#ICRA2023 awards finalists and winners

by Robohub and Daniel Carrillo-Zapata

12 June 2023

ICRA 2023 Outstanding Paper

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion, by Randall T Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D Ames, Kaveh Akbari Hamed. (WINNER)
Proficiency Self-Assessment without Breaking the Robot: Anomaly Detection using Assumption-Alignment Tracking from Safe Experiments, by Xuan Cao, Jacob W. Crandall, Ethan Pedersen, Alvika Gautam, Michael A. Goodrich
In-Hand Manipulation in Power Grasp: Design of an Adaptive Robot Hand with Active Surfaces, by Yilin Cai, Shenli Yuan.

ICRA 2023 Outstanding Automation Paper

Towards Open-Set Material Recognition Using Robot Tactile Sensing, by Kun-Hong Liu, Qianhui Yang, Yu Xie, Xiangyi Huang.
Target-Aware Implicit Mapping for Agricultural Crop Inspection, by Shane Kelly, Alessandro Riccardi, Elias Marks, Federico Magistri, Tiziano Guadagnino, Margarita Chli, Cyrill Stachniss. (WINNER)
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists, by Simeon Oluwafunmilore Adebola, Rishi Parikh, Mark Presten, Satvik Sharma, Shrey Aeron, Ananth Rao, Sandeep Mukherjee, Tomson Qu, Tina Wistrom, Eugen Solowjow, Ken Goldberg.

ICRA 2023 Outstanding Student Paper

M-EMBER: Tackling Long-Horizon Mobile Manipulation Via Factorized Domain Transfer, by Bohan Wu, Roberto Martin-Martin, Li Fei-Fei.
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs, by Wyatt Ubellacker, Aaron Ames. (WINNER)
Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies, by Chung Hee Kim, George Kantor.

ICRA 2023 Outstanding Deployed Systems Paper

GUTS: Generalized Uncertainty-Aware Thompson Sampling for Multi-Agent Active Search, by Nikhil Angad Bakshi, Tejus Gupta, Ramina Ghods, Jeff Schneider. (WINNER)
FRIDA: A Collaborative Robot Painter with a Differentiable, Real2Sim2Real Planning Environment, by Peter Schaldenbrand, James McCann, Jean Oh.

ICRA 2023 Outstanding Dynamics and Control Paper

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors, by Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames. (WINNER)
Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC, by Andrea Tagliabue, Yi-Hsuan Hsiao, Urban Fasel, J. Nathan Kutz, Steven L. Brunton, YuFeng Chen, Jonathan P. How.
Autonomous Drifting with 3 Minutes of Data Via Learned Tire Models, by Franck Djeumou, Jonathan Goh, Ufuk Topcu, Avinash Balachandran.

ICRA 2023 Outstanding Healthcare and Medical Robotics Paper

MRI-Powered Magnetic Miniature Capsule Robot with HIFU-Controlled On-Demand Drug Delivery, by Mehmet Efe Tiryaki, Fatih Dogangun, Cem Balda Dayan, Paul Wrede, Metin Sitti.
Real-Time Constrained 6D Object-Pose Tracking of an In-Hand Suture Needle for Minimally Invasive Robotic Surgery, by Zih-Yun Chiu, Florian Richter, Michael C. Yip (WINNER)
Exploring Robot-Assisted Optical Coherence Elastography for Surgical Palpation, by Yeonhee Chang, Elan Ahronovich, Nabil Simaan, Cheol Song.

