Program
Welcome cocktail - Saturday Dec 8, 20:00-21:30
Hyatt Hotel
Registration - Sunday Dec 9, 8:30-9:00
WAFR 2018 Welcome - Sunday Dec 9, 9:00-9:30
Session 1 - Sunday Dec 9, 9:30-10:45
General Tools for Motion Planning
Chair: Dinesh Manocha
Respondents: Frank van der Stappen, Liangjun Zhang
Path Planning for Ellipsoidal Robots via Generalized Closed-form Minkowski Operations
Sipu Ruan, Qianli Ma, Karen Poblete, Yan Yan and Gregory Chirikjian
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
Anastasiia Varava, J. Frederico Carvalho, Florian T. Pokorny and Danica Kragic
Appendices
Fast Collision Detection for Motion Planning using Shape Primitive Skeletons
Mukulika Ghosh, Shawna Thomas and Nancy M. Amato
Fast Swept Volume Estimation with Deep Learning
Hao-Tien Chiang, Aleksandra Faust, Satomi Sugaya and Lydia Tapia
Appendices Video
Concurrent Nearest-Neighbor Searching for Parallel Sampling-based Motion Planning in SO(3), SE(3), and Euclidean Topologies
Jeffrey Ichnowski and Ron Alterovitz
Coffee Break - Sunday Dec 9, 10:45-11:15
Session 2 - Sunday Dec 9, 11:15-12:30
Data Structures for Motion Planning
Chair: David Hsu
Respondents: Dmitri Berenson, Michael Otte
A Visibility-Based Approach to Computing Nondeterministic Bouncing Strategies
Alexandra Nilles, Yingying Ren, Israel Becerra and Steven LaValle
Appendices
Finding plans subject to stipulations on what information they divulge
Yulin Zhang, Dylan Shell and Jason O'Kane
Appendices
Planning Under Uncertainty
Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives
Yue Wang, Swarat Chaudhuri and Lydia Kavraki
Appendices Video
An Approximation Algorithm for Risk-averse Submodular Optimization
Lifeng Zhou and Pratap Tokekar
Appendices
Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty
Wisdom Agboh and Mehmet Dogar
Video
Lunch - Sunday Dec 9, 12:30-14:00
Session 3 - Sunday Dec 9, 14:00-15:15
Imitation Learning
Chair: Tomás Lozano-Pérez
Respondents: Scott Livingston, Dorsa Sadigh
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
Sumeet Singh, Vikas Sindhwani, Jean-Jacques Slotine and Marco Pavone
Appendices
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg and Sylvain Calinon
Appendices
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning
Jonathan Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani and Ken Goldberg
Appendices
Learning Constraints from Demonstrations
Glen Chou, Dmitry Berenson and Necmiye Ozay
Appendices
Probability-weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations
Chris Bowen and Ron Alterovitz
Video
Invited Talk - Sunday Dec 9, 15:15-16:15
Steve LaValle
Coffee Break - Sunday Dec 9, 16:15-16:45
Session 4 - Sunday Dec 9, 16:45-18:00
Learning in Planning
Chair: Ken Goldberg
Respondents: Byron Boots, Nilanjan Chakraborty
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
Haruki Nishimura and Mac Schwager
Video
Active Area Coverage from Equilibrium
Ian Abraham, Ahalya Prabhakar and Todd Murphey
Appendices Video
Learning a Spatial Field with Gaussian Process Regression in Minimum Time
Varun Suryan and Pratap Tokekar
Meta-Learning Priors for Efficient Online Bayesian Regression
James Harrison, Apoorva Sharma and Marco Pavone
Appendices
Deep BOO: Automating Beam Orientation Optimization in Radiation Therapy.
Olalekan Ogunmolu, Michael Folkerts, Dan Nguyen, Nicholas Gans and Steve Jiang
Banquet - Sunday Dec 9, 19:30-22:30
Hacienda Chenkú
Session 5 - Monday Dec 10, 8:30-9:45
Sensor-Based Planning, Navigation, and Control
Chair: Kostas Bekris
Respondents: Jason O'Kane, Alberto Quattrini Li
Continuous Optimization Framework for Depth Sensor Viewpoint Selection
Behnam Maleki, Alen Alempijevic and Teresa Vidal Calleja
Look before you sweep: Visibility-Aware Motion Planning
Gustavo Goretkin, Leslie Kaelbling and Tomás Lozano-Pérez
Appendices Video
Path Planning for Information Gathering with Lethal Hazards and No Communication
Michael Otte and Donald Sofge
Appendices Video
Reactive Navigation in Partially Known Non-Convex Environments
Vasileios Vasilopoulos and Daniel E. Koditschek
Appendices Video
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Yulun Tian, Kasra Khosoussi and Jonathan How
Appendices
Invited Talk - Monday Dec 10, 9:45-10:45
Enrique Sucar
Coffee Break - Monday Dec 10, 10:45-11:15
Session 6 - Monday Dec 10, 11:15-12:30
Dynamics of Contact in Manipulation and Locomotion
Chair: Mehmet Dogar
Respondents: Devin Balkcom, Jonathan DeCastro
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots and Nathan Ratliff
Appendices Video
Dynamic Models of Planar Sliding
Jiayin Xie and Nilanjan Chakraborty
