Program


This schedule is tentative and subject to change.



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Monday Tuesday Wednesday Thursday

Friday Saturday



Monday, June 25

18:00 - 21:00 Opening Reception
Location: Carnegie Natural History Museum, Scaife Foyer

Tuesday, June 26

09:00 - 09:30 Spotlight Talks: Group 1
Session Chair: Alberto Rodriguez

Talk 1.1
Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach
Douglas Morrison, Juxi Leitner, Peter Corke

Talk 1.2
Bayesian Tactile Exploration for Compliant Docking With Uncertain Shapes
Kris Hauser

Talk 1.3
Handling implicit and explicit constraints in manipulation planning
Florent Lamiraux, Joseph Mirabel

Talk 1.4
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
Maximilian Haas-Heger, Matei Ciocarlie, Christos Papadimitriou, Mihalis Yannakakis, Garud Iyengar

09:30 - 10:00 Spotlight Talks: Group 2
Session Chair: Marc Toussaint

Talk 2.1
Exploiting Stochasticity for Navigation in Gyre Flows
Dhanushka Kularatne, M. Ani Hsieh, Eric Forgoston

Talk 2.2
Autonomous Thermalling as a Partially Observable Markov Decision Process
Iain Guilliard, Rick Rogahn, Jim Piavis, Andrey Kolobov

Talk 2.3
View Selection with Geometric Uncertainty Modeling
Cheng Peng, Volkan Isler

Talk 2.4
Efficiently Sampling from Underlying Models
Greydon Foil, David Wettergreen

10:00 - 10:30 Refreshment Break
Location: Carnegie Music Hall Foyer
10:30 - 11:00 Spotlight Talks: Group 3
Session Chair: Oliver Brock

Talk 3.1
A Novel Whisker Sensor Used for 3D Contact Point Determination and Contour Extraction
Hannah Emnett, Matthew M. Graff, Mitra J. Z. Hartmann

Talk 3.2
Coordination of back bending and leg movements for quadrupedal locomotion
Baxi Chong, Yasemin Ozkan Aydin, Chaohui Gong, Guillaume Sartoretti, Yunjin Wu, Jennifer Rieser, Haosen Xing, Jeffery Rankin, Krijn Michel, Alfredo Nicieza, John Hutchinson, Daniel Goldman, Howie Choset

Talk 3.3
Dual-Speed MR Safe Pneumatic Stepper Motors
Vincent Groenhuis, Françoise Siepel, Stefano Stramigioli

Talk 3.4
A Variable Stiffness Gripper with Antagonistic Magnetic Springs for Enhancing Manipulation
Amirhossein Memar, Ehsan Esfahani

11:00 - 12:00 Keynote Presentation
Katherine J. Kuchenbecker, Telerobotic Touch
12:00 - 13:30 Lunch Break
13:30 - 14:00 Spotlight Talks: Group 4
Session Chair: Fabio Ramos

Talk 4.1
LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics
Sourav Garg, Niko Suenderhauf, Michael Milford

Talk 4.2
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction
Wei Gao, Russ Tedrake

Talk 4.3
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox

Talk 4.4
Data-Driven Measurement Models for Active Localization in Sparse Environments
Ian Abraham, Anastasia Mavrommati, Todd Murphey

14:00 - 14:30 Spotlight Talks: Group 5
Session Chair: Nicolay Atanasov

Talk 5.1
Full-Frame Scene Coordinate Regression for Image-Based Localization
Xiaotian Li, Juha Ylioinas, Juho Kannala

Talk 5.2
Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments
Jens Behley, Cyrill Stachniss

Talk 5.3
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan How, Jonathan Kelly

Talk 5.4
Lightweight Unsupervised Deep Loop Closure
Nathaniel Merrill, Guoquan Huang

15:00 - 15:30 Refreshment Break
Location: Carnegie Music Hall Foyer
15:00 - 15:30 Spotlight Talks: Group 6
Session Chair: Dan Halperin

Talk 6.1
HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty
Panpan Cai, Yuanfu Luo, David Hsu, Wee Sun Lee

Talk 6.2
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
Riccardo Spica, Davide Falanga, Eric Cristofalo, Eduardo Montijano, Davide Scaramuzza, Mac Schwager

Talk 6.3
RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion
Daniel Rakita, Bilge Mutlu, Michael Gleicher

Talk 6.4
Robust Obstacle Avoidance using Tube NMPC
Gowtham Garimella, Matthew Sheckells, Joseph Moore, Marin Kobilarov

Talk 6.5
Generalized WarpDriver: Unified Collision Avoidance for Multi-Robot Systems in Arbitrarily Complex Environments
David Wolinski, Ming Lin

15:30 - 16:30 Keynote Presentation
Odest Chadwick Jenkins, Robotics: Making the World a Better Place through Minimal Message-oriented Transport Layers
16:30 - 18:00 Poster Session
Location: Carnegie Music Hall Foyer
18:00 - 19:00 Break
19:00 - 21:00 Industry Reception
Location: Carnegie Music Hall and Foyer

