IROS - arXivDaily 期刊&会议

2210.07420 2023-08-03 cs.RO cs.AI cs.LG

Learning to Efficiently Plan Robust Frictional Multi-Object Grasps

Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Dogar, Ken Goldberg

Comments IEEE IROS 2023

2203.15925 2023-08-03 cs.RO cs.AI cs.LG cs.MA

Asynchronous, Option-Based Multi-Agent Policy Gradient: A Conditional Reasoning Approach

Xubo Lyu, Amin Banitalebi-Dehkordi, Mo Chen, Yong Zhang

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

2308.00640 2023-08-02 cs.RO

VL-Grasp: a 6-Dof Interactive Grasp Policy for Language-Oriented Objects in Cluttered Indoor Scenes

Yuhao Lu, Yixuan Fan, Beixing Deng, Fangfu Liu, Yali Li, Shengjin Wang

Comments 8 pages, 4 figures, IROS 2023

2308.00576 2023-08-02 cs.RO

Sliding Touch-based Exploration for Modeling Unknown Object Shape with Multi-fingered Hands

Yiting Chen, Ahmet Ercan Tekden, Marc Peter Deisenroth, Yasemin Bekiroglu

Comments 8 pages, 11 figures. Accepted by IROS 2023

2308.00570 2023-08-02 cs.RO cs.SY eess.SY

Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots

Kong Yao Chee, Thales C. Silva, M. Ani Hsieh, George J. Pappas

Comments 7 pages, 7 figures. Accepted for publication in the proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

2308.00565 2023-08-02 cs.RO

AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle

Sunyou Hwang, Bart D. W. Remes, Guido C. H. E. de Croon

Comments 8 pages, 11 figures, accepted to IROS 2023

2206.14163 2023-08-02 cs.RO cs.LG

Verifiable Goal Recognition for Autonomous Driving with Occlusions

Cillian Brewitt, Massimiliano Tamborski, Cheng Wang, Stefano V. Albrecht

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

2308.00257 2023-08-02 cs.RO

Trajectory Tracking via Multiscale Continuous Attractor Networks

Therese Joseph, Tobias Fischer, Michael Milford

Comments 8 Pages, 8 Figures, accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

2308.00119 2023-08-02 cs.RO

Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control

Kunal S. Narkhede, Dhruv A. Thanki, Abhijeet M. Kulkarni, Ioannis Poulakakis

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

2308.00091 2023-08-02 cs.RO cs.CV cs.LG

Convolutional Occupancy Models for Dense Packing of Complex, Novel Objects

Nikhil Mishra, Pieter Abbeel, Xi Chen, Maximilian Sieb

Comments In IROS 2023. Code and dataset are available at https://sites.google.com/view/fcon-packing/

2307.16420 2023-08-02 cs.RO

Part-level Scene Reconstruction Affords Robot Interaction

Zeyu Zhang, Lexing Zhang, Zaijin Wang, Ziyuan Jiao, Muzhi Han, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

Comments IROS 2023 paper

2306.17053 2023-08-02 cs.RO

Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation

Hongyou Zhou, Ingmar Schubert, Marc Toussaint, Ozgur S. Oguz

Comments 8 pages, 8 figures, IROS 2023

2305.10534 2023-08-02 cs.RO cs.SY eess.SY

RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions

Vasileios Vasilopoulos, Suveer Garg, Pedro Piacenza, Jinwook Huh, Volkan Isler

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023) - 8 pages, 6 figures

2307.16887 2023-08-01 cs.RO

Data-Based MHE for Agile Quadrotor Flight

Wonoo Choo, Erkan Kayacan

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

2307.16710 2023-08-01 cs.RO

Learning whom to trust in navigation: dynamically switching between classical and neural planning

Sombit Dey, Assem Sadek, Gianluca Monaci, Boris Chidlovskii, Christian Wolf

Comments 8 pages including references. International Conference on Intelligent Robots and Systems (IROS 2023)

2307.16675 2023-08-01 cs.RO

Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

Xiaoyu Li, Tao Xie, Dedong Liu, Jinghan Gao, Kun Dai, Zhiqiang Jiang, Lijun Zhao, Ke Wang

