LL4MA lab

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====== Reading group ======
We want to cover interesting papers with a focus on those recently published.
Everyone is expected to read the papers on their own, so that the meeting can focus on discussion of the paper's merits, issues, and possible extensions.

While we'll have a nominal queue of papers to follow, we should be open to changing what we read and discuss the following week, based on our discussion of the current paper.

Each week one member of the reading group will be designated as the moderator. Your job should not be to present the entire paper to the group, but instead to encourage participation by summarizing important parts of the paper and having probing questions ready to excite discussion.

We would like to pick our papers from recent robotics and machine learning conferences such as RSS, ICRA, IROS, ICML, NeurIPS, and Humanoids. Journal articles from IJRR, TRO, Autonomous Robots, JMLR, ML, and PAMI are also a good place to look. We have a more complete list of [[publication venues]] if you are interested.

We meet in the ll4ma lab, at **1:00-2:00PM on Thursdays (Spring 2024)**.

We manage meetings through our slack channel: '#reading-group'

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==== General Discussion Guidelines & Questions ====
Starting Spring 2021 we have added the following guidelines:
  * We will have 2 designated discussion leaders
  * We have a google document for people to share reflections on the reading prior to the group
  * We maintain salient findings from the meeting in a [[https://docs.google.com/document/d/1-gqnvg-TbCf7GnRUOgKr5h51phJe9jCG32VlxbmuAcM/edit?usp=sharing|single google doc]]
  * We summarize every paper into a single slide [[https://docs.google.com/presentation/d/1JXb_1XPCmMC2fQgLXL-RPVGM1anWIwcErc7nWqH47Ns/edit?usp=sharing|here]] to help us maintain a big picture
  * Treat the meetings as continuations of a series, try and keep notes in one place to bring conversation from previous weeks into the current paper discussion
  * Discuss experiments!
    * Not just the results, do the experiments make sense?
    * Were the experiments well executed / measuring the important things
    * What would the ideal experiment have been?
  * Use the questions below to help guide you when you don't have other things to ask.

List of general questions to consider in reading / leading the group:
  * What type of problem/task does this paper address?
  * Could you apply this approach to your problem? If not, how might it be changed?
  * What would happen if you replaced some of the novel / more sophisticated parts of the paper with well established methods for planning/learning/control/etc.?
  * Does the paper present an interesting machine learning method?
  * What's the role of different kinds of uncertainty? (e.g. model uncertainty vs state/observation uncertainty; aleatoric vs epistemic uncertainty)
  * Which other tasks could this approach be applied to?
  * Where does this paper fit in the bigger picture of manipulation learning?
  * Which other papers are closely related to this one?
  * Which learned information can be directly transferred to different scenarios?
  * Would it be useful for our setup to implement this approach? 
  * Is this approach equally applicable to grippers and dexterous hands?
  * What are the key weaknesses of the proposed approach?

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===== Spring 2024 ====
^ Date ^ Paper ^ Presenters ^
| 18 Jan 2024 | [[https://openreview.net/forum?id=xVlcbh0poD|"AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agents"]]; Google DeepMind; OpenReview (ICLR 2024 under review) | Siyeon |
| 25 Jan 2024 | [[https://arxiv.org/abs/2303.04137|"Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"]]; Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song arxiv 2023 | Zohre, Mohan |
| 01 Feb 2024 | [[https://arxiv.org/abs/2212.06817|"RT-1: Robotics Transformer for Real-World Control at Scale"]]; Google/Deepmind/Brain; arxiv. | Herbie |
| 08 Feb 2024 | None | None |
| 15 Feb 2024 | [[https://arxiv.org/pdf/2209.03855.pdf|"SE(3)-DiffusionFields: Learning smooth cost functions for
joint grasp and motion optimization through diffusion"]]; Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki; ICRA 2023| Mohan |
| 22 Feb 2024 | [[https://arxiv.org/abs/2309.16909|ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility]] Yunsheng Tian, Karl D.D. Willis, Bassel Al Omari, Jieliang Luo, Pingchuan Ma, Yichen Li, Farhad Javid, Edward Gu, Joshua Jacob, Shinjiro Sueda, Hui Li, Sachin Chitta, Wojciech Matusik; ICRA 2024 | Siyeon |
| 29 Feb 2024 | [[https://openreview.net/forum?id=k-Fg8JDQmc|Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping]] Rashid, et. al. CoRL 2023 | iain |
| 07 Mar 2024 | Spring Break |  |
| 14 Mar 2024 | None | None |
| 21 Mar 2024 | None | None |
| 28 Mar 2024 | None | None |
| 04 Apr 2024 | [[https://say-can.github.io/assets/palm_saycan.pdf|Do As I Can, Not As I Say: Grounding Language in Robotic Affordances]]; Google; arxiv | Mohan |
| 11 Apr 2024 |  |  |
| 18 Apr 2024 |  |  |
| 25 Apr 2024 |  |  |

===== Past Papers =====
^ Date ^ Paper ^ Presenters ^
| 09/24/2015 | PILCO: [[https://spiral.imperial.ac.uk:8443/handle/10044/1/12277|"Gaussian Processes for Data-Efficient Learning in Robotics and Control"]] PAMI, 2015.\\ Recent application: [[http://www.cim.mcgill.ca/~dmeger/ICRA2015_GaitLearning/|"Learning Legged Swimming Gaits from Experience"]], //ICRA//, 2015. |
| 10/01/2015 | [[http://papers.nips.cc/paper/5248-probabilistic-differential-dynamic-programming|"Probabilistic Differential Dynamic Programming"]], //NeurIPS// 2014.|
| 10/08/2015 | [[http://maeresearch.ucsd.edu/skelton/publications/weiwei_ilqg_CDC43.pdf| "A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems"]]; Emanuel Todorov and Weiwei Li; //ACC// 2005. - ILQG\\ [[http://homepages.inf.ed.ac.uk/svijayak/publications/mitrovic-MotLearnBook2010.pdf| "Adaptive Optimal Feedback Control with Learned Internal Dynamics Models"]]; Djordje Mitrovic, Stefan Klanke, and Sethu Vijayakumar; __From Motor Learning to Interactive Learning in Robotics__ 2010\\ [[http://ml.informatik.uni-freiburg.de/_media/publications/adprl-2014.pdf| GP dynamics with iLQG]]\\ [[https://arxiv.org/abs/1506.07365 | Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images]] |
| 10/22/2015 | Guided Policy Search (GPS)\\ [[http://www.eecs.berkeley.edu/~svlevine/papers/cgps.pdf|Learning Complex Neural Network Policies with Trajectory Optimization]] \\ [[http://www.eecs.berkeley.edu/~svlevine/papers/vgps.pdf|Variational Policy Search via Trajectory Optimization]] |
| 10/29/2015 | GPS with Unknown Dynamics\\ [[http://rll.berkeley.edu/icra2015gps/robotgps.pdf|ICRA Paper]]\\ [[http://www.eecs.berkeley.edu/~svlevine/papers/mfcgps.pdf]]\\ [[http://rll.berkeley.edu/icra2015gps/index.htm]]\\ [[http://arxiv.org/abs/1504.00702|End-to-End Training of Deep Visuomotor Policies]]\\ [[https://www.youtube.com/watch?v=Q4bMcUk6pcw|Video]] |
|11/12/2015 | DMPs\\ [[http://www.ausy.informatik.tu-darmstadt.de/publications/ICRA2009-Kober_5661[0].pdf|POWER for Robots]] \\ [[https://spiral.imperial.ac.uk/bitstream/10044/1/12051/4/2300000021-Deisenroth-Vol2-ROB-021_published.pdf|Policy Search in Robotics Survey]] |
|11/19/2015| PoWER and Policy Gradients\\ [[http://www-clmc.usc.edu/publications/K/kober_NIPS2008.pdf|PoWER]]\\ [[http://www.ias.tu-darmstadt.de/uploads/Publications/Kober_IJRR_2013.pdf| Survey on RL in Robotics]] |
|12/03/2015 | [[http://www.ausy.informatik.tu-darmstadt.de/uploads/Team/JanPeters/Peters2010_REPS.pdf|REPS]] |
|01/29/2016 | [[http://www.ausy.informatik.tu-darmstadt.de/uploads/Publications/Daniel_ICRA_2013.pdf|Sequential REPS]] |
