IEEE RA-L

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

Dongho Kang, Jin Cheng, Miguel Zamora, Fatemeh Zargarbashi, Stelian Coros

Comments The paper has been accepted for publication in IEEE Robotics and Automation Letters (RA-L). You can find the copyright information on the front page of the paper. The supplementary video is available in https://www.youtube.com/watch?v=qPttVfzGS84

TempFuser: Learning Agile, Tactical, and Acrobatic Flight Maneuvers Using a Long Short-Term Temporal Fusion Transformer

Hyunki Seong, David Hyunchul Shim

Comments 8 pages, 7 figures. Accepted for publication in IEEE Robotics and Automation Letters (RA-L). Copyright 2024 IEEE. Personal use is permitted. For other uses, permission from IEEE is required

Back-stepping Experience Replay with Application to Model-free Reinforcement Learning for a Soft Snake Robot

Xinda Qi, Dong Chen, Zhaojian Li, Xiaobo Tan

Comments This paper has been published on IEEE Robotics and Automation Letters. Digital Object Identifier 10.1109/LRA.2024.3427550

Hierarchical end-to-end autonomous navigation through few-shot waypoint detection

Amin Ghafourian, Zhongying CuiZhu, Debo Shi, Ian Chuang, Francois Charette, Rithik Sachdeva, Iman Soltani

Comments Appeared at the 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), 23-26 September, 2024, Rotterdam, The Netherlands. 9 pages, 5 figures

Journal ref in IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3211-3218, April 2024

Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids

Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers

Comments 7 Pages, IEEE RA-L Accepted Version Preprint

Journal ref Volume 9, Issue 11, 2024

Rigid Body Path Planning using Mixed-Integer Linear Programming

Mingxin Yu, Chuchu Fan

Comments Accepted by IEEE RA-L. URL: https://sites.google.com/view/realm-rigidmilp

RoadRunner M&M -- Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation

Manthan Patel, Jonas Frey, Deegan Atha, Patrick Spieler, Marco Hutter, Shehryar Khattak

Comments Under review for IEEE RA-L

FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments

Devansh Dhrafani, Yifei Liu, Andrew Jong, Ukcheol Shin, Yao He, Tyler Harp, Yaoyu Hu, Jean Oh, Sebastian Scherer

Comments Under review in RA-L. The first 2 authors contributed equally

Center Direction Network for Grasping Point Localization on Cloths

Domen Tabernik, Jon Muhovič, Matej Urbas, Danijel Skočaj

Comments Accepted for publication in IEEE Robotics and Automation Letters

SOMTP: Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics

Yifan Liu, You Wang, Guang Li

Journal ref IEEE Robotics and Automation Letters 2024

CoFiI2P: Coarse-to-Fine Correspondences for Image-to-Point Cloud Registration

Shuhao Kang, Youqi Liao, Jianping Li, Fuxun Liang, Yuhao Li, Xianghong Zou, Fangning Li, Xieyuanli Chen, Zhen Dong, Bisheng Yang

Comments Accepted by IEEE RA-L 2024. Code, pretrained models and additional results are available at: https://whu-usi3dv.github.io/CoFiI2P

MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization

Pengcheng Zhu, Yaoming Zhuang, Baoquan Chen, Li Li, Chengdong Wu, Zhanlin Liu

Comments Accepted by IEEE Robotics and Automation Letters

Online Resynthesis of High-Level Collaborative Tasks for Robots with Changing Capabilities

Amy Fang, Tenny Yin, Hadas Kress-Gazit

Comments Under review in IEEE Robotics and Automation Letters

Sim-to-Real of Soft Robots with Learned Residual Physics

Junpeng Gao, Mike Yan Michelis, Andrew Spielberg, Robert K. Katzschmann

Comments 8 pages, 8 figures

Journal ref IEEE Robotics and Automation Letters (Volume: 9, Issue: 10, October 2024)

Safe and Efficient Path Planning under Uncertainty via Deep Collision Probability Fields

Felix Herrmann, Sebastian Zach, Jacopo Banfi, Jan Peters, Georgia Chalvatzaki, Davide Tateo

Comments Preprint version of a paper accepted to the IEEE Robotics and Automation Letters

Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-training

Shilin Shan, Quang-Cuong Pham

Comments Accepted to Robotics and Automation Letters (RA-L), 8 pages

Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids

Kento Kawaharazuka, Masaya Kawamura, Shogo Makino, Yuki Asano, Kei Okada, Masayuki Inaba

Comments Accepted at IEEE Robotics and Automation Letters

Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids

Kento Kawaharazuka, Manabu Nishiura, Yuya Koga, Yusuke Omura, Yasunori Toshimitsu, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba

Comments Accepted at IEEE Robotics and Automation Letters

Deep Probabilistic Traversability with Test-time Adaptation for Uncertainty-aware Planetary Rover Navigation

Masafumi Endo, Tatsunori Taniai, Genya Ishigami

Comments 8 pages, 4 figures. Submitted to IEEE Robotics and Automation Letters (RA-L)

PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots

Shixin Luo, Songbo Li, Ruiqi Yu, Zhicheng Wang, Jun Wu, Qiuguo Zhu

Comments Accepted for IEEE Robotics and Automation Letters (RA-L)

On the Federated Learning Framework for Cooperative Perception

Zhenrong Zhang, Jianan Liu, Xi Zhou, Tao Huang, Qing-Long Han, Jingxin Liu, Hongbin Liu

Comments accepted by IEEE RA-L

NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting

Yiming Ji, Yang Liu, Guanghu Xie, Boyu Ma, Zongwu Xie

Comments accepted by RA-L, IEEE Robotics and Automation Letters

Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

Miguel Fernandez-Cortizas, Martin Molina, Pedro Arias-Perez, Rafael Perez-Segui, David Perez-Saura, Pascual Campoy

Comments Submitted to IEEE Robotics and Automation Letters

Safe and Smooth: Certified Continuous-Time Range-Only Localization

Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot

Comments 10 pages, 7 figures, accepted to IEEE Robotics and Automation Letters (this arXiv version contains supplementary appendix). Version info: v4 (add publication header, change min to argmin in (2) and (16)), v3 (revised version), v2 (submitted version), v1 (initial version)

Autonomous Image-to-Grasp Robotic Suturing Using Reliability-Driven Suture Thread Reconstruction

Neelay Joglekar, Fei Liu, Florian Richter, Michael C. Yip

Comments 8 pages, 6 figures, Submitted to RAL

On the Benefits of Visual Stabilization for Frame- and Event-based Perception

Juan Pablo Rodriguez-Gomez, Jose Ramiro Martinez-de Dios, Anibal Ollero, Guillermo Gallego

Comments 8 pages, 4 figures, 4 tables, https://github.com/tub-rip/visual_stabilization

Journal ref IEEE Robotics and Automation Letters (RA-L), 2024

Trajectory optimization for contact-rich motions using implicit differential dynamic programming

Iordanis Chatzinikolaidis, Zhibin Li

Comments 9 pages, 6 figures, 1 table, submitted to IEEE Robotics and Automation Letters; under review

A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares

Vassili Korotkine, Mitchell Cohen, James Richard Forbes

Comments 8 pages, 2 figures. Accepted to IEEE Robotics and Automation Letters

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments

Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner

Comments Published in: IEEE Robotics and Automation Letters

Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors

Jinjie Li, Junichiro Sugihara, Moju Zhao

Comments 8 pages, 10 figures. This article has been accepted by RA-L