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Measuring Ball Joint Faults in Parabolic-Trough Solar Plants with Data Augmentation and Deep Learning | https://ieeexplore.ieee.org/document/10610205/ | [
"M. A. Pérez-Cutiño",
"J. Capitán",
"J. M. Díaz-Báñez",
"J. Valverde",
"M. A. Pérez-Cutiño",
"J. Capitán",
"J. M. Díaz-Báñez",
"J. Valverde"
] | Automatic inspection of parabolic-trough solar plants is key to preventing failures that can harm the environment and the production of green energy. In this work, we propose a novel methodology to inspect ball joints in parabolic trough collectors, which is a relevant problem that is not adequately covered in the literature. Images collected by an Unmanned Aerial Vehicle are segmented using deep ... |
Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments | https://ieeexplore.ieee.org/document/10611292/ | [
"Alexander Moortgat-Pick",
"Marie Schwahn",
"Anna Adamczyk",
"Daniel A Duecker",
"Sami Haddadin",
"Alexander Moortgat-Pick",
"Marie Schwahn",
"Anna Adamczyk",
"Daniel A Duecker",
"Sami Haddadin"
] | Environmental monitoring via UAVs offers unprecedented aerial observation capabilities. However, the limited flight durations of typical multirotors and the demands on human attention in outdoor missions call for more autonomous solutions. Addressing the specific challenges of precise UAV landings – especially amidst wind disturbances, obstacles, and unreliable global localization – we introduce a... |
Low-to-High Resolution Path Planner for Robotic Gas Distribution Mapping | https://ieeexplore.ieee.org/document/10610044/ | [
"Rohit V. Nanavati",
"Callum Rhodes",
"Matthew J. Coombes",
"Cunjia Liu",
"Rohit V. Nanavati",
"Callum Rhodes",
"Matthew J. Coombes",
"Cunjia Liu"
] | Robotic gas distribution mapping improves the understanding of a hazardous gas dispersion while putting the human operator out of danger. Generating an accurate gas distribution map quickly is of utmost importance in situations such as gas leaks and industrial incidents, so that the efficient use of resources in response to incidents can be facilitated. In this paper, to incorporate the operationa... |
Persistent Monitoring of Large Environments with Robot Deployment Scheduling in between Remote Sensing Cycles | https://ieeexplore.ieee.org/document/10611421/ | [
"Kizito Masaba",
"Monika Roznere",
"Mingi Jeong",
"Alberto Quattrini Li",
"Kizito Masaba",
"Monika Roznere",
"Mingi Jeong",
"Alberto Quattrini Li"
] | This paper proposes a novel decision-making framework for planning "when" and "where" to deploy robots based on prior data with the goal of persistently monitoring a spatio-temporal phenomenon in an environment. We specifically focus on large lake monitoring, where remote sensors, such as satellites, can provide a snapshot of the target phenomenon at regular cycles. Between these cycles, Autonomou... |
System Calibration of a Field Phenotyping Robot with Multiple High-Precision Profile Laser Scanners | https://ieeexplore.ieee.org/document/10610208/ | [
"Felix Esser",
"Gereon Tombrink",
"André Cornelißen",
"Lasse Klingbeil",
"Heiner Kuhlmann",
"Felix Esser",
"Gereon Tombrink",
"André Cornelißen",
"Lasse Klingbeil",
"Heiner Kuhlmann"
] | The creation of precise and high-resolution crop point clouds in agricultural fields has become a key challenge for high-throughput phenotyping applications. This work implements a novel calibration method to calibrate the laser scanning system of an agricultural field robot consisting of two industrial-grade laser scanners used for high-precise 3D crop point cloud creation. The calibration method... |
WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness | https://ieeexplore.ieee.org/document/10610436/ | [
"Mateus V. Gasparino",
"Arun N. Sivakumar",
"Girish Chowdhary",
"Mateus V. Gasparino",
"Arun N. Sivakumar",
"Girish Chowdhary"
] | Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately visible but were visible at a different time. To solve this problem, we propose a method for traversability prediction in challenging outdoor environments using a s... |
A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation | https://ieeexplore.ieee.org/document/10611569/ | [
"Chencan Fu",
"Lin Li",
"Jianbiao Mei",
"Yukai Ma",
"Linpeng Peng",
"Xiangrui Zhao",
"Yong Liu",
"Chencan Fu",
"Lin Li",
"Jianbiao Mei",
"Yukai Ma",
"Linpeng Peng",
"Xiangrui Zhao",
"Yong Liu"
] | Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming. In this paper, we present a novel coarse-to-fine approach to address these problems, which combines BEV (Bird’s Eye View) feature extraction, coarse-grained mat... |
LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map | https://ieeexplore.ieee.org/document/10610718/ | [
"Xinrui Wu",
"Jianbo Xu",
"Puyuan Hu",
"Guangming Wang",
"Hesheng Wang",
"Xinrui Wu",
"Jianbo Xu",
"Puyuan Hu",
"Guangming Wang",
"Hesheng Wang"
] | Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline ter... |
Looking Beneath More: A Sequence-based Localizing Ground Penetrating Radar Framework | https://ieeexplore.ieee.org/document/10610174/ | [
"Pengyu Zhang",
"Shuaifeng Zhi",
"Yuelin Yuan",
"Beizhen Bi",
"Qin Xin",
"Xiaotao Huang",
"Liang Shen",
"Pengyu Zhang",
"Shuaifeng Zhi",
"Yuelin Yuan",
"Beizhen Bi",
"Qin Xin",
"Xiaotao Huang",
"Liang Shen"
] | Localizing ground penetrating radar (LGPR) has been proven to be a promising technology for robot localization in various dynamic environments. However, the extreme scarcity of underground features introduces false candidate matches and brings unique challenges to this task. In this paper, we propose a sequence-based framework for LGPR to address the aforementioned issues. Specifically, we first i... |
Increasing SLAM Pose Accuracy by Ground-to-Satellite Image Registration | https://ieeexplore.ieee.org/document/10611079/ | [
"Yanhao Zhang",
"Yujiao Shi",
"Shan Wang",
"Ankit Vora",
"Akhil Perincherry",
"Yongbo Chen",
"Hongdong Li",
"Yanhao Zhang",
"Yujiao Shi",
"Shan Wang",
"Ankit Vora",
"Akhil Perincherry",
"Yongbo Chen",
"Hongdong Li"
] | Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to error accumulation, visual SLAM (vSLAM) usually suffers from long-term drift. This paper proposes a framework to increase the localization accuracy by fusing the v... |
EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization | https://ieeexplore.ieee.org/document/10611622/ | [
"Zhendong Xiao",
"Changhao Chen",
"Shan Yang",
"Wu Wei",
"Zhendong Xiao",
"Changhao Chen",
"Shan Yang",
"Wu Wei"
] | Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent strides use deep learning for direct end-to-end pose estimation. We propose EffLoc, a novel efficient Vision Transformer for single-image camera relocalization. EffLo... |
SAGE-ICP: Semantic Information-Assisted ICP | https://ieeexplore.ieee.org/document/10610280/ | [
"Jiaming Cui",
"Jiming Chen",
"Liang Li",
"Jiaming Cui",
"Jiming Chen",
"Liang Li"
] | Robust and accurate pose estimation in unknown environments is an essential part of robotic applications. We focus on LiDAR-based point-to-point ICP combined with effective semantic information. This paper proposes a novel semantic information-assisted ICP method named SAGE-ICP, which leverages semantics in odometry. The semantic information for the whole scan is timely and efficiently extracted b... |
HR-APR: APR-agnostic Framework with Uncertainty Estimation and Hierarchical Refinement for Camera Relocalisation | https://ieeexplore.ieee.org/document/10610903/ | [
"Changkun Liu",
"Shuai Chen",
"Yukun Zhao",
"Huajian Huang",
"Victor Prisacariu",
"Tristan Braud",
"Changkun Liu",
"Shuai Chen",
"Yukun Zhao",
"Huajian Huang",
"Victor Prisacariu",
"Tristan Braud"
