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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1638 result(s) for “Control Architectures and Programming” Page 6 of 33
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Multi-Alpha Soft Actor-Critic: Overcoming Stochastic Biases in Maximum Entropy Reinforcement Learning
Conor Igoe, Swapnil Pande, Siddarth Venkatraman, Jeff Schneider
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On the Learned Balance Manifold of Underactuated Balance Robots
Feng Han, Jingang Yi
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Computational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation
Kirill Nasonov, Dmitriy Ivolga, Ivan Borisov, Sergey Kolyubin
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DQN-Based On-Line Path Planning Method for Automatic Navigation of Miniature Robots
Jialin JIANG, Lidong Yang, Li Zhang
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Learned Risk Metric Maps for Kinodynamic Systems
Ross Allen, Wei Xiao, Daniela Rus
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Training Efficient Controllers Via Analytic Policy Gradient
Nina Wiedemann, Valentin Wüest, Antonio Loquercio, Matthias Müller, Dario Floreano, Davide Scaramuzza
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Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection
Manuel Boldrer, Lorenzo Lyons, Luigi Palopoli, Daniele Fontanelli, Laura Ferranti
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Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail
Yunxi TANG, JIAJUN AN, Xiangyu CHU, Shengzhi Wang, Ching Yan Wong, K. W. Samuel Au
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Testing Rare Downstream Safety Violations Via Upstream Adaptive Sampling of Perception Error Models
Craig Innes, Subramanian Ramamoorthy
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Object Detection Using Sim2Real Domain Randomization for Robotic Applications
Horváth, Dániel,Erdos, Gábor,Istenes, Zoltán,Horvath, Tomas,Földi, Sándor
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Soft Fluidic Actuator for Locomotion in Multi-Phase Environments
Roza Gkliva, Maarja Kruusmaa
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Model Learning with Backlash Compensation for a Tendon-Driven Surgical Robot
Francesco Cursi, Weibang Bai, Eric Yeatman, Petar Kormushev
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Tactile-Based Task Description through Edge Contact Formation Setpoints for Object Exploration and Manipulation
Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau
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Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Giulio Schiavi, Paula Wulkop, Giuseppe Maria Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung
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Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs
Julius Wanner, Eric Sihite, Alireza Ramezani, Gharib Morteza
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Learning to Play Table Tennis from Scratch Using Muscular Robots
Büchler, Dieter,Guist, Simon,Calandra, Roberto,Berenz, Vincent,Schölkopf, Bernhard,Peters, Jan
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GAN-Based Interactive Reinforcement Learning from Demonstration and Human Evaluative Feedback
Jie Huang, Jiangshan Hao, Rongshun Juan, Randy Gomez, Keisuke Nakamura, Guangliang Li
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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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Stealthy Perception-Based Attacks on Unmanned Aerial Vehicles
Amir Khazraei, Haocheng Meng, Miroslav Pajic
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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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Robotic Rotational Positioning of End-Effectors for Micromanipulation
Zhuang, Songlin,Dai, Changsheng,Shan, Guanqiao,Ru, Changhai,Zhang, Zhuoran,Sun, Yu
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A General Locomotion Approach for a Novel Multi-Legged Spherical Robot
Dun Yang, Yunfei Liu, Yang Yu
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Peg-In-Hole Assembly with Dual-Arm Robot and Dexterous Robot Hands
Dong-Hyuk Lee, Myoung-Su Choi, Hyeonjun Park, Ga-Ram Jang, Jae-Han Park, Ji-Hun Bae
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Autonomous Drifting with 3 Minutes of Data Via Learned Tire Models
Franck Djeumou, Jon Goh, Ufuk Topcu, Avinash Balachandran
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Cooperative Driving in Mixed Traffic of Manned and Unmanned Vehicles Based on Human Driving Behavior Understanding
Jiaxing Lu, Sanzida Hossain, Weihua Sheng, HE BAI
