USC at the International Conference on Intelligent Robots and Systems (IROS)

| October 3, 2023

USC researchers present 14 papers at the International Conference on Intelligent Robots and Systems (IROS), showcasing leading-edge research in robotics.

USC researchers present 14 papers this week at the International Conference on Intelligent Robots and Systems (IROS) in Detroit, MI. Photo/iStock.

From robots inspired by snakes and dogs to tiny crawling microrobots, USC researchers are presenting a wide range of research at this year’s International Conference on Intelligent Robots and Systems (IROS), one of the world’s largest and most influential robotics conferences. Taking place Oct 1-5 in Detroit, MI, this year’s conference theme is “The Next Generation of Robotics.”

Accepted USC papers cover various areas, including perception in robot manipulation, remote object localization, autonomous mobility in extreme terrain, and real-world collaborative manipulation tasks for quadrupedal robots.

Accepted papers with USC affiliation (USC authors highlighted):

Task Assignment, Scheduling and Motion Planning for Automated Warehouses for Million Product Workloads
Christopher Leet, Chanwook Oh, Michele Lora, Sven Koenig, Pierluigi Nuzzo

Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Mohsen Sombolestan, Quan Nguyen

Active Acoustic Sensing for Robot Manipulation
Shihan Lu, Heather Culbertson

A New 1-Mg Fast Unimorph SMA-Based Actuator for Microrobotics
Conor Trygstad, Xuan-Truc Nguyen, Nestor O Perez-Arancibia

Physics-Informed Learning to Enable Robotic Screw-Driving under Hole Pose Uncertainties
Omey Mohan Manyar, Santosh Varadanahalli Narayan, Rohin Lengade, Satyandra K. Gupta

RREx-BoT: Remote Referring Expressions with a Bag of Tricks
Gunnar Sigurdsson, Jesse Thomason, Gaurav Sukhatme, Robinson Piramuthu

TransUPR: A Transformer-Based Plug-And-Play Uncertain Point Refiner for LiDAR Point Cloud Semantic Segmentation
Zifan Yu, Meida Chen, Zhikang Zhang, Suya You, Raghuveer Rao, Sanjeev Agarwal, Fengbo Ren

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures
Rohan Thakker, Michael Paton, Marlin Polo Strub, Michael Swan, Guglielmo Daddi, Rob Royce, Phillipe Tosi, Matthew Gildner, Tiago Vaquero, Marcel Veismann, Peter Gavrilov, Eloise Marteau, Joseph Bowkett, Daniel Loret de Mola Lemus, Yashwanth Kumar Nakka

Learned Parameter Selection for Robotic Information Gathering
Christopher E. Denniston, Gautam Salhotra, Akseli Kangaslahti, David A. Caron, Gaurav Sukhatme

MELP: Model Embedded Linear Policies for Robust Bipedal Hopping
Raghav Soni, Guillermo Castillo, Lokesh Krishna Rajan, Ayonga Hereid, Shishir Kolathaya

Learning Multimodal Bipedal Locomotion and Implicit Transitions: A Versatile Policy Approach
Lokesh Krishna Rajan, Quan Nguyen

Discovering Closed-Loop Failures of Vision-Based Controllers Via Reachability Analysis
Kaustav Chakraborty, Somil Bansal

Co-Speech Gesture Synthesis Using Discrete Gesture Token Learning
Shuhong Lu, Youngwoo Yoon, Andrew Feng

Demonstration of Dynamic Locomotion on Bipedal Robots Via Force-And-Moment-Based Model Predictive Control
Junheng Li, Junchao Mao, Quan Nguyen

Reinforcement Learning Augmented Model Predictive Control for Quadruped Locomotion
Yiyu Chen, Quan Nguyen

Published on October 3rd, 2023

Last updated on October 5th, 2023

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