|02/05/2016 | ProMPs\\ [[http://www.ausy.tu-darmstadt.de/uploads/Publications/Paraschos_NIPS_2013a.pdf | ProMPs]]\\ [[http://www.ausy.tu-darmstadt.de/uploads/Publications/Paraschos_Humanoids_2013.pdf| ProMPs on Robots]] |
|02/12/2016| [[http://www.ausy.tu-darmstadt.de/uploads/Team/PubAlexParaschos/Paraschos_IROS_2015.pdf|Model-Free Probabilistic Movement Primitives for Physical Interaction]], Paraschos, A.; Rueckert, E.; Peters, J; Neumann, G. IROS 2015 |
|02/19/2016| [[http://www.cc.gatech.edu/~bboots3/files/Venkatraman_ALR2014.pdf|"DATA AS DEMONSTRATOR with Applications to System Identification"]] Arun Venkatraman, Byron Boots, Martial Hebert, and J. Andrew Bagnell; //NeurIPS Workshop on Autonomously Learning Robots// 2014|
|02/26/2016| [[http://www.ias.tu-darmstadt.de/uploads/Publications/Kober_IJRR_2013.pdf| "A survey of reinforcement learning in Robotics"]]|
|03/04/2016| Continue with: [[http://www.ias.tu-darmstadt.de/uploads/Publications/Kober_IJRR_2013.pdf| "A survey of reinforcement learning in Robotics"]]|
|03/11/2016| [[http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/ICRA15_0300_FI.pdf|"Incremental, Sensor-Based Motion Generation for Mobile Manipulators in Unknown, Dynamic Environments"]], Peter Lehner, Arne Sieverling, Oliver Brock, ICRA, 2015.|
|03/18/2016| [[http://ijr.sagepub.com/content/29/8/1038.short?rss=1&ssource=mfc|"LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification"]], Tedrake et al., IJRR 2014.|
|03/25/2016 | [[http://www.cs.columbia.edu/~allen/PAPERS/iros15_grasp_varley.pdf|"Generating Multi-Fingered Robotic Grasps via Deep Learning"]], Jacob Varley, Jonathan Weisz, Jared Weiss, Peter Allen, IROS 2015.|
|04/01/2016|[[http://arxiv.org/pdf/1509.06825v1.pdf|"Supersizing Self-supervision: Learning to Grasp
from 50K Tries and 700 Robot Hours"]], Lerrel Pinto and Abhinav Gupta, ICRA 2016.|
|04/08/2016 | [[http://arxiv.org/abs/1603.02199|"Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection"]], Sergey Levine, Peter Pastor, Alex Krizhevsky, Deirdre Quillen. \\ [[http://googleresearch.blogspot.com/2016/03/deep-learning-for-robots-learning-from.html|Blog Post]]|
|04/22/2016 | [[http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/eppner_icra2015.pdf|Planning Grasp Strategies That Exploit Environmental Constraints]],Clemens Eppner and Oliver Brock, ICRA 2015.|
|04/29/2016 | [[http://lis.csail.mit.edu/pubs/tlp/IJRRBelFinal.pdf|"Integrated Task and Motion Planning in Belief Space]],Leslie Pack Kaelbling, Tomas Lozano-Perez, //International Journal of Robotics Research//, 2013 |
|05/06/2016| [[http://www.jonathanmugan.com/Publications/journal.pdf|QLAP]] - Autonomous Learning of High-Level States and Actions in Continuous Environments, Jonathan Mugan and Benjamin Kuipers|
|05/13/2016 | [[http://groups.csail.mit.edu/robotics-center/public_papers/Roberts11.pdf|"Feedback Controller Parameterizations for Reinforcement Learning"]], IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), 2011|
|05/20/2016 | [[https://s3-us-west-1.amazonaws.com/adamleeper.com/papers/2013_Humanoids_leeper-hsiao-ciocarlie-sucan-salisbury.pdf |"Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data"]], Adam Leeper, Kaijen Hsiao, Matei Ciocarlie, Ioan Sucan, and Kenneth Salisbury, Humanoids 2013.|
|05/27/2016 | [[http://www.lepora.com/publications/cramphorn_etal_preprint_icra.pdf|"Tactile manipulation with biomimetic active touch"]];Luke Cramphorn, Benjamin Ward-Cherrier, and Nathan F. Lepora; //ICRA// 2016. |
|06/03/2016 | [[https://www.semanticscholar.org/paper/Robot-Grasping-in-Clutter-Using-a-Hierarchy-of-Laskey-Lee/2d21a9d883cadb66f9253274c524e2726271fb4d/pdf|"Robot Grasping in Clutter:Using a Hierarchy of Supervisors for Learning from Demonstrations"]];Michael Laskey, Jonathan Lee, Caleb Chuck, David Gealy, Wesley Hsieh, Florian T. Pokorny, Anca D. Dragan, and Ken Goldberg; //CASE// 2016.|
|06/10/2016 | [[http://www.roboticsproceedings.org/rss11/p44.html|Data-Driven Online Decision Making for Autonomous Manipulation"]], Daniel Kappler, Peter Pastor, Mrinal Kalakrishnan, Manuel Wuthrich, Stefan Schaal, //RSS// 2015.|
|06/17/2016 | [[http://arxiv.org/pdf/1511.06065v1.pdf|"Deep Learning for Tactile Understanding From Visual and Haptic Data"]],Yang Gao, Lisa Anne Hendricks, Katherine J. Kuchenbecker,and Trevor Darrell, //ICRA// 2016.|
|06/24/2016 | [[http://www.neil.dantam.name/papers/kingston2015lc3.pdf|"Kinematically Constrained Workspace Control
via Linear Optimization"]]; Zachary K. Kingston, Neil T. Dantam, and Lydia E. Kavraki; //Humanoids// 2015.\\ [[https://github.com/golems/reflex/blob/master/src/control.c|code]]|
|07/01/2016 | [[http://arxiv.org/abs/1605.04439|"Learning Relevant Features for Manipulation Skills using Meta-level Priors"]], Oliver Kroemer, Gaurav S. Sukhatme.|
|07/08/2016 | [[http://www.roboticsproceedings.org/rss12/p37.html|"Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators"]]|
|07/15/2016 | [[https://homes.cs.washington.edu/~todorov/courses/amath579/reading/Toussaint.pdf | "Approximate Inference Optimal Control"]]; Marc Toussaint; //ICML// 2009.|
|07/22/2016 | [[http://www.roboticsproceedings.org/rss12/p01.html|"Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs"]]; Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots; //RSS// 2016.|
|07/29/2016 | [[https://homes.cs.washington.edu/~todorov/papers/KumarICRA16.pdf|"Optimal Control with Learned Local Models:
Application to Dexterous Manipulation"]]; Vikash Kumar, Emanuel Todorov, and Sergey Levine; //ICRA// 2016.|
|08/05/2016 | [[http://www.cc.gatech.edu/~dellaert/pub/Ta14icuas.pdf|"A factor graph approach to estimation and model predictive control on Unmanned Aerial Vehicles"]]; Duy-Nguyen Ta, Marin Kobilarov, and Frank Dellaert, ICUAS, 2014.|
|08/12/2016 | [[http://trimpe.is.tuebingen.mpg.de/publications/marco-MLPC15.pdf|"Automatic LQR Tuning Based on
Gaussian Process Optimization: Early Experimental Results"]]; Alonso Marco, Philipp Hennig, Jeannette Bohg, Stefan Schaal,and Sebastian Trimpe; //ICRA// 2016. |
|08/19/2016 | [[http://motion.pratt.duke.edu/papers/RSS2015-Luo-RobustTrajectoryOptimization.pdf|"Robust Trajectory Optimization Under Frictional Contact with Iterative Learning"]] Jingru Luo and Kris Hauser, RSS 2015.|
|09/15/2016 | [[http://homes.cs.washington.edu/~schenckc/iser2016.pdf|Manipulation with Fluids]]; [[https://docs.google.com/presentation/d/1Edz0Dut0wzgRrK4WCwfE5hqSJMmU-98Z2mW-sYepwNw/edit#slide=id.p|ppt]]|
|09/22/2016 | [[http://ijr.sagepub.com/content/early/2011/01/23/0278364910395339.abstract|Legged locomotion control]]|
|09/29/2016 |[[http://www.roboticsproceedings.org/rss12/p19.html|"Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty"]]; //RSS// 2016.|
|10/20/2016 |[[http://ieeexplore.ieee.org/document/7504694/|Gaze prediction using machine learning for dynamic stereo manipulation in games]]|
|11/03/2016 | [[http://www.seas.upenn.edu/~juse/assemseq_icra.pdf|Assembly Sequence Planning for Constructing Planar Structures
with Rectangular Modules]]|
|11/17/2016 |[[http://www.nature.com/nature/journal/v518/n7540/abs/nature14236.html | Human-level control through deep reinforcement learning]]|
|12/01/2016 | [[https://arxiv.org/abs/1507.06527 | Deep Recurrent Q-Learning for Partially Observable MDPs]]|
|01/23/2017 | [[http://ieeexplore.ieee.org/document/7759116/| "A reservoir computing approach for learning forward dynamics of industrial manipulators"]]; Athanasios S. Polydoros and Lazaros Nalpantidis; //IROS// 2016. |
|01/30/2017 | [[http://jmlr.org/proceedings/papers/v48/bonilla16.pdf | "Extended and Unscented Kitchen Sinks"]]; Edwin V. Bonilla, Daniel Steinberg, and Alistair Reid; //ICML// 2016. |
