IROS - arXivDaily 期刊&会议

2309.09427 2023-09-19 cs.RO cs.CV

TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches

Liuyu Bian, Pengyang Shi, Weihang Chen, Jing Xu, Li Yi, Rui Chen

Comments Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2308.15852 2023-09-19 cs.RO

Learning to Navigate from Scratch using World Models and Curiosity: the Good, the Bad, and the Ugly

Daria de Tinguy, Sven Remmery, Pietro Mazzaglia, Tim Verbelen, Bart Dhoedt

Comments IROS 2023 workshop World Models and Predictive Coding in Cognitive Robotics and IROS 2023 workshop Learning Robot Super Autonomy

2304.04923 2023-09-19 cs.RO

Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization

Michael R. Turski, Joseph Norby, Aaron M. Johnson

Comments Published at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

2009.07140 2023-09-18 cs.CV

HGCN-GJS: Hierarchical Graph Convolutional Network with Groupwise Joint Sampling for Trajectory Prediction

Yuying Chen, Congcong Liu, Xiaodong Mei, Bertram E. Shi, Ming Liu

Comments 6 pages, 8 figures, accepted by IROS 2022

2309.08302 2023-09-18 cs.CV cs.RO

T-UDA: Temporal Unsupervised Domain Adaptation in Sequential Point Clouds

Awet Haileslassie Gebrehiwot, David Hurych, Karel Zimmermann, Patrick Pérez, Tomáš Svoboda

Comments Will appear at IEEE/RSJ International Conference on Intelligent Robots and Systems 2023 (IROS 2023)

2309.08239 2023-09-18 cs.CV cs.RO

Human-Inspired Topological Representations for Visual Object Recognition in Unseen Environments

Ekta U. Samani, Ashis G. Banerjee

Comments Accepted for presentation at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Robotic Perception and Mapping: Frontier Vision & Learning Techniques

2309.07340 2023-09-15 cs.RO

Informative path planning for scalar dynamic reconstruction using coregionalized Gaussian processes and a spatiotemporal kernel

Lorenzo Booth, Stefano Carpin

Comments Accepted to IROS 2023

2309.07248 2023-09-15 cs.RO

Geometric Gait Optimization for Inertia-Dominated Systems With Nonzero Net Momentum

Yanhao Yang, Ross L. Hatton

Comments 8 pages, 9 figures, accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

2309.07066 2023-09-14 cs.RO

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Luigi Palmieri, Kai O. Arras, Achim J. Lilienthal, Martin Magnusson

Comments Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2309.06701 2023-09-14 cs.CV cs.RO

Transparent Object Tracking with Enhanced Fusion Module

Kalyan Garigapati, Erik Blasch, Jie Wei, Haibin Ling

Comments IEEE IROS 2023

2303.03505 2023-09-13 cs.RO

Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping

Ryan Nemiroff, Kenny Chen, Brett T. Lopez

Comments Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Video: https://youtu.be/E190005kZKg

2309.04590 2023-09-12 cs.RO cs.SY eess.SY

Robotic Defect Inspection with Visual and Tactile Perception for Large-scale Components

Arpit Agarwal, Abhiroop Ajith, Chengtao Wen, Veniamin Stryzheus, Brian Miller, Matthew Chen, Micah K. Johnson, Jose Luis Susa Rincon, Justinian Rosca, Wenzhen Yuan

Comments This is a pre-print for International Conference on Intelligent Robots and Systems 2023 publication

2304.02129 2023-09-12 cs.RO

Proprioception and reaction for walking among entanglements

Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson

Comments 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems

2309.04453 2023-09-11 cs.CV

WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue

Daniel Broyles, Christopher R. Hayner, Karen Leung

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 9467-9474

2309.04441 2023-09-11 cs.RO cs.CV

Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers

Jongwon Lee, Su Yeon Choi, David Hanley, Timothy Bretl

Comments IEEE 2023 IROS Workshop "Closing the Loop on Localization". For more information, see https://oravus.github.io/vpr-workshop/index

