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ICRA2021-paper-list

The 2021 International Conference on Robotics and Automation (ICRA 2021) has taken place from May 30 to June 5, 2021 at the brand new magnificent Xi’an International Convention and Exhibition Center in Xi’an China.

The ICRA 2021 conference promises to be a great event with excellent technical and social programs. Paper manuscripts reporting original research results on all aspects of robotics and automation are welcome. Proposals for tutorials and workshops, and organized sessions, on new topics or innovative applications are invited. Video clips iIIustrating new and exciting results are invited for video sessions. Exhibits from both industries and research laboratories are welcome. Please visit the official conference website for detailed instructions for paper, proposal, video, and exhibit submissions and for competition information. The IEEE ICRA 2021 will be held in a hybrid format, including both on-site and cloud meetings.

This list is edited by PaopaoRobot, 泡泡机器人 , the Chinese academic nonprofit organization. Welcome to follow our github and our WeChat Public Platform Account ( paopaorobot_slam ). Of course, you could contact with @Yvon Shong.

title index
Session TuHT24 : Active Perception in Robotics
Active Bayesian Multi-Class Mapping from Range and Semantic Segmentation Observations 1
Attention-Based Probabilistic Planning with Active Perception 8
Search-Based Planning for Active Sensing in Goal-Directed Coverage Tasks 15
Bearing-Only Active Sensing under Merged Measurements 22
Session TuIT24 : Adaptive Robotic Systems
Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load 31
Adaptive Failure Search Using Critical States from Domain Experts 38
Policy Transfer Via Kinematic Domain Randomization and Adaptation 45
Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics 52
Session TuDT24 : Aerial Robotics
A Tethered Quadrotor UAV-Buoy System for Marine Locomotion 59
Power Line Inspection Tasks with Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications 66
Distributed Formation Estimation Via Pairwise Distance Measurements 74
Distributed Variable-Baseline Stereo SLAM from Two UAVs 82
Session TuET24 : Aerial Robotics: Control I
Fast Sampling-Based Next-Best-View Exploration Algorithm for a MAV 89
Neuromorphic Control for Optic-Flow-Based Landing of MAVs Using the Loihi Processor 96
Event-Driven Vision and Control for UAVs on a Neuromorphic Chip 103
Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots 110
Session TuDT23 : Aerial Robotics: Control II
Adaptive Stiffness Estimation Impedance Control for Achieving Sustained Contact in Aerial Manipulation 117
Model Predictive Control for Dynamic Quadrotor Bearing Formations 124
Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-And-Slide Operations 131
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles 138
Session WeAT18 : Aerial Robotics: Control III
Conquering Textureless with RF-Referenced Monocular Vision for MAV State Estimation 146
Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm 153
Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation 160
Flying with Damaged Wings: The Effect on Flight Capacity and Bio-Inspired Coping Strategies of a Flapping Wing Robot 168
Session TuIT23 : Aerial Robotics: Design and Mechanism I
Collision-Free Vector Field Guidance and MPC for a Fixed-Wing UAV 176
Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions 183
H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF 190
Session TuKT23 : Aerial Robotics: Design and Mechanism II
The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors 197
Aerial Multi-Camera Robotic Jib Crane 203
Design, Sensing, and Control of a Novel UAV Platform for Aerial Drilling and Screwing 209
Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights 217
Session TuFT24 : Aerial Robotics: Detection
Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance 224
GridNet: Image-Agnostic Conditional Anomaly Detection for Indoor Surveillance 231
Autonomous Flying into Buildings in a Firefighting Scenario 239
LoLa-SLAM: Low-latency LiDAR SLAM using Continuous Scan Slicing 246
Session TuJT23 : Aerial Robotics: Learning and Adaptive Systems
Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots 254
CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model 262
Hypergame-Based Adaptive Behavior Path Planning for Combined Exploration and Visual Search 269
Morphologically Adapatative Quad-Rotor Towards Acquiring High-Performance Flight: A Comparative Study and Validation 276
Session TuBT24 : Aerial Robotics: Mechanics and Control I
Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust 283
Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller 290
Data-Driven MPC for Quadrotors 298
Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller 306
Session TuCT24 : Aerial Robotics: Mechanics and Control II
Underwater Stability of a Morphable Aerial-Aquatic Quadrotor with Variable Thruster Angles 314
Development of Flapping Robot with Self-Takeoff from The Ground Capability 321
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments 328
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments 335
Session TuGT24 : Aerial Robotics: Optimization
Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor 355
Optimization-Based Trajectory Planning for Tethered Aerial Robots 362
A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure 369
Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force 377
Session TuAT24 : Aerial Robotics: Planning and Control
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning 384
Real-Time Active Detection of Targets and Path Planning Using UAVs 391
EVA-Planner: Environmental Adaptive Quadrotor Planning 398
EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors 405
Session TuHT23 : Aerial Robotics: Sensing and Control I
MorphEyes: Variable Baseline Stereo for Quadrotor Navigation 413
A Drive-Through Recharging Strategy for a Quadrotor 420
Continuous-time State & Dynamics Estimation Using a Pseudo-Spectral Parameterization 426
Use of a MEMS Differential Pressure Sensor to Detect Ground, Ceiling, and Walls on Small Quadrotors 433
Session TuIT21 : Aerial Robotics: Sensing and Control II
UAV Localization Using Autoencoded Satellite Images 441
Cooperative Transportation of Cable Suspended Payloads with MAVs Using Monocular Vision and Inertial Sensing 449
Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset 458
SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments 467
Session TuHT21 : Aerial Robotics: Space Robotics and Automation
An Anytime Algorithm for Chance Constrained Stochastic Shortest Path Problems and Its Application to Aircraft Routing 475
An Intention Guided Hierarchical Framework for Trajectory-Based Teleoperation of Mobile Robots 482
Distance Estimation Using Self-Induced Noise of an Aerial Vehicle 489
Session WeBT18 : Aerial Robotics: Tracking
ADTrack: Target-Aware Dual Filter Learning for Real-Time Anti-Dark UAV Tracking 496
Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Label 503
Siamese Anchor Proposal Network for High-Speed Aerial Tracking 510
Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing 517
Session TuET22 : Aerial Systems: Mechanics and Control
Novel Omnidirectional Aerial Manipulator with Elastic Suspension: Dynamic Control and Experimental Performance Assessment 525
Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control 533
Design of the High-Payload Flapping Wing Robot E-Flap 540
Fernández, Francisco Javier; Sanchez-Laulhe, Ernesto; Grau, Pedro; Perez Capote, Martin;
Acosta, Jose Angel; Ollero, Anibal Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment 548
Session TuDT22 : Aerial Systems: Multi-Robots
A Multi-UAV System for Detection and Elimination of Multiple Targets 555
Optic Flow-Based Reactive Collision Prevention for MAV Using Fictitious Obstacle Hypothesis 562
Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density 570
Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control 577
Session TuET23 : Aerial Systems: Perception and Autonomy
Combined System Identification and State Estimation for a Quadrotor UAV 585
Geometry-Aware Compensation Scheme for Morphing Drones 592
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events 599
SplatPlanner: Efficient Autonomous Exploration Via Permutohedral Frontier Filtering 608
Session TuAT22 : Applications of Micro and Nano Robotics I
Parallel Actuation of Nanorod Swarm and Nanoparticle Swarm to Different Targets 616
Robotic Micromanipulation for Active Pin Alignment in Electronic Soldering Industry 623
In-Situ Bonding of Multilayer Microfluidic Devices Assisted by a Fully-Automated Aligning System 629
Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector 635
Session TuBT22 : Applications of Micro and Nano Robotics II
Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle 643
Molecular Transport of a Magnetic Nanoparticle Swarm towards Thrombolytic Therapy 649
Efficient Single Cell Mechanical Measurement by Integrating a Cell Arraying Microfluidic Device with Magnetic Tweezer 657
A Portable Acoustofluidic Device for Multifunctional Cell Manipulation and Reconstruction 664
Session TuBT23 : Applications of Robotic Exploration
Design and Soft-Landing Control of a Six-Legged Mobile Repetitive Lander for Lunar Exploration 670
LEAF: Latent Exploration Along the Frontier 677
LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement 685
Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood 693
Session TuFT23 : Automation and Industrial Robotics
Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input 700
Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications 708
The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks 715
In-Process Workpiece Geometry Estimation for Robotic Arc Welding Based on Supervised Learning for Multi-Sensor Inputs 722
Session TuAT0 : Automation Award Session
A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment 729
Session WeAT17 : Automation I
Viko: An Adaptive Gecko Gripper with Vision-Based Tactile Sensor 736
POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking 743
Learning-Based Predictive Path Following Control for Nonlinear Systems under Uncertain Disturbances 750
Thrust Enhancement of Wave-Driven Unmanned Surface Vehicle by Using Asymmetric Foil 758
Session WeBT17 : Automation II
Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot 765
ParametricNet: 6DoF Pose Estimation Network for Parametric Shapes in Stacked Scenarios 772
Optimal Online Dispatch for High-Capacity Shared Autonomous Mobility-On-Demand Systems 779
An Improved Magnetic Spot Navigation for Replacing the Barcode Navigation in Automated Guided Vehicles 786
Session TuJT22 : Automation: Machine Learning I
Model-Based Reinforcement Learning with Provable Safety Guarantees Via Control Barrier Functions 792
Continual Model-Based Reinforcement Learning with Hypernetworks 799
Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction 806
Solving Markov Decision Processes with Partial State Abstractions 813
Session TuKT22 : Automation: Machine Learning II
Exploiting Object Similarity for Robotic Visual Recognition 820
Team Assignment for Heterogeneous Multi-Robot Sensor Coverage through Graph Representation Learning 838
GPR-Based Model Reconstruction System for Underground Utilities Using GPRNet 845
Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter 852
Session TuKT24 : Automation: Manufacturing
Optimizing Part Placement for Improving Accuracy of Robot-Based Additive Manufacturing 859
Automated Mosquito Salivary Gland Extractor for PfSPZ-Based Malaria Vaccine Production 866
Safe Tumbling of Heavy Objects Using a Two-Cable Crane 873
Session TuJT24 : Automation: Performance Metrics
Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort 881
NeilFrom Manual Operation to Collaborative Robot Assembly: An Integrated Model of Productivity and Ergonomic Performance 888
Performance Metrics Calculation for Assembly Systems with Exponential Reliability Machines 896
Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants 902
Mark; Chui, Jackson; Shao, Yuqiao; Huang, Huang; Kotani, Atsunobu; Sharma, Satvik;
Parikh, Rishi; Luo, Michael; Mukherjee, Sandeep; Carpin, Stefano; Viers, Joshua;
Vougioukas, Stavros; Goldberg, Ken
Session TuIT22 : Automation: Sensors and Grasping
Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors 909
Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement 917
Robotic Grasping of Fully-Occluded Objects Using RF Perception 923
A Simulation-Based Grasp Planner for Enabling Robotic Grasping During Composite Sheet Layup 930
Session TuCT23 : Autonomous Driving
IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data 938
HD Map Update for Autonomous Driving With Crowdsourced Data 946
Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles 953
Ground-Aware Monocular 3D Object Detection for Autonomous Driving 960
Session TuCT22 : Autonomous ManipulationPrecise Multi-Modal In-Hand Pose Estimation Using Low-Precision Sensors for Robotic Assembly 968
Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts 975
A Versatile End-Effector for Pick-And-Release of Fabric Parts 982
A Soft Robotic Hand Based on Bellows Actuators for Dishwashing Automation 990
Session TuDT21 : Autonomous Navigation I
Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach 999
Comfortable and Safe Decelerations for a Self-Driving Transit Bus 1005
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift 1012
Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria 1020
Session TuGT22 : Autonomous Navigation II
Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways 1028
Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement Learning 1036
Interpretable Goal-based Prediction and Planning for Autonomous Driving 1043
Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles 1050
Session TuFT22 : Autonomous Navigation III
Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles 1057
What Data Do We Need for Training an AV Motion Planner? 1066
Learn to Path: Using Neural Networks to Predict Dubins Path Characteristics for Aerial Vehicles in Wind 1073
Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation among Pedestrians 1080
Session TuJT21 : Autonomous Vehicle Navigation I
Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition 1088
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows 1095
UPSLAM: Union of Panoramas SLAM 1103
RELLIS-3D Dataset: Data, Benchmarks and Analysis 1110
Session TuKT21 : Autonomous Vehicle Navigation II
Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation 1117
Learning Barrier Functions with Memory for Robust Safe Navigation 1124
Hierarchical Object Map Estimation for Efficient and Robust Navigation 1132
Robot Navigation in Constrained Pedestrian Environments Using Reinforcement Learning 1140
Session TuAT4 : Best Paper Award Session
An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans 1147
Session TuDT4 : Best Student Paper Award Session
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator 1154
Session TuAT21 : Biologically-Inspired Robots
Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms 1162
Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot 1170
An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand 1177
Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace 1184
Session TuBT21 : Biomedical Robotics I
Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model 1191
An Integrated High-Dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation 1198
A Sigmoid-Colon-Straightening Soft Actuator With Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon 1205
A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery 1213
Session WeBT15 : Biomedical Robotics II
A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets 1221
Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures 1229
Reinforcement Learning Control of a Novel Magnetic Actuated Flexible-Joint Robotic Camera System for Single Incision Laparoscopic Surgery 1236
Muscular Stimulation Based Biological Actuator from Locust’s Hindleg 1242
Session WeCT6 : Biomedical Robotics III
Three-Dimensional Positioning of the Micropipette for Intracytoplasmic Sperm Injection 1249
Robotic Cardinal Vein Microinjection of Zebrafish Larvae Based on 3D Positioning 1256
Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit 1263
A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based on Spinal Module Activations 1269
Session TuHT0 : Cognitive Robotics Award Session
Learning Task Space Actions for Bipedal Locomotion 1276
Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions 1283
Auto-Tuned Sim-To-Real Transfer 1290
Session TuET21 : Computer Vision for Automation
A Metric Space Perspective on Self-Supervised Policy Adaptation 1297
Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences 1305
Dynamic-Aware Autonomous Exploration in Populated Environments 1312
Goal-Conditioned End-To-End Visuomotor Control for Versatile Skill Primitives 1319
Session TuFT21 : Computer Vision in Medical Robotics
Towards Standardized Acquisition with a Dual-Probe Ultrasound Robot for Fetal Imaging 1326
Matthew, Jackeline; Noh, Yohan; Eltiraifi, Olla; Singh, Anisha; Singh, Davinder; Rhode,
Kawal
A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly from Images 1333
Robotic instrument segmentation with image-to-image translation 1341
Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction 1350
Session TuGT21 : Contact and Collision Control
Safe Impacts with Soft Contacts Based on Learned Deformations 1357
A State-Dependent Damping Method to Reduce Collision Force and Its Variability 1364
Contact Forces Preintegration for Estimation in Legged Robotics Using Factor Graphs 1372
Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots 1379
Session TuHT19 : Continuum Robotics I
Learning-Based Inverse Kinematics from Shape As Input for Concentric Tube Continuum Robots 1387
Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators 1394
Using Euler Curves to Model Continuum Robots 1402
Optimal Design of Continuum Robots with Reachability Constraints 1409
Session TuIT19 : Continuum Robotics II
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume 1418
Margaret; Granna, Josephine; Kuntz, Alan; Akulian, Jason; Webster III, Robert James;
Alterovitz, Ron
An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator 1426
Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains 1434
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery 1442
Session TuGT19 : Continuum Robotics III
Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum 1459
Optimized 3D Path Planner for Steerable Catheters with Deductive Reasoning 1466
Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy 1473
Autonomous Steering of Concentric Tube Robots Via Nonlinear Model Predictive Control 1480
Session TuDT19 : Control and Optimization I
Online Informative Path Planning for Active Information Gathering of a 3D Surface 1488
EKF-based real-time self-attitude estimation with camera DNN learning landscape regularities 1495
Advancing Mixture Models for Least Squares Optimization 1503
Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions 1512
Session TuAT23 : Control and Optimization II
A Class of Optimal Switching Mixed Data Injection Attack in Cyber-Physical Systems 1520
Observation Space Matters: Benchmark and Optimization Algorithm 1527
Interleaving Fast and Slow Decision Making 1535
Multi-output Infinite Horizon Gaussian Processes 1542
Session TuCT21 : Control Applications
Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces 1550
Force Control of a Hydraulic Actuator with a Neural Network Inverse Model 1558
An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors 1566
D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning 1572
Session TuET19 : Control for Multi-Robot SystemsA Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation 1579
Decentralized Connectivity Maintenance with Time Delays Using Control Barrier Functions 1586
Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments 1593
Multi-Robot Implicit Control of Herds 1601
Session TuFT19 : Control of Manipulation I
Real-Time Friction Estimation for Grip Force Control 1608
Uncertainty-Aware Deep Learning for Robot Touch: Application to Bayesian Tactile Servo Control 1615
Towards Integrated Tactile Sensorimotor Control in Anthropomorphic Soft Robotic Hands 1622
Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects 1629
Session TuFT20 : Control of Manipulation II
An Efficient Approach to Closed-Loop Shape Control of Deformable Objects Using Finite Element Models 1637
Learning Stable Normalizing-Flow Control for Robotic Manipulation 1644
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks 1651
Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks 1658
Session TuDT20 : Control Theory IMathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved
Molds 1666
A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation 1673
A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions 1692
On-Line Force Capability Evaluation Based on Efficient Polytope Vertex Search 1700
Session TuET20 : Control Theory II
Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions 1707
Robust Frequency-Based Structure Extraction 1715
A Hybrid Collision Model for Safety Collision Control 1722
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback 1729
Session TuGT23 : Control Theory III
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems 1743
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration 1751
A Direct Collocation Method for Optimization of EMG-Driven Wrist Muscle Musculoskeletal Model 1759
A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm 1766
Session TuHT20 : Data-Driven Model Estimation
Efficient Dynamics Estimation with Adaptive Model Sets 1775
Data-Driven Actuator Selection for Artificial Muscle-Powered Robots 1783
EMG-Based Neural Network Model of Human Arm Dynamics in a Haptic Training Simulator of Sinus Endoscopy 1790