] | Absolute Pose Regressors (APRs) directly estimate camera poses from monocular images, but their accuracy is unstable for different queries. Uncertainty-aware APRs provide uncertainty information on the estimated pose, alleviating the impact of these unreliable predictions. However, existing uncertainty modelling techniques are often coupled with a specific APR architecture, resulting in suboptimal... |
KDD-LOAM: Jointly Learned Keypoint Detector and Descriptors Assisted LiDAR Odometry and Mapping | https://ieeexplore.ieee.org/document/10610557/ | [
"Renlang Huang",
"Minglei Zhao",
"Jiming Chen",
"Liang Li",
"Renlang Huang",
"Minglei Zhao",
"Jiming Chen",
"Liang Li"
] | Sparse keypoint matching based on distinct 3D feature representations can improve the efficiency and robustness of point cloud registration. Existing learning-based 3D descriptors and keypoint detectors are either independent or loosely coupled, so they cannot fully adapt to each other. In this work, we propose a tightly coupled keypoint detector and descriptor (TCKDD) based on a multi-task fully ... |
Campus Map: A Large-Scale Dataset to Support Multi-View VO, SLAM and BEV Estimation | https://ieeexplore.ieee.org/document/10610656/ | [
"James Ross",
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden",
"James Ross",
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden"
] | Significant advances in robotics and machine learning have resulted in many datasets designed to support research into autonomous vehicle technology. However, these datasets are rarely suitable for a wide variety of navigation tasks. For example, datasets that include multiple cameras often have short trajectories without loops that are unsuitable for the evaluation of longer-range SLAM or odometr... |
DISO: Direct Imaging Sonar Odometry | https://ieeexplore.ieee.org/document/10611064/ | [
"Shida Xu",
"Kaicheng Zhang",
"Ziyang Hong",
"Yuanchang Liu",
"Sen Wang",
"Shida Xu",
"Kaicheng Zhang",
"Ziyang Hong",
"Yuanchang Liu",
"Sen Wang"
] | This paper introduces a novel sonar odometry system that estimates the relative spatial transformation between two sonar image frames. Considering the unique challenges, such as low resolution and high noise, of sonar imagery for odometry and Simultaneous Localization and Mapping (SLAM), the proposed Direct Imaging Sonar Odometry (DISO) system is designed to estimate the relative transformation be... |
CURL-MAP: Continuous Mapping and Positioning with CURL Representation† | https://ieeexplore.ieee.org/document/10610760/ | [
"Kaicheng Zhang",
"Yining Ding",
"Shida Xu",
"Ziyang Hong",
"Xianwen Kong",
"Sen Wang",
"Kaicheng Zhang",
"Yining Ding",
"Shida Xu",
"Ziyang Hong",
"Xianwen Kong",
"Sen Wang"
] | Maps of LiDAR Simultaneous Localisation and Mapping (SLAM) are often represented as point clouds. They usually take up a huge amount of storage space for large-scale environments, otherwise much structural detail may not be kept. In this paper, a novel paradigm of LiDAR mapping and odometry is designed by leveraging the Continuous and Ultra-compact Representation of LiDAR (CURL) proposed in [1]. T... |
Degradation Resilient LiDAR-Radar-Inertial Odometry | https://ieeexplore.ieee.org/document/10611444/ | [
"Morten Nissov",
"Nikhil Khedekar",
"Kostas Alexis",
"Morten Nissov",
"Nikhil Khedekar",
"Kostas Alexis"
] | Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be difficult, if not impossible, to recover. As such robust odometry solutions are of key importance. In this work a method for tightly-coupled LiDAR-Radar-Inertia... |
Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases | https://ieeexplore.ieee.org/document/10610070/ | [
"Jie Yin",
"Ang Li",
"Wei Xi",
"Wenxian Yu",
"Danping Zou",
"Jie Yin",
"Ang Li",
"Wei Xi",
"Wenxian Yu",
"Danping Zou"
] | We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense color mapping, and robust localization in diverse environments. We tightly integrate RGB-D images, inertial measurements, wheel odometer and GNSS signals within a ... |
HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM | https://ieeexplore.ieee.org/document/10610000/ | [
"Zhe Xin",
"Yufeng Yue",
"Liangjun Zhang",
"Chenming Wu",
"Zhe Xin",
"Yufeng Yue",
"Liangjun Zhang",
"Chenming Wu"
] | Simultaneous Localization and Mapping (SLAM) is a fundamental task in robotics, driving numerous applications such as autonomous driving and virtual reality. Recent progress on neural implicit SLAM has shown encouraging and impressive results. However, the robustness of neural SLAM, particularly in challenging or data-limited situations, remains an unresolved issue. This paper presents HERO-SLAM, ... |
Censible: A Robust and Practical Global Localization Framework for Planetary Surface Missions | https://ieeexplore.ieee.org/document/10611697/ | [
"Jeremy Nash",
"Quintin Dwight",
"Lucas Saldyt",
"Haoda Wang",
"Steven Myint",
"Adnan Ansar",
"Vandi Verma",
"Jeremy Nash",
"Quintin Dwight",
"Lucas Saldyt",
"Haoda Wang",
"Steven Myint",
"Adnan Ansar",
"Vandi Verma"
] | To achieve longer driving distances, planetary robotics missions require accurate localization to counteract position uncertainty. Freedom and precision in driving allows scientists to reach and study sites of interest. Typically, rover global localization has been performed manually by humans, which is accurate but time-consuming as data is relayed between planets. This paper describes a global l... |
Learning to walk in confined spaces using 3D representation | https://ieeexplore.ieee.org/document/10610271/ | [
"Takahiro Miki",
"Joonho Lee",
"Lorenz Wellhausen",
"Marco Hutter",
"Takahiro Miki",
"Joonho Lee",
"Lorenz Wellhausen",
"Marco Hutter"
] | Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking. However, robust deployment in real-world applications is still an open challenge. In this paper, we present a method for legged locomotion control using reinforcem... |
Efficient and Accurate Transformer-Based 3D Shape Completion and Reconstruction of Fruits for Agricultural Robots | https://ieeexplore.ieee.org/document/10611717/ | [
"Federico Magistri",
"Rodrigo Marcuzzi",
"Elias Marks",
"Matteo Sodano",
"Jens Behley",
"Cyrill Stachniss",
"Federico Magistri",
"Rodrigo Marcuzzi",
"Elias Marks",
"Matteo Sodano",
"Jens Behley",
"Cyrill Stachniss"
] | Robots that operate in agricultural environments need a robust perception system that can deal with occlusions, which are naturally present in agricultural scenarios. In this paper, we address the problem of estimating 3D shapes of fruits when only partial observations are available. Generally speaking, such a shape completion can be realized by exploiting prior knowledge about the geometry of the... |
CoPAL: Corrective Planning of Robot Actions with Large Language Models | https://ieeexplore.ieee.org/document/10610434/ | [
"Frank Joublin",
"Antonello Ceravola",
"Pavel Smirnov",
"Felix Ocker",
"Joerg Deigmoeller",
"Anna Belardinelli",
"Chao Wang",
"Stephan Hasler",
"Daniel Tanneberg",
"Michael Gienger",
"Frank Joublin",
"Antonello Ceravola",
"Pavel Smirnov",
"Felix Ocker",
"Joerg Deigmoeller",
"Anna Belardinelli",
"Chao Wang",
"Stephan Hasler",
"Daniel Tanneberg",
"Michael Gienger"
] | In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task and motion planning for robots. We propose a system architecture that orchestrates a seamless inter... |
CalliRewrite: Recovering Handwriting Behaviors from Calligraphy Images without Supervision | https://ieeexplore.ieee.org/document/10610332/ | [
"Yuxuan Luo",
"Zekun Wu",
"Zhouhui Lian",
"Yuxuan Luo",
"Zekun Wu",
"Zhouhui Lian"
