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Automatic Biopsy Tool Presence and Episode Recognition in Robotic Bronchoscopy Using a Multi-Task Vision Transformer Network | https://ieeexplore.ieee.org/document/9811982/ | [
"Mingyi Zheng",
"Menglong Ye",
"Hedyeh Rafii–Tari",
"Mingyi Zheng",
"Menglong Ye",
"Hedyeh Rafii–Tari"
] | Automatic recognition of surgical workflow is a growing area of interest with significant potential to become part of context-aware decision-support systems in future enhanced ORs and clinical suites. Applications range from post-operative analysis to intra-operative monitoring to providing automated assistance to the clinical staff. This work proposes, for the first time, automatic tool presence ... |
Dynamic Underactuated Manipulator Using a Flexible Body with a Structural Anisotropy | https://ieeexplore.ieee.org/document/9812191/ | [
"Akihiro Maruo",
"Akihide Shibata",
"Mitsuru Higashimori",
"Akihiro Maruo",
"Akihide Shibata",
"Mitsuru Higashimori"
] | This paper presents a novel manipulation method utilizing dynamic deformation of a flexible body with a structural anisotropy. Employing a spiral flexible body, a dynamic underactuated manipulation using its various vibrational patterns is proposed. First, the orbit of the tip of flexible body for the vibrational input to its root is theoretically derived. Subsequently, for flexible bodies with an... |
A novel hydrogel-based connection mechanism for soft modular robots | https://ieeexplore.ieee.org/document/9812164/ | [
"Antonio López-Díaz",
"Jesús De La Morena",
"Francisco Ramos",
"Ester Vázquez",
"Andrés S. Vázquez",
"Antonio López-Díaz",
"Jesús De La Morena",
"Francisco Ramos",
"Ester Vázquez",
"Andrés S. Vázquez"
] | Connection mechanisms are crucial in reconfigurable robots. In this work, we present a novel approach, based on the self-healing property of a hydrogel synthesized by our group, which allows us to easily attach and detach robotic modules using water as the only trigger element. Our connection mechanism does not need external energy to work and it is reversible and soft, being useful for soft modul... |
Printable Origami Bistable Structures for Foldable Jumpers | https://ieeexplore.ieee.org/document/9812002/ | [
"Tung D. Ta",
"Zekun Chang",
"Koya Narumi",
"Takuya Umedachi",
"Yoshihiro Kawahara",
"Tung D. Ta",
"Zekun Chang",
"Koya Narumi",
"Takuya Umedachi",
"Yoshihiro Kawahara"
] | Origami/kirigami robotics are opening a path that leads to lightweight, compact, and expandable robots. However, it is generally challenging to design agile motions for origami/kirigami robots due to their size and the intrinsic limitation of the materials. In this paper, we propose to use the bistability of the waterbomb base structure to generate the swift motion of the robots. We evaluate the b... |
Towards a Microfluidic Microcontroller Circuit Library for Soft Robots | https://ieeexplore.ieee.org/document/9812219/ | [
"Elizabeth Gallardo Hevia",
"Louis De La Rochefoucauld",
"Robert J. Wood",
"Elizabeth Gallardo Hevia",
"Louis De La Rochefoucauld",
"Robert J. Wood"
] | Soft robotics has seen an exponential growth in the past decade, in part because the transition to soft materials has made a wider range of applications possible. Tasks involving contact with fragile objects or unstructured environments are particularly amenable to devices based on soft materials. To date, research has primarily focused on the development of soft analogs to traditional sensors and... |
Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints | https://ieeexplore.ieee.org/document/9811611/ | [
"Ioannis Exarchos",
"Karen Wang",
"Brian H. Do",
"Fabio Stroppa",
"Margaret M. Coad",
"Allison M. Okamura",
"C. Karen Liu",
"Ioannis Exarchos",
"Karen Wang",
"Brian H. Do",
"Fabio Stroppa",
"Margaret M. Coad",
"Allison M. Okamura",
"C. Karen Liu"
] | Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environments. This paper presents an approach for design optimization of such robots to reach specified targ... |
Repeated Jumping with the REBOund: Self-Righting Jumping Robot Leveraging Bistable Origami-Inspired Design | https://ieeexplore.ieee.org/document/9812232/ | [
"Yuchen Sun",
"Joanna Wang",
"Cynthia Sung",
"Yuchen Sun",
"Joanna Wang",
"Cynthia Sung"
] | Repeated jumping is crucial to the mobility of jumping robots. In this paper, we extend upon the REBOund jumping robot design, an origami-inspired jumping robot that uses the Reconfigurable Expanding Bistable Origami (REBO) pattern as its body. The robot design takes advantage of the pattern's bistability to jump with controllable timing. For jump repeatedly, we also add self-righting legs that ut... |
Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning | https://ieeexplore.ieee.org/document/9811915/ | [
"Peter Lehner",
"Máximo A. Roa",
"Alin Albu-Schäffer",
"Peter Lehner",
"Máximo A. Roa",
"Alin Albu-Schäffer"
