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+{"title": "IEEE/RSJ International Conference on Intelligent Robots and Systems", "detail_url": "https://ieeexplore.ieee.org", "author_list": [], "abstract": "IEEE/RSJ International Conference on Intelligent Robots and Systems"}
+{"title": "Welcome", "detail_url": "https://ieeexplore.ieee.org/document/9981995/", "author_list": [], "abstract": ""}
+{"title": "Organizing Committee", "detail_url": "https://ieeexplore.ieee.org/document/9982064/", "author_list": [], "abstract": ""}
+{"title": "Program at a Glance", "detail_url": "https://ieeexplore.ieee.org", "author_list": [], "abstract": ""}
+{"title": "Content List of IROS 2022", "detail_url": "https://ieeexplore.ieee.org", "author_list": [], "abstract": "Content List of IROS 2022"}
+{"title": "IROS 2022 Author Index", "detail_url": "https://ieeexplore.ieee.org", "author_list": [], "abstract": "IROS 2022 Author Index"}
+{"title": "SpeedFolding: Learning Efficient Bimanual Folding of Garments", "detail_url": "https://ieeexplore.ieee.org/document/9981402/", "author_list": ["Yahav Avigal", "Lars Berscheid", "Tamim Asfour", "Torsten Kr\u00f6ger", "Ken Goldberg", "Yahav Avigal", "Lars Berscheid", "Tamim Asfour", "Torsten Kr\u00f6ger", "Ken Goldberg"], "abstract": "Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to a canonical smooth configuration before folding. In this work, we develop SpeedFolding, a reliable and efficient bimanual system, which given user-defined inst..."}
+{"title": "FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update", "detail_url": "https://ieeexplore.ieee.org/document/9981574/", "author_list": ["Fan Yang", "Chao Cao", "Hongbiao Zhu", "Jean Oh", "Ji Zhang", "Fan Yang", "Chao Cao", "Hongbiao Zhu", "Jean Oh", "Ji Zhang"], "abstract": "Path planning in unknown environments remains a challenging problem, as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly and constantly, to account for the new observations. In this paper, we present a visibility graph-based planning framework capable of dealing with navigation tasks in both known ..."}
+{"title": "Learning-based Localizability Estimation for Robust LiDAR Localization", "detail_url": "https://ieeexplore.ieee.org/document/9982257/", "author_list": ["Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter", "Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter"], "abstract": "LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time. Yet, as a consequence of insufficient environmental constraints present in the scene, this dependence on geometry can result in localization failure, happening ..."}
+{"title": "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions", "detail_url": "https://ieeexplore.ieee.org/document/9981973/", "author_list": ["Alejandro Escontrela", "Xue Bin Peng", "Wenhao Yu", "Tingnan Zhang", "Atil Iscen", "Ken Goldberg", "Pieter Abbeel", "Alejandro Escontrela", "Xue Bin Peng", "Wenhao Yu", "Tingnan Zhang", "Atil Iscen", "Ken Goldberg", "Pieter Abbeel"], "abstract": "Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors, reinforcement learning practitioners often utilize complex reward functions that encourage physically plausible behaviors. However, a tedious labor-intensive t..."}
+{"title": "RCare World: A Human-centric Simulation World for Caregiving Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982244/", "author_list": ["Ruolin Ye", "Wenqiang Xu", "Haoyuan Fu", "Rajat Kumar Jenamani", "Vy Nguyen", "Cewu Lu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee", "Ruolin Ye", "Wenqiang Xu", "Haoyuan Fu", "Rajat Kumar Jenamani", "Vy Nguyen", "Cewu Lu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee"], "abstract": "We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders. RCareWorld has realistic human models of care recipients with mobility limitations and caregivers, home environments with multiple levels of accessibility and assistive devices, and robots commonly used for caregiving. It interfaces with various physics engines..."}
+{"title": "Design and Modelling of A Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9982261/", "author_list": ["Wei Li", "Dandan Zhang", "Guang-Zhong Yang", "Benny Lo", "Wei Li", "Dandan Zhang", "Guang-Zhong Yang", "Benny Lo"], "abstract": "In endoluminal surgery, the miniature instruments shall be of high accuracy and flexibility for minimal invasive diagnosis and surgical intervention. To this end, continuum robots with flexible joints have been proposed as the mechanism of endoscopic instruments. The compliance and deformability of the continuum joints enable access into the curved lumen. However, the manufacturing tolerances are ..."}
+{"title": "Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981310/", "author_list": ["Kai Junge", "Kevin Qiu", "Josie Hughes", "Kai Junge", "Kevin Qiu", "Josie Hughes"], "abstract": "Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this is the pain and reflex system which both minimizes damage through involuntary reflex actions and also serves as a means of 'negative reinforcement\u2019 to allow learning of poor actions or decision. Equipping robots with a reflex system and parallel lea..."}
+{"title": "RECALL: Rehearsal-free Continual Learning for Object Classification", "detail_url": "https://ieeexplore.ieee.org/document/9981968/", "author_list": ["Markus Knauer", "Maximilian Denninger", "Rudolph Triebel", "Markus Knauer", "Maximilian Denninger", "Rudolph Triebel"], "abstract": "Convolutional neural networks show remarkable results in classification but struggle with learning new things on the fly. We present a novel rehearsal-free approach, where a deep neural network is continually learning new unseen object categories without saving any data of prior sequences. Our approach is called RECALL, as the network recalls categories by calculating logits for old categories bef..."}
+{"title": "PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis", "detail_url": "https://ieeexplore.ieee.org/document/9981562/", "author_list": ["Shubham Kanitkar", "Helen Jiang", "Wenzhen Yuan", "Shubham Kanitkar", "Helen Jiang", "Wenzhen Yuan"], "abstract": "When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any subsequent re-positioning of the arm. However, the grasp stability could vary widely based on the object's holding pose, as the gravitational torque and gripper ..."}
+{"title": "LaneSNNs: Spiking Neural Networks for Lane Detection on the Loihi Neuromorphic Processor", "detail_url": "https://ieeexplore.ieee.org/document/9981034/", "author_list": ["Alberto Viale", "Alberto Marchisio", "Maurizio Martina", "Guido Masera", "Muhammad Shafique", "Alberto Viale", "Alberto Marchisio", "Maurizio Martina", "Guido Masera", "Muhammad Shafique"], "abstract": "Autonomous Driving (AD) related features represent important elements for the next generation of mobile robots and autonomous vehicles focused on increasingly intelligent, autonomous, and interconnected systems. The applications involving the use of these features must provide, by definition, real-time decisions, and this property is key to avoid catastrophic accidents. Moreover, all the decision ..."}
+{"title": "An Autonomous Descending-Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process", "detail_url": "https://ieeexplore.ieee.org/document/9982007/", "author_list": ["Prabakaran Veerajagadheswar", "Anh Vu Le", "Phone Thiha Kyaw", "Mohan Rajesh Elara", "Aung Paing", "Prabakaran Veerajagadheswar", "Anh Vu Le", "Phone Thiha Kyaw", "Mohan Rajesh Elara", "Aung Paing"], "abstract": "Cleaning robots are one of the market dominators in the commercialized robot space. So far, numerous robots have been introduced that can perform cleaning tasks in various settings, including floor, pavement, pool, lawn, windows, etc. However, none of the existing commercial cleaning robots targets the staircase, commonly found in multi-story buildings. Even though few works in the literature intr..."}
+{"title": "Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations", "detail_url": "https://ieeexplore.ieee.org/document/9982067/", "author_list": ["Marvin Stuede", "Moritz Schappler", "Marvin Stuede", "Moritz Schappler"], "abstract": "This work presents a non-parametric spatiotemporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial and temporal-periodic dependencies to create a continuous representation of human occurrences. The inhomogeneous data distribution resulting from movements of the..."}
+{"title": "Service Robots in a Bakery Shop: A Field Study", "detail_url": "https://ieeexplore.ieee.org/document/9981439/", "author_list": ["Sichao Song", "Baba Jun", "Junya Nakanishi", "Yuichiro Yoshikawa", "Hiroshi Ishiguro", "Sichao Song", "Baba Jun", "Junya Nakanishi", "Yuichiro Yoshikawa", "Hiroshi Ishiguro"], "abstract": "In this paper, we report on a field study in which we employed two service robots in a bakery store as a sales promotion. Previous studies have explored public applications of service robots public such as shopping malls. However, more evidence is needed that service robots can contribute to sales in real stores. Moreover, the behaviors of customers and service robots in the context of sales promo..."}
+{"title": "Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic", "detail_url": "https://ieeexplore.ieee.org/document/9981872/", "author_list": ["Raul F.G. Azcarate", "S.C. Daniela", "A.A. Hayat", "Lim Yi", "M. A. Viraj J. Muthugala", "Q.R Tang", "A.P. Povendhan", "K.J.K. Leong", "M.R. Elara", "Raul F.G. Azcarate", "S.C. Daniela", "A.A. Hayat", "Lim Yi", "M. A. Viraj J. Muthugala", "Q.R Tang", "A.P. Povendhan", "K.J.K. Leong", "M.R. Elara"], "abstract": "Autonomous vehicles are designed to elevate the efficiency of assigned tasks and ensure the safety of the environment in which they operate. This paper presents a research study focused on shared autonomy using a multi-layer fuzzy logic framework to build a relationship between an autonomous self-reconfigurable robot and a human user by switching control to the teleoperator to assist the robot whe..."}
+{"title": "Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics", "detail_url": "https://ieeexplore.ieee.org/document/9981705/", "author_list": ["Diego Paez-Granados", "Yujie He", "David Gonon", "Dan Jia", "Bastian Leibe", "Kenji Suzuki", "Aude Billard", "Diego Paez-Granados", "Yujie He", "David Gonon", "Dan Jia", "Bastian Leibe", "Kenji Suzuki", "Aude Billard"], "abstract": "Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation control framework that delivers continuous obstacle avoidance and post-contact control evaluated on an autonomous personal mobility vehicle. We propose evaluation me..."}
+{"title": "Design of a Reconfigurable Robot with Size-Adaptive Path Planner", "detail_url": "https://ieeexplore.ieee.org/document/9981125/", "author_list": ["S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Manivannan Kalimuthu", "Sathis Kumar Chandrasekaran", "Mohan Rajesh Elara", "S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Manivannan Kalimuthu", "Sathis Kumar Chandrasekaran", "Mohan Rajesh Elara"], "abstract": "Area coverage is demanded from the robots utilized in application domains such as floor cleaning. Even though many advanced coverage algorithms have been developed, the area coverage performance is limited due to the inaccessibility of narrow spaces caused by physical constraints. Reconfigurable robots have been introduced to overcome this limitation where reconfigurability could help in assessing..."}
+{"title": "Testing Service Robots in the Field: An Experience Report", "detail_url": "https://ieeexplore.ieee.org/document/9981789/", "author_list": ["Argentina Ortega", "Nico Hochgeschwender", "Thorsten Berger", "Argentina Ortega", "Nico Hochgeschwender", "Thorsten Berger"], "abstract": "Service robots are mobile autonomous robots, often operating in uncertain and difficult environments. While being increasingly popular, engineering service robots is challenging. Especially, evolving them from prototype to deployable product requires effective validation and verification, assuring the robot's correct and safe operation in the target environment. While testing is the most common va..."}
+{"title": "A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories", "detail_url": "https://ieeexplore.ieee.org/document/9981862/", "author_list": ["Bernardo Aceituno", "Alberto Rodriguez", "Bernardo Aceituno", "Alberto Rodriguez"], "abstract": "Given an object, an environment, and a goal pose, how should a robot make contact to move it? Solving this problem requires reasoning about rigid-body dynamics, object and environment geometries, and hybrid contact mechanics. This paper proposes a hierarchical framework that solves this problem in 2D worlds, with polygonal objects and point fingers. To achieve this, we decouple the problem in thre..."}
+{"title": "Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981909/", "author_list": ["Mun Seng Phoon", "Philipp S. Schmitt", "Georg V. Wichert", "Mun Seng Phoon", "Philipp S. Schmitt", "Georg V. Wichert"], "abstract": "To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approach follows the ideas of constraint-based task specification by aiming for a minimal and object-centri..."}
+{"title": "Quasistatic contact-rich manipulation via linear complementarity quadratic programming", "detail_url": "https://ieeexplore.ieee.org/document/9981498/", "author_list": ["Sotaro Katayarna", "Tatsunori Taniai", "Kazutoshi Tanaka", "Sotaro Katayarna", "Tatsunori Taniai", "Kazutoshi Tanaka"], "abstract": "Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by..."}
+{"title": "Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981939/", "author_list": ["Azarakhsh Keipour", "Maryam Bandari", "Stefan Schaal", "Azarakhsh Keipour", "Maryam Bandari", "Stefan Schaal"], "abstract": "With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to industrial assembly and construction. Routing approaches for deformable objects which rely on learned implicit spatial representations (e.g., Learning-from-Dem..."}
+{"title": "A Solution to Slosh-free Robot Trajectory Optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981173/", "author_list": ["Rafael I. Cabral Muchacho", "Riddhiman Laha", "Luis F.C. Figueredo", "Sami Haddadin", "Rafael I. Cabral Muchacho", "Riddhiman Laha", "Luis F.C. Figueredo", "Sami Haddadin"], "abstract": "This paper is about fast slosh-free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical pendulum and study the requirements for slosh-free motion and the validity of the point mass model. In this approach, slosh-free trajectories are generated by cont..."}
+{"title": "Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research", "detail_url": "https://ieeexplore.ieee.org/document/9981253/", "author_list": ["Ryan Hoque", "Kaushik Shivakumar", "Shrey Aeron", "Gabriel Deza", "Aditya Ganapathi", "Adrian Wong", "Johnny Lee", "Andy Zeng", "Vincent Vanhoucke", "Ken Goldberg", "Ryan Hoque", "Kaushik Shivakumar", "Shrey Aeron", "Gabriel Deza", "Aditya Ganapathi", "Adrian Wong", "Johnny Lee", "Andy Zeng", "Vincent Vanhoucke", "Ken Goldberg"], "abstract": "Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first systematic benchmarking of fabric manipulation al-gorithms on physical hardware. We develop 4 novel ..."}
+{"title": "Multi-Sensor Data Annotation Using Sequence-based Active Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981074/", "author_list": ["Patrick Denzler", "Markus Ziegler", "Arne Jacobs", "Volker Eiselein", "Philipp Neumaier", "Martin K\u00f6ppel", "Patrick Denzler", "Markus Ziegler", "Arne Jacobs", "Volker Eiselein", "Philipp Neumaier", "Martin K\u00f6ppel"], "abstract": "Neural Networks are the state-of-the-art technology for environmental perception in applications such as autonomous driving. However, they require a large amount of training data in order to perform well, making the selection and annotation of sensor data a time-consuming and expensive task. Active learning is a promising approach to reduce the required amount of training data by selecting samples..."}
+{"title": "3D Single-Object Tracking with Spatial-Temporal Data Association", "detail_url": "https://ieeexplore.ieee.org/document/9981905/", "author_list": ["Yongchang Zhang", "Hanbing Niu", "Yue Guo", "Wenhao He", "Yongchang Zhang", "Hanbing Niu", "Yue Guo", "Wenhao He"], "abstract": "This paper proposes a novel 3D single-object tracker to more stably, accurately, and faster track objects, even if they are temporarily missed. Our idea is to utilize spatial-temporal data association to achieve object tracking robustly, and it consists of two main parts. We firstly employ a temporal motion model cross frames to estimate the object's temporal information and update the region of i..."}
+{"title": "TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration", "detail_url": "https://ieeexplore.ieee.org/document/9981445/", "author_list": ["Kunyu Peng", "Alina Roitberg", "Kailun Yang", "Jiaming Zhang", "Rainer Stiefelhagen", "Kunyu Peng", "Alina Roitberg", "Kailun Yang", "Jiaming Zhang", "Rainer Stiefelhagen"], "abstract": "Traditional video-based human activity recognition has experienced remarkable progress linked to the rise of deep learning, but this effect was slower as it comes to the downstream task of driver behavior understanding. Understanding the situation inside the vehicle cabin is essential for Advanced Driving Assistant System (ADAS) as it enables identifying distraction, predicting driver's intent and..."}
+{"title": "Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras", "detail_url": "https://ieeexplore.ieee.org/document/9982143/", "author_list": ["Yang Zhao", "Jie Li", "Rui Huang", "Boqi Li", "Ao Luo", "Yaochen Li", "Hong Cheng", "Yang Zhao", "Jie Li", "Rui Huang", "Boqi Li", "Ao Luo", "Yaochen Li", "Hong Cheng"], "abstract": "Experienced human drivers always make safe driving decisions by selectively observing the front, rear and side- view mirrors. Several end - to-end methods have been pro-posed to learn driving models with multi-view visual infor-mation. However, these benchmark methods lack semantic understanding of multi-view image contents, where human drivers usually reason these information for decision making ..."}
+{"title": "Towards Safety-Aware Pedestrian Detection in Autonomous Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981309/", "author_list": ["Maria Lyssenko", "Christoph Gladisch", "Christian Heinzemann", "Matthias Woehrle", "Rudolph Triebel", "Maria Lyssenko", "Christoph Gladisch", "Christian Heinzemann", "Matthias Woehrle", "Rudolph Triebel"], "abstract": "In this paper, we present a framework to assess the quality of a pedestrian detector in an autonomous driving scenario. To do this, we exploit performance metrics from the domain of computer vision on one side and so-called threat metrics from the motion planning domain on the other side. Based on a reachability analysis that accounts for the uncertainty in future motions of other traffic particip..."}
+{"title": "Multi-Source Domain Alignment for Domain Invariant Segmentation in Unknown Targets", "detail_url": "https://ieeexplore.ieee.org/document/9981166/", "author_list": ["Pranjay Shyam", "Kuk-Jin Yoon", "Kyung-Soo Kim", "Pranjay Shyam", "Kuk-Jin Yoon", "Kyung-Soo Kim"], "abstract": "Semantic segmentation provides scene understanding capability by performing pixel-wise classification of objects within an image. However, the sensitivity of such algorithms towards domain changes requires fine-tuning using an annotated dataset for each novel domain, which is expensive to construct and inefficient. We highlight that irrespective of the training dataset, structural properties of sc..."}
+{"title": "Depth360: Self-supervised Learning for Monocular Depth Estimation using Learnable Camera Distortion Model", "detail_url": "https://ieeexplore.ieee.org/document/9981751/", "author_list": ["Noriaki Hirose", "Kosuke Tahara", "Noriaki Hirose", "Kosuke Tahara"], "abstract": "Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is promising because the depth and pose networks can be trained from just time-sequence images without the need for the ground truth depth and poses. In this work, we estimate the depth around a robot (360\u00b0 view) using time-sequence spherical camera im..."}
+{"title": "Real-Time Hybrid Mapping of Populated Indoor Scenes using a Low-Cost Monocular UAV", "detail_url": "https://ieeexplore.ieee.org/document/9982054/", "author_list": ["Stuart Golodetz", "Madhu Vankadari", "Aluna Everitt", "Sangyun Shin", "Andrew Markham", "Niki Trigoni", "Stuart Golodetz", "Madhu Vankadari", "Aluna Everitt", "Sangyun Shin", "Andrew Markham", "Niki Trigoni"], "abstract": "Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces, especially close to humans, remains a challenge. One solution, when limited payload is required, is to use micro-UAVs, which pose less risk to humans and typically ..."}
+{"title": "GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D", "detail_url": "https://ieeexplore.ieee.org/document/9981976/", "author_list": ["Chiara Ercolani", "Lixuan Tang", "Alcherio Martinoli", "Chiara Ercolani", "Lixuan Tang", "Alcherio Martinoli"], "abstract": "Chemical gas dispersion poses considerable threat to humans, animals and the environment. The research areas of gas source localization and gas distribution mapping aim to localize the source of gas leaks and map the gas plume respectively, in order to help the coordination of swift rescue missions. Although very similar, these two areas are often treated separately in literature. In some cases, i..."}
+{"title": "RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981668/", "author_list": ["Aurel X. Appius", "Erik Bauer", "Marc Bl\u00f6chlinger", "Aashi Kalra", "Robin Oberson", "Arman Raayatsanati", "Pascal Strauch", "Sarath Suresh", "Marco von Salis", "Robert K. Katzschmann", "Aurel X. Appius", "Erik Bauer", "Marc Bl\u00f6chlinger", "Aashi Kalra", "Robin Oberson", "Arman Raayatsanati", "Pascal Strauch", "Sarath Suresh", "Marco von Salis", "Robert K. Katzschmann"], "abstract": "Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries for successful grasping. We propose RAPTOR, a quadcopter platform combined with a custom Fin Ray\u00aegripper to enable more flexible grasping of objects with differ..."}
+{"title": "Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9981115/", "author_list": ["Rundong Ge", "Moonyoung Lee", "Vivek Radhakrishnan", "Yang Zhou", "Guanrui Li", "Giuseppe Loianno", "Rundong Ge", "Moonyoung Lee", "Vivek Radhakrishnan", "Yang Zhou", "Guanrui Li", "Giuseppe Loianno"], "abstract": "In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and identical IDs across all observing agents). We design several vision-based decentralized Bayesian multi-tracking filtering strategies to resolve the associatio..."}
+{"title": "Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and their Collective-Search Behavior", "detail_url": "https://ieeexplore.ieee.org/document/9981312/", "author_list": ["Chen Zeng", "Prajit KrisshnaKumar", "Jhoel Witter", "Souma Chowdhury", "Chen Zeng", "Prajit KrisshnaKumar", "Jhoel Witter", "Souma Chowdhury"], "abstract": "The collective operation of robots, such as unmanned aerial vehicles (UAVs) operating as a team or swarm, is affected by their individual capabilities, which in turn is dependent on their physical design, aka morphology. However, with the exception of a few (albeit ad hoc) evolutionary robotics methods, there has been very little work on understanding the interplay of morphology and collective beh..."}
+{"title": "Automatic laser steering for middle ear surgery", "detail_url": "https://ieeexplore.ieee.org/document/9982176/", "author_list": ["Jae-Hun So", "J\u00e9r\u00eame Szewczyk", "Brahim Tamadazte", "Jae-Hun So", "J\u00e9r\u00eame Szewczyk", "Brahim Tamadazte"], "abstract": "This paper deals with the control of a laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after primary mechanical resection of the pathological tissues since the latter cannot guarantee the treatment of all the infected tissues, the remaining infected c..."}
+{"title": "Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9981920/", "author_list": ["Przemys\u0142aw Korzeniowski", "Szymon P\u0142otka", "Robert Brawura-Biskupski-Samaha", "Arkadiusz Sitek", "Przemys\u0142aw Korzeniowski", "Szymon P\u0142otka", "Robert Brawura-Biskupski-Samaha", "Arkadiusz Sitek"], "abstract": "Spina Bifida (SB) is a birth defect developed during the early stage of pregnancy in which there is incomplete closing of the spine around the spinal cord. The growing interest in fetoscopic Spina-Bifida repair, which is performed in fetuses who are still in the pregnant uterus, prompts the need for appropriate training. The learning curve for such procedures is steep and requires excellent proced..."}
+{"title": "A Pneumatic MR-conditional Guidewire Delivery Mechanism with Decoupled Actuations for Endovascular Intervention", "detail_url": "https://ieeexplore.ieee.org/document/9981596/", "author_list": ["Shaoping Huang", "Chuqian Lou", "Lian Xuan", "Hongyan Gao", "Anzhu Gao", "Guang\u2013Zhong Yang", "Shaoping Huang", "Chuqian Lou", "Lian Xuan", "Hongyan Gao", "Anzhu Gao", "Guang\u2013Zhong Yang"], "abstract": "Percutaneous coronary intervention (PCI) involves the delivery of a flexible submillimeter guidewire and existing x- ray based approaches impose significant ironing radiation. The use of magnetic resonance imaging (MRI) for intraoperative guidance has the advantages of not only being safe but also having high positioning accuracy and excellent tissue contrast. This paper develops a pneumatically d..."}
+{"title": "Design and Evaluation of the infant Cardiac Robotic Surgical System (iCROSS)", "detail_url": "https://ieeexplore.ieee.org/document/9981503/", "author_list": ["Po-Chih Chen", "Pei-An Hsieh", "Jing-Yuan Huang", "Shu-Chien Huang", "Cheng-Wei Chen", "Po-Chih Chen", "Pei-An Hsieh", "Jing-Yuan Huang", "Shu-Chien Huang", "Cheng-Wei Chen"], "abstract": "In this study, the infant Cardiac Robotic Surgical System (iCROSS) is developed to assist a surgeon in performing the patent ductus arteriosus (PDA) closure and other infant cardiac surgeries. The iCROSS is a dual-arm robot allowing two surgical instruments to collaborate in a narrow space while keeping a sufficiently large workspace. Compared with the existing surgical robotic systems, the iCROSS..."}
+{"title": "Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds", "detail_url": "https://ieeexplore.ieee.org/document/9981202/", "author_list": ["Alex J. Chiluisa", "Nicholas E. Pacheco", "Hoang S. Do", "Ryan M. Tougas", "Emily V. Minch", "Rositsa Mihaleva", "Yao Shen", "Yuxiang Liu", "Thomas L. Carroll", "Loris Fichera", "Alex J. Chiluisa", "Nicholas E. Pacheco", "Hoang S. Do", "Ryan M. Tougas", "Emily V. Minch", "Rositsa Mihaleva", "Yao Shen", "Yuxiang Liu", "Thomas L. Carroll", "Loris Fichera"], "abstract": "This paper reports the design, construction, and experimental validation of a novel hand-held robot for inoffice laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be ..."}
+{"title": "DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators", "detail_url": "https://ieeexplore.ieee.org/document/9981201/", "author_list": ["Tae-Gyu Song", "Young-Ha Shin", "Seungwoo Hong", "Hyungho Chris Choi", "Joon-Ha Kim", "Hae-Won Park", "Tae-Gyu Song", "Young-Ha Shin", "Seungwoo Hong", "Hyungho Chris Choi", "Joon-Ha Kim", "Hae-Won Park"], "abstract": "This paper presents a reduction mechanism for robot actuators that can switch between two types of reduction ratio. By fixing the carrier or ring gear of the proposed actuator which is based on the 3K compound planetary drive, the actuator can shift its reduction ratio. For compact design with reduced weight of the actuator, unique pawl brake mechanism interacting with cams and micro servos for sw..."}
+{"title": "Single-Rod Brachiation Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981331/", "author_list": ["Hijiri Akahane", "Ikuo Mizuuchi", "Hijiri Akahane", "Ikuo Mizuuchi"], "abstract": "In this paper, we propose a new brachiation robot, a single-rod brachiation robot. Brachiation is a method of locomotion that makes clever use of gravity and has been tried to apply to robots. Conventional brachiation robots are multiple-pendulum-like robots that mimic a gibbon. Although the multiple-pendulum-like robot can easily change the length of one brachiation step by joints, it has complex..."}
+{"title": "A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981787/", "author_list": ["Cornelius Klas", "Tamim Asfour", "Cornelius Klas", "Tamim Asfour"], "abstract": "Building humanoid robots with properties similar to those of humans in terms of strength and agility is a great and unsolved challenge. This work introduces a compact and lightweight wrist joint mechanism that is singularity-free and has large range of motion. The mechanism provides two degrees of freedom (DoF) and was developed for integration into a human scale humanoid robot arm. It is based on..."}
+{"title": "Wirelessly Magnetically Actuated Motor for Tissue Regeneration Robotic Implant", "detail_url": "https://ieeexplore.ieee.org/document/9981834/", "author_list": ["Cameron Duffield", "Abigail F Smith", "Daniela Rus", "Dana Damian", "Shuhei Miyashita", "Cameron Duffield", "Abigail F Smith", "Daniela Rus", "Dana Damian", "Shuhei Miyashita"], "abstract": "In biomedical engineering, robotic implants provide new methods to restore and improve bodily function, and regenerate tissue. A significant challenge with the design of these devices is to safely actuate them for weeks or months, while they are residing in a patient's body. Magnetic, and other force-at-distance actuation methods, allow mechanisms to be controlled remotely and without contact or l..."}
+{"title": "Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism", "detail_url": "https://ieeexplore.ieee.org/document/9982193/", "author_list": ["Chloe Pogue", "Priyanka Rao", "Quentin Peyron", "Jongwoo Kim", "Jessica Burgner-Kahrs", "Eric Diller", "Chloe Pogue", "Priyanka Rao", "Quentin Peyron", "Jongwoo Kim", "Jessica Burgner-Kahrs", "Eric Diller"], "abstract": "Tendon-driven continuum robots show promise for use in surgical applications as they can assume complex configurations to navigate along tortuous paths. However, to achieve these complex robot shapes, multiple segments are required as each robot segment can bend only with a single constant curvature. To actuate these additional robot segments, multiple tendons must typically be added on-board the ..."}
+{"title": "Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982162/", "author_list": ["Masahiro Watanabe", "Yuto Kemmotsu", "Kenjiro Tadakuma", "Kazuki Abe", "Masashi Konyo", "Satoshi Tadokoro", "Masahiro Watanabe", "Yuto Kemmotsu", "Kenjiro Tadakuma", "Kazuki Abe", "Masashi Konyo", "Satoshi Tadokoro"], "abstract": "We propose a novel toroidal origami monotrack capable of smooth-skin driving and bending for closed-skin-drive robots. Monotracks are a promising solution for achieving high mobility in unstructured environments. Toroidal-drive mechanisms enable whole skin drive; however, conventional methods experience unexpected wrinkling and buckles that lead to a large resistance. In this study, we propose an ..."}
+{"title": "Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981446/", "author_list": ["Lennart Puck", "Maximilian Schik", "Tristan Schnell", "Timothee Buettner", "Arne Roennau", "R\u00fcdiger Dillmann", "Lennart Puck", "Maximilian Schik", "Tristan Schnell", "Timothee Buettner", "Arne Roennau", "R\u00fcdiger Dillmann"], "abstract": "Exploring unknown environments, such as caves or planetary surfaces, requires a quick understanding of the surroundings. Beforehand, only aerial footage from satellites or images from previous missions might be available. The proposed ensemble based anomaly detection framework utilizes previously gained knowledge and incorporates it with insights gained during the mission. The modular system consi..."}
+{"title": "FocusTR: Focusing on Valuable Feature by Multiple Transformers for Fusing Feature Pyramid on Object Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981047/", "author_list": ["Bangquan Xie", "Liang Yang", "Zongming Yang", "Ailin Wei", "Xiaoxiong Weng", "Bing Li", "Bangquan Xie", "Liang Yang", "Zongming Yang", "Ailin Wei", "Xiaoxiong Weng", "Bing Li"], "abstract": "The feature pyramid, which is a vital component of the convolutional neural networks, plays a significant role in several perception tasks, including object detection for autonomous driving. However, how to better fuse multi-level and multi-sensor feature pyramids is still a significant challenge, especially for object detection. This paper presents a FocusTR (Focusing on the valuable features by ..."}
+{"title": "DeepShapeKit: accurate 4D shape reconstruction of swimming fish", "detail_url": "https://ieeexplore.ieee.org/document/9982097/", "author_list": ["Ruiheng Wu", "Oliver Deussen", "Liang Li", "Ruiheng Wu", "Oliver Deussen", "Liang Li"], "abstract": "In this paper, we present methods for capturing 4D body shapes of swimming fish with affordable small training datasets and textureless 2D videos. Automated capture of spatiotemporal animal movements and postures is revolutionizing the study of collective animal behavior. 4D (including 3D space + time) shape data from animals like schooling fish contains a rich array of social and non-social infor..."}
+{"title": "E2Pose: Fully Convolutional Networks for End-to-End Multi-Person Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981322/", "author_list": ["Masakazu Tobeta", "Yoshihide Sawada", "Ze Zheng", "Sawa Takamuku", "Naotake Natori", "Masakazu Tobeta", "Yoshihide Sawada", "Ze Zheng", "Sawa Takamuku", "Naotake Natori"], "abstract": "Highly accurate multi-person pose estimation at a high framerate is a fundamental problem in autonomous driving. Solving the problem could aid in preventing pedestrian-car accidents. The present study tackles this problem by proposing a new model composed of a feature pyramid and an original head to a general backbone. The original head is built using lightweight CNNs and directly estimates multi-..."}
+{"title": "Fast Detection of Moving Traffic Participants in LiDAR Point Clouds by using Particles augmented with Free Space Information", "detail_url": "https://ieeexplore.ieee.org/document/9982239/", "author_list": ["Andreas Reich", "Hans-Joachim Wuensche", "Andreas Reich", "Hans-Joachim Wuensche"], "abstract": "To navigate safely, it is essential for a robot to detect all kinds of moving objects that could possibly interfere with the own trajectory. For common object classes, like cars, regular pedestrians, and trucks, there are large scale datasets as well as corresponding machine learning techniques, which provide remarkable results in commonly available detection benchmarks. A big challenge that remai..."}
+{"title": "RPG: Learning Recursive Point Cloud Generation", "detail_url": "https://ieeexplore.ieee.org/document/9981471/", "author_list": ["Wei-Jan Kol", "Chen-Yi Chiu", "Yu-Liang Kuo", "Wei-Chen Chiu", "Wei-Jan Kol", "Chen-Yi Chiu", "Yu-Liang Kuo", "Wei-Chen Chiu"], "abstract": "In this paper we propose a novel point cloud generator that is able to reconstruct and generate 3D point clouds composed of semantic parts. Given a latent representation of the target 3D model, the generation starts from a single point and gets expanded recursively to produce the high-resolution point cloud via a sequence of point expansion stages. During the recursive procedure of generation, we ..."}
+{"title": "Fully Convolutional Transformer with Local-Global Attention", "detail_url": "https://ieeexplore.ieee.org/document/9981339/", "author_list": ["Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Jinsu Yoo", "Honglak Lee", "Seung Hwan Kim", "Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Jinsu Yoo", "Honglak Lee", "Seung Hwan Kim"], "abstract": "In an attempt to imitate the success of transformers in the field of natural language processing into computer vision tasks, vision transformers (ViTs) have recently gained attention. Performance breakthroughs have been achieved in coarse-grained tasks like classification. However, dense prediction tasks, such as detection, segmentation, and depth estimation, require additional modifications and h..."}
+{"title": "DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars", "detail_url": "https://ieeexplore.ieee.org/document/9981778/", "author_list": ["Florian Drews", "Di Feng", "Florian Faion", "Lars Rosenbaum", "Michael Ulrich", "Claudius Gl\u00e4ser", "Florian Drews", "Di Feng", "Florian Faion", "Lars Rosenbaum", "Michael Ulrich", "Claudius Gl\u00e4ser"], "abstract": "We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily, making the approach simple and flexible. Extracted features are transformed into bird's-eye-view as a common representation for fusion. Spatial and semantic alignme..."}
+{"title": "CVFNet: Real-time 3D Object Detection by Learning Cross View Features", "detail_url": "https://ieeexplore.ieee.org/document/9981087/", "author_list": ["Jiaqi Gu", "Zhiyu Xiang", "Pan Zhao", "Tingming Bai", "Lingxuan Wang", "Xijun Zhao", "Zhiyuan Zhang", "Jiaqi Gu", "Zhiyu Xiang", "Pan Zhao", "Tingming Bai", "Lingxuan Wang", "Xijun Zhao", "Zhiyuan Zhang"], "abstract": "In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve time-consuming operations such as 3D convolutions on voxels or ball query among points, making the resulting network inappropriate for time critical applications. O..."}
+{"title": "A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures", "detail_url": "https://ieeexplore.ieee.org/document/9981652/", "author_list": ["Arincheyan Gerald", "Rukaiya Batliwala", "Jonathan Ye", "Patra Hsu", "Hiroyuki Aihara", "Sheila Russo", "Arincheyan Gerald", "Rukaiya Batliwala", "Jonathan Ye", "Patra Hsu", "Hiroyuki Aihara", "Sheila Russo"], "abstract": "This paper presents a proof-of-concept soft robotic glove that provides haptic feedback to the surgeon's hand during interventional endoscopy procedures, specifically colonoscopy. The glove is connected to a force sensing soft robotic sleeve that is mounted onto a colonoscope. The glove consists of pneumatic actuators that inflate in proportion to the incident forces on the soft robotic sleeve. Th..."}
+{"title": "A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation", "detail_url": "https://ieeexplore.ieee.org/document/9981919/", "author_list": ["Cara M. Nunez", "Brian H. Do", "Andrew K. Low", "Laura H. Blumenschein", "Katsu Yamane", "Allison M. Okamura", "Cara M. Nunez", "Brian H. Do", "Andrew K. Low", "Laura H. Blumenschein", "Katsu Yamane", "Allison M. Okamura"], "abstract": "While haptics research has traditionally focused on the fingertips and hands, other locations on the body provide large areas of skin that could be utilized to relay large-area haptic sensations. Researchers have thus developed wearable devices that use distributed vibrotactile actuators and distributed pneumatic force displays, but these methods have limitations. In prior work, we presented a nov..."}
+{"title": "EMG-based Feedback Modulation for Increased Transparency in Teleoperation", "detail_url": "https://ieeexplore.ieee.org/document/9981162/", "author_list": ["Luc Schoot Uiterkamp", "Francesco Porcini", "Gwenn Englebienne", "Antonio Frisoli", "Douwe Dresscher", "Luc Schoot Uiterkamp", "Francesco Porcini", "Gwenn Englebienne", "Antonio Frisoli", "Douwe Dresscher"], "abstract": "In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling of operator stiffness and the expected feedback force with EMG, the artifacts can be selectively filt..."}
+{"title": "Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982247/", "author_list": ["Yaonan Zhu", "Jacinto Colan", "Tadayoshi Aoyama", "Yasuhisa Hasegawa", "Yaonan Zhu", "Jacinto Colan", "Tadayoshi Aoyama", "Yasuhisa Hasegawa"], "abstract": "In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many researchers have been trying to solve pivoting problems using mathematical modeling or learning-based approaches, the problems remain as open challenges. On the other..."}
+{"title": "Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence", "detail_url": "https://ieeexplore.ieee.org/document/9982079/", "author_list": ["Mine Sarac", "Massimiliano Di Luca", "Allison M. Okamura", "Mine Sarac", "Massimiliano Di Luca", "Allison M. Okamura"], "abstract": "Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist (normal and shear) relate to the perception of the mechanical properties of virtual objects. We hypothesized that a congruent mapping (i.e. when the most relevant in..."}
+{"title": "Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality", "detail_url": "https://ieeexplore.ieee.org/document/9981392/", "author_list": ["Jasmin E. Palmer", "Mine Sarac", "Aaron A. Garza", "Allison M. Okamura", "Jasmin E. Palmer", "Mine Sarac", "Aaron A. Garza", "Allison M. Okamura"], "abstract": "Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn tactile haptic devices and a virtual environment to study how various mappings between fingers and tactors affect task performance. The haptic feedback rendere..."}
+{"title": "Feeling the Pressure: The Influence of Vibrotactile Patterns on Feedback Perception", "detail_url": "https://ieeexplore.ieee.org/document/9981594/", "author_list": ["Alexander Smith", "Benjamin Ward-Cherrier", "Appolinaire Etoundi", "Martin J. Pearson", "Alexander Smith", "Benjamin Ward-Cherrier", "Appolinaire Etoundi", "Martin J. Pearson"], "abstract": "Tactile feedback is necessary for closing the sen-sorimotor loop in prosthetic and tele-operable control, which would allow for more precise manipulation and increased acceptance of use of such devices. Pressure stimuli are commonly presented to users in haptic devices through a sensory substitution to vibration. The precise nature of this substitution affects pressure sensitivity, as well as the ..."}
+{"title": "SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop", "detail_url": "https://ieeexplore.ieee.org/document/9981936/", "author_list": ["Rishabh Madan", "Rajat Kumar Jenamani", "Vy Thuy Nguyen", "Ahmed Moustafa", "Xuefeng Hu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee", "Rishabh Madan", "Rajat Kumar Jenamani", "Vy Thuy Nguyen", "Ahmed Moustafa", "Xuefeng Hu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee"], "abstract": "Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the caregiving community. We propose Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these challenges. SPARCS ..."}
+{"title": "To ask for help or not to ask: A predictive approach to human-in-the-loop motion planning for robot manipulation tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981679/", "author_list": ["Rafael Papallas", "Mehmet R. Dogar", "Rafael Papallas", "Mehmet R. Dogar"], "abstract": "We present a predictive system for non-prehensile, physics-based motion planning in clutter with a human-in-the-loop. Recent shared-autonomous systems present motion planning performance improvements when high-level reasoning is provided by a human. Humans are usually good at quickly identifying high-level actions in high-dimensional spaces, and robots are good at converting high-level actions int..."}
+{"title": "You Are In My Way: Non-verbal Social Cues for Legible Robot Navigation Behaviors", "detail_url": "https://ieeexplore.ieee.org/document/9981754/", "author_list": ["Georgios Angelopoulos", "Alessandra Rossi", "Claudia Di Napoli", "Silvia Rossi", "Georgios Angelopoulos", "Alessandra Rossi", "Claudia Di Napoli", "Silvia Rossi"], "abstract": "People and robots may need to cross each other in narrow spaces when they are sharing environments. It is expected that autonomous robots will behave in these contexts safely but also show social behaviors. Thereby, developing an acceptable behavior for autonomous robots in the area mentioned above is a foreseeable problem for the Human-Robot Interaction (HRI) field. Our current work focuses on in..."}
+{"title": "Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981424/", "author_list": ["Marta Lagomarsino", "Marta Lorenzini", "Elena De Momi", "Arash Ajoudani", "Marta Lagomarsino", "Marta Lorenzini", "Elena De Momi", "Arash Ajoudani"], "abstract": "In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in which the robot behaviour is adapted online according to the operator's cognitive workload and stress. The method exploits the generation of B-spline trajectorie..."}
+{"title": "EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging", "detail_url": "https://ieeexplore.ieee.org/document/9981615/", "author_list": ["Teng Li", "Hongjun Xing", "Hamid D. Taghirad", "Mahdi Tavakoli", "Teng Li", "Hongjun Xing", "Hamid D. Taghirad", "Mahdi Tavakoli"], "abstract": "Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature that can ensure human user safety while automatic force regulation ability can help to improve task performance. Ho..."}
+{"title": "Modeling Human Response to Robot Errors for Timely Error Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981726/", "author_list": ["Maia Stiber", "Russell Taylor", "Chien-Ming Huang", "Maia Stiber", "Russell Taylor", "Chien-Ming Huang"], "abstract": "In human-robot collaboration, robot errors are inevitable\u2014damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social interactions it is possible to use human responses to detect errors. However, there is little exploration in the domain of nonsocial, physical human-robot collaboration such ..."}
+{"title": "Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981048/", "author_list": ["Eimei Oyama", "Yuya Ioka", "Arvin Agah", "Hiroyuki Okada", "Sotaro Shimada", "Eimei Oyama", "Yuya Ioka", "Arvin Agah", "Hiroyuki Okada", "Sotaro Shimada"], "abstract": "Self-body awareness refers to the recognition of one's body as one's own and consists of two senses: \u201csense of body ownership\u201d and \u201csense of agency.\u201d In telexistence/telepresence robot operation, time delays in the robot's motion degrade self-body awareness of the robot body. We investigated how self-body recognition can be affected in a telexistence robot operation in a VR space when the robot is..."}
+{"title": "A Camera-based Deep-Learning Solution for Visual Attention Zone Recognition in Maritime Navigational Operations", "detail_url": "https://ieeexplore.ieee.org/document/9981783/", "author_list": ["Baiheng Wu", "Peihua Han", "Motoyasu Kanazawa", "Hans Petter Hildre", "Luman Zhao", "Houxiang Zhang", "Guoyuan Li", "Baiheng Wu", "Peihua Han", "Motoyasu Kanazawa", "Hans Petter Hildre", "Luman Zhao", "Houxiang Zhang", "Guoyuan Li"], "abstract": "The visual attention of navigators is imperative to understand the logic of navigation as well as the surveillance of navigators' status and operation. Current studies are implemented with the help of wearable eye-tracker glasses; yet, the high expenditure demanded by such equipment and service and its limitations on usability have impeded related research from further development. In this letter,..."}
+{"title": "Spatiotemporally Enhanced Photometric Loss for Self-Supervised Monocular Depth Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981595/", "author_list": ["Tianyu Zhang", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Yanqing Liu", "Xiaolin Zhang", "Jiamao Li", "Tianyu Zhang", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Yanqing Liu", "Xiaolin Zhang", "Jiamao Li"], "abstract": "Recovering depth information from a single image is a long-standing challenge, and self-supervised depth estimation methods have gradually attracted attention due to not relying on high-cost ground truth. Constructing an accurate photometric loss based on photometric consistency is crucial for these self-supervised methods to obtain high-quality depth maps. However, the photometric loss in most st..."}
+{"title": "J-RR: Joint Monocular Depth Estimation and Semantic Edge Detection Exploiting Reciprocal Relations", "detail_url": "https://ieeexplore.ieee.org/document/9981343/", "author_list": ["Deming Wu", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Xiaolin Zhang", "Jiamao Li", "Deming Wu", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Xiaolin Zhang", "Jiamao Li"], "abstract": "Depth estimation and semantic edge detection are two key tasks in computer vision, which have made great progress. To date, how to associatively predict the depth and the semantic edge is rarely explored. In this work, we first propose a flexible two-branch framework that can make the two tasks take advantage of each other, achieving a win-win situation. Specifically, for the semantic edge detecti..."}
+{"title": "Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategy", "detail_url": "https://ieeexplore.ieee.org/document/9981630/", "author_list": ["Jun Wu", "Lilu Liu", "Yue Wang", "Rong Xiong", "Jun Wu", "Lilu Liu", "Yue Wang", "Rong Xiong"], "abstract": "Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of environment and textureless or resemblant object surfaces. Hence, RGB-based methods generally achieve less competitive results than RGBD-based methods, which deploy ..."}
+{"title": "Domain Invariant Siamese Attention Mask for Small Object Change Detection via Everyday Indoor Robot Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9982196/", "author_list": ["Koji Takeda", "Kanji Tanaka", "Yoshimasa Nakamura", "Koji Takeda", "Kanji Tanaka", "Yoshimasa Nakamura"], "abstract": "The problem of image change detection via every-day indoor robot navigation is explored from a novel perspective of the self-attention technique. Detecting semantically non-distinctive and visually small changes remains a key challenge in the robotics community. Intuitively, these small non-distinctive changes may be better handled by the recent paradigm of the attention mechanism, which is the ba..."}
+{"title": "Investigation of Factorized Optical Flows as Mid-Level Representations", "detail_url": "https://ieeexplore.ieee.org/document/9981638/", "author_list": ["Hsuan-Kung Yang", "Tsu-Ching Hsiao", "Ting-Hsuan Liao", "Hsu-Shen Liu", "Li-Yuan Tsao", "Tzu-Wen Wang", "Shan-Ya Yang", "Yu-Wen Chen", "Huang-Ru Liao", "Chun-Yi Lee", "Hsuan-Kung Yang", "Tsu-Ching Hsiao", "Ting-Hsuan Liao", "Hsu-Shen Liu", "Li-Yuan Tsao", "Tzu-Wen Wang", "Shan-Ya Yang", "Yu-Wen Chen", "Huang-Ru Liao", "Chun-Yi Lee"], "abstract": "In this paper, we introduce a new concept of incorporating factorized flow maps as mid-level representations, for bridging the perception and the control modules in modular learning based robotic frameworks. To investigate the advantages of factorized flow maps and examine their interplay with the other types of mid-level representations, we further develop a configurable framework, along with fou..."}
+{"title": "Augment-Connect-Explore: a Paradigm for Visual Action Planning with Data Scarcity", "detail_url": "https://ieeexplore.ieee.org/document/9982199/", "author_list": ["Martina Lippi", "Michael C. Welle", "Petra Poklukar", "Alessandro Marino", "Danica Kragic", "Martina Lippi", "Michael C. Welle", "Petra Poklukar", "Alessandro Marino", "Danica Kragic"], "abstract": "Visual action planning particularly excels in applications where the state of the system cannot be computed explicitly, such as manipulation of deformable objects, as it enables planning directly from raw images. Even though the field has been significantly accelerated by deep learning techniques, a crucial requirement for their success is the availability of a large amount of data. In this work, ..."}
+{"title": "Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance", "detail_url": "https://ieeexplore.ieee.org/document/9981900/", "author_list": ["Wenkai Chen", "Hongzhuo Liang", "Zhaopeng Chen", "Fuchun Sun", "Jianwei Zhang", "Wenkai Chen", "Hongzhuo Liang", "Zhaopeng Chen", "Fuchun Sun", "Jianwei Zhang"], "abstract": "Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp candidates are restricted to a small workspace. To mitigate these limitations, we firstly construct a novel affordance-based grasp dataset and propose a 6-DoF ta..."}
+{"title": "NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering", "detail_url": "https://ieeexplore.ieee.org/document/9982194/", "author_list": ["Stanley Lewis", "Jana Pavlasek", "Odest Chadwicke Jenkins", "Stanley Lewis", "Jana Pavlasek", "Odest Chadwicke Jenkins"], "abstract": "Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally difficult, while also making the process of realworld dataset collection unscalable. With the aim of addressing these scalability issues, we propose Neural Articulated Radiance Fields (NARF22), a pipeline which uses a ful..."}
+{"title": "Multi-Agent Relative Pose Estimation with UWB and Constrained Communications", "detail_url": "https://ieeexplore.ieee.org/document/9982005/", "author_list": ["Andrew Fishberg", "Jonathan P. How", "Andrew Fishberg", "Jonathan P. How"], "abstract": "Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with addit..."}
+{"title": "Ranging-Aided Ground Robot Navigation Using UWB Nodes at Unknown Locations", "detail_url": "https://ieeexplore.ieee.org/document/9981186/", "author_list": ["Abhinav Rajvanshi", "Han-Pang Chiu", "Alex Krasner", "Mikhail Sizintsev", "Glenn Murray", "Supun Samarasekera", "Abhinav Rajvanshi", "Han-Pang Chiu", "Alex Krasner", "Mikhail Sizintsev", "Glenn Murray", "Supun Samarasekera"], "abstract": "Ranging information from ultra-wideband (UWB) ranging radios can be used to improve estimated navigation accuracy of a ground robot with other on-board sensors. However, all ranging-aided navigation methods demand the locations of ranging nodes to be known, which is not suitable for time-pressed situations, dynamic cluttered environments, or collaborative navigation applications. This paper descri..."}
+{"title": "360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9982142/", "author_list": ["Hongji Liu", "Huajian Huang", "Sai-Kit Yeung", "Ming Liu", "Hongji Liu", "Huajian Huang", "Sai-Kit Yeung", "Ming Liu"], "abstract": "As an abstract representation of the environment structure, a topological map has advantageous properties for path-planning and navigation. Here we proposed an online topological mapping method, 360ST-Mapping, using omnidirectional vision. The 360\u00b0 field-of-view allows the agent to obtain consistent observation and incrementally extract topological environment information. Moreover, we leverage se..."}
+{"title": "Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982047/", "author_list": ["Elisa Stefanini", "Enrico Ciancolini", "Alessandro Settimi", "Lucia Pallottino", "Elisa Stefanini", "Enrico Ciancolini", "Alessandro Settimi", "Lucia Pallottino"], "abstract": "Long-time operations of autonomous vehicles and mobile robots in logistics and service applications are still a challenge. To avoid a continuous re-mapping, the map can be updated to obtain a consistent representation of the current environment. In this paper, we propose a novel LIDAR-based occupancy grid map updating algorithm for dynamic environments taking into account possible localisation and..."}
+{"title": "Task Decoupling in Preference-based Reinforcement Learning for Personalized Human-Robot Interaction", "detail_url": "https://ieeexplore.ieee.org/document/9981076/", "author_list": ["Mingjiang Liu", "Chunlin Chen", "Mingjiang Liu", "Chunlin Chen"], "abstract": "Intelligent robots designed to interact with hu-mans in the real world need to adapt to the preferences of different individuals. Preference-based reinforcement learning (RL) has shown great potential for teaching robots to learn personalized behaviors from interacting with humans with-out a meticulous, hand-crafted reward function, replaced by learning reward based on a human's preferences betwee..."}
+{"title": "Holo-SpoK: Affordance-Aware Augmented Reality Control of Legged Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981989/", "author_list": ["Rodrigo Chac\u00f3n Quesada", "Yiannis Demiris", "Rodrigo Chac\u00f3n Quesada", "Yiannis Demiris"], "abstract": "Although there is extensive research regarding legged manipulators, comparatively little focuses on their User Interfaces (UIs). Towards extending the state-of-art in this domain, in this work, we integrate a Boston Dynamics (BD) Spot\u00ae with a light-weight 7 DoF Kinova\u00ae robot arm and a Robotiq\u00ae 2F-85 gripper into a legged manipulator. Furthermore, we jointly control the robotic platform using an af..."}
+{"title": "Keeping Humans in the Loop: Teaching via Feedback in Continuous Action Space Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982282/", "author_list": ["Isaac Sheidlower", "Allison Moore", "Elaine Short", "Isaac Sheidlower", "Allison Moore", "Elaine Short"], "abstract": "Interactive Reinforcement Learning (IntRL) allows human teachers to accelerate the learning process of Reinforcement Learning (RL) robots. However, IntRL has largely been limited to tasks with discrete-action spaces in which actions are relatively slow. This limits IntRL's application to more complicated and challenging robotic tasks, the very tasks that modern RL is particularly well-suited for. ..."}
+{"title": "An Adaptive, Affordable, Humanlike Arm Hand System for Deaf and DeafBlind Communication with the American Sign Language", "detail_url": "https://ieeexplore.ieee.org/document/9982052/", "author_list": ["Che-Ming Chang", "Felipe Sanches", "Geng Gao", "Samantha Johnson", "Minas Liarokapis", "Che-Ming Chang", "Felipe Sanches", "Geng Gao", "Samantha Johnson", "Minas Liarokapis"], "abstract": "To communicate, the ~ 1.5 million Americans living with deafblindess use tactile American Sign Language (t-ASL). To provide Deaf\u00dfilind (DB) individuals with a means of using their primary communication language without the use of an interpreter, we developed an assistive technology that promotes their autonomy. The TATUM (Tactile ASL Translational User Mechanism) anthropomorphic arm hand system le..."}
+{"title": "Examining Distance in UAV Gesture Perception", "detail_url": "https://ieeexplore.ieee.org/document/9981971/", "author_list": ["Karissa Jelonek", "Paul Fletcher", "Brittany Duncan", "Carrick Detweiler", "Karissa Jelonek", "Paul Fletcher", "Brittany Duncan", "Carrick Detweiler"], "abstract": "Unmanned aerial vehicles (UAVs) are becoming more common, presenting the need for effective human-robot communication strategies that address the unique nature of unmanned aerial flight. Visual communication via drone flight paths, also called gestures, may prove to be an ideal method. However, the effectiveness of visual communication techniques is dependent on several factors including an observ..."}
+{"title": "Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios", "detail_url": "https://ieeexplore.ieee.org/document/9981334/", "author_list": ["Francisco Cruz", "Charlotte Young", "Richard Dazeley", "Peter Vamplew", "Francisco Cruz", "Charlotte Young", "Richard Dazeley", "Peter Vamplew"], "abstract": "Explainable artificial intelligence is a research field that tries to provide more transparency for autonomous intelligent systems. Explainability has been used, particularly in reinforcement learning and robotic scenarios, to better understand the robot decision-making process. Previous work, however, has been widely focused on providing technical explanations that can be better understood by AI ..."}
+{"title": "LiDAR-Aided Visual-Inertial Localization with Semantic Maps", "detail_url": "https://ieeexplore.ieee.org/document/9982152/", "author_list": ["Hao Li", "Liangliang Pan", "Ji Zhao", "Hao Li", "Liangliang Pan", "Ji Zhao"], "abstract": "Accurate and robust localization is an essential task for autonomous driving systems. In this paper, we propose a novel 3D LiDAR-aided visual-inertial localization method. Our method fully explores the complementarity of visual and LiDAR observations. On the one hand, the association between semantic features in images and a given semantic map provides constraints for the absolute pose. On the oth..."}
+{"title": "Robust Onboard Localization in Changing Environments Exploiting Text Spotting", "detail_url": "https://ieeexplore.ieee.org/document/9981049/", "author_list": ["Nicky Zimmerman", "Louis Wiesmann", "Tiziano Guadagnino", "Thomas L\u00e4be", "Jens Behley", "Cyrill Stachniss", "Nicky Zimmerman", "Louis Wiesmann", "Tiziano Guadagnino", "Thomas L\u00e4be", "Jens Behley", "Cyrill Stachniss"], "abstract": "Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map built at a different point in time. To overcome the discrepancy between the map and the observed environment caused by such changes, we exploit human-readable l..."}
+{"title": "Fast Scan Context Matching for Omnidirectional 3D Scan", "detail_url": "https://ieeexplore.ieee.org/document/9981143/", "author_list": ["Hikaru Kihara", "Makoto Kumon", "Kei Nakatsuma", "Tomonari Furukawa", "Hikaru Kihara", "Makoto Kumon", "Kei Nakatsuma", "Tomonari Furukawa"], "abstract": "Autonomous robots need to recognize the environment by identifying the scene. Scan context is one of global descriptors, and it encodes the three-dimensional scan data of the scene for the identification in a matrix form. Scan context is in a matrix form that is simple to store, but the matching of scan contexts can require computational effort because the descriptor is orientation-dependent. Beca..."}
+{"title": "Probabilistic Object Maps for Long-Term Robot Localization", "detail_url": "https://ieeexplore.ieee.org/document/9981316/", "author_list": ["Amanda Adkins", "Taijing Chen", "Joydeep Biswas", "Amanda Adkins", "Taijing Chen", "Joydeep Biswas"], "abstract": "Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of identifying and focusing on long-term features to handle change in such environments, we propose a different approach - can a robot understand the distribution of movab..."}
+{"title": "Level Set-Based Camera Pose Estimation From Multiple 2D/3D Ellipse-Ellipsoid Correspondences", "detail_url": "https://ieeexplore.ieee.org/document/9981161/", "author_list": ["Matthieu Zins", "Gilles Simon", "Marie-Odile Berger", "Matthieu Zins", "Gilles Simon", "Marie-Odile Berger"], "abstract": "In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function characterizing the projection of a 3D object onto a 2D object detection is not straightforward. We develop an ellipse-ellipse cost based on level sets sampling,..."}
+{"title": "Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements", "detail_url": "https://ieeexplore.ieee.org/document/9981718/", "author_list": ["Justin Cano", "Ga\u00ebl Pages", "Eric Chaumette", "Jerome Le Ny", "Justin Cano", "Ga\u00ebl Pages", "Eric Chaumette", "Jerome Le Ny"], "abstract": "Position estimation in Multi-Robot Systems (MRS) relies on relative angle or distance measurements between the robots, which generally deteriorate as distances increase. Moreover, the localization accuracy is strongly influenced both by the quality of the raw measurements but also by the overall geometry of the network. In this paper, we design a cost function that accounts for these two issues an..."}
+{"title": "Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981550/", "author_list": ["Kyle Vedder", "Eric Eaton", "Kyle Vedder", "Eric Eaton"], "abstract": "Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D object detector that maintains and exploits this input sparsity to decrease runtimes over non-sparse baselines and avoids the tradeoff between pseudoimage area and..."}
+{"title": "Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear", "detail_url": "https://ieeexplore.ieee.org/document/9982165/", "author_list": ["Anupam K. Gupta", "Alex Church", "Nathan F. Lepora", "Anupam K. Gupta", "Alex Church", "Nathan F. Lepora"], "abstract": "The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape reconstruction and exploration that require information about contact geometry. In this work, we pursue a semi-supervised approach to remove shear while preservi..."}
+{"title": "Multi-purpose Tactile Perception Based on Deep Learning in a New Tendon-driven Optical Tactile Sensor", "detail_url": "https://ieeexplore.ieee.org/document/9981477/", "author_list": ["Zhou Zhao", "Zhenyu Lu", "Zhou Zhao", "Zhenyu Lu"], "abstract": "In this paper, we create a new tendon-connected multi-functional optical tactile sensor, MechTac, for object perception in the field of view (TacTip) and location of touching points in the blind area of vision (TacSide). In a multi-point touch task, the information of the TacSide and the TacTip are overlapped to commonly affect the distribution of papillae pins on the TacTip. Since the effects of ..."}
+{"title": "A Multi-Granularity Scene Segmentation Network for Human-Robot Collaboration Environment Perception", "detail_url": "https://ieeexplore.ieee.org/document/9981684/", "author_list": ["Junming Fan", "Pai Zheng", "Carman K.M. Lee", "Junming Fan", "Pai Zheng", "Carman K.M. Lee"], "abstract": "Human-robot collaboration (HRC) has been considered as a promising paradigm towards futuristic human-centric smart manufacturing, to meet the thriving needs of mass personalization. In this context, existing robotic systems normally adopt a single-granularity semantic segmentation scheme for environment perception, which lacks the flexibility to be implemented to various HRC situations. To fill th..."}
+{"title": "Controller design of a robotic assistant for the transport of large and fragile objects", "detail_url": "https://ieeexplore.ieee.org/document/9981993/", "author_list": ["Julie Dumora", "Julien Nicolas", "Franck Geffard", "Julie Dumora", "Julien Nicolas", "Franck Geffard"], "abstract": "This paper deals with the design of a robotic assistant for the transport of large and fragile objects. We propose a new collaborative robotic controller that fulfills the main requirements of co-transportation tasks of large and fragile objects: to execute any trajectory in a collaborative mode while minimizing the stress applied on the object by both partners in order to avoid damaging it. This ..."}
+{"title": "Safety-based Dynamic Task Offloading for Human-Robot Collaboration using Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981366/", "author_list": ["Franco Ruggeri", "Ahmad Terra", "Alberto Hata", "Rafia Inam", "Iolanda Leite", "Franco Ruggeri", "Ahmad Terra", "Alberto Hata", "Rafia Inam", "Iolanda Leite"], "abstract": "Robots with constrained hardware resources usually rely on Multi-access Edge Computing infrastructures to offload computationally expensive tasks to meet real-time and safety requirements. Offloading every task might not be the best option due to dynamic changes in the network conditions and can result in network congestion or failures. This work proposes a task offloading strategy for mobile robo..."}
+{"title": "\u201cI'm Confident This Will End Poorly\u201d: Robot Proficiency Self-Assessment in Human-Robot Teaming", "detail_url": "https://ieeexplore.ieee.org/document/9981653/", "author_list": ["Nicholas Conlon", "Daniel Szafir", "Nisar Ahmed", "Nicholas Conlon", "Daniel Szafir", "Nisar Ahmed"], "abstract": "Human-robot teams are expected to accomplish complex tasks in high-risk and uncertain environments. In domains such as space exploration or search & rescue, a human operator may not be a robotics expert, but will need to establish a baseline understanding of the robot's capabilities with respect to a given task in order to appropriately utilize and rely on the robot. This willingness to rely, also..."}
+{"title": "RILI: Robustly Influencing Latent Intent", "detail_url": "https://ieeexplore.ieee.org/document/9981601/", "author_list": ["Sagar Parekh", "Soheil Habibian", "Dylan P. Losey", "Sagar Parekh", "Soheil Habibian", "Dylan P. Losey"], "abstract": "When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand - if the robot understands these dynamics - it can harness its own behavior, influence the human, and guide the team towards effective collaboration. Prior research..."}
+{"title": "Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality", "detail_url": "https://ieeexplore.ieee.org/document/9981374/", "author_list": ["Hitoshi Nakamura", "Lotfi El Hafi", "Akira Taniguchi", "Yoshinobu Hagiwara", "Tadahiro Taniguchi", "Hitoshi Nakamura", "Lotfi El Hafi", "Akira Taniguchi", "Yoshinobu Hagiwara", "Tadahiro Taniguchi"], "abstract": "Enabling robots to learn from interactions with users is essential to perform service tasks. However, as a robot categorizes objects from multimodal information obtained by its sensors during interactive onsite teaching, the inferred names of unknown objects do not always match the human user's expectation, especially when the robot is introduced to new environments. Confirming the learning result..."}
+{"title": "ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9982074/", "author_list": ["Shunsuke Mochizuki", "Yosuke Kawasaki", "Masaki Takahashi", "Shunsuke Mochizuki", "Yosuke Kawasaki", "Masaki Takahashi"], "abstract": "For the proper functioning of mobile manipulator-type autonomous robot performing complicated tasks in a human-robot coexistence environment, tasks and motions must be planned simultaneously. In such environments, a human and robot should collaborate with each other. Therefore, the robot must act in accordance with the human and avoid useless actions duplicated with those of humans. However, any a..."}
+{"title": "VR Facial Animation for Immersive Telepresence Avatars", "detail_url": "https://ieeexplore.ieee.org/document/9981892/", "author_list": ["Andre Rochow", "Max Schwarz", "Michael Schreiber", "Sven Behnke", "Andre Rochow", "Max Schwarz", "Michael Schreiber", "Sven Behnke"], "abstract": "VR Facial Animation is necessary in applications requiring clear view of the face, even though a VR headset is worn. In our case, we aim to animate the face of an operator who is controlling our robotic avatar system. We propose a real-time capable pipeline with very fast adaptation for specific operators. In a quick enrollment step, we capture a sequence of source images from the operator without..."}
+{"title": "An offline geometric model for controlling the shape of elastic linear objects", "detail_url": "https://ieeexplore.ieee.org/document/9981466/", "author_list": ["Omid Aghajanzadeh", "Miguel Aranda", "Gonzalo L\u00f3pez-Nicol\u00e1s", "Roland Lenain", "Youcef Mezouar", "Omid Aghajanzadeh", "Miguel Aranda", "Gonzalo L\u00f3pez-Nicol\u00e1s", "Roland Lenain", "Youcef Mezouar"], "abstract": "We propose a new approach to control the shape of deformable objects with robots. Specifically, we consider a fixed-length elastic linear object lying on a 2D workspace. Our main idea is to encode the object's deformation behavior in an offline constant Jacobian matrix. To derive this Jacobian, we use geometric deformation modeling and combine recent work from the fields of deformable object contr..."}
+{"title": "Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space", "detail_url": "https://ieeexplore.ieee.org/document/9981159/", "author_list": ["Abhinav Gandhi", "Sreejani Chatterjee", "Berk Calli", "Abhinav Gandhi", "Sreejani Chatterjee", "Berk Calli"], "abstract": "This paper presents a novel visual servoing method that controls a robotic manipulator in the configuration space as opposed to the classical vision-based control methods solely focusing on the end effector pose. We first extract the robot's shape from depth images using a skeletonization algorithm and represent it using parametric curves. We then adopt an adaptive visual servoing scheme that esti..."}
+{"title": "Conditional Visual Servoing for Multi-Step Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981443/", "author_list": ["Sergio Izquierdo", "Max Argus", "Thomas Brox", "Sergio Izquierdo", "Max Argus", "Thomas Brox"], "abstract": "Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to one environment state. We propose a modular approach to extend visual servoing to scenarios with multiple demonstration sequences. We call this conditional servo..."}
+{"title": "Optimal Shape Servoing with Task-focused Convergence Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981902/", "author_list": ["Victor H. Giraud", "Maxime Padrin", "Mohammadreza Shetab-Bushehri", "Chedli Bouzgarrou", "Youcef Mezouar", "Erol Ozgur", "Victor H. Giraud", "Maxime Padrin", "Mohammadreza Shetab-Bushehri", "Chedli Bouzgarrou", "Youcef Mezouar", "Erol Ozgur"], "abstract": "Most deformable object manipulation tasks still rely on skillful human operators. To automate such tasks, a robotic system should not only be able to deform an object to a desired shape but also servo its deformation along a specific path towards the desired shape. We propose a shape servoing control scheme to automate such tasks. Our scheme controls the deformation trajectory towards the desired ..."}
+{"title": "An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9981176/", "author_list": ["Sotirios N. Aspragkathos", "Mario Sinani", "George C. Karras", "Fotis Panetsos", "Kostas J. Kyriakopoulos", "Sotirios N. Aspragkathos", "Mario Sinani", "George C. Karras", "Fotis Panetsos", "Kostas J. Kyriakopoulos"], "abstract": "In this paper, an Event-triggered Image-based Visual Servoing Nonlinear Model Predictive Controller (ET-IBVS-NMPC) for multirotor aerial vehicles is presented. The proposed scheme is developed for the autonomous surveillance of contour-based areas with different characteristics (e.g. forest paths, coastlines, road pavements). For this purpose, an appropriately trained Deep Neural Network (DNN) is ..."}
+{"title": "Vision-based rotational control of an agile observation satellite", "detail_url": "https://ieeexplore.ieee.org/document/9981398/", "author_list": ["Maxime Robic", "Renaud Fraisse", "Eric Marchand", "Fran\u00e7ois Chaumette", "Maxime Robic", "Renaud Fraisse", "Eric Marchand", "Fran\u00e7ois Chaumette"], "abstract": "Recent Earth observation satellites are now equipped with new instrument that allows image feedback in real-time. Problematic such as ground target tracking, moving or not, can now be addressed by precisely controlling the satellite attitude. In this paper, we propose to consider this problem using a visual servoing approach. While focusing on the target, the control scheme has also to take into a..."}
+{"title": "DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing", "detail_url": "https://ieeexplore.ieee.org/document/9981868/", "author_list": ["Yasunori Toshimitsu", "Kento Kawaharazuka", "Akihiro Miki", "Kei Okada", "Masayuki Inaba", "Yasunori Toshimitsu", "Kento Kawaharazuka", "Akihiro Miki", "Kei Okada", "Masayuki Inaba"], "abstract": "For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to estimate the image Jacobian for every pixel. It is based on an optical flow calculation and a simplified Kalman Filter that can be efficiently run on the whole image in real time. It does not rely on markers nor knowled..."}
+{"title": "Self-supervised Wide Baseline Visual Servoing via 3D Equivariance", "detail_url": "https://ieeexplore.ieee.org/document/9981907/", "author_list": ["Jinwook Huh", "Jungseok Hong", "Suveer Garg", "Hyun Soo Park", "Volkan Isler", "Jinwook Huh", "Jungseok Hong", "Suveer Garg", "Hyun Soo Park", "Volkan Isler"], "abstract": "One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions. This paper presents a novel self-supervised visual servoing method for wide baseline images which does not require 3D ground truth supervision. Existing approache..."}
+{"title": "Multi-Camera-LiDAR Auto-Calibration by Joint Structure-from-Motion", "detail_url": "https://ieeexplore.ieee.org/document/9981532/", "author_list": ["Diantao Tu", "Baoyu Wang", "Hainan Cui", "Yuqian Liu", "Shuhan Shen", "Diantao Tu", "Baoyu Wang", "Hainan Cui", "Yuqian Liu", "Shuhan Shen"], "abstract": "Multiple sensors, especially cameras and LiDARs, are widely used in autonomous vehicles. In order to fuse data from different sensors accurately, precise calibrations are required, including camera intrinsic parameters, and relative poses between multiple cameras and LiDARs. However, most existing camera-LiDAR calibration methods need to place manually designed calibration objects in multiple loca..."}
+{"title": "GeoROS: Georeferenced Real-time Orthophoto Stitching with Unmanned Aerial Vehicle", "detail_url": "https://ieeexplore.ieee.org/document/9981560/", "author_list": ["Guangze Gao", "Mengke Yuan", "Zhihao Ma", "Jiaming Gu", "Weiliang Meng", "Shibiao Xu", "Xiaopeng Zhang", "Guangze Gao", "Mengke Yuan", "Zhihao Ma", "Jiaming Gu", "Weiliang Meng", "Shibiao Xu", "Xiaopeng Zhang"], "abstract": "Simultaneous orthophoto stitching during the flight of Unmanned Aerial Vehicles (UAV) can greatly promote the practicability and instantaneity of diverse applications such as emergency disaster rescue, digital agriculture, and cadastral survey, which is of remarkable interest in aerial photogrammetry. However, the inaccurately estimated camera poses and the intuitive fusion strategy of existing me..."}
+{"title": "Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981545/", "author_list": ["Binbin Xu", "Andrew J. Davison", "Stefan Leutenegger", "Binbin Xu", "Andrew J. Davison", "Stefan Leutenegger"], "abstract": "In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions from depth inputs and a category-level shape prior with the aim that completed object geometry leads to better object reconstruction and tracking accuracy. For ea..."}
+{"title": "Robot-aided Microbial Density Estimation and Mapping", "detail_url": "https://ieeexplore.ieee.org/document/9981278/", "author_list": ["J. J. J. Pey", "A. P. Povendhan", "T. Pathmakumar", "M. R. Elara", "J. J. J. Pey", "A. P. Povendhan", "T. Pathmakumar", "M. R. Elara"], "abstract": "Estimating the microbial infestation profile of an area is essential for an effective cleaning process. However, current methods used to inspect the microbial infestation within a spatial region are manual and laborious. For large regions that require automated cleaning, conventional methods of microbial examination are not practical. We propose a novel robot-aided microbial density estimation and..."}
+{"title": "Elevation Mapping for Locomotion and Navigation using GPU", "detail_url": "https://ieeexplore.ieee.org/document/9981507/", "author_list": ["Takahiro Miki", "Lorenz Wellhausen", "Ruben Grandia", "Fabian Jenelten", "Timon Homberger", "Marco Hutter", "Takahiro Miki", "Lorenz Wellhausen", "Ruben Grandia", "Fabian Jenelten", "Timon Homberger", "Marco Hutter"], "abstract": "Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric represen-tation of the terrain for ground robots. The robots can use this information for navigation in an unknown environment or perceptive locomotion control over rough terrain. Depending on the application, various post processing steps m..."}
+{"title": "LODM: Large-scale Online Dense Mapping for UAV", "detail_url": "https://ieeexplore.ieee.org/document/9981994/", "author_list": ["Jianxin Huang", "Laijian Li", "Xiangrui Zhao", "Xiaolei Lang", "Deye Zhu", "Yong Liu", "Jianxin Huang", "Laijian Li", "Xiangrui Zhao", "Xiaolei Lang", "Deye Zhu", "Yong Liu"], "abstract": "This paper proposes an online large-scale dense mapping method for UAVs with a height of 150\u2013250 meters. We first fuse the GPS with the visual odometry to estimate the scaled poses and sparse points. In order to use the depth of sparse points for depth map, we propose Sparse Confidence Cascade View-Aggregation MVSNet (SCCVA-MVSNet), which projects the depth-converged points in the sliding window o..."}
+{"title": "Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science", "detail_url": "https://ieeexplore.ieee.org/document/9981081/", "author_list": ["Yusaku Nakajima", "Masashi Hamaya", "Yuta Suzuki", "Takafumi Hawai", "Felix von Drigalski", "Kazutoshi Tanaka", "Yoshitaka Ushiku", "Kanta Ono", "Yusaku Nakajima", "Masashi Hamaya", "Yuta Suzuki", "Takafumi Hawai", "Felix von Drigalski", "Kazutoshi Tanaka", "Yoshitaka Ushiku", "Kanta Ono"], "abstract": "Grinding materials into a fine powder is a time-consuming task in material science that is generally performed by hand, as current automated grinding machines might not be suitable for preparing small-sized samples. This study presents a robotic powder grinding system for laboratory automation in material science applications that observe the powder's state to improve the grinding outcome. We deve..."}
+{"title": "Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling", "detail_url": "https://ieeexplore.ieee.org/document/9981636/", "author_list": ["Dennis Knobbe", "Henning Zwirnmann", "Moritz Eckhoff", "Sami Haddadin", "Dennis Knobbe", "Henning Zwirnmann", "Moritz Eckhoff", "Sami Haddadin"], "abstract": "Laboratory automation is a suitable solution to establish higher reproducibility with less manual work and thus higher quality standards in life sciences. To date, mobile robots are capable of performing autonomous pick-and-place tasks in the laboratory, and specialized pipetting machines can be used for sequenced liquid handling. However, the complex and creative process of developing new researc..."}
+{"title": "Registering Articulated Objects With Human-in-the-loop Corrections", "detail_url": "https://ieeexplore.ieee.org/document/9981949/", "author_list": ["Michael Hagenow", "Emmanuel Senft", "Evan Laske", "Kimberly Hambuchen", "Terrence Fong", "Robert Radwin", "Michael Gleicher", "Bilge Mutlu", "Michael Zinn", "Michael Hagenow", "Emmanuel Senft", "Evan Laske", "Kimberly Hambuchen", "Terrence Fong", "Robert Radwin", "Michael Gleicher", "Bilge Mutlu", "Michael Zinn"], "abstract": "Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing human-in-the-loop methods for registering objects do not consider articulations and the corresponding impact to the geometry of the object, which can cause the methods to f..."}
