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IROS 2024

1856 papers · 0 AI summaries · 2024

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1844 result(s) for “Convex Optimization and Lie Derivative” Page 2 of 37
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Skill Q-Network: Learning Adaptive Skill Ensemble for Mapless Navigation in Unknown Environments
Hyunki Seong, David Hyunchul Shim
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Low-Cost Urban Localization with Magnetometer and LoRa Technology
Derek Benham, Ashton Palacios, Philip Lundrigan, Joshua Mangelson
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ShapeGrasp: Zero-Shot Task-Oriented Grasping with Large Language Models through Geometric Decomposition
Samuel Li, Sarthak Bhagat, Joseph Campbell, Yaqi Xie, Woojun Kim, Katia Sycara, Simon Stepputtis
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Task-Driven Manipulation with Reconfigurable Parallel Robots
Daniel Morton, Mark Cutkosky, Marco Pavone
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Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects
Johannes Pitz, Lennart Röstel, Leon Sievers, Darius Burschka, Berthold Bäuml
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Centroidal State Estimation Based on the Koopman Embedding for Dynamic Legged Locomotion
Shahram Khorshidi, Murad Elnagdi, Maren Bennewitz
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Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
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Robot Design Optimization with Rotational and Prismatic Joints Using Black-Box Multi-Objective Optimization
Kento Kawaharazuka, Kei Okada, Masayuki Inaba
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One Problem, One Solution: Unifying Robot Design and Cell Layout Optimization
Jan Baumgärtner, Alexander Puchta, Jürgen Fleischer
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Probabilistic Homotopy Optimization for Dynamic Motion Planning
Matthew Chignoli, Shayan Pardis, Sangbae Kim
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Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-Driven Robots
Kento Kawaharazuka, Shunnosuke Yoshimura, Temma Suzuki, Kei Okada, Masayuki Inaba
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Learning Safe Locomotion for Quadrupedal Robots by Derived-Action Optimization
Deye Zhu, Chengrui Zhu, Zhen Zhang, Shuo Xin, Yong Liu
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Dual-Process Optimization for Multi-Vehicle Route Planning and Parts Collection Sequencing
Ryota Higa, Takuro Kato, Florence Ho
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Task-Based Design and Policy Co-Optimization for Tendon-Driven Underactuated Kinematic Chains
Sharfin Islam, Zhanpeng He, Matei Ciocarlie
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An Optimization Based Scheme for Real-Time Transfer of Human Arm Motion to Robot Arm
Zhelin Yang, Seongjin Bien, Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin
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A 'MAP' to Find High-Performing Soft Robot Designs: Traversing Complex Design Spaces Using MAP-Elites and Topology Optimization
Yue Xie, Joshua Pinskier, Lois Liow, David Howard, Fumiya Iida
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Multi-View 2D to 3D Lifting Video-Based Optimization: A Robust Approach for Human Pose Estimation with Occluded Joint Prediction
Daniela Rato, Miguel Oliveira, Vitor Santos, Angel Sappa, Bogdan Raducanu
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Compliance Optimization Control for Rigid-Soft Hybrid System and its Application in Humanoid Robot Motion Control
Zewen He, Taiki Ishigaki, Ko Yamamoto
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Model-Based Policy Optimization Using Symbolic World Model
Andrey Gorodetsky, Konstantin Mironov, Aleksandr Panov
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Grasping Trajectory Optimization with Point Clouds
Yu Xiang, Sai Haneesh Allu, Rohith Peddi, Tyler Summers, VIBHAV GOGATE
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Efficient Optimization-Based Cable Force Allocation for Geometric Control of a Multirotor Team Transporting a Payload
Khaled Wahba, Wolfgang Hoenig
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Co-RaL: Complementary Radar-Leg Odometry with 4-DoF Optimization and Rolling Contact
Sangwoo Jung, Wooseong Yang, Ayoung Kim
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Online Optimization of Central Pattern Generators for Quadruped Locomotion
Zewei Zhang, Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
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Bi-CL: A Reinforcement Learning Framework for Robots Coordination through Bi-Level Optimization
Zechen Hu, Daigo Shishika, Xuesu Xiao, Xuan Wang
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Two-Stage Pose Optimization Algorithm Using Color Information for Underwater SLAM with Light-Sectioning-Based 3D Scanning Method
