WAFR 2024

Program

Unless stated otherwise, activities take place in the Discovery Room on the 4th Floor of the University of Illinois Discovery Partners Institute at 200 S. Wacker Drive, Chicago, IL, 60606.

Sunday October 6
20:00-21:30	Informal meetup - Grill on 21, 208 South LaSalle St., Chicago, IL 60604. We'll meet in the bar & lounge of the Grill on 21 restaurant, which is in The LaSalle Chicago Hotel, located on the 21st Floor of 208 South LaSalle St.
Monday October 7
08:55-09:00	Opening & Welcome
09:00-10:30	Paper Session 1 - Planning: Discrete Elements & Optimization Session Chair: Steven LaValle
	Hybrid Declarative-Imperative Representations for Hybrid Discrete-Continuous Decision-Making Jiayuan Mao, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling Towards Practical Finite Sample Bounds for Motion Planning in TAMP Seiji A Shaw, Aidan Curtis, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Nicholas Roy Fast and Certifiable Trajectory Optimization Shucheng Kang, Xiaoyang Xu, Jay Sarva, Ling Liang, Heng Yang Multi-Query Shortest-Path Problem in Graphs of Convex Sets Savva Morozov, Tobia Marcucci, Alexandre Amice, Bernhard Paus Graesdal, Rohan Bosworth, Pablo A. Parrilo, Russ Tedrake GCS: Forward Heuristic Search on Implicit Graphs of Convex Sets Shao Yuan Chew Chia, Rebecca H. Jiang, Bernhard Paus Graesdal, Leslie Pack Kaelbling, Russ Tedrake*
10:30-10:50	Break
10:50-11:30	Paper Session 2 - Planning Session Chair: Hanna Kurniawati
	Leveraging Fixed-Parameter Tractability for Robot Inspection Planning Yosuke Mizutani, Daniel Coimbra Salomao, Alex Crane, Matthias Bentert, Pål Grønås Drange, Felix Reidl, Alan Kuntz, Blair D. Sullivan Topology-Driven Recovery Path Planning in Dynamic Obstacle Environments Mukulika Ghosh, Aakriti Upadhyay, Chinwe Ekenna
11:30-12:30	Invited Talk: Is Data All You Need?: Large Robot Action Models and Good Old Fashioned Engineering Ken Goldberg, UC Berkeley Session Chair: Chinwe Ekenna
12:30-13:30	Lunch
13:30-14:45	Paper Session 3 - Geometry Session Chair: Mukulika Ghosh
	SPITE: Simple Polyhedral Intersection Techniques for modified Environments Stav Ashur, Marta Markowicz, Maria Lusardi, James Motes, Marco Morales, Sariel Har-Peled, Nancy Amato Quad-tree Based Collision Detection for Scalable Multi-Robot Motion Planning Abdel Zaro, Aaron M. Johnson, Ardalan Tajbakhsh Theory and Explicit Design of a Path Planner for an SE(3) Robot Zhaoqi Zhang, Yi-Jen Chiang, Chee Yap Geodesic turnpikes for robot motion planning Yann de Mont-Marin, Martial Hebert, Jean Ponce
14:45-14:55	Poster Lightning Talks Session Chair: Marco Morales
	Optimal Convex Cover as Collision-free Space Approximation for Trajectory Generation Yuwei Wu, Igor Spasojevic, Pratik Chaudhari, Vijay Kumar Configuration Space Lattices to Infer (In)feasibility and Application to Rearrangement Planning Sihui Li, Matthew Adam Schack, Thong Quoc Huynh, Neil T. Dantam A Framework for Guided Motion Planning Amnon Attali, Stav Ashur, Isaac Burton Love, Courtney McBeth, James Motes, Marco Morales, Nancy Amato FAST: Friction-Aware non-Sliding Transport with Learned Motion-Based Constraints Yuemin Mao, Bardienus Pieter Duisterhof, Moonyoung Lee, Jeffrey Ichnowski An Internal Model Principle For Robots Vadim K. Weinstein, Tamara Alshammari, Kalle G. Timperi, Mehdi Bennis, Steven LaValle
14:55-15:30	Poster Session (including refreshments)