+{"title": "Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9982086/", "author_list": ["Cl\u00e9ment Chahbazian", "Nicolas Merlinge", "Karim Dahia", "B\u00e9n\u00e9dicte Winter-Bonnet", "Aur\u00e9lien Blanc", "Christian Musso", "Cl\u00e9ment Chahbazian", "Nicolas Merlinge", "Karim Dahia", "B\u00e9n\u00e9dicte Winter-Bonnet", "Aur\u00e9lien Blanc", "Christian Musso"], "abstract": "Particle filters are suited to solve nonlinear and non-Gaussian estimation problems which find numerous applications in autonomous systems navigation. Previous works on Laplace Particle Filter on Lie groups (LG-LPF) demonstrated its robustness and accuracy on challenging navigation scenarios compared to classic particle filters. Nevertheless, LG-LPF is applicable when the prior probability density..."}
+{"title": "Towards Autonomous Control of Surgical Instruments using Adaptive-Fusion Tracking and Robot Self-Calibration", "detail_url": "https://ieeexplore.ieee.org/document/9981141/", "author_list": ["Chiyu Wang", "Jo\u00e3o Cartucho", "Daniel Elson", "Ara Darzi", "Stamatia Giannarou", "Chiyu Wang", "Jo\u00e3o Cartucho", "Daniel Elson", "Ara Darzi", "Stamatia Giannarou"], "abstract": "The ability to track surgical instruments in realtime is crucial for autonomous Robotic Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been proposed to track surgical instruments. However, these methods assume that both sensors are equally reliable, and cannot successfully handle cases where there are significant perturbations in one of the sensors' data. In this pap..."}
+{"title": "AFT-VO: Asynchronous Fusion Transformers for Multi-View Visual Odometry Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981835/", "author_list": ["Nimet Kaygusuz", "Oscar Mendez", "Richard Bowden", "Nimet Kaygusuz", "Oscar Mendez", "Richard Bowden"], "abstract": "Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and requiring less model-specific implementations. However, current deep fusion approaches often assume that sensors are synchronised, which is not always practica..."}
+{"title": "A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9982040/", "author_list": ["Tianjia Zhang", "Yuen-Fui Lau", "Qifeng Chen", "Tianjia Zhang", "Yuen-Fui Lau", "Qifeng Chen"], "abstract": "We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable multiscopic camera. To achieve such novel view and time synthesis, we develop a physical multiscopic camera equipped with five cameras to train a neural radiance fi..."}
+{"title": "HD-CCSOM: Hierarchical and Dense Collaborative Continuous Semantic Occupancy Mapping through Label Diffusion", "detail_url": "https://ieeexplore.ieee.org/document/9981756/", "author_list": ["Yinan Deng", "Meiling Wang", "Yi Yang", "Yufeng Yue", "Yinan Deng", "Meiling Wang", "Yi Yang", "Yufeng Yue"], "abstract": "The collaborative operation of multiple robots can make up for the shortcomings of a single robot, such as limited field of perception or sensor failure. multirobots collaborative semantic mapping can enhance their comprehensive contextual understanding of the environment. However, existing multirobots collaborative semantic mapping algorithms mainly apply discrete occupancy map inference, and do ..."}
+{"title": "Scalable and Modular Ultra-Wideband Aided Inertial Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981937/", "author_list": ["Roland Jung", "Stephan Weiss", "Roland Jung", "Stephan Weiss"], "abstract": "Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous systems. Relative localization based on ultra-wideband (UWB) is - especially indoors - a promising technology. In this paper, we present a probabilistic filter based Modular Multi-Sensor Fusion (MMSF) approach with the capability of using efficiently all information in a fully meshed UWB ranging network. Thi..."}
+{"title": "Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements", "detail_url": "https://ieeexplore.ieee.org/document/9981301/", "author_list": ["Charles Champagne Cossette", "Mohammed Ayman Shalaby", "David Saussi\u00e9", "J\u00e9r\u00f4me Le Ny", "James Richard Forbes", "Charles Champagne Cossette", "Mohammed Ayman Shalaby", "David Saussi\u00e9", "J\u00e9r\u00f4me Le Ny", "James Richard Forbes"], "abstract": "In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the true relative poses themselves, ..."}
+{"title": "Monocular Event Visual Inertial Odometry based on Event-corner using Sliding Windows Graph-based Optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981970/", "author_list": ["Weipeng Guan", "Peng Lu", "Weipeng Guan", "Peng Lu"], "abstract": "Event cameras are biologically-inspired vision sensors that capture pixel-level illumination changes instead of the intensity image at a fixed frame rate. They offer many advantages over the standard cameras, such as high dynamic range, high temporal resolution (low latency), no motion blur, etc. Therefore, developing state estimation algorithms based on event cameras offers exciting opportunities..."}
+{"title": "Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs", "detail_url": "https://ieeexplore.ieee.org/document/9982031/", "author_list": ["Xiangyang Zhi", "Jiawei Hou", "Yiren Lu", "Laurent Kneip", "S\u00f6ren Schwertfeger", "Xiangyang Zhi", "Jiawei Hou", "Yiren Lu", "Laurent Kneip", "S\u00f6ren Schwertfeger"], "abstract": "Spatiotemporal calibration of sensors, especially of those which do not share their fields of view, is becoming increasingly important in the fields of autonomous driving and robotics. This paper presents a general sensor calibration method, named Multical, that makes use of multiple planar calibration targets whose poses will be estimated alongside spatiotemporal calibration. Multical exploits co..."}
+{"title": "Safe Reinforcement Learning for Legged Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9982038/", "author_list": ["Tsung-Yen Yang", "Tingnan Zhang", "Linda Luu", "Sehoon Ha", "Jie Tan", "Wenhao Yu", "Tsung-Yen Yang", "Tingnan Zhang", "Linda Luu", "Sehoon Ha", "Jie Tan", "Wenhao Yu"], "abstract": "Designing control policies for legged locomotion11In this work, we specifically consider quadruped locomotion. is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of applying model-free reinforcement learning in real world is safety. In this paper, we propose a safe ..."}
+{"title": "Safety Guided Policy Optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981030/", "author_list": ["Dohyeong Kim", "Yunho Kim", "Kyungjae Lee", "Songhwai Oh", "Dohyeong Kim", "Yunho Kim", "Kyungjae Lee", "Songhwai Oh"], "abstract": "In reinforcement learning (RL), exploration is essential to achieve a globally optimal policy but unconstrained exploration can cause damages to robots and nearby people. To handle this safety issue in exploration, safe RL has been proposed to keep the agent under the specified safety constraints while maximizing cumulative rewards. This paper introduces a new safe RL method which can be applied t..."}
+{"title": "How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-based Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981126/", "author_list": ["Alex X. Lee", "Coline Devin", "Jost Tobias Springenberg", "Yuxiang Zhou", "Thomas Lampe", "Abbas Abdolmaleki", "Konstantinos Bousmalis", "Alex X. Lee", "Coline Devin", "Jost Tobias Springenberg", "Yuxiang Zhou", "Thomas Lampe", "Abbas Abdolmaleki", "Konstantinos Bousmalis"], "abstract": "Reinforcement learning (RL) has been shown to be effective at learning control from experience. However, RL typically requires a large amount of online interaction with the environment. This limits its applicability to real-world settings, such as in robotics, where such interaction is expensive. In this work we investigate ways to minimize online interactions in a target task, by reusing a subopt..."}
+{"title": "A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981185/", "author_list": ["Xiang Zhu", "Shucheng Kang", "Jianyu Chen", "Xiang Zhu", "Shucheng Kang", "Jianyu Chen"], "abstract": "Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL policy is imperfect during training or in unseen scenarios. In this paper, we propose a contact-safe reinforcement learning framework for contact-rich robot manipul..."}
+{"title": "Learning Skills to Navigate without a Master: A Sequential Multi-Policy Reinforcement Learning Algorithm", "detail_url": "https://ieeexplore.ieee.org/document/9981607/", "author_list": ["Ambedkar Dukkipati", "Rajarshi Banerjee", "Ranga Shaarad Ayyagari", "Dhaval Parmar Udaybhai", "Ambedkar Dukkipati", "Rajarshi Banerjee", "Ranga Shaarad Ayyagari", "Dhaval Parmar Udaybhai"], "abstract": "Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks, and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes high-level decisions. Hence learning policies involves hierarchical decision structures. However, training such methods in practice may lead to poor generalization..."}
+{"title": "Ordinal Inverse Reinforcement Learning Applied to Robot Learning with Small Data", "detail_url": "https://ieeexplore.ieee.org/document/9981731/", "author_list": ["Adri\u00e0 Colom\u00e9", "Carme Torras", "Adri\u00e0 Colom\u00e9", "Carme Torras"], "abstract": "Over the last decade, the ability to teach actions to robots in a user-friendly way has gained relevance, and a practical way of teaching robots a new task is to use Inverse Reinforcement Learning (IRL). In IRL, an expert teacher shows the robot a desired behaviour and an agent builds a model of the reward. The agent can also infer a policy that performs in an optimal way within the limitations of..."}
+{"title": "Advanced Skills by Learning Locomotion and Local Navigation End-to-End", "detail_url": "https://ieeexplore.ieee.org/document/9981198/", "author_list": ["Nikita Rudin", "David Hoeller", "Marko Bjelonic", "Marco Hutter", "Nikita Rudin", "David Hoeller", "Marko Bjelonic", "Marco Hutter"], "abstract": "The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity. However, by breaking down the navigation problem into these sub-tasks, we limit the robot's capabilities since the individual tasks do not consider the full solu..."}
+{"title": "NavDreams: Towards Camera-Only RL Navigation Among Humans", "detail_url": "https://ieeexplore.ieee.org/document/9982045/", "author_list": ["Daniel Dugas", "Olov Andersson", "Roland Siegwart", "Jen Jen Chung", "Daniel Dugas", "Olov Andersson", "Roland Siegwart", "Jen Jen Chung"], "abstract": "Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used. While images present a significant challenge when it comes to perception and planning, they also allow capturing potentially important details, such as complex geom..."}
+{"title": "Impact Makes a Sound and Sound Makes an Impact: Sound Guides Representations and Explorations", "detail_url": "https://ieeexplore.ieee.org/document/9981510/", "author_list": ["Xufeng Zhao", "Cornelius Weber", "Muhammad Burhan Hafez", "Stefan Wermter", "Xufeng Zhao", "Cornelius Weber", "Muhammad Burhan Hafez", "Stefan Wermter"], "abstract": "Sound is one of the most informative and abundant modalities in the real world while being robust to sense without contacts by small and cheap sensors that can be placed on mobile devices. Although deep learning is capable of extracting information from multiple sensory inputs, there has been little use of sound for the control and learning of robotic actions. For unsupervised reinforcement learni..."}
+{"title": "Origami Robot Self-folding by Magnetic Induction", "detail_url": "https://ieeexplore.ieee.org/document/9981604/", "author_list": ["Jialun Liu", "Xiao Chen", "Quentin Lahondes", "Kaan Esendag", "Dana Damian", "Shuhei Miyashita", "Jialun Liu", "Xiao Chen", "Quentin Lahondes", "Kaan Esendag", "Dana Damian", "Shuhei Miyashita"], "abstract": "Inspired by the traditional art of paper folding, origami, autonomous production of 3D structures from 2D sheets can be achieved by the implementation of self-folding techniques. One technique to achieve such transformation is the usage of thermo-responsive smart materials such as self-folding polymeric films, which can be controlled by heat to shrink. Achieving remote self-folding with a practica..."}
+{"title": "A passive, asymmetrically-compliant knee joint improves obstacle traversal in an insect-scale legged robot", "detail_url": "https://ieeexplore.ieee.org/document/9981497/", "author_list": ["Perrin E. Schiebel", "Michelle C. Yuen", "Robert J. Wood", "Perrin E. Schiebel", "Michelle C. Yuen", "Robert J. Wood"], "abstract": "Insects can locomote readily in challenging environments, such as over steep inclines and across obstacle-laden terrains, which still frustrate robots of similar size. In this work, inspired by the passive compliant properties of insect limbs, we use the insect-scale Harvard Ambulatory Microrobot and multilayer microfabrication techniques as platform to study the ability of passive mechanisms to i..."}
+{"title": "Torque-Actuated Multimodal Locomotion of Ferrofluid Robot With Environment and Task Adaptability", "detail_url": "https://ieeexplore.ieee.org/document/9981041/", "author_list": ["Lidong Yang", "Mengmeng Sun", "Li Zhang", "Lidong Yang", "Mengmeng Sun", "Li Zhang"], "abstract": "Soft microrobotics have recently been an active field that advances microrobotics with new robot design, locomotion, and applications. In this paper, we study the ferrofluid robot (FR), which has soft nature and exhibits paramagnetism. Currently, the FR locomotion is usually realized by magnetic force. To enable the FR with more locomotion modes for environment and task adaptability, we program th..."}
+{"title": "OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-constrained IoT Devices", "detail_url": "https://ieeexplore.ieee.org/document/9982135/", "author_list": ["Qian Zhang", "Ruiyang Quan", "Siqin Qimuge", "Peimin Xia", "Jiaheng Wang", "Xin Zan", "Fangshi Wang", "Changchuan Chen", "Qi Wei", "Huichan Zhao", "Xinjun Liu", "Fei Qiao", "Qian Zhang", "Ruiyang Quan", "Siqin Qimuge", "Peimin Xia", "Jiaheng Wang", "Xin Zan", "Fangshi Wang", "Changchuan Chen", "Qi Wei", "Huichan Zhao", "Xinjun Liu", "Fei Qiao"], "abstract": "As the focus on highly intelligent robots continues, a problem that cannot be ignored has emerged: resource con-straints. Considering the game problem of resource limitation and the level of intelligence, we focus on lightweight intelligence. This work is a further refinement of our previous work, a heterogeneous lightweight intelligent multi-robot system. In-spired by the nature creatures \u201coctopu..."}
+{"title": "Beyond the Limit Automated Driving with Performance Constrained Reachability Analysis", "detail_url": "https://ieeexplore.ieee.org/document/9981708/", "author_list": ["Tong Zhao", "Ekim Yurtsever", "Giorgio Rizzoni", "Tong Zhao", "Ekim Yurtsever", "Giorgio Rizzoni"], "abstract": "Professional human drivers usually have more than one driving strategy to handle incoming traffic situations. These different strategies activate different performance characteristics of the vehicle, enabling the driver to minimize the risk in a variety of situations by optimizing the strategy selection. In the same spirit, we define a novel concept of strategy-wise performance metric and creative..."}
+{"title": "Set-point Control for a Ground-based Reconfigurable Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981358/", "author_list": ["Wei Cheah", "Bruno Vilhena Adorno", "Simon Watson", "Barry Lennox", "Wei Cheah", "Bruno Vilhena Adorno", "Simon Watson", "Barry Lennox"], "abstract": "Reconfigurable mobile robots are well suited for inspection tasks in legacy nuclear facilities where access is restricted and the environment is often cluttered. A reconfig-urable snake robot, MIRRAX, has previously been developed to investigate such facilities. The joints used for the robot's reconfiguration introduce additional constraints on the robot's control, such as balance, on top of the e..."}
+{"title": "Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine", "detail_url": "https://ieeexplore.ieee.org/document/9981674/", "author_list": ["Yuhong Huang", "Zhenshan Bing", "Florian Walter", "Alex Rohregger", "Zitao Zhang", "Kai Huang", "Fabrice O. Morin", "Alois Knoll", "Yuhong Huang", "Zhenshan Bing", "Florian Walter", "Alex Rohregger", "Zitao Zhang", "Kai Huang", "Fabrice O. Morin", "Alois Knoll"], "abstract": "In nature, the movement of quadrupeds is completed under the combined action of the spine and the legs. Inspired by this, this paper explores the effect of a lateral flexing spine on the locomotion of a rat robot. Benefiting from the regular lateral flexion of a soft actuated spine, the rat robot exhibits enhance step length of its hind legs and increased translational velocity by coordinating the..."}
+{"title": "Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction", "detail_url": "https://ieeexplore.ieee.org/document/9981918/", "author_list": ["Rebecca H. Jiang", "Neel Doshi", "Ravi Gondhalekar", "Alberto Rodriguez", "Rebecca H. Jiang", "Neel Doshi", "Ravi Gondhalekar", "Alberto Rodriguez"], "abstract": "We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framework synthesizes an object trajectory and object-effector contact trajectory into an effector trajecto..."}
+{"title": "Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability", "detail_url": "https://ieeexplore.ieee.org/document/9981825/", "author_list": ["Lasse Jenning Maywald", "Felix Wiebe", "Shivesh Kumar", "Mahdi Javadi", "Frank Kirchner", "Lasse Jenning Maywald", "Felix Wiebe", "Shivesh Kumar", "Mahdi Javadi", "Frank Kirchner"], "abstract": "Unlike fully actuated systems, the control of underactuated robots necessitates the use of passive dynamics to fulfill control objectives. Hence, there is an increased interdependence between their design parameters and the closed loop performance. This paper proposes a novel approach for co-optimization of robot design and controller parameters for increased certifiable stability obtained with me..."}
+{"title": "RoSA:A Mechatronically Synthesized Dataset for Rotodynamic System Anomaly Detection", "detail_url": "https://ieeexplore.ieee.org/document/9982146/", "author_list": ["Yip Fun Yeung", "Alex Paul-Ajuwape", "Farida Tahiry", "Mikio Furokawa", "Takayuki Hirano", "Kamal Youcef-Toumi", "Yip Fun Yeung", "Alex Paul-Ajuwape", "Farida Tahiry", "Mikio Furokawa", "Takayuki Hirano", "Kamal Youcef-Toumi"], "abstract": "The time-series datasets commonly applied for anomaly detection research showcase specific suboptimal properties. This work novelly conceptualizes condition state synthesis to improve the data-synthetic pipeline of an anomalous-event dataset. We demonstrate two technical contributions in this study. First, we propose a methodology to formulate, accelerate and enrich the condition state synthetic p..."}
+{"title": "Toward Dexterous Flapping Flight: Effective Large Yaw Torque Generation by $2\\times 2$-Degrees-of-Freedom Flapping Wings", "detail_url": "https://ieeexplore.ieee.org/document/9981990/", "author_list": ["M. Hamamoto", "M. Hamamoto"], "abstract": "Through the efforts of robotic engineers and inspired by the flapping flight of smaller creatures (e.g., insects and hummingbirds), the untethered stable hovering of flapping micro-aerial vehicles (FMAVs) has been achieved. Now, engineers are evaluating how to improve the mobility of these vehicles. The maneuverability of insects and birds in flight, such as their sharp turns and their takeoffs an..."}
+{"title": "Comparative Model Evaluation with a Symmetric Three-Link Swimming Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981131/", "author_list": ["Brian J. Van Stratum", "Max P. Austin", "Kourosh Shoele", "Jonathan E. Clark", "Brian J. Van Stratum", "Max P. Austin", "Kourosh Shoele", "Jonathan E. Clark"], "abstract": "In this paper we present swimming and modeling for Trident, a three-link lamprey inspired robot that is able to climb on flat smooth walls. We explore two gaits proposed to work for linear swimming, and three gaits for turning maneuvers. We compare the experimental results obtained from these swimming experiments with two different reduced order fluid interaction models, one a previously published..."}
+{"title": "Development of a Stingray-inspired High-Frequency Propulsion Platform with Variable Wavelength", "detail_url": "https://ieeexplore.ieee.org/document/9981761/", "author_list": ["Qiang Zhong", "Yicong Fu", "Leo Liu", "Daniel B. Quinn", "Qiang Zhong", "Yicong Fu", "Leo Liu", "Daniel B. Quinn"], "abstract": "Undulatory fin motions in fish-like robots are typically created using intricate arrays of servo motors. Motor arrays offer impressive versatility in terms of kinematics, but their complexity leads to constraints on size, hydrodynamic force production, and power consumption, particularly when studying propulsive performance at high-frequencies. Here we present an alternative design that uses a sin..."}
+{"title": "Amoeba-inspired swimming through isoperimetric modulation of body shape", "detail_url": "https://ieeexplore.ieee.org/document/9982120/", "author_list": ["Curtis Sparks", "Nathan Justus", "Ross Hatton", "Nick Gravish", "Curtis Sparks", "Nathan Justus", "Ross Hatton", "Nick Gravish"], "abstract": "In this work we present the design of a swimming robot that is inspired by the body shape modulation of small microorganisms. Amoebas are small single celled organisms that locomote through deformation and shape change of their body. To achieve similar shape modulation for swimming propulsion in a robot we developed a novel flexible appendage using tape springs. A tape spring is an elongated strip..."}
+{"title": "A compliant thorax design for robustness and elastic energy exchange in flapping-wing robots", "detail_url": "https://ieeexplore.ieee.org/document/9981927/", "author_list": ["Hang Gao", "James Lynch", "Nick Gravish", "Hang Gao", "James Lynch", "Nick Gravish"], "abstract": "Flapping wing insects benefit from a compliant thorax that provides elastic energy exchange and resiliency to wing collisions. In this paper, we present a flapping wing robot that uses an underactuated compliant transmission inspired by the insect thorax. We developed a novel fabrication method that combines carbon fiber (CF) laminate and soft robotics fabrication techniques for transmission const..."}
+{"title": "Reconstructed Student-Teacher and Discriminative Networks for Anomaly Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981509/", "author_list": ["Shinji Yamada", "Satoshi Kamiya", "Kazuhiro Hotta", "Shinji Yamada", "Satoshi Kamiya", "Kazuhiro Hotta"], "abstract": "Anomaly detection is an important problem in computer vision; however, the scarcity of anomalous samples makes this task difficult. Thus, recent anomaly detection methods have used only \u201cnormal images\u201d with no abnormal areas for training. In this work, a powerful anomaly detection method is proposed based on student-teacher feature pyramid matching (STPM), which consists of a student and teacher n..."}
+{"title": "Systematic Evaluation and Analysis on Hybrid Strategies of Automatic Agent Last-mile Delivery", "detail_url": "https://ieeexplore.ieee.org/document/9981064/", "author_list": ["Xiaotong Zhang", "Abdullatif Al Alsheikh", "Kamal Youcef-Toumi", "Xiaotong Zhang", "Abdullatif Al Alsheikh", "Kamal Youcef-Toumi"], "abstract": "This paper focuses on problems associated with the deployment of automatic agents for last-mile delivery. We propose a framework and methodology to systematically evaluate and compare different hybrid strategies. Performance metrics in agent noise, delivery time, energy consumption, coverage rate, package throughput, and system costs are defined rigorously and modeled mathematically. Using the met..."}
+{"title": "Multi-Object Grasping - Efficient Robotic Picking and Transferring Policy for Batch Picking", "detail_url": "https://ieeexplore.ieee.org/document/9981799/", "author_list": ["Adheesh Shenoy", "Tianze Chen", "Yu Sun", "Adheesh Shenoy", "Tianze Chen", "Yu Sun"], "abstract": "In a typical fulfillment center, the order fulfilling process is managed by a warehouse management system (WMS). For efficiency, WMS usually applies batch picking, also called multi-order picking, to collect the same items for multiple orders. Suppose an item appears in multiple orders, instead of repeatedly revisiting the exact picking location multiple times, a picker will be instructed to pick ..."}
+{"title": "AssembleRL: Learning to Assemble Furniture from Their Point Clouds", "detail_url": "https://ieeexplore.ieee.org/document/9982112/", "author_list": ["Ozgur Aslan", "Burak Bolat", "Batuhan Bal", "Tugba Tumer", "Erol Sahin", "Sinan Kalkan", "Ozgur Aslan", "Burak Bolat", "Batuhan Bal", "Tugba Tumer", "Erol Sahin", "Sinan Kalkan"], "abstract": "The rise of simulation environments has enabled learning-based approaches for assembly planning, which is otherwise a labor-intensive and daunting task. Assembling furniture is especially interesting since furniture are intricate and pose challenges for learning-based approaches. Surprisingly, humans can solve furniture assembly mostly given a 2D snapshot of the assembled product. Although recent ..."}
+{"title": "MS-cubic: A Modularized Manufacturing System with scalability, portability and parallelism Modular design suitable for drilling, welding and picking and feasibility verification through drilling experiment", "detail_url": "https://ieeexplore.ieee.org/document/9981791/", "author_list": ["Takehito Yoshida", "Amane Toriyama", "Shin'ichi Warisawa", "Rui Fukui", "Takehito Yoshida", "Amane Toriyama", "Shin'ichi Warisawa", "Rui Fukui"], "abstract": "The existing manufacturing systems based on processes involving the transportation of workpiece are unsuitable for large products such as air mobility systems. This study proposes a novel ultra-complex manufacturing system called the \u201cModularized-Structure and Multiple-Points Simultaneous Machining System (MS-cubic)\u201d based on the concept of intelligent space, which simultaneously performs multiple..."}
+{"title": "DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure", "detail_url": "https://ieeexplore.ieee.org/document/9981061/", "author_list": ["Xiongfeng Peng", "Zhihua Liu", "Qiang Wang", "Yun-Tae Kim", "Xiongfeng Peng", "Zhihua Liu", "Qiang Wang", "Yun-Tae Kim"], "abstract": "A loop closure module plays an important role in visual SLAM systems, which can reduce the accumulat-ed drift. This task faces the challenges of large viewpoint changes and expensive computational costs when optimizing the global map. This paper proposes DH-LC, a novel accurate and robust loop closure method that consists of hierarchical spatial feature matching (HSFM) and hybrid bundle adjustment..."}
+{"title": "One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981308/", "author_list": ["Sha Lu", "Xuecheng Xu", "Huan Yin", "Zexi Chen", "Rong Xiong", "Yue Wang", "Sha Lu", "Xuecheng Xu", "Huan Yin", "Zexi Chen", "Rong Xiong", "Yue Wang"], "abstract": "LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a database of map scans. Inspired by the definition of a recognized place, we consider that a good global localization solution should keep the pose estimation acc..."}
+{"title": "Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association", "detail_url": "https://ieeexplore.ieee.org/document/9981050/", "author_list": ["Weinan Chen", "Hanjing Ye", "Lei Zhu", "Chao Tang", "Changfei Fu", "Yonggang Chen", "Hong Zhang", "Weinan Chen", "Hanjing Ye", "Lei Zhu", "Chao Tang", "Changfei Fu", "Yonggang Chen", "Hong Zhang"], "abstract": "As the basics of Visual Simultaneous Localization And Mapping (VSLAM), keyframes play an essential role. In previous works, keyframes are selected according to a series of view change-based strategies for short-term data association (STDA). However, the texture enrichment of frames is always ignored, resulting in the failure of long-term data association (LTDA). In this paper, we propose an inform..."}
+{"title": "Are We Ready for Robust and Resilient SLAM? A Framework For Quantitative Characterization of SLAM Datasets", "detail_url": "https://ieeexplore.ieee.org/document/9981283/", "author_list": ["Islam Ali", "Hong Zhang", "Islam Ali", "Hong Zhang"], "abstract": "Reliability of SLAM systems is considered one of the critical requirements in modern autonomous systems. This directed the efforts to developing many state-of-the-art systems, creating challenging datasets, and introducing rigorous metrics to measure SLAM performance. However, the link between datasets and performance in the robustness/resilience context has rarely been explored. In order to fill ..."}
+{"title": "Robust Change Detection Based on Neural Descriptor Fields", "detail_url": "https://ieeexplore.ieee.org/document/9981246/", "author_list": ["Jiahui Fu", "Yilun Du", "Kurran Singh", "Joshua B. Tenenbaum", "John J. Leonard", "Jiahui Fu", "Yilun Du", "Kurran Singh", "Joshua B. Tenenbaum", "John J. Leonard"], "abstract": "The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so that actions can be followed to ensure a smooth progression of the working session. However, varying viewing angles and accumulated localization errors make it easy for robots to falsely detect changes in the surrounding wo..."}
+{"title": "LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion", "detail_url": "https://ieeexplore.ieee.org/document/9981492/", "author_list": ["Kenta Gunji", "Kazunori Ohno", "Shotaro Kojima", "Ranulfo Bezerra", "Yoshito Okada", "Masashi Konyo", "Satoshi Tadokoro", "Kenta Gunji", "Kazunori Ohno", "Shotaro Kojima", "Ranulfo Bezerra", "Yoshito Okada", "Masashi Konyo", "Satoshi Tadokoro"], "abstract": "There is an increasing demand for robots that can be substituted for humans in various tasks. Mobile robots are being introduced in factories, stores, and public facilities for carrying goods and cleaning. In factories and stores, desks and shelves are arranged such that the work and movement of personnel are reduced. The surrounding furniture is also set to ensure that a single task can be perfor..."}
+{"title": "SLAM-Supported Self-Training for 6D Object Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981145/", "author_list": ["Ziqi Lu", "Yihao Zhang", "Kevin Doherty", "Odin Severinsen", "Ethan Yang", "John Leonard", "Ziqi Lu", "Yihao Zhang", "Kevin Doherty", "Odin Severinsen", "Ethan Yang", "John Leonard"], "abstract": "Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the prediction performance. To mitigate the domain gap, we can potentially perform self-training in the target domain, using predictions on robot-captured images as..."}
+{"title": "ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982153/", "author_list": ["Bin Peng", "Hongle Xie", "Weidong Chen", "Bin Peng", "Hongle Xie", "Weidong Chen"], "abstract": "Long-term scene changes pose challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that provides robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built map is unreliable. The temporary map will be merged onto the pre-built map for later localization sess..."}
+{"title": "Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds In Outdoor Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981965/", "author_list": ["Ming Liao", "Yunzhou Zhang", "Jinpeng Zhang", "Liang Liang", "Sonya Coleman", "Dermot Kerr", "Ming Liao", "Yunzhou Zhang", "Jinpeng Zhang", "Liang Liang", "Sonya Coleman", "Dermot Kerr"], "abstract": "Loop closure detection has the potential to correct the drift of trajectories and build a global consistent map in LiDAR SLAM, however it remains a challenging problem in outdoor environment due to the sparsity of 3D point clouds data, large-scale scenes and moving objects. Inspired by the way humans perceive the environment through recognizing objects and identifying their relations, this paper p..."}
+{"title": "Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization", "detail_url": "https://ieeexplore.ieee.org/document/9981520/", "author_list": ["Abhishek Goudar", "Wenda Zhao", "Timothy D. Barfoot", "Angela P. Schoellig", "Abhishek Goudar", "Wenda Zhao", "Timothy D. Barfoot", "Angela P. Schoellig"], "abstract": "Accurate and reliable state estimation is becoming increasingly important as robots venture into the real world. Gaussian variational inference (GVI) is a promising alternative for nonlinear state estimation, which estimates a full probability density for the posterior instead of a point estimate as in maximum a posteriori (MAP)-based approaches. GVI works by optimizing for the parameters of a mul..."}
+{"title": "Pose Refinement with Joint Optimization of Visual Points and Lines", "detail_url": "https://ieeexplore.ieee.org/document/9981420/", "author_list": ["Shuang Gao", "Jixiang Wan", "Yishan Ping", "Xudong Zhang", "Shuzhou Dong", "Yuchen Yang", "Haikuan Ning", "Jijunnan Li", "Yandong Guo", "Shuang Gao", "Jixiang Wan", "Yishan Ping", "Xudong Zhang", "Shuzhou Dong", "Yuchen Yang", "Haikuan Ning", "Jijunnan Li", "Yandong Guo"], "abstract": "High-precision camera re-localization technology in a pre-established 3D environment map is the basis for many tasks, such as Augmented Reality, Robotics and Autonomous Driving. The point-based visual re-localization approaches are well-developed in recent decades, but are insufficient in some feature-less cases. In this paper, we design a complete pipeline for camera pose refinement with points a..."}
+{"title": "Comprehensive Reactive Safety: No Need For A Trajectory If You Have A Strategy", "detail_url": "https://ieeexplore.ieee.org/document/9981757/", "author_list": ["Fang Da", "Fang Da"], "abstract": "Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the road. As a result they usually employ a conservative bound on the behavior of such participants, such as reachability analysis. We point out that planning traject..."}
+{"title": "Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains", "detail_url": "https://ieeexplore.ieee.org/document/9982136/", "author_list": ["Troy McMahon", "Aravind Sivaramakrishnan", "Kushal Kedia", "Edgar Granados", "Kostas E. Bekris", "Troy McMahon", "Aravind Sivaramakrishnan", "Kushal Kedia", "Edgar Granados", "Kostas E. Bekris"], "abstract": "This paper explores learning an effective controller for improving the efficiency of kinodynamic planning for vehicular systems navigating uneven terrains. It describes the pipeline for training the corresponding controller and using it for motion planning purposes. The training process uses a soft actor-critic approach with hindsight experience replay to train a model, which is parameterized by t..."}
+{"title": "Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map", "detail_url": "https://ieeexplore.ieee.org/document/9982200/", "author_list": ["Xiaoyi Cai", "Michael Everett", "Jonathan Fink", "Jonathan P. How", "Xiaoyi Cai", "Michael Everett", "Jonathan Fink", "Jonathan P. How"], "abstract": "Motion planning in off-road environments re-quires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into a finite number of semantic categories that often are not sufficient to capture the ability (i.e., the speed) with which a robot can traverse off-road terrain..."}
+{"title": "Dynamic Replanning with Posterior Sampling", "detail_url": "https://ieeexplore.ieee.org/document/9981617/", "author_list": ["Brian Hou", "Siddhartha S. Srinivasa", "Brian Hou", "Siddhartha S. Srinivasa"], "abstract": "When navigating to a goal in an uncertain environment, a robot must simultaneously navigate the exploration-exploitation tradeoff: should it aim to gain information and reduce uncertainty, or should it simply brave the unknown? We formalize this as the Bayesian dynamic motion planning problem, and we analyze how several strategies from the literature balance these concerns via determinization and ..."}
+{"title": "Energy-Aware Planning-Scheduling for Autonomous Aerial Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981285/", "author_list": ["Adam Seewald", "H\u00e9ctor Garc\u00eda de Marina", "Henrik Skov Midtiby", "Ulrik Pagh Schultz", "Adam Seewald", "H\u00e9ctor Garc\u00eda de Marina", "Henrik Skov Midtiby", "Ulrik Pagh Schultz"], "abstract": "In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a novel variable coverage motion robust to air-borne constraints and an empirically motivated energy model. The model includes the energy contribution of the sche..."}
+{"title": "Learning to Herd Amongst Obstacles from an Optimized Surrogate", "detail_url": "https://ieeexplore.ieee.org/document/9982269/", "author_list": ["Jixuan Zhi", "Jyh-Ming Lien", "Jixuan Zhi", "Jyh-Ming Lien"], "abstract": "This paper investigates how a shepherd robot can efficiently steer a coherent group by intelligently moving behind the group in obstacle-filled environments. It was been shown that a model trained by deep reinforcement learning can guide a small number (2\u20134) of agents among obstacles. However, herding a larger group becomes significantly more challenging because it exhibits the characteristics sim..."}
+{"title": "Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981409/", "author_list": ["Maarten Jongeneel", "Alessandro Saccon", "Maarten Jongeneel", "Alessandro Saccon"], "abstract": "This paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneously estimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version of the Savitzky-Golay filter on SO(3) that avoids following the conventional practice of first converting the rotation trajectory into Euler-like angles, performing the filte..."}
+{"title": "Automated design of task specific additively manufacturable coupled serial chain mechanisms for tracing predefined planar trajectories", "detail_url": "https://ieeexplore.ieee.org/document/9981723/", "author_list": ["Simon Schiele", "Sebastian Baumgartner", "Simon Laudahn", "Tim C. Lueth", "Simon Schiele", "Sebastian Baumgartner", "Simon Laudahn", "Tim C. Lueth"], "abstract": "This work presents the automatic design of additively manufacturable serially linked one degree of freedom manipulators whose end effectors move along individually prescribed 2D trajectories. The kinematic coupling of the links is done by using gear stages consisting of spur gears and toothed belt gears. The basic design parameters of these mechanisms are determined using a Fourier series. The cal..."}
+{"title": "Robot Learning to Paint from Demonstrations", "detail_url": "https://ieeexplore.ieee.org/document/9981633/", "author_list": ["Younghyo Park", "Seunghun Jeon", "Taeyoon Lee", "Younghyo Park", "Seunghun Jeon", "Taeyoon Lee"], "abstract": "Robotic painting tasks in the real world are often made complicated by the highly complex and stochastic nature of the dynamics that underlie, e.g., physical contact between the painting tool and a canvas, color blendings between painting mediums, and many more. Simulation-based inverse graphics algorithms, for example, can not be directly transferred to the real-world due in large to the consider..."}
+{"title": "Robot Dance Generation with Music Based Trajectory Optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981462/", "author_list": ["Melya Boukheddimi", "Daniel Harnack", "Shivesh Kumar", "Rohit Kumar", "Shubham Vyas", "Octavio Arriaga", "Frank Kirchner", "Melya Boukheddimi", "Daniel Harnack", "Shivesh Kumar", "Rohit Kumar", "Shubham Vyas", "Octavio Arriaga", "Frank Kirchner"], "abstract": "Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the ability to dance has the potential to make the human robot co-existence more acceptable in our society. Hence, dancing robots have generated a considerable research interest in the recent years. In this paper, we present a novel formalization of robot dancing as planning and control of optimally timed actions ba..."}
+{"title": "Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9981450/", "author_list": ["Sadman Sakib Enan", "Michael Fulton", "Junaed Sattar", "Sadman Sakib Enan", "Michael Fulton", "Junaed Sattar"], "abstract": "In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which can be easily understood by divers observing the conversation - unlike typical radio frequency, light, or audio-based AUV communication. To allow AUVs to visually..."}
+{"title": "Intuitive & Efficient Human-robot Collaboration via Real-time Approximate Bayesian Inference", "detail_url": "https://ieeexplore.ieee.org/document/9982251/", "author_list": ["Javier Felip", "David Gonzalez-Aguirre", "Lama Nachman", "Javier Felip", "David Gonzalez-Aguirre", "Lama Nachman"], "abstract": "The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate helping each other. For these collaborations to be effective and safe, robots need to model, predict and exploit human's intents for responsive decision making pr..."}
+{"title": "Gesture2Vec: Clustering Gestures using Representation Learning Methods for Co-speech Gesture Generation", "detail_url": "https://ieeexplore.ieee.org/document/9981117/", "author_list": ["Payam Jome Yazdian", "Mo Chen", "Angelica Lim", "Payam Jome Yazdian", "Mo Chen", "Angelica Lim"], "abstract": "Co-speech gestures are a principal component in conveying messages and enhancing interaction experiences between humans and critical ingredients in human-agent interaction, including virtual agents and robots. Existing machine learning approaches have yielded only marginal success in learning speech-to-motion at the frame level. Current methods generate repetitive gesture sequences that lack appro..."}
+{"title": "Robowflex: Robot Motion Planning with MoveIt Made Easy", "detail_url": "https://ieeexplore.ieee.org/document/9981698/", "author_list": ["Zachary Kingston", "Lydia E. Kavraki", "Zachary Kingston", "Lydia E. Kavraki"], "abstract": "Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular Moveit library and Robot Operating System (ROS) middleware. Robowflex provides an augmented API for crafting and manipulating motion planning queries within a single program, making motion planning with Moveit easy. Robowflex's high-level API simplifies many common use-cases wh..."}
+{"title": "Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor", "detail_url": "https://ieeexplore.ieee.org/document/9981190/", "author_list": ["Vincent Groenhuis", "Gijs Rolff", "Koen Bosman", "Leon Abelmann", "Stefano Stramigioli", "Vincent Groenhuis", "Gijs Rolff", "Koen Bosman", "Leon Abelmann", "Stefano Stramigioli"], "abstract": "Absolute position detection in sensorless electric stepper motors potentially allows for higher space efficiency, improved shock resistance, simplified installation, reduced number of parts and lowered cost. A prototype is demonstrated measuring 42 \u00d7 42 \u00d7 34 mm3 with seven coils arranged in a star configuration. The rotor is \u03d5 25.8 \u00d7 12.5 mm2 and has 51 teeth which are irregularly spaced. At the d..."}
+{"title": "A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects", "detail_url": "https://ieeexplore.ieee.org/document/9981169/", "author_list": ["Tran Nguyen Le", "Jens Lundell", "Fares J. Abu-Dakka", "Ville Kyrki", "Tran Nguyen Le", "Jens Lundell", "Fares J. Abu-Dakka", "Ville Kyrki"], "abstract": "Evaluation of grasps on deformable $3\\mathrm{D}$ objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their dependence on contact points, which for deformable objects depend on the deformations. This paper proposes a grasp quality measure for deformable objects th..."}
+{"title": "Optimal Nonprehensile Interception Strategy for Objects in Flight", "detail_url": "https://ieeexplore.ieee.org/document/9981714/", "author_list": ["Cheng Zhou", "Yanbo Long", "Ying Cao", "Longfei Zhao", "Bidan Huang", "Yu Zheng", "Cheng Zhou", "Yanbo Long", "Ying Cao", "Longfei Zhao", "Bidan Huang", "Yu Zheng"], "abstract": "Intercepting an object in flight through nonpre-hensile manipulation is a challenging problem, which is aimed at catching and stopping a flying object using little contacts without completely restraining its relative motion to the robot. This paper presents a two-stage optimal trajectory generation method to tackle this problem. At the pre-catching stage, optimal position and attitude trajectories..."}
+{"title": "MasKGrasp: Mask-based Grasping for Scenes with Multiple General Real-world Objects", "detail_url": "https://ieeexplore.ieee.org/document/9982130/", "author_list": ["Junho Lee", "Junhwa Hur", "Inwoo Hwang", "Young Min Kim", "Junho Lee", "Junhwa Hur", "Inwoo Hwang", "Young Min Kim"], "abstract": "In this paper, we introduce a mask-based grasping method that discerns multiple objects within the scene regard-less of transparency or specularity and finds the optimal grasp position avoiding clutter. Conventional vision-based robotic grasping approaches often fail to extend to the scenes containing transparent objects due to their different visual appearance. To handle the different visual char..."}
+{"title": "Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs", "detail_url": "https://ieeexplore.ieee.org/document/9982208/", "author_list": ["Yuhei Yoshimitsu", "Kenta Tsukamoto", "Shuhei Ikemoto", "Yuhei Yoshimitsu", "Kenta Tsukamoto", "Shuhei Ikemoto"], "abstract": "This paper reports a tensegrity manipulator driven by 40 pneumatic cylinders without mechanical springs. In general, tensegrity robots use mechanical springs to achieve a stable/curved tensegrity structure, and this is true even when a component extends/retracts with an actuator. The stiffness of the mechanical spring should be high to increase the stiffness of the entire structure and improve the..."}
+{"title": "Fixture-Aware DDQN for Generalized Environment-Enabled Grasping", "detail_url": "https://ieeexplore.ieee.org/document/9982182/", "author_list": ["Eddie Sasagawa", "Changhyun Choi", "Eddie Sasagawa", "Changhyun Choi"], "abstract": "This paper expands on the problem of grasping an object that can only be grasped by a single parallel gripper when a fixture (e.g., wall, heavy object) is harnessed. Preceding work that tackle this problem are limited in that the employed networks implicitly learn specific targets and fixtures to leverage. However, the notion of a usable fixture can vary in different environments, at times without..."}
+{"title": "Tactile-Guided Dynamic Object Planar Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981270/", "author_list": ["Boyuan Liang", "Wenyu Liang", "Yan Wu", "Boyuan Liang", "Wenyu Liang", "Yan Wu"], "abstract": "Planar pushing is a fundamental robot manipulation task with most algorithms built upon the quasi-static as-sumption. Under this assumption the end-effector should apply force on the pushed object along the full moving trajectory. This means that the target position must lie in the robot's workspace. To enable a robot to deliver objects outside of its workspace and facilitate faster delivery, the ..."}
+{"title": "3D visual-based tension control in strip-like deformable objects using a catenary model", "detail_url": "https://ieeexplore.ieee.org/document/9982197/", "author_list": ["N. Roca Filella", "A. Koessler", "B.C. Bouzgarrou", "J.-A. Corrales Ramon", "N. Roca Filella", "A. Koessler", "B.C. Bouzgarrou", "J.-A. Corrales Ramon"], "abstract": "In recent years, there has been a growing interest in robotic manipulation of deformable objects. In order to perform certain tasks, the robot must control the shape of the object while taking care not to apply excessive stresses so as not to deform it irreversibly. This is the case when extracting elasto-plastic objects in strips from an industrial reel. In order to control the mechanical stresse..."}
+{"title": "DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping", "detail_url": "https://ieeexplore.ieee.org/document/9981670/", "author_list": ["Ben Burgess-Limerick", "Chris Lehnert", "J\u00fcrgen Leitner", "Peter Corke", "Ben Burgess-Limerick", "Chris Lehnert", "J\u00fcrgen Leitner", "Peter Corke"], "abstract": "This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare several visual perception arrangements. Traditional perception systems developed for static grasping are unable to provide feedback during the final phase of a ..."}
+{"title": "Sim2Real Instance-Level Style Transfer for 6D Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981878/", "author_list": ["Takuya Ikeda", "Suomi Tanishige", "Ayako Amma", "Michael Sudano", "Herv\u00e9 Audren", "Koichi Nishiwaki", "Takuya Ikeda", "Suomi Tanishige", "Ayako Amma", "Michael Sudano", "Herv\u00e9 Audren", "Koichi Nishiwaki"], "abstract": "In recent years, synthetic data has been widely used in the training of 6D pose estimation networks, in part because it automatically provides perfect annotation at low cost. However, there are still non-trivial domain gaps, such as differences in textures/materials, between synthetic and real data. These gaps have a measurable impact on performance. To solve this problem, we introduce a simulatio..."}
+{"title": "Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback", "detail_url": "https://ieeexplore.ieee.org/document/9981762/", "author_list": ["Andrea Sipos", "Nima Fazeli", "Andrea Sipos", "Nima Fazeli"], "abstract": "Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using exclusively proprioception and tactile feedback. Our approach leverages two complementary particle filters: one to estimate contact location (CPFGrasp) and ano..."}
+{"title": "All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings", "detail_url": "https://ieeexplore.ieee.org/document/9981768/", "author_list": ["Brijen Thananjeyan", "Justin Kerr", "Huang Huang", "Joseph E. Gonzalez", "Ken Goldberg", "Brijen Thananjeyan", "Justin Kerr", "Huang Huang", "Joseph E. Gonzalez", "Ken Goldberg"], "abstract": "Learning-based perception systems in robotics often requires large-scale image segmentation annotation. Current approaches rely on human labelers, which can be expensive, or simulation data, which can visually differ from real data. This paper proposes Labels from UltraViolet (LUV), a novel framework that enables rapid, automated, inexpensive, high quality data collection in real. LUV uses transpa..."}
+{"title": "The Probabilistic Robot Kinematics Model and its Application to Sensor Fusion", "detail_url": "https://ieeexplore.ieee.org/document/9981399/", "author_list": ["Lukas Meyer", "Klaus H. Strobl", "Rudolph Triebel", "Lukas Meyer", "Klaus H. Strobl", "Rudolph Triebel"], "abstract": "Robots with elasticity in structural components can suffer from undesired end-effector positioning imprecision, which exceeds the accuracy requirements for successful manipulation. We present the Probabilistic-Product-Of-Exponentials robot model, a novel approach for kinematic modeling of robots. It does not only consider the robot's deterministic geometry but additionally models time-varying and ..."}
+{"title": "Spatio-Temporal Graph Localization Networks for Image-based Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981958/", "author_list": ["Takahiro Niwa", "Shun Taguchi", "Noriaki Hirose", "Takahiro Niwa", "Shun Taguchi", "Noriaki Hirose"], "abstract": "Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed repeatedly, especially in indoor environments. To overcome this issue, we propose a learning-based localization method that simultaneously utilizes the spatial cons..."}
+{"title": "Stubborn: A Strong Baseline for Indoor Object Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981646/", "author_list": ["Haokuan Luo", "Albert Yue", "Zhang-Wei Hong", "Pulkit Agrawal", "Haokuan Luo", "Albert Yue", "Zhang-Wei Hong", "Pulkit Agrawal"], "abstract": "We present a strong baseline that surpasses the performance of previously published methods on the Habitat Challenge task of navigating to a target object in indoor environments. Our method is motivated from primary failure modes of prior state-of-the-art: poor exploration, inaccurate object identification, and agent getting trapped due to imprecise map construction. We make three contributions to..."}
+{"title": "VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics", "detail_url": "https://ieeexplore.ieee.org/document/9982060/", "author_list": ["Haresh Karnan", "Kavan Singh Sikand", "Pranav Atreya", "Sadegh Rabiee", "Xuesu Xiao", "Garrett Warnell", "Peter Stone", "Joydeep Biswas", "Haresh Karnan", "Kavan Singh Sikand", "Pranav Atreya", "Sadegh Rabiee", "Xuesu Xiao", "Garrett Warnell", "Peter Stone", "Joydeep Biswas"], "abstract": "One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model, conditioned on inertial information of the vehicle to sense the kinodynamic interactions. In this pa..."}
+{"title": "H-VLO: Hybrid LiDAR-Camera Fusion For Self-Supervised Odometry", "detail_url": "https://ieeexplore.ieee.org/document/9981111/", "author_list": ["Eren Aydemir", "Naida Fetic", "Mustafa Unel", "Eren Aydemir", "Naida Fetic", "Mustafa Unel"], "abstract": "In this paper, we propose a hybrid visual-LiDAR odometry (H-VLO) framework that fuses predicted visual depth map and completed LiDAR map. Compared to the previous visual-LiDAR odometry methods, our approach leverages 2D feature matching and 3D association by utilizing deep depth map, deep flow map and deep LiDAR depth completion networks. Rather than extraction of the depth values from LiDAR measu..."}
+{"title": "Memory-Augmented Reinforcement Learning for Image-Goal Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981090/", "author_list": ["Lina Mezghan", "Sainbayar Sukhbaatar", "Thibaut Lavril", "Oleksandr Maksymets", "Dhruv Batra", "Piotr Bojanowski", "Karteek Alahari", "Lina Mezghan", "Sainbayar Sukhbaatar", "Thibaut Lavril", "Oleksandr Maksymets", "Dhruv Batra", "Piotr Bojanowski", "Karteek Alahari"], "abstract": "In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors. Our method is based on an attention-based end-to-end model that leverages an episodic memory to learn to navigate. First, we train a state-embedding network in ..."}
+{"title": "Automated Aerial Screwing with a Fully Actuated Aerial Manipulator", "detail_url": "https://ieeexplore.ieee.org/document/9981979/", "author_list": ["Micha Schuster", "David Bernstein", "Paul Reck", "Salua Hamaza", "Michael Beitelschmidt", "Micha Schuster", "David Bernstein", "Paul Reck", "Salua Hamaza", "Michael Beitelschmidt"], "abstract": "The tasks that unmanned aerial vehicles (UAVs) have taken upon have progressively grown in complexity over the years, alongside with the level of autonomy with which they are carried out. In this work, we present an example of aerial screwing operations with a fully-actuated tilt-rotor platform. Key contributions include a new control framework to automate screwing operations through a robust hole..."}
+{"title": "Automatic Parameter Adaptation for Quadrotor Trajectory Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981552/", "author_list": ["Xin Zhou", "Chao Xu", "Fei Gao", "Xin Zhou", "Chao Xu", "Fei Gao"], "abstract": "Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict their interaction with unstructured environments. This work takes humans out of the loop by proposing a planner parameter adaptation framework that formulates objec..."}
+{"title": "Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining", "detail_url": "https://ieeexplore.ieee.org/document/9981707/", "author_list": ["Hongkai Ye", "Neng Pan", "Qianhao Wang", "Chao Xu", "Fei Gao", "Hongkai Ye", "Neng Pan", "Qianhao Wang", "Chao Xu", "Fei Gao"], "abstract": "For real-time multirotor kinodynamic planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We firstly propose a fast regional optimizer exploiting the information of local environments and then integrate it into a bidirectional global sampling process. The incorpo..."}
+{"title": "Folding Knots Using a Team of Aerial Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981363/", "author_list": ["Diego S. D\u2019Antonio", "David Salda\u00f1a", "Diego S. D\u2019Antonio", "David Salda\u00f1a"], "abstract": "From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cabl..."}
+{"title": "Hand-Crafted Features for Floating Plastic Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981320/", "author_list": ["Matija Sukno", "Ivana Palunko", "Matija Sukno", "Ivana Palunko"], "abstract": "Plastic waste is a global concern that has a negative impact on the oceans and wildlife health. This paper focuses on detection of floating plastics in aerial images taken from unmanned aerial vehicles (UAVs). It proposes a new method for plastic detection in marine environments, based on SIFT descriptor and color histograms for feature extraction, as an alternative to state-of-the-art object dete..."}
+{"title": "Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981658/", "author_list": ["Liping Shi", "Michael Pantic", "Olov Andersson", "Marco Tognon", "Roland Siegwart", "Rune Hylsberg Jacobsen", "Liping Shi", "Michael Pantic", "Olov Andersson", "Marco Tognon", "Roland Siegwart", "Rune Hylsberg Jacobsen"], "abstract": "In this work we address the challenging problem of manipulating a flexible link, like a rope, with an aerial robot. Inspired by spraying tasks in construction and maintenance scenarios, we consider the case in which an autonomous end-effector (e.g., a spray nozzle moved by a robot or a human operator) is connected to a fixed point by a rope (e.g., a hose). To avoid collisions between the rope and ..."}
+{"title": "Autonomous Emergency Landing for Multicopters using Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981152/", "author_list": ["Luca Bartolomei", "Yves Kompis", "Lucas Teixeira", "Margarita Chli", "Luca Bartolomei", "Yves Kompis", "Lucas Teixeira", "Margarita Chli"], "abstract": "This work presents a pipeline for autonomous emergency landing for multicopters, such as rotary wing Unmanned Aerial Vehicles (UAVs), using deep Reinforcement Learning (RL). Mechanical malfunctions, strong winds, sudden battery life drops (e.g, due to cold weather), failure in localization or GPS jamming are not uncommon and all constitute emergency situations that require a UAV to abort its missi..."}
+{"title": "Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography", "detail_url": "https://ieeexplore.ieee.org/document/9981150/", "author_list": ["James Avery", "Mark Runciman", "Cristina Fiani", "Elena Monfort Sanchez", "Saina Akhond", "Zhuang Liu", "Kirill Aristovich", "George Mylonas", "James Avery", "Mark Runciman", "Cristina Fiani", "Elena Monfort Sanchez", "Saina Akhond", "Zhuang Liu", "Kirill Aristovich", "George Mylonas"], "abstract": "Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurements and Electrical Impedance Tomography (EIT) imaging to assess the deformation of the balloon and det..."}
+{"title": "Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981635/", "author_list": ["Artur Jo\u00e3o Anjos de Oliveira", "Jorge Batista", "Sarthak Misra", "Venkatasubramanian Kalpathy Venkiteswaran", "Artur Jo\u00e3o Anjos de Oliveira", "Jorge Batista", "Sarthak Misra", "Venkatasubramanian Kalpathy Venkiteswaran"], "abstract": "Small untethered soft robots have potential for diverse applications, particularly in constrained spaces where the use of a tethered device would be infeasible. Examples include biomedical applications such as brachytherapy, fine-needle biospy and micro-needle drug delivery. To advance soft robots towards these applications, there is a need to establish methods for tracking and control using clini..."}
+{"title": "Robust Sim2Real Transfer with the da Vinci Research Kit: A Study On Camera, Lighting, and Physics Domain Randomization", "detail_url": "https://ieeexplore.ieee.org/document/9981573/", "author_list": ["Mustafa Haiderbhai", "Radian Gondokaryono", "Thomas Looi", "James M. Drake", "Lueder A. Kahrs", "Mustafa Haiderbhai", "Radian Gondokaryono", "Thomas Looi", "James M. Drake", "Lueder A. Kahrs"], "abstract": "Autonomous surgical robotics is a growing area of research, with advances being made in the areas of vision and control. Central to this research is the need for simulations to facilitate data collection and simulate learning environments for Reinforcement Learning (RL) agents. Recent simulators have facilitated RL policy generation, but lack a robust sim2real pipeline and a proven vision-based po..."}
+{"title": "Sim-to-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982168/", "author_list": ["Yongjun Cho", "Jae-Hyeon Park", "Jaesoon Choi", "Dong Eui Chang", "Yongjun Cho", "Jae-Hyeon Park", "Jaesoon Choi", "Dong Eui Chang"], "abstract": "Percutaneous coronary intervention (PCI) is a frequently used surgical treatment for cardiovascular disease, one of the leading cause of death in the world. In traditional PCI, a doctor navigates a thin guidewire in a patient's vessel toward a target location by looking into live X-ray angiogram images of the patient. Recently, researchers are using reinforcement learning to automate this guidewir..."}
+{"title": "Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981474/", "author_list": ["Rohit Kumar", "Shivesh Kumar", "Andreas M\u00fcller", "Frank Kirchner", "Rohit Kumar", "Shivesh Kumar", "Andreas M\u00fcller", "Frank Kirchner"], "abstract": "Modeling closed loop mechanisms is a necessity for the control and simulation of various systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward and inverse dynamics for such systems require resolution of loop closure constraints which are often solved via numerical procedures. This brings an additional burden to these algorithms as they have to stabilize and con..."}
+{"title": "Multi-axis Reorientation of a Free-falling Omnidirectional Wheeled Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981821/", "author_list": ["Mark Charlet", "Thierry Lalibert\u00e9", "Cl\u00e9ment Gosselin", "Mark Charlet", "Thierry Lalibert\u00e9", "Cl\u00e9ment Gosselin"], "abstract": "This paper presents reorientation manoeuvres applied to an omnidirectional wheeled robot for impact mitigation during short falls. The proposed robot architecture aims to build upon recent innovations in reorientation robots to attain fast, multi-axis reorientation. Indeed, the use of omnidirectional wheels allows for simplifications to be made with respect to previous mobile robot architectures t..."}
+{"title": "Steady-State Manifold of Riderless Motorcycles", "detail_url": "https://ieeexplore.ieee.org/document/9981899/", "author_list": ["Yu Tian", "Zhang Chen", "Yang Deng", "Boyi Wang", "Bin Liang", "Yu Tian", "Zhang Chen", "Yang Deng", "Boyi Wang", "Bin Liang"], "abstract": "Keeping balance is one of the most important tasks of a motorcycle. The steady-state manifold is proposed in this paper to explore the inherent dynamics and the balance properties of a riderless motorcycle. The dynamic and kinematic characteristics are analyzed based on the manifold and are validated by simulation. Comparing to traditional control method, the usefulness of the manifold in control ..."}
+{"title": "Foot-operated Tele-impedance Interface for Robot Manipulation Tasks in Interaction with Unpredictable Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981065/", "author_list": ["Stijn Klevering", "Winfred Mugge", "David A. Abbink", "Luka Peternel", "Stijn Klevering", "Winfred Mugge", "David A. Abbink", "Luka Peternel"], "abstract": "Tele-impedance increases interaction performance between a robotic tool and unstructured/unpredictable en-vironments during teleoperation. However, the existing tele-impedance interfaces have several ongoing issues, such as long calibration times and various obstructions for the human operator. In addition, they are all designed to be controlled by the operator's arms, which can cause difficulties..."}
+{"title": "Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions", "detail_url": "https://ieeexplore.ieee.org/document/9981856/", "author_list": ["Dimitri A. Lezcano", "Min Jung Kim", "Iulian I. Iordachita", "Jin Seob Kim", "Dimitri A. Lezcano", "Min Jung Kim", "Iulian I. Iordachita", "Jin Seob Kim"], "abstract": "Complex needle shape prediction remains an issue for planning of surgical interventions of flexible needles. In this paper, we validate a theoretical method for flexible needle shape prediction allowing for non-uniform curvatures, extending upon a previous sensor-based model which combines curvature measurements from fiber Bragg grating (FBG) sensors and the mechanics of an inextensible elastic ro..."}
+{"title": "Robust Cartesian Kinematics Estimation for Task-Space Control Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981233/", "author_list": ["Seyed Ali Baradaran Birjandi", "Niels Dehio", "Abderrahmane Kheddar", "Sami Haddadin", "Seyed Ali Baradaran Birjandi", "Niels Dehio", "Abderrahmane Kheddar", "Sami Haddadin"], "abstract": "We discuss a novel method for estimating task Cartesian position and velocity in robot manipulators. This is done by model-based fusion of inertial measurement units with motor encoders. The model is developed to robustly handle the uncertainties in the trajectory. Thus, not only the approach benefits from high fidelity and bandwidth thanks to multiple-sensory fusion, but it also enforces stabilit..."}
+{"title": "A Robot Factors Approach to Designing Modular Hardware", "detail_url": "https://ieeexplore.ieee.org/document/9981773/", "author_list": ["Nathan Melenbrink", "Clark Teeple", "Justin Werfel", "Nathan Melenbrink", "Clark Teeple", "Justin Werfel"], "abstract": "Robots are increasingly being called on to operate in settings and on tasks originally designed for humans, or where humans are also expected to work. Accordingly, the hardware and tools to be packaged, operated, or maintained are typically designed for use by humans, not robots. Robot autonomy in such cases can be expedited by a \u201crobot factors\u201d approach to the design of hardware, analogous to erg..."}
+{"title": "BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots", "detail_url": "https://ieeexplore.ieee.org/document/9981928/", "author_list": ["Dennis Ossadnik", "Mehmet C. Yildirim", "Fan Wu", "Abdalla Swikir", "Hugo T. M. Kussaba", "Saeed Abdolshah", "Sami Haddadin", "Dennis Ossadnik", "Mehmet C. Yildirim", "Fan Wu", "Abdalla Swikir", "Hugo T. M. Kussaba", "Saeed Abdolshah", "Sami Haddadin"], "abstract": "Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, ..."}
+{"title": "MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Network", "detail_url": "https://ieeexplore.ieee.org/document/9982268/", "author_list": ["Fabian Duffhauss", "Tobias Demmler", "Gerhard Neumann", "Fabian Duffhauss", "Tobias Demmler", "Gerhard Neumann"], "abstract": "Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view 6D pose estimation method called MV6D which accurately predicts the 6D poses of all objects in a cluttered scene based on RGB-D images from multiple perspective..."}
+{"title": "Child Engagement Estimation in Heterogeneous Child-Robot Interactions Using Spatiotemporal Visual Cues", "detail_url": "https://ieeexplore.ieee.org/document/9981908/", "author_list": ["Dafni Anagnostopoulou", "Niki Efthymiou", "Christina Papailiou", "Petros Maragos", "Dafni Anagnostopoulou", "Niki Efthymiou", "Christina Papailiou", "Petros Maragos"], "abstract": "Robots are increasingly introduced in various Child-Robot Interactions with educational, entertainment or even therapeutic goals. In order to achieve qualitative inter-actions, robots need to adjust their behavior according to children's response. A robot's ability to successfully estimate partner's engagement is of great importance towards this direction. In this research we propose a method to e..."}
+{"title": "One Object at a Time: Accurate and Robust Structure From Motion for Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981953/", "author_list": ["Aravind Battaje", "Oliver Brock", "Aravind Battaje", "Oliver Brock"], "abstract": "A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits regularities in the geometry of 3D space to obtain this information. These regularities introduce rotation-translation couplings that are not commonly used in struct..."}
+{"title": "2D vs. 3D LiDAR-based Person Detection on Mobile Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981519/", "author_list": ["Dan Jia", "Alexander Hermans", "Bastian Leibe", "Dan Jia", "Alexander Hermans", "Bastian Leibe"], "abstract": "Person detection is a crucial task for mobile robots navigating in human-populated environments. LiDAR sensors are promising for this task, thanks to their accurate depth measurements and large field of view. Two types of LiDAR sensors exist: the 2D LiDAR sensors, which scan a single plane, and the 3D LiDAR sensors, which scan multiple planes, thus forming a volume. How do they compare for the tas..."}
+{"title": "Visual Pressure Estimation and Control for Soft Robotic Grippers", "detail_url": "https://ieeexplore.ieee.org/document/9982073/", "author_list": ["Patrick Grady", "Jeremy A. Collins", "Samarth Brahmbhatt", "Christopher D. Twigg", "Chengcheng Tang", "James Hays", "Charles C. Kemp", "Patrick Grady", "Jeremy A. Collins", "Samarth Brahmbhatt", "Christopher D. Twigg", "Chengcheng Tang", "James Hays", "Charles C. Kemp"], "abstract": "Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation challenging. We present visual pressure estimation & control (VPEC), a method that infers pressure applied by a soft gripper using an RGB image from an external camera. W..."}
+{"title": "Tactile Pattern Super Resolution with Taxel-based Sensors", "detail_url": "https://ieeexplore.ieee.org/document/9981062/", "author_list": ["Bing Wu", "Qian Liu", "Qiang Zhang", "Bing Wu", "Qian Liu", "Qiang Zhang"], "abstract": "In contrast to sophisticated means of visual su-per resolution (SR), not much work has been done in the tactile SR field. Existing tactile SR algorithms for taxel-based sensors mainly focus on enhancing the localization accuracy, and generally associate with a specific type of hardware, sometimes not applicable to generic taxel-based tactile sensors. Inspired by image SR, we investigate the tactil..."}
+{"title": "Learning-based Six-axis Force/Torque Estimation Using GelStereo Fingertip Visuotactile Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981100/", "author_list": ["Chaofan Zhang", "Shaowei Cui", "Yinghao Cai", "Jingyi Hu", "Rui Wang", "Shuo Wang", "Chaofan Zhang", "Shaowei Cui", "Yinghao Cai", "Jingyi Hu", "Rui Wang", "Shuo Wang"], "abstract": "Visuotactile sensors have recently attracted much attention in robot communities due to the benefit of high spatial resolution sensing. However, force/torque estimation by visuotactile sensors remains a challenging problem. In this paper, we propose a learning-based six-axis force/torque estimation network using GelStereo visuotactile sensor, which can provide two-dimensional (2D) and three-dimens..."}
+{"title": "Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force", "detail_url": "https://ieeexplore.ieee.org/document/9981457/", "author_list": ["Hojung Choi", "Dane Brouwer", "Michael A. Lin", "Kyle T. Yoshida", "Carine Rognon", "Benjamin Stephens-Fripp", "Allison M. Okamura", "Mark R. Cutkosky", "Hojung Choi", "Dane Brouwer", "Michael A. Lin", "Kyle T. Yoshida", "Carine Rognon", "Benjamin Stephens-Fripp", "Allison M. Okamura", "Mark R. Cutkosky"], "abstract": "When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused on the spatio-temporal distribution of normal forces, we hypothesize that the addition of shear forces will permit more reliable c..."}
+{"title": "Modulo Cellulo: Modular Versatile Tangible Educational Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981983/", "author_list": ["Hala Khodr", "Kevin Holdcroft", "Yi-Shiun Wu", "Victor Borja", "Hadrien Sprumont", "Barbara Bruno", "Jamie Paik", "Pierre Dillenbourg", "Hala Khodr", "Kevin Holdcroft", "Yi-Shiun Wu", "Victor Borja", "Hadrien Sprumont", "Barbara Bruno", "Jamie Paik", "Pierre Dillenbourg"], "abstract": "This article presents the novel modular version of the robotic platform Cellulo, a versatile handheld robot initially designed as an educational robot. The use of Cellulo in different contexts and applications over the years has highlighted the need for modularity. Modularity adds versatility by increasing the spectrum of functionalities of the robot, as well as more robustness. Modulo Cellulo con..."}
+{"title": "A Framework of Rehabilitation-assisted Robot Skill Representation, Learning, and Modulation via Manifold-Mappings and Gaussian Processes", "detail_url": "https://ieeexplore.ieee.org/document/9982172/", "author_list": ["Hongmin Wu", "Zhihao Xu", "Wu Yan", "Yangmin Ou", "Zhaoyang Liao", "Xuefeng Zhou", "Hongmin Wu", "Zhihao Xu", "Wu Yan", "Yangmin Ou", "Zhaoyang Liao", "Xuefeng Zhou"], "abstract": "Stroke survivors usually have dyskinesia, who have an urgent need for rehabilitation-assist training. To reduce the labor of rehabilitation therapists, this paper attempts to investigate an effective rehabilitation-assisted robot skill acquisition framework, which is inspired by the scheme of robot learning from demonstration (LfD). Since most of the current LfD methods were implemented with rigor..."}
+{"title": "Position-based Treadmill Drive with Wire Traction for Experience of Level Ground Walking from Gait Acceleration State to Steady State", "detail_url": "https://ieeexplore.ieee.org/document/9981711/", "author_list": ["Tamon Miyake", "Shunya Itano", "Mitsuhiro Kamezaki", "Shigeki Sugano", "Tamon Miyake", "Shunya Itano", "Mitsuhiro Kamezaki", "Shigeki Sugano"], "abstract": "A treadmill system has a large potential to provide humans with an augmented walking experience in real-life without a spatial limitation. However, a treadmill gait is different from walking on level ground. In previous studies, the adaptive belt speed control of a treadmill was developed to achieve a self-paced walking for making the users' treadmill gait similar to their level ground gait. Such ..."}
+{"title": "A Null-space based Approach for a Safe and Effective Human-Robot Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9981682/", "author_list": ["Federico Benzi", "Cristian Secchi", "Federico Benzi", "Cristian Secchi"], "abstract": "During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these objectives. Nevertheless, when the admittance dynamics is time-varying, it can happen that, for ensuring a passive and stable behaviour, some spurious dissipative effects..."}
+{"title": "Fast and Comfortable Interactive Robot-to-Human Object Handover", "detail_url": "https://ieeexplore.ieee.org/document/9981484/", "author_list": ["Chongxi Meng", "Tianwei Zhang", "Tin lun Lam", "Chongxi Meng", "Tianwei Zhang", "Tin lun Lam"], "abstract": "Transferring tools and objects to human hands is an important ability of collaborative robots. Most of the existing approaches focus on handover affordance, however, the comfort of receiving objects with human hands is often neglected. In this paper, we use advanced deep learning models to pre-generate handover target configurations that are convenient for human grasping based on the characteristi..."}
+{"title": "Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control", "detail_url": "https://ieeexplore.ieee.org/document/9982000/", "author_list": ["Alireza Madani", "Pouya P. Niaz", "Berk Guler", "Yusuf Aydin", "Cagatay Basdogan", "Alireza Madani", "Pouya P. Niaz", "Berk Guler", "Yusuf Aydin", "Cagatay Basdogan"], "abstract": "Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers. On the other hand, it can be impractical to fully automate such a task in real manufacturing environments because the parts arriving at an assembly line can hav..."}
+{"title": "Learning Moving-Object Tracking with FMCW LiDAR", "detail_url": "https://ieeexplore.ieee.org/document/9981346/", "author_list": ["Yi Gu", "Hongzhi Cheng", "Kafeng Wang", "Dejing Dou", "Chengzhong Xu", "Hui Kong", "Yi Gu", "Hongzhi Cheng", "Kafeng Wang", "Dejing Dou", "Chengzhong Xu", "Hui Kong"], "abstract": "In this paper, we propose a learning-based moving-object tracking method utilizing the newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, FMCW LiDAR can provide additional Doppler velocity information to each 3D point of the point clouds. Benefiting from this, we can generate instance labels as ground truth in a sem..."}
+{"title": "Self Supervised Learning for Multiple Object Tracking in 3D Point Clouds", "detail_url": "https://ieeexplore.ieee.org/document/9981793/", "author_list": ["Aakash Kumar", "Jyoti Kini", "Ajmal Mian", "Mubarak Shah", "Aakash Kumar", "Jyoti Kini", "Ajmal Mian", "Mubarak Shah"], "abstract": "Multiple object tracking in 3D point clouds has applications in mobile robots and autonomous driving. This is a challenging problem due to the sparse nature of the point clouds and the added difficulty of annotation in 3D for supervised learning. To overcome these challenges, we propose a neural network architecture that learns effective object features and their affinities in a self supervised fa..."}
+{"title": "An Efficient and Accurate Solution to Camera Pose Estimation Problem from Point and Line Correspondences Based on Null Space Analysis", "detail_url": "https://ieeexplore.ieee.org/document/9982023/", "author_list": ["Yi Zhang", "Yueqiang Zhang", "Biao Hu", "Yihe Yin", "Wenjun Chen", "Xiaolin Liu", "Qifeng Yu", "Yi Zhang", "Yueqiang Zhang", "Biao Hu", "Yihe Yin", "Wenjun Chen", "Xiaolin Liu", "Qifeng Yu"], "abstract": "In this paper, we propose an accurate and simultaneously efficient solution to perspective-n-point-and-line (PnPL) problem by null space analysis. Although many PnPL-like methods have been proposed, it is hard to obtain the optimal solution considering both calculation efficiency and accuracy at the same time. Based on the remarkable EOPnP method, the proposed algorithm integrates linear-expressed..."}
+{"title": "Improving 3D Markerless Pose Estimation of Animals in the Wild using Low-Cost Cameras", "detail_url": "https://ieeexplore.ieee.org/document/9981746/", "author_list": ["Naoya Muramatsu", "Zico da Silva", "Daniel Joska", "Fred Nicolls", "Amir Patel", "Naoya Muramatsu", "Zico da Silva", "Daniel Joska", "Fred Nicolls", "Amir Patel"], "abstract": "Tracking the 3D motion of agile animals in the wild will enable new insight into the design of robotic controllers. However, in-field 3D pose estimation of high-speed wildlife such as cheetahs is still a challenge [1]. In this work, we aim to solve two of these challenges: unnatural pose estimates during highly occluded sequences and synchronization error between multi-view data. We expand on our ..."}
+{"title": "DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment", "detail_url": "https://ieeexplore.ieee.org/document/9981260/", "author_list": ["Mariia Gladkova", "Nikita Korobov", "Nikolaus Demmel", "Aljo\u0161a O\u0161ep", "Laura Leal-Taix\u00e9", "Daniel Cremers", "Mariia Gladkova", "Nikita Korobov", "Nikolaus Demmel", "Aljo\u0161a O\u0161ep", "Laura Leal-Taix\u00e9", "Daniel Cremers"], "abstract": "Direct methods have shown excellent performance in the applications of visual odometry and SLAM. In this work we propose to leverage their effectiveness for the task of 3D multi-object tracking. To this end, we propose DirectTracker, a framework that effectively combines direct image alignment for the short-term tracking and sliding-window photometric bundle adjustment for 3D object detection. Obj..."}
+{"title": "Scene-level Tracking and Reconstruction without Object Priors", "detail_url": "https://ieeexplore.ieee.org/document/9982159/", "author_list": ["Haonan Chang", "Abdeslam Boularias", "Haonan Chang", "Abdeslam Boularias"], "abstract": "We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast with previous methods such as Co-Fusion and MaskFusion that first segment the scene into individual objects and then process each object independently, the pro..."}
+{"title": "Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras", "detail_url": "https://ieeexplore.ieee.org/document/9982016/", "author_list": ["Ziwei Wang", "Yonhon Ng", "Jack Henderson", "Robert Mahony", "Ziwei Wang", "Yonhon Ng", "Jack Henderson", "Robert Mahony"], "abstract": "Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target tracking in concert with a broadcast visual communication channel for smart visual beacons with applications in distributed robotics. Visual beacons can be constr..."}
+{"title": "Category-Independent Articulated Object Tracking with Factor Graphs", "detail_url": "https://ieeexplore.ieee.org/document/9982029/", "author_list": ["Nick Heppert", "Toki Migimatsu", "Brent Yi", "Claire Chen", "Jeannette Bohg", "Nick Heppert", "Toki Migimatsu", "Brent Yi", "Claire Chen", "Jeannette Bohg"], "abstract": "Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are inconsistent with categorical priors: for example, a drawer might rotate about a hinge joint instead of sliding open. We propose a category-independent framework for pre..."}
+{"title": "eCDT: Event Clustering for Simultaneous Feature Detection and Tracking", "detail_url": "https://ieeexplore.ieee.org/document/9981451/", "author_list": ["Sumin Hu", "Yeeun Kim", "Hyungtae Lim", "Alex Junho Lee", "Hyun Myung", "Sumin Hu", "Yeeun Kim", "Hyungtae Lim", "Alex Junho Lee", "Hyun Myung"], "abstract": "Contrary to other standard cameras, event cam-eras interpret the world in an entirely different manner; as a collection of asynchronous events. Despite event camera's unique data output, many event feature detection and tracking algorithms have shown significant progress by making detours to frame-based data representations. This paper questions the need to do so and proposes a novel event data-fr..."}
+{"title": "Hierarchical Road Topology Learning for Urban Mapless Driving", "detail_url": "https://ieeexplore.ieee.org/document/9981820/", "author_list": ["Li Zhang", "Faezeh Tafazzoli", "Gunther Krehl", "Runsheng Xu", "Timo Rehfeld", "Manuel Schier", "Arunava Seal", "Li Zhang", "Faezeh Tafazzoli", "Gunther Krehl", "Runsheng Xu", "Timo Rehfeld", "Manuel Schier", "Arunava Seal"], "abstract": "The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor scalability of such prior maps. In this paper, we tackle the problem of online road map extraction via leveraging the sensory system aboard the vehicle itself...."}