ICRA 2023 Outstanding Locomotion Paper

RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity, by Warley Francisco Rocha Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida.
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs, by Wyatt Ubellacker, Aaron Ames.
Multi-Segmented, Adaptive Feet for Versatile Legged Locomotion in Natural Terrain, by Abhishek Chatterjee, An Mo, Bernadett Kiss, Emre Cemal Gönen, Alexander Badri-Spröwitz. (WINNER)

ICRA 2023 Outstanding Manipulation Paper

M-EMBER: Tackling Long-Horizon Mobile Manipulation Via Factorized Domain Transfer, by Bohan Wu, Roberto Martin-Martin, Fei-Fei Li.
DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation, by Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang.
In-Hand Manipulation in Power Grasp: Design of an Adaptive Robot Hand with Active Surfaces, by Yilin Cai, Shenli Yuan. (WINNER)

ICRA 2023 Outstanding Mechanisms and Design Paper

New Bracket Polynomials Associated with the General Gough-Stewart Parallel Robot Singularities, by Federico Thomas.
A Compact, Two-Part Torsion Spring Architecture, by Zachary P Bons, Gray Thomas, Luke Mooney, Elliott Rouse.
Contact Force Control with Continuously Compliant Robotic Legs, by Robin Bendfeld, David Remy. (WINNER)

ICRA 2023 Outstanding Multi-Robot Systems Paper

Graph Neural Networks for Multi-Robot Active Information Acquisition, by Mariliza Tzes, Nikolaos Bousias, Evangelos Chatzipantazis, George J. Pappas (WINNER)
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion, by Randall T Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D Ames, Kaveh Akbari Hamed.
GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting, by Alexander Cui, Sergio Casas, Kelvin Wong, Simon Suo, Raquel Urtasun.

ICRA 2023 Outstanding Navigation Paper

IMODE: Real-Time Incremental Monocular Dense Mapping Using Neural Field, by Hidenobu Matsuki, Edgar Sucar, Tristan Laidlow, Kentaro Wada, Raluca Scona, Andrew J Davison.
SmartRainNet: Uncertainty Estimation for Laser Measurement in Rain, by Chen Zhang, Zefan Huang, Beatrix Tung, Marcelo H Ang Jr, Daniela Rus. (WINNER)
Online Whole-Body Motion Planning for Quadrotor Using Multi-Resolution Search, by Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang.

ICRA 2023 Outstanding Physical Human-Robot Interaction Paper

A Control Approach for Human-Robot Ergonomic Payload Lifting, by Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci.
Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method, by Alvin Shek, Bo Ying Su, Rui Chen, Changliu Liu. (WINNER)
Interactive Object Segmentation in 3D Point Clouds, by Theodora Kontogianni, Ekin Celikkan, Siyu Tang, Konrad Schindler.

ICRA 2023 Outstanding Planning Paper

Obstacle-Aware Topological Planning Over Polyhedral Representation for Quadrotors, by Junjie Gao, Fenghua He, Wei Zhang, Yu Yao.
Learning-Based Initialization of Trajectory Optimization for Path-Following Problems of Redundant Manipulators, by Minsung Yoon, Mincheul Kang, Daehyung Park, Sung-eui Yoon. (WINNER)
A Multi-Step Dynamics Modeling Framework for Autonomous Driving in Multiple Environments, by Jason Gibson, Bogdan Vlahov, David Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou.

ICRA 2023 Outstanding Robot Learning Paper

Code As Policies: Language Model Programs for Embodied Control, by Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng. (WINNER)
Grounding Language with Visual Affordances Over Unstructured Data, by Oier Mees, Jessica Borja-Diaz, Wolfram Burgard.
NeRF2Real: Sim2real Transfer of Vision-Guided Bipedal Motion Skills Using Neural Radiance Fields, by Arunkumar Byravan, Jan Humplik, Leonard Hasenclever, Arthur Brussee, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic, Nicolas Heess.

ICRA 2023 Outstanding Sensors and Perception Paper

Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model, by David Juny Yoon, Timothy Barfoot.
GMCR: Graph-Based Maximum Consensus Estimation for Point Cloud Registration, by Michael Gentner, Prajval Kumar Murali, Mohsen Kaboli.
Occlusion Reasoning for Skeleton Extraction of Self-Occluded Tree Canopies, by Chung Hee Kim, George Kantor. (WINNER)

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Daniel Carrillo-Zapata was awarded his PhD in swarm robotics at the Bristol Robotics Lab in 2020. He now fosters the culture of "scientific agitation" to engage in two-way conversations between researchers and society.