] | Human-like planning skills and dexterous manipulation have long posed challenges in the fields of robotics and artificial intelligence (AI). The task of reinterpreting calligraphy presents a formidable challenge, as it involves the decomposition of strokes and dexterous utensil control. Previous efforts have primarily focused on supervised learning of a single instrument, limiting the performance ... |
Co-Design Optimisation of Morphing Topology and Control of Winged Drones | https://ieeexplore.ieee.org/document/10611506/ | [
"Fabio Bergonti",
"Gabriele Nava",
"Valentin Wüest",
"Antonello Paolino",
"Giuseppe L’Erario",
"Daniele Pucci",
"Dario Floreano",
"Fabio Bergonti",
"Gabriele Nava",
"Valentin Wüest",
"Antonello Paolino",
"Giuseppe L’Erario",
"Daniele Pucci",
"Dario Floreano"
] | The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actuated joints that increase the topology and control coupling, making the design process more complex. ... |
FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes | https://ieeexplore.ieee.org/document/10610621/ | [
"Chen Feng",
"Haojia Li",
"Mingjie Zhang",
"Xinyi Chen",
"Boyu Zhou",
"Shaojie Shen",
"Chen Feng",
"Haojia Li",
"Mingjie Zhang",
"Xinyi Chen",
"Boyu Zhou",
"Shaojie Shen"
] | 3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processi... |
Time-Optimal Gate-Traversing Planner for Autonomous Drone Racing | https://ieeexplore.ieee.org/document/10610148/ | [
"Chao Qin",
"Maxime S.J. Michet",
"Jingxiang Chen",
"Hugh H.-T. Liu",
"Chao Qin",
"Maxime S.J. Michet",
"Jingxiang Chen",
"Hugh H.-T. Liu"
] | In drone racing, the time-minimum trajectory is affected by the drone’s capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of the gates, simply rendering drone racing a waypoint-passing task. This formulation often leads to a conservative choice of paths through the gates, as the spatia... |
Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking | https://ieeexplore.ieee.org/document/10611268/ | [
"Jaeu Choe",
"Jeongseob Lee",
"Hyunsoo Yang",
"Hai-Nguyen Nguyen",
"Dongjun Lee",
"Jaeu Choe",
"Jeongseob Lee",
"Hyunsoo Yang",
"Hai-Nguyen Nguyen",
"Dongjun Lee"
] | In this paper, we present a novel trajectory planning method for externally-actuated modular manipulators (EAMMs), consisting of multiple rotor-actuated links with joints that can be either locked or unlocked. This joint-locking feature allows effective balancing of the payload capacity and dexterity of the robot but significantly complicates the planning problem by introducing binary decision var... |
Spatial Assisted Human-Drone Collaborative Navigation and Interaction through Immersive Mixed Reality | https://ieeexplore.ieee.org/document/10611351/ | [
"Luca Morando",
"Giuseppe Loianno",
"Luca Morando",
"Giuseppe Loianno"
] | Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to enable seamless collaboration and efficient coworking. In this paper, we present a novel tele-immersive framework that promotes cognitive and physical collabora... |
A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario | https://ieeexplore.ieee.org/document/10610179/ | [
"Yuhang Zhong",
"Guangyu Zhao",
"Qianhao Wang",
"Guangtong Xu",
"Chao Xu",
"Fei Gao",
"Yuhang Zhong",
"Guangyu Zhao",
"Qianhao Wang",
"Guangtong Xu",
"Chao Xu",
"Fei Gao"
] | Drone racing has become a popular international competition and has attained wide attention in recent years. However, the requirements of high-level operation keep the novice pilots away from participating in it. This paper presents a trajectory-based flight assistive system that enables various operators to fly the drone in a racing scene at a high speed. The whole system is structured hierarchic... |
RBI-RRT*: Efficient Sampling-based Path Planning for High-dimensional State Space | https://ieeexplore.ieee.org/document/10610975/ | [
"Fang Chen",
"Yu Zheng",
"Zheng Wang",
"Wanchao Chi",
"Sicong Liu",
"Fang Chen",
"Yu Zheng",
"Zheng Wang",
"Wanchao Chi",
"Sicong Liu"
] | Sampling-based planning algorithms such as RRT have been proved to be efficient in solving path planning problems for robotic systems. Various improvements to the RRT algorithm have been presented to improve the performance of the extension and convergence of the random trees, such as Informed RRT*. However, with the growth of spatial dimensions, the time consumption of randomly sampling the entir... |
Quasi-static Path Planning for Continuum Robots By Sampling on Implicit Manifold | https://ieeexplore.ieee.org/document/10611372/ | [
"Yifan Wang",
"Yue Chen",
"Yifan Wang",
"Yue Chen"
] | Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while considering external elastic contact is limited. The challenge lies in the fact that CRs can have multiple possible configurations when in contact, rendering the f... |
Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring | https://ieeexplore.ieee.org/document/10611057/ | [
"Javier Garcia",
"Michael Yannuzzi",
"Peter Kramer",
"Christian Rieck",
"Sándor P. Fekete",
"Aaron T. Becker",
"Javier Garcia",
"Michael Yannuzzi",
"Peter Kramer",
"Christian Rieck",
"Sándor P. Fekete",
"Aaron T. Becker"
] | We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping, to increase building efficiency. T... |
Neural Informed RRT*: Learning-based Path Planning with Point Cloud State Representations under Admissible Ellipsoidal Constraints | https://ieeexplore.ieee.org/document/10611099/ | [
"Zhe Huang",
"Hongyu Chen",
"John Pohovey",
"Katherine Driggs-Campbell",
"Zhe Huang",
"Hongyu Chen",
"John Pohovey",
"Katherine Driggs-Campbell"
] | Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room for efficiency improvement. To accelerate convergence, rule-based informed approaches sample states in an admissible ellipsoidal subset of the space determined by... |
Motions in Microseconds via Vectorized Sampling-Based Planning | https://ieeexplore.ieee.org/document/10611190/ | [
"Wil Thomason",
"Zachary Kingston",
"Lydia E. Kavraki",
"Wil Thomason",
"Zachary Kingston",
"Lydia E. Kavraki"
] | Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more than 500x over the state-of-the-art, bringing planning times into the range of microseconds and solution rates into the range of kilohertz, without specialized h... |
Gathering Data from Risky Situations with Pareto-Optimal Trajectories | https://ieeexplore.ieee.org/document/10611689/ | [
"Brennan Brodt",
"Alyssa Pierson",
"Brennan Brodt",
"Alyssa Pierson"
] | This paper proposes a formulation for the risk-aware path planning problem which utilizes multi-objective optimization to dynamically plan trajectories that satisfy multiple complex mission specifications. In the setting of persistent monitoring, we develop a method for representing environmental information and risk in a way that allows for local sampling to generate Pareto-dominant solutions ove... |
RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments | https://ieeexplore.ieee.org/document/10610542/ | [
"Apan Dastider",
"Hao Fang",
"Mingjie Lin",
"Apan Dastider",
"Hao Fang",
"Mingjie Lin"
] | Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly addresses robotic motion planning with predefined objectives, emerging problems in robotic trajectory optimization frequently involve dynamically evolving objectives a... |
WiTHy A*: Winding-Constrained Motion Planning for Tethered Robot using Hybrid A* | https://ieeexplore.ieee.org/document/10611175/ | [
"Vishnu S. Chipade",
"Rahul Kumar",
"Sze Zheng Yong",
"Vishnu S. Chipade",
"Rahul Kumar",
"Sze Zheng Yong"
] | In this paper, a variant of hybrid A* is developed to find the shortest path for a curvature-constrained robot, that is tethered at its start position, such that the tether satisfies user-defined winding angle constraints. A variant of tangent graphs is used as an underlying graph for searching a path using A* in order to reduce the overall computation and define appropriate cost metrics to ensure... |
