Technical Program


This schedule is tentative and subject to change.

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Wednesday Thursday Friday

Saturday Sunday



Wednesday, July 12

08:30 AM - 09:30 AM Registration and Coffee/Light Refreshments
Location: Kresge Lobby
09:30 AM - 10:00 AM Spotlight Talks: Group 1
Location: Kresge Auditorium
Session Chair: Matt Walter

Talk 01.1
Safe Visual Navigation via Deep Learning and Novelty Detection
Charles Richter, Nicholas Roy

Talk 01.2
CAD2RL: Real Single-Image Flight Without a Single Real Image
Fereshteh Sadeghi, Sergey Levine

Talk 01.3
Provably Safe Robot Navigation with Obstacle Uncertainty
Brian Axelrod, Leslie Kaelbling, Tomas Lozano-Perez

Talk 01.4
Trajectory Optimization for Self-Calibration and Navigation
James Preiss, Karol Hausman, Gaurav Sukhatme, Stephan Weiss

10:00 AM - 10:30 AM Spotlight Talks: Group 2
Location: Kresge Auditorium
Session Chair: Nick Roy

Talk 02.1
XPose: Reinventing User Interaction with Flying Cameras
Ziquan Lan, Mohit Shridhar, David Hsu, Shengdong Zhao

Talk 02.2
An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots
Wyatt Felt, Maria Telleria, Thomas Allen, Gabriel Hein, Jonathan Pompa, Kevin Albert, David Remy

Talk 02.3
Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview
Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer, Jessy Grizzle, Koushil Sreenath

10:30 AM - 11:00 AM Refreshment Break
Location: Kresge Lobby
11:00 AM - 12:00 PM Keynote Presentation
Location: Kresge Auditorium
Session Chair: Siddhartha Srinivasa

Frank Chongwoo Park, "Manifolds, Geometry, and Robotics"
12:00 PM - 02:00 PM Lunch Break
02:00 PM - 02:30 PM Spotlight Talks: Group 3
Location: Kresge Auditorium
Session Chair: Todd Murphey

Talk 03.1
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, James Bagnell, Matthew Mason

Talk 03.2
Efficient Equilibrium Testing under Adhesion and Anisotropy using Empirical Contact Force Models
Kris Hauser, Shiquan Wang, Mark Cutkosky

Talk 03.3
Exact Bounds on the Contact Driven Motion of a Sliding Object, With Applications to Robotic Pulling
Eric Huang, Ankit Bhatia, Byron Boots, Matthew Mason

Talk 03.4
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio, Ken Goldberg

02:30 PM - 03:00 PM Spotlight Talks: Group 4
Location: Kresge Auditorium
Session Chair: Matei Ciocarlie

Talk 04.1
Underactuated tendon-driven robotic/prosthetic hands: design issues
Annick Mottard, Thierry Laliberté, Clément Gosselin

Talk 04.2
Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots
Lionel Birglen

Talk 04.3
Optimal Shape and Motion Planning for Dynamic Planar Manipulation
Orion Taylor, Alberto Rodriguez

Talk 04.4
Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization
Balakumar Sundaralingam, Tucker Hermans

03:00 PM - 03:30 PM Refreshment Break
Location: Kresge Lobby
03:30 PM - 04:00 PM Spotlight Talks: Group 5
Location: Kresge Auditorium
Session Chair: Kostas Bekris

Talk 05.1
Deformable Rapidly-Exploring Random Trees
Florian Hauer, Panagiotis Tsiotras

Talk 05.2
Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization
Ko Ayusawa, Eiichi Yoshida

Talk 05.3
DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback
Zachary Manchester, Scott Kuindersma

Talk 05.4
Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning
Edward Schmerling, Marco Pavone

04:00 PM - 04:30 PM Spotlight Talks: Group 6
Location: Kresge Auditorium
Session Chair: Hanna Kurniawati

Talk 06.1
Mode Switch Assistance To Maximize Human Intent Disambiguation
Deepak Edakkattil Gopinath, Brenna Argall

Talk 06.2
Enabling Robots to Communicate Their Objectives
Sandy Huang, David Held, Pieter Abbeel, Anca Dragan

