ICRA

Signal Temporal Logic Synthesis as Probabilistic Inference

Ki Myung Brian Lee, Chanyeol Yoo, Robert Fitch

Comments 7 pages, 5 figures. To appear in IEEE ICRA 2021

An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems

Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro, Jennifer L. Palmer, David Johnson, Chanyeol Yoo, Robert Fitch

Comments 7 pages, 5 figures. To appear in IEEE ICRA 2021

Model Hierarchy Predictive Control of Robotic Systems

He Li, Robert J. Frei, Patrick M. Wensing

Comments Author pre-print of accepted RA-L/ICRA 2021 manuscript

Visual Perspective Taking for Opponent Behavior Modeling

Boyuan Chen, Yuhang Hu, Robert Kwiatkowski, Shuran Song, Hod Lipson

Comments ICRA 2021. Website: http://www.cs.columbia.edu/~bchen/vpttob/

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows

Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard

Comments 8 pages, 6 figures, to be published in IEEE International Conference on Robotics and Automation (ICRA) 2021

Towards Robust One-shot Task Execution using Knowledge Graph Embeddings

Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova

Comments 7 pages, 3 figures. Accepted for publication at IEEE ICRA 2021

Learning to Predict Repeatability of Interest Points

Anh-Dzung Doan, Daniyar Turmukhambetov, Yasir Latif, Tat-Jun Chin, Soohyun Bae

Comments Accepted at IEEE International Conference on Robotics and Automation (ICRA) 2021

Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning

Yunlong Song, HaoChih Lin, Elia Kaufmann, Peter Duerr, Davide Scaramuzza

Comments Accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), Xi An, 2021

Planning for Multi-stage Forceful Manipulation

Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez

Comments Accepted to IEEE ICRA 2021. For videos see: https://mcube.mit.edu/forceful-manipulation/

Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning

Florian Fuchs, Yunlong Song, Elia Kaufmann, Davide Scaramuzza, Peter Duerr

Comments Accepted for Publication at the IEEE Robotics and Automation Letters (RA-L) 2021, and International Conference on Robots and Automation (ICRA) 2021

Journal ref IEEE Robotics and Automation Letters (RAL) 2021

6-DoF Contrastive Grasp Proposal Network

Xinghao Zhu, Lingfeng Sun, Yongxiang Fan, Masayoshi Tomizuka

Comments To appear on 2021 International Conference on Robotics and Automation (ICRA 2021)

Learning from Simulation, Racing in Reality

Eugenio Chisari, Alexander Liniger, Alisa Rupenyan, Luc Van Gool, John Lygeros

Comments Presented at ICRA 2021. For associated video, see https://youtu.be/Z2A82AkT7GI

The Complex-Step Derivative Approximation on Matrix Lie Groups

Charles Champagne Cossette, Alex Walsh, James Richard Forbes

Comments 8 pages, 8 figures, accepted to Robotics and Automation Letters, presented at ICRA 2020

Journal ref in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 906-913, April 2020

Learning Task Space Actions for Bipedal Locomotion

Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan Hurst

Comments Accepted at ICRA 2021. Video supplement at https://www.youtube.com/watch?v=8OCOzPqZcGM

FISAR: Forward Invariant Safe Reinforcement Learning with a Deep Neural Network-Based Optimize

Chuangchuang Sun, Dong-Ki Kim, Jonathan P. How

Comments Accepted to ICML 2020 Workshop Theoretical Foundations of RL; Accepted to ICRA 2021

LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement

Hao-Hsiang Yang, Kuan-Chih Huang, Wei-Ting Chen

Comments Accepted by ICRA 2021 (Oral)

EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments

Xin Zhou, Jiangchao Zhu, Hongyu Zhou, Chao Xu, Fei Gao

Comments 7 pages, 15 figures, accepted by ICRA 2021 and reported by Science News (https://www.sciencemag.org/news/2020/12/watch-swarm-drones-fly-through-heavy-forest-while-staying-formation)

ZePHyR: Zero-shot Pose Hypothesis Rating

Brian Okorn, Qiao Gu, Martial Hebert, David Held

Comments 8 pages, 4 figures. Accepted to ICRA 2021. Brian and Qiao have equal contributions

Real-to-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy

Fei Liu, Zihan Li, Yunhai Han, Jingpei Lu, Florian Richter, Michael C. Yip

Comments Fei Liu and Zihan Li contributed equally to this work. Final version of this paper is going to be published in ICRA 2021

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation

Natalia Pavlasek, Alex Walsh, James Richard Forbes

Comments 6 pages, 7 figures, presented at the International Conference on Robotics and Automation (ICRA)

EagerMOT: 3D Multi-Object Tracking via Sensor Fusion

Aleksandr Kim, Aljoša Ošep, Laura Leal-Taixé

Comments To be published at ICRA 2021. Source code available at https://github.com/aleksandrkim61/EagerMOT

Enhancing Safety of Students with Mobile Air Filtration during School Reopening from COVID-19

Haoguang Yang, Mythra V. Balakuntala, Abigayle E. Moser, Jhon J. Quiñones, Ali Doosttalab, Antonio Esquivel-Puentes, Tanya Purwar, Luciano Castillo, Nina Mahmoudian, Richard M. Voyles

Comments Manuscript accepted by 2021 IEEE International Conference on Robotics and Automation (ICRA)

Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control

Manuel Floriano Vazquez, Nathan F. Lepora

Comments Accepted in ICRA 2021

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré

Journal ref ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xian, China

Deep Structured Reactive Planning

Jerry Liu, Wenyuan Zeng, Raquel Urtasun, Ersin Yumer

Comments ICRA 2021

Learning and Planning for Temporally Extended Tasks in Unknown Environments

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

Comments 7 Pages, 7 Figures, Accepted to ICRA 2021

Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems

Chendi Lin, Wenhao Luo, Katia Sycara

Comments IEEE International Conference on Robotics and Automation (ICRA), 2021 (Oral presentation)

Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots

Brian H. Do, Valory Banashek, Allison M. Okamura

Comments IEEE International Conference on Robotics and Automation, 2020. Video available at https://youtu.be/mUyJ8c2W0bA

Journal ref IEEE International Conference on Robotics and Automation, 2020, pp. 9050-9056

Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation

Hengli Wang, Peide Cai, Yuxiang Sun, Lujia Wang, Ming Liu

Comments 7 pages, 5 figures and 1 table. This paper is accepted by ICRA 2021. arXiv admin note: text overlap with arXiv:2104.08862

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square

Yue Pan, Pengchuan Xiao, Yujie He, Zhenlei Shao, Zesong Li

Comments Codes: https://github.com/YuePanEdward/MULLS, Accepted by ICRA 2021