Differentiable Boustrophedon Paths That Enable Optimization Via Gradient Descent | https://ieeexplore.ieee.org/document/10610136/ | [
"Thomas Manzini",
"Robin Murphy",
"Thomas Manzini",
"Robin Murphy"
] | This paper introduces a differentiable representation for the optimization of boustrophedon path plans in convex polygons, explores an additional parameter of these path plans that can be optimized, discusses the properties of this representation that can be leveraged during the optimization process and shows that the previously published attempt at optimization of these path plans was too coarse ... |
OriTrack: A Small, 3 Degree-of-Freedom, Origami Solar Tracker | https://ieeexplore.ieee.org/document/10611374/ | [
"Crystal E. Winston",
"Leo F. Casey",
"Crystal E. Winston",
"Leo F. Casey"
] | In response to the need for sustainable energy solutions, solar panels have gained significant traction. One way to increase the energy capture of solar systems is through solar tracking, a means of reorienting solar panels throughout the day in order to face the sun. The energy consumption increase that comes with solar tracking often far outweighs the amount of energy required to move the panel,... |
Reinforcement learning for freeform robot design | https://ieeexplore.ieee.org/document/10610048/ | [
"Muhan Li",
"David Matthews",
"Sam Kriegman",
"Muhan Li",
"David Matthews",
"Sam Kriegman"
] | Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot’s design. However, reinforcement learning methods capable of optimizing the 3D morphology of a robot have been restricted to reorienting or resizing the limbs of a predetermined and static topological genus. Here we show policy gra... |
A Helical Bistable Soft Gripper Enable by Pneumatic Actuation | https://ieeexplore.ieee.org/document/10610729/ | [
"Xuanchun Yin",
"Junliang Xie",
"Pengyu Zhou",
"Sheng Wen",
"Jiantao Zhang",
"Xuanchun Yin",
"Junliang Xie",
"Pengyu Zhou",
"Sheng Wen",
"Jiantao Zhang"
] | There are many instances of helical mechanisms that are used to efficiently grasp different objects with various shapes and sizes in nature. Inspired by the helical grasping in the nature, we proposed a helical bistable soft gripper with high load capacity and energy saving. An off-the-shelf bistable steel shell (BSS) as the stiff element was inserted into a 3D printing soft helical exoskeleton to... |
Singularity Analysis of Kinova’s Link 6 Robot Arm via Grassmann Line Geometry | https://ieeexplore.ieee.org/document/10610252/ | [
"Milad Asgari",
"Ilian A. Bonev",
"Clément Gosselin",
"Milad Asgari",
"Ilian A. Bonev",
"Clément Gosselin"
] | Unlike parallel robots, for which hundreds of different architectures have been proposed, the vast majority of six-degree-of-freedom (DOF) serial robots have one of two simple architectures. In both architectures, the inverse kinematics can be solved in closed form and the singularities described by trivial geometric and algebraic conditions. These conditions can be readily obtained by analyzing t... |
Design and Testing of a Multi-Module, Tetherless, Soft Robotic Eel | https://ieeexplore.ieee.org/document/10611531/ | [
"Robin Hall",
"Gabriel Espinosa",
"Shou-Shan Chiang",
"Cagdas D. Onal",
"Robin Hall",
"Gabriel Espinosa",
"Shou-Shan Chiang",
"Cagdas D. Onal"
] | This paper presents a free-swimming, tetherless, cable-driven modular soft robotic fish. The body comprises a series of 3D-printed wave spring structures that create a flexible biologically inspired shape that is capable of an anguilliform swimming gait. A three-module soft robotic fish was designed, fabricated, and evaluated. The motion of the robot was characterized and different combinations of... |
Untethered Underwater Soft Robot with Thrust Vectoring | https://ieeexplore.ieee.org/document/10610430/ | [
"Robin Hall",
"Cagdas D. Onal",
"Robin Hall",
"Cagdas D. Onal"
] | This paper introduces DRAGON: Deformable Robot for Agile Guided Observation and Navigation, a free-swimming deformable impeller-powered vectored underwater vehicle (VUV). A 3D-printed wave spring structure directs the water drawn through the center of the robot by an impeller, enabling it to move smoothly in different directions. The robot is designed to have a narrow cylindrical profile to lower ... |
A Backdrivable Axisymmetric Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Manipulator | https://ieeexplore.ieee.org/document/10610821/ | [
"Jehyeok Kim",
"Clément Gosselin",
"Jehyeok Kim",
"Clément Gosselin"
] | A kinematically redundant (6+3)-degree-of-freedom (DOF) hybrid parallel robot with an axisymmetric workspace is proposed. By arranging the first revolute joint of each leg such that they have the same rotation axis, this robot can achieve an axisymmetric workspace, resulting in a large reachable workspace. In addition, type II singularities, which critically limit the orientational workspace, can ... |
RASCAL: A Scalable, High-redundancy Robot for Automated Storage and Retrieval Systems | https://ieeexplore.ieee.org/document/10610551/ | [
"Richard Black",
"Marco Caballero",
"Andromachi Chatzieleftheriou",
"Tim Deegan",
"Philip Heard",
"Freddie Hong",
"Russell Joyce",
"Sergey Legtchenko",
"Antony Rowstron",
"Adam Smith",
"David Sweeney",
"Hugh Williams",
"Richard Black",
"Marco Caballero",
"Andromachi Chatzieleftheriou",
"Tim Deegan",
"Philip Heard",
"Freddie Hong",
"Russell Joyce",
"Sergey Legtchenko",
"Antony Rowstron",
"Adam Smith",
"David Sweeney",
"Hugh Williams"
] | Automated storage and retrieval systems (ASRS) are a key component of the modern storage industry, and are used in a wide range of applications, carrying anything from lightweight tape cartridges to entire pallets of goods. Many of these systems are under pressure to maximise the use of space by growing in height and density, but this can create challenges for the the robots that service them. In ... |
Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity | https://ieeexplore.ieee.org/document/10610384/ | [
"Adolfo Suárez Roos",
"Zane Zake",
"Tahir Rasheed",
"Nicolò Pedemonte",
"Stéphane Caro",
"Adolfo Suárez Roos",
"Zane Zake",
"Tahir Rasheed",
"Nicolò Pedemonte",
"Stéphane Caro"
] | Cable elasticity can significantly impact the accuracy of Cable-Driven Parallel Robots (CDPRs). However, it’s frequently disregarded as negligible in CDPR simulations and designs. In this paper, we propose a numerical approach, referred to as SEECR, which is designed to estimate the behavior of a CDPR featuring elastic cables while ensuring the Static Equilibrium (SE) of the Moving-Platform (MP). ... |
Ricmonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation | https://ieeexplore.ieee.org/document/10611003/ | [
"Shourie S. Grama",
"Mahdi Javadi",
"Shivesh Kumar",
"Hossein Zamani Boroujeni",
"Frank Kirchner",
"Shourie S. Grama",
"Mahdi Javadi",
"Shivesh Kumar",
"Hossein Zamani Boroujeni",
"Frank Kirchner"
] | This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in primates, has inspired the development of RicMonk to explore versatile locomotion and maneuvers on ladder-like structures. The robot’s anatomical resemblance to gib... |
Gaussian Process-Enhanced, External and Internal Convertible Form-Based Control of Underactuated Balance Robots | https://ieeexplore.ieee.org/document/10610172/ | [
"Feng Han",
"Jingang Yi",
"Feng Han",
"Jingang Yi"
] | External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially controller design, trajectory tracking of the actuated subsystem and balance of the unactuated subsystem can be achieved simultaneously. However, with certain conditions, there exists uncontrolled robot motion under the EIC... |
