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Probabilistic Trajectory Prediction with Structural Constraints


Jul 09, 2021
Weiming Zhi, Lionel Ott, Fabio Ramos

* To appear at IROS 2021 

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Learning ODEs via Diffeomorphisms for Fast and Robust Integration


Jul 04, 2021
Weiming Zhi, Tin Lai, Lionel Ott, Edwin V. Bonilla, Fabio Ramos


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Stein ICP for Uncertainty Estimation in Point Cloud Matching


Jun 07, 2021
Fahira Afzal Maken, Fabio Ramos, Lionel Ott

* 10 pages, 8 figures, Letters 

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Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems


Apr 17, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* Accepted for IEEE International Conference on Robotics and Automation, 2021 

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Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles


Feb 20, 2021
Michael Pantic, Lionel Ott, Cesar Cadena, Roland Siegwart, Juan Nieto

* Accepted to RA-L 2021. Video available at https://youtu.be/S9gRr_ryREo 

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PHASER: a Robust and Correspondence-free Global Pointcloud Registration


Feb 03, 2021
Lukas Bernreiter, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena

* IEEE Robotics and Automation Letters ( Volume: 6, Issue: 2, April 2021) 

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Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots


Jan 20, 2021
Weixuan Zhang, Lionel Ott, Marco Tognon, Roland Siegwart, Juan Nieto


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Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter


Jan 04, 2021
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto

* Conference on Robot Learning (CoRL), 2020 

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Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements


Nov 12, 2020
Weiming Zhi, Tin Lai, Lionel Ott, Fabio Ramos


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Autonomous Extension of a Symbolic Mobile Manipulation Skill Set


Oct 20, 2020
Julian Förster, Juan Nieto, Lionel Ott, Roland Siegwart, Jen Jen Chung

* An accompanying video is available here: https://youtu.be/Dm1I82moJuY. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 

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A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift


Oct 19, 2020
Lukas Schmid, Victor Reijgwart, Lionel Ott, Juan Nieto, Roland Siegwart, Cesar Cadena


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Learning dynamics for improving control of overactuated flying systems


Jun 23, 2020
Weixuan Zhang, Maximilian Brunner, Lionel Ott, Mina Kamel, Roland Siegwart, Juan Nieto

* 8 pages, accepted by IEEE Robotics and Automation Letters 

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Estimating Motion Uncertainty with Bayesian ICP


Apr 16, 2020
Fahira Afzal Maken, Fabio Ramos, Lionel Ott

* 6 pages, submitted to ICRA 2019 

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Go Fetch: Mobile Manipulation in Unstructured Environments


Apr 02, 2020
Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart

* Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian F\"orster, Margarita Grinvald, and Florian Tschopp contributed equally to this work 

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DISCO: Double Likelihood-free Inference Stochastic Control


Feb 25, 2020
Lucas Barcelos, Rafael Oliveira, Rafael Possas, Lionel Ott, Fabio Ramos

* To appear in ICRA 2020 

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Bayesian Curiosity for Efficient Exploration in Reinforcement Learning


Nov 20, 2019
Tom Blau, Lionel Ott, Fabio Ramos


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OCTNet: Trajectory Generation in New Environments from Past Experiences


Sep 25, 2019
Weiming Zhi, Tin Lai, Lionel Ott, Gilad Francis, Fabio Ramos


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An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments


Sep 20, 2019
Lukas Schmid, Michael Pantic, Raghav Khanna, Lionel Ott, Roland Siegwart, Juan Nieto

* 8 pages, 9 figures, video: https://youtu.be/lEadqJ1_8Do 

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Speeding Up Iterative Closest Point Using Stochastic Gradient Descent


Jul 22, 2019
Fahira Afzal Maken, Fabio Ramos, Lionel Ott

* 7 Pages, 4 Figures, Submitted to ICRA 

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Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction


Jul 11, 2019
Weiming Zhi, Lionel Ott, Fabio Ramos


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Learning to Plan Hierarchically from Curriculum


Jun 18, 2019
Philippe Morere, Lionel Ott, Fabio Ramos

* IEEE Robotics and Automation Letters (2019) 

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Bayesian optimisation under uncertain inputs


Feb 21, 2019
Rafael Oliveira, Lionel Ott, Fabio Ramos

* Preprint of paper to appear in the proceedings of the 22nd International Conference on Artificial Intelligence and Statistics (AISTATS) 2019, Naha, Okinawa, Japan. PMLR: Volume 89 

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Functional Path Optimisation for Exploration in Continuous Occupancy Maps


May 03, 2018
Gilad Francis, Lionel Ott, Fabio Ramos

* To appear in the Workshop on Informative Path Planning and Adaptive Sampling (ICRA 2018) 

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Learning to Race through Coordinate Descent Bayesian Optimisation


Feb 17, 2018
Rafael Oliveira, Fernando H. M. Rocha, Lionel Ott, Vitor Guizilini, Fabio Ramos, Valdir Grassi Jr

* Accepted as conference paper for the 2018 IEEE International Conference on Robotics and Automation (ICRA) 

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Bayesian Optimisation for Safe Navigation under Localisation Uncertainty


Feb 17, 2018
Rafael Oliveira, Lionel Ott, Vitor Guizilini, Fabio Ramos

* To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017) 

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Learning to Navigate by Growing Deep Networks


Dec 14, 2017
Thushan Ganegedara, Lionel Ott, Fabio Ramos

* 10 pages, Australasian Conference on Robotics and Automation, 2017 

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Simple Online and Realtime Tracking


Jul 07, 2017
Alex Bewley, Zongyuan Ge, Lionel Ott, Fabio Ramos, Ben Upcroft

* Presented at ICIP 2016, code is available at https://github.com/abewley/sort 

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Stochastic Functional Gradient Path Planning in Occupancy Maps


May 17, 2017
Gilad Francis, Lionel Ott, Fabio Ramos


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Occupancy Map Building through Bayesian Exploration


Mar 01, 2017
Gilad Francis, Lionel Ott, Roman Marchant, Fabio Ramos


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