ICRA

LEAF: Latent Exploration Along the Frontier

Homanga Bharadhwaj, Animesh Garg, Florian Shkurti

Comments Published as a conference paper in ICRA 2021

Calibrating LiDAR and Camera using Semantic Mutual information

Peng Jiang, Philip Osteen, Srikanth Saripalli

Comments 5 pages, 6 figures, submitted to ICRA 2021 workshop

Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi, Michael T. Wolf, Marco Pavone

Comments Extended version of a conference paper that appeared in the International Conference on Robotics and Automation (ICRA), 2021

DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies

Soroush Nasiriany, Vitchyr H. Pong, Ashvin Nair, Alexander Khazatsky, Glen Berseth, Sergey Levine

Comments ICRA 2021

Lighthouse Positioning System: Dataset, Accuracy, and Precision for UAV Research

Arnaud Taffanel, Barbara Rousselot, Jonas Danielsson, Kimberly McGuire, Kristoffer Richardsson, Marcus Eliasson, Tobias Antonsson, Wolfgang Hönig

Comments Submitted to the 'Robot Swarms in the Real World' workshop (ICRA 2021)

Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Abhishek Gupta, Justin Yu, Tony Z. Zhao, Vikash Kumar, Aaron Rovinsky, Kelvin Xu, Thomas Devlin, Sergey Levine

Comments Published at ICRA 2021. First four authors contributed equally

Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images

Bolivar Solarte, Chin-Hsuan Wu, Kuan-Wei Lu, Min Sun, Wei-Chen Chiu, Yi-Hsuan Tsai

Comments Accepted to ICRA 2021

Flocking-Segregative Swarming Behaviors using Gibbs Random Fields

Paulo Rezeck, Renato M. Assuncao, Luiz Chaimowicz

Comments 7 pages, 11 figures, accepted by ICRA 2021

Robust Place Recognition using an Imaging Lidar

Tixiao Shan, Brendan Englot, Fabio Duarte, Carlo Ratti, Daniela Rus

Comments ICRA 2021

Hierarchical Cross-Modal Agent for Robotics Vision-and-Language Navigation

Muhammad Zubair Irshad, Chih-Yao Ma, Zsolt Kira

Comments Accepted to ICRA 2021; Code and Dataset are available at https://github.com/GT-RIPL/robo-vln

Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models

Nicholas Rhinehart, Jeff He, Charles Packer, Matthew A. Wright, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine

Comments To be published at ICRA 2021. Project page: https://sites.google.com/view/contingency-planning

PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching

Hengli Wang, Rui Fan, Peide Cai, Ming Liu

Comments 8 pages, 8 figures and 2 tables. This paper is accepted by IEEE RA-L with ICRA 2021

Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator

Rui Fan, Hengli Wang, Bohuan Xue, Huaiyang Huang, Yuan Wang, Ming Liu, Ioannis Pitas

Comments webpage: sites.google.com/view/3f2n, accepted to IEEE RA-L and ICRA'21

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization

Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon

Comments IEEE International Conference on Robotics and Automation (ICRA), 2021 Video: https://youtu.be/Qqs5hhp3hHQ

Learning to Place Objects onto Flat Surfaces in Upright Orientations

Rhys Newbury, Kerry He, Akansel Cosgun, Tom Drummond

Comments Published in RA-L and ICRA

Embodying Pre-Trained Word Embeddings Through Robot Actions

Minori Toyoda, Kanata Suzuki, Hiroki Mori, Yoshihiko Hayashi, Tetsuya Ogata

Comments To appear in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA 2021)

Journal ref IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4225-4232, 2021

Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort

Skanda Shridhar, Yuhang Ma, Tara Stentz, Zhengdi Shen, Galen Clark Haynes, Neil Traft

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

Investigations on Output Parameterizations of Neural Networks for Single Shot 6D Object Pose Estimation

Kilian Kleeberger, Markus Völk, Richard Bormann, Marco F. Huber

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

Tabletop Object Rearrangement: Team ACRV's Entry to OCRTOC

Zheyu Zhang, Rhys Newbury, Kerry He, Steven Martin, Gavin Suddrey, Jun Kwan, Peter Corke, Akansel Cosgun

Comments ICRA 2021 Workshop on Cloud-Based Competitions and Benchmarks for Robotic Manipulation and Grasping

Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance

Ilker Bozcan, Erdal Kayacan

Comments 7 pages, 4 figures, Accepted to IEEE International Conference on Robotics and Automation 2021 (ICRA 2021)

Look at my new blue force-sensing shoes!

Yuanfeng Han, Ruixin Li, Gregory S. Chirikjian

Comments ICRA 2021

Situational Confidence Assistance for Lifelong Shared Autonomy

Matthew Zurek, Andreea Bobu, Daniel S. Brown, Anca D. Dragan

Comments In proceedings ICRA 2021

Group Surfing: A Pedestrian-Based Approach to Sidewalk Robot Navigation

Yuqing Du, Nicholas J. Hetherington, Chu Lip Oon, Wesley P. Chan, Camilo Perez Quintero, Elizabeth Croft, H. F. Machiel Van der Loos, .

Comments 7 pages, 9 figures. Published in the proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA'19)

Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot

Alireza Ramezani, Pravin Dangol, Eric Sihite, Andrew Lessieur, Peter Kelly

Comments 7 Pages, 7 figures, submitted to ICRA 2021

Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection

Jonathan Conroy, Christopher Thierauf, Parker Rule, Evan Krause, Hugo Akitaya, Andrei Gonczi, Matias Korman, Matthias Scheutz

Comments Preliminary version of this paper will be published in the ICRA 2021 conference

3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs

Dominic Streiff, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Roland Siegwart

Comments Accepted for IEEE International Conference on Robotics and Automation, 2021

Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems

Lu Shi, Konstantinos Karydis

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

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update

Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath

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

Risk-Conditioned Distributional Soft Actor-Critic for Risk-Sensitive Navigation

Jinyoung Choi, Christopher R. Dance, Jung-eun Kim, Seulbin Hwang, Kyung-sik Park

Comments ICRA 2021. For associated videos, see https://europe.naverlabs.com/

Distributed coordinated path following using guiding vector fields

Weijia Yao, Hector Garcia de Marina, Zhiyong Sun, Ming Cao

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