] | Recent research has shown that guiding sampling-based planners with sampling distributions, learned from previous experiences via density estimation, can significantly decrease computation times for motion planning. We propose an algorithm that can estimate the density from the experiences of a robot with different kinematic structure, on the same task. The method allows to generalize collected da... |
Human-Guided Motion Planning in Partially Observable Environments | https://ieeexplore.ieee.org/document/9811893/ | [
"Carlos Quintero-Peña",
"Constantinos Chamzas",
"Zhanyi Sun",
"Vaibhav Unhelkar",
"Lydia E. Kavraki",
"Carlos Quintero-Peña",
"Constantinos Chamzas",
"Zhanyi Sun",
"Vaibhav Unhelkar",
"Lydia E. Kavraki"
] | Motion planning is a core problem in robotics, with a range of existing methods aimed to address its diverse set of challenges. However, most existing methods rely on complete knowledge of the robot environment; an assumption that seldom holds true due to inherent limitations of robot perception. To enable tractable motion planning for high-DOF robots under partial observability, we introduce BLIN... |
Learning to Retrieve Relevant Experiences for Motion Planning | https://ieeexplore.ieee.org/document/9812076/ | [
"Constantinos Chamzas",
"Aedan Cullen",
"Anshumali Shrivastava",
"Lydia E. Kavraki",
"Constantinos Chamzas",
"Aedan Cullen",
"Anshumali Shrivastava",
"Lydia E. Kavraki"
] | Recent work has demonstrated that motion planners' performance can be significantly improved by retrieving past experiences from a database. Typically, the experience database is queried for past similar problems using a similarity function defined over the motion planning problems. However, to date, most works rely on simple hand-crafted similarity functions and fail to generalize outside their c... |
Fast Footstep Planning on Uneven Terrain Using Deep Sequential Models | https://ieeexplore.ieee.org/document/9812264/ | [
"Hersh Sanghvi",
"Camillo Jose Taylor",
"Hersh Sanghvi",
"Camillo Jose Taylor"
] | One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of the joint space makes directly planning low-level actions from onboard perception difficult, and control stacks that do not consider the low-level mechanisms of ... |
Realtime Trajectory Smoothing with Neural Nets | https://ieeexplore.ieee.org/document/9812418/ | [
"Shohei Fujii",
"Quang-Cuong Pham",
"Shohei Fujii",
"Quang-Cuong Pham"
] | In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In Realtime Motion Planning, obstacles are detected in real time through a vision system, and new trajectories are planned with respect to the current positions of the ... |
HR-Planner: A Hierarchical Highway Tactical Planner based on Residual Reinforcement Learning | https://ieeexplore.ieee.org/document/9812400/ | [
"Haoran Wu",
"Yueyuan Li",
"Hanyang Zhuang",
"Chunxiang Wang",
"Ming Yang",
"Haoran Wu",
"Yueyuan Li",
"Hanyang Zhuang",
"Chunxiang Wang",
"Ming Yang"
] | Tactical planning is crucial for safe and efficient driving on the highway. However, the problem is complicated by the uncertain intention of surrounding vehicles, as well as observation noise caused by measurement noise and perception errors. Rule-based tactical planning methods are ineffective in handling dynamic scenarios with uncertainty, and susceptible to observation noise. To tackle this pr... |
Safe multi-agent motion planning via filtered reinforcement learning | https://ieeexplore.ieee.org/document/9812259/ | [
"Abraham P. Vinod",
"Sleiman Safaoui",
"Ankush Chakrabarty",
"Rien Quirynen",
"Nobuyuki Yoshikawa",
"Stefano Di Cairano",
"Abraham P. Vinod",
"Sleiman Safaoui",
"Ankush Chakrabarty",
"Rien Quirynen",
"Nobuyuki Yoshikawa",
"Stefano Di Cairano"
] | We study the problem of safe multi-agent motion planning in cluttered environments. Existing multi-agent reinforcement learning-based motion planners only provide approximate safety enforcement. We propose a safe reinforcement learning algorithm that leverages single-agent reinforcement learning for target regulation and a subsequent convex optimization-based filtering that ensures the collective ... |
Efficient Object Manipulation to an Arbitrary Goal Pose: Learning-Based Anytime Prioritized Planning | https://ieeexplore.ieee.org/document/9811547/ | [
"Kechun Xu",
"Hongxiang Yu",
"Renlang Huang",
"Dashun Guo",
"Yue Wang",
"Rong Xiong",
"Kechun Xu",
"Hongxiang Yu",
"Renlang Huang",
"Dashun Guo",
"Yue Wang",
"Rong Xiong"
] | We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the manipulator with gripper, one-step picking, moving and releasing might be failed, where a reorientation object pose is required as a transition. In this paper, we prop... |
Interactive Human-in-the-loop Coordination of Manipulation Skills Learned from Demonstration | https://ieeexplore.ieee.org/document/9811813/ | [
"Meng Guo",
"Mathias Bürger",
"Meng Guo",
"Mathias Bürger"
] | Learning from demonstration (LfD) provides a fast, intuitive and efficient framework to program robot skills, which has gained growing interest both in research and industrial applications. Most complex manipulation tasks are long-term and involve a set of skill primitives. Thus it is crucial to have a reliable coordination scheme that selects the correct sequence of skill primitive and the correc... |
