ICRA

CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning

Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh, Arun Kumar Singh, K Madhava Krishna

Comments Accepted at ICRA 2022 , Code available at https://github.com/sudarshan-s-harithas/CCO-VOXEL

Incremental Abstraction in Distributed Probabilistic SLAM Graphs

Joseph Ortiz, Talfan Evans, Edgar Sucar, Andrew J. Davison

Comments Published at ICRA 2022. Project page: https://joeaortiz.github.io/incremental_abstraction/

Learn to Grasp with Less Supervision: A Data-Efficient Maximum Likelihood Grasp Sampling Loss

Xinghao Zhu, Yefan Zhou, Yongxiang Fan, Lingfeng Sun, Jianyu Chen, Masayoshi Tomizuka

Comments Accepted to ICRA 2022

Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusion

Tianchen Ji, Arun Narenthiran Sivakumar, Girish Chowdhary, Katherine Driggs-Campbell

Comments Accepted by RA-L with ICRA 2022 option

Towards Optimal Correlational Object Search

Kaiyu Zheng, Rohan Chitnis, Yoonchang Sung, George Konidaris, Stefanie Tellex

Comments 10 pages, 5 figures, 4 tables. IEEE Conference on Robotics and Automation (ICRA) 2022; minor fix in appendix & references

Model Predictive Control for Fluid Human-to-Robot Handovers

Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox

Comments Accepted to ICRA 2022

Asynchronous Reinforcement Learning for Real-Time Control of Physical Robots

Yufeng Yuan, A. Rupam Mahmood

Comments Appears in Proceedings of the 2022 International Conference on Robotics and Automation (ICRA). Source code at https://github.com/YufengYuan/ur5_async_rl and companion video at https://youtu.be/B9icTcV1wNQ

Design of a Biomimetic Tactile Sensor for Material Classification

Kevin Dai, Xinyu Wang, Allison M. Rojas, Evan Harber, Yu Tian, Nicholas Paiva, Joseph Gnehm, Evan Schindewolf, Howie Choset, Victoria A. Webster-Wood, Lu Li

Comments To be published in ICRA 2022

Translating Images into Maps

Avishkar Saha, Oscar Mendez Maldonado, Chris Russell, Richard Bowden

Comments Accepted to ICRA 2022

Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information

Amr Alanwar, Frank J. Jiang, Maryam Sharifi, Dimos V. Dimarogonas, Karl H. Johansson

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

Abstract Flow for Temporal Semantic Segmentation on the Permutohedral Lattice

Peer Schütt, Radu Alexandru Rosu, Sven Behnke

Comments Accepted IEEE International Conference on Robotics and Automation (ICRA) 2022, Code available at https://github.com/AIS-Bonn/temporal_latticenet

Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints

Xinghao Zhu, Siddarth Jain, Masayoshi Tomizuka, Jeroen van Baar

Comments To appear in the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia (PA), USA

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

Comments 7 pages, 4 figures, accepted at IEEE International Conference on Robotics and Automation (ICRA), 2022

VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation

Haresh Karnan, Garrett Warnell, Xuesu Xiao, Peter Stone

Comments Under Submission to ICRA+RAL 2022

Journal ref ICRA 2022

Object Memory Transformer for Object Goal Navigation

Rui Fukushima, Kei Ota, Asako Kanezaki, Yoko Sasaki, Yusuke Yoshiyasu

Comments 7 pages, 3 figures, Accepted at ICRA 2022

TridentNetV2: Lightweight Graphical Global Plan Representations for Dynamic Trajectory Generation

David Paz, Hao Xiang, Andrew Liang, Henrik I. Christensen

Comments 7 pages, Accepted at ICRA 2022

Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions

Suiyi He, Jun Zeng, Koushil Sreenath

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

Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter

Baichuan Huang, Teng Guo, Abdeslam Boularias, Jingjin Yu

Comments Accepted by ICRA 2022

Lightweight Monocular Depth Estimation through Guided Decoding

Michael Rudolph, Youssef Dawoud, Ronja Güldenring, Lazaros Nalpantidis, Vasileios Belagiannis

Comments Accepted to ICRA 2022

Incremental Few-Shot Object Detection for Robotics

Yiting Li, Haiyue Zhu, Sichao Tian, Fan Feng, Jun Ma, Chek Sing Teo, Cheng Xiang, Prahlad Vadakkepat, Tong Heng Lee

Comments ICRA 2022

Unsupervised Domain Adaptation in LiDAR Semantic Segmentation with Self-Supervision and Gated Adapters

Mrigank Rochan, Shubhra Aich, Eduardo R. Corral-Soto, Amir Nabatchian, Bingbing Liu

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

LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments

Yuki Shirai, Xuan Lin, Ankur Mehta, Dennis Hong

Comments Accepted for 2021 IEEE International Conference on Robotics and Automation (2021 ICRA). You can find a summary video here: https://youtu.be/o5zDEKc2HPU

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees

Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin

Comments 8 pages, 7 figures, to be published in IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia (PA) USA

Optimizing Camera Placements for Overlapped Coverage with 3D Camera Projections

Akshay Malhotra, Dhananjay Singh, Tushar Dadlani, Luis Yoichi Morales

Comments 8 pages, 3 figures, 2022 International Conference on Robotics and Automation

Leveraging Smooth Attention Prior for Multi-Agent Trajectory Prediction

Zhangjie Cao, Erdem Bıyık, Guy Rosman, Dorsa Sadigh

Comments 8 pages

Journal ref ICRA 2022

Fast Few-Shot Classification by Few-Iteration Meta-Learning

Ardhendu Shekhar Tripathi, Martin Danelljan, Luc Van Gool, Radu Timofte

Comments Accepted at ICRA 2021

Semi-Supervised Learning with Mutual Distillation for Monocular Depth Estimation

Jongbeom Baek, Gyeongnyeon Kim, Seungryong Kim

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

Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces

Rui Wang, Yinglong Miao, Kostas E. Bekris

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

GamePlan: Game-Theoretic Multi-Agent Planning with Human Drivers at Intersections, Roundabouts, and Merging

Rohan Chandra, Dinesh Manocha

Comments Published in RA-L and ICRA 2022

Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search

Rui Wang, Kai Gao, Daniel Nakhimovich, Jingjin Yu, Kostas E. Bekris

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