RSS 2021 Accepted Papers

The full list of 92 papers accepted at RSS 2021. Click any title for details, similar papers, and links to the original source. You can also search these papers by meaning, not just keywords.

1. RMA: Rapid Motor Adaptation for Legged RobotsPoster643 citations
2. Language Conditioned Imitation Learning Over Unstructured DataPoster276 citations
3. Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement LearningPoster231 citations
4. Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit RepresentationsPoster169 citations
5. Lyapunov-stable neural-network controlPoster158 citations
6. TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D EnvironmentsPoster157 citations
7. STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road NavigationPoster152 citations
8. Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact ConstraintsPoster146 citations
9. Learning Generalizable Robotic Reward Functions from “In-The-Wild” Human VideosPoster134 citations
10. NeuroBEM: Hybrid Aerodynamic Quadrotor ModelPoster130 citations
11. An End-to-End Differentiable Framework for Contact-Aware Robot DesignPoster116 citations
12. DiSECt: A Differentiable Simulation Engine for Autonomous Robotic CuttingPoster113 citations
13. Jerk-limited Real-time Trajectory Generation with Arbitrary Target StatesPoster104 citations
14. Adaptive-Control-Oriented Meta-Learning for Nonlinear SystemsPoster94 citations
15. Safety and Liveness Guarantees through Reach-Avoid Reinforcement LearningPoster89 citations
16. Surprisingly Robust In-Hand Manipulation: An Empirical StudyPoster89 citations
17. NeRP: Neural Rearrangement Planning for Unknown ObjectsPoster84 citations
18. Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale StudyPoster82 citations
19. INVIGORATE: Interactive Visual Grounding and Grasping in ClutterPoster77 citations
20. Learned Visual Navigation for Under-Canopy Agricultural RobotsPoster76 citations
21. Vision-driven Compliant Manipulation for Reliable; High-Precision Assembly TasksPoster72 citations
22. Safe Occlusion-Aware Autonomous Driving via Game-Theoretic Active PerceptionPoster71 citations
23. Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned VehiclePoster70 citations
24. Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature LearningPoster70 citations
25. Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and ControlPoster64 citations
26. On the Importance of Environments in Human-Robot CoordinationPoster64 citations
27. Proximal and Sparse Resolution of Constrained Dynamic EquationsPoster53 citations
28. A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared AutonomyPoster50 citations
29. Safe Reinforcement Learning via Statistical Model Predictive ShieldingPoster48 citations
30. Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State ObservationsPoster44 citations
31. Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge SensorsPoster43 citations
32. Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive TrajectoriesPoster38 citations
33. Vector Semantic Representations as Descriptors for Visual Place RecognitionPoster37 citations
34. Dual Online Stein Variational Inference for Control and DynamicsPoster35 citations
35. GIFT: Generalizable Interaction-aware Functional Tool Affordances without LabelsPoster35 citations
36. Composable Energy Policies for Reactive Motion Generation and Reinforcement LearningPoster34 citations
37. Learning Riemannian Manifolds for Geodesic Motion SkillsPoster33 citations
38. Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery PoliciesPoster33 citations
39. Variational Inference MPC using Tsallis DivergencePoster33 citations
40. Hierarchical Neural Dynamic PoliciesPoster30 citations
41. Active Learning of Abstract Plan FeasibilityPoster29 citations
42. Get to the Point: Learning Lidar Place Recognition and Metric Localisation Using Overhead ImageryPoster29 citations
43. Move Beyond Trajectories: Distribution Space Coupling for Crowd NavigationPoster29 citations
44. Provably Safe and Efficient Motion Planning with Uncertain Human DynamicsPoster29 citations
45. Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex EnvironmentsPoster27 citations
46. Optimal Pose and Shape Estimation for Category-level 3D Object PerceptionPoster27 citations
47. MAGIC: Learning Macro-Actions for Online POMDP PlanningPoster26 citations
48. MQA: Answering the Question via Robotic ManipulationPoster26 citations
49. Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday EnvironmentsPoster23 citations
50. Learning Proofs of Motion Planning InfeasibilityPoster23 citations
51. On complementing end-to-end human behavior predictors with planningPoster22 citations
52. i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental ConditionsPoster22 citations
53. Distributed Covariance Steering with Consensus ADMM for Stochastic Multi-Agent SystemsPoster21 citations
54. HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone RacingPoster21 citations
55. RMP2: A Structured Composable Policy Class for Robot LearningPoster21 citations
56. Manipulator-Independent Representations for Visual ImitationPoster20 citations
57. A Low-Cost Compliant Gripper Using Cooperative Mini-Delta Robots for Dexterous ManipulationPoster19 citations
58. Toward Certifiable Motion Planning for Medical Steerable NeedlesPoster19 citations
59. Fast and Memory Efficient Graph Optimization via ICM for Visual Place RecognitionPoster18 citations
60. PROMPT: Probabilistic Motion Primitives based Trajectory PlanningPoster18 citations
61. Robust Value Iteration for Continuous Control TasksPoster18 citations
62. Sampling-Based Motion Planning on Sequenced ManifoldsPoster18 citations
63. EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And FollowingPoster17 citations
64. On Minimizing the Number of Running Buffers for Tabletop RearrangementPoster17 citations
65. Continuous Integration over SO(3) for IMU PreintegrationPoster15 citations
66. Filter-Based Online System-Parameter Estimation for Multicopter UAVsPoster15 citations
67. Modeling Human Helpfulness with Individual and Contextual Factors for Robot PlanningPoster15 citations
68. Policy Transfer across Visual and Dynamics Domain Gaps via Iterative GroundingPoster15 citations
69. Scale invariant robot behavior with fractalsPoster15 citations
70. Bayesian Deep Graph Matching for Correspondence Identification in Collaborative PerceptionPoster14 citations
71. GROUNDED: The Localizing Ground Penetrating Radar Evaluation DatasetPoster14 citations
72. Skill-based Shared ControlPoster14 citations
73. An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse RewardsPoster13 citations
74. Co-Design of Communication and Machine Inference for Cloud RoboticsPoster13 citations
75. Discovering Generalizable Skills via Automated Generation of Diverse TasksPoster13 citations
76. Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanicsPoster12 citations
77. Resolving Conflict in Decision-Making for Autonomous DrivingPoster12 citations
78. Ab Initio Particle-based Object ManipulationPoster11 citations
79. Droplet: Towards Autonomous Underwater Assembly of Modular StructuresPoster11 citations
80. Semantic Abstraction-Guided Motion Planning for scLTL Missions in Unknown EnvironmentsPoster11 citations
81. Rearrangement on Lattices with Swaps: Optimality Structures and Efficient AlgorithmsPoster8 citations
82. Safe Policies for Factored Partially Observable Stochastic GamesPoster8 citations
83. Active Safety Envelopes using Light Curtains with Probabilistic GuaranteesPoster7 citations
84. Feature-Based SLAM: Why Simultaneous Localisation and Mapping?Poster6 citations
85. Towards finding the shortest-paths for 3D rigid bodiesPoster6 citations
86. Entropy-Guided Control ImprovisationPoster5 citations
87. Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic EnvironmentsPoster4 citations
88. Planning Multimodal Exploratory Actions for Online Robot Attribute LearningPoster4 citations
89. Probabilistic Discriminative Models address the Tactile Perceptual Aliasing ProblemPoster3 citations
90. Falling Into Place: Drop Assembly of Interlocking PuzzlesPoster1 citations
91. Generalized Comprehensive Motion Theory for High-Order Differential DynamicsPoster1 citations
92. Inexact Loops in Robotics ProblemsPoster

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