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Mask4Former: Mask Transformer for 4D Panoptic Segmentation | https://ieeexplore.ieee.org/document/10610262/ | [
"Kadir Yilmaz",
"Jonas Schult",
"Alexey Nekrasov",
"Bastian Leibe",
"Kadir Yilmaz",
"Jonas Schult",
"Alexey Nekrasov",
"Bastian Leibe"
] | Accurately perceiving and tracking instances over time is essential for the decision-making processes of autonomous agents interacting safely in dynamic environments. With this intention, we propose Mask4Former for the challenging task of 4D panoptic segmentation of LiDAR point clouds. Mask4Former is the first transformer-based approach unifying semantic instance segmentation and tracking of spars... |
HSPNav: Hierarchical Scene Prior Learning for Visual Semantic Navigation Towards Real Settings | https://ieeexplore.ieee.org/document/10610061/ | [
"Jiaxu Kang",
"Bolei Chen",
"Ping Zhong",
"Haonan Yang",
"Yu Sheng",
"Jianxin Wang",
"Jiaxu Kang",
"Bolei Chen",
"Ping Zhong",
"Haonan Yang",
"Yu Sheng",
"Jianxin Wang"
] | Visual Semantic Navigation (VSN) aims at navigating a robot to a given target object in a previously unseen scene. To tackle this task, the robot must learn a nimble navigation policy by utilizing spatial patterns and semantic co-occurrence relations among objects in the scene. Prevailing approaches extract scene priors from the instant visual observations and solidify them in neural episodic memo... |
Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation | https://ieeexplore.ieee.org/document/10611352/ | [
"Mario A.V. Saucedo",
"Akash Patel",
"Akshit Saradagi",
"Christoforos Kanellakis",
"George Nikolakopoulos",
"Mario A.V. Saucedo",
"Akash Patel",
"Akshit Saradagi",
"Christoforos Kanellakis",
"George Nikolakopoulos"
] | In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning with partial information. We propose a graph-based learning methodology for the computation of belief (also referred to as expectation) on any given 3D scene graph, which is then used to strategically add new nodes (ref... |
A Guided Gaussian-Dirichlet Random Field for Scientist-in-the-Loop Inference in Underwater Robotics | https://ieeexplore.ieee.org/document/10611290/ | [
"Chad R. Samuelson",
"Joshua G. Mangelson",
"Chad R. Samuelson",
"Joshua G. Mangelson"
] | Visual topic modeling (VTM) provides key insight into data sets based on learned semantic topic models. The Gaussian-Dirichlet Random Field (GDRF), a state-of-the-art VTM technique, models these semantic topics in continuous space as densities. However, ambiguity in learned topics is a disadvantage of such Dirichlet-based VTM algorithms. We propose the Guided Gaussian-Dirichlet Random Field (GGDRF... |
Fine-Tuning Point Cloud Transformers with Dynamic Aggregation | https://ieeexplore.ieee.org/document/10610767/ | [
"Jiajun Fei",
"Zhidong Deng",
"Jiajun Fei",
"Zhidong Deng"
] | Point clouds play an important role in 3D analysis, which has broad applications in robotics and autonomous driving. The pre-training fine-tuning paradigm has shown great potential in the point cloud domain. Full fine-tuning is generally effective but leads to a heavy storage and computational burden, which becomes inefficient and unacceptable as the size of pre-trained models scales. Although eff... |
MoPA: Multi-Modal Prior Aided Domain Adaptation for 3D Semantic Segmentation | https://ieeexplore.ieee.org/document/10610316/ | [
"Haozhi Cao",
"Yuecong Xu",
"Jianfei Yang",
"Pengyu Yin",
"Shenghai Yuan",
"Lihua Xie",
"Haozhi Cao",
"Yuecong Xu",
"Jianfei Yang",
"Pengyu Yin",
"Shenghai Yuan",
"Lihua Xie"
] | Multi-modal unsupervised domain adaptation (MM-UDA) for 3D semantic segmentation is a practical solution to embed semantic understanding in autonomous systems without expensive point-wise annotations. While previous MM-UDA methods can achieve overall improvement, they suffer from significant class-imbalanced performance, restricting their adoption in real applications. This imbalanced performance ... |
Cross Domain Policy Transfer with Effect Cycle-Consistency | https://ieeexplore.ieee.org/document/10611110/ | [
"Ruiqi Zhu",
"Tianhong Dai",
"Oya Celiktutan",
"Ruiqi Zhu",
"Tianhong Dai",
"Oya Celiktutan"
] | Training a robotic policy from scratch using deep reinforcement learning methods can be prohibitively expensive due to sample inefficiency. To address this challenge, transferring policies trained in the source domain to the target domain becomes an attractive paradigm. Previous research has typically focused on domains with similar state and action spaces but differing in other aspects. In this p... |
Parameter-efficient Prompt Learning for 3D Point Cloud Understanding | https://ieeexplore.ieee.org/document/10610093/ | [
"Hongyu Sun",
"Yongcai Wang",
"Wang Chen",
"Haoran Deng",
"Deying Li",
"Hongyu Sun",
"Yongcai Wang",
"Wang Chen",
"Haoran Deng",
"Deying Li"
] | This paper presents a parameter-efficient prompt tuning method, named PPT, to adapt a large multi-modal model for 3D point cloud understanding. Existing strategies are quite expensive in computation and storage, and depend on timeconsuming prompt engineering. We address the problems from three aspects. Firstly, a PromptLearner module is devised to replace hand-crafted prompts with learnable contex... |
BEVUDA: Multi-geometric Space Alignments for Domain Adaptive BEV 3D Object Detection | https://ieeexplore.ieee.org/document/10610096/ | [
"Jiaming Liu",
"Rongyu Zhang",
"Xiaoqi Li",
"Xiaowei Chi",
"Zehui Chen",
"Ming Lu",
"Yandong Guo",
"Shanghang Zhang",
"Jiaming Liu",
"Rongyu Zhang",
"Xiaoqi Li",
"Xiaowei Chi",
"Zehui Chen",
"Ming Lu",
"Yandong Guo",
"Shanghang Zhang"
] | Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in severe degradation of transfer performance. For BEV perception, we figure out the significant domain gaps existing in typical real-world cross-domain scenarios and c... |
6-DoF Grasp Pose Evaluation and Optimization via Transfer Learning from NeRFs | https://ieeexplore.ieee.org/document/10610402/ | [
"Gergely Sóti",
"Xi Huang",
"Christian Wurll",
"Björn Hein",
"Gergely Sóti",
"Xi Huang",
"Christian Wurll",
"Björn Hein"
] | We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations that outputs higher values for grasp candidates that are more likely to succeed in grasping. This evaluation model serves as an objective function, that we maximize to identify successful grasps. Key to our approach is the ... |
Multi-Level Progressive Reinforcement Learning for Control Policy in Physical Simulations | https://ieeexplore.ieee.org/document/10610992/ | [
"Kefei Wu",
"Xuming He",
"Yang Wang",
"Xiaopei Liu",
"Kefei Wu",
"Xuming He",
"Yang Wang",
"Xiaopei Liu"
] | Training model-free intelligent agents in complex real-world scenarios using reinforcement learning (RL) often necessitates simulation-based environments due to high physical expenses. However, when simulation takes a long time, e.g., in an unsteady 3D fluid simulation with interactions to the controllable solids, existing RL algorithms meet difficulty to accomplish training within a reasonable ti... |
Shaping Social Robot to Play Games with Human Demonstrations and Evaluative Feedback | https://ieeexplore.ieee.org/document/10611605/ | [
"Chuanxiong Zheng",
"Lei Zhang",
"Hui Wang",
"Randy Gomez",
"Eric Nichols",
"Guangliang Li",
"Chuanxiong Zheng",
"Lei Zhang",
"Hui Wang",
"Randy Gomez",
"Eric Nichols",
"Guangliang Li"
] | In this paper, building on recent advances in the fields of gaming AI and social robotics, we present a new approach to facilitate the social robot Haru to imitate game strategies from human players’ demonstrated trajectories and evaluative feedback in a real-time two-player game. Our research shows that Haru is able to learn and imitate human different game strategies from human players in a huma... |
MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loop | https://ieeexplore.ieee.org/document/10610050/ | [
"Ruolin Ye",
"Yifei Hu",
"Yuhan Anjelica Bian",
"Luke Kulm",
"Tapomayukh Bhattacharjee",
"Ruolin Ye",
"Yifei Hu",
"Yuhan Anjelica Bian",
"Luke Kulm",
"Tapomayukh Bhattacharjee"
] | Meal preparation is an important instrumental activity of daily living (IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less attention. Robot-assisted peeling, conventionally a bimanual task, is challenging to deploy in the homes of care recipients using two wheelchair-mounted robot arms ... |
Language to Map: Topological map generation from natural language path instructions | https://ieeexplore.ieee.org/document/10611377/ | [
"Hideki Deguchi",
"Kazuki Shibata",
"Shun Taguchi",
"Hideki Deguchi",
"Kazuki Shibata",
"Shun Taguchi"
] | In this paper, a method for generating a map from path information described using natural language (textual path) is proposed. In recent years, robotics research mainly focus on vision-and-language navigation (VLN), a navigation task based on images and textual paths. Although VLN is expected to facilitate user instructions to robots, its current implementation requires users to explain the detai... |
Human-Centered Autonomy for UAS Target Search | https://ieeexplore.ieee.org/document/10611708/ | [
"Hunter M. Ray",
"Zakariya Laouar",
"Zachary Sunberg",
"Nisar Ahmed",
"Hunter M. Ray",
"Zakariya Laouar",
"Zachary Sunberg",
"Nisar Ahmed"
] | Current methods of deploying robots that operate in dynamic, uncertain environments, such as Uncrewed Aerial Systems in search & rescue missions, require nearly continuous human supervision for vehicle guidance and operation. These methods do not consider high-level mission context resulting in cumbersome manual operation or inefficient exhaustive search patterns. We present a human-centered auton... |
Gaze-based Human-Robot Interaction System for Infrastructure Inspections | https://ieeexplore.ieee.org/document/10610684/ | [
"Sunwoong Choi",
"Zaid Abbas Al-Sabbag",
"Sriram Narasimhan",
"Chul Min Yeum",
"Sunwoong Choi",
"Zaid Abbas Al-Sabbag",
"Sriram Narasimhan",
"Chul Min Yeum"
] | Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic infrastructure inspections address such limitations, they cannot replace the superior ability of experts to make decisions in complex situations, thus making huma... |
Facile Integration of Robots into Experimental Orchestration at Scientific User Facilities | https://ieeexplore.ieee.org/document/10611706/ | [
"Chandima Fernando",
"Daniel Olds",
"Stuart I. Campbell",
"Phillip M. Maffettone",
"Chandima Fernando",
"Daniel Olds",
"Stuart I. Campbell",
"Phillip M. Maffettone"
] | Integration of robots into scientific user facilities, such as the National Synchrotron Light Source II, improves their efficiency and capacity. Many such facilities use the opensource Bluesky project for experimental control and orchestration. However, there remains an open challenge in deploying robotic solutions at these facilities that are reconfigurable, extensible, and compatible with pre-ex... |
SEQUEL: Semi-Supervised Preference-based RL with Query Synthesis via Latent Interpolation | https://ieeexplore.ieee.org/document/10610534/ | [
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Iolanda Leite",
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Iolanda Leite"
] | Preference-based reinforcement learning (RL) poses as a recent research direction in robot learning, by allowing humans to teach robots through preferences on pairs of desired behaviours. Nonetheless, to obtain realistic robot policies, an arbitrarily large number of queries is required to be answered by humans. In this work, we approach the sample-efficiency challenge by presenting a technique wh... |
Learning When to Ask for Help: Efficient Interactive Navigation via Implicit Uncertainty Estimation | https://ieeexplore.ieee.org/document/10610965/ | [
"Ifueko Igbinedion",
"Sertac Karaman",
"Ifueko Igbinedion",
"Sertac Karaman"
] | Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot’s performance in unseen environments, data collection and model refinement may be impractical in every environment. Approaches that utilize human demonstrations through manual operation can aid in refinem... |
JaywalkerVR: A VR System for Collecting Safety-Critical Pedestrian-Vehicle Interactions | https://ieeexplore.ieee.org/document/10610819/ | [
"Kenta Mukoya",
"Erica Weng",
"Rohan Choudhury",
"Kris Kitani",
"Kenta Mukoya",
"Erica Weng",
"Rohan Choudhury",
"Kris Kitani"
] | Developing autonomous vehicles that can safely interact with pedestrians requires large amounts of pedestrian and vehicle data in order to learn accurate pedestrian-vehicle interaction models. However, gathering data that include crucial but rare scenarios - such as pedestrians jaywalking into heavy traffic - can be costly and unsafe to collect. We propose a virtual reality human-in-the-loop simul... |
Human Preference-aware Rebalancing and Charging for Shared Electric Micromobility Vehicles | https://ieeexplore.ieee.org/document/10610713/ | [
"Heng Tan",
"Yukun Yuan",
"Hua Yan",
"Shuxin Zhong",
"Yu Yang",
"Heng Tan",
"Yukun Yuan",
"Hua Yan",
"Shuxin Zhong",
"Yu Yang"
] | Shared electric micromobility has surged to a popular model of urban transportation due to its efficiency in short-distance trips and environmentally friendly characteristics compared to traditional automobiles. However, managing thousands of shared electric micromobility vehicles including rebalancing and charging to meet users’ travel demands still has been a challenge. Existing methods generall... |
A Planar Compliant Contact Control Applied to Multi-dimensional Elastic Gripper for Unexpected Contact | https://ieeexplore.ieee.org/document/10611428/ | [
"Junnan Huang",
"Xuefeng Wang",
"Chongkun Xia",
"Houde Liu",
"Mingqi Shao",
"Bin Liang",
"Junnan Huang",
"Xuefeng Wang",
"Chongkun Xia",
"Houde Liu",
"Mingqi Shao",
"Bin Liang"
] | It is difficult to guarantee an empty living environment to prevent unexpected contact between the object being manipulated by the robot and unplanned obstacles. In this paper, we propose a planar compliant contact control method for planar manipulation to cope with unexpected contact. We first use sheet gel as a multi-dimensional passive elastic element and combine it with a two-finger gripper to... |
Enabling passivity for Cartesian workspace restrictions | https://ieeexplore.ieee.org/document/10610969/ | [
"Sebastian Hjorth",
"Johannes Lachner",
"Arash Ajoudani",
"Dimitrios Chrysostomou",
"Sebastian Hjorth",
"Johannes Lachner",
"Arash Ajoudani",
"Dimitrios Chrysostomou"
] | An emerging trend in the field of human-robot collaboration is the disassembly of end-of-life products. Safety is a crucial requirement of the disassembly process since worn-out or damaged products could break, possibly resulting in dangerous behavior of the robot. To protect the user from such behavior, this work addresses this challenge through the implementation of an energy-aware Cartesian imp... |
X-Tacformer : Spatio-tempral Attention Model for Tactile Recognition | https://ieeexplore.ieee.org/document/10610365/ | [
"Jiarui Hu",
"Yanmin Zhou",
"Zhipeng Wang",
"Xin Li",
"Yongkang Jiang",
"Bin He",
"Jiarui Hu",
"Yanmin Zhou",
"Zhipeng Wang",
"Xin Li",
"Yongkang Jiang",
"Bin He"
] | Recently, tactile sensing has attracted great interests in robotics, especially for exploring unstructured objects. Sensor arrays play an important role in the exploration, which generates rich spatio-temporal information. In this work, we propose an efficient tactile recognition model, X-Tacformer. This model pays attention to both spatial and temporal features of tactile sequences from sensor ar... |