15:30-16:45	Paper Session 4 - Multiple Robots & Game Theoretic Session Chair: Michael Otte
	Inverse Risk-sensitive Multi-Robot Task Allocation Guangyao Shi, Gaurav Sukhatme Tractability Frontiers in Multi-Robot Coordination and Geometric Reconfiguration Tzvika Geft, Dan Halperin, Yonatan Nakar Group-Control Motion Planning Framework for Microrobot Swarms in a Global Field Siyu Li, Afagh Mehri Shervedani, Milos Zefran, Igor Paprotny Anticipating Oblivious Opponents in Stochastic Games Shadi Tasdighi-Kalat, Sriram Sankaranarayanan, Ashutosh Trivedi Auto-Encoding Bayesian Inverse Games Xinjie Liu, Lasse Peters, Javier Alonso-Mora, ufuk topcu, David Fridovich-Keil
16:45-17:00	Transition to 1st Floor to the Reception Location
17:00-19:00	WAFR @ 30 Celebration & Reception! Session Chairs: Ken Goldberg, Dan Halperin, Lydia Kavraki Location: Riverfront Lounge, Ground Floor, 200 S. Wacker Drive
Tuesday October 8
09:00-10:30	Paper Session 5 - Control Session Chair: David Fridovich-Keil
	Online state vector reduction during model predictive control with gradient-based trajectory optimisation David Russell, Rafael Papallas, Mehmet Dogar From Pixels to Torques with Linear Feedback Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj, Zachary Manchester Interaction-aware Conformal Prediction for Crowd Navigation Zhe Huang, Tianchen Ji, Heling Zhang, Fatemeh Cheraghi Pouria, Katherine Rose Driggs-Campbell, Roy Dong RAnGE: Reachability Analysis for Guaranteed Ergodicity Henry Berger, Ian Abraham Reparametrization of 3D CSC Dubins' Paths Enabling 2D Search Ling Xu, Yuliy Baryshnikov, Cynthia Sung
10:30-10:50	Break
10:50-11:30	Paper Session 6 - Reinforcement Learning Session Chair: Katherine Driggs-Campbell
	Equivariant Action Sampling for Reinforcement Learning and Planning Linfeng Zhao, Owen Lewis Howell, Xupeng Zhu, Jung Yeon Park, Zhewen Zhang, Robin Walters, Lawson L.S. Wong Convergent Neural Synthesis of Robot Safety: Stackelberg-Minimax Adversarial RL Justin S. Wang, Haimin Hu, Duy Phuong Nguyen, Jaime Fernández Fisac
11:30-12:30	Open Problem Session: Starting with 10 Problems in Geobotics Session Chair: Dan Halperin, Tel Aviv University
12:30-13:30	Lunch
13:30-15:00	Paper Session 7 - Robot Design & Dynamics Session Chair: Alan Kuntz
	CAPO: Control and Actuator Placement Optimization for Large-Scale Problems with Nonlinear Dynamics Mitchell Fogelson, Giusy Falcone, Zachary Manchester Algorithmic Design of Kinematic Trees Based on CSC Dubins Planning for Link Shapes Daniel Feshbach, Wei-Hsi Chen, Ling Xu, Emil Schaumburg, Isabella Huang, Cynthia Sung Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra Tobias Löw, Sylvain Calinon One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging Linhan Yang, Lei Yang, Haoran Sun, Zeqing Zhang, Haibin HE, Fang Wan, Chaoyang Song, Jia Pan Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration Luís Marques, Dmitry Berenson
15:00-15:20	Break
15:20-16:00	Paper Session 8 - Planning with Beliefs Session Chair: Kostas Bekris
	Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty Sahit Chintalapudi, Leslie Pack Kaelbling, Tomás Lozano-Pérez A POMDP Approach for Safety Assessment of Autonomous Cars Ivan Ang, Hanna Kurniawati
16:00-16:30	Travel (walk) to boat dock - near 400 N. Michigan Avenue (near the Wrigley Building). We will meet on the sidewalk outside 200 S. Wacker (the WAFR venue) and student volunteers will walk with groups of attendees to the boat dock. It is a nice walk along the river, and takes about 30 minutes.
