Schedule for the RSS 2006 Workshop: Manipulation for Human Environments Talks are 25 minutes each, including questions. Discussions are 15 minutes each. 8:00-9:00 Coffee & baked goods 9:00-9:05 Welcome from the organizers Session on platform design: 9:05-9:30 The UMass Mobile Manipulator UMan: An Experimental Platform for Autonomous Mobile Manipulation Dov Katz, Emily Horrell, Yuandong Yang, Brendan Burns, Thomas Buckley, Anna Grishkan, Volodymyr Zhylkovskyy, Oliver Brock, and Erik Learned-Miller 9:30-9:55 A Robust Compliant Grasper for Unstructured Environments Aaron Dollar and Robert Howe 9:55-10:20 Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation Patrick Deegan, Bryan Thibodeau, and Rod Grupen 10:20-10:35 Discussion on platform design Topics may include: 1. off-the-shelf vs. custom robots 2. design trade-offs (eg. specialized vs. general purpose) 3. applications for human environments and their implications for design 4. performance requirements and evaluation 10:35-10:50 Tea break Session on learning: 10:50-11:15 Uncovering Success in Manipulation Chad Jenkins, Alan Peters, and Robert Bodenheimer 11:15-11:40 Learning to Grasp Novel Objects using Vision Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Ng 11:40-12:05 A Framework for Learning Declarative Structure Stephen Hart, Shichao Ou, John Sweeney, Rod Grupen 12:05-12:20 Discussion on learning Topics may include: 1. What could/should be learned? 2. learning methodologies (teleoperation, simulation, demonstration, etc.) 3. learning vs. heuristics and hand designed solutions 4. preferred algorithms, features, etc. 12:20-1:50 Lunch Session on task execution: 1:50-1:55 Introduction to the afternoon session 1:55-2:35 Keynote: Rodney Brooks 2:35-3:00 Operating Humanoid Robots in Human Environments Neo Ee Sian, Takeshi Sakaguchi, Kazuhito Yokoi, Yoshihiro Kawai, and Kenichi Maruyama 3:00-3:25 Real-time Planning of Mobile Manipulation in Dynamic Environments of Unknown Changes John Vannoy and Jing Xiao 3:25-3:50 Humanoid Mobile Manipulation Using Controller Refinement Rob Platt, Robert Burridge, Myron Diftler, Jodi Graf, Mike Goza, and Eric Huber 3:50-5:00 Poster & demo session with refreshments: A Basic Level of Attentional Behavior for Manipulation, Interaction and Learning Stephen Hart, Shichao Ou, John Sweeney, and Rod Grupen Imitation Learning of Whole-Body Grasps Kaijen Hsiao and Tomas Lozano-Perez Demonstration of Human-in-the-Loop Control of an Assistive Robot Arm Kate Tsui and Holly Yanco TBA Rob Platt TBA Eduardo Torres-Jara TBA Aaron Edsinger 5:00-5:15 Lightning talks (short talks < 5 minutes each, sign up during the day, time allotted will depend on demand) 5:15-6:00 Discussion on grand challenges for manipulation in human environments: Goals for the discussion include: 1. create a list of grand challenges 2. create a list of core capabilities 3. discuss methodologies/approaches for achieving these tasks 4. solicit predictions for the future of manipulation in human environments