ICRA

An Adaptable Approach to Learn Realistic Legged Locomotion without Examples

Daniel Ordonez-Apraez, Antonio Agudo, Francesc Moreno-Noguer, Mario Martin

Comments Accepted to ICRA 2022

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

Learning Multi-Task Transferable Rewards via Variational Inverse Reinforcement Learning

Se-Wook Yoo, Seung-Woo Seo

Comments Accepted in ICRA 2022

A Miniature 3-DoF Flexible Parallel Robotic Wrist Using NiTi Wires for Gastrointestinal Endoscopic Surgery

Huxin Gao, Xiao Xiao, Xiaoxiao Yang, Tao Zhang, Xiuli Zuo, Yanqing Li, Hongliang Ren

Comments IEEE International Conference on Robotics and Automation (ICRA) 2022 workshop: Frontiers of Endoluminal Intervention: Clinical opportunities and technical challenges

Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty

Eleonora Tagliabue, Daniele Meli, Diego Dall'Alba, Paolo Fiorini

Comments 2022 International Conference on Robotics and Automation

Flow-Based Control of Marine Robots in Gyre-Like Environments

Gedaliah Knizhnik, Peihan Li, Xi Yu, M. Ani Hsieh

Comments 7 pages. Published at 2022 International Conference on Robotics and Automation (ICRA)

Amplitude Control for Parallel Lattices of Docked Modboats

Gedaliah Knizhnik, Mark Yim

Comments 7 pages. Accepted to the 2022 International Conference on Robotics and Automation (ICRA)

Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

Dongho Kang, Flavio De Vincenti, Stelian Coros

Comments 5 pages. 5 figures. Presented in ICRA 2022: 6th Full-Day Workshop on Legged Robots. The first two authors contributed equally to this work. The supplementary video is available in https://youtu.be/BrJSRlAJaX4

Task Allocation with Load Management in Multi-Agent Teams

Haochen Wu, Amin Ghadami, Alparslan Emrah Bayrak, Jonathon M. Smereka, Bogdan I. Epureanu

Comments 8 pages, 5 figures, 2022 IEEE International Conference on Robotics and Automation

Journal ref ICRA (2022) 8823-8830

D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints

Moshe Shienman, Vadim Indelman

Comments 8 pages, 2 figures, Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2022, *Outstanding Paper Award Finalist*

Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency

Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart, Cesar Cadena

Comments Accepted for ICRA 2022. 7 pages, 8 figures. Code: https://github.com/ethz-asl/panoptic_mapping, Video: https://www.youtube.com/watch?v=A7o2Vy7_TV4

Journal ref 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 8018-8024

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar

Comments 7 pages, 11 figures, accepted at IEEE ICRA 2021. The first two authors contributed equally. Supplementary video: https://www.youtube.com/watch?v=YMXRZjFsqhc Code: https://github.com/ipab-slmc/sparse_ddp

Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators

Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann

Comments For associated video, see https://www.youtube.com/watch?v=os5SuStpqh8. This paper has been accepted for presentation at the 39th IEEE Conference on Robotics and Automation (ICRA 2022)

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

Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network

Abhinav Grover, Philippe Nadeau, Christopher Grebe, Jonathan Kelly

Comments In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'22), Philadelphia, USA, May 23-27, 2022. arXiv admin note: substantial text overlap with arXiv:2103.13460

Robot Program Parameter Inference via Differentiable Shadow Program Inversion

Benjamin Alt, Darko Katic, Rainer Jäkel, Asil Kaan Bozcuoglu, Michael Beetz

Comments 7 pages, 7 figures, presented at IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021

Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation

Carlo Tiseo, Quentin Rouxel, Zhibin Li, Michael Mistry

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

ElectroVoxel: Electromagnetically Actuated Pivoting for Scalable Modular Self-Reconfigurable Robots

Martin Nisser, Leon Cheng, Yashaswini Makaram, Ryo Suzuki, Stefanie Mueller

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

Uncertainty estimation for Cross-dataset performance in Trajectory prediction

Thomas Gilles, Stefano Sabatini, Dzmitry Tsishkou, Bogdan Stanciulescu, Fabien Moutarde

Comments Workshop on Fresh Perspectives on the Future of Autonomous Driving, ICRA 2022

Propagating State Uncertainty Through Trajectory Forecasting

Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone

Comments IEEE International Conference on Robotics and Automation (ICRA) 2022 -- 8 pages, 6 figures, 4 tables

Exploiting Playbacks in Unsupervised Domain Adaptation for 3D Object Detection

Yurong You, Carlos Andres Diaz-Ruiz, Yan Wang, Wei-Lun Chao, Bharath Hariharan, Mark Campbell, Kilian Q Weinberger

Comments Accepted by ICRA 2022

Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks

Marvin Stuede, Timo Lerche, Martin Alexander Petersen, Svenja Spindeldreier

Comments Accepted for publication at ICRA 2021

Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

Justin Tomasi, Brandon Wagstaff, Steven L. Waslander, Jonathan Kelly

Comments In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'21), Xi'an, China, May 30-Jun. 5, 2021

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 6, No. 2, pp. 2028-2035, Apr. 2021

Enabling and Assessing Trust when Cooperating with Robots in Disaster Response (EASIER)

Laurent Frering, Matthias Eder, Bettina Kubicek, Dietrich Albert, Denis Kalkofen, Thomas Gschwandtner, Heimo Krajnz, Gerald Steinbauer-Wagner

Comments IEEE 2022 ICRA full day workshop - Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust

Planning with RL and episodic-memory behavioral priors

Shivansh Beohar, Andrew Melnik

Comments Published in ICRA 2022 BPRL Workshop

Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams

Shivam Vats, Oliver Kroemer, Maxim Likhachev

Comments Camera ready version for ICRA, 2022

Distributionally Robust Policy Learning via Adversarial Environment Generation

Allen Z. Ren, Anirudha Majumdar

Comments IEEE Robotics and Automation Letters, 2022. Presented at ICRA 2022

Self-Supervised Depth and Ego-Motion Estimation for Monocular Thermal Video Using Multi-Spectral Consistency Loss

Ukcheol Shin, Kyunghyun Lee, Seokju Lee, In So Kweon

Comments 8 pages, Accepted by IEEE Robotics and Automation Letters (RA-L) with ICRA 2022 option

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 1103-1110, April 2022

Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State

Zonghe Chua, Anthony M. Jarc, Allison M. Okamura

Comments 7 pages, 6 figures, submitted to ICRA 2021

Convex Iteration for Distance-Geometric Inverse Kinematics

Matthew Giamou, Filip Marić, David M. Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrović, Jonathan Kelly

Comments In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'22), Philadelphia, USA, May 23-27, 2022

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 7, No. 2, pp. 1952-1959, Apr. 2022

Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot

Fabio Bergonti, Luca Fiorio, Daniele Pucci

Journal ref 2019 International Conference on Robotics and Automation (ICRA)

Learning Matchable Image Transformations for Long-term Metric Visual Localization

Lee Clement, Mona Gridseth, Justin Tomasi, Jonathan Kelly

Comments In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'20), Paris, France, May 31-June 4, 2020

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 5, No. 2, pp. 1492-1499, Apr. 2020