2022 Poster Session and Networking Event [Virtual]

Best Poster Award Winners

Three winners (tied results) were selected from the voting. Instead of the original $250 for a single winner, each of the three will receive $100 (USD) to be utilized by Dec. 31st, 2022 for expenses that can be reimbursed by IEEE as per policies.

Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation (pdf)

Cansu Sancaktar, Sebastian Blaes, Georg Martius

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP (pdf)

He Li, Tingnan Zhang, Wenhao Yu, Patrick M.Wensing

Inverse-Dynamics MPC via Nullspace Resolution (pdf)

Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau and Sethu Vijayakumar

 

Overview

Technical Committee on Model-Based Optimization for Robotics will hold a virtual poster session and networking event on Friday, Oct.7th, 2022. We will kick off the event with a short welcome and then hold poster sessions on spatial.chat. Posters covering ICRA papers, recent journals, and/or other work in progress will be presented.

 

Event Details

Date/Time: Oct 7th, 9:30-11:30 AM EST (13:30-15:30 GMT, 22:30-00:30 JST)

Schedule (all times are in EST):

Time Schedule Item Link
9:30 - 9:35 AM Welcome and TC Presentation

https://app.spatial.chat/s/tc-mbr 
9:35 - 10:30 AM Poster Session 1 (room 1 and 2)
10:30 - 11:30 AM Poster Session 2 (room 3 and 4)

 

Session 1 Posters

* Spatial Room 1 *

Machine Learning Can Advance Ultra-high Precision Quality Control for Robotic Composite Aircraft Assembly (pdf)

Xiaowei Yue

GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients (pdf)

Brian Plancher, Sabrina M. Neuman, Radhika Ghosal, Scott Kuindersma, Vijay Janapa Reddi

Optimization-based control for search-and-rescue robotics (pdf)

Mirko Baglioni

Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control (pdf)

Charles Khazoom, Steve Heim, Daniel Gonzalez-Diaz, Sangbae Kim 

Collision Detection Accelerated: An Optimization Perspective (pdf)

Louis Montaut, Quentin Le Lidec, Vladimir Petrik, Josef Sivic, Justin Carpentier

Framework and Software for Multi-Contact Model Predictive Control (pdf)

Alp Aydinoglu, Adam Wei, and Michael Posa

CACTO: Continuous Actor-Critic algorithm with Trajectory Optimization towards global optimality (pdf)

Gianluigi Grandesso, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete

 

* Spatial Room 2 *

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP (pdf)

He Li, Tingnan Zhang, Wenhao Yu, Patrick M.Wensing

Curious Exploration via Structured World Models Yields Zero-Shot Object Manipulation (pdf)

Cansu Sancaktar, Sebastian Blaes, Georg Martius

Simulation aided co-design for robust robot optimization (pdf)

Gabriele Fadini, Thomas Flayols, Andrea del Prete, Philippe Souères

Yet another Quadratic Programming Solver for Robotics and beyond (pdf)

Antoine Bambade, Sarah El-Kazdadi, Adrien Taylor, Justin Carpentier

MECHANISM & BEHAVIOR CO-OPTIMIZATION OF HIGH-PERFORMANCE LEGGED ROBOTS (pdf)

Antonios Emmanouil Gkikakis

Implicit differential dynamic programming (pdf)

Wilson Jallet, Nicolas Mansard, Justin Carpentier

 

Session 2 Posters

* Spatial Room 3 *

Inverse-Dynamics MPC via Nullspace Resolution (pdf)

Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau and Sethu Vijayakumar

Model Predictive Control for Quadruped Locomotion: a New Model for Collision-Free Feet Trajectories (pdf)

Gianni Lunardi, Andrea Del Prete

STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation (pdf)

Mengchao Zhang, Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, Kris Hauser

Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion (pdf)

Waldez Gomes, Pauline Maurice, Elöise Dalin Jean-Baptiste Mouret, Serena Ivaldi 

Toward Force Feedback in Model Predictive Control (pdf)

Sébastien Kleff

Impact-Invariant Running on the Cassie Bipedal Robot (pdf)

William Yang, Michael Posa

MPC with Learned Reachability Constraints for Bipedal Walking on Broken Terrain (pdf)

Brian Acosta and Michael Posa

 

* Spatial Room 4 *

Robot Control for Simultaneous Impact Tasks through Time-Invariant Reference Spreading (pdf)

Jari J. van Steen, ‪Nathan van de Wouw, Alessandro Saccon

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Generation of Legged Robots (pdf)

Ahmad Gazar, Majid Khadiv, Sébastian Kleff, Andrea Del Prete and Ludovic Righetti

Planning and Control for Optimal Reduced-order Models of Legged Robots (pdf)

Yu-Ming Chen, Jianshu Hu and Michael Posa

Augmenting differentiable physics with randomized smoothing (pdf)

Quentin Le Lidec, Louis Montaut, Cordelia Schmid, Ivan Laptev, Justin Carpentier

Could Modular Passive Tracking Control (MPTC) be applied to computationally and energetically efficient trajectory planning? (pdf)

Johannes Englsberger

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion (pdf)

Ziyi Zhou, Bruce Wingo, Nathan Boyd, Seth Hutchinson, and Ye Zhao