The Joint-Space Reconstruction of Human Fingers by using a Highly Under-Actuated Exoskeleton | https://ieeexplore.ieee.org/document/10610872/ | [
"Yuan Su",
"Gaofeng Li",
"Yongsheng Deng",
"Ioannis Sarakoglou",
"Nikos G. Tsagarakis",
"Jiming Chen",
"Yuan Su",
"Gaofeng Li",
"Yongsheng Deng",
"Ioannis Sarakoglou",
"Nikos G. Tsagarakis",
"Jiming Chen"
] | Hand motion tracking is essential in many fields, e.g., immersive virtual reality, teleoperation of robotic hand, and hand rehabilitation of stroke patient, as human hand plays a crucial role in our daily life. The highly under-actuated hand exoskeleton, which can track the 6-DoF motions of each fingertip via a highly under-actuated kinematic chain, exhibits many benefits in wearability and portab... |
Prosthetic Upper-Limb Sensory Enhancement (PULSE): a Dual Haptic Feedback Device in a Prosthetic Socket | https://ieeexplore.ieee.org/document/10610327/ | [
"Alessia Silvia Ivani",
"Federica Barontini",
"Manuel G. Catalano",
"Giorgio Grioli",
"Matteo Bianchi",
"Antonio Bicchi",
"Alessia Silvia Ivani",
"Federica Barontini",
"Manuel G. Catalano",
"Giorgio Grioli",
"Matteo Bianchi",
"Antonio Bicchi"
] | This study presents the Prosthetic Upper-Limb Sensory Enhancement (PULSE), a novel dual feedback device completely integrated into a prosthetic socket. The core of the system includes two compact vibrotactile actuators and two silicone chambers in contact with the user’s skin. These components provide high-frequency tactile cues for initial contact and surface information (e.g. texture) as well as... |
Point-Wise Vibration Pattern Production via a Sparse Actuator Array for Surface Tactile Feedback | https://ieeexplore.ieee.org/document/10611362/ | [
"Xiaosa Li",
"Runze Zhao",
"Chengyue Lu",
"Xiao Xiao",
"Wenbo Ding",
"Xiaosa Li",
"Runze Zhao",
"Chengyue Lu",
"Xiao Xiao",
"Wenbo Ding"
] | Surface vibration tactile feedback is capable of conveying various semantic information to humans via handheld electronic devices, such as smartphones, touch panels, and game controllers. However, covering the entire contacting surface of the device with a dense arrangement of actuators can affect its normal use. Determining how to produce desired vibration patterns at any contact point with only ... |
Implementation and Assessment of an Augmented Training Curriculum for Surgical Robotics | https://ieeexplore.ieee.org/document/10610411/ | [
"Alberto Rota",
"Ke Fan",
"Elena De Momi",
"Alberto Rota",
"Ke Fan",
"Elena De Momi"
] | The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a consequence. This work presents the development and validation of a haptic-enhanced Virtual Reality simulator for surgical robotics training, featuring 8 surgical tasks... |
Fingertip Ultrasonic Array for Tactile Rendering | https://ieeexplore.ieee.org/document/10610307/ | [
"Jace Rozsa",
"Sarah Costrell",
"Melisa Orta Martinez",
"Gary K. Fedder",
"Jace Rozsa",
"Sarah Costrell",
"Melisa Orta Martinez",
"Gary K. Fedder"
] | A miniature haptic stimulation device utilizes focused ultrasound to deliver a tactile haptic sensation to the finger. The 1-3 piezocomposite device has a 1 cm2 footprint, which is an order of magnitude smaller than other ultrasonic haptic devices and is a good candidate for wearable tactile rendering systems. The device focuses energy to a 1 mm3 voxel. The current prototype was validated with a s... |
Active Exploration for Real-Time Haptic Training | https://ieeexplore.ieee.org/document/10610782/ | [
"Jake Ketchum",
"Ahalya Prabhakar",
"Todd D. Murphey",
"Jake Ketchum",
"Ahalya Prabhakar",
"Todd D. Murphey"
] | Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction—e.g., velocity, force, acceleration— as well as properties of the sensor and object under test. These dependencies make training tactile perceptual models challenging. Additionally, the effects of l... |
A Multi-Stable Curved Line Shape Display | https://ieeexplore.ieee.org/document/10610902/ | [
"Wing-Sum Law",
"Sofia Di Toro Wyetzner",
"Raymond Zhen",
"Sean Follmer",
"Wing-Sum Law",
"Sofia Di Toro Wyetzner",
"Raymond Zhen",
"Sean Follmer"
] | Shape-changing displays enable real-time visualization and haptic exploration of 3D surfaces. However, many shape-changing displays are composed of individually actuated rigid bodies, which makes them both mechanically complex and unable to form smooth surfaces. In this work, we build a multi-stable curved line display inspired by physical splines. By using circular splines to initialize a discret... |
Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion | https://ieeexplore.ieee.org/document/10610049/ | [
"Huang Huang",
"Antonio Loquercio",
"Ashish Kumar",
"Neerja Thakkar",
"Ken Goldberg",
"Jitendra Malik",
"Huang Huang",
"Antonio Loquercio",
"Ashish Kumar",
"Neerja Thakkar",
"Ken Goldberg",
"Jitendra Malik"
] | For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged locomotion at high speeds or under external perturbations, where the arm serves beyond manipulation. Since the system has 15 degrees of freedom (twelve for the legg... |
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds | https://ieeexplore.ieee.org/document/10610561/ | [
"Francecso Vezzi",
"Jiatao Ding",
"Antonin Raffin",
"Jens Kober",
"Cosimo Della Santina",
"Francecso Vezzi",
"Jiatao Ding",
"Antonin Raffin",
"Jens Kober",
"Cosimo Della Santina"
] | Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these issues by relying on a simple yet effective two-stage learning framework to generate dynamic motions for quadrupedal robots. First, a gradient-free evolution strateg... |
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots | https://ieeexplore.ieee.org/document/10611039/ | [
"Guilherme Christmann",
"Ying-Sheng Luo",
"Wei-Chao Chen",
"Guilherme Christmann",
"Ying-Sheng Luo",
"Wei-Chao Chen"
] | We propose the expert composer policy, a framework to reliably expand the skill repertoire of quadruped agents. The composer policy links pair of experts via transitions to a sampled target state, allowing experts to be composed sequentially. Each expert specializes in a single skill, such as a locomotion gait or a jumping motion. Instead of a hierarchical or mixture-of-experts architecture, we tr... |
Learning Agile Bipedal Motions on a Quadrupedal Robot | https://ieeexplore.ieee.org/document/10611442/ | [
"Yunfei Li",
"Jinhan Li",
"Wei Fu",
"Yi Wu",
"Yunfei Li",
"Jinhan Li",
"Wei Fu",
"Yi Wu"
] | Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the agility of the quadruped in an upright standing pose and is capable of a variety of human-like motions. Our framework is with a hierarchical structure. At the low le... |
LAGOON: Language-Guided Motion Control | https://ieeexplore.ieee.org/document/10610467/ | [
"Shusheng Xu",
"Huaijie Wang",
"Yutao Ouyang",
"Jiaxuan Gao",
"Zhiyu Mei",
"Chao Yu",
"Yi Wu",
"Shusheng Xu",
"Huaijie Wang",
"Yutao Ouyang",
"Jiaxuan Gao",
"Zhiyu Mei",
"Chao Yu",
"Yi Wu"
] | We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models can produce physically unrealistic motions, which will be more severe for robots due to different body structures and physical properties. Deploying such a moti... |
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking | https://ieeexplore.ieee.org/document/10610088/ | [
"Mincheol Kim",
"Ukcheol Shin",
"Jung-Yup Kim",
"Mincheol Kim",
"Ukcheol Shin",
"Jung-Yup Kim"
] | Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, these robots can easily lose their locomotion functionality if damaged by external accidents or internal malfunctions. In this paper, we propose a novel deep reinforcement learning framework to enable a quadrupedal robot t... |
Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots | https://ieeexplore.ieee.org/document/10610151/ | [