|02/06/2017 | [[http://ieeexplore.ieee.org/document/7812613/?arnumber=7812613 | "Verification and Synthesis of Admissible Heuristics for Kinodynamic Motion Planning"]]; Brian Paden, Valerio Varricchio, and Emilio Frazzoli; //IEEE Robotics and Automation Letters// 2017. |
|02/21/2017 | [[https://papers.nips.cc/paper/6046-value-iteration-networks.pdf| "Value Iteration Networks"]]; Aviv Tamar, Yi Wu, Garrett Thomas, Sergey Levine, and Pieter Abbeel; //NeurIPS// 2016. |
|03/07/2017 | [[http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6225052| "From Object Categories to Grasp Transfer Using Probabilistic Reasoning"]]; Marianna Madry, Dan Song and Danica Kragic; //ICRA// 2012. |
|03/14/2017 | [[http://tellmedave.cs.cornell.edu/paper.pdf| "Tell Me Dave: Context-Sensitive Grounding of Natural Language to Manipulation Instructions"]]; Dipendra K Misra, Jaeyong Sung, Kevin Lee and Ashutosh Saxena; //IJRR// 2016. |
|03/21/2017 | [[http://ieeexplore.ieee.org/document/7759579/| "Trajectory learning from human demonstrations via manifold mapping"]]; Hiratsuka, Michihisa, Ndivhuwo Makondo, Benjamin Rosman, and Osamu Hasegawa; //IROS// 2016. |
|04/04/2017 | [[https://arxiv.org/pdf/1610.09787.pdf| "Edward: A library for probabilistic modeling, inference, and criticism"]]; Dustin Tran, Alp Kucukelbir, Adji B. Dieng, Maja Rudolph, Dawen Liang, and David M. Blei; //Archiv// 2016. |
|04/11/2017 | [[https://arxiv.org/pdf/1312.6114.pdf | "Auto-encoding variational Bayes"]]; D.P. Kingma, M. Welling; //ICLR// 2014.|
|04/18/2017 | [[https://arxiv.org/pdf/1701.03041.pdf | "Modeling Grasp Motor Imagery through Deep Conditional Generative Models"]]; Matthew Veres, Medhat Moussa, Graham W. Taylor; //IEEE Robotics and Automation Letters 2(2): 757-764, // 2017. |
|04/25/2017 | [[https://arxiv.org/pdf/1406.2661.pdf | "Generative Adversarial Networks"]]; Ian J. Goodfellow, Jean Pouget-Abadie, Mehdi Mirza, Bing Xu, David Warde-Farley, Sherjil Ozair, Aaron Courville, Yoshua Bengio; //Neural Information Processing Systems// 2014. [[https://arxiv.org/pdf/1606.03476.pdf | "Generative Adversarial Imitation Learning"]]; Jonathan Ho, Stefano Ermon; //Advances in Neural Information Processing Systems // 2016. |
| 05/08/2017 | [[http://www.mitpressjournals.org/doi/pdf/10.1162/089976601750541778 |"MOSAIC Model for Sensorimotor Learning and Control"]]; Haruno, Masahiko, Daniel M. Wolpert, and Mitsuo Kawato; // Neural Computation // 2001. |
| 05/15/2017 | [[http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7869309 |"Computationally Efficient Rigid-Body Gaussian Process for Motion Dynamics"]]; Muriel Lang and Sandra Hirche; // IEEE Robotics and Automation Letters // July 2017. |
| 05/22/2017 | [[http://ieeexplore.ieee.org/abstract/document/7835737/ | A Comparison of Autoregressive Hidden Markov Models for Multimodal Manipulations With Variable Masses]]; Kroemer, Oliver and Peters, Jan; // IEEE Robotics and Automation Letters // 2017. |
| 06/05/2017 | [[ https://www.dropbox.com/s/75tpzljdj5riem3/Johansson%2C%20Flanagan%20-%20Nature%20reviews.%20Neuroscience%20-%202009%20-%20Coding%20and%20use%20of%20tactile%20signals%20from%20the%20fingertips%20in%20object%20manipulation.pdf?dl=0 | "Coding and use of tactile signals 
from the fingertips in object 
manipulation tasks"]]; //Nature, // 2009.|
| 06/12/2017 | [[ https://www.dropbox.com/s/moacp4pnyvmt1wl/romano-tro2011-tactile-grasp-control.pdf?dl=0 | "Human-Inspired Robotic Grasp Control
with Tactile Sensing"]]; //IEEE Transaction on Robotics, // 2011.|
| 06/19/2017 | [[ http://rll.berkeley.edu/iros2016onlinecontrol/online_control.pdf | "One-Shot  Learning  of  Manipulation  Skills  with  Online  Dynamics
Adaptation  and  Neural  Network  Priors"]]; //IROS, //2016 .|
|06/26/2017 | {{ ::icra17_2040_fi.pdf |"Information Theoretic MPC for Model-Based Reinforcement Learning"}}; Grady Williams, Nolan Wagener, Brian Goldfain, Paul Drews, James M. Rehg, Byron Boots, and Evangelos A. Theodorou; ICRA, 2017.|
|07/03/2017 | No meeting for observing Independance day |
|07/10/2017 | [[http://ieeexplore.ieee.org/document/5980395/|"Gaussian process implicit surfaces for shape estimation and grasping"]]; Stanimir Dragiev, Marc Toussaint, and Michael Gienger; ICRA, 2011.|
|07/31/2017 | [[http://www.cc.gatech.edu/~bboots3/files/STEAP.pdf|"Simultaneous Trajectory Estimation and Planning
via Probabilistic Inference"]]; Mustafa Mukadam, Jing Dong, Frank Dellaert, and Byron Boots; RSS 2017|
|08/07/2017 | [[http://ieeexplore.ieee.org/abstract/document/7961218/|"A Probabilistic Planning Framework for Planar Grasping Under Uncertainty"]] |
|08/14/2017 | [[https://link.springer.com/article/10.1007/s10514-017-9651-z|"A kernel-based approach to learning contact distributions for robot manipulation tasks"]]; Oliver Kroemer, Simon Leischnig, Stefan Luettgen, Jan Peters; Autonomous Robots, 2017.|
|08/24/2017 | [[http://www.cis.upenn.edu/~kostas/mypub.dir/bowman17icra.pdf|"Probabilistic Data Association for Semantic SLAM"]]; Sean L. Bowman, Nikolay Atanasov, Kostas Daniilidis, George J. Pappas; ICRA, 2017.|
|08/31/2017 | [[http://people.csail.mit.edu/rak/www/sites/default/files/pubs/HowEtal14.pdf|“Model-Predictive Motion Planning”]], Thomas Howard, Mihail Pivtoraiko, Ross A. Knepper, and Alonzo Kelly.IEEE Robotics and Automation Magazine, 21(1):64-73, March 2014. |
|09/07/2017 | [[http://arxiv.org/abs/1501.03100|"Using Geometry to Detect Grasps in 3D Point Clouds"]], Andreas ten Pas, Robert Platt. [[http://wiki.ros.org/agile_grasp|agile grasp code]] |
|09/21/2017 |[[https://ares.lids.mit.edu/fm/documents/planning.pdf|"Planning How to Learn"]] Haoyu Bai David Hsu Wee Sun Lee; //ICRA// 2013.  |
|09/28/2017 | [[http://www.roboticsproceedings.org/rss12/p33.html|"Combined Optimization and Reinforcement Learning for Manipulation Skills"]], Peter Englert, Marc Toussaint, //RSS// 2016. |
|10/05/2017 | [[https://arxiv.org/pdf/1707.03300.pdf | "The Intentional Unintentional Agent:Learning to Solve Many Continuous Control Tasks Simultaneously"]], Cabi et al. (DeepMind), //CoRL// 2017. |
|10/19/2017 | [[http://irl.cs.brown.edu/pubs/analysis_mcts.pdf|"An Analysis of Monte Carlo Tree Search"]]; S. James, G.D. Konidaris, and B. Rosman; //AAAI// 2017. |
|10/26/2017 |[[http://www.ccs.neu.edu/home/camato/publications/BAPOMCP-ICML17.pdf | "Learning in POMDPs with Monte Carlo Tree Search"]], Katt, Sammie and Oliehoek, Frans A and Amato, Christopher, //ICML// 2017. |
|11/2/2017 |[[http://machinelearning.wustl.edu/mlpapers/paper_files/ICML2011Liu_427.pdf | "The Infinite Regionalized Policy Representation"]], Liu, Miao and Liao, Xuejun and Carin, Lawrence, //ICML// 2011 |
|11/9/2017 | [[http://people.csail.mit.edu/lpk/papers/platt_isrr2011_5.pdf | "Efficient planning in non-Gaussian belief spaces
and its application to robot grasping"]] Platt, Robert and Kaelbling, Leslie and Lozano-Perez, Tomas and Tedrake, Russ, //ISRR// 2011|
|11/16/2017 | [[https://static1.squarespace.com/static/57d73145d1758e771ad587b3/t/592df7f286e6c042d65f661a/1496184823272/burchfiel_konidaris_RSS2017_Eigenobjects.pdf | "Bayesian Eigenobjects: A Unified Framework
for 3D Robot Perception"]] Benjamin Burchfiel and George Konidaris, //RSS// 2017 |
|11/30/2017 | [[https://arxiv.org/pdf/1606.02111.pdf | "Goal Set Inverse Optimal Control and Iterative Re-planning for
Predicting Human Reaching Motions in Shared Workspaces"]] Jim Mainprice, Rafi Hayne and Dmitry Berenson, //IEEE Transaction on Robotics (TRO)//, 2016 |
|12/07/2017 |[[https://nxr.northwestern.edu/sites/default/files/publications/4751-2163.pdf | "Planning and control for dynamic, nonprehensile, and hybrid manipulation tasks"]] J. Zachary Woodruff, Kevin M. Lynch, //ICRA 2017 - IEEE International Conference on Robotics and Automation//, 2017|
| 01/10/2018 | Writing exercise for all participants; bring pen and paper; no reading  |
