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ICRA 2024

2337 papers · 0 AI summaries · 2024

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Physics-Informed Neural Network for Model Prediction and Dynamics Parameter Identification of Collaborative Robot Joints
Xingyu Yang, Yixiong Du, Leihui Li, Zhengxue Zhou, Xuping Zhang
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From Cooking Recipes to Robot Task Trees � Improving Planning Correctness and Task Efficiency by Leveraging LLMs with a Knowledge Network
Md Sadman Sakib, Yu Sun
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Hybrid Robot for Percutaneous Needle Intervention Procedures: Mechanism Design and Experiment Verification
Hanyi Zhang, Guocai Yao, Feifan Zhang, Fanchuan Lin, Fuchun Sun
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Design and Modeling of a Nested Bi-Cavity-Based Soft Growing Robot for Grasping in Constrained Environments
Haochen Yong, fukang xu, chenfei li, Han Ding, Zhigang Wu
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LeapRun: A Dynamic Soft Robot with Running and Jumping Capabilities
Jiangfeng Lu, Jiaming Liang, Dekuan Zhu, Dongkai Wang, Ying Liu, Huimin Chen, Yunfei Bai, Haolong Zhang, Min Zhang
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RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
Guanrui Li, Liu Xinyang, Giuseppe Loianno
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Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation under Disturbances and Unknown Dynamics
Farshad Khadivar, Aude Billard
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Multi-Profile Quadratic Programming (MPQP) for Optimal Gap Selection and Speed Planning of Autonomous Driving
Alexandre Miranda Anon, Sangjae Bae, Manish Saroya, David Isele
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Design, Modeling and Analysis of a Spherical Parallel Continuum Manipulator for Nursing Robots
Zhenhua Gong, Chuanxin Ning, Jiejunyi Liang, Ting Zhang
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A Multifidelity Sim-To-Real Pipeline for Verifiable and Compositional Reinforcement Learning
Cyrus Neary, Christian Ellis, Aryaman Singh Samyal, Craig Lennon, Ufuk Topcu
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Evaluating the Task Generalization of Temporal Convolutional Networks for Surgical Gesture and Motion Recognition Using Kinematic Data
Kay Hutchinson, Ian Reyes, Zongyu Li, Homa Alemzadeh
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Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control with Smooth Task Transitions
Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
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Lightweight and Compliant Bilateral Teleoperation System with Anthropomorphic Arms for Aerial and Ground Service Operations
Alejandro Suarez, Antonio Gonzalez-Morgado, Anibal Ollero
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LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
Shuo Cheng, Danfei Xu
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C3F: Constant Collaboration and Communication Framework for Graph-Representation Dynamic Multi-Robotic Systems
Hongda Jia, Zijian Gao, Cheng Yang, Bo Ding, Yuanzhao Zhai, Huaimin Wang
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Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning
Yoonchang Sung, Rahul Shome, Peter Stone
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3D Object Detection with VI-SLAM Point Clouds: The Impact of Object and Environment Characteristics on Model Performance
Lin Duan, Tim Scargill, Ying Chen, Maria Gorlatova
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Learning Semantic-Agnostic and Spatial-Aware Representation for Generalizable Visual-Audio Navigation
Hongcheng Wang, Yuxuan Wang, zfw1993 Fangwei Zhong, Aaron Mingdong Wu, Jianwei Zhang, Yizhou Wang, Hao Dong
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Scene Informer: Anchor-Based Occlusion Inference and Trajectory Prediction in Partially Observable Environments
Bernard Lange, Jiachen Li, Mykel Kochenderfer
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EfficientDPS: Efficient and End-To-End Depth-Aware Panoptic Segmentation
Shengkai Wu, Liangliang Ren, linfeng gao, Yupeng Li, Wenyu Liu
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Projection-Based Fast and Safe Policy Optimization for Reinforcement Learning
Shijun Lin, Hao Wang, Ziyang Chen, Zhen Kan
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GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects
Qiaojun Yu, Junbo Wang, Wenhai Liu, Ce Hao, Liu Liu, Lin Shao, Weiming Wang, Cewu Lu
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Planned Trajectory Classification for Wheeled Mobile Robots to Prevent Rollover and Slip
Sang-Yun Jeon, Rakjoon Chung, Dongjun Lee
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Guided by the Way: The Role of On-The-Route Objects and Scene Text in Enhancing Outdoor Navigation
