IEEE RA-L

Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion

Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, Jemin Hwangbo

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

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

Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations

Glen Chou, Hao Wang, Dmitry Berenson

Comments Extended paper; abridged version accepted to the IEEE Robotics and Automation Letters (with presentation at ICRA 2022)

TriVoC: Efficient Voting-based Consensus Maximization for Robust Point Cloud Registration with Extreme Outlier Ratios

Lei Sun, Lu Deng

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

Weakly Supervised Disentangled Representation for Goal-conditioned Reinforcement Learning

Zhifeng Qian, Mingyu You, Hongjun Zhou, Bin He

Comments 8 pages; Accepted by RAL with ICRA 2022

Journal ref IEEE RAL 2022

Red Light, Green Light Game of Multi-Robot Systems with Safety Barrier Certificates

Yun Ho Choi, Doik Kim

Comments 6 pages, 5 figures, IEEE Robotics and Automation Letters with IROS option

Unsupervised Domain Adaptation for LiDAR Panoptic Segmentation

Borna Bešić, Nikhil Gosala, Daniele Cattaneo, Abhinav Valada

Comments 8 pages, 3 figures

Journal ref IEEE Robotics and Automation Letters, Volume 7, Issue 2, April 2022, pp. 3404-3411

Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Images

Nikhil Gosala, Abhinav Valada

Comments 17 pages, 13 figures, Accepted for publication in the IEEE Robotics and Automation Letters (RA-L)

Journal ref IEEE Robotics and Automation Letters, Volume 7, Issue 2, April 2022, pp. 1968-1975

AutoTune: Controller Tuning for High-Speed Flight

Antonio Loquercio, Alessandro Saviolo, Davide Scaramuzza

Comments Video: https://youtu.be/m2q_y7C01So; Code: https://github.com/uzh-rpg/mh_autotune

Journal ref IEEE Robotics and Automation Letters 2022

Robust Self-Supervised LiDAR Odometry via Representative Structure Discovery and 3D Inherent Error Modeling

Yan Xu, Junyi Lin, Jianping Shi, Guofeng Zhang, Xiaogang Wang, Hongsheng Li

Comments Accepted to Robotics and Automation Letters (RA-L) and International Conference on Robotics and Automation (ICRA), 2022

Loop closure detection using local 3D deep descriptors

Youjie Zhou, Yiming Wang, Fabio Poiesi, Qi Qin, Yi Wan

Comments This work is accepted for publication in IEEE Robotics and Automation Letters

On the Visual-based Safe Landing of UAVs in Populated Areas: a Crucial Aspect for Urban Deployment

Javier González-Trejo, Diego Mercado-Ravell, Israel Becerra, Rafael Murrieta-Cid

Comments Video: https://youtu.be/yKSvNFzdDog

Journal ref IEEE Robotics and Automation Letters, 6(4), 7901 7908 (2021)

Probabilistic Data Association for Semantic SLAM at Scale

Elad Michael, Tyler Summers, Tony A. Wood, Chris Manzie, Iman Shames

Comments 6 Pages, 3 figures, submitted to Robotics and Automation Letters and the IROS 2020 conference

Towards Safe, Real-Time Systems: Stereo vs Images and LiDAR for 3D Object Detection

Matthew Levine

Comments Submitted to IROS RA-L

Data-Driven Safety Verification for Legged Robots

Junhyeok Ahn, Seung Hyeon Bang, Carlos Gonzalez, Yuanchen Yuan, Luis Sentis

Comments 8 pages, 8 figures, submitted to RA-L with IROS option

Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty

Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah

Comments Published at IEEE Robotics and Automation Letters, 2022. Video: https://www.youtube.com/watch?v=CvIPJlALaFU Copyright: 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any media, including reprinting/republishing for any purposes, creating new works, for resale or redistribution, or reuse of any copyrighted component of this work

FastMimic: Model-based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion

Tianyu Li, Jungdam Won, Sehoon Ha, Akshara Rai

Comments Submitted to RA-L. Video Link: https://youtu.be/Z-1YfpaFO_g

Reasoning with Scene Graphs for Robot Planning under Partial Observability

Saeid Amiri, Kishan Chandan, Shiqi Zhang

Comments Accepted at ICRA (RA-L Option) 2022

MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagery

Ahmad Khaliq, Michael Milford, Sourav Garg

Comments 12 pages, 6 Figures, Accepted for publication in IEEE RA-L 2022 and ICRA 2022, includes supplementary material

Journal ref IEEE Robotics and Automation Letters vol. 7 no. 2 (April 2022) pp. 3882-3889

Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study

Giovanni Cioffi, Titus Cieslewski, Davide Scaramuzza

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

Journal ref IEEE Robotics and Automation Letters (RA-L), 2022

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki

Comments accepted in IEEE Robotics and Automation Letters (RAL), 2022. Supplementary video: https://youtu.be/t96Py0QX0NI Code: https://github.com/KavrakiLab/motion_bench_maker

Kineverse: A Symbolic Articulation Model Framework for Model-Agnostic Mobile Manipulation

Adrian Röfer, Georg Bartels, Wolfram Burgard, Abhinav Valada, Michael Beetz

Comments 8 pages, 8 figures, Published in: IEEE Robotics and Automation Letters ( Volume: 7, Issue: 2, April 2022)

Journal ref IEEE Robotics and Automation Letters, 7 (2022) 3372-3379

Improving Pedestrian Prediction Models with Self-Supervised Continual Learning

Luzia Knoedler, Chadi Salmi, Hai Zhu, Bruno Brito, Javier Alonso-Mora

Comments To be published in IEEE Robotics and Automation Letters. Accepted for presentation at 2022 IEEE International Conference on Robotics and Automation (ICRA)

Benchmarking Robot Manipulation with the Rubik's Cube

Boling Yang, Patrick E. Lancaster, Siddhartha S. Srinivasa, Joshua R. Smith

Comments IEEE RAL

Journal ref IEEE Robotics and Automation Letters 5.2 (2020): 2094-2099

Perception-Aware Perching on Powerlines with Multirotors

Julio L. Paneque, Jose Ramiro Martínez de Dios, Aníbal Ollero. Drew Hanover, Sihao Sun, Ángel Romero, Davide Scaramuzza

Comments IEEE Robotics and Automation Letters (2022)

Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact

Kevin Haninger, Marcel Radke, Axel Vick, Jörg Krüger

Comments Accepted at IEEE RA-L

Deformable One-Dimensional Object Detection for Routing and Manipulation

Azarakhsh Keipour, Maryam Bandari, Stefan Schaal

Comments Accepted to IEEE Robotics and Automation Letters, January 2022. 8 pages

B-GAP: Behavior-Rich Simulation and Navigation for Autonomous Driving

Angelos Mavrogiannis, Rohan Chandra, Dinesh Manocha

Comments Accepted for publication in the IEEE Robotics and Automation Letters (R-AL) journal

Overhead Image Factors for Underwater Sonar-based SLAM

John McConnell, Fanfei Chen, Brendan Englot

Comments To appear in RA-L 2022 and presented at ICRA 2022

Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter

Prajval Kumar Murali, Anirvan Dutta, Michael Gentner, Etienne Burdet, Ravinder Dahiya, Mohsen Kaboli

Comments Accepted for publication at IEEE Robotics and Automation Letters and IEEE International Conference on Robotics and Automation (ICRA) 2022

UMPNet: Universal Manipulation Policy Network for Articulated Objects

Zhenjia Xu, Zhanpeng He, Shuran Song

Comments RA-L/ICRA 2022. Project page: https://ump-net.cs.columbia.edu/