| 01/17/2018 | [[ https://www.jstor.org/stable/pdf/169635.pdf | "The optimal control of partially observable Markov processes over the infinite horizon: Discounted costs"]], Sondik, Edward J, // Operations research // 1978  | 
| 01/24/2018 | [[ http://journals.sagepub.com/doi/pdf/10.1177/0278364912456319 | "Motion planning under uncertainty using iterative local optimization in belief space"]], Van Den Berg, Jur and Patil, Sachin and Alterovitz, Ron, // The International Journal of Robotics Research (IJRR)//; 2012.  |
| 01/31/2018 | [[http://www.roboticsproceedings.org/rss09/p18.pdf|"Integrated Perception and Planning in the
Continuous Space: A POMDP Approach"]], Haoyu Bai, David Hsu, Wee Sun Lee; //RSS// 2013 |
| 02/07/2018 | [[ https://arxiv.org/pdf/1608.03013.pdf | "Belief space planning simplified: Trajectory-optimized lqg (t-lqg)"]], Rafieisakhaei, Mohammadhussein and Chakravorty, Suman and Kumar, PR, // arXiv preprint // 2016 |
| 02/14/2018 | [[http://ieeexplore.ieee.org/document/6942539/|"Dual Execution of Optimized Contact Interaction Trajectories"]], Marc Toussaint, Nathan Ratliff, Jeannette Bohg, Ludovic Righetti, Peter Englert, Stefan Schaal; //IROS// 2014 |
| 02/21/2018| [[ http://www.larsblackmore.com/BlackmoreOnoBektassovWilliamsIEEE-TRO.pdf | "A Probabilistic Particle-Control Approximation of
Chance-Constrained Stochastic Predictive Control"]], Lars Blackmore, Masahiro Ono, Askar Bektassov, and Brian C. Williams; // TRO// 2010.  |
| 02/28/2018 | [[ https://www.ri.cmu.edu/pub_files/2015/6/koval_ijrr2015a.pdf | "Pose estimation for planar contact manipulation with manifold particle filters"]], Koval, Michael C and Pollard, Nancy S and Srinivasa, Siddhartha S, // The International Journal of Robotics Research (IJRR) // 2015 | 
| 03/14/2018 | [[ https://www.ri.cmu.edu/pub_files/2014/7/koval2013precontact_rss.pdf | "Pre-and post-contact policy decomposition for planar contact manipulation under uncertainty"]], Koval, Michael C and Pollard, Nancy S and Srinivasa, Siddhartha S, // Robotics: Science and Systems // 2014  | 
| 03/21/2018 | [[http://www.kavrakilab.org/publications/muhayyuddin2018randomized-physics-based-motion-planning.pdf| "Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments"]]; Muhayyuddin, Mark Moll, Lydia Kavraki, Jan Rosell; //RA-L// 2017. | 
| 03/28/2018 | [[http://ieeexplore.ieee.org/document/7131561/| "Extending the Applicability of POMDP Solutions to Robotic Tasks"]]; Devin K. Grady, Mark Moll, Lydia E. Kavraki; // IEEE Transactions on Robotics //, 2015. |
| 04/04/2018 | [[ http://proceedings.mlr.press/v78/bajcsy17a/bajcsy17a.pdf | "Learning Robot Objectives from Physical Human Interaction"]], Bajcsy, Andrea and Losey, Dylan P and O’Malley, Marcia K and Dragan, Anca D; // Conference on Robot Learning // ;2017.  | 
| 04/11/2018 | [[ https://www.ri.cmu.edu/pub_files/2015/9/koval_iros2015.pdf | "Robust trajectory selection for rearrangement planning as a multi-armed bandit problem"]], Koval, Michael C and King, Jennifer E and Pollard, Nancy S and Srinivasa, Siddhartha S, //Intelligent Robots and Systems (IROS) // 2015  | 
| 04/18/2018 | [[ https://pdfs.semanticscholar.org/357b/4e19ed67ca1206887dd189fc3dce23e8f4ef.pdf | "Model-based Bayesian reinforcement learning in partially observable domains"]], Poupart, Pascal and Vlassis, Nikos, // Proc Int. Symp. on Artificial Intelligence and Mathematics // 2008 | 
| 04/25/2018 | [[http://robotics.itee.uq.edu.au/~hannakur/dokuwiki/papers/icra15_ctsActPomdp.pdf|An Online and Approximate Solver for POMDPs with Continuous Action Space]]; K. Seiler and H. Kurniawati and S.P.N. Singh. ;  Proc. IEEE Int. Conference on Robotics and Automation (ICRA). 2015. (Best Conference Paper Award Finalist) | 
| 05/02/2018 | [[https://arxiv.org/pdf/1610.00696.pdf|Deep Visual Foresight for Planning Robot Motion]]; Chelsea Finn and Sergey Levine; //ICRA// 2017. | 
| 05/09/2018 | [[ http://users.cecs.anu.edu.au/~ssanner/IPPC_2011/Desc_POND_Hindsight.pdf | "POND-Hindsight: Applying Hindsight Optimization to POMDPs"]], Alan Olsen, Daniel Bryce, // // and [[https://arxiv.org/abs/1706.00155 | "Shared autonomy via hindsight optimization"]], Javdani, Shervin and Srinivasa, Siddhartha S and Bagnell, J Andrew, // arXiv preprint // 2017  |
| 05/16/2018 | [[ https://www.aaai.org/Papers/AAAI/2008/AAAI08-227.pdf | Maximum Entropy Inverse Reinforcement Learning]], Brian D. Ziebart, Andrew Maas, J.Andrew Bagnell, and Anind K. Dey, // AAAI // 2008 |
| 05/23/2018 | [[ http://www.cs.cmu.edu/~bziebart/publications/maximum-causal-entropy.pdf | Modeling Interaction via the Principle of Maximum Causal Entropy]], Ziebart 2010 |
| 05/30/2018 | [[ https://pdfs.semanticscholar.org/366a/0a47fd2054851a9f313ae1c6fb0b5cc0a34e.pdf | Inverse Reinforcement Learning with PI^2 ]] (short support paper) and [[ https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6630743| Learning Objective Functions for Manipulation]], Kalakrishnan, M., Pastor, P., Righetti, L. and Schaal, S., // ICRA // 2013 |
| 06/06/2018 | [[https://arxiv.org/pdf/1507.04888.pdf | Maximum Entropy Deep Inverse Reinforcement Learning]], Wulfmeier, M., Ondruska, P. and Posner, I., //arXiv preprint// 2015 |
| 06/13/2018 | [[http://proceedings.mlr.press/v15/boularias11a/boularias11a.pdf | Relative Entropy Inverse Reinforcement Learning]], Boularias, A., Kober, J. and Peters, J., // ICAIS // 2011 |
| 06/20/2018 | [[ http://papers.nips.cc/paper/6800-compatible-reward-inverse-reinforcement-learning.pdf | Compatible Reward Inverse Reinforcement Learning ]], Metelli, Alberto Maria, Matteo Pirotta, and Marcello Restelli, // NeurIPS // 2017 |
| 06/27/2018 | [[ https://arxiv.org/pdf/1803.00444.pdf | Inverse Reinforcement Learning via Nonparametric Spatio-Temporal Subgoal Modeling]], Šošić, A., Rueckert, E., Peters, J., Zoubir, A. M., & Koeppl, H., // arXiv preprint // 2018 |
| 08/29/2018 | "Chimpanzee Intelligence in Nature and in Captivity: Isomorphism of Symbol Use and Tool Use"; Tetsuro Matsuzawa; //Great Ape Societies//, Chapter 15, 1996. |
| 09/05/2018 | [[http://www.roboticsproceedings.org/rss14/p44.pdf|"Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning"]]; Marc Toussaint, Kelsey Allen, Kevin Smith, Joshua Tenenbaum; //RSS// 2018.  |
| 09/19/2018 | [[https://ieeexplore.ieee.org/document/6248675/| A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning]]; Frank Guerin, Norbert Krüger, and Dirk Kraft; //IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT// 2013. |
| 09/26/2018 | [[http://www.cs.berkeley.edu/~pabbeel/papers/2016-ICRA-tamp-learning.pdf|Guided Search for Task and Motion Plans Using Learned Heuristics]],Rohan Chitnis, Dylan Hadfield-Menell, Abhishek Gupta, Siddharth Srivastava, Edward Groshev, Christopher Lin, and Pieter Abbeel, //ICRA// 2016. | 
| 10/03/2018 |[[https://oar.a-star.edu.sg/jspui/bitstream/123456789/2453/1/robot_tool_use_17.pdf|Towards Emergence of Tool Use in Robots: Automatic Tool Recognition and Use without Prior Tool Learning
]]; Keng Peng Tee ; Jun Li ; Lawrence Tai Pang Chen ; Kong Wah Wan ; Gowrishankar Ganesh;  //ICRA// 2018. | 
| 10/17/2018 | [[http://www.golems.org/papers/LevihnICRA2014.pdf|Autonomous Environment Manipulation to Assist Humanoid Locomotion
]]; Martin Levihn; Koichi Nishiwaki; Satoshi Kagami; Mike Stilman;  //ICRA// 2014. | 
| 10/24/2018 | [[http://www.pnas.org/content/pnas/110/45/18327.full.pdf|Simulation as an Engine of Physical
Scene Understanding
]]; Peter W. Battaglia, Jessica B. Hamrick, and Joshua B. Tenenbaum;  //PNAS// 2013.|
| 10/31/2018 | [[https://ieeexplore.ieee.org/document/7298903 | Understanding Tools: Task-Oriented Object Modeling, Learning and Recognition]]; Yixin Zhu, Yibiao Zhao, and Song Chun Zhu; //CVPR// 2015.  | 
| 11/07/2018 | [[https://www.sciencedirect.com/science/article/pii/S0921889013002339?via%3Dihub | Object–object interaction affordance learning]]; Yu Sun, Shaogang Ren, Yun Lin; //Robotics and Autonomous Systems// 2014. | 