16:45-18:15	Excursion: Architecture Boat Tour The boat leaves at 4:45pm SHARP. Student volunteers will distribute tickets to WAFR attendees at the boat dock - they will be there from 4:15pm to 4:40pm.
18:15	Dinner on your own
Wednesday October 9
09:00-10:30	Paper Session 9 - Minimalism Session Chair: Jason O'Kane
	Patrolling Grids with a Bit of Memory Michael Amir, Dmitry Rabinovich, Alfred Bruckstein Minimally Sufficient Structures for Information-Feedback Policies Basak Sakcak, Vadim K. Weinstein, Kalle G. Timperi, Steven LaValle Optimal Sensor Deception to Deviate from an Allowed Itinerary Hazhar Rahmani, Arash Ahadi, Jie Fu A fixed-parameter tractable algorithm for combinatorial filter reduction Yulin Zhang, Dylan Shell Universal Plans: One Action Sequence to Solve Them All! Kalle G. Timperi, Alexander J. LaValle, Steven LaValle
10:30-10:50	Break
10:50-11:30	Paper Session 10 - Manipulation I Session Chair: Tomas Lozano-Perez
	The Teenager’s Problem: Efficient Garment Decluttering as Probabilistic Set Cover Aviv Adler, Ayah Ahmad, Yulei Qiu, Shengyin Wang, Wisdom Agboh, Edith Llontop, Tianshuang Qiu, Jeffrey Ichnowski, Thomas Kollar, Richard Cheng, Mehmet Dogar, Ken Goldberg DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation Bardienus Pieter Duisterhof, Zhao Mandi, Jia-Wei Liu, Yunchao Yao, Jenny Seidenschwarz, Mike Zheng Shou, Deva Ramanan, Shuran Song, Stan Birchfield, Bowen Wen, Jeffrey Ichnowski
11:30-12:30	Invited Talk: What Belongs in a Robot's Brain? Steven LaValle , University of Oulu & UIUC Session Chair: Marco Morales
12:30-13:20	Lunch
13:20-14:00	Paper Session 11 - Manipulation II Session Chair: Matt Mason
	BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation Dongjie Yu, Hang Xu, CHEN YIZHOU, Jia Pan Propagative Distance Optimization for Constrained Inverse Kinematics Yu Chen, Yilin Cai, Jinyun Xu, Zhongqiang Ren, Guanya Shi, Howie Choset
14:00-15:15	Paper Session 12 - Planning with "interesting" goals Session Chair: Dylan Shell
	Coverage Path Planning For Minimizing Expected Time to Search For an Object With Continuous Sensing Linh Nguyen A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset Optimally Solving Colored Generalized Sliding-Tile Puzzles: Complexity and Bounds Marcus Gozon, Jingjin Yu Park Rangers’ Problem: Motion Planning for Sequential Visibility Requirements John Phillips, Sihui Li, Neil T. Dantam
15:15-15:45	Break
15:45-17:00	Paper Session 13 - Perception, Localization, and Communications Session Chair: Jeffrey Ichnowski
	Visual-Inertial State Estimation with Decoupled Error and State Representations Chuchu Chen, Yuxiang Peng, Guoquan Huang Localization with Single or Antipodal Distance Measurements Dan Halperin, Barak Ugav, Steven LaValle Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization Frederike Dümbgen, Connor Holmes, Timothy Barfoot Sneakernet and station wagons to robots: bounds for robotic network throughput Matthew Adam Schack, John G. Rogers III, Neil T. Dantam
17:00	Closing

Contact: wafr2024@gmail.com
		UIUC Grainger College of Engineering Center for Autonomy

2024

The 16th International Workshop on the Algorithmic Foundations of Robotics Chicago, USA, October 7-9 2024

Program

The 16th International Workshop on the Algorithmic Foundations of Robotics
Chicago, USA, October 7-9 2024