"Taixian Hou",
"Jiaxin Tu",
"Xiaofei Gao",
"Zhiyan Dong",
"Peng Zhai",
"Lihua Zhang",
"Taixian Hou",
"Jiaxin Tu",
"Xiaofei Gao",
"Zhiyan Dong",
"Peng Zhai",
"Lihua Zhang"
] | Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the capability to actively sense the condition of their own joints and take proactive actions. Maintaining the original motion patterns could lead to disastrous conseq... |
Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller | https://ieeexplore.ieee.org/document/10610461/ | [
"Ngoc Thinh Nguyen",
"Pranav Tej Gangavarapu",
"Nicolas Mandel",
"Ralf Bruder",
"Floris Ernst",
"Ngoc Thinh Nguyen",
"Pranav Tej Gangavarapu",
"Nicolas Mandel",
"Ralf Bruder",
"Floris Ernst"
] | Navigation in agricultural fields imposes various constraints on manoeuvrability, which can be tackled by using four-wheel steering (4WS) vehicles which are capable of switching between multiple steering mechanisms with distinct kinematic properties. For example, parallel positive steering (PPS) with four wheels in parallel to each other can maintain the vehicle’s heading when moving along a curve... |
On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators | https://ieeexplore.ieee.org/document/10610437/ | [
"Jee-Eun Lee",
"Andrew Bylard",
"Robert Sun",
"Luis Sentis",
"Jee-Eun Lee",
"Andrew Bylard",
"Robert Sun",
"Luis Sentis"
] | Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to jerk-constrained time-optimal trajectory planning (TOTP), which follows a specified path while satisfying up to third-order constraints to ensure safety and smooth mo... |
Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization | https://ieeexplore.ieee.org/document/10610386/ | [
"Xueyi Bu",
"Brian Plancher",
"Xueyi Bu",
"Brian Plancher"
] | There has been a growing interest in parallel strategies for solving trajectory optimization problems. One key step in many algorithmic approaches to trajectory optimization is the solution of moderately-large and sparse linear systems. Iterative methods are particularly well-suited for parallel solves of such systems. However, fast and stable convergence of iterative methods is reliant on the app... |
MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU | https://ieeexplore.ieee.org/document/10611212/ | [
"Emre Adabag",
"Miloni Atal",
"William Gerard",
"Brian Plancher",
"Emre Adabag",
"Miloni Atal",
"William Gerard",
"Brian Plancher"
] | Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the performance of this approach is computationally bounded, implementations of direct trajectory optimization that use iterative methods to solve the underlying moderately-large and sparse linear systems, are a natural fit for... |
Generalizing Trajectory Retiming to Quadratic Objective Functions | https://ieeexplore.ieee.org/document/10610854/ | [
"Gerry Chen",
"Frank Dellaert",
"Seth Hutchinson",
"Gerry Chen",
"Frank Dellaert",
"Seth Hutchinson"
] | Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a speed profile that satisfies kino-dynamic and other constraints. While trajectory retiming is most often formulated with the minimum-time objective (i.e. travers... |
A Distributed Processing Approach for Smooth Task Transitioning in Strict Hierarchical Control | https://ieeexplore.ieee.org/document/10610227/ | [
"Francesco Tassi",
"Arash Ajoudani",
"Francesco Tassi",
"Arash Ajoudani"
] | To enhance robots’ applicability in real-world scenarios, it is essential to establish a complex and multi-tasking behaviour, inspired by human nature. To this purpose, from a hardware perspective, a high number of degrees of freedom is necessary, as is the case for humanoids and collaborative mobile manipulators. From a software standpoint instead, complex hierarchical strategies are often used t... |
Towards a Novel Soft Magnetic Laparoscope for Single Incision Laparoscopic Surgery | https://ieeexplore.ieee.org/document/10611068/ | [
"Hui Liu",
"Ning Li",
"Shuai Li",
"Gregory J. Mancini",
"Jindong Tan",
"Hui Liu",
"Ning Li",
"Shuai Li",
"Gregory J. Mancini",
"Jindong Tan"
] | In single-incision laparoscopic surgery (SILS), magnetic anchoring and guidance system (MAGS) is a promising technique to prevent clutter in the surgical workspace and provide a larger vision field. Existing camera designs mainly rely on rigid structure design, resulting in risks of losing magnetic coupling and impacting tissue during the insertion and coupling procedure. In this paper, we propose... |
Magnetic-Guided Flexible Origami Robot toward Long-Term Phototherapy of H. pylori in the Stomach | https://ieeexplore.ieee.org/document/10611027/ | [
"Sishen Yuan",
"Baijia Liang",
"Po Wa Wong",
"Mingjing Xu",
"Chi Hsuan Li",
"Zhen Li",
"Hongliang Ren",
"Sishen Yuan",
"Baijia Liang",
"Po Wa Wong",
"Mingjing Xu",
"Chi Hsuan Li",
"Zhen Li",
"Hongliang Ren"
] | Helicobacter pylori, a pervasive bacterial infection associated with gastrointestinal disorders such as gastritis, peptic ulcer disease, and gastric cancer, impacts approximately 50% of the global population. The efficacy of standard clinical eradication therapies is diminishing due to the rise of antibiotic-resistant strains, necessitating alternative treatment strategies. Photodynamic therapy (P... |
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement | https://ieeexplore.ieee.org/document/10611403/ | [
"Yiang Lu",
"Bin Li",
"Wei Chen",
"Junyan Yan",
"Shing Shin Cheng",
"Jiangliu Wang",
"Jianshu Zhou",
"Qi Dou",
"Yun-Hui Liu",
"Yiang Lu",
"Bin Li",
"Wei Chen",
"Junyan Yan",
"Shing Shin Cheng",
"Jiangliu Wang",
"Jianshu Zhou",
"Qi Dou",
"Yun-Hui Liu"
] | Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of FBGs inside the fiber and their alignments with the flexible robots for accurate sensing results. Another challenge lies in online acquiring external forces at ar... |
A Semi-Autonomous Data-Driven Shared Control Framework for Robotic Manipulation and Cutting of an Unknown Deformable Tissue | https://ieeexplore.ieee.org/document/10610931/ | [
"Nicholas A. Strohmeyer",
"Ji Hwan Park",
"Braden P. Murphy",
"Farshid Alambeigi",
"Nicholas A. Strohmeyer",
"Ji Hwan Park",
"Braden P. Murphy",
"Farshid Alambeigi"
] | In this work, we propose a semi-autonomous scheme to synergistically share the complicated task of manipulation and cutting of an unknown deformable tissue (U-DT) between a remote surgeon and a surgical robot. Particularly, utilizing the da Vinci Research Kit (dVRK) platform, we have designed and successfully demonstrated a fully functional shared control scheme for an autonomous tensioning and te... |
Design and evaluation of a modular robotic system for microsurgery | https://ieeexplore.ieee.org/document/10610598/ | [
"Jenireth Torrealba Molina",
"Toqa AbuBaker",
"Yanpei Huang",
"Xiaoxiao Cheng",
"Alexis Devillard",
"Etienne Burdet",
"Jenireth Torrealba Molina",
"Toqa AbuBaker",
"Yanpei Huang",
"Xiaoxiao Cheng",
"Alexis Devillard",
"Etienne Burdet"
] | The manipulation of instruments under a microscope suffers from physiological tremor and human errors, which are inevitable in long microsurgery interventions. Robotic systems developed in recent years for microsurgery are expensive and not flexible, as they cannot use standard instruments, and need the surgeon to modify their operative skills and strategies. In this paper, we introduce a modular ... |
Analyzing Accessibility in Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture and Robot Position | https://ieeexplore.ieee.org/document/10611482/ | [
"Satoshi Inagaki",
"Alireza Alikhani",
"Nassir Navab",
"Mathias Maier",
"M. Ali Nasseri",
"Satoshi Inagaki",
"Alireza Alikhani",
"Nassir Navab",
"Mathias Maier",
"M. Ali Nasseri"
] | Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection. However, in order to intuitively integrate robots into the surgical workflow, it is crucial to emphasize that an accessibility analysis framework for vitreoretinal surgery must be considered as an essential component. Such a framework, i... |
Fault Tolerant Neural Control Barrier Functions for Robotic Systems under Sensor Faults and Attacks | https://ieeexplore.ieee.org/document/10610491/ | [
"Hongchao Zhang",
"Luyao Niu",
"Andrew Clark",
"Radha Poovendran",
"Hongchao Zhang",
"Luyao Niu",
"Andrew Clark",
"Radha Poovendran"
] | Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the choice of CBFs. Inspired by the universal approximation power of neural networks, there is a growing trend toward representing CBFs using neural networks, leadi... |
A novel algorithmic approach to obtaining maneuverable control-invariant sets * | https://ieeexplore.ieee.org/document/10610609/ | [
"Prashant Solanki",
"Jasper J. van Beers",
"Anahita Jamshidnejad",
"Coen C. de Visser",
"Prashant Solanki",
"Jasper J. van Beers",
"Anahita Jamshidnejad",
"Coen C. de Visser"
] | Ensuring safety in autonomous systems is essential as they become more integrated with modern society. One way to accomplish this is to identify and maintain a safe operating space. To this end, much effort has been devoted in the field of reachability analysis to obtaining control-invariant sets which ensure that a system inside of these sets can remain in these sets, and are thus essential for g... |
Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints | https://ieeexplore.ieee.org/document/10611111/ | [
"Yutong Zhang",
"Fei Liu",
"Xiao Liang",
"Michael Yip",
"Yutong Zhang",
"Fei Liu",
"Xiao Liang",
"Michael Yip"
] | Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing to textiles and flexible manufacturing. Despite the desire for automated cloth manipulation, the thin-shell dynamics and under-actuation nature of cloth present significant challenges for robots to effectively interact wi... |
Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances | https://ieeexplore.ieee.org/document/10610163/ | [
"Nicholas Rober",
"Karan Mahesh",
"Tyler M. Paine",
"Max L. Greene",
"Steven Lee",
"Sildomar T. Monteiro",
"Michael R. Benjamin",
"Jonathan P. How",
"Nicholas Rober",
"Karan Mahesh",
"Tyler M. Paine",
"Max L. Greene",
"Steven Lee",
"Sildomar T. Monteiro",
"Michael R. Benjamin",
"Jonathan P. How"
] | Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a priori. This work develops a safety-verification strategy wherein data is collected online and incorporated into a reachability analysis approach to check in re... |
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications | https://ieeexplore.ieee.org/document/10610064/ | [
"Bowen Weng",
"Guillermo A. Castillo",
"Yun-Seok Kang",
"Ayonga Hereid",
"Bowen Weng",
"Guillermo A. Castillo",
"Yun-Seok Kang",
"Ayonga Hereid"
] | Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theoretical, or algorithmic but also physical, indicating limited studies and comprehension regarding standard testing infrastructure and equipment. For decades, the approaches we have been testing legged robots were rarely s... |
Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers | https://ieeexplore.ieee.org/document/10611397/ | [
"Aryaman Gupta",
"Kaustav Chakraborty",
"Somil Bansal",
"Aryaman Gupta",
"Kaustav Chakraborty",
"Somil Bansal"
] | Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these vision-based controllers can make erroneous predictions when faced with novel or out-of-distribution inputs. Such errors can cascade to catastrophic system failures and c... |
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions | https://ieeexplore.ieee.org/document/10611355/ | [
"Ryan K. Cosner",
"Igor Sadalski",
"Jana K. Woo",
"Preston Culbertson",
"Aaron D. Ames",
"Ryan K. Cosner",
"Igor Sadalski",
"Jana K. Woo",
"Preston Culbertson",
"Aaron D. Ames"
] | A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the worst-case disturbance (which results in conservative behavior), or to learn a deterministic dynamics model (which is unable to capture uncertain dynamics or disturbances). This work proposes a different approach: traini... |
An Open-Source Solution for Fast and Accurate Underwater Mapping with a Low-Cost Mechanical Scanning Sonar | https://ieeexplore.ieee.org/document/10609976/ | [
"Tim Hansen",
"Andreas Birk",
"Tim Hansen",
"Andreas Birk"
] | An open-source software framework is presented that allows real-time underwater mapping with popular marine robotics components, namely a BlueRobotics BlueROV2 with its standard Ping360 Mechanical Scanning Sonar (MSS) and a A50 Doppler Velocity Log (DVL), which are low-cost devices for their respective types - if not even the most affordable ones on the market. The software runs with low computati... |
Boundary Factors for Seamless State Estimation between Autonomous Underwater Docking Phases | https://ieeexplore.ieee.org/document/10611552/ | [
"Aldo Terán Espinoza",
"Antonio Terán Espinoza",
"John Folkesson",
"Peter Sigray",
"Jakob Kuttenkeuler",
"Aldo Terán Espinoza",
"Antonio Terán Espinoza",
"John Folkesson",
"Peter Sigray",
"Jakob Kuttenkeuler"
] | Autonomous underwater docking is of the utmost importance for expanding the capabilities of Autonomous Underwater Vehicles (AUVs). Due to a historical focus on underwater docking to only static targets, the research gap in underwater docking to dynamically active targets has been left relatively untouched. We address the state estimation problem that arises when trying to rendezvous a chaser AUV w... |
Vision-Based Water Clearance Determination in Maritime Environment | https://ieeexplore.ieee.org/document/10610182/ | [
"Carl H. Schiller",
"Deran Maas",
"Bruno Arsenali",
"Jukka Peltola",
"Kalevi Tervo",
"Stefano Maranò",
"Carl H. Schiller",
"Deran Maas",
"Bruno Arsenali",
"Jukka Peltola",
"Kalevi Tervo",
"Stefano Maranò"
] | Determining the distances from the hull of the own ship to obstacles or land, i.e. water clearance, is a fundamental task in navigation. This is particularly relevant during maneuvering in the harbor or navigating in confined waters. We introduce the concepts of area water clearance and line water clearance. Area water clearance is important especially for path planning and obstacle avoidance. Lin... |
Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments | https://ieeexplore.ieee.org/document/10611083/ | [
"Corey Knutson",
"Zhipeng Cao",
"Junaed Sattar",
"Corey Knutson",
"Zhipeng Cao",
"Junaed Sattar"
] | Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive updated mission information. Various methods for locating and tracking a DS exist, but most rely on expensive acoustic sensors, or are vision-based, which is sig... |
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry | https://ieeexplore.ieee.org/document/10610643/ | [
"Mohit Singh",
"Mihir Dharmadhikari",
"Kostas Alexis",
"Mohit Singh",
"Mihir Dharmadhikari",
"Kostas Alexis"
] | This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is separable as a distortion model (dependent on refractive index n and radial pixel coordinate) and a virtual pinhole model (as a function of n). We derive the sel... |
Enhancing Visual Inertial SLAM with Magnetic Measurements | https://ieeexplore.ieee.org/document/10611341/ | [
"Bharat Joshi",
"Ioannis Rekleitis",
"Bharat Joshi",
"Ioannis Rekleitis"
] | This paper presents an extension to visual inertial odometry (VIO) by introducing tightly-coupled fusion of magnetometer measurements. A sliding window of keyframes is optimized by minimizing re-projection errors, relative inertial errors, and relative magnetometer orientation errors. The results of IMU orientation propagation are used to efficiently transform magnetometer measurements between fra... |
Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach | https://ieeexplore.ieee.org/document/10611082/ | [
