ICRA

Generalization in Reinforcement Learning by Soft Data Augmentation

Nicklas Hansen, Xiaolong Wang

Comments Website: SODA/" target="_blank" rel="noopener">https://nicklashansen.github.io/SODA/ Code: https://github.com/nicklashansen/dmcontrol-generalization-benchmark. Presented at International Conference on Robotics and Automation (ICRA) 2021

CLIPPER: A Graph-Theoretic Framework for Robust Data Association

Parker C. Lusk, Kaveh Fathian, Jonathan P. How

Comments accepted ICRA'21

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors

Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu

Comments To appear in ICRA 2021

Exploiting Natural Language for Efficient Risk-Aware Multi-robot SaR Planning

Vikram Shree, Beatriz Asfora, Rachel Zheng, Samantha Hong, Jacopo Banfi, Mark Campbell

Comments 8 pages, 5 figures. To be presented at the IEEE International Conference on Robotics and Automation, 2021. Dataset available at: https://github.com/vikshree/DISC-L.git

Journal ref IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3152-3159, April 2021

An Equivariant Filter for Visual Inertial Odometry

Pieter van Goor, Robert Mahony

Comments 11 pages, 3 figures, to be published as {van Goor, P., Mahony, R.. (2021). An Equivariant Filter for Visual Inertial Odometry. 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020.}

Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference

John McConnell, Brendan Englot

Comments To appear at ICRA May 2021

The Value of Planning for Infinite-Horizon Model Predictive Control

Nathan Hatch, Byron Boots

Comments 7 pages, 8 figures. To appear in the proceedings of the International Conference on Robotics and Automation (ICRA) 2021

Efficient RGB-D Semantic Segmentation for Indoor Scene Analysis

Daniel Seichter, Mona Köhler, Benjamin Lewandowski, Tim Wengefeld, Horst-Michael Gross

Comments To be published in IEEE International Conference on Robotics and Automation (ICRA) 2021; fixed reference in Fig. 4

Learning Spatial Context with Graph Neural Network for Multi-Person Pose Grouping

Jiahao Lin, Gim Hee Lee

Comments 7 pages, 4 figures. Accepted in ICRA 2021

Mobile Robot Yielding Cues for Human-Robot Spatial Interaction

Nicholas J. Hetherington, Ryan Lee, Marlene Haase, Elizabeth A. Croft, H. F. Machiel Van der Loos

Comments 6 pages, 5 figures. Submitted to IEEE Robotics and Automation Letters and 2021 IEEE/RSJ International Conference on Robotics and Automation (IROS'21)

Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction

Nicholas J. Hetherington, Elizabeth A. Croft, H. F. Machiel Van der Loos

Comments 6 pages, 4 figures. Accepted to IEEE Robotics and Automation Letters and the 2021 IEEE International Conference on Robotics and Automation (ICRA'21)

Attribute-Based Robotic Grasping with One-Grasp Adaptation

Yang Yang, Yuanhao Liu, Hengyue Liang, Xibai Lou, Changhyun Choi

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA 2021). Project page: https://sites.google.com/umn.edu/attributes-grasping

Distilling a Hierarchical Policy for Planning and Control via Representation and Reinforcement Learning

Jung-Su Ha, Young-Jin Park, Hyeok-Joo Chae, Soon-Seo Park, Han-Lim Choi

Comments ICRA 2021, the first two authors contributed equally

Learning Panoptic Segmentation from Instance Contours

Sumanth Chennupati, Venkatraman Narayanan, Ganesh Sistu, Senthil Yogamani, Samir A Rawashdeh

Comments Accepted at ICRA 2021. Overview Video: https://youtu.be/wBtcxRhG3e0

Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments

Marco Visca, Arthur Bouton, Roger Powell, Yang Gao, Saber Fallah

Comments To be published in IEEE International Conference on Robotics and Automation (ICRA) 2021

DIPN: Deep Interaction Prediction Network with Application to Clutter Removal

Baichuan Huang, Shuai D. Han, Abdeslam Boularias, Jingjin Yu

Comments ICRA 2021

Optimization-based Trajectory Planning for Tethered Aerial Robots

S. Martinez-Rozas, D. Alejo, F. Caballero, L. Merino

Comments 7 pages, 4 figures, 2 tables, accepted ICRA'21

Journal ref ICRA 2021

RADIATE: A Radar Dataset for Automotive Perception in Bad Weather

Marcel Sheeny, Emanuele De Pellegrin, Saptarshi Mukherjee, Alireza Ahrabian, Sen Wang, Andrew Wallace

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

Joint Object Detection and Multi-Object Tracking with Graph Neural Networks

Yongxin Wang, Kris Kitani, Xinshuo Weng

Comments Published in International Conference on Robotics and Automation (ICRA), 2021. Code is released here: https://github.com/yongxinw/GSDT

PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling

Xinshuo Weng, Ye Yuan, Kris Kitani

Comments Published in Robotics and Automation Letters (RA-L) 2021, with the ICRA 2021 option. The first two authors contributed equally. Project website: https://www.xinshuoweng.com/projects/PTP/

Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability

Sylvia Herbert, Jason J. Choi, Suvansh Sanjeev, Marsalis Gibson, Koushil Sreenath, Claire J. Tomlin

Comments The first two authors are co-first authors. ICRA 2021

Collision-Aware Target-Driven Object Grasping in Constrained Environments

Xibai Lou, Yang Yang, Changhyun Choi

Comments Accepted for publication in proceedings of 2021 International Conference on Robotics and Automation (ICRA 2021). Link to Video: https://youtu.be/QLTM6UkZ-Dw

Task-Invariant Learning of Continuous Joint Kinematics during Steady-State and Transient Ambulation Using Ultrasound Sensing

M. Hassan Jahanandish, Kaitlin G. Rabe, Abhishek Srinivas, Nicholas P. Fey, Kenneth Hoyt

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

AU-Expression Knowledge Constrained Representation Learning for Facial Expression Recognition

Tao Pu, Tianshui Chen, Yuan Xie, Hefeng Wu, Liang Lin

Comments Accepted at ICRA 2021

Policy Transfer via Kinematic Domain Randomization and Adaptation

Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, C. Karen Liu

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

Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks

Guangming Wang, Hesheng Wang, Yiling Liu, Weidong Chen

Comments Accepted to ICRA 2019

Journal ref 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019, pp. 4724-4730

Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation

Andrew Price, Kun Huang, Dmitry Berenson

Comments 7 pages, 7 figures, 2021 IEEE International Conference on Robotics and Automation

Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components

Joseph A. Vincent, Mac Schwager

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

Learning Precise 3D Manipulation from Multiple Uncalibrated Cameras

Iretiayo Akinola, Jacob Varley, Dmitry Kalashnikov

Comments Accepted at International Conference on Robotics and Automation (ICRA 2020)

Image-Based Place Recognition on Bucolic Environment Across Seasons From Semantic Edge Description

Assia Benbihi, Stéphanie Aravecchia, Matthieu Geist, Cédric Pradalier

Journal ref 2020 IEEE International Conference on Robotics and Automation (ICRA)