IROS

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion

Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini

Comments Accepted for publication at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 13757-13764

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller

Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, Sven Behnke

Journal ref 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 800-806

Multi-Agent Behavior Retrieval: Retrieval-Augmented Policy Training for Cooperative Push Manipulation by Mobile Robots

So Kuroki, Mai Nishimura, Tadashi Kozuno

Comments Published in the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

Distributed Model Predictive Covariance Steering

Augustinos D. Saravanos, Isin M. Balci, Efstathios Bakolas, Evangelos A. Theodorou

Journal ref IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames

Yingyu Wang, Liang Zhao, Shoudong Huang

Comments Accepted by IROS 2024

Proprioception Is All You Need: Terrain Classification for Boreal Forests

Damien LaRocque, William Guimont-Martin, David-Alexandre Duclos, Philippe Giguère, François Pomerleau

Comments Accepted to the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation

Francesco Taioli, Stefano Rosa, Alberto Castellini, Lorenzo Natale, Alessio Del Bue, Alessandro Farinelli, Marco Cristani, Yiming Wang

Comments 3 figures, 8 pages. Accepted at IROS'24

Refractive COLMAP: Refractive Structure-from-Motion Revisited

Mengkun She, Felix Seegräber, David Nakath, Kevin Köser

Comments 8 pages, 7 figures, the paper is accepted to be published at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets

Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset

Comments 7 pages, 4 figures

Journal ref "A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 8847-8853

BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation

Jonas Schramm, Niclas Vödisch, Kürsat Petek, B Ravi Kiran, Senthil Yogamani, Wolfram Burgard, Abhinav Valada

Comments Accepted for the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Journal ref IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 1435-1442

Aug3D: Augmenting large scale outdoor datasets for Generalizable Novel View Synthesis

Aditya Rauniyar, Omar Alama, Silong Yong, Katia Sycara, Sebastian Scherer

Comments IROS 2024 Workshop, 9 Pages, 7 Figures

Jointly Learning Cost and Constraints from Demonstrations for Safe Trajectory Generation

Shivam Chaubey, Francesco Verdoja, Ville Kyrki

Comments (Accepted/In press) 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024, pp. 3635-3642

Constrained Generative Sampling of 6-DoF Grasps

Jens Lundell, Francesco Verdoja, Tran Nguyen Le, Arsalan Mousavian, Dieter Fox, Ville Kyrki

Comments Accepted at the International Conference on Intelligent Robots and Systems (IROS 2023)

Journal ref 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2023, pp. 2940-2946

Bayesian Floor Field: Transferring people flow predictions across environments

Francesco Verdoja, Tomasz Piotr Kucner, Ville Kyrki

Comments Submitted to 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024, pp. 12801-12807

DDGC: Generative Deep Dexterous Grasping in Clutter

Jens Lundell, Francesco Verdoja, Ville Kyrki

Comments Accepted to IEEE Robotics and Automation Letters 2021 and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Journal ref IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6899-6906, Oct. 2021

Task Coordination and Trajectory Optimization for Multi-Aerial Systems via Signal Temporal Logic: A Wind Turbine Inspection Study

Giuseppe Silano, Alvaro Caballero, Davide Liuzza, Luigi Iannelli, Stjepan Bogdan, Martin Saska

Comments 2 pages, Accepted for discussion at the workshop session "Formal methods techniques in robotics systems: Design and control" at IROS'24 in Abu Dhabi, UAE

Agonist-Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements

Trevor Exley, Rashmi Wijesundara, Nathan Tan, Akshay Sunkara, Xinyu He, Shuopu Wang, Bonnie Chan, Aditya Jain, Luis Espinosa, Amir Jafari

Comments submitted to IROS 2024, 7 pages, 9 figures

Learning to Estimate the Pose of a Peer Robot in a Camera Image by Predicting the States of its LEDs

Nicholas Carlotti, Mirko Nava, Alessandro Giusti

Comments Accepted at International Conference on Intelligent Robots and Systems (IROS) 2024

Neuromorphic force-control in an industrial task: validating energy and latency benefits

Camilo Amaya, Evan Eames, Gintautas Palinauskas, Alexander Perzylo, Yulia Sandamirskaya, Axel von Arnim

Comments Accepted at IROS 2024

Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation

Neel Jawale, Navneet Kaur, Amy Santoso, Xiaohai Hu, Xu Chen

Comments Accepted at IROS 2024

Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools

Filippo A. Spinelli, Pascal Egli, Julian Nubert, Fang Nan, Thilo Bleumer, Patrick Goegler, Stephan Brockes, Ferdinand Hofmann, Marco Hutter

Comments Presented at IROS 2024, Abu Dhabi, as oral presentation

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 12694-12701

WasteGAN: Data Augmentation for Robotic Waste Sorting through Generative Adversarial Networks

Alberto Bacchin, Leonardo Barcellona, Matteo Terreran, Stefano Ghidoni, Emanuele Menegatti, Takuya Kiyokawa

Comments Accepted at 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Highly Efficient Observation Process based on FFT Filtering for Robot Swarm Collaborative Navigation in Unknown Environments

Chenxi Li, Weining Lu, Zhihao Ma, Litong Meng, Bin Liang

Comments 8 pages, 8 figures, 1 table, accepted by IROS 2024

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (2024) 10267-10274

Asynchronous Event-Inertial Odometry using a Unified Gaussian Process Regression Framework

Xudong Li, Zhixiang Wang, Zihao Liu, Yizhai Zhang, Fan Zhang, Xiuming Yao, Panfeng Huang

Comments Accepted at IEEE IROS 2024

Speeding Up Path Planning via Reinforcement Learning in MCTS for Automated Parking

Xinlong Zheng, Xiaozhou Zhang, Donghao Xu

Comments Accepted by IROS 2024

VANP: Learning Where to See for Navigation with Self-Supervised Vision-Action Pre-Training

Mohammad Nazeri, Junzhe Wang, Amirreza Payandeh, Xuesu Xiao

Comments Extended version of the paper accepted at IROS 2024. Code: https://github.com/mhnazeri/VANP

CoCap: Coordinated motion Capture for multi-actor scenes in outdoor environments

Aditya Rauniyar, Micah Corah, Sebastian Scherer

Comments IROS 2024 Workshop, 7 pages, 5 figures

Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulation

Hao Zhang, Hao Wang, Xiucai Huang, Wenrui Chen, Zhen Kan

Comments Accepted by IROS 2024. Code:https://github.com/Charlie0257/HyTL

Towards a Factor Graph-Based Method using Angular Rates for Full Magnetometer Calibration and Gyroscope Bias Estimation

Sebastián Rodríguez-Martínez, Giancarlo Troni

Comments 7 pages, 4 figures, submitted to 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Enhancing Reinforcement Learning in Sensor Fusion: A Comparative Analysis of Cubature and Sampling-based Integration Methods for Rover Search Planning

Jan-Hendrik Ewers, Sarah Swinton, David Anderson, Euan McGookin, Douglas Thomson

Comments Submitted to IROS 2024