ICRA

Towards Learning Controllable Representations of Physical Systems

Kevin Haninger, Raul Vicente Garcia, Joerg Krueger

Comments 10 pages, 8 figures, associated video at https://youtu.be/adHXi58u9qw. Submitted to ICRA 2021. v2 24.Nov.2020: Typographic corrections

Attentional-GCNN: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases

Kunming Li, Stuart Eiffert, Mao Shan, Francisco Gomez-Donoso, Stewart Worrall, Eduardo Nebot

Comments 8 pages, 5 figures, submitted to ICRA 2021

The Robot Household Marathon Experiment

Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski, Michael Beetz

Comments submitted to ICRA 2021

Visual Geometric Skill Inference by Watching Human Demonstration

Jun Jin, Laura Petrich, Zichen Zhang, Masood Dehghan, Martin Jagersand

Comments Accepted in ICRA 2020

Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans

Jun Jin, Nhat M. Nguyen, Nazmus Sakib, Daniel Graves, Hengshuai Yao, Martin Jagersand

Comments Accepted in ICRA 2020

gradSLAM: Automagically differentiable SLAM

Krishna Murthy Jatavallabhula, Soroush Saryazdi, Ganesh Iyer, Liam Paull

Comments Video: https://youtu.be/2ygtSJTmo08 . Project page and code: https://gradslam.github.io This tech report is an extended version of the ICRA 2020 paper "gradSLAM: Dense SLAM meets automatic differentiation". The first two authors contributed equally

Robot eye-hand coordination learning by watching human demonstrations: a task function approximation approach

Jun Jin, Laura Petrich, Masood Dehghan, Zichen Zhang, Martin Jagersand

Comments Accepted in ICRA 2019

SA-Net: Deep Neural Network for Robot Trajectory Recognition from RGB-D Streams

Nihal Soans, Ehsan Asali, Yi Hong, Prashant Doshi

Comments (in press)

Journal ref ICRA 2020, pp. 2153-2159

ACDER: Augmented Curiosity-Driven Experience Replay

Boyao Li, Tao Lu, Jiayi Li, Ning Lu, Yinghao Cai, Shuo Wang

Journal ref 2020 IEEE International Conference on Robotics and Automation (ICRA2020)

Adaptive Tracking Control of Soft Robots using Integrated Sensing Skin and Recurrent Neural Networks

Lasitha Weerakoon, Zepeng Ye, Rahul Subramonian Bama, Elisabeth Smela, Miao Yu, Nikhil Chopra

Comments Preprint submitted to ICRA 2021: International Conference on Robotics and Automation

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning

Simon Le Cleac'h, Mac Schwager, Zachary Manchester

Comments Submitted to ICRA 2021

Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment

Petr Stibinger, George Broughton, Filip Majer, Zdenek Rozsypalek, Anthony Wang, Kshitij Jindal, Alex Zhou, Dinesh Thakur, Giuseppe Loianno, Tomas Krajnik, Martin Saska

Comments 8 pages, 11 figures, submitted to IEEE ICRA and RA-L 2021, under review

Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

David A. Haggerty, Michael J. Banks, Patrick C. Curtis, Igor Mezić, Elliot W. Hawkes

Comments Submitted to IEEE International Conference on Robotics and Automation, 2021

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration

Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov

Comments Accepted to ICRA 2020

Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks

Tushar Kusnur, Dhruv Mauria Saxena, Maxim Likhachev

Comments Submitted to ICRA 2021

Evaluation of Cross-View Matching to Improve Ground Vehicle Localization with Aerial Perception

Deeksha Dixit, Surabhi Verma, Pratap Tokekar

Comments 8 pages, 12 figures, submitted to IEEE Robotics and Automation Letters (RA-L) with the International Conference on Robotics and Automation (ICRA 2021) presentation option

Robotic self-representation improves manipulation skills and transfer learning

Phuong D. H. Nguyen, Manfred Eppe, Stefan Wermter

Comments Submitted to IEEE Robotics and Automation Letters (RA-L) 2021 with International Conference on Robotics and Automation Conference Option (ICRA) 2021

3-D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar

Peijun Zhao, Chris Xiaoxuan Lu, Bing Wang, Niki Trigoni, Andrew Markham

Comments Submitted to The 2021 International Conference on Robotics and Automation (ICRA 2021)

Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation

Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee, Byron Boots, Siddhartha Srinivasa

Comments Submitted to ICRA 2021

Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation

Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg

Comments 6 pages, 5 figures, 4 tables, submitted to ICRA 2021, supplementary material at https://tinyurl.com/ivs-icra

A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton

Xikai Tu, Minhan Li, Ming Liu, Jennie Si, He, Huang

Comments 7 pages, 9 figures, ICRA 2021

DeepSignals: Predicting Intent of Drivers Through Visual Signals

Davi Frossard, Eric Kee, Raquel Urtasun

Comments To be presented at the IEEE International Conference on Robotics and Automation (ICRA), 2019

Journal ref In IEEE 2019 International Conference on Robotics and Automation (ICRA) (pp. 9697-9703)

End-to-end Learning of Multi-sensor 3D Tracking by Detection

Davi Frossard, Raquel Urtasun

Comments Presented at IEEE International Conference on Robotics and Automation (ICRA), 2018

Journal ref In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 635-642. IEEE, 2018

Reinforcement Learning with Time-dependent Goals for Robotic Musicians

Thilo Fryen, Manfred Eppe, Phuong D. H. Nguyen, Timo Gerkmann, Stefan Wermter

Comments Preprint, submitted to IEEE Robotics and Automation Letters (RA-L) 2021 with International Conference on Robotics and Automation Conference Option (ICRA) 2021

Docking two multirotors in midair using relative vision measurements

Karan P. Jain, Minos Park, Mark W. Mueller

Comments 7 pages; submitted to ICRA 2021

Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm

Hao Xu, Luqi Wang, Yichen Zhang, Kejie Qiu, Shaojie Shen

Comments Accepted ICRA 2020

Journal ref H. Xu, L. Wang, Y. Zhang, K. Qiu and S. Shen, "Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 8776-8782

Model-based Reinforcement Learning from Signal Temporal Logic Specifications

Parv Kapoor, Anand Balakrishnan, Jyotirmoy V. Deshmukh

Comments Submitted to ICRA 2021

Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions

Yousef Emam, Gennaro Notomista, Paul Glotfelter, Magnus Egerstedt

Comments Submitted to the 2021 IEEE International Conference on Robotics and Automation (ICRA)

Exploiting collisions for sampling-based multicopter motion planning

Jiaming Zha, Mark W. Mueller

Comments The paper is submitted to The 2021 International Conference on Robotics and Automation (ICRA 2021)

0-MMS: Zero-Shot Multi-Motion Segmentation With A Monocular Event Camera

Chethan M. Parameshwara, Nitin J. Sanket, Chahat Deep Singh, Cornelia Fermüller, Yiannis Aloimonos

Comments 7 pages, 6 figures, 4 tables, Under review ICRA 2021