The International Conference on Robotics and Automation (ICRA) 2020 is being hosted virtually from May 31 – Jun 4. We’re excited to share all the work from SAIL that’s being presented, and you’ll find links to papers, videos and blogs below. Feel free to reach out to the contact authors directly to learn more about the work that’s happening at Stanford!

List of Accepted Papers

Design of a Roller-Based Dexterous Hand for Object Grasping and Within-Hand Manipulation

Authors: Shenli Yuan, Austin D. Epps, Jerome B. Nowak, J. Kenneth Salisbury
Contact: shenliy@stanford.edu
Award nominations: Best Paper, Best Student Paper, Best Paper Award in Robot Manipulation, Best Paper in Mechanisms and Design
Links: Paper | Video
Keywords: dexterous manipulation, grasping, grippers and other end-effectors

Distributed Multi-Target Tracking for Autonomous Vehicle Fleets

Authors: Ola Shorinwa, Javier Yu, Trevor Halsted, Alex Koufos, and Mac Schwager
Contact: shorinwa@stanford.edu
Award nominations: Best Paper
Links: Paper | Video
Keywords: mulit-target tracking, distributed estimation, multi-robot systems

Efficient Large-Scale Multi-Drone Delivery Using Transit Networks

Authors: Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, Marco Pavone
Contact: shushman@stanford.edu
Award nominations: Best Multi-Robot Systems Paper
Links: Paper | Video
Keywords: multi-robot, optimization, task allocation, route planning

Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly

Authors: Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song
Contact: zakka@cs.stanford.edu
Award nominations: Best Automation Paper
Links: Paper | Blog Post | Video
Keywords: perception for grasping, assembly, robotics

Human Interface for Teleoperated Object Manipulation with a Soft Growing Robot

Authors: Fabio Stroppa, Ming Luo, Kyle Yoshida, Margaret M. Coad, Laura H. Blumenschein, and Allison M. Okamura
Contact: fstroppa@stanford.edu
Award nominations: Best Human-Robot Interaction Paper
Links: Paper | Video
Keywords: soft robot, growing robot, manipulation, interface, teleoperation

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

Authors: Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, Yuke Zhu
Contact: chenwj@stanford.edu
Links: Paper | Blog Post | Video
Keywords: category-level 6d object pose tracking, unsupervised 3d keypoints

A Stretchable Capacitive Sensory Skin for Exploring Cluttered Environments

Authors: Alexander Gruebele, Jean-Philippe Roberge, Andrew Zerbe, Wilson Ruotolo, Tae Myung Huh, Mark R. Cutkosky
Contact: agruebe2@stanford.edu
Links: Paper
Keywords: robot sensing systems , skin , wires , capacitance , grasping

Accurate Vision-based Manipulation through Contact Reasoning

Authors: Alina Kloss, Maria Bauza, Jiajun Wu, Joshua B. Tenenbaum, Alberto Rodriguez, Jeannette Bohg
Contact: alina.kloss@tue.mpg.de
Links: Paper | Video
Keywords: manipulation planning, contact modeling, perception for grasping and manipulation

Assistive Gym: A Physics Simulation Framework for Assistive Robotics

Authors: Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles C. Kemp
Contact: karenliu@cs.stanford.edu
Links: Paper
Keywords: assistive robotics; physics simulation; reinforcement learning; physical human robot interaction

Controlling Assistive Robots with Learned Latent Actions

Authors: Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Dorsa Sadigh
Contact: dlosey@stanford.edu
Links: Paper | Blog Post | Video
Keywords: human-robot interaction, assistive control

Distal Hyperextension is Handy: High Range of Motion in Cluttered Environments

Authors: Wilson Ruotolo, Rachel Thomasson, Joel Herrera, Alex Gruebele, Mark R. Cutkosky
Contact: wruotolo@stanford.edu
Links: Paper | Video
Keywords: dexterous manipulation, grippers and other end-effectors, multifingered hands

Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots

Authors: Brian H. Do, Valory Banashek, Allison M. Okamura
Contact: brianhdo@stanford.edu
Links: Paper | Video
Keywords: soft robot materials and design; mechanism design; compliant joint/mechanism

