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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1641 result(s) for “Task and Motion Planning” Page 3 of 33
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KRIS: A Novel Device for Kinesthetic Corrective Feedback During Robot Motion
Jorn Verhggen, Kim Baraka
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Multi-Object Navigation in Real Environments Using Hybrid Policies
Assem Sadek, Guillaume Bono, Boris Chidlovskii, Atilla Baskurt, Christian Wolf
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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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Efficient Planning of Multi-Robot Collective Transport Using Graph Reinforcement Learning with Higher Order Topological Abstraction
Steve Paul, Wenyuan Li, Brian Smyth, Yuzhou Chen, Yulia Gel, Souma Chowdhury
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Induced Vertex Motion As a Performance Measure for Surgery in Confined Spaces
Neel Shihora, Nabil Simaan
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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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Towards Efficient Trajectory Generation for Ground Robots Beyond 2D Environment
Jingping Wang, Long Xu, HAORAN FU, Chao Xu, Yanjun Cao, Ximin Lyu, Fei Gao
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Extracting Generalizable Skills from a Single Plan Execution Using Abstraction-Critical State Detection
Khen Elimelech, Lydia Kavraki, Vardi Moshe
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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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Hybrid Learning of Time-Series Inverse Dynamics Models for Locally Isotropic Robot Motion
Tolga-Can Çallar, Sven Böttger
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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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A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories
Simon Wasiela, Paolo Robuffo Giordano, Juan Cortes, Thierry Simeon
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Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia Kavraki, Kaiyu Hang
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Reinforcement Learning-Based Optimal Multiple Waypoint Navigation
Christos Vlachos, Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Siddharth Mayya, Saaketh Narayan, Matthew Malencia, Saurav Agarwal, Vijay Kumar
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Experiments in Underwater Feature Tracking with Performance Guarantees Using a Small AUV
Benjamin Biggs, Hans He, James McMahon, Daniel Stilwell
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Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar
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Holistic Graph-Based Motion Prediction
Daniel Grimm, Philip Schörner, Moritz Dreßler, Johann Marius Zöllner
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Learning Personalised Human Sit-To-Stand Motion Strategies Via Inverse Musculoskeletal Optimal Control
Daniel F. N. Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar
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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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The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Jake Welde, Matthew Kvalheim, Vijay Kumar
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VP-STO: Via-Point-Based Stochastic Trajectory Optimization for Reactive Robot Behavior
Julius Jankowski, Lara Brudermüller, Nick Hawes, Sylvain Calinon
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STPOTR: Simultaneous Human Trajectory and Pose Prediction Using a Non-Autoregressive Transformer for Robot Follow-Ahead
Mohammad Mahdavian, Payam Nikdel, Mahdi Taherahmadi, Mo Chen
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Closed-Loop Motion Control of Robotic Swarms � a Tether-Based Strategy
Eshaghi, Kasra,Rogers, Andrew,Nejat, Goldie,Benhabib, Beno
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Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
Adam Uchytil, Jiri Zemanek
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KubeROS: A Unified Platform for Automated and Scalable Deployment of ROS2-Based Multi-Robot Applications
Yongzhou Zhang, Christian Wurll, Björn Hein
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Learning to View: Decision Transformers for Active Object Detection
Wenhao Ding, Majcherczyk Nathalie, Mohit Deshpande, Xuewei Qi, Ding Zhao, Rajasimman Madhivanan, Arnab Sen
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Event-Based Real-Time Moving Object Detection Based on IMU Ego-Motion Compensation
Chunhui Zhao, Yakun Li, Yang Lyu
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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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Soft Fluidic Actuator for Locomotion in Multi-Phase Environments
Roza Gkliva, Maarja Kruusmaa
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RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher
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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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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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Wayformer: Motion Forecasting Via Simple & Efficient Attention Networks
Nigamaa Nayakanti, Rami Al-Rfou, Aurick Zhou, Kratarth Goel, Khaled Refaat, Benjamin Sapp
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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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Communicating Inferred Goals with Passive Augmented Reality and Active Haptic Feedback
James Mullen, Josh Mosier, Sounak Chakrabarti, Anqi Chen, Tyler White, Dylan Losey
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Curvature-Aware Model Predictive Contouring Control
Lorenzo Lyons, Laura Ferranti
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GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting
Alexander Cui, Sergio Casas Romero, Kelvin Wong, Simon Suo, Raquel Urtasun
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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 Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, alessio margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera, Andrea Rusconi, Guido Sangiovanni, Nikos Tsagarakis
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Decoupling Skill Learning from Robotic Control for Generalizable Object Manipulation
Kai Lu, Bo Yang, Bing Wang, Andrew Markham
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Meta-Reinforcement Learning Via Language Instructions
Zhenshan Bing, Alexander Koch, Xiangtong Yao, Kai Huang, Alois Knoll
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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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Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
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Discovering Multiple Algorithm Configurations
Leonid Keselman, martial hebert
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Semantics-aware Exploration and Inspection Path Planning
Mihir Rahul Dharmadhikari, Kostas Alexis
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Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer, KONSTANTINOS BATSOS, Alberto Quattrini Li, Philippos Mordohai, Ioannis Rekleitis
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Constraint Manifolds for Robotic Inference and Planning
Yetong Zhang, Fan Jiang, Gerry Chen, Varun Agrawal, Adam Rutkowski, Frank Dellaert
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Efficient Speed Planning for Autonomous Driving in Dynamic Environment with Interaction Point Model
Yingbing Chen, Ren XIN, Jie CHENG, Qingwen Zhang, Xiaodong Mei, Ming Liu, Lujia Wang
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Risk-Aware Spatio-Temporal Logic Planning in Gaussian Belief Spaces
Matti Vahs, Christian Pek, Jana Tumova
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