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Stereo Image-based Visual Servoing Towards Feature-based Grasping | https://ieeexplore.ieee.org/document/10611604/ | [
"Albert Enyedy",
"Ashay Aswale",
"Berk Calli",
"Michael Gennert",
"Albert Enyedy",
"Ashay Aswale",
"Berk Calli",
"Michael Gennert"
] | This paper presents an image-based visual servoing scheme that can control robotic manipulators in 3D space using 2D stereo images without needing to perform stereo reconstruction. We use a stereo camera in an eye-to-hand configuration for controlling the robot to reach target positions by directly mapping image space errors to joint space actuation. We achieve convergence without a-priori knowled... |
Visual Feedback Control of an Underactuated Hand for Grasping Brittle and Soft Foods | https://ieeexplore.ieee.org/document/10610649/ | [
"Ryogo Kai",
"Yuzuka Isobe",
"Sarthak Pathak",
"Kazunori Umeda",
"Ryogo Kai",
"Yuzuka Isobe",
"Sarthak Pathak",
"Kazunori Umeda"
] | This paper presents a novel method to control an underactuated hand by using only a monocular camera, not using any internal sensors. In food factories, robots are required to handle a wide variety of foods without damaging them. To accomplish this, the use of underactuated hands is effective because they can adapt to various food shapes. However, if internal sensors such as tactile sensors and fo... |
Compositional Servoing by Recombining Demonstrations | https://ieeexplore.ieee.org/document/10609978/ | [
"Max Argus",
"Abhijeet Nayak",
"Martin Büchner",
"Silvio Galesso",
"Abhinav Valada",
"Thomas Brox",
"Max Argus",
"Abhijeet Nayak",
"Martin Büchner",
"Silvio Galesso",
"Abhinav Valada",
"Thomas Brox"
] | Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we present a framework that formulates the visual servoing task as graph traversal. Our method not only extends the robustness of visual servoing, bu... |
DCPT: Darkness Clue-Prompted Tracking in Nighttime UAVs | https://ieeexplore.ieee.org/document/10610544/ | [
"Jiawen Zhu",
"Huayi Tang",
"Zhi-Qi Cheng",
"Jun-Yan He",
"Bin Luo",
"Shihao Qiu",
"Shengming Li",
"Huchuan Lu",
"Jiawen Zhu",
"Huayi Tang",
"Zhi-Qi Cheng",
"Jun-Yan He",
"Bin Luo",
"Shihao Qiu",
"Shengming Li",
"Huchuan Lu"
] | Existing nighttime unmanned aerial vehicle (UAV) trackers follow an "Enhance-then-Track" architecture - first using a light enhancer to brighten the nighttime video, then employing a daytime tracker to locate the object. This separate enhancement and tracking fails to build an end-to-end trainable vision system. To address this, we propose a novel architecture called Darkness Clue-Prompted Trackin... |
Unifying Foundation Models with Quadrotor Control for Visual Tracking Beyond Object Categories | https://ieeexplore.ieee.org/document/10610111/ | [
"Alessandro Saviolo",
"Pratyaksh Rao",
"Vivek Radhakrishnan",
"Jiuhong Xiao",
"Giuseppe Loianno",
"Alessandro Saviolo",
"Pratyaksh Rao",
"Vivek Radhakrishnan",
"Jiuhong Xiao",
"Giuseppe Loianno"
] | Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time responsiveness. This paper introduces a perception framework grounded in foundation models for universal object detection and tracking, moving beyond specific train... |
DroneMOT: Drone-based Multi-Object Tracking Considering Detection Difficulties and Simultaneous Moving of Drones and Objects | https://ieeexplore.ieee.org/document/10610941/ | [
"Peng Wang",
"Yongcai Wang",
"Deying Li",
"Peng Wang",
"Yongcai Wang",
"Deying Li"
] | Multi-object tracking (MOT) on static platforms, such as by surveillance cameras, has achieved significant progress, with various paradigms providing attractive performances. However, the effectiveness of traditional MOT methods is significantly reduced when it comes to dynamic platforms like drones. This decrease is attributed to the distinctive challenges in the MOT-on-drone scenario: (1) object... |
Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10610705/ | [
"Jakob Thumm",
"Felix Trost",
"Matthias Althoff",
"Jakob Thumm",
"Felix Trost",
"Matthias Althoff"
] | Deep reinforcement learning (RL) has shown promising results in robot motion planning with first attempts in human-robot collaboration (HRC). However, a fair comparison of RL approaches in HRC under the constraint of guaranteed safety is yet to be made. We, therefore, present human-robot gym, a benchmark suite for safe RL in HRC. We provide challenging, realistic HRC tasks in a modular simulation ... |
Improving the Generalization of Unseen Crowd Behaviors for Reinforcement Learning based Local Motion Planners | https://ieeexplore.ieee.org/document/10610641/ | [
"Wen Zheng Terence Ng",
"Jianda Chen",
"Sinno Jialin Pan",
"Tianwei Zhang",
"Wen Zheng Terence Ng",
"Jianda Chen",
"Sinno Jialin Pan",
"Tianwei Zhang"
] | Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learningbased motion planners rely on a single policy to simulate pedestrian movements and could suffer from the over-fitting issue. Alternatively, framing the collision avoidance problem as a multi-agent framework, where agents generate dynamic moveme... |
Human-Aligned Longitudinal Control for Occluded Pedestrian Crossing With Visual Attention | https://ieeexplore.ieee.org/document/10611046/ | [
"Vinal Asodia",
"Zhenhua Feng",
"Saber Fallah",
"Vinal Asodia",
"Zhenhua Feng",
"Saber Fallah"
] | Reinforcement Learning (RL) has been widely used to create generalizable autonomous vehicles. However, they rely on fixed reward functions that struggle to balance values like safety and efficiency. How can autonomous vehicles balance different driving objectives and human values in a constantly changing environment? To bridge this gap, we propose an adaptive reward function that utilizes visual a... |
Projection-Based Fast and Safe Policy Optimization for Reinforcement Learning | https://ieeexplore.ieee.org/document/10611554/ | [
"Shijun Lin",
"Hao Wang",
"Ziyang Chen",
"Zhen Kan",
"Shijun Lin",
"Hao Wang",
"Ziyang Chen",
"Zhen Kan"
] | While reinforcement learning (RL) attracts increasing research attention, maximizing the return while keeping the agent safe at the same time remains an open problem. Motivated to address this challenge, this work proposes a new Fast and Safe Policy Optimization (FSPO) algorithm, which consists of three steps: the first step involves reward improvement update, the second step projects the policy t... |
Symmetry Considerations for Learning Task Symmetric Robot Policies | https://ieeexplore.ieee.org/document/10611493/ | [
"Mayank Mittal",
"Nikita Rudin",
"Victor Klemm",
"Arthur Allshire",
"Marco Hutter",
"Mayank Mittal",
"Nikita Rudin",
"Victor Klemm",
"Arthur Allshire",
"Marco Hutter"
] | Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired transformation invariances and suffer from motion artifacts. For instance, a quadruped may exhibit different gaits when commanded to move forward or backward, ev... |
Learning Dual-arm Object Rearrangement for Cartesian Robots | https://ieeexplore.ieee.org/document/10610573/ | [
"Shishun Zhang",
"Qijin She",
"Wenhao Li",
"Chenyang Zhu",
"Yongjun Wang",
"Ruizhen Hu",
"Kai Xu",
"Shishun Zhang",
"Qijin She",
"Wenhao Li",
"Chenyang Zhu",
"Yongjun Wang",
"Ruizhen Hu",
"Kai Xu"
] | This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total completion time. To achieve the goal, the core idea is to develop an effective object-to-arm task assignment strategy for minimizing the cumulative task execution ti... |
Guided Online Distillation: Promoting Safe Reinforcement Learning by Offline Demonstration | https://ieeexplore.ieee.org/document/10611123/ | [
"Jinning Li",
"Xinyi Liu",
"Banghua Zhu",
"Jiantao Jiao",
"Masayoshi Tomizuka",
"Chen Tang",
"Wei Zhan",
"Jinning Li",
"Xinyi Liu",
"Banghua Zhu",
"Jiantao Jiao",
"Masayoshi Tomizuka",
"Chen Tang",
"Wei Zhan"
