ICRA - arXivDaily 期刊&会议

2403.01611 2024-03-05 cs.RO

The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables

Peter Mitrano, Dmitry Berenson

Comments Accept to ICRA 2024; Project Website: https://sites.google.com/view/doo-manipulation-signature/home

2311.05818 2024-03-05 cs.RO

Learning Agile Bipedal Motions on a Quadrupedal Robot

Yunfei Li, Jinhan Li, Wei Fu, Yi Wu

Comments Camera ready for ICRA 2024

2310.09893 2024-03-05 cs.RO

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning

Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin, Michael Posa

Comments Wei-Cheng Huang and Alp Aydinoglu contributed equally to this work. ICRA 2024 Final Submission

2310.09463 2024-03-05 cs.RO cs.AI

HIO-SDF: Hierarchical Incremental Online Signed Distance Fields

Vasileios Vasilopoulos, Suveer Garg, Jinwook Huh, Bhoram Lee, Volkan Isler

Comments IEEE International Conference on Robotics and Automation (ICRA 2024) - 7 pages, 7 figures

2309.12005 2024-03-05 cs.RO

GPS-VIO Fusion with Online Rotational Calibration

Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard, Raj Thilak Rajan, Miguel Olivares-Mendez

Comments Accepted by ICRA 2024

2309.06427 2024-03-05 math.OC cs.RO

Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization

Xueyi Bu, Brian Plancher

Comments Accepted to ICRA 2024, 8 pages, 3 figures

2309.03750 2024-03-05 cs.CV

PBP: Path-based Trajectory Prediction for Autonomous Driving

Sepideh Afshar, Nachiket Deo, Akshay Bhagat, Titas Chakraborty, Yunming Shao, Balarama Raju Buddharaju, Adwait Deshpande, Henggang Cui

Comments Published at ICRA 2024; Sepideh Afshar and Nachiket Deo contributed equally

2309.02561 2024-03-05 cs.RO cs.AI cs.CV

Physically Grounded Vision-Language Models for Robotic Manipulation

Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh

Comments Updated version for ICRA 2024

2306.12525 2024-03-05 cs.CV

LPFormer: LiDAR Pose Estimation Transformer with Multi-Task Network

Dongqiangzi Ye, Yufei Xie, Weijia Chen, Zixiang Zhou, Lingting Ge, Hassan Foroosh

Comments ICRA 2024. Top solution for the Waymo Open Dataset Challenges 2023 - Pose Estimation. CVPR 2023 Workshop on Autonomous Driving

2303.12194 2024-03-05 cs.CV

LiDARFormer: A Unified Transformer-based Multi-task Network for LiDAR Perception

Zixiang Zhou, Dongqiangzi Ye, Weijia Chen, Yufei Xie, Yu Wang, Panqu Wang, Hassan Foroosh

Comments ICRA 2024

2403.00398 2024-03-04 cs.RO

Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking

Mincheol Kim, Ukcheol Shin, Jung-Yup Kim

Comments Appear to ICRA 2024, Project page: https://sites.google.com/view/learning-impaired-joints-loco

2311.07499 2024-03-04 cs.RO

Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion

Xiang Zhang, Masayoshi Tomizuka, Hui Li

Comments Accepted by ICRA 24

2309.16264 2024-03-04 cs.RO cs.CV

GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects

Qiaojun Yu, Junbo Wang, Wenhai Liu, Ce Hao, Liu Liu, Lin Shao, Weiming Wang, Cewu Lu

Comments 8 pages, 5 figures, ICRA 2024

2309.10225 2024-03-04 cs.RO

VPRTempo: A Fast Temporally Encoded Spiking Neural Network for Visual Place Recognition

Adam D. Hines, Peter G. Stratton, Michael Milford, Tobias Fischer

Comments 8 pages, 3 figures, accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2024

2403.00187 2024-03-04 cs.RO

Learning to walk in confined spaces using 3D representation

Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter

Comments Accepted to ICRA 2024

2402.18650 2024-03-01 cs.RO

The Grasp Reset Mechanism: An Automated Apparatus for Conducting Grasping Trials

Kyle DuFrene, Keegan Nave, Joshua Campbell, Ravi Balasubramanian, Cindy Grimm

Comments Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024)