Multimodal Dynamics Modeling for Off-Road Autonomous Vehicles 1796
Session TuJT20 : Deep Learning in Robotics and Automation
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics 1803
Regularizing Action Policies for Smooth Control with Reinforcement Learning 1810
DeepReach: A Deep Learning Approach to High-Dimensional Reachability 1817
Deep Reinforcement Learning for Active Target Tracking 1825
Session TuBT20 : Deep Learning in Robotics I
Long-Range Hand Gesture Recognition Via Attention-Based SSD Network 1832
Spectral Temporal Graph Neural Network for Trajectory Prediction 1839
Dark Reciprocal-Rank: Teacher-To-Student Knowledge Transfer from Self-Localization Model to Graph-Convolutional Neural Network 1846
Efficient SE(3) Reachability Map Generation Via Interplanar Integration of Intra-Planar Convolutions 1854
Session TuCT20 : Deep Learning in Robotics IIFlowDriveNet: An End-To-End Network for Learning Driving Policies from Image Optical Flow and
LiDAR Point Flow 1861
PocoNet: SLAM-Oriented 3D LiDAR Point Cloud Online Compression Network 1868
3D Reconstruction of Deformable Colon Structures Based on Preoperative Model and Deep Neural Network 1875
DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network 1882
Session TuGT20 : Distributed Robotic Systems
Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-Of-View Constraints 1890
Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation 1896
Distributed Multi-Target Tracking in Camera Networks 1903
GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics 1910
Session TuIT20 : Dynamic Manipulation
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms 1918
Robot Dynamics Identification: A Reproducible Comparison with Experiments on the KINOVA Jaco2 1925
Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators 1934
Dynamic Manipulation of Deformable Objects with Implicit Integration 1942
Session TuDT18 : Dynamic Modeling
Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics 1950
Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator 1958
A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures 1966
Session TuET18 : Dynamics and Control I
Switching Control in Two-Wheeled Self-Balancing Robots 1974
Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission 1981
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation 1989
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach 1997
Session TuKT20 : Dynamics and Control II
No-Frills Dynamic Planning Using Static Planners 2005
PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads Using a Single Camera and IMU 2012
Learning Agile Locomotion Skills with a Mentor 2019
Automating Behavior Selection for Affective Telepresence Robot 2026
Session TuJT19 : Dynamics and Control III
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints 2033
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking 2040
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics 2048
The Dynamic Effect of Mechanical Losses of Transmissions on the Equations of Motion of Legged Robots 2056
Session TuCT19 : Dynamics and Control IV
Model Based Evaluation of Human and Lower-Limb Exoskeleton Interaction During Sit to Stand Motion 2063
Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems 2070
Compensation for Undefined Behaviors During Robot Task Execution by Switching Controllers Depending on Embedded Dynamics in RNN 2077
Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank 2085
Session TuHT18 : Field Robotics I
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program 2091
DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain 2099
Wetland Soil Strength Tester and Core Sampler Using a Drone 2106
Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics 2113
Session TuFT18 : Field Robotics II
Data-Driven Sea State Estimation for Vessels Using Multi-Domain Features from Motion Responses 2120
A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions 2127
How to Train Your Heron 2134
Robust Underwater Visual SLAM Fusing Acoustic Sensing 2140
Session TuIT18 : Field Robotics III
Place Recognition in Forests with Urquhart Tessellations 2147
Detecting and Counting Oysters 2156
Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization 2163
Locomotion and Control of a Friction-Driven Tripedal Robot 2170
Session TuGT18 : Field Robotics IV
Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks 2177
Robot-Supervised Learning of Crop Row Segmentation 2185
Deep Regression versus Detection for Counting in Robotic Phenotyping 2192
Neural Network Controller for Autonomous Pile Loading Revised 2198
Session TuAT19 : Field Robotics V
A Peg-In-Hole Task Strategy for Holes in Concrete 2205
Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data 2212
Ranulfo; Kojima, Shotaro; Suzuki, Taro; Komatsu, Tomohiro; Shibata Yukinori, Shibata;
Asano, Kimitaka; Nagatani, Keiji; Miyamoto, Naoto; Suzuki, Takahiro; Harada, Tatsuya;
Tadokoro, Satoshi TaskNet: A Neural Task Planner for Autonomous Excavator 2220
Steering Induced Roll Quantification During Ship Turning Circle Manoeuvre 2227
Session TuDT17 : Field Robotics VI
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment 2233
Jindal, Kshitij; Zhou, Alex; Thakur, Dinesh; Loianno, Giuseppe; Krajník, Tomáš; Saska,
Martin
Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle 2242
ASVLite: A High-Performance Simulator for Autonomous Surface Vehicles 2249
Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots 2256
Session TuDT16 : Field Robotics VII
Predicting the Post-Impact Velocity of a Robotic Arm Via Rigid Multibody Models: An Experimental Study 2264
Compliant plant exploration for agricultural procedures with a collaborative robot 2272
Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments 2279
Resilient Collision-Tolerant Navigation in Confined Environments 2286
Session TuBT19 : Field Robotics VIII
A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control 2293
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements 2301
Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification 2308
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs 2316
Session TuET16 : Field Robotics: Agricultural Applications
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention 2324
Using depth information and colour space variations for improving outdoor robustness for instance segmentation of cabbage 2331
Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping 2337
MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards 2345
Session TuHT16 : Field Robotics: Control
Environment Reconfiguration Planning for Autonomous Robotic Manipulation to Overcome Mobility Constraints 2352
On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation 2359
LaND: Learning to Navigate from Disengagements 2377
Adaptive Sampling Using POMDPs with Domain-Specific Considerations 2385
Session TuIT16 : Field Robotics: Machine Learning
Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control 2392
Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy 2400
A Generative Model-Based Predictive Display for Robotic Teleoperation 2407
Session TuET17 : Field Robotics: Mobile Robots
Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks 2414
Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach 2421
Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots 2428
Integration of a Human-Aware Risk-Based Braking System into an Open-Field Mobile Robot​ 2435
Session TuJT18 : Field Robotics: Perception
Three-Dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces 2443
Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance 2450
Sattar, Junaed LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation 2457
Real-Time Navigation Using Virtual Magnetic Fields 2465
Session WeBT7 : Field Robots I
Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal 2473
Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment 2480
A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning 2487
Parameter Estimation of an Industrial Car-Like Tractor 2495
Session WeCT7 : Field Robots II
Enhancement for Robustness of Koopman Operator-Based Data-Driven Mobile Robotic Systems 2503
Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots 2511
MSTC*: Multi-Robot Coverage Path Planning under Physical Constraints 2518
Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control 2525
Session TuKT19 : Force Control
Admittance Control with Uknown Location of Interaction 2532
Low-Level Force-Control of MR-Hydrostatic Actuators 2540
Zero-Potential-Energy Motions Due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study 2548
Session TuCT18 : Grasping and Manipulation
Adversarial Skill Learning for Robust Manipulation 2555
Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures 2562
Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification 2569
Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition 2576
Session TuFT17 : Grasping I
Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure 2583
Analysis of Open-Loop Grasping from Piles 2591
Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder 2598
An Underactuated Gripper Based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection 2605
Session TuAT20 : Grasping II
Dig-Grasping Via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking 2612
Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods 2620
SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction 2627
Tactile Velocity Estimation for Controlled In-Grasp Sliding 2635
Session TuKT18 : Hierarchical Motion Planning
Q-Tree Search: An Information-Theoretic Approach Toward Hierarchical Abstractions for Agents with Computational Limitations 2643
A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning 2660
Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning 2667
Collision Avoidance in Tightly-Constrained Environments without Coordination: A Hierarchical Control Approach 2674
Session TuHT17 : Human-Centered Robotics I
Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm 2681
Conditioning Style on Substance: Plans for Narrative Observation 2687
Negative Emotion Management Using a Smart Shirt and a Robot Assistant 2694
Corrective Shared Autonomy for Addressing Task Variability 2702
Session TuIT17 : Human-Centered Robotics II
A Robot Walks into a Bar: Automatic Robot Joke Success Assessment 2710
Reverse Psychology in Trust-Aware Human-Robot Interaction 2717
Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Interaction 2725
Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI 2731
Session TuJT17 : Human-Centered Robotics III
Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models 2739
I Know What You Meant: Learning Human Objectives by (Under)estimating Their Choice Set 2747
Analyzing Human Models that Adapt Online 2754
When Shall I Be Empathetic? the Utility of Empathetic Parameter Estimation in Multi-Agent Interactions 2761
Session TuKT17 : Human-In-The-Loop Control
End-To-End Grasping Policies for Human-In-The-Loop Robots Via Deep Reinforcement Learning 2768
An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction 2775
Situational Confidence Assistance for Lifelong Shared Autonomy 2783
Recognizing Orientation Slip in Human Demonstrations 2790
Session TuKT13 : Humanoid and Bipedal Locomotion I
Learning Bipedal Robot Locomotion from Human Movement 2797
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots 2804
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots 2811
Session TuHT12 : Humanoid and Bipedal Locomotion II
Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard 2818
Global Position Control on Underactuated Bipedal Robots: Step-To-Step Dynamics Approximation for Step Planning 2825
One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-Inspired Controller 2832
Hybrid Sampling/Optimization-Based Planning for Agile Jumping Robots on Challenging Terrains 2839
Session TuIT12 : Humanoid Robots
A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests 2846
Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots 2853
Model Hierarchy Predictive Control of Robotic Systems 2861
Impedance Optimization for Uncertain Contact Interactions through Risk Sensitive Optimal Control 2869
Session TuJT12 : Humanoids and Animaloids
Learning Human Objectives from Sequences of Physical Corrections 2877
SimGAN: Hybrid Simulator Identification for Domain Adaptation Via Adversarial Reinforcement Learning 2884
Look at my new blue force-sensing shoes! 2891
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model 2897
Session TuET13 : Humanoids and Animaloids I
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using Extended Kalman Filtering on Matrix Lie Groups 2904
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control 2911
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids 2919
Humanoid Control under Interchangeable Fixed and Sliding Unilateral Contacts 2927
Session TuBT17 : Humanoids and Animaloids III
Lywal: A Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions 2935
Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots 2942
Stair Climbing Capability-Based Dimensional Synthesis for the Multi-Legged Robot 2950
Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies 2957
Session TuFT13 : Humanoids and Animaloids IV
Fast Footstep Planning with Aborting A* 2964
Stiffness Modulation in a Humanoid Robotic Leg and Knee 2971
Exploiting Visual Servoing and Centroidal Momentum for Whole-Body Motion Control of Humanoid Robots in Absence of Contacts and Gravity 2979
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control 2986
Session TuCT17 : Humanoids and Animaloids V
Robust Landing Stabilization of Humanoid Robot on Uneven Terrain Via Admittance Control and Heel Strike Motion 2994
Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software 3001
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids 3011
State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks 3019
Session TuGT13 : Humanoids and Animaloids VI
Precise Jump Planning using Centroidal Dynamics based Bilevel Optimization 3026
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning 3033
ULT-Model: Towards a One-Legged Unified Locomotion Template Model for Forward Hopping with an Upright Trunk 3040
Nonlinear Stiffness Allows Passive Dynamic Hopping for One-Legged Robots with an Upright Trunk 3047
Session TuAT16 : Humanoids and Animaloids VII
Reachability-Based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum 3054
Meaningful Centroidal Frame Orientation of Multi-body Floating Locomotion Systems 3061
Online Object Searching by a Humanoid Robot in an Unknown Environment 3068
Origami-inspired New Material Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing Its Path 3076
Session WeBT3 : Humanoids and Animaloids VIII
Vision-Based Path Following of Snake-Like Robots 3084
Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control 3091
A Passive Hydraulic Auxiliary System Designed for Increasing Legged Robot Payload and Efficiency 3097
Legged Robot State Estimation in Slippery Environments UsingInvariant Extended Kalman Filter with Velocity Update 3104
Session TuDT0 : Human-Robot Interaction Award Session
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy 3111
Reactive Human-To-Robot Handovers of Arbitrary Objects 3118
Session TuJT16 : Human-Robot Interaction I
Evaluating Guided Policy Search for Human-Robot Handovers 3125
Communication Strategy for Efficient Guidance Providing 3133
LBGP: Learning Based Goal Planning for Autonomous Following in Front 3140
Session TuFT16 : Human-Robot Interaction II
A Reversible Dynamic Movement Primitive Formulation 3147
A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration 3154
A Human-Centered Dynamic Scheduling Architecture for Collaborative Application 3161
Towards Efficient Human-Robot Cooperation for Socially-Aware Robot Navigation in Human-Populated Environments: The SNAPE Framework 3169
Session WeCT11 : Human-Robot Interaction III
Relational Navigation Learning in Continuous Action Space among Crowds 3175
Limits of Probabilistic Safety Guarantees When Considering Human Uncertainty 3182
Probabilistic Human Motion Prediction Via a Bayesian Neural Network 3190
Directed Acyclic Graph Neural Network for Human Motion Prediction 3197
Session TuKT16 : Human-Robot Interaction in Exoskeletons
Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment 3205
ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes 3212
Control of a Transfemoral Prosthesis on Sloped Terrain using Continuous and Nonlinear Impedance Parameters 3219
Model-Dependent Prosthesis Control with Interaction Force Estimation 3226
Session TuAT18 : Human-Robot Interaction IV
Comparison of Three Feedback Modalities for �Haptics Sensation in Remote Machine Manipulation 3233
Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration 3241
A Large Area Robotic Skin with Sparsely Embedded Microphones for Human-Robot Tactile Communication 3248
Star Topology Based Interaction for Robust Trajectory Forecasting in Dynamic Scene 3255
Session TuIT15 : Human-Robot Interaction IXMaximum Spectral Flatness Control of a Manipulandum for Human Motor System Identification 3262
Learning from Demonstration for Real-Time User Goal Prediction and Assistive Shared Control 3270
Human-Aware Robot Task Planning Based on a Hierarchical Task Model 3276
Exploiting Natural Language for Efficient Risk-Aware Multi-Robot SaR Planning 3284
Session TuHT15 : Human-Robot Interaction V
Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems 3292
Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals 3299
Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation 3306
Effect of Robot Assistance, Operator Cognitive Fatigue, and Sex on Task Efficiency, Workload, and Situation Awareness in Human-Robot Collaboration 3313
Session TuGT17 : Human-Robot Interaction VI
Composing HARMONI: An Open-Source Tool for Human and Robot Modular OpeN Interaction 3322
Robot Interaction Studio: A Platform for Unsupervised HRI 3330
MorphFace: A Hybrid Morphable Face for a Robopatient 3337
Which Gesture Generator Performs Better? 3345
Session WeCT3 : Human-Robot Interaction VIITwo-Stream 2D/3D Residual Networks for Learning Robot Manipulations from Human
Demonstration Videos 3353
Waypoints Updating Based on Adam and ILC for Path Learning in Physical Human-Robot Interaction 3359
Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning from Demonstration 3366
A Graph Attention Spatio-Temporal Convolutional Network for 3D Human Pose Estimation in Video 3374
Session TuBT18 : Human-Robot Interaction VIII
Human-In-The-Loop Auditory Cueing Strategy for Gait Modification 3381
A Self-Training Approach-Based Traversability Analysis for Mobile Robots in Urban Environments 3389
Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators 3395
Proactive Interaction Framework for Intelligent Social Receptionist Robots 3403
Session TuGT16 : Human-Robot Interaction X
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Task 3410
Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation 3418
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments 3426
Real-Time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution 3434
Session TuAT17 : Human-Robot Interaction XIExploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic
Interfaces 3441
Design and Clinical Validation of a Robotic Ankle-Foot Simulator with Series Elastic Actuator for Ankle Clonus Assessment Training 3450
A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments 3458
Soft-Jig-Driven Assembly Operations 3466
Session TuIT13 : Human-Robot Interaction: Learning to Predict
Identifying Driver Interactions Via Conditional Behavior Prediction 3473
Sapp, Benjamin; Anguelov, Dragomir Autonomous Robotic Escort Incorporating Motion Prediction and Human Intention 3480
Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks 3487
Dynamically Switching Human Prediction Models for Efficient Planning 3495
Session TuJT15 : Human-Robot Interaction: Robot Navigation I
Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data 3502
Social Navigation for Mobile Robots in the Emergency Department 3510
Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning 3517
Range Limited Coverage Control Using Air-Ground Multi-Robot Teams 3525
Session TuHT13 : Human-Robot Interaction: Robot Navigation II
Investigation of Unmanned Aerial Vehicle Gesture Perceptibility and Impact of Viewpoint Variance 3531
Can a Robot Trust You? A DRL-Based Approach to Personality-Driven, Human-Guided Navigation 3538
Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies 3546
Watch Where You’re Going! Gaze and Head Orientation As Predictors for Social Robot Navigation 3553
Session TuDT15 : Human-Robot Interaction: Control
Robust Classification of Grasped Objects in Intuitive Human-Robot Collaboration Using a Wearable Force-Myography Device 3560
Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control 3568
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications 3575
Probabilistic Adaptive Control for Robust Behavior Imitation 3582
Session TuET15 : Human-Robot Interaction: Detection
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems 3590
A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration 3597
Pointing at Moving Robots: Detecting Events from Wrist IMU Data 3604
Session TuFT15 : Human-Robot Interaction: Haptics
Learning Human-like Hand Reaching for Human-Robot Handshaking 3612
Simultaneous Haptic Guidance and Learning of Task Parameters During Robotic Teleoperation - a Geometrical Approach 3619
Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction 3626
A Unified Perception Benchmark for Capacitive Proximity Sensing towards Safe Human-Robot Collaboration (HRC) 3634
Gergely; Rathmair, Michael; Mühlbacher-Karrer, Stephan; Thomas, Ulrike; Hein, Björn;
Hofbaur, Michael; Zangl, Hubert
Session TuGT15 : Human-Robot Interaction: Learning
Engagement Estimation During Child Robot Interaction Using Deep Convolutional Networks Focusing on ASD Children 3641
Ergodic Imitation: Learning from What to Do and What Not to Do 3648
