IEEE RA-L

Challenges of SLAM in extremely unstructured environments: the DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset

Riccardo Giubilato, Wolfgang Stürzl, Armin Wedler, Rudolph Triebel

Comments RA-L + IROS 2022 Submission, Accepted

Visibility Maximization Controller for Robotic Manipulation

Kerry He, Rhys Newbury, Tin Tran, Jesse Haviland, Ben Burgess-Limerick, Dana Kulić, Peter Corke, Akansel Cosgun

Comments 8 pages, 6 figures, 7 tables, submitted to RA-L and IROS 2022

Learning Risk-aware Costmaps for Traversability in Challenging Environments

David D. Fan, Sharmita Dey, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

Comments Published in RA-L with ICRA presentation option (IEEE International Conference on Robotics and Automation, 2022)

Journal ref IEEE Robotics and Automation Letters ( Volume: 7, Issue: 1, January 2022)

A Closed-Form Uncertainty Propagation in Non-Rigid Structure from Motion

Jingwei Song, Mitesh Patel, Ashkan Jasour, Maani Ghaffari

Comments Accepted for publication by IEEE Robotics and Automation Letters. Code can be accessed at https://github.com/JingweiSong/NRSfM_uncertainty

Journal ref [J]. IEEE Robotics and Automation Letters, 2022, 7(3): 6479-6486

Model-Based Imitation Learning Using Entropy Regularization of Model and Policy

Eiji Uchibe

Comments This is a preprint version of the paper to appear at IEEE Robotics and Automation Letters (RA-L). The final journal version is downloadable from https://doi.org/10.1109/LRA.2022.3196139

Journal ref IEEE Robotics and Automation Letters, Volume 7, Issue 4, pages 10922-10929, October, 2022

Chemistry-Inspired Pattern Formation with Robotic Swarms

Paulo Rezeck, Luiz Chaimowicz

Comments Submitted to IEEE RA-L/IROS 2022

Journal ref IEEE Robotics and Automation Letters (2022)

What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data

Oier Mees, Lukas Hermann, Wolfram Burgard

Comments Accepted for publication at IEEE Robotics and Automation Letters (RAL). Codebase and trained models available at http://hulc.cs.uni-freiburg.de

Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control

Y. Cheng, P. Zhao, F. Wang, D. J. Block, N. Hovakimyan

Comments Included extended work for the journal version https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9761728. arXiv admin note: substantial text overlap with arXiv:2106.02249

Journal ref IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 7, NO. 3, JULY 2022

A Practical Calibration Method for RGB Micro-Grid Polarimetric Cameras

Joaquin Rodriguez, Lew Lew-Yan-Voon, Renato Martins, Olivier Morel

Comments This is a preprint version of the paper to appear at IEEE Robotics and Automation Letters (RAL). The final journal version will be available at https://doi.org/10.1109/LRA.2022.3192655

Journal ref Robotics and Automation Letters - Volume: 7 - Issue: 4 - October 2022 - Pages: 9921 - 9928

IKFlow: Generating Diverse Inverse Kinematics Solutions

Barrett Ames, Jeremy Morgan, George Konidaris

Comments Revised version - updated with feedback from RA-L submission

TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline

Hongjie Fang, Hao-Shu Fang, Sheng Xu, Cewu Lu

Comments project page: www.graspnet.net/transcg

Journal ref IEEE Robotics and Automation Letters 7.3 (2022)

DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Association

Xiyang Wang, Chunyun Fu, Zhankun Li, Ying Lai, Jiawei He

Comments 8 pages, 4 figures

Journal ref IEEE Robotics and Automation Letters, Volume 7, Issue 3, 2022, Page 8260 - 8267

Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras

Xiaolei Lang, Jiajun Lv, Jianxin Huang, Yukai Ma, Yong Liu, Xingxing Zuo

Journal ref 2022 RAL

DynaVINS: A Visual-Inertial SLAM for Dynamic Environments

Seungwon Song, Hyungtae Lim, Alex Junho Lee, Hyun Myung

Comments 8 pages, accepted to IEEE RA-L (August 22, 2022)

Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models

Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar

Comments IEEE Robotics and Automation Letters (RA-L) 2022

Area Coverage with Multiple Capacity-Constrained Robots

Saurav Agarwal, Srinivas Akella

Comments Published at IEEE Robotics and Automation Letters, 2022

Online Target Localization using Adaptive Belief Propagation in the HMM Framework

Min-Won Seo, Solmaz S. Kia

Comments 8 pages, 8 figures

Journal ref IEEE Robotics and Automation Letters. Vol 7 Issue 4 (2022) 10288 - 10295

DialFRED: Dialogue-Enabled Agents for Embodied Instruction Following

Xiaofeng Gao, Qiaozi Gao, Ran Gong, Kaixiang Lin, Govind Thattai, Gaurav S. Sukhatme

Comments 8 pages, 5 figures, accepted by RA-L

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10049-10056, Oct. 2022

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions

Yufei Wang, David Held, Zackory Erickson

Comments RA-L with presentation at IROS 2022. Project website: https://sites.google.com/view/visualhapticreasoning/home

Towards Autonomous Atlas-based Ultrasound Acquisitions in Presence of Articulated Motion

Zhongliang Jiang, Yuan Gao, Le Xie, Nassir Navab

Comments Directly accepted by IEEE RAL after the first round of review. will present at IROS2022. Video: https://www.youtube.com/watch?v=OlBwmqLGf7w; Codes: https://github.com/jiang96998/AutoLimbUSscan

Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs

Qiangqiang Huang, Alan Papalia, John J. Leonard

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9232-9239, Oct. 2022

Learning Connectivity-Maximizing Network Configurations

Daniel Mox, Vijay Kumar, Alejandro Ribeiro

Comments 8 pages, 10 figures, final RA-L version

Monte-Carlo Robot Path Planning

T. Dam, G. Chalvatzaki, J. Peters, J. Pajarinen

Comments Accepted: RA-L & IROS 2022

WayFAST: Navigation with Predictive Traversability in the Field

Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu, Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, John Rogers, Huy Tran, Girish Chowdhary

Comments Project website with code and videos: https://mateusgasparino.com/wayfast-traversability-navigation/ Published in the IEEE Robotics and Automation Letters (RA-L, 2022) Accepted for presentation in the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

DA$^2$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping

Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong Liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang

Comments RAL+IROS'22

A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes

Xinxing Chen, Chuheng Chen, Yuxuan Wang, Bowen Yang, Teng Ma, Yuquan Leng, Chenglong Fu

Journal ref in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9549-9556, Oct. 2022

Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs

Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint

Comments Also submitted to IROS 2022 and RA-L

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators

Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon, Juan M. Gandarias, Elena De Momi, Arash Ajoudani

Comments 8 pages, 6 figures, accepted by IEEE Robotics and Automation Letters and IEEE International Conference on Intelligent Robots and Systems 2022

What's in the Black Box? The False Negative Mechanisms Inside Object Detectors

Dimity Miller, Peyman Moghadam, Mark Cox, Matt Wildie, Raja Jurdak

Comments 8 pages, 5 figures. Contact emails: d24.miller@qut.edu.au, peyman.moghadam@data61.csiro.au, mark.cox@data61.csiro.au, matt.wildie@data61.csiro.au, r.jurdak@qut.edu.au

Journal ref IEEE Robotics and Automation Letters (July 2022), Volume 7, Issue 3, pages 8510-8517

ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

Christophe Bédard, Ingo Lütkebohle, Michel Dagenais

Comments 8 pages, 8 figures, 3 tables

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6511-6518, July 2022