Task Allocation in Heterogeneous Multi-Robot Systems Based on Preference-Driven Hedonic Game | https://ieeexplore.ieee.org/document/10611476/ | [
"Liwang Zhang",
"Minglong Li",
"Wenjing Yang",
"Shaowu Yang",
"Liwang Zhang",
"Minglong Li",
"Wenjing Yang",
"Shaowu Yang"
] | Multiple preferences between robots and tasks have been largely overlooked in previous research on Multi-Robot Task Allocation (MRTA) problems. In this paper, we propose a preference-driven approach based on hedonic game to address the task allocation problem of muti-robot systems in emergency rescue scenarios. We present a distributed framework considering various preferences between robots and t... |
Behavioral-based circular formation control for robot swarms | https://ieeexplore.ieee.org/document/10610826/ | [
"Jesús Bautista",
"Héctor García de Marina",
"Jesús Bautista",
"Héctor García de Marina"
] | This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but different speeds. Instead of controlling the spatial relations between the robots, our formation control algorithm aims to deploy a dense robot swarm that mimics the b... |
Optimization and Evaluation of a Multi Robot Surface Inspection Task Through Particle Swarm Optimization | https://ieeexplore.ieee.org/document/10611661/ | [
"Darren Chiu",
"Radhika Nagpal",
"Bahar Haghighat",
"Darren Chiu",
"Radhika Nagpal",
"Bahar Haghighat"
] | Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to inspect and collectively classify a 2D surface section based on a binary pattern projected on the surface. We use a decentralized Bayesian decision-making algor... |
Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction | https://ieeexplore.ieee.org/document/10611496/ | [
"Shambhavi Singh",
"Zejian Huang",
"Akshaya Kesarimangalam Srinivasan",
"Geordan Gutow",
"Bhaskar Vundurthy",
"Howie Choset",
"Shambhavi Singh",
"Zejian Huang",
"Akshaya Kesarimangalam Srinivasan",
"Geordan Gutow",
"Bhaskar Vundurthy",
"Howie Choset"
] | We develop a planner that directs robots to construct a 3D target structure composed of blocks. The robots themselves are cubes of the same size as the blocks, and they may place, carry, or remove one block at a time. When moving, robots are also allowed to climb or descend a block. A construction plan may thus build a staircase-like scaffolding of blocks to reach other blocks at higher levels. Th... |
Enhancing mmWave Radar Point Cloud via Visual-inertial Supervision | https://ieeexplore.ieee.org/document/10610091/ | [
"Cong Fan",
"Shengkai Zhang",
"Kezhong Liu",
"Shuai Wang",
"Zheng Yang",
"Wei Wang",
"Cong Fan",
"Shengkai Zhang",
"Kezhong Liu",
"Shuai Wang",
"Zheng Yang",
"Wei Wang"
] | Complementary to prevalent LiDAR and camera systems, millimeter-wave (mmWave) radar is robust to adverse weather conditions like fog, rainstorms, and blizzards but offers sparse point clouds. Current techniques enhance the point cloud by the supervision of LiDAR’s data. However, high-performance LiDAR is notably expensive and is not commonly available on vehicles. This paper presents mmEMP, a supe... |
Influence of Camera-LiDAR Configuration on 3D Object Detection for Autonomous Driving | https://ieeexplore.ieee.org/document/10610896/ | [
"Ye Li",
"Hanjiang Hu",
"Zuxin Liu",
"Xiaohao Xu",
"Xiaonan Huang",
"Ding Zhao",
"Ye Li",
"Hanjiang Hu",
"Zuxin Liu",
"Xiaohao Xu",
"Xiaonan Huang",
"Ding Zhao"
] | Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast majority of existing arts that focus on how to improve the performance of 3D target detection through cross-modal schemes, deep learning algorithms, and training tri... |
Chasing Day and Night: Towards Robust and Efficient All-Day Object Detection Guided by an Event Camera | https://ieeexplore.ieee.org/document/10611705/ | [
"Jiahang Cao",
"Xu Zheng",
"Yuanhuiyi Lyu",
"Jiaxu Wang",
"Renjing Xu",
"Lin Wang",
"Jiahang Cao",
"Xu Zheng",
"Yuanhuiyi Lyu",
"Jiaxu Wang",
"Renjing Xu",
"Lin Wang"
] | The ability to detect objects in all lighting (i.e., normal-, over-, and under-exposed) conditions is crucial for real-world applications, such as self-driving. Traditional RGB-based detectors often fail under such varying lighting conditions. Therefore, recent works utilize novel event cameras to supplement or guide the RGB modality; however, these methods typically adopt asymmetric network struc... |
SKD-Net: Spectral-based Knowledge Distillation in Low-Light Thermal Imagery for robotic perception | https://ieeexplore.ieee.org/document/10611323/ | [
"Aniruddh Sikdar",
"Jayant Teotia",
"Suresh Sundaram",
"Aniruddh Sikdar",
"Jayant Teotia",
"Suresh Sundaram"
] | Enhancing the generalization capacity for semantic segmentation of aerial perception systems for safety-critical applications is vital, especially for environments with low-light and adverse conditions. Multi-spectral fusion techniques aim to maintain the merits of electro-optical (EO) and infrared (IR) images, e.g., retaining low-level features and capturing detailed textures from both modalities... |
SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation | https://ieeexplore.ieee.org/document/10611320/ | [
"Hao Dong",
"Weihao Gu",
"Xianjing Zhang",
"Jintao Xu",
"Rui Ai",
"Huimin Lu",
"Juho Kannala",
"Xieyuanli Chen",
"Hao Dong",
"Weihao Gu",
"Xianjing Zhang",
"Jintao Xu",
"Rui Ai",
"Huimin Lu",
"Juho Kannala",
"Xieyuanli Chen"
] | High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera. However, current works are based on raw data or network feature-level fusion and only consider short-range HD map generation, limiting their deployment to realis... |
Semi-Supervised Learning for Visual Bird’s Eye View Semantic Segmentation | https://ieeexplore.ieee.org/document/10611420/ | [
"Junyu Zhu",
"Lina Liu",
"Yu Tang",
"Feng Wen",
"Wanlong Li",
"Yong Liu",
"Junyu Zhu",
"Lina Liu",
"Yu Tang",
"Feng Wen",
"Wanlong Li",
"Yong Liu"
] | Visual bird’s eye view (BEV) semantic segmentation helps autonomous vehicles understand the surrounding environment only from front-view (FV) images, including static elements (e.g., roads) and dynamic elements (e.g., vehicles, pedestrians). However, the high cost of annotation procedures of full-supervised methods limits the capability of the visual BEV semantic segmentation, which usually needs ... |
OpenAnnotate3D: Open-Vocabulary Auto-Labeling System for Multi-modal 3D Data | https://ieeexplore.ieee.org/document/10610779/ | [
"Yijie Zhou",
"Likun Cai",
"Xianhui Cheng",
"Zhongxue Gan",
"Xiangyang Xue",
"Wenchao Ding",
"Yijie Zhou",
"Likun Cai",
"Xianhui Cheng",
"Zhongxue Gan",
"Xiangyang Xue",
"Wenchao Ding"
] | In the era of big data and large models, automatic annotating functions for multi-modal data are of great significance for real-world AI-driven applications, such as autonomous driving and embodied AI. Unlike traditional closed-set annotation, open-vocabulary annotation is essential to achieve human-level cognition capability. However, there are few open-vocabulary auto-labeling systems for multi-... |
SAM-Event-Adapter: Adapting Segment Anything Model for Event-RGB Semantic Segmentation | https://ieeexplore.ieee.org/document/10611127/ | [
"Bowen Yao",
"Yongjian Deng",
"Yuhan Liu",
"Hao Chen",
"Youfu Li",
"Zhen Yang",
"Bowen Yao",
"Yongjian Deng",
"Yuhan Liu",
"Hao Chen",
"Youfu Li",
"Zhen Yang"
] | Semantic segmentation, a fundamental visual task ubiquitously employed in sectors ranging from transportation and robotics to healthcare, has always captivated the research community. In the wake of rapid advancements in large model research, the foundation model for semantic segmentation tasks, termed the Segment Anything Model (SAM), has been introduced. This model substantially addresses the di... |
