Robotics: Science and Systems

Publications

2023

Zoey Qiuyu Chen, Shosuke C. Kiami, Abhishek Gupta, Vikash Kumar
GenAug: Retargeting behaviors to unseen situations via Generative Augmentation. Robotics: Science and Systems (2023)
Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian Lu, Yue Wang
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots. Robotics: Science and Systems (2023)
Tianhe 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
Scaling Robot Learning with Semantically Imagined Experience. Robotics: Science and Systems (2023)
Augustinos D. Saravanos, Yihui Li, Evangelos A. Theodorou
Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems. Robotics: Science and Systems (2023)
Mark J. Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. Robotics: Science and Systems (2023)
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System. Robotics: Science and Systems (2023)
Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models. Robotics: Science and Systems (2023)
Gagan Khandate, Siqi Shang, Eric T. Chang, Tristan Luca Saidi, Johnson Adams, Matei T. Ciocarlie
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation. Robotics: Science and Systems (2023)
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning. Robotics: Science and Systems (2023)
Maximilian Du, Suraj Nair, Dorsa Sadigh, Chelsea Finn
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets. Robotics: Science and Systems (2023)
Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, Xiaolong Wang
Rotating without Seeing: Towards In-hand Dexterity through Touch. Robotics: Science and Systems (2023)
Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments. Robotics: Science and Systems (2023)
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects. Robotics: Science and Systems (2023)
Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyuanli Chen, Jens Behley, Hyun Myung, Cyrill Stachniss
ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes. Robotics: Science and Systems (2023)
Matthew B. Luebbers, Aaquib Tabrez, Kyler Ruvane, Bradley Hayes
Autonomous Justification for Enabling Explainable Decision Support in Human-Robot Teaming. Robotics: Science and Systems (2023)
Siddhant Haldar, Jyothish Pari, Anant Rai, Lerrel Pinto
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations. Robotics: Science and Systems (2023)
Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. Robotics: Science and Systems (2023)
Andrew Messing, Jacopo Banfi, Martina Stadler, Ethan Stump, Harish Ravichandar, Nicholas Roy, Seth Hutchinson
A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty. Robotics: Science and Systems (2023)
Yunhua Zhao, Li Wen
Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis Compensation. Robotics: Science and Systems (2023)
Georg Friedrich Schuppe, Ilaria Torre, Iolanda Leite, Jana Tumova
Follow my Advice: Assume-Guarantee Approach to Task Planning with Human in the Loop. Robotics: Science and Systems (2023)
Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, Lihua Xie
Path Planning for Multiple Tethered Robots Using Topological Braids. Robotics: Science and Systems (2023)
Yixuan Wang, Yunzhu Li, Katherine Driggs Campbell, Li Fei-Fei, Jiajun Wu
Dynamic-Resolution Model Learning for Object Pile Manipulation. Robotics: Science and Systems (2023)
Baxi Chong, Tianyu Wang, Daniel Irvine, Velin Kojouharov, Bo Lin, Howie Choset, Daniel I. Goldman, Grigoriy Blekherman
Gait design for limbless obstacle aided locomotion using geometric mechanics. Robotics: Science and Systems (2023)
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion. Robotics: Science and Systems (2023)
Jiaheng Hu, Peter Stone, Roberto Martín-Martín
Causal Policy Gradient for Whole-Body Mobile Manipulation. Robotics: Science and Systems (2023)
Max Bajracharya, James Borders, Richard Cheng, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach. Robotics: Science and Systems (2023)
Jieqiang Sun, Meibao Yao, Xueming Xiao, Zhibing Xie, Bo Zheng
Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement Learning. Robotics: Science and Systems (2023)
Xili Yi, Nima Fazeli
Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces. Robotics: Science and Systems (2023)
Shuai Li, Azarakhsh Keipour, Kevin G. Jamieson, Nicolas Hudson, Charles Swan, Kostas E. Bekris
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success. Robotics: Science and Systems (2023)
Kenneth Shaw, Ananye Agarwal, Deepak Pathak
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning. Robotics: Science and Systems (2023)
Jingxing Qian, Veronica Chatrath, James Servos, Aaron Mavrinac, Wolfram Burgard, Steven L. Waslander, Angela P. Schoellig
POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static Environments. Robotics: Science and Systems (2023)
Malintha Fernando, Ransalu Senanayake, Heeyoul Choi, Martin Swany
Graph Attention Multi-Agent Fleet Autonomy for Advanced Air Mobility. Robotics: Science and Systems (2023)
Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects. Robotics: Science and Systems (2023)
David Millard, Daniel Pastor, Joseph Bowkett, Paul Backes, Gaurav S. Sukhatme
GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials. Robotics: Science and Systems (2023)
Yuwei Wu, Weixiao Liu, Zhiyang Liu, Gregory S. Chirikjian
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics. Robotics: Science and Systems (2023)
Dongjun Lee, Jeongmin Lee, Minji Lee
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features. Robotics: Science and Systems (2023)
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj S. Narang
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. Robotics: Science and Systems (2023)
Sukriti Singh, Anusha Srikanthan, Vivek Mallampati, Harish Ravichandar
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation. Robotics: Science and Systems (2023)
Nathaniel W. Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang
Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth. Robotics: Science and Systems (2023)
Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher G. Atkeson, Katerina Fragkiadaki
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement. Robotics: Science and Systems (2023)
Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu
Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment. Robotics: Science and Systems (2023)
Laura M. Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine
Learning and Adapting Agile Locomotion Skills by Transferring Experience. Robotics: Science and Systems (2023)
Letian Wang, Jie Liu, Hao Shao, Wenshuo Wang, Ruobing Chen, Yu Liu, Steven L. Waslander
Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and Priors. Robotics: Science and Systems (2023)
Jonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena, Maurice F. Fallon, Marco Hutter
Fast Traversability Estimation for Wild Visual Navigation. Robotics: Science and Systems (2023)
Shivin Dass, Karl Pertsch, Hejia Zhang, Youngwoon Lee, Joseph J. Lim, Stefanos Nikolaidis
PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection. Robotics: Science and Systems (2023)
Yufei Wang, Zhanyi Sun, Zackory Erickson, David Held
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. Robotics: Science and Systems (2023)
Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter
iPlanner: Imperative Path Planning. Robotics: Science and Systems (2023)
Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly C. Stadie, Matthew R. Walter
To the Noise and Back: Diffusion for Shared Autonomy. Robotics: Science and Systems (2023)
Yunchu Zhang, Liyiming Ke, Abhay Deshpande, Abhishek Gupta, Siddhartha S. Srinivasa
Cherry-Picking with Reinforcement Learning. Robotics: Science and Systems (2023)
Jonathan B. Michaux, Yongseok Kwon, Qingyi Chen, Ram Vasudevan
Reachability-based Trajectory Design with Neural Implicit Safety Constraints. Robotics: Science and Systems (2023)