] | Safe Reinforcement Learning (RL) aims to find a policy that achieves high rewards while satisfying cost constraints. When learning from scratch, safe RL agents tend to be overly conservative, which impedes exploration and restrains the overall performance. In many realistic tasks, e.g. autonomous driving, large-scale expert demonstration data are available. We argue that extracting expert policy f... |
Sample-Efficient Learning to Solve a Real-World Labyrinth Game Using Data-Augmented Model-Based Reinforcement Learning | https://ieeexplore.ieee.org/document/10610577/ | [
"Thomas Bi",
"Raffaello D’Andrea",
"Thomas Bi",
"Raffaello D’Andrea"
] | Motivated by the challenge of achieving rapid learning in physical environments, this paper presents the development and training of a robotic system designed to navigate and solve a labyrinth game using model-based reinforcement learning techniques. The method involves extracting low-dimensional observations from camera images, along with a cropped and rectified image patch centered on the curren... |
Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks | https://ieeexplore.ieee.org/document/10611483/ | [
"Eleftherios Triantafyllidis",
"Filippos Christianos",
"Zhibin Li",
"Eleftherios Triantafyllidis",
"Filippos Christianos",
"Zhibin Li"
] | Current reinforcement learning algorithms struggle in sparse and complex environments, most notably in long-horizon manipulation tasks entailing a plethora of different sequences. In this work, we propose the Intrinsically Guided Exploration from Large Language Models (IGE-LLMs) framework. By leveraging LLMs as an assistive intrinsic reward, IGE-LLMs guides the exploratory process in reinforcement... |
Touch-Based Manipulation with Multi-Fingered Robot using Off-policy RL and Temporal Contrastive Learning | https://ieeexplore.ieee.org/document/10610239/ | [
"Naoki Morihira",
"Pranav Deo",
"Manoj Bhadu",
"Akinobu Hayashi",
"Tadaaki Hasegawa",
"Satoshi Otsubo",
"Takayuki Osa",
"Naoki Morihira",
"Pranav Deo",
"Manoj Bhadu",
"Akinobu Hayashi",
"Tadaaki Hasegawa",
"Satoshi Otsubo",
"Takayuki Osa"
] | Tactile information holds promise for enhancing the manipulation capabilities of multi-fingered robots. In tasks such as in-hand manipulation, where robots frequently switch between contact and non-contact states, it is important to address the partial observability of tactile sensors and to properly consider the history of observations and actions. Previous studies have shown that Recurrent Neura... |
Learning Language-Conditioned Deformable Object Manipulation with Graph Dynamics | https://ieeexplore.ieee.org/document/10610890/ | [
"Yuhong Deng",
"Kai Mo",
"Chongkun Xia",
"Xueqian Wang",
"Yuhong Deng",
"Kai Mo",
"Chongkun Xia",
"Xueqian Wang"
] | Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the multi-task learning performance and can not generalize to new tasks. Thus, we adapt language instruction to specify deformable object manipulation tasks and propose... |
Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects | https://ieeexplore.ieee.org/document/10610700/ | [
"Malte Mosbach",
"Sven Behnke",
"Malte Mosbach",
"Sven Behnke"
] | Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay between the two. In this work, we present Teacher-Augmented Policy Gradient (TAPG), a novel two-stage learning framework that synergizes reinforcement learning... |
Composable Interaction Primitives: A Structured Policy Class for Efficiently Learning Sustained-Contact Manipulation Skills | https://ieeexplore.ieee.org/document/10610846/ | [
"Ben Abbatematteo",
"Eric Rosen",
"Skye Thompson",
"Tuluhan Akbulut",
"Sreehari Rammohan",
"George Konidaris",
"Ben Abbatematteo",
"Eric Rosen",
"Skye Thompson",
"Tuluhan Akbulut",
"Sreehari Rammohan",
"George Konidaris"
] | We propose a new policy class, Composable Interaction Primitives (CIPs), specialized for learning sustained-contact manipulation skills like opening a drawer, pulling a lever, turning a wheel, or shifting gears. CIPs have two primary design goals: to minimize what must be learned by exploiting structure present in the world and the robot, and to support sequential composition by construction, so t... |
MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation | https://ieeexplore.ieee.org/document/10611121/ | [
"Patrick Lancaster",
"Nicklas Hansen",
"Aravind Rajeswaran",
"Vikash Kumar",
"Patrick Lancaster",
"Nicklas Hansen",
"Aravind Rajeswaran",
"Vikash Kumar"
] | Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminate the need for environment instrumentation by building an implicit understanding of the world based on raw pixels, but navigating the contact-rich high-dimensional search space from solely sparse visual reward signals si... |
Probabilistic Motion Planning and Prediction via Partitioned Scenario Replay | https://ieeexplore.ieee.org/document/10611014/ | [
"Oscar de Groot",
"Anish Sridharan",
"Javier Alonso-Mora",
"Laura Ferranti",
"Oscar de Groot",
"Anish Sridharan",
"Javier Alonso-Mora",
"Laura Ferranti"
] | Autonomous mobile robots require predictions of human motion to plan a safe trajectory that avoids them. Because human motion cannot be predicted exactly, future trajectories are typically inferred from real-world data via learning-based approximations. These approximations provide useful information on the pedestrian’s behavior, but may deviate from the data, which can lead to collisions during p... |
GPU-Accelerated Optimization-Based Collision Avoidance | https://ieeexplore.ieee.org/document/10610871/ | [
"Zeming Wu",
"Zhuping Wang",
"Hao Zhang",
"Zeming Wu",
"Zhuping Wang",
"Hao Zhang"
] | This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is proposed based on scale-based collision detection and the strong duality of convex optimization. Under this constraint, the high-dimensional non-convex optimizat... |
Learn to Navigate in Dynamic Environments with Normalized LiDAR Scans | https://ieeexplore.ieee.org/document/10611247/ | [
"Wei Zhu",
"Mitsuhiro Hayashibe",
"Wei Zhu",
"Mitsuhiro Hayashibe"
] | The latest robot navigation methods for dynamic environments assume that the states of obstacles, including their geometries and trajectories, are fully observable. While it’s easy to obtain these states accurately in simulations, it’s exceedingly challenging in the real world. Therefore, a viable alternative is to directly map raw sensor observations into robot actions. However, acquiring skills ... |
Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles | https://ieeexplore.ieee.org/document/10611155/ | [
"Joonhee Lim",
"Kibeom Lee",
"Jangho Shin",
"Dongsuk Kum",
"Joonhee Lim",
"Kibeom Lee",
"Jangho Shin",
"Dongsuk Kum"
] | Collision Avoidance/Mitigation System (CAMS) for autonomous vehicles is a crucial technology that ensures the safety and reliability of autonomous driving systems. Conventional collision avoidance approaches struggle in complex and various scenarios by avoiding collisions based on rules for specific collision scenarios. This has led to learning-based methods using neural networks for adaptive coll... |
History-Aware Planning for Risk-free Autonomous Navigation on Unknown Uneven Terrain | https://ieeexplore.ieee.org/document/10610488/ | [
"Yinchuan Wang",
"Nianfei Du",
"Yongsen Qin",
"Xiang Zhang",
"Rui Song",
"Chaoqun Wang",
"Yinchuan Wang",
"Nianfei Du",
"Yongsen Qin",
"Xiang Zhang",
"Rui Song",
"Chaoqun Wang"
] | It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree structure that is dynamically extended with the navigation. This structure unifies the planning with the terrain identification. Besides, it contributes to explicitly i... |
Learning Motion Reconstruction from Demonstration via Multi-Modal Soft Tactile Sensing | https://ieeexplore.ieee.org/document/10610135/ | [
"Cheng Pan",
"Kieran Gilday",
"Emily Sologuren",
"Kai Junge",
"Josie Hughes",
"Cheng Pan",
"Kieran Gilday",
"Emily Sologuren",
"Kai Junge",
"Josie Hughes"
] | Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propose a framework that enables robotic imitation of contact from human demonstration using a wearable finger-tip sensor. By developing a multi-moda... |