+{"title": "S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference", "detail_url": "https://ieeexplore.ieee.org/document/9982101/", "author_list": ["Yinan Deng", "Meiling Wang", "Danwei Wang", "Yufeng Yue", "Yinan Deng", "Meiling Wang", "Danwei Wang", "Yufeng Yue"], "abstract": "Autonomous robots are often required to acquire high-level prior knowledge by continuously reconstructing the semantics and geometry of the surrounding scene, which is the basis of exploration and planning. Most existing continuous semantic mapping algorithms cannot distinguish potential differences in voxels, resulting in an over-inflated map. Furthermore, fixed-size query ranges introduce high c..."}
+{"title": "BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision", "detail_url": "https://ieeexplore.ieee.org/document/9981258/", "author_list": ["James Ross", "Oscar Mendez", "Avishkar Saha", "Mark Johnson", "Richard Bowden", "James Ross", "Oscar Mendez", "Avishkar Saha", "Mark Johnson", "Richard Bowden"], "abstract": "The ability to produce large-scale maps for nav-igation, path planning and other tasks is a crucial step for autonomous agents, but has always been challenging. In this work, we introduce BEV-SLAM, a novel type of graph-based SLAM that aligns semantically-segmented Bird's Eye View (BEV) predictions from monocular cameras. We introduce a novel form of occlusion reasoning into BEV estimation and dem..."}
+{"title": "Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms", "detail_url": "https://ieeexplore.ieee.org/document/9981078/", "author_list": ["Li Qingqing", "Yu Xianjia", "Jorge Pe\u00f1a Queralta", "Tomi Westerlund", "Li Qingqing", "Yu Xianjia", "Jorge Pe\u00f1a Queralta", "Tomi Westerlund"], "abstract": "Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent years. Public datasets have enabled benchmarking of algorithms and have set standards for the cutting edge technology. However, existing datasets are not representa..."}
+{"title": "OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum", "detail_url": "https://ieeexplore.ieee.org/document/9981865/", "author_list": ["Peize Li", "Kaiwen Cai", "Muhamad Risqi U. Saputra", "Zhuangzhuang Dai", "Chris Xiaoxuan Lu", "Peize Li", "Kaiwen Cai", "Muhamad Risqi U. Saputra", "Zhuangzhuang Dai", "Chris Xiaoxuan Lu"], "abstract": "This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal..."}
+{"title": "FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms", "detail_url": "https://ieeexplore.ieee.org/document/9982119/", "author_list": ["Jianhao Jiao", "Hexiang Wei", "Tianshuai Hu", "Xiangcheng Hu", "Yilong Zhu", "Zhijian He", "Jin Wu", "Jingwen Yu", "Xupeng Xie", "Huaiyang Huang", "Ruoyu Geng", "Lujia Wang", "Ming Liu", "Jianhao Jiao", "Hexiang Wei", "Tianshuai Hu", "Xiangcheng Hu", "Yilong Zhu", "Zhijian He", "Jin Wu", "Jingwen Yu", "Xupeng Xie", "Huaiyang Huang", "Ruoyu Geng", "Lujia Wang", "Ming Liu"], "abstract": "Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mobile robots. This paper presents three contributions. We first advance a portable and versatile multi..."}
+{"title": "STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping", "detail_url": "https://ieeexplore.ieee.org/document/9981857/", "author_list": ["Seungsang Yun", "Minwoo Jung", "Jeongyun Kim", "Sangwoo Jung", "Younghun Cho", "Myung-Hwan Jeon", "Giseop Kim", "Ayoung Kim", "Seungsang Yun", "Minwoo Jung", "Jeongyun Kim", "Sangwoo Jung", "Younghun Cho", "Myung-Hwan Jeon", "Giseop Kim", "Ayoung Kim"], "abstract": "This paper introduces a stereo thermal camera dataset (STheReO) with multiple navigation sensors to encourage thermal SLAM researches. A thermal camera measures infrared rays beyond the visible spectrum therefore it could provide a simple yet robust solution to visually degraded environments where existing visual sensor-based SLAM would fail. Existing thermal camera datasets mostly focused on mono..."}
+{"title": "Affective Behavior Learning for Social Robot Haru with Implicit Evaluative Feedback", "detail_url": "https://ieeexplore.ieee.org/document/9981752/", "author_list": ["Hui Wang", "Jinying Lin", "Zhen Ma", "Yurii Vasylkiv", "Heike Brock", "Keisuke Nakamura", "Randy Gomez", "Bo He", "Guangliang Li", "Hui Wang", "Jinying Lin", "Zhen Ma", "Yurii Vasylkiv", "Heike Brock", "Keisuke Nakamura", "Randy Gomez", "Bo He", "Guangliang Li"], "abstract": "We propose a human-in-the-loop reinforcement learning mechanism to help robots learn emotional behavior. Unlike the previous methods of providing explicit feedback via pressing keyboard buttons or mouse clicks, we provide a more natural way for ordinary people to train social robots how to perform social tasks according to their preferences - facial expressions. The whole experiment is carried out..."}
+{"title": "A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981365/", "author_list": ["Alexander Moortgat-Pick", "Peter So", "Michael J Sack", "Emma G Cunningham", "Benjamin P Hughes", "Anna Adamczyk", "Andriy Sarabakha", "Leila Takayama", "Sami Haddadin", "Alexander Moortgat-Pick", "Peter So", "Michael J Sack", "Emma G Cunningham", "Benjamin P Hughes", "Anna Adamczyk", "Andriy Sarabakha", "Leila Takayama", "Sami Haddadin"], "abstract": "We present an accessible robot interface for telemanipulation (A-RIFT), which preserves the haptic channel partially in a zero-additional-cost interface by visual substitution of force feedback (VSFF). This work explores a gap in the literature, resulting from the focus on performance improvements in telerobotics at increasing interface costs. Unlike most telemanipulation interfaces for high-degre..."}
+{"title": "Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack", "detail_url": "https://ieeexplore.ieee.org/document/9981129/", "author_list": ["Yu Cao", "Jian Huang", "Xiaolong Li", "Mengshi Zhang", "Caihua Xiong", "Samer Mohammed", "Yaonan Zhu", "Yasuhisa Hasegawa", "Yu Cao", "Jian Huang", "Xiaolong Li", "Mengshi Zhang", "Caihua Xiong", "Samer Mohammed", "Yaonan Zhu", "Yasuhisa Hasegawa"], "abstract": "The dynamic load attached to the load gravity imposes an excessive burden to human shoulders during load carriage, resulting in possible muscle injuries and additional physical exertion. This paper proposes an active suspension backpack, capable of transferring partial load from human shoulders to pelvis and alleviating the dynamic load through separated panels and motor actuation, to reduce press..."}
+{"title": "Learning an Interpretable Model for Driver Behavior Prediction with Inductive Biases", "detail_url": "https://ieeexplore.ieee.org/document/9981142/", "author_list": ["Salar Arbabi", "Davide Tavernini", "Saber Fallah", "Richard Bowden", "Salar Arbabi", "Davide Tavernini", "Saber Fallah", "Richard Bowden"], "abstract": "To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning pre-dictive models of human driving behavior from data. However, the predictions suffer from cascading errors, resulting in large inaccuracies over long time horizons. ..."}
+{"title": "Robust Real-time LiDAR-inertial Initialization", "detail_url": "https://ieeexplore.ieee.org/document/9982225/", "author_list": ["Fangcheng Zhu", "Yunfan Ren", "Fu Zhang", "Fangcheng Zhu", "Yunfan Ren", "Fu Zhang"], "abstract": "For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information may not be always available in customized LiDAR-inertial systems. In this paper, we propose LI-Init: a full and real-time LiDAR-inertial system initialization pr..."}
+{"title": "VAST: Visual and Spectral Terrain Classification in Unstructured Multi-Class Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982078/", "author_list": ["Nathaniel Hanson", "Michael Shaham", "Deniz Erdo\u011fmu\u015f", "Ta\u015fkin Padir", "Nathaniel Hanson", "Michael Shaham", "Deniz Erdo\u011fmu\u015f", "Ta\u015fkin Padir"], "abstract": "Terrain classification is a challenging task for robots operating in unstructured environments. Existing classification methods make simplifying assumptions, such as a reduced number of classes, clearly segmentable roads, or good lighting conditions, and focus primarily on one sensor type. These assumptions do not translate well to off-road vehicles, which operate in varying terrain conditions. To..."}
+{"title": "Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement", "detail_url": "https://ieeexplore.ieee.org/document/9982174/", "author_list": ["Emile Mackute", "Balint Thamo", "Kevin Dhaliwal", "Mohsen Khadem", "Emile Mackute", "Balint Thamo", "Kevin Dhaliwal", "Mohsen Khadem"], "abstract": "Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathematical model of the CTR with a measurement of the Cartesian coordinates of the robot's tip using an ele..."}
+{"title": "Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982218/", "author_list": ["Leszek Pecyna", "Siyuan Dong", "Shan Luo", "Leszek Pecyna", "Siyuan Dong", "Shan Luo"], "abstract": "Manipulation of deformable objects is a challenging task for a robot. It would be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture the global information that is useful for the task. In this paper, we study the problem of using vision and tactile inputs together to complete the task of fol..."}
+{"title": "Exploring mmWave Radar and Camera Fusion for High-Resolution and Long-Range Depth Imaging", "detail_url": "https://ieeexplore.ieee.org/document/9982080/", "author_list": ["Akarsh Prabhakara", "Diana Zhang", "Chao Li", "Sirajum Munir", "Aswin C. Sankaranarayanan", "Anthony Rowe", "Swarun Kumar", "Akarsh Prabhakara", "Diana Zhang", "Chao Li", "Sirajum Munir", "Aswin C. Sankaranarayanan", "Anthony Rowe", "Swarun Kumar"], "abstract": "Robotic geo-fencing and surveillance systems require accurate monitoring of objects if/when they violate perimeter restrictions. In this paper, we seek a solution for depth imaging of such objects of interest at high accuracy (few tens of cm) over extended ranges (up to 300 meters) from a single vantage point, such as a pole mounted platform. Unfortunately, the rich literature in depth imaging usi..."}
+{"title": "FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry", "detail_url": "https://ieeexplore.ieee.org/document/9981107/", "author_list": ["Chunran Zheng", "Qingyan Zhu", "Wei Xu", "Xiyuan Liu", "Qizhi Guo", "Fu Zhang", "Chunran Zheng", "Qingyan Zhu", "Wei Xu", "Xiyuan Liu", "Qizhi Guo", "Fu Zhang"], "abstract": "To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multisensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes FAST-LIVO, a fast LiDAR-Inertial-Visual Odometry system, which builds on two tightly-coupled and direct odometry subsystems: a VIO subsystem and a LIO subsystem. T..."}
+{"title": "Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals", "detail_url": "https://ieeexplore.ieee.org/document/9981893/", "author_list": ["Akos Odry", "Istvan Kecskes", "Dominik Csik", "Hashim A. Hashim", "Peter Sarcevic", "Akos Odry", "Istvan Kecskes", "Dominik Csik", "Hashim A. Hashim", "Peter Sarcevic"], "abstract": "This paper proposes a novel extended Kalman filter (EKF) along with its adaptive variant for effective magnetic, angular rate and gravity (MARG) sensor-only pose estimation of mobile robots operated longer periods in reference-denied environments. First, a gradient-descent orientation-based EKF framework is derived, which formulates the MARG-based pose propagation with both bandpass-filtered and b..."}
+{"title": "Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981164/", "author_list": ["Jayesh Kumar", "Chinmay Satish Raut", "Niravkumar Patel", "Jayesh Kumar", "Chinmay Satish Raut", "Niravkumar Patel"], "abstract": "Planning a safe trajectory for minimally invasive (keyhole) neurosurgery procedures require avoiding critical anatomical structures such as blood vessels and ventricles while optimizing the needle trajectory parameters such as length and curvature to comply with the needle kinematics. In this paper, we propose a reinforcement learning-based method for obtaining kinematically feasible trajectories ..."}
+{"title": "Learning Time-optimized Path Tracking with or without Sensory Feedback", "detail_url": "https://ieeexplore.ieee.org/document/9982053/", "author_list": ["Jonas C. Kiemel", "Torsten Kr\u00f6ger", "Jonas C. Kiemel", "Torsten Kr\u00f6ger"], "abstract": "In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to offline methods for time-optimal path parameterization, the reference path can be changed during motion execution. In addition, our approach can utilize sensory fe..."}
+{"title": "L2C2: Locally Lipschitz Continuous Constraint towards Stable and Smooth Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981812/", "author_list": ["Taisuke Kobayashi", "Taisuke Kobayashi"], "abstract": "This paper proposes a new regularization technique for reinforcement learning (RL) towards making policy and value functions smooth and stable. RL is known for the instability of the learning process and the sensitivity of the acquired policy to noise. Several methods have been proposed to resolve these problems, and in summary, the smoothness of policy and value functions learned mainly in RL con..."}
+{"title": "Learning Visual Robotic Control Efficiently with Contrastive Pre-training and Data Augmentation", "detail_url": "https://ieeexplore.ieee.org/document/9981055/", "author_list": ["Albert Zhan", "Ruihan Zhao", "Lerrel Pinto", "Pieter Abbeel", "Michael Laskin", "Albert Zhan", "Ruihan Zhao", "Lerrel Pinto", "Pieter Abbeel", "Michael Laskin"], "abstract": "Recent advances in unsupervised representation learning significantly improved the sample efficiency of training Reinforcement Learning policies in simulated environments. However, similar gains have not yet been seen for real-robot reinforcement learning. In this work, we focus on enabling data-efficient real-robot learning from pixels. We present Contrastive Pre-training and Data Augmentation fo..."}
+{"title": "Analyzing and Overcoming Degradation in Warm-Start Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981286/", "author_list": ["Benjamin Wexler", "Elad Sarafian", "Sarit Kraus", "Benjamin Wexler", "Elad Sarafian", "Sarit Kraus"], "abstract": "Reinforcement Learning (RL) for robotic applications can benefit from a warm-start where the agent is initialized with a pretrained behavioral policy. However, when transitioning to RL updates, degradation in performance can occur, which may compromise the robot's safety. This degradation, which constitutes an inability to properly utilize the pretrained policy, is attributed to extrapolation erro..."}
+{"title": "Online Model Learning for Shape Control of Deformable Linear Objects", "detail_url": "https://ieeexplore.ieee.org/document/9981080/", "author_list": ["Yuxuan Yang", "Johannes A. Stork", "Todor Stoyanov", "Yuxuan Yang", "Johannes A. Stork", "Todor Stoyanov"], "abstract": "Traditional approaches to manipulating the state of deformable linear objects (DLOs) - i.e., cables, ropes - rely on model-based planning. However, constructing an accurate dynamic model of a DLO is challenging due to the complexity of interactions and a high number of degrees of freedom. This renders the task of achieving a desired DLO shape particularly difficult and motivates the use of model-f..."}
+{"title": "PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9982259/", "author_list": ["Ren Liu", "Nitish Sontakke", "Sehoon Ha", "Ren Liu", "Nitish Sontakke", "Sehoon Ha"], "abstract": "Deep reinforcement learning (deep RL) has emerged as an effective tool for developing controllers for legged robots. However, vanilla deep RL often requires a tremendous amount of training samples and is not feasible for achieving robust behaviors. Instead, researchers have investigated a novel policy architecture by incorporating human experts' knowledge, such as Policies Modulating Trajectory Ge..."}
+{"title": "SafeTAC: Safe Tsallis Actor-Critic Reinforcement Learning for Safer Exploration", "detail_url": "https://ieeexplore.ieee.org/document/9982140/", "author_list": ["Dohyeong Kim", "Jaeseok Heo", "Songhwai Oh", "Dohyeong Kim", "Jaeseok Heo", "Songhwai Oh"], "abstract": "Satisfying safety constraints is the top priority in safe reinforcement learning (RL). However, without proper exploration, an overly conservative policy such as freezing at the same position can be generated. To this end, we utilize maximum entropy RL methods for exploration. In particular, an RL method with Tsallis entropy maximization, called Tsallis actor-critic (TAC), is used to synthesize po..."}
+{"title": "Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space", "detail_url": "https://ieeexplore.ieee.org/document/9981999/", "author_list": ["Kuan Fang", "Patrick Yin", "Ashvin Nair", "Sergey Levine", "Kuan Fang", "Patrick Yin", "Ashvin Nair", "Sergey Levine"], "abstract": "General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach configurable goals for a wide range of tasks on command. However, such goal-conditioned policies are notoriously difficult and time-consuming to train from scratc..."}
+{"title": "Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform", "detail_url": "https://ieeexplore.ieee.org/document/9981294/", "author_list": ["A. Bredenbeck", "S. Vyas", "M. Zwick", "D. Borrmann", "M.A. Olivares-Mendez", "A. N\u00fcchter", "A. Bredenbeck", "S. Vyas", "M. Zwick", "D. Borrmann", "M.A. Olivares-Mendez", "A. N\u00fcchter"], "abstract": "Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped..."}
+{"title": "Optimal and Risk-Aware Path Planning considering Localization Uncertainty for Space Exploration Rovers", "detail_url": "https://ieeexplore.ieee.org/document/9981179/", "author_list": ["J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez", "Pedro J. Sanchez-Cuevas", "Miguel Olivares-Mendez", "J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez", "Pedro J. Sanchez-Cuevas", "Miguel Olivares-Mendez"], "abstract": "The reliability of autonomous traverses of rovers is critical. It may be jeopardized by the accumulation of errors and the uncertainty propagation of their localization systems. Moreover, space environments are usually harsh, challenging and unpredictable. Teleoperation is complex due to the significant and unavoidable delay. For these reasons, a path planner that provides some level of autonomy w..."}
+{"title": "3D Human Pose Estimation in Weightless Environments Using a Fisheye Camera", "detail_url": "https://ieeexplore.ieee.org/document/9982265/", "author_list": ["Koji Minoda", "Takehisa Yairi", "Koji Minoda", "Takehisa Yairi"], "abstract": "Three-dimensional (3D) human pose estimation is one of the most basic tasks for human-interacting robots. Especially in weightless environments such as the International Space Station (ISS), wherein objects may move with a higher degree of freedom compared to on the ground, a camera with a wider field of view (FOV) is crucial in improving the probability of capturing surrounding humans. To this en..."}
+{"title": "A Sampling Based Approach to Robust Planning for a Planetary Lander", "detail_url": "https://ieeexplore.ieee.org/document/9981083/", "author_list": ["Connor Basich", "Joseph A. Russino", "Steve Chien", "Shlomo Zilberstein", "Connor Basich", "Joseph A. Russino", "Steve Chien", "Shlomo Zilberstein"], "abstract": "Planning for autonomous operation in unknown environments poses a number of technical challenges. The agent must ensure robustness to unknown phenomena, un-predictable variation in execution, and uncertain resources, all while maximizing its objective. These challenges are ex-acerbated in the context of space missions where uncertainty is often higher, long communication delays necessitate robust ..."}
+{"title": "Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981661/", "author_list": ["Andrej Orsula", "Simon B\u00f8gh", "Miguel Olivares-Mendez", "Carol Martinez", "Andrej Orsula", "Simon B\u00f8gh", "Miguel Olivares-Mendez", "Carol Martinez"], "abstract": "Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering scientific data and collecting samples. This work investigates the applicability of deep reinforcement learning for vision-based robotic grasping of objects on the ..."}
+{"title": "Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982113/", "author_list": ["Pranay Thangeda", "Melkior Ornik", "Pranay Thangeda", "Melkior Ornik"], "abstract": "Autonomously selecting the right sequence of locations to sample is critical during exploration missions in unknown environments, with constraints on the number of samples that can be collected, and a possibility of system failure. A key idea for decision-making in unknown environments is to exploit side information available to the agent, combined with the information gained from samples collecte..."}
+{"title": "Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981440/", "author_list": ["Rohan Chitnis", "Tom Silver", "Joshua B. Tenenbaum", "Tom\u00e1s Lozano-P\u00e9rez", "Leslie Pack Kaelbling", "Rohan Chitnis", "Tom Silver", "Joshua B. Tenenbaum", "Tom\u00e1s Lozano-P\u00e9rez", "Leslie Pack Kaelbling"], "abstract": "In robotic domains, learning and planning are complicated by continuous state spaces, continuous action spaces, and long task horizons. In this work, we address these challenges with Neuro-Symbolic Relational Transition Models (NSRTs), a novel class of models that are data-efficient to learn, compatible with powerful robotic planning methods, and generalizable over objects. NSRTs have both symboli..."}
+{"title": "T3VIP: Transformation-based 3D Video Prediction", "detail_url": "https://ieeexplore.ieee.org/document/9981187/", "author_list": ["Iman Nematollahi", "Erick Rosete-Beas", "Seyed Mahdi B. Azad", "Raghu Rajan", "Frank Hutter", "Wolfram Burgard", "Iman Nematollahi", "Erick Rosete-Beas", "Seyed Mahdi B. Azad", "Raghu Rajan", "Frank Hutter", "Wolfram Burgard"], "abstract": "For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a transformation-based 3D video prediction (T3VIP) approach that explicitly models the 3D motion by decomposing a scene into its object parts and predicting their corresponding r..."}
+{"title": "Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features", "detail_url": "https://ieeexplore.ieee.org/document/9981303/", "author_list": ["Taekyung Kim", "Hojin Lee", "Wonsuk Lee", "Taekyung Kim", "Hojin Lee", "Wonsuk Lee"], "abstract": "Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear and complex dynamics under various environments. On the other hand, neural network models have been widely employed in this domain, demonstrating powerful functi..."}
+{"title": "A Flexible Calibration Algorithm for High-speed Bionic Vision System based on Galvanometer", "detail_url": "https://ieeexplore.ieee.org/document/9981947/", "author_list": ["Qing Li", "Mengjuan Chen", "Qingyi Gu", "Idaku Ishii", "Qing Li", "Mengjuan Chen", "Qingyi Gu", "Idaku Ishii"], "abstract": "Traditional gimbal-based bionic eye systems usually use a multi-degree-of-freedom mechanical platform to move the camera freely, which makes the structure complex and bulky. The galvanometer-based reflective bionic eye system uses a galvanometer to replace the traditional mechanical rotation structure, which separates the camera from the gimbal system, greatly simplifying the structure. However, t..."}
+{"title": "Design and Control of a Multi-Modal Soft Gripper Inspired by Elephant Fingers", "detail_url": "https://ieeexplore.ieee.org/document/9982126/", "author_list": ["Shogo Washio", "Kieran Gilday", "Fumiya Iida", "Shogo Washio", "Kieran Gilday", "Fumiya Iida"], "abstract": "Soft grippers have the potential to solve many existing manipulation challenges, particularly in agile industry applications. However, existing soft grippers are often limited in the range of objects they can pick, or by cluttered environments. We present a design inspired by the nose and fingers at the end of an elephant's trunk, which can pick both by suction and pinching, allowing increased gra..."}
+{"title": "Design Optimization of an Ultrafast-Striking Mantis Shrimp Microrobot", "detail_url": "https://ieeexplore.ieee.org/document/9981352/", "author_list": ["Sandra C. Wells", "Nak-Seung P. Hyun", "Emma Steinhardt", "Tran H. Nguyen", "Robert J. Wood", "Sandra C. Wells", "Nak-Seung P. Hyun", "Emma Steinhardt", "Tran H. Nguyen", "Robert J. Wood"], "abstract": "Mantis shrimp produce one of the fastest strikes in the animal kingdom, their striking appendages reaching tip velocities of tens of meters per second underwater. Their ultrafast movement is capable of crushing the shells of prey and generating cavitation bubbles, and has long raised interest from the scientific community. To study the underlying mechanisms and operating principles behind these be..."}
+{"title": "Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation", "detail_url": "https://ieeexplore.ieee.org/document/9981673/", "author_list": ["Yoshimoto Ribayashi", "Kento Kawaharazuka", "Yasunori Toshimitsu", "Daiki Kusuyama", "Akihiro Miki", "Koki Shinjo", "Masahiro Baudo", "Temma Suzuki", "Yuta Kojio", "Kei Okada", "Masayuki Inaba", "Yoshimoto Ribayashi", "Kento Kawaharazuka", "Yasunori Toshimitsu", "Daiki Kusuyama", "Akihiro Miki", "Koki Shinjo", "Masahiro Baudo", "Temma Suzuki", "Yuta Kojio", "Kei Okada", "Masayuki Inaba"], "abstract": "There is a way to utilize humanoid robots to mimic human behavior by taking advantage of their human-like proportions. In general, motion capture is used; in this case, the posture of the body links can be taken. However, this method does not provide detailed information on the contact state, which is important for actions that involve contact with objects. In this study, we focused on the foot, w..."}
+{"title": "Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-scale Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981585/", "author_list": ["Zhitao Yu", "Gioele Zardini", "Andrea Censi", "Sawyer Fuller", "Zhitao Yu", "Gioele Zardini", "Andrea Censi", "Sawyer Fuller"], "abstract": "Visual navigation for insect-scale robots is very challenging because in such a small scale, the size, weight, and power (SWaP) constraints do not appear to permit visual navigation techniques such as SLAM (Simultaneous Localization and Mapping) because they are likely to be too power-hungry. We propose to use a biology-inspired approach, which we term the bilinear optic flow approximation, that i..."}
+{"title": "Tactile Perception for Growing Robots via Discrete Curvature Measurements", "detail_url": "https://ieeexplore.ieee.org/document/9981273/", "author_list": ["Micah Bryant", "Connor Watson", "Tania K. Morimoto", "Micah Bryant", "Connor Watson", "Tania K. Morimoto"], "abstract": "Soft, growing robots have the ability to conform to their environment and traverse highly curved paths that would typically prove challenging for other robot designs. As they navigate through these constrained and cluttered environments, there is often significant interaction between the robot and its surroundings. In this work, we propose a method to enable tactile perception for growing robots, ..."}
+{"title": "Bioinspired Antagonist-agonist Artificial Muscles for Humanoid Eyeball Motions", "detail_url": "https://ieeexplore.ieee.org/document/9982226/", "author_list": ["Zhen Luo", "Zhipeng Xu", "Jisen Li", "Jian Zhu", "Zhen Luo", "Zhipeng Xu", "Jisen Li", "Jian Zhu"], "abstract": "Natural eyeball motions in humanoid robots can contribute to friendly communication, thus improving the human-robot interaction. In this paper, we develop antagonist-agonist artificial muscles for humanoid eyeball motions, by using dielectric elastomer actuators (DEAs). Inspired by human eyeballs, the artificial muscles consist of two pairs of DEA: one pair for the horizontal motion, and the other..."}
+{"title": "The Relationship Between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect", "detail_url": "https://ieeexplore.ieee.org/document/9981657/", "author_list": ["Robert Kovenburg", "Andrew Slezak", "Chase George", "Richard Gale", "Burak Aksak", "Robert Kovenburg", "Andrew Slezak", "Chase George", "Richard Gale", "Burak Aksak"], "abstract": "The fingerprint effect, wherein vibrations are produced with frequencies related to the speed of a surface sliding across fingerprint ridges and the period of those ridges, has been studied for use in both slip detection and texture recognition. Here, we use a simple bioinspired sensor with parallel, straight, fingerprint-like ridges and a single ferroelectric ceramic transducer to show that the f..."}
+{"title": "Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping", "detail_url": "https://ieeexplore.ieee.org/document/9981060/", "author_list": ["Marco Bolignari", "An Mo", "Marco Fontana", "Alexander Badri-Spr\u00f6witz", "Marco Bolignari", "An Mo", "Marco Fontana", "Alexander Badri-Spr\u00f6witz"], "abstract": "The observation of the anatomy of agile animals and their locomotion capabilities emphasizes the importance of fast and lightweight legs and confirms the intrinsic compliance integrated into muscle-tendon units as a major ingredient for energy efficient and robust locomotion. This quality is especially relevant for distal leg segments which are subject to aggressive dynamics. Legged robots are acc..."}
+{"title": "Model-Free Unsupervised Anomaly Detection of a General Robotic System Using a Stacked LSTM and Its Application to a Fixed-Wing Unmanned Aerial Vehicle", "detail_url": "https://ieeexplore.ieee.org/document/9981950/", "author_list": ["Jae-Hyeon Park", "Soham Shanbhag", "Dong Eui Chang", "Jae-Hyeon Park", "Soham Shanbhag", "Dong Eui Chang"], "abstract": "With the growing application of various robots in real life, the need for an automatic anomaly detection system for robots is necessary for safety. In this paper, we develop an anomaly detection method using a stacked LSTM that can be applied to any robot controlled by a feedback control. Our method does not need installation of additional sensors. Our method is model-free and unsupervised because..."}
+{"title": "Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9982223/", "author_list": ["Patrick Hegemann", "Tim Zechmeister", "Markus Grotz", "Kevin Hitzler", "Tamim Asfour", "Patrick Hegemann", "Tim Zechmeister", "Markus Grotz", "Kevin Hitzler", "Tamim Asfour"], "abstract": "The ability to detect failure during task execution and to recover from failure is vital for autonomous robots performing tasks in previously unknown environments. In this paper, we present an approach for failure detection during the execution of grasping and mobile manipulation tasks by a humanoid robot. The approach combines multi-modal sensory information consisting of proprioceptive, force an..."}
+{"title": "Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure", "detail_url": "https://ieeexplore.ieee.org/document/9981806/", "author_list": ["Mohammadreza Mousaei", "Junyi Geng", "Azarakhsh Keipour", "Dongwei Bai", "Sebastian Scherer", "Mohammadreza Mousaei", "Junyi Geng", "Azarakhsh Keipour", "Dongwei Bai", "Sebastian Scherer"], "abstract": "Enabling vertical take-off and landing while pro-viding the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are a better choice than fixed-wing and multirotor aircraft for such applications. Prior works on these aircraft have addresse..."}
+{"title": "Transmissibility-based DAgger For Fault Classification in Connected Autonomous Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9982083/", "author_list": ["Abdelrahman Khalil", "Mohammad Al Janaideh", "Lourdes Pe\u00f1a Castillo", "Octavia A. Dobre", "Abdelrahman Khalil", "Mohammad Al Janaideh", "Lourdes Pe\u00f1a Castillo", "Octavia A. Dobre"], "abstract": "Fault mitigation in Connected Autonomous Vehicle (CAV) platoons is faster and more reliable if the fault structure is known. In this paper we propose using transmissibility operators, which are relationships that relate a set of velocities with another in the platoon, to classify the faults. Transmissibility operators were shown to be exceptional in signals estimation; however, its also shown to b..."}
+{"title": "RoBiGAN: A bidirectional Wasserstein GAN approach for online robot fault diagnosis via internal anomaly detection", "detail_url": "https://ieeexplore.ieee.org/document/9982240/", "author_list": ["Tristan Schnell", "Katrin Bott", "Lennart Puck", "Timoth\u00e9e Buettner", "Arne Roennau", "R\u00fcdiger Dillmann", "Tristan Schnell", "Katrin Bott", "Lennart Puck", "Timoth\u00e9e Buettner", "Arne Roennau", "R\u00fcdiger Dillmann"], "abstract": "Complex robots in challenging scenarios require constant monitoring of their state and adaptation of their behavior to ensure robustness, reliability and longevity. While known possible errors can be specifically surveilled, other prob-lems can be fully unforeseen, requiring detection systems able to identify novel faults. We detect possible faults as anomalies on various internal sensor data, uti..."}
+{"title": "PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains", "detail_url": "https://ieeexplore.ieee.org/document/9981660/", "author_list": ["Sharmita Dey", "David Fan", "Robin Schmid", "Anushri Dixit", "Kyohei Otsu", "Thomas Touma", "Arndt F. Schilling", "Ali-Akbar Agha-Mohammadi", "Sharmita Dey", "David Fan", "Robin Schmid", "Anushri Dixit", "Kyohei Otsu", "Thomas Touma", "Arndt F. Schilling", "Ali-Akbar Agha-Mohammadi"], "abstract": "Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be resolved by adjusting the robot's locomotion by switching to more conservative and stable locomotion modes, such as crawl mode (where three feet are in contact with..."}
+{"title": "Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981542/", "author_list": ["Jonathan J.Y. Kim", "Martin Urschler", "Patricia J. Riddle", "Jorg S. Wicker", "Jonathan J.Y. Kim", "Martin Urschler", "Patricia J. Riddle", "Jorg S. Wicker"], "abstract": "In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag- of-Words (vBoW) has been an LCD algorithm of choice for many state-of-the-art SLAM systems. It uses a set of visual features to provide robust place recognition but fails to perceive the semantics or spatial relationship between featur..."}
+{"title": "Probabilistic Data Association for Semantic SLAM at Scale", "detail_url": "https://ieeexplore.ieee.org/document/9981750/", "author_list": ["Elad Michael", "Tyler Summers", "Tony A. Wood", "Chris Manzie", "Iman Shames", "Elad Michael", "Tyler Summers", "Tony A. Wood", "Chris Manzie", "Iman Shames"], "abstract": "With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric features (points, lines, and planes) which are often view-point dependent and error prone in visually repetitive environments. Semantic information can improve th..."}
+{"title": "Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981256/", "author_list": ["Yulun Tian", "Amrit Singh Bedi", "Alec Koppel", "Miguel Calvo-Fullana", "David M. Rosen", "Jonathan P. How", "Yulun Tian", "Amrit Singh Bedi", "Alec Koppel", "Miguel Calvo-Fullana", "David M. Rosen", "Jonathan P. How"], "abstract": "We present the first distributed optimization al-gorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM) applications. Our method allows agents to cooperatively reconstruct a shared geometric model on a central server by fusing individual observations, but without the n..."}
+{"title": "CFP-SLAM: A Real-time Visual SLAM Based on Coarse-to-Fine Probability in Dynamic Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981826/", "author_list": ["Xinggang Hu", "Yunzhou Zhang", "Zhenzhong Cao", "Rong Ma", "Yanmin Wu", "Zhiqiang Deng", "Wenkai Sun", "Xinggang Hu", "Yunzhou Zhang", "Zhenzhong Cao", "Rong Ma", "Yanmin Wu", "Zhiqiang Deng", "Wenkai Sun"], "abstract": "The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of semantic constraints and geometric constraints to deal with dynamic objects, but problems can still be raised, such as poor real-time performance, easy to treat peop..."}
+{"title": "LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane", "detail_url": "https://ieeexplore.ieee.org/document/9981217/", "author_list": ["Ze Wang", "Kailun Yang", "Hao Shi", "Peng Li", "Fei Gao", "Kaiwei Wang", "Ze Wang", "Kailun Yang", "Hao Shi", "Peng Li", "Fei Gao", "Kaiwei Wang"], "abstract": "Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV enables to perceive a wide range of surrounding scene elements and features. However, when the field of the camera reaches the negative half plane, one cannot si..."}
+{"title": "SO-PFH: Semantic Object-based Point Feature Histogram for Global Localization in Parking Lot", "detail_url": "https://ieeexplore.ieee.org/document/9981094/", "author_list": ["Jixin Lv", "Chao Meng", "Yue Wang", "Jie Sun", "Rong Xiong", "Shiliang Pu", "Jixin Lv", "Chao Meng", "Yue Wang", "Jie Sun", "Rong Xiong", "Shiliang Pu"], "abstract": "Global localization is essential for autonomous mobile systems, especially indoor applications where the GPS signal is denied. Although the appearance-based methods have been successfully applied in various localization tasks, they face various challenges such as light variation, viewpoint changing, and dynamic interference. Additionally, the appearance-based methods usually require a visual featu..."}
+{"title": "A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization", "detail_url": "https://ieeexplore.ieee.org/document/9982254/", "author_list": ["Mao Jun", "Zhang Lilian", "He Xiaofeng", "Qu Hao", "Hu Xiaoping", "Mao Jun", "Zhang Lilian", "He Xiaofeng", "Qu Hao", "Hu Xiaoping"], "abstract": "Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) for geolocalization. In this paper, we propose to use a lightweight visual-inertial system with a 2D georeferenced map to obtain accurate geodetic positions for UAVs. The proposed system firstly integrates a micro inertial measurement un..."}
+{"title": "Global Data Association for SLAM with 3D Grassmannian Manifold Objects", "detail_url": "https://ieeexplore.ieee.org/document/9981075/", "author_list": ["Parker C. Lusk", "Jonathan P. How", "Parker C. Lusk", "Jonathan P. How"], "abstract": "Using pole and plane objects in lidar SLAM can increase accuracy and decrease map storage requirements compared to commonly-used point cloud maps. However, place recognition and geometric verification using these landmarks is challenging due to the requirement for global matching without an initial guess. Existing works typically only leverage either pole or plane landmarks, limiting application t..."}
+{"title": "Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration", "detail_url": "https://ieeexplore.ieee.org/document/9981251/", "author_list": ["Yang Xu", "Ronghao Zheng", "Senlin Zhang", "Meiqin Liu", "Yang Xu", "Ronghao Zheng", "Senlin Zhang", "Meiqin Liu"], "abstract": "This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertain..."}
+{"title": "Homology-Class Guided Rapidly-Exploring Random Tree For Belief Space Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981602/", "author_list": ["Ran Hao", "M. Cenk \u00c7avuso\u011flu", "Ran Hao", "M. Cenk \u00c7avuso\u011flu"], "abstract": "In this work, an efficient homology guided belief space planning method for obstacle-cluttered environments is presented. The proposed planner follows a two-step approach. First, a h-signature guided rapidly-exploring random tree (HRRT) algorithm is proposed to provide nominal trajecto-ries in different homology classes by constructing homology aware sub-trees in a parallel manner. The HRRT planne..."}
+{"title": "Improving the Efficiency of Sampling-based Motion Planners via Runtime Predictions for Motion-Planning Problems with Dynamics", "detail_url": "https://ieeexplore.ieee.org/document/9981753/", "author_list": ["Hoang-Dung Bui", "Yuanjie Lu", "Erion Plaku", "Hoang-Dung Bui", "Yuanjie Lu", "Erion Plaku"], "abstract": "While sampling-based approaches have made significant progress, motion planning with dynamics still poses significant challenges as the planner has to generate not only collision-free but also dynamically-feasible trajectories that enable the robot to reach its goal. To improve the efficiency of sampling-based motion planners, this paper develops a framework, termed Motion-Planning Runtime Predict..."}
+{"title": "BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981732/", "author_list": ["Jay Kamat", "Joaquim Ortiz-Haro", "Marc Toussaint", "Florian T. Pokorny", "Andreas Orthey", "Jay Kamat", "Joaquim Ortiz-Haro", "Marc Toussaint", "Florian T. Pokorny", "Andreas Orthey"], "abstract": "Optimal sampling based motion planning and trajectory optimization are two competing frameworks to generate optimal motion plans. Both frameworks have complementary properties: Sampling based planners are typically slow to converge, but provide optimality guarantees. Trajectory optimizers, however, are typically fast to converge, but do not provide global optimality guarantees in nonconvex problem..."}
+{"title": "Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model", "detail_url": "https://ieeexplore.ieee.org/document/9981842/", "author_list": ["Pengda Mao", "Quan Quan", "Pengda Mao", "Quan Quan"], "abstract": "This paper proposes a model of a class of regular virtual tubes that can generate safe, feasible, and smooth space for a robotics swarm in an obstacle-dense environment, especially for a drone swarm based on the flocking model. The regular principles are first proposed, and the regular conditions are then formulated based on the principles. A method to obtain a regular virtual tube is also present..."}
+{"title": "Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space", "detail_url": "https://ieeexplore.ieee.org/document/9981906/", "author_list": ["Iori Kumagai", "Masaki Murooka", "Mitsuharu Morisawa", "Fumio Kanehiro", "Iori Kumagai", "Masaki Murooka", "Mitsuharu Morisawa", "Fumio Kanehiro"], "abstract": "In this paper, we propose a trajectory planning framework for a robot that exploits a pre-computed database of end-effector trajectories as the guidance of optimization-based inverse kinematics. We constructed a reachable graph of a robot offline, which represents feasible end-effector paths with corresponding configurations. When performing the online trajectory planning, we applied A* search to ..."}
+{"title": "Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise", "detail_url": "https://ieeexplore.ieee.org/document/9981881/", "author_list": ["Manolis Chiou", "Georgios-Theofanis Epsimos", "Grigoris Nikolaou", "Pantelis Pappas", "Giannis Petousakis", "Stefan M\u00fchl", "Rustam Stolkin", "Manolis Chiou", "Georgios-Theofanis Epsimos", "Grigoris Nikolaou", "Pantelis Pappas", "Giannis Petousakis", "Stefan M\u00fchl", "Rustam Stolkin"], "abstract": "This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the..."}
+{"title": "Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty", "detail_url": "https://ieeexplore.ieee.org/document/9981597/", "author_list": ["Paolo De Petris", "Mihir Dharmadhikari", "Huan Nguyen", "Kostas Alexis", "Paolo De Petris", "Mihir Dharmadhikari", "Huan Nguyen", "Kostas Alexis"], "abstract": "This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. Attuned to the fact that micro aerial vehicles are often tasked to navigate within GPS-denied, possibly unknown, confined and obstacle-filled environments the proposed method exploits collision-tolerance at the robot design level to mitigate the risks..."}
+{"title": "Safe Drone Flight with Time-Varying Backup Controllers", "detail_url": "https://ieeexplore.ieee.org/document/9981741/", "author_list": ["Andrew Singletary", "Aiden Swann", "Ivan Dario Jimenez Rodriguez", "Aaron D. Ames", "Andrew Singletary", "Aiden Swann", "Ivan Dario Jimenez Rodriguez", "Aaron D. Ames"], "abstract": "The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, high-speed agile behavior, such as that exhibited in drone racing, make these simplified models too unreliable for safety-critical control. In this work, we introduce the concept of time-varying backup controllers (TBCs): ..."}
+{"title": "Mobile Manipulation Leveraging Multiple Views", "detail_url": "https://ieeexplore.ieee.org/document/9981277/", "author_list": ["David Watkins-Valls", "Peter K Allen", "Henrique Maia", "Madhavan Seshadri", "Jonathan Sanabria", "Nicholas Waytowich", "Jacob Varley", "David Watkins-Valls", "Peter K Allen", "Henrique Maia", "Madhavan Seshadri", "Jonathan Sanabria", "Nicholas Waytowich", "Jacob Varley"], "abstract": "While both navigation and manipulation are chal-lenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and shape completion methods to manipulate an object with a mobile robot. Our system utilizes uncertainty in the initial estimation of a manipulation target to cal..."}
+{"title": "Multi-directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System", "detail_url": "https://ieeexplore.ieee.org/document/9981325/", "author_list": ["Habib Ahmed", "Son Thanh Nguyen", "Duc La", "Chuong Phuoc Le", "Hung Manh La", "Habib Ahmed", "Son Thanh Nguyen", "Duc La", "Chuong Phuoc Le", "Hung Manh La"], "abstract": "This paper presents a novel design of a multi-directional bicycle robot, which is developed for the inspection of steel structures, in particular, steel-reinforced bridges. The locomotion concept is based on arranging two magnetic wheels in a bicycle-like configuration with two independent steering actuators. This configuration allows the robot to possess multi-directional mobility. An additional ..."}
+{"title": "Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion", "detail_url": "https://ieeexplore.ieee.org/document/9981610/", "author_list": ["Ryo Okumura", "Nobuki Nishio", "Tadahiro Taniguchi", "Ryo Okumura", "Nobuki Nishio", "Tadahiro Taniguchi"], "abstract": "An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a plug and socket is fundamental for achieving the task. World models are promising technologies for visuomotor control because they obtain appropriate state representation to jointly optimize feature extraction and latent d..."}
+{"title": "Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints", "detail_url": "https://ieeexplore.ieee.org/document/9981235/", "author_list": ["Huixu Dong", "Yue Feng", "Chen Qiu", "Ye Pan", "Miao He", "I-Ming Chen", "Huixu Dong", "Yue Feng", "Chen Qiu", "Ye Pan", "Miao He", "I-Ming Chen"], "abstract": "We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the corresponding control variables. Then, a novel force-position control strategy is proposed to separately control the force-position along the normal direction of the s..."}
+{"title": "Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis", "detail_url": "https://ieeexplore.ieee.org/document/9982148/", "author_list": ["Connor L. Yako", "Shenli Yuan", "J. Kenneth Salisbury", "Connor L. Yako", "Shenli Yuan", "J. Kenneth Salisbury"], "abstract": "In this paper we present a potential energy map based approach that provides a framework for the design and control of a robotic grasper. Unlike other potential energy map approaches, our framework considers friction for a more realistic perspective on grasper performance. Our analysis establishes the importance of considering dynamically variable geometry in grasper design, namely palm width, lin..."}
+{"title": "A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator", "detail_url": "https://ieeexplore.ieee.org/document/9981155/", "author_list": ["Chandramouly Ulagaoozhian", "Vincent Duchaine", "Chandramouly Ulagaoozhian", "Vincent Duchaine"], "abstract": "While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents ..."}
+{"title": "The Good Grasp, the Bad Grasp, and the Plateau in Tactile-Based Grasp Stability Prediction", "detail_url": "https://ieeexplore.ieee.org/document/9981360/", "author_list": ["Jennifer Kwiatkowski", "Mohammad Jolaei", "Alexandre Bernier", "Vincent Duchaine", "Jennifer Kwiatkowski", "Mohammad Jolaei", "Alexandre Bernier", "Vincent Duchaine"], "abstract": "Research around tactile sensing for grasp stability prediction in robotic manipulators continues to be popular, however few works are able to achieve a high classification accuracy. Due to simulation complexity, data-driven methods are often forced to rely on experimental data, yielding small, often unbalanced, data sets. In this work, the authors use a 3972 sample data set to explore the effects ..."}
+{"title": "Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study", "detail_url": "https://ieeexplore.ieee.org/document/9981569/", "author_list": ["Arnav Gupta", "Yuemin Mao", "Ankit Bhatia", "Xianyi Cheng", "Jonathan King", "Yifan Hou", "Matthew T. Mason", "Arnav Gupta", "Yuemin Mao", "Ankit Bhatia", "Xianyi Cheng", "Jonathan King", "Yifan Hou", "Matthew T. Mason"], "abstract": "This paper explores a novel approach to dexterous manipulation, aimed at levels of speed, precision, robustness, and simplicity suitable for practical deployment. The enabling technology is a Direct-drive Hand (DDHand) comprising two fingers, two DOFs each, that exhibit high speed and a light touch. The test application is the dexterous manipulation of three small and irregular parts, moving them ..."}
+{"title": "SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use", "detail_url": "https://ieeexplore.ieee.org/document/9982092/", "author_list": ["H.J. Terry Suh", "Naveen Kuppuswamy", "Tao Pang", "Paul Mitiguy", "Alex Alspach", "Russ Tedrake", "H.J. Terry Suh", "Naveen Kuppuswamy", "Tao Pang", "Paul Mitiguy", "Alex Alspach", "Russ Tedrake"], "abstract": "We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sens..."}
+{"title": "6D Robotic Assembly Based on RGB-only Object Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9982262/", "author_list": ["Bowen Fu", "Sek Kun Leong", "Xiaocong Lian", "Xiangyang Ji", "Bowen Fu", "Sek Kun Leong", "Xiaocong Lian", "Xiangyang Ji"], "abstract": "Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and assemble blocks with tight tolerances. Aiming to provide an off-the-shelf RGB-only solution, our system is built upon a monocular 6D object pose estimation network tra..."}
+{"title": "Context and Intention aware 3D Human Body Motion Prediction using an Attention Deep Learning model in Handover Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981465/", "author_list": ["Javier Laplaza", "Francesc Moreno-Noguer", "Alberto Sanfeliu", "Javier Laplaza", "Francesc Moreno-Noguer", "Alberto Sanfeliu"], "abstract": "This work explores how contextual information and human intention affect the motion prediction of humans during a handover operation with a social robot. By classifying human intention in four different classes, we developed a model able to generate a different motion for each intention class. Furthermore, the model uses a multi-headed attention architecture to add contextual information to the pi..."}
+{"title": "Learning a State Estimator for Tactile In-Hand Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981730/", "author_list": ["Lennart R\u00f6stel", "Leon Sievers", "Johannes Pitz", "Berthold B\u00e4uml", "Lennart R\u00f6stel", "Leon Sievers", "Johannes Pitz", "Berthold B\u00e4uml"], "abstract": "We study the problem of estimating the pose of an object which is being manipulated by a multi-fingered robotic hand by only using proprioceptive feedback. To address this challenging problem, we propose a novel variant of differentiable particle filters, which combines two key extensions. First, our learned proposal distribution incorporates recent measurements in a way that mitigates weight dege..."}
+{"title": "A Two-stage Learning Architecture that Generates High-Quality Grasps for a Multi-Fingered Hand", "detail_url": "https://ieeexplore.ieee.org/document/9981133/", "author_list": ["Dominik Winkelbauer", "Berthold B\u00e4uml", "Matthias Humt", "Nils Thuerey", "Rudolph Triebel", "Dominik Winkelbauer", "Berthold B\u00e4uml", "Matthias Humt", "Nils Thuerey", "Rudolph Triebel"], "abstract": "We investigate the problem of planning stable grasps for object manipulations using an 18-DOF robotic hand with four fingers. The main challenge here is the high-dimensional search space, and we address this problem using a novel two-stage learning process. In the first stage, we train an autoregressive network called the hand-pose-generator, which learns to generate a distribution of valid 6D pos..."}
+{"title": "Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981295/", "author_list": ["David Klee", "Ondrej Biza", "Robert Platt", "David Klee", "Ondrej Biza", "Robert Platt"], "abstract": "Multi-goal policy learning for robotic manipu-lation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level discrete representation of the domain, we show that policies to reach dozens of goals can be learned with a single network using Q-learning from pixels. The agent f..."}
+{"title": "Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly", "detail_url": "https://ieeexplore.ieee.org/document/9982158/", "author_list": ["Yulong Li", "Shubham Agrawal", "Jen-Shuo Liu", "Steven K. Feiner", "Shuran Song", "Yulong Li", "Shubham Agrawal", "Jen-Shuo Liu", "Steven K. Feiner", "Shuran Song"], "abstract": "Studies in robot teleoperation have been centered around action specifications-from continuous joint control to discrete end-effector pose control. However, these \u201crobot-centric\u201d interfaces often require skilled operators with extensive robotics expertise. To make teleoperation accessible to nonexpert users, we propose the framework \u201cScene Editing as Teleoperation\u201d (SEaT), where the key idea is to..."}
+{"title": "On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981866/", "author_list": ["Benedict Stephan", "Dustin Aganian", "Lars Hinneburg", "Markus Eisenbach", "Steffen M\u00fcller", "Horst-Michael Gross", "Benedict Stephan", "Dustin Aganian", "Lars Hinneburg", "Markus Eisenbach", "Steffen M\u00fcller", "Horst-Michael Gross"], "abstract": "Automated grasping of arbitrary objects is an essential skill for many applications such as smart manufacturing and human robot interaction. This makes grasp detection a vital skill for automated robotic systems. Recent work in model-free grasp detection uses point cloud data as input and typically outperforms the earlier work on RGB(D)-based methods. We show that RGB(D)-based methods are being un..."}
+{"title": "A unified MPC design approach for AGV path following", "detail_url": "https://ieeexplore.ieee.org/document/9981575/", "author_list": ["Mirko Kokot", "Damjan Mikli\u0107", "Tamara Petrovi\u0107", "Mirko Kokot", "Damjan Mikli\u0107", "Tamara Petrovi\u0107"], "abstract": "This paper presents a unified approach to the design of Model Predictive Controllers (MPC), custom-tailored for path following by Automated Guided Vehicles (AGVs). The approach can be applied in a unified manner to several relevant AGV kinematic configurations, including tricycle, differential, and double steer-drive. By leveraging Linear Parameter Varying (LPV) MPC, it provides maximum maneuverab..."}
+{"title": "GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9982026/", "author_list": ["Yeongseok Lee", "Minsu Cho", "Kyung-Soo Kim", "Yeongseok Lee", "Minsu Cho", "Kyung-Soo Kim"], "abstract": "Collision avoidance in emergency situations is a crucial and challenging task in motion planning for autonomous vehicles. Especially in the field of optimization-based planning using nonlinear model predictive control, many efforts to achieve real-time performance are still ongoing. Among various approaches, the iterative linear quadratic regulator (iLQR) is known as an efficient means of nonlinea..."}
+{"title": "RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving", "detail_url": "https://ieeexplore.ieee.org/document/9982184/", "author_list": ["Timothy Ha", "Jeongwoo Oh", "Hojun Chung", "Gunmin Lee", "Songhwai Oh", "Timothy Ha", "Jeongwoo Oh", "Hojun Chung", "Gunmin Lee", "Songhwai Oh"], "abstract": "In this paper, we present a novel autonomous driving framework, called a road graph and image attention network (RIANet), which computes the attention scores of objects in the image using the road graph feature. The process of the proposed method is as follows: First, the feature encoder module encodes the road graph, image, and additional features of the scene. The attention network module then i..."}
+{"title": "P2EG: Prediction and Planning Integrated Robust Decision-Making for Automated Vehicle Negotiating in Narrow Lane with Explorative Game", "detail_url": "https://ieeexplore.ieee.org/document/9981332/", "author_list": ["Qianyi Zhang", "Xiao Li", "Ethan He", "Shuguang Ding", "Naizheng Wang", "Jingtai Liu", "Qianyi Zhang", "Xiao Li", "Ethan He", "Shuguang Ding", "Naizheng Wang", "Jingtai Liu"], "abstract": "In the narrow lane scene of autonomous driving, it is critical for the ego car to recognize the intentions of social vehicles and cooperate with them. However, cooperating with social vehicles is challenging due to insufficient information. This paper proposes an Explorative Game that adopts Participant Game and Perfect Bayesian Equilibrium to exploratively perform some aggressive actions to obtai..."}
+{"title": "Motion Planning for HyTAQs: A Topology-guided Unified NMPC Approach", "detail_url": "https://ieeexplore.ieee.org/document/9981106/", "author_list": ["Tong Wu", "Yimin Zhu", "Lixian Zhang", "Jianan Yang", "Yihang Ding", "Tong Wu", "Yimin Zhu", "Lixian Zhang", "Jianan Yang", "Yihang Ding"], "abstract": "In this study, a topology-guided unified nonlinear model predictive control (NMPC) approach is proposed for autonomous navigation of a class of Hybrid Terrestrial and Aerial Quadrotors (HyTAQs) in unknown environments. The approach can fully exploit the hybrid terrestrial-aerial locomotion of the vehicle and as such ensure a high navigation efficiency. A unified terrestrial-aerial NMPC is first fo..."}
+{"title": "Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection", "detail_url": "https://ieeexplore.ieee.org/document/9982057/", "author_list": ["Brendon Forsgren", "Ram Vasudevan", "Michael Kaess", "Timothy W. McLain", "Joshua G. Mangelson", "Brendon Forsgren", "Ram Vasudevan", "Michael Kaess", "Timothy W. McLain", "Joshua G. Mangelson"], "abstract": "This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibility on a pairwise basis, however many measurement types are not sufficiently constrained in a pairwise scenario to determine if either measurement is inconsistent with the other. This paper presents group-$k$ consistency ..."}
+{"title": "Floorplan-Aware Camera Poses Refinement", "detail_url": "https://ieeexplore.ieee.org/document/9981148/", "author_list": ["Anna Sokolova", "Filipp Nikitin", "Anna Vorontsova", "Anton Konushin", "Anna Sokolova", "Filipp Nikitin", "Anna Vorontsova", "Anton Konushin"], "abstract": "Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such as visual-based localization and navigation, where the correct position of walls is crucial. For many indoor scenes, there exists an image of a technical ftoorpl..."}
+{"title": "MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation", "detail_url": "https://ieeexplore.ieee.org/document/9982280/", "author_list": ["Hanwei Zhang", "Hideaki Uchiyama", "Shintaro Ono", "Hiroshi Kawasaki", "Hanwei Zhang", "Hideaki Uchiyama", "Shintaro Ono", "Hiroshi Kawasaki"], "abstract": "Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of under-standing dynamic surroundings in various scenarios including autonomous driving, augmented and virtual reality. However, performing dynamic SLAM solely with monocular images remain..."}
+{"title": "Gravity-constrained point cloud registration", "detail_url": "https://ieeexplore.ieee.org/document/9981916/", "author_list": ["Vladim\u00edr Kubelka", "Maxime Vaidis", "Fran\u00e7ois Pomerleau", "Vladim\u00edr Kubelka", "Maxime Vaidis", "Fran\u00e7ois Pomerleau"], "abstract": "Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant acceleration, the gravity vector makes two attitude angles out of three observable in the global coordinate frame. In visual odometry, this is already being us..."}
+{"title": "When Geometry is not Enough: Using Reflector Markers in Lidar SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981522/", "author_list": ["Gerhard Kurz", "Sebastian A. Scherer", "Peter Biber", "David Fleer", "Gerhard Kurz", "Sebastian A. Scherer", "Peter Biber", "David Fleer"], "abstract": "Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environments, we propose to add reflector markers in specific locations that would otherwise be difficult. We ..."}
+{"title": "Photometric single-view dense 3D reconstruction in endoscopy", "detail_url": "https://ieeexplore.ieee.org/document/9981742/", "author_list": ["V\u00edctor M. Batlle", "J.M.M. Montiel", "Juan D. Tard\u00f3s", "V\u00edctor M. Batlle", "J.M.M. Montiel", "Juan D. Tard\u00f3s"], "abstract": "Visual SLAM inside the human body will open the way to computer-assisted navigation in endoscopy. However, due to space limitations, medical endoscopes only provide monocular images, leading to systems lacking true scale. In this paper, we exploit the controlled lighting in colonoscopy to achieve the first in-vivo 3D reconstruction of the human colon using photometric stereo on a calibrated monocu..."}
+{"title": "Immersive View and Interface Design for Teleoperated Aerial Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981656/", "author_list": ["Basaran Bahadir Kocer", "Harvey Stedman", "Patryk Kulik", "Izaak Caves", "Nejra Van Zalk", "Vijay M. Pawar", "Mirko Kovac", "Basaran Bahadir Kocer", "Harvey Stedman", "Patryk Kulik", "Izaak Caves", "Nejra Van Zalk", "Vijay M. Pawar", "Mirko Kovac"], "abstract": "The recent momentum in aerial manipulation has led to an interest in developing virtual reality interfaces for aerial physical interaction tasks with simple, intuitive, and reliable control and perception. However, this requires the use of expensive subsystems and there is still a research gap between interface design, user evaluations and the effect on aerial manipulation tasks. Here, we present ..."}
+{"title": "WFH-VR: Teleoperating a Robot Arm to set a Dining Table across the Globe via Virtual Reality", "detail_url": "https://ieeexplore.ieee.org/document/9981729/", "author_list": ["Lai Sum Yim", "Quang TN Vo", "Ching-I Huang", "Chi-Ruei Wang", "Wren McQueary", "Hsueh-Cheng Wang", "Haikun Huang", "Lap-Fai Yu", "Lai Sum Yim", "Quang TN Vo", "Ching-I Huang", "Chi-Ruei Wang", "Wren McQueary", "Hsueh-Cheng Wang", "Haikun Huang", "Lap-Fai Yu"], "abstract": "This paper presents an easy-to-deploy, virtual reality-based teleoperation system for controlling a robot arm. The proposed system is based on a consumer-grade virtual reality device (Oculus Quest 2) with a low-cost robot arm (a LoCoBot) to allow easy replication and set up. The proposed Work-from-Home Virtual Reality (WFH-VR) system allows the user to feel an intimate connection with the real rem..."}
+{"title": "A Deep Learning Technique as a Sensor Fusion for Enhancing the Position in a Virtual Reality Micro-Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981239/", "author_list": ["John David Prieto Prada", "Miguel Luna", "Sang Hyun Park", "Cheol Song", "John David Prieto Prada", "Miguel Luna", "Sang Hyun Park", "Cheol Song"], "abstract": "Most virtual reality (VR) applications use a commercial controller for interaction. However, a typical virtual reality controller (VRC) lacks positional precision and accu-racy in millimeter-scale scenarios. This lack of precision and accuracy is caused by built-in sensors drift. Therefore, the tracking performance of a VRC needs to be enhanced for millimeter-scale scenarios. Herein, we introduce ..."}
+{"title": "A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation", "detail_url": "https://ieeexplore.ieee.org/document/9981619/", "author_list": ["Marco Minelli", "Cristian Secchi", "Marco Minelli", "Cristian Secchi"], "abstract": "In this paper, we propose a novel torque controller for the implementation virtual remote center of motion. The controller allows the system to implement the required behavior and guarantees the satisfaction of the remote center of motion constraint. Exploiting the Udwadia-Kalaba equation for constrained dynamic systems, the controller is synthesized considering the dynamic effect the constraint p..."}
+{"title": "Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9982215/", "author_list": ["Hisham Iqbal", "Ferdinando Rodriguez y Baena", "Hisham Iqbal", "Ferdinando Rodriguez y Baena"], "abstract": "Augmented reality (AR) has the potential to improve the immersion and efficiency of computer-assisted orthopaedic surgery (CAOS) by allowing surgeons to maintain focus on the operating site rather than external displays in the operating theatre. Successful deployment of AR to CAOS requires a calibration that can accurately calculate the spatial relationship between real and holographic objects. Se..."}
+{"title": "Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981123/", "author_list": ["Zheng Li", "Yiming Huang", "Yui-Pan Yau", "Pan Hui", "Lik-Hang Lee", "Zheng Li", "Yiming Huang", "Yui-Pan Yau", "Pan Hui", "Lik-Hang Lee"], "abstract": "Research attention on natural user interfaces (NUIs) for drone flights are rising. Nevertheless, NUIs are highly diversified, and primarily evaluated by different physical environments leading to hard-to-compare performance between such solutions. We propose a virtual environment, namely VRFlightSim, enabling comparative evaluations with enriched drone flight details to address this issue. We firs..."}
+{"title": "Learning with Yourself: a Tangible Twin Robot System to Promote STEM Education", "detail_url": "https://ieeexplore.ieee.org/document/9981423/", "author_list": ["Jiasi Gao", "Jiangtao Gong", "Guyue Zhou", "Haole Guo", "Tong Qi", "Jiasi Gao", "Jiangtao Gong", "Guyue Zhou", "Haole Guo", "Tong Qi"], "abstract": "This paper presents a customized programmable robotic system, TanTwin (Tangible Twin), designed to promote STEM education for K-12 children. Firstly, TanTwin is implemented based on a wheel-robot with standard LEGO bricks. With several deep neural networks, a child can convert a captured portrait of himself/herself into standard LEGO bricks, therefore he/she can build a tangible twin robot of him-..."}
+{"title": "Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag", "detail_url": "https://ieeexplore.ieee.org/document/9981168/", "author_list": ["Eren Allak", "Rooholla Khorrambakht", "Christian Brommer", "Stephan Weiss", "Eren Allak", "Rooholla Khorrambakht", "Christian Brommer", "Stephan Weiss"], "abstract": "Suspended Cable-Driven Parallel Robots (SCDPR) have intriguing capabilities on large scales but still have open challenges in precisely estimating the end-effector pose. The cables exhibit a downward curved shape, also known as cable sag which needs to be accounted for in the pose estimation. The catenary equations can accurately describe this phenomenon but are only accurate in equilibrium condit..."}
+{"title": "End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy", "detail_url": "https://ieeexplore.ieee.org/document/9981712/", "author_list": ["Shoki Tsuboi", "Hitoshi Kino", "Kenji Tahara", "Shoki Tsuboi", "Hitoshi Kino", "Kenji Tahara"], "abstract": "This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the ..."}
+{"title": "Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions", "detail_url": "https://ieeexplore.ieee.org/document/9981997/", "author_list": ["Yongwei Zou", "Yusheng Hu", "Huanhui Cao", "Yuchen Xu", "Yuanjie Yu", "Wenjie Lu", "Hao Xiong", "Yongwei Zou", "Yusheng Hu", "Huanhui Cao", "Yuchen Xu", "Yuanjie Yu", "Wenjie Lu", "Hao Xiong"], "abstract": "Cable-Driven Parallel Robots (CDPRs) have been proposed for a variety of applications such as material handling, rehabilitation, and instrumentation. However, the collision-free constraint of CDPRs limits the workspace of CDPRs and the feasible position of anchor points. To address the collision-free constraint of CDPRs, a data-driven kinematic control scheme is developed for CDPRs, enabling a CDP..."}
+{"title": "RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping", "detail_url": "https://ieeexplore.ieee.org/document/9981963/", "author_list": ["Temma Suzuki", "Yasunori Toshimitsu", "Yuya Nagamatsu", "Kento Kawaharazuka", "Akihiro Miki", "Yoshimoto Ribayashi", "Masahiro Bando", "Kunio Kojima", "Yohei Kakiuchi", "Kei Okada", "Masayuki Inaba", "Temma Suzuki", "Yasunori Toshimitsu", "Yuya Nagamatsu", "Kento Kawaharazuka", "Akihiro Miki", "Yoshimoto Ribayashi", "Masahiro Bando", "Kunio Kojima", "Yohei Kakiuchi", "Kei Okada", "Masayuki Inaba"], "abstract": "Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a three-dimensional environment. In this study, we propose a parallel wire-driven leg structure, which has one DoF of linear motion and two DoFs of rotation and i..."}
+{"title": "Accelerated Reinforcement Learning for Temporal Logic Control Objectives", "detail_url": "https://ieeexplore.ieee.org/document/9981759/", "author_list": ["Yiannis Kantaros", "Yiannis Kantaros"], "abstract": "This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP captures uncertainty in the workspace structure and the outcomes of control decisions. The control objective is to synthesize a control policy that maximizes the pro..."}
+{"title": "Qualitative Belief Space Planning via Compositions", "detail_url": "https://ieeexplore.ieee.org/document/9981502/", "author_list": ["Itai Zilberman", "Vadim Indelman", "Itai Zilberman", "Vadim Indelman"], "abstract": "Planning under uncertainty is a fundamental problem in robotics. Classical approaches rely on a metrical representation of the world and robot's states to infer the next course of action. While these approaches are considered accurate, they are often susceptible to metric errors and tend to be costly regarding memory and time consumption. However, in some cases, relying on qualitative geometric in..."}
+{"title": "An Analytical Study of Motion of Autonomous Vehicles under Imperfect Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981329/", "author_list": ["Swagata Biswas", "Himadri Sekhar Paul", "Saurabh Bagchi", "Swagata Biswas", "Himadri Sekhar Paul", "Saurabh Bagchi"], "abstract": "A fully tested autonomous system works predictably under ideal or assumed environment. However, its behavior is not fully defined when some components malfunction or fail. In this paper, we consider automated guided vehicle (AGV), equipped with multiple sensors, executing a traversal task in a static unknown environment. We have analytically studied the system, computed a set of performance and sa..."}
+{"title": "Adhesion Risk Assessment of An Aircraft Inspection Robot for Improving Operator Awareness", "detail_url": "https://ieeexplore.ieee.org/document/9982230/", "author_list": ["M. A. Viraj", "J. Muthugala", "Manuel Vega-Heredia", "Nay Htet Lin", "S. M. Bhagya", "P. Samarakoon", "Mohan Rajesh Elara", "M. A. Viraj", "J. Muthugala", "Manuel Vega-Heredia", "Nay Htet Lin", "S. M. Bhagya", "P. Samarakoon", "Mohan Rajesh Elara"], "abstract": "Vacuum-adhesion-based climbing robots have been developed to cater to the demands in the cleaning and inspection work of airplanes. A robot intended to clean and inspect an airplane faces a Risk of Adhesion (RoA) based on the robot and the surface conditions, such as worn-out suction cups. These sorts of underlying conditions are not easily noticeable for an operator of a robot and might lead to c..."}
+{"title": "How Do We Fail? Stress Testing Perception in Autonomous Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9981724/", "author_list": ["Harrison Delecki", "Masha Itkina", "Bernard Lange", "Ransalu Senanayake", "Mykel J. Kochenderfer", "Harrison Delecki", "Masha Itkina", "Bernard Lange", "Ransalu Senanayake", "Mykel J. Kochenderfer"], "abstract": "Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of these systems is challenging due to their complexity and dependence on observation histories. This paper presents a method for characterizing failures of LiDAR-ba..."}
+{"title": "HiddenGems: Efficient safety boundary detection with active learning", "detail_url": "https://ieeexplore.ieee.org/document/9982243/", "author_list": ["Aleksandar Petrov", "Carter Fang", "Khang Minh Pham", "You Hong Eng", "James Guo Ming Fu", "Scott Drew Pendleton", "Aleksandar Petrov", "Carter Fang", "Khang Minh Pham", "You Hong Eng", "James Guo Ming Fu", "Scott Drew Pendleton"], "abstract": "Evaluating safety performance in a resource-efficient way is crucial for the development of autonomous systems. Simulation of parameterized scenarios is a popular testing strategy but parameter sweeps can be prohibitively expensive. To address this, we propose HiddenGems: a sample-efficient method for discovering the boundary between compliant and non-compliant behavior via active learning. Given ..."}
+{"title": "enpheeph: A Fault Injection Framework for Spiking and Compressed Deep Neural Networks", "detail_url": "https://ieeexplore.ieee.org/document/9982181/", "author_list": ["Alessio Colucci", "Andreas Steininger", "Muhammad Shafique", "Alessio Colucci", "Andreas Steininger", "Muhammad Shafique"], "abstract": "Research on Deep Neural Networks (DNNs) has focused on improving performance and accuracy for real-world deployments, leading to new models, such as Spiking Neural Networks (SNNs), and optimization techniques, e.g., quantization and pruning for compressed networks. However, the deployment of these innovative models and optimization techniques introduces possible reliability issues, which is a pill..."}
+{"title": "Dependability Analysis of Deep Reinforcement Learning based Robotics and Autonomous Systems through Probabilistic Model Checking", "detail_url": "https://ieeexplore.ieee.org/document/9981794/", "author_list": ["Yi Dong", "Xingyu Zhao", "Xiaowei Huang", "Yi Dong", "Xingyu Zhao", "Xiaowei Huang"], "abstract": "While Deep Reinforcement Learning (DRL) provides transformational capabilities to the control of Robotics and Autonomous Systems (RAS), the black-box nature of DRL and uncertain deployment environments of RAS pose new challenges on its dependability. Although existing works impose constraints on the DRL policy to ensure successful completion of the mission, it is far from adequate to assess the DR..."}
+{"title": "On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981359/", "author_list": ["Bowen Weng", "Guillermo A. Castillo", "Wei Zhang", "Ayonga Hereid", "Bowen Weng", "Guillermo A. Castillo", "Wei Zhang", "Ayonga Hereid"], "abstract": "The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and inferred risk can be incomplete and sampling inefficient. Some formal verification methods suffer from the model precision and other surrogate assumptions. In th..."}
+{"title": "Understanding Spatio-Temporal Relations in Human-Object Interaction using Pyramid Graph Convolutional Network", "detail_url": "https://ieeexplore.ieee.org/document/9981771/", "author_list": ["Hao Xing", "Darius Burschka", "Hao Xing", "Darius Burschka"], "abstract": "Human activities recognition is an important task for an intelligent robot, especially in the field of human-robot collaboration, it requires not only the label of sub-activities but also the temporal structure of the activity. In order to automatically recognize both the label and the temporal structure in sequence of human-object interaction, we propose a novel Pyramid Graph Convolutional Networ..."}
+{"title": "Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981725/", "author_list": ["Bernadett Kiss", "Emre Cemal Gonen", "An Mo", "Alexander Badri\u2013Spr\u00f6witz", "Alexandra Buchmann", "Daniel Renjewski", "Bernadett Kiss", "Emre Cemal Gonen", "An Mo", "Alexander Badri\u2013Spr\u00f6witz", "Alexandra Buchmann", "Daniel Renjewski"], "abstract": "Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers the swing leg catapult. However, the mechanics of the human lower leg with its complex muscle-tendon units spanning over single and multiple joints is not yet u..."}
+{"title": "A Riemannian Take on Human Motion Analysis and Retargeting", "detail_url": "https://ieeexplore.ieee.org/document/9982127/", "author_list": ["Holger Klein", "No\u00e9mie Jaquier", "Andre Meixner", "Tamim Asfour", "Holger Klein", "No\u00e9mie Jaquier", "Andre Meixner", "Tamim Asfour"], "abstract": "Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement generation. Inspired by recent works, we hypothesize that human motions are planned as sequences of geodesic synergies, and thus correspond to coordinated joint m..."}
+{"title": "Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP", "detail_url": "https://ieeexplore.ieee.org/document/9981796/", "author_list": ["Anna Reithmeir", "Luis Figueredo", "Sami Haddadin", "Anna Reithmeir", "Luis Figueredo", "Sami Haddadin"], "abstract": "Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of human-like motion. Although in recent literature focus is shifted towards manipulability transfer between two robots, the adaptation to the capabilities of the othe..."}
+{"title": "From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps", "detail_url": "https://ieeexplore.ieee.org/document/9981593/", "author_list": ["Joris Verhagen", "Xiaobin Xiong", "Aaron D. Ames", "Ajay Seth", "Joris Verhagen", "Xiaobin Xiong", "Aaron D. Ames", "Ajay Seth"], "abstract": "Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concretely, we begin with human data wherein planned and unplanned downsteps are taken. We analyze this data from the perspecti..."}
+{"title": "A Centaur System for Assisting Human Walking with Load Carriage", "detail_url": "https://ieeexplore.ieee.org/document/9981394/", "author_list": ["Ping Yang", "Haoyun Yan", "Bowen Yang", "Jianquan Li", "Kailin Li", "Yuquan Leng", "Chenglong Fu", "Ping Yang", "Haoyun Yan", "Bowen Yang", "Jianquan Li", "Kailin Li", "Yuquan Leng", "Chenglong Fu"], "abstract": "Walking with load is a common task in daily life and disaster rescue. Long-term load carriage may cause irreversible damage to the human body. Although remarkable progress has been made in the field of wearable robots, it is still far from avoiding interference to human legs, which will lead to energy consumption. In this paper, a novel wearable robot, Centaur, for assisting load carriage has been..."}
+{"title": "Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model", "detail_url": "https://ieeexplore.ieee.org/document/9981926/", "author_list": ["Masaki Kitagawa", "Takayuki Tanaka", "Akihiko Murai", "Masaki Kitagawa", "Takayuki Tanaka", "Akihiko Murai"], "abstract": "This study aims to construct a running simulator based on a motion generation and control system that enables the description of motion strategies using the spring-loaded inverted pendulum (SLIP) model. The problems of stability and robustness encountered in the running simulation with the SLIP model are elucidated, and stable running is achieved by controlling the stiffness and the attitude angle..."}
+{"title": "Koopman pose predictions for temporally consistent human walking estimations", "detail_url": "https://ieeexplore.ieee.org/document/9981204/", "author_list": ["Marc Mitjans", "David M. Levine", "Louis N. Awad", "Roberto Tron", "Marc Mitjans", "David M. Levine", "Louis N. Awad", "Roberto Tron"], "abstract": "We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB images, and point cloud depth measurements. This system applies the factor graph representation to an optimization problem that provides 3-D skeleton joint estimatio..."}
+{"title": "LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981178/", "author_list": ["Benjamin Alt", "Christian Kunz", "Darko Katic", "Rayan Younis", "Rainer J\u00e4kel", "Beat Peter M\u00fcller-Stich", "Martin Wagner", "Franziska Mathis-Ullrich", "Benjamin Alt", "Christian Kunz", "Darko Katic", "Rayan Younis", "Rainer J\u00e4kel", "Beat Peter M\u00fcller-Stich", "Martin Wagner", "Franziska Mathis-Ullrich"], "abstract": "The semantic segmentation of surgical scenes is a prerequisite for task automation in robot assisted interventions. We propose LapSeg3D, a novel DNN-based approach for the voxel-wise annotation of point clouds representing surgical scenes. As the manual annotation of training data is highly time consuming, we introduce a semi-autonomous clustering-based pipeline for the annotation of the gallbladd..."}
+{"title": "Ego+X: An Egocentric Vision System for Global 3D Human Pose Estimation and Social Interaction Characterization", "detail_url": "https://ieeexplore.ieee.org/document/9981710/", "author_list": ["Yuxuan Liu", "Jianxin Yang", "Xiao Gu", "Yao Guo", "Guang-Zhong Yang", "Yuxuan Liu", "Jianxin Yang", "Xiao Gu", "Yao Guo", "Guang-Zhong Yang"], "abstract": "Egocentric vision is an emerging topic, which has demonstrated great potential in assistive healthcare scenarios, ranging from human-centric behavior analysis to personal social assistance. Within this field, due to the heterogeneity of visual perception from first-person views, egocentric pose estimation is one of the most significant prerequisites for enabling various downstream applications. Ho..."}
+{"title": "Tracking monocular camera pose and deformation for SLAM inside the human body", "detail_url": "https://ieeexplore.ieee.org/document/9981203/", "author_list": ["Juan J. G\u00f3mez Rodr\u00edguez", "J.M.M. Montiel", "Juan D. Tard\u00f3s", "Juan J. G\u00f3mez Rodr\u00edguez", "J.M.M. Montiel", "Juan D. Tard\u00f3s"], "abstract": "Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to simultaneously track the camera pose and the 3D scene deformation, without any assumption about environment topology or shape. The method uses an illumination-invarian..."}
+{"title": "Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9981966/", "author_list": ["Zih-Yun Chiu", "Albert Z Liao", "Florian Richter", "Bjorn Johnson", "Michael C. Yip", "Zih-Yun Chiu", "Albert Z Liao", "Florian Richter", "Bjorn Johnson", "Michael C. Yip"], "abstract": "Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the in-consistency of markerless detections. However, fiducial markers are not practical for real-world applications and can often be occluded from environmental factors in surgery..."}