Talk 06.3
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction
Jae Sung Park, Chonhyon Park, Dinesh Manocha

Talk 06.4
Active Preference-Based Learning of Reward Functions
Dorsa Sadigh, Anca Dragan, Shankar Sastry, Sanjit Seshia

04:30 PM - 05:00 PM Spotlight Talks: Group 7
Location: Kresge Auditorium
Session Chair: Brenna Argall

Talk 07.1
Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities
Dilip Arumugam, Siddharth Karamcheti, Nakul Gopalan, Lawson Wong, Stefanie Tellex

Talk 07.2
Resolution of Referential Ambiguity in Human-Robot Dialogue Using Dempster-Shafer Theoretic Pragmatics
Tom Williams, Matthias Scheutz

Talk 07.3
Groups of humans and robots: Understanding membership preferences and team formation
Filipa Correia, Sofia Petisca, Patrícia Alves-Oliveira, Tiago Ribeiro, Francisco Melo, Ana Paiva

Talk 07.4
Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks
Zack Bright, H. Harry Asada

05:00 PM - 05:30 PM Spotlight Talks: Group 8
Location: Kresge Auditorium
Session Chair: Stefanie Tellex

Talk 08.1
Sample-Based Methods for Factored Task and Motion Planning
Caelan Garrett, Tomas Lozano-Perez, Leslie Kaelbling

Talk 08.2
Geometry of 3D Environments and Sum of Squares Polynomials
Amir Ali Ahmadi, Georgina Hall, Ameesh Makadia, Vikas Sindhwani

Talk 08.3
Bayesian Eigenobjects: A Unified Framework for 3D Robot Perception
Benjamin Burchfiel, George Konidaris

Talk 08.4
Synthesizing Training Data for Object Detection in Indoor Scenes
Georgios Georgakis, Arsalan Mousavian, Alexander Berg, Jana Kosecka

05:30 - 06:00 PM Break to walk to poster session
06:00 - 09:00 PM Amazon Robotics Poster Session
Location: Student Street at the Stata Center

Amazon Robotics

Thursday, July 13

08:30 AM - 09:30 AM Registration and Coffee/Light Refreshments
Location: Kresge Lobby
09:30 AM - 10:00 AM Spotlight Talks: Group 9
Location: Kresge Auditorium
Session Chair: Anca Dragan

Talk 09.1
Discovering Action Primitive Granularity from Human Motion for Human-Robot Collaboration
Elena Corina Grigore, Brian Scassellati

Talk 09.2
Analysis of Rigid Extended Object Co-Manipulation by Human Dyads: Lateral Movement Characterization
Erich Mielke, Eric Townsend, Marc Killpack

Talk 09.3
Learning Models for Shared Control of Human-Machine Systems with Unknown Dynamics
Alexander Broad, Todd Murphey, Brenna Argall

Talk 09.4
Breaking the Human-Robot Deadlock: Surpassing Shared Control Performance Limits with Sparse Human-Robot Interaction
Peter Trautman

10:00 AM - 10:30 AM Spotlight Talks: Group 10
Location: Kresge Auditorium
Session Chair: Hadas Kress-Gazit

Talk 10.1
Improving Slip Prediction on Mars Using Thermal Inertia Measurements
Christopher Cunningham, Issa Nesnas, William Whittaker

Talk 10.2
High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods
Shuai Han, Nicholas Stiffler, Athanasios Krontiris, Kostas Bekris, Jingjin Yu

Talk 10.3
Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload
Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza

10:30 AM - 11:00 AM Refreshment Break
Location: Kresge Lobby
11:00 AM - 12:00 PM Keynote Presentation
Location: Kresge Auditorium
Session Chair: Siddhartha Srinivasa

Dieter Fox, "Bayes Filters, Models, and Some Learning"
12:00 PM - 02:00 PM Lunch Break
02:00 PM - 02:30 PM Spotlight Talks: Group 11
Location: Kresge Auditorium
Session Chair: Angela Schoellig

Talk 11.1
Unsupervised Perceptual Rewards for Imitation Learning
Pierre Sermanet, Kelvin Xu, Sergey Levine

