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ICRA 2023

1655 papers · 0 AI summaries · 2023

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439 result(s) for “Manipulation Planning” Page 1 of 9
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Manipulation Planning Using Wave Variables
Pitakwatchara, Phongsaen,Arunrat, Jetnipit
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Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
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Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
Dasharadhan Mahalingam, Nilanjan Chakraborty
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Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint
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Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization
Ramkumar Natarajan, Garrison Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset
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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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Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia Kavraki, Kaiyu Hang
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A Coarse-To-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance
Mingrui Yu, Kangchen Lv, Changhao Wang, Masayoshi Tomizuka, Xiang LI
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Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
Adam Uchytil, Jiri Zemanek
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Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
Xinghao Zhu, Wenzhao Lian, BODI Yuan, Daniel Freeman, Masayoshi Tomizuka
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Demonstration-Guided Optimal Control for Long-Term Non-Prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon
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Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects
Aidan Curtis, Leslie Kaelbling, Siddarth Jain
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Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Valentin Noah Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint
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M-EMBER: Tackling Long-Horizon Mobile Manipulation Via Factorized Domain Transfer
Bohan Wu, Roberto Martín-Martín, Li Fei-Fei
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An Architecture for Reactive Mobile Manipulation On-The-Move
Ben Burgess-Limerick, Christopher Lehnert, Jurgen Leitner, Peter Corke
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Goal-Conditioned Action Space Reduction for Deformable Object Manipulation
Shengyin Wang, Rafael Papallas, Matteo Leonetti, Mehmet R Dogar
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Neural Grasp Distance Fields for Robot Manipulation
Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
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DiffSRL: Learning Dynamical State Representation for Deformable Object Manipulation with Differentiable Simulation
Sirui Chen, Yunhao Liu, Shang Wen Yao, Jialong LI, Tingxiang Fan, Jia Pan
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Noncontact Particle Manipulation on Water Surface with Ultrasonic Phased Array System and Microscopic Vision
Yexin Zhang, Jiaqi Li, Yuyu Jia, Teng LI, hu su, Song LIU, David C. Jeong, Yang Wang
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Robotic Manipulation of Sperm As a Deformable Linear Object
Dai, Changsheng,Shan, Guanqiao,Liu, Hang,Ru, Changhai,Sun, Yu
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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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Policy Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, Florian Shkurti
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Focused Adaptation of Dynamics Models for Deformable Object Manipulation
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
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STAP: Sequencing Task-Agnostic Policies
Toki Migimatsu, Christopher George Agia, Jiajun Wu, Jeannette Bohg
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Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta, Max Shepherd, Saurabh Gupta
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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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GuILD: Guided Incremental Local Densification for Accelerated Sampling-Based Motion Planning
Rosario Scalise, Aditya Mandalika, Brian Hou, Sanjiban Choudhury, Siddhartha Srinivasa
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Automatic Cell Rotation Method Based on Deep Reinforcement Learning
Huiying Gong, Yujie Zhang, Yaowei Liu, Qili Zhao, Xin Zhao, Mingzhu Sun
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Hierarchical Policy Blending As Inference for Reactive Robot Control
Kay Hansel, Julen Urain De Jesus, Jan Peters, Georgia Chalvatzaki
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Interaction Control of a Robotic Manipulator with the Surface of Deformable Object
Athanasios Dometios, Costas S. Tzafestas
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Adaptive Approximation of Dynamics Gradients Via Interpolation to Speed up Trajectory Optimisation
David Mackenzie Charles Russell, Rafael Papallas, Mehmet R Dogar
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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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Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
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Dexterous Manipulation from Images: Autonomous Real-World RL Via Substep Guidance
Kelvin Xu, Zheyuan Hu, Ria Doshi, Aaron Rovinsky, Vikash Kumar, Abhishek Gupta, Sergey Levine
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Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies
Chung Hee Kim, George Kantor
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Tactile Tool Manipulation
Yuki Shirai, Devesh Jha, Arvind Raghunathan, Dennis Hong
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DribbleBot: Dynamic Legged Manipulation in the Wild
Yandong Ji, Gabriel Margolis, Pulkit Agrawal
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Contact Optimization for Non-Prehensile Loco-Manipulation Via Hierarchical Model Predictive Control
Alberto Rigo, Yiyu Chen, Satyandra K. Gupta, Quan Nguyen
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Grey-Box Learning of Adaptive Manipulation Primitives for Robotic Assembly
Marco Braun, Sebastian Wrede
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Vitreoretinal Surgical Robotic System with Autonomous Orbital Manipulation Using Vector-Field Inequalities
Yuki Koyama, Murilo Marques Marinho, Kanako Harada
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Mechanical Intelligence for Prehensile In-Hand Manipulation of Spatial Trajectories
Qiujie Lu, Zhongxue Gan, Xinran Wang, Guochao Bai, Zhuang Zhang, Nicolas Rojas
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Adaptive Cooperative Control for Human-Robot Load Manipulation
Carlos Rodríguez de Cos, Dimos V. Dimarogonas
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Hierarchical Adaptive Loco-Manipulation Control for Quadruped Robots
Mohsen Sombolestan, Quan Nguyen
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Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation
Sridhar Pandian Arunachalam, Sneha Silwal, Ben Evans, Lerrel Pinto
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Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
Ethan Chun, Yilun Du, Anthony Simeonov, Tomas Lozano-Perez, Leslie Kaelbling
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In-Hand Manipulation in Power Grasp: Design of an Adaptive Robot Hand with Active Surfaces
Yilin Cai, Shenli Yuan
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Embodied Referring Expression for Manipulation Question Answering in Interactive Environment
Qie Sima, Sinan Tan, Huaping Liu, Fuchun Sun
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Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
Sudeep Dasari, Abhinav Gupta, Vikash Kumar
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Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
Sarvesh Patil, Long Tao, Tess Hellebrekers, Zeynep Temel, Oliver Kroemer
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Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs
Junchi Liang, Abdeslam Boularias
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