+{"title": "Monocular Depth Estimation for Equirectangular Videos", "detail_url": "https://ieeexplore.ieee.org/document/9982157/", "author_list": ["Helmi Fraser", "Sen Wang", "Helmi Fraser", "Sen Wang"], "abstract": "Depth estimation from panoramic imagery has received minimal attention in contrast to standard perspective imagery, which constitutes the majority of the literature on the key research topic. The vast - and frequently complete - field of view provided by such panoramic photographs makes them appealing for a variety of applications, including robots, autonomous vehicles, and virtual reality. Consum..."}
+{"title": "Visual Servoing with Geometrically Interpretable Neural Perception", "detail_url": "https://ieeexplore.ieee.org/document/9982163/", "author_list": ["Antonio Paolillo", "Mirko Nava", "Dario Piga", "Alessandro Giusti", "Antonio Paolillo", "Mirko Nava", "Dario Piga", "Alessandro Giusti"], "abstract": "An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work presents a deep learning approach for solving the perception problem within the visual servoing scheme. An artificial neural network is trained using the supervisio..."}
+{"title": "Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction", "detail_url": "https://ieeexplore.ieee.org/document/9981318/", "author_list": ["Yue Pan", "Yves Kompis", "Luca Bartolomei", "Ruben Mascaro", "Cyrill Stachniss", "Margarita Chli", "Yue Pan", "Yves Kompis", "Luca Bartolomei", "Ruben Mascaro", "Cyrill Stachniss", "Margarita Chli"], "abstract": "Creating accurate maps of complex, unknown environments is of utmost importance for truly autonomous navigation robot. However, building these maps online is far from trivial, especially when dealing with large amounts of raw sensor readings on a computation and energy constrained mobile system, such as a small drone. While numerous approaches tackling this problem have emerged in recent years, th..."}
+{"title": "3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981531/", "author_list": ["Yifu Tao", "Marija Popovi\u0107", "Yiduo Wang", "Sundara Tejaswi Digumarti", "Nived Chebrolu", "Maurice Fallon", "Yifu Tao", "Marija Popovi\u0107", "Yiduo Wang", "Sundara Tejaswi Digumarti", "Nived Chebrolu", "Maurice Fallon"], "abstract": "Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth measurements. We present a learning-aided 3D lidar reconstruction framework that upsamples sparse lidar depth measurements with the aid of overlapping camera images so ..."}
+{"title": "Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registration", "detail_url": "https://ieeexplore.ieee.org/document/9981079/", "author_list": ["Kenji Koide", "Shuji Oishi", "Masashi Yokozuka", "Atsuhiko Banno", "Kenji Koide", "Shuji Oishi", "Masashi Yokozuka", "Atsuhiko Banno"], "abstract": "This paper presents an accurate and scalable method for fiducial tag localization on a 3D prior environmental map. The proposed method comprises three steps: 1) visual odometry-based landmark SLAM for estimating the relative poses between fiducial tags, 2) geometrical matching-based global tag-map registration via maximum clique finding, and 3) tag pose refinement based on direct camera-map alignm..."}
+{"title": "Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity", "detail_url": "https://ieeexplore.ieee.org/document/9982050/", "author_list": ["Petri Manninen", "Heikki Hyyti", "Ville Kyrki", "Jyri Maanp\u00e4\u00e4", "Josef Taher", "Juha Hyypp\u00e4", "Petri Manninen", "Heikki Hyyti", "Ville Kyrki", "Jyri Maanp\u00e4\u00e4", "Josef Taher", "Juha Hyypp\u00e4"], "abstract": "High-Definition (HD) maps are needed for robust navigation of autonomous vehicles, limited by the on-board storage capacity. To solve this, we propose a novel framework, Environment-Aware Normal Distributions Transform (EA-NDT), that significantly improves compression of standard NDT map representation. The compressed representation of EA-NDT is based on semantic-aided clustering of point clouds r..."}
+{"title": "Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception", "detail_url": "https://ieeexplore.ieee.org/document/9981292/", "author_list": ["Ruichen Zhen", "Li Jiang", "Ruichen Zhen", "Li Jiang"], "abstract": "This work presents a humanoid soft robotics finger design with rigid skeletons and proprioceptive sensors. This 4-DOFs dexterous finger has soft joints and rigid phalanxes, which is about the size of human hand. To enhance the overall stiffness and for human-like behavior and configuration, rigid-soft actuators which we called quasi-joints are introduced. Although their lengths are shortened in th..."}
+{"title": "Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces", "detail_url": "https://ieeexplore.ieee.org/document/9981175/", "author_list": ["Nelson G. Badillo Perez", "Margaret M. Coad", "Nelson G. Badillo Perez", "Margaret M. Coad"], "abstract": "There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting toroidal robots, which move via simultaneous eversion and inversion of their body material, are promising for navigation in these types of spaces. We present a no..."}
+{"title": "A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Freeform Shapes", "detail_url": "https://ieeexplore.ieee.org/document/9981430/", "author_list": ["Sicheng Wang", "Laura H. Blumenschein", "Sicheng Wang", "Laura H. Blumenschein"], "abstract": "As soft, continuum robots see increasing areas of application, many scenarios have arisen where it is necessary to consider the geometric shape of the robot. The current approaches to robot kinematics, such as the piecewise constant-curvature (PCC) model, are effective in representing simple overall robot geometry and estimating the end-effector state, but they are less intuitive for planning robo..."}
+{"title": "Soft, Multi-Layer, Disposable, Kirigami Based Robotic Grippers: On Handling of Delicate, Contaminated, and Everyday Objects", "detail_url": "https://ieeexplore.ieee.org/document/9981625/", "author_list": ["Joao Buzzatto", "Mojtaba Shahmohammadi", "Junbang Liang", "Felipe Sanches", "Saori Matsunaga", "Rintaro Haraguchi", "Toshisada Mariyama", "Bruce MacDonald", "Minas Liarokapis", "Joao Buzzatto", "Mojtaba Shahmohammadi", "Junbang Liang", "Felipe Sanches", "Saori Matsunaga", "Rintaro Haraguchi", "Toshisada Mariyama", "Bruce MacDonald", "Minas Liarokapis"], "abstract": "Grasping and manipulation are complex and demanding tasks, especially when executed in dynamic and unstructured environments. Typically, such tasks are executed by rigid articulated end-effectors, with a plethora of actuators that need sophisticated sensing and complex control laws to execute them efficiently. Soft robotics offers an alternative that allows for simplified execution of these demand..."}
+{"title": "Topology optimized multi-material self-healing actuator with reduced out of plane deformation", "detail_url": "https://ieeexplore.ieee.org/document/9981297/", "author_list": ["Zhanwei Wang", "Seppe Terryn", "Julie Legrand", "Pasquale Ferrentino", "Seyedreza Kashef Tabrizian", "Joost Brancart", "Ellen Roels", "Guy Van Assche", "Bram Vanderborght", "Zhanwei Wang", "Seppe Terryn", "Julie Legrand", "Pasquale Ferrentino", "Seyedreza Kashef Tabrizian", "Joost Brancart", "Ellen Roels", "Guy Van Assche", "Bram Vanderborght"], "abstract": "Recent advances in soft robotics in academia have led to the adoption of soft grippers in industrial settings. Due to their soft bending actuators, these grippers can handle delicate objects with great care. However, due to their flexibility, the actuators are prone to out-of-plane deformations upon asymmetric loading. These undesired deformations lead to reduced grasp performance and may cause in..."}
+{"title": "Energy-efficient tunable-stiffness soft robots using second moment of area actuation", "detail_url": "https://ieeexplore.ieee.org/document/9981704/", "author_list": ["L. Micklem", "G.D. Weymouth", "B. Thornton", "L. Micklem", "G.D. Weymouth", "B. Thornton"], "abstract": "The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable-stiffness would produce an increased range of high-efficiency swimming speeds for robots with flexible propulsors and enable soft control surfaces for steering underwater vehicles. We propose and demonstrate a method for tunable soft ..."}
+{"title": "Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981355/", "author_list": ["Akshay Hinduja", "Yunsik Ohm", "Jiahe Liao", "Carmel Majidi", "Michael Kaess", "Akshay Hinduja", "Yunsik Ohm", "Jiahe Liao", "Carmel Majidi", "Michael Kaess"], "abstract": "Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environ-mental visibility that makes camera-based methods ineffective. Popular inertial navigation methods for underwater localization using Doppler-velocity log sensors, so..."}
+{"title": "Highly-Efficient Binary Neural Networks for Visual Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981978/", "author_list": ["Bruno Ferrarini", "Michael Milford", "Klaus D. McDonald-Maier", "Shoaib Ehsan", "Bruno Ferrarini", "Michael Milford", "Klaus D. McDonald-Maier", "Shoaib Ehsan"], "abstract": "VPR is a fundamental task for autonomous navigation as it enables a robot to localize itself in the workspace when a known location is detected. Although accuracy is an essential requirement for a VPR technique, computational and energy efficiency are not less important for real-world applications. CNN-based techniques archive state-of-the-art VPR performance but are computationally intensive and ..."}
+{"title": "Maintaining Robot Localizability with Bayesian Cram\u00e9r-Rao Lower Bounds", "detail_url": "https://ieeexplore.ieee.org/document/9981427/", "author_list": ["Justin Cano", "Corentin Chauffaut", "Eric Chaumette", "Ga\u00ebl Pages", "Jerome Le Ny", "Justin Cano", "Corentin Chauffaut", "Eric Chaumette", "Ga\u00ebl Pages", "Jerome Le Ny"], "abstract": "Accurate and real-time position estimates are cru-cial for mobile robots. This work focuses on ranging-based positioning systems, which rely on distance measurements between known points, called anchors, and a tag to localize. The topology of the network formed by the anchors strongly influences the tag's localizability, i.e., its ability to be accurately localized. Here, the tag and some anchors ..."}
+{"title": "Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization", "detail_url": "https://ieeexplore.ieee.org/document/9981072/", "author_list": ["Chieko Sarah Imai", "Minghao Zhang", "Yuchen Zhang", "Marcin Kierebi\u0144ski", "Ruihan Yang", "Yuzhe Qin", "Xiaolong Wang", "Chieko Sarah Imai", "Minghao Zhang", "Yuchen Zhang", "Marcin Kierebi\u0144ski", "Ruihan Yang", "Yuzhe Qin", "Xiaolong Wang"], "abstract": "Developing robust vision-guided controllers for quadrupedal robots in complex environments with various obstacles, dynamical surroundings and uneven terrains is very challenging. While Reinforcement Learning (RL) provides a promising paradigm for agile locomotion skills with vision inputs in simulation, it is still very challenging to deploy the vision-guided RL policy in the real world. Our key i..."}
+{"title": "Model-free Neural Lyapunov Control for Safe Robot Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981632/", "author_list": ["Zikang Xiong", "Joe Eappen", "Ahmed H. Qureshi", "Suresh Jagannathan", "Zikang Xiong", "Joe Eappen", "Ahmed H. Qureshi", "Suresh Jagannathan"], "abstract": "Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it lacks safety assurance. Although safety constraints can be encoded as part of a reward function, there still exists a large gap between an RL controller trained wit..."}
+{"title": "Magnetic Field Modeling of Linear Halbach Array for Wallclimbing Robot Based on Radial Basis Function Neural Network", "detail_url": "https://ieeexplore.ieee.org/document/9981433/", "author_list": ["Xiaofei Liu", "Zhengkun Yi", "Xinyu Wu", "Wanfeng Shang", "Xiaofei Liu", "Zhengkun Yi", "Xinyu Wu", "Wanfeng Shang"], "abstract": "Aiming at the problem that it is difficult to calculate the force of permanent magnets in the magnetic field, this paper proposes a nonlinear mechanical model of linear array magnetic field based on radial basis function neural network (RBFNN). Combined with the linear Halbach array adsorption module of the wall-climbing robot, the three-dimensional geometric magnetic fields of four typical linear..."}
+{"title": "OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot", "detail_url": "https://ieeexplore.ieee.org/document/9982030/", "author_list": ["Ruixiang Cao", "Jun Gu", "Chen Yu", "Andre Rosendo", "Ruixiang Cao", "Jun Gu", "Chen Yu", "Andre Rosendo"], "abstract": "This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative positio..."}
+{"title": "SCALER: A Tough Versatile Quadruped Free-Climber Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981555/", "author_list": ["Yusuke Tanaka", "Yuki Shirai", "Xuan Lin", "Alexander Schperberg", "Hayato Kato", "Alexander Swerdlow", "Naoya Kumagai", "Dennis Hong", "Yusuke Tanaka", "Yuki Shirai", "Xuan Lin", "Alexander Schperberg", "Hayato Kato", "Alexander Swerdlow", "Naoya Kumagai", "Dennis Hong"], "abstract": "This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, over-hangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER..."}
+{"title": "Microspine Design for Additive Manufacturing", "detail_url": "https://ieeexplore.ieee.org/document/9981634/", "author_list": ["Paul Nadan", "Dinesh K. Patel", "Catherine Pavlov", "Spencer Backus", "Aaron M. Johnson", "Paul Nadan", "Dinesh K. Patel", "Catherine Pavlov", "Spencer Backus", "Aaron M. Johnson"], "abstract": "Microspine grippers allow robots to ascend steep rocky slopes and cliff faces, enabling scientific exploration of exposed strata on Earth and other solar system bodies. Historically, the Shape Deposition Manufacturing (SDM) process has been used to fabricate multi-material suspensions for load-sharing among multiple microspines. We instead apply the Hybrid Deposition Manufacturing (HDM) process to..."}
+{"title": "The concept of rod-driven locomotion for spherical lunar exploration robots", "detail_url": "https://ieeexplore.ieee.org/document/9981887/", "author_list": ["Jasper Zevering", "Dorit Borrmann", "Anton Bredenbeck", "Andreas N\u00fcchter", "Jasper Zevering", "Dorit Borrmann", "Anton Bredenbeck", "Andreas N\u00fcchter"], "abstract": "A spherical robotic probe has several advantages in rough environments and has therefore raised interest for application in planetary exploration. A sphere is well-suited to protect high-sensitive payloads, however, the locomotion system for planetary surfaces raises several challenges. This paper presents a novel locomotion system consisting of linear actuators which are usable in a multi-functio..."}
+{"title": "Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet", "detail_url": "https://ieeexplore.ieee.org/document/9982275/", "author_list": ["Prashanth Ramadoss", "Giulio Romualdi", "Stefano Dafarra", "Silvio Traversaro", "Daniele Pucci", "Prashanth Ramadoss", "Giulio Romualdi", "Stefano Dafarra", "Silvio Traversaro", "Daniele Pucci"], "abstract": "Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the augmented states of feet position-and-orientation. We refer to such filters as flat-foot filters. How..."}
+{"title": "ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation using Synthetic Data", "detail_url": "https://ieeexplore.ieee.org/document/9981511/", "author_list": ["Frederik Hagelskj\u00e6r", "Anders Glent Buch", "Frederik Hagelskj\u00e6r", "Anders Glent Buch"], "abstract": "Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately. This configuration is time-consuming and limits the usability of pose estimation and, thereby, robotic systems. Deep learning is a method to overcome this configur..."}
+{"title": "LiSnowNet: Real-time Snow Removal for LiDAR Point Clouds", "detail_url": "https://ieeexplore.ieee.org/document/9982248/", "author_list": ["Ming-Yuan Yu", "Ram Vasudevan", "Matthew Johnson-Roberson", "Ming-Yuan Yu", "Ram Vasudevan", "Matthew Johnson-Roberson"], "abstract": "Light Detection And Rangings (LiDARs) have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured during snowfall can easily be corrupted. The resulting noisy point clouds degrade downstream tasks such as mapping. Existing works i..."}
+{"title": "Application of Ghost-DeblurGAN to Fiducial Marker Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981701/", "author_list": ["Yibo Liu", "Amaldev Haridevan", "Hunter Schofield", "Jinjun Shan", "Yibo Liu", "Amaldev Haridevan", "Hunter Schofield", "Jinjun Shan"], "abstract": "Feature extraction or localization based on the fiducial marker could fail due to motion blur in real-world robotic applications. To solve this problem, a lightweight generative adversarial network, named Ghost-DeblurGAN, for real-time motion deblurring is developed in this paper. Furthermore, on account that there is no existing deblurring benchmark for such task, a new large-scale dataset, York-..."}
+{"title": "Learning Important Regions via Attention for Video Streaming on Cloud Robotics", "detail_url": "https://ieeexplore.ieee.org/document/9981132/", "author_list": ["Hayato Itsumi", "Florian Beye", "Vitthal Charvi", "Koichi Nihei", "Hayato Itsumi", "Florian Beye", "Vitthal Charvi", "Koichi Nihei"], "abstract": "Cloud robotics, i.e., controlling robots from the cloud, make it possible to perform more complex processes, make robots smaller, and coordinate multi-robots by sharing information between robots and utilizing abundant computing resources. In cloud robotics, robots need to transmit videos to the cloud in real time to recognize their surroundings. Lowering the video quality reduces the bitrate in l..."}
+{"title": "Unsupervised Simultaneous Learning for Camera Re-Localization and Depth Estimation from Video", "detail_url": "https://ieeexplore.ieee.org/document/9982213/", "author_list": ["Shun Taguchi", "Noriaki Hirose", "Shun Taguchi", "Noriaki Hirose"], "abstract": "We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute camera pose from an instance image in a known environment, which has been intensively studied for alternative localization in GPS-denied environments. In recent..."}
+{"title": "HyperPocket: Generative Point Cloud Completion", "detail_url": "https://ieeexplore.ieee.org/document/9981829/", "author_list": ["P. Spurek", "A. Kasymov", "M. Mazur", "D. Janik", "S.K. Tadeja", "\u0141. Struski", "J. Tabor", "T. Trzci\u0144ski", "P. Spurek", "A. Kasymov", "M. Mazur", "D. Janik", "S.K. Tadeja", "\u0141. Struski", "J. Tabor", "T. Trzci\u0144ski"], "abstract": "Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations remains a fundamental challenge of many computer vision applications. Most of the existing approaches aim to solve this problem by learning to reconstruct individ..."}
+{"title": "Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations", "detail_url": "https://ieeexplore.ieee.org/document/9981043/", "author_list": ["Bin Du", "Bin Lin", "Wei Xie", "Weidong Zhang", "Rudy R. Negenborn", "Yusong Pang", "Bin Du", "Bin Lin", "Wei Xie", "Weidong Zhang", "Rudy R. Negenborn", "Yusong Pang"], "abstract": "This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free t..."}
+{"title": "Development and Field Testing of an Optimal Path Following ASV Controller for Marine Surveys", "detail_url": "https://ieeexplore.ieee.org/document/9981691/", "author_list": ["Kleio Baxevani", "Grant E. Otto", "Herbert G. Tanner", "Arthur C. Trembanis", "Kleio Baxevani", "Grant E. Otto", "Herbert G. Tanner", "Arthur C. Trembanis"], "abstract": "Marine autonomous vehicles deployed to conduct marine geophysical surveys are becoming an increasingly used asset in the commercial, academic, and defense industries. However, the ability to collect high-quality data from applicable sensors is directly related to the robustness of vehicle motion caused by environmental disturbances. In this paper we designed and integrated a new path following con..."}
+{"title": "Inertial-measurement-based catenary shape estimation of underwater cables for tethered robots", "detail_url": "https://ieeexplore.ieee.org/document/9981980/", "author_list": ["Juliette Drupt", "Claire Dune", "Andrew I. Comport", "Sabine Seillier", "Vincent Hugel", "Juliette Drupt", "Claire Dune", "Andrew I. Comport", "Sabine Seillier", "Vincent Hugel"], "abstract": "This paper deals with the estimation of the shape of a catenary for a negatively buoyant cable, connecting a pair of underwater robots in a robot chain. The new estimation method proposed here is based on the calculation of local tangents thanks to the data acquired from inertial measurement units (IMUs), which are attached to the cable near its ends. This method is compared with a vision-based es..."}
+{"title": "Motion Attribute-based Clustering and Collision Avoidance of Multiple In-water Obstacles by Autonomous Surface Vehicle", "detail_url": "https://ieeexplore.ieee.org/document/9981226/", "author_list": ["Mingi Jeong", "Alberto Quattrini Li", "Mingi Jeong", "Alberto Quattrini Li"], "abstract": "Navigation and obstacle avoidance in aquatic en-vironments for autonomous surface vehicles (ASVs) in high-traffic maritime scenarios is still an open challenge, as the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) is not defined for multi-encounter situations. Current state-of-the-art methods resolve single-to-single encounters with sequential actions and a..."}
+{"title": "Training Dynamic Motion Primitives using Deep Reinforcement Learning to Control a Robotic Tadpole", "detail_url": "https://ieeexplore.ieee.org/document/9981112/", "author_list": ["Imran Hameed", "Xu Chao", "David Navarro-Alarcon", "Xingjian Jing", "Imran Hameed", "Xu Chao", "David Navarro-Alarcon", "Xingjian Jing"], "abstract": "Developing a good control strategy for biomimetic robots is challenging. Robust control methods require an accurate model of the robot. Nowadays, model-free methods are being extensively explored for the control and navigation of terrestrial robots. In this paper, we consider a novel deep reinforcement learning-based model-free swimming control for our bio-inspired robotic tadpole. To realize this..."}
+{"title": "An Underwater Target Perception Framework for Underwater Operation Scene", "detail_url": "https://ieeexplore.ieee.org/document/9981170/", "author_list": ["Jue Gao", "Chi Zhu", "Jue Gao", "Chi Zhu"], "abstract": "This paper proposes an underwater target perception framework to comprehensively explore target information in underwater scenes, to improve the work efficiency and safety of underwater operations. This framework adopts a layered processing mechanism including water column imaging, constant false alarm rate detection (CFAR) detection, and local feature analysis, to accurately distinguish between f..."}
+{"title": "Self-morphing Soft Parallel-and-coplanar Electroadhesive Grippers Based on Laser-scribed Graphene Oxide Electrodes", "detail_url": "https://ieeexplore.ieee.org/document/9981267/", "author_list": ["Jianglong Guo", "Djen Kuhnel", "Qiukai Qi", "Chaoqun Xiang", "Van Anh Ho", "Charl Faul", "Jonathan Rossiter", "Jianglong Guo", "Djen Kuhnel", "Qiukai Qi", "Chaoqun Xiang", "Van Anh Ho", "Charl Faul", "Jonathan Rossiter"], "abstract": "Electroadhesion is a versatile and controllable adhesion mechanism that has been used extensively in robotics. Soft electroadhesion embodies electrostatic adhesion in soft materials and is required for shape-adaptive and safe grasping of curved objects and delicate materials. In this work, we present a soft electroadhesive fabrication method based on laser scribing graphene oxide on a silicone fil..."}
+{"title": "Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator", "detail_url": "https://ieeexplore.ieee.org/document/9981505/", "author_list": ["Yesung Yi", "Jung-Hwan Youn", "Ki-Uk Kyung", "Dong-Soo Kwon", "Yesung Yi", "Jung-Hwan Youn", "Ki-Uk Kyung", "Dong-Soo Kwon"], "abstract": "Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to estimate the shape of the hyperredundant manipulator, which is commonly used in flexible endoscopic su..."}
+{"title": "A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications", "detail_url": "https://ieeexplore.ieee.org/document/9981059/", "author_list": ["Joanna Jones", "Dana D. Damian", "Joanna Jones", "Dana D. Damian"], "abstract": "Achieving compact and biocompatible actuators with sensing capabilities is a key challenge for the safety critical and highly patient-specific biomedical field. In this study, a compact and versatile soft fluidic sensor-actuator capable of measuring both force and displacement in static and dynamic conditions is presented. Pressure and resistance are shown to be interchangeable in predicting load ..."}
+{"title": "Sensor-Based Reconstruction of Slender Flexible Beams Undergoing Large-scale Deflection", "detail_url": "https://ieeexplore.ieee.org/document/9981608/", "author_list": ["Junjie Luo", "Yuanhao Xun", "Jiaji Yao", "Genliang Chen", "Hao Wang", "Junjie Luo", "Yuanhao Xun", "Jiaji Yao", "Genliang Chen", "Hao Wang"], "abstract": "This paper presents a model-based approach to reconstructing the large deformations of slender flexible beams through strain-gauge deflection sensors. Using the principal axes decomposition of structural compliance, a closed-form kinetostatics model can be obtained to characterize the non-linear force-deformation behavior of the flexible beams under-going large-scale deflection. Owing to analytica..."}
+{"title": "Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin", "detail_url": "https://ieeexplore.ieee.org/document/9981437/", "author_list": ["Shen Treratanakulchai", "Enrico Franco", "Arnau Garriga-Casanovas", "Hu Minghao", "Panagiotis Kassanos", "Ferdinando Rodriguez y Baena", "Shen Treratanakulchai", "Enrico Franco", "Arnau Garriga-Casanovas", "Hu Minghao", "Panagiotis Kassanos", "Ferdinando Rodriguez y Baena"], "abstract": "This paper presents a new 6 DOF soft robotic manipulator intended for colorectal surgery. The manipulator, based on a novel design that employs an inextensible tube to limit axial extension, is shown to maximize the force exerted at its tip and the bending angle, the latter being measured with a soft sensing skin. Manufacturing of the prototype is achieved with a lost-wax silicone-casting techniqu..."}
+{"title": "Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing", "detail_url": "https://ieeexplore.ieee.org/document/9982141/", "author_list": ["Jorge F. Lazo", "Chun-Feng Lai", "Sara Moccia", "Benoit Rosa", "Michele Catellani", "Michel de Mathelin", "Giancarlo Ferrigno", "Paul Breedveld", "Jenny Dankelman", "Elena De Momi", "Jorge F. Lazo", "Chun-Feng Lai", "Sara Moccia", "Benoit Rosa", "Michele Catellani", "Michel de Mathelin", "Giancarlo Ferrigno", "Paul Breedveld", "Jenny Dankelman", "Elena De Momi"], "abstract": "Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain tasks could alleviate the physical and mental load of doctors during interventions allowing them to focus on diagnosis and decision-making tasks. In this paper we..."}
+{"title": "FSM: Correspondenceless scan-matching of panoramic 2D range scans", "detail_url": "https://ieeexplore.ieee.org/document/9981228/", "author_list": ["Alexandros Filotheou", "Georgios D. Sergiadis", "Antonis G. Dimitriou", "Alexandros Filotheou", "Georgios D. Sergiadis", "Antonis G. Dimitriou"], "abstract": "Recent years have seen the introduction of more affordable but less accurate 2D range sensors whose field of view is $2\\pi$. Scan-matching with these has been insufficiently researched, while being a challenge due to these sensors' increased measurement uncertainty. This paper proposes a real-time method for matching scans extracted from panoramic 2D LIDAR sensors. The method leverages properties ..."}
+{"title": "VMVG-Loc: Visual Localization for Autonomous Driving using Vector Map and Voxel Grid Map", "detail_url": "https://ieeexplore.ieee.org/document/9981776/", "author_list": ["Kento Yabuuchi", "Shinpei Kato", "Kento Yabuuchi", "Shinpei Kato"], "abstract": "This study proposes a visual localization method using a vector map and voxel grid map with a stereo camera. The two maps provide different modality advantages and are integrated using a particle filter. In contrast to other vector map-based methods, our method does not use road markings because creating and maintaining vector maps that include high-accuracy road markings is laborious. Furthermore..."}
+{"title": "Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization", "detail_url": "https://ieeexplore.ieee.org/document/9981092/", "author_list": ["Dennis Melamed", "Karnik Ram", "Vivek Roy", "Kris Kitani", "Dennis Melamed", "Karnik Ram", "Vivek Roy", "Kris Kitani"], "abstract": "Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the robustness problem in map utilization, we propose a data-driven prior on possible user locations in a map by combining learned spatial map embeddings and temporal o..."}
+{"title": "CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981113/", "author_list": ["Yuhang Ming", "Xingrui Yang", "Guofeng Zhang", "Andrew Calway", "Yuhang Ming", "Xingrui Yang", "Guofeng Zhang", "Andrew Calway"], "abstract": "We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the first stage is trained for the auxiliary task of semantic segmentation and the second stage uses features from layers in the first stage to generate discriminate..."}
+{"title": "A New Dense Hybrid Stereo Visual Odometry Approach", "detail_url": "https://ieeexplore.ieee.org/document/9981814/", "author_list": ["Ziming Liu", "Ezio Malis", "Philippe Martinet", "Ziming Liu", "Ezio Malis", "Philippe Martinet"], "abstract": "Visual odometry is an important part of the perception module of autonomous robots. Recent advances in deep learning approaches have given rise to hybrid visual odometry approaches that combine both deep networks and traditional pose estimation methods. One limitation of deep learning approaches is the availability of ground truth data needed to train the neural networks. For example, it is extrem..."}
+{"title": "BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR", "detail_url": "https://ieeexplore.ieee.org/document/9981266/", "author_list": ["Georgi Pramatarov", "Daniele De Martini", "Matthew Gadd", "Paul Newman", "Georgi Pramatarov", "Daniele De Martini", "Matthew Gadd", "Paul Newman"], "abstract": "This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where each vertex corresponds to an object instance and encodes its shape. Optimal vertex association across graphs allows for full 6-Degree-of-Freedom (DoF) pose estima..."}
+{"title": "Towards holistic autonomous obstacle detection in railways by complementing of on-board vision with UAV-based object localization", "detail_url": "https://ieeexplore.ieee.org/document/9981156/", "author_list": ["Marten Franke", "Chaitra Reddy", "Danijela Risti\u0107-Durrant", "Jehan Jayawardana", "Kai Michels", "Milan Bani\u0107", "Milo\u0161 Simonovi\u0107", "Marten Franke", "Chaitra Reddy", "Danijela Risti\u0107-Durrant", "Jehan Jayawardana", "Kai Michels", "Milan Bani\u0107", "Milo\u0161 Simonovi\u0107"], "abstract": "This paper presents the two sub-systems of the first holistic system for autonomous obstacle detection (OD) in railways, the on-board vision system and unmanned aerial vehicle (UAV) vision system for object localization (OL) on and near the rail tracks. The main goal of such a holistic system is to enable long-range detection of obstacles on the rail tracks ahead of the train where the UAV-based O..."}
+{"title": "Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion", "detail_url": "https://ieeexplore.ieee.org/document/9981134/", "author_list": ["Simon Boche", "Xingxing Zuo", "Simon Schaefer", "Stefan Leutenegger", "Simon Boche", "Xingxing Zuo", "Simon Schaefer", "Stefan Leutenegger"], "abstract": "Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield accurate and locally consistent results in short-term applications. Unfortunately, visual-inertial state estimators suffer from the accumulation of drift for long-t..."}
+{"title": "Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors", "detail_url": "https://ieeexplore.ieee.org/document/9982195/", "author_list": ["Florian Fervers", "Sebastian Bullinger", "Christoph Bodensteiner", "Michael Arens", "Rainer Stiefelhagen", "Florian Fervers", "Sebastian Bullinger", "Christoph Bodensteiner", "Michael Arens", "Rainer Stiefelhagen"], "abstract": "This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo- tracking methods offer the potential to supplant noisy signals from global navigation satellite systems (GNSS) and expensive and hard to maintain prior maps that are typically used fo..."}
+{"title": "Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback", "detail_url": "https://ieeexplore.ieee.org/document/9981425/", "author_list": ["Rohit Dhakate", "Christian Brommer", "Christoph Bohm", "Harald Gietler", "Stephan Weiss", "Jan Steinbrener", "Rohit Dhakate", "Christian Brommer", "Christoph Bohm", "Harald Gietler", "Stephan Weiss", "Jan Steinbrener"], "abstract": "This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system information, which is inherited from a simulation model. The non-linear hydraulic actuation dynamics are modeled using actuator networks from the data gathered during the manual operation of the manipulator to effectively emulat..."}
+{"title": "DRL-ISP: Multi-Objective Camera ISP with Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981361/", "author_list": ["Ukcheol Shin", "Kyunghyun Lee", "In So Kweon", "Ukcheol Shin", "Kyunghyun Lee", "In So Kweon"], "abstract": "In this paper, we propose a multi-objective camera ISP framework that utilizes Deep Reinforcement Learning (DRL) and camera ISP toolbox that consist of network-based and conventional ISP tools. The proposed DRL-based camera ISP framework iteratively selects a proper tool from the toolbox and applies it to the image to maximize a given vision task-specific reward function. For this purpose, we impl..."}
+{"title": "Renaissance Robot: Optimal Transport Policy Fusion for Learning Diverse Skills", "detail_url": "https://ieeexplore.ieee.org/document/9981105/", "author_list": ["Julia Tan", "Ransalu Senanayake", "Fabio Ramos", "Julia Tan", "Ransalu Senanayake", "Fabio Ramos"], "abstract": "Deep reinforcement learning (RL) is a promising approach to solving complex robotics problems. However, the process of learning through trial-and-error interactions is often highly time-consuming, despite recent advancements in RL algorithms. Additionally, the success of RL is critically dependent on how well the reward-shaping function suits the task, which is also time-consuming to design. As ag..."}
+{"title": "SKILL-IL: Disentangling Skill and Knowledge in Multitask Imitation Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981375/", "author_list": ["Bian Xihan", "Oscar Mendez", "Simon Hadfield", "Bian Xihan", "Oscar Mendez", "Simon Hadfield"], "abstract": "In this work, we introduce a new perspective for learning transferable content in multi-task imitation learning. Humans are capable of transferring skills and knowledge. If we can cycle to work and drive to the store, we can also cycle to the store and drive to work. We take inspiration from this and hypothesize the latent memory of a policy network can be disentangled into two partitions. These c..."}
+{"title": "Towards Adaptive Continuous Control of Soft Robotic Manipulator using Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981335/", "author_list": ["Yingqi Li", "Xiaomei Wang", "Ka-Wai Kwok", "Yingqi Li", "Xiaomei Wang", "Ka-Wai Kwok"], "abstract": "Although the soft robot is gaining considerable popularity in dexterous and safe manipulation, accurate motion control is still an open problem to be explored. Recent investigations suggest that reinforcement learning (RL) is a promising solution but lacks efficient adaptability for Sim2Real transfer or environment variations. In this paper, we present a deep deterministic policy gradient (DDPG)-b..."}
+{"title": "Efficient Sampling-Based Planning for Subterranean Exploration", "detail_url": "https://ieeexplore.ieee.org/document/9982169/", "author_list": ["Shakeeb Ahmad", "J. Sean Humbert", "Shakeeb Ahmad", "J. Sean Humbert"], "abstract": "The paper proposes a path planning solution for autonomous robotic exploration of complex subterranean environments. The work contributes to the family of graph-based planners by bringing the following improvements. Firstly, an occupancy grid-based sample-and-project solution to terrain-assessment is proposed instead of building an explicit elevation map of the environment. Secondly, the solution-..."}
+{"title": "A Novel Robot with Rolling and Climbing Modes for Power Transmission Line Inspection", "detail_url": "https://ieeexplore.ieee.org/document/9981434/", "author_list": ["Qiang Fu", "Yisheng Guan", "Haifei Zhu", "Qiang Fu", "Yisheng Guan", "Haifei Zhu"], "abstract": "As a hard high-altitude work, power transmission line inspection increasingly demands robots to conduct in place of the human being. A variety of robots have been developed to this end, with basic locomotion and inspection implemented on the lines. However, most current line inspection robots (LIRs) are only mobile platforms with complex structures and large weights, lacking sufficiently dexterous..."}
+{"title": "Autonomous Pipeline Tracking Using Bernoulli Filter for Unmanned Underwater Surveys", "detail_url": "https://ieeexplore.ieee.org/document/9981114/", "author_list": ["Vibhav Bharti", "Sen Wang", "Vibhav Bharti", "Sen Wang"], "abstract": "Inspection of subsea pipelines is crucial for avoiding any hazards and minimizing the risks to infrastructure and the environment. These inspections are achieved using Autonomous Underwater Vehicles (AUVs) in favour of reduced operational costs. This work presents a vehicle agnostic approach for tracking subsea pipelines at close-range for autonomous guidance along the pipeline using an AUV. A mul..."}
+{"title": "Evaluation of position-keeping strategies for symmetrically-shaped autonomous water-surface robots under disturbances", "detail_url": "https://ieeexplore.ieee.org/document/9982124/", "author_list": ["Yasuyuki Fujii", "Dinh Tuan Tran", "Joo-Ho Lee", "Yasuyuki Fujii", "Dinh Tuan Tran", "Joo-Ho Lee"], "abstract": "Extensive research has been conducted on autonomous surface robots and underwater robots for various tasks in aquatic environments. The duration of the operation of autonomous field robots depends on the capacity of the mounted battery, as they are not typically connected to an external power supply. Therefore, smart strategies which are optimized for each task are required to extend the working t..."}
+{"title": "Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981631/", "author_list": ["Muhammad Fadhil Ginting", "Kyohei Otsu", "Mykel J. Kochenderfer", "Ali-akbar Agha-mohammadi", "Muhammad Fadhil Ginting", "Kyohei Otsu", "Mykel J. Kochenderfer", "Ali-akbar Agha-mohammadi"], "abstract": "To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous capabilities. We formulate a multi-robot exploration mission and compute an operation policy to maintain robot team productivity and maximize mission success. The environment description, robot capability, and mission outcome are modeled as a Markov decision pro..."}
+{"title": "MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation", "detail_url": "https://ieeexplore.ieee.org/document/9981108/", "author_list": ["Nikhil Khedekar", "Mihir Kulkarni", "Kostas Alexis", "Nikhil Khedekar", "Mihir Kulkarni", "Kostas Alexis"], "abstract": "This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the goal of enabling resilient robotic autonomy in GPS-denied and perceptually-degraded environments, MIMOSA currently contains modules for pointcloud registration, fusion of multiple..."}
+{"title": "PUTN: A Plane-fitting based Uneven Terrain Navigation Framework", "detail_url": "https://ieeexplore.ieee.org/document/9981038/", "author_list": ["Zhuozhu Jian", "Zihong Lu", "Xiao Zhou", "Bin Lan", "Anxing Xiao", "Xueqian Wang", "Bin Liang", "Zhuozhu Jian", "Zihong Lu", "Xiao Zhou", "Bin Lan", "Anxing Xiao", "Xueqian Wang", "Bin Liang"], "abstract": "Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a plane-fitting based uneven terrain navigation framework (PUTN) to solve this problem. The implementation of PUTN is divided into three steps. First, based on Rapidly..."}
+{"title": "A Standards-based Pipeline Route Drawing System using a Towed Sensing Unit", "detail_url": "https://ieeexplore.ieee.org/document/9981626/", "author_list": ["Atsushi Kakogawa", "Chihiro Hirose", "Shugen Ma", "Atsushi Kakogawa", "Chihiro Hirose", "Shugen Ma"], "abstract": "This paper presents a method of drawing pipeline routes using a sensing unit with a rotary encoder and IMU (Inertial Measurement Unit), which is towed by a self-propelled in-pipe inspection robot. However, the IMU information generally contains integration errors, making it difficult to draw accurate pipeline routes. In this study, we propose a method combining gradient descent using a gyroscopic ..."}
+{"title": "Speeding up POMDP Planning via Simplification", "detail_url": "https://ieeexplore.ieee.org/document/9981442/", "author_list": ["Ori Sztyglic", "Vadim Indelman", "Ori Sztyglic", "Vadim Indelman"], "abstract": "In this paper, we consider online planning in par-tially observable domains. Solving the corresponding POMDP problem is a very challenging task, particularly in an online setting. Our key contribution is a novel algorithmic approach, Simplified Information Theoretic Belief Space Planning (SITH-BSP), which aims to speed up POMDP planning considering belief-dependent rewards, without compromising th..."}
+{"title": "Speeding Up Optimization-based Motion Planning through Deep Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981717/", "author_list": ["Johannes Tenhumberg", "Darius Burschka", "Berthold B\u00e4uml", "Johannes Tenhumberg", "Darius Burschka", "Berthold B\u00e4uml"], "abstract": "Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful motion plans in a neural network. However, this \u201cneural motion planning\u201d did not scale to complex robots in unseen 3D environments as needed for real-world appl..."}
+{"title": "Improved A-Search Guided Tree for Autonomous Trailer Planning", "detail_url": "https://ieeexplore.ieee.org/document/9982121/", "author_list": ["Jessica Leu", "Yebin Wang", "Masayoshi Tomizuka", "Stefano Di Cairano", "Jessica Leu", "Yebin Wang", "Masayoshi Tomizuka", "Stefano Di Cairano"], "abstract": "This paper presents a motion planning strategy that utilizes the improved A -search guided tree to enable autonomous parking of a general 3-trailer with a car-like tractor. Different from the state-of-the-art state-lattice-based methods, where numerous motion primitives are necessary to ensure successful planning, our work allows quick off-lattice exploration to find a solution. Our treatment brin..."}
+{"title": "TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981942/", "author_list": ["Adarsh Jagan Sathyamoorthy", "Kasun Weerakoon", "Tianrui Guan", "Jing Liang", "Dinesh Manocha", "Adarsh Jagan Sathyamoorthy", "Kasun Weerakoon", "Tianrui Guan", "Jing Liang", "Dinesh Manocha"], "abstract": "We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through self-supervised learning, and uses it for autonomous robot navigation. Our method uses RGB images of terrain surfaces and the robot's velocities as inputs, and the IMU vibrations and odometry errors experienced..."}
+{"title": "Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic", "detail_url": "https://ieeexplore.ieee.org/document/9981382/", "author_list": ["Charles Dawson", "Chuchu Fan", "Charles Dawson", "Chuchu Fan"], "abstract": "Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust to external disturbances. In this paper, we present an algorithm for finding robust plans that satisfy STL specifications. Our method alternates between local op..."}
+{"title": "CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning", "detail_url": "https://ieeexplore.ieee.org/document/9982110/", "author_list": ["Senthil Hariharan Arul", "Dinesh Manocha", "Senthil Hariharan Arul", "Dinesh Manocha"], "abstract": "We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local and global planning techniques to efficiently navigate in scenarios with multiple corridors. To handle dense scenes with narrow passages, our approach computes..."}
+{"title": "Collective Decision-Making with Bayesian Robots in Dynamic Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982019/", "author_list": ["Kai Pfister", "Heiko Hamann", "Kai Pfister", "Heiko Hamann"], "abstract": "Collective decision-making enables self-organizing robot swarms to act autonomously on a swarm level and is essential to coordinate their actions as a whole. When robots only share and communicate information locally a distributed and decentralized approach is required. In a previous paper [4], an efficient method based on a distributed Bayesian algorithm was created to distinguish a binary enviro..."}
+{"title": "Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation", "detail_url": "https://ieeexplore.ieee.org/document/9981959/", "author_list": ["Himani Sinhmar", "Hadas Kress-Gazit", "Himani Sinhmar", "Hadas Kress-Gazit"], "abstract": "We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the environment while avoiding collisions with both static and dynamic obstacles. The novelty of this work is the guaranteed generation of desired complex swarm be..."}
+{"title": "A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm", "detail_url": "https://ieeexplore.ieee.org/document/9981583/", "author_list": ["Federico M. Conzelmann", "Lukas Huber", "Diego Paez-Granados", "Anastasia Bolotnikova", "Auke Ijspeert", "Aude Billard", "Federico M. Conzelmann", "Lukas Huber", "Diego Paez-Granados", "Anastasia Bolotnikova", "Auke Ijspeert", "Aude Billard"], "abstract": "In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture swarm arises. We present a closed-form approach for mobile furniture obstacle avoidance and navigation within an indoor environment. The approac..."}
+{"title": "Collective Decision Making in Communication-Constrained Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981622/", "author_list": ["Thomas G. Kelly", "Mohammad Divband Soorati", "Klaus-Peter Zauner", "Sarvapali D. Ramchurn", "Danesh Tarapore", "Thomas G. Kelly", "Mohammad Divband Soorati", "Klaus-Peter Zauner", "Sarvapali D. Ramchurn", "Danesh Tarapore"], "abstract": "One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not always be available in a real world environment. In this paper we introduce the communication-constrained collective decision-making problem where some areas of the environment limit the agents' ability to com..."}
+{"title": "Deliberative Democracy with Robot Swarms", "detail_url": "https://ieeexplore.ieee.org/document/9981649/", "author_list": ["Merihan Alhafnawi", "Edmund R. Hunt", "Severin Lemaignan", "Paul O'Dowd", "Sabine Hauert", "Merihan Alhafnawi", "Edmund R. Hunt", "Severin Lemaignan", "Paul O'Dowd", "Sabine Hauert"], "abstract": "Decision-making among groups of humans can benefit from open discussion and inclusion of a diversity of opinions, promoting deliberative democracy. In this work, we test whether a swarm of robots can help facilitate decision-making by visually representing the diversity of opinions. We used a swarm of robots we built, called MOSAIX, that consists of 4-inch touchscreens-on-wheels robots called Tile..."}
+{"title": "Particle Swarm Optimizer-based Attack Strategy with Swarm Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981215/", "author_list": ["Huan Liu", "JunQi Zhang", "MengChu Zhou", "Huan Liu", "JunQi Zhang", "MengChu Zhou"], "abstract": "An environment where a robot swarm attacks a territory protected by another one leads to an attack-defense confrontation problem. Commonly-used deep reinforcement learning-based methods rely on pre-training and become intractable due to the curse of dimensionality. To develop effective attack strategies, inspired by a particle swarm optimizer (PSO), this work proposes a PSO-based strategy for a ro..."}
+{"title": "Multi-Objective Geometric Optimization of A Multi-Link Manipulator Using Parameterized Design Method", "detail_url": "https://ieeexplore.ieee.org/document/9982094/", "author_list": ["Xiaomeng Hu", "Weiwei Wan", "Liang Du", "Jianjun Yuan", "Shugen Ma", "Xiaomeng Hu", "Weiwei Wan", "Liang Du", "Jianjun Yuan", "Shugen Ma"], "abstract": "The performance of a robot is closely related to its structure. From the initial design of link lengths to structural optimization, it is still the research hotspot in recent years. To make the manipulator lightweight and ensure its working range and flexibility, researchers have proposed many optimization methods, most of which are for specific working scenarios, requirements, and robot structure..."}
+{"title": "A Configurable Skill Oriented Architecture Based on OPC UA", "detail_url": "https://ieeexplore.ieee.org/document/9982164/", "author_list": ["Jorge Blesa Gracia", "Felix Leber", "Mohamed Aburaia", "Wilfried W\u00f6ber", "Jorge Blesa Gracia", "Felix Leber", "Mohamed Aburaia", "Wilfried W\u00f6ber"], "abstract": "Over the last years, research done in automation and industrial robotics has established the foundations for skill-oriented systems based on the OPC UA standard. Nevertheless, utilizing these advances in other areas of robotics research can be challenging and time consuming. We present a framework aiming to reduce this entry threshold. Our solution is an open source, easy to configure tool based o..."}
+{"title": "Accurate edge detection for robotic welding through tactile exploration", "detail_url": "https://ieeexplore.ieee.org/document/9981824/", "author_list": ["Shameek Ganguly", "Oussama Khatib", "Shameek Ganguly", "Oussama Khatib"], "abstract": "Programming paths for robotic welding conventionally requires precise positioning of workpieces, detailed 3D models and/or tedious teach pendant programming. A new method is introduced in this paper that enables an operator to teach the weld path to the robot through a haptic-visual interface. The operator teaches the path by guiding the tool tip to contact on the workpiece surface with force feed..."}
+{"title": "Vision-Based Safety System for Barrierless Human-Robot Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9981689/", "author_list": ["Lina Mar\u00eda Amaya-Mej\u00eda", "Nicol\u00e1s Duque-Su\u00e1rez", "Daniel Jaramillo-Ram\u00edrez", "Carol Martinez", "Lina Mar\u00eda Amaya-Mej\u00eda", "Nicol\u00e1s Duque-Su\u00e1rez", "Daniel Jaramillo-Ram\u00edrez", "Carol Martinez"], "abstract": "Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (S..."}
+{"title": "An All-in-one Cable-driven Parallel Robot with Flexible Workspace and Its Auto-calibration Method", "detail_url": "https://ieeexplore.ieee.org/document/9982214/", "author_list": ["Hao An", "Hang Liu", "Xintian Liu", "Han Yuan", "Hao An", "Hang Liu", "Xintian Liu", "Han Yuan"], "abstract": "For traditional cable-driven parallel robots (CD-PRs), changing the workspace is relatively difficult, which needs to reconfigure the anchor points and the external frame. The main reason is that the winch is separated from the moving platform, and a series of pulleys are applied to guide the driving cables. This paper proposes a novel all-in-one suspended CDPR that integrates all components in th..."}
+{"title": "Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm", "detail_url": "https://ieeexplore.ieee.org/document/9981130/", "author_list": ["Mitsuo Komagata", "Yutaro Imashiro", "Ryoya Suzuki", "Kento Oishi", "Ko Yamamoto", "Yoshihiko Nakamura", "Mitsuo Komagata", "Yutaro Imashiro", "Ryoya Suzuki", "Kento Oishi", "Ko Yamamoto", "Yoshihiko Nakamura"], "abstract": "Industrial robots require force controllability and impact resistance to ensure safe physical interactions. An electro-hydrostaic actuator (EHA) is expected to be suitable for such applications because it has high backdrivability which improve both force controllability at contact and impact resistance. However, EHAs had been rarely used in multi-axes robotic systems. The previous works validated ..."}
+{"title": "On a Balanced Delta Robot for Precise Aerial Manipulation: Implementation, Testing, and Lessons for Future Designs", "detail_url": "https://ieeexplore.ieee.org/document/9981736/", "author_list": ["Angus B. Clark", "Nicholas Baron", "Lachlan Orr", "Mirko Kovac", "Nicolas Rojas", "Angus B. Clark", "Nicholas Baron", "Lachlan Orr", "Mirko Kovac", "Nicolas Rojas"], "abstract": "Using a delta-manipulator for stabilisation of an end-effector to perform precise spatial positioning is a current area of interest in aerial manipulation. High speed precision movements of a manipulator can cause disturbances to the aerial platform, which hinders trajectory tracking and in some cases could be sufficient to cause a loss of control of the vehicle. In this paper, a statically balanc..."}
+{"title": "Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control", "detail_url": "https://ieeexplore.ieee.org/document/9981144/", "author_list": ["Gerry Chen", "Seth Hutchinson", "Frank Dellaert", "Gerry Chen", "Seth Hutchinson", "Frank Dellaert"], "abstract": "We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast to many methods which use fixed feedback gains, our time-varying controller computes the optimal gains depending on the location in the workspace and the future trajectory. Meanwhile, we rely heavily on offline computatio..."}
+{"title": "Learning Object Manipulation Skills from Video via Approximate Differentiable Physics", "detail_url": "https://ieeexplore.ieee.org/document/9982084/", "author_list": ["Vladim\u00edr Petr\u00edk", "Mohammad Nomaan Qureshi", "Josef Sivic", "Makar Tapaswi", "Vladim\u00edr Petr\u00edk", "Mohammad Nomaan Qureshi", "Josef Sivic", "Makar Tapaswi"], "abstract": "We aim to teach robots to perform simple object manipulation tasks by watching a single video demonstration. Towards this goal, we propose an optimization approach that outputs a coarse and temporally evolving 3D scene to mimic the action demonstrated in the input video. Similar to previous work, a differentiable renderer ensures perceptual fidelity between the 3D scene and the 2D video. Our key n..."}
+{"title": "Imitation of Manipulation Skills Using Multiple Geometries", "detail_url": "https://ieeexplore.ieee.org/document/9981683/", "author_list": ["Boyang Ti", "Yongsheng Gao", "Jie Zhao", "Sylvain Calinon", "Boyang Ti", "Yongsheng Gao", "Jie Zhao", "Sylvain Calinon"], "abstract": "Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning approach to extract the optimal representation from a dictionary of coordinate systems to encode an observed movement/behavior. This is achieved by using an extensi..."}
+{"title": "Robot Learning from Demonstration Using Elastic Maps", "detail_url": "https://ieeexplore.ieee.org/document/9981241/", "author_list": ["Brendan Hertel", "Matthew Pelland", "S. Reza Ahmadzadeh", "Brendan Hertel", "Matthew Pelland", "S. Reza Ahmadzadeh"], "abstract": "Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demon-strations as elastic maps. An elastic map is a graph of nodes connected through a mesh of springs. We build a skill model by fitting an elastic map to the set of demonstrations. The ..."}
+{"title": "Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination", "detail_url": "https://ieeexplore.ieee.org/document/9981056/", "author_list": ["Abdalkarim Mohtasib", "Gerhard Neumann", "Heriberto Cuay\u00e1huitl", "Abdalkarim Mohtasib", "Gerhard Neumann", "Heriberto Cuay\u00e1huitl"], "abstract": "Learning robotic tasks in the real world is still highly challenging and effective practical solutions remain to be found. Traditional methods used in this area are imitation learning and reinforcement learning, but they both have limitations when applied to real robots. Combining reinforcement learning with pre-collected demonstrations is a promising approach that can help in learning control pol..."}
+{"title": "Inverse Reinforcement Learning with Hybrid-weight Trust-region Optimization and Curriculum Learning for Autonomous Maneuvering", "detail_url": "https://ieeexplore.ieee.org/document/9981103/", "author_list": ["Yu Shen", "Weizi Li", "Ming C. Lin", "Yu Shen", "Weizi Li", "Ming C. Lin"], "abstract": "Despite significant advancements, collision-free navigation in autonomous driving is still challenging, considering the navigation module needs to balance learning and planning to achieve efficient and effective control of the vehicle. We propose a novel framework of inverse reinforcement learning with hybrid-weight trust-region optimization and curriculum learning (IRL-HC) for autonomous maneuver..."}
+{"title": "WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata", "detail_url": "https://ieeexplore.ieee.org/document/9981874/", "author_list": ["Tianyu Wang", "Nikolay Atanasov", "Tianyu Wang", "Nikolay Atanasov"], "abstract": "This paper presents a method for learning logical task specifications and cost functions from demonstrations. Constructing specifications by hand is challenging for complex objectives and constraints in autonomous systems. Instead, we consider demonstrated task executions, whose logic structure and transition costs need to be inferred by an autonomous agent. We employ a spectral learning approach ..."}
+{"title": "SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981506/", "author_list": ["Ruida Zhang", "Yan Di", "Fabian Manhardt", "Federico Tombari", "Xiangyang Ji", "Ruida Zhang", "Yan Di", "Fabian Manhardt", "Federico Tombari", "Xiangyang Ji"], "abstract": "Category-level pose estimation is a challenging problem due to intra-class shape variations. Recent methods deform pre-computed shape priors to map the observed point cloud into the normalized object coordinate space and then retrieve the pose via post-processing, i.e., Umeyama's Algorithm. The shortcomings of this two-stage strategy lie in two aspects: 1) The surrogate supervision on the intermed..."}
+{"title": "VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting", "detail_url": "https://ieeexplore.ieee.org/document/9981925/", "author_list": ["Liming Zheng", "Yinghao Cai", "Tao Lu", "Shuo Wang", "Liming Zheng", "Yinghao Cai", "Tao Lu", "Shuo Wang"], "abstract": "In this paper, we propose a novel Voting based Grasp Pose Network (VGPN) to detect 6-DoF grasps in cluttered scenes. The motivation of this paper is that local object geometry can provide useful clues about where the object can be grasped. Generated by the sampled seed points from raw point cloud, the votes allow seed points in different object regions to contribute to locations where the object c..."}
+{"title": "Leveraging Publicly Available Textual Object Descriptions for Anthropomorphic Robotic Grasp Predictions", "detail_url": "https://ieeexplore.ieee.org/document/9981541/", "author_list": ["Niko Kleer", "Martin Feick", "Michael Feld", "Niko Kleer", "Martin Feick", "Michael Feld"], "abstract": "Robotic systems using anthropomorphic end-effectors face tremendous challenges choosing a suitable pose for grasping an object. The fact that the choice of a grasp is influenced by the physical properties of an object, the intended task, and the environment results in a considerable amount of variables. The majority of models targeted towards enabling such robots to determine a suitable grasping p..."}
+{"title": "Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981478/", "author_list": ["Donghao Li", "Hankun Deng", "Yagiz E. Bayiz", "Bo Cheng", "Donghao Li", "Hankun Deng", "Yagiz E. Bayiz", "Bo Cheng"], "abstract": "In this work, we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robot $(\\mu \\text{Bot})$. Through this platform, we systematically explored the effects of robot design and fluid parameters on swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the rob..."}
+{"title": "Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors", "detail_url": "https://ieeexplore.ieee.org/document/9981431/", "author_list": ["Shusuke Mochida", "Ryotaro Onuki", "Takahiro Kawagoe", "Takumi Ito", "Tatsuya Ibuki", "Riku Funada", "Mitsuji Sampei", "Shusuke Mochida", "Ryotaro Onuki", "Takahiro Kawagoe", "Takumi Ito", "Tatsuya Ibuki", "Riku Funada", "Mitsuji Sampei"], "abstract": "This paper presents novel quadrotor structures composed of only clockwise rotors. A multirotor unmanned aerial vehicle (UAV) generally has both clockwise and counterclockwise rotors to counteract the torques from the rotors. While the proposed structures have only clockwise rotors, those rotors are tilted to cancel the torques around the yaw angle of the body. This paper investigates the condition..."}
+{"title": "A Robotic Aerial Platform with Functionally Anthropomorphic Arms designed for Physical Interaction", "detail_url": "https://ieeexplore.ieee.org/document/9981910/", "author_list": ["Fanyi Kong", "Simone Monteleone", "Giorgio Grioli", "Manuel G. Catalano", "Antonio Bicchi", "Fanyi Kong", "Simone Monteleone", "Giorgio Grioli", "Manuel G. Catalano", "Antonio Bicchi"], "abstract": "Frequently, ground robots are hampered by debris and objects on the ground, and safely surpassing them is not always trivial. On the contrary, a robot capable of flying is intrinsically immune to such obstacles and, therefore, greatly enhances the possibility of inspecting and intervening in adverse surroundings for humans. This work introduces a novel teleoperated aerial platform for inspection a..."}
+{"title": "Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case", "detail_url": "https://ieeexplore.ieee.org/document/9981045/", "author_list": ["Gianluca Corsini", "Martin Jacquet", "Hemjyoti Das", "Amr Afifi", "Daniel Sidobre", "Antonio Franchi", "Gianluca Corsini", "Martin Jacquet", "Hemjyoti Das", "Amr Afifi", "Daniel Sidobre", "Antonio Franchi"], "abstract": "In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to any multi-rotor aerial vehicle (MRAV) with a minimal adaptation of the robot model. The formulation of..."}
+{"title": "Stabilization of Tangent and Normal Contact Forces for a Quadrotor subject to Disturbances", "detail_url": "https://ieeexplore.ieee.org/document/9981890/", "author_list": ["C. Izaguirre-Espinosa", "A. Mu\u00f1oz-Vazquez", "A. S\u00e1nchez-Orta", "V. Parra-Vega", "R. Garcia-Rodriguez", "P. Castillo", "D. Arregu\u00edn-Jasso", "C. Izaguirre-Espinosa", "A. Mu\u00f1oz-Vazquez", "A. S\u00e1nchez-Orta", "V. Parra-Vega", "R. Garcia-Rodriguez", "P. Castillo", "D. Arregu\u00edn-Jasso"], "abstract": "Force exertion, object manipulation, and interaction are novel trending research topics of autonomous flying robots that can yield hoovering. Moreover, specifically with quadrotors, the vibration caused by the high natural frequency of rotating propellers exacerbates the problem of maintaining contact and exerting force against a rigidly fixed object. This contact vibration transfers back kinetic ..."}
+{"title": "Risk-sensitive MPCs with Deep Distributional Inverse RL for Autonomous Driving", "detail_url": "https://ieeexplore.ieee.org/document/9981223/", "author_list": ["Keuntaek Lee", "David Isele", "Evangelos A. Theodorou", "Sangjae Bae", "Keuntaek Lee", "David Isele", "Evangelos A. Theodorou", "Sangjae Bae"], "abstract": "In robot learning from demonstration (LfD), a visual representation of a cost function inferred from Inverse Reinforcement Learning (IRL) provides an intuitive tool for humans to quickly interpret the underlying objectives of the demonstration. The inferred cost function can be used by controllers, for example, Model Predictive Controllers (MPCs). In this work, we improve the recently developed IR..."}
+{"title": "Learning Turn-Taking Behavior from Human Demonstrations for Social Human-Robot Interactions", "detail_url": "https://ieeexplore.ieee.org/document/9981243/", "author_list": ["Pourya Shahverdi", "Alexander Tyshka", "Madeline Trombly", "Wing-Yue Geoffrey Louie", "Pourya Shahverdi", "Alexander Tyshka", "Madeline Trombly", "Wing-Yue Geoffrey Louie"], "abstract": "Turn-taking is a fundamental behavior during human interactions and robots must be capable of turn-taking to interact with humans. Current state-of-the-art approaches in turn-taking focus on developing general models to predict the end of turn (EoT) across all contexts. This demands an all-inclusive verbal and non-verbal behavioral dataset from all possible contexts of interaction. Before robot de..."}
+{"title": "A Framework for Transferring Surface Finishing Skills to New Surface Geometries", "detail_url": "https://ieeexplore.ieee.org/document/9981163/", "author_list": ["Yitaek Kim", "Christoffer Sloth", "Aljaz Kramberger", "Yitaek Kim", "Christoffer Sloth", "Aljaz Kramberger"], "abstract": "This paper presents a framework for transferring surface finishing skills to new surface geometries while preserving the surface finish quality. The main idea is to estimate the contact area between the workpiece and the tool by using 3D point cloud approach and replicate a given material removal rate and the accumulated material removal, as these quantities are the main parameters for quality. Th..."}
+{"title": "Learning Temporal Task Models from Human Bimanual Demonstrations", "detail_url": "https://ieeexplore.ieee.org/document/9981068/", "author_list": ["Christian R.G. Dreher", "Tamim Asfour", "Christian R.G. Dreher", "Tamim Asfour"], "abstract": "Learning temporal relations between actions in a bimanual manipulation task is important for capturing the constraints of actions required to achieve the task's goal. However, given several demonstrations of a bimanual manipulation task, the problem of identifying the true temporal dependencies between actions - if there are any - is very challenging due to contradictions. We propose a model-drive..."}
+{"title": "Learning Implicit Priors for Motion Optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981264/", "author_list": ["Julen Urain", "An T. Le", "Alexander Lambert", "Georgia Chalvatzaki", "Byron Boots", "Jan Peters", "Julen Urain", "An T. Le", "Alexander Lambert", "Georgia Chalvatzaki", "Byron Boots", "Jan Peters"], "abstract": "Motion optimization is an effective framework for generating smooth and safe trajectories for robotic manipulation tasks. However, it suffers from local optima that hinder its applicability, especially for multi-objective tasks. In this paper, we study this problem in light of the integration of Energy-Based Models (EBM) as guiding priors in motion optimization. EBMs are probabilistic models with ..."}
+{"title": "Multi-Level Task Learning Based on Intention and Constraint Inference for Autonomous Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981288/", "author_list": ["Christoph Willibald", "Dongheui Lee", "Christoph Willibald", "Dongheui Lee"], "abstract": "To perform tasks in unstructured environments, robots need to be able to apply learned skills to different contexts and to autonomously make decisions online. We, therefore, developed a novel data-driven task learning approach that segments a task demonstration into simpler skills and structures them in a high-level task graph. In contrast to other state-of-the-art methods, the presented approach ..."}
+{"title": "HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981367/", "author_list": ["Juho Kalliokoski", "Basak Sakcak", "Markku Suomalainen", "Katherine J. Mimnaugh", "Alexis P. Chambers", "Timo Ojala", "Steven M. LaValle", "Juho Kalliokoski", "Basak Sakcak", "Markku Suomalainen", "Katherine J. Mimnaugh", "Alexis P. Chambers", "Timo Ojala", "Steven M. LaValle"], "abstract": "This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for example, to go further away from other people, or to go closer to landmarks she wants to see on the way. We propose Human-Influenced Dynamic Window Approach (HI-DWA),..."}
+{"title": "A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982063/", "author_list": ["Emmanuel Senft", "Michael Hagenow", "Pragathi Praveena", "Robert Radwin", "Michael Zinn", "Michael Gleicher", "Bilge Mutlu", "Emmanuel Senft", "Michael Hagenow", "Pragathi Praveena", "Robert Radwin", "Michael Zinn", "Michael Gleicher", "Bilge Mutlu"], "abstract": "Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not focus on two important aspects of using a drone as an automated view provider. The first is how the drone should select from a range of quality viewpoints within..."}
+{"title": "On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G", "detail_url": "https://ieeexplore.ieee.org/document/9981833/", "author_list": ["Xiao Chen", "Lars Johannsmeier", "Hamid Sadeghian", "Erfan Shahriari", "Martin Danneberg", "Anselm Nicklas", "Fan Wu", "Gerhard Fettweis", "Sami Haddadin", "Xiao Chen", "Lars Johannsmeier", "Hamid Sadeghian", "Erfan Shahriari", "Martin Danneberg", "Anselm Nicklas", "Fan Wu", "Gerhard Fettweis", "Sami Haddadin"], "abstract": "Teleoperated robots are believed to play an important role for future applications in industry, medicine and other domains. Examples for this are remote assembly and maintenance, surgery, diagnosis or deep-sea and space exploration. Such applications are made possible by state-of-the-art tactile manipulators, well-researched control schemes and novel communication technologies such as the fifth ge..."}
+{"title": "On Stabilizing Communication Law for Bilateral Force-reflecting Teleoperation Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981557/", "author_list": ["Ho Duc Tho", "Takanori Miyoshi", "Ho Duc Tho", "Takanori Miyoshi"], "abstract": "This brief proposes a new stabilizing communication law to allow the wave transformation-based teleoperation architecture to accommodate direct environmental contact force feedback, potentially increasing the human operator's experience of telepresence. Simulation results are provided."}
+{"title": "Towards Robot Avatars: Systems and Methods for Teleinteraction at Avatar XPRIZE Semi-Finals", "detail_url": "https://ieeexplore.ieee.org/document/9982258/", "author_list": ["Rui Luo", "Chunpeng Wang", "Eric Schwarm", "Colin Keil", "Evelyn Mendoza", "Pushyami Kaveti", "Stephen Alt", "Hanumant Singh", "Ta\u015ekin Padir", "John Peter Whitney", "Rui Luo", "Chunpeng Wang", "Eric Schwarm", "Colin Keil", "Evelyn Mendoza", "Pushyami Kaveti", "Stephen Alt", "Hanumant Singh", "Ta\u015ekin Padir", "John Peter Whitney"], "abstract": "There has been a drastic shift to remote interaction for professional, industrial and personal interactions. Improving the overall quality of these interactions by removing any sense of distance between the users is the ultimate goal. Video conferencing has been widely adopted as an improvement to audio-only interactions. Having added visuals to audio communication, the next frontier is to add phy..."}
+{"title": "Multi-Phase Multi-Modal Haptic Teleoperation", "detail_url": "https://ieeexplore.ieee.org/document/9981525/", "author_list": ["Maximilian M\u00fchlbauer", "Franz Steinmetz", "Freek Stulp", "Thomas Hulin", "Alin Albu-Sch\u00e4ffer", "Maximilian M\u00fchlbauer", "Franz Steinmetz", "Freek Stulp", "Thomas Hulin", "Alin Albu-Sch\u00e4ffer"], "abstract": "Virtual Fixtures facilitate teleoperation, for in-stance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections. We observed that many assembly operations can be split into different phases - approaching, positi..."}
+{"title": "Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981371/", "author_list": ["Francesco Porcini", "Massimiliano Solazzi", "Antonio Frisoli", "Francesco Porcini", "Massimiliano Solazzi", "Antonio Frisoli"], "abstract": "The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA), a model-free and robust way to cope with energy injection due to communication delay. However, this..."}
+{"title": "The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms", "detail_url": "https://ieeexplore.ieee.org/document/9981915/", "author_list": ["Alexander Koenig", "Zixi Liu", "Lucas Janson", "Robert Howe", "Alexander Koenig", "Zixi Liu", "Lucas Janson", "Robert Howe"], "abstract": "A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands. We systematically in..."}
+{"title": "Learning to Singulate Layers of Cloth using Tactile Feedback", "detail_url": "https://ieeexplore.ieee.org/document/9981341/", "author_list": ["Sashank Tirumala", "Thomas Weng", "Daniel Seita", "Oliver Kroemer", "Zeynep Temel", "David Held", "Sashank Tirumala", "Thomas Weng", "Daniel Seita", "Oliver Kroemer", "Zeynep Temel", "David Held"], "abstract": "Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe self-occlusions when in folded or crumpled configurations. Prior work on robotic manipulation of cloth relies primarily on vision sensors alone, which may pose chal..."}
+{"title": "Multi-fingered Tactile Servoing for Grasping Adjustment under Partial Observation", "detail_url": "https://ieeexplore.ieee.org/document/9981464/", "author_list": ["Hanzhong Liu", "Bidan Huang", "Qiang Li", "Yu Zheng", "Yonggen Ling", "Wangwei Lee", "Yi Liu", "Ya-Yen Tsai", "Chenguang Yang", "Hanzhong Liu", "Bidan Huang", "Qiang Li", "Yu Zheng", "Yonggen Ling", "Wangwei Lee", "Yi Liu", "Ya-Yen Tsai", "Chenguang Yang"], "abstract": "Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Our technique employs feedback from a sensorized multi-fingered robotic hand to collaboratively servo the fingers and palm to achieve the desired grasp...."}
+{"title": "Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing", "detail_url": "https://ieeexplore.ieee.org/document/9982071/", "author_list": ["Isabella Huang", "Dylan Chow", "Ruzena Bajcsy", "Isabella Huang", "Dylan Chow", "Ruzena Bajcsy"], "abstract": "The automated cleaning of surfaces such as furniture, bathroom sinks, and even human bodies is challenging due to the three-dimensional nature of their geometries. Yet, enabling robots to effectively and safely perform these tasks would not only reduce user efforts spent on household cleaning chores, but would also alleviate the strenuous workload of caretakers as the elderly population continues ..."}
+{"title": "A Deep-Learning-based System for Indoor Active Cleaning", "detail_url": "https://ieeexplore.ieee.org/document/9982137/", "author_list": ["Yike Yun", "Linjie Hou", "Zijian Feng", "Wei Jin", "Yang Liu", "Heng Wang", "Ruonan He", "Weitao Guo", "Bo Han", "Baoxing Qin", "Jiaxin Li", "Yike Yun", "Linjie Hou", "Zijian Feng", "Wei Jin", "Yang Liu", "Heng Wang", "Ruonan He", "Weitao Guo", "Bo Han", "Baoxing Qin", "Jiaxin Li"], "abstract": "Cleaning public areas like commercial complexes is challenging due to their sophisticated surroundings and the vast kinds of real-life dirt. Robots are required to distinguish dirts and apply corresponding cleaning strategies. In this work, we proposed an active-cleaning framework by utilizing deep-learning methods for both solid wastes detection and liquid stains segmentation. Our system consists..."}
+{"title": "Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981863/", "author_list": ["Zilin Si", "Zirui Zhu", "Arpit Agarwal", "Stuart Anderson", "Wenzhen Yuan", "Zilin Si", "Zirui Zhu", "Arpit Agarwal", "Stuart Anderson", "Wenzhen Yuan"], "abstract": "Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile simulation. This makes the sim-to-real transfer for tactile-based manipulation tasks still challenging. In this work, we integrate simulation of robot dynamics and vi..."}
+{"title": "Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9982122/", "author_list": ["Michael A. Lin", "Emilio Reyes", "Jeannette Bohg", "Mark R. Cutkosky", "Michael A. Lin", "Emilio Reyes", "Jeannette Bohg", "Mark R. Cutkosky"], "abstract": "Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired sensors that attach to the surface of a robot manipulator to sense its surrounding through light contacts. We obtain a sensor model using a calibration process that..."}
+{"title": "Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task", "detail_url": "https://ieeexplore.ieee.org/document/9981495/", "author_list": ["Timo Markert", "Sebastian Matich", "Elias Hoerner", "Jonas Pfannes", "Andreas Theissler", "Martin Atzmueller", "Timo Markert", "Sebastian Matich", "Elias Hoerner", "Jonas Pfannes", "Andreas Theissler", "Martin Atzmueller"], "abstract": "In minimally invasive surgery (MIS), the reliable detection of hard inclusions in soft tissue is crucial for the success of the intervention. In robot-assisted surgery (RAS) however, limited technologies are available for intracorporeal tissue stiffness assessment due to the lack of force and tactile feedback from the robot tool tip. This paper investigates both, human haptic perception and roboti..."}
+{"title": "SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981722/", "author_list": ["Maria Waheed", "Michael Milford", "Klaus McDonald-Maier", "Shoaib Ehsan", "Maria Waheed", "Michael Milford", "Klaus McDonald-Maier", "Shoaib Ehsan"], "abstract": "Visual place recognition (VPR) - a fundamental task in computer vision and robotics - is the problem of identifying a place mainly based on visual information. View-point and appearance changes, such as due to weather and seasonal variations, make this task challenging. Currently, there is no universal VPR technique that can work in all types of environments, on a variety of robotic platforms, and..."}
+{"title": "A Robust Sidewalk Navigation Method for Mobile Robots Based on Sparse Semantic Point Cloud", "detail_url": "https://ieeexplore.ieee.org/document/9981281/", "author_list": ["Mingxing Wen", "Yunxiang Dai", "Tairan Chen", "Chunyang Zhao", "Jun Zhang", "Danwei Wang", "Mingxing Wen", "Yunxiang Dai", "Tairan Chen", "Chunyang Zhao", "Jun Zhang", "Danwei Wang"], "abstract": "Last-mile delivery robots are usually required to navigate on the sidewalk through a fixed route. The current solutions heavily rely on the image-based perception and GPS localization to successfully complete delivery tasks. However, it is prone to fail and become unreliable when the robot runs in challenging conditions, such as operating in different illuminations, or under canopies of trees or b..."}
+{"title": "RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981494/", "author_list": ["Xinjie Yao", "Ji Zhang", "Jean Oh", "Xinjie Yao", "Ji Zhang", "Jean Oh"], "abstract": "Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users' high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal difficulty. Most prior works model surroundings either through geometric representations or semantic classifications, which do not reflect perceived motion intensi..."}
+{"title": "\u03a92: Optimal Hierarchical Planner for Object Search in Large Environments via Mobile Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981194/", "author_list": ["Yoonyoung Cho", "Donghoon Shin", "Beomjoon Kim", "Yoonyoung Cho", "Donghoon Shin", "Beomjoon Kim"], "abstract": "We propose a hierarchical planning algorithm that efficiently computes an optimal plan for finding a target object in large environments where a robot must simultaneously consider both navigation and manipulation. One key challenge that arises from large domains is the substantial increase in search space complexity that stems from considering mobile manipulation actions and the increase in number..."}
+{"title": "A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO", "detail_url": "https://ieeexplore.ieee.org/document/9981188/", "author_list": ["Alessio De Luca", "Luca Muratore", "Nikos G. Tsagarakis", "Alessio De Luca", "Luca Muratore", "Nikos G. Tsagarakis"], "abstract": "Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which explores a set of motion primitives and a 2.5D tra..."}
+{"title": "Keeping Less is More: Point Sparsification for Visual SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981694/", "author_list": ["Yeonsoo Park", "Soohyun Bae", "Yeonsoo Park", "Soohyun Bae"], "abstract": "When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the performance and the range of applications. In sparse feature based SLAM algorithms, one efficient way for this problem is to limit the map point size by selecting the ..."}
+{"title": "Online Extrinsic Correction of Multi-Camera Systems by Low-Dimensional Parameterization of Physical Deformation", "detail_url": "https://ieeexplore.ieee.org/document/9981254/", "author_list": ["Sangheon Yang", "Jongwoo Lim", "Sangheon Yang", "Jongwoo Lim"], "abstract": "In this paper, we propose the online extrinsic correction method that effectively optimizes the extrinsic parameters of multi-camera systems used in visual SLAM. In the typical visual SLAM systems that use multi-camera settings, the intrinsic and extrinsic parameters of the cameras are calculated through offline calibration, which is used as the fixed constraints in online execution. However, the ..."}
+{"title": "Active SLAM in 3D deformable environments", "detail_url": "https://ieeexplore.ieee.org/document/9982224/", "author_list": ["Mengya Xu", "Liang Zhao", "Shoudong Huang", "Qi Hao", "Mengya Xu", "Liang Zhao", "Shoudong Huang", "Qi Hao"], "abstract": "This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between ac..."}
+{"title": "Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9981611/", "author_list": ["Chang Shi", "Yi Zheng", "Ann Majewicz Fey", "Chang Shi", "Yi Zheng", "Ann Majewicz Fey"], "abstract": "Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and estimation, surgical skill evaluation, and shared control strategies during teleoperation. Transformer models were first developed for Natural Language Processing (NLP) to model word sequences and soon the method gained pop..."}
