IROS

Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan

InterSim: Interactive Traffic Simulation via Explicit Relation Modeling

Qiao Sun, Xin Huang, Brian C. Williams, Hang Zhao

Comments Accepted at IROS 2022. Author version with 8 pages, 4 figures, and 2 tables. Code and demo available at paper website: https://tsinghua-mars-lab.github.io/InterSim/

Can Transformer Attention Spread Give Insights Into Uncertainty of Detected and Tracked Objects?

Felicia Ruppel, Florian Faion, Claudius Gläser, Klaus Dietmayer

Comments Accepted for publication at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) PNARUDE workshop, Oct 27, 2022, in Kyoto, Japan

Connected Reconfiguration of Polyominoes Amid Obstacles using RRT*

Javier Garcia, Michael Yannuzzi, Peter Kramer, Christian Rieck, Aaron T. Becker

Comments Nine pages, nine figures. (Updated) full version of an extended abstract that is published in the proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems

Yu-Ping Wang, Hao-Ning Wang, Zi-Xin Zou, Dinesh Manocha

Comments Accepted by IROS 2022

HiddenGems: Efficient safety boundary detection with active learning

Aleksandar Petrov, Carter Fang, Khang Minh Pham, You Hong Eng, James Guo Ming Fu, Scott Drew Pendleton

Comments Published at IROS 2022

Quasistatic contact-rich manipulation via linear complementarity quadratic programming

Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka

Comments 8 pages, 7 figures. This work has been accepted to be presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Assembly Planning from Observations under Physical Constraints

Thomas Chabal, Robin Strudel, Etienne Arlaud, Jean Ponce, Cordelia Schmid

Comments IROS 2022. See the project webpage at https://www.di.ens.fr/willow/research/assembly-planning/

Learning to Act with Affordance-Aware Multimodal Neural SLAM

Zhiwei Jia, Kaixiang Lin, Yizhou Zhao, Qiaozi Gao, Govind Thattai, Gaurav Sukhatme

Comments Accepted by IROS 2022

Learning to Navigate in a VUCA Environment: Hierarchical Multi-expert Approach

Wenqi Zhang, Kai Zhao, Peng Li, Xiao Zhu, Faping Ye, Weijie Jiang, Huiqiao Fu, Tao Wang

Comments 8 pages, 10 figures

Journal ref 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2021) 9254-9261

Whole-body model predictive control with rigid contacts via online switching time optimization

Sotaro Katayama, Toshiyuki Ohtsuka

Comments 8 pages, 10 figures. This work has been accepted to be presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Lifted contact dynamics for efficient optimal control of rigid body systems with contacts

Sotaro Katayama, Toshiyuki Ohtsuka

Comments 8 pages, 4 figures. This work has been accepted to be presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Active Exploration for Robotic Manipulation

Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters

Comments Published without appendix at "International Conference on Intelligent Robots and Systems (IROS)" 2022

A Solution to Slosh-free Robot Trajectory Optimization

Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin

Comments IEEE/RSJ IROS 2022

FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability

Kaiyuan Chen, Jiachen Yuan, Nikhil Jha, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg

Comments 5 pages, 5 figures. Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 Cloud Robotics Workshop

Motion Primitives Based Kinodynamic RRT for Autonomous Vehicle Navigation in Complex Environments

Shubham Kedia, Sambhu Harimanas Karumanchi

Journal ref IROS Workshop 2022

Object Goal Navigation Based on Semantics and RGB Ego View

Snehasis Banerjee, Brojeshwar Bhowmick, Ruddra Dev Roychoudhury

Comments IROS 2022 AI&R Workshop

Journal ref IROS 2022 AI&R Workshop

Multi-View Guided Multi-View Stereo

Matteo Poggi, Andrea Conti, Stefano Mattoccia

Comments IROS 2022. First two authors contributed equally. Project page: https://github.com/andreaconti/multi-view-guided-multi-view-stereo

Deep reinforcement learning oriented for real world dynamic scenarios

Diego Martinez, Luis Riazuelo, Luis Montano

Comments Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments (PNARUDE) workshop in IROS 2022

SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop

Rishabh Madan, Rajat Kumar Jenamani, Vy Thuy Nguyen, Ahmed Moustafa, Xuefeng Hu, Katherine Dimitropoulou, Tapomayukh Bhattacharjee

Comments 8 pages, 9 figures, IEEE International Conference on Intelligent Robots and Systems (IROS) 2022

A Clinical Dataset for the Evaluation of Motion Planners in Medical Applications

Inbar Fried, Jason A. Akulian, Ron Alterovitz

Comments 4 pages, 3 figures, to appear at the workshop "Evaluating Motion Planning Performance: Metrics, Tools, Datasets, and Experimental Design" at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Japan, October 23 - October 27, 2022

Learning Time-optimized Path Tracking with or without Sensory Feedback

Jonas C. Kiemel, Torsten Kröger

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022); 8 pages, 11 figures; A video presentation is available at https://youtu.be/hBukfMs6We8

Visual Servoing with Geometrically Interpretable Neural Perception

Antonio Paolillo, Mirko Nava, Dario Piga, Alessandro Giusti

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning

Andrea Tagliabue, Jonathan P. How

Comments Accepted to IROS 22

Robot Learning of Mobile Manipulation with Reachability Behavior Priors

Snehal Jauhri, Jan Peters, Georgia Chalvatzaki

Comments Accepted: RA-L & IROS 2022

Instance Segmentation for Autonomous Log Grasping in Forestry Operations

Jean-Michel Fortin, Olivier Gamache, Vincent Grondin, François Pomerleau, Philippe Giguère

Comments 8 pages, 6 figures, accepted at IROS 2022

Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning

Wil Thomason, Marlin P. Strub, Jonathan D. Gammell

Comments 9 pages, 5 figures. Accepted to IEEE RA-L and IROS 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7 num. 4, (2022). Pages 11370-11377

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Cyrill Stachniss

Comments Accepted at IROS PNARUDE(Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments) Workshop 2022

Evaluating Guiding Spaces for Motion Planning

Amnon Attali, Stav Ashur, Isaac Burton Love, Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato

Comments Accepted at IROS 2022, Workshop for Evaluating Motion Planning Performance

Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance

Wenkai Chen, Hongzhuo Liang, Zhaopeng Chen, Fuchun Sun, Jianwei Zhang

Comments Accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)