Vision-based Tip Force Estimation on a Soft Continuum Robot | https://ieeexplore.ieee.org/document/10611353/ | [
"Xingyu Chen",
"Jialei Shi",
"Helge Wurdemann",
"Thomas George Thuruthel",
"Xingyu Chen",
"Jialei Shi",
"Helge Wurdemann",
"Thomas George Thuruthel"
] | Soft continuum robots, fabricated from elastomeric materials, offer unparalleled flexibility and adaptability, making them ideal for applications such as minimally invasive surgery and inspections in constrained environments. With the miniaturization of imaging technologies and the development of novel control algorithms, these devices provide exceptional opportunities to visualize the internal st... |
Thermally-activated Biochemically-sustained Reactor for Soft Fluidic Actuation | https://ieeexplore.ieee.org/document/10610060/ | [
"Jialun Liu",
"MennaAllah Soliman",
"Dana D. Damian",
"Jialun Liu",
"MennaAllah Soliman",
"Dana D. Damian"
] | Soft robots have shown remarkable distinct capabilities due to their high deformation. Recently increasing attention has been dedicated to developing fully soft robots to exploit their full potential, with a recognition that electronic powering may limit this achievement. Alternative powering sources compatible with soft robots have been identified such as combustion and chemical reactions. A furt... |
Pulsating Fluidic Sensor for Sensing of Location, Pressure and Contact Area | https://ieeexplore.ieee.org/document/10610816/ | [
"Joanna Jones",
"Marco Pontin",
"Dana D. Damian",
"Joanna Jones",
"Marco Pontin",
"Dana D. Damian"
] | Designing information-rich and space-efficient sensors is a key challenge for soft robotics, and crucial for the development of safe soft robots. Sensing and understanding the environmental interactions with a minimal footprint is especially important in the medical context, where portability and unhindered patient/user movement is a priority, to move towards personalized and decentralized healthc... |
Perception through Cognitive Emulation : "A Second Iteration of NaivPhys4RP for Learningless and Safe Recognition and 6D-Pose Estimation of (Transparent) Objects" | https://ieeexplore.ieee.org/document/10610037/ | [
"Franklin Kenghagho K.",
"Michael Neumann",
"Patrick Mania",
"Michael Beetz",
"Franklin Kenghagho K.",
"Michael Neumann",
"Patrick Mania",
"Michael Beetz"
] | In our previous work, we designed a human-like white-box and causal generative model of perception NaivPhys4RP, essentially based on cognitive emulation to understand the past, the present and the future of the state of complex worlds from poor observations. In this paper, as recommended in that previous work, we first refine the theoretical model of NaivPhys4RP in terms of integration of variable... |
Mapping High-level Semantic Regions in Indoor Environments without Object Recognition | https://ieeexplore.ieee.org/document/10610897/ | [
"Roberto Bigazzi",
"Lorenzo Baraldi",
"Shreyas Kousik",
"Rita Cucchiara",
"Marco Pavone",
"Roberto Bigazzi",
"Lorenzo Baraldi",
"Shreyas Kousik",
"Rita Cucchiara",
"Marco Pavone"
] | Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph generation; less effort has been focused on the task of purely identifying and mapping large semantic regions. The present work proposes a method for semantic region map... |
LLM-Grounder: Open-Vocabulary 3D Visual Grounding with Large Language Model as an Agent | https://ieeexplore.ieee.org/document/10610443/ | [
"Jianing Yang",
"Xuweiyi Chen",
"Shengyi Qian",
"Nikhil Madaan",
"Madhavan Iyengar",
"David F. Fouhey",
"Joyce Chai",
"Jianing Yang",
"Xuweiyi Chen",
"Shengyi Qian",
"Nikhil Madaan",
"Madhavan Iyengar",
"David F. Fouhey",
"Joyce Chai"
] | 3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit limitations in handling complex language queries, we propose LLM-Grounder, a novel zero-shot, open-vocabulary, Large Language Model (LLM)-based 3D visual grounding pipe... |
Improving Radial Imbalances with Hybrid Voxelization and RadialMix for LiDAR 3D Semantic Segmentation | https://ieeexplore.ieee.org/document/10610604/ | [
"Jiale Li",
"Hang Dai",
"Yu Wang",
"Guangzhi Cao",
"Chun Luo",
"Yong Ding",
"Jiale Li",
"Hang Dai",
"Yu Wang",
"Guangzhi Cao",
"Chun Luo",
"Yong Ding"
] | Huge progress has been made in LiDAR 3D semantic segmentation, but there are two under-explored imbalances on the radial axis: points are unevenly concentrated on the near side, and the distribution of foreground object instances is skewed to the near side. This leads the training of the model to favor semantics at the near side with the majority of points and object instances. Both the cylindrica... |
Few-Shot Panoptic Segmentation With Foundation Models | https://ieeexplore.ieee.org/document/10611624/ | [
"Markus Käppeler",
"Kürsat Petek",
"Niclas Vödisch",
"Wolfram Burgard",
"Abhinav Valada",
"Markus Käppeler",
"Kürsat Petek",
"Niclas Vödisch",
"Wolfram Burgard",
"Abhinav Valada"
] | Current state-of-the-art methods for panoptic segmentation require an immense amount of annotated training data that is both arduous and expensive to obtain posing a significant challenge for their widespread adoption. Concurrently, recent breakthroughs in visual representation learning have sparked a paradigm shift leading to the advent of large foundation models that can be trained with complete... |
End-to-end Semantic Segmentation Network for Low-Light Scenes | https://ieeexplore.ieee.org/document/10611148/ | [
"Hongmin Mu",
"Gang Zhang",
"MengChu Zhou",
"Zhengcai Cao",
"Hongmin Mu",
"Gang Zhang",
"MengChu Zhou",
"Zhengcai Cao"
] | In the fields of robotic perception and computer vision, achieving accurate semantic segmentation of low-light or nighttime scenes is challenging. This is primarily due to the limited visibility of objects and the reduced texture and color contrasts among them. To address the issue of limited visibility, we propose a hierarchical gated convolution unit, which simultaneously expands the receptive f... |
DefFusion: Deformable Multimodal Representation Fusion for 3D Semantic Segmentation | https://ieeexplore.ieee.org/document/10610465/ | [
"Rongtao Xu",
"Changwei Wang",
"Duzhen Zhang",
"Man Zhang",
"Shibiao Xu",
"Weiliang Meng",
"Xiaopeng Zhang",
"Rongtao Xu",
"Changwei Wang",
"Duzhen Zhang",
"Man Zhang",
"Shibiao Xu",
"Weiliang Meng",
"Xiaopeng Zhang"
] | The complementarity between camera and LiDAR data makes fusion methods a promising approach to improve 3D semantic segmentation performance. Recent transformer-based methods have also demonstrated superiority in segmentation. However, multimodal solutions incorporating transformers are underexplored and face two key inherent difficulties: over-attention and noise from different modal data. To over... |
Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2 | https://ieeexplore.ieee.org/document/10611174/ | [
"Adam Rashid",
"Chung Min Kim",
"Justin Kerr",
"Letian Fu",
"Kush Hari",
"Ayah Ahmad",
"Kaiyuan Chen",
"Huang Huang",
"Marcus Gualtieri",
"Michael Wang",
"Christian Juette",
"Nan Tian",
"Liu Ren",
"Ken Goldberg",
"Adam Rashid",
"Chung Min Kim",
"Justin Kerr",
"Letian Fu",
"Kush Hari",
"Ayah Ahmad",
"Kaiyuan Chen",
"Huang Huang",
"Marcus Gualtieri",
"Michael Wang",
"Christian Juette",
"Nan Tian",
"Liu Ren",
"Ken Goldberg"
] | Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of its surroundings. Lifelong LERF maintains this representation over time by detecting semantic changes ... |
RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation | https://ieeexplore.ieee.org/document/10610690/ | [
"Boshi An",
"Yiran Geng",
"Kai Chen",
"Xiaoqi Li",
"Qi Dou",
"Hao Dong",
"Boshi An",
"Yiran Geng",
"Kai Chen",
"Xiaoqi Li",
"Qi Dou",
"Hao Dong"
] | Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two commonly used modalities in visual-based robotic manipulation, but each of these modalities have their own limitations. Commercial point-cloud observations often suffe... |
MORPH: Design Co-optimization with Reinforcement Learning via a Differentiable Hardware Model Proxy | https://ieeexplore.ieee.org/document/10610732/ | [
