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ICRA 2024

2337 papers · 0 AI summaries · 2024

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652 result(s) for “Belief Space Planning” Page 8 of 14
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SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes
Ninad Khargonkar, Sai Haneesh Allu, Yangxiao Lu, Jishnu Jaykumar P, B Prabhakaran, Yu Xiang
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Risk-Bounded Online Team Interventions via Theory of Mind
Yuening Zhang, Paul Robertson, Tianmin Shu, Sungkweon Hong, Brian Williams
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Multi-Level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection
Xinghao Zhu, Devesh Jha, Diego Romeres, Lingfeng Sun, Masayoshi Tomizuka, Anoop Cherian
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Certifying Bimanual RRT Motion Plans in a Second
Alexandre Amice, Peter Werner, Russ Tedrake
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A Constrained Path Following Method for Snake-Like Manipulators Via Controlled Winding Uncoiling Strategy
Mingrui Luo, Yunong Tian, yinghua cao, Minghao Chen, Yanfeng Zhang, En Li, Min Tan
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CAPE: Corrective Actions from Precondition Errors Using Large Language Models
Shreyas Sundara Raman, Vanya Cohen, Ifrah Idrees, Eric Rosen, Raymond Mooney, Stefanie Tellex, David Paulius
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Generating Environment-Based Explanations of Motion Planner Failure: Evolutionary and Joint-Optimization Algorithms
Qishuai Liu, Martim Brandao
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Informed Reinforcement Learning for Situation-Aware Traffic Rule Exceptions
Daniel Bogdoll, Jing Qin, Moritz Nekolla, Ahmed Abouelazm, Tim Joseph, Johann Marius Zöllner
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Dexterous In-Hand Manipulation by Guiding Exploration with Simple Sub-Skill Controllers
Gagan Khandate, Cameron Mehlman, Xingsheng Wei, Matei Ciocarlie
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Gaussian Process-Based Traversability Analysis for Terrain Mapless Navigation
Abraham Abe Leininger, Mahmoud Ali, Hassan Jardali, Lantao Liu
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BuFF: Burst Feature Finder for Light-Constrained 3D Reconstruction
Ahalya Ravendran, Mitch Bryson, Donald Dansereau
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Regressing Transformers for Data-Efficient Visual Place Recognition
Maria Leyva-Vallina, Nicola Strisciuglio, Nicolai Petkov
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Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skills
Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao
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An Intuitive Manual Guidance Scheme to Operate Rotation and Translation Simultaneously
Fan Shao, Fanny Ficuciello
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ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter
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Safety-Critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamas G. Molnar, Aaron Ames
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Predictive and Robust Robot Assistance for Sequential Manipulation
Theodoros Stouraitis, Michael Gienger
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Reinforcement Learning for Collision-Free Flight Exploiting Deep Collision Encoding
Mihir Kulkarni, Kostas Alexis
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Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
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A Surprisingly Efficient Representation for Multi-Finger Grasping
Hengxu Yan, Hao-Shu Fang, Cewu Lu
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A Study of Shared-Control with Bilateral Feedback for Obstacle Avoidance in Whole-Body Telelocomotion of a Wheeled Humanoid
DongHoon Baek, Yu-Chen (Johnny) Chang, Joao Ramos
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Globally Stable Neural Imitation Policies
Amin Abyaneh, Mariana Sosa Guzmán, Hsiu-Chin Lin
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Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles
Joonhee Lim, Kibeom Lee, Dongsuk Kum
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Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
Jeeseop Kim, Randall Fawcett, Vinay Kamidi, Aaron Ames, Kaveh Akbari Hamed
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Safety-Critical Scenario Generation Via Reinforcement Learning Based Editing
Haolan Liu, Liangjun Zhang, Siva Kumar Sastry Hari, Jishen Zhao
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Learning Robot Motion in a Cluttered Environment Using Unreliable Human Skeleton Data Collected by a Single RGB Camera
