ICRA

Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR

Ian D. Miller, Anthony Cowley, Ravi Konkimalla, Shreyas S. Shivakumar, Ty Nguyen, Trey Smith, Camillo Jose Taylor, Vijay Kumar

Comments Published in the IEEE Robotics and Automation Letters and presented at the IEEE 2021 International Conference on Robotics and Automation. See https://www.youtube.com/watch?v=_qwAoYK9iGU for accompanying video

Journal ref in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2397-2404, April 2021

CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

Dimitri A. Schreiber, Zhaowei Yu, Hanpeng Jiang, Taylor Henderson, Guosong Li, Julie Yu, Renjie Zhu, Alexander M. Norbash, Michael C. Yip

Comments 6+2 pages, 8 figures, ICRA 2022

GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport

Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg

Comments Accepted for ICRA 2022. 7 pages, 6 figures

Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming

Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan

Comments 12 pages, 5 figures, Original Version Published in IEEE International Conference on Robotics and Automation

On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing

Gagan Khandate, Maxmillian Haas-Heger, Matei Ciocarlie

Comments 7 pages, 9 figures, accepted at ICRA 2022

Interactive Robotic Grasping with Attribute-Guided Disambiguation

Yang Yang, Xibai Lou, Changhyun Choi

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA 2022). Project page: https://sites.google.com/umn.edu/attr-disam

Hierarchical Point Cloud Encoding and Decoding with Lightweight Self-Attention based Model

En Yen Puang, Hao Zhang, Hongyuan Zhu, Wei Jing

Comments Accepted by RA-Letters and ICRA 2022

Real-Robot Deep Reinforcement Learning: Improving Trajectory Tracking of Flexible-Joint Manipulator with Reference Correction

Dmytro Pavlichenko, Sven Behnke

Comments Accepted final version. IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, May 2022

COP: Control & Observability-aware Planning

Christoph Böhm, Pascal Brault, Quentin Delamare, Paolo Robuffo Giordano, Stephan Weiss

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

Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation

Karan Muvvala, Peter Amorese, Morteza Lahijanian

Comments To appear in IEEE International Conference on Robotics and Automation (ICRA), May. 2022

A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments

Hyungtae Lim, Suyong Yeon, Soohyun Ryu, Yonghan Lee, Youngji Kim, Jaeseong Yun, Euigon Jung, Donghwan Lee, Hyun Myung

Comments 8 pages. Acccepted by ICRA 2022

Indoor Localization for Quadrotors using Invisible Projected Tags

Jinjie Li, Liang Han, Zhang Ren

Comments accepted for presentation at ICRA 2022; associated video: https://youtu.be/nOV_zPmYvCs; correct the orientation units in Table 1

DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles

Zhefan Xu, Di Deng, Yiping Dong, Kenji Shimada

Comments 7pages, 8 figures

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

Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies

Tabitha Edith Lee, Jialiang Zhao, Amrita S. Sawhney, Siddharth Girdhar, Oliver Kroemer

Comments Presented at the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). This version contains the camera-ready paper with supplementary materials and minor typo fixes. Project page: https://sites.google.com/view/crest-causal-struct-xfer-manip

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator

Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott

Comments to be published in 2020 IEEE International Conference on Robotics and Automation (ICRA)

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

Implicit LiDAR Network: LiDAR Super-Resolution via Interpolation Weight Prediction

Youngsun Kwon, Minhyuk Sung, Sung-Eui Yoon

Comments 7 pages, to be published in ICRA 2022

KinoJGM: A framework for efficient and accurate quadrotor trajectory generation and tracking in dynamic environments

Yanran Wang, James O'Keeffe, Qiuchen Qian, David Boyle

Comments 7pages, 8 figures, IEEE International Conference on Robotics and Automation 2022, accepted

Efficient and Robust Semantic Mapping for Indoor Environments

Daniel Seichter, Patrick Langer, Tim Wengefeld, Benjamin Lewandowski, Dominik Hoechemer, Horst-Michael Gross

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

Towards Scale Consistent Monocular Visual Odometry by Learning from the Virtual World

Sen Zhang, Jing Zhang, Dacheng Tao

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

Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy

Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans, Rodney D. Wiersma

Journal ref In 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 4609-4615. IEEE, 2020

Context is Everything: Implicit Identification for Dynamics Adaptation

Ben Evans, Abitha Thankaraj, Lerrel Pinto

Comments Accepted at ICRA 2022

Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment

Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci

Comments Paper accepted in ICRA 2022

Journal ref ICRA 2022

Generalizing to New Domains by Mapping Natural Language to Lifted LTL

Eric Hsiung, Hiloni Mehta, Junchi Chu, Xinyu Liu, Roma Patel, Stefanie Tellex, George Konidaris

Comments 7 pages (6 + 1 references page), 3 figures, 2 tables. Accepted to ICRA 2022. To appear in Proceedings of the 2022 International Conference on Robotics and Automation, May 2022

Topologically-Informed Atlas Learning

Thomas Cohn, Nikhil Devraj, Odest Chadwicke Jenkins

Comments Accepted to the 2022 IEEE International Conference on Robotics and Automation (ICRA). Contact: Thomas Cohn, cohnt@umich.edu

ShapeMap 3-D: Efficient shape mapping through dense touch and vision

Sudharshan Suresh, Zilin Si, Joshua G. Mangelson, Wenzhen Yuan, Michael Kaess

Comments Camera-ready version for the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022). Modified PDF title

Multi-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning

Zheng Zhang, Xiaohan Wang, Qingrui Zhang, Tianjiang Hu

Comments This paper has been accepted by ICRA 2022

MLNav: Learning to Safely Navigate on Martian Terrains

Shreyansh Daftry, Neil Abcouwer, Tyler Del Sesto, Siddarth Venkatraman, Jialin Song, Lucas Igel, Amos Byon, Ugo Rosolia, Yisong Yue, Masahiro Ono

Comments IEEE Robotics and Automation Letters (RA-L) and ICRA 2022

Monocular Depth Distribution Alignment with Low Computation

Fei Sheng, Feng Xue, Yicong Chang, Wenteng Liang, Anlong Ming

Comments Accepted by ICRA 2022

Fast Road Segmentation via Uncertainty-aware Symmetric Network

Yicong Chang, Feng Xue, Fei Sheng, Wenteng Liang, Anlong Ming

Comments Accepted by ICRA 2022

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Luca Clemente, Octavio Villarreal, Angelo Bratta, Michele Focchi, Victor Barasuol, Giovanni Gerardo Muscolo, Claudio Semini

Comments 9 pages, 7 figures, accepted for presentation at the International Conference on Robotics and Automation (ICRA) 2022