RSS 2010 Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments


When: Sunday, June 27, 2010, 9.00am - 5.30pm

Where: Robotics: Science and Systems (RSS) 2010, Universidad de Zaragoza, Zaragoza, Spain.

Important Dates:

  • 19 May 2010: Submissions due
  • 26 May 2010: Notification of acceptance
  • 27 June 2010: Workshop in Zaragoza, Spain

Organizers:

Short description: Robot manipulation in household environments is an important challenge. Recently, researchers have experimented with mobile manipulation solutions to this problem. However, research on mobile manipulation in this new setting is still in its very early stages. The lack of accurate environment modelling and the uncertainty inherent to sensing technology avoid the direct application of approaches that have been classically adopted in more structured scenarios. Novel strategies to autonomous mobile manipulation and methods for its evaluation are strongly needed.

In this full-day workshop we will analyze new strategies for addressing the mobile manipulation challenge in household settings. These include: novel methods for advanced semantic perception in cluttered environments, sensor-based control including the robot-environment dynamics, task-oriented planning algorithms, and human-robot cooperative manipulation. Special emphasis will be placed on integration of these strategies into real systems. Participants will be encouraged to evaluate their methods in real environments and share their conclusions with the rest of participants during the workshop, thus enabling fruitful discussion of potential future strategies for autonomous mobile manipulation and the research required.

Content: This would be the sixth in a series of manipulation-centered workshops at RSS. Previous RSS workshops were:

  • 2005: Humanoid Manipulation
  • 2006: Manipulation for Human Environments
  • 2007: Robot Manipulation: Sensing and Adapting to the Real World
  • 2008: Robot Manipulation: Intelligence in Human Environments
  • 2009: Mobile Manipulation in Human Environments

We will solicit extended abstract paper submissions (1-2 pages) from the robotics community. The abstracts will be reviewed by a program committee. The review criteria will be: technical quality, significance of system demonstration, and topicality. We aim to accept 9-12 papers for oral presentation at the meeting.

Topics of interest include:

  • Novel strategies to autonomous mobile manipulation and its evaluation
  • Integrated systems that can perform everyday tasks
  • Integration of planning and control for complex manipulation tasks
  • Safety and interaction with humans
  • Task representation and planning for multi-step manipulation tasks
  • Learning common manipulation capabilities
  • Mobile manipulation with uncertain information
  • Object recognition and pose estimation
  • Semantic scene interpretation
  • Affordance identification and grasp planning
  • Robust manipulation and grasping based on multiple sensors.

Submissions:

We will solicit extended abstract paper submissions (1-2 pages) from the robotics community. The abstracts will be reviewed by a program committee. The review criteria will be: technical quality, significance of system demonstration, and topicality. We aim to accept 9-12 papers for oral presentation at the meeting.

Papers should be in PDF format, conform to the RSS requirements. Any submitted videos should be in the MPEG format, 3-5 minutes in length, and easily viewed with free video players (please try playing your video on a couple of different machines before submitting).

Email submissions to:  rss10mm@uji.es. Please do not attach video files to email; include a URL instead.

Program Committee: 

  • Angel P. del Pobil, Jaume-I University, Spain
  • Brian Gerkey, Willow Garage, USA
  • Charlie Kemp, Georgia Tech, USA
  • Danica Kragic, KTH, Sweden
  • Dmitry Berenson, Carnegie Mellon University, USA
  • Giorgio Metta, University of Genova/IIT, Italy
  • Henrik Christensen, Georgia Tech, USA
  • Ioan Sucan, Rice University, USA
  • Jivko Sinapov, Iowa State University, USA
  • Kaijen Hsiao, Willow Garage, USA
  • Kei Okada, University of Tokyo, Japan
  • Matei Ciocarlie, Willow Garage, USA
  • Nathan Ratliff, TTI
  • Robert Platt, MIT, USA
  • Rosen Diankov, Carnegie Mellon University, USA
  • Sachin Chitta, Willow Garage, USA
  • Sami Haddadin, DLR, Germany
  • Tamim Asfour, Karlsruhe University, Germany

Schedule:

  • 09:30 - 09:40 :: Welcome
  • 09:40 - 10:10 :: Session I :: Invited talk: Markus Vincze, “Robots@Home”
  • 10:10 - 10:30 :: Session I :: Guaranteed Inference for Global State Estimation in Human Environments, by Anna Petrovskaya, Sebastian Thrun, Daphne Koller, and Oussama Khatib.
  • 10:30 - 10:50 :: Session I :: Learning Task Constraints for Robot Grasping, by D. Song, K. Huebner, V. Kyrki, and D. Kragic.
  • 10:50 - 11:00 :: Session I :: Discussion 
  • 11:00 - 11:30 :: Break
  • 11:30 - 12:00 :: Session II :: Invited talk: Oliver Brock
  • 12:00 - 12:20 :: Session II :: Towards Benchmarking Grasping and Manipulation: Properties of the Objects of Daily Living, by Aaron M. Dollar.
  • 12:20 - 12:40 :: Session II :: The Role of Prediction in Compliance Adaptation, by José de Gea Fernández.
  • 12:40 - 13:00 :: Session II :: Discussion
  • 13:00 - 14:30 :: Lunch
  • 14:30 - 14:50 :: Session III :: Towards Reliable Grasping and Manipulation in Household Environments, by Matei Ciocarlie, Kaijen Hsiao, E. Gil Jones, Sachin Chitta, Radu Bogdan Rusu and Ioan A. Sucan.
  • 14:50 - 15:10 :: Session III :: Robots Towards Making Sense of 3D Data, by Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz.
  • 15:10 - 15:30 :: Session III :: Invited talk: Rob Platt
  • 15:30 - 16:00 :: Session III :: Discussion and closing

Primary contact: rss10mm@uji.es