Imitation Learning with Inconsistent Demonstrations through Uncertainty-Based Data Manipulation 3655
Learning Motor Resonance in Human-Human and Human-Robot Interaction with Coupled Dynamical Systems 3662
Session TuKT15 : Human-Robot Interaction: Medical Robots and Systems I
Can Therapists Design Robot-Mediated Interventions and Teleoperate Robots Using VR to Deliver Interventions for ASD? 3669
A Low-Cost Intrinsically Safe Mechanism for Physical Distancing between Clinicians and Patients 3677
Collaborative Fall Detection Using a Wearable Device and a Companion Robot 3684
Conversation-Based Medication Management System for Older Adults Using a Companion Robot and Cloud 3691
Session TuHT14 : Human-Robot Interaction: Medical Robots and Systems II
Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot 3699
Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip 3707
Entrainment During Human Locomotion Using a Soft Wearable Ankle Robot 3714
Active Telepresence Assistance for Supervisory Control: A User Study with a Multi-Camera Tele-Nursing Robot 3722
Session TuIT14 : Human-Robot Interaction: Motion Planning
A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration 3728
Temporal Anticipation and Adaptation Methods for Fluent Human-Robot Teaming 3736
Robust Planning with Emergent Human-Like Behavior for Agents Traveling in Groups 3744
Order Matters: Generating Progressive Explanations for Planning Tasks in Human-Robot Teaming 3751
Session TuDT14 : Human-Robot Interaction: Motion Prediction
Human-Robot Collaborative Object Transfer Using Human Motion Prediction Based on Cartesian Pose Dynamic Movement Primitives 3758
Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration 3765
Achieving Hard Real-Time Capability for 3D Human Pose Estimation Systems 3772
Zoomorphic Gestures for Cobots 3779
Session TuJT14 : Human-Robot Interaction: MultimediaARROCH: Augmented Reality for Robots Collaborating with a Human 3787
ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance Via Constrained Learning from Demonstration 3794
Bringing WALL-E Out of the Silver Screen: Understanding How Transformative Robot Sound Affects Human Perception 3801
How People Use Active Telepresence Cameras in Tele-manipulation 3808
Session TuET14 : Human-Robot Interaction: Safety
Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions 3816
Optimal Scaling of Dynamic Safety Zones for Collaborative Robotics 3822
3D Collision-Force-Map for Safe Human-Robot Collaboration 3829
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions 3836
Session TuKT14 : Human-Robot Interaction: Scheduling and Teleoperation
Online Dynamic Time Warping Algorithm for Human-Robot Imitation 3843
Sumit Kumar; Popa, Dan Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction 3850
Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management 3858
Time-Domain Passivity-Based Controller with an Optimal Two-Channel Lawrence Telerobotic Architecture 3865
Session TuFT14 : Human-Robot Interaction: Simulation and Experiment
Virtual Adversarial Humans Finding Hazards in Robot Workplaces 3872
Crowd against the Machine: A Simulation-Based Benchmark Tool to Evaluate and Compare Robot Capabilities to Navigate a Human Crowd 3879
DROID: Minimizing the Reality Gap Using Single-Shot Human Demonstration 3886
Roboticists and Reporters. a Rhetorical Experiment at the Cité Des Sciences Et De l’Industrie (Paris, France) (I) 3894
Session TuGT14 : Human-Robot Interaction: Task Planning
Task Planning with a Weighted Functional Object-Oriented Network 3904
Haptic-Guided Path Generation for Remote Car-Like Vehicles 3911
Task-Based Role Adaptation For Human-Robot Cooperative Object Handling 3919
Towards providing explanations for robot motion planning 3927
Session TuDT13 : Human-Robot Interaction: Teleoperation
Stabilization of User-defined Feedback Controllers in Teleoperation with Passive Coupling Reference 3934
Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control 3942
Task Autocorrection for Immersive Teleoperation 3949
Manipulability Optimization for Multi-Arm Teleoperation 3956
Session TuJT13 : Human-Robots Interface System
UAV Target-Selection: 3D Pointing Interface System for Large-Scale Environment 3963
A Framework for Customizable Multi-User Teleoperated Control 3970
Scott SQRP: Sensing Quality-Aware Robot Programming System for Non-Expert Programmers 3978
Automated Environment Reduction for Debugging Robotic Systems 3985
Session WeAT14 : IMU-Based Localization
IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach 3992
Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization 3999
Robust Localization for Planar Moving Robot in Changing Environment: A Perspective on Density of Correspondence and Depth 4006
IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving 4013
Session TuKT12 : Intelligence Design
Optimizing Cellular Networks Via Continuously Moving Base Stations on Road Networks 4020
The Resh Programming Language for Multirobot Orchestration 4026
Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization 4033
Generative Design of NU's Husky Carbon: A Morpho-Functional, Legged Robot 4040
Session TuBT16 : Learning and Control in Robotics and Automation
Hyperparameter Auto-Tuning in Self-Supervised Robotic Learning 4047
An Analytical Diabolo Model for Robotic Learning and Control 4055
Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems 4062
Imitation Learning of Hierarchical Driving Model: From Continuous Intention to Continuous Trajectory 4071
Session TuCT16 : Learning and Optimization
Evolvable Motion-Planning Method Using Deep Reinforcement Learning 4079
Learning Sequences of Manipulation Primitives for Robotic Assembly 4086
Data-Efficient Learning for Complex and Real-Time Physical Problem Solving Using Augmented Simulation 4093
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments 4101
Session TuAT15 : Learning for Motion Planning
Deep Imitation Learning for Autonomous Navigation in Dynamic Pedestrian Environments 4108
Learning from Demonstration without Demonstrations 4116
Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-scaling Constrained Optimization 4123
Optimization-Based Framework for Excavation Trajectory Generation 4131
Session TuDT12 : Learning for Robotics I
Adversarial Training Is Not Ready for Robot Learning 4140
Deep Learning on 3D Object Detection for Automatic Plug-In Charging Using a Mobile Manipulator 4148
Decentralized Multi-Agent Pursuit Using Deep Reinforcement Learning 4155
Differentiable Physics Models for Real-World Offline Model-Based Reinforcement Learning 4163
Session TuET12 : Learning for Robotics II
Sample-Efficient Reinforcement Learning in Robotic Table Tennis 4171
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning 4179
No Face-Touch: Exploiting Wearable Devices and Machine Learning for Gesture Detection 4187
Robot Learning with Crash Constraints 4194
Session TuAT14 : Learning in Control
Sample Efficient Reinforcement Learning via Model-Ensemble Exploration and Exploitation 4202
Dreaming: Model-Based Reinforcement Learning by Latent Imagination without Reconstruction 4209
A Variational Infinite Mixture for Probabilistic Inverse Dynamics Learning 4216
Model-Based Domain Randomization of Dynamics System with Deep Bayesian Locally Linear Embedding 4223
Session TuBT15 : Learning in Robotics and Automation I
Learning Spatial Context with Graph Neural Network for Multi-Person Pose Grouping 4230
Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation 4237
Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation 4244
Graph Convolutional Network Based Configuration Detection for Freeform Modular Robot Using Magnetic Sensor Array 4252
Session TuCT15 : Learning in Robotics and Automation II
PVStereo: Pyramid Voting Module for End-To-End Self-Supervised Stereo Matching 4259
Embedding Symbolic Temporal Knowledge into Deep Sequential Models 4267
Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning 4274
Linguistic Descriptions of Human Motion with Generative Adversarial Seq2Seq Learning 4281
Session WeBT14 : Learning in Robotics and Automation III
MDANet: Multi-Modal Deep Aggregation Network for Depth Completion 4288
GPR: Grasp Pose Refinement Network for Cluttered Scenes 4295
Diversity-Aware Label Distribution Learning for Microscopy Auto Focusing 4303
Contour Primitive of Interest Extraction Network Based on One-Shot Learning for Object-Agnostic Vision Measurement 4311
Session WeCT14 : Learning in Robotics and Automation IV
UMLE: Unsupervised Multi-Discriminator Network for Low Light Enhancement 4318
Unsupervised Learning of 3D Scene Flow from Monocular Camera 4325
Monocular 3D Detection with Geometric Constraints Embedding and Semi-Supervised Training 4332
Deep3DRanker: A Novel Framework for Learning to Rank 3D Models with Self-Attention in Robotic Vision 4341
FGR: Frustum-Aware Geometric Reasoning for Weakly Supervised 3D Vehicle Detection 4348
Session TuFT12 : Learning to Predict
Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction 4355
Predicting Disparity Distributions 4363
Scoring Graspability Based on Grasp Regression for Better Grasp Prediction 4370
MonoSOD: Monocular Salient Object Detection Based on Predicted Depth 4377
Session TuHT11 : Learning-Based Control
Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers 4384
Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control 4391
Neural Identification for Control 4399
Learning Variable Impedance Control Via Inverse Reinforcement Learning for Force-Related Tasks 4407
Session TuGT12 : Learning-Based Control I
Interactive Learning of Temporal Features for Control 4415
A Fully Spiking Neural Control System Based on Cerebellar Predictive Learning for Sensor-Guided Robots 4423
Learning to Steer a Locomotion Contact Planner 4430
Learning Shape Control of Elastoplastic Deformable Linear Objects 4438
Session TuDT11 : Learning-Based Control II
Leveraging Forward Model Prediction Error for Learning Control 4445
GoSafe: Globally Optimal Safe Robot Learning 4452
Distilling a Hierarchical Policy for Planning and Control Via Representation and Reinforcement Learning 4459
Active Model Learning Using Informative Trajectories for Improved Closed-Loop Control on Real Robots 4467
Session TuET11 : Learning-Based Grasping
Robot Learning of 6 DoF Grasping Using Model-Based Adaptive Primitives 4474
Conditional StyleGAN for Grasp Generation 4481
Go Fetch! - Dynamic Grasps Using Boston Dynamics Spot with External Robotic Arm 4488
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps 4495
Session TuBT14 : Learning-Based Human-Robot Interaction
Machine Learning-Based Human-Following System: Following the Predicted Position of a Walking Human 4502
Anytime Game-Theoretic Planning with Active Reasoning About Humans' Latent States for Human-Centered Robots 4509
Momentum Observer-Based Collision Detection Using LSTM for Model Uncertainty Learning 4516
Deep Learning and Mixed Reality to Autocomplete Teleoperation 4523
Session WeAT10 : Learning-Based Manipulation I
Mechanical Intelligence for Adaptive Precision Grasp 4530
Learning Multi-Object Dense Descriptor for Autonomous Goal-Conditioned Grasping 4537
Hierarchical Learning from Demonstrations for Long-Horizon Tasks 4545
How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning 4552
Session TuHT10 : Learning-Based Manipulation II
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables 4560
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks 4568
A Joint Network for Grasp Detection Conditioned on Natural Language Commands 4576
ReLMoGen: Integrating Motion Generation in Reinforcement Learning for Mobile Manipulation 4583
Session TuFT11 : Learning-Based Manipulation III
Learning Behavior Trees with Genetic Programming in Unpredictable Environments 4591
Active Learning of Bayesian Probabilistic Movement Primitives 4598
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation 4606
Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration 4613
Session TuCT14 : Learning-Based Manipulation IV
AdaGrasp: Learning a Gripper-Aware Grasping Policy 4620
TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly 4627
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study 4634
Learning to Place Objects Onto Flat Surfaces in Upright Orientations 4642
Session TuGT11 : Learning-Based Manipulation IX
Efficient Self-Supervised Data Collection for Offline Robot Learning 4650
Total Singulation with Modular Reinforcement Learning 4657
Active Inference for Integrated State-Estimation, Control, and Learning 4665
Robot Program Parameter Inference Via Differentiable Shadow Program Inversion 4672
Session TuIT10 : Learning-Based Manipulation V
Learning Multimodal Contact-Rich Skills from Demonstrations without Reward Engineering 4679
Keep It Simple: Data-Efficient Learning for Controlling Complex Systems with Simple Models 4686
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal 4694
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination 4702
Session TuDT10 : Learning-Based Manipulation VI
Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category 4710
ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation 4717
Adversarial Imitation Learning with Trajectorial Augmentation and Correction 4724
Learning Reachable Manifold and Inverse Mapping for a Redundant Robot Manipulator 4731
Session TuAT13 : Learning-Based Manipulation VII
Living Object Grasping Using Two-Stage Graph Reinforcement Learning 4738
Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix 4746
Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning 4754
Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents via an Asymmetric Architecture 4762
Session TuJT10 : Learning-Based Manipulation VIII
ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation 4769
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies 4776
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation Using Deep Learning for Feature Extraction 4783
An Affordance Keypoint Detection Network for Robot Manipulation 4790
Session TuET10 : Learning-Based Motion Planning
Learning Robot Trajectories Subject to Kinematic Joint Constraints 4799
Enhancing Lattice-Based Motion Planning with Introspective Learning and Reasoning 4806
Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning 4815
Self-Imitation Learning by Planning 4823
Session TuIT11 : Learning-Based Motion Planning I
Learning and Planning for Temporally Extended Tasks in Unknown Environments 4830
Behavior Tree Learning for Robotic Task Planning through Monte Carlo DAG Search Over a Formal Grammar 4837
Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions 4844
Sebastian
Session TuJT11 : Learning-Based Motion Planning IIPlanning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz
Constants 4851
Single-Query Path Planning Using Sample-Efficient Probability Informed Trees 4859
Learning from Imperfect Demonstrations from Agents with Varying Dynamics 4867
Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving 4875
Session TuKT11 : Learning-Based Motion Planning III
Robotic Information Gathering Using Semantic Language Instructions 4882
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints 4889
Deep Structured Reactive Planning 4897
Learning a Centroidal Motion Planner for Legged Locomotion 4905
Session TuHT9 : Legged Robots I
Optimal Estimation of the Centroidal Dynamics of Legged Robots 4912
A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design 4919
A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion 4926
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation 4933
Session TuIT9 : Legged Robots II
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion 4940
AksharaThe Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion 4948
Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion 4955
Coupled Control Lyapunov Functions for Interconnected Systems, with Application to Quadrupedal Locomotion 4962
Session TuFT10 : Legged Robots III
Balancing on a Springy Leg 4970
Gyrubot: Nonanthropomorphic Stabilization for a Biped 4976
Feasible Region: An Actuation-Aware Extension of the Support Region 4983
A Novel Method for Computing the 3D Friction Cone Using Complimentary Constraints 5000
Session TuGT10 : Legged Robots IV
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12 5007
Soueres, Philippe Imitation Learning from MPC for Quadrupedal Multi-Gait Control 5014
Comparison of Predictive Controllers for Locomotion and Balance Recovery of Quadruped Robots 5021
Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO 5028
Session WeCT10 : LiDAR-Based Localization I
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks 5035
KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry 5042
CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System 5049
PSF-LO: Parameterized Semantic Features Based Lidar Odometry 5056
Session TuBT13 : LiDAR-Based Localization II
LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI) 5063
Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry 5069
Locus: LiDAR-based Place Recognition Using Spatiotemporal Higher-Order Pooling 5075
Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board 5082
Session TuKT10 : Localization and Control
Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments 5089
Instance-Aware Predictive Navigation in Multi-Agent Environments 5096
SLAAM: Simultaneous Localization and Additive Manufacturing 5103
SimNet: Learning Reactive Self-Driving Simulations from Real-World Observations 5119
Session TuDT9 : Localization and Estimation
MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization 5126
Enabling Spatio-Temporal Aggregation in Birds-Eye-View Vehicle Estimation 5133
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation 5140
There and Back Again: Self-Supervised Multispectral Correspondence Estimation 5147
Session TuET9 : Localization and Mapping I
Deep Compression for Dense Point Cloud Maps 5155
Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making 5163
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes 5170
Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping 5178
Session TuJT9 : Localization and Mapping II
3D Motion Capture of an Unmodified Drone with Single-Chip Millimeter Wave Radar 5186
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty 5193
Fast Uncertainty Quantification for Deep Object Pose Estimation 5200
Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning 5208
Session WeAT2 : Localization and Mapping III
Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps 5215
Greedy-Based Feature Selection for Efficient LiDAR SLAM 5222
Road Mapping and Localization Using Sparse Semantic Visual Features 5229
Retrieval and Localization with Observation Constraints 5237
Session TuCT13 : Localization and Mapping IV
MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments 5245
Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization 5252
Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios 5261
Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking 5268
Session WeAT16 : Localization and Mapping IX
Robust Dual Quadric Initialization for Forward-Translating Camera Movements 5275
Robust Motion Averaging under Maximum Correntropy Criterion 5283
Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model 5289
Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry 5296
Session TuKT9 : Localization and Mapping V
Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior 5303
Learned Uncertainty Calibration for Visual Inertial Localization 5311
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association 5318
Distributed Client-Server Optimization for SLAM with Limited On-Device Resources 5336
Session WeAT12 : Localization and Mapping VI
Multi-Parameter Optimization for a Robust RGB-D SLAM System 5343
Invariant EKF Based 2D Active SLAM with Exploration Task 5350
2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining 5357
A Switching-Coupled Backend for Simultaneous Localization and Dynamic Object Tracking 5365
Session TuAT12 : Localization and Mapping VII
B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles 5374
Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles 5381
Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation 5388
Lightweight 3-D Localization and Mapping for Solid-State LiDAR 5395
Session TuHT8 : Localization and Mapping VIII
Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief 5403
Efficient Online Calibration for Autonomous Vehicle's Longitudinal Dynamical System: A Gaussian Model Approach 5410
Fuzzing Mobile Robot Environments for Fast Automated Crash Detection 5417
Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation 5424
Session TuBT12 : Localization and Mapping X
Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion 5432
Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware 5440
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building 5446
UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments 5454
Session TuIT8 : Localization and Mapping XI
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? 5461
Robust Place Recognition Using an Imaging Lidar 5469
High-Speed Robot Navigation Using Predicted Occupancy Maps 5476
Session TuCT12 : Localization and Mapping XII
Signal Temporal Logic Synthesis As Probabilistic Inference 5483
Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points 5490
Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression 5497
DiSCO: Differentiable Scan Context with Orientation 5504
Session TuCT11 : Localization and Mapping XIII
FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter 5512
BALM: Bundle Adjustment for Lidar Mapping 5520
Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments 5528
MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos 5536
Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering 5544
Session WeBT2 : Localization and Mapping: Dataset
VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments 5552
A Multi-spectral Dataset for Evaluating Motion Estimation Systems 5560
PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices 5567
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors 5574
Session TuJT8 : Localization and Mapping: Distributed Systems
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation 5582
Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization 5589
Optimizing Non-Markovian Information Gain under Physics-Based Communication Constraints 5596
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors 5603
Session TuFT9 : Localization and Mapping: LiDAR
Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets 5610
RADIATE: A Radar Dataset for Automotive Perception in Bad Weather 5617
Poisson Surface Reconstruction for LiDAR Odometry and Mapping 5624
Lidar-Monocular Surface Reconstruction Using Line Segments 5631
Session TuGT9 : Localization and Mapping: Point Cloud
SKD: Keypoint Detection for Point Clouds Using Saliency Estimation 5638
Panoster: End-To-End Panoptic Segmentation of LiDAR Point Clouds 5646
NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation 5654
PHASER: A Robust and Correspondence-Free Global Pointcloud Registration 5661
Session TuKT8 : Localization and Mapping: Sensor Fusion I
Asynchronous Multi-View SLAM 5669
Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments 5677
Relative Position Estimation between Two UWB Devices with IMUs 5684
LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping 5692
Session TuHT7 : Localization and Mapping: Sensor Fusion II
Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space 5699
Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration 5706
Robust Monocular Visual-Inertial Depth Completion for Embedded Systems 5713
Range-Visual-Inertial Odometry: Scale Observability without Excitation 5720
Session TuIT7 : Localization and Mapping: Sensor Fusion III
Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot 5728
Airflow-Inertial Odometry for Resilient State Estimation on Multirotors 5736
Cirrus: A Long-Range Bi-Pattern LiDAR Dataset 5744
π-LSAM: LiDAR Smoothing and Mapping with Planes 5751
Session TuJT7 : Localization for Robotics
Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning 5758
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements 5765
Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization 5772
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching 5780
Thrush, Tristan; Van der Merwe, Mark; Maggiolino, Gerard; Brinkman, Alexander; Mayo,
John; Cheng, Yang; Padgett, Curtis; Kulczycki, Eric; Detry, Renaud
Session TuDT8 : Localization I
Global Aerial Localisation Using Image and Map Embeddings 5788
UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation 5795
Range Image-Based LiDAR Localization for Autonomous Vehicles 5802
RadarLoc: Learning to Relocalize in FMCW Radar 5809
Session TuET8 : Localization II
Freetures: Localization in Signed Distance Function Maps 5816
End-To-End Semi-Supervised Learning for Differentiable Particle Filters 5825
Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions 5832
Learning to Localize in New Environments from Synthetic Training Data 5840
Session TuFT8 : Localization III
SoftMP: Attentive feature pooling for joint local feature detection and description for place recognition in changing environments 5847
Resolving Place Recognition Inconsistencies Using Intra-Set Similarities 5854
Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition 5861
Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization 5868
Session TuBT11 : Localization IV
GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization 5876
Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization 5884
Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement 5891
Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment 5898
Session TuKT7 : Machine Learning for Control
Reinforced iLQR: A Sample-Efficient Robot Locomotion Learning 5906
Scalable Learning of Safety Guarantees for Autonomous Systems Using Hamilton-Jacobi Reachability 5914
OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation 5921
Session TuAT11 : Machine Learning for Pose Estimation
HueCode: A Meta-Marker Exposing Relative Pose and Additional Information in Different Colored Layers 5928
REDE: End-To-End Object 6D Pose Robust Estimation Using Differentiable Outliers Elimination 5935
PREGAN: Pose Randomization and Estimation for Weakly Paired Image Style Translation 5943
Deep Samplable Observation Model for Global Localization and Kidnapping 5951
Session TuGT8 : Machine Learning for Robotic Applications
Robot in a China Shop: Using Reinforcement Learning for Location-Specific Navigation Behaviour 5959
Model Identification of a Small Fully-Actuated Aquatic Surface Vehicle Using a Long Short-Term Memory Neural Network 5966
Real-Time Trajectory Adaptation for Quadrupedal Locomotion Using Deep Reinforcement Learning 5973
Robust Iterative Learning Control for Pneumatic Muscle with State Constraint and Model Uncertainty 5980
Session TuHT6 : Machine Learning I
MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior 5988
Shape-Based Transfer of Generic Skills 5996
Safety Uncertainty in Control Barrier Functions Using Gaussian Processes 6003
Object Rearrangement Using Learned Implicit Collision Functions 6010
Session TuIT6 : Machine Learning II
Continual Learning of Knowledge Graph Embeddings 6018
Learning Topology from Synthetic Data for Unsupervised Depth Completion 6026
PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling 6034
Feedback Linearization for Quadrotors with a Learned Acceleration Error Model 6042
Session TuJT6 : Machine Learning Method for Navigation
Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents 6049
DWA-RL: Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation among Mobile Obstacles 6057
Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships 6064
A Lifelong Learning Approach to Mobile Robot Navigation 6072
Session TuKT6 : Machine Learning: Adaptive Systems
APPLI: Adaptive Planner Parameter Learning from Interventions 6079
APPLR: Adaptive Planner Parameter Learning from Reinforcement 6086
An Adaptive Framework For Learning Unsupervised Depth Completion 6093
PennSyn2Real: Training Object Recognition Models without Human Labeling 6101
Session TuAT10 : Machine Learning: Applications
Robotic Indoor Scene Captioning from Streaming Video 6109
Geometry-Aware Unsupervised Domain Adaptation for Stereo Matching 6116
Reasoning Operational Decisions for Robots Via Time Series Causal Inference 6124
Embodying Pre-Trained Word Embeddings through Robot Actions 6132
Session TuHT5 : Manipulation and Grasping I
Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots 6140
Improving Grasp Classification through Spatial Metrics Available from Sensors 6147
Assistive Supernumerary Grasping with the Back of the Hand 6154
Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion 6161
Session TuIT5 : Manipulation and Grasping II
Learning Dexterous Grasping with Object-Centric Visual Affordances 6169
Learning Collaborative Pushing and Grasping Policies in Dense Clutter 6177
Grasping with Chopsticks: Combating Covariate Shift in Model-Free Imitation Learning for Fine Manipulation 6185
Siddhartha Learning Task-Oriented Dexterous Grasping from Human Knowledge 6192
Session TuJT5 : Manipulation and Grasping III
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting 6199
Deep Affordance Foresight: Planning through What Can Be Done in the Future 6206
Learning Dense Rewards for Contact-Rich Manipulation Tasks 6214
Stefan ACRONYM: A Large-Scale Grasp Dataset Based on Simulation 6222
Session TuAT2 : Manipulation Award Session
KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation 6228
Policy Blending and Recombination for Multimodal Contact-Rich Tasks 6236
Session TuBT10 : Manipulation Control I
Position and Orientation Control of Polygonal Objects by Sensorless In-Hand Caging Manipulation 6244
Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment 6250
3D Biped Locomotion Control Including Seamless Transition between Walking and Running Via 3D ZMP Manipulation 6258
Modeling and Balance Control of SuperArm for Overhead Tasks 6264
Session TuCT10 : Manipulation Control II
Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis 6272
Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-Robot Manipulation 6280
Dynamic Compensation in Throwing Motion with High-Speed Robot Hand-Arm 6287
Session TuAT9 : Manipulation Control III
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery 6293
Sim-To-Real Visual Grasping Via State Representation Learning Based on Combining Pixel-Level and Feature-Level Domain Adaptation 6300
Dexterous Manoeuvre through Touch in a Cluttered Scene 6308
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion 6315
Session TuIT4 : Manipulation I
Contact Localization for Robot Arms in Motion without Torque Sensing 6322
Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact 6329
Finite Horizon Synthesis for Probabilistic Manipulation Domains 6336
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks 6343
Session TuJT4 : Manipulation II
Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction 6350
Attribute-Based Robotic Grasping with One-Grasp Adaptation 6357
Collision-Aware Target-Driven Object Grasping in Constrained Environments 6364
6-DoF Contrastive Grasp Proposal Network 6371
Session TuKT4 : Manipulation III
RASCAL: Robotic Arm for Sherds and Ceramics Automated Locomotion 6378
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments 6385
Dynamic Grasping for Object Picking Using Passive Zero-DOF End Effectors 6393
Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution 6401
Session WeAT3 : Manipulation IV
An Integrated Approach for Determining Objects to Be Relocated and Their Goal Positions Inside Clutter for Object Retrieval 6408
A Hybrid Position/Force Controller for Joint Robots 6415
DIMSAN: Fast Exploration with the Synergy between Density-Based Intrinsic Motivation and Self-Adaptive Action Noise 6422
A Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation 6429
Session TuKT5 : Manipulation: Haptics
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry 6437
Sim-To-Real for Robotic Tactile Sensing Via Physics-Based Simulation and Learned Latent Projections 6444
Fingers See Things Differently (FIST-D): An Object Aware Visualization and Manipulation Framework Based on Tactile Observations 6452
Session TuIT2 : Manipulation: Measurement
Mass Estimation of a Moving Object through Minimal Manipulation Interaction 6461
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger 6468
Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations 6476
Cable-Driven Parallel Robot Pose Estimation Using Extended Kalman Filtering with Inertial Payload Measurements 6483
Session TuDT7 : Manipulation: PerceptionVision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation 6491
Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints 6498
Friction Estimation for Tendon-Driven Robotic Hands 6505
Representation Matters: Improving Perception and Exploration for Robotics 6512
Ankush; Kulkarni, Tejas; Reynolds, Malcolm; Teplyashin, Denis; Hafner, Roland; Lampe,
Thomas; Riedmiller, Martin
Session TuIT3 : Manipulation: Planning I
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D 6520
KPAM-SC: Generalizable Manipulation Planning Using KeyPoint Affordance and Shape Completion 6527
Alternative Paths Planner (APP) for Provably Fixed-Time Manipulation Planning in Semi-Structured Environments 6534
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs 6541
Session TuJT3 : Manipulation: Planning II
Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts 6549
Planning for Multi-Stage Forceful Manipulation 6556
Towards Robust Planar Translations Using Delta-Manipulator Arrays 6563
Manipulation Planning among Movable Obstacles Using Physics-Based Adaptive Motion Primitives 6570
Session TuET7 : Manipulation: Planning IIIReactive Cooperative Manipulation Based on Set Primitives and Circular Fields 6577
Sami Efficient Multi-Scale POMDPs for Robotic Object Search and Delivery 6585
Path Planning for Manipulation Using Experience-Driven Random Trees 6592
Co-Optimizing Robot, Environment, and Tool Design Via Joint Manipulation Planning 6600
Session TuKT3 : Manipulation: Real World Applications
Robotic Slicing of Fruits and Vegetables: Modeling the Effects of Fracture Toughness and Knife Geometry 6607
A Convex Quasistatic Time-Stepping Scheme for Rigid Multibody Systems with Contact and Friction 6614
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search 6621
Session TuJT2 : Manipulation: Reinforcement Learning I
Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations Using Generative Models 6628
DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies 6635
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones 6642
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning 6650
Session TuKT2 : Manipulation: Reinforcement Learning IIMulti-Step Recurrent Q-Learning for Robotic Velcro Peeling 6657
Reset-Free Reinforcement Learning Via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention 6664
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning 6672
Batch Exploration with Examples for Scalable Robotic Reinforcement Learning 6679
Session TuFT7 : Mapping I
ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames 6687
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning 6694
Weighted Node Mapping and Localisation on a Pixel Processor Array 6702
Direct Sparse Mapping 6709
Session TuGT7 : Mapping II
Dynamic Occupancy Grid Mapping with Recurrent Neural Networks 6717
Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning 6725
Lightweight Semantic Mesh Mapping for Autonomous Vehicles 6732
LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping 6739
Session TuIT0 : Marine RoboticsAutonomous Data Collection with Timed Communication Constraints for Unmanned Underwater
Vehicles 6746
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot 6754
Predictive 3D Sonar Mapping of Underwater Environments via Object-Specific Bayesian Inference 6761
Session WeAT7 : Mechanism and Control I
Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy 6768
Reduced Dynamics and Control for an Autonomous Bicycle 6775
Balance Control of a Novel Wheel-Legged Robot: Design and Experiments 6782
Blending of Series-Parallel Compliant Actuation with Field-Weakening Control for Explosive Motion Generation 6789
Session TuCT8 : Mechanism and Control II
Pneumatic Actuation-Based Bidirectional Modules with Variable Stiffness and Closed-Loop Position Control 6797
A Capturability-Based Control Framework for the Underactuated Bipedal Walking 6804
Appearance-based Loop Closure Detection via Bidirectional Manifold Representation Consensus 6811
Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots 6818
Session TuJT0 : Mechanism and Verification
Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions 6824
Sebastian Scalable POMDP Decision-Making Using Circulant Controllers 6831
Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories 6838
Implicit Integration for Articulated Bodies with Contact Via the Nonconvex Maximal Dissipation Principle 6846
Session TuDT6 : Mechanism Design and Control I
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: the Point-to-Point Case 6853
Visual Servoing of Cable-Driven Parallel Robots with Tension Management 6861
Automated design of underactuated monolithic soft robotics structures with multiple predefined end poses 6868
Design and Control of a Highly Redundant Rigid–Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling 6875
Session TuET6 : Mechanism Design and Control II
Multifunctional Arm for Telerobotic Wind Turbine Blade Repair 6883
Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot 6890
Automated Behavior Tree Error Recovery Framework for Robotic Systems 6898
Design of a Magnetic Actuation System for a Microbiota-Collection Ingestible Capsule 6905
Session TuBT9 : Mechanism Design IDevelopment of a Humanoid Shoulder Based on 3-Motor 3 Degrees-Of-Freedom Coupled
Tendon-Driven Joint Module 6912
Mecanum Crank: A Novel Omni-Directional Vehicle Using Crank Leg 6919
Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle 6925
2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders 6933
Session TuCT9 : Mechanism Design II
A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables 6941
Stable, Sensor-Less and Compliance-Less Module Connection for Automated Construction System of a Modularized Rail Structure 6948
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers 6955
Kinematic Stability Based AFG-RRT* Path Planning for Cable-Driven Parallel Robots 6963
Session WeAT4 : Mechanism Design III
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints 6970
Design and Testing of a Damped Piezo-Driven Decoupled XYZ Stage 6986
Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3 6992
A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration 6999
Session TuAT8 : Mechanism Design IV
Temperature Compensated 3D Printed Strain Sensor for Advanced Manufacturing Applications 7006
Design of a Deployable Underwater Robot for the Recovery of Autonomous Underwater Vehicles Based on Origami Technique 7013
Modelling and Optimisation of a Mechanism-Based Metamaterial for a Wrist Flexion-Extension Assistive Device 7020
Mechatronic Design of a Low-Noise Active Knee Prosthesis with High Backdrivability 7027
Session TuBT8 : Mechanism Design V
Restoring Force Design of Active Self-Healing Tension Transmission System and Application to Tendon-Driven Legged Robot 7033
A Translational Parallel Continuum Robot Reinforced by Origami and Cross-Routing Tendons 7039
Design of a 3-DOF Coupled Tendon-Driven Waist Joint 7046
Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction 7052
Session TuKT0 : Mechanism Design VII
Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces 7058
An Autonomous Vault-Building Robot System for Creating Spanning Structures 7066
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots 7073
Session ThJT7 : Mechanism Design VI
Neural Fidelity Warping for Efficient Robot Morphology Design 7079
Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications 7087
Human Driven Compliant Transmission Mechanism 7094
Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application 7100
Session TuDT3 : Mechatronics and Design Award Session
Soft Hybrid Aerial Vehicle Via Bistable Mechanism 7107
A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops 7114
Session TuAT7 : Medical Imaging and Sensing I
Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors 7122
Robot-To-Image Registration with Geometric Marker for CT-Guided Robotic Needle Insertion 7130
Shape Sensor Using Magnetic Induction with Frequency Sweeping for Medical Catheters 7137
Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification 7144
Session WeAT6 : Medical Imaging and Sensing II
Generalized Point Set Registration with the Kent Distribution 7151
Self-Supervised Learning for Monocular Depth Estimation on Minimally Invasive Surgery Scenes 7159
Dianmin; Doermann, DavidIntermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-Precision Surgical Manipulation 7166
Towards Fully Autonomous Ultrasound Scanning Robot with Imitation Learning Based on Clinical Protocols 7174
Session ThKT6 : Micro/Nano Robotics I
Tailored Magnetic Torsion Springs for Miniature Magnetic Robots 7182
Real-Time Teleoperation of Magnetic Force-Driven Microrobots with 3D Haptic Force Feedback for Micro-Navigation and Micro-Transportation 7189
Yaw Control of a Hovering Flapping-Wing Aerial Vehicle with a Passive Wing Hinge 7197
Automated End-Effector Alignment for Robotic Cell Manipulation 7205
A High-Voltage Power Electronics Unit for Flying Insect Robots That Can Modulate Wing Thrust 7212
Session ThKT7 : Micro/Nano Robotics III
Residual Model Learning for Microrobot Control 7219
Small Autonomous Robot Actuator (SARA): A Solar-Powered Wireless MEMS Gripper 7227
Path Planning and Tracking for an Underactuated Two-Microrobot System 7234
Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter 7242
Session WeCT4 : Micro/Nano Robotics IV
Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-Like Cell Structure 7249
Fukuda, ToshioAutomated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process 7255
A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics 7261
3D Periodic Magnetic Servoing System for Microrobot Actuation Using Decoupled Asynchronous Repetitive Control Approach 7267
Session WeBT6 : Micro/Nano Robotis II
Modeling and Control of an Untethered Magnetic Gripper 7274
A Flexible Magnetic Field Mapping Model for Calibration of Magnetic Manipulation System 7281
Dynamic Tracking of Microrobot with Active Magnetic Sensor Array 7288
Dynamic Modeling of Magnetic Helical Microrobots 7295
Session ThJT6 : Model Learning for Control
Batteries, Camera, Action! Learning a Semantic Control Space for Expressive Robot Cinematography 7302
Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition 7309
Agile Robot Navigation through Hallucinated Learning and Sober Deployment 7316
Nonholonomic Yaw Control of an Underactuated Flying Robot with Model-Based Reinforcement Learning 7323
Session ThHT19 : Model Predictive Control I
High-Frequency Nonlinear Model Predictive Control of a Manipulator 7330
Adaptive Nonlinear Model Predictive Control for Autonomous Surface Vessels with Largely Varying Payload 7337
Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots 7344
Koopman NMPC: Koopman-Based Learning and Nonlinear Model Predictive Control of Control-Affine Systems 7350
Session ThHT6 : Model Predictive Control II
ALTRO-C: A Fast Solver for Conic Model-Predictive Control 7357
Model Predictive Control of Nonlinear Latent Force Models: A Scenario-Based Approach 7365
The Value of Planning for Infinite-Horizon Model Predictive Control 7372
Automatic Tuning for Data-Driven Model Predictive Control 7379
Session WeCT5 : Motion and Path Planning I
