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ICRA 2024

2337 papers · 0 AI summaries · 2024

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Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces
Servet Bora Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia Kavraki
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CACTO: Continuous Actor-Critic with Trajectory Optimization---Towards Global Optimality
Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
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A Novel SEA-Based Haptic Interface for Robot-Assisted Vascular Interventional Surgery
Yonggan Yan, Shuxiang Guo, Chuqiao Lyu, Jian Guo, Jian Wang, Pengfei Yang, Yongwei Zhang, Yongxin Zhang, jianmin liu
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Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
Ezra Tal, Gilhyun Ryou, Sertac Karaman
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Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications
Shuangyu Xie, Chengsong Hu, Di Wang, Joe Johnson, Muthukumar Bagavathiannan, Dezhen Song
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PeLiCal: Targetless Extrinsic Calibration via Penetrating Lines for RGB-D Cameras with Limited Co-Visibility
Jaeho Shin, Seungsang Yun, Ayoung Kim
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Toward Optimal Tabletop Rearrangement with Multiple Manipulation Primitives
Baichuan Huang, XUJIA ZHANG, Jingjin Yu
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SE(2) Assembly Planning for Magnetic Modular Cubes
Kjell Keune, Aaron Becker
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RETOM: Leveraging Maneuverability for Reactive Tool Manipulation Using Wrench-Fields
Felix Eberle, Riddhiman Laha, Haowen Yao, Abdeldjallil Naceri, Luis Figueredo, Sami Haddadin
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Untethered Underwater Soft Robot with Thrust Vectoring
Robin Hall, Cagdas Onal
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Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot
Zicong Wu, S.M.Hadi Sadati, Kawal Rhode, Christos Bergeles
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Collision Avoidance and Navigation for a Quadrotor Swarm Using End-To-End Deep Reinforcement Learning
Zhehui Huang, Zhaojing Yang, Rahul Krupani, Baskın Şenbaşlar, Sumeet Batra, Gaurav Sukhatme
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Sampling-Based Reactive Synthesis for Nondeterministic Hybrid Systems
Qi Heng Ho, Zachary Sunberg, Morteza Lahijanian
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Advancing Virtual Reality Interaction: A Ring-Shaped Controller and Pose Tracking
Zhuqing Zhang, Dongxuan Li, Jiayao Ma, Yijia He, Pan Ji, Rong Xiong, Hongdong Li, Yue Wang
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MORPH: Design Co-Optimization with Reinforcement Learning Via a Differentiable Hardware Model Proxy
Zhanpeng He, Matei Ciocarlie
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Shadow-Based 3D Pose Estimation of Intraocular Instrument Using Only 2D Images
Junjie Yang, Zhihao Zhao, Mathias Maier, Kai Huang, Nassir Navab, M. Ali Nasseri
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Vertical Vibratory Transport of Grasped Parts Using Impacts
Connor Yako, Jerome Nowak, Shenli Yuan, Kenneth Salisbury
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Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration
Jakob Thumm, Felix Trost, Matthias Althoff
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Inter-Finger Small Object Manipulation with DenseTact Optical Tactile Sensor
Won Kyung Do, Bianca Aumann, Camille Chungyoun, Monroe Kennedy
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Reinforcement Learning for Freeform Robot Design
Muhan Li, David Matthews, Sam Kriegman
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LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration
Paul Nadan, Spencer Backus, Aaron M. Johnson
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Wind Field Modeling for Formation Planning in Multi-Drone Systems
Minhyuk Park, Tsz-Chiu Au
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On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
Jee-eun Lee, Andrew Bylard, Zhouwen Sun, Luis Sentis
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Self-Supervised Learning of Monocular Visual Odometry and Depth with Uncertainty-Aware Scale Consistency
Changhao Wang, Guanwen Zhang, Wei Zhou
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IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
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Pneumatic Back Exoskeleton for Lifting Posture Detection and Correction