| 11/14/2018 | [[http://vision.stanford.edu/pdf/rss2018fang.pdf | Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision]]; Kuan Fang, Yuke Zhu, Animesh Garg, et. al.; ArXiv preprint 2018 (for RSS 2019). | 
| 11/28/2018 | [[http://lornat75.github.io/papers/2017/mar-tcds.pdf | What Can I Do With This Tool? Self-Supervised Learning of Tool Affordances From Their 3-D Geometry]]; Tanis Mar, Vadim Tikhanof, Lorenzo Natale; IEEE Transactions on Cognitive and Developmental Systems 2018.  |
| 12/05/2018 | [[https://www.aaai.org/ocs/index.php/FSS/FSS11/paper/viewFile/4157/4550 | Tool Use Learning in Robots]]; Solly Brown and Claude Sammut; Advances in Cognitive Systems 2011.  |
| 12/12/2018 | [[http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/2008%20IEEE_Katz_Brock.pdf|Manipulating articulated objects with interactive perception]]; Dov Katz, Oliver Brock |
| 01/09/2019 | Ratliff, N., Toussaint, M., & Schaal, S. (2015, May). Understanding the geometry of workspace obstacles in motion optimization. In Robotics and Automation (ICRA), 2015 [[https://ieeexplore.ieee.org/abstract/document/7139778|URL]]| Bala |
| 01/16/2019 | C. Roesmann, W. Feiten, T. Woesch, F. Hoffmann and T. Bertram, "Trajectory modification considering dynamic constraints of autonomous robots," ROBOTIK 2012; 7th German Conference on Robotics, Munich, Germany, 2012 [[https://ieeexplore.ieee.org/document/6309484|URL]] | Griffin |
| 01/23/2019 | C. Cheng, M. Mukadam, J. Issac, S. Birchfield, D. Fox, B. Boots, & N. Ratliff; [[https://arxiv.org/abs/1811.07049|"RMPflow: A Computational Graph for Automatic Motion Policy Generation"]]; Workshop on Algorithmic Foundations of Robotics (WaFR); 2018. | Tucker |
| 01/30/2019 | Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg; [[https://ieeexplore.ieee.org/abstract/document/8263622|"Real-Time Perception Meets Reactive Motion Generation"]]; IEEE Robotics and Automation: Letters (RA-L), 2018. | Adam |
| 02/06/2019 | Snow Day | [[https://norse-mythology.org/ullr/|Ullr]] |
| 02/13/2019 | Alan Kuntz, Chris Bowen, and Ron Alterovitz, [[http://adkuntz.web.unc.edu/files/2017/12/Kuntz2017_ISRR.pdf|“Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization”]]; International Symposium on Robotics Research (ISRR, 2017.) | Roya |
| 02/20/2019 | Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot; [[https://www.ri.cmu.edu/pub_files/2015/5/Gammell15-bitstar.pdf|"Batch Informed Trees (BIT*)"]];  IEEE International Conference on Robotics and Automation (ICRA); 2015 | Michael Bentley |
| 02/27/2019 | Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia, Oren Salzman, Siddhartha S. Srinivasa; [[https://arxiv.org/abs/1710.04101|"The Provable Virtue of Laziness in Motion Planning"]]; International Conference on Automated Planning and Scheduling (ICAPS); 2019 | Roya |
| 03/06/2019 | Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter; [[https://arxiv.org/pdf/1901.08652.pdf|"Learning agile and dynamic motor skills for legged robots"]]; 2019; [[https://youtu.be/aTDkYFZFWug|Video]] | Matt |
| 03/13/2019 | //Spring Break - Lab planning meeting// | Tucker |
| 03/20/2019 | Mayne, David Q and Kerrigan, Erric C and Van Wyk, EJ and Falugi, P; [[http://www2.ee.ic.ac.uk/publications/p5582.pdf | "Tube-based robust nonlinear model predictive control"]]; International Journal of Robust and Nonlinear Control; 2011 ; Related paper:Sumeet Singh, Marco Pavone and Jean-Jacques E. Slotine; [[https://web.stanford.edu/~pavone/papers/Singh.Pavone.Slotine.CDC16EV.pdf | Tube-Based MPC: a Contraction Theory Approach]] | Qingkai |
| 03/27/2019 | [[https://arxiv.org/abs/1804.05288 | Path-Following through Control Funnel Functions]] | Braxton |
| 04/03/2019 | Chiang, Hao-Tien Lewis and HomChaudhuri, Baisravan and Smith, Lee and Tapia, Lydia; [[https://pdfs.semanticscholar.org/a542/536109c5dc2d02441965268320c1afb18771.pdf | Safety, challenges, and performance of motion planners in dynamic environments]]; ISRR; 2017 | Amir |
| 04/10/2019 | Florian Brandherm, Jan Peters, Gerhard Neumann and Riad Akrour; [[ https://www.ias.informatik.tu-darmstadt.de/uploads/Team/RiadAkrour/florian_ral_sub.pdf | Learning Replanning Policies with Direct Policy Search ]]; RAL; 2018 | Adam |
| 04/17/2019 | [[https://arxiv.org/abs/1806.05767|"Motion Planning Networks"]] Ahmed H. Qureshi, Anthony Simeonov, Mayur J. Bency and Michael C. Yip; ICRA, 2019. | Qingkai |
| 04/24/2019| [[https://arxiv.org/abs/1805.12114|"Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models
"]] Kurtland Chua, Roberto Calandra, Rowan McAllister, Sergey Levine; NeurIPS, 2018. | Griffin |
| 05/01/2019 | [[https://arxiv.org/abs/1903.00155 | "GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming"]]; Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard, Marco Pavone; ICRA, 2019| Bala |
| 05/10/2019 | Schulman, John and Wolski, Filip and Dhariwal, Prafulla and Radford, Alec and Klimov, Oleg. [[https://arxiv.org/abs/1707.06347|Proximal policy optimization algorithms]]. arXiv preprint arXiv:1707.06347, 2017 | Matt |
| 05/17/2019 | Mnih, Volodymyr and Kavukcuoglu, Koray and Silver, David and Graves, Alex and Antonoglou, Ioannis and Wierstra, Daan and Riedmiller, Martin. [[https://www.cs.toronto.edu/~vmnih/docs/dqn.pdf | Playing atari with deep reinforcement learning]]. arXiv preprint arXiv:1312.5602 | Griffin |
| 05/24/2019 | Pathak, Deepak and Agrawal, Pulkit and Efros, Alexei A. and Darrell, Trevor. [[https://pathak22.github.io/noreward-rl/resources/icml17.pdf | Curiosity-driven Exploration by Self-supervised Prediction]]. ICML 2017 | Mark |
| 05/31/2019 | Lillicrap, Timothy P and Hunt, Jonathan J and Pritzel, Alexander and Heess, Nicolas and Erez, Tom and Tassa, Yuval and Silver, David and Wierstra, Daan. [[https://arxiv.org/pdf/1509.02971.pdf | Continuous control with deep reinforcement learning (DDPG)]]. ICLR 2016 | Mohan |
| 06/07/2019 | Ha, David and Schmidhuber, Jurgen. [[https://papers.nips.cc/paper/7512-recurrent-world-models-facilitate-policy-evolution.pdf | Recurrent World Models Facilitate Policy Evolution]]. NeurIPS 2018 | Qingkai |
| 07/11/2019 | Haarnoja, Tuomas and Zhou, Aurick and Abbeel, Pieter and Levine, Sergey. [[https://arxiv.org/abs/1801.01290|Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor]]. Arxiv 2018 | Griffin |
| 07/18/2019 | Finn, Chelsea and Abbeel, Pieter and Levine, Sergey. [[https://arxiv.org/pdf/1703.03400.pdf| Model-Agnostic Meta Learning (MAML)]]. ICML 2017 | Matt |
| 07/26/2019 | Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, Sergey Levine. [[https://arxiv.org/abs/1806.10293| QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation]]. Arxiv 2018 | Qingkai |
| 08/02/2019 | Hafner, Danijar, Timothy Lillicrap, Ian Fischer, Ruben Villegas, David Ha, Honglak Lee, and James Davidson [[https://arxiv.org/pdf/1811.04551.pdf| Learning Latent Dynamics for Planning from Pixels]]. Arxiv 2018 | Matt |
| 08/16/2019 | Ebert, Frederik, Chelsea Finn, Alex X. Lee, and Sergey Levine [[https://arxiv.org/pdf/1710.05268.pdf| Self-Supervised Visual Planning with Temporal Skip Connections]]. CoRL 2017 | Griffin |
| 08/21/2019 | Oliver Kroemer, Scott Niekum, George Konidaris; [[https://arxiv.org/abs/1907.03146 | "A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms"]]| Adam |
| 08/28/2019 | Joseph Campbell, Simon Stepputtis, and Heni Ben Amor; [[https://arxiv.org/abs/1908.04955|"Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks"]] | Bala |
| 09/04/2019 | Chris Paxton, Nathan Ratliff, Clemens Eppner, Dieter Fox; [[https://arxiv.org/abs/1908.01896|"Representing Robot Task Plans as Robust Logical-Dynamical Systems"]] | Roya|