"António J. Oliveira",
"Bruno M. Ferreira",
"Nuno A. Cruz",
"António J. Oliveira",
"Bruno M. Ferreira",
"Nuno A. Cruz"
] | Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing volumetric techniques to create grid-based submaps of the unoccupied water volumes through images coll... |
Light-weight approach for safe landing in populated areas | https://ieeexplore.ieee.org/document/10611639/ | [
"Tilemachos Mitroudas",
"Vasiliki Balaska",
"Athanasios Psomoulis",
"Antonios Gasteratos",
"Tilemachos Mitroudas",
"Vasiliki Balaska",
"Athanasios Psomoulis",
"Antonios Gasteratos"
] | Landing safety is a challenge heavily engaging the research community recently, due to the increasing interest in applications availed by aerial vehicles. In this paper, we propose a landing safety pipeline based on state of the art object detectors and OctoMap. First, a point cloud of surface obstacles is generated, which is then inserted in an OctoMap. The unoccupied areas are identified, thus r... |
Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities | https://ieeexplore.ieee.org/document/10610207/ | [
"Yifei Simon Shao",
"Yuwei Wu",
"Laura Jarin-Lipschitz",
"Pratik Chaudhari",
"Vijay Kumar",
"Yifei Simon Shao",
"Yuwei Wu",
"Laura Jarin-Lipschitz",
"Pratik Chaudhari",
"Vijay Kumar"
] | Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and specifies the homotopy class of the trajectory, and a back-end that optimizes this path to respect dynamics and input constraints. While there are many different c... |
An NMPC Framework for Tracking and Releasing a Cable-suspended Load to a Ground Target Using a Multirotor UAV | https://ieeexplore.ieee.org/document/10610034/ | [
"Fotis Panetsos",
"George C. Karras",
"Kostas J. Kyriakopoulos",
"Fotis Panetsos",
"George C. Karras",
"Kostas J. Kyriakopoulos"
] | In this work, we present a nonlinear Model Predictive Control (NMPC) scheme for tracking a ground target using a multirotor with a cable-suspended load. The NMPC framework relies on the dynamic model of the UAV with the suspended load and, hence, an estimate of the load state is obtained by fusing the measurements of a downward-facing camera and a load cell with an Unscented Kalman Filter (UKF). A... |
On Experimental Emulation of Printability and Fleet Aware Generic Mesh Decomposition for Enabling Aerial 3D Printing | https://ieeexplore.ieee.org/document/10610806/ | [
"Marios-Nektarios Stamatopoulos",
"Avijit Banerjee",
"George Nikolakopoulos",
"Marios-Nektarios Stamatopoulos",
"Avijit Banerjee",
"George Nikolakopoulos"
] | This article introduces an experimental emulation of a novel chunk-based flexible multi-DoF aerial 3D printing framework. The experimental demonstration of the overall autonomy focuses on precise motion planning and task allocation for a UAV, traversing through a series of planned space-filling paths involved in the aerial 3D printing process without physically depositing the overlaying material. ... |
Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty | https://ieeexplore.ieee.org/document/10610390/ | [
"Reiya Takemura",
"Genya Ishigami",
"Reiya Takemura",
"Genya Ishigami"
] | Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly. To this end, this study presents perception-and-energy-aware motion planning for UAVs in GNSS-denied environments. The proposed planner solves the trajectory planning problem by optimizing a cost function consisting of two indices: the total ener... |
Representing On-Orbit Rendezvous and Proximity Operations with Fully-Actuated Multirotor Aerial Platforms | https://ieeexplore.ieee.org/document/10610964/ | [
"Alessandro Garzelli",
"Kumud Darshan Yadav",
"Alessandro Scalvini",
"Antonio Gonzalez-Morgado",
"Alejandro Suarez",
"Anibal Ollero",
"Alessandro Garzelli",
"Kumud Darshan Yadav",
"Alessandro Scalvini",
"Antonio Gonzalez-Morgado",
"Alejandro Suarez",
"Anibal Ollero"
] | Ground testing is of paramount importance to verify and validate space operations and the associated control algorithms before on-orbit deployment. Although state-of-the-art facilities are capable of reproducing zero-G environment with high degree of fidelity, these infrastructures can be complemented with multi-rotors emulating free flying or free floating conditions, exploiting the similarities ... |
On-device Self-supervised Learning of Visual Perception Tasks aboard Hardware-limited Nano-quadrotors | https://ieeexplore.ieee.org/document/10610317/ | [
"Elia Cereda",
"Manuele Rusci",
"Alessandro Giusti",
"Daniele Palossi",
"Elia Cereda",
"Manuele Rusci",
"Alessandro Giusti",
"Daniele Palossi"
] | Sub-50g nano-drones are gaining momentum in both academia and industry. Their most compelling applications rely on onboard deep learning models for perception despite severe hardware constraints (i.e., sub-100mW processor). When deployed in unknown environments not represented in the training data, these models often underperform due to domain shift. To cope with this fundamental problem, we propo... |
Visual Localization in Repetitive and Symmetric Indoor Parking Lots using 3D Key Text Graph | https://ieeexplore.ieee.org/document/10611591/ | [
"Joohyung Kim",
"Gunhee Koo",
"Heewon Park",
"Nakju Doh",
"Joohyung Kim",
"Gunhee Koo",
"Heewon Park",
"Nakju Doh"
] | Indoor parking lots are the GPS-denied spaces to which vision-based localization approaches have usually been applied to solve localization problems. However, due to the repetitiveness and symmetry of the spaces, visual localization methods commonly confront difficulties in estimating precise 3D poses. In this study, we propose four novel modules that improve localization precision by imposing the... |
VOLoc: Visual Place Recognition by Querying Compressed Lidar Map | https://ieeexplore.ieee.org/document/10610530/ | [
"Xudong Cai",
"Yongcai Wang",
"Zhe Huang",
"Yu Shao",
"Deying Li",
"Xudong Cai",
"Yongcai Wang",
"Zhe Huang",
"Yu Shao",
"Deying Li"
] | The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty of direct visual place recognition in compressed Lidar maps. This paper proposes VOLoc, an accurate and efficient visual place recognition method that exploits ... |
VPRTempo: A Fast Temporally Encoded Spiking Neural Network for Visual Place Recognition | https://ieeexplore.ieee.org/document/10610918/ | [
"Adam D Hines",
"Peter G Stratton",
"Michael Milford",
"Tobias Fischer",
"Adam D Hines",
"Peter G Stratton",
"Michael Milford",
"Tobias Fischer"
] | Spiking Neural Networks (SNNs) are at the forefront of neuromorphic computing thanks to their potential energy-efficiency, low latencies, and capacity for continual learning. While these capabilities are well suited for robotics tasks, SNNs have seen limited adaptation in this field thus far. This work introduces a SNN for Visual Place Recognition (VPR) that is both trainable within minutes and qu... |
17-Point Algorithm Revisited: Toward a More Accurate Way | https://ieeexplore.ieee.org/document/10611149/ | [
"Chen Xie",
"Rui Xing",
"Ning Hao",
"Fenghua He",
"Chen Xie",
"Rui Xing",
"Ning Hao",
"Fenghua He"
] | 17-point algorithm is a popular method in relative pose estimation of multi-cameras. However, the role of overlap in 17-point algorithm remains unexplored. And the relaxed way in solving constrained normal equation leads to sub-optimal results. Both of them influence accuracy of the estimated pose. In this paper, we theoretically analyze the influence of overlap and the solvability of 17-point alg... |
Lightweight Ground Texture Localization | https://ieeexplore.ieee.org/document/10611712/ | [
"Aaron Wilhelm",
"Nils Napp",
"Aaron Wilhelm",
"Nils Napp"