"Zhanpeng He",
"Matei Ciocarlie",
"Zhanpeng He",
"Matei Ciocarlie"
] | We introduce MORPH, a method for co-optimization of hardware design parameters and control policies in simulation using reinforcement learning. Like most co-optimization methods, MORPH relies on a model of the hardware being optimized, usually simulated based on the laws of physics. However, such a model is often difficult to integrate into an effective optimization routine. To address this, we in... |
Mastering Stacking of Diverse Shapes with Large-Scale Iterative Reinforcement Learning on Real Robots | https://ieeexplore.ieee.org/document/10610297/ | [
"Thomas Lampe",
"Abbas Abdolmaleki",
"Sarah Bechtle",
"Sandy H. Huang",
"Jost Tobias Springenberg",
"Michael Bloesch",
"Oliver Groth",
"Roland Hafner",
"Tim Hertweck",
"Michael Neunert",
"Markus Wulfmeier",
"Jingwei Zhang",
"Francesco Nori",
"Nicolas Heess",
"Martin Riedmiller",
"Thomas Lampe",
"Abbas Abdolmaleki",
"Sarah Bechtle",
"Sandy H. Huang",
"Jost Tobias Springenberg",
"Michael Bloesch",
"Oliver Groth",
"Roland Hafner",
"Tim Hertweck",
"Michael Neunert",
"Markus Wulfmeier",
"Jingwei Zhang",
"Francesco Nori",
"Nicolas Heess",
"Martin Riedmiller"
] | Reinforcement learning solely from an agent’s self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly efficient through re-using previously collected sub-optimal data. In this paper we demonstrate how the increased understanding of off-policy learning methods and... |
Information-driven Affordance Discovery for Efficient Robotic Manipulation | https://ieeexplore.ieee.org/document/10611170/ | [
"Pietro Mazzaglia",
"Taco Cohen",
"Daniel Dijkman",
"Pietro Mazzaglia",
"Taco Cohen",
"Daniel Dijkman"
] | Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or demonstrations. In this work, we argue that well-directed interactions with the environment can mitigate this problem and propose an information-based measure to augment the ... |
6-DoF Closed-Loop Grasping with Reinforcement Learning | https://ieeexplore.ieee.org/document/10610080/ | [
"Sverre Herland",
"Kerstin Bach",
"Ekrem Misimi",
"Sverre Herland",
"Kerstin Bach",
"Ekrem Misimi"
] | We present a novel vision-based, 6-DoF grasping framework based on Deep Reinforcement Learning (DRL) that is capable of directly synthesizing continuous 6-DoF actions in cartesian space. Our proposed approach uses visual observations from an eye-in-hand RGB-D camera, and we mitigate the sim-to-real gap with a combination of domain randomization, image augmentation, and segmentation tools. Our meth... |
Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation System | https://ieeexplore.ieee.org/document/10611721/ | [
"Xiwen Dengxiong",
"Xueting Wang",
"Shi Bai",
"Yunbo Zhang",
"Xiwen Dengxiong",
"Xueting Wang",
"Shi Bai",
"Yunbo Zhang"
] | Most existing 6-DoF robot grasping solutions depend on strong supervision on grasp pose to ensure satisfactory performance, which could be laborious and impractical when the robot works in some restricted area. To this end, we propose a self-supervised 6-DoF grasp pose detection framework via an Augmented Reality (AR) teleoperation system that can efficiently learn human demonstrations and provide... |
Trust Recognition in Human-Robot Cooperation Using EEG | https://ieeexplore.ieee.org/document/10610156/ | [
"Caiyue Xu",
"Changming Zhang",
"Yanmin Zhou",
"Zhipeng Wang",
"Ping Lu",
"Bin He",
"Caiyue Xu",
"Changming Zhang",
"Yanmin Zhou",
"Zhipeng Wang",
"Ping Lu",
"Bin He"
] | Collaboration between humans and robots is becoming increasingly crucial in our daily life. In order to accomplish efficient cooperation, trust recognition is vital, empowering robots to predict human behaviors and make trust-aware decisions. Consequently, there is an urgent need for a generalized approach to recognize human-robot trust. This study addresses this need by introducing an EEG-based m... |
Learning Self-Confidence from Semantic Action Embeddings for Improved Trust in Human-Robot Interaction | https://ieeexplore.ieee.org/document/10611445/ | [
"Cedric Goubard",
"Yiannis Demiris",
"Cedric Goubard",
"Yiannis Demiris"
] | In Human-Robot Interaction (HRI) scenarios, human factors like trust can greatly impact task performance and interaction quality. Recent research has confirmed that perceived robot proficiency is a major antecedent of trust. By making robots aware of their capabilities, we can allow them to choose when to perform low-confidence actions, thus actively controlling the risk of trust reduction. In thi... |
Interactive Navigation in Environments with Traversable Obstacles Using Large Language and Vision-Language Models | https://ieeexplore.ieee.org/document/10610751/ | [
"Zhen Zhang",
"Anran Lin",
"Chun Wai Wong",
"Xiangyu Chu",
"Qi Dou",
"K. W. Samuel Au",
"Zhen Zhang",
"Anran Lin",
"Chun Wai Wong",
"Xiangyu Chu",
"Qi Dou",
"K. W. Samuel Au"
] | This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the open-set Vision-language Model (Grounding DINO) to create an action-aware costmap to perform effective path planning without fine-tuning. With the large models, we ca... |
From Unstable Electrode Contacts to Reliable Control: A Deep Learning Approach for HD-sEMG in Neurorobotics | https://ieeexplore.ieee.org/document/10610638/ | [
"Eion Tyacke",
"Kunal Gupta",
"Jay Patel",
"Raghav Katoch",
"S. Farokh Atashzar",
"Eion Tyacke",
"Kunal Gupta",
"Jay Patel",
"Raghav Katoch",
"S. Farokh Atashzar"
] | In the past decade, there has been significant advancement in designing wearable neural interfaces for controlling neurorobotic systems, particularly bionic limbs. These interfaces function by decoding signals captured noninvasively from the skin’s surface. Portable high-density surface electromyography (HD-sEMG) modules combined with deep learning decoding have attracted interest by achieving exc... |
Enhanced Human-Robot Collaboration with Intent Prediction using Deep Inverse Reinforcement Learning | https://ieeexplore.ieee.org/document/10610595/ | [
"Mukund Mitra",
"Gyanig Kumar",
"Partha Pratim Chakrabarti",
"Pradipta Biswas",
"Mukund Mitra",
"Gyanig Kumar",
"Partha Pratim Chakrabarti",
"Pradipta Biswas"
] | In shared autonomy, human-robot handover for object delivery is crucial. Accurate robot predictions of human hand motion and intentions enhance collaboration efficiency. However, low prediction accuracy increases mental and physical demands on the user. In this work, we propose a system for predicting hand motion and intended target during human-robot handover using Inverse Reinforcement Learning ... |
ToP-ToM: Trust-aware Robot Policy with Theory of Mind | https://ieeexplore.ieee.org/document/10610127/ | [
"Chuang Yu",
"Baris Serhan",
"Angelo Cangelosi",
"Chuang Yu",
"Baris Serhan",
"Angelo Cangelosi"
] | Theory of Mind (ToM) is a fundamental cognitive architecture that endows humans with the ability to attribute mental states to others. Humans infer the desires, beliefs, and intentions of others by observing their behavior and, in turn, adjust their actions to facilitate better interpersonal communication and team collaboration. In this paper, we investigated trust-aware robot policy with the theo... |
VIDAR: Data Quality Improvement for Monocular 3D Reconstruction through In-situ Visual Interaction | https://ieeexplore.ieee.org/document/10610260/ | [
"Han Gao",
"Yating Liu",
"Fang Cao",
"Hao Wu",
"Fengyuan Xu",
"Sheng Zhong",
"Han Gao",
"Yating Liu",
"Fang Cao",
"Hao Wu",
"Fengyuan Xu",
"Sheng Zhong"
] | 3D reconstruction based on monocular videos has attracted wide attention, and existing reconstruction methods usually work in a reconstruction-after-scanning manner. However, these methods suffer from insufficient data collection problems due to the lack of effective guidance for users during the scanning process, which affects reconstruction quality. We propose VIDAR, which visually guides users ... |
Transparency Control of a 1-DoF Knee Exoskeleton via Human-in-the-Loop Velocity Optimisation | https://ieeexplore.ieee.org/document/10611632/ | [
