IEEE RA-L

Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs

Russell Buchanan, Varun Agrawal, Marco Camurri, Frank Dellaert, Maurice Fallon

Comments Accepted to Robotics and Automation Letters

Continuous-Time Ultra-Wideband-Inertial Fusion

Kailai Li, Ziyu Cao, Uwe D. Hanebeck

Comments 8 pages, Accepted by IEEE Robotics and Automation Letters (RA-L). Open-source code at: https://github.com/KIT-ISAS/SFUISE

Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems

Thomas Hitchcox, James Richard Forbes

Comments 8 pages, 4 figures. This paper has been accepted for publication in IEEE Robotics and Automation Letters. V2: Update weighting in (13), (28) and re-run results. Hypothesis, methodology, and general findings remain unchanged. Update Sec. II-A to reference IRLS, and update citation [11] accordingly. Include acknowledgement to Mitchell Cohen. V3: Update Section II-A to least-squares

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7116-7123, 2022

GoonDAE: Denoising-Based Driver Assistance for Off-Road Teleoperation

Younggeol Cho, Hyeonggeun Yun, Jinwon Lee, Arim Ha, Jihyeok Yun

Comments This work has been accepted for publication in IEEE Robotics and Automation Letters. Accepted February 2023

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2405-2412, 2023

Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?

Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot

Comments Version 3: Accepted to RA-L, presented at IROS 2022. Localization results updated due to improved ground truth and calibration. Also switched Huber Loss for Cauchy Loss for the radar-based approaches

Collision-free Motion Generation Based on Stochastic Optimization and Composite Signed Distance Field Networks of Articulated Robot

Baolin Liu, Gedong Jiang, Fei Zhao, Xuesong Mei

Comments 8 pages, 9 figures, under review of IEEE Robotics and Automation Letters

OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Driving

Varun Ravi Kumar, Senthil Yogamani, Hazem Rashed, Ganesh Sistu, Christian Witt, Isabelle Leang, Stefan Milz, Patrick Mäder

Comments Best Robot Vision paper award finalist (top 4). Camera ready version accepted for RA-L and ICRA 2021 publication

Adaptive and Collaborative Bathymetric Channel-Finding Approach for Multiple Autonomous Marine Vehicles

Nikolai Gershfeld, Tyler M Paine, Michael R. Benjamin

Comments 8 pages, 9 figures, (v1) Submitted to IEEE International Conference on Robotics and Automation (ICRA) 2023, (v2) Updated figures, Submitted to IEEE Robotics and Automation Letters (RA-L), (v3) Preprint accepted by IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters ( Volume: 8, Issue: 7, July 2023)

Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework

Lingfeng Sun, Haichao Zhang, Wei Xu, Masayoshi Tomizuka

Comments 8 pages, accepted by IEEE Robotics and Automation Letters (RA-L)

Long-Horizon Planning and Execution with Functional Object-Oriented Networks

David Paulius, Alejandro Agostini, Dongheui Lee

Comments To be published in RA-L, 8 pages, Joint First Authors (Alejandro and David). For project website, see https://davidpaulius.github.io/foon-lhpe

SupeRGB-D: Zero-shot Instance Segmentation in Cluttered Indoor Environments

Evin Pınar Örnek, Aravindhan K Krishnan, Shreekant Gayaka, Cheng-Hao Kuo, Arnie Sen, Nassir Navab, Federico Tombari

Comments Accepted in Robotics and Automation Letters April 2023

Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments

Yafei Hu, Junyi Geng, Chen Wang, John Keller, Sebastian Scherer

Comments Published in RA-L 2023

AirCapRL: Autonomous Aerial Human Motion Capture using Deep Reinforcement Learning

Rahul Tallamraju, Nitin Saini, Elia Bonetto, Michael Pabst, Yu Tang Liu, Michael J. Black, Aamir Ahmad

Comments Article accepted for publication in Robotics and Automation Letters (RA-L) and IROS 2020. 8 Pages, 8 figures