APF-RL: Safe Mapless Navigation in Unknown Environments | https://ieeexplore.ieee.org/document/9811537/ | [
"Kemal Bektaş",
"H. Işıl Bozma",
"Kemal Bektaş",
"H. Işıl Bozma"
] | This paper is focused on safe mapless navigation of mobile robots in unknown and possibly complex environments containing both internal and dynamic obstacles. We present a novel modular approach that combines the strengths of artificial potential functions (APF) with deep reinforcement learning. Differing from related work, the robot learns how to adjust the two input parameters of the APF control... |
A Double Branch Next-Best-View Network and Novel Robot System for Active Object Reconstruction | https://ieeexplore.ieee.org/document/9811769/ | [
"Yiheng Han",
"Irvin Haozhe Zhan",
"Wang Zhao",
"Yong-Jin Liu",
"Yiheng Han",
"Irvin Haozhe Zhan",
"Wang Zhao",
"Yong-Jin Liu"
] | Next best view (NBV) is a technology that finds the best view sequence for sensor to perform scanning based on partial information, which is the core part for robot active reconstruction. Traditional works are mostly based on the evaluation of candidate views through time-consuming volu-metric transformation and ray casting, which heavily limits the applications of NBV. Recent deep learning based ... |
Towards Optimal Correlational Object Search | https://ieeexplore.ieee.org/document/9812252/ | [
"Kaiyu Zheng",
"Rohan Chitnis",
"Yoonchang Sung",
"George Konidaris",
"Stefanie Tellex",
"Kaiyu Zheng",
"Rohan Chitnis",
"Yoonchang Sung",
"George Konidaris",
"Stefanie Tellex"
] | In realistic applications of object search, robots will need to locate target objects in complex environments while coping with unreliable sensors, especially for small or hard-to-detect objects. In such settings, correlational information can be valuable for planning efficiently. Previous approaches that consider correlational information typically resort to ad-hoc, greedy search strategies. We i... |
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty | https://ieeexplore.ieee.org/document/9811642/ | [
"Mariliza Tzes",
"Vasileios Vasilopoulos",
"Yiannis Kantaros",
"George J. Pappas",
"Mariliza Tzes",
"Vasileios Vasilopoulos",
"Yiannis Kantaros",
"George J. Pappas"
] | In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain movable objects, while being responsible for accomplishing tasks requiring grasping and releasing objects in a logical fashion. Existing algorithms either do not ... |
Receding Horizon Tracking of an Unknown Number of Mobile Targets using a Bearings-Only Sensor | https://ieeexplore.ieee.org/document/9811882/ | [
"James D. Turner",
"James McMahon",
"Michael M. Zavlanos",
"James D. Turner",
"James McMahon",
"Michael M. Zavlanos"
] | Planning the motion of bearings-only sensors is critical for enabling accurate tracking of the positions of moving targets. In this paper, we demonstrate planning the observer's motion over horizons greater than one step for estimating an unknown and varying number of indistinguishable, maneuvering targets of interest using a probability hypothesis density (PHD) filter, with a Rériyi divergence re... |
On the Role of Hyperdimensional Computing for Behavioral Prioritization in Reactive Robot Navigation Tasks | https://ieeexplore.ieee.org/document/9811939/ | [
"Alisha Menon",
"Anirudh Natarajan",
"Laura I. Galindez Olascoaga",
"Youbin Kim",
"Braeden Benedict",
"Jan M. Rabaey",
"Alisha Menon",
"Anirudh Natarajan",
"Laura I. Galindez Olascoaga",
"Youbin Kim",
"Braeden Benedict",
"Jan M. Rabaey"
] | Hyperdimensional computing (HDC) is a brain-inspired computing paradigm that operates on pseudo-random hypervectors, an information-rich, hardware-efficient representation that is robust to noise and facilitates learning with limited training data. This work explores how robot navigation tasks can leverage the high-capacity hypervector representation to enable behavioral prioritization through a w... |
A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments | https://ieeexplore.ieee.org/document/9811936/ | [
"Vasileios Vasilopoulos",
"Sebastian Castro",
"William Vega-Brown",
"Daniel E. Koditschck",
"Nicholas Roy",
"Vasileios Vasilopoulos",
"Sebastian Castro",
"William Vega-Brown",
"Daniel E. Koditschck",
"Nicholas Roy"
] | We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a reactive, vector field planner that provides guarantees of reachability to large regions of the environment even in the face of unknown or unforeseen obstacles. The re... |
NeuroErgo: A Deep Neural Network Method to Improve Postural Optimization for Ergonomic Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9812460/ | [
"Atieh Merikh Nejadasl",
"Omid Gheibi",
"Greet Van de Perre",
"Bram Vanderborght",
"Atieh Merikh Nejadasl",
"Omid Gheibi",
"Greet Van de Perre",
"Bram Vanderborght"