Efficient Heuristic Generation for Robot Path Planning with Recurrent Generative Model 7386
Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas 7393
Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes 7400
Towards an Online RRT-Based Path Planning Algorithm forAckermann-Steering Vehicles 7407
Session TuBT7 : Motion and Path Planning II
A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots 7414
Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach 7422
Fast Replanning Multi-Heuristic A* 7430
Generating Large-Scale Trajectories Efficiently Using Double Descriptions of Polynomials 7436
Session ThIT6 : Motion and Path Planning III
AXLE: Computationally-Efficient Trajectory Smoothing Using Factor Graph Chains 7443
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search 7449
Multi-Query Serverless Motion Planning for Fog Robotics 7457
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems 7464
Session ThKT5 : Motion and Path Planning IV
A Gravity-Referenced Moving Frame for Vehicle Path Following Applications in 3D 7471
Safe, Optimal, Real-Time Trajectory Planning with a Parallel Constrained Bernstein Algorithm 7479
A Spatial Searching Method for Planning under Time Dependent Constraints for Eco-Driving in Signalized Traffic Intersection 7495
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs 7503
Session ThHT22 : Motion and Path Planning V
Chance Constrained Simultaneous Path Planning and Task Assignment with Bottleneck Objective 7510
Planning with Attitude 7517
Constrained Path Planning and Guidance in General Wind Fields 7526
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments 7533
Session ThIT22 : Motion Control for Manipulators I
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects 7540
Generalizing Object-Centric Task-Axes Controllers Using Keypoints 7548
Dynamic Primitives and Optimal Feedback Control for the Manipulation of Complex Objects 7555
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models 7563
Session TuFT6 : Motion Control for Manipulators II
Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories 7570
A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators 7577
Robot Arm Motion Planning Based on Geodesics 7585
FlexDMP - Extending Dynamic Movement Primitives towards Flexible Joint Robots 7592
Session TuGT6 : Motion Estimation
Unsupervised 3D Motion Estimation of Vehicles Using ICP 7599
CNN-Based Ego-Motion Estimation for Fast MAV Maneuvers 7606
Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles 7613
Pose Estimation for Vehicle-Mounted Cameras Via Horizontal and Vertical Planes 7620
Session TuCT7 : Motion Planning and Control I
SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure 7627
Reinforcement Learning-Based Visual Navigation with Information-Theoretic Regularization 7635
An On-Line POMDP Solver for Continuous Observation Spaces 7643
Session TuAT6 : Motion Planning and Control II
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators 7650
Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot 7658
Motion Coupling Analysis for the Decoupled Design of a Two-Segment Notched Continuum Robot 7665
VINS-Motion: Tightly-Coupled Fusion of VINS and Motion Constraint 7672
Session ThIT23 : Motion Planning for Aerial Robotics
The Reachable Set of a Drone: Exploring the Position Isochrones for a Quadcopter 7679
Two-Stage Trajectory Optimization for Flapping Flight with Data-Driven Models 7686
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot 7693
SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms under Uncertainty 7700
Session ThHT23 : Motion Planning for Autonomous VehiclePath Optimization for Ground Vehicles in Off-Road Terrain 7708
Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision 7715
Vehicle Trajectory Prediction Using Generative Adversarial Network with Temporal Logic Syntax Tree Features 7722
Autonomous Vehicle Motion Planning Via Recurrent Spline Optimization 7730
Session ThHT21 : Motion Planning for Surgical Robots
Bimanual Regrasping for Suture Needles Using Reinforcement Learning for Rapid Motion Planning 7737
Dual-Arm Needle Manipulation with the Da Vinci® Surgical Robot under Uncertainty 7744
Learning Surgical Motion Pattern from Small Data in Endoscopic Sinus and Skull Base Surgeries 7751
Backward Planning for a Multi-Stage Steerable Needle Lung Robot 7758
Session ThIT21 : Motion Planning for Task-Specific Robots I
A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels 7767
A Scavenger Hunt for Service Robots 7774
Exploring Large and Complex Environments Fast and Efficiently 7781
Planning Laser-Forming Folding Motion with Thermal Simulation 7788
Session ThJT21 : Motion Planning for Task-Specific Robots IIRobot Development and Path Planning for Indoor Ultraviolet Light Disinfection 7795
Piecewise-Linear Motion Planning Amidst Static, Moving, or Morphing Obstacles 7802
Smooth Path Planning for Continuum Arms 7809
Anticipatory Path Planning for Continuum Arms in Dynamic Environments 7815
Session TuDT5 : Motion Planning I
Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape 7821
NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments 7829
Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments 7836
High Speed Planning in Unknown Environments for Multirotors Considering Drag 7844
Session TuET5 : Motion Planning II
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning 7851
Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning 7858
Search-Based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices 7865
Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots 7872
Session TuFT5 : Motion Planning III
Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning 7880
MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning 7887
Cubic Bézier Local Path Planner for Non-Holonomic Feasible and Comfortable Path Generation 7894
Voxplan: A 3D Global Planner Using Signed Distance Function Submaps 7901
Session WeBT13 : Motion Planning in Automation
Prediction-Based Reachability for Collision Avoidance in Autonomous Driving 7908
Lane-free Autonomous Intersection Management: A Batch-processing Framework Integrating Reservation-based and Planning-based Methods 7915
Pheromone-Diffusion-Based Conscientious Reactive Path Planning for Road Network Persistent Surveillance 7922
Session ThKT21 : Motion Planning in Multi-Agents System I
Towards Safe Motion Planning in Human Workspaces: A Robust Multi-Agent Approach 7929
Anytime Fault-Tolerant Adaptive Routing for Multi-Robot Teams 7936
Exploiting Collisions for Sampling-Based Multicopter Motion Planning 7943
Multi-Robot Motion Planning with Unlabeled Goals for Mobile Robots with Differential Constraints 7950
Session ThHT20 : Motion Planning in Multi-Agents System II
A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem 7957
Time-Optimal Multi-Quadrotor Trajectory Planning for Pesticide Spraying 7965
Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography 7972
MIDAS: Multi-Agent Interaction-Aware Decision-Making with Adaptive Strategies for Urban Autonomous Navigation 7980
Session ThIT20 : Motion Planning in Multi-Agents System III
Scalable Active Information Acquisition for Multi-Robot Systems 7987
MAPS-X: Explainable Multi-Robot Motion Planning Via Segmentation 7994
Representation-Optimal Multi-Robot Motion Planning Using Conflict-Based Search 8001
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning 8009
Session ThJT20 : Motion Planning IV
Multi-Hypothesis Interactions in Game-Theoretic Motion Planning 8016
An Approximation Algorithm for an Assisted Shortest Path Problem 8024
TAMPC: A Controller for Escaping Traps in Novel Environments 8031
Projector-Guided Non-Holonomic Mobile 3D Printing 8039
Session TuGT5 : Motion Planning V
Learning from Simulation, Racing in Reality 8046
Equality Constrained Differential Dynamic Programming 8053
Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network 8060
Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories 8068
Session TuET4 : Motion Planning VI
Image Representation of a City and Its Taxi Fleet for End-To-End Learning of Rebalancing Policies 8076
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts 8083
Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios 8090
Self-Supervised Motion Retargeting with Safety Guarantee 8097
Session ThKT20 : Motion Planning with Partial Information
Data-Based Control of Partially-Observed Robotic Systems 8104
Partial Information Target Defense Game 8111
Stochastic Motion Planning under Partial Observability for Mobile Robots with Continuous Range Measurements 8118
Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information 8135
Session TuBT6 : Motion Planning: Autonomous Driving
ICurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving 8143
Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments 8151
Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation 8158
SMT-Based Optimal Deployment of Mobile Robot Rechargers 8165
Session TuCT6 : Motion Planning: Collision Avoidance
VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance 8172
Dynamic Window Approach with Human Imitating Collision Avoidance 8180
Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction 8187
Dynamic Movement Primitive Based Motion Retargeting for Dual-Arm Sign Language Motions 8195
Session TuFT4 : Motion Planning: Control
Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS 8202
Guilhem; Stasse, Olivier; Fernbach, Pierre; Tonneau, Steve; Calinon, Sylvain; Vijayakumar,
Sethu; Taïx, Michel; Mansard, Nicolas Constraint Handling in Continuous-Time DDP-Based Model Predictive Control 8209
Sparsity-Inducing Optimal Control Via Differential Dynamic Programming 8216
Sethu A Passive Navigation Planning Algorithm for Collision-Free Control of Mobile Robots 8223
Session WeAT13 : Motion Planning: Decision
TIE: Time-Informed Exploration for Robot Motion Planning 8230
MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches 8238
Belief Space Partitioning for Symbolic Motion Planning 8245
Anticipatory Planning and Dynamic Lost Person Models for Human-Robot Search and Rescue 8252
Session TuGT4 : Motion Planning: Kinematics and Dynamics
The Virtual Wheel Concept for the Singularity-Free Kinematic and Dynamic Modeling of Pseudo-Omnidirectional Vehicles 8259
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes 8266
Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations 8273
Obstacle Avoidance with Kinetic Energy Buffer 8280
Session WeBT5 : Motion Planning: Learning
Tra2Tra: Trajectory-To-Trajectory Prediction with a Global Social Spatial-Temporal Attentive Neural Network 8287
Remote-Center-Of-Motion Recommendation Toward Brain Needle Intervention Using Deep Reinforcement Learning 8295
Autonomous Navigation of an Ultrasound Probe towards Standard Scan Planes with Deep Reinforcement Learning 8302
A Knowledge-Based Fast Motion Planning Method through Online Environmental Feature Learning 8309
Session TuAT5 : Motion Planning: Learning-Based Prediction
Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot 8316
Path Planning in Uncertain Ocean Currents Using Ensemble Forecasts 8323
Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control 8330
Risk Conditioned Distributional Soft Actor-Critic for Risk-Sensitive Navigation 8337
Session TuET3 : Motion Planning: Legged Robots
Optimization-Inspired Controller Design for Transient Legged Locomotion 8345
Multi-Layered Safety for Legged Robots Via Control Barrier Functions and Model Predictive Control 8352
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach 8359
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots 8366
Session WeAT5 : Motion Planning: Manipulator
Robot Motion Planning with Human-Like Motion Patterns based on Human Arm Movement Primitive Chains 8373
A Model-Free Synchronous Control of Humanoid Robot Finger 8380
An Overall Configuration Planning Method of Continuum Hyper-Redundant Manipulators Based on Improved Artificial Potential Field Method 8386
Autonomous UAV Exploration of Dynamic Environments Via Incremental Sampling and Probabilistic Roadmap 8394
Session TuBT5 : Motion Planning: Optimization
Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints 8402
Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation 8409
Proximal Policy Optimization with Relative Pearson Divergence 8416
Optimal Object Placement for Minimum Discontinuity Non-Revisiting Coverage Task 8422
Session TuCT5 : Motion Planning: Robot PerceptionActive Information Acquisition under Arbitrary Unknown Disturbances 8429
Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector 8436
A Robotic Platform to Navigate MRI-Guided Focused Ultrasound System 8443
Approximating Constraint Manifolds Using Generative Models for Sampling-Based Constrained Motion Planning 8451
Session TuBT4 : Motion Planning: Semantic Scene
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements 8458
Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training 8465
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation 8472
Cost-To-Go Function Generating Networks for High Dimensional Motion Planning 8480
Session TuCT4 : Motion Planning: Task-Based Planning
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery 8487
Social Trajectory Planning for Urban Autonomous Surface Vessels 8495
A Geometric Folding Pattern for Robot Coverage Path Planning 8509
Tree Search-Based Task and Motion Planning with Prehensile and Non-Prehensile Manipulation for Obstacle Rearrangement in Clutter 8516
Session TuFT3 : Motion PredictionDesign, Development and Validation of a Dynamic Fall Prediction System for Excavators 8523
Satoshi; Ragaglia, Matteo; Sugiura, Hisashi; Niccolini, Marta Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion 8530
Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-Term Motion Prediction with Capsule Networks 8537
Movement Recognition and Prediction Using DMPs 8544
Session ThJT22 : Motion Prediction in Navigation
Occupancy Map Inpainting for Online Robot Navigation 8551
Ellipse Loss for Scene-Compliant Motion Prediction 8558
Predictive Runtime Monitoring for Mobile Robots Using Logic-Based Bayesian Intent Inference 8565
BiTraP: Bi-Directional Pedestrian Trajectory Prediction with Multi-Modal Goal Estimation 8572
Graph-SIM: A Graph-Based Spatiotemporal Interaction Modelling for Pedestrian Action Prediction 8580
Session ThJT19 : Multiple and Distributed Intelligence
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations 8587
Learning to Herd Agents Amongst Obstacles: Training Robust Shepherding Behaviors Using Deep Reinforcement Learning 8594
Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces 8600
Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results 8607
Session TuBT2 : Multiple and Distributed Systems I
PRIMAL2: Pathfinding Via Reinforcement and Imitation Multi-Agent Learning - Lifelong 8614
Consensus-Based Control Barrier Function for Swarm 8623
Bayesian Disturbance Injection: Robust Imitation Learning of Flexible Policies 8629
Active Modular Environment for Robot Navigation 8636
Session TuCT2 : Multiple and Distributed Systems II
Command Filtered Tracking Control for High-Order Systems with Limited Transmission Bandwidth 8643
Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight Corridor 8649
Multi-Scale Cost Volumes Cascade Network for Stereo Matching 8657
Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems 8664
Session TuBT3 : Multiple and Distributed Systems III
Deep Reinforcement Learning of Event-Triggered Communication and Control for Multi-Agent Cooperative Transport 8671
Multi-Robot Task Allocation Games in Dynamically Changing Environments 8678
An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems 8685
Johnson, David; Yoo, Chanyeol; Fitch, RobertPriority Patrolling Using Multiple Agents 8692
Session TuCT3 : Multiple and Distributed Systems IV
Distributed Heuristic Multi-Agent Path Finding with Communication 8699
Distributed PDOP Coverage Control: Providing Large-Scale Positioning Service Using a Multi-Robot System 8706
Autonomous Distributed System for Gait Generation for Single-Legged Modular Robots Connected in Various Configurations 8714
A Distributed Two-Layer Framework for Teleoperated Platooning of Fixed-Wing UAVs Via Decomposition and Backstepping 8734
Session ThIT18 : Multiple and Distributed Systems IX
PuzzleBots: Physical Coupling of Robot Swarms 8742
Spatial Intention Maps for Multi-Agent Mobile Manipulation 8749
Flocking-Segregative Swarming Behaviors Using Gibbs Random Fields 8757
Multi-Agent Ergodic Coverage in Urban Environments 8764
Session WeBT4 : Multiple and Distributed Systems V
Multi-Target Coverage with Connectivity Maintenance Using Knowledge-Incorporated Policy Framework 8772
SMMR-Explore: SubMap-Based Multi-Robot Exploration System with Multi-Robot Multi-Target Potential Field Exploration Method 8779
Multi-Objective Conflict-Based Search for Multi-Agent Path Finding 8786
Simultaneous Calibration of Multi-Coordinates for a Dual-Robot System by Solving the AXB=YCZ Problem 8792
Session WeAT11 : Multiple and Distributed Systems VI
Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles 8806
Decentralized Circle Formation Control for Fish-Like Robots in Real-World Via Reinforcement Learning 8814
Graph Connectivity Control of a Mobile Robot Network with Mixed Dynamic Multi-Tasks 8821
Distributed Rendezvous Control of Networked Uncertain Robotic Systems with Bearing Measurements 8829
Session ThJT18 : Multiple and Distributed Systems VII
Flow-FL: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems 8836
CHORD: Distributed Data-Sharing Via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments 8843
ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators 8851
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams 8859
Session ThKT19 : Multiple and Distributed Systems VIII
Probabilistic Resilience of Dynamic Multi-Robot Systems 8866
Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems 8874
Decentralized Nested Gaussian Processes for Multi-Robot Systems 8881
Cascaded Filtering Using the Sigma Point Transformation 8888
Session ThHT18 : Multiple and Distributed Systems X
The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed 8896
Multiplexing Robot Experiments: Theoretical Underpinnings, Conditions for Existence, and Demonstrations 8904
SMAC: Symbiotic Multi-Agent Construction 8911
Efficient Multi-Robot Inspection of Row Crops Via Kernel Estimation and Region-Based Task Allocation 8919
Session ThKT18 : Multiple and Distributed Systems XI
An Adaptive Fuzzy Reinforcement Learning Cooperative Approach for the Autonomous Control of Flock Systems 8927
Optimal Sequential Stochastic Deployment of Multiple Passenger Robots 8934
Online Connectivity-Aware Dynamic Deployment for Multi-Robot System 8941
Achieving Multitasking Robots in Multi-Robot Tasks 8948
Session ThHT17 : Multiple and Distributed Systems: Control
Communication-Aware Multi-Robot Coordination with Submodular Maximization 8955
Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach 8962
Online Flocking Control of UAVs with Mean-Field Approximation 8977
Proportional and Reachable Cluster Teleoperation of a Distributed Multi-Robot System 8984
Session ThIT17 : Multiple and Distributed Systems: Monitoring and Planning I
Planning of Heterogeneous Multi-Agent Systems under Signal Temporal Logic Specifications with Integral Predicates 8991
Multi-Agent Aerial Monitoring of Moving Convoys using Elliptical Orbits 8999
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning 9006
Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks 9014
Session ThJT17 : Multiple and Distributed Systems: Monitoring and Planning II
Affordable Autonomy through Cooperative Sensing and Planning 9022
Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components 9029
Multi-Robot Dynamical Source Seeking in Unknown Environments 9036
Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments 9043
Session ThKT17 : Multiple and Distributed Systems: Perception
Adaptation to Team Composition Changes for Heterogeneous Multi-Robot Sensor Coverage 9051
Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of Views 9058
Safety with Limited Range Sensing Constraints for Fixed Wing Aircraft 9065
A Queue-Stabilizing Framework for Networked Multi-Robot Exploration 9072
Session ThHT16 : Multiple and Distributed Systems: Search Algorithm
Multi-Robot Gaussian Process Estimation and Coverage: A Deterministic Sequencing Algorithm and Regret Analysis 9080
Multi-agent Receding Horizon Search with Terminal Cost 9086
Shaped Policy Search for Evolutionary Strategies Using Waypoints 9093
Multi-Agent Active Search Using Realistic Depth-Aware Noise Model 9101
Session ThIT16 : Multiple and Distributed Systems: Task Allocation
Fair Robust Assignment Using Redundancy 9109
Fast Near-Optimal Heterogeneous Task Allocation Via Flow Decomposition 9117
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions 9124
Resilient Task Allocation in Heterogeneous Multi-Robot Systems 9131
Session TuET2 : Multi-Robot Systems I
Self-Organised Saliency Detection and Representation in Robot Swarms 9139
A Practical Method to Cover Evenly a Dynamic Region with a Swarm 9147
Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-Robot Systems 9155
ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture 9161
Session TuGT3 : Multi-Robot Systems II
WRAPP-Up: A Dual-Arm Robot for Intralogistics 9168
Chiara; Gugliotta, Marco; Settimi, Alessandro; Catalano, Manuel Giuseppe; Grioli,
Giorgio; Pallottino, Lucia A Laser-Based Dual-Arm System for Precise Control of Collaborative Robots 9183
Near-Optimal Multi-Robot Motion Planning with Finite Sampling 9190
Whole-Body Real-Time Motion Planning for Multicopters 9197
Session TuHT3 : Multi-Robotic Systems Award Session
Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective 9204
Learning Multi-Arm Manipulation through Collaborative Teleoperation 9212
Session ThIT19 : Multi-View Perception
Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking 9220