Talk 11.2
Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models
Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone

Talk 11.3
Learning Constrained Generalizable Policies by Demonstration
Leopoldo Armesto, Vladimir Ivan, Joao Moura, Antonio Sala, Sethu Vijayakumar

Talk 11.4
Learning Lyapunov (Potential) Functions from Counterexamples and Demonstrations
Hadi Ravanbakhsh, Sriram Sankaranarayanan

02:30 PM - 03:00 PM Spotlight Talks: Group 12
Location: Kresge Auditorium
Session Chair: Dieter Fox

Talk 12.1
Adaptive Information Gathering via Imitation Learning
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey

Talk 12.2
Preparing for the Unknown: Learning a Universal Policy with Online System Identification
Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk

Talk 12.3
Rich Time Series Classification Using Temporal Logic
Chanyeol Yoo, Calin Belta

Talk 12.4
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks
Yu Xiang, Dieter Fox

03:00 PM - 03:30 PM Refreshment Break
Location: Kresge Lobby
03:30 PM - 04:30 PM Early Career Spotlight
Location: Kresge Auditorium
Session Chair: Siddhartha Srinivasa

Sertac Karaman, "On Algorithm Control and Perception: Compression, Attention, and Coordination"
04:30 PM - 05:00 PM Spotlight Talks: Group 13
Location: Kresge Auditorium
Session Chair: Scott Kuindersma

Talk 13.1
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
Michael Posa, Twan Koolen, Russ Tedrake

Talk 13.2
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation
Ayush Agrawal, Koushil Sreenath

Talk 13.3
From the Lab to the Desert: Fast Prototyping and Learning of Robot Locomotion
Kevin Sebastian Luck, Joseph Campbell, Michael Jansen, Daniel Aukes, Heni Ben Amor

Talk 13.4
Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators
Jun Zhang, Michael Yip

05:00 PM - 05:30 PM Spotlight Talks: Group 14
Location: Kresge Auditorium
Session Chair: Koushil Sreenath

Talk 14.1
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots
Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin Caldwell, Claudio Semini, Maurice Fallon

Talk 14.2
Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion
Diego Pardo, Michael Neunert, Alexander Winkler, Ruben Grandia, Jonas Buchli

Talk 14.3
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard

Talk 14.4
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments
Michael Grey, Aaron Ames, C. Karen Liu

05:30 - 06:00 PM Break to walk to poster session
06:00 - 09:00 PM Toyota Research Institute Poster Session
Location: Student Street at the Stata Center

Toyota Research Institute

Friday, July 14

08:30 AM - 09:30 AM Registration and Coffee/Light Refreshments
Location: Kresge Lobby
09:30 AM - 10:00 AM Spotlight Talks: Group 15
Location: Kresge Auditorium
Session Chair: Jonathan Kelly

Talk 15.1
Introspective Evaluation of Perception Performance for Parameter Tuning without Ground Truth
Humphrey Hu, George Kantor

Talk 15.2
First-Person Action-Object Detection with EgoNet
Gedas Bertasius, Hyun Soo Park, Stella Yu, Jianbo Shi

Talk 15.3
Bingham Distribution-Based Linear Filter for Online Pose Estimation
Arun Srivatsan Rangaprasad, Mengyun Xu, Nicolas Zevallos-Roberts, Howie Choset

Talk 15.4
Time-Lapse Light Field Photography for Perceiving Non-Lambertian Scenes
John Oberlin, Stefanie Tellex

10:00 AM - 10:30 AM Spotlight Talks: Group 16
Location: Kresge Auditorium
Session Chair: Nancy Amato

Talk 16.1
Learning to Reconstruct 3D Structures for Occupancy Mapping
Vitor Guizilini, Fabio Ramos

Talk 16.2
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane

Talk 16.3
Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning
Cenk Baykal, Ron Alterovitz

10:30 AM - 11:00 AM Refreshment Break
Location: Kresge Lobby
11:00 AM - 12:00 PM Keynote Presentation
Location: Kresge Auditorium
Session Chair: Siddhartha Srinivasa

