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Robotic Planning under Uncertainty in Spatiotemporal Environments in Expeditionary Science



Victoria Preston , Genevieve Flaspohler , Anna P. M. Michel , John W. Fisher III , Nicholas Roy

* 5 pages, 1 figure, as submitted to The Multi-disciplinary Conference on Reinforcement Learning and Decision Making 

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Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments



Vasileios Vasilopoulos , Sebastian Castro , William Vega-Brown , Daniel E. Koditschek , Nicholas Roy

* Technical Report accompanying the paper "A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments" at ICRA 2022 (8 pages, 6 figures) 

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From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence



Nicholas Roy , Ingmar Posner , Tim Barfoot , Philippe Beaudoin , Yoshua Bengio , Jeannette Bohg , Oliver Brock , Isabelle Depatie , Dieter Fox , Dan Koditschek , Tomas Lozano-Perez , Vikash Mansinghka , Christopher Pal , Blake Richards , Dorsa Sadigh , Stefan Schaal , Gaurav Sukhatme , Denis Therien , Marc Toussaint , Michiel Van de Panne


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Convex Iteration for Distance-Geometric Inverse Kinematics



Matthew Giamou , Filip Marić , David M. Rosen , Valentin Peretroukhin , Nicholas Roy , Ivan Petrović , Jonathan Kelly

* Submitted to IEEE Robotics and Automation Letters 

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Active Learning of Abstract Plan Feasibility



Michael Noseworthy , Caris Moses , Isaiah Brand , Sebastian Castro , Leslie Kaelbling , Tomás Lozano-Pérez , Nicholas Roy

* To appear in Robotics: Science and Systems 2021 

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Language Understanding for Field and Service Robots in a Priori Unknown Environments



Matthew R. Walter , Siddharth Patki , Andrea F. Daniele , Ethan Fahnestock , Felix Duvallet , Sachithra Hemachandra , Jean Oh , Anthony Stentz , Nicholas Roy , Thomas M. Howard

* Field Robotics (accepted, to appear) 

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Learning and Planning for Temporally Extended Tasks in Unknown Environments



Christopher Bradley , Adam Pacheck , Gregory J. Stein , Sebastian Castro , Hadas Kress-Gazit , Nicholas Roy

* 7 Pages, 7 Figures, Accepted to ICRA 2021 

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Reactive Task and Motion Planning under Temporal Logic Specifications



Shen Li , Daehyung Park , Yoonchang Sung , Julie A. Shah , Nicholas Roy

* 7 pages, 6 figures, Published in IEEE International Conference on Robotics and Automation (ICRA), 2021 

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A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty



Valentin Peretroukhin , Matthew Giamou , David M. Rosen , W. Nicholas Greene , Nicholas Roy , Jonathan Kelly

* Accepted to Robotics: Science and Systems (RSS'20), Boston, Massachusetts, USA, Jul. 12-16, 2020 

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