Program


This schedule is tentative and subject to change.

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Monday Tuesday Wednesday



Monday, June 24

09:00 - 09:30 Spotlight Talks: Group 1 [Video]
Session Chair:

Talk 01.1
Value Iteration Networks on Multiple Levels of Abstraction
Schleich, Daniel; Klamt, Tobias; Behnke, Sven

Talk 01.2
Learning Deep Stochastic Optimal Control Policies Using Forward-Backward SDEs
Wang, Ziyi; Pereira, Marcus; Theodorou, Evangelos

Talk 01.3
Learning to Walk Via Deep Reinforcement Learning
Haarnoja, Tuomas; Ha, Sehoon; Zhou, Aurick; Tan, Jie; Tucker, George; Levine, Sergey

Talk 01.4
Simultaneously Learning Vision and Feature-Based Control Policies for Real-World Ball-In-A-Cup
Schwab, Devin; Springenberg, Jost Tobias; Fernandes Martins, Murilo; Neunert, Michael; Lampe, Thomas; Abdolmaleki, Abbas; Hertweck, Tim; Hafner, Roland; Nori, Francesco; Riedmiller, Martin

Talk 01.5
LeTS-Drive: Driving among a Crowd by Learning from Tree Search
Cai, Panpan; Luo, Yuanfu; Saxena, Aseem; Hsu, David; Lee, Wee Sun

09:30 - 10:00 Spotlight Talks: Group 2 [Video]
Session Chair:

Talk 02.1
Unsupervised Visuomotor Control through Distributional Planning Networks
Yu, Tianhe; Shevchuk, Gleb; Sadigh, Dorsa; Finn, Chelsea

Talk 02.2
Learning Robotic Manipulation through Visual Planning and Acting
Wang, Angelina; Kurutach, Thanard; Tamar, Aviv; Abbeel, Pieter

Talk 02.3
ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst
Bansal, Mayank; Krizhevsky, Alex; Ogale, Abhijit

Talk 02.4
Improvisation through Physical Understanding: Using Novel Objects As Tools with Visual Foresight
Xie, Annie; Ebert, Frederik; Levine, Sergey; Finn, Chelsea

Talk 02.5
End-To-End Robotic Reinforcement Learning without Reward Engineering
Singh, Avi; Yang, Larry; Finn, Chelsea; Levine, Sergey

10:30 - 11:00 Spotlight Talks: Group 3 [Video]
Session Chair:

Talk 03.1
Planning with State Abstractions for Non-Markovian Task Specifications
Oh, Yoonseon; Patel, Roma; Nguyen, Thao; Huang, Baichuan; Pavlick, Ellie; Tellex, Stefanie

Talk 03.2
DESPOT-α: Online POMDP Planning with Large State and Observation Spaces
Garg, Neha Priyadarshini; Hsu, David; Lee, Wee Sun

Talk 03.3
DensePhysNet: Learning Dense Physical Object Representations Via Multi-Step Dynamic Interactions
Xu, Zhenjia; Wu, Jiajun; Zeng, Andy; Tenenbaum, Joshua; Song, Shuran

Talk 03.4
Local Koopman Operators for Data-Driven Control of Robotic Systems
Mamakoukas, Giorgos; Castano, Maria; Tan, Xiaobo; Murphey, Todd

Talk 03.5
Monte-Carlo Policy Synthesis in POMDPs with Quantitative and Qualitative Objectives
Redwan Newaz, Abdullah Al; Chaudhuri, Swarat; Kavraki, Lydia

11:00 - 12:00 Keynote Presentation [Video]
Allessandro De Luca, Control of soft joint robots for safe physical HRI
13:30 - 14:00 Spotlight Talks: Group 4 [Video]
Session Chair:

Talk 04.1
Leveraging Experience in Lazy Search
Bhardwaj, Mohak; Choudhury, Sanjiban; Boots, Byron; Srinivasa, Siddhartha

Talk 04.2
Learning to Plan with Logical Automata
Araki, Brandon; Vodrahalli, Kiran; Leech, Thomas; Vasile, Cristian Ioan; Donahue, Mark; Rus, Daniela

Talk 04.3
BayesSim: Adaptive Domain Randomization Via Probabilistic Inference for Robotics Simulators
Ramos, Fabio; Possas, Rafael; Fox, Dieter

Talk 04.4
Online Incremental Learning of the Terrain Traversal Cost in Autonomous Exploration
Pragr, Milos; Cizek, Petr; Bayer, Jan; Faigl, Jan

Talk 04.5
Robot Adaptation to Unstructured Terrains by Joint Representation and Apprenticeship Learning
Zhang, Hao; SIVA, SRIRAM; Wigness, Maggie; Rogers III, John G.