Wednesday, June 27

09:00 - 09:30 Spotlight Talks: Group 7
Session Chair: Aaron Johnson

Talk 7.1
Robust Sampling Based Model Predictive Control with Sparse Objective Information
Grady Williams, Brian Goldfain, Paul Drews, Kamil Saigol, James Rehg, Evangelos Theodorou

Talk 7.2
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot
Neel Doshi, Kaushik Jayaram, Benjamin Goldberg, Zachary Manchester, Robert Wood, Scott Kuindersma

Talk 7.3
Fast Online Trajectory Optimization for the Bipedal Robot Cassie
Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan Hurst

Talk 7.4
Contact-Aided Invariant Extended Kalman Filter for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy Grizzle, Ryan M Eustice

09:30 - 10:00 Spotlight Talks: Group 8
Session Chair: Jeannette Bohg

Talk 8.1
Learning Task-Oriented Grasping for Tool Manipulation with Simulated Self-Supervision
Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kuryenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese

Talk 8.2
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Vikash Kumar, Aravind Rajeswaran, Abhishek Gupta, Giulia Vezzani, Emanuel Todorov, Sergey Levine

Talk 8.3
Reinforcement and Imitation Learning for Diverse Visuomotor Skills
Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess

Talk 8.4
Push-Net: Deep Planar Pushing for Objects with Unknown Physical Properties
Juekun Li, Wee Sun Lee, David Hsu

10:00 - 10:30 Refreshment Break
Location: Carnegie Music Hall Foyer
10:30 Spotlight Talks: Group 9
Session Chair: Dylan Shell

Talk 9.1
Sampling-Based Approximation Algorithms for Reachability Analysis with Provable Guarantees
Lucas Liebenwein, Cenk Baykal, Igor Gilitschenski, Sertac Karaman, Daniela Rus

Talk 9.2
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile, Ali-akbar Agha-mohammadi, Richard M. Murray, and Aaron D. Ames

Talk 9.3
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies
Lucas Janson, Tommy Hu, Marco Pavone

Talk 9.4
Probabilistically Safe Robot Planning with Confidence-Based Human Predictions
Jaime Fisac, Andrea Bajcsy, Steven Wang, David Fridovich-Keil, Sylvia Herbert, Smitha Milli, Claire Tomlin, Anca Dragan

11:00 - 12:00 Keynote Presentation
Bernardine Dias, Robotics technology for underserved communities: challenges, rewards, and lessons learned
12:00 - 13:30 Lunch Break
13:30 Spotlight Talks: Group 10
Session Chair: Harold Soh

Talk 10.1
Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance
Aleksandra Kalinowska, Kathleen Fitzsimons, Julius Dewald, Todd Murphey

Talk 10.2
Asymmetric Actor Critic for Image-Based Robot Learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

Talk 10.3
Simplifying Reward Design through Divide-and-Conquer
Ellis Ratner, Dylan Hadfield-Menell, Anca Dragan

Talk 10.4
Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications
Nakul Gopalan, Dilip Arumugam, Lawson Wong, Stefanie Tellex

14:00 - 14:30 Early Career: Maya Cakmak, Robot Programming for All
14:30 - 15:00 Refreshment Break
Location: Carnegie Music Hall Foyer
15:00 - 16:00 Spotlight Talks: Group 11
Session Chair: Gaurav Sukhatme

Talk 11.1
Predicting Human Trust in Robot Capabilities across Tasks
Harold Soh, Shu Pan, Chen Min, David Hsu

Talk 11.2
Analytical Derivatives of Rigid Body Dynamics Algorithms
Justin Carpentier

Talk 11.3
Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning
Marc Toussaint, Kelsey Allen, Kevin Smith, Joshua Tenenbaum

Talk 11.4
Optimal Solution of the Generalized Dubins Interval Problem
Petr Váňa, Jan Faigl

Talk 11.5
In-Hand Manipulation via Motion Cones
Nikhil Chavan Dafle, Rachel Holladay, Alberto Rodriguez

Talk 11.6
EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Cameras
Alex Zhu, Liangzhe Yuan, Kenneth Chaney, Kostas Daniilidis

Talk 11.7
Embedded High Precision Control and Corn Stand Counting Algorithms for an Ultra-Compact 3D Printed Field Robot
Erkan Kayacan, Zhongzhong Zhang, Girish Chowdhary

Talk 11.8
Autonomous Adaptive Modification of Unstructured Environments
Maira Saboia da Silva, Vivek Thangavelu, Walker Gosrich, Nils Napp

Talk 11.9
Agile Autonomous Driving using End-to-End Deep Imitation Learning
Yunpeng Pan, Ching-An Cheng, Kamil Saigol, Keuntaek Lee, Xinyan Yan, Evangelos Theodorou, Byron Boots

16:00 - 16:30 Early Career: Stefanie Tellex, Learning Models of Language, Action and Perception for Human-Robot Collaboration
16:30 - 18:00 Poster Session
Location: Carnegie Music Hall Foyer
18:00 - 21:00 Pittsburgh Robotics Showcase
Location: CMU Newell Simon Hall (RI) Atrium