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A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels
Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo
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NESM-Gamma: An Upper-Limb Exoskeleton with Compliant Actuators for Clinical Deployment
Jun Pan, Davide Astarita, Andrea Baldoni, Filippo Dell'Agnello, Simona Crea, Nicola Vitiello, Emilio Trigili
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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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Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning
Nicolai Dorka, Tim Welschehold, Joschka Boedecker, Wolfram Burgard
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Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
Jared Lawson, Rohan Chitale, Nabil Simaan
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Traffic-Aware Autonomous Driving with Differentiable Traffic Simulation
Laura Zheng, Sanghyun Son, Ming C. Lin
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DNN-Based Predictive Model for a Batoid-Inspired Soft Robot
Guangtong Li, Thileepan Stalin, TRUONG VAN TIEN, Pablo Valdivia y Alvarado
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Robotic Fastening with a Manual Screwdriver
Ling Tang, Yan-Bin Jia
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Learning Modular Robot Visual-Motor Locomotion Policies
Julian Whitman, Howie Choset
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Supernumerary Robotic Limbs for Next Generation Space Suit Technology
Erik Ballesteros, Brandon Man, Harry Asada
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Learning Performance Graphs from Demonstrations Via Task-Based Evaluations
Aniruddh Gopinath Puranic, Jyotirmoy Deshmukh, Stefanos Nikolaidis
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Exploring an External Approach to Subretinal Drug Delivery Via Robot Assistance and B-Mode OCT
Elan Ahronovich, Neel Shihora, Jin-Hui Shen, Karen Joos, Nabil Simaan
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Controllable Mechanical-Domain Energy Accumulators
Sung Kim, David Braun
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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, J.W Grizzle
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Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation
Zhiwu Zheng, Hsin Cheng, Prakhar Kumar, Sigurd Wagner, Minjie Chen, Naveen Verma, James Sturm
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Design and Validation of a Polycentric Hybrid Knee Prosthesis with Electromagnet-Controlled Mode Transition
Xu Wang, Haohua Xiu, Yao Zhang, Wei Liang, Wei Chen, Guowu Wei, Lei Ren, Luquan Ren
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Development and Experimental Verification of a 3D Dynamic Absolute Nodal Coordinate Formulation Model of Flexible Prostate Biopsy/Brachytherapy Needles
Athanasios Martsopoulos, Thomas Hill, Raj Persad, Stefanos Bolomytis, Antonia Tzemanaki
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Estimation of Continuous Environments by Robot Swarms: Correlated Networks and Decision-Making
Mohsen Raoufi, Pawel Romanczuk, Heiko Hamann
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Enabling Safe Walking Rehabilitation on the Exoskeleton Atalante: Experimental Results
Maxime BRUNET, Marine PETRIAUX, Florent Di Meglio, Nicolas PETIT
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Collaborative Magnetic Manipulation Via Two Robotically-Actuated Permanent Magnets
Giovanni Pittiglio, Michael Brockdorff, Tomas da Veiga, Joshua Davy, James Henry Chandler, Pietro Valdastri
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The Robustness of Tether Friction in Non-Idealized Terrains
Justin Page, Laura Treers, Steven Jens Jorgensen, Ronald Fearing, Hannah Stuart
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MPC with Sensor-Based Online Cost Adaptation
Avadesh Meduri, Huaijiang Zhu, Armand Jordana, Ludovic Righetti
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Stability and Convergence Analysis of 3D Feature-Based Visual Servoing
Marco Costanzo, Giuseppe De Maria, Ciro Natale, Antonio Russo
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Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay, Luis Sentis
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Comparison of Model-Based and Model-Free Reinforcement Learning for Real-World Dexterous Robotic Manipulation Tasks
David Patricio Valencia Redrovan, John Jia, Raymond Li, Alex Hayashi, Megan Lecchi, Reuel Terezakis, Trevor Gee, Minas Liarokapis, Bruce MacDonald, Henry Williams
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