A Constrained Kalman Filter for Rigid Body Systems with Frictional Contact
Patrick Varin and Scott Kuindersma
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Mathew Halm and Michael Posa
Video
GP-SUM. Gaussian Process Filtering of non-Gaussian Beliefs
Maria Bauza and Alberto Rodriguez
Lunch - Monday Dec 10, 12:30-14:00
Open Problems Discussion - Monday Dec 11, 13:30-14:00
Chair: Matt Mason
Session 7 - Monday Dec 10, 14:00-15:15
Optimal Motion Generation
Chair: Dan Halperin
Respondents: Neil Dantam, Michael Posa
Time-optimal motion of spatial Dubins systems
Weifu Wang and Devin Balkcom
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia Herbert, Claire Tomlin and Marco Pavone
Appendices Video
Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles
Kris Hauser
Signal Temporal Logic meets Reachability: Connections and Applications
Mo Chen, Qizhan Tam, Scott Livingston and Marco Pavone
Appendices
Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells
Ana Pervan and Todd Murphey
Invited Talk - Monday Dec 10, 15:15-16:15
Vikas Sindhwani
Coffee Break - Monday Dec 10, 16:15-16:45
Session 8 - Monday Dec 10, 16:45-18:00
Tools for Perception, Kinematics and Dynamics
Chair: Kris Hauser
Respondents: Alen Alempijevic, Stefano Carpin
Parallax Bundle Adjustment on Manifold with Improved Global Initialization
Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang and Gamini Dissanayake
Appendices Video
Practical Exponential Coordinates using Implicit Dual Quaternions
Neil Dantam
Appendices
A Performance Analysis of Parallel Differential Dynamic Programming on a GPU
Brian Plancher and Scott Kuindersma
Time Integrating Articulated Body Dynamics Using Position-Based Collocation Method
Zherong Pan and Dinesh Manocha
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
Taosha Fan, Jarvis Schultz and Todd Murphey
Appendices Video
Regional Dinner - Monday Dec 10, 19:00-20:00
Teatro José Peón Contreras
Walking City Tour - Monday Dec 10, 20:00-20:30
Vaquería Regional - Monday Dec 10, 20:30-22:00
Downtown Mérida
Session 9 - Tuesday Dec 11, 8:30-10:45
Multi-Robot and Multi-Body Systems
Chair: Dylan Shell
Respondents: Alberto Rodríguez, Ajay Tanwani
Interlocking block assembly
Yinan Zhang and Devin Balkcom
Video
CADbots: Algorithmic Aspects of Manipulating Programmable Matter with Finite Automata
Sándor P. Fekete, Robert Gmyr, Sabrina Hugo, Phillip Keldenich, Christian Scheffer and Arne Schmidt
Multi-Agent Trajectory Prediction and Generation with Topological Invariants Enforced by Hamiltonian Dynamics
Christoforos Mavrogiannis and Ross Knepper
Balancing Unpredictability and Coverage in Adversarial Patrolling Settings
Nicola Basilico and Stefano Carpin
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rahul Shome, Kiril Solovey, Jingjin Yu, Dan Halperin and Kostas Bekris
Appendices Video
Invited Talk - Tuesday Dec 11, 9:45-10:45
Leslie Kaelbling
Coffee Break - Tuesday Dec 11, 10:45-11:15
Session 10 - Tuesday Dec 11, 11:15-12:30
Optimality, Completeness, and Complexity in Planning
Chair: Todd Murphey
Respondents: Ross Knepper, Jingjin Yu
Motion Planning for Multiple Unit-Ball Robots in R^d
Israela Solomon and Dan Halperin
Appendices Video
Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
Rupesh Chinta, Shuai D. Han and Jingjin Yu
Video
An Experimental Analysis on the Necessary and Sufficient Conditions for the RRT* Applied to Dynamical Systems
Israel Becerra, Heikel Yervilla-Herrera and Rafael Murrieta-Cid
Hardness of 3D Motion Planning Under Obstacle Uncertainty
Luke Shimanuki and Brian Axelrod
The hardness of minimizing design cost subject to planning problems
Fatemeh Zahra Saberifar, Jason M. O'Kane and Dylan A. Shell
Lunch - Tuesday Dec 11, 12:30-14:00
Session 11 - Tuesday Dec 11, 14:00-15:00
Human-Robot Interaction
Chair: Ron Alterovitz
Respondents: Israel Becerra , Rafael Murrieta
Altruistic Autonomy: Beating Congestion on Shared Roads
Erdem Bıyık, Daniel Lazar, Ramtin Pedarsani and Dorsa Sadigh
Appendices Video
Operation and Imitation under Safety-Aware Shared Control
Alexander Broad, Todd Murphey and Brenna Argall
Guided Exploration of Human Intentions for Human-Robot Interaction
Min Chen, David Hsu and Wee Sun Lee
Appendices
Counterexample-Guided Safety Contracts for Autonomous Driving
Jonathan Decastro, Lucas Liebenwein, Cristian-Ioan Vasile, Russ Tedrake, Sertac Karaman and Daniela Rus
Invited Talk - Tuesday Dec 11, 15:00-16:00
Elon Rimon
Conference Closing - Tuesday Dec 11, 16:00-16:15
Transportation to Chichén Itzá - Tuesday Dec 11, 16:45-18:45
Noches de Kukulkán - Tuesday Dec 11, 18:45-21:30
Chichén Itzá