Yanjun Sun, YUE QIU, Yoshimitsu Aoki, Hirokatsu Kataoka
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Localized and Incremental Probabilistic Inference for Large-Scale Networked Dynamical Systems
Kai Matsuka, Soon-Jo Chung
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CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale
Muhammad Zahid, Florian T. Pokorny
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AutoMerge: A Framework for Map Assembling and Smoothing in City-Scale Environments
Peng Yin, Shiqi Zhao, Haowen Lai, Ruohai Ge, Ji Zhang, Howie Choset, Sebastian Scherer
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D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning
Teng Xue, Amirreza Razmjoo, Sylvain Calinon
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Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps
Katie Luo, Xinshuo Weng, Yan Wang, Shuang Wu, Jie Li, Kilian Weinberger, YUE WANG, Marco Pavone
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Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts
Zane Zake, Stéphane Caro
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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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Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots
Federico Magistri, Rodrigo Marcuzzi, Elias Ariel Marks, Matteo Sodano, Jens Behley, Cyrill Stachniss
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Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models
Yixuan Huang, Jialin Yuan, Chanho Kim, Pupul Pradhan, Bryan Chen, Li Fuxin, Tucker Hermans
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ASP-LED: Learning Ambiguity-Aware Structural Priors for Joint Low-Light Enhancement and Deblurring
Jing Ye, Yang Liu, Congjing Yu, Changzhen Qiu, Zhiyong Zhang
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Field Robot for High-Throughput and High-Resolution 3D Plant Phenotyping
Felix Esser, Radu Alexandru Rosu, Andre Cornelissen, Lasse Klingbeil, Heiner kuhlmann, Sven Behnke
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EdgePoint: Efficient Point Detection and Compact Description Via Distillation
Haodi Yao, Ning Hao, Chen Xie, Fenghua He
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Personality and Memory-Based Software Framework for Human-Robot Interaction
Alice Nardelli, Antonio Sgorbissa, Carmine Tommaso Recchiuto
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Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions
Jasper Geldenbott, Karen Leung
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Learning Complex Motion Plans Using Neural ODEs with Safety and Stability Guarantees
Farhad Nawaz Savvas Sadiq Ali, Tianyu Li, Nikolai Matni, Nadia Figueroa
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Toward AI-Enabled Commercial Telepresence Robots to Combine Home Care Needs and Affordability
Gloria Beraldo, Riccardo De Benedictis, Amedeo Cesta, Francesca Fracasso, Gabriella Cortellessa
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PROTAMP-RRT: A Probabilistic Integrated Task and Motion Planner Based on RRT
Alessio Saccuti, Riccardo Monica, Jacopo Aleotti
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Keypoint Detection and Tracking in Low-Quality Image Frames with Events
Xiangyuan Wang, Kuangyi Chen, Wen Yang, Lei Yu, Yannan Xing, Huai Yu
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SGCalib: A Two-Stage Camera-LiDAR Calibration Method Using Semantic Information and Geometric Features
Zhipeng LIN, Zhi Gao, Xinyi Liu, Jialiang Wang, Weiwei Song, Ben M. Chen, Chenyang Li, Yue Huang, Yuhan Zhu
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Design and Evaluation of a Modular Robotic System for Microsurgery
Jenireth Torrealba Molina, Toqa AbuBaker, yanpei huang, Xiaoxiao Cheng, Alexis Devillard, etienne burdet
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Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
Seungchan Kim, Micah Corah, John Keller, Graeme Best, Sebastian Scherer
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Perception-And-Energy-Aware Motion Planning for UAV Using Learning-Based Model under Heteroscedastic Uncertainty
Reiya Takemura, Genya Ishigami
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A Semi-Autonomous Data Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue
Nicholas Strohmeyer, Ji Hwan Park, Braden Murphy, Farshid Alambeigi
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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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6-DOF Grasp Pose Evaluation and Optimization Via Transfer Learning from NeRFs
Gergely Sóti, Xi Huang, Christian Wurll, Björn Hein
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Leveraging the Efficiency of Multi-Task Robot Manipulation Via Task-Evoked Planner and Reinforcement Learning
Haofu Qian, Haoyang Zhang, Jun Shao, Jiatao Zhang, Jason Gu, Wei Song, Shiqiang Zhu
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