust Value Iteration for Continuous Control TasksMichael Lutter, Shie Mannor, Jan Peters 0001, Dieter Fox, Animesh Garg. [doi]
• Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead ImageryTim Y. Tang, Daniele De Martini, Paul Newman 0001. [doi]
• Scale invariant robot behavior with fractalsSam Kriegman, Amir Mohammadi Nasab, Douglas Blackiston, Hannah Steele, Michael Levin, Rebecca Kramer-Bottiglio, Josh Bongard. [doi]
• RMA: Rapid Motor Adaptation for Legged RobotsAshish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik. [doi]
• Dual Online Stein Variational Inference for Control and DynamicsLucas Barcelos, Alexander Lambert, Rafael Oliveira 0001, Paulo Borges, Byron Boots, Fabio Ramos. [doi]
• Entropy-Guided Control ImprovisationMarcell Vazquez-Chanlatte, Sebastian Junges, Daniel J. Fremont, Sanjit Seshia. [doi]
• INVIGORATE: Interactive Visual Grounding and Grasping in ClutterHanbo Zhang, Yunfan Lu, Cunjun Yu, David Hsu, Xuguang Lan, Nanning Zheng 0001. [doi]
• Safety and Liveness Guarantees through Reach-Avoid Reinforcement LearningKai-Chieh Hsu, Vicenç Rúbies Royo, Claire J. Tomlin, Jaime F. Fisac. [doi]