Thursday, June 28

09:00 - 09:30 Spotlight Talks: Group 12
Session Chair: Michael Milford

Talk 12.1
SegMap: 3D Segment Mapping using Data-Driven Descriptors
Renaud Dubé, Andrei Cramariuc, Juan Nieto, Roland Siegwrat, Cesar Cadena

Talk 12.2
FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing
Lei Han, Lu Fang

Talk 12.3
Adaptive Bias and Attitude Observer on the Special Orthogonal Group for True-North Gyrocompass Systems: Theory and Preliminary Results
Andrew Spielvogel, Louis Whitcomb

Talk 12.4
Directionally Controlled Time-of-Flight Ranging for Mobile Sensing Platforms
Zaid Tasneem, Dingkang Wang, Huikai Xie, Koppal Sanjeev

09:30 - 10:00 Spotlight Talks: Group 13
Session Chair: Chinwe Ekenna

Talk 13.1
Creating Foldable Polyhedral Nets
Yue hao, Yun-hyeong Kim, Zhonghua Xi, Jyh-Ming Lien

Talk 13.2
Geometry-aware Tracking of Manipulability Ellipsoids
Noémie Jaquier, Leonel Rozo, Sylvain Calinon

Talk 13.3
The Critical Radius in Sampling-based Motion Planning
Kiril Solovey, Michal Kleinbort

Talk 13.4
Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2
Michael Watterson, Sikang Liu, Ke Sun, Trey Smith, Vijay Kumar

10:00 - 10:30 Refreshment Break
Location: Carnegie Music Hall Foyer
10:30 - 11:00 Spotlight Talks: Group 14
Session Chair: Justus Piater

Talk 14.1
Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors
Rico Jonschkowski, Divyam Rastogi, Oliver Brock

Talk 14.2
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, Vincent Vanhoucke

Talk 14.3
A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information
Nicolas Zevallos, Arun Srivatsan Rangaprasad, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset

Talk 14.4
Effective Plug-and-Play Supervisory Control Using Muscle and Brain Signals for Real-Time Gesture and Error Detection
Joseph DelPreto, Andres F. Salazar-Gomez, Stephanie Gil, Ramin M. Hasani, Frank H. Guenther, Daniela Rus

11:00 - 12:00 Keynote Presentation
Jun Ho Oh, Robot Technology and the Future
12:00 - 13:30 Lunch Break
13:30 - 14:00 Spotlight Talks: Group 15
Session Chair: Henny Admoni

Talk 15.1
Shared Autonomy via Deep Reinforcement Learning
Siddharth Reddy, Anca Dragan, Sergey Levine

Talk 15.2
Interactive Visual Grounding of Referring Expressions for Human-Robot Interaction
Mohit Shridhar, David Hsu

Talk 15.3
Following High-level Navigation Instructions on a Simulated Quadcopter with Imitation Learning
Valts Blukis, Nataly Brukhim, Andrew Bennett, Ross Knepper, Yoav Artzi

Talk 15.4
One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning
Tianhe Yu, Chelsea Finn, Sudeep Dasari, Annie Xie, Tianhao Zhang, Pieter Abbeel, Sergey Levine

14:00 - 14:30 Spotlight Talks: Group 16
Session Chair: Geoff Hollinger

Talk 16.1
On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms
Federico Rossi, Ramon Iglesias, Mahnoosh Alizadeh, Marco Pavone

Talk 16.2
Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation
Philipp Schillinger, Mathias Buerger, Dimos Dimarogonas

Talk 16.3
Multi-Objective Analysis of Ridesharing in Automated Mobility-on-Demand
Michal Cap, Javier Alonso-Mora

Talk 16.4
Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids in Quadratic Time
Jingjin Yu

Talk 16.5
GPU-Based Max Flow Maps in the Plane
Renato Farias, Marcelo Kallmann

14:30 - 15:00 Early Career: Sergey Levine, Robots that learn and improve through experience
15:00 - 16:15 Poster Session
Location: Carnegie Music Hall Foyer
16:15 - 17:00 Awards/Closing
17:00 - 18:00 Transport
18:00 - 21:00 Banquet
Location: Heinz History Center

Friday, June 29

09:00 - 10:0 Morning Session 1
10:00 - 10:30 Refreshment Break
10:30 - 12:00 Morning Session 2
12:00 - 13:30 Lunch Break
13:30 - 14:30 Afternoon Session 1
14:30 - 15:00 Refreshment Break
15:00 - 17:00 Afternoon Session 2

Saturday, June 30

09:00 - 10:00 Morning Session 1
10:00 - 10:30 Refreshment Break
10:30 - 12:00 Morning Session 2
12:00 - 13:30 Lunch Break
13:30 - 14:00 Afternoon Session 1
14:30 - 15:00 Refreshment Break
15:00 - 17:00 Afternoon Session 2