14:00 - 14:30 Spotlight Talks: Group 5 [Video]
Session Chair:

Talk 05.1
Learning Reward Functions by Integrating Human Demonstrations and Preferences
Palan, Malayandi; Shevchuk, Gleb; Landolfi, Nicholas Charles; Sadigh, Dorsa

Talk 05.2
Teleoperator Imitation with Continuous-Time Safety
El Khadir, Bachir; Varley, Jacob; Sindhwani, Vikas

Talk 05.3
Conditional Neural Movement Primitives
Seker, Muhammet Yunus; Imre, Mert; Piater, Justus; Ugur, Emre

Talk 05.4
From Explanation to Synthesis: Compositional Program Induction for Learning from Demonstration
Burke, Michael; Penkov, Svetlin Valentinov; Ramamoorthy, Subramanian

Talk 05.5
Harnessing Reinforcement Learning for Neural Motion Planning
Jurgenson, Tom; Tamar, Aviv

17:00 – 17:30 Best System Paper Award Nominees [Video]
Session Chair:

Talk BSP.1
Network Offloading Policies for Cloud Robotics: A Learning-Based Approach
Chinchali, Sandeep; Sharma, Apoorva; Harrison, James; Elhafsi, Amine; Kang, Daniel; Pergament, Evgenya; Cidon, Eyal; Katti, Sachin; Pavone, Marco

Talk BSP.2
Learning to Throw Arbitrary Objects with Residual Physics
Zeng, Andy; Song, Shuran; Lee, Johnny; Rodriguez, Alberto; Funkhouser, Thomas A.

Talk BSP.3
Differentiable Algorithm Networks for Composable Robot Learning
Karkus, Peter; Ma, Xiao; Hsu, David; Kaelbling, Leslie; Lee, Wee Sun; Lozano-Perez, Tomas

Talk BSP.4
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Bruder, Daniel; Gillespie, Brent; Remy, C. David; Vasudevan, Ram

Talk BSP.5
An Online Learning Approach to Model Predictive Control
Wagener, Nolan; Cheng, Ching-an; Sacks, Jacob; Boots, Byron

17:30-18:00 Best paper Award Nominees [Video]
Session Chair:

Talk BPA.1
Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution
Moura, Joao; Ivan, Vladimir; Erden, Mustafa Suphi; Vijayakumar, Sethu

Talk BPA.2
Commonsense Reasoning and Knowledge Acquisition to Guide Deep Learning on Robots
Mota, Tiago; Sridharan, Mohan

Talk BPA.3
Robot Packing with Known Items and Nondeterministic Arrival Order
Wang, Fan; Hauser, Kris

Talk BPA.4
A Magnetically-Actuated Untethered Jellyfish-Inspired Soft Milliswimmer
Ren, Ziyu; Wang, Tianlu; Hu, Wenqi; Sitti, Metin

Talk BPA.5
Idiothetic Verticality Estimation through Head Stabilization Strategy
Farkhatdinov, Ildar; Michalska, Hannah; Berthoz, Alain; Hayward, Vincent

Tuesday, June 25

09:00 - 09:30 Spotlight Talks: Group 6 [Video]
Session Chair:

Talk 06.1
Segment2Regress: Monocular 3D Vehicle Localization in Two Stages
Choe, Jaesung; Joo, Kyungdon; Rameau, Francois; Shim, Gyu Min; Kweon, In So

Talk 06.2
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Bodie, Karen; Brunner, Maximilian; Pantic, Michael; Walser, Stefan; Pfändler, Patrick; Angst, Ueli; Siegwart, Roland; Nieto, Juan

Talk 06.3
Real-Time Information-Theoretic Exploration with Gaussian Mixture Model Maps
Tabib, Wennie; Goel, Kshitij; Yao, John; Dabhi, Mosam; Boirum, Curtis; Michael, Nathan

Talk 06.4
Inverting Learned Dynamics Models for Aggressive Multirotor Control
Spitzer, Alexander; Michael, Nathan

Talk 06.5
Robust Singular Smoothers for Tracking Using Low-Fidelity Data
Jonker, Jonathan; Aravkin, Aleksandr; Burke, James; Pillonetto, Gianluigi; Webster, Sarah E.