+{"title": "Automatic Keyframe Detection for Critical Actions from the Experience of Expert Surgeons", "detail_url": "https://ieeexplore.ieee.org/document/9981454/", "author_list": ["Jie Zhang", "Shenchao Shi", "Yiwei Wang", "Chidan Wan", "Huan Zhao", "Xiong Cai", "Han Ding", "Jie Zhang", "Shenchao Shi", "Yiwei Wang", "Chidan Wan", "Huan Zhao", "Xiong Cai", "Han Ding"], "abstract": "Robot-Assisted Minimally Invasive Surgery (RAMIS), which introduced robot-actuated invasive tools to increase the dexterity and efficiency of traditional MIS, has become popular. Investigations on how to achieve autonomy in RAMIS have drawn vast intention recently, which urges further insights into the process of the surgical procedures. In this paper, the definition of critical actions, which dis..."}
+{"title": "Localization of Interaction using Fibre-Optic Shape Sensing in Soft-Robotic Surgery Tools", "detail_url": "https://ieeexplore.ieee.org/document/9981765/", "author_list": ["Sol\u00e8ne Dietsch", "Aoife McDonald\u2013Bowyer", "Emmanouil Dimitrakakis", "Joanna M. Coote", "Lukas Lindenroth", "Agostino Stilli", "Danail Stoyanov", "Sol\u00e8ne Dietsch", "Aoife McDonald\u2013Bowyer", "Emmanouil Dimitrakakis", "Joanna M. Coote", "Lukas Lindenroth", "Agostino Stilli", "Danail Stoyanov"], "abstract": "Minimally invasive surgery requires real-time tool tracking to guide the surgeon where depth perception and visual occlusion present navigational challenges. Although vision-based and external sensor-based tracking methods exist, fibre-optic sensing can overcome their limitations as they can be integrated directly into the device, are biocompatible, small, robust and geometrically versatile. In th..."}
+{"title": "Accurate Pose Estimation for Comanipulation Robotic Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9981944/", "author_list": ["Jef De Smet", "Gianni Borghesan", "Emmanuel Vander Poorten", "Jef De Smet", "Gianni Borghesan", "Emmanuel Vander Poorten"], "abstract": "Robotic comanipulation provides a cost-effective solution to telesurgery when remote operation is not strictly necessary. Within the field of laparoscopic surgery, the comanip-ulation scenario is only recently being exploited commercially in the form of lightweight backdrivable systems. A passive wrist backdrivable robot does not require preoperative alignment with the incision that acts as a fulc..."}
+{"title": "Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction", "detail_url": "https://ieeexplore.ieee.org/document/9982145/", "author_list": ["Ruofeng Wei", "Bin Li", "Hangjie Mo", "Fangxun Zhong", "Yonghao Long", "Qi Dou", "Yun-Hui Liu", "Dong Sun", "Ruofeng Wei", "Bin Li", "Hangjie Mo", "Fangxun Zhong", "Yonghao Long", "Qi Dou", "Yun-Hui Liu", "Dong Sun"], "abstract": "Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-based surgical systems due to the use of monocular endoscopy. In this paper, we present a novel framewor..."}
+{"title": "Differentiable Collision Avoidance Using Collision Primitives", "detail_url": "https://ieeexplore.ieee.org/document/9981093/", "author_list": ["Simon Zimmermann", "Matthias Busenhart", "Simon Huber", "Roi Poranne", "Stelian Coros", "Simon Zimmermann", "Matthias Busenhart", "Simon Huber", "Roi Poranne", "Stelian Coros"], "abstract": "A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between robots and obstacles. These computations can easily become a bottleneck, as they do not scale well with the complexity of the robots or the environment. To imp..."}
+{"title": "Informed Sampling-based Collision Avoidance with Least Deviation from the Nominal Path", "detail_url": "https://ieeexplore.ieee.org/document/9982202/", "author_list": ["Thomas T. Enevoldsen", "Roberto Galeazzi", "Thomas T. Enevoldsen", "Roberto Galeazzi"], "abstract": "This paper addresses local path re-planning for n-dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specified nominal path, such that the subset efficiently encapsulates all points along the nominal path. The..."}
+{"title": "Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space", "detail_url": "https://ieeexplore.ieee.org/document/9981453/", "author_list": ["Lea Steffen", "Tobias Weyer", "Stefan Ulbrich", "Arne Roennau", "R\u00fcdiger Dillmann", "Lea Steffen", "Tobias Weyer", "Stefan Ulbrich", "Arne Roennau", "R\u00fcdiger Dillmann"], "abstract": "We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path plan-ning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself and static as well as dynamic obstacles are mapped from the Cartesian task to the configuration space by precomputed kinematics. The condensed space represents a..."}
+{"title": "HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps", "detail_url": "https://ieeexplore.ieee.org/document/9981740/", "author_list": ["Xi Huang", "Gergely S\u00f3ti", "Hongyi Zhou", "Christoph Ledermann", "Bj\u00f6rn Hein", "Torsten Kr\u00f6ger", "Xi Huang", "Gergely S\u00f3ti", "Hongyi Zhou", "Christoph Ledermann", "Bj\u00f6rn Hein", "Torsten Kr\u00f6ger"], "abstract": "With the goal of efficiently computing collisionfree robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot environments into static and dynamic elements, we use the static part for initializing a deterministic roadmap, which provides a lower bound of the final path cost as infor..."}
+{"title": "A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers", "detail_url": "https://ieeexplore.ieee.org/document/9982198/", "author_list": ["Caleb Escobedo", "Nataliya Nechyporenko", "Shreyas Kadekodi", "Alessandro Roncone", "Caleb Escobedo", "Nataliya Nechyporenko", "Shreyas Kadekodi", "Alessandro Roncone"], "abstract": "Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware con-trollers, methods for altering a robot's motion to anticipate and avoid possible collisions. This framework is focused on three design considerations: kinematics, motion profiles, and virtual constraints. Additionally, the analysis in ..."}
+{"title": "Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981426/", "author_list": ["Mela Coffey", "Alyssa Pierson", "Mela Coffey", "Alyssa Pierson"], "abstract": "We propose a collaborative teleoperation algorithm which utilizes haptic force feedback to guide users around oncoming obstacles while accounting for non-holonomic constraints. The proposed algorithm predicts the user's goal, plans a path using a modified RRT* algorithm to the predicted goal, and provides haptic guidance to the path and away from obstacles when the user is in an unsafe pose. We sh..."}
+{"title": "Fidelity Evaluation of Virtual Traffic Based on Anomalous Trajectory Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981800/", "author_list": ["Chaoneng Li", "Qianwen Chao", "Guanwen Feng", "Qiongyan Wang", "Pengfei Liu", "Yunan Li", "Qiguang Miao", "Chaoneng Li", "Qianwen Chao", "Guanwen Feng", "Qiongyan Wang", "Pengfei Liu", "Yunan Li", "Qiguang Miao"], "abstract": "Measuring the fidelity of synthesized virtual traffic has become an important and fundamental concern for evaluating the performance of different traffic simulation techniques and applications of autonomous vehicle testing. In this work, we propose a novel method to evaluate the fidelity of any trajectory data from the perspective of anomalous trajectory detection. First, given the trajectory data..."}
+{"title": "Learning to Simulate Realistic LiDARs", "detail_url": "https://ieeexplore.ieee.org/document/9981120/", "author_list": ["Beno\u00eet Guillard", "Sai Vemprala", "Jayesh K. Gupta", "Ondrej Miksik", "Vibhav Vineet", "Pascal Fua", "Ashish Kapoor", "Beno\u00eet Guillard", "Sai Vemprala", "Jayesh K. Gupta", "Ondrej Miksik", "Vibhav Vineet", "Pascal Fua", "Ashish Kapoor"], "abstract": "Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for data-driven simulation of a realistic LiDAR sensor. We propose a model that learns a mapping between RGB images and corresponding LiDAR features such as raydrop or pe..."}
+{"title": "Realistic Real-Time Simulation of RGB and Depth Sensors for Dynamic Scenarios using Augmented Image Based Rendering", "detail_url": "https://ieeexplore.ieee.org/document/9982014/", "author_list": ["Johan Vertens", "Wolfram Burgard", "Johan Vertens", "Wolfram Burgard"], "abstract": "Simulation remains one of the key methods for testing and validation of robotic perception systems and it also becomes increasingly important for training visuomotor policies for autonomous driving or manipulation. Further, as perception pipelines tend to leverage increasing amounts of modalities, it appears vital to simulate additional cues such as depth maps aside from RGB images. To align simul..."}
+{"title": "Sequential Manipulation Planning on Scene Graph", "detail_url": "https://ieeexplore.ieee.org/document/9981735/", "author_list": ["Ziyuan Jiao", "Yida Niu", "Zeyu Zhang", "Song-Chun Zhu", "Yixin Zhu", "Hangxin Liu", "Ziyuan Jiao", "Yida Niu", "Zeyu Zhang", "Song-Chun Zhu", "Yixin Zhu", "Hangxin Liu"], "abstract": "We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal configurations, naturally specified on contact graphs, can be produced by a genetic algorithm with a sto..."}
+{"title": "Competency Assessment for Autonomous Agents using Deep Generative Models", "detail_url": "https://ieeexplore.ieee.org/document/9981991/", "author_list": ["Aastha Acharya", "Rebecca Russell", "Nisar R. Ahmed", "Aastha Acharya", "Rebecca Russell", "Nisar R. Ahmed"], "abstract": "For autonomous agents to act as trustworthy partners to human users, they must be able to reliably communicate their competency for the tasks they are asked to perform. Towards this objective, we develop probabilistic world models based on deep generative modelling that allow for the simulation of agent trajectories and accurate calculation of tasking outcome probabilities. By combining the streng..."}
+{"title": "HRI Framework for Continual Learning in Face Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981671/", "author_list": ["Giulia Belgiovine", "Jonas Gonzlez-Billandon", "Alessandra Sciutti", "Giulio Sandini", "Francesco Rea", "Giulia Belgiovine", "Jonas Gonzlez-Billandon", "Alessandra Sciutti", "Giulio Sandini", "Francesco Rea"], "abstract": "Recognizing human partners is an essential social skill for building personalized and long-term human-robot interactions. However, robots deployed in complex, real-world environments have to face several challenges, such as managing unstructured interactions with multiple users, limited computational resources, and intrinsic and continuous variability of their sensory evidence. To cope with these ..."}
+{"title": "Should a Robot Follow Social Norms? Human-Robot Interaction Design for Social Relations in Mixed Age Group", "detail_url": "https://ieeexplore.ieee.org/document/9981755/", "author_list": ["Sangmin Kim", "Jongsuk Choi", "Yoonseob Lim", "Sonya S. Kwak", "Sangmin Kim", "Jongsuk Choi", "Yoonseob Lim", "Sonya S. Kwak"], "abstract": "Social relations within a group are one of the factors that build the social context. Less attention has been paid to social relations within a group for human-robot interaction design. In this study, we designed different types of service behaviors for social relations in a mixed age group and conducted an experiment to investigate the effect of service behavior types (serving the elderly first v..."}
+{"title": "A Novel Wire-driven 3D Eyebrow Design for Communication with Humanoid Robot iCub", "detail_url": "https://ieeexplore.ieee.org/document/9981954/", "author_list": ["Motonobu Aoki", "Karthikeyan Kalyanasundaram Balasubramanian", "Diego Torazza", "Francesco Rea", "Doreen Jirak", "Giulio Sandini", "Takura Yanagi", "Atsushi Takamatsu", "Stephane Bouet", "Tomohiro Yamamura", "Motonobu Aoki", "Karthikeyan Kalyanasundaram Balasubramanian", "Diego Torazza", "Francesco Rea", "Doreen Jirak", "Giulio Sandini", "Takura Yanagi", "Atsushi Takamatsu", "Stephane Bouet", "Tomohiro Yamamura"], "abstract": "The purpose of this research is to contribute to social communication between humans and robots in scenes that have been considered difficult due to the limited facial expression capabilities of robots. In order to provide more detailed facial expressions, we designed a novel wire-driven 3D eyebrow using a soft material with a bending structure. We then demonstrated the mechanical properties of th..."}
+{"title": "SanitizerBot: How Human-in-the-Loop Social Robots Can Playfully Support Humans", "detail_url": "https://ieeexplore.ieee.org/document/9981917/", "author_list": ["Yao-Lin Tsai", "Parthasarathy Reddy Bana", "Sierra Loiselle", "Heather Knight", "Yao-Lin Tsai", "Parthasarathy Reddy Bana", "Sierra Loiselle", "Heather Knight"], "abstract": "This paper evaluates a robot that distributed hand-sanitizer over an eight month period (October 2020-June 2021) in public places on the Oregon State University campus. During COVID times, many robots have been deployed in public places as social distancing enforcers, food delivery robots, UV-sanitation robots and more, but few studies have assessed the social situations of these robots. Using the..."}
+{"title": "Deep Gesture Generation for Social Robots Using Type-Specific Libraries", "detail_url": "https://ieeexplore.ieee.org/document/9981734/", "author_list": ["Hitoshi Teshima", "Naoki Wake", "Diego Thomas", "Yuta Nakashima", "Hiroshi Kawasaki", "Katsushi Ikeuchi", "Hitoshi Teshima", "Naoki Wake", "Diego Thomas", "Yuta Nakashima", "Hiroshi Kawasaki", "Katsushi Ikeuchi"], "abstract": "Body language such as conversational gesture is a powerful way to ease communication. Conversational gestures do not only make a speech more lively but also contain semantic meaning that helps to stress important information in the discussion. In the field of robotics, giving conversational agents (humanoid robots or virtual avatars) the ability to properly use gestures is critical, yet remain a t..."}
+{"title": "Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum", "detail_url": "https://ieeexplore.ieee.org/document/9981380/", "author_list": ["Federico Allione", "Antonios E. Gkikakis", "Roy Featherstone", "Federico Allione", "Antonios E. Gkikakis", "Roy Featherstone"], "abstract": "This paper demonstrates the practical performance of a new theory of balance control that has been shown in simulation to out-perform earlier balance control theories in the sense of allowing the robot to make larger and faster movements while still maintaining its balance. The case studied here is that of a general planar double inverted pendulum, which resembles a legged robot's behaviour when t..."}
+{"title": "Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance", "detail_url": "https://ieeexplore.ieee.org/document/9981410/", "author_list": ["Shimpei Sato", "Yuta Kojio", "Yohei Kakiuchi", "Kunio Kojima", "Kei Okada", "Masayuki Inaba", "Shimpei Sato", "Yuta Kojio", "Yohei Kakiuchi", "Kunio Kojima", "Kei Okada", "Masayuki Inaba"], "abstract": "When robots walk on uneven terrain, trajectory planning should take into account both the whole-body dy-namics and the ground geometry simultaneously. In uneven terrain environments, there are only a limited number of places where the robot is able to make stable contact with the ground without its feet wobbling or slipping because of the intricate round geometry. In such environments, the optiona..."}
+{"title": "Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach", "detail_url": "https://ieeexplore.ieee.org/document/9981487/", "author_list": ["R\u00e9my Rahem", "Christopher Yee Wong", "Wael Suleiman", "R\u00e9my Rahem", "Christopher Yee Wong", "Wael Suleiman"], "abstract": "In order to properly integrate humanoid robots in real-life situations, they must be able to collaborate with humans in completing tasks. One of these tasks is the cooperative transportation of a heavy object, which has been widely studied in the humanoids literature. However, the proposed methods rely heavily on six-axis force/torque (F/T) sensors at the wrists, which medium-sized or even some fu..."}
+{"title": "Hands-free Telelocomotion of a Wheeled Humanoid", "detail_url": "https://ieeexplore.ieee.org/document/9981629/", "author_list": ["Amartya Purushottam", "Yeongtae Jung", "Kevin Murphy", "Donghoon Baek", "Joao Ramos", "Amartya Purushottam", "Yeongtae Jung", "Kevin Murphy", "Donghoon Baek", "Joao Ramos"], "abstract": "Robotic systems capable of Dynamic Mobile Manipulation (DMM) tasks combine dynamic manipulation and locomotion and could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it aside. Here we introduce a teleoperation system that targets the realization of these tasks using human..."}
+{"title": "Improved Zero Step Push Recovery with a Unified Reduced Order Model of Standing Balance", "detail_url": "https://ieeexplore.ieee.org/document/9981193/", "author_list": ["Thomas Huckell", "Amy R. Wu", "Thomas Huckell", "Amy R. Wu"], "abstract": "Standing balance for legged robots can be achieved through regulating the center of pressure (ankle strategy), the angular momentum about the center of mass (hip strategy), and the magnitude of ground reaction force (variable height strategy). Prevalent reduced order models used to model legged robots at most only capture two of these strategies, and the contribution of the three available strateg..."}
+{"title": "Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole", "detail_url": "https://ieeexplore.ieee.org/document/9981889/", "author_list": ["Yun-Ho Han", "Junyeon Namgung", "Baek-Kyu Cho", "Yun-Ho Han", "Junyeon Namgung", "Baek-Kyu Cho"], "abstract": "Although many walking control frameworks have been developed to enable biped robots to walk stably on uneven terrain, the foot sole of the robot is also important. Inspired by that study, we have developed a Variable Stiffness Sole (VSS), which is able to adapt to the shape of the obstacles on the ground in Compliant Mode and provide robust support in Stiff Mode. Furthermore, we proposed a walking..."}
+{"title": "Watch Me Calibrate My Force-Sensing Shoes!", "detail_url": "https://ieeexplore.ieee.org/document/9982221/", "author_list": ["Yuanfeng Han", "Boren Jiang", "Gregory S. Chirikjian", "Yuanfeng Han", "Boren Jiang", "Gregory S. Chirikjian"], "abstract": "This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reac..."}
+{"title": "Unsupervised confidence for LiDAR depth maps and applications", "detail_url": "https://ieeexplore.ieee.org/document/9981654/", "author_list": ["Andrea Conti", "Matteo Poggi", "Filippo Aleotti", "Stefano Mattoccia", "Andrea Conti", "Matteo Poggi", "Filippo Aleotti", "Stefano Mattoccia"], "abstract": "Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be coupled with an RGB camera to understand the framed scene semantically. Usually, the former is projected over the camera image plane, leading to a sparse depth..."}
+{"title": "Multi-Scaled and Densely Connected Locally Convolutional Layers for Depth Completion", "detail_url": "https://ieeexplore.ieee.org/document/9982179/", "author_list": ["Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Junmo Kim", "Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Junmo Kim"], "abstract": "The depth completion task aims to predict a dense depth map from a sparse LiDAR point cloud and an RGB image. This task is critical because an accurate depth map can be used as prior information to solve many computer vision tasks, such as downstream tasks in autonomous vehicles and robot vision. Previous deep learning methods which focus on the local affinity have achieved impressive results. How..."}
+{"title": "From Local to Holistic: Self-supervised Single Image 3D Face Reconstruction Via Multi-level Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9982284/", "author_list": ["Yawen Lu", "Michel Sarkis", "Ning Bi", "Guoyu Lu", "Yawen Lu", "Michel Sarkis", "Ning Bi", "Guoyu Lu"], "abstract": "Single image 3D face reconstruction with accurate geometric details is a critical and challenging task due to the similar appearance on the face surface and fine details in organs. In this work, we introduce a self-supervised 3D face reconstruction approach from a single image that can recover detailed textures under different camera settings. The proposed network learns high-quality disparity map..."}
+{"title": "Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981342/", "author_list": ["Shao-Yuan Lo", "Wei Wang", "Jim Thomas", "Jingjing Zheng", "Vishal M. Patel", "Cheng-Hao Kuo", "Shao-Yuan Lo", "Wei Wang", "Jim Thomas", "Jingjing Zheng", "Vishal M. Patel", "Cheng-Hao Kuo"], "abstract": "Monocular depth estimation (MDE) has attracted intense study due to its low cost and critical functions for robotic tasks such as localization, mapping and obstacle detection. Supervised approaches have led to great success with the advance of deep learning, but they rely on large quantities of ground-truth depth annotations that are expensive to acquire. Unsupervised domain adaptation (UDA) trans..."}
+{"title": "Inferring Articulated Rigid Body Dynamics from RGBD Video", "detail_url": "https://ieeexplore.ieee.org/document/9981687/", "author_list": ["Eric Heiden", "Ziang Liu", "Vibhav Vineet", "Erwin Coumans", "Gaurav S. Sukhatme", "Eric Heiden", "Ziang Liu", "Vibhav Vineet", "Erwin Coumans", "Gaurav S. Sukhatme"], "abstract": "Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to obtain. Despite recent progress, significant human effort is needed to configure simulators to accurately reproduce real-world behavior. We introduce a pipeline ..."}
+{"title": "Multi-View Guided Multi-View Stereo", "detail_url": "https://ieeexplore.ieee.org/document/9982010/", "author_list": ["Matteo Poggi", "Andrea Conti", "Stefano Mattoccia", "Matteo Poggi", "Andrea Conti", "Stefano Mattoccia"], "abstract": "This paper introduces a novel deep framework for dense 3D reconstruction from multiple image frames, leveraging a sparse set of depth measurements gathered jointly with image acquisition. Given a deep multi-view stereo network, our framework uses sparse depth hints to guide the neural network by modulating the plane-sweep cost volume built during the forward step, enabling us to infer constantly m..."}
+{"title": "Semantic Scene Completion through Multi-Level Feature Fusion", "detail_url": "https://ieeexplore.ieee.org/document/9981517/", "author_list": ["Ruochong Fu", "Hang Wu", "Mengxiang Hao", "Yubin Miao", "Ruochong Fu", "Hang Wu", "Mengxiang Hao", "Yubin Miao"], "abstract": "Partial observation of indoor scenes (single-viewed RGB-D) carries insufficient spatial information for complex tasks such as autonomous navigation and virtual reality, thus many learning-based methods are proposed to realize semantic scene completion (SSC) from single-viewed input. However, most of them only extract scene-level features of input to generate output, which might lose details. In th..."}
+{"title": "Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs", "detail_url": "https://ieeexplore.ieee.org/document/9982072/", "author_list": ["Christopher Morency", "Daniel J. Stilwell", "Christopher Morency", "Daniel J. Stilwell"], "abstract": "We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward looking sonar are prohibitive. In contrast, a single-beam system is relatively easy to integrate into a small AUV, but does not provide the performance of a mult..."}
+{"title": "Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions", "detail_url": "https://ieeexplore.ieee.org/document/9981861/", "author_list": ["Nikolas Sacchi", "Enrico Simetti", "Gianluca Antonelli", "Giovanni Indiveri", "Vincent Creuze", "Marc Gouttefarde", "Nikolas Sacchi", "Enrico Simetti", "Gianluca Antonelli", "Giovanni Indiveri", "Vincent Creuze", "Marc Gouttefarde"], "abstract": "Many operations performed by work class Remotely Operated Vehicles (ROVs) require the manipulation of heavy loads. An example is the manipulation and grouting of armour stones. A way to increase the working capabilities of the ROV is to introduce cables among the set of actuators. The cable lengths and tensions are controlled by winches placed on the vehicle. Being similar to a cable-driven parall..."}
+{"title": "Improving Marine Radar Odometry by Modeling Radar Resolution and Exploiting Additional Temporal Information", "detail_url": "https://ieeexplore.ieee.org/document/9981293/", "author_list": ["Carl H. Schiller", "Bruno Arsenali", "Deran Maas", "Stefano Maran\u00f3", "Carl H. Schiller", "Bruno Arsenali", "Deran Maas", "Stefano Maran\u00f3"], "abstract": "Radar odometry may provide valuable input for surface vessels in several marine applications. The vulnerability of global positioning satellite systems to jamming and spoofing motivates the search for alternatives. In this work, we investigate the feasibility of W-band frequency modulated continuous wave radars in marine settings for odometry. A method to model radar resolution is presented and is..."}
+{"title": "UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions", "detail_url": "https://ieeexplore.ieee.org/document/9981364/", "author_list": ["Fabian Steinmetz", "Daniel A Duecker", "Nils Sichert", "Christian Busse", "Edwin Kreuzer", "Bernd-Christian Renner", "Fabian Steinmetz", "Daniel A Duecker", "Nils Sichert", "Christian Busse", "Edwin Kreuzer", "Bernd-Christian Renner"], "abstract": "Considering realistic characteristics of acoustic localization methods is crucial for roboticists when developing guidance and control algorithms for small and agile underwater robots. Current simulators either rely purely on geometric distancing, i.e. do not consider dynamic effects such as robot motion during acoustic signal propagation, or they are too complex for usage by non-communication exp..."}
+{"title": "HoloOcean: Realistic Sonar Simulation", "detail_url": "https://ieeexplore.ieee.org/document/9981119/", "author_list": ["Easton Potokar", "Kalliyan Lay", "Kalin Norman", "Derek Benham", "Tracianne B. Neilsen", "Michael Kaess", "Joshua G. Mangelson", "Easton Potokar", "Kalliyan Lay", "Kalin Norman", "Derek Benham", "Tracianne B. Neilsen", "Michael Kaess", "Joshua G. Mangelson"], "abstract": "Sonar sensors play an integral part in underwater robotic perception by providing imagery at long distances where standard optical cameras cannot. They have proven to be an important part in various robotic algorithms including localization, mapping, and structure from motion. Unfortunately, generating realistic sonar imagery for algorithm development is difficult due to the high cost of field tri..."}
+{"title": "DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams", "detail_url": "https://ieeexplore.ieee.org/document/9981822/", "author_list": ["John McConnell", "Yewei Huang", "Paul Szenher", "Ivana Collado-Gonzalez", "Brendan Englot", "John McConnell", "Yewei Huang", "Paul Szenher", "Ivana Collado-Gonzalez", "Brendan Englot"], "abstract": "An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the team members. However, this has primarily been achieved with direct rendezvous between underwater robots, via inter-robot ranging. We propose a novel distribut..."}
+{"title": "Confined Water Body Coverage under Resource Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981764/", "author_list": ["Ibrahim Salman", "Jason Raiti", "Nare Karapetyan", "Archana Venkatachari", "Annie Bourbonnais", "Jason M. O'Kane", "Ioannis Rekleitis", "Ibrahim Salman", "Jason Raiti", "Nare Karapetyan", "Archana Venkatachari", "Annie Bourbonnais", "Jason M. O'Kane", "Ioannis Rekleitis"], "abstract": "This paper presents a novel algorithm for monitoring marine environments utilizing a resource-constrained robot. Collecting water quality data from large bodies of water is paramount for monitoring the ecosystem's health, particularly for predicting harmful cyanobacteria blooms. The large spatial dimensions of such bodies of water and the slow varying of water quality parameters make exhaustive, c..."}
+{"title": "Design of a Soft Wearable Passive Fitness Device for Upper Limb Resistance Exercise", "detail_url": "https://ieeexplore.ieee.org/document/9981189/", "author_list": ["Junghoon Park", "Jaehong Kim", "Dong Hyun Kim", "Jungsik Hwang", "Youngtae G. Kim", "SeungYong Hyung", "Soon-Heum Ko", "Minhyung Lee", "Junghoon Park", "Jaehong Kim", "Dong Hyun Kim", "Jungsik Hwang", "Youngtae G. Kim", "SeungYong Hyung", "Soon-Heum Ko", "Minhyung Lee"], "abstract": "An increase in health awareness has fueled the development of fitness equipment or devices nowadays. Most conventional fitness devices have had some issues in space limitation and the high cost of equipment. With the advance in wearable robotics, we proposed a soft passive fitness wearable device for upper limb resistance exercises such as chest press, frontal raise, and chest fly. Users can custo..."}
+{"title": "Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming", "detail_url": "https://ieeexplore.ieee.org/document/9981444/", "author_list": ["Weiwang Fan", "He Xu", "Haihang Wang", "Siqing Chen", "Qiandiao Wei", "Chaochao You", "Weiwang Fan", "He Xu", "Haihang Wang", "Siqing Chen", "Qiandiao Wei", "Chaochao You"], "abstract": "Soft robots have a wide rang of applications due to their compliance, flexibility and low fabrication cost. Compare to rigid robots, soft robots are more safe for human. In this work, we design various multi-DoF actuators with spring reinforce and particle jamming, and two fabrication methods are proposed to make them. Each type of actuator is tested to evaluate the mechanical properties by experi..."}
+{"title": "Automated Fruit Quality Testing using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper", "detail_url": "https://ieeexplore.ieee.org/document/9981987/", "author_list": ["Elijah Almanzor", "Thomas George Thuruthel", "Fumiya Iida", "Elijah Almanzor", "Thomas George Thuruthel", "Fumiya Iida"], "abstract": "Soft robotic grippers are becoming increasingly popular for agricultural and logistics automation. Their passive conformability enables them to adapt to varying product shapes and sizes, providing stable large-area grasps. This work presents a novel methodology for combining soft robotic grippers with electrical impedance tomography-based sensors to infer intrinsic properties of grasped fruits. We..."}
+{"title": "Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle", "detail_url": "https://ieeexplore.ieee.org/document/9982171/", "author_list": ["Joshua Pinskier", "James Brett", "Lauren Hanson", "Katrina Lo Surdo", "David Howard", "Joshua Pinskier", "James Brett", "Lauren Hanson", "Katrina Lo Surdo", "David Howard"], "abstract": "Fibre jamming is a new and understudied soft robotic mechanism that has previously found success in stiffness-tunable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-materia..."}
+{"title": "Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor Array", "detail_url": "https://ieeexplore.ieee.org/document/9981972/", "author_list": ["Haoyuan Wang", "Hongge Ru", "Hongliang Lei", "Chi Zhang", "Cheng Han", "Hao Wu", "Jian Huang", "Haoyuan Wang", "Hongge Ru", "Hongliang Lei", "Chi Zhang", "Cheng Han", "Hao Wu", "Jian Huang"], "abstract": "Although the grasping state analysis is vital in the study of manipulators, the grasping state analysis of soft manipulators as an independent research topic is not much so far. This paper proposes a novel pneumatic soft manipulator with a flexible tactile sensor array (SM-FTSA). The flexible tactile sensor array comprises piezoresistive materials with a porous structure. An equal potential approa..."}
+{"title": "Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982117/", "author_list": ["Eren Allak", "Axel Barrau", "Roland Jung", "Jan Steinbrener", "Stephan Weiss", "Eren Allak", "Axel Barrau", "Roland Jung", "Jan Steinbrener", "Stephan Weiss"], "abstract": "Collaboratively estimating the state of two robots under communication constraints is challenging regarding computational complexity and statistical optimality. Previous work only achieves practical solutions by either disregarding parts of the measurements or imposing a communication overhead, being non-optimal or not entirely distributed, respectively. In this work, we present a centralized-equi..."}
+{"title": "InCloud: Incremental Learning for Point Cloud Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981252/", "author_list": ["Joshua Knights", "Peyman Moghadam", "Milad Ramezani", "Sridha Sridharan", "Clinton Fookes", "Joshua Knights", "Peyman Moghadam", "Milad Ramezani", "Sridha Sridharan", "Clinton Fookes"], "abstract": "Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or highly dynamic environments, and require additional training on the collected data. However naively fine-tuning on new training distributions can cause severe degra..."}
+{"title": "LNC Assisted Localization and Mapping in Pipe Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981563/", "author_list": ["Hongkai Zhang", "Jianjun Yuan", "Shijie Guo", "Hesheng Wang", "Shugen Ma", "Sheng Bao", "Liang Du", "Hongkai Zhang", "Jianjun Yuan", "Shijie Guo", "Hesheng Wang", "Shugen Ma", "Sheng Bao", "Liang Du"], "abstract": "Regular maintenance of pipelines is an important task to ensure oil transportation and other operation (sewers, nature gas). Precise localization of pipeline damage can greatly improve the efficiency of maintenance work. Since the texture similarity and illumination change of pipe, traditional local descriptors for image matching like SIFT, SURF and ORB are easy to suffer from false correspondence..."}
+{"title": "Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981982/", "author_list": ["Eugene Valassakis", "Georgios Papagiannis", "Norman Di Palo", "Edward Johns", "Eugene Valassakis", "Georgios Papagiannis", "Norman Di Palo", "Edward Johns"], "abstract": "We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior task or object knowledge, and can perform the task in novel object configurations and with distractors. At its core, DOME uses an image-conditioned object segmenta..."}
+{"title": "Using human gaze in few-shot imitation learning for robot manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981706/", "author_list": ["Shogo Hamano", "Heecheol Kim", "Yoshiyuki Ohmura", "Yasuo Kuniyoshi", "Shogo Hamano", "Heecheol Kim", "Yoshiyuki Ohmura", "Yasuo Kuniyoshi"], "abstract": "Imitation learning has attracted attention as a method for realizing complex robot control without programmed robot behavior. Meta-imitation learning has been proposed to solve the high cost of data collection and low generalizability to new tasks that imitation learning suffers from. Meta-imitation can learn new tasks involving unknown objects from a small amount of data by learning multiple task..."}
+{"title": "Divide & Conquer Imitation Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982020/", "author_list": ["Alexandre Chenu", "Nicolas Perrin-Gilbert", "Olivier Sigaud", "Alexandre Chenu", "Nicolas Perrin-Gilbert", "Olivier Sigaud"], "abstract": "When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach to bootstrap the learning process. However, most IL methods require several expert demonstrations which can be prohibitively difficult to acquire. Only a handfu..."}
+{"title": "MMFN: Multi-Modal-Fusion-Net for End-to-End Driving", "detail_url": "https://ieeexplore.ieee.org/document/9981775/", "author_list": ["Qingwen Zhang", "Mingkai Tang", "Ruoyu Geng", "Feiyi Chen", "Ren Xin", "Lujia Wang", "Qingwen Zhang", "Mingkai Tang", "Ruoyu Geng", "Feiyi Chen", "Ren Xin", "Lujia Wang"], "abstract": "Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs are fused through transformers for better driving performance. These inputs are normally further interpreted as high-level map information to assist navigation..."}
+{"title": "Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981888/", "author_list": ["Andrea Tagliabue", "Jonathan P. How", "Andrea Tagliabue", "Jonathan P. How"], "abstract": "Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often data-inefficient, requiring the collection of a large number of demonstrations and producing policies with limited robustness to uncertainties. In this work, we comb..."}
+{"title": "Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving", "detail_url": "https://ieeexplore.ieee.org/document/9981695/", "author_list": ["Eli Bronstein", "Mark Palatucci", "Dominik Notz", "Brandyn White", "Alex Kuefler", "Yiren Lu", "Supratik Paul", "Payam Nikdel", "Paul Mougin", "Hongge Chen", "Justin Fu", "Austin Abrams", "Punit Shah", "Evan Racah", "Benjamin Frenkel", "Shimon Whiteson", "Dragomir Anguelov", "Eli Bronstein", "Mark Palatucci", "Dominik Notz", "Brandyn White", "Alex Kuefler", "Yiren Lu", "Supratik Paul", "Payam Nikdel", "Paul Mougin", "Hongge Chen", "Justin Fu", "Austin Abrams", "Punit Shah", "Evan Racah", "Benjamin Frenkel", "Shimon Whiteson", "Dragomir Anguelov"], "abstract": "We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to arbitrary goal routes, and measure performance using a closed-loop evaluation framework with simulated interactive agents. We train policies from expert trajectorie..."}
+{"title": "Back to the Manifold: Recovering from Out-of-Distribution States", "detail_url": "https://ieeexplore.ieee.org/document/9981315/", "author_list": ["Alfredo Reichlin", "Giovanni Luca Marchetti", "Hang Yin", "Ali Ghadirzadeh", "Danica Kragic", "Alfredo Reichlin", "Giovanni Luca Marchetti", "Hang Yin", "Ali Ghadirzadeh", "Danica Kragic"], "abstract": "Learning from previously collected datasets of expert data offers the promise of acquiring robotic policies without unsafe and costly online explorations. However, a major challenge is a distributional shift between the states in the training dataset and the ones visited by the learned policy at the test time. While prior works mainly studied the distribution shift caused by the policy during the ..."}
+{"title": "dPMP-Deep Probabilistic Motion Planning: A use case in Strawberry Picking Robot", "detail_url": "https://ieeexplore.ieee.org/document/9982187/", "author_list": ["Alessandra Tafuro", "Bappaditya Debnath", "Andrea M. Zanchettin", "E. Amir Ghalamzan", "Alessandra Tafuro", "Bappaditya Debnath", "Andrea M. Zanchettin", "E. Amir Ghalamzan"], "abstract": "This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep move-ment primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper extends DMPs and presents a deep probabilistic model that maps the visual information into a distribution of effective robot trajectories. The architecture that lea..."}
+{"title": "Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9981553/", "author_list": ["Zhi Xu", "Hongbo Zhu", "Hua Chen", "Wei Zhang", "Zhi Xu", "Hongbo Zhu", "Hua Chen", "Wei Zhang"], "abstract": "This paper studies the problem of constructing polytopic representations for planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged locomotion applications. To address the polytopic planar region characterization problem, we propose a two-stage solution scheme. At the first stage, the planar r..."}
+{"title": "Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions", "detail_url": "https://ieeexplore.ieee.org/document/9981137/", "author_list": ["Quentin Serdel", "Christophe Grand", "Julien Marzat", "Julien Moras", "Quentin Serdel", "Christophe Grand", "Julien Marzat", "Julien Moras"], "abstract": "This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time. It is intended to be used by a remote human operator to easily visualise the map..."}
+{"title": "Speed up of Wave-Driven Unmanned Surface Vehicle Using Passively Transformable Two-segment Foils", "detail_url": "https://ieeexplore.ieee.org/document/9982255/", "author_list": ["Lyucheng Xie", "Hongzheng Cui", "Tin Lun Lam", "Lyucheng Xie", "Hongzheng Cui", "Tin Lun Lam"], "abstract": "For wave-driven unmanned surface vehicles (WUSVs), utilizing oscillating foils is the most straightforward and common wave energy conversion mechanism. Improving the thrust of the oscillating foil to increase its speed can help WUSVs improve their maneuverability and shorten the completion of ocean missions. This paper proposes a novel transformable two-segment foil, improving the wave energy-conv..."}
+{"title": "Forest Traversability Mapping (FTM): Traversability estimation using 3D voxel-based Normal Distributed Transform to enable forest navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981401/", "author_list": ["Fabio Ruetz", "Paulo Borges", "Niko Suenderhauf", "Emili Hern\u00e1ndez", "Thierry Peynot", "Fabio Ruetz", "Paulo Borges", "Niko Suenderhauf", "Emili Hern\u00e1ndez", "Thierry Peynot"], "abstract": "Autonomous navigation in dense vegetation remains an open challenge and is an area of major interest for the research community. In this paper we propose a novel traversability estimation method, the Forest Traversability Map, that gives autonomous ground vehicles the ability to navigate in harsh forests or densely vegetated environments. The method estimates travers ability in unstructured enviro..."}
+{"title": "Learning Pseudo Front Depth for 2D Forward-Looking Sonar-based Multi-view Stereo", "detail_url": "https://ieeexplore.ieee.org/document/9982049/", "author_list": ["Yusheng Wang", "Yonghoon Ji", "Hiroshi Tsuchiya", "Hajime Asama", "Atsushi Yamashita", "Yusheng Wang", "Yonghoon Ji", "Hiroshi Tsuchiya", "Hajime Asama", "Atsushi Yamashita"], "abstract": "Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which allows the robot to generate 3D maps with fly-through motion. However, owing to the unique image formulation principle, estimating 3D information from a single image..."}
+{"title": "FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget", "detail_url": "https://ieeexplore.ieee.org/document/9981271/", "author_list": ["Oriana Peltzer", "Amanda Bouman", "Sung-Kyun Kim", "Ransalu Senanayake", "Joshua Ott", "Harrison Delecki", "Mamoru Sobue", "Mykel J. Kochenderfer", "Mac Schwager", "Joel Burdick", "Ali-akbar Agha-mohammadi", "Oriana Peltzer", "Amanda Bouman", "Sung-Kyun Kim", "Ransalu Senanayake", "Joshua Ott", "Harrison Delecki", "Mamoru Sobue", "Mykel J. Kochenderfer", "Mac Schwager", "Joel Burdick", "Ali-akbar Agha-mohammadi"], "abstract": "We present a method for autonomous exploration of large-scale unknown environments under mission time con-straints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) - a generalization of the traditional orienteering problem where the assumption of a reliable environmental model no longer holds. The FIG-OP ad-dresses model uncertainty by frontloading expected inf..."}
+{"title": "Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)", "detail_url": "https://ieeexplore.ieee.org/document/9982270/", "author_list": ["Matthew Malencia", "Sandeep Manjanna", "M. Ani Hsieh", "George Pappas", "Vijay Kumar", "Matthew Malencia", "Sandeep Manjanna", "M. Ani Hsieh", "George Pappas", "Vijay Kumar"], "abstract": "In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decision making. Current robotic sampling methods seek to gather information about an observable spatial field. However, many applications, such as environmental monitoring and precision agriculture, involve phenomena that ar..."}
+{"title": "Online Planning for Interactive-POMDPs using Nested Monte Carlo Tree Search", "detail_url": "https://ieeexplore.ieee.org/document/9981713/", "author_list": ["Jonathon Schwartz", "Ruijia Zhou", "Hanna Kurniawati", "Jonathon Schwartz", "Ruijia Zhou", "Hanna Kurniawati"], "abstract": "The ability to make good decisions in partially observed non-cooperative multi-agent scenarios is important for robots to interact effectively in human environments. A robust framework for such decision-making problems is the Interactive Partially Observable Markov Decision Processes (I-POMDPs), which explicitly models the other agents' beliefs up to a finite reasoning level in order to more accur..."}
+{"title": "Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation", "detail_url": "https://ieeexplore.ieee.org/document/9981389/", "author_list": ["Jaein Lim", "Siddhartha Srinivasa", "Panagiotis Tsiotras", "Jaein Lim", "Siddhartha Srinivasa", "Panagiotis Tsiotras"], "abstract": "We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where edge evaluation is expensive. We use a lazily evaluated LPA* to repair the cost-to-come inconsistencies of the relevant region of the current search tree based o..."}
+{"title": "LTR*: Rapid Replanning in Executing Consecutive Tasks with Lazy Experience Graph", "detail_url": "https://ieeexplore.ieee.org/document/9982237/", "author_list": ["Tin Lai", "Fabio Ramos", "Tin Lai", "Fabio Ramos"], "abstract": "In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be occupied by the manoeuvred objects, and previously occupied space might now open up new paths. We propose Lazy Tree-based Replanner (LTR *)-a novel hybrid planner th..."}
+{"title": "FlowBot: Flow-based Modeling for Robot Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981407/", "author_list": ["Daniel Dugas", "Kuanqi Cai", "Olov Andersson", "Nicholas Lawrance", "Roland Siegwart", "Jen Jen Chung", "Daniel Dugas", "Kuanqi Cai", "Olov Andersson", "Nicholas Lawrance", "Roland Siegwart", "Jen Jen Chung"], "abstract": "Autonomous navigation among people is a com-plex problem that also exhibits considerable variation depending on the type of environment and people involved. Here we consider navigation among crowds that exhibit flow-like behavior like people moving through a train station. We propose a novel pseudo-fluid model of crowd flow for such problems. These have an intuitive physical interpretation and do ..."}
+{"title": "Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving using Sim-to-Real", "detail_url": "https://ieeexplore.ieee.org/document/9981319/", "author_list": ["Eduardo Candela", "Leandro Parada", "Luis Marques", "Tiberiu-Andrei Georgescu", "Yiannis Demiris", "Panagiotis Angeloudis", "Eduardo Candela", "Leandro Parada", "Luis Marques", "Tiberiu-Andrei Georgescu", "Yiannis Demiris", "Panagiotis Angeloudis"], "abstract": "Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains largely unresolved. Multi-Agent Reinforcement Learning has arisen as a powerful method to accomplish this task because it considers the interaction between agents and also allows for decentralized training\u2014which makes it ..."}
+{"title": "The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards", "detail_url": "https://ieeexplore.ieee.org/document/9981218/", "author_list": ["J. Joe Payne", "Nathan J. Kong", "Aaron M. Johnson", "J. Joe Payne", "Nathan J. Kong", "Aaron M. Johnson"], "abstract": "In this paper, we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimation. Examining how guard surface uncertainty affects the time spent in each mode, we derive a novel guard saltation matrix- which maps perturbations prior to hybrid events to perturbations after - accounting for additio..."}
+{"title": "Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR", "detail_url": "https://ieeexplore.ieee.org/document/9981686/", "author_list": ["Vince Kurtz", "Hai Lin", "Vince Kurtz", "Hai Lin"], "abstract": "Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the challenge of ensuring both numerical reliability and physical realism. In this paper, we present preliminary results suggesting that the Iterative Linear Quadrat..."}
+{"title": "Balancing Control and Pose Optimization for wheel-legged Robots Navigating High Obstacles", "detail_url": "https://ieeexplore.ieee.org/document/9981432/", "author_list": ["Junheng Li", "Junchao Ma", "Quan Nguyen", "Junheng Li", "Junchao Ma", "Quan Nguyen"], "abstract": "This paper proposes a novel approach to controlling wheel-legged quadrupedal robots using pose optimization and force-based control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel actuation to roll over high obstacles while keeping wheel traction with the terrain. In detail, we first present linear rigid body dynamics with wheels that can..."}
+{"title": "Large-Scale ADMM-based Co-Design of Legged Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981641/", "author_list": ["Gabriel Bravo-Palacios", "Patrick M. Wensing", "Gabriel Bravo-Palacios", "Patrick M. Wensing"], "abstract": "This paper considers the problem of designing legged robots for traversing uneven terrain, wherein terrain characteristics represent uncertainty for the design process. When this process encompasses a wider variety of terrains, the likelihood of the designed robot falling in the real world should decrease. However, computational scalability limits the number of terrains that can be taken into acco..."}
+{"title": "An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control", "detail_url": "https://ieeexplore.ieee.org/document/9981282/", "author_list": ["Sangli Teng", "Dianhao Chen", "William Clark", "Maani Ghaffari", "Sangli Teng", "Dianhao Chen", "William Clark", "Maani Ghaffari"], "abstract": "This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra. Moreover, given an initial condition, the linearized tracking error dynamics and equations of motion are globally valid and evolve independently of the system t..."}
+{"title": "Whole-body model predictive control with rigid contacts via online switching time optimization", "detail_url": "https://ieeexplore.ieee.org/document/9981790/", "author_list": ["Sotaro Katayama", "Toshiyuki Ohtsuka", "Sotaro Katayama", "Toshiyuki Ohtsuka"], "abstract": "This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO). We treat robot dynamics with rigid contacts as a switched system and formulate an optimal control problem of switched systems to implement the MPC. We utilize an efficient solution algorithm for the MPC problem that o..."}
+{"title": "Generating Families of Optimally Actuated Gaits from a Legged System's Energetically Conservative Dynamics", "detail_url": "https://ieeexplore.ieee.org/document/9981693/", "author_list": ["Maximilian Raff", "Nelson Rosa", "C. David Remy", "Maximilian Raff", "Nelson Rosa", "C. David Remy"], "abstract": "We present a homotopic approach to generating energetically optimal gaits for legged robots that maps passive (i.e., unactuated) gaits of an energetically conservative model of the robot to a model with user-defined target dynamics with dissipation and actuation (i.e., the more \u201crealistic\u201d legged model). Our core contribution is advancing the state-of-the-art towards a turn-key approach where the ..."}
+{"title": "Optimal Gait Families using Lagrange Multiplier Method", "detail_url": "https://ieeexplore.ieee.org/document/9981871/", "author_list": ["Jinwoo Choi", "Capprin Bass", "Ross L. Hatton", "Jinwoo Choi", "Capprin Bass", "Ross L. Hatton"], "abstract": "The Robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For example, the optimal gait for maximizing displacement with respect to cost is quite different from the maximum displacement optimal gait. Beyond these two general optimal gaits, we believe that the optimal gait should deal..."}
+{"title": "Lifted contact dynamics for efficient optimal control of rigid body systems with contacts", "detail_url": "https://ieeexplore.ieee.org/document/9982048/", "author_list": ["Sotaro Katayama", "Toshiyuki Ohtsuka", "Sotaro Katayama", "Toshiyuki Ohtsuka"], "abstract": "We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration, contact forces, and control input torques, as optimization variables and the inverse dynamics and acceleration constraints on the contact frames as equality co..."}
+{"title": "Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982093/", "author_list": ["Benjamin Alt", "Darko Katic", "Rainer J\u00e4kel", "Michael Beetz", "Benjamin Alt", "Darko Katic", "Rainer J\u00e4kel", "Michael Beetz"], "abstract": "In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic variations, requiring search motions to find relevant features such as holes. While search improves robustness, it comes at the cost of increased runtime: More exhausti..."}
+{"title": "A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion", "detail_url": "https://ieeexplore.ieee.org/document/9981467/", "author_list": ["Rui Chen", "Chenxi Wang", "Tianhao Wei", "Changliu Liu", "Rui Chen", "Chenxi Wang", "Tianhao Wei", "Changliu Liu"], "abstract": "Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The chal-lenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be inserted. To deliver a feasible robotic solution for these insertion tasks, we also need to account for hardware limits of existing robotic systems and minimize..."}
+{"title": "Online 3D Bin Packing Reinforcement Learning Solution with Buffer", "detail_url": "https://ieeexplore.ieee.org/document/9982095/", "author_list": ["Aaron Valero Puche", "Sukhan Lee", "Aaron Valero Puche", "Sukhan Lee"], "abstract": "The 3D Bin Packing Problem (3D-BPP) is one of the most demanded yet challenging problems in industry, where an agent must pack variable size items delivered in sequence into a finite bin with the aim to maximize the space utilization. It represents a strongly NP-Hard optimization problem such that no solution has been offered to date with high performance in space utilization. In this paper, we pr..."}
+{"title": "GoferBot: A Visual Guided Human-Robot Collaborative Assembly System", "detail_url": "https://ieeexplore.ieee.org/document/9981122/", "author_list": ["Zheyu Zhuang", "Yizhak Ben-Shabat", "Jiahao Zhang", "Stephen Gould", "Robert Mahony", "Zheyu Zhuang", "Yizhak Ben-Shabat", "Jiahao Zhang", "Stephen Gould", "Robert Mahony"], "abstract": "The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for collaborative robots to efficiently and effectively perform tasks in unstructured and dynamic environments. Integrating recent data-driven machine vision capabiliti..."}
+{"title": "Robot Companion, an intelligent interactive robot coworker for the Industry 5.0", "detail_url": "https://ieeexplore.ieee.org/document/9982004/", "author_list": ["F. Gosselin", "S. Kchir", "G. Acher", "F. Keith", "O. Lebec", "C. Louison", "B. Luvison", "F. Mayran de Chamisso", "B. Meden", "M. Morelli", "B. Perochon", "J. Rabarisoa", "C. Vienne", "G. Ameyugo", "F. Gosselin", "S. Kchir", "G. Acher", "F. Keith", "O. Lebec", "C. Louison", "B. Luvison", "F. Mayran de Chamisso", "B. Meden", "M. Morelli", "B. Perochon", "J. Rabarisoa", "C. Vienne", "G. Ameyugo"], "abstract": "To overcome the limitations of the so-called Industry 4.0 focusing on mass production and full automation, a novel paradigm was recently introduced, namely Industry 5.0, which aims at an increased collaboration between humans and machines, and particularly robots, instead of replacing the former with the latter. This challenge requires novel interactive intelligent robots able to perform complex t..."}
+{"title": "Metal Wire Manipulation Planning for 3D Curving - A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire", "detail_url": "https://ieeexplore.ieee.org/document/9981672/", "author_list": ["Ruishuang Liu", "Weiwei Wan", "Emiko Isomura", "Kensuke Harada", "Ruishuang Liu", "Weiwei Wan", "Emiko Isomura", "Kensuke Harada"], "abstract": "This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a weak payload to bend objects with large stiffness, and developed a combined planner for the robot to use a bending machine. Our method converts a 3D curve to a b..."}
+{"title": "Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9982134/", "author_list": ["Hirokazu Kondo", "Jose Victorio Salazar Luces", "Yasuhisa Hirata", "Hirokazu Kondo", "Jose Victorio Salazar Luces", "Yasuhisa Hirata"], "abstract": "Robotic automation is steadily growing in different industries around the world. However, in some industries, such as garment manufacturing, most tasks are still predominantly manual, due to the flexible nature of clothes. Garment and clothes are easily deformed when some force is applied, so it is difficult for robots to handle them while predicting their deformation. Our general research goal is..."}
+{"title": "EPAR: An Efficient and Privacy-Aware Augmented Reality Framework for Indoor Location-Based Services", "detail_url": "https://ieeexplore.ieee.org/document/9981149/", "author_list": ["Zhe Peng", "Songlin Hou", "Yixuan Yuan", "Zhe Peng", "Songlin Hou", "Yixuan Yuan"], "abstract": "Augmented reality (AR) defines a new information-delivery paradigm by overlaying computer-generated information on the perception of the real world. AR-integrated robot has become an appealing concept in terms of enhanced human-robot interaction. Despite intensive research on AR, existing indoor location-based AR systems are vulnerable to attacks and can hardly meet the security and privacy requir..."}
+{"title": "Compact Strawberry Harvesting Tube Employing Laser Cutter", "detail_url": "https://ieeexplore.ieee.org/document/9981720/", "author_list": ["Mohamed Sorour", "P\u00e5L Johan From", "Khaled Elgeneidy", "Stratis Kanarachos", "Mohamed Sallam", "Mohamed Sorour", "P\u00e5L Johan From", "Khaled Elgeneidy", "Stratis Kanarachos", "Mohamed Sallam"], "abstract": "In this paper, a novel prototype for hanging produce harvesting is presented, that is productive, versatile, and robust. In our methodology, the robot-mounted tube approaches, and eventually surrounds the produce of interest at the entry side, that can be as small as the produce diameter, plus a small margin. The stem is then cut by a laser beam, with the optics set up for a distant focal point. S..."}
+{"title": "Reconstructing a Spatial Field with an Autonomous Robot Under a Budget Constraint", "detail_url": "https://ieeexplore.ieee.org/document/9981128/", "author_list": ["Azin Shamshirgaran", "Stefano Carpin", "Azin Shamshirgaran", "Stefano Carpin"], "abstract": "In this paper we consider the information path-planning problem for a single robot in a stochastic environment with static obstacles subject to a preassigned constraint on the distance it can travel. Given a set of candidate sampling locations, the objective is to determine a path for the robot that allows to visit as many sampling locations as possible to accurately reconstruct an unknown underly..."}
+{"title": "Hybrid Discrete-Continuous Path Planning for Lattice Traversal", "detail_url": "https://ieeexplore.ieee.org/document/9981801/", "author_list": ["Santiago Franco", "Julius Sustarevas", "Sara Bernardini", "Santiago Franco", "Julius Sustarevas", "Sara Bernardini"], "abstract": "Lattice structures allow robotic systems to operate in complex and hazardous environments, e.g. construction, mining and nuclear plants, reliably and effectively. However, current navigation systems for these structures are neither realistic, as they assume simplistic motion primitives and obstacle-free workspaces, nor efficient as they rely solely on global discrete search in an attempt to levera..."}
+{"title": "RECCraft System: Towards Reliable and Efficient Collective Robotic Construction", "detail_url": "https://ieeexplore.ieee.org/document/9982068/", "author_list": ["Qiwei Xu", "Yizheng Zhang", "Shenghao Zhang", "Rui Zhao", "Zhuoxing Wu", "Dongsheng Zhang", "Cheng Zhou", "Xiong Li", "Jiahong Chen", "Zengjun Zhao", "Luyang Tang", "Zhengyou Zhang", "Lei Han", "Qiwei Xu", "Yizheng Zhang", "Shenghao Zhang", "Rui Zhao", "Zhuoxing Wu", "Dongsheng Zhang", "Cheng Zhou", "Xiong Li", "Jiahong Chen", "Zengjun Zhao", "Luyang Tang", "Zhengyou Zhang", "Lei Han"], "abstract": "This research presents a novel Collective Robotic Construction (CRC) system named RECCraft. The RECCraft hardware system is composed of the mobile manipulation vehicles, the cubic blocks, and the folding ramp blocks. Solid connection and easy removal of the blocks are achieved by an electropermanent magnet and silicon steel sheets. With one degree of freedom (DOF) lifting manipulator, the robot ca..."}
+{"title": "Improved Robustness and Safety for Pre-Adaptation of Meta Reinforcement Learning with Prior Regularization", "detail_url": "https://ieeexplore.ieee.org/document/9981621/", "author_list": ["Lu Wen", "Songan Zhang", "H. Eric Tseng", "Baljeet Singh", "Dimitar Filev", "Huei Peng", "Lu Wen", "Songan Zhang", "H. Eric Tseng", "Baljeet Singh", "Dimitar Filev", "Huei Peng"], "abstract": "Meta Reinforcement Learning (Meta-RL) has seen substantial advancements recently. In particular, off-policy methods were developed to improve the data efficiency of Meta-RL techniques. Probabilistic embeddings for actor-critic $\\boldsymbol{RL}$ (PEARL) is a leading approach for multi-MDP adaptation problems. A major drawback of many existing Meta-RL methods, including PEARL, is that they do not ex..."}
+{"title": "Active Tactile Exploration using Shape-Dependent Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982266/", "author_list": ["Shuo Jiang", "Lawson L.S. Wong", "Shuo Jiang", "Lawson L.S. Wong"], "abstract": "Tactile signals provide rich information about objects via touch and are essential for a robot to perform dex-terous manipulation. Exploring actively via tactile perception collects important information about the workspace. However, designing an effective tactile exploration policy is challenging in unstructured environments. Typically, the geometric information is incomplete, and need to be comp..."}
+{"title": "DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors", "detail_url": "https://ieeexplore.ieee.org/document/9981441/", "author_list": ["Baoqian Wang", "Junfei Xie", "Nikolay Atanasov", "Baoqian Wang", "Junfei Xie", "Nikolay Atanasov"], "abstract": "Multi-agent reinforcement learning (MARL) meth-ods face a curse of dimensionality in the policy and value function representations as the number of agents increases. The development of distributed or parallel training techniques is also hindered by the global coupling among the agent dynamics, requiring simultaneous state transitions. This paper introduces Distributed multi-Agent Reinforcement Lea..."}
+{"title": "Adaptive Environment Modeling Based Reinforcement Learning for Collision Avoidance in Complex Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9982107/", "author_list": ["Shuaijun Wang", "Rui Gao", "Ruihua Han", "Shengduo Chen", "Chengyang Li", "Qi Hao", "Shuaijun Wang", "Rui Gao", "Ruihua Han", "Shengduo Chen", "Chengyang Li", "Qi Hao"], "abstract": "The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model based collision avoidance reinforcement learning (i.e., AEMCARL) framework for an unmanned robot to achieve collision-free motions in challenging navigation scenari..."}
+{"title": "Scalable Model-based Policy Optimization for Decentralized Networked Systems", "detail_url": "https://ieeexplore.ieee.org/document/9982253/", "author_list": ["Yali Du", "Chengdong Ma", "Yuchen Liu", "Runji Lin", "Hao Dong", "Jun Wang", "Yaodong Yang", "Yali Du", "Chengdong Ma", "Yuchen Liu", "Runji Lin", "Hao Dong", "Jun Wang", "Yaodong Yang"], "abstract": "Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly, requiring communications or shifting or resources. This work aims to improve data efficiency of multi-agent control by model-based learning. We consider network..."}
+{"title": "Safety Correction from Baseline: Towards the Risk-aware Policy in Robotics via Dual-agent Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981831/", "author_list": ["Linrui Zhang", "Zichen Yan", "Li Shen", "Shoujie Li", "Xueqian Wang", "Dacheng Tao", "Linrui Zhang", "Zichen Yan", "Li Shen", "Shoujie Li", "Xueqian Wang", "Dacheng Tao"], "abstract": "Learning a risk-aware policy is essential but rather challenging in unstructured robotic tasks. Safe reinforcement learning methods open up new possibilities to tackle this problem. However, the conservative policy updates make it intractable to achieve sufficient exploration and desirable performance in complex, sample-expensive environments. In this paper, we propose a dual-agent safe reinforcem..."}
+{"title": "Multi-Objective Policy Gradients with Topological Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9982278/", "author_list": ["Kyle Hollins Wray", "Stas Tiomkin", "Mykel J. Kochenderfer", "Pieter Abbeel", "Kyle Hollins Wray", "Stas Tiomkin", "Mykel J. Kochenderfer", "Pieter Abbeel"], "abstract": "Multi-objective optimization models that encode ordered sequential constraints provide a solution to model various challenging problems including encoding preferences, modeling a curriculum, and enforcing measures of safety. A recently developed theory of topological Markov decision processes (TMDPs) captures this range of problems for the case of discrete states and actions. In this work, we exte..."}
+{"title": "Backward Imitation and Forward Reinforcement Learning via Bi-directional Model Rollouts", "detail_url": "https://ieeexplore.ieee.org/document/9981869/", "author_list": ["Yuxin Pan", "Fangzhen Lin", "Yuxin Pan", "Fangzhen Lin"], "abstract": "Traditional model-based reinforcement learning (RL) methods generate forward rollout traces using the learnt dynamics model to reduce interactions with the real environment. The recent model-based RL method considers the way to learn a backward model that specifies the conditional probability of the previous state given the previous action and the current state to additionally generate backward ro..."}
+{"title": "BIMRL: Brain Inspired Meta Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981250/", "author_list": ["Seyed Roozbeh Razavi Rohani", "Saeed Hedayatian", "Mahdieh Soleymani Baghshah", "Seyed Roozbeh Razavi Rohani", "Saeed Hedayatian", "Mahdieh Soleymani Baghshah"], "abstract": "Sample efficiency has been a key issue in reinforcement learning (RL). An efficient agent must be able to leverage its prior experiences to quickly adapt to similar, but new tasks and situations. Meta-RL is one attempt at formalizing and ad-dressing this issue. Inspired by recent progress in meta-RL, we introduce BIMRL, a novel multi-layer architecture along with a novel brain-inspired memory modu..."}
+{"title": "Coordination With Humans Via Strategy Matching", "detail_url": "https://ieeexplore.ieee.org/document/9982277/", "author_list": ["Michelle Zhao", "Reid Simmons", "Henny Admoni", "Michelle Zhao", "Reid Simmons", "Henny Admoni"], "abstract": "Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team members as they coordinate on achieving joint goals. Our goal in this work is to develop a computational framework for robot adaptation to human partners in hu..."}
+{"title": "DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI", "detail_url": "https://ieeexplore.ieee.org/document/9981528/", "author_list": ["Amir Yazdani", "Roya Sabbagh Novin", "Andrew Merryweather", "Tucker Hermans", "Amir Yazdani", "Roya Sabbagh Novin", "Andrew Merryweather", "Tucker Hermans"], "abstract": "Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction to improve operator health and comfort. Common practical methods in the area suffer from inaccurate ergonomics models in performing postural optimization. In or..."}
+{"title": "Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9982252/", "author_list": ["Saba Akhyani", "Mehryar Abbasi", "Mo Chen", "Angelica Lim", "Saba Akhyani", "Mehryar Abbasi", "Mo Chen", "Angelica Lim"], "abstract": "Robots and artificial agents that interact with humans should be able to do so without bias and inequity, but facial perception systems have notoriously been found to work more poorly for certain groups of people than others. In our work, we aim to build a system that can perceive humans in a more transparent and inclusive manner. Specifically, we focus on dynamic expressions on the human face, wh..."}
+{"title": "Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982062/", "author_list": ["Michael S. Lee", "Henny Admoni", "Reid Simmons", "Michael S. Lee", "Henny Admoni", "Reid Simmons"], "abstract": "To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement learning (IRL). Thus, robots can convey their beliefs and desires by providing demonstrations that are informative for a human learner's IRL. An informative demonstra..."}
+{"title": "Proactive Robotic Assistance via Theory of Mind", "detail_url": "https://ieeexplore.ieee.org/document/9981627/", "author_list": ["Maayan Shvo", "Ruthrash Hari", "Ziggy O'Reilly", "Sophia Abolore", "Sze-Yuh Nina Wang", "Sheila A. McIlraith", "Maayan Shvo", "Ruthrash Hari", "Ziggy O'Reilly", "Sophia Abolore", "Sze-Yuh Nina Wang", "Sheila A. McIlraith"], "abstract": "Advanced social cognitive skills enhance the effectiveness of human-robot interactions. Research shows that an important precursor to the development of these abilities in humans is Theory of Mind (ToM) - the ability to attribute mental states to oneself and to others. In this work, we endow robots with ToM abilities and propose a ToM-based approach to proactive robotic assistance by appealing to ..."}
+{"title": "A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice", "detail_url": "https://ieeexplore.ieee.org/document/9981219/", "author_list": ["Shivendra Agrawal", "Mary Etta West", "Bradley Hayes", "Shivendra Agrawal", "Mary Etta West", "Bradley Hayes"], "abstract": "Goal-based navigation in public places is critical for independent mobility and for breaking barriers that exist for blind or visually impaired (BVI) people in a sight-centric society. Through this work we present a proof-of-concept system that autonomously leverages goal-based navigation assistance and perception to identify socially preferred seats and safely guide its user towards them in unkno..."}
+{"title": "SESNO: Sample Efficient Social Navigation from Observation", "detail_url": "https://ieeexplore.ieee.org/document/9981645/", "author_list": ["Bobak H. Baghi", "Abhisek Konar", "Francois Hogan", "Michael Jenkin", "Gregory Dudek", "Bobak H. Baghi", "Abhisek Konar", "Francois Hogan", "Michael Jenkin", "Gregory Dudek"], "abstract": "In this paper, we present the Sample Efficient Social Navigation from Observation (SESNO) algorithm that efficiently learns socially-compliant navigation policies from observations of human trajectories. SESNO is an inverse reinforcement learning (IRL)-based algorithm that learns from human trajectory observations without knowledge of their actions. We improve the sample-efficiency over previous I..."}
+{"title": "Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981053/", "author_list": ["Akanksha Saran", "Kush Desai", "Mai Lee Chang", "Rudolf Lioutikov", "Andrea Thomaz", "Scott Niekum", "Akanksha Saran", "Kush Desai", "Mai Lee Chang", "Rudolf Lioutikov", "Andrea Thomaz", "Scott Niekum"], "abstract": "Humans use audio signals in the form of spoken language or verbal reactions effectively when teaching new skills or tasks to other humans. While demonstrations allow humans to teach robots in a natural way, learning from trajectories alone does not leverage other available modalities including audio from human teachers. To effectively utilize audio cues accompanying human demonstrations, first it ..."}
+{"title": "Optical flow-based branch segmentation for complex orchard environments", "detail_url": "https://ieeexplore.ieee.org/document/9982017/", "author_list": ["Alexander You", "Cindy Grimm", "Joseph R. Davidson", "Alexander You", "Cindy Grimm", "Joseph R. Davidson"], "abstract": "Machine vision is a critical subsystem for enabling robots to be able to perform a variety of tasks in orchard environments. However, orchards are highly visually complex environments, and computer vision algorithms operating in them must be able to contend with variable lighting conditions and background noise. Past work on enabling deep learning algorithms to operate in these environments has ty..."}
+{"title": "Near Real-Time Vineyard Downy Mildew Detection and Severity Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981404/", "author_list": ["Ertai Liu", "Kaitlin Gold", "Lance Cadle-Davidson", "David Combs", "Yu Jiang", "Ertai Liu", "Kaitlin Gold", "Lance Cadle-Davidson", "David Combs", "Yu Jiang"], "abstract": "The global grape and wine industry has been considerably impacted by diseases such as downy mildew (DM). Agricultural robots have demonstrated great potential to accurately and rapidly map DM infection for precision applications. Although the robots can autonomously acquire high-resolution images in the vineyard, data processing is mostly performed offline because of network infrastructure and onb..."}
+{"title": "View Planning Using Discrete Optimization for 3D Reconstruction of Row Crops", "detail_url": "https://ieeexplore.ieee.org/document/9981209/", "author_list": ["Athanasios Bacharis", "Henry J. Nelson", "Nikolaos Papanikolopoulos", "Athanasios Bacharis", "Henry J. Nelson", "Nikolaos Papanikolopoulos"], "abstract": "In view planning, the position and orientation of the cameras have been a major contributing factor to the quality of the resulting 3D model. In applications such as precision agriculture, a dense and accurate reconstruction must be obtained quickly while the data is still actionable. Instead of using an arbitrarily large number of images taken from every possible position and orientation in order..."}
+{"title": "BonnBot-I: A Precise Weed Management and Crop Monitoring Platform", "detail_url": "https://ieeexplore.ieee.org/document/9981304/", "author_list": ["Alireza Ahmadi", "Michael Halstead", "Chris McCool", "Alireza Ahmadi", "Michael Halstead", "Chris McCool"], "abstract": "Cultivation and weeding are two of the primary tasks performed by farmers today. A recent challenge for weeding is the desire to reduce herbicide and pesticide treatments while maintaining crop quality and quantity. In this paper we introduce BonnBot-I a precise weed management platform which can also performs field monitoring. Driven by crop monitoring approaches which can accurately locate and c..."}
+{"title": "An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting", "detail_url": "https://ieeexplore.ieee.org/document/9981118/", "author_list": ["Merrick Campbell", "Amel Dechemi", "Konstantinos Karydis", "Merrick Campbell", "Amel Dechemi", "Konstantinos Karydis"], "abstract": "Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and retaining them for further analysis. Typically, orchard growers manually collect sample leaves and utilize them for stem water potential measurements to analyze tre..."}
+{"title": "Algorithm Design and Integration for a Robotic Apple Harvesting System", "detail_url": "https://ieeexplore.ieee.org/document/9981417/", "author_list": ["Kaixiang Zhang", "Kyle Lammers", "Pengyu Chu", "Nathan Dickinson", "Zhaojian Li", "Renfu Lu", "Kaixiang Zhang", "Kyle Lammers", "Pengyu Chu", "Nathan Dickinson", "Zhaojian Li", "Renfu Lu"], "abstract": "Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm design of our recently developed robotic apple harvester prototype. Our robotic system is enabled by the close integration of several core modules, including visua..."}
+{"title": "Predicting fruit-pick success using a grasp classifier trained on a physical proxy", "detail_url": "https://ieeexplore.ieee.org/document/9981716/", "author_list": ["Alejandro Velasquez", "Nigel Swenson", "Miranda Cravetz", "Cindy Grimm", "Joseph R. Davidson", "Alejandro Velasquez", "Nigel Swenson", "Miranda Cravetz", "Cindy Grimm", "Joseph R. Davidson"], "abstract": "Apple picking is a challenging manipulation task, but it is difficult to test solutions due to the limited window of time that apples are in season. Previous methods have built simulations of apple trees, but simulations rarely capture soft contact and deformation well, both of which are common in fruit picking. In this paper we present and validate a physical proxy that replicates the mechanics o..."}
+{"title": "Beyond mAP: Towards practical object detection for weed spraying in precision agriculture", "detail_url": "https://ieeexplore.ieee.org/document/9982139/", "author_list": ["Adrian Salazar-Gomez", "Madeleine Darbyshire", "Junfeng Gao", "Elizabeth I Sklar", "Simon Parsons", "Adrian Salazar-Gomez", "Madeleine Darbyshire", "Junfeng Gao", "Elizabeth I Sklar", "Simon Parsons"], "abstract": "The evolution of smaller and more powerful GPUs over the last 2 decades has vastly increased the opportunity to apply robust deep learning-based machine vision approaches to real-time use cases in practical environments. One exciting application domain for such technologies is precision agriculture, where the ability to integrate on-board machine vision with data-driven actuation means that farmer..."}
+{"title": "Audio-Visual Depth and Material Estimation for Robot Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981549/", "author_list": ["Justin Wilson", "Nicholas Rewkowski", "Ming C. Lin", "Justin Wilson", "Nicholas Rewkowski", "Ming C. Lin"], "abstract": "Reflective and textureless surfaces such as windows, mirrors, and walls can be a challenge for scene reconstruction, due to depth discontinuities and holes. We propose an audio-visual method that uses the reflections of sound to aid in depth estimation and material classification for 3D scene reconstruction in robot navigation and AR/VR applications. The mobile phone prototype emits pulsed audio, ..."}
+{"title": "Design of a low-cost passive acoustic monitoring system for animal localisation from calls", "detail_url": "https://ieeexplore.ieee.org/document/9981127/", "author_list": ["Benjamin Yen", "Jemima Prins", "Gian Schmid", "Yusuke Hioka", "Susan Ellis", "Stephen Marsland", "Benjamin Yen", "Jemima Prins", "Gian Schmid", "Yusuke Hioka", "Susan Ellis", "Stephen Marsland"], "abstract": "The field of bioacoustics is concerned with monitoring wild animals based on their vocalisations. Passive acoustic recorders are now commonly used to collect data of the soundscapes of our wild places. While the data they collect is extremely useful, the majority of the recorders use a single omnidirectional microphone, and thus cannot independently perform localisation of a calling animal. Locali..."}
+{"title": "Spotforming by NMF Using Multiple Microphone Arrays", "detail_url": "https://ieeexplore.ieee.org/document/9981808/", "author_list": ["Yasuhiro Kagimoto", "Katsutoshi Itoyama", "Kenji Nishida", "Kazuhiro Nakadai", "Yasuhiro Kagimoto", "Katsutoshi Itoyama", "Kenji Nishida", "Kazuhiro Nakadai"], "abstract": "Sound source separation is a method to extract a target sound source from a mixture of various sound sources and noises. One of the typical sound source separation methods is beamforming, which can separate sound sources by direction based on the phase difference between channels from the recorded signal of a microphone array, a multi-channel recording system. However, beamforming is a direction-b..."}
+{"title": "Noisy Agents: Self-supervised Exploration by Predicting Auditory Events", "detail_url": "https://ieeexplore.ieee.org/document/9981614/", "author_list": ["Chuang Gan", "Xiaoyu Chen", "Phillip Isola", "Antonio Torralba", "Joshua B. Tenenbaum", "Chuang Gan", "Xiaoyu Chen", "Phillip Isola", "Antonio Torralba", "Joshua B. Tenenbaum"], "abstract": "Humans integrate multiple sensory modalities (e.g., visual and audio) to build a causal understanding of the physical world. In this work, we propose a novel type of intrinsic motivation for Reinforcement Learning (RL) that encourages the agent to understand the causal effect of its actions through auditory event prediction. First, we allow the agent to collect a small amount of acoustic data and ..."}
+{"title": "Direction-Aware Adaptive Online Neural Speech Enhancement with an Augmented Reality Headset in Real Noisy Conversational Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981659/", "author_list": ["Kouhei Sekiguchi", "Aditya Arie Nugraha", "Yicheng Du", "Yoshiaki Bando", "Mathieu Fontaine", "Kazuyoshi Yoshii", "Kouhei Sekiguchi", "Aditya Arie Nugraha", "Yicheng Du", "Yoshiaki Bando", "Mathieu Fontaine", "Kazuyoshi Yoshii"], "abstract": "This paper describes the practical response- and performance-aware development of online speech enhancement for an augmented reality (AR) headset that helps a user understand conversations made in real noisy echoic environments (e.g., cocktail party). One may use a state-of-the-art blind source separation method called fast multichannel nonnegative matrix factorization (FastMNMF) that works well i..."}
+{"title": "Object Surface Recognition using Microphone Array by Acoustic Standing Wave", "detail_url": "https://ieeexplore.ieee.org/document/9981386/", "author_list": ["Tomoya Manabe", "Rikuto Fukunaga", "Kei Nakatsuma", "Makoto Kumon", "Tomoya Manabe", "Rikuto Fukunaga", "Kei Nakatsuma", "Makoto Kumon"], "abstract": "This paper proposes a microphone array with a speaker to recognize the shape of the surface of the target object by using the standing wave between the transmitted and the reflected acoustic signals. Because the profile of the distance spectrum encodes both the distance to the target and the distance to the edges of the target's surface, this paper proposes to fuse distance spectra using a microph..."}
+{"title": "Recognizing object surface material from impact sounds for robot manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981578/", "author_list": ["Mariella Dimiccoli", "Shubhan Patni", "Matej Hoffmann", "Francesc Moreno-Noguer", "Mariella Dimiccoli", "Shubhan Patni", "Matej Hoffmann", "Francesc Moreno-Noguer"], "abstract": "We investigated the use of impact sounds generated during exploratory behaviors in a robotic manipulation setup as cues for predicting object surface material and for recognizing individual objects. We collected and make available the YCB-impact sounds dataset which includes over 3,000 impact sounds for the YCB set of everyday objects lying on a table. Impact sounds were generated in three modes: ..."}
+{"title": "Controlling the Impression of Robots via GAN-based Gesture Generation", "detail_url": "https://ieeexplore.ieee.org/document/9981535/", "author_list": ["Bowen Wu", "Jiaqi Shi", "Chaoran Liu", "Carlos T. Ishi", "Hiroshi Ishiguro", "Bowen Wu", "Jiaqi Shi", "Chaoran Liu", "Carlos T. Ishi", "Hiroshi Ishiguro"], "abstract": "As a type of body language, gestures can largely affect the impressions of human-like robots perceived by users. Recent data-driven approaches to the generation of co-speech gestures have successfully promoted the naturalness of produced gestures. These approaches also possess greater generalizability to work under various contexts than rule-based methods. However, most have no direct control over..."}