"Lukas Cha",
"Annika Guez",
"Chih-Yu Chen",
"Sion Kim",
"Zhenhua Yu",
"Bo Xiao",
"Ravi Vaidyanathan",
"Lukas Cha",
"Annika Guez",
"Chih-Yu Chen",
"Sion Kim",
"Zhenhua Yu",
"Bo Xiao",
"Ravi Vaidyanathan"
] | Rehabilitative robotics, particularly lower-limb exoskeletons (LLEs), have gained increasing importance in aiding patients regain ambulatory functions. One of the challenges in making these systems effective is the implementation of an assist-as-needed (AAN) control strategy that intervenes only when the patient deviates from the correct movement pattern. Equally crucial is the need for the LLE to... |
Towards Enhanced Human Activity Recognition for Real-World Human-Robot Collaboration | https://ieeexplore.ieee.org/document/10610664/ | [
"Beril Yalcinkaya",
"Micael S. Couceiro",
"Lucas Pina",
"Salviano Soares",
"António Valente",
"Fabio Remondino",
"Beril Yalcinkaya",
"Micael S. Couceiro",
"Lucas Pina",
"Salviano Soares",
"António Valente",
"Fabio Remondino"
] | This research contributes to the field of Human-Robot Collaboration (HRC) within dynamic and unstructured environments by extending the previously proposed Fuzzy State-Long Short-Term Memory (FS-LSTM) architecture to handle the uncertainty and irregularity inherent in real-world sensor data. Recognising the challenges posed by low-cost sensors, which are highly susceptible to environmental conditi... |
Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method | https://ieeexplore.ieee.org/document/10611652/ | [
"Qiuhao Li",
"Shenghai Yuan",
"Qiuhao Li",
"Shenghai Yuan"
] | In the context of rapid advancements in industrial automation, vision-based robotic grasping plays an increasingly crucial role. In order to enhance visual recognition accuracy, the utilization of large-scale datasets is imperative for training models to acquire implicit knowledge related to the handling of various objects. Creating datasets from scratch is a time and labor-intensive process. More... |
Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning | https://ieeexplore.ieee.org/document/10611425/ | [
"Siddharth Singi",
"Zhanpeng He",
"Alvin Pan",
"Sandip Patel",
"Gunnar A. Sigurdsson",
"Robinson Piramuthu",
"Shuran Song",
"Matei Ciocarlie",
"Siddharth Singi",
"Zhanpeng He",
"Alvin Pan",
"Sandip Patel",
"Gunnar A. Sigurdsson",
"Robinson Piramuthu",
"Shuran Song",
"Matei Ciocarlie"
] | In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests can lead to the robot making mistakes, but too many requests can overload the expert. In this paper, we present a Reinforcement Learning based approach to this ... |
Building User Proficiency in Piloting Small Unmanned Aerial Vehicles (sUAV) | https://ieeexplore.ieee.org/document/10610439/ | [
"Siya Kunde",
"Brittany Duncan",
"Siya Kunde",
"Brittany Duncan"
] | Assessing proficiency in small unmanned aerial vehicles (sUAVs) pilots is complex and not well understood, but increasingly important to employ these vehicles in serious jobs such as wildland firefighting and infrastructure inspection. The limited prior work with UAVs has focused on user training using modalities like simulators and VR and no performance assessments with line-of-sight UAVs. This p... |
GelRoller: A Rolling Vision-based Tactile Sensor for Large Surface Reconstruction Using Self-Supervised Photometric Stereo Method | https://ieeexplore.ieee.org/document/10610417/ | [
"Zhiyuan Zhang",
"Huan Ma",
"Yulin Zhou",
"Jingjing Ji",
"Hua Yang",
"Zhiyuan Zhang",
"Huan Ma",
"Yulin Zhou",
"Jingjing Ji",
"Hua Yang"
] | Accurate perception of the surrounding environment stands as a primary objective for robots. Through tactile interaction, vision-based tactile sensors provide the capability to capture high-resolution and multi-modal surface information of objects, thereby facilitating robots in achieving more dexterous manipulations. However, the prevailing GelSight sensors entail intricate calibration procedures... |
TEXterity: Tactile Extrinsic deXterity | https://ieeexplore.ieee.org/document/10610622/ | [
"Antonia Bronars",
"Sangwoon Kim",
"Parag Patre",
"Alberto Rodriguez",
"Antonia Bronars",
"Sangwoon Kim",
"Parag Patre",
"Alberto Rodriguez"
] | We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans in a receding horizon fashion to control the pose of a grasped object. This approach consists of a discrete pose es... |
Optimization of Flexible Bronchoscopy Shape Sensing Using Fiber Optic Sensors | https://ieeexplore.ieee.org/document/10611502/ | [
"Xinran Liu",
"Hao Chen",
"Hongbin Liu",
"Xinran Liu",
"Hao Chen",
"Hongbin Liu"
] | This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular point... |
Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter | https://ieeexplore.ieee.org/document/10610224/ | [
"Dane Brouwer",
"Joshua Citron",
"Hojung Choi",
"Marion Lepert",
"Michael Lin",
"Jeannette Bohg",
"Mark Cutkosky",
"Dane Brouwer",
"Joshua Citron",
"Hojung Choi",
"Marion Lepert",
"Michael Lin",
"Jeannette Bohg",
"Mark Cutkosky"
] | It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives— burrowing and excavating—that can fluidize the scene to unjam obstacles and enable continued progress. Even when these primitives are implemented in an open loop manner at cloc... |
Crosstalk-Free Impedance-Separating Array Measurement for Iontronic Tactile Sensors* | https://ieeexplore.ieee.org/document/10610535/ | [
"Funing Hou",
"Gang Li",
"Chenxing Mu",
"Mengqi Shi",
"Jixiao Liu",
"Shijie Guo",
"Funing Hou",
"Gang Li",
"Chenxing Mu",
"Mengqi Shi",
"Jixiao Liu",
"Shijie Guo"
] | Iontronic tactile sensors are promising to measure spatial-temporal contact information with high performance. However, no suitable measuring method has been presented, due to issues with crosstalk and non-negligible equivalent resistance. Hence, this study presents an impedance-separating method, which does not require complex analog components. A general Quadri-Terminal Impedance Network (QTIN) ... |
Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training | https://ieeexplore.ieee.org/document/10610228/ | [
"Vedant Dave",
"Fotios Lygerakis",
"Elmar Rueckert",
"Vedant Dave",
"Fotios Lygerakis",
"Elmar Rueckert"
] | The rapidly evolving field of robotics necessitates methods that can facilitate the fusion of multiple modalities. Specifically, when it comes to interacting with tangible objects, effectively combining visual and tactile sensory data is key to understanding and navigating the complex dynamics of the physical world, enabling a more nuanced and adaptable response to changing environments. Neverthel... |
A Hierarchical Framework for Robot Safety using Whole-body Tactile Sensors | https://ieeexplore.ieee.org/document/10610834/ | [
"Shuo Jiang",
"Lawson L.S. Wong",
"Shuo Jiang",
"Lawson L.S. Wong"
] | Using tactile signal is a natural way to perceive potential dangers and safeguard robots. One possible method is to use full-body tactile sensors on the robot and perform safety maneuvers when dangerous stimuli are detected. In this work, we proposed a method based on full-body tactile sensors that operates at three different levels of granularity to ensure that robot interacts with the environmen... |
Unlocking Versatile Locomotion: A Novel Quadrupedal Robot with 4-DoFs Legs for Roller Skating | https://ieeexplore.ieee.org/document/10610706/ | [
"Jiawei Chen",
"Ripeng Qin",
"Longfei Huang",
"Zongbo He",
"Kun Xu",
"Xilun Ding",
"Jiawei Chen",
"Ripeng Qin",
"Longfei Huang",
"Zongbo He",
"Kun Xu",
"Xilun Ding"
] | Roller skating with passive wheels on a quadrupedal robot is more efficient than traditional walking. However, the typical mammalian quadruped robot with 3-DoFs legs can only perform one dynamic roller skating gait and has difficulty achieving turning motion. To address this limitation, we designed a novel quadrupedal robot with each leg having 4-DoFs to enable various roller skating locomotion in... |
Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots | https://ieeexplore.ieee.org/document/10610879/ | [