09:30 - 10:00 Spotlight Talks: Group 7 [Video]
Session Chair:

Talk 07.1
Motion Planning, Design Optimization and Fabrication of Ferromagnetic Swimmers
Grover, Jaskaran Singh; Vedova, Daniel; Jain, Nalini; Travers, Matthew; Choset, Howie

Talk 07.2
Collective Formation and Cooperative Function of a Magnetic Microrobotic Swarm
Dong, Xiaoguang; Sitti, Metin

Talk 07.3
Automated Shapeshifting for Function Recovery in Damaged Robots
Kriegman, Sam; Walker, Stephanie; Shah, Dylan S.; Kramer-Bottiglio, Rebecca; Bongard, Josh

Talk 07.4
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators
Sadati, Seyedmohammadhadi; Shiva, Ali; Naghibi, Seyedeh Elnaz; Rucker, Caleb; Renson, Ludovic; Bergeles, Christos; Althoefer, Kaspar; Nanayakkara, Thrishantha; Hauser, Helmut; Walker, Ian

Talk 07.5
Trajectory Optimization for Cable-Driven Soft Robot Locomotion
Bern, James; Banzet, Pol; Poranne, Roi; Coros, Stelian

10:30 - 11:00 Spotlight Talks: Group 8 [Video]
Session Chair:

Talk 08.1
Bayesian Estimator for Partial Trajectory Alignment
Lasota, Przemyslaw A.; Shah, Julie A.

Talk 08.2
Highly Parallelized Data-Driven MPC for Minimal Intervention Shared Control
Broad, Alexander; Murphey, Todd; Argall, Brenna

Talk 08.3
Influencing Leading and Following in Human-Robot Teams
Kwon, Minae; Li, Mengxi; Bucquet, Alexandre; Sadigh, Dorsa

Talk 08.4
Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks
Campbell, Joseph; Stepputtis, Simon; Ben Amor, Heni

Talk 08.5
Predicting Human Interpretations of Affect and Valence in a Social Robot
Kennington, Casey; McNeill, David

11:00 - 12:00 Keynote Presentation [Video]
Koichi Suzumori, Soft Robotics as E-kagen Science
13:30 - 14:00 Spotlight Talks: Group 9 [Video]
Session Chair:

Talk 09.1
Scalable and Congestion-Aware Routing for Autonomous Mobility-On-Demand Via Frank-Wolfe Optimization
Solovey, Kiril; Salazar, Mauro; Pavone, Marco

Talk 09.2
Towards Provably Not-At-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments
Vaskov, Sean; Kousik, Shreyas; Larson, Hannah; Bu, Fan; Ward, James Robert; Worrall, Stewart; Johnson-Roberson, Matthew; Vasudevan, Ram

Talk 09.3
Efficient Algorithms for Optimal Perimeter Guarding
Feng, Si Wei; Han, Shuai D.; Yu, Jingjin

Talk 09.4
Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios
Wang, Mingyu; Wang, Zijian; Talbot, John; Gerdes, J. Christian; Schwager, Mac

Talk 09.5
Asymptotically Optimal Planning for Non-Myopic Multi-Robot Information Gathering
Kantaros, Yiannis; Schlotfeldt, Brent; Atanasov, Nikolay; Pappas, George J.

14:00 - 14:30 Spotlight Talks: Group 10 [Video]
Session Chair:

Talk 10.1
A 2-Approximation Algorithm for the Online Tethered Coverage Problem
Sharma, Gokarna; Poudel, Pavan; Dutta, Ayan; Zeinali, Vala; Talaei Khoei, Tala; Kim, Jong-Hoon

Talk 10.2
Reachable Space Characterization of Markov Decision Processes with Time Variability
Xu, Junhong; Yin, Kai; Liu, Lantao

Talk 10.3
Risk Contours Map for Risk Bounded Motion Planning under Perception Uncertainties
M. Jasour, Ashkan; Williams, Brian

Talk 10.4
Pareto Monte Carlo Tree Search for Multi-Objective Informative Planning
Chen, Weizhe; Liu, Lantao

Talk 10.5
A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots
Zhong, Baxi; OZKAN-AYDIN, Yasemin; Sartoretti, Guillaume; Rieser, Jennifer; Gong, Chaohui; Xing, Haosen; Goldman, Daniel; Choset, Howie

15:00 - 16:00 Keynote Presentation [Video]
Robin Murphy, Robots for Unstructured and Extreme Environments

Wednesday, June 26

09:00 - 09:30 Spotlight Talks: Group 11 [Video]
Session Chair:

