ICRA

Meta Reinforcement Learning for Optimal Design of Legged Robots

Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter

Comments 8 pages. To be published in IEEE Robotics and Automation Letters (RA-L) and ICRA 2023

ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier

Comments Workshop paper at the 6th Legged Robots Workshop, at the IEEE International Conference on Robotics and Automation (ICRA) 2022

Journal ref 6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States

Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning

Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian

Comments 9 pages, 4 figures. In ICRA 2022

Extrinsic calibration for highly accurate trajectories reconstruction

Maxime Vaidis, William Dubois, Alexandre Guénette, Johann Laconte, Vladimír Kubelka, François Pomerleau

Comments 8 pages, 6 figures, submitted to ICRA 2023

WorldGen: A Large Scale Generative Simulator

Chahat Deep Singh, Riya Kumari, Cornelia Fermüller, Nitin J. Sanket, Yiannis Aloimonos

Journal ref Under review in ICRA 2023

Learning Stable Vector Fields on Lie Groups

Julen Urain, Davide Tateo, Jan Peters

Comments ICRA RA-L preprint

Simultaneous Configuration Formation and Information Collection by Modular Robotic Systems

Ayan Dutta, Prithviraj Dasgupta

Journal ref 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 5216-5221

Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace

Jay Patrikar, Brady Moon, Jean Oh, Sebastian Scherer

Comments 7 pages, 4 figures, ICRA 2022

An observer cascade for velocity and multiple line estimation

André Mateus, Pedro U. Lima, Pedro Miraldo

Comments Accepted for publication in 2022 IEEE's International Conference on Robotics and Automation (ICRA)

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP

He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing

Comments 7 pages, 7 figures, submitted to 2023 IEEE International Conference on Robotics and Automation (ICRA)

Tethered Power for a Series of Quadcopters: Analysis and Applications

Karan P. Jain, Prasanth Kotaru, Massimiliano de Sa, Koushil Sreenath, Mark W. Mueller

Comments Submitted to ICRA 2023

VIRDO: Visio-tactile Implicit Representations of Deformable Objects

Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli

Comments This work has been accepted to ICRA 2022

Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments

Maneekwan Toyungyernsub, Masha Itkina, Ransalu Senanayake, Mykel J. Kochenderfer

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

Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC

Andrea Tagliabue, Yi-Hsuan Hsiao, Urban Fasel, J. Nathan Kutz, Steven L. Brunton, YuFeng Chen, Jonathan P. How

Comments Submitted to ICRA 2023. Andrea Tagliabue and Yi-Hsuan Hsiao equally contributed. Video: https://youtu.be/Seupy1bSkY4

Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering

Ji Yin, Zhiyuan Zhang, Evangelos Theodorou, Panagiotis Tsiotras

Comments "Previously titled "Improving Model Predictive Path Integral Using Covariance Steering", this paper is one of the Outstanding Planning Paper Award finalists in ICRA 2022. For associated video, see https://www.youtube.com/watch?v=cZq4tnBTIqc ."

Journal ref 2022 International Conference on Robotics and Automation (ICRA)

LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition

Kavisha Vidanapathirana, Milad Ramezani, Peyman Moghadam, Sridha Sridharan, Clinton Fookes

Comments Accepted - ICRA 2022

Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling

Kavisha Vidanapathirana, Peyman Moghadam, Ben Harwood, Muming Zhao, Sridha Sridharan, Clinton Fookes

Comments ICRA 2021. Implementation available at: https://github.com/csiro-robotics/locus

PNeRF: Probabilistic Neural Scene Representations for Uncertain 3D Visual Mapping

Yassine Ahmine, Arnab Dey, Andrew I. Comport

Comments 7 Pages, 6 Figures, 5 Tables. Submitted to IEEE International Conference on Robotics and Automation 2023 (ICRA 2023)

Image-to-Image Translation for Autonomous Driving from Coarsely-Aligned Image Pairs

Youya Xia, Josephine Monica, Wei-Lun Chao, Bharath Hariharan, Kilian Q Weinberger, Mark Campbell

Comments Submitted to the International Conference on Robotics and Automation (ICRA) 2023

Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration

Mariano Ramirez Montero, Giovanni Franzese, Jeroen Zwanepol, Jens Kober

Comments Under review for ICRA 2023

Challenges in Visual Anomaly Detection for Mobile Robots

Dario Mantegazza, Alessandro Giusti, Luca M. Gambardella, Andrea Rizzoli, Jérôme Guzzi

Comments Workshop paper presented at the ICRA 2022 Workshop on Safe and Reliable Robot Autonomy under Uncertainty https://sites.google.com/umich.edu/saferobotautonomy/home

SQ-SLAM: Monocular Semantic SLAM Based on Superquadric Object Representation

Xiao Han, Lu Yang

Comments Submitted to ICRA 2023

Distributed Dynamic Map Fusion via Federated Learning for Intelligent Networked Vehicles

Zijian Zhang, Shuai Wang, Yuncong Hong, Liangkai Zhou, Qi Hao

Comments 7 pages, 5 figures, 2021 IEEE International Conference on Robotics and Automation (ICRA)

$\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors

Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman, Aditya Gahlawat, Arun Lakshmanan, Pan Zhao, Naira Hovakimyan

Comments accepted by ICRA 2022

Learning-based Uncertainty-aware Navigation in 3D Off-Road Terrains

Hojin Lee, Junsung Kwon, Cheolhyeon Kwon

Comments 6 pages, 6 figures, submitted to International Conference on Robotics and Automation (ICRA 2023)

A Hybrid Cable-Driven Robot for Non-Destructive Leafy Plant Monitoring and Mass Estimation using Structure from Motion

Gerry Chen, Harsh Muriki, Cédric Pradalier, Yongsheng Chen, Frank Dellaert

Comments 8 pages (6-content, 2-citations), 10 figures, 4 tables, submitted to ICRA 2023

Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

Zhuozhu Jian, Zihong Yan, Xuanang Lei, Zihong Lu, Bin Lan, Xueqian Wang, Bin Liang

Comments Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2023

Adaptation for Validation of a Consolidated Control Barrier Function based Control Synthesis

Mitchell Black, Dimitra Panagou

Comments 7 pages, 7 figures, submitted to the 2023 IEEE International Conference on Robotics and Automation (ICRA), under review

Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models

Iman Nematollahi, Erick Rosete-Beas, Adrian Röfer, Tim Welschehold, Abhinav Valada, Wolfram Burgard

Comments Accepted at the 2022 IEEE International Conference on Robotics and Automation (ICRA)

Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion

Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester

Comments 7 pages, 6 figures, submitted to IEEE ICRA 2023