IROS

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Mattia Risiglione, Victor Barasuol, Darwin G. Caldwell, Claudio Semini

Comments Accepted as contributed paper at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion

Simon Boche, Xingxing Zuo, Simon Schaefer, Stefan Leutenegger

Comments International Conference on Intelligent Robots and Systems (IROS) 2022

A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies

Simon Stepputtis, Maryam Bandari, Stefan Schaal, Heni Ben Amor

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

Modeling Human Response to Robot Errors for Timely Error Detection

Maia Stiber, Russell Taylor, Chien-Ming Huang

Comments Accepted to 2022 International Conference on Intelligent Robots and Systems (IROS), 8 pages, 6 figures

Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation

Xuan Lin, Gabriel Fernandez, Yeting Liu, Taoyuanmin Zhu, Yuki Shirai, Dennis Hong

Comments IROS 2022

DA$^2$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping

Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong Liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang

Comments RAL+IROS'22

PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains

Sharmita Dey, David Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-akbar Agha-mohammadi

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

Robust Contact State Estimation in Humanoid Walking Gaits

Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas, Panos Trahanias

Comments 7 pages, 5 figures, To be published in International Conference on Intelligent Robots and Systems (IROS 2022)

Learning Pseudo Front Depth for 2D Forward-Looking Sonar-based Multi-view Stereo

Yusheng Wang, Yonghoon Ji, Hiroshi Tsuchiya, Hajime Asama, Atsushi Yamashita

Comments Accepted at IROS 2022

Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery

Przemysław Korzeniowski, Szymon Płotka, Robert Brawura-Biskupski-Samaha, Arkadiusz Sitek

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

Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation

Shao-Yuan Lo, Wei Wang, Jim Thomas, Jingjing Zheng, Vishal M. Patel, Cheng-Hao Kuo

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

SCALER: A Tough Versatile Quadruped Free-Climber Robot

Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong

Comments Proceeding to IROS 2022, Preprint and not a final version

Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs

Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint

Comments Also submitted to IROS 2022 and RA-L

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators

Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon, Juan M. Gandarias, Elena De Momi, Arash Ajoudani

Comments 8 pages, 6 figures, accepted by IEEE Robotics and Automation Letters and IEEE International Conference on Intelligent Robots and Systems 2022

db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning

Wolfgang Hoenig, Joaquim Ortiz-Haro, Marc Toussaint

Comments Accepted at IROS 2022

Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation

Yulun Tian, Amrit Singh Bedi, Alec Koppel, Miguel Calvo-Fullana, David M. Rosen, Jonathan P. How

Comments technical report (17 pages, 3 figures); to appear at IROS 2022

The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards

J. Joe Payne, Nathan J. Kong, Aaron M. Johnson

Comments To appear in IROS 2022

Feedback-efficient Active Preference Learning for Socially Aware Robot Navigation

Ruiqi Wang, Weizheng Wang, Byung-Cheol Min

Comments To appear in IROS 2022

Trajectory Prediction with Graph-based Dual-scale Context Fusion

Lu Zhang, Peiliang Li, Jing Chen, Shaojie Shen

Comments Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. Code: https://github.com/HKUST-Aerial-Robotics/DSP

Probabilistic Object Maps for Long-Term Robot Localization

Amanda Adkins, Taijing Chen, Joydeep Biswas

Comments 8 pages, 5 figures, 1 table; Accepted to IROS 2022

Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems

Kyle Vedder, Eric Eaton

Comments 7 pages, 5 figures. Submitted to IROS 2022. All models, weights, experimental configurations, and datasets used are publicly available at http://vedder.io/sparse_point_pillars

Journal ref International Conference on Intelligent Robots and Systems (IROS) 2022

Disentangled Sequence Clustering for Human Intention Inference

Mark Zolotas, Yiannis Demiris

Comments 7 pages, 7 figures. Accepted for publication at 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Learning Object-Based State Estimators for Household Robots

Yilun Du, Tomas Lozano-Perez, Leslie Kaelbling

Comments IROS 2022. Website at: https://yilundu.github.io/obm/

Collision detection and identification for a legged manipulator

Jessie van Dam, Andreea Tulbure, Maria Vittoria Minniti, Firas Abi-Farraj, Marco Hutter

Comments International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, Oct 23 - Oct. 27, 2022

Regularized Deep Signed Distance Fields for Reactive Motion Generation

Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Jan Peters, Georgia Chalvatzaki

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

Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments

Zheng Li, Yiming Huang, Yui-Pan Yau, Pan Hui, Lik-Hang Lee

Comments Accepted in IROS 2022

Neural-Guided RuntimePrediction of Planners for Improved Motion and Task Planning with Graph Neural Networks

Simon Odense, Kamal Gupta, William G. Macready

Comments 8 pages; To appear in proceedings of 2022 IROS, Kyoto Japan

PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing

Huy Xuan Pham, Andriy Sarabakha, Mykola Odnoshyvkin, Erdal Kayacan

Comments accepted for publication by IEEE RA-L/IROS 2022

Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control

Alireza Madani, Pouya P. Niaz, Berk Guler, Yusuf Aydin, Cagatay Basdogan

Comments RA-L IROS 2022

Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning

Eugene Valassakis, Georgios Papagiannis, Norman Di Palo, Edward Johns

Comments To be published at IROS 2022. 7 figures, 8 pages. Videos and supplementary material are available at: https://www.robot-learning.uk/dome