] | We present a lightweight ground texture based localization algorithm (L-GROUT) that improves the state of the art in performance and can be run in real-time on single board computers without GPU acceleration. Such computers are ubiquitous on small indoor robots and thus this work enables high-precision, millimeter-level localization without instrumenting, marking, or modifying the environment. The... |
NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System | https://ieeexplore.ieee.org/document/10610051/ | [
"Saimouli Katragadda",
"Woosik Lee",
"Yuxiang Peng",
"Patrick Geneva",
"Chuchu Chen",
"Chao Guo",
"Mingyang Li",
"Guoquan Huang",
"Saimouli Katragadda",
"Woosik Lee",
"Yuxiang Peng",
"Patrick Geneva",
"Chuchu Chen",
"Chao Guo",
"Mingyang Li",
"Guoquan Huang"
] | Achieving efficient and consistent localization with a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffer from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus degrading the localization performance. To address this issue, we design a real-time tightly-coupled Neural Radiance Fields (NeRF)-aided visual-inertial na... |
Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering | https://ieeexplore.ieee.org/document/10611408/ | [
"Tianxiao Gao",
"Mingle Zhao",
"Chengzhong Xu",
"Hui Kong",
"Tianxiao Gao",
"Mingle Zhao",
"Chengzhong Xu",
"Hui Kong"
] | Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open problem owing to the lack of stable visual information. An insight from most nocturnal scenes is that the static and bright streetlights are reliable visual info... |
ONeK-SLAM: A Robust Object-level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints | https://ieeexplore.ieee.org/document/10610068/ | [
"Yue Zhuge",
"Haiyong Luo",
"Runze Chen",
"Yushi Chen",
"Jiaquan Yan",
"Zhuqing Jiang",
"Yue Zhuge",
"Haiyong Luo",
"Runze Chen",
"Yushi Chen",
"Jiaquan Yan",
"Zhuqing Jiang"
] | Neural implicit representation has recently achieved significant advancements, especially in the field of SLAM(Simultaneous Localization and Mapping). Previous NeRF-based SLAM methods have difficulties with object-level localization and reconstruction and struggle in dynamic and illumination-varied environments. We propose ONeK-SLAM, a robust object-level SLAM system that effectively combines feat... |
A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend | https://ieeexplore.ieee.org/document/10610889/ | [
"Binqian Jiang",
"Shaojie Shen",
"Binqian Jiang",
"Shaojie Shen"
] | This paper proposes a new nonlinear factor sparsification paradigm for general feature-based long-term SLAM backend. Given a pose sparsification policy, we aim to scale the SLAM problem with space explored instead of time in a principled way so that the number of time-indexed poses can be limited. At the same time, their influence and the long-lived landmarks are appropriately maintained. To do th... |
Effectively Detecting Loop Closures using Point Cloud Density Maps | https://ieeexplore.ieee.org/document/10610962/ | [
"Saurabh Gupta",
"Tiziano Guadagnino",
"Benedikt Mersch",
"Ignacio Vizzo",
"Cyrill Stachniss",
"Saurabh Gupta",
"Tiziano Guadagnino",
"Benedikt Mersch",
"Ignacio Vizzo",
"Cyrill Stachniss"
] | The ability to detect loop closures plays an essential role in any SLAM system. Loop closures allow correcting the drifting pose estimates from a sensor odometry pipeline. In this paper, we address the problem of effectively detecting loop closures in LiDAR SLAM systems in various environments with longer lengths of sequences and agnostic of the scanning pattern of the sensor. While many approache... |
Radar-Only Odometry and Mapping for Autonomous Vehicles | https://ieeexplore.ieee.org/document/10610311/ | [
"Daniel Casado Herraez",
"Matthias Zeller",
"Le Chang",
"Ignacio Vizzo",
"Michael Heidingsfeld",
"Cyrill Stachniss",
"Daniel Casado Herraez",
"Matthias Zeller",
"Le Chang",
"Ignacio Vizzo",
"Michael Heidingsfeld",
"Cyrill Stachniss"
] | Odometry and mapping play a pivotal role in the navigation of autonomous vehicles. In this paper, we address the problem of pose estimation and map creation using only radar sensors. We focus on two odometry estimation approaches followed by a mapping step. The first one is a new point-to-point ICP approach that leverages the velocity information provided by 3D radar sensors. The second one is adv... |
IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends | https://ieeexplore.ieee.org/document/10611214/ | [
"Emilio Olivastri",
"Alberto Pretto",
"Emilio Olivastri",
"Alberto Pretto"
] | In SLAM (Simultaneous localization and mapping) problems, Pose Graph Optimization (PGO) is a technique to refine an initial estimate of a set of poses (positions and orientations) from a set of pairwise relative measurements. The optimization procedure can be negatively affected even by a single outlier measurement, with possible catastrophic and meaningless results. Although recent works on robus... |
Generalized Correspondence Matching via Flexible Hierarchical Refinement and Patch Descriptor Distillation | https://ieeexplore.ieee.org/document/10611456/ | [
"Yu Han",
"Ziwei Long",
"Yanting Zhang",
"Jin Wu",
"Zhijun Fang",
"Rui Fan",
"Yu Han",
"Ziwei Long",
"Yanting Zhang",
"Jin Wu",
"Zhijun Fang",
"Rui Fan"
] | Correspondence matching plays a crucial role in numerous robotics applications. In comparison to conventional hand-crafted methods and recent data-driven approaches, there is significant interest in plug-and-play algorithms that make full use of pre-trained backbone networks for multi-scale feature extraction and leverage hierarchical refinement strategies to generate matched correspondences. The ... |
VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks | https://ieeexplore.ieee.org/document/10611684/ | [
"Yutong Wang",
"Chaoyang Jiang",
"Xieyuanli Chen",
"Yutong Wang",
"Chaoyang Jiang",
"Xieyuanli Chen"
] | In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have attempted to enhance localization accuracy by integrating the modeled object residuals into bundle adjustment. However, few have demonstrated better results th... |
Lite-SVO: Towards A Lightweight Self-Supervised Semantic Visual Odometry Exploiting Multi-Feature Sharing Architecture | https://ieeexplore.ieee.org/document/10610019/ | [
"Wenhui Wei",
"Jiantao Li",
"Kaizhu Huang",
"Jiadong Li",
"Xin Liu",
"Yangfan Zhou",
"Wenhui Wei",
"Jiantao Li",
"Kaizhu Huang",
"Jiadong Li",
"Xin Liu",
"Yangfan Zhou"
] | Not relying on ground-truth data for training, self-supervised semantic visual odometry (SVO) has recently gained considerable attention. Within self-supervised SVO, feature representation inconsistency between semantic/depth and pose tasks presents a significant challenge, as it may disrupt cross-task feature representations and lead to notable performance degradation. Regrettably, existing self-... |
Constant-time Motion Planning with Anytime Refinement for Manipulation | https://ieeexplore.ieee.org/document/10611675/ | [
"Itamar Mishani",
"Hayden Feddock",
"Maxim Likhachev",
"Itamar Mishani",
"Hayden Feddock",
"Maxim Likhachev"
] | Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of consta... |
VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning | https://ieeexplore.ieee.org/document/10610132/ | [
"Kasun Weerakoon",
"Adarsh Jagan Sathyamoorthy",
"Mohamed Elnoor",
"Dinesh Manocha",
"Kasun Weerakoon",
"Adarsh Jagan Sathyamoorthy",
"Mohamed Elnoor",
"Dinesh Manocha"
] | We present VAPOR, a novel method for autonomous legged robot navigation in unstructured, densely vegetated outdoor environments using offline Reinforcement Learning (RL). Our method trains a novel RL policy using an actor-critic network and arbitrary data collected in real outdoor vegetation. Our policy uses height and intensity-based cost maps derived from 3D LiDAR point clouds, a goal cost map, ... |
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning | https://ieeexplore.ieee.org/document/10610519/ | [
