Uncertainty in Contact-Rich Interactions: Methods and Representations

ICRA 2020 Workshop on 

Representing and reasoning about unexpected situations is important in designing reliable robotic systems. Traditional approaches include mechanical systems that are naturally robust to uncertainty, explicitly reasoning about a range of possible circumstances during planning, and mitigating disturbances via accurate sensing and feedback control. Contact rich interactions add some additional challenges, including underactuated frictional interactions and hybrid mode switches. While friction adds a constant degree of uncertainty, hybrid-mode switches can either amplify or reduce the undesired effects of uncertainty. 

The central questions of this workshop are: What is the role of uncertainty in contact? How should we represent it? Should we reason about it? And how? Currently, uncertainty in contact interactions is usually mapped to variability in shape, poses, or forces; however,  it is not clear that these representations describe all sources of error. Moreover, there is no clear consensus on the trade-offs between different approaches for coping with unplanned effects. To address some of these questions, this workshop will include discussions on: explicit versus implicit representations, trade-offs between model-based and data-driven approaches, and the role of mechanical design and robust open-loop planning. 

This workshop will host talks by invited speakers, peer-reviewed poster sessions, panel discussions, and open discussions. We expect insightful discussions between experts in contact-rich interaction, leading to meaningful conclusions on the role of uncertainty in these problems. 

Call for Contributions: Videos and Demos

This workshop will accept demonstrations and videos to showcase the importance of uncertainty in robotics. Our goal is to raise awarness on both the effect of uncertainty in real systems and the recent research develope to handle this uncertainty. Speakers, poster presenters and audience are welcome to submit any videos until the workshop day. Similarly, we also encourage the submission of any demos that can be perfomed in the workshop room. 

Call for Contributions: Posters

We are soliciting 1 page abstracts on recent work of uncertainty in contact. Accepted contributions will be presented during short spotlight talks and at the poster session. Abstracts should be submitted as PDF files using the same format as for the main ICRA conference submissions.
 
Important Dates:
  • submission deadline: April 15, 2020
  • notification: May 1, 2020
  • camera ready: May 15, 2020
  • workshop: May 31st, 2020

Abstracts should be submitted by email to: uncertainty.at.ICRA@gmail.com

(Awesome) Speaker Lineup

  • Mehmet Dogar (Leeds)
     

  • Michael Posa (UPenn)
     

  • Sergey Levine (Berkeley)
     

  • Aaron Dollar (Yale)
     

  • Aude Billard (EPFL)
     

  • Wei Wei Wan (Osaka University)
     

  • Jeannette Bohg (Stanford)
     

  • Hanna Stuart (Berkeley)
     

Tentative Schedule for Sunday, May 31st

Speaker Session 1
9:30 Introduction by organizers
9:35 Hannah Stuart 
9:55 Aaron Dollar
10:15 Discussion co-directed by Hannah and Aaron
10:30 Coffee Break and informal discussion
Highligh Talks and Posters 1
11:00 Introduction by organizers
11:05 Highlight Talks (7 talks)
11:45 Poster Session
12:00 Lunch break
Speaker Session 2
14:00 Introduction by organizers
14:05 Mehmet Dogar
14:25 Michael Posa
14:45 Discussion co-directed by Mehmet and Michael
15:00 Coffee Break  and Discussion
Highligh Talks and Posters 2
15:30 Introduction by organizers
15:35 Highlight Talks (8 talks)
16:10 Poster Session
16:30 Coffee Break
Speaker Session 3
17:00 Introduction by organizers
17:05 Wei Wei Wan
17:25 Aude Billard
17:45 Discussion co-drected by Wei Wei and Aude
18:00 Closing remarks

 

Organizers