] | Collaborative robots can help industry workers to improve their ergonomics. They can propose a safe and ergonomic posture to the workers to reduce the risk of musculoskeletal disorders. Proposing an ergonomic stance needs postural evaluation and optimization. To optimize the workers' posture, we need to run the optimization on a cost function representing the ergonomic status. The tabular ergonomi... |
Incorporating Rich Social Interactions Into MDPs | https://ieeexplore.ieee.org/document/9811991/ | [
"Ravi Tejwani",
"Yen-Ling Kuo",
"Tianmin Shu",
"Bennett Stankovits",
"Dan Gutfreund",
"Joshua B. Tenenbaum",
"Boris Katz",
"Andrei Barbu",
"Ravi Tejwani",
"Yen-Ling Kuo",
"Tianmin Shu",
"Bennett Stankovits",
"Dan Gutfreund",
"Joshua B. Tenenbaum",
"Boris Katz",
"Andrei Barbu"
] | Much of what we do as humans is engage socially with other agents, a skill that robots must also eventually possess. We demonstrate that a rich theory of social interactions originating from microsociology can be formalized by extending a nested MDP where agents reason about arbitrary functions of each other's rewards. This extended Social MDP allows us to encode the five basic interactions that u... |
Developing The Bottom-up Attentional System of A Social Robot | https://ieeexplore.ieee.org/document/9811759/ | [
"Randy Gomez",
"Álvaro Páez",
"Yu Fang",
"Serge Thill",
"Luis Merino",
"Eric Nichols",
"Keisuke Nakamura",
"Heike Brock",
"Randy Gomez",
"Álvaro Páez",
"Yu Fang",
"Serge Thill",
"Luis Merino",
"Eric Nichols",
"Keisuke Nakamura",
"Heike Brock"
] | This paper describes the development of a 3- stage signalling framework to trigger a social robot's bottom- up reactive behavior inspired by a biological model. In the first stage, low-level firing of stimuli due to external sources is constructed through perception grounding. This is followed by a saliency classifier which fires-up high level salient signals that require attention and are used to... |
Let Them Have Bubbles! Filling Gaps in Toy-Like Behaviors for Child-Robot Interaction | https://ieeexplore.ieee.org/document/9812031/ | [
"Ameer Helmi",
"Samantha Noregaard",
"Natasha Giulietti",
"Samuel W. Logan",
"Naomi T. Fitter",
"Ameer Helmi",
"Samantha Noregaard",
"Natasha Giulietti",
"Samuel W. Logan",
"Naomi T. Fitter"
] | Robot-mediated interventions are one promising and novel approach for encouraging motor exploration in young children, but knowledge about the effectiveness of toy-like features for child-robot interaction is limited. We were interested in understanding the characteristics of current toys to inform the design of interactive abilities for assistive robots. This work first provides a systematic revi... |
Communicating Robot Conventions through Shared Autonomy | https://ieeexplore.ieee.org/document/9811674/ | [
"Ananth Jonnavittula",
"Dylan P. Losey",
"Ananth Jonnavittula",
"Dylan P. Losey"
] | When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs. In order to perform this inference the robot relies on an internal mapping between joystick inputs and discrete tasks: e.g., pressing the joystick left indicat... |
Bidirectional Communication Control for Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9811665/ | [
"Davide Ferrari",
"Federico Benzi",
"Cristian Secchi",
"Davide Ferrari",
"Federico Benzi",
"Cristian Secchi"
] | A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators. This paper aims at reproducing such a scenario in a human-robot collaboration setting by proposing a novel communication control architecture. Exploiting control ... |
Learning Latent Actions without Human Demonstrations | https://ieeexplore.ieee.org/document/9812230/ | [
"Shaunak A. Mehta",
"Sagar Parekh",
"Dylan P. Losey",
"Shaunak A. Mehta",
"Sagar Parekh",
"Dylan P. Losey"
] | We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled human either teleoperates or kinesthetically guides the robot arm through a variety of motions, and the robot learns to reproduce the demonstrated behaviors. But th... |
Design by Robot: A Human-Robot Collaborative Framework for Improving Productivity of a Floor Cleaning Robot | https://ieeexplore.ieee.org/document/9812314/ | [
"M. A. Viraj J. Muthugala",
"S. M. Bhagya P. Samarakoon",
"Mohan Rajesh Elara",
"M. A. Viraj J. Muthugala",
"S. M. Bhagya P. Samarakoon",
"Mohan Rajesh Elara"
] | In recent years, a rising trend of floor cleaning robots could be observed in the consumer electronic market. Area coverage performance is a crucial factor that determines the overall productivity of a floor cleaning robot. Nevertheless, the area coverage performance of commercially available floor cleaning robots is limited due to narrow spaces resulting from complex furniture arrangements. Tradi... |
Learning Design and Construction with Varying-Sized Materials via Prioritized Memory Resets | https://ieeexplore.ieee.org/document/9811624/ | [
"Yunfei Li",
"Tao Kong",
"Lei Li",
"Yi Wu",
"Yunfei Li",
"Tao Kong",
"Lei Li",
"Yi Wu"
