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ICRA 2024

2337 papers · 0 AI summaries · 2024

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684 result(s) for “Manipulation Planning” Page 7 of 14
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Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles Using Dubins Set Classification
Brady Moon, Sagar Sachdev, Junbin Yuan, Sebastian Scherer
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Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine
Dvij Kalaria, Qin Lin, John M. Dolan
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Tree-Based Representation of Locally Shortest Paths for 2D K-Shortest Non-Homotopic Path Planning
Tong Yang, Li Huang, Yue Wang, Rong Xiong
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Preprocessing-Based Kinodynamic Motion Planning Framework for Intercepting Projectiles Using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, Maxim Likhachev
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Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling
Nathan Ludlow, Yiwei Lyu, John M. Dolan
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Risk-Predictive Planning for Off-Road Autonomy
Lukas Lao Beyer, Gilhyun Ryou, Patrick Spieler, Sertac Karaman
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Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu, Chenning Yu, Mohammad Mahdi Naddaf Shargh, devesh upadhyay, Sicun Gao, Chuchu Fan
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Vision-Language Interpreter for Robot Task Planning
Keisuke Shirai, Cristian Camilo Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, Shinsuke MORI
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ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation
Naoki Yokoyama, Alexander Clegg, Joanne Truong, Eric Undersander, Tsung-Yen Yang, Sergio Arnaud, Sehoon Ha, Dhruv Batra, Akshara Rai
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Deep Learning Based 6-DoF Antipodal Grasp Planning from Point Cloud in Random Bin-Picking Task Using Single-View
Tat Hieu Bui, Yeong Gwang Son, Seung Jae moon, Quang Huy Nguyen, Issac Rhee, Juyong Hong, Hyouk Ryeol Choi
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Towards Learning-Based Planning: The nuPlan Benchmark for Real-World Autonomous Driving
Napat Karnchanachari, Dimitris Geromichalos, Kok Seang Tan, Nanxiang Li, Christopher Eriksen, Shakiba Yaghoubi, Noushin Mehdipour, Gianmarco Bernasconi, Whye Kit Fong, Yiluan Guo, Holger Caesar
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Unsupervised Learning of Neuro-Symbolic Rules for Generalizable Context-Aware Planning in Object Arrangement Tasks
Siddhant Sharma, Shreshth Tuli, Rohan Paul
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Safe and Individualized Motion Planning for Upper-Limb Exoskeleton Robots Using Human Demonstration and Interactive Learning
Yu Chen, Gong Chen, jing ye, Xiangjun Qiu, Xiang LI
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Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles
Zhenmin Huang, Haichao Liu, Shaojie Shen, Jun Ma
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Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator
Jie Zhao, Guilin Yang, Haoyu Shi, Silu Chen, Chin-Yin Chen, Chi Zhang
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Mixed Integer Programming for Time-Optimal Multi-Robot Coverage Path Planning with Efficient Heuristics
Jingtao Tang, Hang Ma
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Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller
Ngoc Thinh Nguyen, Pranav Tej Gangavarapu, Nicolas Mandel, Ralf Bruder, Floris Ernst
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Simplified Continuous High Dimensional Belief Space Planning with Adaptive Probabilistic Belief-Dependent Constraints
Andrey Zhitnikov, Vadim Indelman
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Cellular-Enabled Collaborative Robots Planning and Operations for Search-And-Rescue Scenarios
Arnau Romero, Carmen Delgado, Lanfranco Zanzi, Raul Suarez, Xavier Costa
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QuAD: Query-Based Interpretable Neural Motion Planning for Autonomous Driving
Sourav Biswas, Sergio Casas Romero, Quin Sykora, Ben Agro, Abbas Sadat, Raquel Urtasun
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Db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hoenig
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Exploiting Transformer in Sparse Reward Reinforcement Learning for Interpretable Temporal Logic Motion Planning
Hao Zhang, Hao Wang, Zhen Kan
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NaviFormer: A Data-Driven Robot Navigation Approach Via Sequence Modeling and Path Planning with Safety Verification
Xuyang Zhang, Ziyang Feng, Quecheng Qiu, Yu'an Chen, Bei Hua, Jianmin Ji
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GG-LLM: Geometrically Grounding Large Language Models for Zero-Shot Human Activity Forecasting in Human-Aware Task Planning