+{"title": "Outdoor evaluation of sound source localization for drone groups using microphone arrays", "detail_url": "https://ieeexplore.ieee.org/document/9982039/", "author_list": ["Taiki Yamada", "Katsutoshi Itoyama", "Kenji Nishida", "Kazuhiro Nakadai", "Taiki Yamada", "Katsutoshi Itoyama", "Kenji Nishida", "Kazuhiro Nakadai"], "abstract": "For robot and drone auditions, microphone arrays have been used for estimating sound source directions and sound source locations. By using sound source localization techniques, for example, drones can detect people calling for help even if the target person is not visible. Most sound source localization methods are based on estimated sound source directions and triangulation. However, when it com..."}
+{"title": "Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante", "detail_url": "https://ieeexplore.ieee.org/document/9982234/", "author_list": ["Alexis Duburcq", "Fabian Schramm", "Guilhem Bo\u00e9ris", "Nicolas Bredeche", "Yann Chevaleyre", "Alexis Duburcq", "Fabian Schramm", "Guilhem Bo\u00e9ris", "Nicolas Bredeche", "Yann Chevaleyre"], "abstract": "State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly transfer to real hardware. Either it is unsuccessful in practice because the physics is over-simplified and hardware limitations are ignored, or regularity is no..."}
+{"title": "Hybrid Approach for Stabilizing Large Time Delays in Cooperative Adaptive Cruise Control with Reduced Performance Penalties", "detail_url": "https://ieeexplore.ieee.org/document/9981245/", "author_list": ["Kuei-Fang Hsueh", "Ayleen Farnood", "Mohammad Al Janaideh", "Deepa Kundur", "Kuei-Fang Hsueh", "Ayleen Farnood", "Mohammad Al Janaideh", "Deepa Kundur"], "abstract": "Cooperative adaptive cruise control (CACC) is a smart transportation solution that can mitigate traffic jams and improve road safety. CACC performance is heavily impacted by communication time delay; moreover, control theory solutions generally compromise control performance by tuning control gains in order to maintain plant stability. We propose a control-machine learning hybrid approach called d..."}
+{"title": "Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers", "detail_url": "https://ieeexplore.ieee.org/document/9981817/", "author_list": ["Cyrill Baumann", "Hugo Birch", "Alcherio Martinoli", "Cyrill Baumann", "Hugo Birch", "Alcherio Martinoli"], "abstract": "Automatic control design for robotic systems is becoming more and more popular. However, this usually involves a significant computational cost, due to the expensive and noisy evaluation of candidate solutions through high-fidelity simulation or even real hardware. This work aims at reducing the computational cost of automatic design of behavioral arbitrators through the introduction of a two-step..."}
+{"title": "Federated Learning from Demonstration for Active Assistance to Smart Wheelchair Users", "detail_url": "https://ieeexplore.ieee.org/document/9981998/", "author_list": ["Fernando E. Casado", "Yiannis Demiris", "Fernando E. Casado", "Yiannis Demiris"], "abstract": "Learning from Demonstration (LfD) is a very appealing approach to empower robots with autonomy. Given some demonstrations provided by a human teacher, the robot can learn a policy to solve the task without explicit programming. A promising use case is to endow smart robotic wheelchairs with active assistance to navigation. By using LfD, it is possible to learn to infer short-term destinations anyw..."}
+{"title": "PourNet: Robust Robotic Pouring Through Curriculum and Curiosity-based Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981195/", "author_list": ["Edwin Babaians", "Tapan Sharma", "Mojtaba Karimi", "Sahand Sharifzadeh", "Eckehard Steinbach", "Edwin Babaians", "Tapan Sharma", "Mojtaba Karimi", "Sahand Sharifzadeh", "Eckehard Steinbach"], "abstract": "Pouring liquids accurately into containers is one of the most challenging tasks for robots as they are unaware of the complex fluid dynamics and the behavior of liquids when pouring. Therefore, it is not possible to formulate a generic pouring policy for real-time applications. In this paper, we propose PourNet, as a generalized solution to pouring different liquids into containers. PourNet is a h..."}
+{"title": "Simulation-based Learning of the Peg-in-Hole Process Using Robot-Skills", "detail_url": "https://ieeexplore.ieee.org/document/9982212/", "author_list": ["Arik L\u00e4mmle", "Philipp Tenbrock", "Bal\u00e1zs B\u00e1lint", "Frank N\u00e4gele", "Werner Kraus", "J\u00f3zsef V\u00e1ncza", "Marco F. Huber", "Arik L\u00e4mmle", "Philipp Tenbrock", "Bal\u00e1zs B\u00e1lint", "Frank N\u00e4gele", "Werner Kraus", "J\u00f3zsef V\u00e1ncza", "Marco F. Huber"], "abstract": "Increasingly volatile markets challenge companies and demand flexible production systems that can be quickly adapted to new conditions. Machine Learning has proven to show significant potential in supporting the human operator during the time-consuming and complex task of robot pro-gramming by identifying relevant parameters of the underlying robot control program. We present a solution to learn t..."}
+{"title": "Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981913/", "author_list": ["Donghoon Baek", "Amartya Purushottam", "Joao Ramos", "Donghoon Baek", "Amartya Purushottam", "Joao Ramos"], "abstract": "Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion. However, these methods are often limited by the fidelity of the underlying model used, choice of controller, and environmental variables considered (surface type, gr..."}
+{"title": "Active Exploration for Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982061/", "author_list": ["Tim Schneider", "Boris Belousov", "Georgia Chalvatzaki", "Diego Romeres", "Devesh K. Jha", "Jan Peters", "Tim Schneider", "Boris Belousov", "Georgia Chalvatzaki", "Diego Romeres", "Devesh K. Jha", "Jan Peters"], "abstract": "Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when there is continuous contact between the objects being manipulated. This paper proposes a model-based active exploration approach that enables efficient learning i..."}
+{"title": "Cloud-Edge Training Architecture for Sim-to-Real Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981565/", "author_list": ["Hongpeng Cao", "Mirco Theile", "Federico G. Wyrwal", "Marco Caccamo", "Hongpeng Cao", "Mirco Theile", "Federico G. Wyrwal", "Marco Caccamo"], "abstract": "Deep reinforcement learning (DRL) is a promising approach to solve complex control tasks by learning policies through interactions with the environment. However, the training of DRL policies requires large amounts of training experiences, making it impractical to learn the policy directly on physical systems. Sim-to-real approaches leverage simulations to pretrain DRL policies and then deploy them..."}
+{"title": "Towards accurate modeling of modular soft pneumatic robots: from volume FEM to Cosserat rod", "detail_url": "https://ieeexplore.ieee.org/document/9981628/", "author_list": ["Mats Wiese", "Benjamin-Hieu Cao", "Annika Raatz", "Mats Wiese", "Benjamin-Hieu Cao", "Annika Raatz"], "abstract": "Compared to their rigid counterparts, soft material robotic systems offer great advantages when it comes to flexibility and adaptability. Despite their advantages, modeling of soft systems is still a challenging task, due to the continuous and often highly nonlinear nature of deformation these systems exhibit. Tasks like motion planning or design optimization of soft robots require computationally..."}
+{"title": "A Proprioceptive Method for Soft Robots Using Inertial Measurement Units", "detail_url": "https://ieeexplore.ieee.org/document/9982185/", "author_list": ["Yves J. Martin", "Daniel Bruder", "Robert J. Wood", "Yves J. Martin", "Daniel Bruder", "Robert J. Wood"], "abstract": "Proprioception, or the perception of the configuration of one's body, is challenging to achieve with soft robots due to their infinite degrees of freedom and incompatibility with most off-the-shelf sensors. This work explores the use of inertial measurement units (IMUs), sensors that output orientation with respect to the direction of gravity, to achieve soft robot proprioception. A simple method ..."}
+{"title": "A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981702/", "author_list": ["Filippo A. Spinelli", "Robert K. Katzschmann", "Filippo A. Spinelli", "Robert K. Katzschmann"], "abstract": "Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and variable shape stiffness, so having a unique algorithm for all these issues would be extremely beneficial. In this work, we adapt Model Predictive Control (MPC), pop..."}
+{"title": "Contact-implicit Trajectory and Grasp Planning for Soft Continuum Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981044/", "author_list": ["Moritz A. Graule", "Clark B. Teeple", "Robert J. Wood", "Moritz A. Graule", "Clark B. Teeple", "Robert J. Wood"], "abstract": "As robots begin to move from structured industrial environments to the real world, they must be equipped to not only safely interact with the environment, but also reason about how to leverage contact to perform tasks. In this work, we develop a modeling and motion planning framework for continuum robots that accounts for contact anywhere along the robot. We first present an analytical model for c..."}
+{"title": "Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs", "detail_url": "https://ieeexplore.ieee.org/document/9981192/", "author_list": ["Stephan-Daniel Gravert", "Mike Y. Michelis", "Simon Rogler", "Dario Tscholl", "Thomas Buchner", "Robert K. Katzschmann", "Stephan-Daniel Gravert", "Mike Y. Michelis", "Simon Rogler", "Dario Tscholl", "Thomas Buchner", "Robert K. Katzschmann"], "abstract": "Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are vastly inferior to evolved biological swimmers, especially in terms of controllability, efficiency, maneuverability, and longevity. Additionally, the tedious it..."}
+{"title": "Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981637/", "author_list": ["Barnabas Gavin Cangan", "Stefan Escaida Navarro", "Bai Yang", "Yu Zhang", "Christian Duriez", "Robert K. Katzschmann", "Barnabas Gavin Cangan", "Stefan Escaida Navarro", "Bai Yang", "Yu Zhang", "Christian Duriez", "Robert K. Katzschmann"], "abstract": "To aid in real-world situations, soft robots need to be able to estimate their state and external interactions based on proprioceptive sensors. Estimating disturbances allows a soft robot to perform desirable force control. However, even in the case of rigid manipulators, force estimation at the end-effector is seen as a non-trivial problem. And indeed, current approaches to address this challenge..."}
+{"title": "Variable Stiffness Object Recognition with Bayesian Convolutional Neural Network on a Soft Gripper", "detail_url": "https://ieeexplore.ieee.org/document/9982051/", "author_list": ["Jinyue Cao", "Jingyi Huang", "Andre Rosendo", "Jinyue Cao", "Jingyi Huang", "Andre Rosendo"], "abstract": "From a medical standpoint, detecting the size and shape of hard inclusions hidden in soft three-dimensional objects is of great significance for early detection of cancer through palpation. Soft robots, especially soft grippers, substantially broaden robots' palpation capabilities from soft to hard materials without the assistance of a camera. We have recently introduced a CNN-Bayes approach which..."}
+{"title": "Fast and Safe Exploration via Adaptive Semantic Perception in Outdoor Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981640/", "author_list": ["Zhihao Wang", "Lingxu Chen", "Hongjin Chen", "Haoyao Chen", "Xin Jiang", "Zhihao Wang", "Lingxu Chen", "Hongjin Chen", "Haoyao Chen", "Xin Jiang"], "abstract": "Autonomous exploration in unknown environments is a fundamental task for robots. Existing approaches mostly were concentrated on the efficiency of the exploration with the assumption of perfect state estimation, but the drift of pose estimation in visual SLAM occurs frequently and is detrimental to robot's localization and exploration performance. In this paper, a perception-aware exploration(PAE)..."}
+{"title": "Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras", "detail_url": "https://ieeexplore.ieee.org/document/9981664/", "author_list": ["Yao He", "Huai Yu", "Wen Yang", "Sebastian Scherer", "Yao He", "Huai Yu", "Wen Yang", "Sebastian Scherer"], "abstract": "We present a Visual-Inertial Odometry (VIO) algorithm with multiple non-overlapping monocular cameras aiming at improving the robustness of the VIO algorithm. An initialization scheme and tightly-coupled bundle adjustment for multiple non-overlapping monocular cameras are proposed. With more stable features captured by multiple cameras, VIO can maintain stable state estimation, especially when one..."}
+{"title": "Scalable probabilistic gas distribution mapping using Gaussian belief propagation", "detail_url": "https://ieeexplore.ieee.org/document/9981901/", "author_list": ["Callum Rhodes", "Cunjia Liu", "Wen-Hua Chen", "Callum Rhodes", "Cunjia Liu", "Wen-Hua Chen"], "abstract": "This paper advocates the Gaussian belief propagation solver for factor graphs in the case of gas distribution mapping to support an olfactory sensing robot. The local message passing of belief propagation moves away from the standard Cholesky decomposition technique, which avoids solving the entire factor graph at once and allows for only areas of interest to be updated more effectively. Implement..."}
+{"title": "WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue", "detail_url": "https://ieeexplore.ieee.org/document/9981298/", "author_list": ["Daniel Broyles", "Christopher R. Hayner", "Karen Leung", "Daniel Broyles", "Christopher R. Hayner", "Karen Leung"], "abstract": "Sensor-equipped unoccupied aerial vehicles (UAVs) have the potential to help reduce search times and alleviate safety risks for first responders carrying out Wilderness Search and Rescue (WiSAR) operations, the process of finding and rescuing person(s) lost in wilderness areas. Unfortunately, visual sensors alone do not address the need for robustness across all the possible terrains, weather, and..."}
+{"title": "A Tightly-Coupled Event-Inertial Odometry using Exponential Decay and Linear Preintegrated Measurements", "detail_url": "https://ieeexplore.ieee.org/document/9981249/", "author_list": ["Benny Dai", "Cedric Le Gentil", "Teresa Vidal-Calleja", "Benny Dai", "Cedric Le Gentil", "Teresa Vidal-Calleja"], "abstract": "In this paper, we introduce an event-based visual odometry and mapping framework that relies on decaying event-based corners. Event cameras, unlike conventional cam-eras, can provide sensor data during high-speed motions or in scenes with high dynamic ranges. Rather than providing intensity information at a global shutter rate, events are trig-gered asynchronously depending on whether there is a c..."}
+{"title": "A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation", "detail_url": "https://ieeexplore.ieee.org/document/9982227/", "author_list": ["Janine Hoelscher", "Inbar Fried", "Mengyu Fu", "Mihir Patwardhan", "Max Christman", "Jason Akulian", "Robert J. Webster", "Ron Alterovitz", "Janine Hoelscher", "Inbar Fried", "Mengyu Fu", "Mihir Patwardhan", "Max Christman", "Jason Akulian", "Robert J. Webster", "Ron Alterovitz"], "abstract": "Steerable needles are medical devices with the ability to follow curvilinear paths to reach targets while circumventing obstacles. In the deployment process, a human operator typically places the steerable needle at its start position on a tissue surface and then hands off control to the automation that steers the needle to the target. Due to uncertainty in the placement of the needle by the human..."}
+{"title": "Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope", "detail_url": "https://ieeexplore.ieee.org/document/9981526/", "author_list": ["Martin Francis Phelan", "Nihal Olcay Dogan", "Jelena Lazovic", "Metin Sitti", "Martin Francis Phelan", "Nihal Olcay Dogan", "Jelena Lazovic", "Metin Sitti"], "abstract": "The introduction of neuroendoscopy, microneu- rosurgery, neuronavigation, and intraoperative imaging for surgical operations has made significant improvements over other traditionally invasive surgical techniques. The integration of magnetic resonance imaging (MRI)-driven surgical devices with intraoperative imaging and endoscopy can enable further advancements in surgical treatments and outcomes...."}
+{"title": "GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator", "detail_url": "https://ieeexplore.ieee.org/document/9982138/", "author_list": ["Huxin Gao", "Zedong Zhang", "Changsheng Li", "Xiao Xiao", "Liang Qiu", "Xiaoxiao Yang", "Ruoyi Hao", "Xiuli Zuo", "Yanqing Li", "Hongliang Ren", "Huxin Gao", "Zedong Zhang", "Changsheng Li", "Xiao Xiao", "Liang Qiu", "Xiaoxiao Yang", "Ruoyi Hao", "Xiuli Zuo", "Yanqing Li", "Hongliang Ren"], "abstract": "Robot-assisted gastrointestinal endoscopic surgery (GES) as a kind of natural orifice transluminal endoscopic surgery (NOTES) is the next-generation minimally invasive surgery (MIS). Besides, rendering certain autonomy to a Gas-trointestinal Endoscopic Surgical Robot (GESR) is promising but highly challenging. Therefore, to accelerate the development and augment the autonomy of GESR, we use Coppel..."}
+{"title": "A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981719/", "author_list": ["Reinhard M. Grassmann", "Ryan Zeyuan Chen", "Nan Liang", "Jessica Burgner-Kahrs", "Reinhard M. Grassmann", "Ryan Zeyuan Chen", "Nan Liang", "Jessica Burgner-Kahrs"], "abstract": "Establishing a physics-based model capturing the kinetostatic behavior of concentric tube continuum robots is challenging as elastic interactions between the flexible tubes constituting the robot result in a highly non-linear problem. The Goldstandard physics-based model using the Cosserat theory of elastic rods achieves reasonable approximations with 1.5 - 3 % with respect to the robot's length, ..."}
+{"title": "Colonoscopy Navigation using End-to-End Deep Visuomotor Control: A User Study", "detail_url": "https://ieeexplore.ieee.org/document/9981480/", "author_list": ["Ameya Pore", "Martina Finocchiaro", "Diego Dall'Alba", "Albert Hernansanz", "Gastone Ciuti", "Alberto Arezzo", "Arianna Menciassi", "Alicia Casals", "Paolo Fiorini", "Ameya Pore", "Martina Finocchiaro", "Diego Dall'Alba", "Albert Hernansanz", "Gastone Ciuti", "Alberto Arezzo", "Arianna Menciassi", "Alicia Casals", "Paolo Fiorini"], "abstract": "Flexible Endoscopes (FEs) for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic FEs with autonomous control represent a viable solution to reduce the workload of endoscopists and the training time while improving the procedure outcome. Prior works on autonomous endoscope FE control use heurist..."}
+{"title": "Shape memory polymer variable stiffness magnetic catheters with hybrid stiffness control", "detail_url": "https://ieeexplore.ieee.org/document/9981935/", "author_list": ["Michael Mattmann", "Quentin Boehler", "Xiang-Zhong Chen", "Salvador Pan\u00e9", "Bradley J. Nelson", "Michael Mattmann", "Quentin Boehler", "Xiang-Zhong Chen", "Salvador Pan\u00e9", "Bradley J. Nelson"], "abstract": "Variable stiffness catheters typically rely on thermally induced stiffness transitions with a transition temperature above body temperature. This imposes considerable safety limitations for medical applications. In this work, we present a variable stiffness catheter using a hybrid control strategy capable of actively heating and actively cooling the catheter material. The proposed catheter is made..."}
+{"title": "Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control", "detail_url": "https://ieeexplore.ieee.org/document/9981728/", "author_list": ["K\u00fcbra Karacan", "Hamid Sadeghian", "Robin Kirschner", "Sami Haddadin", "K\u00fcbra Karacan", "Hamid Sadeghian", "Robin Kirschner", "Sami Haddadin"], "abstract": "Tactile robots shall be deployed for dynamic task execution in production lines with small batch sizes. Therefore, these robots should have the ability to respond to changing conditions and be easy to (re-)program. Operating under uncertain environments requires unifying subsystems such as robot motion and force policy into one framework, referred to as tactile skills. In this paper, we propose th..."}
+{"title": "A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981895/", "author_list": ["Mattia Risiglione", "Victor Barasuol", "Darwin G. Caldwell", "Claudio Semini", "Mattia Risiglione", "Victor Barasuol", "Darwin G. Caldwell", "Claudio Semini"], "abstract": "Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the implementation of a Cartesian impedance control to coordinate tracking performance and desired compliance for the robot base and manipulator arm. The controller is formu..."}
+{"title": "Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982098/", "author_list": ["Yi Sun", "Krishna Manaswi Digumarti", "Hoang-Vu Phan", "Omar Aloui", "Dario Floreano", "Yi Sun", "Krishna Manaswi Digumarti", "Hoang-Vu Phan", "Omar Aloui", "Dario Floreano"], "abstract": "Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Our clutch consists of flexible electrode sheets rolled into a tubular structure. This design allows encapsulating large electrode areas in a comp..."}
+{"title": "An Observer-Based Responsive Variable Impedance Control for Dual-User Haptic Training System", "detail_url": "https://ieeexplore.ieee.org/document/9981977/", "author_list": ["A. Rashvand", "R. Heidari", "M. Motaharifar", "A. Hassani", "M.R. Dindarloo", "M. J. Ahmadi", "K. Hashtrudi-Zaad", "M. Tavakoli", "H. D. Taghirad", "A. Rashvand", "R. Heidari", "M. Motaharifar", "A. Hassani", "M.R. Dindarloo", "M. J. Ahmadi", "K. Hashtrudi-Zaad", "M. Tavakoli", "H. D. Taghirad"], "abstract": "This paper proposes a variable impedance control architecture to facilitate eye surgery training in a dual-user haptic system. In this system, an expert surgeon (the trainer) and a novice surgeon (the trainee) collaborate on a surgical procedure using their own haptic devices. The mechanical impedance parameters of the trainer's haptic device remain constant during the operation, whereas those of ..."}
+{"title": "Development of Low-Inertia Backdrivable Arm Focusing on Learning-Based Control", "detail_url": "https://ieeexplore.ieee.org/document/9981337/", "author_list": ["Manabu Nishiura", "Akira Hatano", "Kazutoshi Nishii", "Yoshihiro Okumatsu", "Manabu Nishiura", "Akira Hatano", "Kazutoshi Nishii", "Yoshihiro Okumatsu"], "abstract": "A robot designed to coexist and work with humans in the same workspace should be able to work at the same speed as humans and have safe contact with humans and with the environment. However, when a robot arm has been given flexibility through mechanisms and controls for the purpose of coexistence, it is difficult for it to perform tasks at the speed and accuracy desired by humans if it is moved si..."}
+{"title": "Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning", "detail_url": "https://ieeexplore.ieee.org/document/9982037/", "author_list": ["Cara Gonzalez Welker", "T. Kevin Best", "Robert D. Gregg", "Cara Gonzalez Welker", "T. Kevin Best", "Robert D. Gregg"], "abstract": "Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprises two high level modes of sit/stand and walking, and we develop heuristic biomechanical rules to con..."}
+{"title": "RobotCore: An Open Architecture for Hardware Acceleration in ROS 2", "detail_url": "https://ieeexplore.ieee.org/document/9982082/", "author_list": ["V\u00edctor Mayoral-Vilches", "Sabrina M. Neuman", "Brian Plancher", "Vijay Janapa Reddi", "V\u00edctor Mayoral-Vilches", "Sabrina M. Neuman", "Brian Plancher", "Vijay Janapa Reddi"], "abstract": "Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily deploy accelerated systems without expertise in each specific hardware platform. In this work, we address this challenge with RobotCore, an architecture to integra..."}
+{"title": "Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills", "detail_url": "https://ieeexplore.ieee.org/document/9981681/", "author_list": ["Ajay Suresha Sathya", "Alejandro Astudillo", "Joris Gillis", "Wilm Decr\u00e9", "Goele Pipeleers", "Jan Swevers", "Ajay Suresha Sathya", "Alejandro Astudillo", "Joris Gillis", "Wilm Decr\u00e9", "Goele Pipeleers", "Jan Swevers"], "abstract": "We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes their modularity and reusability. This allows us to program complex motion tasks by configuring and co..."}
+{"title": "Containerization and Orchestration of Software for Autonomous Mobile Robots: a Case Study of Mixed-Criticality Tasks across Edge-Cloud Computing Platforms", "detail_url": "https://ieeexplore.ieee.org/document/9981581/", "author_list": ["Francesco Lumpp", "Franco Fummi", "Hiren D. Patel", "Nicola Bombieri", "Francesco Lumpp", "Franco Fummi", "Hiren D. Patel", "Nicola Bombieri"], "abstract": "Containerization promises to strengthen platform-independent development, better resource utilization, and secure deployment of software. As these benefits come with negligible overhead in CPU and memory utilization, containerization is increasingly being adopted in mobile robotic applications. An open challenge is supporting software tasks that have mixed-criticality requirements. Even more chall..."}
+{"title": "Transactional Transform Library for ROS", "detail_url": "https://ieeexplore.ieee.org/document/9981089/", "author_list": ["Yushi Ogiwara", "Ayanori Yorozu", "Akihisa Ohya", "Hideyuki Kawashima", "Yushi Ogiwara", "Ayanori Yorozu", "Akihisa Ohya", "Hideyuki Kawashima"], "abstract": "In the Robot Operating System (ROS), a major middleware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a single-rooted directed tree and providing methods for registering and computing the information. However, the tree has two fundamental problems. The first is its poor scalability: since it accepts only a ..."}
+{"title": "An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices", "detail_url": "https://ieeexplore.ieee.org/document/9981391/", "author_list": ["Alexander B. Ambrose", "Chelse VanAtter", "Frank L. Hammond", "Alexander B. Ambrose", "Chelse VanAtter", "Frank L. Hammond"], "abstract": "The fit of a wearable device, such as a prosthesis, can be quantitatively characterized by the mechanical coupling at the user-device interface. It is thought that the mechanical impedance, specifically the stiffness and damping, of wearable device interfaces can significantly impact human performance while using them. To test this theory, we develop a forearm-mounted testbed with a motorized, two..."}
+{"title": "Human-exoskeleton Cooperative Balance Strategy for a Human-powered Augmentation Lower Exoskeleton", "detail_url": "https://ieeexplore.ieee.org/document/9981568/", "author_list": ["Guangkui Song", "Rui Huang", "Zhinan Peng", "Kecheng Shi", "Long Zhang", "Rong He", "Jing Qiu", "Huayi Zhan", "Hong Cheng", "Guangkui Song", "Rui Huang", "Zhinan Peng", "Kecheng Shi", "Long Zhang", "Rong He", "Jing Qiu", "Huayi Zhan", "Hong Cheng"], "abstract": "Lower Limb Exoskeletons (LLE) have received considerable interest in strength augmentation, rehabilitation, and walking assistance scenarios. For strength augmentation, LLE is expected to have the capability of reducing metabolic energy. However, the energy for adjusting Center of Gravity (CoG) is a main part of the total energy consumed during walking. This paper proposes a novel Human-exoskeleto..."}
+{"title": "RANK - Robotic Ankle: Design and testing on irregular terrains", "detail_url": "https://ieeexplore.ieee.org/document/9981580/", "author_list": ["J. Taborri", "I. Mileti", "G. Mariani", "L. Mattioli", "L. Liguori", "S. Salvatori", "E. Palermo", "F. Patan\u00e8", "S. Rossi", "J. Taborri", "I. Mileti", "G. Mariani", "L. Mattioli", "L. Liguori", "S. Salvatori", "E. Palermo", "F. Patan\u00e8", "S. Rossi"], "abstract": "Despite the large amount of available exoskeletons, their use in daily life is still limited due to the absence of testing in real-life environments. Thus, the present work aims to test on a series of uneven terrains a wearable ankle exoskeleton, named RANK, designed for walking assistance and drop-foot prevention. RANK consists of a 3D-printed brace attached to the user and a piezoresistive insol..."}
+{"title": "A Soft Fabric-based Shrink-to-fit Pneumatic Sleeve for Comfortable Limb Assistance", "detail_url": "https://ieeexplore.ieee.org/document/9981265/", "author_list": ["Richard Suphapol Diteesawat", "Sam Hoh", "Emanuele Pulvirenti", "Nahian Rahman", "Leah Morris", "Ailie Turton", "Mary Cramp", "Jonathan Rossiter", "Richard Suphapol Diteesawat", "Sam Hoh", "Emanuele Pulvirenti", "Nahian Rahman", "Leah Morris", "Ailie Turton", "Mary Cramp", "Jonathan Rossiter"], "abstract": "Upper limb impairments and weakness are com-mon post-stroke and with advanced aging. Rigid exoskeletons have been developed as a potential solution, but have had limited impact. In addition to user concerns about safety, their weight and appearance, the rigid attachment and typical anchoring methods can result in skin damage. In this paper, we present a soft, fabric-based pneumatic sleeve, which c..."}
+{"title": "Intention estimation from gaze and motion features for human-robot shared-control object manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982249/", "author_list": ["Anna Belardinelli", "Anirudh Reddy Kondapally", "Dirk Ruiken", "Daniel Tanneberg", "Tomoki Watabe", "Anna Belardinelli", "Anirudh Reddy Kondapally", "Dirk Ruiken", "Daniel Tanneberg", "Tomoki Watabe"], "abstract": "Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention estimation framework is presented, which uses natural gaze and motion features to predict the current action and the target object. The system is trained and te..."}
+{"title": "Disentangled Sequence Clustering for Human Intention Inference", "detail_url": "https://ieeexplore.ieee.org/document/9981116/", "author_list": ["Mark Zolotas", "Yiannis Demiris", "Mark Zolotas", "Yiannis Demiris"], "abstract": "Equipping robots with the ability to infer human intent is a vital precondition for effective collaboration. Most computational approaches towards this objective derive a probability distribution of \u201cintent\u201d conditioned on the robot's perceived state. However, these approaches typically assume task-specific labels of human intent are known a priori. To overcome this constraint, we propose the Dise..."}
+{"title": "Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles", "detail_url": "https://ieeexplore.ieee.org/document/9981347/", "author_list": ["Morris Antonello", "Mihai Dobre", "Stefano V. Albrecht", "John Redford", "Subramanian Ramamoorthy", "Morris Antonello", "Mihai Dobre", "Stefano V. Albrecht", "John Redford", "Subramanian Ramamoorthy"], "abstract": "Motion prediction of road users in traffic scenes is critical for autonomous driving systems that must take safe and robust decisions in complex dynamic environments. We present a novel motion prediction system for autonomous driving. Our system is based on the Bayesian inverse planning framework, which efficiently orchestrates map-based goal extraction, a classical control-based trajectory genera..."}
+{"title": "MPC-PF: Social Interaction Aware Trajectory Prediction of Dynamic Objects for Autonomous Driving Using Potential Fields", "detail_url": "https://ieeexplore.ieee.org/document/9981046/", "author_list": ["Neel P. Bhatt", "Amir Khajepour", "Ehsan Hashemi", "Neel P. Bhatt", "Amir Khajepour", "Ehsan Hashemi"], "abstract": "Predicting object motion behaviour is a challenging but crucial task for safe decision making and path planning for an autonomous vehicle. It is challenging in large part due to the uncertain, multi-modal, and practically intractable set of possible agent-agent and agent-space interactions, especially in urban driving settings. Models solely based on constant velocity or social force have an inher..."}
+{"title": "Optimization of Forcemyography Sensor Placement for Arm Movement Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981236/", "author_list": ["Xiaohao Xu", "Zihao Du", "Huaxin Zhang", "Ruichao Zhang", "Zihan Hong", "Qin Huang", "Bin Han", "Xiaohao Xu", "Zihao Du", "Huaxin Zhang", "Ruichao Zhang", "Zihan Hong", "Qin Huang", "Bin Han"], "abstract": "How to design an optimal wearable device for human movement recognition is vital to reliable and accurate human-machine collaboration. Previous works mainly fabricate wearable devices heuristically. Instead, this paper raises an academic question: can we design an optimization algorithm to optimize the fabrication of wearable devices such as figuring out the best sensor arrangement automatically? ..."}
+{"title": "Pedestrian Intention Prediction Based on Traffic-Aware Scene Graph Model", "detail_url": "https://ieeexplore.ieee.org/document/9981690/", "author_list": ["Xingchen Song", "Miao Kang", "Sanping Zhou", "Jianji Wang", "Yishu Mao", "Nanning Zheng", "Xingchen Song", "Miao Kang", "Sanping Zhou", "Jianji Wang", "Yishu Mao", "Nanning Zheng"], "abstract": "Anticipating the future behavior of pedestrians is a crucial part of deploying Automated Driving Systems (ADS) in urban traffic scenarios. Most recent works utilize a convolutional neural network (CNN) to extract visual information, which is then input to a recurrent neural network (RNN) along with pedestrian-specific features like location and speed to obtain temporal features. However, the major..."}
+{"title": "Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patterns", "detail_url": "https://ieeexplore.ieee.org/document/9981486/", "author_list": ["Ingrid Navarro", "Jean Oh", "Ingrid Navarro", "Jean Oh"], "abstract": "As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe inter-play. In our work, we study human intent through the problem of predicting trajectories in dynamic environments. We explore domains where navigation guidelines are relatively strictly defined but not clearly marked in their phy..."}
+{"title": "A Hierarchical Deliberative Architecture Framework based on Goal Decomposition", "detail_url": "https://ieeexplore.ieee.org/document/9981488/", "author_list": ["Charles Lesire", "Rafael Bailon-Ruiz", "Magali Barbier", "Christophe Grand", "Charles Lesire", "Rafael Bailon-Ruiz", "Magali Barbier", "Christophe Grand"], "abstract": "Performing a complex autonomous mission with a multi-robot system requires to integrate several deliberative approaches to perform task allocation, optimization, and execution control. Implementing such a deliberative architecture is a complex task: it requires the developer to master the decision algorithms themselves (e.g., automated planning models), to have a good knowledge of the involved rob..."}
+{"title": "Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database", "detail_url": "https://ieeexplore.ieee.org/document/9981296/", "author_list": ["Jiaxin Wei", "Lan Hu", "Chenyu Wang", "Laurent Kneip", "Jiaxin Wei", "Lan Hu", "Chenyu Wang", "Laurent Kneip"], "abstract": "We present a new solution to the fine-grained retrieval of clean CAD models from a large-scale database in order to recover detailed object shape geometries for RGBD scans. Unlike previous work simply indexing into a moderately small database using an object shape descriptor and accepting the top retrieval result, we argue that in the case of a large-scale database a more accurate model may be fou..."}
+{"title": "Low-Latency LiDAR Semantic Segmentation", "detail_url": "https://ieeexplore.ieee.org/document/9982099/", "author_list": ["Takahiro Hori", "Takehisa Yairi", "Takahiro Hori", "Takehisa Yairi"], "abstract": "Several methods of semantic segmentation using light detection and ranging (LiDAR) sensors have been proposed for the recognition of surrounding objects by autonomous driving cars. LiDAR is a sensor that compensates for the weaknesses of other sensors, such as cameras or radar systems, and semantic segmentation assigns a class label to each point in the LiDAR point cloud. Recently, real-time seman..."}
+{"title": "Implicit-Part Based Context Aggregation for Point Cloud Instance Segmentation", "detail_url": "https://ieeexplore.ieee.org/document/9981772/", "author_list": ["Xiaodong Wu", "Ruiping Wang", "Xilin Chen", "Xiaodong Wu", "Ruiping Wang", "Xilin Chen"], "abstract": "Context information is important for instance segmentation on point clouds. Existing methods either only use local surroundings by stacking multiple convolution layers or use non-local methods to model long-range interactions. However, they usually directly operate on points which is an unstructured and low-level representation and is highly dependent on context. To address this issue, we propose ..."}
+{"title": "Unsupervised Domain Adaptation for Point Cloud Semantic Segmentation via Graph Matching", "detail_url": "https://ieeexplore.ieee.org/document/9981603/", "author_list": ["Yikai Bian", "Le Hui", "Jianjun Qian", "Jin Xie", "Yikai Bian", "Le Hui", "Jianjun Qian", "Jin Xie"], "abstract": "Unsupervised domain adaptation for point cloud semantic segmentation has attracted great attention due to its effectiveness in learning with unlabeled data. Most of existing methods use global-level feature alignment to transfer the knowledge from the source domain to the target domain, which may cause the semantic ambiguity of the feature space. In this paper, we propose a graph-based framework t..."}
+{"title": "SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981605/", "author_list": ["Shutong Jin", "Zhenyu Wu", "Chunyang Zhao", "Jun Zhang", "Guohao Peng", "Danwei Wang", "Shutong Jin", "Zhenyu Wu", "Chunyang Zhao", "Jun Zhang", "Guohao Peng", "Danwei Wang"], "abstract": "Place recognition is seen as a crucial factor to correct cumulative errors in Simultaneous Localization and Mapping (SLAM) applications. Most existing studies focus on visual place recognition, which is inherently sensitive to environmental changes such as illumination, weather and seasons. Considering these facts, more recent attention has been attracted to use 3-D Light Detection and Ranging (Li..."}
+{"title": "Fisheye object detection based on standard image datasets with 24-points regression strategy", "detail_url": "https://ieeexplore.ieee.org/document/9981891/", "author_list": ["Xi Xu", "Yu Gao", "Hao Liang", "Yi Yang", "Mengyin Fu", "Xi Xu", "Yu Gao", "Hao Liang", "Yi Yang", "Mengyin Fu"], "abstract": "Fisheye object detection is a difficult task in robotics and autonomous driving. One of the reasons is that the fisheye datasets are inferior to standard image datasets in scale and quantity, which inspires the idea of using standard image datasets for fisheye object detection. However, the models trained on standard image datasets do not perform well with fisheye data. In this work, we explore th..."}
+{"title": "Real-time Semantic 3D Reconstruction for High- Touch Surface Recognition for Robotic Disinfection", "detail_url": "https://ieeexplore.ieee.org/document/9981300/", "author_list": ["Ri-Zhao Qiu", "Yixiao Sun", "Joao Marcos Correia Marques", "Kris Hauser", "Ri-Zhao Qiu", "Yixiao Sun", "Joao Marcos Correia Marques", "Kris Hauser"], "abstract": "Disinfection robots have applications in promoting public health and reducing hospital acquired infections and have drawn considerable interest due to the COVID-19 pan-demic. To disinfect a room quickly, motion planning can be used to plan robot disinfection trajectories on a reconstructed 3D map of the room's surfaces. However, existing approaches discard semantic information of the room and, thu..."}
+{"title": "Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981960/", "author_list": ["Chao Tang", "Jingwen Yu", "Weinan Chen", "Bingyi Xia", "Hong Zhang", "Chao Tang", "Jingwen Yu", "Weinan Chen", "Bingyi Xia", "Hong Zhang"], "abstract": "Assistive robot systems have been developed to help people accomplish daily manipulation tasks especially for those with disabilities, where scene understanding plays a crucial role in enabling robots to interpret the surroundings and behave accordingly. Most of the current systems approach scene understanding without considering the functional dependencies between objects. However, it is only val..."}
+{"title": "Multi-Robot Unknown Area Exploration Using Frontier Trees", "detail_url": "https://ieeexplore.ieee.org/document/9981914/", "author_list": ["Ankit Soni", "Chirag Dasannacharya", "Avinash Gautam", "Virendra Singh Shekhawat", "Sudeept Mohan", "Ankit Soni", "Chirag Dasannacharya", "Avinash Gautam", "Virendra Singh Shekhawat", "Sudeept Mohan"], "abstract": "This paper presents a novel approach for multi-robot unknown area exploration. Recently, the frontier tree data structure was used in single robot exploration to memorize frontiers, their positions, exploration state, and the map. This tree could be queried to decide on further exploration steps. In this paper, we take the concept further for multi-robot exploration by proposing a new abstraction ..."}
+{"title": "Efficient Range-Constraint Manifold Optimization with Application to Cooperative Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9982188/", "author_list": ["Yetong Zhang", "Gerry Chen", "Adam Rutkowski", "Frank Dellaert", "Yetong Zhang", "Gerry Chen", "Adam Rutkowski", "Frank Dellaert"], "abstract": "We present a manifold optimization approach to solve inference and planning problems with range constraints. The core of our approach is the definition of a manifold that represents points or poses with range constraints. We discover that the manifold of range-constrained points is homogeneous under the rigid transformation group action, and utilize the group action to derive the tangent space, re..."}
+{"title": "On Coverage Control for Limited Range Multi-Robot Systems", "detail_url": "https://ieeexplore.ieee.org/document/9982002/", "author_list": ["Federico Pratissoli", "Beatrice Capelli", "Lorenzo Sabattini", "Federico Pratissoli", "Beatrice Capelli", "Lorenzo Sabattini"], "abstract": "This paper presents a coverage based control algorithm to coordinate a group of autonomous robots. Most of the solutions presented in the literature rely on an exact Voronoi partitioning, whose computation requires complete knowledge of the environment to be covered. This can be achieved only by robots with unlimited sensing capabilities, or through communication among robots in a limited sensing ..."}
+{"title": "Multi-Goal Multi-Agent Pickup and Delivery", "detail_url": "https://ieeexplore.ieee.org/document/9981785/", "author_list": ["Qinghong Xu", "Jiaoyang Li", "Sven Koenig", "Hang Ma", "Qinghong Xu", "Jiaoyang Li", "Sven Koenig", "Hang Ma"], "abstract": "In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where agents constantly engage with new tasks and need to plan collision-free paths to execute them. To execute a task, an agent needs to visit a pair of goal locations, consisting of a pickup location and a delivery location. We propose two variants of an algorithm that assigns a sequence of tasks to each agent using th..."}
+{"title": "Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981760/", "author_list": ["Baskin \u015eenba\u015flar", "Gaurav S. Sukhatme", "Baskin \u015eenba\u015flar", "Gaurav S. Sukhatme"], "abstract": "We present a novel overconstraining and constraint-discarding method for asynchronous, real-time, decentralized, multi-robot trajectory planning that ensures collision avoidance. Our approach utilizes communication between robots. The communication medium is best-effort: messages may be dropped, re-ordered or delayed. Robots conservatively constrain themselves against others assuming they may be w..."}
+{"title": "Decentralized Learning With Limited Communications for Multi-robot Coverage of Unknown Spatial Fields", "detail_url": "https://ieeexplore.ieee.org/document/9981665/", "author_list": ["Kensuke Nakamura", "Mar\u00eda Santos", "Naomi Ehrich Leonard", "Kensuke Nakamura", "Mar\u00eda Santos", "Naomi Ehrich Leonard"], "abstract": "This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field through a centralized Gaussian process, this work leverages the spatial structure of the coverage problem and presents a decentralized strategy where samples are..."}
+{"title": "Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding", "detail_url": "https://ieeexplore.ieee.org/document/9981807/", "author_list": ["Liang He", "Zherong Pan", "Kiril Solovey", "Biao Jia", "Dinesh Manocha", "Liang He", "Zherong Pan", "Kiril Solovey", "Biao Jia", "Dinesh Manocha"], "abstract": "We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based variant termed the pebble motion problem, which can be solved efficiently. To construct the underlying pebble graph, we identify inscribed circles in the workspa..."}
+{"title": "Multi-modal User Interface for Multi-robot Control in Underground Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981165/", "author_list": ["Shengkang Chen", "Matthew J. O'Brien", "Fletcher Talbot", "Jason Williams", "Brendan Tidd", "Alex Pitt", "Ronald C. Arkin", "Shengkang Chen", "Matthew J. O'Brien", "Fletcher Talbot", "Jason Williams", "Brendan Tidd", "Alex Pitt", "Ronald C. Arkin"], "abstract": "Leveraging both the autonomy of robots and the expert knowledge of humans can enable a multi-robot system to complete missions in challenging environments with a high degree of adaptivity and robustness. This paper proposes a multi-modal task-based graphical user interface for controlling a heterogeneous multi-robot team. The core of the interface is an integrated multi-robot task allocation syste..."}
+{"title": "Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor", "detail_url": "https://ieeexplore.ieee.org/document/9981174/", "author_list": ["Euan Judd", "Bekir Aksoy", "Krishna Manaswi Digumarti", "Herbert Shea", "Dario Floreano", "Euan Judd", "Bekir Aksoy", "Krishna Manaswi Digumarti", "Herbert Shea", "Dario Floreano"], "abstract": "Robots using classical control have revolutionised assembly lines where the environment and manipulated objects are restricted and predictable. However, they have proven less effective when the manipulated objects are deformable due to their complex and unpredictable behaviour. The use of tactile sensors and continuous monitoring of tactile feedback is there-fore particularly important for pick-an..."}
+{"title": "Estimation of Soft Robotic Bladder Compression for Smart Helmets using IR Range Finding and Hall Effect Magnetic Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981160/", "author_list": ["Colin Pollard", "Jon Aston", "Mark A. Minor", "Colin Pollard", "Jon Aston", "Mark A. Minor"], "abstract": "This research focuses on soft robotic bladders that are used to monitor and control the interaction between a user's head and the shell of a Smart Helmet. Compression of these bladders determines impact dissipation; hence the focus of this paper is sensing and estimation of bladder compression. An IR rangefinder-based solution is evaluated using regression techniques as well as a Neural Network to..."}
+{"title": "Kirigami Skin Based Flexible Whisker Sensor", "detail_url": "https://ieeexplore.ieee.org/document/9981556/", "author_list": ["Bangyuan Liu", "Robert Herbert", "Woon-Hong Yeo", "Frank L. Hammond", "Bangyuan Liu", "Robert Herbert", "Woon-Hong Yeo", "Frank L. Hammond"], "abstract": "Whiskers are widely used by animals for sensing physical interactions with their environments. By combining the Kirigami skin pop-up feature and flexible conducting layer, we designed a deployable Kirigami whisker sensor. The sensor can deploy from a flat state to a sensing state while whisker stiffness and initial pop-up angle can be tuned by adjusting the pre-stretch strain. Preliminary results ..."}
+{"title": "Design and Characterisation of a Soft Barometric Sensing Skin for Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981855/", "author_list": ["Kieran Gilday", "Louis Relandeau", "Fumiya Iida", "Kieran Gilday", "Louis Relandeau", "Fumiya Iida"], "abstract": "Soft sensorised skins are essential for improving robotic manipulation capabilities towards that of humans. Integration of sensors into existing robotic hands is challenging due to rigidity of components, low packing density or poor sensor response. We propose a sensorised skin, based-on barometric sensing, which can be molded over a skeletal robot hand. The sensors connect air chambers embedded i..."}
+{"title": "A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981225/", "author_list": ["Vincent Wall", "Oliver Brock", "Vincent Wall", "Oliver Brock"], "abstract": "We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning methods to detect even small contact variations. We demonstrate the acoustic tactile sensor array by the example of a PneuFlex actuator and use a Braille displ..."}
+{"title": "FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981501/", "author_list": ["Yiang Lu", "Wei Chen", "Zhi Chen", "Jianshu Zhou", "Yun\u2013hui Liu", "Yiang Lu", "Wei Chen", "Zhi Chen", "Jianshu Zhou", "Yun\u2013hui Liu"], "abstract": "In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots, while the narrow stretching range of FBG fiber makes it difficult to acquire accurate sensing results for extensible robots. Towards this limitation, we newly i..."}
+{"title": "Soft-Skin Actuator Capable of Seawater Propulsion based on MagnetoHydroDynamics", "detail_url": "https://ieeexplore.ieee.org/document/9981745/", "author_list": ["Mutsuki Matsumoto", "Yu Kuwajima", "Hiroki Shigemune", "Mutsuki Matsumoto", "Yu Kuwajima", "Hiroki Shigemune"], "abstract": "Underwater robots have a variety of potential uses, including marine resource research, ecological research, and disaster relief. Most of the underwater robots currently in practical use have screw propulsion systems, which have several noises, collision, and entrainment problems. There is a lot of research on underwater robots using soft actuators to solve these problems. However, current soft ac..."}
+{"title": "Collaborative Navigation-Aware Coverage in Feature-Poor Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981547/", "author_list": ["\u00d6zer \u00d6zkahraman", "Petter \u00d6gren", "\u00d6zer \u00d6zkahraman", "Petter \u00d6gren"], "abstract": "Multi agent coverage and robot navigation are two very important research fields within robotics. However, their intersection has received limited attention. In multi agent coverage, perfect navigation is often assumed, and in robot navigation, the focus is often to minimize the localization error with the aid of stationary features from the environment. The need for integration of the two becomes..."}
+{"title": "Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination", "detail_url": "https://ieeexplore.ieee.org/document/9982231/", "author_list": ["Teng Guo", "Si Wei Feng", "Jingjin Yu", "Teng Guo", "Si Wei Feng", "Jingjin Yu"], "abstract": "For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAV s) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional spaces, with provable 1. $x$ asymptotic makespan optimality guarantee under high robot density. More precisely, on an $m_{1} \\times m_{2} \\times m_{3}$ grid, $m..."}
+{"title": "Energy-efficient Orienteering Problem in the Presence of Ocean Currents", "detail_url": "https://ieeexplore.ieee.org/document/9981818/", "author_list": ["Ariella Mansfield", "Douglas G. Macharet", "M. Ani Hsieh", "Ariella Mansfield", "Douglas G. Macharet", "M. Ani Hsieh"], "abstract": "In many environmental monitoring applications robots are often tasked to visit various distinct locations to make observations and/or collect specific measurements. The problem of scheduling and assigning robots to the various tasks and planning feasible paths for the robots can be posed as an Orienteering Problem (OP). In the standard OP, routing and scheduling is achieved by maximizing an object..."}
+{"title": "MAPFASTER: A Faster and Simpler take on Multi-Agent Path Finding Algorithm Selection", "detail_url": "https://ieeexplore.ieee.org/document/9981981/", "author_list": ["Jean-Marc Alkazzi", "Anthony Rizk", "Michel Salomon", "Abdallah Makhoul", "Jean-Marc Alkazzi", "Anthony Rizk", "Michel Salomon", "Abdallah Makhoul"], "abstract": "Portfolio-based algorithm selection can help in choosing the best suited algorithm for a given task while leveraging the complementary strengths of the candidates. Solving the Multi-Agent Path Finding (MAPF) problem optimally has been proven to be NP-Hard. Furthermore, no single optimal algorithm has been shown to have the fastest runtime for all MAPF problem instances, and there are no proven app..."}
+{"title": "Scalable Online Coverage Path Planning for Multi-Robot Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981213/", "author_list": ["Ratijit Mitra", "Indranil Saha", "Ratijit Mitra", "Indranil Saha"], "abstract": "Online coverage path planning to explore an unknown workspace with multiple homogeneous robots could be either centralized or distributed. While distributed planners are computationally faster, centralized planners can produce more efficient paths, reducing the duration of completing a coverage mission significantly. To exploit the power of a centralized framework, we propose a receding horizon ce..."}
+{"title": "DiMOpt: a Distributed Multi-robot Trajectory Optimization Algorithm", "detail_url": "https://ieeexplore.ieee.org/document/9981345/", "author_list": ["Jo\u00e3o Salvado", "Masoumeh Mansouri", "Federico Pecora", "Jo\u00e3o Salvado", "Masoumeh Mansouri", "Federico Pecora"], "abstract": "This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered by complex robot dynamics and collision constraints that couple robot's decision variables. We prop..."}
+{"title": "Non-Submodular Maximization via the Greedy Algorithm and the Effects of Limited Information in Multi-Agent Execution", "detail_url": "https://ieeexplore.ieee.org/document/9982070/", "author_list": ["Benjamin Biggs", "James McMahon", "Philip Baldoni", "Daniel J. Stilwell", "Benjamin Biggs", "James McMahon", "Philip Baldoni", "Daniel J. Stilwell"], "abstract": "We provide theoretical bounds on the worst case performance of the greedy algorithm in seeking to maximize a normalized, monotone, but not necessarily submodular ob-jective function under a simple partition matroid constraint. We also provide worst case bounds on the performance of the greedy algorithm in the case that limited information is available at each planning step. We specifically conside..."}
+{"title": "Gathering Physical Particles with a Global Magnetic Field Using Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982256/", "author_list": ["Matthias Konitzny", "Yitong Lu", "Julien Leclerc", "S\u00e1ndor P. Fekete", "Aaron T. Becker", "Matthias Konitzny", "Yitong Lu", "Julien Leclerc", "S\u00e1ndor P. Fekete", "Aaron T. Becker"], "abstract": "For biomedical applications in targeted therapy delivery and interventions, a large swarm of micro-scale particles (\u201cagents\u201d) has to be moved through a maze-like environment (\u201cvascular system\u201d) to a target region (\u201ctumor\u201d). Due to limited on-board capabilities, these agents cannot move autonomously; instead, they are controlled by an external global force that acts uniformly on all particles. In t..."}
+{"title": "Contrastive Learning for Cross-Domain Open World Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981592/", "author_list": ["Francesco Cappio Borlino", "Silvia Bucci", "Tatiana Tommasi", "Francesco Cappio Borlino", "Silvia Bucci", "Tatiana Tommasi"], "abstract": "The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new object categories when requested, but also to recognize the same objects in different environments (rooms) and poses (hand-held/on the floor/above furniture), whil..."}
+{"title": "Efficient Multi-Task Learning via Iterated Single-Task Transfer", "detail_url": "https://ieeexplore.ieee.org/document/9981244/", "author_list": ["K.R. Zentner", "Ujjwal Puri", "Yulun Zhang", "Ryan Julian", "Gaurav S. Sukhatme", "K.R. Zentner", "Ujjwal Puri", "Yulun Zhang", "Ryan Julian", "Gaurav S. Sukhatme"], "abstract": "In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. One approach to achieving this capability is via Multi-task Reinforcement Learning (MTRL). Most recent work in MTRL trains a single policy to solve all tasks at once. In th..."}
+{"title": "Subspace-based Feature Alignment for Unsupervised Domain Adaptation", "detail_url": "https://ieeexplore.ieee.org/document/9981324/", "author_list": ["Eojindl Yi", "Junmo Kim", "Eojindl Yi", "Junmo Kim"], "abstract": "Autonomous agents need to perceive the world in a robust way, such that the shift in data distribution does not lead to faulty perception results. When agents cannot be trained with abundant data, agents may need to operate on real world environments while trained on simulated data, and suffer from domain shift. This paper proposes an effective and robust unsupervised domain adaptation (UDA) metho..."}
+{"title": "Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors", "detail_url": "https://ieeexplore.ieee.org/document/9981229/", "author_list": ["Sven Gronauer", "Matthias Kissel", "Luca Sacchetto", "Mathias Korte", "Klaus Diepold", "Sven Gronauer", "Matthias Kissel", "Luca Sacchetto", "Mathias Korte", "Klaus Diepold"], "abstract": "In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard sensor data as input and run entirely on the embed-ded hardware. In real-world experiments, we compare low-level Pulse-Width Modulated control with higher-leve..."}
+{"title": "Bilateral Knowledge Distillation for Unsupervised Domain Adaptation of Semantic Segmentation", "detail_url": "https://ieeexplore.ieee.org/document/9981567/", "author_list": ["Yunnan Wang", "Jianxun Li", "Yunnan Wang", "Jianxun Li"], "abstract": "Unsupervised domain adaptation (UDA) aims to learn domain-invariant representations between the labeled source domain and the unlabeled target domain. Existing self- training-based UDA methods use ground truth and pseudo- labels to supervise source data and target data respectively. However, strong supervision in the source domain and pseudo- label noise in the target domain lead to some problems,..."}
+{"title": "Self-Supervised Noisy Label Learning for Source-Free Unsupervised Domain Adaptation", "detail_url": "https://ieeexplore.ieee.org/document/9981099/", "author_list": ["Weijie Chen", "Luojun Lin", "Shicai Yang", "Di Xie", "Shiliang Pu", "Yueting Zhuang", "Weijie Chen", "Luojun Lin", "Shicai Yang", "Di Xie", "Shiliang Pu", "Yueting Zhuang"], "abstract": "Domain adaptation is an important property in robot vision, which enables the neural networks pre-trained on source domains to adapt target domains automatically without any annotation efforts. During this process, source data is not always accessible due to the constraints of expensive storage overhead and data privacy protection. Therefore, the source domain pre-trained model is expected to opti..."}
+{"title": "Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981951/", "author_list": ["Josip Josifovski", "Mohammadhossein Malmir", "Noah Klarmann", "Bare Luka \u017dagar", "Nicol\u00e1s Navarro-Guerrero", "Alois Knoll", "Josip Josifovski", "Mohammadhossein Malmir", "Noah Klarmann", "Bare Luka \u017dagar", "Nicol\u00e1s Navarro-Guerrero", "Alois Knoll"], "abstract": "Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific randomization technique and often on a highly customized robotic system, making it difficult to evaluate different randomization approaches systematically. To address this problem, we define an easy-to-reproduce experimen..."}
+{"title": "Additive Manufacturing for Tissue Engineering Applications in a Temperature-Controlled Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981836/", "author_list": ["Wei-Chih Tseng", "Chao-Yaug Liao", "Bo-Ren Chen", "Luc Chassagne", "Barth\u00e9lemy Cagneau", "Wei-Chih Tseng", "Chao-Yaug Liao", "Bo-Ren Chen", "Luc Chassagne", "Barth\u00e9lemy Cagneau"], "abstract": "In recent years, with the combination of tissue engineering and additive manufacturing technologies, the possibility of fabricating scaffolds with porosity and complex structure has been improved. Since the properties of most biomaterial inks are influenced by temperature and thereby affect the quality of the scaffolds, a controlled printing environment is very important. This study focuses on tem..."}
+{"title": "On CAD Informed Adaptive Robotic Assembly", "detail_url": "https://ieeexplore.ieee.org/document/9982242/", "author_list": ["Yotto Koga", "Heather Kerrick", "Sachin Chitta", "Yotto Koga", "Heather Kerrick", "Sachin Chitta"], "abstract": "We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of the assembly process for a specific robotic workcell and generates a recipe of task-level instructions. By integrating visual sensing with deep-learned perception..."}
+{"title": "Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery", "detail_url": "https://ieeexplore.ieee.org/document/9981784/", "author_list": ["Niklas Funk", "Svenja Menzenbach", "Georgia Chalvatzaki", "Jan Peters", "Niklas Funk", "Svenja Menzenbach", "Georgia Chalvatzaki", "Jan Peters"], "abstract": "Robot assembly discovery (RAD) is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the robot-in-the-loop. In this work, we tackle the problem of building arbitrary, predefined target structures entirely from scratch using a set of Tetris-lik..."}
+{"title": "Assembly Planning from Observations under Physical Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981623/", "author_list": ["Thomas Chabal", "Robin Strudel", "Etienne Arlaud", "Jean Ponce", "Cordelia Schmid", "Thomas Chabal", "Robin Strudel", "Etienne Arlaud", "Jean Ponce", "Cordelia Schmid"], "abstract": "This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The proposed algorithm uses a simple combination of physical stability constraints, convex optimization and Monte Carlo tree search to plan assemblies as sequences o..."}
+{"title": "Coordinated Toolpath Planning for Multi-Extruder Additive Manufacturing", "detail_url": "https://ieeexplore.ieee.org/document/9981543/", "author_list": ["Jayant Khatkar", "Chanyeol Yool", "Robert Fitch", "Lee Clemon", "Ramgopal Mettu", "Jayant Khatkar", "Chanyeol Yool", "Robert Fitch", "Lee Clemon", "Ramgopal Mettu"], "abstract": "We present a new algorithm for coordinating the motion of multiple extruders to increase throughput in fused filament fabrication (FFF)/fused deposition modeling (FDM) additive manufacturing. Platforms based on FFF are commonly available and advantageous to several industries, but are limited by slow fabrication time and could be could be significantly improved through efficient use of multiple ex..."}
+{"title": "A Hierarchical Finite-State Machine-Based Task Allocation Framework for Human-Robot Collaborative Assembly Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981618/", "author_list": ["Ilias El Makrini", "Mohsen Omidi", "Fabio Fusaro", "Edoardo Lamon", "Arash Ajoudani", "Bram Vandcrborght", "Ilias El Makrini", "Mohsen Omidi", "Fabio Fusaro", "Edoardo Lamon", "Arash Ajoudani", "Bram Vandcrborght"], "abstract": "Work-related musculoskeletal disorders (MSD) are one of the major cause of injuries and absenteeism at work. These lead to important cost in the manufacturing industry. Human-robot collaboration can help decreasing this issue by appropriately distributing the tasks and decreasing the workload of the factory worker. This paper proposes a novel generic task allocation approach based on hierarchical ..."}
+{"title": "Flexible and Precision Snap-Fit Peg-in-Hole Assembly Based on Multiple Sensations and Damping Identification", "detail_url": "https://ieeexplore.ieee.org/document/9981639/", "author_list": ["Ruikai Liu", "Xiansheng Yang", "Ajian Li", "Yunjiang Lou", "Ruikai Liu", "Xiansheng Yang", "Ajian Li", "Yunjiang Lou"], "abstract": "Snap-fit peg-in-hole assembly widely exists in both industry and daily life, especially for consumer electronics. The buckle mechanism leads to a damping zone inside the port where insertion force needs to be increased. It is much difficult to automate this process by robots, for size and clearance of the components are always small, and the damping buckle should be perceived and distinguished fro..."}
+{"title": "A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty", "detail_url": "https://ieeexplore.ieee.org/document/9981276/", "author_list": ["Shichen Cao", "Jing Xiao", "Shichen Cao", "Jing Xiao"], "abstract": "In this paper, we propose a novel and general method for autonomous robotic assembly of arbitrary and complex-shaped parts in the presence of 6-dimensional uncertainty. When a nominal assembly motion of the robot holding a part is stopped by contact due to uncertainty, our method finds the best estimate for the uncertainty and the contact configuration of the part based on sensed force/torque and ..."}
+{"title": "Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborting A*", "detail_url": "https://ieeexplore.ieee.org/document/9981663/", "author_list": ["Marcell Missura", "Arindam Roychoudhury", "Maren Bennewitz", "Marcell Missura", "Arindam Roychoudhury", "Maren Bennewitz"], "abstract": "Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked structures such as roads, lanes, and traffic signs simplify the motion planning and collision avoidance problem. We are presenting a new control approach for car-like ve..."}
+{"title": "Collision and Rollover-Free g2 Path Planning for Mobile Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981151/", "author_list": ["Jiazhi Song", "Inna Sharf", "Jiazhi Song", "Inna Sharf"], "abstract": "This paper presents a path planning refinement technique that allows the efficient collision and rollover-free motion planning for mobile manipulator robots working on rough terrain. First, the necessary theoretical background on a mobile manipulator's kinematics and dynamic stability measure is introduced. Then, after the brief introduction of the sampling-based path planning problem, the additio..."}
+{"title": "Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981397/", "author_list": ["Xinyi Chen", "Boyu Zhou", "Jiarong Lin", "Yichen Zhang", "Fu Zhang", "Shaojie Shen", "Xinyi Chen", "Boyu Zhou", "Jiarong Lin", "Yichen Zhang", "Fu Zhang", "Shaojie Shen"], "abstract": "In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently, existing solutions for skeleton graph generation suffer from several major limitations, including poor adaptiveness to different map representations, dependency on rob..."}
+{"title": "Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information", "detail_url": "https://ieeexplore.ieee.org/document/9981508/", "author_list": ["Matthew Cleaveland", "Esen Yel", "Yiannis Kantaros", "Insup Lee", "Nicola Bezzo", "Matthew Cleaveland", "Esen Yel", "Yiannis Kantaros", "Insup Lee", "Nicola Bezzo"], "abstract": "This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on intermittent, external information about the environment, as e.g., in underwater applications. The challenge in this case is that the robots must plan using only this sta..."}
+{"title": "NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981177/", "author_list": ["Amir Salimi Lafmejani", "Spring Berman", "Georgios Fainekos", "Amir Salimi Lafmejani", "Spring Berman", "Georgios Fainekos"], "abstract": "In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown environments with static and/or dynamic obstacles. This method incorporates a Learned Barrier Function (LBF) into the NMPC design in order to guarantee safe robot naviga..."}
+{"title": "T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981739/", "author_list": ["Matthias H\u00fcppi", "Luca Bartolomei", "Ruben Mascaro", "Margarita Chli", "Matthias H\u00fcppi", "Luca Bartolomei", "Ruben Mascaro", "Margarita Chli"], "abstract": "Sampling-based motion planners are widely used in robotics due to their simplicity, flexibility and computational efficiency. However, in their most basic form, these algorithms operate under the assumption of static scenes and lack the ability to avoid collisions with dynamic (i.e. moving) obstacles. This raises safety concerns, limiting the range of possible applications of mobile robots in the ..."}
+{"title": "Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner", "detail_url": "https://ieeexplore.ieee.org/document/9981648/", "author_list": ["Phil\u00e9mon Brakel", "Steven Bohez", "Leonard Hasenclever", "Nicolas Heess", "Konstantinos Bousmalis", "Phil\u00e9mon Brakel", "Steven Bohez", "Leonard Hasenclever", "Nicolas Heess", "Konstantinos Bousmalis"], "abstract": "We propose a simple imitation learning procedure for learning locomotion controllers that can walk over very challenging terrains. We use trajectory optimization (TO) to produce a large dataset of trajectories over procedurally generated terrains and use Reinforcement Learning (RL) to imitate these trajectories. We demonstrate with a realistic model of the ANYmal robot that the learned controllers..."}
+{"title": "A Versatile Co-Design Approach For Dynamic Legged Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981378/", "author_list": ["Traiko Dinev", "Carlos Mastalli", "Vladimir Ivan", "Steve Tonneau", "Sethu Vijayakumar", "Traiko Dinev", "Carlos Mastalli", "Vladimir Ivan", "Steve Tonneau", "Sethu Vijayakumar"], "abstract": "We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel optimization approach that exploits the derivatives of the motion planning sub-problem (i.e., the lower level). These motion-planning derivatives allow us to incorpo..."}
+{"title": "Motion Planning for Agile Legged Locomotion using Failure Margin Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981903/", "author_list": ["Kevin Green", "John Warila", "Ross L. Hatton", "Jonathan Hurst", "Kevin Green", "John Warila", "Ross L. Hatton", "Jonathan Hurst"], "abstract": "The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum, instead of dynamically-rich models that do not have closed-form solutions. We propose a real-time optimization method to plan for dynamical models that do not h..."}
+{"title": "Robust High-Speed Running for Quadruped Robots via Deep Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982132/", "author_list": ["Guillaume Bellegarda", "Yiyu Chen", "Zhuochen Liu", "Quan Nguyen", "Guillaume Bellegarda", "Yiyu Chen", "Zhuochen Liu", "Quan Nguyen"], "abstract": "Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and offset foot positions produced by trajectory generators. Both approaches typically require careful reward shaping and training for millions of time steps, and with ..."}
+{"title": "Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981613/", "author_list": ["Garen Haddeler", "Hari P. Palanivelu", "Yung Chuen Ng", "Fabien Colonnier", "Albertus H. Adiwahono", "Zhibin Li", "Chee-Meng Chew", "Meng Yee Chuah", "Garen Haddeler", "Hari P. Palanivelu", "Yung Chuen Ng", "Fabien Colonnier", "Albertus H. Adiwahono", "Zhibin Li", "Chee-Meng Chew", "Meng Yee Chuah"], "abstract": "Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of such simulated digital double synchronized with a real robot to capture and extract discrepancy information between the two systems, which provides high dimens..."}
+{"title": "Towards Learning to Play Piano with Dexterous Hands and Touch", "detail_url": "https://ieeexplore.ieee.org/document/9981221/", "author_list": ["Huazhe Xu", "Yuping Luo", "Shaoxiong Wang", "Trevor Darrell", "Roberto Calandra", "Huazhe Xu", "Yuping Luo", "Shaoxiong Wang", "Trevor Darrell", "Roberto Calandra"], "abstract": "As Liszt once said \u201c(a virtuoso) must call up scent and blossom, and breathe the breath of life\u201d, a virtuoso plays the piano with passion, poetry, and extraordinary technical ability. Hence, piano playing, being a task that is quintessentially human, becomes a hallmark for roboticians and artificial intelligence researchers to pursue. In this paper, we advocate an end-to-end reinforcement learning..."}
+{"title": "Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination", "detail_url": "https://ieeexplore.ieee.org/document/9981827/", "author_list": ["Hang Yin", "Christos K. Verginis", "Danica Kragic", "Hang Yin", "Christos K. Verginis", "Danica Kragic"], "abstract": "We develop two consensus-based learning algorithms for multi-robot systems applied on complex tasks involving collision constraints and force interactions, such as the cooperative peg-in-hole placement. The proposed algorithms integrate multi-robot distributed consensus and normalizing-flow-based reinforcement learning. The algorithms guarantee the stability and the consensus of the multi-robot sy..."}
+{"title": "Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement", "detail_url": "https://ieeexplore.ieee.org/document/9981715/", "author_list": ["Kai Gao", "Jingjin Yu", "Kai Gao", "Jingjin Yu"], "abstract": "We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object re- arrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates t..."}
+{"title": "Simultaneous Depth Estimation and Localization for Cell Manipulation Based on Deep Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982228/", "author_list": ["Zengshuo Wang", "Huiying Gong", "Ke Li", "Bin Yang", "Yue Du", "Yaowei Liu", "Xin Zhao", "Mingzhu Sun", "Zengshuo Wang", "Huiying Gong", "Ke Li", "Bin Yang", "Yue Du", "Yaowei Liu", "Xin Zhao", "Mingzhu Sun"], "abstract": "Visual localization, which is a key technology to realize the automation of cell manipulation, has been widely studied. Since the depth of field of the microscope is narrow, the planar localization and depth estimation are usually coupled together. At present, most methods adopt the serial working mode of focusing first and then planar localization, but they usually do not have good real-time perf..."}
+{"title": "DUQIM-Net: Probabilistic Object Hierarchy Representation for Multi-View Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981406/", "author_list": ["Vladimir Tchuiev", "Yakov Miron", "Dotan Di Castro", "Vladimir Tchuiev", "Yakov Miron", "Dotan Di Castro"], "abstract": "Object manipulation in cluttered scenes is a difficult and important problem in robotics. To efficiently manipulate objects, it is crucial to understand their surroundings, especially in cases where multiple objects are stacked one on top of the other, preventing effective grasping. We here present DUQIM-Net, a decision-making approach for object manipulation in a setting of stacked objects. In DU..."}
+{"title": "Downwash-aware Control Allocation for Over-actuated UAV Platforms", "detail_url": "https://ieeexplore.ieee.org/document/9981140/", "author_list": ["Yao Su", "Chi Chu", "Meng Wang", "Jiarui Li", "Liu Yang", "Yixin Zhu", "Hangxin Liu", "Yao Su", "Chi Chu", "Meng Wang", "Jiarui Li", "Liu Yang", "Yixin Zhu", "Hangxin Liu"], "abstract": "Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity of modeling aerodynamic airflow challenges contro..."}
+{"title": "Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention", "detail_url": "https://ieeexplore.ieee.org/document/9982189/", "author_list": ["Guangze Zheng", "Changhong Fu", "Junjie Ye", "Bowen Li", "Geng Lu", "Jia Pan", "Guangze Zheng", "Changhong Fu", "Junjie Ye", "Bowen Li", "Geng Lu", "Jia Pan"], "abstract": "Although the manipulating of the unmanned aerial manipulator (UAM) has been widely studied, vision-based UAM approaching, which is crucial to the subsequent manipulating, generally lacks effective design. The key to the visual UAM approaching lies in object tracking, while current UAM tracking typically relies on costly model-based methods. Besides, UAM approaching often confronts more severe obje..."}
+{"title": "Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function", "detail_url": "https://ieeexplore.ieee.org/document/9982125/", "author_list": ["Eric Sihite", "Paul Ghanem", "Adarsh Salagame", "Alireza Ramezani", "Eric Sihite", "Paul Ghanem", "Adarsh Salagame", "Alireza Ramezani"], "abstract": "Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures that influence the aerodynamic forces, which can be difficult to model. While it is possible to model these forces using fluidstructure interaction, it is very computationally expensive and difficult to formulate. In thi..."}
+{"title": "Design and Analysis of Truss Aerial Transportation System (TATS): The Lightweight Bar Spherical Joint Mechanism", "detail_url": "https://ieeexplore.ieee.org/document/9981191/", "author_list": ["Xiaozhen Zhang", "Qingkai Yang", "Rui Yu", "Delong Wu", "Shaozhun Wei", "Jinqiang Cui", "Hao Fang", "Xiaozhen Zhang", "Qingkai Yang", "Rui Yu", "Delong Wu", "Shaozhun Wei", "Jinqiang Cui", "Hao Fang"], "abstract": "In aerial cooperative transportation missions, it has been recognized that for small-sized but heavy payloads, the cable-suspended framework is a preferred manner. However, to maintain proper safe flight distances, cables always stay inclined, which implies that horizontal force components have to be generated by UAVs, and only partial thrust forces are used for gravity compensation. To overcome t..."}
+{"title": "Real-Time Trajectory Planning for Aerial Perching", "detail_url": "https://ieeexplore.ieee.org/document/9981489/", "author_list": ["Jialin Ji", "Tiankai Yang", "Chao Xu", "Fei Gao", "Jialin Ji", "Tiankai Yang", "Chao Xu", "Fei Gao"], "abstract": "This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Further-more, our planner is able to minimize the tangential relative speed on the premise of safety and dynamic feasibility. This feature is especially notable on micro aeri..."}
+{"title": "Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981447/", "author_list": ["Junlong Guo", "Zhiren Xun", "Shuang Geng", "Yi Lin", "Chao Xu", "Fei Gao", "Junlong Guo", "Zhiren Xun", "Shuang Geng", "Yi Lin", "Chao Xu", "Fei Gao"], "abstract": "Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it unable to deal with dynamic obstacles and limits its applications. In this paper, we present a dynamic free-space roadmap, which provides feasible spaces and a navig..."}
+{"title": "Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981858/", "author_list": ["Peng Peng", "Wei Dong", "Gang Chen", "Xiangyang Zhu", "Peng Peng", "Wei Dong", "Gang Chen", "Xiangyang Zhu"], "abstract": "This paper proposes a perception-shared and swarm trajectory global optimal (STGO) algorithm fused UAVs formation motion planning framework aided by an active sensing system. First, the point cloud received by each UAV is fit by the gaussian mixture model (GMM) and transmitted in the swarm. Resampling from the received GMM contributes to a global map, which is used as the foundation for consensus...."}
+{"title": "Autoexplorer: Autonomous Exploration of Unknown Environments using Fast Frontier-Region Detection and Parallel Path Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981263/", "author_list": ["Kyung Min Han", "Young J. Kim", "Kyung Min Han", "Young J. Kim"], "abstract": "We propose a fully autonomous system for mobile robot exploration in unknown environments. Our system employs a novel frontier detection algorithm based on the fast front propagation (FFP) technique and uses parallel path planning to reach the detected front regions. Given an occupancy grid map in 2D, possibly updated online, our algorithm can find all the frontier points that can allow mobile rob..."}
+{"title": "Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform", "detail_url": "https://ieeexplore.ieee.org/document/9981598/", "author_list": ["Pengfei Gu", "Ziyang Meng", "Pengkun Zhou", "Pengfei Gu", "Ziyang Meng", "Pengkun Zhou"], "abstract": "Visual Inertial Odometry (VIO) is a widely studied localization technique in robotics. State-of-the-art VIO algorithms are composed of two parts: a frontend which performs visual perception and inertial measurement pre-processing, and a backend which fuses vision and inertial measurements to estimate the robot's pose. Both image processing in the frontend and sensor fusion in the backend are compu..."}
+{"title": "MPNP: Multi-Policy Neural Planner for Urban Driving", "detail_url": "https://ieeexplore.ieee.org/document/9982111/", "author_list": ["Jie Cheng", "Ren Xin", "Sheng Wang", "Ming Liu", "Jie Cheng", "Ren Xin", "Sheng Wang", "Ming Liu"], "abstract": "Our goal is to train a neural planner that can capture diverse driving behaviors in complex urban scenarios. We observe that even state-of-the-art neural planners are struggling to perform common maneuvers such as lane change, which is rather natural for human drivers. We propose to explore the multi-modalities in the planning problem and force the neural planner to explicitly consider different p..."}
+{"title": "Contextual Tuning of Model Predictive Control for Autonomous Racing", "detail_url": "https://ieeexplore.ieee.org/document/9981780/", "author_list": ["Lukas P. Fr\u00f6hlich", "Christian K\u00fcttel", "Elena Arcari", "Lukas Hewing", "Melanie N. Zeilinger", "Andrea Carron", "Lukas P. Fr\u00f6hlich", "Christian K\u00fcttel", "Elena Arcari", "Lukas Hewing", "Melanie N. Zeilinger", "Andrea Carron"], "abstract": "Learning-based model predictive control has been widely applied in autonomous racing to improve the closed-loop behaviour of vehicles in a data-driven manner. When environmental conditions change, e.g., due to rain, often only the predictive model is adapted, but the controller parameters are kept constant. However, this can lead to suboptimal behaviour. In this paper, we address the problem of da..."}
+{"title": "Temporal Logic Path Planning under Localization Uncertainty", "detail_url": "https://ieeexplore.ieee.org/document/9981624/", "author_list": ["Amit Dhyani", "Indranil Saha", "Amit Dhyani", "Indranil Saha"], "abstract": "We present a method to find the optimal control strategy for a robot using prior information of localization that maximizes the probability of satisfaction of a temporal logic specification while considering the uncertainty in both motion and sensing, two major causes for localization uncertainty. The specifications are given in the probabilistic computation tree logic (PCTL) formulae over a set o..."}
