IROS - arXivDaily 期刊&会议

2109.12609 2021-09-28 cs.RO

Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures

Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar, Karl Kruusamae, Arun Kumar Singh

Comments Accepted to IEEE IROS 2021

2108.02425 2021-09-28 cs.RO cs.CV

Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation

Yiming Li, Tao Kong, Ruihang Chu, Yifeng Li, Peng Wang, Lei Li

Comments International Conference on Intelligent Robots and Systems (IROS) 2021

2104.03616 2021-09-27 cs.RO cs.AI

Arena-Rosnav: Towards Deployment of Deep-Reinforcement-Learning-Based Obstacle Avoidance into Conventional Autonomous Navigation Systems

Linh Kästner, Teham Buiyan, Xinlin Zhao, Lei Jiao, Zhengcheng Shen, Jens Lambrecht

Comments 8 pages, 21 figures, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2109.11453 2021-09-24 cs.CV

Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds

Xuemeng Yang, Hao Zou, Xin Kong, Tianxin Huang, Yong Liu, Wanlong Li, Feng Wen, Hongbo Zhang

Comments 8 pages, 4 figures, accepted by The 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems

2109.11288 2021-09-24 cs.RO cs.LG

Enhancing Navigational Safety in Crowded Environments using Semantic-Deep-Reinforcement-Learning-based Navigation

Linh Kästner, Junhui Li, Zhengcheng Shen, Jens Lambrecht

Comments 7 pages, 5 figures, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2109.10127 2021-09-22 cs.CV cs.LG cs.RO

KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimation

Xingyu Liu, Shun Iwase, Kris M. Kitani

Comments IROS 2021

2109.09923 2021-09-22 cs.CV cs.RO

AutoPhoto: Aesthetic Photo Capture using Reinforcement Learning

Hadi AlZayer, Hubert Lin, Kavita Bala

Comments Accepted to IROS 2021

2109.09229 2021-09-21 cs.RO

Localization with Directional Coordinates

Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes

Comments 6 pages, 7 figures, submitted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2109.09214 2021-09-21 cs.RO

A Conformal Mapping-based Framework for Robot-to-Robot and Sim-to-Real Transfer Learning

Shijie Gao, Nicola Bezzo

Comments This work is the final submission for The IEEE/RSJ International Conference on Intelligent Robots and Systems 2021

2107.14599 2021-09-21 cs.CV cs.RO

SNE-RoadSeg+: Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection

Hengli Wang, Rui Fan, Peide Cai, Ming Liu

Comments Fix a mistake in Equation 3. 7 pages, 5 figures and 2 tables. This paper is accepted by IROS 2021

2109.07559 2021-09-17 cs.CV cs.RO

Hybrid ICP

Kamil Dreczkowski, Edward Johns

Comments Published at IROS 2021. Webpage and video: https://www.robot-learning.uk/hybrid-icp

2106.06783 2021-09-17 cs.RO

Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method

Yupeng Jia, Haiyong Luo, Fang Zhao, Guanlin Jiang, Yuhang Li, Jiaquan Yan, Zhuqing Jiang, Zitian Wang

Comments IROS 2021

2105.01457 2021-09-17 cs.RO

CFEAR Radarodometry -- Conservative Filtering for Efficient and Accurate Radar Odometry

Daniel Adolfsson, Martin Magnusson, Anas Alhashimi, Achim J. Lilienthal, Henrik Andreasson

Comments Accepted for IROS 2021

2109.07365 2021-09-16 cs.RO

Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks

Benedikt Mersch, Thomas Höllen, Kun Zhao, Cyrill Stachniss, Ribana Roscher

Comments Accepted for IROS 2021

2106.03919 2021-09-16 cs.RO

Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter

Matt Corsaro, Stefanie Tellex, George Konidaris

Comments IROS 2021 Accepted Version

2109.06689 2021-09-15 cs.MA cs.AI cs.LG

Reactive and Safe Road User Simulations using Neural Barrier Certificates

Yue Meng, Zengyi Qin, Chuchu Fan

Comments Accepted at IROS 2021

2105.02020 2021-09-15 cs.RO

Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps

Riccardo Giubilato, Mallikarjuna Vayugundla, Wolfgang Stürzl, Martin J. Schuster, Armin Wedler, Rudolph Triebel