Comments Accepted to IROS 2023, 1st on the NuScenes Tracking benchmark with 75.4 AMOTA

2307.16503 2023-08-01 cs.RO cs.AI cs.LG

Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot

Tao Huang, Kai Chen, Wang Wei, Jianan Li, Yonghao Long, Qi Dou

Comments Accepted to IROS 2023

2307.16488 2023-08-01 cs.RO cs.AI

Model-free Grasping with Multi-Suction Cup Grippers for Robotic Bin Picking

Philipp Schillinger, Miroslav Gabriel, Alexander Kuss, Hanna Ziesche, Ngo Anh Vien

Comments IEEE/RSJ IROS 2023

2307.16385 2023-08-01 cs.RO

Multi-gait Locomotion Planning and Tracking for Tendon-actuated Terrestrial Soft Robot (TerreSoRo)

Arun Niddish Mahendran, Caitlin Freeman, Alexander H. Chang, Michael McDougall, Patricio A. Vela, Vishesh Vikas

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

2307.16318 2023-08-01 cs.RO

Efficient Q-Learning over Visit Frequency Maps for Multi-agent Exploration of Unknown Environments

Xuyang Chen, Ashvin N. Iyer, Zixing Wang, Ahmed H. Qureshi

Comments Accepted by IROS 2023. 8 pages

2307.16254 2023-08-01 cs.RO

Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction

Prajval Kumar Murali, Bernd Porr, Mohsen Kaboli

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

2307.16240 2023-08-01 cs.RO

Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning

Xi Lin, John McConnell, Brendan Englot

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

2307.16228 2023-08-01 cs.MA cs.AI cs.LG cs.SY eess.SY

Robust Electric Vehicle Balancing of Autonomous Mobility-On-Demand System: A Multi-Agent Reinforcement Learning Approach

Sihong He, Shuo Han, Fei Miao

Comments accepted to International Conference on Intelligent Robots and Systems (IROS2023)

2307.04019 2023-08-01 cs.RO cs.AI cs.SY eess.SY

GP-guided MPPI for Efficient Navigation in Complex Unknown Cluttered Environments

Ihab S. Mohamed, Mahmoud Ali, Lantao Liu

Comments This paper has 8 pages, 6 figures, 2 tables. It has been accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, 2023

2306.02994 2023-08-01 cs.RO cs.CV

Long-range UAV Thermal Geo-localization with Satellite Imagery

Jiuhong Xiao, Daniel Tortei, Eloy Roura, Giuseppe Loianno

Comments 8 pages, 6 figures, IROS 2023

2303.06741 2023-08-01 cs.RO

Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots

Mohsen Sombolestan, Quan Nguyen

Comments Accepted to appear at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2023

2303.04011 2023-08-01 cs.RO cs.CV cs.LG

One-4-All: Neural Potential Fields for Embodied Navigation

Sacha Morin, Miguel Saavedra-Ruiz, Liam Paull

Comments Sacha Morin and Miguel Saavedra-Ruiz contributed equally. Accepted to the IEEE/RSJ International Conference on Intelligent Robots (IROS 2023)

2303.00979 2023-08-01 cs.CV cs.RO

Multi-Source Soft Pseudo-Label Learning with Domain Similarity-based Weighting for Semantic Segmentation

Shigemichi Matsuzaki, Hiroaki Masuzawa, Jun Miura

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023)

2303.00920 2023-08-01 cs.MA

Beacon-based Distributed Structure Formation in Multi-agent Systems

Tamzidul Mina, Wonse Jo, Shyam S. Kannan, Byung-Cheol Min

Comments 8 pages, 6 figures, accepted for publication in IROS 2023. A link to the simulation videos is provided under the Validation section

2208.00759 2023-08-01 cs.RO cs.LG cs.MA cs.SY eess.SY

See What the Robot Can't See: Learning Cooperative Perception for Visual Navigation

Jan Blumenkamp, Qingbiao Li, Binyu Wang, Zhe Liu, Amanda Prorok

Comments Accepted to be presented at IROS 2023