| 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
(pdf)
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
(pdf)
Aaron Dollar and Robert Howe
|
| 9:55-10:20 |
Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation
(pdf)
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
(pdf)
Chad Jenkins, Alan Peters, and Robert Bodenheimer
|
| 11:15-11:40 |
Learning to Grasp Novel Objects using Vision
(pdf)
Ashutosh Saxena, Justin Driemeyer, Justin Kearns, and Andrew Ng
|
| 11:40-12:05 |
A Framework for Learning Declarative Structure
(pdf)
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
(pdf)
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
(pdf)
John Vannoy and Jing Xiao
|
| 3:25-3:50 |
Humanoid Mobile Manipulation Using Controller Refinement
(pdf)
Rob Platt, Robert Burridge, Myron Diftler, Jodi Graf, Mike Goza, and Eric Huber
|
| 3:50- 5:00 |
Poster and demo session with refreshments
-
A Basic Level of Attentional Behavior for Manipulation, Interaction and Learning
(pdf)
Stephen Hart, Shichao Ou, John Sweeney, and Rod Grupen
-
Imitation Learning of Whole-Body Grasps
(pdf)
Kaijen Hsiao and Tomas Lozano-Perez
-
Demonstration of Human-in-the-Loop Control of an Assistive Robot Arm
(pdf)
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
(discussion notes - text file)
(short pdf presentation of the discussion results)
Goals 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
|