Unsupervised Spike Depth Estimation via Cross-modality Cross-domain Knowledge Transfer | https://ieeexplore.ieee.org/document/10610511/ | [
"Jiaming Liu",
"Qizhe Zhang",
"Xiaoqi Li",
"Jianing Li",
"Guanqun Wang",
"Ming Lu",
"Tiejun Huang",
"Shanghang Zhang",
"Jiaming Liu",
"Qizhe Zhang",
"Xiaoqi Li",
"Jianing Li",
"Guanqun Wang",
"Ming Lu",
"Tiejun Huang",
"Shanghang Zhang"
] | Neuromorphic spike data, an upcoming modality with high temporal resolution, has shown promising potential in autonomous driving by mitigating the challenges posed by high-velocity motion blur. However, training the spike depth estimation network holds significant challenges in two aspects: sparse spatial information for pixel-wise tasks and difficulties in achieving paired depth labels for tempor... |
PillarGen: Enhancing Radar Point Cloud Density and Quality via Pillar-based Point Generation Network | https://ieeexplore.ieee.org/document/10611144/ | [
"Jisong Kim",
"Geonho Bang",
"Kwangjin Choi",
"Minjae Seong",
"Jaechang Yoo",
"Eunjong Pyo",
"Jun Won Choi",
"Jisong Kim",
"Geonho Bang",
"Kwangjin Choi",
"Minjae Seong",
"Jaechang Yoo",
"Eunjong Pyo",
"Jun Won Choi"
] | In this paper, we present a novel point generation model, referred to as Pillar-based Point Generation Network (PillarGen), which facilitates the transformation of point clouds from one domain into another. PillarGen can produce synthetic point clouds with enhanced density and quality based on the provided input point clouds. The PillarGen model performs the following three steps: 1) pillar encodi... |
MMA-Net: Multiple Morphology-Aware Network for Automated Cobb Angle Measurement | https://ieeexplore.ieee.org/document/10610928/ | [
"Zhengxuan Qiu",
"Jie Yang",
"Jiankun Wang",
"Zhengxuan Qiu",
"Jie Yang",
"Jiankun Wang"
] | Scoliosis diagnosis and assessment depend largely on the measurement of the Cobb angle in spine X-ray images. With the emergence of deep learning techniques that employ landmark detection, tilt prediction, and spine segmentation, automated Cobb angle measurement has become increasingly popular. However, these methods encounter difficulties such as high noise sensitivity, intricate computational pr... |
Synset Boulevard: A Synthetic Image Dataset for VMMR* | https://ieeexplore.ieee.org/document/10610650/ | [
"Anne Sielemann",
"Stefan Wolf",
"Masoud Roschani",
"Jens Ziehn",
"Juergen Beyerer",
"Anne Sielemann",
"Stefan Wolf",
"Masoud Roschani",
"Jens Ziehn",
"Juergen Beyerer"
] | We present and discuss the Synset Boulevard dataset, designed for the task of surveillance-nature vehicle make and model recognition (VMMR)—to the best of our knowledge the first entirely synthetically generated large-scale VMMR image dataset. Through the simulation of image data rather than the manual annotation of real data, we intend to mitigate common challenges in state-of-the-art VMMR datase... |
IQL-TD-MPC: Implicit Q-Learning for Hierarchical Model Predictive Control | https://ieeexplore.ieee.org/document/10611711/ | [
"Rohan Chitnis",
"Yingchen Xu",
"Bobak Hashemi",
"Lucas Lehnert",
"Urun Dogan",
"Zheqing Zhu",
"Olivier Delalleau",
"Rohan Chitnis",
"Yingchen Xu",
"Bobak Hashemi",
"Lucas Lehnert",
"Urun Dogan",
"Zheqing Zhu",
"Olivier Delalleau"
] | Model-based reinforcement learning (RL) has shown great promise due to its sample efficiency, but still struggles with long-horizon sparse-reward tasks, especially in offline settings where the agent learns from a fixed dataset. We hypothesize that model-based RL agents struggle in these environments due to a lack of long-term planning capabilities, and that planning in a temporally abstract model... |
SLIM: Skill Learning with Multiple Critics | https://ieeexplore.ieee.org/document/10610691/ | [
"David Emukpere",
"Bingbing Wu",
"Julien Perez",
"Jean-Michel Renders",
"David Emukpere",
"Bingbing Wu",
"Julien Perez",
"Jean-Michel Renders"
] | Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle in the context of robotic manipulation. As it requires impacting a possibly large set of degrees of freedom composing the environment, mutual information maxim... |
SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling | https://ieeexplore.ieee.org/document/10610606/ | [
"Jesse Zhang",
"Karl Pertsch",
"Jiahui Zhang",
"Joseph J. Lim",
"Jesse Zhang",
"Karl Pertsch",
"Jiahui Zhang",
"Joseph J. Lim"
] | Pre-training robots with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT, a scalable offline policy pre-training approach which substantially reduces the human effort neede... |
Effective Representation Learning is More Effective in Reinforcement Learning than You Think | https://ieeexplore.ieee.org/document/10611330/ | [
"Jiawei Zheng",
"Yonghong Song",
"Jiawei Zheng",
"Yonghong Song"
] | In reinforcement learning (RL), learning directly from pixels, is commonly known as vision-based RL. Effective state representations are crucial for high performance in vision-based RL. However, in order to learn effective state representations, most current vision-based RL methods based on contrastive unsupervised learning use auxiliary tasks similar to those in computer vision, which does not gu... |
Learning Highly Dynamic Behaviors for Quadrupedal Robots | https://ieeexplore.ieee.org/document/10610440/ | [
"Chong Zhang",
"Jiapeng Sheng",
"Tingguang Li",
"He Zhang",
"Cheng Zhou",
"Qingxu Zhu",
"Rui Zhao",
"Yizheng Zhang",
"Lei Han",
"Chong Zhang",
"Jiapeng Sheng",
"Tingguang Li",
"He Zhang",
"Cheng Zhou",
"Qingxu Zhu",
"Rui Zhao",
"Yizheng Zhang",
"Lei Han"
] | Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead to compromises in performance. Data-driven approaches have been shown to reproduce agile behaviors of animals, but typically have not been able to learn highly d... |
TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfer | https://ieeexplore.ieee.org/document/10610450/ | [
"Jun Yamada",
"Marc Rigter",
"Jack Collins",
"Ingmar Posner",
"Jun Yamada",
"Marc Rigter",
"Jack Collins",
"Ingmar Posner"
] | Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective model-based RL solutions for vision-based real-world applications require bridging the sim-to-real gap for any world model learnt. Due to its significant computational cost, standard domain randomisation does not provide ... |
Learning Vision-based Pursuit-Evasion Robot Policies | https://ieeexplore.ieee.org/document/10610498/ | [
"Andrea Bajcsy",
"Antonio Loquercio",
"Ashish Kumar",
"Jitendra Malik",
"Andrea Bajcsy",
"Antonio Loquercio",
"Ashish Kumar",
"Jitendra Malik"
] | Learning strategic robot behavior—like that required in pursuit-evasion interactions—under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical state and latent intent uncertainty. In this paper, we transform this intractable problem into a supervised learning problem, where a fully-observable robot policy gener... |
Learning to Catch Reactive Objects with a Behavior Predictor | https://ieeexplore.ieee.org/document/10611106/ | [
"Kai Lu",
"Jia-Xing Zhong",
"Bo Yang",
"Bing Wang",
"Andrew Markham",
"Kai Lu",
"Jia-Xing Zhong",
"Bo Yang",
"Bing Wang",
"Andrew Markham"
] | Tracking and catching moving objects is an important ability for robots in a dynamic world. Whilst some objects have highly predictable state evolution e.g., the ballistic trajectory of a tennis ball, reactive targets alter their behavior in response to motion of the manipulator. Reactive applications range from gently capturing living animals such as snakes or fish for biological investigations, ... |
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning | https://ieeexplore.ieee.org/document/10611461/ | [
"Hien Bui",
"Michael Posa",
"Hien Bui",
"Michael Posa"
