A chronological listing of all ICRA 2021 events involving UofT researchers
*all times in EASTERN TIME
Monday, May 31
Workshop 6:50 – 11:30: Radar Perception for All-Weather Autonomy
9:30 – 10:00 Tim Barfoot: Radar, Warts and All: Progress Towards Spinning Radar Navigation
Workshop 9:00 – 17:00 Robust Perception For Autonomous Field Robots in Challenging Environments
15:50-16:10 Tim Barfoot: Dark, Damp, and Dynamic: Recent Progress on Robotic Localization in Challenging Environments, followed by panel discussion
Workshop 9:00 – 19:00 Workshop on Visual-Inertial Navigation Systems
15:45 – 15:30 Jonathan Kelly: A Question of Time: Revisiting Temporal Calibration for Visual-Inertial Navigation
21:00 – 22:00
TuAT2: Manipulation Award – Chair Eric Diller
22:15 – 22:30
TuBT23.2: Applications of Robotic Exploration
LEAF: Latent Exploration Along the Frontier
Homanga Bharadhwaj, Animesh Garg, Florian Shkurti
Tuesday, June 1
10:00 – 11:00
TuP2L Plenary Session CESAR: Committee to Explore Synergies in Automation and Robotics
Speaker: Animesh Garg (among many others), Moderator: Yu Sun
12:00 – 12:45
TuKNT3 Keynote Session I, Continuum Robot
Speaker: Jessica Burgner Kahrs
05:15 – 05:30
TuDT4.2: Best Student Paper Award Session
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
David Juny Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy Barfoot
13:00 – 13:15
TuHT6.1: Machine Learning
MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior
Rehman Merali, Timothy Barfoot
13:30 – 14:30
TuHT19: Continuum Robotics I
Chair Jessica Burgner-Kahrs, Co-chair Farshid Alambeigi
13:30 – 13:45
TuHT19.3: Continuum Robotics I
Using Euler Curves to Model Continuum Robots
Priyanka Rao, Quentin Peyron, Jessica Burgner-Kahrs
14:00 – 15:00
TuIT16: Field Robotics: Machine Learning
Chair Angela Schoellig
14:00pm – 14:15
TuIT8.1: Localization and Mapping XI
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?
Keenan Burnett, Angela P. Schoellig, Timothy Barfoot
TuIT16.1: Field Robotics: Machine Learning
Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control Christopher McKinnon, Angela P. Schoellig
14:00 – 14:15
TuIT21.1: Aerial Robotics: Sensing and Control
UAV Localization Using Autoencoded Satellite Images
Mollie Bianchi, Timothy Barfoot
14:15 – 14:30
TuIT8.2: Localization and Mapping XI
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
David Juny Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy Barfoot
14:30 – 14:45
TuIT9.3: Legged Robots II
Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion
Zhaoming Xie, Xingye Da, Michiel van de Panne, Buck Babich, Animesh Garg
TuIT19.3: Continuum Robotics II
Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Georg Böttcher, Sven Lilge, Jessica Burgner-Kahrs
14:45 – 15:00
TuIT17.4: Human-Centered Robotics II
Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI
Shane Saunderson, Goldie Nejat
15:00 – 16:00
TuJT23: Aerial Robotics: Learning and Adaptive Systems
Chair Angela Schoellig
15:00 – 15:15
TuJT2.1: Manipulation Reinforcement Learning I
Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations Using Generative Models
Yuchen Wu, Melissa Mozifian, Florian Shkurti
TuJT23: Aerial Robotics: Learning and Adaptive Systems
Wenda Zhao, Jacopo Panerati, Angela P. Schoellig
15:15 – 15:30
TuJT22.2: Automation: Machine Learning I
Continual Model-Based Reinforcement Learning with Hypernetworks
Yizhou Huang, Kevin Xie, Homanga Bharadhwaj, Florian Shkurti
15:45 – 16:00
TuJT2.4: Manipulation: Reinforcement Learning I
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
Roberto Martín-Martín, Arthur Allshire, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg
TuJT11.4: Learning-Based Motion Planning II
Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving
Bob Wei, Mengye Ren, Wenyuan Zeng, Ming Liang, Bin Yang, Raquel Urtasun
16:00 – 16:15
TuKT8.1: Localization and Mapping: Sensor Fusion I
Anqi Joyce Yang, Can Cui, Ioan Andrei Bârsan, Raquel Urtasun, Shenlong Wang
TuKT10.1: Localization and Control
Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments
Jacky Liao, Che Liu, Hugh Liu
16:30 – 16:45
TuKT11.3: Learning-BasedMotion Planning III
Deep Structured Reactive Planning
Jerry Liu, Wenyuan Zeng, Raquel Urtasun, Ersin Yumer
Wednesday, June 2
03:10 – 04:10
WeBT4: Multiple and Distributed Systems V
Chair: Xingjian Liu
03:55-04:10
WeBT4.4: Multiple and Distributed Systems V
Simultaneous Calibration of Multi-Coordinates for a Dual-Robot System by Solving the AXB=YCZ Problem
Gang Wang, Li Wen-long, Cheng Jiang, Dahu Zhu, He Xie, Xingjian Liu, Han Ding
03:10 – 04:10
WeCT2: Novel Applications II
Chair: Zhuoan Zhang
Thursday, June 3
13:00 – 14:00
ThHT7: Time Delay Systems
Co-Chair: Mohammad Al Janaideh
13:00 – 13:15
ThHT11.1: Robotic Perception I
Self-Guided Instance-Aware Network for Depth Completion and Enhancement
Zhongzhen Luo, Fengjia Zhang, Guoyi Fu, Jiajie Xu
13:30 – 13:45
ThHT5.3: Vision-Based Control
Uncertainty Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots
Shatil Rahman, Steven Waslander
13:45 – 14:00
ThHT7.4: Time Delay Systems
The Effect of Input Signals Time-Delay on Stabilizing Traffic with Autonomous Vehicles
Isam Al-Darabsah, Mohammad Al Janaideh, Sue Ann Campbell
14:00 – 15:00
ThIT19: Multi-View Perception
Chair: Steve Waslander
14:00 – 14:15
ThIT19.1: Multi-View Perception
Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking
Jun Yang, Dong Li, Steve Waslander
ThIT22.1: Motion Control for Manipulators I
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Xinlei Pan, Animesh Garg, Anima Anandkumar, Yuke Zhu
14:00 – 14:15
ThIT4: Vision and Perception: Self-Supervised Learning
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation
Hugues Thomas, Ben Agro, Mona Gridseth, Jian Zhang, Tim Barfoot
15:00 – 16:00
ThJT1: Vision and Perception: Auto-Calibration
Co-Chair: Jonathan Kelly
15:15 – 15:30
ThJT1.2: Vision and Perception: Auto-Calibration
A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration
Emmett Wise, Juraj Peršić, Christopher Grebe, Ivan Petrovic, Jonathan Kelly
15:30 – 15:45
ThJT1.3:
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Justin Tomasi, Brandon Wagstaff, Steven Lake Waslander, Jonathan Kelly
16:00 – 17:00
ThKT6: Micro/Nano Robotics I
Chair Eric Diller, Co-chair Changsheng Dai
ThKT8 Soft Sensors and Materials
Chair Xinyu Liu, Co-chair Nikhil Chopra
16:00 – 16:15
ThKT6.1: Micro/Nano Robotics I
Tailored Magnetic Torsion Springs for Miniature Magnetic Robots
Cameron Forbrigger, Adam Schonewille, Eric Diller
ThKT8.1: Soft Sensors and Materials
A Soft Robotic Gripper with Anti-Freezing Ionic Hydrogel-Based Sensors for Learning-Based Object Recognition
Runze Zuo, Zhanfeng Zhou, Binbin Ying, Xinyu Liu
16:30 – 16:45
ThKT7.3: Micro/Nano Robotics III
Path Planning and Tracking for an Underactuated Two-Microrobot System
Mohammad Salehizadeh, Eric Diller
16:45 – 17:00
ThKT6.4: Micro/Nano Robotics I
Automated End-Effector Alignment for Robotic Cell Manipulation
Changsheng Dai, Songlin Zhuang, Zhuoran Zhang, Guanqiao Shan, Yu Sun
Friday, June 4
Workshop: 08:00 – 16:00 Debates on the Future of Robotics Research Workshop
Co-organized by Matthew Giamou, Florian Shkurti, Jonathan Kelly
Workshop: 10:00 – 15:00 Perception and Action in Dynamic Environments
With Raquel Urtasun, among others
Workshop: 2:30am – 13:00 Parallel robots or not parallel robots? New frontiers of parallel robotics
08:30 Keynote given by Jessica Burgner-Kahrs: Parallel Continuum Robot – Reconfigurable Designs