RSS 2023 Accepted Papers

The full list of 112 papers accepted at RSS 2023. 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. RT-1: Robotics Transformer for Real-World Control at ScalePoster1,231 citations
2. Diffusion Policy: Visuomotor Policy Learning via Action DiffusionPoster834 citations
3. Learning Fine-Grained Bimanual Manipulation with Low-Cost HardwarePoster674 citations
4. ConceptFusion: Open-set multimodal 3D mappingPoster249 citations
5. Goal-Conditioned Imitation Learning using Score-based Diffusion PoliciesPoster175 citations
6. Language-Driven Representation Learning for RoboticsPoster153 citations
7. CLIP-Fields: Weakly Supervised Semantic Fields for Robotic MemoryPoster152 citations
8. Scaling Robot Learning with Semantically Imagined ExperiencePoster150 citations
9. AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation SystemPoster114 citations
10. Structured World Models from Human VideosPoster100 citations
11. LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot LearningPoster97 citations
12. FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex ManipulationPoster93 citations
13. GenAug: Retargeting behaviors to unseen situations via Generative AugmentationPoster88 citations
14. Robotic Skill Acquisition via Instruction Augmentation with Vision-Language ModelsPoster81 citations
15. Pre-Training for Robots: Offline RL Enables Learning New Tasks in a Handful of TrialsPoster80 citations
16. Fast Traversability Estimation for Wild Visual NavigationPoster78 citations
17. Teach a Robot to FISH: Versatile Imitation from One Minute of DemonstrationsPoster73 citations
18. Rotating without Seeing: Towards In-hand Dexterity through Touchaccepted70 citations
19. Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During DeploymentPoster63 citations
20. IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to RealityPoster62 citations
21. TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road NavigationPoster62 citations
22. Learning and Adapting Agile Locomotion Skills by Transferring ExperiencePoster61 citations
23. How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic FrontiersPoster54 citations
24. StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen ObjectsPoster45 citations
25. Efficient Reinforcement Learning for Autonomous Driving with Parameterized Skills and PriorsPoster42 citations
26. Robust and Versatile Bipedal Jumping Control through Reinforcement LearningPoster42 citations
27. Sampling-based Exploration for Reinforcement Learning of Dexterous ManipulationPoster42 citations
28. Energy-based Models are Zero-Shot Planners for Compositional Scene RearrangementPoster40 citations
29. iPlanner: Imperative Path PlanningPoster40 citations
30. Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier FunctionsPoster37 citations
31. Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled DatasetsPoster34 citations
32. Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment FeaturesPoster33 citations
33. Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile ManipulatorsPoster30 citations
34. RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material ObjectsPoster30 citations
35. Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion PlanningPoster30 citations
36. Causal Policy Gradient for Whole-Body Mobile ManipulationPoster28 citations
37. ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic ScenesPoster28 citations
38. SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and RenderingPoster28 citations
39. CoDEPS: Online Continual Learning for Depth Estimation and Panoptic SegmentationPoster27 citations
40. To the Noise and Back: Diffusion for Shared AutonomyPoster27 citations
41. Demonstrating A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement LearningPoster26 citations
42. Time Optimal Ergodic SearchPoster25 citations
43. Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven ApproachPoster24 citations
44. Dynamic-Resolution Model Learning for Object Pile ManipulationPoster24 citations
45. Non-Euclidean Motion Planning with Graphs of Geodesically-Convex SetsPoster23 citations
46. One Policy to Dress Them All: Learning to Dress People with Diverse Poses and GarmentsPoster21 citations
47. Convex Geometric Motion Planning on Lie Groups via Moment RelaxationPoster19 citations
48. PATO: Policy Assisted TeleOperation for Scalable Robot Data CollectionPoster19 citations
49. Autonomous Justification for Enabling Explainable Decision Support in Human-Robot TeamingPoster18 citations
50. DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based TrainingPoster17 citations
51. CCIL: Context-conditioned imitation learning for urban drivingPoster16 citations
52. Cherry-Picking with Reinforcement LearningPoster16 citations
53. Robotic Table Tennis: A Case Study into a High Speed Learning SystemPoster16 citations
54. Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real LearningPoster15 citations
55. Efficient volumetric mapping of multi-scale environments using wavelet-based compressionPoster15 citations
56. HDVIO: Improving Localization and Disturbance Estimation with Hybrid Dynamics VIOPoster15 citations
57. On discrete symmetries of robotics systems: A group-theoretic and data-driven analysisPoster15 citations
58. Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network DynamicsPoster14 citations
59. Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile FeedbackPoster14 citations
60. Path Planning for Multiple Tethered Robots Using Topological BraidsPoster14 citations
61. Autonomous Navigation, Mapping and Exploration with Gaussian ProcessesPoster13 citations
62. Centralized Model Predictive Control for Collaborative Loco-ManipulationPoster12 citations
63. Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent SystemsPoster12 citations
64. POV-SLAM: Probabilistic Object-Aware Variational SLAM in Semi-Static EnvironmentsPoster12 citations
65. Progressive Learning for Physics-informed Neural Motion PlanningPoster12 citations
66. Reachability-based Trajectory Design with Neural Implicit Safety ConstraintsPoster12 citations
67. Uncertain Pose Estimation during Contact Tasks using Differentiable Contact FeaturesPoster12 citations
68. Co-optimization of Morphology and Behavior of Modular Robots via Hierarchical Deep Reinforcement LearningPoster11 citations
69. Metric-Free Exploration for Topological Mapping by Task and Motion Imitation in Feature SpacePoster11 citations
70. Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation PlanningPoster11 citations
71. MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile FeedbackPoster10 citations
72. ROSE: Rotation-based Squeezing Robotic Gripper toward Universal Handling of ObjectsPoster10 citations
73. Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View DepthPoster9 citations
74. InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance LearningPoster9 citations
75. NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with ObjectsPoster9 citations
76. Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot InteractionPoster9 citations
77. Task-Aware Risk Estimation of Perception Failures for Autonomous VehiclesPoster9 citations
78. Active Collaborative Localization in Heterogeneous Robot TeamsPoster8 citations
79. Few-shot Adaptation for Manipulating Granular Materials Under Domain ShiftPoster8 citations
80. Precise Object Sliding with Top Contact via Asymmetric Dual Limit SurfacesPoster8 citations
81. An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature RobotsPoster7 citations
82. CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space DataPoster7 citations
83. RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion PlanningPoster7 citations
84. GranularGym: High Performance Simulation for Robotic Tasks with Granular MaterialsPoster6 citations
85. Investigating the Impact of Experience on a User's Ability to Perform Hierarchical AbstractionPoster6 citations
86. Reconfigurable Robot Control Using Flexible Coupling MechanismsPoster6 citations
87. Tactile-Filter: Interactive Tactile Perception for Part MatingPoster6 citations
88. A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-TrainingPoster5 citations
89. Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick SuccessPoster5 citations
90. Gait design for limbless obstacle aided locomotion using geometric mechanicsPoster5 citations
91. Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulatorsPoster5 citations
92. A Sampling-Based Approach for Heterogeneous Coalition Scheduling with Temporal UncertaintyPoster4 citations
93. Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable EnvironmentsPoster4 citations
94. Decentralization and Acceleration Enables Large-Scale Bundle AdjustmentPoster4 citations
95. Incremental Nonlinear Dynamic Inversion based Optical Flow Control for Flying Robots: An Efficient Data-driven ApproachPoster4 citations
96. Learning-Free Grasping of Unknown Objects Using Hidden SuperquadricsPoster4 citations
97. Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut SearchPoster4 citations
98. Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task AllocationPoster3 citations
99. Demonstrating Arena-Web: A Web-based Development and Benchmarking Platform for Autonomous Navigation ApproachesPoster3 citations
100. Graph Attention Multi-Agent Fleet Autonomy for Advanced Air MobilityPoster3 citations
101. Hindsight States: Blending Sim & Real Task Elements for Efficient Reinforcement LearningPoster2 citations
102. Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed BanditsPoster1 citations
103. Predefined-Time Convergent Motion Control for Heterogeneous Continuum RobotsPoster1 citations
104. Self-Supervised Lidar Place Recognition in Overhead Imagery Using Unpaired DataPoster1 citations
105. Solving Stabilize-Avoid via Epigraph Form Optimal Control using Deep Reinforcement LearningPoster1 citations
106. Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis CompensationPoster
107. Demonstrating Large Language Models on RobotsPoster
108. Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AIPoster
109. Enabling Team of Teams: A Trust Inference and Propagation (TIP) Model in Multi-Human Multi-Robot TeamsPoster
110. Follow my Advice: Assume-Guarantee Approach to Task Planning with Human in the LoopPoster
111. G*: A New Approach to Bounding Curvature Constrained Shortest Paths through Dubins GatesPoster
112. SAR: Generalization of Physiological Dexterity via Synergistic Action RepresentationPoster

Looking for submission deadlines instead? See the conference deadline calendar.