+{"title": "Navigating to Objects in Unseen Environments by Distance Prediction", "detail_url": "https://ieeexplore.ieee.org/document/9981766/", "author_list": ["Minzhao Zhu", "Binglei Zhao", "Tao Kong", "Minzhao Zhu", "Binglei Zhao", "Tao Kong"], "abstract": "Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related objects as cues. Based on the estimated distance to the target object, our method directly choose optimal midterm goals that are more likely to have a shorter path ..."}
+{"title": "Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9982161/", "author_list": ["Junior C. de Jesus", "Victor A. Kich", "Alisson H. Kolling", "Ricardo B. Grando", "Rodrigo S. Guerra", "Paulo L. J. Drews", "Junior C. de Jesus", "Victor A. Kich", "Alisson H. Kolling", "Ricardo B. Grando", "Rodrigo S. Guerra", "Paulo L. J. Drews"], "abstract": "Reinforcement Learning (RL) has presented an impressive performance in video games through raw pixel imaging and continuous control tasks. However, RL performs poorly with high-dimensional observations such as raw pixel images. It is generally accepted that physical state-based RL policies such as laser sensor measurements give a more sample-efficient result than learning by pixels. This work pres..."}
+{"title": "DSOL: A Fast Direct Sparse Odometry Scheme", "detail_url": "https://ieeexplore.ieee.org/document/9981491/", "author_list": ["Chao Qu", "Shreyas S. Shivakumar", "Ian D. Miller", "Camillo J. Taylor", "Chao Qu", "Shreyas S. Shivakumar", "Ian D. Miller", "Camillo J. Taylor"], "abstract": "In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO) [1]. We propose several algorithmic and implementation enhancements which speed up computation by a significant factor (on average 5x) even on resource-constrained platforms. The increase in speed allows us to process images at higher frame rates, which in turn provides better results..."}
+{"title": "Planning for Negotiations in Autonomous Driving using Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981988/", "author_list": ["Roi Reshef", "Roi Reshef"], "abstract": "Planning autonomous driving behaviors in dense traffic is challenging. Human drivers are able to influence their road environment to achieve (otherwise unachievable) goals, by communicating their intents to other drivers. An autonomous system that is required to drive in the presence of human traffic must thus possess this fundamental negotiation capability. This work presents a novel benchmark th..."}
+{"title": "Towards Specialized Hardware for Learning-based Visual Odometry on the Edge", "detail_url": "https://ieeexplore.ieee.org/document/9982046/", "author_list": ["Siyuan Chen", "Ken Mai", "Siyuan Chen", "Ken Mai"], "abstract": "Learning-based visual odometry (VO) has gained increasing popularity in autonomous navigation of small robots. However, most methods in the category require computation resources not normally available on edge systems. We contend that specialized hardware accelerators are ideal solutions to this problem because of their superior energy efficiency. In this paper, we first propose a model to derive ..."}
+{"title": "MPT-Net: Mask Point Transformer Network for Large Scale Point Cloud Semantic Segmentation", "detail_url": "https://ieeexplore.ieee.org/document/9981809/", "author_list": ["Zhe Jun Tang", "Tat-Jen Cham", "Zhe Jun Tang", "Tat-Jen Cham"], "abstract": "Point cloud semantic segmentation is important for road scene perception, a task for driverless vehicles to achieve full fledged autonomy. In this work, we introduce Mask Point Transformer Network (MPT-Net), a novel architecture for point cloud segmentation that is simple to implement. MPT-Net consists of a local and global feature encoder and a transformer based decoder; a 3D Point-Voxel Convolut..."}
+{"title": "Timestamp-Supervised Action Segmentation with Graph Convolutional Networks", "detail_url": "https://ieeexplore.ieee.org/document/9981351/", "author_list": ["Hamza Khan", "Sanjay Haresh", "Awais Ahmed", "Shakeeb Siddiqui", "Andrey Konin", "M. Zeeshan Zia", "Quoc-Huy Tran", "Hamza Khan", "Sanjay Haresh", "Awais Ahmed", "Shakeeb Siddiqui", "Andrey Konin", "M. Zeeshan Zia", "Quoc-Huy Tran"], "abstract": "We introduce a novel approach for temporal activity segmentation with timestamp supervision. Our main contribution is a graph convolutional network, which is learned in an end-to-end manner to exploit both frame features and connections between neighboring frames to generate dense framewise labels from sparse timestamp labels. The gener-ated dense framewise labels can then be used to train the seg..."}
+{"title": "CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Space", "detail_url": "https://ieeexplore.ieee.org/document/9981172/", "author_list": ["Shunli Wang", "Shuaibing Wang", "Bo Jiao", "Dingkang Yang", "Liuzhen Su", "Peng Zhai", "Chixiao Chen", "Lihua Zhang", "Shunli Wang", "Shuaibing Wang", "Bo Jiao", "Dingkang Yang", "Liuzhen Su", "Peng Zhai", "Chixiao Chen", "Lihua Zhang"], "abstract": "Reliable and stable 6D pose estimation of un-cooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper proposes a counterfactual analysis framework named CA-SpaceNet to complete robust 6D pose estimation of the space-borne targets under complicated background. Specific..."}
+{"title": "3D Object Aided Self-Supervised Monocular Depth Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981590/", "author_list": ["Songlin Wei", "Guodong Chen", "Wenzheng Chi", "Zhenhua Wang", "Lining Sun", "Songlin Wei", "Guodong Chen", "Wenzheng Chi", "Zhenhua Wang", "Lining Sun"], "abstract": "Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of Structure-From-Motion (SfM) simultaneously predict depth and camera relative pose. However, dynamically moving objects in the scene violate the static world assumption, resultin..."}
+{"title": "DeepMLE: A Robust Deep Maximum Likelihood Estimator for Two-view Structure from Motion", "detail_url": "https://ieeexplore.ieee.org/document/9981975/", "author_list": ["Yuxi Xiao", "Li Li", "Xiaodi Li", "Jian Yao", "Yuxi Xiao", "Li Li", "Xiaodi Li", "Jian Yao"], "abstract": "Two-view structure from motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM (vSLAM). Many existing end-to-end learning-based methods usually formulate it as a brute regression problem. However, the inadequate utilization of traditional geometry model makes the model not robust in unseen environments. To improve the generalization capability and robustness of end-to-end two-view Sf..."}
+{"title": "Attention-guided RGB-D Fusion Network for Category-level 6D Object Pose Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981242/", "author_list": ["Hao Wang", "Weiming Li", "Jiyeon Kim", "Qiang Wang", "Hao Wang", "Weiming Li", "Jiyeon Kim", "Qiang Wang"], "abstract": "This work focuses on estimating 6D poses and sizes of category-level objects from a single RGB-D image. How to exploit the complementary RGB and depth features plays an important role in this task yet remains an open question. Due to the large intra-category texture and shape variations, an object instance in test may have different RGB and depth features from those of the object instances in trai..."}
+{"title": "Robust Human Motion Forecasting using Transformer-based Model", "detail_url": "https://ieeexplore.ieee.org/document/9981877/", "author_list": ["Esteve Valls Mascaro", "Shuo Ma", "Hyemin Ahn", "Dongheui Lee", "Esteve Valls Mascaro", "Shuo Ma", "Hyemin Ahn", "Dongheui Lee"], "abstract": "Comprehending human motion is a fundamental challenge for developing Human-Robot Collaborative applications. Computer vision researchers have addressed this field by only focusing on reducing error in predictions, but not taking into account the requirements to facilitate its implementation in robots. In this paper, we propose a new model based on Transformer that simultaneously deals with the rea..."}
+{"title": "Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics", "detail_url": "https://ieeexplore.ieee.org/document/9981948/", "author_list": ["Doganay Sirintuna", "Alberto Giammarino", "Arash Ajoudani", "Doganay Sirintuna", "Alberto Giammarino", "Arash Ajoudani"], "abstract": "In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the object, and the kinematic information of the human body obtained from a motion capture system to create reactive whole-body motions on a mobile collaborative robot. I..."}
+{"title": "The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models", "detail_url": "https://ieeexplore.ieee.org/document/9982150/", "author_list": ["Connor Brooks", "Daniel Szafir", "Connor Brooks", "Daniel Szafir"], "abstract": "When teleoperating complex robotic manipula-tors, operators often find it most natural to issue commands that dictate end effector movements in task space. If the robot has redundant degrees of freedom, the translation of this com-mand from task space into configuration space can affect the robot's maneuverability, smoothness of motion, and the general precision of the teleoperated system. In this..."}
+{"title": "Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming", "detail_url": "https://ieeexplore.ieee.org/document/9982160/", "author_list": ["Francesco Tassi", "Francesco Iodice", "Elena De Momi", "Arash Ajoudani", "Francesco Tassi", "Francesco Iodice", "Elena De Momi", "Arash Ajoudani"], "abstract": "The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with multiple objectives and constraints, arising from the collaborative task or the human. In this regard, we propose vision techniques to perform human action recognit..."}
+{"title": "Bounded Rational Game-theoretical Modeling of Human Joint Actions with Incomplete Information", "detail_url": "https://ieeexplore.ieee.org/document/9982108/", "author_list": ["Yiwei Wang", "Pallavi Shintre", "Sunny Amatya", "Wenlong Zhang", "Yiwei Wang", "Pallavi Shintre", "Sunny Amatya", "Wenlong Zhang"], "abstract": "As humans and robots start to collaborate in close proximity, robots are tasked to perceive, comprehend, and anticipate human partners' actions, which demands a predictive model to describe how humans collaborate with each other in joint actions. Previous studies either simplify the collaborative task as an optimal control problem between two agents or do not consider the learning process of human..."}
+{"title": "Quantifying Changes in Kinematic Behavior of a Human-Exoskeleton Interactive System", "detail_url": "https://ieeexplore.ieee.org/document/9981032/", "author_list": ["Keya Ghonasgi", "Reuth Mirsky", "Adrian M. Haith", "Peter Stone", "Ashish D. Deshpande", "Keya Ghonasgi", "Reuth Mirsky", "Adrian M. Haith", "Peter Stone", "Ashish D. Deshpande"], "abstract": "While human-robot interaction studies are becoming more common, quantification of the effects of repeated interaction with an exoskeleton remains unexplored. We draw upon existing literature in human skill assessment and present extrinsic and intrinsic performance metrics that quantify how the human-exoskeleton system's behavior changes over time. Specifically, in this paper, we present a new perf..."}
+{"title": "Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9981832/", "author_list": ["Hongtao Wu", "Jikai Ye", "Xin Meng", "Chris Paxton", "Gregory S. Chirikjian", "Hongtao Wu", "Jikai Ye", "Xin Meng", "Chris Paxton", "Gregory S. Chirikjian"], "abstract": "Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement manipulation which is able to learn efficiently. In addition, we develop a multi-modal action proposal module which builds on the Goal-Conditioned Transporter N..."}
+{"title": "Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations", "detail_url": "https://ieeexplore.ieee.org/document/9982222/", "author_list": ["Riccardo Burlizzi", "Maxim Vochten", "Joris De Schutter", "Erwin Aertbeli\u00ebn", "Riccardo Burlizzi", "Maxim Vochten", "Joris De Schutter", "Erwin Aertbeli\u00ebn"], "abstract": "Learning from Demonstration (LfD) requires methodologies able to generalize tasks in new situations. This paper studies the use of virtual demonstrations to extend the extrapolation capabilities of probabilistic motion models such as the traPPCA method. Similarly to other LfD methods, traPPCA is able to calculate new trajectories very fast, but does not generalize well outside the area covered by ..."}
+{"title": "Learning High Speed Precision Table Tennis on a Physical Robot", "detail_url": "https://ieeexplore.ieee.org/document/9982205/", "author_list": ["Tianli Ding", "Laura Graesser", "Saminda Abeyruwan", "David B. D'Ambrosio", "Anish Shankar", "Pierre Sermanet", "Pannag R. Sanketi", "Corey Lynch", "Tianli Ding", "Laura Graesser", "Saminda Abeyruwan", "David B. D'Ambrosio", "Anish Shankar", "Pierre Sermanet", "Pannag R. Sanketi", "Corey Lynch"], "abstract": "Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design, ensuring safe exploration, and hyperparameter tuning are often enough to preclude real world deployment. Imitation learning approaches, on the other hand, offer ..."}
+{"title": "Behaviour Learning with Adaptive Motif Discovery and Interacting Multiple Model", "detail_url": "https://ieeexplore.ieee.org/document/9981588/", "author_list": ["Hanging Zhao", "Travis Manderson", "Hao Zhang", "Xue Liu", "Gregory Dudek", "Hanging Zhao", "Travis Manderson", "Hao Zhang", "Xue Liu", "Gregory Dudek"], "abstract": "We propose an approach that enables simultaneous interpretable learning of a high-level discrete behaviour and its low-level rhythmic sub-behaviour. We do this though a unified reward function, where a reward function that only describes low-level behaviour, with less impact on learning of other behaviours is recovered from few-shot motion demonstrations. To this end, we first extract local behavi..."}
+{"title": "Learning from Demonstration using a Curvature Regularized Variational Auto-Encoder (CurvVAE)", "detail_url": "https://ieeexplore.ieee.org/document/9981930/", "author_list": ["Travers Rhodes", "Tapomayukh Bhattacharjee", "Daniel D. Lee", "Travers Rhodes", "Tapomayukh Bhattacharjee", "Daniel D. Lee"], "abstract": "Learning intricate manipulation skills from human demonstrations requires good sample efficiency. We introduce a novel learning algorithm, the Curvature-regularized Variational Auto-Encoder (CurvVAE), to achieve this goal. The CurvVAE is able to model the natural variations in human-demonstrated trajectory data without overfitting. It does so by regularizing the curvature of the learned manifold. ..."}
+{"title": "Bayesian Active Learning for Sim-to-Real Robotic Perception", "detail_url": "https://ieeexplore.ieee.org/document/9982175/", "author_list": ["Jianxiang Feng", "Jongseok Lee", "Maximilian Durner", "Rudolph Triebel", "Jianxiang Feng", "Jongseok Lee", "Maximilian Durner", "Rudolph Triebel"], "abstract": "While learning from synthetic training data has recently gained an increased attention, in real-world robotic applications, there are still performance deficiencies due to the so-called Sim-to-Real gap. In practice, this gap is hard to resolve with only synthetic data. Therefore, we focus on an efficient acquisition of real data within a Sim-to-Real learning pipeline. Concretely, we employ deep Ba..."}
+{"title": "DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects", "detail_url": "https://ieeexplore.ieee.org/document/9981101/", "author_list": ["Priya Sundaresan", "Rika Antonova", "Jeannette Bohgl", "Priya Sundaresan", "Rika Antonova", "Jeannette Bohgl"], "abstract": "Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations and interactions have the potential to speed up experimentation with novel tasks and algorithms. However, for highly deformable objects it is challenging to ali..."}
+{"title": "Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981323/", "author_list": ["Maneekwan Toyungyernsub", "Esen Yel", "Jiachen Li", "Mykel J. Kochenderfer", "Maneekwan Toyungyernsub", "Esen Yel", "Jiachen Li", "Mykel J. Kochenderfer"], "abstract": "Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose a framework that integrates the two capabilities together using deep neural network architectures. Our method first detects and segments moving objects in the s..."}
+{"title": "Pseudo-label Guided Cross-video Pixel Contrast for Robotic Surgical Scene Segmentation with Limited Annotations", "detail_url": "https://ieeexplore.ieee.org/document/9981798/", "author_list": ["Yang Yu", "Zixu Zhao", "Yueming Jin", "Guangyong Chen", "Qi Dou", "Pheng-Ann Heng", "Yang Yu", "Zixu Zhao", "Yueming Jin", "Guangyong Chen", "Qi Dou", "Pheng-Ann Heng"], "abstract": "Surgical scene segmentation is fundamentally crucial for prompting cognitive assistance in robotic surgery. However, pixel-wise annotating surgical video in a frame-by-frame manner is expensive and time consuming. To greatly reduce the labeling burden, in this work, we study semi-supervised scene segmentation from robotic surgical video, which is practically essential yet rarely explored before. W..."}
+{"title": "An Unsupervised Domain Adaptive Approach for Multimodal 2D Object Detection in Adverse Weather Conditions", "detail_url": "https://ieeexplore.ieee.org/document/9982109/", "author_list": ["George Eskandar", "Robert A. Marsden", "Pavithran Pandiyan", "Mario D\u00f6bler", "Karim Guirguis", "Bin Yang", "George Eskandar", "Robert A. Marsden", "Pavithran Pandiyan", "Mario D\u00f6bler", "Karim Guirguis", "Bin Yang"], "abstract": "Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have thrived in recent years, the corresponding modalities can degrade in adverse weather or lighting conditions, ultimately leading to a drop in performance. Although ..."}
+{"title": "Multiscale Sensor Fusion and Continuous Control with Neural CDEs", "detail_url": "https://ieeexplore.ieee.org/document/9982210/", "author_list": ["Sumeet Singh", "Francis McCann Ramirez", "Jacob Varley", "Andy Zeng", "Vikas Sindhwani", "Sumeet Singh", "Francis McCann Ramirez", "Jacob Varley", "Andy Zeng", "Vikas Sindhwani"], "abstract": "Though robot learning is often formulated in terms of discrete-time Markov decision processes (MDPs), physical robots require near-continuous multiscale feedback control. Machines operate on multiple asynchronous sensing modalities, each with different frequencies, e.g., video frames at 30Hz, proprioceptive state at 100Hz, force-torque data at 500Hz, etc. While the classic approach is to batch obs..."}
+{"title": "SMS-MPC: Adversarial Learning-based Simultaneous Prediction Control with Single Model for Mobile Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981289/", "author_list": ["Andong Yang", "Wei Li", "Yu Hu", "Andong Yang", "Wei Li", "Yu Hu"], "abstract": "Model predictive control is a promising method in robot control tasks. How to design an effective model structure and efficient prediction framework for model predictive control is still an open challenge. To reduce the time consumption and avoid compounding-error of the multi-step prediction process in model predictive control, we propose a single-model simultaneous framework, which uses single d..."}
+{"title": "Dynamic Inference on Graphs using Structured Transition Models", "detail_url": "https://ieeexplore.ieee.org/document/9981449/", "author_list": ["Saumya Saxena", "Oliver Kroemer", "Saumya Saxena", "Oliver Kroemer"], "abstract": "Enabling robots to perform complex dynamic tasks such as picking up an object in one sweeping motion or pushing off a wall to quickly turn a corner is a challenging problem. The dynamic interactions implicit in these tasks are critical towards the successful execution of such tasks. Graph neural networks (GNNs) provide a principled way of learning the dynamics of interactive systems but can suffer..."}
+{"title": "Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search", "detail_url": "https://ieeexplore.ieee.org/document/9981069/", "author_list": ["Minjae Kang", "Hogun Kee", "Junseok Kim", "Songhwai Oh", "Minjae Kang", "Hogun Kee", "Junseok Kim", "Songhwai Oh"], "abstract": "In the lateral access environment, the robot be-havior should be planned considering surrounding objects and obstacles because object observation directions and approach angles are limited. To safely retrieve a partially occluded target object in these environments, we have to relocate objects using prehensile actions to create a collision-free path for the target. We propose a learning-based meth..."}
+{"title": "Non-blocking Asynchronous Training for Reinforcement Learning in Real-World Environments", "detail_url": "https://ieeexplore.ieee.org/document/9981333/", "author_list": ["Peter B\u00f6hm", "Pauline Pounds", "Archie C. Chapman", "Peter B\u00f6hm", "Pauline Pounds", "Archie C. Chapman"], "abstract": "Deep Reinforcement Learning (DRL) faces challenges bridging the sim-to-real gap to enable real-world applications. In contrast to the simulated environments used in conventional DRL training, real-world systems are non-linear and evolve in an asynchronous fashion; sensors and actuators have limited precision; communication channels are noisy; and many components introduce variable delays. While th..."}
+{"title": "Robot Skill Learning with Identification of Preconditions and Postconditions via Level Set Estimation", "detail_url": "https://ieeexplore.ieee.org/document/9981933/", "author_list": ["Rin Takano", "Hiroyuki Oyama", "Yuki Taya", "Rin Takano", "Hiroyuki Oyama", "Yuki Taya"], "abstract": "Hierarchical algorithms have often been used to plan and execute complicated robotic sequential manipulation tasks, where an abstract planner searches for a skill sequence in an abstract space, and each skill generates actual motions on the basis of the planned skill sequences. To generate executable plans, the abstract planner should know the pre-/postconditions of each skill and appropriately ch..."}
+{"title": "Sex Parity in Cognitive Fatigue Model Development for Effective Human-Robot Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9981097/", "author_list": ["Apostolos Kalatzis", "Sarah Hopko", "Ranjana K. Mehta", "Laura Stanley", "Mike P. Wittie", "Apostolos Kalatzis", "Sarah Hopko", "Ranjana K. Mehta", "Laura Stanley", "Mike P. Wittie"], "abstract": "In recent years, robots have become vital to achieving manufacturing competitiveness. Especially in industrial environments, a strong level of interaction is reached when humans and robots form a dynamic system that works together towards achieving a common goal or accomplishing a task. However, the human-robot collaboration can be cognitively demanding, potentially contributing to cognitive fatig..."}
+{"title": "Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-based Control Barrier Functions", "detail_url": "https://ieeexplore.ieee.org/document/9981680/", "author_list": ["Emanuel Munoz", "Dvij Kalaria", "Qin Lin", "John M. Dolan", "Emanuel Munoz", "Dvij Kalaria", "Qin Lin", "John M. Dolan"], "abstract": "A control barrier functions-based quadratic programming (CBF-QP) method has emerged as a controller synthesis tool to assure safety of autonomous systems owing to the appealing safe forward invariant set. However, the provable safety relies on a precisely described dynamic model, which is not always available in practice. Recent works leverage learning to compensate model uncertainty for a CBF con..."}
+{"title": "Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models", "detail_url": "https://ieeexplore.ieee.org/document/9982271/", "author_list": ["Caleb Rucker", "Eric J. Barth", "Joshua Gaston", "James C. Gallentine", "Caleb Rucker", "Eric J. Barth", "Joshua Gaston", "James C. Gallentine"], "abstract": "Underactuation is a core challenge associated with controlling soft and continuum robots, which possess theoreti-cally infinite degrees of freedom, but few actuators. However, $m$ actuators may still be used to control a dynamic soft robot in an m-dimensional output task space. In this paper we develop a task-space control approach for planar continuum robots that is robust to modeling error and r..."}
+{"title": "Omnidirectional walking of a quadruped robot enabled by compressible tendon-driven soft actuators", "detail_url": "https://ieeexplore.ieee.org/document/9981314/", "author_list": ["Qinglei Ji", "Shuo Fu", "Lei Feng", "George Andrikopoulos", "Xi Vincent Wang", "Lihui Wang", "Qinglei Ji", "Shuo Fu", "Lei Feng", "George Andrikopoulos", "Xi Vincent Wang", "Lihui Wang"], "abstract": "Using soft actuators as legs, soft quadruped robots have shown great potential in traversing unstructured and complex terrains and environments. However, unlike rigid robots whose gaits can be generated using foot pattern design and kinematic model of the rigid legs, the gait generation of soft quadruped robots remains challenging due to the high DoFs of the soft actuators and the uncertain deform..."}
+{"title": "Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators", "detail_url": "https://ieeexplore.ieee.org/document/9981373/", "author_list": ["Manu Lahariya", "Craig Innes", "Chris Develder", "Subramanian Ramamoorthy", "Manu Lahariya", "Craig Innes", "Chris Develder", "Subramanian Ramamoorthy"], "abstract": "Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate Finite Element Method (FEM) models incur prohibitive computational complexity for closed-loop use. Using a differentiable simulator is an attractive alternative,..."}
+{"title": "Detecting Invalid Map Merges in Lifelong SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981564/", "author_list": ["Matthias Holoch", "Gerhard Kurz", "Peter Biber", "Matthias Holoch", "Gerhard Kurz", "Peter Biber"], "abstract": "For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization methods are fallible, it can happen that such a merge is invalid, e.g., due to perceptual aliasing. To address this issue, we propose methods to detect and undo inval..."}
+{"title": "MD-SLAM: Multi-cue Direct SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981147/", "author_list": ["Luca Di Giammarino", "Leonardo Brizi", "Tiziano Guadagnino", "Cyrill Stachniss", "Giorgio Grisetti", "Luca Di Giammarino", "Leonardo Brizi", "Tiziano Guadagnino", "Cyrill Stachniss", "Giorgio Grisetti"], "abstract": "Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile platform. For this reason, assumptions on the scene's structure are often made to maximize estimation accuracy. This paper presents a novel direct 3D SLAM pipeline that..."}
+{"title": "Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation", "detail_url": "https://ieeexplore.ieee.org/document/9981795/", "author_list": ["Yifei Ren", "Binbin Xu", "Christopher L. Choi", "Stefan Leutenegger", "Yifei Ren", "Binbin Xu", "Christopher L. Choi", "Stefan Leutenegger"], "abstract": "In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D reconstruction object-level map of the environment. Our system can robustly track and reconstruct the geometries of arbitrary objects, their semantics and motion by incr..."}
+{"title": "ACEFusion - Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981591/", "author_list": ["Mihai Bujanca", "Barry Lennox", "Mikel Luj\u00e1n", "Mihai Bujanca", "Barry Lennox", "Mikel Luj\u00e1n"], "abstract": "ACEFusion is the first 3D reconstruction system able to capture the geometry and semantics of dynamic scenes using an RGB-D camera in real-time on a robotic computing platform. Harnessing the hardware accelerators of an Nvidia Jetson AGX Xavier, the system uses heterogeneous computing to achieve 30 FPS under a 30W power budget. Using a data-parallel design, we perform most image computation on the..."}
+{"title": "PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981566/", "author_list": ["Yifan Duan", "Jie Peng", "Yu Zhang", "Jianmin Ji", "Yanyong Zhang", "Yifan Duan", "Jie Peng", "Yu Zhang", "Jianmin Ji", "Yanyong Zhang"], "abstract": "Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In particular, point cloud registration, i.e., the process of matching and aligning multiple LiDAR scans collected at multiple locations in a global coordinate fra..."}
+{"title": "City-wide Street-to-Satellite Image Geolocalization of a Mobile Ground Agent", "detail_url": "https://ieeexplore.ieee.org/document/9981996/", "author_list": ["Lena M. Downes", "Dong-Ki Kim", "Ted J. Steiner", "Jonathan P. How", "Lena M. Downes", "Dong-Ki Kim", "Ted J. Steiner", "Jonathan P. How"], "abstract": "Cross-view image geolocalization provides an estimate of an agent's global position by matching a local ground image to an overhead satellite image without the need for GPS. It is challenging to reliably match a ground image to the correct satellite image since the images have significant viewpoint differences. Existing works have demonstrated localization in constrained scenarios over small areas..."}
+{"title": "Soft Actuators for Facial Reanimation", "detail_url": "https://ieeexplore.ieee.org/document/9982089/", "author_list": ["Stefania Konstantinidi", "Thomas Martinez", "Amine Benouhiba", "Yoan Civet", "Yves Perriard", "Stefania Konstantinidi", "Thomas Martinez", "Amine Benouhiba", "Yoan Civet", "Yves Perriard"], "abstract": "Facial paralysis is a challenging condition that alters a patient's ability to express emotion and communicate. Restoring facial movements thus has crucial implications for the patients' quality of life. This publication introduces an approach for artificial muscles implementation targeting facial reanimation, as well as the challenges and limitations of the proposed strategy. The aim is to develo..."}
+{"title": "Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries", "detail_url": "https://ieeexplore.ieee.org/document/9981468/", "author_list": ["Wenda Xu", "Yunfei Guo", "Cesar Bravo", "Pinhas Ben-Tzvi", "Wenda Xu", "Yunfei Guo", "Cesar Bravo", "Pinhas Ben-Tzvi"], "abstract": "This paper presents the development and experimental evaluation of a portable haptic exoskeleton glove system designed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The proposed glove system involves force perception, linkage-driven finger mechanism, and personalized voice control to achieve various grasping functionality requirements. The fully ..."}
+{"title": "Development of a Novel Low-profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries", "detail_url": "https://ieeexplore.ieee.org/document/9981124/", "author_list": ["Wenda Xu", "Yujiong Liu", "Pinhas Ben-Tzvi", "Wenda Xu", "Yujiong Liu", "Pinhas Ben-Tzvi"], "abstract": "This paper presents the design and development of a novel, low-profile, exoskeleton robotic glove aimed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The key idea of this new glove lies in its new finger mechanism that takes advantage of the rigid coupling hybrid mechanism (RCHM) concept. This mechanism concept couples the motions of the adjacent..."}
+{"title": "A Novel Wheelchair-Exoskeleton Hybrid Robot to Assist Movement and Aid Rehabilitation", "detail_url": "https://ieeexplore.ieee.org/document/9981240/", "author_list": ["Zhibin Song", "Wenjie Ju", "Dechao Chen", "Hexi Gong", "Rongjie Kang", "Paolo Dario", "Zhibin Song", "Wenjie Ju", "Dechao Chen", "Hexi Gong", "Rongjie Kang", "Paolo Dario"], "abstract": "As a traditional movement assist equipment for people with lower-limb dysfunction, the wheelchair can support and carry users to perform a long-distance movement indoor and outdoor, however, prolonged inactivity can lead to muscle atrophy and deteriorate motion functions. As a promising solution, the lower limb exoskeleton provides people the ability of standing and walking to avoid these problems..."}
+{"title": "Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers", "detail_url": "https://ieeexplore.ieee.org/document/9981810/", "author_list": ["Arthur Bucker", "Luis Figueredo", "Sami Haddadinl", "Ashish Kapoor", "Shuang Ma", "Rogerio Bonatti", "Arthur Bucker", "Luis Figueredo", "Sami Haddadinl", "Ashish Kapoor", "Shuang Ma", "Rogerio Bonatti"], "abstract": "Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most of the current language interfaces require rigid templates with a static set of action targets and commands. In this work, we provide a flexible language-based..."}
+{"title": "DreamingV2: Reinforcement Learning with Discrete World Models without Reconstruction", "detail_url": "https://ieeexplore.ieee.org/document/9981405/", "author_list": ["Masashi Okada", "Tadahiro Taniguchi", "Masashi Okada", "Tadahiro Taniguchi"], "abstract": "The present paper proposes a novel reinforce-ment learning method with world models, DreamingV2, a collaborative extension of DreamerV2 and Dreaming. Dream- erV2 is a cutting-edge model-based reinforcement learning from pixels that uses discrete world models to represent latent states with categorical variables. Dreaming is also a form of reinforcement learning from pixels that attempts to avoid t..."}
+{"title": "Playful Interactions for Representation Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981307/", "author_list": ["Sarah Young", "Jyothish Pari", "Pieter Abbeel", "Lerrel Pinto", "Sarah Young", "Jyothish Pari", "Pieter Abbeel", "Lerrel Pinto"], "abstract": "Ahstract- One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of low-cost assistive tools, we often still require 100\u20131000 demonstrations for every task to learn a visual representation and policy. To address this, we..."}
+{"title": "COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems", "detail_url": "https://ieeexplore.ieee.org/document/9982241/", "author_list": ["Shuang Ma", "Sai Vemprala", "Wenshan Wang", "Jayesh K. Gupta", "Yale Song", "Daniel McDufft", "Ashish Kapoor", "Shuang Ma", "Sai Vemprala", "Wenshan Wang", "Jayesh K. Gupta", "Yale Song", "Daniel McDufft", "Ashish Kapoor"], "abstract": "Learning representations that generalize across tasks and domains is challenging yet necessary for autonomous systems. Although task-driven approaches are appealing, de-signing models specific to each application can be difficult in the face of limited data, especially when dealing with highly variable multimodal input spaces arising from different tasks in different environments. We introduce the..."}
+{"title": "Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions", "detail_url": "https://ieeexplore.ieee.org/document/9982104/", "author_list": ["Angel Daruna", "Devleena Das", "Sonia Chernova", "Angel Daruna", "Devleena Das", "Sonia Chernova"], "abstract": "Learned knowledge graph representations supporting robots contain a wealth of domain knowledge that drives robot behavior. However, there does not exist an inference reconciliation framework that expresses how a knowledge graph representation affects a robot's sequential decision making. We use a pedagogical approach to explain the inferences of a learned, black-box knowledge graph representation,..."}
+{"title": "MO-Transformer: A Transformer-Based Multi-Object Point Cloud Reconstruction Network", "detail_url": "https://ieeexplore.ieee.org/document/9981837/", "author_list": ["Erli Lyu", "Zhengyan Zhang", "Wei Liu", "Jiaole Wang", "Shuang Song", "Max Q.-H. Meng", "Erli Lyu", "Zhengyan Zhang", "Wei Liu", "Jiaole Wang", "Shuang Song", "Max Q.-H. Meng"], "abstract": "This paper proposes a new network for reconstructing multi-object point cloud. Different from previous networks which reconstruct multi-object point cloud as a whole, our network iteratively reconstructs each individual object point cloud from a frame of multi-object point cloud. To achieve this goal, we have designed MO-Transformer, a transformer-based autoregressive network. During training, MO-..."}
+{"title": "Self-Supervised Feature Learning from Partial Point Clouds via Pose Disentanglement", "detail_url": "https://ieeexplore.ieee.org/document/9981390/", "author_list": ["Meng-Shiun Tsai", "Pei-Ze Chiang", "Yi-Hsuan Tsai", "Wei-Chen Chiu", "Meng-Shiun Tsai", "Pei-Ze Chiang", "Yi-Hsuan Tsai", "Wei-Chen Chiu"], "abstract": "Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn informative features from partial point clouds. We leverage partial point clouds scanned by LiDAR that contain both content and pose attributes, and we show that di..."}
+{"title": "Efficiently Learning Manipulations by Selecting Structured Skill Representations", "detail_url": "https://ieeexplore.ieee.org/document/9981422/", "author_list": ["Mohit Sharma", "Oliver Kroemer", "Mohit Sharma", "Oliver Kroemer"], "abstract": "A key challenge in learning to perform manipulation tasks is selecting a suitable skill representation. While specific skill representations are often easier to learn, they are often only suitable for a narrow set of tasks. In most prior works, roboticists manually provide the robot with a suitable skill representation to use e.g. a neural network or DMPs. By contrast, we propose to allow the robo..."}
+{"title": "Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools", "detail_url": "https://ieeexplore.ieee.org/document/9982033/", "author_list": ["Yongyi Jia", "Yu Chen", "Hao Liu", "Xiu Li", "Xiang Li", "Yongyi Jia", "Yu Chen", "Hao Liu", "Xiu Li", "Xiang Li"], "abstract": "Laser-driven micro-tools are formulated by treating highly-focused laser beams as actuators, to control the tool's motion to contact then manipulate a micro object, which allows it to manipulate opaque micro objects, or large cells without causing photodamage. However, most existing laser-driven tools are limited to relatively simple tasks, such as moving and caging, and cannot carry out in-hand d..."}
+{"title": "A Micro-Robotic Approach for The Correction of Angular Deviations in AFM Samples From Generic Topographic Data", "detail_url": "https://ieeexplore.ieee.org/document/9981512/", "author_list": ["Freddy Romero Leiro", "Ali Bazaei", "St\u00e9phane R\u00e9gnier", "Mokrane Boudaoud", "Freddy Romero Leiro", "Ali Bazaei", "St\u00e9phane R\u00e9gnier", "Mokrane Boudaoud"], "abstract": "This article proposes a method for the correction of angular deviations caused during the fixing process of samples prepared for Atomic Force Microscopy (AFM). The correction is done using the angular control of a 6-DOF PPPS parallel platform were the sample is placed, while the AFM scan is performed by a 3-DOF serial cartesian robot with a tuning fork probe designed to perform FM-AFM. The method ..."}
+{"title": "Modeling and Characterization of Artificial Bacteria Flagella with Micro-structured Soft-magnetic Teeth", "detail_url": "https://ieeexplore.ieee.org/document/9981435/", "author_list": ["Zejie Yu", "Chaojian Hou", "Shuideng Wang", "Kun Wang", "Donglei Chen", "Wenqi Zhang", "Zhi Qu", "Zhiyong Sun", "Bo Song", "Chao Zhou", "Lixin Dong", "Zejie Yu", "Chaojian Hou", "Shuideng Wang", "Kun Wang", "Donglei Chen", "Wenqi Zhang", "Zhi Qu", "Zhiyong Sun", "Bo Song", "Chao Zhou", "Lixin Dong"], "abstract": "Sub-structures such as micro-structured magnetic teeth fabricated with an artificial bacteria flagellum (ABF) are designed for achieving more motion modes, higher precision, and better controllability. To achieve these, a more precise model considering the non-circular cross-sectional features is setup without simplifying the structure as a helical filament with a circular cross-section as having ..."}
+{"title": "Real-time Acoustic Holography with Physics-based Deep Learning for Acoustic Robotic Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981395/", "author_list": ["Chengxi Zhong", "Zhenhuan Sun", "Kunyong Lyu", "Yao Guo", "Song Liu", "Chengxi Zhong", "Zhenhuan Sun", "Kunyong Lyu", "Yao Guo", "Song Liu"], "abstract": "Acoustic holography is a newly emerging and promising technique to dynamically generate arbitrary desired holographic acoustic field in 3D space for contactless robotic manipulation. The latest technology supporting complex dynamic holographic acoustic field reconstruction is through phased transducer array (PTA), where the phase profile of emitted acoustic wave from discrete transducers is contro..."}
+{"title": "Controlled Fabrication of Micro-Chain Robot Using Magnetically Guided Arraying Microfluidic Devices", "detail_url": "https://ieeexplore.ieee.org/document/9981455/", "author_list": ["Xiaoqing Tang", "Xiaoming Liu", "Yuyang Li", "Dan Liu", "Yuke Li", "Masaru Kojima", "Qiang Huang", "Tatsuo Arai", "Xiaoqing Tang", "Xiaoming Liu", "Yuyang Li", "Dan Liu", "Yuke Li", "Masaru Kojima", "Qiang Huang", "Tatsuo Arai"], "abstract": "The magnetic microrobot has become a promising approach in many biomedical applications due to its small volume, flexible motion, and untethered micromachines. The micro-chain robot is one of the most popular magnetic microrobots. However, the uncontrollable magnetic moment direction and quantity of the magnetic beads consisted in the existing self-assembled micro-chain robot limit their locomotio..."}
+{"title": "Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981873/", "author_list": ["Nils Dengler", "David Gro\u00dfklaus", "Maren Bennewitz", "Nils Dengler", "David Gro\u00dfklaus", "Maren Bennewitz"], "abstract": "Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach this problem by applying deep reinforcement learning to generate pushing actions for a robotic manipulator acting on a planar surface where objects have to be p..."}
+{"title": "Transfer Learning for Machine Learning-based Detection and Separation of Entanglements in Bin-Picking Applications", "detail_url": "https://ieeexplore.ieee.org/document/9981082/", "author_list": ["Marius Moosmann", "Felix Spenrath", "Johannes Rosport", "Philipp Melzer", "Werner Kraus", "Richard Bormann", "Marco F. Huber", "Marius Moosmann", "Felix Spenrath", "Johannes Rosport", "Philipp Melzer", "Werner Kraus", "Richard Bormann", "Marco F. Huber"], "abstract": "In this paper, we present a Domain Randomization and a Domain Adaptation approach to transfer experience for entanglement detection and separation from simulation into a real-world bin-picking application. We investigate the influence of different randomization options in image processing and use a CycleGAN as a further Domain Adaptation method to synthesize simulation data as realistically as pos..."}
+{"title": "Deep Reinforcement Learning Based on Local GNN for Goal-Conditioned Deformable Object Rearranging", "detail_url": "https://ieeexplore.ieee.org/document/9981669/", "author_list": ["Yuhong Deng", "Chongkun Xia", "Xueqian Wang", "Lipeng Chen", "Yuhong Deng", "Chongkun Xia", "Xueqian Wang", "Lipeng Chen"], "abstract": "Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by model-based or data-driven approaches and the application scenarios are therefore limited. Some research has been attempting to design a general framework to obtai..."}
+{"title": "Controlling the Cascade: Kinematic Planning for N-ball Toss Juggling", "detail_url": "https://ieeexplore.ieee.org/document/9981678/", "author_list": ["Kai Ploeger", "Jan Peters", "Kai Ploeger", "Jan Peters"], "abstract": "Dynamic movements are ubiquitous in human motor behavior as they tend to be more efficient and can solve a broader range of skill domains than their quasi-static counterparts. For decades, robotic juggling tasks have been among the most frequently studied dynamic manipulation problems since the required dynamic dexterity can be scaled to arbitrarily high difficulty. However, successful approaches ..."}
+{"title": "Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons", "detail_url": "https://ieeexplore.ieee.org/document/9981599/", "author_list": ["Kejia Ren", "Lydia E. Kavraki", "Kaiyu Hang", "Kejia Ren", "Lydia E. Kavraki", "Kaiyu Hang"], "abstract": "Robot manipulation in cluttered environments of-ten requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions involved in such scenarios, rearrangement-based manipulation is still limited to a small range of tasks and is especially vulnerable to physical uncertainties and p..."}
+{"title": "Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981962/", "author_list": ["Baichuan Huang", "Abdeslam Boularias", "Jingjin Yu", "Baichuan Huang", "Abdeslam Boularias", "Jingjin Yu"], "abstract": "We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for solving episodic decision-making problems whose underlying search spaces are expansive. Leveraging a GPU-based large-scale simulator, PMBS introduces massive parall..."}
+{"title": "Adapting Rapid Motor Adaptation for Bipedal Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981091/", "author_list": ["Ashish Kumar", "Zhongyu Li", "Jun Zeng", "Deepak Pathak", "Koushil Sreenath", "Jitendra Malik", "Ashish Kumar", "Zhongyu Li", "Jun Zeng", "Deepak Pathak", "Koushil Sreenath", "Jitendra Malik"], "abstract": "Recent advances in legged locomotion have en-abled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which ..."}
+{"title": "Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP", "detail_url": "https://ieeexplore.ieee.org/document/9981516/", "author_list": ["Zejun Hong", "Hua Chen", "Wei Zhang", "Zejun Hong", "Hua Chen", "Wei Zhang"], "abstract": "This paper presents a novel framework for point- foot biped running in three-dimensional space. The proposed approach generates center of mass (CoM) reference trajectories based on a differentially flat spring-loaded inverted pendulum (SLIP) model. A foothold planner is used to select touch down location that renders optimal CoM trajectory for upcoming step in real time. Dynamically feasible traje..."}
+{"title": "A passive control framework for a bilateral leader-follower robotic surgical setup imposing RCM and active constraints", "detail_url": "https://ieeexplore.ieee.org/document/9982206/", "author_list": ["Theodora Kastritsi", "Zoe Doulgeri", "Theodora Kastritsi", "Zoe Doulgeri"], "abstract": "We consider the problem of controlling a bilateral leader-follower robotic surgical set-up to allow kinesthetic haptic feedback to the user when the instrument approaches a forbidden area like sensitive organs arteries or veins that should be protected from injuries during surgery. The leader is a haptic device while the follower is a general purpose manipulator holding an elongated tool with an a..."}
+{"title": "The Flatworm-like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9982155/", "author_list": ["G.V.C. Rasanga", "K. Hirashi", "R. Hodoshima", "S. Kotosaka", "G.V.C. Rasanga", "K. Hirashi", "R. Hodoshima", "S. Kotosaka"], "abstract": "WORMESH is a unique robot concept inspired by flatworm locomotion and its key feature is the use of multiple traveling waves for locomotion. This paper presents the steering method for anisotropic module configuration (AMC) of WORMESH-II based on the kinematics of skid steering of mobile robots. AMC of WORMESH-II used two parallel pedal waves to generate locomotion. The kinematic model of WORMESH-..."}
+{"title": "In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers", "detail_url": "https://ieeexplore.ieee.org/document/9982281/", "author_list": ["Tomoya Onodera", "Noriyasu Iwamoto", "Takuya Umedachi", "Tomoya Onodera", "Noriyasu Iwamoto", "Takuya Umedachi"], "abstract": "This paper presents a novel method of realizing in-hand manipulation inspired by the peristaltic motion of a large-sized caterpillar. The sharp contrast between the proposed soft-bodied finger and the conventional hard/rigid robotic ones is peristaltic motion with compression and bending deformations. The design is based on the biological fact that large-size caterpillars (e.g., Bombyx mori) utili..."}
+{"title": "Embodying Rather Than Encoding: Undulation with Binary Input", "detail_url": "https://ieeexplore.ieee.org/document/9982001/", "author_list": ["Longchuan Li", "Shugen Ma", "Isao Tokuda", "Yang Tian", "Yiming Cao", "Makoto Nokata", "Zhiqing Li", "Longchuan Li", "Shugen Ma", "Isao Tokuda", "Yang Tian", "Yiming Cao", "Makoto Nokata", "Zhiqing Li"], "abstract": "Undulation is the most common gait generated by legless creatures, which enables their robust and efficient locomotion in various environments. Such advantages inspired the control design of many kinds of locomotion robots. Despite their technical details, most of them realize the undulation gait via tracking predetermined trajectories called serpenoid curves, which are a group of sinusoidal wavef..."}
+{"title": "A Creeping Snake-like Robot with Partial Actuation", "detail_url": "https://ieeexplore.ieee.org/document/9981782/", "author_list": ["Yiming Cao", "Longchuan Li", "Shugen Ma", "Yiming Cao", "Longchuan Li", "Shugen Ma"], "abstract": "Enlightened by the creeping gait of natural snakes, snake-like robots swing joints side to side at similar tracks for generating propelling forces. However, it is not always essential to control all joints of a snake-like robot to realize the creeping gait. Therefore, in this paper, a creeping snake-like robot with partially actuated joints has been investigated, towards reducing the redundancy ca..."}
+{"title": "Design and Experiments of Snake Robots with Docking Function", "detail_url": "https://ieeexplore.ieee.org/document/9981896/", "author_list": ["Fatao Qin", "Xiaojie Duan", "Shihao Ma", "Jinglun Yuan", "Xiangyu Wang", "Jianming Wang", "Xuan Xiao", "Fatao Qin", "Xiaojie Duan", "Shihao Ma", "Jinglun Yuan", "Xiangyu Wang", "Jianming Wang", "Xuan Xiao"], "abstract": "This paper presents a novel snake robot with the docking function, which can help the snake robots to connect with each other to achieve a stronger one with double length and double degrees of freedom. First, the mechanical design of the snake robot with docking function is introduced, including the body link and the head-tail passive docking mechanical structure. Second, the control system is bui..."}
+{"title": "Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9981749/", "author_list": ["Yuanyuan Jia", "Shugen Ma", "Yuanyuan Jia", "Shugen Ma"], "abstract": "Reinforcement learning commonly suffers from slow convergence speed and requires thousands of episodes, which makes it hard to be applied for physical robotic applications. Little research has been studied for snake robot control using RL because of the additional difficulty of high redundancy of freedom. Existing methods either adopts an asynchronous A3C structure or a joint state representation...."}
+{"title": "Bio-inspired 2D Vertical Climbing with a Novel Tripedal Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981088/", "author_list": ["Clyde Webster", "Felix H. Kong", "Robert Fitch", "Clyde Webster", "Felix H. Kong", "Robert Fitch"], "abstract": "Climbing robots have the potential to revolutionize the maintenance and inspection operations of many types of vertical structures. In nature, parrots exhibit a remarkable capacity for manipulation during climbing behaviors, for which robotics can benefit from studying. In this paper we present a novel tripedal robot that is inspired by the morphology of these impressive birds, which use their leg..."}
+{"title": "Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981384/", "author_list": ["Akshay Dhonthi", "Philipp Schillinger", "Leonel Rozo", "Daniele Nardi", "Akshay Dhonthi", "Philipp Schillinger", "Leonel Rozo", "Daniele Nardi"], "abstract": "For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving techniques. Our work builds on the learning-from-demonstration (LfD) paradigm, where an expert demonstrates motions, and the robot learns to imitate them. However,..."}
+{"title": "Classification of Time-Series Data Using Boosted Decision Trees", "detail_url": "https://ieeexplore.ieee.org/document/9982105/", "author_list": ["Erfan Aasi", "Cristian Ioan Vasile", "Mahroo Bahreinian", "Calin Belta", "Erfan Aasi", "Cristian Ioan Vasile", "Mahroo Bahreinian", "Calin Belta"], "abstract": "Time-series data classification is central to the analysis and control of autonomous systems, such as robots and self-driving cars. Temporal logic-based learning algorithms have been proposed recently as classifiers of such data. However, current frameworks are either inaccurate for real-world applications, such as autonomous driving, or they generate long and complicated formulae that lack interp..."}
+{"title": "Robustness-based Synthesis for Stochastic Systems under Signal Temporal Logic Tasks", "detail_url": "https://ieeexplore.ieee.org/document/9982233/", "author_list": ["Guy Scher", "Sadra Sadraddini", "Hadas Kress-Gazit", "Guy Scher", "Sadra Sadraddini", "Hadas Kress-Gazit"], "abstract": "We develop a method for synthesizing control policies for stochastic, linear, time-varying systems that must perform tasks specified in signal temporal logic. We build upon an efficient, sampling-based framework that computes the probability of the system satisfying its specification. By exploiting the properties of linear systems and robustness score in temporal logic specifications, we obtain sa..."}
+{"title": "Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9982209/", "author_list": ["Christopher Yee Wong", "Wael Suleiman", "Christopher Yee Wong", "Wael Suleiman"], "abstract": "In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific axes in task space as a function of joint configuration in serial robot manipulators. For example, joint torque sensors are often used in serial robot manipulator..."}
+{"title": "Fair Planning for Mobility-on-Demand with Temporal Logic Requests", "detail_url": "https://ieeexplore.ieee.org/document/9981291/", "author_list": ["Kaier Liang", "Cristian-Ioan Vasile", "Kaier Liang", "Cristian-Ioan Vasile"], "abstract": "Mobility-on-demand systems are transforming the way we think about the transportation of people and goods. Most research effort has been placed on scalability issues for systems with a large number of agents and simple pickup/drop-off demands. In this paper, we consider fair multi-vehicle route planning with streams of complex, temporal logic transportation demands. We consider an approximately en..."}
+{"title": "Incremental Path Planning Algorithm via Topological Mapping with Metric Gluing", "detail_url": "https://ieeexplore.ieee.org/document/9981379/", "author_list": ["Aakriti Upadhyay", "Boris Goldfarb", "Chinwe Ekenna", "Aakriti Upadhyay", "Boris Goldfarb", "Chinwe Ekenna"], "abstract": "We present an incremental topology-based motion planner that, while planning paths in the configuration space, performs metric gluing on the constructed Vietoris-Rips simplicial complex of each sub-space (voxel). By incrementally capturing topological and geometric information in batches of voxel graphs, our algorithm avoids the time overhead of analyzing the properties of the entire configuration..."}
+{"title": "UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981957/", "author_list": ["Durgakant Pushp", "Swapnil Kalhapure", "Kaushik Das", "Lantao Liu", "Durgakant Pushp", "Swapnil Kalhapure", "Kaushik Das", "Lantao Liu"], "abstract": "We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages the heterogeneous robots to accomplish a task that cannot be done using a single robot system. It enables the UAV to explore a hidden space with a narrow opening through whic..."}
+{"title": "Inference of Multi-Class STL Specifications for Multi-Label Human-Robot Encounters", "detail_url": "https://ieeexplore.ieee.org/document/9982088/", "author_list": ["Alexis Linard", "Ilaria Torre", "Iolanda Leite", "Jana Tumova", "Alexis Linard", "Ilaria Torre", "Iolanda Leite", "Jana Tumova"], "abstract": "This paper is interested in formalizing human trajectories in human-robot encounters. Inspired by robot navigation tasks in human-crowded environments, we consider the case where a human and a robot walk towards each other, and where humans have to avoid colliding with the incoming robot. Further, humans may describe different be-haviors, ranging from being in a hurry/minimizing completion time to..."}
+{"title": "ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment", "detail_url": "https://ieeexplore.ieee.org/document/9982170/", "author_list": ["Junhui Wang", "Bin Tian", "Rui Zhang", "Long Chen", "Junhui Wang", "Bin Tian", "Rui Zhang", "Long Chen"], "abstract": "Simultaneous Localization and Mapping (SLAM) has greatly assisted in exploring perceptually-degraded underground environments, such as human-made tunnels, mine tunnels, and caves. However, the recurring sensor failures and spurious loop closures in these scenes bring significant challenges to applying SLAM. This paper proposes an architecture for underground localization and semantic mapping (ULSM..."}
+{"title": "NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981180/", "author_list": ["Ruihao Zhou", "Li He", "Hong Zhang", "Xubin Lin", "Yisheng Guan", "Ruihao Zhou", "Li He", "Hong Zhang", "Xubin Lin", "Yisheng Guan"], "abstract": "Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entropy of a point cloud as the descriptor. We also propose a fast rotation alignment process and use cor..."}
+{"title": "FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry", "detail_url": "https://ieeexplore.ieee.org/document/9981413/", "author_list": ["Shenhan Jia", "Yanmei Jiao", "Zhuqing Zhang", "Rong Xiong", "Yue Wang", "Shenhan Jia", "Yanmei Jiao", "Zhuqing Zhang", "Rong Xiong", "Yue Wang"], "abstract": "In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO meth-ods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian Visual-Inertial-Ranging Odometry (FEJ-VIRO) to reduce the localization drifts of VIO by incorporating ultra-wideband (UWB) ranging measurements into the VIO framework consistently...."}
+{"title": "DRG-SLAM: A Semantic RGB-D SLAM using Geometric Features for Indoor Dynamic Scene", "detail_url": "https://ieeexplore.ieee.org/document/9981238/", "author_list": ["Yanan Wang", "Kun Xu", "Yaobin Tian", "Xilun Ding", "Yanan Wang", "Kun Xu", "Yaobin Tian", "Xilun Ding"], "abstract": "Visual SLAM methods based on point features have achieved acceptable results in texture-rich static scenes, but they often suffer from a deficiency of texture and the existence of dynamic objects in real indoor scenes, which limits the application of these methods. In this paper, we have presented DRG-SLAM, which combines line features and plane features into point features to improve the robustne..."}
+{"title": "Scale-aware direct monocular odometry", "detail_url": "https://ieeexplore.ieee.org/document/9982173/", "author_list": ["Carlos Campos", "Juan D. Tard\u00f3s", "Carlos Campos", "Juan D. Tard\u00f3s"], "abstract": "We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth prediction residual which allows us to incorporate multi-view depth information. In addition, we propose to use a truncated robust cost function which prevents..."}
+{"title": "IMU preintegration for 2D SLAM problems using Lie Groups", "detail_url": "https://ieeexplore.ieee.org/document/9981876/", "author_list": ["Idril Geer", "Joan Vallv\u00e9", "Joan Sol\u00e0", "Idril Geer", "Joan Vallv\u00e9", "Joan Sol\u00e0"], "abstract": "2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely used in 3D problems for the 2D case, making use of Lie Theory. The Lie theory based formalization, fir..."}
+{"title": "Scale Estimation with Dual Quadrics for Monocular Object SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981554/", "author_list": ["Shuangfu Song", "Junqiao Zhao", "Tiantian Feng", "Chen Ye", "Lu Xiong", "Shuangfu Song", "Junqiao Zhao", "Tiantian Feng", "Chen Ye", "Lu Xiong"], "abstract": "The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the absolute scale of the reconstructed map, we formulate an optimization problem to make the scaled dimensions of objects conform to the distribution of their sizes in ..."}
+{"title": "Learn from Interaction: Learning to Pick via Reinforcement Learning in Challenging Clutter", "detail_url": "https://ieeexplore.ieee.org/document/9981530/", "author_list": ["Chao Zhao", "Jungwon Seo", "Chao Zhao", "Jungwon Seo"], "abstract": "Bin picking is a challenging problem in robotics due to high dimensional action space, partially visible objects, and contact-rich environments. State-of-the-art methods for bin picking are often simplified as planar manipulation, or learn policy based on human demonstration and motion primitives. The designs have escalated in complexity while still failing to reach the generality and robustness o..."}
+{"title": "GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutter", "detail_url": "https://ieeexplore.ieee.org/document/9981499/", "author_list": ["Zhan Liu", "Ziwei Wang", "Sichao Huang", "Jie Zhou", "Jiwen Lu", "Zhan Liu", "Ziwei Wang", "Sichao Huang", "Jie Zhou", "Jiwen Lu"], "abstract": "Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and oc-clusions in the cluttered scenario cause significant difficul-ties to generate valid grasp poses without collisions, which results in low efficiency and high failure rates. To address these, we present a generic framework called GE-Grasp for robotic motion planning in dense clutter, where we lev..."}
+{"title": "Simultaneous Object Reconstruction and Grasp Prediction using a Camera-centric Object Shell Representation", "detail_url": "https://ieeexplore.ieee.org/document/9981955/", "author_list": ["Nikhil Chavan-Dafle", "Sergiy Popovych", "Shubham Agrawal", "Daniel D. Lee", "Volkan Isler", "Nikhil Chavan-Dafle", "Sergiy Popovych", "Shubham Agrawal", "Daniel D. Lee", "Volkan Isler"], "abstract": "Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the core of our approach is a novel camera-centric object representation called the \u201cobject shell\u201d which is composed of an observed \u201centry image\u201d and a predicted \u201c..."}
+{"title": "Visual Manipulation Relationship Detection based on Gated Graph Neural Network for Robotic Grasping", "detail_url": "https://ieeexplore.ieee.org/document/9981077/", "author_list": ["Mengyuan Ding", "Yaxin Liu", "Chenjie Yang", "Xuguang Lan", "Mengyuan Ding", "Yaxin Liu", "Chenjie Yang", "Xuguang Lan"], "abstract": "Exploring the relationship among objects and giving the correct operation sequence is vital for robotic manipulation. However, most previous algorithms only model the relationship between pairs of objects independently, ignoring the interaction effect between them, which may generate redundant or missing relations in complex scenes, such as multi-object stacking and partial occlusion. To solve thi..."}
+{"title": "Closed-Loop Next-Best-View Planning for Target-Driven Grasping", "detail_url": "https://ieeexplore.ieee.org/document/9981472/", "author_list": ["Michel Breyer", "Lionel Ott", "Roland Siegwart", "Jen Jen Chung", "Michel Breyer", "Lionel Ott", "Roland Siegwart", "Jen Jen Chung"], "abstract": "Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop next-best-view planner that drives exploration based on occluded object parts. By continuously predicting grasps from an up-to-date scene reconstruction, our po..."}
+{"title": "A new gripper that acts as an active and passive joint to facilitate prehensile grasping and locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9981475/", "author_list": ["Nagamanikandan Govindan", "Shashank Ramesh", "Asokan Thondiyath", "Nagamanikandan Govindan", "Shashank Ramesh", "Asokan Thondiyath"], "abstract": "Among primates, the prehensile nature of the hand is vital for greater adaptability and a secure grip over the substrate/branches, particularly for arm-swinging motion or brachiation. Though various brachiation mechanisms that are mechanically equivalent to underactuated pendulum models are reported in the literature, not much attention has been given to the hand design that facilitates both locom..."}
+{"title": "Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter", "detail_url": "https://ieeexplore.ieee.org/document/9981924/", "author_list": ["Rachel Thomasson", "Etienne Roberge", "Mark R. Cutkosky", "Jean-Philippe Roberge", "Rachel Thomasson", "Etienne Roberge", "Mark R. Cutkosky", "Jean-Philippe Roberge"], "abstract": "Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place obstacles into a desired pose, we suggest allowing incidental contacts to rearrange obstacles while monitoring contacts for safety. Bypassing object identification, ..."}
+{"title": "PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations", "detail_url": "https://ieeexplore.ieee.org/document/9981952/", "author_list": ["Kuang-Huei Lee", "Ofir Nachum", "Tingnan Zhang", "Sergio Guadarrama", "Jie Tan", "Wenhao Yu", "Kuang-Huei Lee", "Ofir Nachum", "Tingnan Zhang", "Sergio Guadarrama", "Jie Tan", "Wenhao Yu"], "abstract": "Evolution Strategy (ES) algorithms have shown promising results in training complex robotic control policies due to their massive parallelism capability, simple implementation, effective parameter-space exploration, and fast training time. However, a key limitation of ES is its scalability to large capacity models, including modern neural network architectures. In this work, we develop Predictive ..."}
+{"title": "Learning Visual Feedback Control for Dynamic Cloth Folding", "detail_url": "https://ieeexplore.ieee.org/document/9981376/", "author_list": ["Julius Hietala", "David Blanco\u2013Mulero", "Gokhan Alcan", "Ville Kyrki", "Julius Hietala", "David Blanco\u2013Mulero", "Gokhan Alcan", "Ville Kyrki"], "abstract": "Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in dynamic folding, for example, when a square piece of fabric is folded in two by a single manipulator. To account for the complexity and uncertainties, feedback ..."}
+{"title": "PCBot: a Minimalist Robot Designed for Swarm Applications", "detail_url": "https://ieeexplore.ieee.org/document/9981377/", "author_list": ["Jingxian Wang", "Michael Rubenstein", "Jingxian Wang", "Michael Rubenstein"], "abstract": "Complexity, cost, and power requirements for the actuation of individual robots can play a large factor in limiting the size of robotic swarms. Here we present PCBot, a minimalist robot that can precisely move on an orbital shake table using a bi-stable solenoid actuator built directly into its PCB. This allows the actuator to be built as part of the automated PCB manufacturing process, greatly re..."}
+{"title": "Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation", "detail_url": "https://ieeexplore.ieee.org/document/9981662/", "author_list": ["Zonghe Chua", "Allison M. Okamura", "Zonghe Chua", "Allison M. Okamura"], "abstract": "Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested in real time with surgical-like manipulations. Thus, questions remain about the real-time transparency and stability of force feedback from neural network-based ..."}
+{"title": "Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981984/", "author_list": ["Yandong Ji", "Zhongyu Li", "Yinan Sun", "Xue Bin Peng", "Sergey Levine", "Glen Berseth", "Koushil Sreenath", "Yandong Ji", "Zhongyu Li", "Yinan Sun", "Xue Bin Peng", "Sergey Levine", "Glen Berseth", "Koushil Sreenath"], "abstract": "We address the problem of enabling quadrupedal robots to perform precise shooting skills in the real world using reinforcement learning. Developing algorithms to enable a legged robot to shoot a soccer ball to a given target is a challenging problem that combines robot motion control and planning into one task. To solve this problem, we need to consider the dynamics limitation and motion stability..."}
+{"title": "Class-Incremental Gesture Recognition Learning with Out-of-Distribution Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981167/", "author_list": ["Mingxue Li", "Yang Cong", "Yuyang Liu", "Gan Sun", "Mingxue Li", "Yang Cong", "Yuyang Liu", "Gan Sun"], "abstract": "Gesture recognition is a popular human-computer interaction technology, which has been widely applied in many fields (e.g., autonomous driving, medical care, VR and AR). However, 1) most existing gesture recognition methods focus on the fixed recognition scenarios with several gestures, which could lead to memory consumption and computational effort when continuously learning new gestures; 2) Mean..."}
+{"title": "Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release", "detail_url": "https://ieeexplore.ieee.org/document/9982211/", "author_list": ["Menno Lubbers", "Job van Voorst", "Maarten Jongeneel", "Alessandro Saccon", "Menno Lubbers", "Job van Voorst", "Maarten Jongeneel", "Alessandro Saccon"], "abstract": "Suction grippers are the most common pick-and-place end effectors used in industry. However, there is little literature on creating and validating models to predict their force interaction with objects in dynamic conditions. In this paper, we study the interaction dynamics of an active vacuum suction gripper during the vertical release of an object. Object and suction cup motions are recorded usin..."}
+{"title": "ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982183/", "author_list": ["Jingtao Sun", "Yaonan Wang", "Mingtao Feng", "Danwei Wang", "Jiawen Zhao", "Cyrill Stachniss", "Xieyuanli Chen", "Jingtao Sun", "Yaonan Wang", "Mingtao Feng", "Danwei Wang", "Jiawen Zhao", "Cyrill Stachniss", "Xieyuanli Chen"], "abstract": "Robots that are supposed to interact with or manipulate objects in the world must be able to track the poses of objects in their sensor data. Thus, Detecting and tracking the 6-DoF poses of targeted objects is important for aerial manipulation and is still in the early stage due to the high dynamics and limited onboard capacity of such systems. In this paper, we propose ICK-Track, a novel method f..."}
+{"title": "Multi-Finger Grasping Like Humans", "detail_url": "https://ieeexplore.ieee.org/document/9981805/", "author_list": ["Yuming Du", "Philippe Weinzaepfel", "Vincent Lepetit", "Romain Br\u00e9gier", "Yuming Du", "Philippe Weinzaepfel", "Vincent Lepetit", "Romain Br\u00e9gier"], "abstract": "Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping demonstration performed by a human. We propose a novel optimization-based approach for transferring human grasp demonstrations to any multi-fingered grippers, wh..."}
+{"title": "Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects", "detail_url": "https://ieeexplore.ieee.org/document/9982151/", "author_list": ["A. Shirizly", "E. D. Rimon", "A. Shirizly", "E. D. Rimon"], "abstract": "Gravity based caging grasps are robotic grasps where the robot hand passively supports an object against gravity. When a robot hand supports an object at a local minimum of the object gravitational energy, the robot hand forms a basket like grasp of the object. Any object movement in a basket grasp requires an increase of the object gravitational energy, thus allowing secure object pickup and tran..."}
+{"title": "On Robotic Manipulation of Flexible Flat Cables: Employing a Multi-Modal Gripper with Dexterous Tips, Active Nails, and a Reconfigurable Suction Cup Module", "detail_url": "https://ieeexplore.ieee.org/document/9981313/", "author_list": ["Joao Buzzatto", "Jayden Chapman", "Mojtaba Shahmohammadi", "Felipe Sanches", "Mahla Nejati", "Saori Matsunaga", "Rintaro Haraguchi", "Toshisada Mariyama", "Bruce MacDonald", "Minas Liarokapis", "Joao Buzzatto", "Jayden Chapman", "Mojtaba Shahmohammadi", "Felipe Sanches", "Mahla Nejati", "Saori Matsunaga", "Rintaro Haraguchi", "Toshisada Mariyama", "Bruce MacDonald", "Minas Liarokapis"], "abstract": "A popular solution for connecting different components in modern electronics, such as mobile phones, laptops, tablets, etc, is the use of flexible flat cables (FFC). Typically, it takes hours of repetition from a highly trained worker, or a high precision autonomous robot with specialised end effectors to reliably manage the installation of these cables. Human workers are prone to error, and canno..."}
+{"title": "A Solution to Adaptive Mobile Manipulator Throwing", "detail_url": "https://ieeexplore.ieee.org/document/9981231/", "author_list": ["Yang Liu", "Aradhana Nayak", "Aude Billard", "Yang Liu", "Aradhana Nayak", "Aude Billard"], "abstract": "Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feasible throw under a wide set of task specifications. We show that the mobile manipulator throwing problem can be simplified to a planar problem, hence greatly reducing the computational costs. Using machine learning appro..."}
+{"title": "A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982229/", "author_list": ["Yordan Tsvetkov", "Subramanian Ramamoorthy", "Yordan Tsvetkov", "Subramanian Ramamoorthy"], "abstract": "Quadruped robots are usually equipped with ad-ditional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque and precision to perform manipulation. In this paper, we present a novel design for a small-scale quadruped robot equipped with two leg-mounted manipulators ins..."}
+{"title": "Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982177/", "author_list": ["Filippo Bertoncelli", "Mario Selvaggio", "Fabio Ruggiero", "Lorenzo Sabattini", "Filippo Bertoncelli", "Mario Selvaggio", "Fabio Ruggiero", "Lorenzo Sabattini"], "abstract": "This work addresses the problem of transporting an object along a desired planar trajectory by pushing with mobile robots. More specifically, we concentrate on establishing optimal contacts between the object and the robots to execute the given task with minimum effort. We present a task-oriented contact placement optimization strategy for object pushing that allows calculating optimal contact poi..."}
+{"title": "Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9981779/", "author_list": ["Mayank Mittal", "David Hoeller", "Farbod Farshidian", "Marco Hutter", "Animesh Garg", "Mayank Mittal", "David Hoeller", "Farbod Farshidian", "Marco Hutter", "Animesh Garg"], "abstract": "A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid mobility. While mobile manipulators in different form factors provide an extended workspace, their real-world adoption has been limited. Executing a high-level task fo..."}
+{"title": "An open-source motion planning framework for mobile manipulators using constraint-based task space control with linear MPC", "detail_url": "https://ieeexplore.ieee.org/document/9982245/", "author_list": ["Simon Stelter", "Georg Bartels", "Michael Beetz", "Simon Stelter", "Georg Bartels", "Michael Beetz"], "abstract": "We present an open source motion planning framework for ROS, which uses constraint and optimization based task space control to generate trajectories for the whole body of mobile manipulators. Motion goals are defined as constraints which are enforced on task space functions. They map the controllable degrees of freedom of a system onto custom task spaces, which can, but do not have to be, the Car..."}
+{"title": "RARA: Zero-shot Sim2Real Visual Navigation with Following Foreground Cues", "detail_url": "https://ieeexplore.ieee.org/document/9982066/", "author_list": ["Klaas Kelchtermans", "Tinne Tuytelaars", "Klaas Kelchtermans", "Tinne Tuytelaars"], "abstract": "The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of camera-based navigation, formulating it as following a visual cue in the foreground with arbitrary backgrounds. The visual cue in the foreground can often be simul..."}
+{"title": "Navigation Among Movable Obstacles with Object Localization using Photorealistic Simulation", "detail_url": "https://ieeexplore.ieee.org/document/9981587/", "author_list": ["Kirsty Ellis", "Henry Zhang", "Danail Stoyanov", "Dimitrios Kanoulas", "Kirsty Ellis", "Henry Zhang", "Danail Stoyanov", "Dimitrios Kanoulas"], "abstract": "While mobile navigation has been focused on obstacle avoidance, Navigation Among Movable Obstacles (NAMO) via interaction with the environment, is a problem that is still open and challenging. This paper, presents a novel system integration to handle NAMO using visual feedback. In order to explore the capabilities of our introduced system, we explore the solution of the problem via graph-based pat..."}
+{"title": "Navigating underground environments using simple topological representations", "detail_url": "https://ieeexplore.ieee.org/document/9981336/", "author_list": ["Lorenzo Cano", "Alejandro R. Mosteo", "Danilo Tardioli", "Lorenzo Cano", "Alejandro R. Mosteo", "Danilo Tardioli"], "abstract": "Underground environments are some of the most challenging for autonomous navigation. The long, featureless corridors, loose and slippery soils, bad illumination and unavailability of global localization make many traditional approaches struggle. In this work, a topological-based navigation system is presented that enables autonomous navigation of a ground robot in mine-like environments relying ex..."}
+{"title": "Teaching Agents how to Map: Spatial Reasoning for Multi-Object Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9982216/", "author_list": ["Pierre Marza", "Laetitia Matignon", "Olivier Simonin", "Christian Wolf", "Pierre Marza", "Laetitia Matignon", "Olivier Simonin", "Christian Wolf"], "abstract": "In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial rea-soning, where an agent is able to perceive spatial relationships and regularities, and discover object characteristics. Recent work introduces learnable po..."}
+{"title": "NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces", "detail_url": "https://ieeexplore.ieee.org/document/9982207/", "author_list": ["Sriram Siva", "Maggie Wigness", "John G. Rogers", "Long Quang", "Hao Zhang", "Sriram Siva", "Maggie Wigness", "John G. Rogers", "Long Quang", "Hao Zhang"], "abstract": "When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to robot navigation, including dynamic obstacles and terrain uncertainty, leading to inefficient traversal or navigation failures. To address these challenges, we int..."}
+{"title": "Resilient Detection and Recovery of Autonomous Systems Operating under On-board Controller Cyber Attacks", "detail_url": "https://ieeexplore.ieee.org/document/9981844/", "author_list": ["Paul J Bonczek", "Nicola Bezzo", "Paul J Bonczek", "Nicola Bezzo"], "abstract": "Cyber-attacks, failures, and implementation errors inside the controller of an autonomous system can affect its correct behavior leading to unsafe states and degraded performance. In this paper, we focus on such problems specifically on cyber-attacks that manipulate controller parameters like the gains in a feedback controller or that triggers different behaviors or block inputs based on specific ..."}
+{"title": "Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge", "detail_url": "https://ieeexplore.ieee.org/document/9981743/", "author_list": ["Naoki Yokoyama", "Qian Luo", "Dhruv Batra", "Sehoon Ha", "Naoki Yokoyama", "Qian Luo", "Dhruv Batra", "Sehoon Ha"], "abstract": "Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching embodied agents to navigate static environments, much less progress has been made on more dynamic environments that may include moving pedestrians or movable ob..."}
+{"title": "Robotic Interestingness via Human-Informed Few-Shot Object Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981461/", "author_list": ["Seungchan Kim", "Chen Wang", "Bowen Li", "Sebastian Scherer", "Seungchan Kim", "Chen Wang", "Bowen Li", "Sebastian Scherer"], "abstract": "Interestingness recognition is crucial for decision making in autonomous exploration for mobile robots. Previous methods proposed an unsupervised online learning approach that can adapt to environments and detect interesting scenes quickly, but lack the ability to adapt to human-informed interesting objects. To solve this problem, we introduce a human-interactive framework, AirInteraction, that ca..."}
+{"title": "Rotor Array Synergies for Aerial Modular Reconfigurable Robots", "detail_url": "https://ieeexplore.ieee.org/document/9982034/", "author_list": ["Benjamin Moshirian", "Pauline E.I. Pounds", "Benjamin Moshirian", "Pauline E.I. Pounds"], "abstract": "Aerial Modular Reconfigurable Robots (AMRRs) are scalable systems consisting of rotor modules capable of rearrangement during flight. The potential to dynamically change any shape for a given task poses the question: what arrangements offer the most aerodynamic benefit for the task of flying? Answering this requires understanding how adjacent rotors in various configurations influence each another..."}
+{"title": "Precise Position Control of a Multi-rotor UAV with a Cable-suspended Mechanism During Water Sampling", "detail_url": "https://ieeexplore.ieee.org/document/9981057/", "author_list": ["Fotis Panetsos", "George C. Karras", "Sotirios N. Aspragkathos", "Kostas J. Kyriakopoulos", "Fotis Panetsos", "George C. Karras", "Sotirios N. Aspragkathos", "Kostas J. Kyriakopoulos"], "abstract": "This paper addresses the problem of water sampling by using a multirotor UAV with a cable-suspended mechanism. In order to ensure the safe execution of the sampling procedure and the stabilization of the vehicle, the disturbances, induced by the water flow and transferred through the cable, have to be identified. Specifically, an estimate of the disturbances is extracted by integrating a depth sen..."}
+{"title": "Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw", "detail_url": "https://ieeexplore.ieee.org/document/9981306/", "author_list": ["Ryo Miyazaki", "Wataru Matori", "Takamasa Kominami", "Hannibal Paul", "Kazuhiro Shimonomura", "Ryo Miyazaki", "Wataru Matori", "Takamasa Kominami", "Hannibal Paul", "Kazuhiro Shimonomura"], "abstract": "Pruning work at high altitude is a dangerous work with a high risk of accidents for human workers. In this research, we propose a multirotor flying robot that is equipped with a wire-suspended device and performs pruning task. We use a saber saw as a cutting tool. If the cutting tool is installed on the body of the multirotor platform, it is difficult for the flying robot to approach the desired w..."}
+{"title": "Unmanned Aircraft System-Based Radiological Mapping of Buildings", "detail_url": "https://ieeexplore.ieee.org/document/9981415/", "author_list": ["Tomas Lazna", "Petr Gabrlik", "Petr Sladek", "Tomas Jilek", "Ludek Zalud", "Tomas Lazna", "Petr Gabrlik", "Petr Sladek", "Tomas Jilek", "Ludek Zalud"], "abstract": "The article focuses on acquiring a 3D radiation map of a building via a two-phase survey performed with an unmanned aircraft system (UAS). First, a model of the stud-ied building is created by means of photogrammetry. Then, radiation data are collected using a 2-inch NaI(Tl) detector in a regular grid at a distance of 2 m from all accessible surfaces of the building (i.e., the walls and the roof)...."}