"Bhavyansh Mishra",
"Duncan Calvert",
"Sylvain Bertrand",
"Jerry Pratt",
"Hakki Erhan Sevil",
"Robert Griffin",
"Bhavyansh Mishra",
"Duncan Calvert",
"Sylvain Bertrand",
"Jerry Pratt",
"Hakki Erhan Sevil",
"Robert Griffin"
] | Humanoid robots possess the ability to perform complex tasks in challenging environments. However, they require a model of the surroundings in a representation that is sufficient enough for downstream tasks such as footstep planning. The maps generated by existing mapping algorithms are either sparse, insufficient for footstep planning, memory intensive, or too slow for dynamic humanoid behaviors.... |
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots | https://ieeexplore.ieee.org/document/10611641/ | [
"James Zhu",
"J. Joe Payne",
"Aaron M. Johnson",
"James Zhu",
"J. Joe Payne",
"Aaron M. Johnson"
] | In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time before transitioning to a new domain (e.g. foot touchdown). Meanwhile, these transitions can instantaneously change the system’s state, possibly causing perturbat... |
Optimization Based Dynamic Skateboarding of Quadrupedal Robot | https://ieeexplore.ieee.org/document/10611075/ | [
"Zhe Xu",
"Mohamed Al-Khulaqui",
"Hanxin Ma",
"Jiajun Wang",
"Quanbin Xin",
"Yangwei You",
"Mingliang Zhou",
"Diyun Xiang",
"Shiwu Zhang",
"Zhe Xu",
"Mohamed Al-Khulaqui",
"Hanxin Ma",
"Jiajun Wang",
"Quanbin Xin",
"Yangwei You",
"Mingliang Zhou",
"Diyun Xiang",
"Shiwu Zhang"
] | Robot skateboarding is a novel and challenging task for legged robots. Accurately modeling the dynamics of dual floating bases and developing effective planning and control methods present significant complexities in accomplishing skateboarding behavior. This paper focuses on enabling the quadrupedal platform CyberDog2 to achieve dynamic balancing and acceleration on a skateboard. An optimization-... |
Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal | https://ieeexplore.ieee.org/document/10610248/ | [
"Max Asselmeier",
"Jane Ivanova",
"Ziyi Zhou",
"Patricio A. Vela",
"Ye Zhao",
"Max Asselmeier",
"Jane Ivanova",
"Ziyi Zhou",
"Patricio A. Vela",
"Ye Zhao"
] | This study focuses on a layered, experience-based, multi-modal contact planning framework for agile quadrupedal locomotion over a constrained rebar environment. To this end, our hierarchical planner incorporates locomotion-specific modules into the high-level contact sequence planner and performs kinodynamically-aware trajectory optimization as the low-level motion planner. Through quantitative an... |
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots | https://ieeexplore.ieee.org/document/10610069/ | [
"Simon Chamorro",
"Victor Klemm",
"Miguel de La Iglesia Valls",
"Christopher Pal",
"Roland Siegwart",
"Simon Chamorro",
"Victor Klemm",
"Miguel de La Iglesia Valls",
"Christopher Pal",
"Roland Siegwart"
] | In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability to navigate stairs, which hampers their functionality in multi-story environments. This study proposes a method aimed at addressing this limitation, employing r... |
Modeling and Analysis of Combined Rimless Wheel with Tensegrity Spine | https://ieeexplore.ieee.org/document/10611065/ | [
"Yuxuan Xiang",
"Yanqiu Zheng",
"Fumihiko Asano",
"Yuxuan Xiang",
"Yanqiu Zheng",
"Fumihiko Asano"
] | In the natural world, benefited from the advantages of the spine, quadrupeds exhibiting extraordinary flexibility which allowing them to move efficiently on variable terrains. The previous researches have indicated the legged robots which efficiently utilizing their spine can achieve rapid and stable locomotion. However, within the field of legged robot dynamics, the design of the spine and unders... |
Degenerate Motions of Multisensor Fusion-based Navigation | https://ieeexplore.ieee.org/document/10610255/ | [
"Woosik Lee",
"Chuchu Chen",
"Guoquan Huang",
"Woosik Lee",
"Chuchu Chen",
"Guoquan Huang"
] | The system observability analysis is of practical importance, for example, due to its ability to identify the unobservable directions of the estimated state which can influence estimation accuracy and help develop consistent and robust estimators. Recent studies focused on analyzing the observability of the state of various multisensor systems with a particular interest in unobservable directions ... |
On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots | https://ieeexplore.ieee.org/document/10610322/ | [
"Reinhard M. Grassmann",
"Anastasiia Senyk",
"Jessica Burgner-Kahrs",
"Reinhard M. Grassmann",
"Anastasiia Senyk",
"Jessica Burgner-Kahrs"
] | Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may result in a complicated decision tree, has a high wall-clock time, and cannot be vectorized. This affects the behavior and result of downstream methods in control... |
3D Navigation of a Magnetic Swimmer Using a 2D Ultrasonography Probe Manipulated by a Robotic Arm for Position Feedback | https://ieeexplore.ieee.org/document/10611538/ | [
"Premal Gorroochurn",
"Charles P. Hong",
"Carter M. Klebuc",
"Yitong Lu",
"Khue Phan",
"Javier Garcia",
"Aaron T. Becker",
"Julien Leclerc",
"Premal Gorroochurn",
"Charles P. Hong",
"Carter M. Klebuc",
"Yitong Lu",
"Khue Phan",
"Javier Garcia",
"Aaron T. Becker",
"Julien Leclerc"
] | Millimeter-scale magnetic rotating swimmers have multiple potential medical applications. They could, for example, navigate inside the bloodstream of a patient toward an occlusion and remove it. Magnetic rotating swimmers have internal magnets and propeller fins with a helical shape. A rotating magnetic field applies torque on the swimmer and makes it rotate. The shape of the swimmer, combined wit... |
An Intelligent Robotic Endoscope Control System Based on Fusing Natural Language Processing and Vision Models | https://ieeexplore.ieee.org/document/10611534/ | [
"Beili Dong",
"Junhong Chen",
"Zeyu Wang",
"Kaizhong Deng",
"Yiping Li",
"Benny Lo",
"George Mylonas",
"Beili Dong",
"Junhong Chen",
"Zeyu Wang",
"Kaizhong Deng",
"Yiping Li",
"Benny Lo",
"George Mylonas"
] | In recent years, the area of Robot-Assisted Minimally Invasive Surgery (RAMIS) is standing on the the verge of a new wave of innovations. However, autonomy in RAMIS is still in a primitive stage. Therefore, most surgeries still require manual control of the endoscope and the robotic instruments, resulting in surgeons needing to switch attention between performing surgical procedures and moving end... |
AiAReSeg: Catheter Detection and Segmentation in Interventional Ultrasound using Transformers | https://ieeexplore.ieee.org/document/10611539/ | [
"Alex Ranne",
"Yordanka Velikova",
"Nassir Navab",
"Ferdinando Rodriguez y Baena",
"Alex Ranne",
"Yordanka Velikova",
"Nassir Navab",
"Ferdinando Rodriguez y Baena"
] | This work proposes a state-of-the-art transformer architecture to detect and segment catheters in axial interventional Ultrasound image sequences. The network architecture was inspired by the Attention in Attention mechanism, temporal tracking networks, and introduced a novel 3D segmentation head that performs 3D deconvolution across time. To train the network, we introduce a new data synthesis pi... |
Hybrid Robot for Percutaneous Needle Intervention Procedures: Mechanism Design and Experiment Verification | https://ieeexplore.ieee.org/document/10611222/ | [
"Hanyi Zhang",
"Guocai Yao",
"Feifan Zhang",
"Fanchuan Lin",
"Fuchun Sun",
"Hanyi Zhang",
"Guocai Yao",
"Feifan Zhang",
"Fanchuan Lin",
"Fuchun Sun"
] | This paper presents a 6-DOF hybrid robot for percutaneous needle intervention procedures. The new robot combines the advantages of both serial robots and parallel robots, featuring compactness, high accuracy, and small footprint while overcoming the problems of the high cost of serial robots and the small workspace and singularity issue of parallel robots. Besides, by analyzing the workspace of th... |
