ICRA

Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach

Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis

Comments This paper has been accepted for presentation at the 2021 IEEE International Conference on Robotics and Automation (ICRA), May 30 - June 5, 2021, Xi'an, China and for inclusion in the conference proceedings

Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model

Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan Hurst

Comments 7 pages, 8 figures. Accepted to IEEE Robotics and Automation Letters (RA-L) with ICRA 2021 presentation option. Video supplement: https://youtu.be/80oJeaAd8CE Code: https://github.com/osudrl/ASLIP-RL

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

Comments Accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China. Supplementary video available in https://youtu.be/pV4s7hzUgjc. Related code in https://github.com/JuliaRobotics/TORA.jl

Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition

Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan Hurst

Comments Accepted for presentation at ICRA 2021. The first two authors contributed equally to this work

OpenBot: Turning Smartphones into Robots

Matthias Müller, Vladlen Koltun

Comments Accepted at ICRA'21. Documentation and code are available at www.openbot.org

Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms

Shivesh Kumar, Andreas Mueller

Comments 7 pages, 5 figures, Accepted at IEEE ICRA 2021

Learning from Imperfect Demonstrations from Agents with Varying Dynamics

Zhangjie Cao, Dorsa Sadigh

Comments Accpeted by ICRA 2021

Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark

Yuwei Cheng, Mengxin Jiang, Jiannan Zhu, Yimin Liu

Comments 8 pages, 11 figures, to be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021

Open-set Intersection Intention Prediction for Autonomous Driving

Fei Li, Xiangxu Li, Jun Luo, Shiwei Fan, Hongbo Zhang

Comments Accepted by ICRA, 2021

Uncertainty-aware Contact-safe Model-based Reinforcement Learning

Cheng-Yu Kuo, Andreas Schaarschmidt, Yunduan Cui, Tamim Asfour, Takamitsu Matsubara

Comments 8 pages, Accepted by Robotics and Automation Letters with ICRA 2021 option

Vision-Based Mobile Robotics Obstacle Avoidance With Deep Reinforcement Learning

Patrick Wenzel, Torsten Schön, Laura Leal-Taixé, Daniel Cremers

Comments Accepted at 2021 IEEE International Conference on Robotics and Automation (ICRA)

ERASOR: Egocentric Ratio of Pseudo Occupancy-based Dynamic Object Removal for Static 3D Point Cloud Map Building

Hyungtae Lim, Sungwon Hwang, Hyun Myung

Comments 9 pages, 9 figures, RA-L with ICRA 2021 accepted

Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor

Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora

Comments Accepted in ICRA 2019

Principal Components of Touch

Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora

Comments Presented at ICRA 2018

Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching

Tu-Hoa Pham, William Seto, Shreyansh Daftry, Barry Ridge, Johanna Hansen, Tristan Thrush, Mark Van der Merwe, Gerard Maggiolino, Alexander Brinkman, John Mayo, Yang Cheng, Curtis Padgett, Eric Kulczycki, Renaud Detry

Comments To appear in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA 2021)

Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions

Yuwei Liang, Weijie Li, Yue Wang, Rong Xiong, Yichao Mao, Jiafan Zhang

Comments Accepted by ICRA 2021

RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images

Minghao Gou, Hao-Shu Fang, Zhanda Zhu, Sheng Xu, Chenxi Wang, Cewu Lu

Comments Accepted by ICRA 2021

CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Clouds

Ge Gao, Mikko Lauri, Xiaolin Hu, Jianwei Zhang, Simone Frintrop

Comments Accepted to ICRA 2021

Learning-based Bias Correction for Time Difference of Arrival Ultra-wideband Localization of Resource-constrained Mobile Robots

Wenda Zhao, Jacopo Panerati, Angela P. Schoellig

Comments 8 pages, 9 figures, accepted for publication on the IEEE Robotics and Automation Letters and presentation at ICRA 2021

Learning Stable Normalizing-Flow Control for Robotic Manipulation

Shahbaz Abdul Khader, Hang Yin, Pietro Falco, Danica Kragic

Comments To be presented at IEEE International Conference on Robotics and Automation (ICRA) 2021

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter

Comments 8 Pages, 8 Figures, 1 Table. To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China

DF-VO: What Should Be Learnt for Visual Odometry?

Huangying Zhan, Chamara Saroj Weerasekera, Jia-Wang Bian, Ravi Garg, Ian Reid

Comments extended version of ICRA-2020 paper (Visual Odometry Revisited: What Should Be Learnt?)

Fool Me Once: Robust Selective Segmentation via Out-of-Distribution Detection with Contrastive Learning

David Williams, Matthew Gadd, Daniele De Martini, Paul Newman

Comments Accepted for publication at the 2021 IEEE International Conference on Robotics and Automation (ICRA)

LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence

Masashi Yokozuka, Kenji Koide, Shuji Oishi, Atsuhiko Banno

Comments International Conference on Robotics and Automation (ICRA 2021)

SKD: Keypoint Detection for Point Clouds using Saliency Estimation

Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon

Comments Accepted for publication at 2021 IEEE Robotics and Automation Letters (RA-L) + IEEE International Conference on Robotics and Automation (ICRA) presentation option. Video preview available here: https://youtu.be/Wx6FEWCgWDk

What's in my Room? Object Recognition on Indoor Panoramic Images

Julia Guerrero-Viu, Clara Fernandez-Labrador, Cédric Demonceaux, Jose J. Guerrero

Comments Project webpage: "https://webdiis.unizar.es/~jguerrer/room_OR/"

Journal ref 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 567-573

Go Fetch: Mobile Manipulation in Unstructured Environments

Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

Comments Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, and Florian Tschopp contributed equally to this work

Journal ref ICRA 2020 Workshop on Perception, Action, Learning: From Metric-Semantic Scene Understanding to High-level Task Execution, 2020

Occlusion-Robust MVO: Multimotion Estimation Through Occlusion Via Motion Closure

Kevin M. Judd, Jonathan D. Gammell

Comments To appear at the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). An earlier version of this work first appeared at the Long-term Human Motion Planning Workshop (ICRA 2019). 8 pages, 5 figures. Video available at https://www.youtube.com/watch?v=o_N71AA6FRk

Journal ref 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 Oct.-24 Jan. 2021

Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation

Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar

Comments The article has been submitted to IEEE Robotics and Automation Letters (RA-L) with ICRA 2021 conference option; the article has been accepted for publication in RA-L

Towards Decentralized Human-Swarm Interaction by Means of Sequential Hand Gesture Recognition

Zahi Kakish, Sritanay Vedartham, Spring Berman

Comments 7 Pages. 4 Figures. Multi-robot systems paper. Rejected ICRA 2020