| 09/11/2019 | Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert; [[http://www.cs.cmu.edu/~kaess/pub/Kaess12ijrr.pdf|iSAM2 Incremental Smoothing and Mapping Using the Bayes Tree]] | Griffin |
| 09/18/2019 | Bohan Wu, Iretiayo Akinola, Peter K. Allen; [[https://arxiv.org/abs/1903.03227|Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes]]; IROS 2019 | Martin |
| 09/25/2019 | Tim Pearce, Mohamed Zaki, Alexandra Brintrup, Nicolas Anastassacos, Andy Neely; [[https://arxiv.org/abs/1810.05546|Uncertainty in Neural Networks: Bayesian Ensembling]]  | Michael |
| 10/02/2019 | Michael Lutter,  Kim Listmann, Jan Peters; [[https://www.ias.informatik.tu-darmstadt.de/uploads/Team/MichaelLutter/IROS_2019_Final_DeLaN_Energy_Control.pdf|Deep Lagrangian Networks for end-to-end learning of energy-based control for under-actuated systems]]; IROS 2019 And supplemental reading [[https://openreview.net/forum?id=BklHpjCqKm|"Deep Lagrangian Networks"]]; ICRL 2019 | Mohan |
| 10/09/2019 | Fall Break - No Meeting | |
| 10/16/2019 | Xie, Christopher and Xiang, Yu and Mousavian, Arsalan and Fox, Dieter; [[https://arxiv.org/abs/1907.13236 | The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation]]| Qingkai |
| 10/23/2019 | Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin; [[https://arxiv.org/abs/1909.05569 | RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning]] | Amir |
| 10/30/2019 | Forgetting to Select a Reading Group Paper: A Case Study | Griffin |
| 11/06/2019 | Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans; [[https://arxiv.org/abs/1910.00983 | Learning Continuous 3D Reconstructions for Geometrically Aware Grasping]] | Mark |
| 11/13/2019 | Philipp S. Schmitt, Florian Wirnshofer, Kai M. Wurm, Georg v. Wichert, and Wolfram Burgard; [[https://pdfs.semanticscholar.org/f127/e6198af27f492cc71cef9f54172ecb96af67.pdf|Planning Reactive Manipulation in Dynamic Environments]]; IROS 2019 Best Paper | Amir |
| 11/20/2019 | [[https://homes.cs.washington.edu/~bboots/files/DMD_MPC.pdf|"An Online Learning Approach to Model Predictive Control"]]; Nolan Wagener, Ching-An Cheng, Jacob Sacks, Byron Boots;//RSS// 2019. [[https://www.youtube.com/watch?v=vZST3v0_S9w|Video]]; [[https://homes.cs.washington.edu/~bboots/files/DMD_MPC_Appendix.pdf|Appendix]] | Tucker |
| 11/27/2019 | Thanksgiving Break - No Meeting | - |
| 12/04/2019 | Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, and Dieter Fox; [[https://arxiv.org/abs/1810.05687 | "Closing the Sim-To-Real Loop: Adapting Simulation Randomization with Real World Experience"]] ICRA 2019 Finalist for Best Student Paper; [[https://sites.google.com/view/simopt| Video]]|  |
| 12/11/2019 | Taylor A. Howell, Brian E. Jackson, and Zachary Manchester; [[https://rexlab.stanford.edu/papers/altro-iros.pdf | "ALTRO: A Fast Solver for Constrained Trajectory Optimization"]] IROS 2019;|  |
| 1/14/20 | Alex Kendall, Yarin Gal; [[http://papers.nips.cc/paper/7141-what-uncertainties-do-we-need | What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?]]; NeurIPS 2017 |  |
| 1/21/20 | Nathan Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal; [[https://arxiv.org/abs/1608.00309| DOOMED: Direct Online Optimization of Modeling Errors in Dynamics]] | |
| 1/28/20 | Brad Saund, Sanjiban Choudhury, Siddhartha Srinivasa, and Dmitry Berenson; [[https://personalrobotics.cs.washington.edu/publications/saund2019btp.pdf| The Blindfolded Robot: A Bayesian Approach to
Planning with Contact Feedback]]; ISRR 2019; [[https://www.youtube.com/watch?v=DlNhtBnF6ro| Video]] | |
| 2/4/20 |Joschka Boedecker*, Jost Tobias Springenberg*, Jan Wulfing*, Martin Riedmiller; [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7010608 |Approximate Real-Time Optimal Control Based onSparse Gaussian Process Models]] | |
| 2/11/20 | [[https://arxiv.org/abs/1909.10863 | Active inference: demystified and compared]]; Noor Sajid, Philip J. Ball, Karl J. Friston; 2019. |  |
| 2/25/20 |Ransalu Senanayake, Fabio Ramos: [[http://proceedings.mlr.press/v78/senanayake17a/senanayake17a.pdf|Bayesian Hilbert Maps for Dynamic Continuous Occupancy Mapping]]; CoRL 2017|  |
| 3/3/20 | [[https://arxiv.org/pdf/1909.06043v2.pdf | End-to-End Learnable Geometric Vision by Backpropagating PnP Optimization]]; Chen, Bo and Chin, Tat-Jun and Parra, Alvaro and Cao, Jiewei and Li, Nan; Arxiv 2019. |  |
| 3/17/20 | Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox; [[https://arxiv.org/pdf/2002.12160.pdf|In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation]]; ICRA 2020 | |
| 3/24/20 |Rico Jonschkowski, Divyam Rastogi, and Oliver Brock; [[https://arxiv.org/pdf/1805.11122.pdf | Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors]]; RSS 2018 | |
| 3/31/20 |Ma, Xiao, Peter Karkus, David Hsu, and Wee Sun Lee; [[https://arxiv.org/abs/1905.12885|Particle Filter Recurrent Neural Networks]];  AAAI 2020.| |
| 4/7/20 | Mi et al. 2019; [[https://arxiv.org/abs/1910.04858| Training-Free Uncertainty Estimation for Neural Networks]] |  |
| 4/14/20 | Pearce et al. 2018; [[https://arxiv.org/abs/1810.05546| Uncertainty in Neural Networks: Approximately Bayesian Ensembling]] |  |
| 07/28/2020 | Levine et al. [[http://www.roboticsproceedings.org/rss16/p064.pdf|"Learning Agile Robotic Locomotion Skills by Imitating Animals"]] RSS, 2020 **Best paper award** |  |
| 08/03/2020 | [[ https://obj.umiacs.umd.edu/gamma-umd-website-imgs/pdfs/deformableobject/Zhe_He_Deformable_RAL.pdf | "3D Deformable Object Manipulation using Deep Neural Networks" ]] IROS, 2019 |  |
| 08/11/2020 | [[ http://proceedings.mlr.press/v100/nagabandi20a/nagabandi20a.pdf | "Deep Dynamics Models for Learning Dexterous Manipulation" ]] CoRL, 2019 |  |
| 08/18/2020 | [[https://arxiv.org/abs/2008.02881 | "Parts-Based Articulated Object Localization in Clutter Using Belief Propagation" ]] IROS, 2020 | |
| 09/01/2020 | [[https://roboticsconference.org/program/papers/100/|Reachable Sets for Safe, Real-Time Manipulator Trajectory Design]], Patrick Holmes et al., //RSS 2020// |  |
| 09/15/2020 | [[https://arxiv.org/abs/1907.03680| Robust Guarantees for Perception-Based Control]]|  |
| 10/06/2020 | [[https://arxiv.org/pdf/2008.11700.pdf| Safe Model-Based Meta-Reinforcement Learning: A Sequential Exploration-Exploitation Framework]]|  |
| 10/13/2020 | [[https://arxiv.org/pdf/1806.01830.pdf| Relational Deep Reinforcement Learning]]|  |
| 10/20/2020 | [[https://ieeexplore.ieee.org/abstract/document/9145654| Self-Attention Based Visual-Tactile Fusion Learning for Predicting Grasp Outcomes]] | |
| 11/03/2020 | [[https://arxiv.org/abs/2002.11002| Turning 30: New Ideas in Inductive Logic Programming]] |  |
| 11/10/2020 | [[http://axon.cs.byu.edu/~martinez/classes/678/Presentations/Martin.pdf|Lifelong Machine Learning Systems: Beyond Learning Algorithms]] //AAAI Spring Symposium 2013//|  |
| 11/17/2020 | [[https://www.cell.com/neuron/comments/S0896-6273(00)80987-3|Cognitive Neuroscience and the Study of Memory]] - Milner, Squire, & Kandel; //Neuron // 1998  |  |
| 11/24/2020 | Lifelong Learning and Memory Architecture Discussion |  |
| 12/01/2020 | [[http://nsvqa.csail.mit.edu/papers/nsvqa_nips.pdf|Neural-Symbolic VQA: Disentangling Reasoning
from Vision and Language Understanding]] NeurIPS 2018 |  |
| 12/08/2020 | [[https://drive.google.com/file/d/1mKL5JjbXxOJ-SMIEHEXO5Zps9l7-2Kr7/view|Relational Learning for Skill Preconditions]] CoRL 2020 |  |
| 01/19/2021 | Planning Meeting | Tucker |
| 01/26/2021 | [[https://zicokolter.com/publications/kolter2010probabilistic.pdf|A Probabilistic Approach to Mixed Open-loop and Closed-loop Control with Application to Extreme Autonomous Driving]]; J. Zico Kolter, Christian Plagemann, David T. Jackson, Andrew Y. Ng, Sebastian Thrun; ICRA, 2010. | Martin & Adam |
| 02/02/2021 | RSS Paper Planning Meeting | |
