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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1653 result(s) for “Methods and Tools for Robot System Design” Page 26 of 34
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STAP: Sequencing Task-Agnostic Policies
Toki Migimatsu, Christopher George Agia, Jiajun Wu, Jeannette Bohg
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Reinforcement Learning Based Pushing and Grasping Objects from Ungraspable Poses
Hao Zhang, Hongzhuo Liang, Lin Cong, Jianzhi Lyu, Long Zeng, Pingfa Feng, Jianwei Zhang
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Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard, Zhouwen Sun, Luis Sentis
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Learning Food Picking without Food: Fracture Anticipation by Breaking Reusable Fragile Objects
Rinto Yagawa, Reina Ishikawa, Masashi Hamaya, Kazutoshi Tanaka, Atsushi Hashimoto, Hideo Saito
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Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
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Data-Association-Free Landmark-based SLAM
Yihao Zhang, Odin Aleksander Severinsen, John Leonard, Luca Carlone, Kasra Khosoussi
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Reinforced Learning for Label-Efficient 3D Face Reconstruction
Hoda Mohaghegh, Hossein Rahmani, Hamid Laga, Farid Boussaid, Mohammed Bennamoun
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Kinematic Redundancy Analysis for (2n+1)R Circular Manipulators
Zijia Li, Mathias Brandstötter, Michael Hofbaur
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Deep Reinforcement Learning Based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Javad K. Mehr, Edward Guo, Mojtaba Akbari, Vivian K. Mushahwar, Mahdi Tavakoli
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Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion
Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta
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ViewBirdiformer: Learning to Recover Ground-Plane Crowd Trajectories and Ego-Motion from a Single Ego-Centric View
Mai Nishimura, Shohei Nobuhara, Ko Nishino
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Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Chengyang Peng, Octavian Donca, Guillermo Castillo, Ayonga Hereid
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Extraneousness-Aware Imitation Learning
Ray Chen Zheng, Kaizhe Hu, Zhecheng Yuan, Boyuan Chen, Huazhe Xu
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Legs As Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng, Ashish Kumar, Deepak Pathak
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SE(3)-DiffusionFields: Learning Smooth Cost Functions for Joint Grasp and Motion Optimization through Diffusion
Julen Urain De Jesus, Niklas Wilhelm Funk, Jan Peters, Georgia Chalvatzaki
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User-Conditioned Neural Control Policies for Mobile Robotics
Leonard Bauersfeld, Elia Kaufmann, Davide Scaramuzza
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Dealing with Sparse Rewards in Continuous Control Robotics Via Heavy-Tailed Policy Optimization
SOURADIP CHAKRABORTY, Amrit Singh Bedi, Kasun Weerakoon Kulathun Mudiyanselage, Prithvi Poddar, Alec Koppel, Pratap Tokekar, Dinesh Manocha
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3D VSG: Long-Term Semantic Scene Change Prediction through 3D Variable Scene Graphs
Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart, Cesar Cadena Lerma, Lukas Maximilian Schmid
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TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline
Hongjie Fang, Hao-Shu Fang, Sheng Xu, Cewu Lu
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Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots
Wanting Jin, Faezeh Rahbar, Chiara Ercolani, Alcherio Martinoli
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Long-Term Localization Using Semantic Cues in Floor Plan Maps
Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen, Jens Behley, Cyrill Stachniss
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Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV
Sotiris Papatheodorou, Nils Funk, Dimos Tzoumanikas, Christopher Choi, Binbin Xu, Stefan Leutenegger
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Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-Hand Objects
Alireza Rezazadeh, Snehal Dikhale, Soshi Iba, Nawid Jamali
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Category-Level Shape Estimation for Densely Cluttered Objects
Zhenyu Wu, Ziwei Wang, Jiwen Lu, Haibin Yan
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Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
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GSNet: Model Reconstruction Network for Category-Level 6D Object Pose and Size Estimation
Penglei Liu, Qieshi Zhang, Jun Cheng