] | Can a robot autonomously learn to design and construct a bridge from varying-sized blocks without a blueprint? It is a challenging task with long horizon and sparse reward - the robot has to figure out physically stable design schemes and feasible actions to manipulate and transport blocks. Due to diverse block sizes, the state space and action trajectories are vast to explore. In this paper, we p... |
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks | https://ieeexplore.ieee.org/document/9812140/ | [
"Soroush Nasiriany",
"Huihan Liu",
"Yuke Zhu",
"Soroush Nasiriany",
"Huihan Liu",
"Yuke Zhu"
] | Realistic manipulation tasks require a robot to interact with an environment with a prolonged sequence of motor actions. While deep reinforcement learning methods have recently emerged as a promising paradigm for automating manipulation behaviors, they usually fall short in long-horizon tasks due to the exploration burden. This work introduces Manipulation Primitive-augmented reinforcement Learnin... |
Off Environment Evaluation Using Convex Risk Minimization | https://ieeexplore.ieee.org/document/9812026/ | [
"Pulkit Katdare",
"Shuijing Liu",
"Katherine Driggs Campbell",
"Pulkit Katdare",
"Shuijing Liu",
"Katherine Driggs Campbell"
] | Applying reinforcement learning (RL) methods on robots typically involves training a policy in simulation and deploying it on a robot in the real world. Because of the model mismatch between the real world and the simulator, RL agents deployed in this manner tend to perform suboptimally. To tackle this problem, researchers have developed robust policy learning algorithms that rely on synthetic noi... |
RAPID-RL: A Reconfigurable Architecture with Preemptive-Exits for Efficient Deep-Reinforcement Learning | https://ieeexplore.ieee.org/document/9812320/ | [
"Adarsh Kumar Kosta",
"Malik Aqeel Anwar",
"Priyadarshini Panda",
"Arijit Raychowdhury",
"Kaushik Roy",
"Adarsh Kumar Kosta",
"Malik Aqeel Anwar",
"Priyadarshini Panda",
"Arijit Raychowdhury",
"Kaushik Roy"
] | Present-day Deep Reinforcement Learning (RL) systems show great promise towards building intelligent agents surpassing human-level performance. However, the computational complexity associated with the underlying deep neural networks (DNNs) leads to power-hungry implementations. This makes deep RL systems unsuitable for deployment on resource-constrained edge devices. To address this challenge, we... |
Concurrent Policy Blending and System Identification for Generalized Assistive Control | https://ieeexplore.ieee.org/document/9811672/ | [
"Luke Bhan",
"Marcos Quinones-Grueiro",
"Gautam Biswas",
"Luke Bhan",
"Marcos Quinones-Grueiro",
"Gautam Biswas"
] | In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that are robust to changes in system parameters. We employ a blending network whose state space relies solely on parameter estimates from a system identification techn... |
ASHA: Assistive Teleoperation via Human-in-the-Loop Reinforcement Learning | https://ieeexplore.ieee.org/document/9812442/ | [
"Sean Chen",
"Jensen Gao",
"Siddharth Reddy",
"Glen Berseth",
"Anca D. Dragan",
"Sergey Levine",
"Sean Chen",
"Jensen Gao",
"Siddharth Reddy",
"Glen Berseth",
"Anca D. Dragan",
"Sergey Levine"
] | Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a natural ‘default’ interface. Reinforcement learning from online user feedback on the system's performance presents a natural solution to this problem, and enab... |
Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing | https://ieeexplore.ieee.org/document/9811650/ | [
"Axel Brunnbauer",
"Luigi Berducci",
"Andreas Brandstátter",
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus",
"Radu Grosu",
"Axel Brunnbauer",
"Luigi Berducci",
"Andreas Brandstátter",
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus",
"Radu Grosu"
] | World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become practicable on standard RL benchmarks and some games, their effectiveness in real-world robotics applications has not been explored. In this paper, we investigate how... |
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9811874/ | [
"K. Niranjan Kumar",
"Irfan Essa",
"Sehoon Ha",
"K. Niranjan Kumar",
"Irfan Essa",
"Sehoon Ha"
] | We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning framework to train an effective scene exploration policy to discover hidden objects with minimal interactions. First, we define a novel scene grammar to represen... |
Validate on Sim, Detect on Real - Model Selection for Domain Randomization | https://ieeexplore.ieee.org/document/9811621/ | [
"Gal Leibovich",
"Guy Jacob",
"Shadi Endrawis",
"Gal Novik",
"Aviv Tamar",
"Gal Leibovich",
"Guy Jacob",
"Shadi Endrawis",
"Gal Novik",
"Aviv Tamar"
] | A practical approach to learning robot skills, often termed sim2real, is to train control policies in simulation and then deploy them on a real robot. Popular sim2real techniques build on domain randomization (DR) - training the policy on diverse randomly generated domains for better generalization to the real world. Due to the large number of hyper-parameters in both the policy learning and DR al... |