| 02/09/2021 | [[https://arxiv.org/abs/2001.02153|Information Theoretic Model Predictive Q-Learning]]; Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots; L4DC, 2020. | Griffin & Adam |
| 02/16/2021 | [[https://arxiv.org/abs/2012.05909|Blending MPC & Value Function Approximation for Efficient Reinforcement Learning]]; Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots; ICLR, 2021.| Iain |
| 02/23/2021 | [[https://arxiv.org/pdf/2005.10872v1.pdf|Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning]]; Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox; ICRA, 2020.| Amir and Mohan |
| 03/02/2021 | [[https://arxiv.org/abs/1812.06298|Residual Policy Learning]]; Tom Silver, Kelsey Allen, Josh Tenenbaum, Leslie Kaelbling; arxiv; 2018. |Amir and Bao|
| 03/09/2021 | Soft Spring Break | |
| 03/16/2021 | [[https://residualrl.github.io/|Residual Reinforcement Learning for Robot Control]]; Tobias Johannink*, Shikhar Bahl*, Ashvin Nair*, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, Sergey Levine; Arxiv; ICRA, 2019. | Martin and Griffin |
| 03/23/2021 | [[https://mediatum.ub.tum.de/doc/1375855/file.pdf|Data-Efficient Control Policy Search Using Residual Dynamics Learning]]; Saveriano, Matteo and Yin, Yuchao and Falco, Pietro and Lee, Dongheu; IROS 2017. | Griffin and Bao |
| 03/30/2021 |[[https://arxiv.org/abs/2008.07792|ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation]]; Fei Xia, Chengshu Li, Roberto Martín-Martín, Or Litany, Alexander Toshev, Silvio Savarese; ICRA 2021. | Adam and Amir |
| 04/06/2021 | [[https://sites.google.com/view/efficient-robotic-manipulation|A Framework for Efficient Robotic Manipulation]]; Albert Zhan*, Ruihan Zhao*, Lerrel Pinto, Pieter Abbeel, Misha Laskin; Arxiv, 2020. | Mohan and Martin |
| 04/13/2021 | [[https://arxiv.org/pdf/2103.13842.pdf|Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning]]; Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki, Carlo D’Eramo, Aaron M. Dollar, Jan Peters; ICRA 2021. | Amir and Tucker |
| 04/20/2021 | [[https://arxiv.org/abs/2102.06099|Sufficiently Accurate Model Learning for Planning]]; Clark Zhang, Santiago Paternain, Alejandro Ribeiro; Arxiv 2021. | Adam and Iain |
| 04/27/2021 | Review and discussions of methods |  |
| 05/04/2021 | Critique of proposed new algorithms |  |
| 09/22/2021 | Introduction & General Discussion: [[https://arxiv.org/abs/2010.01083 | "Integrated Task and Motion Planning"]], Caelan Reed Garrett et al. //Annual Review of Control, Robotics, and Autonomous Systems//, 2020 | Amir, Martin |
| 09/29/2021 | [[https://arxiv.org/pdf/1802.08705.pdf | "PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning"]], Caelan Reed Garrett, Tomas Lozano-P ´ erez, and Leslie Pack Kaelbling, //ICAPS// 2020 | Iain |
| 10/06/2021 | [[https://journals.sagepub.com/doi/10.1177/0278364918761570 | "An incremental constraint-based framework for task and motion planning"]], Neil T. Dantam, Zachary K. Kingston, Swarat Chaudhuri, and Lydia E. Kavraki, //IJRR// 2018 | Martin, Martin |
| 10/13/2021 | Continuation of previous meeting | Griffin & Martin |
| 10/20/2021 | [[https://ieeexplore.ieee.org/abstract/document/9196840 | "A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty"]], Jung-Su Ha, Danny Driess, Marc Toussaint, //ICRA// 2020 | Adam & Yixuan |
| 10/27/2021 | [[https://journals.sagepub.com/doi/abs/10.1177/02783649211038280# | "Representation, learning, and planning algorithms for geometric task and motion planning"]], Beomjoon Kim et al., //IJRR// 2021  | Bao & Yixuan |
| 11/03/2021 | [[https://arxiv.org/abs/2109.08771|Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
]] Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer | Tucker & Yixuan |
| 11/10/2021 | [[https://arxiv.org/pdf/2110.00792.pdf|Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning]], Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake, //CoRL// 2021 [[https://youtu.be/ga8Wlkss7co|video]] | Mohan & Yixuan |
| 11/17/2021 | No Meeting |  |
| 11/24/2021 | No Meeting Thanksgiving |  |
| 12/01/2021 | [[https://arxiv.org/pdf/2111.13144.pdf | "Learning to Search in Task and Motion Planning with Streams"]], Mohamed Khodeir et al. | Amir |
| 12/08/2021 | [[https://arxiv.org/pdf/2006.05398.pdf | Deep Visual Reasoning: Learning to Predict Action Sequences
for Task and Motion Planning from an Initial Scene Image]], Danny Driess, Jung-Su Ha, Marc Toussaint |  |
| 09/22/2022 | [[https://arxiv.org/abs/1806.01261 | "Relational inductive biases, deep learning, and graph networks"]], Battaglia et al. , 2018 | Yixuan & Bao |
| 09/29/2022 | [[https://arxiv.org/abs/1706.03762 | "Attention Is All You Need"]], Vaswani et al., //NeurIPS//, 2017| Iain & Siyeon |
| 10/6/2022| [[https://openreview.net/forum?id=KWCZfuqshd | "Real World Robot Learning with Masked Visual Pre-training"]], Radosavovic et al., //CoRL//, 2022 | Iain |
| 10/13/2022| No meeting - Fall Break | |
| 10/20/2022 | [[https://arxiv.org/pdf/2010.03409.pdf | "LEARNING MESH-BASED SIMULATION WITH GRAPH NETWORKS"]], Tobias Pfaff*, Meire Fortunato*, Alvaro Sanchez-Gonzalez*, Peter Battaglia, //ICLR//, 2021| Martin & Bao |
| 10/27/2022 | [[https://arxiv.org/pdf/2109.03891.pdf | "SORNet: Spatial Object-Centric Representations for Sequential Manipulation"]], Wentao Yuan, Chris Paxton,  Karthik Desingh, Dieter Fox // CoRL // 2021 | Yixuan |
| 11/03/2022 | [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9851942 | "GraphDistNet: A Graph-Based Collision-Distance
Estimator for Gradient-Based
Trajectory Optimization"]], Yeseung Kim, Jinwoo Kim, and Daehyung Park // IROS/RAL // 2022 [[https://www.youtube.com/watch?v=QIBt6AR9KmI | IROS Talk]] | Mohan |
| 11/10/2022 | [[ https://arxiv.org/pdf/2209.11133.pdf | "PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pretraining"]], Rogerio Bonatti, Sai Vemprala, Shuang Ma, Felipe Frujeri, Shuhang Chen, Ashish Kapoor| Tucker & Martin|
| 11/17/2022 | [[ https://arxiv.org/abs/2210.13431 | "Instruction-Following Agents with Jointly Pre-Trained Vision-Language Models"]], Hao Liu, Lisa Lee, Kimin Lee, Pieter Abbeel| Siyeon & Yixuan|
| 11/24/2022 | Gobble! Gobble! | |
| 12/01/2022 | [[https://ieeexplore.ieee.org/document/7747236 | "Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age"]], Cesar Cadena, ... , John J. Leonard; // TRO // 2016 | Griffin & Tucker|
| 12/08/2022 | [[https://arxiv.org/pdf/2108.01176.pdf | "Hierarchical Representations and Explicit Memory: Learning Effective
Navigation Policies on 3D Scene Graphs using Graph Neural Networks"]], Zachary Ravichandran et al; // ICRA // 2022 | Martin & Yixuan|
| 12/15/2022 | [[https://vlmaps.github.io/|Visual Language Maps for Robot Navigation]],  Chenguang Huang, Oier Mees, Andy Zeng, Wolfram Burgard; // // 2022. | Martin & Tucker |
| 01/19/2023 | [[https://arxiv.org/abs/1611.03631|"Voxblox Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning"]]; Helen Oleynikova, Zachary Taylor, Marius Fehr, Juan Nieto, and Roland Siegwart; IROS 2017.| Iain and Tucker |
| 01/26/2023 | [[https://openaccess.thecvf.com/content/ICCV2021/html/Sucar_iMAP_Implicit_Mapping_and_Positioning_in_Real-Time_ICCV_2021_paper.html | "iMAP: Implicit Mapping and Positioning in Real-Time"]], Edgar Sucar, Shikun Liu, Joseph Ortiz, Andrew J. Davison; // ICCV // 2021. | Martin and Tucker |
| 02/02/2023 | [[http://proceedings.mlr.press/v119/gropp20a/gropp20a.pdf|"Implicit Geometric Regularization for Learning Shapes"]] Amos Gropp, Lior Yariv, Niv Haim, Matan Atzmon, and Yaron Lipman, //Proceedings of Machine Learning and Systems// 2020.| Herbie and ? |
| 02/09/2023 | [[https://banmo-www.github.io/|"BANMo: Building Animatable 3D Neural Models from Many Casual Videos"]] Gengshan Yang, Minh Vo, Natalia Neverova, Deva Ramanan, Andrea Vedaldi, Hanbyul Joo, //CVPR (Oral)// 2022.| Bao and Bao |