2303.04781 2023-09-11 cs.RO

Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots

Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson

Comments 8 pages, 9 figures, accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

2309.03839 2023-09-08 cs.RO cs.HC cs.LG

Bootstrapping Adaptive Human-Machine Interfaces with Offline Reinforcement Learning

Jensen Gao, Siddharth Reddy, Glen Berseth, Anca D. Dragan, Sergey Levine

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

2309.03475 2023-09-08 cs.RO cs.AI

InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers

Jiawei Fu, Yanqing Shen, Zhiqiang Jian, Shitao Chen, Jingmin Xin, Nanning Zheng

Comments Accepted to IROS 2023

2309.02754 2023-09-07 cs.RO

Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer

Minchan Kim, Junhyek Han, Jaehyung Kim, Beomjoon Kim

Comments Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2309.01925 2023-09-06 cs.CV cs.RO

DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose Estimation

Lei Zhou, Zhiyang Liu, Runze Gan, Haozhe Wang, Marcelo H. Ang

Comments Camera-ready version accepted to IROS 2023

2309.01447 2023-09-06 cs.RO

Experimental method for perching flapping-wing aerial robots

Raphael Zufferey, Daniel Feliu-Talegon, Saeed Rafee Nekoo, Jose-Angel Acosta, Anibal Ollero

Comments IROS 2022 Workshop: Agile Robotics: Perception, Learning, Planning, and Control, 2022

2309.01236 2023-09-06 cs.CV cs.RO

BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking

Dorian F. Henning, Christopher Choi, Simon Schaefer, Stefan Leutenegger

Comments IROS 2023. Video: https://youtu.be/UcutiHQwbGk

2309.00957 2023-09-06 cs.CV cs.AI cs.LG cs.RO

Visual-Kinematics Graph Learning for Procedure-agnostic Instrument Tip Segmentation in Robotic Surgeries

Jiaqi Liu, Yonghao Long, Kai Chen, Cheuk Hei Leung, Zerui Wang, Qi Dou

Comments Accepted to IROS 2023

2306.12677 2023-09-06 cs.RO cs.AI

SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer

Junjia Liu, Zhihao Li, Wanyu Lin, Sylvain Calinon, Kay Chen Tan, Fei Chen

Comments 6 pages, 5 figures, accepted by IROS 2023

2209.12563 2023-09-06 cs.RO

Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning

Jianzhuang Zhao, Gustavo J. G. Lahr, Francesco Tassi, Alessandro Santopaolo, Elena De Momi, Arash Ajoudani

Comments 8 pages, 9 figures, accepted by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

2308.16484 2023-09-06 cs.CV cs.AI cs.LG cs.RO

Test-Time Adaptation for Point Cloud Upsampling Using Meta-Learning

Ahmed Hatem, Yiming Qian, Yang Wang

Comments Accepted at IROS 2023

2303.16898 2023-09-04 cs.RO

Bagging by Learning to Singulate Layers Using Interactive Perception

Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

Comments IROS 2023

2208.00487 2023-09-04 cs.RO cs.CV

One Object at a Time: Accurate and Robust Structure From Motion for Robots

Aravind Battaje, Oliver Brock

Comments v3: Add link to project page v2: Update DOI v1: Accepted at 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2303.13241 2023-09-01 cs.CV cs.RO

6D Object Pose Estimation from Approximate 3D Models for Orbital Robotics

Maximilian Ulmer, Maximilian Durner, Martin Sundermeyer, Manuel Stoiber, Rudolph Triebel

Comments Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2308.15978 2023-08-31 cs.RO

Predicting Energy Consumption and Traversal Time of Ground Robots for Outdoor Navigation on Multiple Types of Terrain

Matthias Eder, Gerald Steinbauer-Wagner

Comments Accepted for publication in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)