Yu Chen, Minda Wang, Yifan Wang
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RGBD-Based Image Goal Navigation with Pose Drift: A Topo-Metric Graph Based Approach
Shuhao Ye, Yuxiang Cui, Hao Sha, Sha Lu, Yu Zhang, Rong Xiong, Yue Wang
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ATPPNet: Attention Based Temporal Point Cloud Prediction Network
Kaustab Pal, Aditya Sharma, Avinash Sharma, Madhava Krishna
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Design and Analysis of Adaptive Flipper with Origami Structure for Frog-Inspired Swimming Robot
Shuqi Wang, Jizhuang Fan, Yitao Pan, Gangfeng Liu, Yubin Liu
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Kinesthetic-Based In-Hand Object Recognition with an Underactuated Robotic Hand
Julius Arolovitch, Osher Azulay, Avishai Sintov
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Physical Priors Augmented Event-Based 3D Reconstruction
Jiaxu Wang, Junhao He, ziyi Zhang, Renjing Xu
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Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
Tilman Daab, Noémie Jaquier, Christian R. G. Dreher, Andre Meixner, Franziska Krebs, Tamim Asfour
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Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object Transport
Sriram N N, Dinesh Jayaraman, Manmohan Chandraker
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VBR: A Vision Benchmark in Rome
Leonardo Brizi, Emanuele Giacomini, Luca Di Giammarino, Simone Ferrari, Omar Ashraf Ahmed Khairy Salem, Lorenzo De Rebotti, Giorgio Grisetti
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High Stimuli Virtual Reality Training for a Brain Controlled Robotic Wheelchair
Alexander Thomas, Jianan Chen, Anna Hella-Szabo, Merlin Kelly, Tom Carlson
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A Miniature Water Jumping Robot Based on Accurate Interaction Force Analysis
Jihong Yan, Xin Zhang, Kai Yang, Jie Zhao
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Implementation and Assessment of an Augmented Training Curriculum for Surgical Robotics
Alberto Rota, Ke Fan, Elena De Momi
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AutoGraph: Predicting Lane Graphs from Traffic Observations
Jannik Zürn, Ingmar Posner, Wolfram Burgard
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Hierarchical Experience-Informed Navigation for Multi-Modal Quadrupedal Rebar Grid Traversal
Maxwell Asselmeier, Evgeniia Ivanova, Ziyi Zhou, Patricio Vela, Ye Zhao
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Morphable-SfS: Enhancing Shape-from-Silhouette Via Morphable Modeling
Guoyu Lu
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ReC-Gripper: A Reconfigurable Combined Suction and Fingered Gripper for Various Logistics Picking and Stowing Tasks
Seunghwan Um, Heeyeon Jeong, ChunSoo Kim, Issac Rhee, Hyouk Ryeol Choi
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VeloVox: A Low-Cost and Accurate 4D Object Detector with Single-Frame Point Cloud of Livox LiDAR
Tao Ma, Zhiwei Zheng, Hongbin Zhou, Xinyu Cai, Xuemeng Yang, Yikang LI, Botian Shi, Hongsheng Li
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Kalman Filter-Based One-Shot Sim-To-Real Transfer Learning
dongqingwei dongqingwei, Peng Zeng, Guangxi Wan, Yunpeng He, Xiaoting Dong
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Learning a Flexible Neural Energy Function with a Unique Minimum for Globally Stable and Accurate Demonstration Learning
Zhehao Jin, WEIYONG SI, Andong Liu, Wen-An Zhang, Li Yu, Chenguang Yang
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Angler: An Autonomy Framework for Intervention Tasks with Lightweight Underwater Vehicle Manipulator Systems
Evan Palmer, Chris Holm, Geoffrey Hollinger
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Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
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Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles
Junwoo Jang, Sangli Teng, Maani Ghaffari
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1 kHz Behavior Tree for Self-Adaptable Tactile Insertion
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares Abu-Dakka, Alois Knoll, Sami Haddadin
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SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion Using a 3D Recurrent U-Net
Helin Cao, Sven Behnke
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A Deep Learning Framework for Non-Symmetrical Coulomb Friction Identification of Robotic Manipulators
Marcel Lahoud, Gabriele Marchello, Mariapaola D'Imperio, Andreas Mueller, Ferdinando Cannella
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