+{"title": "Towards edible drones for rescue missions: design and flight of nutritional wings", "detail_url": "https://ieeexplore.ieee.org/document/9981956/", "author_list": ["Bokeon Kwak", "Jun Shintake", "Lu Zhang", "Dario Floreano", "Bokeon Kwak", "Jun Shintake", "Lu Zhang", "Dario Floreano"], "abstract": "Drones have shown to be useful aerial vehicles for unmanned transport missions such as food and medical supply delivery. This can be leveraged to deliver life-saving nutrition and medicine for people in emergency situations. However, commercial drones can generally only carry 10 %\u201330 % of their own mass as payload, which limits the amount of food delivery in a single flight. One novel solution to ..."}
+{"title": "Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9981643/", "author_list": ["Martin Jacquet", "Antonio Franchi", "Martin Jacquet", "Antonio Franchi"], "abstract": "This work introduces a Nonlinear Model Predictive Control (N-MPC) for camera-equipped Unmanned Aerial Vehicles (UAVs), which controls at the motor level the UAV motion to ensure the quality of vision-based state estimation while performing other tasks. The controller ensures visibility over a sufficient amount of features, while optimizing their coverage, based on an assessment of the estimation q..."}
+{"title": "Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment", "detail_url": "https://ieeexplore.ieee.org/document/9981393/", "author_list": ["Hao-Fang Cheng", "Yi-Chan Li", "Yi-Ching Ho", "Cheng-Wei Chen", "Hao-Fang Cheng", "Yi-Chan Li", "Yi-Ching Ho", "Cheng-Wei Chen"], "abstract": "Due to the precise manipulations required in dental surgery, robotic technologies have been applied to dentistry. So far, most dental robots are designed for implant surgery, helping dentists accurately place the implant to the desired position and depth. This paper presents the DentiBot, the first robot designed for dental endodontic treatment. Without visual feedback, the DentiBot is integrated ..."}
+{"title": "A Training-Evaluation Method for Nursing Telerobot Operator with Unsupervised Trajectory Segmentation", "detail_url": "https://ieeexplore.ieee.org/document/9981224/", "author_list": ["Jiexin Xie", "Deliang Zhu", "Jiaxin Wang", "Shijie Guo", "Jiexin Xie", "Deliang Zhu", "Jiaxin Wang", "Shijie Guo"], "abstract": "To cope with the difficulty of training and eval-uation for nursing telerobot operator. This paper proposes a training-evaluation method for operator with unsupervised trajectory segmentation. To evaluate the dexterity and proce-dural knowledge of the operators objectively, we propose a new unsupervised model TSC-CRP that can automatically segment trajectory from nursing robotic training sessions...."}
+{"title": "Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981349/", "author_list": ["Guebin Hwang", "Jongwon Lee", "Sungwook Yang", "Guebin Hwang", "Jongwon Lee", "Sungwook Yang"], "abstract": "In this study, we present a visual servo control framework for fully automated nasopharyngeal swab robots. The proposed framework incorporates a deep learning-based nostril detection with a cascade approach to reliably identify the nostrils with high accuracy in real time. In addition, a partitioned visual servoing scheme that combines image-based visual servoing with axial control is formulated f..."}
+{"title": "Development of a cable-driven Growing Sling to assist patient transfer", "detail_url": "https://ieeexplore.ieee.org/document/9981770/", "author_list": ["MyungJoong Lee", "Yonghwan Moon", "Jeongryul Kim", "Seungjun Lee", "Keri Kim", "HyunKi In", "MyungJoong Lee", "Yonghwan Moon", "Jeongryul Kim", "Seungjun Lee", "Keri Kim", "HyunKi In"], "abstract": "As the aging of society continues to accelerate, the number of elderly patients is increasing, as is the demand for manpower to care for them. In particular, there is an urgent need for bedridden patient care. However, limitations in the supply of human resources have caused an increase in the burden for care. In particular, nursing personnel often experience inconvenience and difficulties owing t..."}
+{"title": "Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance", "detail_url": "https://ieeexplore.ieee.org/document/9981932/", "author_list": ["Basma B. Hasanen", "Mohammad I. Awad", "Mohamed N. Boushaki", "Zhenwei Niu", "Mohammed A. Ramadan", "Irfan Hussain", "Basma B. Hasanen", "Mohammad I. Awad", "Mohamed N. Boushaki", "Zhenwei Niu", "Mohammed A. Ramadan", "Irfan Hussain"], "abstract": "Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees of Freedom (DoFs) by introducing an independent new limb. The actuation systems in SRL can be categorized into rigid and soft actuat..."}
+{"title": "Plate Harmonic Reducer with a Profiled Groove Wave Generator", "detail_url": "https://ieeexplore.ieee.org/document/9981317/", "author_list": ["Seungbin You", "Jaesug Jung", "Eunho Sung", "Jaeheung Park", "Seungbin You", "Jaesug Jung", "Eunho Sung", "Jaeheung Park"], "abstract": "In this study, a mechanism that realizes a novel structural form of the harmonic reducer is introduced. Conventional robots often use various mechanical reducers owing to low torque and high-speed characteristics of electric motors. Among them, harmonic reducers are frequently used because of their compact size and backlash-free precision. The plate harmonic reducer which uses the same topological..."}
+{"title": "Design of a modular continuum robot with alterable compliance using tubular-actuation", "detail_url": "https://ieeexplore.ieee.org/document/9982238/", "author_list": ["Mingyuan Wang", "Liang Du", "Sheng Bao", "Jianjun Yuan", "Jinshu Zhou", "Shugen Ma", "Mingyuan Wang", "Liang Du", "Sheng Bao", "Jianjun Yuan", "Jinshu Zhou", "Shugen Ma"], "abstract": "Compliance is good. However, it is challenging for one compliant continuum robot to finish both high precision manipulation and environmental-adapted motions. In this paper, a modular continuum robot with the alterable compliance characteristic is proposed. Besides, an actuation module is also proposed using a tubular-screw mechanism for non-slippage transmission. Kinematic analyses and dynamic co..."}
+{"title": "3D-printable low-reduction cycloidal gearing for robotics", "detail_url": "https://ieeexplore.ieee.org/document/9982006/", "author_list": ["Wesley Roozing", "Glenn Roozing", "Wesley Roozing", "Glenn Roozing"], "abstract": "The recent trend towards low reduction gearing in robotic actuation has revitalised the need for high-performance gearing concepts. In this work we propose compact low-reduction cycloidal gearing, that is 3D-printable and combined with off-the-shelf components. This approach presents an enormous potential for high performance-to-cost implementations. After discussing parameter selection and design..."}
+{"title": "Fold-based Complex Joints for a 3 DoF 3R Parallel Robot Design", "detail_url": "https://ieeexplore.ieee.org/document/9981031/", "author_list": ["Judith U. Merz", "Markus M. Huber", "Franz Irlinger", "Tim C. Lueth", "Janik Pfitzner", "Burkhard Corves", "Judith U. Merz", "Markus M. Huber", "Franz Irlinger", "Tim C. Lueth", "Janik Pfitzner", "Burkhard Corves"], "abstract": "This contribution demonstrates the usage of fold-based joints to create a novel 3 DoF 3R(RPaR) parallel robot design. Multiple folding mechanisms are introduced, fulfilling the function of revolute, prismatic, and spherical joints. Folding mechanisms are here tested regarding their applicability in parallel kinematic robots taking advantage of beneficial properties such as increased stiffness, fla..."}
+{"title": "Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs", "detail_url": "https://ieeexplore.ieee.org/document/9981521/", "author_list": ["Satoshi Nishikawa", "Daigo Tokunaga", "Kazuo Kiguchi", "Satoshi Nishikawa", "Daigo Tokunaga", "Kazuo Kiguchi"], "abstract": "For universal robotic limbs, having a large workspace with high stiffness and adjustable output properties is important to adapt to various situations. A combination of parallel mechanisms that can change output characteristics is promising to meet these demands. As such, we propose a lever mechanism with double parallel link platforms. This mechanism is composed of a lever mechanism with the effo..."}
+{"title": "Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion", "detail_url": "https://ieeexplore.ieee.org/document/9981940/", "author_list": ["Karthik Urs", "Challen Enninful Adu", "Elliott J. Rouse", "Talia Y. Moore", "Karthik Urs", "Challen Enninful Adu", "Elliott J. Rouse", "Talia Y. Moore"], "abstract": "Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology. However, development of custom actuators for legged robots is expensive and time consuming, discouraging application-specific actuator optimization. This paper pres..."}
+{"title": "Real-time IMU-Based Learning: a Classification of Contact Materials", "detail_url": "https://ieeexplore.ieee.org/document/9981139/", "author_list": ["Carlos Magno C. O. Valle", "Alexander Kurdas", "Edmundo Pozo Fortuni\u0107", "Saeed Abdolshah", "Sami Haddadin", "Carlos Magno C. O. Valle", "Alexander Kurdas", "Edmundo Pozo Fortuni\u0107", "Saeed Abdolshah", "Sami Haddadin"], "abstract": "In modern highly dynamic robot manipulation, collisions between a robot and objects may be intentionally executed to improve performance. To distinguish between these deliberate contacts and accidental collisions beyond the limit of state-of-the-art human-robot interactions, new sensing approaches are required. This work seeks an easy-to-implement and real-time capable solution to detect the ident..."}
+{"title": "New Objects on the Road? No Problem, We'll Learn Them Too", "detail_url": "https://ieeexplore.ieee.org/document/9981886/", "author_list": ["Deepak Kumar Singh", "Shyam Nandan Rai", "K J Joseph", "Rohit Saluja", "Vineeth N Balasubramanian", "Chetan Arora", "Anbumani Subramanian", "C.V. Jawahar", "Deepak Kumar Singh", "Shyam Nandan Rai", "K J Joseph", "Rohit Saluja", "Vineeth N Balasubramanian", "Chetan Arora", "Anbumani Subramanian", "C.V. Jawahar"], "abstract": "Object detection plays an essential role in providing localization, path planning, and decision making capabilities in autonomous navigation systems. However, existing object detection models are trained and tested on a fixed number of known classes. This setting makes the object detection model difficult to generalize well in real-world road scenarios while encountering an unknown object. We addr..."}
+{"title": "Conditional Patch-Based Domain Randomization: Improving Texture Domain Randomization Using Natural Image Patches", "detail_url": "https://ieeexplore.ieee.org/document/9981381/", "author_list": ["Mohammad Ani", "Hector Basevi", "Ale\u0161 Leonardis", "Mohammad Ani", "Hector Basevi", "Ale\u0161 Leonardis"], "abstract": "Using Domain Randomized synthetic data for training deep learning systems is a promising approach for addressing the data and the labeling requirements for supervised techniques to bridge the gap between simulation and the real world. We propose a novel approach for generating and applying class-specific Domain Randomization textures by using randomly cropped image patches from real-world data. In..."}
+{"title": "CloudAttention: Efficient Multi-Scale Attention Scheme For 3D Point Cloud Learning", "detail_url": "https://ieeexplore.ieee.org/document/9982276/", "author_list": ["Mahdi Saleh", "Yige Wang", "Nassir Navab", "Benjamin Busam", "Federico Tombari", "Mahdi Saleh", "Yige Wang", "Nassir Navab", "Benjamin Busam", "Federico Tombari"], "abstract": "Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for vision tasks. However, attention calculations in transformers come with quadratic complexity in the number of inputs and miss spatial intuition on sets like poi..."}
+{"title": "Fast Hierarchical Learning for Few-Shot Object Detection", "detail_url": "https://ieeexplore.ieee.org/document/9981327/", "author_list": ["Yihang She", "Goutam Bhat", "Martin Danelljan", "Fisher Yu", "Yihang She", "Goutam Bhat", "Martin Danelljan", "Fisher Yu"], "abstract": "Transfer learning based approaches have recently achieved promising results on the few-shot detection task. These approaches however suffer from \u201ccatastrophic forgetting\u201d issue due to finetuning of base detector, leading to sub-optimal performance on the base classes. Furthermore, the slow convergence rate of stochastic gradient descent (SGD) results in high latency and consequently restricts real..."}
+{"title": "Improving Single-View Mesh Reconstruction for Unseen Categories via Primitive-Based Representation and Mesh Augmentation", "detail_url": "https://ieeexplore.ieee.org/document/9982024/", "author_list": ["Yu-Liang Kuo", "Wei-Jan Ko", "Chen-Yi Chiu", "Wei-Chen Chiu", "Yu-Liang Kuo", "Wei-Jan Ko", "Chen-Yi Chiu", "Wei-Chen Chiu"], "abstract": "As most existing works of single-view 3D reconstruction aim at learning the better mapping functions to directly transform the 2D observation into the corresponding 3D shape for achieving state-of-the-art performance, there often comes a potential concern on having the implicit bias towards the seen classes learnt in their models (i.e. reconstruction intertwined with the classification) thus leadi..."}
+{"title": "Instance Segmentation with Cross-Modal Consistency", "detail_url": "https://ieeexplore.ieee.org/document/9982285/", "author_list": ["Alex Zihao Zhu", "Vincent Casser", "Reza Mahjourian", "Henrik Kretzschmar", "S\u00f6ren Pirk", "Alex Zihao Zhu", "Vincent Casser", "Reza Mahjourian", "Henrik Kretzschmar", "S\u00f6ren Pirk"], "abstract": "Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple sensor modalities, such as cameras and LiDAR. Our method learns to predict embeddings for each pixel or point that give rise to a dense segmentation of the scen..."}
+{"title": "Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982267/", "author_list": ["Xianmei Lei", "Taeyeon Kim", "Nicolas Marchal", "Daniel Pastor", "Barry Ridge", "Frederik Sch\u00f6ller", "Edward Terry", "Fernando Chavez", "Thomas Touma", "Kyohei Otsu", "Benjamin Morrell", "Ali Agha", "Xianmei Lei", "Taeyeon Kim", "Nicolas Marchal", "Daniel Pastor", "Barry Ridge", "Frederik Sch\u00f6ller", "Edward Terry", "Fernando Chavez", "Thomas Touma", "Kyohei Otsu", "Benjamin Morrell", "Ali Agha"], "abstract": "Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to avoid missing true target objects and high precision is also critical to avoid wasting valuable operational time on false positives. Given recent advancements in ..."}
+{"title": "Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot", "detail_url": "https://ieeexplore.ieee.org/document/9981066/", "author_list": ["Jaehyun Lim", "Hyeonwoo Lee", "Jongeun Choi", "Jaehyun Lim", "Hyeonwoo Lee", "Jongeun Choi"], "abstract": "Designing a cost function for nonlinear model predictive control (MPC) with a sparse/binary stage cost is challenging. This paper proposes a novel MPC approach with a scheduled quadratic stage cost function that approximates the true stage cost in order to optimally control a nonlinear system with a sparse/binary stage cost. The cost function parameter is optimally scheduled by a parameter schedul..."}
+{"title": "Linear MPC-based Motion Planning for Autonomous Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9982166/", "author_list": ["Marco Minelli", "Alessio Sozzi", "Giacomo De Rossi", "Federica Ferraguti", "Saverio Farsoni", "Francesco Setti", "Riccardo Muradore", "Marcello Bonf\u00e8", "Cristian Secchi", "Marco Minelli", "Alessio Sozzi", "Giacomo De Rossi", "Federica Ferraguti", "Saverio Farsoni", "Francesco Setti", "Riccardo Muradore", "Marcello Bonf\u00e8", "Cristian Secchi"], "abstract": "Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows the controller to be both computationally faster and better performing due to the increased prediction..."}
+{"title": "Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment", "detail_url": "https://ieeexplore.ieee.org/document/9981136/", "author_list": ["T. No\u00ebl", "S. Kabbour", "A. Lehuger", "E. Marchand", "F. Chaumette", "T. No\u00ebl", "S. Kabbour", "A. Lehuger", "E. Marchand", "F. Chaumette"], "abstract": "In this paper, we propose a new sampling-based path planning approach, focusing on the challenges linked to autonomous exploration. Our method relies on the definition of a disk graph of free-space bubbles, from which we derive a biased sampling function that expands the graph towards known free space for maximal navigability and frontiers discovery. The proposed method demonstrates an exploratory..."}
+{"title": "Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981647/", "author_list": ["Fetullah Atas", "Grzegorz Cielniak", "Lars Grimstad", "Fetullah Atas", "Grzegorz Cielniak", "Lars Grimstad"], "abstract": "This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation methods by incorporating both kinematic and physical constraints of a robot with standard motion planning algorithms (e.g., those from the Open Motion Planning Lib..."}
+{"title": "Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982190/", "author_list": ["Jonas Frey", "David Hoeller", "Shehryar Khattak", "Marco Hutter", "Jonas Frey", "David Hoeller", "Shehryar Khattak", "Marco Hutter"], "abstract": "Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating within safety limits under uncertainty. The robot must sense and analyze the travers ability of the surrounding terrain, which depends on the hardware, locomotion c..."}
+{"title": "Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981086/", "author_list": ["Haoran Zhao", "Nihal Abdurahiman", "Nikhil Navkar", "Julien Leclerc", "Aaron T. Becker", "Haoran Zhao", "Nihal Abdurahiman", "Nikhil Navkar", "Julien Leclerc", "Aaron T. Becker"], "abstract": "This work presents an online trajectory generation algorithm using a sinusoidal jerk profile. The generator takes initial acceleration, velocity and position as input, and plans a multi-segment trajectory to a goal position under jerk, acceleration, and velocity limits. By analyzing the critical constraints and conditions, the corresponding closed-form solution for the time factors and trajectory ..."}
+{"title": "Imitation Learning and Model Integrated Excavator Trajectory Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981220/", "author_list": ["Qiangqiang Guo", "Zhixian Ye", "Liyang Wang", "Liangjun Zhang", "Qiangqiang Guo", "Zhixian Ye", "Liyang Wang", "Liangjun Zhang"], "abstract": "Automated excavation is promising to improve the safety and efficiency of excavators, and trajectory planning is one of the most important techniques. In this paper, we propose a two-stage method that integrates data-driven imitation learning and model-based trajectory optimization to generate optimal trajectories for autonomous excavators. We firstly train a deep neural network using demonstratio..."}
+{"title": "Online Complete Coverage Path Planning of a Reconfigurable Robot using Glasius Bio-inspired Neural Network and Genetic Algorithm", "detail_url": "https://ieeexplore.ieee.org/document/9981667/", "author_list": ["S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Mohan Rajesh Elara", "S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Mohan Rajesh Elara"], "abstract": "Area coverage is crucial for robotics applications such as cleaning, painting, exploration, and inspections. Hinged reconfigurable robots have been introduced for these application domains to improve the area coverage performance. However, the existing coverage algorithms of hinged reconfigurable robots require improvements in the aspects; consideration of beyond a limited set of reconfigurable sh..."}
+{"title": "Quantity over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data", "detail_url": "https://ieeexplore.ieee.org/document/9982116/", "author_list": ["Lukas Platinsky", "Tayyab Naseer", "Hui Chen", "Ben Haines", "Haoyue Zhu", "Hugo Grimmett", "Luca Del Pero", "Lukas Platinsky", "Tayyab Naseer", "Hui Chen", "Ben Haines", "Haoyue Zhu", "Hugo Grimmett", "Luca Del Pero"], "abstract": "With the Autonomous Vehicle (AV) industry shifting towards machine-learned approaches for motion plan-ning [1], the performance of self-driving systems is starting to rely heavily on large quantities of expert driving demon-strations. However, collecting this demonstration data typically involves expensive HD sensor suites (LiDAR + RADAR + cameras), which quickly becomes financially infeasible at ..."}
+{"title": "TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning", "detail_url": "https://ieeexplore.ieee.org/document/9981992/", "author_list": ["Brady Moon", "Satrajit Chatterjee", "Sebastian Scherer", "Brady Moon", "Satrajit Chatterjee", "Sebastian Scherer"], "abstract": "Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the lack of approaches that allow for informative path planning in high-dimensional spaces and non-trivial sensor constraints. In this work we present a sampling-based..."}
+{"title": "Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures", "detail_url": "https://ieeexplore.ieee.org/document/9981052/", "author_list": ["Kento Kawaharazuka", "Kei Okada", "Masayuki Inaba", "Kento Kawaharazuka", "Kei Okada", "Masayuki Inaba"], "abstract": "While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis..."}
+{"title": "Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching", "detail_url": "https://ieeexplore.ieee.org/document/9982103/", "author_list": ["Kento Kawaharazuka", "Kei Okada", "Masayuki Inaba", "Kento Kawaharazuka", "Kei Okada", "Masayuki Inaba"], "abstract": "In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar interskeletal structure of the human mimetic musculoskeletal robot. Also, we develop a constrained teaching method in which one-dimensional control command, its transit..."}
+{"title": "A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine", "detail_url": "https://ieeexplore.ieee.org/document/9981571/", "author_list": ["Bonhyun Ku", "Arijit Banerjee", "Bonhyun Ku", "Arijit Banerjee"], "abstract": "Control of an articulated spine is important for humanoids' dynamic and balanced motion. Although there have been many spinal structures for humanoids, their actuation is still limited due to the usage of geared motors for joints. This paper introduces position control of a distributed electrome-chanical spine in a vertical plane. The spine dynamics model is approximated as an open chain. Gravitat..."}
+{"title": "Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface", "detail_url": "https://ieeexplore.ieee.org/document/9981232/", "author_list": ["Shunsuke Nagahama", "Atsushi Nakao", "Shigeki Sugano", "Shunsuke Nagahama", "Atsushi Nakao", "Shigeki Sugano"], "abstract": "A surface microstructure that mimics the surface of a gecko's foot can exert a large gripping force with a small contact force. If such a structure is applied to the fingertips of a two-fingered parallel gripper, stable grasping can be achieved independent of the wetting and frictional state of the contact surface. However, the adhesive force of the microstructure is large while releasing the obje..."}
+{"title": "Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids", "detail_url": "https://ieeexplore.ieee.org/document/9981051/", "author_list": ["Kento Kawaharazuka", "Yoshimoto Ribayashi", "Akihiro Miki", "Yasunori Toshimitsu", "Temma Suzuki", "Kei Okada", "Masayuki Inaba", "Kento Kawaharazuka", "Yoshimoto Ribayashi", "Akihiro Miki", "Yasunori Toshimitsu", "Temma Suzuki", "Kei Okada", "Masayuki Inaba"], "abstract": "The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls may cause instability. In this study, to solve these problems, we propose a method of learning a correlation model among the joint angle, muscle tension, and mus..."}
+{"title": "Real-Time Distributed Multi-Robot Target Tracking via Virtual Pheromones", "detail_url": "https://ieeexplore.ieee.org/document/9981262/", "author_list": ["Joseph Prince Mathew", "Cameron Nowzari", "Joseph Prince Mathew", "Cameron Nowzari"], "abstract": "Actively searching for targets using a multi-agent system in an unknown environment poses a two-pronged prob-lem, where on the one hand we need agents to cover as much of the environment as possible and on the other have a higher density of agents where there are potential targets to maximize detection performance. This paper proposes a fully distributed solution for an ad hoc network of agents to..."}
+{"title": "Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981414/", "author_list": ["Ofer Dagan", "Nisar R. Ahmed", "Ofer Dagan", "Nisar R. Ahmed"], "abstract": "This paper presents a method for Bayesian multi-robot peer-to-peer data fusion where any pair of autonomous robots hold non-identical, but overlapping parts of a global joint probability distribution, representing real world inference tasks (e.g., mapping, tracking). It is shown that in dynamic stochastic systems, filtering, which corresponds to marginalization of past variables, results in direct..."}
+{"title": "Decay-Based Error Correction in Collective Robotic Construction", "detail_url": "https://ieeexplore.ieee.org/document/9981721/", "author_list": ["Jiahe Chen", "Kirstin Petersen", "Jiahe Chen", "Kirstin Petersen"], "abstract": "Multi-robot systems have been shown to build large-scale, user-specified structures using distributed, environmentally-mediated coordination in simulation. Little attention, however, has been devoted to error propagation and mitigation. In this paper, we introduce a detailed simulation of TERMES, a prototypical construction system, in which robots have realistic error profiles. We use this simulat..."}
+{"title": "Perceive, Represent, Generate: Translating Multimodal Information to Robotic Motion Trajectories", "detail_url": "https://ieeexplore.ieee.org/document/9981788/", "author_list": ["F\u00e1bio Vital", "Miguel Vasco", "Alberto Sardinha", "Francisco Melo", "F\u00e1bio Vital", "Miguel Vasco", "Alberto Sardinha", "Francisco Melo"], "abstract": "We present Perceive-Represent-Generate (PRG), a novel three-stage framework that maps perceptual information of different modalities (e.g., visual or sound), corresponding to a series of instructions, to a sequence of movements to be executed by a robot. In the first stage, we perceive and preprocess the given inputs, isolating individual commands from the complete instruction provided by a human ..."}
+{"title": "SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking", "detail_url": "https://ieeexplore.ieee.org/document/9981459/", "author_list": ["Tianqi Li", "Lucas W. Krakow", "Swaminathan Gopalswamy", "Tianqi Li", "Lucas W. Krakow", "Swaminathan Gopalswamy"], "abstract": "In target tracking with mobile multi-sensor sys-tems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of the observable sensor dynamics, unobservable target states, and accompanying observation laws, we present a distributed information-driven solution approach t..."}
+{"title": "Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits", "detail_url": "https://ieeexplore.ieee.org/document/9982204/", "author_list": ["Federico Del Fatti", "Anna Sesselmann", "M\u00e1ximo A. Roa", "Federico Del Fatti", "Anna Sesselmann", "M\u00e1ximo A. Roa"], "abstract": "Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affects the stability of the gait. This paper provides an analysis of the influence of this variable leg..."}
+{"title": "Learning to Act with Affordance-Aware Multimodal Neural SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981261/", "author_list": ["Zhiwei Jia", "Kaixiang Lin", "Yizhou Zhao", "Qiaozi Gao", "Govind Thattai", "Gaurav S. Sukhatme", "Zhiwei Jia", "Kaixiang Lin", "Yizhou Zhao", "Qiaozi Gao", "Govind Thattai", "Gaurav S. Sukhatme"], "abstract": "Recent years have witnessed an emerging paradigm shift toward embodied artificial intelligence, in which an agent must learn to solve challenging tasks by interacting with its environment. There are several challenges in solving embodied multimodal tasks, including long-horizon planning, vision-and-language grounding, and efficient exploration. We focus on a critical bottleneck, namely the perform..."}
+{"title": "Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982279/", "author_list": ["Vikram Shree", "Sarah Allen", "Beatriz Asfora", "Jacopo Banfi", "Mark Campbell", "Vikram Shree", "Sarah Allen", "Beatriz Asfora", "Jacopo Banfi", "Mark Campbell"], "abstract": "There has been a plethora of work towards im-proving robot perception and navigation, yet their application in hazardous environments, like during a fire or an earthquake, is still at a nascent stage. We hypothesize two key challenges here: first, it is difficult to replicate such scenarios in the real world, which is necessary for training and testing purposes. Second, current systems are not ful..."}
+{"title": "Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope", "detail_url": "https://ieeexplore.ieee.org/document/9982044/", "author_list": ["Xiangyu Wang", "Ningbo Yu", "Jianda Han", "Yongchun Fang", "Xiangyu Wang", "Ningbo Yu", "Jianda Han", "Yongchun Fang"], "abstract": "The robotic flexible endoscope is developed rapidly in the field of surgery robots due to its high flexibility and safety. However, some inherent features, e.g., high nonlinearity, material creep, complex dynamic hysteresis behaviors, and the unknown coupling effects between bending and twisting motions, can lead to the significant degradation on three-dimensional (3-D) positioning performance of ..."}
+{"title": "Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology", "detail_url": "https://ieeexplore.ieee.org/document/9981676/", "author_list": ["Xiu Zhang", "Maria Chiara Palumbo", "Francesca Perico", "Mattia Magro", "Andrea Fortuna", "Tommaso Magni", "Emiliano Votta", "Alice Segato", "Elena De Momi", "Xiu Zhang", "Maria Chiara Palumbo", "Francesca Perico", "Mattia Magro", "Andrea Fortuna", "Tommaso Magni", "Emiliano Votta", "Alice Segato", "Elena De Momi"], "abstract": "Structural intervention cardiology (SIC) interventions are crucial procedures for correcting heart valves, walls, and muscle form defects. However, the possibility of embolization or perforation, as well as the lack of transparent vision and autonomous surgical equipment, make it difficult for the clinician. This paper proposes a robot-assisted tendon-driven catheter and machine learning-based pat..."}
+{"title": "Model-free and Uncalibrated Visual-feedback Control of Magnetically-Actuated Flexible Endoscopes", "detail_url": "https://ieeexplore.ieee.org/document/9982055/", "author_list": ["Jiewen Tan", "Junnan Xue", "Xing Yang", "Sishen Yuan", "Wei Liu", "Hongliang Ren", "Shuang Song", "Jiaole Wang", "Jiewen Tan", "Junnan Xue", "Xing Yang", "Sishen Yuan", "Wei Liu", "Hongliang Ren", "Shuang Song", "Jiaole Wang"], "abstract": "Magnetically-actuated flexible endoscopes (MAFE) have been well used in minimally-invasive surgery because they can be steered by a magnetic field thus more flexible than traditional endoscopes. Model-free and uncalibrated visual-feedback control makes it possible to manipulate MAFE with a magnetic field without external tracking systems. Because no extra sensor is required to obtain position and ..."}
+{"title": "Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery", "detail_url": "https://ieeexplore.ieee.org/document/9981536/", "author_list": ["Xin Ma", "Xuchen Wang", "Rui Cao", "Kwok Wai Samuel Au", "Xin Ma", "Xuchen Wang", "Rui Cao", "Kwok Wai Samuel Au"], "abstract": "Existing robotic endoscopes for laparoscopic surgery, predominantly rigid or limited in dexterity, occupy a large motion space1, The large occupied motion space necessitates large incisions and reduces the motion space for surgeons to simultaneously operate other surgical instruments. Meanwhile, surgeons only have limited view adjustment capability to avoid occlusion and they often have to lift/pu..."}
+{"title": "A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries", "detail_url": "https://ieeexplore.ieee.org/document/9981700/", "author_list": ["Zhanpeng Yin", "Yan Hong", "Xiaoyu Sun", "Zhiyuan Shen", "Yingxuan Zhang", "Feng Ju", "Bruce W. Drinkwater", "Zhanpeng Yin", "Yan Hong", "Xiaoyu Sun", "Zhiyuan Shen", "Yingxuan Zhang", "Feng Ju", "Bruce W. Drinkwater"], "abstract": "Minimally invasive surgeries (MIS) or natural orifice transluminal endoscopic surgeries (NOTES) such as the transurethral resection of bladder tumor (TURBT) require the surgical robot to be miniaturized to perform surgical procedures in confined spaces. However, the surgical robot's tiny size poses problems in its fabrication and shape sensing. In this paper, a miniature continuum surgical robot i..."}
+{"title": "RGB-X Classification for Electronics Sorting", "detail_url": "https://ieeexplore.ieee.org/document/9981860/", "author_list": ["Abhimanyu Fnu", "Tejas Zodage", "Umesh Thillaivasan", "Xinyue Lai", "Rahul Chakwate", "Javier Santillan", "Emma Oti", "Ming Zhao", "Ralph Boirum", "Howie Choset", "Matthew Travers", "Abhimanyu Fnu", "Tejas Zodage", "Umesh Thillaivasan", "Xinyue Lai", "Rahul Chakwate", "Javier Santillan", "Emma Oti", "Ming Zhao", "Ralph Boirum", "Howie Choset", "Matthew Travers"], "abstract": "Effectively disassembling and recovering materials from waste electrical and electronic equipment (WEEE) is a critical step in moving global supply chains from carbon-intensive, mined materials to recycled and renewable ones. Conventional recycling processes rely on shredding and sorting waste streams, but for WEEE, which is comprised of numerous dissimilar materials, we explore targeted disassemb..."}
+{"title": "CPQNet: Contact Points Quality Network for Robotic Grasping", "detail_url": "https://ieeexplore.ieee.org/document/9981372/", "author_list": ["Zhihao Li", "Pengfei Zeng", "Jionglong Su", "Qingda Guo", "Ning Ding", "Jiaming Zhang", "Zhihao Li", "Pengfei Zeng", "Jionglong Su", "Qingda Guo", "Ning Ding", "Jiaming Zhang"], "abstract": "In typical data-based grasping methods, a grasp based on parallel-jaw grippers is parameterized by the center of the gripper, the rotation angle, and the gripper opening width so as to predict the quality and pose of grasps at every pixel. In contrast, a grasp is represented using only two contact points for contact-points-based grasp representation, which allows for fusion with tactile sensors mo..."}
+{"title": "SESR: Self-Ensembling Sim-to-Real Instance Segmentation for Auto-Store Bin Picking", "detail_url": "https://ieeexplore.ieee.org/document/9981845/", "author_list": ["Biqi Yang", "Xiaojie Gao", "Kai Chen", "Rui Cao", "Yidan Feng", "Xianzhi Li", "Qi Dou", "Chi-Wing Fu", "Yun-Hui Liu", "Pheng-Ann Heng", "Biqi Yang", "Xiaojie Gao", "Kai Chen", "Rui Cao", "Yidan Feng", "Xianzhi Li", "Qi Dou", "Chi-Wing Fu", "Yun-Hui Liu", "Pheng-Ann Heng"], "abstract": "Instance segmentation is an important task for supporting robotic grasping in auto-store scenarios. Accurate segmentation usually relies on the quantity and quality of available annotated training data. However, it requires tremendous cost to obtain these labels. In this work, without requiring any human annotations on real data, our proposed self-ensembling sim-to-real network, namely SESR, is ab..."}
+{"title": "Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera", "detail_url": "https://ieeexplore.ieee.org/document/9981538/", "author_list": ["Keyang Ye", "Liuzheng Gao", "Banglei Guan", "Keyang Ye", "Liuzheng Gao", "Banglei Guan"], "abstract": "The accuracy and robustness of visual odometry (VO) is significantly affected by the high dynamic range (HDR) environments, because traditional cameras have a limited dynamic range and inevitably miss information in both overexposed and underexposed areas. To overcome the above challenge, we use an spatially varying exposure (SVE) camera, which captures four images with different exposure levels s..."}
+{"title": "Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction", "detail_url": "https://ieeexplore.ieee.org/document/9981481/", "author_list": ["Banglei Guan", "Pascal Vasseur", "C\u00e9dric Demonceaux", "Banglei Guan", "Pascal Vasseur", "C\u00e9dric Demonceaux"], "abstract": "In this paper, we present a relative pose estimation algorithm based on lines knowing the vertical direction associated to each image. We demonstrate that a closed-form solution requiring only eight lines between three views is possible. As a linear solution, it is shown that our approach outperforms the standard trifocal estimation based on 13 triplets of lines and can be efficiently inserted int..."}
+{"title": "A Flexible and Robust Vision Trap for Automated Part Feeder Design", "detail_url": "https://ieeexplore.ieee.org/document/9981302/", "author_list": ["Rasmus Laurvig Haugaard", "Thorbj\u03d5rn Mosekj\u00e6r Iversen", "Anders Glent Buch", "Aljaz Kramberger", "Simon Faarvang Mathiesen", "Rasmus Laurvig Haugaard", "Thorbj\u03d5rn Mosekj\u00e6r Iversen", "Anders Glent Buch", "Aljaz Kramberger", "Simon Faarvang Mathiesen"], "abstract": "Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibratory feeder, referred to here as a vision trap, should in principle be able to meet these demands for a wide range of parts. However, in practice, the flexibility of such a trap is limited as an expert is needed to both id..."}
+{"title": "AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems", "detail_url": "https://ieeexplore.ieee.org/document/9981400/", "author_list": ["Yu-Ping Wang", "Hao-Ning Wang", "Zi-Xin Zou", "Dinesh Manocha", "Yu-Ping Wang", "Hao-Ning Wang", "Zi-Xin Zou", "Dinesh Manocha"], "abstract": "Communication between robots and the server is a major problem for cloud robotic systems. In this paper, we address the problem caused by data loss during such communications and propose an efficient buffering algorithm, called AFR, to solve the problem. We model the problem into an optimization problem to maximize the received Quantity of Information (QoI). Our AFR algorithm is formally proved to..."}
+{"title": "Instance Segmentation for Autonomous Log Grasping in Forestry Operations", "detail_url": "https://ieeexplore.ieee.org/document/9982286/", "author_list": ["Jean-Michel Fortin", "Olivier Gamache", "Vincent Grondin", "Fran\u00e7ois Pomerleau", "Philippe Gigu\u00e8re", "Jean-Michel Fortin", "Olivier Gamache", "Vincent Grondin", "Fran\u00e7ois Pomerleau", "Philippe Gigu\u00e8re"], "abstract": "Wood logs picking is a challenging task to automate. Indeed, logs usually come in cluttered configurations, randomly orientated and overlapping. Recent work on log picking automation usually assume that the logs' pose is known, with little consideration given to the actual perception problem. In this paper, we squarely address the latter, using a data-driven approach. First, we introduce a novel d..."}
+{"title": "Multimodal aerial-tethered robot for tree canopy exploration", "detail_url": "https://ieeexplore.ieee.org/document/9981121/", "author_list": ["Steffen Kirchgeorg", "Stefano Mintchev", "Steffen Kirchgeorg", "Stefano Mintchev"], "abstract": "Forest canopies are the biggest habitat for terrestrial life, yet our understanding of environmental processes and biodiversity inside the canopy continues to be limited due to labour and resource intensive data collection. Existing aerial and climbing robots also struggle to access these complex environments, while animals easily navigate them using multiple means of locomotion. Following this in..."}
+{"title": "Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers", "detail_url": "https://ieeexplore.ieee.org/document/9981514/", "author_list": ["Ricardo V. Godoy", "Anany Dwivedi", "Mojtaba Shahmohammadi", "Minas Liarokapis", "Ricardo V. Godoy", "Anany Dwivedi", "Mojtaba Shahmohammadi", "Minas Liarokapis"], "abstract": "For the development of muscle-machine interfaces (MuMIs), researchers have relied mainly on Electromyography (EMG) signals. However, these signals require complex hardware systems, as well as specialized signal processing and feature extraction methods. To overcome these issues, in our previous work, we proposed a novel MuMI for decoding human intention and motion, called Lightmyography (LMG). To ..."}
+{"title": "Dynamic Network Model for Multi-Domain End-to-end Task-Oriented Dialogue System", "detail_url": "https://ieeexplore.ieee.org/document/9981938/", "author_list": ["F. D. Zhao", "M. L. Qiu", "X. S. Li", "D. D. Guo", "F. D. Zhao", "M. L. Qiu", "X. S. Li", "D. D. Guo"], "abstract": "Dialogue State Tracking (DST) is an important part in task-oriented dialog system, whose target is to infer the current dialog states and user intentions according to the dialog history information. To this end, we have achieved improvements to the existing work and proposed a dynamic network model suitable for multi-domain dialog, which can explicitly use domain information and better cope with z..."}
+{"title": "Hey Haru, Let's Be Friends! Using the Tiers of Friendship to Build Rapport through Small Talk with the Tabletop Robot Haru", "detail_url": "https://ieeexplore.ieee.org/document/9981369/", "author_list": ["Eric Nichols", "Sarah Rose Siskind", "Levko Ivanchuk", "Guillermo P\u00e9rez", "Waki Kamino", "Selma \u0160abanovi\u0107", "Randy Gomez", "Eric Nichols", "Sarah Rose Siskind", "Levko Ivanchuk", "Guillermo P\u00e9rez", "Waki Kamino", "Selma \u0160abanovi\u0107", "Randy Gomez"], "abstract": "Conversation can play an essential role in forging bonds between humans and social robots, but participants need to feel like they are being listened to, remembered, and cared about in order to effectively build rapport. In this paper, we propose a novel strategy for conducting small talk with a social robot. Our approach is known as the Tiers of Friendship. It is centered around three core design..."}
+{"title": "Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction", "detail_url": "https://ieeexplore.ieee.org/document/9981811/", "author_list": ["Kevin Spevak", "Zhao Han", "Tom Williams", "Neil T. Dantam", "Kevin Spevak", "Zhao Han", "Tom Williams", "Neil T. Dantam"], "abstract": "Robots that use natural language in collaborative tasks must refer to objects in their environment. Recent work has shown the utility of the linguistic theory of the Givenness Hierarchy (GH) in generating appropriate referring forms. But before referring expression generation, collaborative robots must determine the content and structure of a sequence of utterances, a task known as document planni..."}
+{"title": "Deep Augmentation for Electrode Shift Compensation in Transient High-density sEMG: Towards Application in Neurorobotics", "detail_url": "https://ieeexplore.ieee.org/document/9981786/", "author_list": ["Tianyun Sun", "Jacqueline Libby", "JohnRoss Rizzo", "S. Farokh Atashzar", "Tianyun Sun", "Jacqueline Libby", "JohnRoss Rizzo", "S. Farokh Atashzar"], "abstract": "Going beyond the traditional sparse multi-channel peripheral human-machine interface that has been used widely in neurorobotics, high-density surface electromyography (HD-sEMG) has shown significant potential for decoding upper-limb motor control. We have recently proposed heterogeneous temporal dilation of LSTM in a deep neural network architecture for a large number of gestures (>60), securing s..."}
+{"title": "Analysis of User Behavior and Workload During Simultaneous Tele-operation of Multiple Mobile Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9981934/", "author_list": ["Tatsuya Aoki", "Tomoaki Nakamura", "Takayuki Nagai", "Tatsuya Aoki", "Tomoaki Nakamura", "Takayuki Nagai"], "abstract": "This paper discusses the tele-operation system for multiple mobile manipulators. If a single person could freely tele-operate multiple mobile manipulators simultaneously, it would be a great step toward the goal of \u201cavatar-symbiotic society\u201d allowing people to live beyond the constraints of their bodies, space, and time. At present, however, such a tele-operation system has not been developed. The..."}
+{"title": "Variable Impedance Control for Safety and Usability in Telemanipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982118/", "author_list": ["Stephan Andreas Schwarz", "Ulrike Thomas", "Stephan Andreas Schwarz", "Ulrike Thomas"], "abstract": "In recent years, haptic telemanipulation has been introduced to control robots remotely with an input device that generates force feedback. Compliant control strategies are needed to ensure safe interaction between humans and robots. Accurate and precise manipulation requires a stiff setup of the impedance parameters, while safety demands for low stiffness. This paper proposes an impedance-based c..."}
+{"title": "Block-based Novel Haptic Data Reduction for Time-delayed Teleoperation", "detail_url": "https://ieeexplore.ieee.org/document/9982156/", "author_list": ["Ming Gui", "Xiao Xu", "Eckehard Steinbach", "Ming Gui", "Xiao Xu", "Eckehard Steinbach"], "abstract": "This work proposes a novel haptic data reduction scheme for time-delayed teleoperation by coding information as blocks. State-of-the-art (SOTA) haptic data reduction approaches are mainly sampled-based schemes. They encode haptic signals sample by sample in order to minimize the introduced coding delay. In contrast, our proposed block-based coding approach transmits a sample block as a single unit..."}
+{"title": "Skill-CPD: Real-time Skill Refinement for Shared Autonomy in Manipulator Teleoperation", "detail_url": "https://ieeexplore.ieee.org/document/9982077/", "author_list": ["Edwin Babaians", "Dong Yang", "Mojtaba Karimi", "Xiao Xu", "Serkut Ayvasik", "Eckehard Steinbach", "Edwin Babaians", "Dong Yang", "Mojtaba Karimi", "Xiao Xu", "Serkut Ayvasik", "Eckehard Steinbach"], "abstract": "Advanced wireless communication networks provide lower latency and a higher transmission rate. Although this is an enabler for many new teleoperation applications, the risk of network instability or packet drop is still unavoidable. Real-time manipulator teleoperation requires data transmission with no discontinuity. Shared autonomy (SA) is a standard method to mitigate this issue. In this way, if..."}
+{"title": "Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework", "detail_url": "https://ieeexplore.ieee.org/document/9981290/", "author_list": ["Jin Cheng", "Firas Abi-Farraj", "Farbod Farshidian", "Marco Hutter", "Jin Cheng", "Firas Abi-Farraj", "Farbod Farshidian", "Marco Hutter"], "abstract": "Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This relatively slow update rate hinders the possibility of stable haptic teleoperation of such systems since the slow feedback loops can cause instabilities and loss of tr..."}
+{"title": "Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators", "detail_url": "https://ieeexplore.ieee.org/document/9982220/", "author_list": ["Davide Torielli", "Luca Muratore", "Nikos Tsagarakis", "Davide Torielli", "Luca Muratore", "Nikos Tsagarakis"], "abstract": "The teleoperation of mobile manipulators may pose significant challenges, demanding complex interfaces and causing a substantial burden to the human operator due to the need to switch continuously from the manipulation of the arm to the control of the mobile platform. Hence, several works have considered to exploit shared control techniques to overcome this issue and, in general, to facilitate the..."}
+{"title": "Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform", "detail_url": "https://ieeexplore.ieee.org/document/9981383/", "author_list": ["Andrew SaLoutos", "Elijah Stanger\u2013Jones", "Sangbae Kim", "Andrew SaLoutos", "Elijah Stanger\u2013Jones", "Sangbae Kim"], "abstract": "We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide highly transparent force feedback. The end-effector has bimodal force sensors that measure 3-axis force information and 2-dimensional contact location. This inf..."}
+{"title": "Design Interface Mapping for Efficient Free-form Tele-manipulation", "detail_url": "https://ieeexplore.ieee.org/document/9982149/", "author_list": ["Achyuthan Unni Krishnan", "Tsung-Chi Lin", "Zhi Li", "Achyuthan Unni Krishnan", "Tsung-Chi Lin", "Zhi Li"], "abstract": "Motion tracking interfaces are intuitive for free-form teleoperation tasks. However, efficient manipulation control can be difficult with such interfaces because of issues like the interference of unintended motions and the limited precision of human motion control. The limitation in control efficiency reduces the operator's performance and increases their workload and frustration during robot tel..."}
+{"title": "DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-aware Flow", "detail_url": "https://ieeexplore.ieee.org/document/9981418/", "author_list": ["Xin Jing", "Xiaqing Ding", "Rong Xiong", "Huanjun Deng", "Yue Wang", "Xin Jing", "Xiaqing Ding", "Rong Xiong", "Huanjun Deng", "Yue Wang"], "abstract": "Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration methods should be able to extract information from the environment to construct the cross-modal data association. Convolutional neural networks (CNNs) have powerful f..."}
+{"title": "CSA-SVM method for internal cavitation defects detection and its application of district heating pipes", "detail_url": "https://ieeexplore.ieee.org/document/9981830/", "author_list": ["Yanran Chen", "Shugen Ma", "Longchuan Li", "Zhiqing Li", "Yulin Yang", "Yanran Chen", "Shugen Ma", "Longchuan Li", "Zhiqing Li", "Yulin Yang"], "abstract": "The goal of this paper is to develop an ultrasonic detection device that can be mounted on an underwater snake vehicle (USV) for underwater district heating pipe (DHP) detection in the future. Ultrasonic detection technology (UDT) is the detection means used, and the cavitation defects in polyurethane (PUR) layer of DHPs are the object being detected. Due to the large thickness of PUR layer and th..."}
+{"title": "Industrial Robot Parameter Identification using a Constrained Instrumental Variable Method", "detail_url": "https://ieeexplore.ieee.org/document/9981816/", "author_list": ["Fabio Ardiani", "Alexandre Janot", "Mourad Benoussaad", "Fabio Ardiani", "Alexandre Janot", "Mourad Benoussaad"], "abstract": "Robot identification is a prolific topic that has a long history with results spanning recent decades. Recent years have witnessed a renew of interest in this problem due in part to a rapid increase in robotic hardware platforms capable of accurate model-based control. The most popular methods exploit the fact that the inverse dynamic model is linear to the dynamic parameters. Because we identify ..."}
+{"title": "TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis", "detail_url": "https://ieeexplore.ieee.org/document/9981651/", "author_list": ["Haohao Hu", "Fengze Han", "Frank Bieder", "Jan-Hendrik Pauls", "Christoph Stiller", "Haohao Hu", "Fengze Han", "Frank Bieder", "Jan-Hendrik Pauls", "Christoph Stiller"], "abstract": "In this paper, we present TEScalib, a novel extrinsic self-calibration approach of LiDAR and stereo camera using the geometric and photometric information of surrounding environments without any calibration targets for automated driving vehicles. Since LiDAR and stereo camera are widely used for sensor data fusion on automated driving vehicles, their extrinsic calibration is highly important. Howe..."}
+{"title": "Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-camera Using an Orthogonal Trihedron", "detail_url": "https://ieeexplore.ieee.org/document/9981482/", "author_list": ["Zhengbin Li", "Haiqing Dong", "Dong Liu", "Yabin Ding", "Zhengbin Li", "Haiqing Dong", "Dong Liu", "Yabin Ding"], "abstract": "2D laser range-finders and depth-cameras are usually equipped on service robots. But there are rarely calibration methods of them. This paper proposes an extrinsic calibration method of a 2D laser range-finder and a depth-camera using an orthogonal trihedron. The trihedron with orthogonal assumptions is taken as a reference frame to roughly estimate the relative pose between the sensors by solving..."}
+{"title": "Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor", "detail_url": "https://ieeexplore.ieee.org/document/9981747/", "author_list": ["Wonjeong Seo", "Haseok Lee", "Jungsu Choi", "Wonjeong Seo", "Haseok Lee", "Jungsu Choi"], "abstract": "Wearable robots have been developed to aid or substitute the gait locomotion of humans. To assist gait locomotion based on the intention of a wearer, a gait pattern analysis is required with a wearable sensor by measuring body information, i.e., a joint angular velocity. However, measuring a precise joint angular velocity is difficult because the attachment position of a sensor has a curvature and..."}
+{"title": "Visual-Inertial-Aided Online MAV System Identification", "detail_url": "https://ieeexplore.ieee.org/document/9982263/", "author_list": ["Chuchu Chen", "Yulin Yang", "Patrick Geneva", "Woosik Lee", "Guoquan Huang", "Chuchu Chen", "Yulin Yang", "Patrick Geneva", "Woosik Lee", "Guoquan Huang"], "abstract": "System modeling and parameter identification of micro aerial vehicles (MAV) are crucial for robust autonomy, especially under highly dynamic motions. Visual-inertial-aided online parameter identification has recently seen research attention due to the demanding of adaptation to platform configuration changes with minimal onboard sensor requirements. To this end, we design an online MAV system iden..."}
+{"title": "Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles using Static Objects Information", "detail_url": "https://ieeexplore.ieee.org/document/9981606/", "author_list": ["Brahayam Ponton", "Magda Ferri", "Lars K\u00f6nig", "Marcus Bartels", "Brahayam Ponton", "Magda Ferri", "Lars K\u00f6nig", "Marcus Bartels"], "abstract": "For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately determined. Traditional calibration methods are based on: 1) using targets specifically designed for calibration purposes in controlled environments, 2) optimizi..."}
+{"title": "Drift Reduced Navigation with Deep Explainable Features", "detail_url": "https://ieeexplore.ieee.org/document/9981330/", "author_list": ["Mohd Omama", "Sripada V. S. Sundar", "Sandeep Chinchali", "Arun Kumar Singh", "K. Madhava Krishna", "Mohd Omama", "Sripada V. S. Sundar", "Sandeep Chinchali", "Arun Kumar Singh", "K. Madhava Krishna"], "abstract": "Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably high levels of drift (i.e., localization error) when AVs observe few visually distinct features or encounter occlusions due to dynamic obstacles. This paper argu..."}
+{"title": "A Robust and Fast Occlusion-based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments", "detail_url": "https://ieeexplore.ieee.org/document/9982059/", "author_list": ["Nicholas Mohammad", "Nicola Bezzo", "Nicholas Mohammad", "Nicola Bezzo"], "abstract": "Navigation through unknown, cluttered environments is a fundamental and challenging task for autonomous vehicles as they must deal with a myriad of obstacle configurations typically unknown a priori. Challenges arise because obstacles of unknown shapes and dimensions can create occlusions limiting sensor field of view and leading to uncertainty in motion planning. In this paper we propose to lever..."}
+{"title": "Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors", "detail_url": "https://ieeexplore.ieee.org/document/9981518/", "author_list": ["Yunfan Ren", "Fangcheng Zhu", "Wenyi Liu", "Zhepei Wang", "Yi Lin", "Fei Gao", "Fu Zhang", "Yunfan Ren", "Fangcheng Zhu", "Wenyi Liu", "Zhepei Wang", "Yi Lin", "Fei Gao", "Fu Zhang"], "abstract": "Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion planning algorithm based on the corridor-constrained minimum control effort trajectory optimization (MINCO) framework. Specifically, we use a series of overlappi..."}
+{"title": "Temporal Context for Robust Maritime Obstacle Detection", "detail_url": "https://ieeexplore.ieee.org/document/9982043/", "author_list": ["Lojze \u017dust", "Matej Kristan", "Lojze \u017dust", "Matej Kristan"], "abstract": "Robust maritime obstacle detection is essential for fully autonomous unmanned surface vehicles (USVs). The currently widely adopted segmentation-based obstacle detection methods are prone to misclassification of object reflections and sun glitter as obstacles, producing many false positive detections, effectively rendering the methods impractical for USV navigation. However, water-turbulence-induc..."}
+{"title": "Information-Aware Guidance for Magnetic Anomaly based Navigation", "detail_url": "https://ieeexplore.ieee.org/document/9981709/", "author_list": ["J. Humberto Ramos", "Jaejeong Shin", "Kyle Volle", "Paul Buzaud", "Kevin Brink", "Prashant Ganesh", "J. Humberto Ramos", "Jaejeong Shin", "Kyle Volle", "Paul Buzaud", "Kevin Brink", "Prashant Ganesh"], "abstract": "In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumu-lation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to achieve a higher degree of autonomy and reliability, both in terms of decision making and safety. This paper details the use of two navigation systems for aut..."}
+{"title": "AIB-MDP: Continuous Probabilistic Motion Planning for Automated Vehicles by Leveraging Action Independent Belief Spaces", "detail_url": "https://ieeexplore.ieee.org/document/9981696/", "author_list": ["Maximilian Naumann", "Christoph Stiller", "Maximilian Naumann", "Christoph Stiller"], "abstract": "While automated research vehicles are already populating the roads, their commercial availability at scale is still to come. Presumably, one of the key challenges is to derive behaviors that are safe and comfortable but at the same time not overcautious, despite considerable uncertainties. These uncertainties stem from imperfect perception, occlusions and limited sensor range, but also from the un..."}
+{"title": "InCOpt: Incremental Constrained Optimization using the Bayes Tree", "detail_url": "https://ieeexplore.ieee.org/document/9982178/", "author_list": ["Mohamad Qadri", "Paloma Sodhi", "Joshua G. Mangelson", "Frank Dellaert", "Michael Kaess", "Mohamad Qadri", "Paloma Sodhi", "Joshua G. Mangelson", "Frank Dellaert", "Michael Kaess"], "abstract": "In this work, we investigate the problem of incre-mentally solving constrained non-linear optimization problems formulated as factor graphs. Prior incremental solvers were either restricted to the unconstrained case or required periodic batch relinearizations of the objective and constraints which are expensive and detract from the online nature of the algorithm. We present InCOpt, an Augmented La..."}
+{"title": "S3LAM: Structured Scene SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981370/", "author_list": ["Mathieu Gonzalez", "Eric Marchand", "Amine Kacete", "Jerome Royan", "Mathieu Gonzalez", "Eric Marchand", "Amine Kacete", "Jerome Royan"], "abstract": "We propose a new SLAM system that uses the semantic segmentation of objects and structures in the scene. Semantic information is relevant as it contains high level information which may make SLAM more accurate and robust. Our contribution is twofold: i) A new SLAM system based on ORB-SLAM2 that creates a semantic map made of clusters of points corresponding to objects instances and structures in t..."}
+{"title": "Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981496/", "author_list": ["Shuxiang Xie", "Ryoichi Ishikawa", "Ken Sakurada", "Masaki Onishi", "Takeshi Oishi", "Shuxiang Xie", "Ryoichi Ishikawa", "Ken Sakurada", "Masaki Onishi", "Takeshi Oishi"], "abstract": "Perceptual Aliasing is one of the main problems in simultaneous localization and mapping (SLAM). Wrong associations between different places may lead to failure of the whole map. Research on structure information is rarely investigated among existing solutions to this problem. In cases of visual SLAM without sensors, such as LiDAR or Inertial Measurement Unit (IMU), structure information can rarel..."}
+{"title": "Efficient 2D Graph SLAM for Sparse Sensing", "detail_url": "https://ieeexplore.ieee.org/document/9981200/", "author_list": ["Hanzhi Zhou", "Zichao Hu", "Sihang Liu", "Samira Khan", "Hanzhi Zhou", "Zichao Hu", "Sihang Liu", "Samira Khan"], "abstract": "Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser range-finders (LiDARs). However, these sensors are not suitable for resource-limited nano robots, which become increasingly capable and ubiquitous nowadays, an..."}
+{"title": "Spectral Measurement Sparsification for Pose-Graph SLAM", "detail_url": "https://ieeexplore.ieee.org/document/9981584/", "author_list": ["Kevin J. Doherty", "David M. Rosen", "John J. Leonard", "Kevin J. Doherty", "David M. Rosen", "John J. Leonard"], "abstract": "Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of \u201clifelong\u201d SLAM, particularly under memory or computation constraints, a robot must be able to determine what information should be retained and what can safely be forgotten. In graph-based SLAM, the number of edges (measurements) in a pose graph determines b..."}
+{"title": "BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend", "detail_url": "https://ieeexplore.ieee.org/document/9982015/", "author_list": ["Tsang-Kai Chang", "Alexandra Pogue", "Ankur Mehta", "Tsang-Kai Chang", "Alexandra Pogue", "Ankur Mehta"], "abstract": "In this paper we present BOEM-SLAM, a backend for visual-inertial SLAM systems capable of creating a globally consistent trajectory and map without retaining the entire history of data. By leveraging the hidden Markov model structure, BOEM-SLAM can summarize historical data into sufficient statistics and then discard it. As a data-efficient algorithm, BOEM-SLAM addresses the growing computational ..."}
+{"title": "Robotic Auscultation over Clothes for Eliminating Gender Bias", "detail_url": "https://ieeexplore.ieee.org/document/9981054/", "author_list": ["Ryosuke Tsumura", "Akihiro Umezawa", "Yuko Morishima", "Hiroyasu Iwata", "Yoshihiko Koseki", "Naotaka Nitta", "Kiyoshi Yoshinaka", "Ryosuke Tsumura", "Akihiro Umezawa", "Yuko Morishima", "Hiroyasu Iwata", "Yoshihiko Koseki", "Naotaka Nitta", "Kiyoshi Yoshinaka"], "abstract": "During auscultation, patients in difficult age often feel embarrassed and uncomfortable when exposing their chests to doctors of the different gender and being touched physically by doctors. We assume that an auscultation with robot technology can address the aforementioned gender-related issue. Toward eliminating gender bias during auscultation exam, this paper proposes a robotic platform which e..."}
+{"title": "Magnetic microrobot control using an adaptive fuzzy sliding-mode method", "detail_url": "https://ieeexplore.ieee.org/document/9981438/", "author_list": ["Alireza Mousavi", "Hesam Khaksar", "Awais Ahmed", "Hongsoo Choi", "Ali Kafash Hoshiar", "Alireza Mousavi", "Hesam Khaksar", "Awais Ahmed", "Hongsoo Choi", "Ali Kafash Hoshiar"], "abstract": "The magnetic medical microrobots are influenced by diverse factors such as the medium, the geometry of the microrobot, and the imaging procedure. It is worth noting that the size limitations make it difficult or even impossible to obtain reliable physical properties of the system. In this research, to achieve a precise microrobot control using minimum knowledge about the system, an Adaptive Fuzzy ..."}
+{"title": "Excavation of Fragmented Rocks with Multi-modal Model-based Reinforcement Learning", "detail_url": "https://ieeexplore.ieee.org/document/9981537/", "author_list": ["Yifan Zhu", "Liyang Wang", "Liangjun Zhang", "Yifan Zhu", "Liyang Wang", "Liangjun Zhang"], "abstract": "This paper presents a multi-modal model-based reinforcement learning (MBRL) approach to the excavation of fragmented rocks, which are very challenging to model due to their highly variable sizes and geometries, and visual occlusions. A multi-modal recurrent neural network (RNN) learns the dynamics of bucket-terrain interaction from a small physical dataset, with a discrete set of motion primitives..."}
+{"title": "Model Learning and Predictive Control for Autonomous Obstacle Reduction via Bulldozing", "detail_url": "https://ieeexplore.ieee.org/document/9981911/", "author_list": ["W. Jacob Wagner", "Katherine Driggs-Campbell", "Ahmet Soylemezoglu", "W. Jacob Wagner", "Katherine Driggs-Campbell", "Ahmet Soylemezoglu"], "abstract": "We investigate how employing model learning methods in concert with model predictive control (MPC) can be used to automate obstacle reduction to mitigate risks to Combat Engineers operating construction equipment in an active battlefield. We focus on the task of earthen berm removal using a bladed vehicle. We introduce a novel data-driven formulation for earthmoving dynamics that enables predictio..."}
+{"title": "External load estimation of hydraulically driven construction machinery from cylinder pressures and link accelerations", "detail_url": "https://ieeexplore.ieee.org/document/9981529/", "author_list": ["Naotake Shimamura", "Raita Katayama", "Hikaru Nagano", "Yuichi Tazaki", "Yasuyoshi Yokokohji", "Naotake Shimamura", "Raita Katayama", "Hikaru Nagano", "Yuichi Tazaki", "Yasuyoshi Yokokohji"], "abstract": "Remotely controlled hydraulically driven robots are expected to play an important role in extreme environments such as disaster sites, and force feedback is effective for improving the fidelity of the remote environment and the work efficiency. However, it is not reasonable to attach a force sensor directly to the end-point of a hydraulically driven robot. In a previous study, the authors showed t..."}
+{"title": "Connected Reconfiguration of Polyominoes Amid Obstacles using RRT", "detail_url": "https://ieeexplore.ieee.org/document/9981184/", "author_list": ["Javier Garcia", "Michael Yannuzzi", "Peter Kramer", "Christian Rieck", "Aaron T. Becker", "Javier Garcia", "Michael Yannuzzi", "Peter Kramer", "Christian Rieck", "Aaron T. Becker"], "abstract": "This paper investigates using a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of discrete, cellular structures using mobile robots, there are constraints that determine what tiles can be picked up and where they can be dropped off during reconfigura..."}
+{"title": "Autonomous Mobile 3D Printing of Large-Scale Trajectories", "detail_url": "https://ieeexplore.ieee.org/document/9982274/", "author_list": ["Julius Sustarevas", "Dimitrios Kanoulas", "Simon Julier", "Julius Sustarevas", "Dimitrios Kanoulas", "Simon Julier"], "abstract": "Mobile 3D Printing (M3DP), using printing-in-motion, is a powerful paradigm for automated construction. A mobile robot, equipped with its own power, materials and an arm-mounted extruder, simultaneously navigates and creates its environment. Such systems can be highly scalable, parallelizable and flexible. However, planning and controlling the motion of the arm and base at the same time is challen..."}
+{"title": "Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles", "detail_url": "https://ieeexplore.ieee.org/document/9981828/", "author_list": ["Tetsu Akegawa", "Kazunori Ohno", "Shotaro Kojima", "Naoto Miyamoto", "Taro Suzuki", "Tomohiro Komatsu", "Takahiro Suzuki", "Yukinori Shibata", "Kimitaka Asano", "Satoshi Tadokoro", "Tetsu Akegawa", "Kazunori Ohno", "Shotaro Kojima", "Naoto Miyamoto", "Taro Suzuki", "Tomohiro Komatsu", "Takahiro Suzuki", "Yukinori Shibata", "Kimitaka Asano", "Satoshi Tadokoro"], "abstract": "A large-scale dump truck that automatically transports earth and sand in cooperation with a human-operated backhoe is of interest to the construction industry. A human-operated dump truck generally drives slightly past the desired loading position and then backs up to it for loading the sediment. The turning and loading positions are subjectively decided according to the working posture of the bac..."}
+{"title": "Towards Autonomous Visual Navigation in Arable Fields", "detail_url": "https://ieeexplore.ieee.org/document/9981299/", "author_list": ["Alireza Ahmadi", "Michael Halstead", "Chris McCool", "Alireza Ahmadi", "Michael Halstead", "Chris McCool"], "abstract": "Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and can be impacted by lack of coverage. As such, autonomous navigation through sensors that can interpret their environment (such as cameras) is important to achie..."}
+{"title": "STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations", "detail_url": "https://ieeexplore.ieee.org/document/9981279/", "author_list": ["Jiayi Wei", "Jarrett Holtz", "Isil Dillig", "Joydeep Biswas", "Jiayi Wei", "Jarrett Holtz", "Isil Dillig", "Joydeep Biswas"], "abstract": "Accurate kinodynamic models play a crucial role in many robotics applications such as off-road navigation and high-speed driving. Many state-of-the-art approaches for learning stochastic kinodynamic models, however, require precise measurements of robot states as labeled input/output examples, which can be hard to obtain in outdoor settings due to limited sensor capabilities and the absence of gro..."}
+{"title": "Smart Explorer: Recognizing Objects in Dense Clutter via Interactive Exploration", "detail_url": "https://ieeexplore.ieee.org/document/9981813/", "author_list": ["Zhenyu Wu", "Ziwei Wang", "Zibu Wei", "Yi Wei", "Haibin Yan", "Zhenyu Wu", "Ziwei Wang", "Zibu Wei", "Yi Wei", "Haibin Yan"], "abstract": "Recognizing objects in dense clutter accurately plays an important role to a wide variety of robotic manipulation tasks including grasping, packing, rearranging and many others. However, conventional visual recognition models usually miss objects because of the significant occlusion among instances and causes incorrect prediction due to the visual ambiguity with the high object crowdedness. In thi..."}
+{"title": "LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9982272/", "author_list": ["Guohao Peng", "Yifeng Huang", "Heshan Li", "Zhenyu Wu", "Danwei Wang", "Guohao Peng", "Yifeng Huang", "Heshan Li", "Zhenyu Wu", "Danwei Wang"], "abstract": "Visual Place Recognition (VPR) has become an indispensable capacity for mobile robots to operate in large-scale environments. Existing methods in this field mostly focus on exploring high-performance encoding strategies, while few attempts are devoted to lightweight models that balance per-formance and computational cost. In this work, we propose a Lightweight Self-attentional Distillation Network..."}
+{"title": "STUN: Self-Teaching Uncertainty Estimation for Place Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981546/", "author_list": ["Kaiwen Cai", "Chris Xiaoxuan Lu", "Xiaowei Huang", "Kaiwen Cai", "Chris Xiaoxuan Lu", "Xiaowei Huang"], "abstract": "Place recognition is key to Simultaneous Localization and Mapping (SLAM) and spatial perception. However, a place recognition in the wild often suffers from erroneous predictions due to image variations, e.g., changing viewpoints and street appearance. Integrating uncertainty estimation into the life cycle of place recognition is a promising method to mitigate the impact of variations on place rec..."}
+{"title": "ReINView: Re-interpreting Views for Multi-view 3D Object Recognition", "detail_url": "https://ieeexplore.ieee.org/document/9981777/", "author_list": ["Ruchang Xu", "Wei Ma", "Qing Mil", "Hongbin Zha", "Ruchang Xu", "Wei Ma", "Qing Mil", "Hongbin Zha"], "abstract": "Multi-view-based 3D object recognition is important in robot-environment interaction. However, recent methods simply extract features from each view via convolutional neural networks (CNNs) and then fuse these features together to make predictions. These methods ignore the inherent ambiguities of each view caused due to 3D-2D projection. To address this problem, we propose a novel deep framework f..."}
+{"title": "Dual-camera High Magnification Surveillance System with Non-delay Gaze Control and Always-in-focus Function in Indoor Scenes", "detail_url": "https://ieeexplore.ieee.org/document/9981485/", "author_list": ["Tianyi Zhang", "Shaopeng Hu", "Kohei Shimasaki", "Idaku Ishii", "Akio Namiki", "Tianyi Zhang", "Shaopeng Hu", "Kohei Shimasaki", "Idaku Ishii", "Akio Namiki"], "abstract": "This study proposes a dual-camera system for indoor high magnification surveillance which is capable of achieving always-in-focus and non-delay gaze control based on high-speed vision. The users are enabled to move the mouse freely on the wide-view screen while observing its in-focal zoom-in monitoring video in real-time. The proposed system consists of a wide-angle camera for wide-view and a Galv..."}
+{"title": "Mapping of Spatiotemporal Scalar Fields by Mobile Robots using Gaussian Process Regression", "detail_url": "https://ieeexplore.ieee.org/document/9981548/", "author_list": ["Thomas M. C. Sears", "Joshua A. Marshall", "Thomas M. C. Sears", "Joshua A. Marshall"], "abstract": "Spatiotemporal maps are data-driven estimates of time changing phenomena. For environmental science, rather than collect data from an array of static sensors, a mobile sensor platform could reduce setup time and cost, maintain flexibility to be deployed to any area of interest, and provide active feedback during observations. While promising, mapping is challenging with mobile sensors because vehi..."}
+{"title": "PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum", "detail_url": "https://ieeexplore.ieee.org/document/9981274/", "author_list": ["Seyed Amir Tafrishi", "Ankit A. Ravankar", "Yasuhisa Hirata", "Seyed Amir Tafrishi", "Ankit A. Ravankar", "Yasuhisa Hirata"], "abstract": "Quantifying the safety of the human body ori-entation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information about stability and normality of human body orientations with real-time risk assessment. Also, this information can be used in cooperative robots and monitoring ..."}
+{"title": "Regularized Deep Signed Distance Fields for Reactive Motion Generation", "detail_url": "https://ieeexplore.ieee.org/document/9981456/", "author_list": ["Puze Liu", "Kuo Zhang", "Davide Tateo", "Snehal Jauhri", "Jan Peters", "Georgia Chalvatzaki", "Puze Liu", "Kuo Zhang", "Davide Tateo", "Snehal Jauhri", "Jan Peters", "Georgia Chalvatzaki"], "abstract": "Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and real-time collisions with the world around them. Distance-based constraints are fundamental for enabling robots to plan their actions and act safely, protecting..."}
+{"title": "Safe and Ergonomic Human-Drone Interaction in Warehouses", "detail_url": "https://ieeexplore.ieee.org/document/9981469/", "author_list": ["Silvia Proia", "Graziana Cavone", "Antonio Camposeo", "Fabio Ceglie", "Raffaele Carli", "Mariagrazia Dotoli", "Silvia Proia", "Graziana Cavone", "Antonio Camposeo", "Fabio Ceglie", "Raffaele Carli", "Mariagrazia Dotoli"], "abstract": "This paper presents an application of human-drone interaction (HDI) for inventory management in a ware-house 4.0 that aims at improving the operators' safety and well-being together with increasing efficiency and reducing production costs. In our work, the speed and separation monitoring (SSM) methodology is applied for the first time to HDI, in analogy to the human-robot interaction (HRI) ISO saf..."}
+{"title": "Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space", "detail_url": "https://ieeexplore.ieee.org/document/9981904/", "author_list": ["Jonathan Vorndamme", "Luis Figueredo", "Sami Haddadin", "Jonathan Vorndamme", "Luis Figueredo", "Sami Haddadin"], "abstract": "In order to transform a robot into an intelligent machine it needs to be enabled to react to unforeseen events (most importantly collisions) during task execution and have a plan on how to continue the task afterwards. This requires a flexible operational framework that allows to define adaptive reactions and interactions with the motion generation and task planning stage. Within this work we firs..."}
+{"title": "Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton using Rate-Limiting", "detail_url": "https://ieeexplore.ieee.org/document/9981943/", "author_list": ["Jianwei Sun", "Peter Walker Ferguson", "Jacob Rosen", "Jianwei Sun", "Peter Walker Ferguson", "Jacob Rosen"], "abstract": "In physical human-robot interaction (pHRI) enabled by admittance control, delay-induced oscillations arising from both the neuromuscular time-delays of the human and electromechanical delays of the robot can cause unsafe instability in the system. This study presents and evaluates rate-limiting as a means to overcome such instability, and provides a new perspective on how rate-limiting can benefit..."}
+{"title": "Safe and Efficient Exploration of Human Models During Human-Robot Interaction", "detail_url": "https://ieeexplore.ieee.org/document/9981085/", "author_list": ["Ravi Pandya", "Changliu Liu", "Ravi Pandya", "Changliu Liu"], "abstract": "Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in order to act both safely and efficiently. This paper studies methods that enable a robot to safely explore the space of a human-robot system to improve the robot..."}
+{"title": "Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration", "detail_url": "https://ieeexplore.ieee.org/document/9981490/", "author_list": ["Hosam Alagi", "Serkan Ergun", "Yitao Ding", "Tom P. Huck", "Ulrike Thomas", "Hubert Zangl", "Bj\u00f6rn Hein", "Hosam Alagi", "Serkan Ergun", "Yitao Ding", "Tom P. Huck", "Ulrike Thomas", "Hubert Zangl", "Bj\u00f6rn Hein"], "abstract": "A robot must comply with very restrictive safety standards in close human-robot collaboration applications. These standards limit the robot's performance because of speed reductions to avoid potentially large forces exerted on humans during collisions. On-robot capacitive proximity sensors (CPS) can serve as a solution to allow higher speeds and thus better productivity. They allow early reactive ..."}
+{"title": "Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints", "detail_url": "https://ieeexplore.ieee.org/document/9981969/", "author_list": ["Grant Gibson", "Oluwami Dosunmu-Ogunbi", "Yukai Gong", "Jessy Grizzle", "Grant Gibson", "Oluwami Dosunmu-Ogunbi", "Yukai Gong", "Jessy Grizzle"], "abstract": "This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and inadequate tangential reaction forces at the stance foot can cause slippages. We address these challenges by combining, in a novel manner, a model based on an Angu..."}
+{"title": "Robust Contact State Estimation in Humanoid Walking Gaits", "detail_url": "https://ieeexplore.ieee.org/document/9981354/", "author_list": ["Stylianos Piperakis", "Michael Maravgakis", "Dimitrios Kanoulas", "Panos Trahanias", "Stylianos Piperakis", "Michael Maravgakis", "Dimitrios Kanoulas", "Panos Trahanias"], "abstract": "In this article, we propose a deep learning frame-work that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contact). The proposed framework employs solely propriocep-tive sensing and although it relies on simulate..."}
+{"title": "Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots", "detail_url": "https://ieeexplore.ieee.org/document/9981206/", "author_list": ["Pierluigi Arpenti", "Alejandro Donaire", "Fabio Ruggiero", "Vincenzo Lippiello", "Pierluigi Arpenti", "Alejandro Donaire", "Fabio Ruggiero", "Vincenzo Lippiello"], "abstract": "This paper presents a novel control approach, based on the interconnection and damping-assignment passivity-based control (IDA-PBC), to achieve stable and periodic walking for underactuated planar biped robots with one degree of underactuation. The system's physical structure is preserved by assigning a target port-Hamiltonian dynamics to the closed-loop system, which also ensures passivity. The c..."}
+{"title": "Learning Dynamic Bipedal Walking Across Stepping Stones", "detail_url": "https://ieeexplore.ieee.org/document/9981884/", "author_list": ["Helei Duan", "Ashish Malik", "Mohitvishnu S. Gadde", "Jeremy Dao", "Alan Fern", "Jonathan Hurst", "Helei Duan", "Ashish Malik", "Mohitvishnu S. Gadde", "Jeremy Dao", "Alan Fern", "Jonathan Hurst"], "abstract": "In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively simple open-loop, perception-free scenarios. Our main contribution is a more advanced learning approach that enables real-world demonstrations, using the Cassie ..."}
+{"title": "Humanoid Balance Control using Centroidal Angular Momentum based on Hierarchical Quadratic Programming", "detail_url": "https://ieeexplore.ieee.org/document/9981036/", "author_list": ["Myeong-Ju Kim", "Daegyu Lim", "Gyeongjae Park", "Jaeheung Park", "Myeong-Ju Kim", "Daegyu Lim", "Gyeongjae Park", "Jaeheung Park"], "abstract": "Maintaining balance to external pushes is one of the most important features for a humanoid to walk in a real environment. In particular, methods for counteracting to pushes using the centroidal angular momentum (CAM) control have been actively developed. In this paper, a CAM control scheme based on hierarchical quadratic programming (HQP) is proposed. The scheme of the CAM control consists of CAM..."}
+{"title": "Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation", "detail_url": "https://ieeexplore.ieee.org/document/9982009/", "author_list": ["Victor C. Paredes", "Ayonga Hereid", "Victor C. Paredes", "Ayonga Hereid"], "abstract": "We present a framework to generate periodic trajectory references for a 3D under-actuated bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural regulation. We use the LIP template model to estimate the robot's center of mass (CoM) position and velocity at the end of the current step, and formulate a discrete controller that determines the next footstep locatio..."}
+{"title": "Improved biped walking performance around the kinematic singularities of biomimetic four-bar knees", "detail_url": "https://ieeexplore.ieee.org/document/9982027/", "author_list": ["Aikaterini Smyrli", "Evangelos Papadopoulos", "Aikaterini Smyrli", "Evangelos Papadopoulos"], "abstract": "This paper studies the effects of replacing pin-joint knees in passive dynamic bipedal walkers with biomimetic four-bar knees. The kinetic model of the four-bar knees is presented in detail, and an analytical model of the passive walking dynamics is derived. The resulting four-bar kneed biped is compared with a pin-joint kneed walker, for their passive walking performance. The geometry of the four..."}