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IROS 2024

1856 papers · 0 AI summaries · 2024

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656 result(s) for “Task Planning” Page 2 of 14
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Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments
Yiming Luo, Zixuan Zhuang, Neng Pan, Chen Feng, Shaojie Shen, Fei Gao, Hui Cheng, Boyu Zhou
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Safety Compliant, Ergonomic and Time-Optimal Trajectory Planning for Collaborative Robotics
Silvia Proia, Graziana Cavone, Paolo Scarabaggio, Raffaele Carli, Mariagrazia Dotoli
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Competitive Multi-Team Behavior in Dynamic Flight Scenarios
Tim Niklas Seyde, Mathias Lechner, Joshua Rountree, Daniela Rus
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A Two-Stage Reinforcement Learning Approach for Robot Navigation in Long-Range Indoor Dense Crowd Environments
Xinghui Jing, Xin Xiong, Fuhao Li, Tao Zhang, Long Zeng
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A Framework for Neurosymbolic Goal-Conditioned Continual Learning for Open World Environments
Pierrick Lorang, Shivam Goel, Yash Shukla, Patrik Zips, Matthias Scheutz
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Enabling Grasp Synthesis Approaches to Task-Oriented Grasping Considering the End-State Comfort and Confidence Effects
Emilio Maranci, Salvatore D'Avella, Paolo Tripicchio, Carlo Alberto Avizzano
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An End-To-End Deep Reinforcement Learning Based Modular Task Allocation Framework for Autonomous Mobile Systems
Song Ma, Jingqing Ruan, Yali Du, Richard Bucknall, Yuanchang Liu
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A Proxy-Tactile Reactive Control for Robots Moving in Clutter
Giammarco Caroleo, Francesco Giovinazzo, Alessandro Albini, Francesco Grella, Giorgio Cannata, Perla Maiolino
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LGMCTS: Language-Guided Monte-Carlo Tree Search for Executable Semantic Object Rearrangement
Haonan Chang, Kai Gao, Kowndinya Boyalakuntla, Alex Lee, Baichuan Huang, Jingjin Yu, Abdeslam Boularias
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Learning Symbolic and Subsymbolic Temporal Task Constraints from Bimanual Human Demonstrations
Christian R. G. Dreher, Tamim Asfour
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Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario Alberto Valdes Saucedo, Nikolaos Stathoulopoulos, Akash Patel, Christoforos Kanellakis, George Nikolakopoulos
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LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in Linear Temporal Logic Specifications
Jiming Ren, Haris Miller, Karen Feigh, Samuel Coogan, Ye Zhao
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Active Information Gathering for Long-Horizon Navigation under Uncertainty by Predicting the Value of Information
Raihan Islam Arnob, Gregory Stein
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Self-Reconfiguration Strategies for Space-Distributed Spacecraft
Tianle Liu, Zhixiang Wang, Yongwei Zhang, Ziwei Wang, Zihao Liu, Yizhai Zhang, Panfeng Huang
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StratXplore: Strategic Novelty-Seeking and Instruction-Aligned Exploration for Vision and Language Navigation
Muraleekrishna Gopinathan, Jumana Abu-Khalaf, David Suter, Martin Masek
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Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulation
Hao Zhang, Hao Wang, Xiucai Huang, Wenrui Chen, Zhen Kan
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RelationGrasp: Object-Oriented Prompt Learning for Simultaneously Grasp Detection and Manipulation Relationship in Open Vocabulary
Songting Liu, Tat Joo Teo, Zhiping Lin, Haiyue Zhu
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DECAF: A Discrete-Event Based Collaborative Human-Robot Framework for Furniture Assembly
Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain, Diego Romeres
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On a Magnetically Driven Array System with Autonomous Motion and Object Delivery for Biomedical Microrobots
Yueyue Liu, Zhe Hou, Qigao Fan
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Dynamic Reconfiguration Integrated Nested A*: A Path Planner for Reconfigurable Robot to Improve Performance in Confined Spaces
Wijenayaka Kankanamge Rishan Sachinthana, Bhagya Prasangi Samarakoon Samarakoon Mudiyanselage, Viraj Jagathpriya Muthugala Muthugala Arachchige, Mohan Rajesh Elara
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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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ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu, Chongkai Gao, Zixuan Liu, Gang Yang, Chenrui Tie, Haozhuo Zheng, Haoyu Zhou, Peng Weikun, Debang Wang, Tianrun Hu, Tianyi Chen, Zhouliang Yu, Lin Shao
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PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