2402.18065 2024-03-01 cs.RO

A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains

Ananya Trivedi, Mark Zolotas, Adeeb Abbas, Sarvesh Prajapati, Salah Bazzi, Taskın Padır

Comments Accepted for publication at IEEE ICRA 2024

2309.16909 2024-03-01 cs.RO cs.AI cs.GR

ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility

Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari, Jieliang Luo, Pingchuan Ma, Yichen Li, Farhad Javid, Edward Gu, Joshua Jacob, Shinjiro Sueda, Hui Li, Sachin Chitta, Wojciech Matusik

Comments ICRA 2024

2309.09865 2024-03-01 cs.RO cs.CV

Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight

Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, Chunwei Xing, Davide Scaramuzza

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2024

2303.17355 2024-03-01 cs.RO

Acoustic Soft Tactile Skin (AST Skin)

Vishnu Rajendran S, Willow Mandil, Simon Parsons, Amir Ghalamzan E

Comments IEEE International Conference on Robotics and Automation (ICRA) 2024 (accepted)

2402.18511 2024-02-29 cs.RO

Leveraging Compliant Tactile Perception for Haptic Blind Surface Reconstruction

Laurent Yves Emile Ramos Cheret, Vinicius Prado da Fonseca, Thiago Eustaquio Alves de Oliveira

Comments 7 pages, 9 figures, 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

2402.17622 2024-02-28 cs.CV cs.RO

Masked Gamma-SSL: Learning Uncertainty Estimation via Masked Image Modeling

David S. W. Williams, Matthew Gadd, Paul Newman, Daniele De Martini

Comments Accepted for publication at 2024 IEEE International Conference on Robotics and Automation (ICRA)

2402.17434 2024-02-28 cs.RO cs.SY eess.SY

Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks

Tong Hui, Eugenio Cuniato, Michael Pantic, Marco Tognon, Matteo Fumagalli, Roland Siegwart

Comments Accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA2024)

2402.17360 2024-02-28 cs.CV cs.AI cs.RO

CAPT: Category-level Articulation Estimation from a Single Point Cloud Using Transformer

Lian Fu, Ryoichi Ishikawa, Yoshihiro Sato, Takeshi Oishi

Comments Accepted to ICRA 2024

2402.16542 2024-02-28 cs.RO cs.AI

RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots

Benjamin Alt, Florian Stöckl, Silvan Müller, Christopher Braun, Julian Raible, Saad Alhasan, Oliver Rettig, Lukas Ringle, Darko Katic, Rainer Jäkel, Michael Beetz, Marcus Strand, Marco F. Huber

Comments 7 pages, 6 figures, accepted to the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)

2310.02875 2024-02-28 cs.RO cs.CG

Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs

Peter Werner, Alexandre Amice, Tobia Marcucci, Daniela Rus, Russ Tedrake

Comments 7 pages, 6 figures, accepted for publication at ICRA 2024

2402.13609 2024-02-27 cs.RO cs.CV

VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks

Yutong Wang, Chaoyang Jiang, Xieyuanli Chen

Comments 7 pages, 5 figures, 4 tables, conference icra 2024 accepted

2309.14655 2024-02-27 cs.RO cs.CV

Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filter

Hsu-kuang Chiu, Chien-Yi Wang, Min-Hung Chen, Stephen F. Smith

Comments Accepted by IEEE International Conference on Robotics and Automation (ICRA), 2024. Code: https://github.com/eddyhkchiu/DMSTrack/ Video: https://eddyhkchiu.github.io/dmstrack.github.io/

2309.09752 2024-02-27 cs.LG

Contrastive Initial State Buffer for Reinforcement Learning

Nico Messikommer, Yunlong Song, Davide Scaramuzza

Journal ref IEEE Conference on Robotics and Automation (ICRA 2024)

2402.16045 2024-02-27 cs.RO

Harnessing the Synergy between Pushing, Grasping, and Throwing to Enhance Object Manipulation in Cluttered Scenarios

Hamidreza Kasaei, Mohammadreza Kasaei

Comments This paper has been accepted at the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)