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ICRA 2024

2337 papers · 0 AI summaries · 2024

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684 result(s) for “Manipulation Planning” Page 1 of 14
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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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BeBOP -- Combining Reactive Planning and Bayesian Optimization to Solve Robotic Manipulation Tasks
Jonathan Styrud, Matthias Mayr, Erik Hellsten, Volker Krueger, Claes Christian Smith
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RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning
Jack Collins, Mark Robson, Jun Yamada, Mohan Sridharan, Karol Janik, Ingmar Posner
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The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables
Peter Mitrano, Dmitry Berenson
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Global Planning for Contact-Rich Manipulation Via Local Smoothing of Quasi-Dynamic Contact Models
Tao Pang, Hyung Ju Terry Suh, Lujie Yang, Russ Tedrake
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Improved M4M: Faster and Richer Planning for Manipulation among Movable Objects in Cluttered 3D Workspaces
Dhruv Mauria Saxena, Maxim Likhachev
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Motion Planning and Inertia Based Control for Impact Aware Manipulation
Harshit Khurana, Aude Billard
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Constant-Time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
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Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
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Toward Optimal Tabletop Rearrangement with Multiple Manipulation Primitives
Baichuan Huang, XUJIA ZHANG, Jingjin Yu
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Enhancing Dexterity in Robotic Manipulation Via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason
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Robust In-Hand Manipulation with Extrinsic Contacts
Boyuan Liang, Kei Ota, Masayoshi Tomizuka, Devesh Jha
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LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
Shuo Cheng, Danfei Xu
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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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Motion Planning As Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning
Marco Faroni, Dmitry Berenson
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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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Scalable Underwater Assembly with Reconfigurable Visual Fiducials
Samuel Lensgraf, Ankita Sarkar, Adithya Pediredla, Devin Balkcom, Alberto Quattrini Li
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Physics-Informed Neural Motion Planning on Constraint Manifolds
Ruiqi Ni, Ahmed H. Qureshi
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Floating-Base Manipulation on Zero-Perturbation Manifolds
Brian Bittner, Jason Reid, Kevin Wolfe
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Language-Guided Active Sensing of Confined, Cluttered Environments Via Object Rearrangement Planning
Weihan Chen, Hanwen Ren, Ahmed H. Qureshi
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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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Toward the Use of Proxies for Efficient Learning Manipulation and Locomotion Strategies on Soft Robots
Etienne Ménager, Quentin Peyron, Christian Duriez
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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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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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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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Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues with 3D Surface Feedback
Junlei Hu, Dominic Jones, Mehmet R Dogar, Pietro Valdastri
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ERRA: An Embodied Representation and Reasoning Architecture for Long-Horizon Language-Conditioned Manipulation Tasks
Chao Zhao, Shuai Yuan, Chunli Jiang, Junhao Cai, Hongyu Yu, Michael Yu Wang, Qifeng Chen
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Robust and Energy-Efficient Control for Multi-Task Aerial Manipulation with Automatic Arm-Switching
Ying Wu, Zida Zhou, Mingxin Wei, Hui Cheng
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Real-time Dynamic-consistent Motion Planning for Over-Actuated UAVs
Yao Su, Jingwen Zhang, Ziyuan Jiao, Hang Li, Meng Wang, Hangxin Liu
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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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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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RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
Guanrui Li, Liu Xinyang, Giuseppe Loianno
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Learning Extrinsic Dexterity with Parameterized Manipulation Primitives
Shih-Min Yang, Martin Magnusson, Johannes A. Stork, Todor Stoyanov
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Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback
HANWEN ZHANG, Zeyu Lu, Wenyu Liang, Haoyong Yu, YAO MAO, Yan Wu
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How to Prompt Your Robot: A Prompt Book for Manipulation Skills with Code As Policies
Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jacob Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Mario Prats, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, Andy Zeng
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On the Fly Robotic-Assisted Medical Instrument Planning and Execution Using Mixed Reality
Letian Ai, Yihao Liu, Mehran Armand, Amir Kheradmand, Alejandro Martin-Gomez
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R-LGP: A Reachability-Guided Logic-Geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Xaver Merkt, Ioannis Havoutis
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ReorientDiff: Diffusion Model Based Reorientation for Object Manipulation
Utkarsh Mishra, Yongxin Chen
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A Probabilistic Model for Cobot Decision Making to Mitigate Human Fatigue in Repetitive Co-Manipulation Tasks
Aya Yaacoub, Vincent Thomas, Francis Colas, Pauline Maurice
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Physically Grounded Vision-Language Models for Robotic Manipulation
Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh
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Attention-Based Cloth Manipulation from Model-Free Topological Representation
Kevin Galassi, Bingbing WU, JULIEN PEREZ, Gianluca Palli, Jean-Michel RENDERS
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Kinematic-Aware Prompting for Generalizable Articulated Object Manipulation with LLMs
Wenke Xia, Dong Wang, Xincheng Pang, Zhigang Wang, Bin Zhao, Di Hu, Xuelong Li
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Preprocessing-Based Planning for Utilizing Contacts in Semi-Structured High-Precision Insertion Tasks
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
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Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
Marco Faroni, Dmitry Berenson
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Beyond Coulomb: Stochastic Friction Models for Practical Grasping and Manipulation
Zixi Liu, Robert D. Howe
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Effort Level Search in Infinite Completion Trees with Application to Task-And-Motion Planning
Marc Toussaint, Joaquim Ortiz-Haro, Valentin Hartmann, Erez Karpas, Wolfgang Hoenig
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SLIM: Skill Learning with Multiple Critics
David Emukpere, Bingbing WU, JULIEN PEREZ, Jean-Michel RENDERS
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RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments
Apan Dastider, Hao Fang, Lin Mingjie
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Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking
Jaeu Choe, Jeongseob Lee, Hyunsoo Yang, Hai-Nguyen (Hann) Nguyen, Dongjun Lee
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The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation
Salvatore D'Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Maximo A. Roa, Paolo Tripicchio
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