Envibroscope: Real-Time Monitoring and Prediction of Environmental Motion for Enhancing Safety in Robot-Assisted Microsurgery | https://ieeexplore.ieee.org/document/10611207/ | [
"Alireza Alikhani",
"Satoshi Inagaki",
"Shervin Dehghani",
"Mathias Maier",
"Nassir Navab",
"M. Ali Nasseri",
"Alireza Alikhani",
"Satoshi Inagaki",
"Shervin Dehghani",
"Mathias Maier",
"Nassir Navab",
"M. Ali Nasseri"
] | Several robotic systems have emerged in the recent past to enhance the precision of micro-surgeries such as retinal procedures. Significant advancements have recently been achieved to increase the precision of such systems beyond surgeon capabilities. However, little attention has been paid to the impact of non-predicted and sudden movements of the patient and the environment. Therefore, analyzing... |
Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study | https://ieeexplore.ieee.org/document/10611084/ | [
"Mojtaba Esfandiari",
"Ji Woong Kim",
"Botao Zhao",
"Golchehr Amirkhani",
"Muhammad Hadi",
"Peter Gehlbach",
"Russell H. Taylor",
"Iulian Iordachita",
"Mojtaba Esfandiari",
"Ji Woong Kim",
"Botao Zhao",
"Golchehr Amirkhani",
"Muhammad Hadi",
"Peter Gehlbach",
"Russell H. Taylor",
"Iulian Iordachita"
] | A surgeon’s physiological hand tremor can significantly impact the outcome of delicate and precise retinal surgery, such as retinal vein cannulation (RVC) and epiretinal membrane peeling. Robot-assisted eye surgery technology provides ophthalmologists with advanced capabilities such as hand tremor cancellation, hand motion scaling, and safety constraints that enable them to perform these otherwise... |
Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control | https://ieeexplore.ieee.org/document/10611009/ | [
"Peiyang Jiang",
"Wei Li",
"Yifan Li",
"Dandan Zhang",
"Peiyang Jiang",
"Wei Li",
"Yifan Li",
"Dandan Zhang"
] | Motion scaling is essential to empower users to conduct precise manipulation during teleoperation for robot-assisted microsurgery (RAMS). A constant, small motion scaling ratio can enhance the precision of teleoperation but hinder the operator from quickly reaching distant targets. The concept of self-adaptive motion scaling has been proposed in previous work. However, previous frameworks required... |
Chained Flexible Capsule Endoscope: Unraveling the Conundrum of Size Limitations and Functional Integration for Gastrointestinal Transitivity | https://ieeexplore.ieee.org/document/10611010/ | [
"Sishen Yuan",
"Guang Li",
"Baijia Liang",
"Lailu Li",
"Qingzhuo Zheng",
"Shuang Song",
"Zhen Li",
"Hongliang Ren",
"Sishen Yuan",
"Guang Li",
"Baijia Liang",
"Lailu Li",
"Qingzhuo Zheng",
"Shuang Song",
"Zhen Li",
"Hongliang Ren"
] | Capsule endoscopes, predominantly serving diagnostic functions, provide lucid internal imagery but are devoid of surgical or therapeutic capabilities. Consequently, despite lesion detection, physicians frequently resort to traditional endoscopic or open surgical procedures for treatment, resulting in more complex, potentially risky interventions. To surmount these limitations, this study introduce... |
A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation | https://ieeexplore.ieee.org/document/10611072/ | [
"Varun Agrawal",
"Frank Dellaert",
"Varun Agrawal",
"Frank Dellaert"
] | We propose a new metric for robot state estimation based on the recently introduced SE2(3) Lie group definition. Our metric is related to prior metrics for SLAM but explicitly takes into account the linear velocity of the state estimate, improving over current pose-based trajectory analysis. This has the benefit of providing a single, quantitative metric to evaluate state estimation algorithms aga... |
AD4RL: Autonomous Driving Benchmarks for Offline Reinforcement Learning with Value-based Dataset | https://ieeexplore.ieee.org/document/10610308/ | [
"Dongsu Lee",
"Chanin Eom",
"Minhae Kwon",
"Dongsu Lee",
"Chanin Eom",
"Minhae Kwon"
] | Offline reinforcement learning has emerged as a promising technology by enhancing its practicality through the use of pre-collected large datasets. Despite its practical benefits, most algorithm development research in offline reinforcement learning still relies on game tasks with synthetic datasets. To address such limitations, this paper provides autonomous driving datasets and benchmarks for of... |
SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes | https://ieeexplore.ieee.org/document/10610180/ | [
"Ninad Khargonkar",
"Sai Haneesh Allu",
"Yangxiao Lu",
"Jishnu Jaykumar P",
"Balakrishnan Prabhakaran",
"Yu Xiang",
"Ninad Khargonkar",
"Sai Haneesh Allu",
"Yangxiao Lu",
"Jishnu Jaykumar P",
"Balakrishnan Prabhakaran",
"Yu Xiang"
] | We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on a pick-and-place task. Our benchmark uses the YCB object set, a commonly used dataset in the robotics community, to ensure that our results are comparable to other studies. Additionally, the benchmark is designed to be easily reproducible in the real world, making it accessible to ... |
CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving | https://ieeexplore.ieee.org/document/10610911/ | [
"Changhe Chen",
"Mozhgan Pourkeshavarz",
"Amir Rasouli",
"Changhe Chen",
"Mozhgan Pourkeshavarz",
"Amir Rasouli"
] | Benchmarking is a common method for evaluating trajectory prediction models for autonomous driving. Existing benchmarks rely on datasets, which are biased towards more common scenarios, such as cruising, and distance-based metrics that are computed by averaging over all scenarios. Following such a regiment provides a little insight into the properties of the models both in terms of how well they c... |
LET-3D-AP: Longitudinal Error Tolerant 3D Average Precision for Camera-Only 3D Detection | https://ieeexplore.ieee.org/document/10609986/ | [
"Wei-Chih Hung",
"Vincent Casser",
"Henrik Kretzschmar",
"Jyh-Jing Hwang",
"Dragomir Anguelov",
"Wei-Chih Hung",
"Vincent Casser",
"Henrik Kretzschmar",
"Jyh-Jing Hwang",
"Dragomir Anguelov"
] | The 3D Average Precision (3DAP) relies on the intersection over union between predictions and ground truth objects. However, camera-only detectors have limited depth accuracy, which may cause otherwise reasonable predictions that suffer from such longitudinal localization errors to be treated as false positives. We therefore propose variants of the 3DAP metric to be more permissive with respect to... |
RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance | https://ieeexplore.ieee.org/document/10610841/ | [
"Víctor Mayoral-Vilches",
"Jason Jabbour",
"Yu-Shun Hsiao",
"Zishen Wan",
"Martiño Crespo-Álvarez",
"Matthew Stewart",
"Juan Manuel Reina-Muñoz",
"Prateek Nagras",
"Gaurav Vikhe",
"Mohammad Bakhshalipour",
"Martin Pinzger",
"Stefan Rass",
"Smruti Panigrahi",
"Giulio Corradi",
"Niladri Roy",
"Phillip B. Gibbons",
"Sabrina M. Neuman",
"Brian Plancher",
"Vijay Janapa Reddi",
"Víctor Mayoral-Vilches",
"Jason Jabbour",
"Yu-Shun Hsiao",
"Zishen Wan",
"Martiño Crespo-Álvarez",
"Matthew Stewart",
"Juan Manuel Reina-Muñoz",
"Prateek Nagras",
"Gaurav Vikhe",
"Mohammad Bakhshalipour",
"Martin Pinzger",
"Stefan Rass",
"Smruti Panigrahi",
"Giulio Corradi",
"Niladri Roy",
"Phillip B. Gibbons",
"Sabrina M. Neuman",
"Brian Plancher",
"Vijay Janapa Reddi"
] | We introduce RobotPerf, a vendor-agnostic bench-marking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and r... |
Standardization of Cloth Objects and its Relevance in Robotic Manipulation | https://ieeexplore.ieee.org/document/10610630/ | [
"Irene Garcia-Camacho",
"Alberta Longhini",
"Michael Welle",
"Guillem Alenyà",
"Danica Kragic",
"Júlia Borràs",
"Irene Garcia-Camacho",
"Alberta Longhini",
"Michael Welle",
"Guillem Alenyà",
"Danica Kragic",
"Júlia Borràs"
] | The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is evident in the realm of cloth manipulation, accurately categorising and comprehending them in real-world applications remains elusive. This study sets out to addr... |
A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization | https://ieeexplore.ieee.org/document/10611032/ | [