Promoting Quality and Diversity in Population-based Reinforcement Learning via Hierarchical Trajectory Space Exploration | https://ieeexplore.ieee.org/document/9811888/ | [
"Jiayu Miao",
"Tianze Zhou",
"Kun Shao",
"Ming Zhou",
"Weinan Zhang",
"Jianye Hao",
"Yong Yu",
"Jun Wang",
"Jiayu Miao",
"Tianze Zhou",
"Kun Shao",
"Ming Zhou",
"Weinan Zhang",
"Jianye Hao",
"Yong Yu",
"Jun Wang"
] | Quality Diversity (QD) algorithms in population-based reinforcement learning aim to optimize agents' returns and diversity among the population simultaneously. It is conducive to solving exploration problems in reinforcement learning and potentially getting multiple good and diverse strategies. However, previous methods typically define behavioral embedding in action space or outcome space, which ... |
EDPLVO: Efficient Direct Point-Line Visual Odometry | https://ieeexplore.ieee.org/document/9812133/ | [
"Lipu Zhou",
"Guoquan Huang",
"Yinian Mao",
"Shengze Wang",
"Michael Kaess",
"Lipu Zhou",
"Guoquan Huang",
"Yinian Mao",
"Shengze Wang",
"Michael Kaess"
] | This paper introduces an efficient direct visual odometry (VO) algorithm using points and lines. Pixels on lines are generally adopted in direct methods. However, the original photometric error is only defined for points. It seems difficult to extend it to lines. In previous works, the collinear constraints for points on lines are either ignored [1] or introduce heavy computational load into the r... |
Incremental Abstraction in Distributed Probabilistic SLAM Graphs | https://ieeexplore.ieee.org/document/9812078/ | [
"Joseph Ortiz",
"Talfan Evans",
"Edgar Sucar",
"Andrew J. Davison",
"Joseph Ortiz",
"Talfan Evans",
"Edgar Sucar",
"Andrew J. Davison"
] | Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and optimising continually changing, complex graphs. We present a distributed, graph-based SLAM framework for incrementally building scene graphs based on two novel compone... |
Interval-based Visual-Inertial LiDAR SLAM with Anchoring Poses | https://ieeexplore.ieee.org/document/9812425/ | [
"Aaronkumar Ehambram",
"Raphael Voges",
"Claus Brenner",
"Bernardo Wagner",
"Aaronkumar Ehambram",
"Raphael Voges",
"Claus Brenner",
"Bernardo Wagner"
] | We present a novel interval-based visual-inertial LiDAR SLAM (i-VIL SLAM) method that solely assumes sensor errors to be bounded and propagates the error from the input sources to the estimated map and trajectory using interval analysis. The method allows us to restrict the solution set of the robot poses and the position of the landmarks to the set that is consistent with the measurements. If the... |
Self-Supervised Ego-Motion Estimation Based on Multi-Layer Fusion of RGB and Inferred Depth | https://ieeexplore.ieee.org/document/9811842/ | [
"Zijie Jiang",
"Hajime Taira",
"Naoyuki Miyashita",
"Masatoshi Okutomi",
"Zijie Jiang",
"Hajime Taira",
"Naoyuki Miyashita",
"Masatoshi Okutomi"
] | In existing self-supervised depth and ego-motion estimation methods, ego-motion estimation is usually limited to only leveraging RGB information. Recently, several methods have been proposed to further improve the accuracy of self-supervised ego-motion estimation by fusing information from other modalities, e.g., depth, acceleration, and angular velocity. However, they rarely focus on how differen... |
HD Ground - A Database for Ground Texture Based Localization | https://ieeexplore.ieee.org/document/9811977/ | [
"Jan Fabian Schmid",
"Stephan F. Simon",
"Raaghav Radhakrishnan",
"Simone Frintrop",
"Rudolf Mester",
"Jan Fabian Schmid",
"Stephan F. Simon",
"Raaghav Radhakrishnan",
"Simone Frintrop",
"Rudolf Mester"
] | We present the HD Ground Database, a comprehensive database for ground texture based localization. It contains sequences of a variety of textures, obtained using a downward facing camera. In contrast to existing databases of ground images, the HD Ground Database is larger, has a greater variety of textures, and has a higher image resolution with less motion blur. Also, our database enables the fir... |
The Visual-Inertial- Dynamical Multirotor Dataset | https://ieeexplore.ieee.org/document/9811956/ | [
"Kunyi Zhang",
"Tiankai Yang",
"Ziming Ding",
"Sheng Yang",
"Teng Ma",
"Mingyang Li",
"Chao Xu",
"Fei Gao",
"Kunyi Zhang",
"Tiankai Yang",
"Ziming Ding",
"Sheng Yang",
"Teng Ma",
"Mingyang Li",
"Chao Xu",
"Fei Gao"
] | Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be perceived for robust planning and control, which is beyond the capacity of these datasets. This paper introduces a Visual-Inertial-Dynamical (VID) dataset, not onl... |
Design and Analysis of a Long-range Magnetic Actuated and Guided Endoscope for Uniport VATS | https://ieeexplore.ieee.org/document/9811731/ | [
"Jixiu Li",
"Tao Zhang",
"Truman Cheng",
"Yehui Li",
"Heng Zhang",
"Yisen Huang",
"Calvin Sze Hang Ng",
"Philip Wai Yan Chiu",
"Zheng Li",
"Jixiu Li",
"Tao Zhang",
"Truman Cheng",
"Yehui Li",
"Heng Zhang",
"Yisen Huang",
"Calvin Sze Hang Ng",
"Philip Wai Yan Chiu",
"Zheng Li"
