RSS 2014 Workshop: Information-based Grasp and Manipulation Planning
Abstract
In order for robots to perform grasping and manipulation tasks robustly in the presence of environmental uncertainty, it is important to be able to reason about the acquisition of perceptual knowledge and to perform information gathering actions as necessary. This is especially important today because many recently developed inexpensive robots sacrifice actuator accuracy and performance for cost savings. In order for this tradeoff to work, it is necessary to make up for actuator error with improved perceptual capabilities.
This workshop will focus on the intersection between grasping/manipulation and planning under uncertainty. One the one hand, we are interested in planning algorithms that enable a robot to reason about how to obtain relevant information in the context of performing a task. On the other, we are looking for ways that these planning algorithms can make robot grasping and manipulation more robust. We envision a robot manipulation system that gains information by interacting with objects (touching, pushing, changing viewing perspective, etc.) in order to perform grasping, placement, insertion, assembly, or other tasks more robustly.
This workshop will bring together researchers working in sensing and perception, grasp and motion planning, and information/belief space planning to discuss the current state of the art and identify new research opportunities.
Topics
The workshop will focus on the following pertinent areas, including but not limited to:
- Grasping of partially known objects
- Grasping of objects with uncertain pose/geometry
- New metrics for grasping under uncertainty
- Uncertainty representations of the environment relevant for grasping and manipulation tasks
- Uncertainty modeling including Bayesian nonparametric models
- Multi-modal sensor fusion
- Learning-based approaches for unified sensing and planning
- Belief-space or information-based planning
- Active sensing and active localization techniques
- Anytime methods for information-based grasp and manipulation planning
- Implementation challenges in grasp and manipulation planning for real-world robotic systems
Schedule
The workshop will be held on July 13, 2014 (Sunday) during the Robotics Science and Systems (RSS) 2014 Conference in Berkeley, California.
Venue: 200 Wheeler Hall (Directions)
| 08:40 - 08:50 | Welcome |
| 08:50 - 09:20 | Invited Talk: Prof. Ken Goldberg, UC Berkeley. |
| 09:20 - 09:40 | Talk: Sergey Levine, UC Berkeley. (Paper) |
| 09:40 - 10:00 | Talk: Shervin Javdani, CMU. (Paper) |
| 10:00 - 10:20 | Coffee Break |
| 10:20 - 10:50 | Invited Talk: Prof. Hanna Kurniawati, University of Queensland. |
| 10:50 - 11:20 | Poster Spotlight Talks: 10 posters; 3 minute presentations |
| 11:20 - 11:50 | Contributed Papers: Poster Session I |
| 11:50 - 15:00 | Lunch Break |
| 15:00 - 15:30 | Invited Talk: Prof. Ashutosh Saxena, Cornell University. |
| 15:30 - 16:30 | Contributed Papers: Poster Session II |
| 16:30 - 17:00 | Coffee Break |
| 17:00 - 17:30 | Invited Talk: Jur van den Berg, Google. |
| 17:30 - 17:50 | Talk: Dylan Hadfield-Menell, UC Berkeley. (Paper) |
| 17:50 - 18:20 | Invited Talk: Siddhartha Srinivasa, CMU. |
| 18:20 - 18:30 | Closing Remarks |
Contributed Papers
- Dynamic Closed-loop Replanning in Belief Space: Toward Handling Dynamically Changing Environments
Ali-akbar Agha-mohammadi, Saurav Agarwal, Suman Chakravorty, Nancy M. Amato
(abstract | poster | slides) - BIT*: Batch Informed Trees
Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
(abstract | poster | slides) - Open Up! - Towards the Use of Human Strategies to address Pose Uncertainty in Grasp Planning
Ana Huaman Quispe, Mike Stilman
(abstract | poster | slides) - Decision Region Determination for Touch Based Localization
Shervin Javdani, Yuxin Chen, Amin Karbasi, Andreas Krause, J. Andrew Bagnell, Siddhartha S. Srinivasa
(abstract | slides) - Push-Grasp Quality Evaluation for Polygonal Parts under Pose Uncertainty using Quasi-static Simulation
Ben Kehoe, Sachin Patil, Matei Ciocarlie, James Kuffner, Ken Goldberg
(abstract | poster | slides) - Action-Based Models for Belief-Space Planning
Li Y. Ku, Shiraj Sen, Erik G. Learned-Miller, Roderic A. Grupen
(full paper | abstract | poster | slides) - Learning Dynamic Manipulation Skills under Unknown Dynamics with Guided Policy Search
Sergey Levine, Pieter Abbeel
(abstract | slides) - An Evaluation of Particle Filters for Contact-SLAM Problems
Shuai Li, Siwei Lyu, Jeff Trinkle, Wolfram Burgard
(abstract | poster | slides) - Learning Dynamics in Visual Space for Image-Based Planning and Control
Jeffrey Mahler, Michael Laskey, John Schulman, Sergey Levine, Jeff Donahue, Sachin Patil, Pieter Abbeel, Ken Goldberg
(abstract | poster | slides) - Learning to Select Expert Demonstrations for Deformable Object Manipulation
Dylan Hadfield-Menell, Alex Lee, Sandy Huang, Eric Tzeng, Pieter Abbeel
(abstract | slides) - Category-based Task Specific Grasping
Ekaterina Nikandrova, Ville Kyrki
(abstract | poster | slides) - Robotic Manipulation of Multiple Objects as a POMDP
Joni Pajarinen, Ville Kyrki
(abstract | poster | slides) - Grasp Moduli Spaces, Gaussian Processes, and Multimodal Sensor Data
Florian T. Pokorny, Yasemin Bekiroglu, Marten Bjorkman, Johannes Exner, Danica Kragic
(abstract | poster | slides)
Workshop Agenda
There will be a mix of invited speakers and presentations of submitted papers. Invited speakers will get a 30 minute slot to present their latest work. An interactive poster session will be organized if there are a larger number of submissions, allowing more contributors to present their work and have detailed discussions with the workshop attendees. Audience participation will be encouraged through a panel discussion that will address specific questions on the state of the art in information-based grasp and motion planning and the proposed directions of new research efforts. In this way, we hope to include as many contributors as possible and make the workshop an open forum for fruitful discussions between invited speakers, active contributors, and the audience.
Call for Papers
We invite you to submit two page extended abstracts describing new/ongoing work.
Important Dates:
- Abstract submission deadline: May 20, 2014
- Acceptance notification: June 1, 2014
- Final materials due: July 1, 2014
- Workshop date: July 13, 2014
Submissions should be in .pdf format using the RSS paper template:
-LaTeX template: http://roboticsconference.org/paper-template-latex.tar.gz
-Word template: http://roboticsconference.org/paper-template-word.zip
The best submissions will be selected for either poster or oral presentations during the workshop. Final instructions for poster presentations and talks will be posted on the workshop website after decision notifications have been made.
Accepted presenters will have the option of submitting a full length six-page paper due on the day of the workshop for digital archival on the workshop website.
Please e-mail submissions to Sachin Patil (sachinpatil [at] berkeley.edu) and Robert Platt (rplatt [at] ccs.neu.edu) with the subject line "RSS 2014 Workshop Submission”
For any questions or clarifications, please contact the organizers.
Organizers
Sachin Patil (UC Berkeley), sachinpatil [at] berkeley.edu (contact person)
Robert Platt Jr. (Northeastern University), rplatt [at] ccs.neu.edu