Akshay Jaitly, Siavash Farzan
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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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DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment
Yanjiang Guo, Yen-Jen Wang, Lihan Zha, Jianyu Chen
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Expansion-GRR: Efficient Generation of Smooth Global Redundancy Resolution Roadmaps
Zhuoyun Zhong, Zhi Li, Constantinos Chamzas
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Asymptotically Optimal Lazy Lifelong Sampling-Based Algorithm for Efficient Motion Planning in Dynamic Environments
LU HUANG, Xingjian Jing
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Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning
Sicong Pan, Liren Jin, Xuying Huang, Cyrill Stachniss, Marija Popovic, Maren Bennewitz
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SCANet: Correcting LEGO Assembly Errors with Self-Correct Assembly Network
Yuxuan Wan, kaichen zhou, Jinhong Chen, Hao Dong
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SCOML: Trajectory Planning Based on Self-Correcting Meta-Reinforcement Learning in Hybird Terrain for Mobile Robot
Andong Yang, Wei Li, Yu Hu
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Hardware-Software Co-Design for Path Planning by Drones
Ayushi Dube, Omkar Deepak Patil, Gian Singh, Nakul Gopalan, SARMA VRUDHULA
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A Sampling Ensemble for Asymptotically Complete Motion Planning with Volume-Reducing Workspace Constraints
Sihui Li, Matthew Schack, Aakriti Upadhyay, Neil Dantam
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Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Adarsh Salagame, Kruthika Gangaraju, Harin Kumar Nallaguntla, Eric Sihite, Gunar Schirner, Alireza Ramezani
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HPHS: Hierarchical Planning Based on Hybrid Frontier Sampling for Unknown Environments Exploration
Shijun Long, Ying Li, Chenming Wu, Bin Xu, Wei Fan
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An Actor-Critic Reinforcement Learning Scheme for Reactive 3D Optimal Motion Planning Based on Fluid Dynamics
Marios Malliaropoulos, Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Cooperative Path Planning for Four-Way Shuttle Vehicles in Storage and Retrieval Systems: A Hierarchically Dynamic Graph Based Approach
Xingyao Han, Yuhong Tan, Siyuan Chen, Zhe Liu, Hesheng Wang
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Toward Universal and Scalable Road Graph Partitioning for Efficient Multi-Robot Path Planning
Xingyao Han, Bo Cao, Zhe Liu, Shunbo Zhou, Heng Zhang, Hesheng Wang
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Spatiotemporal Co-Design Enabling Prioritized Multi-Agent Motion Planning
Yunshen Huang, Wenbo He, Yiannis Kantaros, Shen Zeng
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Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection
Zhishuo Li, Yunong Tian, Guodong Yang, Yanfeng Zhang, En Li, Zize Liang, Min Tan
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Hierarchical Search-Based Cooperative Motion Planning
Yuchen Wu, Yifan Yang, Gang Xu, Junjie Cao, Yansong Chen, Licheng Wen, Yong Liu
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Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hoenig
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Adaptive Planning with Generative Models under Uncertainty
Pascal Jutras-Dube, Ruqi Zhang, Aniket Bera
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Combining Sampling and Gradient-Based Planning for Contact-Rich Manipulation
Filippo Rozzi, Loris Roveda, Kevin Haninger
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Speeding up Path Planning Via Reinforcement Learning in MCTS for Automated Parking
Xinlong Zheng, Xiaozhou Zhang, Donghao Xu
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State-Feedback Optimal Motion Planning in the Presence of Obstacles
Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Probabilistic Homotopy Optimization for Dynamic Motion Planning
Matthew Chignoli, Shayan Pardis, Sangbae Kim
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RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing Using Residual Policy Learning
Raphael Trumpp, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Marco Caccamo
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Environment-Adaptive Gait Planning for Obstacle Avoidance in Lower-Limb Robotic Exoskeletons
Edoardo Trombin, Stefano Tortora, Emanuele Menegatti, Luca Tonin
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Local Path Planning among Pushable Objects Based on Reinforcement Learning
Linghong Yao, Valerio Modugno, Andromachi Maria Delfaki, Yuanchang Liu, Danail Stoyanov, Dimitrios Kanoulas
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A Novel Variable Step-Size Path Planning Framework with Step Consistent Markov Decision Process for Large Scale UAV Swarm
Dan Xu, Yunxiao Guo, Han Long, Chang Wang
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