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PredRecon: A Prediction-Boosted Planning Framework for Fast and High-Quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao, Boyu Zhou, Shaojie Shen
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PointCloudLab: An Environment for 3D Point Cloud Annotation with Adapted Visual Aids and Levels of Immersion
Achref Doula, Tobias Güdelhöfer, Andrii Matviienko, Max Mühlhäuser, Alejandro Sanchez Guinea
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RFFCE: Residual Feature Fusion and Confidence Evaluation Network for 6DoF Pose Estimation
Qiwei Meng, shanshan ji, Shiqiang Zhu, Tianlei Jin, Te Li, Jason Gu, Wei Song
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Differentiable Parsing and Visual Grounding of Natural Language Instructions for Object Placement
Zirui Zhao, Wee Sun Lee, David Hsu
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Formation Tracking and Obstacle Avoidance for Multiple Quadrotors with Static and Dynamic Obstacles
Juntong Qi, Jinjin Guo, Mingming Wang, Chong Wu, Zhenwei Ma
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LGCNet: Feature Enhancement and Consistency Learning Based on Local and Global Coherence Network for Correspondence Selection
Tzu-Han Wu, Kuan-Wen Chen
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Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype Via Terrain Authoring and Active Learning
Chong Zhang, Lizhi Yang
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Effective Combination of Vertical, Longitudinal and Lateral Data for Vehicle Mass Estimation
Younesse EL MRHASLI, Bruno Monsuez, XAVIER MOUTON
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Guided Reinforcement Learning � A Review and Evaluation for Efficient and Effective Real-World Robotics
Julian Eßer, Nicolas Bach, Christian Jestel, Oliver Urbann, Sören Kerner
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Noise and Environmental Justice in Drone Fleet Delivery Paths: A Simulation-Based Audit and Algorithm for Fairer Impact Distribution
Zewei Zhou, Martim Brandao
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Bounded Compensation with Friction Estimation for Accurate Motion Tracking and Compliant Behavior of Industrial Manipulators
Dongwoo Ko, Donghyeon Lee, Wan Kyun Chung, Keehoon Kim
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Integrated Vector Field and Backstepping Control for Quadcopters
Arthur Henrique Dias Nunes, Guilherme V. Raffo, Luciano Pimenta
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KGNet: Knowledge-Guided Networks for Category-Level 6D Object Pose and Size Estimation
Qiwei Meng, Jason Gu, Shiqiang Zhu, Jianfeng Liao, Tianlei Jin, Fangtai Guo, Wen Wang, Wei Song
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Combining Motion and Appearance for Robust Probabilistic Object Segmentation in Real Time
Vito Mengers, Aravind Battaje, Manuel Baum, Oliver Brock
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Semantic-SuPer: A Semantic-Aware Surgical Perception Framework for Endoscopic Tissue Classification, Reconstruction, and Tracking
Shan Lin, Albert Miao, Jingpei Lu, Shunkai Yu, Zih-Yun Chiu, Florian Richter, Michael C. Yip
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Slice Transformer and Self-Supervised Learning for 6DoF Localization in 3D Point Cloud Maps
Muhammad Ibrahim, Naveed Akhtar, Saeed Anwar, michael wise, Ajmal Mian
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NVRadarNet: Real-Time Radar Obstacle and Free Space Detection for Autonomous Driving
Alexander Popov, Patrik Gebhardt, Ke Chen, Ryan Oldja, Hee Seok Lee, Shane, Michael Murray, ruchi bhargava, Nikolai Smolyanskiy
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Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking
T. Kevin Best, Cara Gonzalez Welker, Elliott Rouse, Robert D. Gregg
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Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny
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On Human Grasping and Manipulation in Kitchens: Automated Annotation, Insights, and Metrics for Effective Data Collection
Nathan Elangovan, Ricardo de Godoy, Felipe Padula Sanches, Ke Wang, Tom White, Patrick Jarvis, Minas Liarokapis
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Active Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics
Corrado Pezzato, Carlos Hernández, Stefan Bonhof, Martijn Wisse
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TRADE: Object Tracking with 3D Trajectory and Ground Depth Estimates for UAVs
Pedro F. Proença, Patrick Spieler, Robert Hewitt, Jeff Delaune
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Risk-Aware Fast Trajectory Planner for Uncertain Environments Based on Probabilistic Surrogate Reliability and Risk Contours
Guobiao Wang
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TrafficBots: Towards World Models for Autonomous Driving Simulation and Motion Prediction
Zhejun Zhang, Alexander Liniger, Dengxin Dai, Fisher Yu, Luc Van Gool
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