Multi-View Sensor Fusion by Integrating Model-Based Estimation and Graph Learning for Collaborative Object Localization 9228
Deep Multi-View Depth Estimation with Predicted Uncertainty 9235
MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation Using Incremental Viewpoint-Compensated Feature Extraction 9242
Session TuBT0 : Navigation and Mapping
Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction 9249
MingAutonomous Navigation in Dynamic Environments with Multi-Modal Perception Uncertainties 9255
Learning World Transition Model for Socially Aware Robot Navigation 9262
Probabilistic Dynamic Crowd Prediction for Social Navigation 9269
Session TuCT0 : Navigation in Humanoids and Animaloids
Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments 9276
Real-Time Optimal Navigation Planning Using Learned Motion Costs 9283
Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps 9290
Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers 9298
Session ThDT4 : Novel Applications I
OpenBot: Turning Smartphones into Robots 9305
Quasi-LPV Unknown Input Observer with Nonlinear Outputs: Application to Motorcycles 9312
A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments 9318
Compact Digital Microrobot Based on Multistable Modules 9325
Session WeCT2 : Novel Applications II
A General Elimination Strategy for Camera Motion Estimation 9333
Group Feature Learning and Domain Adversarial Neural Network for aMCI Diagnosis System Based on EEG 9340
Line-Based Automatic Extrinsic Calibration of LiDAR and Camera 9347
RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema 9354
Session ThET4 : Novel Applications III
ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics 9361
Formal Verification of ROS Based Systems Using a Linear Logic Theorem Prover 9368
Fuzz Testing in Behavior-Based Robotics 9375
The Robot Household Marathon Experiment 9382
Sebastian; Beetz, Michael
Session WeCT9 : Novel Applications IV
Sliding Mode Control of the Semi-Active Hover Backpack Based on the Bioinspired Skyhook Damper Model 9389
Fast Light Show Design Platform for K-12 Children 9396
Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning 9403
An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors 9410
Session ThFT5 : Novel Applications V
A Relative Dynamics Formulation for Hardware-In-The-Loop Simulation of On-Orbit Robotic Missions 9417
Structured Prediction for CRiSP Inverse Kinematics Learning with Misspecified Robot Models 9425
Rapid Solution of Cosserat Rod Equations Via a Nonlinear Partial Observer 9433
The Effects of Robot Cognitive Reliability and Social Positioning on Child-Robot Team Dynamics 9439
Session ThET5 : Novel Applications: Manipulation
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments 9446
Towards Real-Time Interaction with Industrial Robots in the Creative Industries 9453
Automated Acquisition of Structured, Semantic Models of Manipulation Activities from Human VR Demonstration 9460
A Shared Control Framework for Robotic Telemanipulation Combining Electromyography Based Motion Estimation and Compliance Control 9467
Session WeBT10 : Novel Design Technologies
NeuralSim: Augmenting Differentiable Simulators with Neural Networks 9474
V-Stability Based Control for Energy-Saving towards Long Range Sailing* 9482
Continuous Transition: Improving Sample Efficiency for Continuous Control Problems Via MixUp 9490
Effective Crash Recovery of Robot Software Programs in ROS 9498
Session ThFT4 : Object Detection and Segmentation I
Self-Supervised Visual Terrain Classification from Unsupervised Acoustic Feature Learning 9505
Fast Few-Shot Classification by Few-Iteration Meta-Learning 9522
Deep Hierarchical Rotation Invariance Learning with Exact Geometry Feature Representation for Point Cloud Classification 9529
Fool Me Once: Robust Selective Segmentation Via Out-Of-Distribution Detection with Contrastive Learning 9536
Session ThJT16 : Object Recognition and Segmentation II
TORNADO-Net: MulTiview tOtal vaRiatioN semAntic Segmentation with Diamond inceptiOn Module 9543
Lite-HDSeg: LiDAR Semantic Segmentation Using Lite Harmonic Dense Convolutions 9550
Real-Time Semantic Segmentation with Fast Attention 9557
A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences 9565
Session ThKT16 : Object Recognition and Segmentation III
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation 9572
YolactEdge: Real-Time Instance Segmentation on the Edge 9579
Learning Panoptic Segmentation from Instance Contours 9586
0-MMS: Zero-Shot Multi-Motion Segmentation with a Monocular Event Camera 9594
Session ThFT3 : Odometry I
Self-Supervised Learning of LiDAR Odometry for Robotic Applications 9601
Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry 9608
Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images 9615
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry 9623
Session ThDT5 : Odometry II
Simple but Effective Redundant Odometry for Autonomous Vehicles 9631
Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry 9638
R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object 9645
Autonomous Cooperative Visual Navigation for Planetary Exploration Robots 9653
Session ThET6 : Optimal Control for Motion Planning
Optimal TCP and Robot Base Placement for a Set of Complex Continuous Paths 9659
Control-Tree Optimization: An Approach to MPC under Discrete Partial Observability 9666
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions 9673
Gramian-based optimal active sensing control under intermittent measurements 9680
Session TuHT22 : Optimization
A Complete, Accurate and Efficient Solution for the Perspective-N-Line Problem 9687
Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA 9695
Srini; Janapa Reddi, Vijay Accelerating Combinatorial Filter Reduction through Constraints 9703
Persistent Covering with Latency and Energy Constraints 9710
Session ThHT15 : Optimization and Control I
Equality Constrained Linear Optimal Control with Factor Graphs 9717
Robust Optimization-based Motion Planning for high-DOF Robots under Sensing Uncertainty 9724
Optimized Coverage Planning for UV Surface Disinfection 9731
Constrained Differential Dynamic Programming Revisited 9738
Session ThIT15 : Optimization and Control II
Computing All Solutions to a Discretization-Invariant Formulation for Optimal Mechanism Design 9745
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity During Robotics Surgery 9752
Balancing Stability and Stiffness through Optimization of Parallel Compliance 9759
Direct Policy Optimization Using Deterministic Sampling and Collocation 9767
Session ThFT6 : Optimization and Control III
Linear-Quadratic Optimal Control in Maximal Coordinates 9775
Safe and Efficient Model-Free Adaptive Control Via Bayesian Optimization 9782
Data-efficient Domain Randomization with Bayesian Optimization 9789
Adaptive Robust Kernels for Non-Linear Least Squares Problems 9797
Session ThET7 : Optimization for Legged RobotsReceding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with
Learned Initialization 9805
Trajectory Optimization of Contact-Rich Motions Using Implicit Differential Dynamic Programming 9812
Friction-Driven Three-Foot Robot Inspired by Snail Movement 9820
Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers 9826
Session ThDT7 : Optimization for Multi-Robot Systems
General-Sum Multi-Agent Continuous Inverse Optimal Control 9833
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization 9840
Rapidly Adapting Robot Swarms with Swarm Map-Based Bayesian Optimisation 9848
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization 9855
Session ThIT14 : Optimization in Robotic Design I
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design 9863
Factor Graph-Based Trajectory Optimization for a Pneumatically-Actuated Jumping Robot 9870
MO-BBO: Multi-Objective Bilevel Bayesian Optimization for Robot and Behavior Co-Design 9877
Manipulator Task Space Trajectory Tracking with Kinematics and Dynamics Uncertainties 9884
Session ThDT6 : Optimization in Robotic Design IIMinimum-Effort Task-Based Design Optimization of Modular Reconfigurable Robots 9891
Computational Design of Energy-Efficient Legged Robots: Optimizing for Size and Actuators 9898
On the Effect of Robotic Leg Design on Energy Efficiency 9905
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa) 9912
Session ThJT15 : Optimization-Based Motion Planning I
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts Using Bilevel Optimization 9921
Energy-Optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles 9928
Double Meta-Learning for Data Efficient Policy Optimization in Non-Stationary Environments 9935
Adversarial Attacks on Optimization Based Planners 9943
Session ThKT15 : Optimization-Based Motion Planning II
Strobe: An Acceleration Meta-Algorithm for Optimizing Robot Paths Using Concurrent Interleaved Sub-Epoch Pods 9950
Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning 9957
Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees 9964
Belief Space Planning for Mobile Robots with Range Sensors Using ILQG 9973
Session ThHT14 : Optimization-Based Motion Planning IIIMulti-Modal Motion Planning Using Composite Pose Graph Optimization 9981
Asymptotically Optimal Kinodynamic Planning Using Bundles of Edges 9988
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance 9995
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units 10002
Session ThFT7 : Path Planning for Multiple Mobile Robots
Hierarchical and Flexible Traffic Management of Multi-AGV Systems Applied to Industrial Environments 10009
Combining Multi-Robot Motion Planning and Goal Allocation Using Roadmaps 10016
Asynchronous Reliability-Aware Multi-UAV Coverage Path Planning 10023
Distributed Coordinated Path Following Using Guiding Vector Fields 10030
Session WeBT16 : Path Planning for Multiple Robots
An Efficient Parallel Self-Assembly Planning Algorithm for Modular Robots in Environments with Obstacles 10038
Multi-Robot Informative Path Planning Using a Leader-Follower Architecture 10045
Tightly-Coupled Perception and Navigation of Heterogeneous Land-Air Robots in Complex Scenarios 10052
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators 10059
Session ThET8 : Path Planning I
FT-BSP: Focused Topological Belief Space Planning 10079
Path Planning for a Reconfigurable Robot in Extreme Environments 10087
AM-RRT*: Informed Sampling-Based Planning with Assisting Metric 10093
Complete Path Planning That Simultaneously Optimizes Length and Clearance 10100
Session ThFT8 : Path Planning II
On Smooth Time-Optimal Trajectory Planning in Twisted String Actuators 10107
Fast Swing-Up Trajectory Optimization for a Spherical Pendulum on a 7-DoF Collaborative Robot 10114
Surface-Based Path Following Control: Application of Curved Tapes on 3D Objects 10121
Human-Robot Collaborative Multi-Agent Path Planning Using Monte Carlo Tree Search and Social Reward Sources 10133
Session TuET0 : Perception for Manipulation I
Embodied Reasoning for Discovering Object Properties Via Manipulation 10139
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation 10146
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization 10153
"What's This?" - Learning to Segment Unknown Objects from Manipulation Sequences 10160
Session TuGT0 : Perception for Manipulation II
Polyhedral Friction Cone Estimator for Object Manipulation 10168
Interpretability in Contact-Rich Manipulation via Kinodynamic Images 10175
Differentiable Simulation for Physical System Identification 10182
Few-Shot Model-Based Adaptation in Noisy Conditions 10190
Session ThJT14 : Planning Algorithms for Robotics
Minimal Exposure Dubins Orienteering Problem 10198
Generalized Nonlinear and Finsler Geometry for Robotics 10206
A Fast and Approximate Medial Axis Sampling Technique 10213
An Adaptive Method for the Stochastic Orienteering Problem 10220
Session ThDT8 : Pose Estimation
Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds 10228
Learning a State Representation and Navigation in Cluttered and Dynamic Environments 10235
Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee 10243
Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection 10250
Session ThKT14 : Probabilistic Method in Motion Planning
Planning on a (Risk) Budget: Safe Non-Conservative Planning in Probabilistic Dynamic Environments 10257
Avoidance Critical Probabilistic Roadmaps for Motion Planning in Dynamic Environments 10264
Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity 10271
Planning under Non-Rational Perception of Uncertain Spatial Costs 10279
Session ThAT7 : Reconstruction and Perception
Rapid Pose Label Generation through Sparse Representation of Unknown Objects 10287
Learning to Predict Repeatability of Interest Points 10294
DRACO: Weakly Supervised Dense Reconstruction and Canonicalization of Objects 10302
FastFlowNet: A Lightweight Network for Fast Optical Flow Estimation 10310
Session ThHT13 : Rehabilitation and Assistive Robotics I
Drumming Arm: An Upper-Limb Prosthetic System to Restore Grip Control for a Transradial Amputee Drummer 10317
Analysis of the Effect of Common Disturbances on the Safety of a Wearable Tremor Suppression Device 10324
FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury 10332
Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-Pipe Rigidity 10340
Session TuFT0 : Rehabilitation and Assistive Robotics IIA Variable Soft Finger Exoskeleton for Quantifying Fatigue-Induced Mechanical Impedance 10347
A Constant-Force End-Effector with Online Force Adjustment for Robotic Ultrasonography 10353
Affordance-Aware Handovers with Human Arm Mobility Constraints 10361
Subramanian; Lohan, Katrin Solveig; Cakmak, Maya Wearable Integrated Soft Haptics in a Prosthetic Socket 10369
Session ThAT6 : Rehabilitation and Assistive Robotics III
Verbal Focus-Of-Attention System for Learning-From-Observation 10377
Hybrid Model Control of WalkON Suit for Precise and Robust Gait Assistance of Paraplegics 10385
A Novel Gait Phase Detection Algorithm for Foot Drop Correction through Optimal Hybrid FES-Orthosis Assistance 10391
Samer A Phase-Shifting Based Human Gait Phase Estimation for the Powered Transfemoral Prosthesis 10398
Session ThIT13 : Rehabilitation and Assistive Robotics IV
Customized Handling of Unintended Interface Operation in Assistive Robots 10406
Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support 10413
Inverse Optimal Robust Adaptive Controller for Upper Limb Rehabilitation Exoskeletons with Inertia and Load Uncertainties 10421
Perceived Usefulness of a Social Robot Augmented Telehealth Platform by Therapists in the United States 10430
Session TuFT2 : Rehabilitation and Assistive Robotics V
Toward Seamless Transitions between Shared Control and Supervised Autonomy in Robotic Assistance 10438
Computing the Positioning Error of an Upper-Arm Robotic Prosthesis from the Observation of Its Wearer's Posture 10446
Intent-Aware Control in Kinematically Redundant Systems: Towards Collaborative Wearable Robots 10453
Foot Placement Prediction for Assistive Walking by Fusing Sequential 3D Gaze and Environmental Context 10461
Session ThBT6 : Rehabilitation and Assistive Robotics VI
Nonlinear Disturbance Observer-Based Robust Position Control for Series Elastic Actuator-Driven Robots 10469
Composing an Assistive Control Strategy Based on Linear Bellman Combination from Estimated User's Motor Goal 10476
Biomimetic Control of Myoelectric Prosthetic Hand Based on a Lambda-Type Muscle Model 10484
Control and Evaluation of Body Weight Support Walker for Overground Gait Training 10491
Session WeAT15 : Rehabilitation and Assistive Robotics VII
Developing of a Rigid-Compliant Finger Joint Exoskeleton Using Topology Optimization Method 10499
Wheel-Legged Robotic Limb to Assist Human with Load Carriage: An Application for Environmental Disinfection During COVID-19 10505
SpringExo, a Spring-Based Exoskeleton for Providing Knee Assistance: Design, Characterization and Feasibility Study 10513
High-Force Fabric-Based Pneumatic Actuators with Asymmetric Chambers and Interference-Reinforced Structure for Soft Wearable Assistive Gloves 10520
Session ThJT13 : Rehabilitation and Assistive Robotics: Machine Learning
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding 10528
Task-Invariant Learning of Continuous Joint Kinematics During Steady-State and Transient Ambulation Using Ultrasound Sensing 10536
Toward Deep Generalization of Peripheral EMG-Based Human-Robot Interfacing: A Hybrid Explainable Solution for NeuroRobotic Systems 10543
Kinesthetic feedback improves grasp performance in cable-driven prostheses 10551
Session ThKT13 : Rehabilitation and Assistive Robotics: Prosthetics and Exoskeletons
Real-Time User-Independent Slope Prediction Using Deep Learning for Modulation of Robotic Knee Exoskeleton Assistance 10558
Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion 10565
Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis 10572
Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance 10580
Session ThHT12 : Rehabilitation and Assistive Robotics: Reinforcement Learning
Human-Guided Robot Behavior Learning: A GAN-Assisted Preference-Based Reinforcement Learning Approach 10587
Protective Policy Transfer 10595
Natural Walking with Musculoskeletal Models Using Deep Reinforcement Learning 10603
A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton 10610
Session ThIT12 : Reinforcement Learning for Robotics I
FISAR: Forward Invariant Safe Reinforcement Learning with a Deep Neural Network-Based Optimizer 10617
Coding for Distributed Multi-Agent Reinforcement Learning 10625
Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads 10632
Transfer Reinforcement Learning across Homotopy Classes 10640
Session TuGT2 : Reinforcement Learning for Robotics II
Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives 10649
Secure Planning against Stealthy Attacks Via Model-Free Reinforcement Learning 10656
Harmonic-Based Optimal Motion Planning in Constrained Workspaces Using Reinforcement Learning 10663
Reward Learning from Very Few Demonstrations 10670
Hierarchies of Planning and Reinforcement Learning for Robot Navigation 10682
Session ThBT7 : Reinforcement Learning for Robotics III
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments 10689
DingDeep Learning Assisted Robotic Magnetic Anchored and Guided Endoscope for Real-Time Instrument Tracking 10696
Incorporating Multi-Context into the Traversability Map for Urban Autonomous Driving Using Deep Inverse Reinforcement Learning 10704
Quantification of Joint Redundancy Considering Dynamic Feasibility Using Deep Reinforcement Learning 10712
Session ThDT14 : Reinforcement Learning in Navigation
A Novel Hybrid Approach for Fault-Tolerant Control of UAVs based on Robust Reinforcement Learning 10719
Deep Probabilistic Feature-Metric Tracking 10726
Using Reinforcement Learning to Create Control Barrier Functions for Explicit Risk Mitigation in Adversarial Environments 10734
Edge Computing in 5G for Drone Navigation: What to Offload? 10741
Session ThJT12 : Robot Safety
Encoding Defensive Driving As a Dynamic Nash Game 10749
Enhancing Safety of Students with Mobile Air Filtration During School Reopening from COVID-19 10757
Quinones Cortes, Jhon Jairo; Doosttalab, Ali; Esquivel-Puentes, ‪Helber Antonio; Purwar,
Tanya; Castillo, Luciano; Mahmoudian, Nina; Voyles, Richard Probabilistic Safety Assured Adaptive Merging Control for Autonomous Vehicles 10764
Negotiating Visibility for Safe Autonomous Navigation in Occluding and Uncertain Environments 10771
Session ThKT12 : Robotic Learning with Visual Signal
Visionary: Vision Architecture Discovery for Robot Learning 10779
Zero-Shot Policy Learning with Spatial Temporal Reward Decomposition on Contingency-Aware Observation 10786
Approximate Inverse Reinforcement Learning from Vision-Based Imitation Learning 10793
Efficient Robotic Object Search via HIEM: Hierarchical Policy Learning with Intrinsic-Extrinsic Modeling 10800
Session ThET17 : Robotic Manipulation
Reward Conditioned Neural Movement Primitives for Population-Based Variational Policy Optimization 10808
Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills 10815
Optimal Deep Learning for Robot Touch 10822
Learning Optimal Impedance Control During Complex 3D Arm Movements 10832
Session ThBT15 : Robotic Mechanisms and Design I
Air-Hydraulic Servo Booster Toward Submersible Water-Driven Robots 10840
Joint Mechanical Design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle via Collaborative Co-Evolution 10847
Shaohui Development of Cable-Driven Anthropomorphic Robot Hand 10855
Origami-Inspired Snap-Through Bistability in Parallel and Curved Mechanisms through the Inflection of Degree Four Vertexes 10863
Lee, Zu Xuan; Tan, Chui Shien Janice; Ho, Jian Rong; Ma, Minhui Vienna; Huang, Hui; Ren,
Hongliang
Session ThBT21 : Robotic Mechanisms and Design II
Applications: Twisted String Actuation-Based Compact Automatic Transmission 10870
Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance 10877
A Novel Variable Resolution Torque Sensor Based on Variable Stiffness Principle 10884
A Motion Estimation Filter for Inertial Measurement Unit with On-board Ferromagnetic Materials 10890
Energy Saving of Schooling Robotic Fish in Three Dimensional Formations 10898
Session ThHT11 : Robotic Perception I
Self-Guided Instance-Aware Network for Depth Completion and Enhancement 10905
World-in-the-Loop Simulation for Autonomous Systems Validation 10912
RetinaGAN: An Object-Aware Approach to Sim-To-Real Transfer 10920
A Framework for Multisensory Foresight for Embodied Agents 10927
Session ThFT17 : Robotic Perception II
HDROmni: Optical Extension of Dynamic Range for Panoramic Robot Vision 10934
The GRIFFIN Perception Dataset: Bridging the Gap between Flapping-Wing Flight and Robotic Perception 10942
OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving 10950
Leang, Isabelle; Milz, Stefan; Mäder, PatrickOffline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods 10958
Session ThIT11 : Robotic Perception III
