+ Detailed Program


> 9:00 Welcome

+ 9:15 Aerial Robots 1

9:15-9:30 Shreyansh Daftry, J. Andrew Bagnell and Martial Hebert.
Learning Transferable Policies for Monocular Reactive MAV Control
9:30-9:45 Evan Beachly, James Higgins, Christian Laney, Sebastian Elbaum, Carrick Detweiler, Craig Allen and Dirac Twidwell.
A microUAS to Start Prescribed Fires
9:45-10:00 Masahiko Mizui, Ikuo Yamamoto, Shunsuke Kimura and Masato Maeda.
Research on Hammering Test System by Unmanned Aerial Vehicles for Infrastructure Surveillance
10:00-10:15 Konstantinos Karydis and M. Ani Hsieh.
Uncertainty Quantification for Small Robots Using Principal Orthogonal Decomposition

10:15-10:30 Timo Hinzmann, Thomas Stastny, Gianpaolo Conte, Patrick Doherty, Piotr Rudol, Marius Wzorek, Igor Gilitschenski, Enric
Galceran and Roland Siegwart.
Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiment

> 10:30-11:00 Coffee Break

+ 11:00-12:30 Actuation

11:00-11:15 JeSung Koh, Daniel M. Aukes, Brandon Araki, Sarah Pohorecky, Yash Mulgaonkar, Micheal T. Tolley, Vijay Kumar, Daniela Rus and Robert J. Wood.
A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
11:15-11:30 Joseph Bowkett, Matt Burkhardt and Joel Burdick.
Combined Energy Harvesting and Control of Moball : a Barycentric Spherical Robot

11:30-11:45 Melih Turkseven and Jun Ueda.
Control of Pneumatic Actuators with Long Transmission Lines for Rehabilitation in MRI
11:45-12:00 Timon Homberger, Marko Bjelonic, Navinda Kottege and Paulo Borges.
Terrain-dependant Control of Hexapod Robots using Vision
12:00-12:15 Zachary Batts, Joohyung Kim and Katsu Yamane.
Untethered One Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP)
12:15-12:30 Fabio Giardina and Fumiya Iida.
Discrete Foot Shape Changes Improve Dynamics of a Hopping Robot

> 12:30-14:00 Lunch

+ 14:00 Grasping 1

14:00-14:15 Fanny Ficuciello, Damiano Zaccara and Bruno Siciliano.
Learning Grasps in a Synergy based Framework
14:15-14:30 Peter Kaiser, Eren E. Aksoy, Markus Grotz, Dimitrios Kanoulas, Nikos G. Tsagarakis and Tamim Asfour.
Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction
14:30-14:45 Jeffrey Duperret, Benjamin Kramer and Daniel Koditschek.
Core actuation Promotes Self-manipulability on a Direct Drive Quadrupedal Robot
14:45-15:00 Takayuki Osa, Jan Peters and Gerhard Neumann.
Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies
15:00-15:15 Sergey Levine, Peter Pastor, Alex Krizhevsky and Deirdre Quillen.
Learning Hand-Eye Coordination for Robotic Grasping with LargeScale Data Collection
15:15-15:30 Radhen Patel, Jorge Cañardo Alastuey and Nikolaus Correll.
Improving grasp performance using inhand proximity and dynamic tactile sensing

> 15:30-16:00 Coffee Break

+ 16:00 Manipulation

16:00-16:15 Changshuo Li and Dmitry Berenson.
Learning Object Orientation Constraints and Guiding Constraints for Narrow Passages from One Demonstration
16:15-16:30 Oliver Kroemer and Gaurav Sukhatme.
Meta-level Priors for Learning Manipulation Skills with Sparse Features

16:30-16:45 Zhou Teng, Huitan Mao and Jing Xiao.
Automatic Object Modeling through Integrating Perception and Robotic Manipulation
16:45-17:00 Zhanat Kappassov, JuanAntonio Corrales Ramon and Veronique Perdereau.
ZMP features for Touch Driven Robot Control via Tactile Servo
17:00-17:15 Reuben Aronson, Ankit Bhatia, Zhenzhong Jia, Mathieu GuillameBert, David Bourne, Artur Dubrawski and Matthew Mason.
Data driven Classification of Screwdriving Operations
17:15-17:30 Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi and Allison Thackston.
A System for MultiStep Mobile Manipulation: Architecture, Algorithms, and Experiments
17:30-17:45 Jaesug Jung, Jeeseop Kim, Sanghyun Kim, Woon Yong Kwon, Sang Hoon Na, Kyoung Su Kim, Gil Joon Suh, Byeong Wook Yoo, Jin Woo Choi, Jung Chan Lee and Jaeheung Park.
Application of Robot Manipulator for Cardiopulmonary Resuscitation
17-45-18:00 Ellen Klingbeil, Samir Menon and Oussama Khatib.
Experimental Analysis ofHuman Control Strategies in Contact Manipulation Tasks