Talk 11.1
Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization
Wang, Yuquan; Kheddar, Abderrahmane

Talk 11.2
A Dynamical System Approach to Motion and Force Generation in Contact Tasks
Amanhoud, Walid; Khoramshahi, Mahdi; Billard, Aude

Talk 11.3
Direct Drive Hands: Force-Motion Transparency in Gripper Design
Bhatia, Ankit; Mason, Matthew T.; Johnson, Aaron

Talk 11.4
Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts
Halm, Mathew; Posa, Michael

Talk 11.5
VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation
Nisar, Barza; Foehn, Philipp; Falanga, Davide; Scaramuzza, Davide

09:30 - 10:00 Spotlight Talks: Group 12 [Video]
Session Chair:

Talk 12.1
Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning
Zanardi, Alessandro; Aumiller, Andreas Jianhao; Zilly, Julian; Censi, Andrea; Frazzoli, Emilio

Talk 12.2
PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation
Deng, Xinke; Mousavian, Arsalan; Xiang, Yu; Xia, Fei; Bretl, Timothy; Fox, Dieter

Talk 12.3
DIViS: Domain Invariant Visual Servoing for Collision-Free Goal Reaching
Sadeghi, Fereshteh

Talk 12.4
A Behavioral Approach to Visual Navigation with Graph Localization Networks
Chen, Kevin; de Vicente, Juan Pablo; Sepulveda, Gabriel; Xia, Fei; Soto, Alvaro; Vázquez, Marynel; Savarese, Silvio

Talk 12.5
OIL: Observational Imitation Learning
Li, Guohao; Mueller, Matthias; Casser, Vincent Michael; Smith, Neil; Michels, Dominik; Ghanem, Bernard

10:30 - 11:00 Spotlight Talks: Group 13 [Video]
Session Chair:

Talk 13.1
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
YANG, HENG; Carlone, Luca

Talk 13.2
A Modular Optimization Framework for Localization and Mapping
Blanco-Claraco, Jose Luis

Talk 13.3
High-Throughput Computation of Shannon Mutual Information on Chip
Li, Peter Zhi Xuan; Zhang, Zhengdong; Karaman, Sertac; Sze, Vivienne

Talk 13.4
Approximate Bayesian Inference in Spatial Environments
Mirchev, Atanas; Kayalibay, Baris; Bayer, Justin; Soelch, Maximilian; van der Smagt, Patrick

Talk 13.5
Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization
Aloise, Irvin; Della Corte, Bartolomeo; Nardi, Federico; Grisetti, Giorgio

11:00 - 12:00 Keynote Presentation [Video]
Martin Riedmiller, Robots that learn from scratch
13:30 - 14:00 Spotlight Talks: Group 14 [Video]
Session Chair:

Talk 14.1
Continuous Direct Sparse Visual Odometry from RGB-D Images
Ghaffari Jadidi, Maani; Clark, William; Bloch, Anthony; Eustice, Ryan; Grizzle, J.W

Talk 14.2
Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments
Rakita, Daniel; Mutlu, Bilge; Gleicher, Michael

Talk 14.3
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Bonalli, Riccardo; Cauligi, Abhishek; Bylard, Andrew; Lew, Thomas; Pavone, Marco

Talk 14.4
Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search
Fu, Mengyu; Kuntz, Alan; Salzman, Oren; Alterovitz, Ron

Talk 14.5
Semi-Autonomous Robot Teleoperation with Obstacle Avoidance Via Model Predictive Control
Rubagotti, Matteo; Taunyazov, Tasbolat; Omarali, Bukeikhan; Shintemirov, Almas

14:00 - 14:30 Spotlight Talks: Group 15 [Video]
Session Chair:

Talk 15.1
Proximity Queries for Absolutely Continuous Parametric Curves
Lakshmanan, Arun; Patterson, Andrew; Cichella, Venanzio; HOVAKIMYAN, NAIRA

Talk 15.2
On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)
Grassmann, Reinhard M.; Burgner-Kahrs, Jessica

Talk 15.3
Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses
Thatte, Nitish; Srinivasan, Nandagopal; Geyer, Hartmut

Talk 15.4
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Landry, Benoit; Manchester, Zachary; Pavone, Marco

Talk 15.5
Autonomous Tool Construction Using Part Shape and Attachment Prediction
Nair, Lakshmi Velayudhan; Srikanth, Nithin Shrivatsav; Erickson, Zackory; Chernova, Sonia