6D Object Pose Estimation with Pairwise Compatible Geometric Features 10966
Robust Skin-Feature Tracking in Free-Hand Video from Smartphone or Robot-Held Camera, to Enable Clinical-Tool Localization and Guidance 10974
In-Hand Object-Dynamics Inference Using Tactile Fingertips 10981
From Multi-Target Sensory Coverage to Complete Sensory Coverage: An Optimization-Based Robotic Sensory Coverage Approach 10994
Session ThDT16 : Robotic Percetpion IV
A Minimally Supervised Approach Based on Variational Autoencoders for Anomaly Detection in Autonomous Robots 11001
Faster R-CNN-Based Decision Making in a Novel Adaptive Dual-Mode Robotic Anchoring System 11010
Hearing What You Cannot See: Acoustic Vehicle Detection Around Corners 11017
Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models 11025
Session ThAT21 : Robotic Vision I
Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images 11032
STA-VPR: Spatio-Temporal Alignment for Visual Place Recognition 11039
Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose Estimation 11047
Poh Kang; Toh, Pei Lin Pearlin; Tan, U-XuanVoxelized GICP for Fast and Accurate 3D Point Cloud Registration 11054
Session ThET16 : Robotic Vision II
Generic Hand-Eye Calibration of Uncertain Robots 11060
In-Situ Translational Hand-Eye Calibration of Laser Profile Sensors Using Arbitrary Objects 11067
Villagrossi, Enrico; Polo, Andrea; Ardesi, Alessandro; Maggiali, Marco; Natale, Lorenzo;
Pucci, Daniele; Traversaro, Silvio
Autonomous UAV Safety by Visual Human Crowd Detection Using Multi-Task Deep Neural Networks 11074
CloudAAE: Learning 6D Object Pose Regression with On-Line Data Synthesis on Point Clouds 11081
Session ThFT16 : Robust Control
No Need for Interactions: Robust Model-Based Imitation Learning Using Neural ODE 11088
Robust Trajectory Planning with Parametric Uncertainties 11095
Robust Policy Search for Robot Navigation 11102
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion 11110
Session ThJT11 : Robust/Optimal Control
Towards Robust One-Shot Task Execution Using Knowledge Graph Embeddings 11118
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control 11125
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch 11132
Sliding on Manifolds: Geometric Attitude Control with Quaternions 11140
Session ThBT8 : Segmentation and Recognition
Deep Balanced Learning for Long-Tailed Facial Expressions Recognition 11147
AU-Expression Knowledge Constrained Representation Learning for Facial Expression Recognition 11154
Covariance Self-Attention Dual Path UNet for Rectal Tumor Segmentation 11162
Fabric Defect Detection Using Tactile Information 11169
Session ThAT20 : Semantic Planning
Towards Real-time Semantic RGB-D SLAM in Dynamic Environments 11175
Real-Time Robot Path Planning Using Rapid Visible Tree 11182
Semantically Guided Multi-View Stereo for Dense 3D Road Mapping 11189
Spatial Reasoning from Natural Language Instructions for Robot Manipulation 11196
Session ThKT11 : Semantic Scene Understanding
Semantic SLAM with Autonomous Object-Level Data Association 11203
Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping 11210
Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR 11219
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search 11227
Session WeBT11 : Semantics Localization
Point Set Registration with Semantic Region AssociationUsing Cascaded Expectation Maximization 11234
A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge 11241
RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving 11248
Visual Semantic Localization Based on HD Map for Autonomous Vehicles in Urban Scenarios 11255
Session ThBT20 : Sensing in Manipulation
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements 11262
Needle Tip Tracking in 2D Ultrasound Based on Improved Compressive Tracking and Adaptive Kalman Filter 11269
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning 11278
Contact Feature Recognition Based on MFCC of Force Signals 11285
Session ThDT15 : Sensor Fusion
DSEC: A Stereo Event Camera Dataset for Driving Scenarios 11291
Interval-Based Visual-LiDAR Sensor Fusion 11299
Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation 11307
EagerMOT: 3D Multi-Object Tracking Via Sensor Fusion 11315
Session TuDT2 : Service Robotics Award Session
Tactile SLAM: Real-time inference of shape and pose from planar pushing 11322
BADGR: An Autonomous Self-Supervised Learning-Based Navigation System 11329
Session ThBT17 : Service Robotics I
Multiple-Place Swarm Foraging with Dynamic Robot Chains 11337
Collaborative Learning of Multiple-Discontinuous-Image Saliency Prediction for Drone Exploration 11343
Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances 11350
Not Your Grandmother’s Toolbox – the Robotics Toolbox Reinvented for Python 11357
Session ThAT17 : Service Robotics II
A Robotic Defect Inspection System for Free-Form Specular Surfaces 11364
Keeping Social Distance During the Pandemic: Contactless Meal Order and Takeout Service Via AI-Assisted Smart Robots 11371
Serverless Architecture for Service Robot Management System 11379
Can Non-Humanoid Social Robots Reduce Workload of Special Educators : An Online and In-Premises Field Study 11386
Session ThAT18 : Service Robotics III
Heart Position Estimation Based on Bone Distribution Toward Autonomous Robotic Fetal Ultrasonography 11393
Chip-Less Wireless Sensing of Origami Structural Morphing under Various Mechanical Stimuli Using Home-Based Ink-Jet Printable Materials 11400
Manivannan; Cai, Catherine; Ren, HongliangA 2-Dimensional Branch-And-Bound Algorithm for Hand-Eye Self-Calibration of SCARA Robots 11408
Long-Term Multiple Time-Constant Model of a Spring Roll Dielectric Elastomer Actuator under Dynamic Loading 11415
Session ThBT18 : Service Robotics IV
S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs 11422
HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler 11429
Multimodal Anomaly Detection Based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots 11443
Route Coverage Testing for Autonomous Vehicles Via Map Modeling 11450
Session ThAT19 : Service Robotics V
A Wheeled V-Shaped In-Pipe Robot with Clutched Underactuated Joints 11457
Walking Trajectory Design of Hydraulic Legged Robot with Limited Powered Pump 11463
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction 11470
An Overconstrained Robotic Leg with Coaxial Quasi-Direct Drives for Omni-Directional Ground Mobility 11477
Session ThBT19 : Service Robotics VI
A Data-Set and a Method for Pointing Direction Estimation from Depth Images for Human-Robot Interaction and VR Applications 11485
Learning-Based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping 11492
ChaoyangSeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition 11500
Extendable Navigation Network Based Reinforcement Learning for Indoor Robot Exploration 11508
Session ThJT9 : Simulation and Control
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics 11515
Daniel; Grannen, Jennifer; Hwang, Minho; Hoque, Ryan; Gonzalez, Joseph E.; Jamali,
Nawid; Yamane, Katsu; Iba, Soshi; Goldberg, Ken
Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects Via Physical Simulations 11523
Visualization of Stable Heteroclinic Channel-Based Movement Primitives 11531
Stable Learning-Based Tracking Control of Underactuated Balance Robots 11538
Session WeBT12 : SLAM I
Hybrid Bird's-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking 11546
Collaborative Visual Inertial SLAM for Multiple Smart Phones 11553
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding 11560
Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-Scale Environments 11566
Session ThET15 : SLAM II
Online Range-Based SLAM Using B-Spline Surfaces 11573
RGB-D SLAM with Structural Regularities 11581
Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization 11588
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects 11596
Session ThAT16 : SLAM III
Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM 11604
Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements 11612
LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence 11619
Compositional and Scalable Object SLAM 11626
Session ThFT15 : SLAM IV
MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square 11633
Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data 11641
A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures 11648
Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization 11654
René
Session ThBT16 : SLAM V
Markov Parallel Tracking and Mapping for Probabilistic SLAM 11661
Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor 11668
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features 11675
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment 11682
Session ThDT17 : SLAM VI
TT-SLAM: Dense Monocular SLAM for Planar Environments 11690
OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications 11697
DOT: Dynamic Object Tracking for Visual SLAM 11705
DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences 11712
Session ThHT10 : SLAM with Monocular Camera
CAROM - Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures 11725
A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior 11732
HyperMap: Compressed 3D Map for Monocular Camera Registration 11739
Bidirectional Attention Network for Monocular Depth Estimation 11746
Session ThIT10 : Soft Robotics I
Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization 11753
Reconstruction of Backbone Curves for Snake Robots 11760
Hybrid Vine Robot with Internal Steering-Reeling Mechanism Enhances System-Level Capabilities 11767
A Dynamics Simulator for Soft Growing Robots 11775
Session ThJT10 : Soft Robotics II
StRETcH: A Soft to Resistive Elastic Tactile Hand 11782
An Active Palm Enhances Dexterity of Soft Robotic In-Hand Manipulation 11790
Elastica: A compliant mechanics environment for soft robotic control 11797
Compensating for Unmodeled Forces Using Neural Networks in Soft Manipulator Planning 11805
Session ThKT10 : Soft Robotics III
A Legged Soft Robot Platform for Dynamic Locomotion 11812
States and Contact Forces Estimation for a Fabric-Reinforced Inflatable Soft Robot 11820
Acoustic Communication and Sensing for Inflatable Modular Soft Robots 11827
Cooperative Collision Avoidance Control of Servo/IPMC Driven Robotic Fish with Back-Relaxation Effect 11834
Session WeAT9 : Soft Robotics IV
Elevation Control of a Soft Jumping Robot 11843
A Soft-Rigid Air-Propelled Pipe-Climbing Robot 11850
A Versatile Pneumatic Actuator Based on Scissor Mechanisms: Design, Modeling, and Experiments 11856
A Lightweight Soft Gripper Driven by Self-Sensing Super-Coiled Polymer Actuator 11864
Session WeBT9 : Soft Robotics V
Design and Analysis of a Novel Lightweight, Versatile Soft-Rigid Robot 11871
Kinetostatics for Variable Cross-Section Continuum Manipulators 11878
Numerical Simulation of an Untethered Omni-Directional Star-Shaped Swimming Robot 11884
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration 11891
Session ThAT15 : Soft Robotics: Actuation
Amplifying Laminar Jamming for Soft Robots by Geometry-Induced Rigidity 11907
Long Short Term Memory Model Based Position-Stiffness Control of Antagonistically Driven Twisted-Coiled Polymer Actuators Using Model Predictive Control 11913
Expending Pouch Motor Patterns for Programmable Soft Bending Actuation 11921
Towards a Multi-Imager Compatible Continuum Robot with Improved Dynamics Driven by Modular SMA 11930
Session ThET14 : Soft Robotics: Analysis and Modeling
Screw Theory-Based Stiffness Analysis for a Fluidic-Driven Soft Robotic Manipulator 11938
Liquid Metal Logic for Soft Robotics 11945
Minimum Directed Information: A Design Principle for Compliant Robots 11953
Model and Validation of a Highly Extensible and Tough Actuator Based on a Ballooning Membrane 11961
Session ThBT5 : Soft Robotics: Bionic Robots
SomBot: A Bio-Inspired Dynamic Somersaulting Soft Robot 11968
A Bioinspired Composite Finger with Self-Locking Joints 11976
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction 11984
Design and Modeling of a Biomimetic Gastropod-Like Soft Robot with Wet Adhesive Locomotion 11997
Session ThFT14 : Soft Robotics: Control I
Planning for a Tight Squeeze: Navigation of Morphing Soft Robots in Congested Environments 12004
Soft Robot Optimal Control Via Reduced Order Finite Element Models 12010
Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators 12017
Design and Optimization of a Dextrous Robotic Finger: Incorporating a Sliding, Rotating, and Soft-Bending Mechanism While Maximizing Dexterity and Minimizing Dimensions 12025
Session ThAT14 : Soft Robotics: Control II
Deep Reinforcement Learning Framework for Underwater Locomotion of Soft Robot 12033
A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation 12040
Compact Flat Fabric Pneumatic Artificial Muscle (ffPAM) for Soft Wearable Robotic Devices 12047
An Autonomous Robotic Flexible Endoscope System with a DNA-Inspired Continuum Mechanism 12055
Session ThBT14 : Soft Robotics: Crawling Robots
Design and Experiment of a Pneumatic Soft Climbing Robot 12061
Starfish Inspired Milli Soft Robot with Omnidirectional Adaptive Locomotion Ability 12068
Surface Robots based on S-Isothermic Surfaces 12076
Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-And-Place Objects 12082
Session ThDT13 : Soft Robotics: Design
Highly Maneuverable Eversion Robot Based on Fusion of Function with Structure 12089
Automated Routing of Muscle Fibers for Soft Robots 12097
A Fluidic Soft Robot for Needle Guidance and Motion Compensation in Intratympanic Steroid Injections 12110
B: Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses 12118
Session ThAT13 : Soft Robotics: Mechanism Design
Soft Twisting Pneumatic Actuators Enabled by Freeform Surface Design 12124
A Dual-Mode Actuator for Soft Robotic Hand 12132
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine 12140
Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump 12156
Session ThKT8 : Soft Sensors and Materials
A Soft Robotic Gripper with Anti-Freezing Ionic Hydrogel-Based Sensors for Learning-Based Object Recognition 12164
Adaptive Tracking Control of Soft Robots Using Integrated Sensing Skins and Recurrent Neural Networks 12170
WhiskSight: A reconfigurable, vision-based, optical whisker sensing array for simultaneous contact, airflow, and inertia stimulus detection 12177
Embedded Neuromorphic Architecture for Form + Function 4-D Printing of Robotic Materials: Emulation of Optimized Neurons 12185
Session ThKT9 : Stereo Vision Applications
Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation 12192
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments 12199
Learning the Next Best View for 3D Point Clouds Via Topological Features 12207
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras 12214
Session WeCT15 : Surgical Continuum Robots
Towards Collision Detection, Localization and Force Estimation for a Soft Cable-Driven Manipulator 12222
Kinematic Analysis of a Flexible Surgical Instrument for Robot-Assisted Minimally Invasive Surgery 12229
Hybrid Adaptive Control Strategy for Continuum Surgical Robot under External Load 12236
Bing; Meng, Max Q.-H.A Multi-Contact-Aided Continuum Manipulator with Anisotropic Shapes 12244
Session ThHT8 : Surgical Robotics I
Parallelism in Autonomous Robotic Surgery 12252
Septimiu E. A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure 12261
Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant 12268
A Robotic System for Implant Modification in Single-Stage Cranioplasty 12275
Session ThBT13 : Surgical Robotics II
Design and Implementation of a Novel, Intrinsically Safe Rigid-Flexible Coupling Manipulator for COVID-19 Oropharyngeal Swab Sampling 12282
Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation 12289
Towards a Wristed Percutaneous Robot with Variable Stiffness for Pericardiocentesis 12296
Corneal Suturing Robot Capable of Producing Sutures with Desired Shape for Corneal Transplantation Surgery 12305
Session ThIT8 : Surgical Robotics III
Recovering Stress Distribution on Deformable Tissue for a Magnetic Actuated Insertable Laparoscopic Surgical Camera 12314
A Novel Robotic System for Ultrasound-Guided Peripheral Vascular Localization 12321
Real-To-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy 12328
Toward Force Estimation in Robot-Assisted Surgery Using Deep Learning with Vision and Robot State 12335
Session ThAT12 : Surgical Robotics IV
A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance 12342
Learning Domain Adaptation with Model Calibration for Surgical Report Generation in Robotic Surgery 12350
Tele-Operative Low-Cost Robotic Lung Ultrasound Scanning Platform for Triage of COVID-19 Patients 12357
Olushola Segun; Zheng, Yihao; Hill, Jeffrey C.; Hoffmann, Beatrice; Soboyejo, Winston;
Zhang, Haichong Data-Driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-Based Depth Perception 12366
Session ThJT8 : Surgical Robotics V
Multibranch Learning for Angiodysplasia Segmentation with Attention-Guided Networks and Domain Adaptation 12373
Model-Predictive Control of Blood Suction for Surgical Hemostasis Using Differentiable Fluid Simulations 12380
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection 12387
Learning Invariant Representation of Tasks for Robust Surgical State Estimation 12395
Session ThET13 : Surgical Robotics VI
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization 12403
PetarMAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection 12411
Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection 12420
Design and Development of a Robotic Bioreactor for in Vitro Tissue Engineering 12428
Session ThFT13 : Surgical Robotics VII
Model-Based Design and Digital Implementation to Improve Control of the Da Vinci Research Kit Telerobotic Surgical System 12435
Shared Control Strategy for Needle Insertion into Deformable Tissue Using Inverse Finite Element Simulation 12442
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation 12449
Secchi, Cristian Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery 12456
Session WeCT13 : Surgical Robots IX
Cutting Depth Compensation Based on Milling Acoustic Signal for Robotic-Assisted Laminectomy 12464
Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current 12470
Fast Localization and Segmentation of Tissue Abnormalities by Autonomous Robotic Palpation 12478
Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction 12486
Session ThDT12 : Surgical Robots VIII
Motion-Aware Robotic 3D Ultrasound 12494
A 3D Printed Mechanical Model of the Knee to Detect and Avoid Total Knee Replacement Surgery Errors 12501
Detecting Blindspots in Colonoscopy by Modelling Curvature 12508
Out-Of-Plane Corrections for Autonomous Robotic Breast Ultrasound Acquisitions 12515
Session ThET12 : Tactile Sensing for Manipulation
Improved Learning of Robot Manipulation Tasks Via Tactile Intrinsic Motivation 12522
Exploiting Distributed Tactile Sensors to Drive a Robot Arm through Obstacles 12530
Slip Detection for Grasp Stabilisation with a Multi-Fingered Tactile Robot Hand 12538
Grasp Detection for Robot to Human Handovers Using Capacitive Sensors 12552
Session ThFT12 : Tactile Sensing in Surgical Appplications
Foot Control of a Surgical Laparoscopic Gripper Via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control 12559
Providing Automatic Feedback to Trainees after Automatic Evaluation 12567
An Abdominal Phantom with Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training 12574
A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation Training 12588
Session ThIT9 : Task Planning I
Deep Learning for Robotic Mass Transport Cloaking 12595
Collective Transport of Unconstrained Objects Via Implicit Coordination and Adaptive Compliance 12603
Approximate Solutions to a Class of Reachability Games 12610
Reactive Task and Motion Planning under Temporal Logic Specifications 12618
Session ThHT9 : Task Planning II
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning 12625
Meta-Adversarial Inverse Reinforcement Learning for Decision-Making Tasks 12632
Min-Max Entropy Inverse RL of Multiple Tasks 12639
Task Planning on Stochastic Aisle Graphs for Precision Agriculture 12646
Session ThDT11 : Task Planning III
Productive Multitasking for Industrial Robots 12654
Automated Planning of Workcell Layouts Considering Task Sequences 12662
Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line 12669
Multi-Goal Path Planning Using Multiple Random Trees 12677
Session ThHT7 : Time Delay Systems
Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization
Enhancement 12685
DESERTS: Delay-Tolerant Semi-Autonomous Robot Teleoperation for Surgery 12693
Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner 12701
The Effect of Input Signals Time-Delay on Stabilizing Traffic with Autonomous Vehicles 12708
Session ThIT7 : Topology-Based Motion Planning
Homotopy-Driven Exploration of Human-Made Spaces Using Signs 12715
A Topologically Inspired Path-Following Method with Intermittent State Feedback 12722
Graph-Based Topological Exploration Planning in Large-Scale 3D Environments 12730
Roadmap Learning for Probabilistic Occupancy Maps with Topology-Informed Growing Neural Gas 12737
Session ThET11 : Trajectory Optimization
Trajectory Optimisation in Learned Multimodal Dynamical Systems Via Latent-ODE Collocation 12745
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization 12752
Coupled Mobile Manipulation Via Trajectory Optimization with Free Space Decomposition 12759
Designing Fast and Smooth Trajectories in Collaborative Workstations 12766
Session ThFT11 : Trajectory PlanningOnline Dynamic Trajectory Optimization and Control for a Quadruped Robot 12773
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion 12780
Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning 12787
Exploring Dynamic Context for Multi-Path Trajectory Prediction 12795
Session ThDT10 : Transfer Learning
Benchmarking Domain Randomisation for Visual Sim-To-Real Transfer 12802
There and Back Again: Learning to Simulate Radar Data for Real-World Applications 12809
