Full-day Workshop

Location: Salon 3

Session: Robot control
Moderator: Angela P. Schoellig
8:30 AM - 8:35 AMOpening remarks and introductions (5 minutes) (Maria Gini and Lydia Tapia)
8:35 AM - 9:30 AM Keynote: Jan Peters, "Machine Learning of Motor Skills for Robotics" (Abstract, Slides)
9:30 AM - 9:45 AM Cédric de Crousaz, Farbod Farshidian and Jonas Buchli, "Aggressive Optimal Control for Agile Flight with a Slung Load" (Paper, Video)
9:45 AM - 10:00 AM Luigi Palmieri and Kai O. Arras, "Distance Metric Learning for RRT-Based Motion Planning for Wheeled Mobile Robots" (Paper)

10:00 AM - 10:30 AM Break

Session: Robot control under Uncertainty
Moderator: Marco Morales
10:30 AM - 10:45 AM Felix Berkenkamp and Angela P. Schoellig, "Learning-based Robust Control: Guaranteeing Stability while Improving Performance" (Paper)
10:45 AM - 11:00 AM Youngmok Yun and Ashish Deshpande, "Control in the Reliable Region of a Statistical Model with Gaussian Process Regression" (Paper, Video)
11:00 AM - 11:15 AM Aleksandra Faust, Nick Malone and Lydia Tapia, "Planning Preference-balancing Motions with Stochastic Disturbances" (Paper)
11:15 AM - 11:30 AM David Martínez, Guillem Alenya and Carme Torras, "Finding Safe Policies in Model-Based Active Learning" (Paper)
Poster Highlights
11:30 AM - 11:35 AM Michael Neunert, Farbod Farshidian and Jonas Buchli, "Adaptive Real-time Nonlinear Model Predictive Motion Control" (Poster Abstract, Video)
11:35 AM - 11:40 AM Artem Gritsenko and Dmitry Berenson, "Learning Cost Functions For Motion Planning From Human Preferences" (Poster Abstract)
11:40 AM - 11:45 AMMarcela Poffald, Kris Hauser and Yajia Zhang, "Learning problem space metrics for motion primitive selection" (Poster Abstract)
11:45 AM - 12:30 AM Poster viewing / discussions (Room: Salon 4)

12:30 AM - 1:50 PM Lunch in groups

Session: Model-based planning
Moderator: Farbod Farshidian
1:50 PM - 2:45 PM Keynote: Pieter Abbeel, "Machine Learning and Optimization for Robotics" (Abstract, Slides)
2:45 PM - 3:00 PM Petr Vanek, Jan Faigl and Jiří Vokřínek, "Unsupervised Learning of Growing Roadmap in Multi-Goal Motion Planning Problem" (Paper)

3:00 PM - 3:30 PMBreak

Session: Multi-robot Control and Planning
Moderator: Aleksandra Faust
3:30 PM - 4:25 PM Keynote: Manuela Veloso, "Planning and Learning for Teams of Robots in Domains with Uncertainty" (Abstract)
4:25 PM - 4:40 PM Piyush Khandelwal, Samuel Barrett and Peter Stone, "Leading the Way: An Efficient Multi-robot Guidance System" (Paper, Video)
4:40 PM - 4:55 PM Julio Godoy, Ioannis Karamouzas, Stephen J. Guy and Maria Gini, "Epsilon-UCB for Action Selection in Multi Agent Navigation" (Paper)
4:55 PM - 5:00 PM Wrap up (Maria Gini and Lydia Tapia)

5:00 PM - 6:00 PM Informal discussions
6:00 PM - 7:30 PM IROS Welcome Reception
7:30 PM Informal dinner