Takaki Ikeda, Takafumi Iwaguchi, Diego Thomas, Hiroshi Kawasaki
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Blending Distributed NeRFs with Tri-Stage Robust Pose Optimization
Baijun YE, Caiyun Liu, Ye Xiaoyu, Yuantao Chen, Yuhai Wang, Zike Yan, Yongliang Shi, Hao Zhao, Guyue Zhou
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iDb-RRT: Sampling-Based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin Hartmann, Marc Toussaint, Ludovic Righetti
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The Effectiveness of State Representation Model in Multi-Agent Proximal Policy Optimization for Multi-Agent Path Finding
Jaehoon Chung, Jamil Fayyad, Mehran Ghafarian Tamizi, Homayoun Najjaran
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Traversability-Aware Adaptive Optimization for Path Planning and Control in Mountainous Terrain
Se-Wook Yoo, E-In Son, Seung-Woo Seo
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High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization
Shuo Sun, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
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Trajectory Optimization with Global Yaw Parameterization for Field-Of-View Constrained Autonomous Flight
Yuwei Wu, Yuezhan Tao, Igor Spasojevic, Vijay Kumar
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Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization
Simon Idoko, basant sharma, Arun Kumar Singh
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Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation
Adrian Röfer, Iman Nematollahi, Tim Welschehold, Wolfram Burgard, Abhinav Valada
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Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot
Keqi Zhu, Haotian Guo, Wei Yu, Hassen Nigatu Sirag, Tong Li, Ruihong Dong, Huixu Dong
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Bi-Level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare, Kaustab Pal, Madhava Krishna, Arun Kumar Singh
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Leveraging Simulation-Based Model Preconditions for Fast Action Parameter Optimization with Multiple Models
Muhammet Yunus Seker, Oliver Kroemer
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Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang, Jingwen Zhang, Hang Li, Meng Wang, Hangxin Liu
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QO-Net: Query Optimization Underwater Object Detection Network
Jiandong Tian, Hongyang Sun, baojie fan, Hongxin Xu
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Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
Lorenzo Amatucci, Giulio Turrisi, Angelo Bratta, Victor Barasuol, Claudio Semini
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SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil Shinde, Zih-Yun Chiu, Florian Richter, Jason Lim, Yuheng Zhi, Sylvia Herbert, Michael C. Yip
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Retargeting Human Facial Expression to Human-Like Robotic Face through Neural Network Surrogate-Based Optimization
Bowen Wu, Chaoran Liu, Carlos Toshinori Ishi, Takashi Minato, Hiroshi Ishiguro
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Just Flip: Flipped Observation Generation and Optimization for Neural Radiance Fields to Cover Unobserved View
Sibaek Lee, Kyeongsu Kang, Hyeonwoo Yu
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Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty Via Submodular Optimization
Ruofei Bai, Shenghai Yuan, Hongliang Guo, Pengyu Yin, Wei-Yun Yau, Lihua Xie
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TD-NeRF: Novel Truncated Depth Prior for Joint Camera Pose and Neural Radiance Field Optimization
Zhen Tan, Zongtan Zhou, Yangbing Ge, Zi Wang, Xieyuanli Chen, Dewen Hu
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Adaptive Trajectory Database Learning for Nonlinear Control with Hybrid Gradient Optimization
Kuan-Yu Tseng, Mengchao Zhang, Kris Hauser, Geir E. Dullerud
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Elliptical K-Nearest Neighbors - Path Optimization Via Coulomb's Law and Invalid Vertices in C-Space Obstacles
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
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DHP-Mapping: A Dense Panoptic Mapping System with Hierarchical World Representation and Label Optimization Techniques
Tianshuai HU, Jianhao JIAO, Yucheng Xu, Hongji Liu, Sheng WANG, Ming Liu
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Environment Transformer and Policy Optimization for Model-Based Offline Reinforcement Learning
Pengqin Wang, Meixin Zhu, Shaojie Shen
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Planning with Purpose: Task-Specific Trajectory Optimization
Yinan Pei, Yuri Ivanov
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EVIT: Event-Based Visual-Inertial Tracking in Semi-Dense Maps Using Windowed Nonlinear Optimization
Runze Yuan, Tao Liu, Zijia Dai, Yi-Fan Zuo, Laurent Kneip
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