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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1642 result(s) for “Multi-Contact Whole-Body Motion Planning and Control” Page 3 of 33
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Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Siddhant Gangapurwala, luigi campanaro, Ioannis Havoutis
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On the Use of Magnets to Robustify the Motion Control of Soft Hands
Sara Marullo, Gionata Salvietti, Domenico Prattichizzo
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DDK: A Deep Koopman Approach for Longitudinal and Lateral Control of Autonomous Ground Vehicles
Yongqian Xiao, Xinglong Zhang, Xin Xu, Lu Yang, Junxiang Li
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Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions
Zach Williams, Jushan Chen, Negar Mehr
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Self-Entanglement-Free Tethered Path Planning for Non-Particle Differential-Driven Robot
Tong Yang, Jiangpin Liu, Yue Wang, Rong Xiong
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On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv
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Planning for Complex Non-Prehensile Manipulation among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena, Maxim Likhachev
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Distributionally Robust Optimization with Unscented Transform for Learning-Based Motion Control in Dynamic Environments
Astghik Hakobyan, Insoon Yang
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Obstacle Avoidance using Raycasting and Riemannian Motion Policies at kHz Rates for MAVs
Michael Pantic, Isar Meijer, Rik Bähnemann, Nikhilesh Alatur, Olov Andersson, Cesar Cadena Lerma, Roland Siegwart, Lionel Ott
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Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron Ames
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Visibility-Aware Navigation among Movable Obstacles
Jose Muguira Iturralde, Aidan Curtis, Yilun Du, Leslie Kaelbling, Tomas Lozano-Perez
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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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Real-Time Navigation for Autonomous Surface Vehicles in Ice-Covered Waters
Rodrigue de Schaetzen, Alexander Botros, Robert Gash, Kevin Murrant, Stephen L. Smith
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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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Closing the Planning-Learning Loop with Application to Autonomous Driving
Panpan Cai, David Hsu
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Deployable Soft Pneumatic Networks (D-PneuNets) Actuator with Dual-Morphing Origami Chambers for High Compactness
Kim, Woongbae,Seo, Bada,Yu, Sung Yol,Cho, Kyu-Jin
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A Robust Visual Servoing Controller for Anthropomorphic Manipulators with Field-Of-View Constraints and Swivel-Angle Motion
Jiao Jiang, Yaonan Wang, YIMING JIANG, He Xie, Haoran Tan, Hui Zhang
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Covariance Steering for Uncertain Contact-rich Systems
Yuki Shirai, Devesh Jha, Arvind Raghunathan
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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation
Christos Vlachos, Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning
Yiang Lu, ruofeng wei, Bin LI, Wei Chen, Jianshu Zhou, Qi Dou, Dong Sun, Yunhui Liu
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Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control
Charles Khazoom, Steve Heim, Daniel Gonzalez-Diaz, Sangbae Kim
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Deep Occupancy-Predictive Representations for Autonomous Driving
Eivind Meyer, Lars Frederik Peiss, Matthias Althoff
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Differentiable Collision Detection: A Randomized Smoothing Approach
Louis Montaut, Quentin Le Lidec, Antoine Bambade, Vladimir Petrik, Josef Sivic, Justin Carpentier
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FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Oluwafunmilore Adebola, Michael Danielczuk, Victor Mayoral-Vilches, Nikhil Jha, Hugo Zhan, Edith LLontop, Derek Xu, Camilo Buscaron, John Kubiatowicz, Ion Stoica, Joseph E. Gonzalez, Ken Goldberg
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Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object
Michael Bosongo Bombile, Aude Billard
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STAP: Sequencing Task-Agnostic Policies
Toki Migimatsu, Christopher George Agia, Jiajun Wu, Jeannette Bohg
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Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
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Online Tool Selection with Learned Grasp Prediction Models
Rohanimanesh Khashayar, Jacob Metzger, William Richards, Aviv Tamar
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Robot-Assisted Eye-Hand Coordination Training System by Estimating Motion Direction Using Smooth-Pursuit Eye Movements
Xiao Li, Hong Zeng, Chenhua Yang, Aiguo Song
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Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients with Brachial Plexus Injuries
Wenda Xu, Yunfei Guo, Cesar Bravo, Pinhas Ben-Tzvi
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Holistic View of Inverse Optimal Control by Introducing Projections on Singularity Curves
Jessica Colombel, David Daney, Francois Charpillet
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Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
Randall Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron Ames, Kaveh Akbari Hamed
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Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
Shengzhi Wang, Xiangyu CHU, K. W. Samuel Au
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Geometrically Constrained Trajectory Optimization for Multicopters
Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao
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Safety-Critical Ergodic Exploration in Cluttered Environments Via Control Barrier Functions
Cameron Lerch, Dayi, E Dong, Ian Abraham
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Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
Noel Csomay-Shanklin, Victor Dorobantu, Aaron Ames
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Active Predictive Coding: Brain-Inspired Reinforcement Learning for Sparse Reward Robotic Control Problems
Alexander Ororbia, Ankur Mali
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A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization
Lin, Jui-Te,Girerd, Cedric,Yan, Jiayao,Hwang, John T.,Morimoto, Tania K.
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Efficient Learning of High Level Plans from Play
NÃoria Armengol Urpí, Marco Bagatella, Otmar Hilliges, Georg Martius, Stelian Coros
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Risk-Aware Model Predictive Path Integral Control Using Conditional Value-At-Risk
Ji Yin, Zhiyuan Zhang, Panagiotis Tsiotras
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Efficient and Hybrid Decoder for Local Map Construction in Bird's-Eye-View
Kun Tian, Yun Ye, Zheng Zhu, Peng Li, Guan Huang
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Cable Routing and Assembly Using Tactile-Driven Motion Primitives
Achu Wilson, Helen Jiang, Wenzhao Lian, Wenzhen Yuan
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Atomic-Level Tracking and Analyzing of Quantum-Dot Motion Steered by an Electrostatic Field Positioned by a Nanorobotic Manipulation Tip
Zhi QU, Zhang WENQI, Lixin Dong
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Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, joonho lee, Marco Hutter
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Causal Inference for De-Biasing Motion Estimation from Robotic Observational Data
Junhong Xu, Kai Yin, Jason M. Gregory, Lantao Liu
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An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration
Yuan Hu, Weizhong Guo, Rongfu Lin
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Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion
Hoi Man Lam, Jared Walker, Lucas Jonasch, Dimitri A. Schreiber, Michael C. Yip
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Auto-Assembly: A Framework for Automated Robotic Assembly Directly from CAD
Fedor Chervinskii, Sergei Zobov, Aleksandr Rybnikov, Danil Petrov, Komal Sai Reddy Vendidandi
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Real-Time Model Predictive Control and System Identification Using Differentiable Physics Simulation
Sirui Chen, Keenon Werling, Albert Wu, Karen Liu
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Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
Roshan Dhakal, Gregory Stein, Md Ridwan Hossain Talukder
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