AFAIK no.
However, you can only use the drawable-xhdpi . Android will automatically decrease to reduce dpi.
The only exception is the launch icon. You will need to provide all sizes (don't forget xxhdpi for tablets!).
You can find the sizes you need in the Icon Design Guide .
It is important to note that the ADT plugin has tools for creating some icon sets, such as Launcher icons, Actionbar icons, and notification icons.
These tools can be accessed by opening a new wizard (Ctrl + N) and double-clicking the Android Icon Set icon in the Android category.
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