Ryota Takamido, Jun Ota
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Subgoal Diffuser: Coarse-To-Fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson
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Hyblock: Hardware Realization and Control of Modular Hydraulic Robots with Dowel Connectors
Sang-Ho Hyon, Ryo Ando, Eiji Sono, Shunichi Sugimoto, Yasushi Saito
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Design and Implementation of a Robotized Hand-Held Dissector for Endoscopic Pulmonary Endarterectomy
Runfeng ZHU, Xilong Hou, Wei Huang, Lei Du, Zhong Wu, Hongbin Liu, Henry Chu, Qing xiang Zhao
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Particle Filter with Stable Embedding for State Estimation of the Rigid Body Attitude System on the Set of Unit Quaternions
Hee-Deok Jang, Jae-Hyeon Park, Dong Eui Chang
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A Guided Gaussian-Dirichlet Random Field for Scientist-In-The-Loop Inference in Underwater Robotics
Chad Samuelson, Joshua Mangelson
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Online Minimization of the Robot Silhouette Viewed from Eye-to-Hand Camera
Giovanni Cortigiani, Bernardo Brogi, Alberto Villani, Tommaso Lisini Baldi, Nicole D'Aurizio, Domenico Prattichizzo
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Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
Zhiquan Zhang, Tianyu Li, Nadia Figueroa
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You Only Scan Once: A Dynamic Scene Reconstruction Pipeline for 6-DoF Robotic Grasping of Novel Objects
Lei Zhou, Haozhe Wang, Zhengshen Zhang, Zhiyang Liu, Francis TAY, Marcelo H Ang Jr
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Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments
Lukas Heuer, Luigi Palmieri, Anna Mannucci, Sven Koenig, Martin Magnusson
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Characterizing Physical Adversarial Attacks on Robot Motion Planners
Wenxi Wu, Fabio Pierazzi, Yali Du, Martim Brandao
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A Robust Model Predictive Controller for Tactile Servoing
Shuai WANG, YIHAO HUANG, Wang Wei Lee, Tianliang Liu, Xiao Teng, Yu Zheng, Qiang Li
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Probabilistic Active Loop Closure for Autonomous Exploration
He Yin, Jong Jin Park, Marcelino Mendes de Almeida Neto, Martin Labrie, James Zamiska, Richard Kim
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Design and Evaluation of a Reconfigurable 7-DOF Upper Limb Rehabilitation Exoskeleton with Gravity Compensation
Linliang Zheng, Qingcong Wu, Yanghui Zhu, qiang zhang
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Merging Decision Transformers: Weight Averaging for Forming Multi-Task Policies
Daniel Lawson, Ahmed H. Qureshi
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Specifying and Monitoring Safe Driving Properties with Scene Graphs
Felipe Toledo, Trey Woodlief, Sebastian Elbaum, Matthew Dwyer
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Uncertainty-Aware Hybrid Paradigm of Nonlinear MPC and Model-Based RL for Offroad Navigation: Exploration of Transformers in the Predictive Model
Faraz Lotfi, Khalil Virji, Farnoosh Faraji, Lucas Berry, Andrew Holliday, David Paul Meger, Gregory Dudek
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CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation
Peter So, Rafael Ignacio Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis Figueredo, Fares Abu-Dakka, Sami Haddadin
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Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images
Kevin Chappellet, Masaki Murooka, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar
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KINet: Unsupervised Forward Models for Robotic Pushing Manipulation
Alireza Rezazadeh, Changhyun Choi
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Spatial Assisted Human-Drone Collaborative Navigation and Interaction through Immersive Mixed Reality
Luca Morando, Giuseppe Loianno
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Soft Acoustic End-Effector
zhiyuan ZHANG, Michael Koch, Daniel Ahmed
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Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach
Jonathan Külz, Matthias Althoff
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Enhancing Visual Place Recognition with Multi-Modal Features and Time-Constrained Graph Attention Aggregation
Zhuo Wang, Yunzhou Zhang, Xinge Zhao, Jian Ning, Dehao Zou, Meiqi Pei
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Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-Robot Teams
Disha Kamale, Cristian Ioan Vasile
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