IROS

Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning

Wil Thomason, Marlin P. Strub, Jonathan D. Gammell

Comments 9 pages, 5 figures. Accepted to IEEE RA-L and IROS 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7 num. 4, (2022). Pages 11370-11377

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Cyrill Stachniss

Comments Accepted at IROS PNARUDE(Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments) Workshop 2022

Evaluating Guiding Spaces for Motion Planning

Amnon Attali, Stav Ashur, Isaac Burton Love, Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato

Comments Accepted at IROS 2022, Workshop for Evaluating Motion Planning Performance

Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance

Wenkai Chen, Hongzhuo Liang, Zhaopeng Chen, Fuchun Sun, Jianwei Zhang

Comments Accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Instance Segmentation with Cross-Modal Consistency

Alex Zihao Zhu, Vincent Casser, Reza Mahjourian, Henrik Kretzschmar, Sören Pirk

Comments 8 pages, 9 figures, 5 tables. Presented at IROS 2022

Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs

Christopher Morency, Daniel J. Stilwell

Comments 7 pages, IROS 2022

Towards Autonomous Visual Navigation in Arable Fields

Alireza Ahmadi, Michael Halstead, Chris McCool

Journal ref IROS 2022 Kyoto Japan

DeepMLE: A Robust Deep Maximum Likelihood Estimator for Two-view Structure from Motion

Yuxi Xiao, Li Li, Xiaodi Li, Jian Yao

Comments 8 pages, Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022)

Broad-persistent Advice for Interactive Reinforcement Learning Scenarios

Francisco Cruz, Adam Bignold, Hung Son Nguyen, Richard Dazeley, Peter Vamplew

Comments Extended abstract accepted at the 2nd RL-CONFORM Workshop at IEEE/RSJ IROS'22 Conference. 5 pages, 7 figures. arXiv admin note: substantial text overlap with arXiv:2102.02441, arXiv:2110.08003

Floorplan-Aware Camera Poses Refinement

Anna Sokolova, Filipp Nikitin, Anna Vorontsova, Anton Konushin

Comments IROS 2022

Advice Conformance Verification by Reinforcement Learning agents for Human-in-the-Loop

Mudit Verma, Ayush Kharkwal, Subbarao Kambhampati

Comments Accepted at IROS-RLCONFORM 2022

Unsupervised confidence for LiDAR depth maps and applications

Andrea Conti, Matteo Poggi, Filippo Aleotti, Stefano Mattoccia

Comments IROS 2022. Code available at https://github.com/andreaconti/lidar-confidence

Experiments in Underwater Feature Tracking with Performance Guarantees Using a Small AUV

Benjamin Biggs, Hans He, James McMahon, Daniel J. Stilwell

Comments 7 pages, 6 figures, 1 table, IROS 2022

PlaneSDF-based Change Detection for Long-term Dense Mapping

Jiahui Fu, Chengyuan Lin, Yuichi Taguchi, Andrea Cohen, Yifu Zhang, Stephen Mylabathula, John J. Leonard

Comments 8 pages, 7 figures, and 1 table. To be published in Robotics and Automation Letters and IROS 2022. Link to supplementary video added in the abstract: https://youtu.be/oh-MQPWTwZI

Many-Joint Robot Arm Control with Recurrent Spiking Neural Networks

Manuel Traub, Robert Legenstein, Sebastian Otte

Journal ref 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering

Stanley Lewis, Jana Pavlasek, Odest Chadwicke Jenkins

Comments Accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Contact: Stanley Lewis, stanlew@umich.edu

DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams

John McConnell, Yewei Huang, Paul Szenher, Ivana Collado-Gonzalez, Brendan Englot

Comments To appear at IROS 2022 in Kyoto, Japan

CERBERUS: Simple and Effective All-In-One Automotive Perception Model with Multi Task Learning

Carmelo Scribano, Giorgia Franchini, Ignacio Sañudo Olmedo, Marko Bertogna

Comments Presented at IROS 2022 PNARUDE Workshop

CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reflection on Autonomous Vehicles, Human-Robot Interaction, and Sociotechnical Imaginaries

Sangeet Sankaramangalam Ulhas, Aditya Ravichander, Kathryn A. Johnson, Theodore P. Pavlic, Lance Gharavi, Spring Berman

Comments Submission to 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) Workshop on Miniature Robot Platforms for Full Scale Autonomous Vehicle Research

Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter

Rachel Thomasson, Etienne Roberge, Mark R. Cutkosky, Jean-Philippe Roberge

Comments This paper has been accepted to be presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment

Mariia Gladkova, Nikita Korobov, Nikolaus Demmel, Aljoša Ošep, Laura Leal-Taixé, Daniel Cremers

Comments In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2022

Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control

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

Comments This paper is accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. We would like to make this paper visible on arxiv to the general public in case some research groups are interested

Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments

Maneekwan Toyungyernsub, Esen Yel, Jiachen Li, Mykel J. Kochenderfer

Comments Accepted at 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and their Collective-Search Behavior

Chen Zeng, Prajit KrisshnaKumar, Jhoel Witter, Souma Chowdhury

Comments This paper has been accepted to be presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection

Ruihao Zhou, Li He, Hong Zhang, Xubin Lin, Yisheng Guan

Journal ref Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2022

Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud

Seungjae Lee, Hyungtae Lim, Hyun Myung

Comments This paper has been accepted for publication in the proceedings of IROS 2022

PUTN: A Plane-fitting based Uneven Terrain Navigation Framework

Zhuozhu Jian, Zihong Lu, Xiao Zhou, Bin Lan, Anxing Xiao, Xueqian Wang, Bin Liang

Comments Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

Advanced Skills by Learning Locomotion and Local Navigation End-to-End

Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter

Comments IROS 2022, Project website: https://sites.google.com/ leggedrobotics.com/end-to-end-loco-navigation

Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes

Jonathan J. Y. Kim, Martin Urschler, Patricia J. Riddle, Jörg S. Wicker

Comments 8 pages. Accepted at 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Learning Bidirectional Translation between Descriptions and Actions with Small Paired Data

Minori Toyoda, Kanata Suzuki, Yoshihiko Hayashi, Tetsuya Ogata

Comments 8 pages, 7 figures. To appear in IEEE Robotics and Automation Letters (RA-L) and the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). An accompanying video is available at https://youtu.be/YlxM_kw6YLE

Journal ref IEEE Robotics and Automation Letters ( Volume: 7, Issue: 4, October 2022)