] | This paper presents a long-range magnetic actuated and guided endoscope for uniport video-assisted thoracic surgery (VATS). In VATS, the incision is quite narrow and part of the chest wall may be very thick. So, the magnetic endoscope system is required to produce sufficient attractive force at a considerable distance with a compact dimension. In this paper, a magnetic endoscope system is develope... |
On a New 10-Millimeter Surgical Robot Wrist | https://ieeexplore.ieee.org/document/9812073/ | [
"Mark E. Rosheim",
"Mark E. Rosheim"
] | Presented is a new 10-mm diameter wrist designed for robotic surgery. Featuring greater dexterity than current designs, entirely new procedures may be possible. An innovative, parallel mechanism, it offers 180 degrees of singularity-free pitch/yaw motion. The wrist is also a new form of high angulation, constant velocity, universal joint and is capable of continuous 360 degrees of roll rotation at... |
3D Perception based Imitation Learning under Limited Demonstration for Laparoscope Control in Robotic Surgery | https://ieeexplore.ieee.org/document/9812010/ | [
"Bin Li",
"Ruofeng Wei",
"Jiaqi Xu",
"Bo Lu",
"Chi Hang Yee",
"Chi Fai Ng",
"Pheng-Ann Heng",
"Qi Dou",
"Yun-Hui Liu",
"Bin Li",
"Ruofeng Wei",
"Jiaqi Xu",
"Bo Lu",
"Chi Hang Yee",
"Chi Fai Ng",
"Pheng-Ann Heng",
"Qi Dou",
"Yun-Hui Liu"
] | Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are not intelligent enough, while the latest supervised imitation learning (IL)-based methods require expensive sensor data and suffer from distribution mismatch issu... |
Safe endoscope holding in minimally invasive surgery: zero stiffness and adaptive weight compensation | https://ieeexplore.ieee.org/document/9811359/ | [
"Jesus Mago",
"François Louveau",
"Marie-Aude Vitrani",
"Guillaume Morel",
"Jesus Mago",
"François Louveau",
"Marie-Aude Vitrani",
"Guillaume Morel"
] | One of the major functions brought by robots in Minimally Invasive Surgery is endoscope holding. This consists, for the user, in placing the camera at a desired location which the robot will maintain still once he/she releases it. This behavior is usually achieved with rigid position servoing, leading to possibly high forces generated and safety issues. Model-based weight compensation is an altern... |
Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation | https://ieeexplore.ieee.org/document/9812379/ | [
"Dandan Zhang",
"Zicong Wu",
"Junhong Chen",
"Ruiqi Zhu",
"Adnan Munawar",
"Bo Xiao",
"Yuan Guan",
"Hang Su",
"Wuzhou Hong",
"Yao Guo",
"Gregory S. Fischer",
"Benny Lo",
"Guang-Zhong Yang",
"Dandan Zhang",
"Zicong Wu",
"Junhong Chen",
"Ruiqi Zhu",
"Adnan Munawar",
"Bo Xiao",
"Yuan Guan",
"Hang Su",
"Wuzhou Hong",
"Yao Guo",
"Gregory S. Fischer",
"Benny Lo",
"Guang-Zhong Yang"
] | Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control mechanism. However, a sufficient amount of data is required for the robot to learn the manoeuvres. Us... |
ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System | https://ieeexplore.ieee.org/document/9811364/ | [
"Shervin Dehghani",
"Michael Sommersperger",
"Junjie Yang",
"Mehrdad Salehi",
"Benjamin Busam",
"Kai Huang",
"Peter Gehlbach",
"Iulian Iordachita",
"Nassir Navab",
"M. Ali Nasseri",
"Shervin Dehghani",
"Michael Sommersperger",
"Junjie Yang",
"Mehrdad Salehi",
"Benjamin Busam",
"Kai Huang",
"Peter Gehlbach",
"Iulian Iordachita",
"Nassir Navab",
"M. Ali Nasseri"
] | Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently under development to enable or improve the outcome of microsurgical tasks. Since the control of such robots is often designed for navigation inside the eye in proximity to the retina, successful trocar docking and insertion of the instrument in... |
Deep Curiosity Driven Multicamera 3D Viewpoint Adjustment for Robot-Assisted Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/9812413/ | [
"Yun-Hsuan Su",
"Heidi Zhang",
"Wenfan Jiang",
"Khanh Ngo",
"Kevin Huang",
"Yun-Hsuan Su",
"Heidi Zhang",
"Wenfan Jiang",
"Khanh Ngo",
"Kevin Huang"
] | Maneuverable multicamera systems offer potential benefits in abdominal minimally-invasive procedures, including multi-view scene reconstruction and optimal viewpoint capture. Effective autonomous movement and re-positioning of such systems, however, remains an open challenge due to dynamic motion constraints, deforming surgical scenes, and visual artifacts such as motion blur, specular reflections... |
Automated Linear and Non-Linear Path Planning for Neurosurgical Interventions | https://ieeexplore.ieee.org/document/9811679/ | [
"Steffen Peikert",
"Christian Kunz",
"Nikola Fischer",
"Michal Hlaváč",
"Andrej Pala",
"Max Schneider",
"Franziska Mathis-Ullrich",
"Steffen Peikert",
"Christian Kunz",
"Nikola Fischer",
"Michal Hlaváč",
"Andrej Pala",
"Max Schneider",
"Franziska Mathis-Ullrich"
] | Recent advances in medical technology have produced a number of flexible instruments that are capable of traversing non-linear paths. This is of special interest in the field of neurosurgery. However, the non-rigid instruments have the disadvantage that path planning becomes increasingly difficult. In addition to anatomical risk factors, the mechanical properties and constraints of the specific in... |