Moritz A. Graule, Volkan Isler
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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna, Luca Fortini, Mattia Leonori, Juan M. Gandarias, Arash Ajoudani
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Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
James Zhu, J. Joe Payne, Aaron M. Johnson
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Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning
Qie Sima, Yu Luo, Tianying Ji, Fuchun Sun, Huaping Liu, Jianwei Zhang
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An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and Its Application in Heuristic Path Planning
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
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Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference-Aligned Path Planning
Haresh Karnan, Elvin Yang, Garrett Warnell, Peter Stone, Joydeep Biswas
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Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction
Shambhavi Singh, Zejian Huang, Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Bhaskar Vundurthy, Howie Choset
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Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Pian Yu, Shuyang Dong, Shili Sheng, Lu Feng, kwiatkowska_floc18_4YQkwtC9 Kwiatkowska
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Learning for Deformable Linear Object Insertion Leveraging Flexibility Estimation from Visual Cues
Mingen Li, Changhyun Choi
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Symmetric Models for Visual Force Policy Learning
Colin Kohler, Anuj Shrivatsav Srikanth, Eshan Arora, Robert Platt
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WAVE: An Open-Source underWater Arm-Vehicle Emulator
Marcus Rosette, Hannah Kolano, Chris Holm, Geoffrey Hollinger, Aaron Marburg, Madison Pickett, Joseph Davidson
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TEXterity: Tactile Extrinsic DeXterity
Antonia Bronars, Sangwoon Kim, Parag Patre, Alberto Rodriguez
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Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks
Piotr Kicki, Puze Liu, Davide Tateo, Haitham Bou Ammar, Krzysztof, Tadeusz Walas, Piotr Skrzypczynski, Jan Peters
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PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration
Silvia Izquierdo-Badiola, Gerard Canal, Carlos Rizzo, Guillem AlenyÃ
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Tetraflex: A Multigait Soft Robot for Object Transportation in Confined Environments
Peter Wharton, Tsam Lung You, George Jenkinson, Richard Suphapol Diteesawat, Nguyen Hao Le, Edith-Clare Hall, Martin Garrad, Andrew Conn, Jonathan Rossiter
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Tactile Embeddings for Multi-Task Learning
Yiyue Luo, Murphy Wonsick, Jessica Hodgins, Brian Okorn
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Synchronized Dual-Arm Rearrangement Via Cooperative MTSP
Wenhao Li, Shishun Zhang, Sisi Dai, Hui Huang, Ruizhen Hu, Xiaohong Chen, Kai Xu
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Unknown Object Retrieval in Confined Space through Reinforcement Learning with Tactile Exploration
Xinyuan Zhao, Wenyu Liang, Xiaoshi Zhang, Chee Meng Chew, Yan Wu
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Model Design and Concept of Operations of Standard Interface for On-Orbit Construction
Jingdong Zhao, Zirui Wang, Ziyi Liu, Liangliang Zhao, Qifan Duan, Hong Liu
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Learning-Based Risk-Bounded Path Planning Under Environmental Uncertainty
Fei Meng, Liangliang Chen, Han Ma, Jiankun Wang, Max Q.-H. Meng
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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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StereoTac: A Novel Visuotactile Sensor That Combines Tactile Sensing with 3D Vision
Etienne Roberge, Guillaume Fornes, Jean-Philippe Roberge
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Quasi-Static Soft Fixture Analysis of Rigid and Deformable Objects
Yifei Dong, Florian T. Pokorny
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Stackelberg Game-Theoretic Trajectory Guidance for Multi-Robot Systems with Koopman Operator
Yuhan Zhao, Quanyan Zhu
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InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
Kushal Kedia, Atiksh Bhardwaj, Prithwish Dan, Sanjiban Choudhury
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Sim-To-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing
Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan Lepora
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DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects from Flat Surfaces
Won Kyung Do, Ankush Dhawan, Mathilda Kitzmann, Monroe Kennedy
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