Generation of GelSight Tactile Images for Sim2Real Learning 12817
Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-Driven Robotics 12825
Session ThBT12 : Underactuated and Stable Control
A Stable Control Strategy for Industrial Robots with External Feedback Loop 12833
Distance-Based Formation Control with Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems 12839
Operational Space Control Under Actuator Bandwidth Limitation 12847
Operational Space Control for Planar PA^{N-1} Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming 12853
Session TuHT4 : Unmanned Aerial Vehicle Award Session
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators 12860
Session ThAT11 : Vision and Perception I
PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation 12868
Real-Time Mesh Extraction from Implicit Functions via Direct Reconstruction of Decision Boundary 12875
Uncertainty-Aware Fast Curb Detection Using Convolutional Networks in Point Clouds 12882
OCR-Based Inventory Management Algorithms Robust to Damaged Images 12889
Session ThBT11 : Vision and Perception II
FG-Conv: Large-Scale LiDAR Point Clouds Understanding Leveraging Feature Correlation Mining and Geometric-Aware Modeling 12896
Exploiting Local Geometry for Feature and Graph Construction for Better 3D Point Cloud Processing with Graph Neural Networks 12903
Elevation Angle Estimation in 2D Acoustic Images Using Pseudo Front View 12910
Stereo Object Matching Network 12918
Session ThAT10 : Vision and Perception III
Robot Motion Control with Compressive Feedback 12925
Action Sequencing Using Visual Permutations 12931
MFPN-6D : Real-time One-stage Pose Estimation of Objects on RGB Images 12939
A Novel Tactile Feedback System with On-Line Texture Decoding and Direct-Texture-Feedback 12946
Session ThBT10 : Vision and Perception IV
Visual Place Recognition Via Local Affine Preserving Matching 12954
View-Expansive Microscope System with Real-Time High-Resolution Imaging for Simplified Microinjection Experiments 12961
Leveraging Enhanced Virtual Reality Methods and Environments for Efficient, Intuitive, and Immersive Teleoperation of Robots 12967
End-To-End Multi-Instance Robotic Reaching from Monocular Vision 12974
Session ThAT9 : Vision and Perception V
Toward a Unified Framework for Point Set Registration 12981
A Heteroscedastic Likelihood Model for Two-Frame Optical Flow 12988
Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment 12996
Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation 13003
Session WeCT8 : Vision and Perception: 3D Estimation
Robust Improvement in 3D Object Landmark Inference for Semantic Mapping 13011
YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection 13018
UniFuse: Unidirectional Fusion for 360 Panorama Depth Estimation 13025
Depth Estimation under Motion with Single Pair Rolling Shutter Stereo Images 13033
Session ThFT10 : Vision and Perception: Action Recognition I
Pose Refinement Graph Convolutional Network for Skeleton-Based Action Recognition 13041
Attentional Learn-Able Pooling for Human Activity Recognition 13049
Real-Time Instance Detection with Fast Incremental Learning 13056
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs 13064
Session WeCT1 : Vision and Perception: Action Recognition II
Maintaining a Reliable World Model Using Action-Aware Perceptual Anchoring 13071
Modeling Affect-Based Intrinsic Rewards for Exploration and Learning 13078
A Multi-Level Network for Human Pose Estimation 13085
Open-Set Intersection Intention Prediction for Autonomous Driving 13092
Session ThHT1 : Vision and Perception: Applications I
LiDAR Few-Shot Domain Adaptation Via Integrated CycleGAN and 3D Object Detector with Joint Learning Delay 13099
Three-Filters-To-Normal: An Accurate and Ultrafast Surface Normal Estimator 13106
Device Design and System Integration of a Two-Axis Water-Immersible Micro Scanning Mirror (WIMSM) to Enable Dual-Modal Optical and Acoustic Communication and Ranging for Underwater Vehicles 13114
Vanishing Point Aided LiDAR-Visual-Inertial Estimator 13120
Session ThIT1 : Vision and Perception: Applications IIFine-Grained Activity Recognition for Assembly Videos 13127
Sanjeev; Hager, Gregory Cooperative Visual-Inertial Odometry 13135
Vision-Based Self-Assembly for Modular Multirotor Structures 13142
Evaluation of a Drone-Based Camera Calibration Approach for Hard-To-Reach Cameras 13149
Session ThJT1 : Vision and Perception: Auto-Calibration
Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras 13156
A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration 13164
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching 13171
Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications 13179
Session ThHT2 : Vision and Perception: Autonomous Vehicle Navigation I
Learning Robust Driving Policies without Online Exploration 13186
SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation 13194
Ego-Centric Stereo Navigation Using Stixel World 13201
PyTouch: A Machine Learning Library for Touch Processing 13208
Session ThIT2 : Vision and Perception: Autonomous Vehicle Navigation II
ViNG: Learning Open-World Navigation with Visual Goals 13215
MaAST: Map Attention with Semantic Transformers for Efficient Visual Navigation 13223
Samarasekera, Supun; Kumar, Rakesh A Few Shot Adaptation of Visual Navigation Skills to New Observations Using Meta-Learning 13231
Hierarchical Cross-Modal Agent for Robotics Vision-And-Language Navigation 13238
Session ThKT1 : Vision and Perception: Autonomous Vehicle Navigation III
Efficient and Robust LiDAR-Based End-To-End Navigation 13247
Visual Navigation among Humans with Optimal Control As a Supervisor 13255
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera 13264
Learning Composable Behavior Embeddings for Long-Horizon Visual Navigation 13271
Session ThET10 : Vision and Perception: Detection and Recognition I
VelocityNet: Motion-Driven Feature Aggregation for 3D Object Detection in Point Cloud Sequences 13279
Don't Blindly Trust Your CNN: Towards Competency-Aware Object Detection by Evaluating Novelty in Open-Ended Environments 13286
What My Motion Tells Me about Your Pose: A Self-Supervised Monocular 3D Vehicle Detector 13293
Self-Supervised Person Detection in 2D Range Data Using a Calibrated Camera 13301
Session WeBT8 : Vision and Perception: Detection and Recognition II
A Cascaded LiDAR-Camera Fusion Network for Road Detection 13308
GPR-RCNN: An Algorithm of Subsurface Defect Detection for Airport Runway based on GPR 13315
On the Challenges of Open World Recognition under Shifting Visual Domains 13323
CentroidReg: A Global-To-Local Framework for Partial Point Cloud Registration 13331
Session ThBT9 : Vision and Perception: Detection and Recognition III
Real-Time 3D-Lidar, MMW Radar and GPS/IMU Fusion Based Vehicle Detection and Tracking in Unstructured Environment 13339
Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery 13346
In Defense of Knowledge Distillation for Task Incremental Learning and Its Application in 3D Object Detection 13354
City-Scale Scene Change Detection Using Point Clouds 13362
Session ThAT8 : Vision and Perception: Detection and Recognition IV
Joint Representation of Temporal Image Sequences and Object Motion for Video Object Detection 13370
Targetless Multiple Camera-LiDAR Extrinsic Calibration Using Object Pose Estimation 13377
Recognition and Prediction of Surgical Actions Based on Online Robotic Tool Detection 13384
Target-style-aware Unsupervised Domain Adaptation for Object Detection 13392
Session ThAT1 : Vision and Perception: Detection and Recognition V
Adversarially Trained Hierarchical Feature Extractor for Vehicle Re-Identification 13400
VIC-Net: Voxelization Information Compensation Network for Point Cloud 3D Object Detection 13408
Semantic Reinforced Attention Learning for Visual Place Recognition 13415
Towards Efficient Multiview Object Detection with Adaptive Action Prediction 13423
Session ThDT9 : Vision and Perception: Grasping I
Binary-LoRAX: Low-Latency Runtime Adaptable XNOR Classifier for Semi-Autonomous Grasping with Prosthetic Hands 13430
Hundhausen, Felix; Hoefer, Julian; Nagaraja, Naveen Shankar; Unger, Christian; Voegel,
Hans-Joerg; Becker, Juergen; Asfour, Tamim; Stechele, Walter Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes 13438
Residual Squeeze-And-Excitation Network with Multi-Scale Spatial Pyramid Module for Fast Robotic Grasping Detection 13445
End-To-End Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB 13452
Session WeAT8 : Vision and Perception: Grasping II
RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images 13459
Hybrid Vision/Force Control for Interaction with the Bottle-Like Object 13467
REGNet: REgion-Based Grasp Network for End-To-End Grasp Detection in Point Clouds 13474
Visual Servoing of a Cable-Driven Soft Robot Manipulator with Shape Feature 13481
Session ThJT2 : Vision and Perception: Identification and Prediction
Efficient Real-Time Inference in Temporal Convolution Networks 13489
F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning 13496
Deformable Linear Object Prediction Using Locally Linear Latent Dynamics 13503
Visual-Inertial Filtering for Human Walking Quantification 13510
Session ThET9 : Vision and Perception: Image Segmentation I
CABiNet: Efficient Context Aggregation Network for Low-Latency Semantic Segmentation 13517
Efficient RGB-D Semantic Segmentation for Indoor Scene Analysis 13525
Plane Segmentation in Organized Point Clouds Using Flood Fill 13532
Semantic Feature Mining for 3D Object Classification and Segmentation 13539
Session WeAT1 : Vision and Perception: Image Segmentation II
Discriminative Asymmetric Learning for Efficient Surgical Instrument Parsing 13546
One to Many: Adaptive Instrument Segmentation Via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Video 13553
Target-Targeted Domain Adaptation for Unsupervised Semantic Segmentation 13560
Point Cloud Segmentation Via Edge-Fused Local Graph Learning 13567
Session ThFT9 : Vision and Perception: Image Segmentation III
PlaneSegNet: Fast and Robust Plane Estimation Using a Single-Stage Instance Segmentation CNN 13574
Fast Object Segmentation Learning with Kernel-Based Methods for Robotics 13581
Diffuser: Multi-View 2D-to-3D Label Diffusion for Semantic Scene Segmentation 13589
A Benchmark for LiDAR-Based Panoptic Segmentation Based on KITTI 13596
Session ThKT2 : Vision and Perception: Learning
Object-Centric Video Prediction without Annotation 13604
Generalization in Reinforcement Learning by Soft Data Augmentation 13611
Test-Time Training for Deformable Multi-Scale Image Registration 13618
Multi-GAT: A Graphical Attention-Based Hierarchical Multimodal Representation Learning Approach for Human Activity Recognition 13626
Session ThAT2 : Vision and Perception: Measurement
Learning a Geometric Representation for Data-Efficient Depth Estimation Via Gradient Field and Contrastive Loss 13634
Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image 13641
Identifying Reflected Images from Object Detector in Indoor Environment Utilizing Depth Information 13648
PENet: Towards Precise and Efficient Image Guided Depth Completion 13656
Session ThHT3 : Vision and Perception: Modeling
Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models 13663
ScrewNet: Category-Independent Articulation Model Estimation from Depth Images Using Screw Theory 13670
Visual Perspective Taking for Opponent Behavior Modeling 13678
Learning Tactile Models for Factor Graph-Based Estimation 13686
Session ThIT3 : Vision and Perception: Multi-Agents
Congestion-Aware Multi-Agent Trajectory Prediction for Collision Avoidance 13693
3D Multi-Object Tracking Using Random Finite Set-Based Multiple Measurement Models Filtering (RFS-M^3) for Autonomous Vehicles 13701
Joint Object Detection and Multi-Object Tracking with Graph Neural Networks 13708
Droidlet: Modular, Heterogenous, Multi-Modal Agents 13716
Yuxuan; Drew, Ryan; Elkafrawy, Sara; Tiwari, Anoushka; Hart, Tucker; Williamson, Mary;
Gupta, Abhinav; Szlam, Arthur
Session ThBT1 : Vision and Perception: Navigation and Autonomous Driving
Robust Navigation for Racing Drones based on Imitation Learning and Modularization 13724
Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation 13731
Cross-Modal Contrastive Learning of Representations for Navigation Using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions 13738
Task-Driven Deep Image Enhancement Network for Autonomous Driving in Bad Weather 13746
Session ThDT1 : Vision and Perception: Navigation I
VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms 13754
Embodied Visual Navigation with Automatic Curriculum Learning in Real Environments 13761
An Event-based Vision Dataset for Visual Navigation Tasks in Agricultural Environments 13769
Visual Navigation in Real-World Indoor Environments Using End-To-End Deep Reinforcement Learning 13776
Session WeBT1 : Vision and Perception: Navigation II
A Real-Time Multi-Task Framework for Guidewire Segmentation and Endpoint Localization in Endovascular Interventions 13784
Towards Adjoint Sensing and Acting Schemes and Interleaving Task Planning for Robust Robot Plan 13791
Autonomous Multi-View Navigation Via Deep Reinforcement Learning 13798
Towards Multi-Modal Perception-Based Navigation: A Deep Reinforcement Learning Method 13805
Session ThJT3 : Vision and Perception: Optimization I
VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough 13813
ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants 13820
CLIPPER: A Graph-Theoretic Framework for Robust Data Association 13828
Monitoring Fatigue-Induced Changes in Performance During Robot-Mediated Dynamic Movement 13835
Session ThET1 : Vision and Perception: Optimization II
Optimizing Keypoint-Based Single-Shot Camera-To-Robot Pose Estimation through Shape Segmentation 13843
Handling Object Symmetries in CNN-Based Pose Estimation 13850
Efficient and Robust Orientation Estimation of Strawberries for Fruit Picking Applications 13857
Probabilistic Terrain Estimation for Autonomous Off-Road Driving 13864
Session ThKT3 : Vision and Perception: Point Cloud
Evaluating Initialization Methods for Discriminative and Fast-Converging HGMM Point Clouds 13871
Navigable Space Construction from Sparse Noisy Point Clouds 13877
Point Set Voting for Partial Point Cloud Analysis 13885
LRGNet: Learnable Region Growing for Class-Agnostic Point Cloud Segmentation 13893
Session ThFT1 : Vision and Perception: Pose Estimation
AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild 13901
PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift 13909
Investigations on Output Parameterizations of Neural Networks for Single Shot 6D Object Pose Estimation 13916
L6DNet: Light 6 DoF Network for Robust and Precise Object Pose Estimation with Small Datasets 13923
Session ThHT4 : Vision and Perception: Prediction
Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments 13931
Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast 13938
LaserFlow: Efficient and Probabilistic Object Detection and Motion Forecasting 13945
Efficient Map Prediction Via Low-Rank Matrix Completion 13953
Session ThDT2 : Vision and Perception: Rendering
Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss 13960
Multi-View Object Pose Refinement with Differentiable Renderer 13967
Efficient Haptic Rendering of Regolith 13975
Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints 13982
Session ThBT2 : Vision and Perception: Segmentation I
PointMoSeg: Sparse Tensor-Based End-To-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving 13989
Referring Image Segmentation Via Language-Driven Attention 13997
GPU-Efficient Dense Convolutional Network for Real-Time Semantic Segmentation 14004
Feature Enhanced Projection Network for Zero-Shot Semantic Segmentation 14011
Session ThAT4 : Vision and Perception: Segmentation II
A Large-Scale Dataset for Benchmarking Elevator Button Segmentation and Character Recognition 14018
Neighborhood Spatial Aggregation Based Efficient Uncertainty Estimation for Point Cloud Semantic Segmentation 14025
A Two-Stage Unsupervised Approach for Low Light Image Enhancement 14032
S3Net: 3D LiDAR Sparse Semantic Segmentation Network 14040
Session ThIT4 : Vision and Perception: Self-Supervised Learning
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation 14047
A Self-Supervised Near-To-Far Approach for Terrain-Adaptive Off-Road Autonomous Driving 14054
A Self-Supervised Learning System for Object Detection in Videos Using Random Walks on Graphs 14061
Adversarial Differentiable Data Augmentation for Autonomous Systems 14069
Session ThBT4 : Vision and Perception: Sensing
A Tactile Sensing Foot for Single Robot Leg Stabilization 14076
High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor with Dense Random Color Pattern 14083
Looking Farther in Parametric Scene Parsing with Ground and Aerial Imagery 14091
Fast Motion Understanding with Spatiotemporal Neural Networks and Dynamic Vision Sensors 14098
Session ThJT4 : Vision and Perception: Sensor Fusion
Fingertip Pulse-Echo Ultrasound and Optoacoustic Dual-Modal and Dual Sensing Mechanisms Near-Distance Sensor for Ranging and Material Sensing in Robotic Grasping 14105
Development of a Perception System for an Autonomous Surface Vehicle Using Monocular Camera, LIDAR, and Marine RADAR 14112
Detecting and Mapping Trees in Unstructured Environments with a Stereo Camera and Pseudo-Lidar 14120
Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion 14127
Session ThKT4 : Vision and Perception: Stastistical Method
Out-Of-Distribution Robustness with Deep Recursive Filters 14134
ZePHyR: Zero-Shot Pose Hypothesis Rating 14141
CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy 14149
A Successive-Elimination Approach to Adaptive Robotic Source Seeking 14157
Session ThET2 : Vision and Perception: Tracking I
Tracking 6-DoF Object Motion from Events and Frames 14171
Visual Tracking of Deforming Objects Using Physics-Based Models 14178
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping 14185
TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction 14192
Session WeCT12 : Vision and Perception: Tracking II
Tracking Partially-Occluded Deformable Objects While Enforcing Geometric Constraints 14199
Online Recommendation-Based Convolutional Features for Scale-Aware Visual Tracking 14206
Exploiting Probabilistic Siamese Visual Tracking with a Conditional Variational Autoencoder 14213
Toward Intraoperative Endomicroscopy with a GPU-Accelerated Deformable Video Mosaicking Algorithm 14220
Session ThAT3 : Vision and Perception: Trajectory Prediction and Tracking
Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving 14227
AVGCN: Trajectory Prediction Using Graph Convolutional Networks Guided by Human Attention 14234
Attentional-GCNN: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases 14241
Spatial Graph Regularized Multi-Kernel Subtask Cross-Correlation Tracker 14248
Session ThHT5 : Vision-Based Control
Constrained Image-Based Visual Servoing Using Barrier Functions 14254
Deep Learning-Based Photoacoustic Visual Servoing: Using Outputs from Raw Sensor Data As Inputs to a Robot Controller 14261
Uncertainty Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots 14268
Analyzing Neural Jacobian Methods in Applications of Visual Servoing and Kinematic Control 14276
Session ThIT5 : Vision-Based Manipulation
Reward Machines for Vision-Based Robotic Manipulation 14284
What Can I Do Here? Learning New Skills by Imagining Visual Affordances 14291
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input 14298
Simulation of Vision-Based Tactile Sensors Using Physics Based Rendering 14306
Session ThFT2 : Visual and Haptic PerceptionMulti-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A
Preliminary Comparison of Visual, Haptic, and Visuo-Haptic 14313
Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback 14322
A General Visual-Impedance Framework for Effectively Combining Vision and Force Sensing in Feature Space 14330
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements 14338
Session ThDT3 : Visual Learning
Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat 14346
MS-RANAS: Multi-Scale Resource-Aware Neural Architecture Search 14353
Vision-Based Mobile Robotics Obstacle Avoidance with Deep Reinforcement Learning 14360
A Probabilistic Next Best View Planner for Depth Cameras Based on Deep Learning 14367
Session WeCT16 : Visual Odometry
ENCODE: A dEep poiNt Cloud ODometry NEtwork 14375
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth 14382
Lifelong Localization in Semi-Dynamic Environment 14389
Deep Online Correction for Monocular Visual Odometry 14396
Direct Sparse Stereo Visual-Inertial Global Odometry 14403
Session ThBT3 : Visual Odometry for Localization
Learning Optical Flow with R-CNN for Visual Odometry 14410
A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars 14417
Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark 14424
An Equivariant Filter for Visual Inertial Odometry 14432
Session ThET3 : Visual Servoing
Subsequent Keyframe Generation for Visual Servoing 14439
Defocus-based Direct Visual Servoing 14446
Siame-Se(3): Regression in Se(3) for End-To-End Visual Servoing 14454
Human-Piloted Drone Racing: Visual Processing and Control 14461
Session ThAT5 : Visual-Inertial Localization
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation 14469
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle 14476
LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry 14484
Control of a Flexible Continuum Manipulator for Laser Beam Steering 14491
Session ThJT5 : Wearable RobotsMacro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays 14499
Sensing and Control of a Multi-Joint Soft Wearable Robot for Upper-Limb Assistance and Rehabilitation 14506
Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers 14515
Artificial Neural Networks to Solve Forward Kinematics of a Wearable Parallel Robot with Semi-Rigid Links 14524