The U of T Robotics Institute is well represented with accepted papers at IROS 2022. A number of the papers will also be presented by the authors.
Robotics Institute faculty’s names are in bold.
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger.
By Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wuthrich, Stefan Bauer, Ankur Handa, and Animesh Garg.
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.
By Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg.
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
By Keenan Burnett, Yuchen Wu, David Juny Yoon, Angela P. Schoellig, and Timothy Barfoot.
Min-max vertex cycle covers with connectivity constraints for multi-robot patrolling
By Jürgen Scherer, Angela P. Schoellig, and Bernhard Rinner.
Safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning
By Zhaocong Yuan, Adam W. Hall, Siqi Zhou, Lukas Brunke, Melissa Greeff, and Jacopo Panerati, Angela P. Schoellig.
A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
By Reinhard M. Grassmann, Ryan Zeyuan Chen, Nan Liang, and Jessica Burgner-Kahrs.
Shape representation and Modeling of Tendon-Driven Continuum Robots using Euler Arc Splines
By Priyanka Rao, Quentin Peyron, and Jessica Burgner-Kahrs.
Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism
By Chloe Pogue, Priyanka Rao, Quentin Peyron, Jongwoo Kim, Jessica Burgner-Kahrs, and Eric D. Diller.
Robust Sim2Real Transfer with the da Vinci Research Kit: A Study On Camera, Lighting, and Physics Domain Randomization
By Mustafa Haiderbhai, Radian Gondokaryono, Thomas Looi, James Drake, and Lueder A. Kahrs.
On the Coupling…Networks for Self-Supervised Structure from Motion
By Brandon Wagstaff, Valentin Peretroukhin, and Jonathan Kelly.
MapLite 2.0: Online HD Map Inference Using a Prior SD Map
By Teddy Ort, Jeffrey M. Walls, Steven A. Parkison, Igor Gilitschenski, and Daniela Rus.
Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization
By Abhishek Goudar, Wenda Zhao, Timothy Barfoot, and Angela P. Schoellig.
Safe Learning in Robotics Competition:
Teams from around the world compete virtually by flying their safe learning controllers in University of Toronto’s Crazyflie arena. Click here to check out the complete program.