Martial Hebert
12:00 PM - 02:00 PM Lunch Break
02:00 PM - 02:30 PM Spotlight Talks: Group 17
Location: Kresge Auditorium
Session Chair: Han-Lim Choi

Talk 17.1
Collisions as Information Sources in Densely Packed Multi-Robot Systems Under Mean-Field Approximations
Siddharth Mayya, Pietro Pierpaoli, Girish Nair, Magnus Egerstedt

Talk 17.2
Effective Metrics for Multi-Robot Motion-Planning
Aviel Atias, Kiril Solovey, Dan Halperin

Talk 17.3
Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment
Micah Corah, Nathan Michael

Talk 17.4
Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots
Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian Pokorny

02:30 PM - 03:00 PM Spotlight Talks: Group 18
Location: Kresge Auditorium
Session Chair: Sergey Levine

Talk 18.1
Job Selection in a Network of Autonomous UAVs for Delivery of Goods
Pasquale Grippa, Doris Behrens, Christian Bettstetter, Friederike Wall

Talk 18.2
Generalized Cylinders for Learning, Reproduction, Generalization, and Refinement of Robot Skills
S. Reza Ahmadzadeh, Muhammad Asif Rana, Sonia Chernova

Talk 18.3
Reasoning About Liquids via Closed-Loop Simulation
Connor Schenck, Dieter Fox

03:00 PM - 03:30 PM Refreshment Break
Location: Kresge Lobby
03:30 PM - 04:00 PM Spotlight Talks: Group 19
Location: Kresge Auditorium
Session Chair: Marco Pavone

Talk 19.1
Simultaneous Trajectory Estimation and Planning via Probabilistic Inference
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Talk 19.2
Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty
Vishnu Desaraju, Alexander Spitzer, Nathan Michael

Talk 19.3
Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions
Giorgos Mamakoukas, Malcolm MacIver, Todd Murphey

Talk 19.4
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo de la Torre, Todd Murphey

04:00 PM - 04:30 PM Spotlight Talks: Group 20
Location: Kresge Auditorium
Session Chair: Nathan Michael

Talk 20.1
A neuromorphic controller for a robotic vehicle equipped with a dynamic vision sensor
Hermann Blum, Alexander Dietmüller, Moritz Milde, Jörg Conradt, Giacomo Indiveri, Yulia Sandamirskaya

Talk 20.2
Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach
Zhengdong Zhang, Amr Suleiman, Luca Carlone, Vivienne Sze, Sertac Karaman

Talk 20.3
Uncertainty Models for TTC-Based Collision-Avoidance
Zahra Forootaninia, Ioannis Karamouzas, Rahul Narain

04:30 PM - 05:30 PM Awards
Location: Kresge Auditorium
05:30 PM - 06:30 PM Transportation to Banquet
07:00 PM - 11:00 PM Northrop Grumman Aerospace Systems Banquet
Location: Bates Hall, Boston Public Library

Northrop Grumman

Saturday, July 15

08:30 AM - 09:30 AM Registration and Coffee/Light Refreshments
Location: Student Street at the Stata Center
09:30 AM - 10:30 AM Morning Session 1
10:30 AM - 11:00 AM Refreshment Break
11:00 AM - 12:00 PM Morning Session 2
12:00 PM - 02:00 PM Lunch Break
02:00 PM - 03:00 PM Afternoon Session 1
03:00 PM - 03:30 PM Refreshment Break
03:30 PM - 05:30 PM Afternoon Session 2
05:30 PM - 08:30 PM Amazon Robotics and MassRobotics Industry Reception
Location: Student Street at the Stata Center

Amazon Robotics MassRobotics

Sunday, July 16

08:30 AM - 09:30 AM Registration and Coffee/Light Refreshments
Location: Student Street at the Stata Center
09:30 AM - 10:30 AM Morning Session 1
10:30 AM - 11:00 AM Refreshment Break
11:00 AM - 12:00 PM Morning Session 2
12:00 PM - 02:00 PM Lunch Break
02:00 PM - 03:00 PM Afternoon Session 1
03:00 PM - 03:30 PM Refreshment Break
03:30 PM - 05:30 PM Afternoon Session 2