All Paper Sessions

Session I (Monday from 9:15 to 10:09):

Chair: Chee Yap

• Chengyuan Qian and Dylan A. Shell, Extracting Synthetic Sensors: A Study in Gap Navigation
• Chengyuan Qian and Dylan A. Shell, Gap-based Navigation Reinterpreted in Spaces of Half-Tangents [supplementary material]
• Michal Lazar and Noa Agmon, Budget-Constrained Shortest Paths in Continuous Domains [supplementary material]

Session II (Monday from 11:45 to 12:57):

Chair: Roberto Tron

• Servet B. Bayraktar, Andreas Orthey, and Marc Toussaint, Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction
• Phone Thiha Kyaw and Jonathan Kelly, Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
• Emil F. Awad, Hannah Erickson, Alexander J. LaValle, Nicoletta Prencipe, Basak Sakcak, Kalle G. Timperi, and Steven M. LaValle, Shortcutting Revisited: Improved Sampling and Irreplaceable Optimality [supplementary material]
• Savva Morozov, Tobia Marcucci, Bernhard Paus Graesdal, Alexandre Amice, Pablo Parrilo, and Russ Tedrake, Mixed Discrete and Continuous Planning using Shortest Walks in Graphs of Convex Sets

Session III (Monday from 14:00 to 15:30):

Chair: Dylan Shell

• Avishav Engle, Andrey Zhitnikov, Oren Salzman, Omer Ben-Porat, and Kiril Solovey, Effective Game-Theoretic Motion Planning via Nested Search [supplementary material]
• Isaac Ngui, Courtney McBeth, James Motes, Marco Morales, and Nancy Amato, Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
• Julian Rau, Jahir Argote-Gerald, Grace McFassel, Genki Miyauchi, Paul Trodden, and Roderich Gross, Scalable Multi-Agent Maze Traversal With Local Communication [supplementary material]
• William Zhang, Tzvika Geft, Jingjin Yu, and Kostas Bekris, Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity [supplementary material]
• Alexandra Nilles, Henry Boekhoff, Heather Jin Hee Kim, Julian Prieto, Elizabeth Garner, and Kirstin Petersen, Minimalist Algorithms for Shape-Changing Robots in Densely Packed Swarms [supplementary material]

Session IV (Monday from 16:00 to 17:30):

Chair: Kostas Bekris

• Zezhou Sun, Megha Venkatesam, Devin Balkcom, and Emily Whiting, Mind the Gap: Flexibility Analysis of Interlocking Rigid Structures
• Yuwei Wu, Yichen Zhao, Dexter Ong, and Vijay Kumar, STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments
• Dror Livnat, Michael Moshe Bilevich, Michal Kleinbort, and Dan Halperin, Manifold-Guided Motion Planning for Tight Assemblies
• Hao Lu and Rahul Shome, Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers [supplementary material]
• Shijie Bao, Shizhe Zhao, and Zhongqiang Ren, WAP: Wavefront Arithmetic Propagation Algorithm and Implementation for Motion Planning Among Dynamic Obstacles [supplementary material]

Session V (Tuesday from 9:00 to 10:12):

Chair: Jason O’Kane

• Seiji Shaw, Travis Manderson, Chad Kessens, and Nicholas Roy, Toward Learning POMDPs Beyond Full-Rank Actions and State Observability [supplementary material]
• Aral Köse, Vadim Weinstein, and Steven LaValle, What a Fool Believes: Characterizing Plausible Environments from Weak Sensing Histories [supplementary material]
• Mohamad Louai Shehab, Antoine Aspeel, and Necmiye Ozay, Active Reward Machine Inference From Raw State Trajectories
• Da Kong and Vadim Indelman, Open-loop POMDP Simplification and Safe Skipping of Replanning with Formal Performance Guarantees [supplementary material]

Session VI (Tuesday from 11:45 to 12:57):

