ICRA

Generalizable task representation learning from human demonstration videos: a geometric approach

Jun Jin, Martin Jagersand

Comments Accepted in ICRA 2022

Maximum Entropy Differential Dynamic Programming

Oswin So, Ziyi Wang, Evangelos A. Theodorou

Comments Accepted to ICRA 2022. Supplementary video available at https://youtu.be/NHr9Kj_jnAI

Resolution-Optimal Motion Planning for Steerable Needles

Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz

Comments arXiv admin note: text overlap with arXiv:2107.04939; to be published in ICRA 2022

Unseen Object Amodal Instance Segmentation via Hierarchical Occlusion Modeling

Seunghyeok Back, Joosoon Lee, Taewon Kim, Sangjun Noh, Raeyoung Kang, Seongho Bak, Kyoobin Lee

Comments Accepted at ICRA 2022, Project page: https://sites.google.com/view/uoais

Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing

Axel Brunnbauer, Luigi Berducci, Andreas Brandstätter, Mathias Lechner, Ramin Hasani, Daniela Rus, Radu Grosu

Comments This paper is accepted for presentation at the International Conference on Robotics and Automation (ICRA), 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

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

Comments IEEE International Conference on Robotics and Automation (ICRA) 2022

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation

Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav S. Sukhatme

Comments Extended version. To appear at ICRA 2022

Integrating Deep Reinforcement and Supervised Learning to Expedite Indoor Mapping

Elchanan Zwecher, Eran Iceland, Sean R. Levy, Shmuel Y. Hayoun, Oren Gal, Ariel Barel

Comments Accepted to ICRA-22 conference (23-27 May, 2022)

Offline Learning of Counterfactual Predictions for Real-World Robotic Reinforcement Learning

Jun Jin, Daniel Graves, Cameron Haigh, Jun Luo, Martin Jagersand

Comments Accepted in ICRA 2022

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter

Comments Accepted in IEEE International Conference on Robotics and Automation (ICRA) 2022 in Philadelphia (PA), USA

N-QGN: Navigation Map from a Monocular Camera using Quadtree Generating Networks

Daniel Braun, Olivier Morel, Pascal Vasseur, Cédric Demonceaux

Comments 6 pages + references, accepted to ICRA 2022

Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration

Yuanfan Xu, Jincheng Yu, Jiahao Tang, Jiantao Qiu, Jian Wang, Yuan Shen, Yu Wang, Huazhong Yang

Comments To be published in IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022

Visually Grounded Task and Motion Planning for Mobile Manipulation

Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, Shiqi Zhang

Comments To be published in IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022

Barrier Forming: Separating Polygonal Sets with Minimum Number of Lines

Si Wei Feng, Jingjin Yu

Comments Accepted to ICRA 2022

Learning Multi-step Robotic Manipulation Policies from Visual Observation of Scene and Q-value Predictions of Previous Action

Sulabh Kumra, Shirin Joshi, Ferat Sahin

Comments 7 pages, 3 figures, IEEE Conference on Robotics and Automation (ICRA) 2022. arXiv admin note: substantial text overlap with arXiv:2103.01434

ReorientBot: Learning Object Reorientation for Specific-Posed Placement

Kentaro Wada, Stephen James, Andrew J. Davison

Comments 7 pages, 6 figures, IEEE International Conference on Robotics and Automation (ICRA) 2022

A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight

Elia Kaufmann, Leonard Bauersfeld, Davide Scaramuzza

Comments 6 pages (+1 references)

Journal ref IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, 2022

SAGE: SLAM with Appearance and Geometry Prior for Endoscopy

Xingtong Liu, Zhaoshuo Li, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Mathias Unberath

Comments Accepted to ICRA 2022

DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation

Pengen Gao, Shengkai Zhang, Wei Wang, Chris Xiaoxuan Lu

Comments 7 pages, accepted by IEEE Conference on Robotics and Automation (ICRA) 2022

Reasoning with Scene Graphs for Robot Planning under Partial Observability

Saeid Amiri, Kishan Chandan, Shiqi Zhang

Comments Accepted at ICRA (RA-L Option) 2022

RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics

Ke Sun, Stephen Chaves, Paul Martin, Vijay Kumar

Comments Accepted by ICRA 2022

Ex-DoF: Expansion of Action Degree-of-Freedom with Virtual Camera Rotation for Omnidirectional Image

Kosuke Tahara, Noriaki Hirose

Comments 8 pages, 9 figures, 2 tables, IEEE International Conference on Robotics and Automation (ICRA2022)

Continuous-Time Spline Visual-Inertial Odometry

Jiawei Mo, Junaed Sattar

Comments ICRA 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

Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning

Ramzi Ourari, Kai Cui, Ahmed Elshamanhory, Heinz Koeppl

Comments Accepted to the 39th IEEE Conference on Robotics and Automation (ICRA). Fixed some typos

TraSeTR: Track-to-Segment Transformer with Contrastive Query for Instance-level Instrument Segmentation in Robotic Surgery

Zixu Zhao, Yueming Jin, Pheng-Ann Heng

Comments Accepted by ICRA 2022

Robust Reinforcement Learning via Genetic Curriculum

Yeeho Song, Jeff Schneider

Comments Accepted to 2022 IEEE International Conference on Robotics and Automation (ICRA)

AutoPlace: Robust Place Recognition with Single-chip Automotive Radar

Kaiwen Cai, Bing Wang, Chris Xiaoxuan Lu

Comments Accepted by IEEE Conference on Robotics and Automation (ICRA), 8 pages

Deep Surrogate Q-Learning for Autonomous Driving

Maria Kalweit, Gabriel Kalweit, Moritz Werling, Joschka Boedecker

Comments Accepted at ICRA 2022