] | In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning dynamical models in combination with model predictive control. Those methods, while effective, rely solely on minimizing forward prediction errors to hope for bett... |
Leveraging the efficiency of multi-task robot manipulation via task-evoked planner and reinforcement learning | https://ieeexplore.ieee.org/document/10611076/ | [
"Haofu Qian",
"Haoyang Zhang",
"Jun Shao",
"Jiatao Zhang",
"Jason Gu",
"Wei Song",
"Shiqiang Zhu",
"Haofu Qian",
"Haoyang Zhang",
"Jun Shao",
"Jiatao Zhang",
"Jason Gu",
"Wei Song",
"Shiqiang Zhu"
] | Multi-task learning has expanded the boundaries of robotic manipulation, enabling the execution of increasingly complex tasks. However, policies learned through reinforcement learning exhibit limited generalization and narrow distributions, which restrict their effectiveness in multi-task training. Addressing the challenge of obtaining policies with generalization and stability represents a non-tr... |
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly | https://ieeexplore.ieee.org/document/10610567/ | [
"Haohong Lin",
"Radu Corcodel",
"Ding Zhao",
"Haohong Lin",
"Radu Corcodel",
"Ding Zhao"
] | Furniture assembly remains an unsolved problem in robotic manipulation due to its long task horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble Skill Transfer (TEST) framework, a pioneering offline reinforcement learning (RL) approach that incorporates tactile feedback in the control loop. TEST’s core design is to learn a skill transition model for high-level pla... |
Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learning | https://ieeexplore.ieee.org/document/10611113/ | [
"Entong Su",
"Chengzhe Jia",
"Yuzhe Qin",
"Wenxuan Zhou",
"Annabella Macaluso",
"Binghao Huang",
"Xiaolong Wang",
"Entong Su",
"Chengzhe Jia",
"Yuzhe Qin",
"Wenxuan Zhou",
"Annabella Macaluso",
"Binghao Huang",
"Xiaolong Wang"
] | Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In this paper, we propose to perform Reinforcement Learning with only visual tactile sensing inputs on diverse objects in a physical simulator. By training with di... |
Synchronized Dual-arm Rearrangement via Cooperative mTSP | https://ieeexplore.ieee.org/document/10610424/ | [
"Wenhao Li",
"Shishun Zhang",
"Sisi Dai",
"Hui Huang",
"Ruizhen Hu",
"Xiaohong Chen",
"Kai Xu",
"Wenhao Li",
"Shishun Zhang",
"Sisi Dai",
"Hui Huang",
"Ruizhen Hu",
"Xiaohong Chen",
"Kai Xu"
] | Synchronized dual-arm rearrangement is widely studied as a common scenario in industrial applications. It often faces scalability challenges due to the computational complexity of robotic arm rearrangement and the high-dimensional nature of dual-arm planning. To address these challenges, we formulated the problem as cooperative mTSP, a variant of mTSP where agents share cooperative costs, and util... |
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation | https://ieeexplore.ieee.org/document/10611491/ | [
"Jingyun Yang",
"Congyue Deng",
"Jimmy Wu",
"Rika Antonova",
"Leonidas Guibas",
"Jeannette Bohg",
"Jingyun Yang",
"Congyue Deng",
"Jimmy Wu",
"Rika Antonova",
"Leonidas Guibas",
"Jeannette Bohg"
] | If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don’t guarantee such generalization. Our insight is to add equivariance to both the visual object representation and policy architecture. We propose EquivAct which utilizes SIM(3)-equivariant network structures that gua... |
DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots | https://ieeexplore.ieee.org/document/10610013/ | [
"Jianwei Liu",
"Maria Stamatopoulou",
"Dimitrios Kanoulas",
"Jianwei Liu",
"Maria Stamatopoulou",
"Dimitrios Kanoulas"
] | In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding trajectories, an image-conditioned diffusion planner for mobile robots, and a training/inference pipeline employing CNNs. We validate our approach in several mazes, as... |
Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms | https://ieeexplore.ieee.org/document/10611508/ | [
"Daniel Keren",
"Amit Shahar",
"Roi Poranne",
"Daniel Keren",
"Amit Shahar",
"Roi Poranne"
] | Collision-avoiding motion planning for articulated robotic arms is one of the major challenges in robotics. The difficulty of the problem arises from its high dimensionality and the intricate geometry of the feasible space. Our goal is to seek large convex domains in configuration space, which contain no obstacles. In these domains, simple linear trajectories are guaranteed to be collision free, a... |
PathRL: An End-to-End Path Generation Method for Collision Avoidance via Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10610107/ | [
"Wenhao Yu",
"Jie Peng",
"Quecheng Qiu",
"Hanyu Wang",
"Lu Zhang",
"Jianmin Ji",
"Wenhao Yu",
"Jie Peng",
"Quecheng Qiu",
"Hanyu Wang",
"Lu Zhang",
"Jianmin Ji"
] | Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation methods primarily focus on training a policy that directly commands the robot with low-level controls, like linear and angular velocities, which leads to unstable speeds and unsmooth trajectories of the robot during the l... |
ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics | https://ieeexplore.ieee.org/document/10610953/ | [
"Luca Paparusso",
"Shreyas Kousik",
"Edward Schmerling",
"Francesco Braghin",
"Marco Pavone",
"Luca Paparusso",
"Shreyas Kousik",
"Edward Schmerling",
"Francesco Braghin",
"Marco Pavone"
] | The past few years have seen immense progress on two fronts that are critical to safe, widespread mobile robot deployment: predicting uncertain motion of multiple agents, and planning robot motion under uncertainty. However, the numerical methods required on each front have resulted in a mismatch of representation for prediction and planning. In prediction, numerical tractability is usually achiev... |
Certifying Bimanual RRT Motion Plans in a Second | https://ieeexplore.ieee.org/document/10611296/ | [
"Alexandre Amice",
"Peter Werner",
"Russ Tedrake",
"Alexandre Amice",
"Peter Werner",
"Russ Tedrake"
] | We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include those generated by popular randomized methods including RRTs and PRMs, as well as those generated by many methods in trajectory optimization. Based on Sums-of-Squares optimization, our method provides exact, rigorous cer... |
Cross View Capture for Distributed Image Compression with Decoder Side Information | https://ieeexplore.ieee.org/document/10611242/ | [
"Yankai Yin",
"Zhe Sun",
"Peiying Ruan",
"Feng Duan",
"Ruidong Li",
"Chi Zhu",
"Yankai Yin",
"Zhe Sun",
"Peiying Ruan",
"Feng Duan",
"Ruidong Li",
"Chi Zhu"
] | Image compression is increasingly important in applications like intelligent driving and smart surveillance systems. This study presents a novel cross view capture distributed image compression network (CVCDIC) to improve the compression quality by using decoder side information. The CVCDIC’s decoder utilizes feature extraction networks to extract features from both the primary image and the side ... |
Planning with Learned Subgoals Selected by Temporal Information | https://ieeexplore.ieee.org/document/10610538/ | [
"Xi Huang",
"Gergely Sóti",
"Christoph Ledermann",
"Björn Hein",
"Torsten Kröger",
"Xi Huang",
"Gergely Sóti",
"Christoph Ledermann",
"Björn Hein",
"Torsten Kröger"
] | Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate time constraints. In this paper, we propose a method that leverages a generative model to decompose a complex planning problem into small manageable ones by incr... |
Neural Potential Field for Obstacle-Aware Local Motion Planning | https://ieeexplore.ieee.org/document/10611635/ | [
"Muhammad Alhaddad",
"Konstantin Mironov",
"Aleksey Staroverov",
"Aleksandr Panov",