| 02/16/2023 | [[https://www.matthewtancik.com/nerf|"NeRF, Representing Scenes as Neural Radiance Fields for View Synthesis
"]] Ben Mildenhall, Pratul P. Srinivasan, Matthew Tancik, Jonathan T. Barron, Ravi Ramamoorthi, Ren Ng, //ECCV // 2020.| Bao and Yixuan |
| 23 Feb 2023 | No meeting: Snow Day | |
| 03/02/2023 | [[https://arxiv.org/pdf/2202.11855.pdf|"Learning Multi-Object Dynamics with Compositional
Neural Radiance Fields"]] Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint, //CoRL // 2022.| Yixuan and Martin |
| 03/09/2023 | No meeting: Spring Break |  |
| 03/16/2023 | [[https://palm-e.github.io/assets/palm-e.pdf|"PaLM-E: An Embodied Multimodal Language Model"]] Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence , //arXiv Pre Print // 2023. | Nichols |
| 03/23/2023 | [[https://arxiv.org/abs/2303.04137|"Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"]] Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song // arxiv // 2023 | Martin |
| 03/30/2023 | [[https://tonyzhaozh.github.io/aloha/aloha.pdf|"Learning Fine-Grained Bimanual Manipulation with
Low-Cost Hardware"]] Tony Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn // arxiv // 2023 | Martin |
| 04/06/2023 | [[https://abhijitkundu.info/projects/pnf/|"Panoptic Neural Fields"]] Kundu, Abhijit and Genova, Kyle and Yin, Xiaoqi and Fathi, Alireza and Pantofaru, Caroline and Guibas, Leonidas and Tagliasacchi, Andrea and Dellaert, Frank and Funkhouser, Thomas // CVPR // 2022 | Tucker |
| 04/13/2023 | [[https://arxiv.org/abs/2204.11828]|"Skill-based Meta-Reinforcement Learning"]] Taewook Nam, Shao-Hua Sun, Karl Pertsch, Sung Ju Hwang, Joseph J Lim // ICLR Poster // 2022 | Iain |
| 04/20/2023 | [[https://www.amazon.science/publications/armbench-an-object-centric-benchmark-dataset-for-robotic-manipulation|"ARMBench: An Object-centric Benchmark Dataset
for Robotic Manipulation"]] Chaitanya Mitash, Fan Wang, Shiyang Lu, Vikedo Terhuja, Tyler Garaas, Felipe Polido, Manikantan Nambi // ICRA // 2023 | Martin |
| 08/24/2023 | [[https://arxiv.org/abs/2212.06817|"RT-1"]] and [[https://arxiv.org/abs/2307.15818|"RT-2"]]; Google/Deepmind; arxiv.| Martin |
| 08/31/2023 | [[https://arxiv.org/abs/1608.04471| Stein Variational Gradient Descent ]] and [[https://arxiv.org/abs/2103.12890 | Dual Online Stein Variational Inference for Control and Dynamics ]] and [[https://arxiv.org/abs/2011.07641 | Stein MPC]] | Griffin |
| 09/7/2023 | [[https://arxiv.org/abs/2206.10787|Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models]]; Tao Pang, H.J. Terry Suh, Lujie Yang, Russ Tedrake; 2022 | Tucker |
| 09/14/2023 | Cancelled (Martin is British) due to ICRA deadline push | |
| 09/21/2023 | [[https://arxiv.org/abs/2210.05663|CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory]]  | Siyeon |
| 09/28/2023 | [[https://openreview.net/forum?id=VH6WIPF4Sj|Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks]]  | Yixuan |
| 10/05/2023 | IROS | |
| 10/12/2023 | Fall Break | |
| 10/19/2023 | Canceled (Clash with Organick Lecture)| |
| 10/26/2023 | [[https://arxiv.org/abs/2310.01775v1| STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent]] | Mohan & Yixuan |
| 11/02/2023 | [[https://www.cs.columbia.edu/~huy/scalingup/| Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition]] | Siyeon & Yixuan |
| 11/09/2023 | CoRL | |
| 11/16/2023 | [[https://ieeexplore.ieee.org/document/10288069 | One-Shot Learning for Task-Oriented Grasping]] | Iain |
| 11/23/2023 | Thanksgiving | |
| 11/30/2023 | [[https://arxiv.org/abs/2308.12110 | Constrained Stein Variational Trajectory Optimization]]| Griffin |
===== Summer 2020 Optimization Practicum Queue =====

This reading group is a practicum, meaning we try out what we learn.  Our BitBucket sandbox repository is for everyone to share in a common library for implementing and trying out new algorithms and problems.

[[https://bitbucket.org/robot-learning/ll4ma-opt-sandbox]]

^ Date ^ Module ^ Paper ^ Discussion Leader ^
| 4/23/20 | 1 (& 5) | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 1 & 9; [[https://journals.sagepub.com/doi/pdf/10.1177/0278364912444543| Cross-Entropy Motion Planning]] | Adam and Amir|
| 4/28/20 | 1 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 2 & 3 - Line Search Methods | Tucker and Griffin |
| 5/05/20 | 1 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 4 & 5 - Trust Region Methods & Conjugate Gradients| Mohan & Martin|
| 5/12/20 | 1 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 6  - Quasi-Newton Methods | Martin & Iain |
| 5/19/20 | 1 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 10 & 11 - Gauss Newton and Levenberg Marquardt; [[https://arxiv.org/abs/1605.09296|Gauss Newton works for motion optimization]] | Tucker & Amir, Mohan, Martin, Roya|
| 5/26/20 | 2 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 12 & Issues | All|
| 6/02/20 | 2 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 16 - Quadratic Programming | Amir & Mohan|
| 6/09/20 | 2| [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 15 & 17 - Penalty & Augmented Lagrangian Methods; [[https://arxiv.org/abs/1412.4329|Anytime Inequality AugLa]] | Iain & Mike |
| 6/16/20  | 2 | [[https://ipvs.informatik.uni-stuttgart.de/mlr/papers/16-toussaint-Newton.pdf|KOMO]] & [[https://rexlab.stanford.edu/papers/altro-iros.pdf|ALTRO]] - Augmented Lagrangian for Trajectory Optimization| Griffin & Adam |
| 6/23/20 | 2 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 18 - Sequential Quadratic Programming ; [[https://arxiv.org/abs/1709.00627|convex feasible set motion planning]]  |Roya & Mohan & Amir|
| 6/30/20 | 2 | [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 14 & 19 - Interior Point Methods | Mike & ? |
| 7/07/20 | - | Break | - |
| 7/14/20 | - | Break | - |
| 7/21/20 | - | Break | - |
| TBA | 3 | [[https://robot-learning.cs.utah.edu/_media/optimization_algorithms_on_matrix_manifolds.pdf|Absil]] Ch 3 & 4 - Line Search on Manifolds | Martin & Tucker |
| TBA | 3 | [[https://robot-learning.cs.utah.edu/_media/optimization_algorithms_on_matrix_manifolds.pdf|Absil]] Ch 5 & 6 - Newton's Method on Manifolds | Martin & ? |
| TBA | 3 | [[http://www.nathanratliff.com/publications/riemannian-motion-optimization-tech-report2015.pdf?attredirects=0|RIEMO]] - Manifolds and Trajectory Optimization | ? |
| TBA | 3 | [[https://arxiv.org/abs/1811.07049?utm_source=feedburner&utm_medium=feed&utm_campaign=Feed%253A+arxiv%252FQSXk+%2528ExcitingAds%2521+cs+updates+on+arXiv.org%2529|RMPFlow]] - Manifolds and Online Optimization for Control | Adam and Martin |
| TBA | 3 | [[https://rexlab.stanford.edu/papers/planning_with_attitude.pdf|Angles and Rotations]]| ? |
| TBA  | 4 | Branch and Bound for Integer Programming | Mohan & Roya |
| TBA  | 4 | Branch and Bound for Mixed-Integer Programs | Griffin & ? |
| TBA  | 4 | Mixed Integer Programs for Manipulation Planning | ? |

=== Other Possible Optimization Topics ===
  * [[https://www.sciencedirect.com/science/article/pii/S0166218X01003481|Cutting planes for integer and mixed-integer programs]]
  * [[https://robot-learning.cs.utah.edu/_media/hazan_-_foundations_and_trends_in_optimization_-_2016_-_introduction_to_online_convex_optimization.pdf|Online optimization]]
  * [[https://robot-learning.cs.utah.edu/optimization#optimization_books|Nocedal and Wright]] Ch 7 - Large Scale Problems
  * Gradients - Finite differencing; [[https://yangzzzy.github.io/PDF/csfd_sa_19.pdf|complex finite differencing]]; automatic differentiation - PyTorch, TensorFlow, Casadi
  * Other topics on [[optimization]]
  * [[https://arxiv.org/abs/1507.02528|Simulated Annealing is an Interior Point Method]]
  * [[https://www.researchgate.net/publication/4201008_The_kinematic_Hessian_and_higher_derivatives|The Kinematic Hessian]]
  * [[https://arxiv.org/abs/2008.02399|Optimization Fabrics]]