> 18:30-20:30 Welcome Reception


+ 9:00 HRI 1

9:00-9:15 Ozgur Oguz, Volker Gabler, Gerold Huber, Zhehua Zhou and Dirk Wollherr.
Hybrid Human Motion Prediction for Action Selection within Human Robot Collaboration
9:15-9:30 Laura Treers, Roger Lo, Michael Cheung, Aymeric Guy, Jacob Guggenheim, Federico Parietti and Harry Asada.
Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance
9:30-9:45 Jean Oh, Thomas Howard, Matthew Walter, Daniel Barber, Menglong Zhu, Sangdon Park, Arne Suppe, Luis NavarroSerment, Felix Duvallet, Abdeslam Boularias, Oscar Romero, Jerry Vinokurov, Terence Keegan, Robert Dean, Craig Lennon, Barry Bodt, Marshal Childers, Jianbo Shi, Kostas Daniilidis, Nicholas Roy, Christian Lebiere, Martial Hebert and Anthony Stentz.
Integrated Intelligence for Human Robot Teams
9:45-10:00 Frederic Py, Jose Pinto, Monica Silva, Tor Arne Johansen, Joao Sousa and Kanna Rajan.
EUROPtus: A Mixed initiative Controller for Multi Vehicle Oceanographic Field Experiments
10:00-10:15 Aaron Bestick, Ruzena Bajcsy and Anca Dragan.
Implicitly Assisting Humans to Choose Good Grasps in Robot to Human Handovers
10:15-10:30 Sebastian Sovero, Nihar Talele, Collin Smith, Nicholas Cox, Tim Swift and Katie Byl.
Initial Data and Theory for a High Specific-Power Ankle Exoskeleton Device

> 10:30-11:00 Coffee Break

+ 11:00 Mobile Robots 1

11:00-11:15 Hiroyuki Karasawa, Takuro Okubo, Rui Fukui, Masayuki Nakao and Yuichi Kodama.
Highspeed wall contacting drive for underground automatic transport vehicle Feasibility study of proposed cruise control framework
11:15-11:30 Eng You Hong, Hans Andersen, Scott Drew Pendleton, Marcelo Ang and Daniela Rus.
Realizing Robust Control of Autonomous Vehicle
11:30-11:45 Charles Richter and Nicholas Roy.
Learning to Plan for Visibility in Navigation of Unknown Environments
11:45-12:00 Christopher Lawler, Ivan Penskiy, Aaron Sirken and Sarah Bergbreiter.
Parallel manipulation of millirobot swarms using projected light fields
12:00-12:15 Lee Clement, Valentin Peretroukhin and Jonathan Kelly.
Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation
12:15-12:30 Konstantinos Karydis, Adam Stager, Herbert Tanner and Ioannis Poulakakis.
Experimental Validation of a Template for Navigation of Miniature Legged Robots

> 12:30-14:00 Lunch

+ 14:00 Perception

14:00-14:15 Peteris Eizentals, Koichi Oka and Akinori Harada.
Fruit Pose Estimation and Stem Touch Detection for Green Pepper Automatic Harvesting
14:15-14:30 Van Ho and Shinichi Hirai.
From Localized Shearing to Localized Slippage Perception
14:30-14:45 Corina Gurau, Chi Hay Tong and Ingmar Posner.
Fit for Purpose? Predicting Perception Performance based on Past Experience
14:45-15:00 Abhinav Valada, Gabriel L. Oliveira, Thomas Brox and Wolfram Burgard.
Deep Multispectral Semantic Scene Understanding of Forested Environments using Multimodal Fusion
15:00-15:15 Pravakar Roy and Volkan Isler.
Vision Based Apple Counting and Yield Estimation
15:15-15:30 Connor Schenck and Dieter Fox.
Towards Learning to Perceive and Reason About Liquids

> 15:30-16:00 Coffee Break

+ 16:00 Aerial Robots 2

16:00-16:15 Roland Brockers, Anthony Fragoso, Brandon Rothrock, Connor Lee and Larry Matthies.
Vision based Obstacle Avoidance for Micro Air Vehicles using an Egocylindrical Depth Map
16:15-16:30 Moju Zhao, Koji Kawasaki, Xiangyu Chen, Yohei Kakiuchi, Kei Okada and Masayuki Inaba.
Transformable Multi rotor with Two dimensional Multi links: Modeling, Control, and Wholebody Aerial Manipulation
16:30-16:45 Eric Cristofalo, Kevin Leahy, CristianIoan Vasile, Eduardo Montijano, Mac Schwager and Calin Belta.
Localization of a Ground Robot by Aerial Robots for GPS deprived Control with Temporal Logic Constraints
16:45-17:00 Kejian Wu, Tien Do, Luis CarrilloArce and Stergios Roumeliotis.
On the VINS Resource Allocation Problem for a Dual Camera, Small Size Quadrotor
17:00-17:15 Kunyue Su and Shaojie Shen.
Catching a Flying Ball with a Vision Based Quadrotor
17:15-17:30 John Yao, Vishnu Desaraju and Nathan Michael.
Experience Based Models of Surface Proximal Aerial Robot Flight Performance in Wind
17:30-17:45 Jeffrey Delmerico, Alessandro Giusti, Elias Mueggler, Luca Maria Gambardella and Davide Scaramuzza.
"On-the-spot Training" for Terrain Classification in Autonomous AirGround Collaborative Teams
17:45-18:00 Sarah Tang, Justin Thomas and Vijay Kumar.
Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces

> 18:30-19:30 Buffet Dinner

> 19:30-21:00 Video session


+ 9:00 Grasping 2

9:00-9:15 Changhyun Choi, Joseph Delpreto and Daniela Rus.
Using Vision for Pre and Post Grasping Object Localization for Soft Hands
9:15-9:30 Takumi Tamamoto, Soichiro Nomura and Koichi Koganesawa.
Grasping and manipulation by underactuated Hand with Multi Joint Fingers
9:30-9:45 Yevgen Chebotar, Karol Hausman, Oliver Kroemer, Gaurav Sukhatme and Stefan Schaal.
Generalizing Regrasping with Supervised Policy Learning
9:45-10:00 Roman Kolbert, Nikhil Chavan Dafle and Alberto Rodriguez.
Experimental Validation of Contact Dynamics for In-Hand Manipulation
10:00-10:15 Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata and Hiromu Onda.
Iterative Visual Recognition for Learning Based Randomized Bin-Picking
10:15-10:30 Hiroshi Kaminaga, Ryo Masumura, Tianyi Ko, Mitsuo Komagata, Shunsuke Sato, Satoshi Yorita and Yoshihiko Nakamura.
Mechanism and Control of WholeBody ElectroHydrostatic Actuator Driven Humanoid Robot Hydra

+ 10:30 Planning and Control

10:30-10:45 Scott Hamill, Bryan Peele, Peter Ferenz, Max Westwater, Robert Shepherd and Hadas KressGazit.
Gait Synthesis for Modular Soft Robots
10:45-11:00 R. Omar Chavez Garcia, Mihai Andries, Pierre Luce Vayrac and Raja Chatila
Discovering and Manipulating Affordances
11:00-11:15 Ahmed Nouman, Ibrahim Faruk Yalciner, Esra Erdem and Volkan Patoglu.
Experimental Evaluation of Hybrid Conditional Planning for Service Robotics
11:15-11:30 Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi and J. Andrew Bagnell.
Improved Learning of Dynamics Models for Control

> 11:30-17:00 Excursion with Lunch

> 18:30-21:00 Banquet


+ 9:00 Mobile Robots

9:00-9:15 Alberto Quattrini Li, Ioannis Rekleitis, Sandeep Manjanna, Nikhil Kakodkar, Johanna Hansen, Gregory Dudek, Leonardo Bobadilla, Jacob Anderson and Ryan N. Smith,
Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots
9:15-9:30 Siddharth Choudhary, Luca Carlone, Carlos Nieto, John Rogers, Zhen Liu, Henrik Christenen and Frank Dellaert.
Multi Robot Object based SLAM
9:30-9:45 Alberto Yukinobu Hata, Denis Fernando Wolf and Fábio Tozeto Ramos.
Particle Filter Localization on Continuous Occupancy Maps
9:45-10:00 Benjamin Hockman, Robert Reid, Issa Nesnas and Marco Pavone.
Experimental Methods for Mobility and Surface Operations of Microgravity Robots
10:00-10:15 Fernando Nobre, Christoffer Heckman and Gabe Sibley.
MultiSensor SLAM with Online Self-Calibration and Change Detection
10:15-10:30 Alberto Quattrini Li, Adem Coskun, Sean M. Doherty, Shervin Ghasemlou, Apoorv S. Jagtap, Md Modasshir, Sharmin Rahman, Akanksha Singh, Marios Xanthidis, Jason M. O'Kane and Ioannis Rekleitis.
Experimental Comparison of Open Source Vision Based State Estimation Algorithms

+ 10:30 HRI 2

10:30-10:45 Vladimir Joukov, Rollen D'Souza and Dana Kulic.
Human pose estimation from imperfect sensor data via the Extended Kalman Filter
10:45-11:00 Magda Dubois, Josep-Arnau Claret, Louis Basanez and Gentiane Venture.
Influence of Emotional Motions in Human-Robot Interactions
11:00-11:15 Anis Meguenani, Vincent Padois, Jimmy Da Silva, Antoine Hoarau, and Philippe Bidaud.
Energy based control for safe human-robot physical interaction
11:15-11:30 Tanaka Kaori, Masahiro Yoshikawa, Yujin Wakita, Yoshio Matsumoto and Kazuhito Yokoi.
Psychological evaluation on influence of appearance and synchronizing operation of android robot
11:30-11:45 Michael Otte.
Collective Cognition & Sensing in Robotic Swarms via an Emergent Group Mind
11:45-12:00 Wil Thomason and Ross Knepper.
Recognizing Unfamiliar Gestures for Human-Robot Interaction through Zero Shot Learning

> 12:00-13:30 Farewell lunch

> 14:30-18:00 Lab tours: University of Tokyo (optional)