"Muhammad Alhaddad",
"Konstantin Mironov",
"Aleksey Staroverov",
"Aleksandr Panov"
] | Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case when both the obstacle map and robot footprint are arbitrary. We propose a Neural Potential Field: a neural network model that returns a differentiable collision cost based on robot pose, obstacle map, and robot footprin... |
Unconstrained Model Predictive Control for Robot Navigation under Uncertainty | https://ieeexplore.ieee.org/document/10610531/ | [
"Senthil Hariharan Arul",
"Jong Jin Park",
"Vishnu Prem",
"Yang Zhang",
"Dinesh Manocha",
"Senthil Hariharan Arul",
"Jong Jin Park",
"Vishnu Prem",
"Yang Zhang",
"Dinesh Manocha"
] | In this paper, we present a probabilistic and unconstrained model predictive control formulation for robot navigation under uncertainty. We present (1) a closed-form approximation of the probability of collision that naturally models the propagation of uncertainty over the planning horizon and is computationally cheap to evaluate, and (2) a collision-cost formulation which provably preserves forwa... |
Efficient RRT*-based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments | https://ieeexplore.ieee.org/document/10610309/ | [
"Peiyu Luo",
"Shilong Yao",
"Yiyao Yue",
"Jiankun Wang",
"Hong Yan",
"Max Q.-H. Meng",
"Peiyu Luo",
"Shilong Yao",
"Yiyao Yue",
"Jiankun Wang",
"Hong Yan",
"Max Q.-H. Meng"
] | Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic complexity of continuum robots requires a significant amount of time for their motion planning, posing a hurdle to their practical implementation. To tackle these cha... |
Ultrafast capturing in-flight objects with reprogrammable working speed ranges | https://ieeexplore.ieee.org/document/10610901/ | [
"Yongkang Jiang",
"Xin Tong",
"Zhongqing Sun",
"Yaimiin Zhou",
"Zhipeng Wang",
"Shuo Jiang",
"Zhen Yin",
"Yulong Ding",
"Bin He",
"Yingtian Li",
"Yongkang Jiang",
"Xin Tong",
"Zhongqing Sun",
"Yaimiin Zhou",
"Zhipeng Wang",
"Shuo Jiang",
"Zhen Yin",
"Yulong Ding",
"Bin He",
"Yingtian Li"
] | In-flight high-speed object capturing is crucial in nature to improve survival and adaptation to the environment, such as the predation of frogs, leopards, and eagles. Despite its ubiquitousness in nature, capturing fast-moving objects is extremely challenging in engineering implementations. In this paper, we report an ultrafast gripper based on tunable bistable structures. Different from current ... |
Hard Shell, Soft Core: Binary Actuators for Deep-Sea Applications | https://ieeexplore.ieee.org/document/10610349/ | [
"Cora Maria Sourkounis",
"Ditzia Susana Garcia Morales",
"Tom Kwasnitschka",
"Annika Raatz",
"Cora Maria Sourkounis",
"Ditzia Susana Garcia Morales",
"Tom Kwasnitschka",
"Annika Raatz"
] | Deep-sea research represents invaluable opportunities to unravel hidden ecosystems, uncover unknown biodiversity, and provide critical insights into the Earth’s history and the impacts of climate change. Due to the extreme conditions, exploring the deep-sea traditionally requires costly equipment, such as specific diving robots, engineered to withstand the high pressure. Our research aims to reduc... |
Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots | https://ieeexplore.ieee.org/document/10610362/ | [
"O. Godson Osele",
"Kentaro Barhydt",
"Nicholas Cerone",
"Allison M. Okamura",
"H. Harry Asada",
"O. Godson Osele",
"Kentaro Barhydt",
"Nicholas Cerone",
"Allison M. Okamura",
"H. Harry Asada"
] | The navigational abilities of tip-everting soft growing robots, known as vine robots, are compromised when tip-mount devices are added to enable carrying of payloads. We present a new method for securing a vine robot to objects or its environment that exploits the unique eversion-based growth mechanism and flexibility of vine robots, while keeping the tip of the vine robot free of encumbrance. Our... |
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist | https://ieeexplore.ieee.org/document/10610103/ | [
"Hai Nguyen",
"Tadashi Kozuno",
"Cristian C. Beltran-Hernandez",
"Masashi Hamaya",
"Hai Nguyen",
"Tadashi Kozuno",
"Cristian C. Beltran-Hernandez",
"Masashi Hamaya"
] | This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often use a fully observable formulation, requiring external setups or estimators for the peg-to-hole pose. In contrast, we use a partially observable formulation and ... |
Force Estimation at the Bionic Soft Arm’s Tool-center-point during the Interaction with the Environment | https://ieeexplore.ieee.org/document/10611006/ | [
"Samuel Pilch",
"Daniel Klug",
"Oliver Sawodny",
"Samuel Pilch",
"Daniel Klug",
"Oliver Sawodny"
] | Soft continuum robots enable new application areas in contrast to standard rigid robots, such as interaction with a varying environment. Due to their compliant continuous structure, they are inherently safe and adaptive to environmental conditions. In this paper, the interaction with the environment is performed at the tool-center-point of a soft continuum manipulator and is realized by a hybrid f... |
Field-evaluated Closed Structure Soft Gripper Enhances the Shelf Life of Harvested Blackberries | https://ieeexplore.ieee.org/document/10610387/ | [
"Philip H. Johnson",
"Kai Junge",
"Charles Whitfield",
"Josie Hughes",
"Marcello Calisti",
"Philip H. Johnson",
"Kai Junge",
"Charles Whitfield",
"Josie Hughes",
"Marcello Calisti"
] | Soft robotic grippers are intrinsically delicate while grasping objects, and can rely on mechanical deformation to adapt to different shapes without explicit control. These characteristics are particularly appealing for agriculture, where items of produce from the same crop can vary significantly in shape and size, and delicate harvesting is among the first concerns for fruit quality. Various soft... |
Translating Universal Scene Descriptions into Knowledge Graphs for Robotic Environment | https://ieeexplore.ieee.org/document/10611691/ | [
"Giang Hoang Nguyen",
"Daniel Beßler",
"Simon Stelter",
"Mihai Pomarlan",
"Michael Beetz",
"Giang Hoang Nguyen",
"Daniel Beßler",
"Simon Stelter",
"Mihai Pomarlan",
"Michael Beetz"
] | Robots performing human-scale manipulation tasks require an extensive amount of knowledge about their surroundings in order to perform their actions competently and human-like. In this work, we investigate the use of virtual reality technology as an implementation for robot environment modeling, and present a technique for translating scene graphs into knowledge bases. To this end, we take advanta... |
Robotic Exploration through Semantic Topometric Mapping | https://ieeexplore.ieee.org/document/10610585/ | [
"Scott Fredriksson",
"Akshit Saradagi",
"George Nikolakopoulos",
"Scott Fredriksson",
"Akshit Saradagi",
"George Nikolakopoulos"
] | In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as intersections, pathways, dead-ends, and unexplored frontiers, which constitute the structural semantics of... |
Open-Fusion: Real-time Open-Vocabulary 3D Mapping and Queryable Scene Representation | https://ieeexplore.ieee.org/document/10610193/ | [
"Kashu Yamazaki",
"Taisei Hanyu",
"Khoa Vo",
"Thang Pham",
"Minh Tran",
"Gianfranco Doretto",
"Anh Nguyen",
"Ngan Le",
"Kashu Yamazaki",
"Taisei Hanyu",
"Khoa Vo",
"Thang Pham",
"Minh Tran",
"Gianfranco Doretto",
"Anh Nguyen",
"Ngan Le"
] | Precise 3D environmental mapping with semantics is essential in robotics. Existing methods often rely on pre-defined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, an approach for real-time open-vocabulary 3D mapping and queryable scene representation using RGB-D data. Open-Fusion harnesses the power of a pretrained vision-language fo... |
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