Chair: Alexandra Nilles

• Yimin Tang, Sven Koenig, and Erdem Bıyık, Judgelight: Trajectory-Level Post-Optimization for Multi-Agent Path Finding via Closed-Subwalk Collapsing [supplementary material]
• Nikolaj Käfer, Ahmed Khalil, Edward Huynh, David Fridovich-Keil, and Efstathios Bakolas, Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach
• Alex Bassot, Stefano Carpin, and Nicola Basilico, Wm-SPLITOUR: a Min-Max Weighted Multi-TSP Algorithm for Robotic Patrolling
• Hamzah Khan, Dong Ho Lee, Jingqi Li, Tianyu Qiu, Christian Ellis, Jesse Milzman, Wesley Suttle, and David Fridovich-Keil, Efficiently Solving Mixed-Hierarchy Games with Quasi-Policy Approximations

Session VII (Tuesday from 14:00 to 15:12):

Chair: Erdem Bıyık

• Xinhuan Sang, Abdelrahman Abdelgawad, and Roberto Tron, Composable Model-Free RL for Navigation with Input-Affine Systems [supplementary material]
• Alkesh Kumar Srivastava, George Kontoudis, Donald Sofge, and Michael Otte, Bayesian Networks for Path-Based Sensors: Gathering Information and Path Planning in Communication Denied Environments
• Thong Quoc Huynh, Oren Salzman, and Neil Dantam, Environmental-Computational Epistemic Agents: Observations for Optimal Decisions
• Filip Georgiev, Kalle Timperi, Bașak Sakçak, and Steven LaValle, Relating Reinforcement Learning to Dynamic Programming-Based Planning [supplementary material]

Session VIII (Wednesday from 9:00 to 10:12):

Chair: Kiril Solovey

• Nils Wilde and Dylan Shell, Approximate Scalarizations with Application to Multi-Objective Path Planning
• Omar Muhammetkulyyev, Oren Salzman, and Tichakorn Wongpiromsarn, Approximate Multi-Objective Search Under Rulebooks [supplementary material]
• Valentin Noah Hartmann, Tirza Heinle, Yijiang Huang, and Stelian Coros, Sampling-Based Multi-Modal Multi-Robot Multi-Goal Path Planning [supplementary material]
• Siyi Lu and Sipu Ruan, Lateral Reciprocal Collision Avoidance: A Probabilistic Social-Norm-Inspired Strategy for Deadlock-Free Multi-Robot Navigation

Session IX (Wednesday from 14:00 to 15:30):

Chair: Michael Otte

• Ananya Yammanuru, Maria Lusardi, Nancy M. Amato, and Katherine Driggs-Campbell, From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers
• Elle Lazarski and Jaime Fisac, Corrigible Assistance in One Round: Pragmatic–Pedagogic Best Response
• Yupu Lu, Yuxiang Ma, and Jia Pan, RichMap: A Reachability Map Balancing Precision, Efficiency, and Flexibility for Rich Robot Manipulation Tasks
• Arno Verduyn, Erwin Aertbeliën, Maxim Vochten, and Joris De Schutter, A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems
• Haimin Hu, Permissive Safety Through Trusted Inference: Verifying Belief-Space Neural Safety Filters for Assured Interactive Robotics

Session X (Wednesday from 16:00 to 17:12):

Chair: Neil Dantam

• Eitan Bloch and Oren Salzman, Offline Task Assistance Planning on a Graph – Theoretic and Algorithmic Foundations [supplementary material]
• Adir Morgan, Kiril Solovey, and Oren Salzman Scalable Inspection Planning via Flow-based Mixed Integer Linear Programming [supplementary material]
• Theotime Le Hellard, Franki Nguimatsia Tiofack, Quentin Le Lidec, and Justin Carpentier, Accelerating Trajectory Optimization with Sobolev-Trained Diffusion Policies
• Luis Marques and Dmitry Berenson, Local Conformal Calibration of Dynamics Uncertainty from Semantic Images [supplementary material]