"Tyler M. Paine",
"Michael R. Benjamin",
"Tyler M. Paine",
"Michael R. Benjamin"
] | This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to model individual decisions. Using previously reported theoretical results, we show it is possible to design the behavior of the MRS by the selection of a relatively... |
Mission Planning for Multiple Autonomous Underwater Vehicles with Constrained In Situ Recharging | https://ieeexplore.ieee.org/document/10611396/ | [
"Priti Singh",
"Geoffrey A. Hollinger",
"Priti Singh",
"Geoffrey A. Hollinger"
] | Persistent operation of Autonomous Underwater Vehicles (AUVs) without manual interruption for recharging saves time and total cost for offshore monitoring and data collection applications. In order to facilitate AUVs for long mission durations without ship support, they can be equipped with docking capabilities to recharge in situ at Wave Energy Converter (WEC) with dock recharging stations. Howev... |
Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning | https://ieeexplore.ieee.org/document/10611668/ | [
"Xi Lin",
"Yewei Huang",
"Fanfei Chen",
"Brendan Englot",
"Xi Lin",
"Yewei Huang",
"Fanfei Chen",
"Brendan Englot"
] | Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and unsafe to follow COLREGs in congested waters, where multiple ASVs are navigating in the presence of static obstacles and strong currents, due to the complex in... |
Real-Time Planning Under Uncertainty for AUVs Using Virtual Maps | https://ieeexplore.ieee.org/document/10610245/ | [
"Ivana Collado-Gonzalez",
"John McConnell",
"Jinkun Wang",
"Paul Szenher",
"Brendan Englot",
"Ivana Collado-Gonzalez",
"John McConnell",
"Jinkun Wang",
"Paul Szenher",
"Brendan Englot"
] | Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose estimation can be improved by incorporating the uncertainty prediction of future poses into the planning process and choosing actions that reduce uncertainty. H... |
Sea-U-Foil: A Hydrofoil Marine Vehicle with Multi-Modal Locomotion | https://ieeexplore.ieee.org/document/10610853/ | [
"Zuoquan Zhao",
"Yu Zhai",
"Chuanxiang Gao",
"Wendi Ding",
"Ruixin Yan",
"Songqun Gao",
"Bingxin Han",
"Xuchen Liu",
"Zixuan Guo",
"Ben M. Chen",
"Zuoquan Zhao",
"Yu Zhai",
"Chuanxiang Gao",
"Wendi Ding",
"Ruixin Yan",
"Songqun Gao",
"Bingxin Han",
"Xuchen Liu",
"Zixuan Guo",
"Ben M. Chen"
] | Autonomous Marine Vehicles (AMVs) have been widely used in many critical tasks such as surveillance, patrolling, marine environment monitoring, and hydrographic surveying. However, most typical AMVs cannot meet the diverse demands of different marine tasks. In this article, we design a new type of remote-controlled hydrofoil marine vehicle, named Sea-U-Foil, which is suitable for different marine ... |
Learning Which Side to Scan: Multi-View Informed Active Perception with Side Scan Sonar for Autonomous Underwater Vehicles | https://ieeexplore.ieee.org/document/10611077/ | [
"Advaith V. Sethuraman",
"Philip Baldoni",
"Katherine A. Skinner",
"James McMahon",
"Advaith V. Sethuraman",
"Philip Baldoni",
"Katherine A. Skinner",
"James McMahon"
] | Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of choosing the most informative views that minimize survey time while maximizing classifier accuracy. We introduce a novel active perception framework for multi-view ada... |
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight | https://ieeexplore.ieee.org/document/10610463/ | [
"Francisco M. F. R. Gonçalves",
"Ryan M. Bena",
"Konstantin I. Matveev",
"Néstor O. Pérez-Arancibia",
"Francisco M. F. R. Gonçalves",
"Ryan M. Bena",
"Konstantin I. Matveev",
"Néstor O. Pérez-Arancibia"
] | We present model predictive selection (MPS), a new method for selecting the stable closed-loop (CL) equilibrium attitude-error quaternion (AEQ) of an uncrewed aerial vehicle (UAV) during the execution of high-speed yaw maneuvers. In this approach, we minimize the cost of yawing measured with a performance figure of merit (PFM) that takes into account both the aerodynamic-torque control input and a... |
Safety-Conscious Pushing on Diverse Oriented Surfaces with Underactuated Aerial Vehicles | https://ieeexplore.ieee.org/document/10610459/ | [
"Tong Hui",
"Manuel J. Fernández González",
"Matteo Fumagalli",
"Tong Hui",
"Manuel J. Fernández González",
"Matteo Fumagalli"
] | Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost. Industrial infrastructures often consist of diverse oriented work surfaces. When interacting with such surfaces, the coupled gravity compensation and interaction fo... |
Robust and Energy-Efficient Control for Multi-task Aerial Manipulation with Automatic Arm-switching | https://ieeexplore.ieee.org/document/10610031/ | [
"Ying Wu",
"Zida Zhou",
"Mingxin Wei",
"Hui Cheng",
"Ying Wu",
"Zida Zhou",
"Mingxin Wei",
"Hui Cheng"
] | Aerial manipulation has received increasing research interest with wide applications of drones. To perform specific tasks, robotic arms with various mechanical structures will be mounted on the drone. It results in sudden disturbances to the aerial manipulator when switching the robotic arm or interacting with the environment. Hence, it is challenging to design a generic and robust control strateg... |
Optimal Collaborative Transportation for Under-Capacitated Vehicle Routing Problems using Aerial Drone Swarms | https://ieeexplore.ieee.org/document/10611698/ | [
"Akash Kopparam Sreedhara",
"Deepesh Padala",
"Shashank Mahesh",
"Kai Cui",
"Mengguang Li",
"Heinz Koeppl",
"Akash Kopparam Sreedhara",
"Deepesh Padala",
"Shashank Mahesh",
"Kai Cui",
"Mengguang Li",
"Heinz Koeppl"
] | Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent research. However, efficient coordination algorithms for collaborative transportation of many payloads by many drones remain to be considered. In this work, we f... |
A Modular Aerial System Based on Homogeneous Quadrotors with Fault-Tolerant Control | https://ieeexplore.ieee.org/document/10610414/ | [
"Mengguang Li",
"Kai Cui",
"Heinz Koeppl",
"Mengguang Li",
"Kai Cui",
"Heinz Koeppl"
] | The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially when it comes to generating desired wrench with six degrees of freedom (DOF). Therefore, existing work often compromises between mechanical complexity and the co... |
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform | https://ieeexplore.ieee.org/document/10610305/ | [
"Hemjyoti Das",
"Minh Nhat Vu",
"Tobias Egle",
"Christian Ott",
"Hemjyoti Das",
"Minh Nhat Vu",
"Tobias Egle",
"Christian Ott"
] | In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an ex... |
MOAR Planner: Multi-Objective and Adaptive Risk-Aware Path Planning for Infrastructure Inspection with a UAV | https://ieeexplore.ieee.org/document/10610907/ | [
"Louis Petit",
"Alexis Lussier Desbiens",
"Louis Petit",
"Alexis Lussier Desbiens"
] | The problem of autonomous navigation for UAV inspection remains challenging as it requires effectively navigating in close proximity to obstacles, while accounting for dynamic risk factors such as weather conditions, communication reliability, and battery autonomy. This paper introduces the MOAR path planner which addresses the complexities of evolving risks during missions. It offers real-time tr... |
SOL: A Compact, Portable, Telescopic, Soft-Robotic Sun-Tracking Mechanism for Improved Solar Power Production | https://ieeexplore.ieee.org/document/10610596/ | [
"Bryan Busby",
"Shifei Duan",
"Marcus Thompson",
"Minas Liarokapis",
"Bryan Busby",
"Shifei Duan",
"Marcus Thompson",
"Minas Liarokapis"
] | Solar power is becoming an increasingly popular option for energy production in commercial and private applications. While installing solar panels (photovoltaic cells) in a stationary configuration is simple and inexpensive, such a setup fails to maximise their potential solar energy production. Single- and dual-axis sun trackers automatically adjust the tilt angle of photovoltaic cells so as to d... |
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