Dynamically Reconfigurable Tactile Sensor for Robotic Manipulation

Authors: Tae Myung Huh, Hojung Choi, Simone Willcox, Stephanie Moon, Mark R. Cutkosky
Contact: taemyung@stanford.edu
Links: Paper | Video
Keywords: robot sensing systems , electrodes , force , force measurement , capacitance

Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions

Authors: Gennaro Notomista, Mingyu Wang, Mac Schwager, Magnus Egerstedt
Contact: mingyuw@stanford.edu
Links: Paper
Keywords: autonomous driving

Evaluation of Non-Collocated Force Feedback Driven by Signal-Independent Noise

Authors: Zonghe Chua, Allison Okamura, Darrel Deo
Contact: chuazh@stanford.edu
Links: Paper | Video
Keywords: haptics and haptic interfaces; prosthetics and exoskeletons; brain-machine interface

From Planes to Corners: Multi-Purpose Primitive Detection in Unorganized 3D Point Clouds

Authors: Christiane Sommer, Yumin Sun, Leonidas Guibas, Daniel Cremers, Tolga Birdal
Contact: tbirdal@stanford.edu
Links: Paper | Code | Video
Keywords: plane detection, corner detection, orthogonal, 3d geometry, computer vision, point pair, slam

Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning

Authors: Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox
Contact: mishlee@stanford.edu
Links: Paper | Video
Keywords: deep learning in robotics and automation, perception for grasping and manipulation, learning and adaptive systems

IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data

Authors: Ajay Mandlekar, Fabio Ramos, Byron Boots, Silvio Savarese, Li Fei-Fei, Animesh Garg, Dieter Fox
Contact: amandlek@stanford.edu
Links: Paper | Video
Keywords: imitation learning, reinforcement learning, robotics

Interactive Gibson Benchmark: A Benchmark for Interactive Navigation in Cluttered Environments

Authors: Fei Xia, William B. Shen, Chengshu Li, Priya Kasimbeg, Micael Tchapmi, Alexander Toshev, Roberto Martín-Martín, Silvio Savarese
Contact: feixia@stanford.edu
Links: Paper | Video
Keywords: visual navigation, deep learning in robotics, mobile manipulation

KETO: Learning Keypoint Representations for Tool Manipulation

Authors: Zengyi Qin, Kuan Fang, Yuke Zhu, Li Fei-Fei, Silvio Savarese
Contact: qinzy@cs.stanford.edu
Links: Paper | Blog Post | Video
Keywords: manipulation, representation, keypoint, interaction, self-supervised learning

Learning Hierarchical Control for Robust In-Hand Manipulation

Authors: Tingguang Li, Krishnan Srinivasan, Max Qing-Hu Meng, Wenzhen Yuan, Jeannette Bohg
Contact: tgli@link.cuhk.edu.hk
Links: Paper | Blog Post | Video
Keywords: in-hand manipulation, robotics, reinforcement learning, hierarchical

Learning Task-Oriented Grasping from Human Activity Datasets

Authors: Mia Kokic, Danica Kragic, Jeannette Bohg
Contact: mkokic@kth.se
Links: Paper
Keywords: perception, grasping

Learning a Control Policy for Fall Prevention on an Assistive Walking Device

Authors: Visak CV Kumar, Sehoon Ha, Gregory Sawicki, C. Karen Liu
Contact: karenliu@cs.stanford.edu
Links: Paper
Keywords: assistive robotics; human motion modeling; physical human robot interaction; reinforcement learning

Learning an Action-Conditional Model for Haptic Texture Generation

Authors: Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg
Contact: nheravi@stanford.edu
Links: Paper | Blog Post | Video
Keywords: haptics and haptic interfaces

Learning to Collaborate from Simulation for Robot-Assisted Dressing

Authors: Alexander Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, C. Karen Liu
Contact: karenliu@cs.stanford.edu
Links: Paper
Keywords: assistive robotics; physical human robot interaction; reinforcement learning; physics simulation; cloth manipulation

Learning to Scaffold the Development of Robotic Manipulation Skills

Authors: Lin Shao, Toki Migimatsu, Jeannette Bohg
Contact: lins2@stanford.edu
Links: Paper | Video
Keywords: learning and adaptive systems, deep learning in robotics and automation, intelligent and flexible manufacturing