Impact of ROS 2 Node Composition in Robotic Systems

Steve Macenski, Alberto Soragna, Michael Carroll, Zhenpeng Ge

Comments IEEE Robotics and Automation Letters, 2023

A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration

Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias, Mattia Leonori, Toshiaki Tsuji, Arash Ajoudani

Comments 8 pages, 9 figures, accepted for IEEE Robotics and Automation Letters (RA-L) and IEEE/RSJ International Conference on Intelligent Robots and Systems 2022

MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control

Mattia Leonori, Juan M. Gandarias, Arash Ajoudani

Comments 8 pages, 7 figures, submitted to IEEE Robotics and Automation Letters and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). Video: https://youtu.be/IX6fn8ODSt8

AcroMonk: A Minimalist Underactuated Brachiating Robot

Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner

Comments The open-source implementation is available at https://github.com/dfki-ric-underactuated-lab/acromonk and a video demonstration of the experiments can be accessed at https://youtu.be/FIcDNtJo9Jc}

Journal ref journal={IEEE Robotics and Automation Letters}, year={2023}, volume={8}, number={6}, pages={3637-3644}

Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping

Lintong Zhang, Michael Helmberger, Lanke Frank Tarimo Fu, David Wisth, Marco Camurri, Davide Scaramuzza, Maurice Fallon

Comments Presented at IEEE Robotics and Automation (ICRA), 2023

Journal ref IEEE Robotics and Automation Letters ( Volume: 8, Issue: 1, January 2023)

Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry

Lintong Zhang, David Wisth, Marco Camurri, Maurice Fallon

Comments Video at https://youtu.be/cLWeAT72e0U

Journal ref IEEE Robotics and Automation Letters ( Volume: 7, Issue: 2, April 2022)

Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version)

Daniil Lisus, Mitchell Cohen, James Richard Forbes

Comments Main paper accepted to Robotics and Automation Letters. Main paper has 8 pages, 3 figures. Supplemental materials are 6 pages, 0 figures after the main paper

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3382-3389, June 2023

Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces

Servet B. Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia E. Kavraki

Comments 8 pages, 9 figures, accepted at RAL

CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality

Gianluigi Grandesso, Elisa Alboni, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete

Comments 8 pages, 8 figures. Submitted to IEEE RA-L

Journal ref "CACTO: Continuous Actor-Critic With Trajectory Optimization---Towards Global Optimality," in IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3318-3325, June 2023

Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

Ziyu Zhou, Gang Wang, Jian Sun, Jikai Wang, Jie Chen

Comments submitted to IEEE Robotics and Automation Letters, for the associated video, see https://youtu.be/E6QVHWcvB6E

DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics

Ivan Kapelyukh, Vitalis Vosylius, Edward Johns

Comments Webpage and videos: ( https://www.robot-learning.uk/dall-e-bot ) Published in IEEE Robotics and Automation Letters (RA-L)

MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities

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

Comments 8 pages + proofs

Journal ref IEEE Robotics and Automation Letters, vol. 8, no. 5, pp. 2462-2469, May 2023

Learning-Based Framework for Camera Calibration with Distortion Correction and High Precision Feature Detection

Yesheng Zhang, Xu Zhao, Dahong Qian

Journal ref in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10470-10477, Oct. 2022

Double-Deck Multi-Agent Pickup and Delivery: Multi-Robot Rearrangement in Large-Scale Warehouses

Baiyu Li, Hang Ma

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). Video: https://youtu.be/6CUdSmQYub8

Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localization

Kavisha Vidanapathirana, Peyman Moghadam, Sridha Sridharan, Clinton Fookes

Comments Accepted for publication in IEEE RA-L (2023)

RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments

Jianheng Liu, Xuanfu Li, Yueqian Liu, Haoyao Chen

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

OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition

Junyi Ma, Jun Zhang, Jintao Xu, Rui Ai, Weihao Gu, Xieyuanli Chen

Comments Accepted by RAL/IROS 2022