"Kallol Saha",
"Vishal Mandadi",
"Jayaram Reddy",
"Ajit Srikanth",
"Aditya Agarwal",
"Bipasha Sen",
"Arun Singh",
"Madhava Krishna",
"Kallol Saha",
"Vishal Mandadi",
"Jayaram Reddy",
"Ajit Srikanth",
"Aditya Agarwal",
"Bipasha Sen",
"Arun Singh",
"Madhava Krishna"
] | Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used off-the-shelf for any new scene without needing specific training datasets. However, without a prior understanding of what diverse valid trajectories are and without s... |
Approximating Robot Configuration Spaces with few Convex Sets using Clique Covers of Visibility Graphs | https://ieeexplore.ieee.org/document/10610005/ | [
"Peter Werner",
"Alexandre Amice",
"Tobia Marcucci",
"Daniela Rus",
"Russ Tedrake",
"Peter Werner",
"Alexandre Amice",
"Tobia Marcucci",
"Daniela Rus",
"Russ Tedrake"
] | Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to design collision-free trajectories using fast convex optimization. In this work, we present an efficient method for approximately covering complex configuration... |
Asymptotically-Optimal Multi-Robot Visibility-Based Pursuit-Evasion | https://ieeexplore.ieee.org/document/10610927/ | [
"Nicholas M. Stiffler",
"Jason M. O’Kane",
"Nicholas M. Stiffler",
"Jason M. O’Kane"
] | The multi-robot visibility-based pursuit-evasion problem tasks a team of robots with systematically searching an environment to detect (capture) an evader. Previous techniques to generate search strategies for the pursuit team have shown to be either computationally intractable or permit poor solution quality. This paper presents a novel asymptotically optimal algorithm for generating a joint moti... |
Non-singular Fast Terminal Adaptive Visual Tracking Control with Reduced Tuning Parameters for an Aerial Vehicle Under Perturbations | https://ieeexplore.ieee.org/document/10610345/ | [
"Gustavo Olivas-Martínez",
"Armando Miranda-Moya",
"Carlos Katt",
"Herman Castañeda",
"Gustavo Olivas-Martínez",
"Armando Miranda-Moya",
"Carlos Katt",
"Herman Castañeda"
] | This paper presents a robust image-based visual servoing design for a quad-rotor unmanned aerial vehicle performing a visual target-tracking operation in the presence of turbulent wind. Image information is extracted and processed to control the positioning and heading of the aerial vehicle. A novel adaptive non-singular fast terminal sliding mode strategy is introduced to manage the visual servoi... |
Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning | https://ieeexplore.ieee.org/document/10610952/ | [
"Yu Luo",
"Qie Sima",
"Tianying Ji",
"Fuchun Sun",
"Huaping Liu",
"Jianwei Zhang",
"Yu Luo",
"Qie Sima",
"Tianying Ji",
"Fuchun Sun",
"Huaping Liu",
"Jianwei Zhang"
] | Model Predictive Control (MPC) has exhibited remarkable capabilities in optimizing objectives and meeting constraints. However, the substantial computational burden associated with solving the Optimal Control Problem (OCP) at each triggering instant introduces significant delays between state sampling and control application. These delays limit the practicality of MPC in resource-constrained syste... |
Nullspace Adaptive Model-Based Trajectory-Tracking Control for a 6-DOF Underwater Vehicle with Unknown Plant and Actuator Parameters: Theory and Preliminary Simulation Evaluation | https://ieeexplore.ieee.org/document/10611318/ | [
"Annie M. Mao",
"Joseph L. Moore",
"Louis L. Whitcomb",
"Annie M. Mao",
"Joseph L. Moore",
"Louis L. Whitcomb"
] | We report a novel model-based nullspace adaptive trajectory-tracking control (NS-ATTC) algorithm for fully-actuated 6-degree-of-freedom (DOF) underwater vehicles which estimates unknown plant and actuator model parameters simultaneously. We provide a stability and convergence analysis with proof of asymptotically stable tracking error convergence, as well as a preliminary simulation study demonstr... |
Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine | https://ieeexplore.ieee.org/document/10610848/ | [
"Dvij Kalaria",
"Qin Lin",
"John M. Dolan",
"Dvij Kalaria",
"Qin Lin",
"John M. Dolan"
] | Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning, and control. Adding to this complexity is the need to accurately identify vehicle model parameters governing lateral tire slip effects, which can evolve over time du... |
Risk-Sensitive Extended Kalman Filter | https://ieeexplore.ieee.org/document/10611266/ | [
"Armand Jordana",
"Avadesh Meduri",
"Etienne Arlaud",
"Justin Carpentier",
"Ludovic Righetti",
"Armand Jordana",
"Avadesh Meduri",
"Etienne Arlaud",
"Justin Carpentier",
"Ludovic Righetti"
] | Designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers seldom consider estimation uncertainty and only rely on the most likely estimated state. Consequently, sudden changes in the environment or the robot’s dynamics can lead to catastrophic behaviors. Leveraging recent results in risk-sensitive optimal control, this paper presents a risk-sensit... |
Global Terminal Sliding Mode Control of Tethered Satellites Formation with Chattering Reduction via PID Laws | https://ieeexplore.ieee.org/document/10611346/ | [
"Bowen Su",
"Fan Zhang",
"Panfeng Huang",
"Bowen Su",
"Fan Zhang",
"Panfeng Huang"
] | This paper researches a novel global terminal sliding mode control(GTSMC) on a tethered satellites system(TSS) under outer disturbances, and the effect of PI/PD compensation in restraining chattering on sliding surface is appended. By taking advantage of the finite-time convergence of traditional terminal sliding surface, the sliding surface with global and terminal sliding motion is proposed, and... |
Model Predictive Control for an Autonomous Underwater Robot with Fully Vectored Propulsion | https://ieeexplore.ieee.org/document/10611025/ | [
"Tianzhu Gao",
"Yudong Luo",
"Chao Lv",
"Weirong Luo",
"Xianping Fu",
"Na Zhao",
"Xi Luo",
"Yantao Shen",
"Tianzhu Gao",
"Yudong Luo",
"Chao Lv",
"Weirong Luo",
"Xianping Fu",
"Na Zhao",
"Xi Luo",
"Yantao Shen"
] | Due to the low motion efficiency and maneuver-ability of underwater robots with six degrees of freedom, it is challenging for them to respond quickly to the attitude requirements during underwater autonomous manipulation. This paper presents a novel autonomous underwater robot with fully vectored propulsion and a model predictive control method to achieve more agile and efficient movements autonom... |
Attitude Control for Morphing Quadrotor through Model Predictive Control with Constraints* | https://ieeexplore.ieee.org/document/10610512/ | [
"Na Zhao",
"Yudong Luo",
"Chaojun Qin",
"Xi Luo",
"Rong Chen",
"Yantao Shen",
"Na Zhao",
"Yudong Luo",
"Chaojun Qin",
"Xi Luo",
"Rong Chen",
"Yantao Shen"
] | Morphing quadrotors that can be potentially applied to confined spaces such as warehouses, tanks, and pipelines have flourished in recent years. Most work has focused on the mechanical feasibility of the morphing systems and high-level flight controller design, with limited discussions on low-level control. In this paper, a constrained model predictive control (MPC) is proposed and applied to solv... |
NNgTL: Neural Network Guided Optimal Temporal Logic Task Planning for Mobile Robots | https://ieeexplore.ieee.org/document/10611699/ | [
"Ruijia Liu",
"Shaoyuan Li",
"Xiang Yin",
"Ruijia Liu",
"Shaoyuan Li",
"Xiang Yin"
] | In this work, we investigate task planning for mobile robots under linear temporal logic (LTL) specifications. This problem is particularly challenging when robots navigate in continuous workspaces due to the high computational complexity involved. Sampling-based methods have emerged as a promising avenue for addressing this challenge by incrementally constructing random trees, thereby sidesteppin... |
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