Map-Predictive Motion Planning in Unknown Environments

Authors: Amine Elhafsi, Boris Ivanovic, Lucas Janson, Marco Pavone
Contact: amine@stanford.edu
Links: Paper
Keywords: motion planning deep learning robotics

Motion Reasoning for Goal-Based Imitation Learning

Authors: De-An Huang, Yu-Wei Chao, Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox
Contact: dahuang@stanford.edu
Links: Paper | Video
Keywords: imitation learning, goal inference

Object-Centric Task and Motion Planning in Dynamic Environments

Authors: Toki Migimatsu, Jeannette Bohg
Contact: takatoki@cs.stanford.edu
Links: Paper | Blog Post | Video
Keywords: control of systems integrating logic, dynamics, and constraints

Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning

Authors: Kyle Brown, Oriana Peltzer, Martin Sehr, Mac Schwager, Mykel Kochenderfer
Contact: kjbrown7@stanford.edu
Links: Paper | Video
Keywords: multi robot systems, multi agent path finding, mixed integer programming, automated manufacturing, sequential task assignment

Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space

Authors: Michal Kleinbort, Edgar Granados, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin
Contact: kirilsol@stanford.edu
Links: Paper
Keywords: motion planning, sampling-based planning, rrt, optimality

Retraction of Soft Growing Robots without Buckling

Authors: Margaret M. Coad, Rachel P. Thomasson, Laura H. Blumenschein, Nathan S. Usevitch, Elliot W. Hawkes, and Allison M. Okamura
Contact: mmcoad@stanford.edu
Links: Paper | Video
Keywords: soft robot materials and design; modeling, control, and learning for soft robots

Revisiting the Asymptotic Optimality of RRT*

Authors: Kiril Solovey, Lucas Janson, Edward Schmerling, Emilio Frazzoli, and Marco Pavone
Contact: kirilsol@stanford.edu
Links: Paper | Video
Keywords: motion planning, rapidly-exploring random trees, rrt*, sampling-based planning

Sample Complexity of Probabilistic Roadmaps via Epsilon Nets

Authors: Matthew Tsao, Kiril Solovey, Marco Pavone
Contact: mwtsao@stanford.edu
Links: Paper | Video
Keywords: motion planning, sampling-based planning, probabilistic roadmaps, epsilon nets

Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects

Authors: Mengyuan Yan, Yilin Zhu, Ning Jin, Jeannette Bohg
Contact: myyan92@gmail.com, bohg@stanford.edu
Links: Paper | Video
Keywords: self-supervision, deformable objects

Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage

Authors: Ravi Haksar, Sebastian Trimpe, Mac Schwager
Contact: rhaksar@stanford.edu
Links: Paper | Video
Keywords: distributed systems, multi-robot systems, multi-robot path planning

Spatiotemporal Relationship Reasoning for Pedestrian Intent Prediction

Authors: Bingbin Liu, Ehsan Adeli, Zhangjie Cao, Kuan-Hui Lee, Abhijeet Shenoi, Adrien Gaidon, Juan Carlos Niebles
Contact: eadeli@stanford.edu
Links: Paper | Video
Keywords: spatiotemporal graphs, forecasting, graph neural networks, autonomous-driving.

TRASS: Time Reversal as Self-Supervision

Authors: Suraj Nair, Mohammad Babaeizadeh, Chelsea Finn, Sergey Levine, Vikash Kumar
Contact: surajn@stanford.edu
Links: Paper | Blog Post | Video
Keywords: visual planning; reinforcement learning; self-supervision

UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands

Authors: Lin Shao, Fabio Ferreira, Mikael Jorda, Varun Nambiar, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Oussama Khatib, Jeannette Bohg
Contact: lins2@stanford.edu
Links: Paper | Video
Keywords: deep learning in robotics and automation; grasping; multifingered hands

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration

Authors: Margaret M. Coad, Laura H. Blumenschein, Sadie Cutler, Javier A. Reyna Zepeda, Nicholas D. Naclerio, Haitham El-Hussieny, Usman Mehmood, Jee-Hwan Ryu, Elliot W. Hawkes, and Allison M. Okamura
Contact: mmcoad@stanford.edu
Links: Paper | Video
Keywords: soft robot applications; field robots

We look forward to seeing you at ICRA!