Comments Accepted at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

2109.05509 2021-09-14 cs.RO cs.CV

Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions

Martin Wudenka, Marcus G. Müller, Nikolaus Demmel, Armin Wedler, Rudolph Triebel, Daniel Cremers, Wolfgang Stürzl

Comments Accepted to IROS 2021. Updated version corresponding to IROS camera-ready. The source code is publicly available at: https://github.com/DLR-RM/granite

2104.02213 2021-09-14 eess.SY cs.RO cs.SY

Particle MPC for Uncertain and Learning-Based Control

Robert Dyro, James Harrison, Apoorva Sharma, Marco Pavone

Comments Accepted to International Conference on Intelligent Robots and Systems (IROS) 2021

2010.09662 2021-09-14 cs.CV cs.AI cs.LG cs.RO

Attention Augmented ConvLSTM for Environment Prediction

Bernard Lange, Masha Itkina, Mykel J. Kochenderfer

Comments Accepted to be published on 2021 International Conference on Intelligent Robots and Systems (IROS)

2109.04687 2021-09-13 cs.RO

CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System

Jiajun Lv, Kewei Hu, Jinhong Xu, Yong Liu, Xiushui Ma, Xingxing Zuo

Comments IROS-2021

2109.04378 2021-09-10 cs.RO cs.AI cs.CV cs.LG

Dynamic Modeling of Hand-Object Interactions via Tactile Sensing

Qiang Zhang, Yunzhu Li, Yiyue Luo, Wan Shou, Michael Foshey, Junchi Yan, Joshua B. Tenenbaum, Wojciech Matusik, Antonio Torralba

Comments IROS 2021. First two authors contributed equally. Project page: http://phystouch.csail.mit.edu/

2109.04285 2021-09-10 cs.RO cs.CV

Energy-Efficient Mobile Robot Control via Run-time Monitoring of Environmental Complexity and Computing Workload

Sherif A. S. Mohamed, Mohammad-Hashem Haghbayan, Antonio Miele, Onur Mutlu, Juha Plosila

Comments Accepted to be published on 2021 International Conference on Intelligent Robots and Systems (IROS)

2109.03893 2021-09-10 cs.RO

Interpretable Run-Time Prediction and Planning in Co-Robotic Environments

Rahul Peddi, Nicola Bezzo

Comments Final version to be presented at IROS 2021

2005.10091 2021-09-10 cs.CV cs.AI cs.RO

Label Efficient Visual Abstractions for Autonomous Driving

Aseem Behl, Kashyap Chitta, Aditya Prakash, Eshed Ohn-Bar, Andreas Geiger

Comments International Conference on Intelligent Robots and Systems (IROS), 2020. First two authors contributed equally, listed in alphabetical order

2109.03787 2021-09-09 cs.CV cs.RO

FIDNet: LiDAR Point Cloud Semantic Segmentation with Fully Interpolation Decoding

Yiming Zhao, Lin Bai, Xinming Huang

Comments Accepted by IROS'21, code link: https://github.com/placeforyiming/IROS21-FIDNet-SemanticKITTI

2109.00533 2021-09-07 cs.LG cs.CR cs.NE

R-SNN: An Analysis and Design Methodology for Robustifying Spiking Neural Networks against Adversarial Attacks through Noise Filters for Dynamic Vision Sensors

Alberto Marchisio, Giacomo Pira, Maurizio Martina, Guido Masera, Muhammad Shafique

Comments To appear at the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). arXiv admin note: text overlap with arXiv:2107.00415

2109.01889 2021-09-07 cs.CV cs.AI cs.RO

Fast Image-Anomaly Mitigation for Autonomous Mobile Robots

Gianmario Fumagalli, Yannick Huber, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

Comments Published on 2021 International Conference on Intelligent Robots and Systems (IROS)

2102.10063 2021-09-07 cs.RO cs.SY eess.SY

Probabilistically Guaranteed Satisfaction of Temporal Logic Constraints During Reinforcement Learning

Derya Aksaray, Yasin Yazicioglu, Ahmet Semi Asarkaya

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

2109.01474 2021-09-06 cs.RO

Real-Time Volumetric-Semantic Exploration and Mapping: An Uncertainty-Aware Approach

Rui Pimentel de Figueiredo, Jonas le Fevre Sejersen, Jakob Grimm Hansen, Martim Brandão, Erdal Kayacan

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021