Search Results - "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)"

Responsive Joint Attention in Human-Robot Interaction by Pereira, Andre, Oertel, Catharine, Fermoselle, Leonor, Mendelson, Joe, Gustafson, Joakim

“…Joint attention has been shown to be not only crucial for human-human interaction but also human-robot interaction. Joint attention can help to make…”
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Virtual-mass-ellipsoid Inverted Pendulum Model and Its Applications to 3D Bipedal Locomotion on Uneven Terrains by Guan, Kaixuan, Yamamoto, Ko, Nakamura, Yoshihiko

“…It is still an open problem to develop a reduced order model of bipedal walking that closely represents the complex dynamics of humanoid robots. In this paper,…”
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Meta-Learning for Multi-objective Reinforcement Learning by Chen, Xi, Ghadirzadeh, Ali, Bjorkman, Marten, Jensfelt, Patric

“…Multi-objective reinforcement learning (MORL) is the generalization of standard reinforcement learning (RL) approaches to solve sequential decision making…”
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Object Placement Planning and optimization for Robot Manipulators by Haustein, Joshua A., Hang, Kaiyu, Stork, Johannes, Kragic, Danica

“…We address the problem of planning the placement of a rigid object with a dual-arm robot in a cluttered environment. In this task, we need to locate a…”
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Continuous close-range 3D object pose estimation by Grossmann, Bjarne, Rovida, Francesco, Kruger, Volker

“…In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and…”
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Frustum ConvNet: Sliding Frustums to Aggregate Local Point-Wise Features for Amodal 3D Object Detection by Wang, Zhixin, Jia, Kui

“…In this work, we propose a novel method termed Frustum ConvNet (F-ConvNet) for amodal 3D object detection from point clouds. Given 2D region proposals in an…”
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SuMa++: Efficient LiDAR-based Semantic SLAM by Chen, Xieyuanli, Milioto, Andres, Palazzolo, Emanuele, Giguere, Philippe, Behley, Jens, Stachniss, Cyrill

“…Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the…”
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FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments by Tordesillas, Jesus, Lopez, Brett T., How, Jonathan P.

“…High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new…”
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Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks by Martin-Martin, Roberto, Lee, Michelle A., Gardner, Rachel, Savarese, Silvio, Bohg, Jeannette, Garg, Animesh

“…Reinforcement Learning (RL) of contact-rich manipulation tasks has yielded impressive results in recent years. While many studies in RL focus on varying the…”
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ALTRO: A Fast Solver for Constrained Trajectory Optimization by Howell, Taylor A., Jackson, Brian E., Manchester, Zachary

“…Trajectory optimization is a widely used tool for robot motion planning and control. Existing solvers for these problems either rely on off-the-shelf nonlinear…”
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LIC-Fusion: LiDAR-Inertial-Camera Odometry by Zuo, Xingxing, Geneva, Patrick, Lee, Woosik, Liu, Yong, Huang, Guoquan

“…This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements,…”
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Conditional Generative Neural System for Probabilistic Trajectory Prediction by Li, Jiachen, Ma, Hengbo, Tomizuka, Masayoshi

“…Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as…”
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ROI-based Robotic Grasp Detection for Object Overlapping Scenes by Zhang, Hanbo, Lan, Xuguang, Bai, Site, Zhou, Xinwen, Tian, Zhiqiang, Zheng, Nanning

“…Grasp detection considering the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical…”
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RangeNet ++: Fast and Accurate LiDAR Semantic Segmentation by Milioto, Andres, Vizzo, Ignacio, Behley, Jens, Stachniss, Cyrill

“…Perception in autonomous vehicles is often carried out through a suite of different sensing modalities. Given the massive amount of openly available labeled…”
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Unsupervised Traffic Accident Detection in First-Person Videos by Yao, Yu, Xu, Mingze, Wang, Yuchen, Crandall, David J., Atkins, Ella M.

“…Recognizing abnormal events such as traffic violations and accidents in natural driving scenes is essential for successful autonomous driving and advanced…”
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Flexible Layouts for Fiducial Tags by Krogius, Maximilian, Haggenmiller, Acshi, Olson, Edwin

“…Fiducials are artificial features with a variety of uses in computer vision such as object tracking and localization. We propose the idea of flexible tag…”
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EnsembleDAgger: A Bayesian Approach to Safe Imitation Learning by Menda, Kunal, Driggs-Campbell, Katherine, Kochenderfer, Mykel J.

“…Although imitation learning is often used in robotics, the approach frequently suffers from data mismatch and compounding errors. DAgger is an iterative…”
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Feedback MPC for Torque-Controlled Legged Robots by Grandia, Ruben, Farshidian, Farbod, Ranftl, Rene, Hutter, Marco

“…The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates…”
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Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems by Taylor, Andrew J., Dorobantu, Victor D., Le, Hoang M., Yue, Yisong, Ames, Aaron D.

“…Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the…”
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FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots by Han, Luxin, Gao, Fei, Zhou, Boyu, Shen, Shaojie

“…Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information…”
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