ComOpT: Combination and Optimization for Testing Autonomous Driving Systems | https://ieeexplore.ieee.org/document/9811794/ | [
"Changwen Li",
"Chih-Hong Cheng",
"Tiantian Sun",
"Yuhang Chen",
"Rongjie Yan",
"Changwen Li",
"Chih-Hong Cheng",
"Tiantian Sun",
"Yuhang Chen",
"Rongjie Yan"
] | ComOpT is an open-source research tool for coverage-driven testing of autonomous driving systems, focusing on planning and control. Starting with (i) a meta-model characterizing discrete conditions to be considered and (ii) constraints specifying the impossibility of certain combinations, ComOpT first generates constraint-feasible abstract scenarios while maximally increasing the coverage of k-way... |
Learning Interactive Driving Policies via Data-driven Simulation | https://ieeexplore.ieee.org/document/9812407/ | [
"Tsun-Hsuan Wang",
"Alexander Amini",
"Wilko Schwarting",
"Igor Gilitschenski",
"Sertac Karaman",
"Daniela Rus",
"Tsun-Hsuan Wang",
"Alexander Amini",
"Wilko Schwarting",
"Igor Gilitschenski",
"Sertac Karaman",
"Daniela Rus"
] | Data-driven simulators promise high data-efficiency for driving policy learning. When used for modelling interactions, this data-efficiency becomes a bottleneck: small underlying datasets often lack interesting and challenging edge cases for learning interactive driving. We address this challenge by proposing a data-driven simulation engine† that uses inpainted ado vehicles for learning robust dri... |
Deep Drifting: Autonomous Drifting of Arbitrary Trajectories using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9812249/ | [
"Fabian Domberg",
"Carlos Castelar Wembers",
"Hiren Patel",
"Georg Schildbach",
"Fabian Domberg",
"Carlos Castelar Wembers",
"Hiren Patel",
"Georg Schildbach"
] | In this paper, a Deep Neural Network is trained using Reinforcement Learning in order to drift on arbitrary trajectories which are defined by a sequence of waypoints. In a first step, a highly accurate vehicle simulation is used for the training process. Then, the obtained policy is refined and validated on a self-built model car. The chosen reward function is inspired by the scoring process of re... |
Perception-Friendly Video Enhancement for Autonomous Driving under Adverse Weather Conditions | https://ieeexplore.ieee.org/document/9811870/ | [
"Younkwan Lee",
"Yeongmin Ko",
"Yechan Kim",
"Moongu Jeon",
"Younkwan Lee",
"Yeongmin Ko",
"Yechan Kim",
"Moongu Jeon"
] | Visual perception of an autonomous vehicle is a crucial component of autonomous driving technologies. While visual perception research has achieved promising performance in recent years, modern methods are mostly trained, applied, and tested on single clean images. Recently, deep learning-based perception methods have addressed multiple degrading effects to reflect real-world bad weather cases, bu... |
Fast Point Clouds Upsampling with Uncertainty Quantification for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9811914/ | [
"Younghwa Jung",
"Seung-Woo Seo",
"Seong-Woo Kim",
"Younghwa Jung",
"Seung-Woo Seo",
"Seong-Woo Kim"
] | 3D LiDAR is widely used in autonomous systems such as self-driving cars and autonomous robots because it provides accurate 3D point clouds of the surrounding environment under harsh conditions. However, a high-resolution LiDAR is expensive and bulky. Although a low-resolution LiDAR is compact and affordable, the obtained point clouds are so sparse that it is difficult to extract features that are ... |
CRAT-Pred: Vehicle Trajectory Prediction with Crystal Graph Convolutional Neural Networks and Multi-Head Self-Attention | https://ieeexplore.ieee.org/document/9811637/ | [
"Julian Schmidt",
"Julian Jordan",
"Franz Gritschneder",
"Klaus Dietmayer",
"Julian Schmidt",
"Julian Jordan",
"Franz Gritschneder",
"Klaus Dietmayer"
] | Predicting the motion of surrounding vehicles is essential for autonomous vehicles, as it governs their own motion plan. Current state-of-the-art vehicle prediction models heavily rely on map information. In reality, however, this information is not always available. We therefore propose CRAT-Pred, a multi-modal and non-rasterization-based trajectory prediction model, specifically designed to effe... |
Causal-based Time Series Domain Generalization for Vehicle Intention Prediction | https://ieeexplore.ieee.org/document/9812188/ | [
"Yeping Hu",
"Xiaogang Jia",
"Masayoshi Tomizuka",
"Wei Zhan",
"Yeping Hu",
"Xiaogang Jia",
"Masayoshi Tomizuka",
"Wei Zhan"
] | Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate predictions regardless of where they are and what driving circumstances they encountered. Therefore, generalization capability to unseen domains is crucial for pre... |
MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction | https://ieeexplore.ieee.org/document/9812107/ | [
"Balakrishnan Varadarajan",
"Ahmed Hefny",
"Avikalp Srivastava",
"Khaled S. Refaat",
"Nigamaa Nayakanti",
"Andre Cornman",
"Kan Chen",
"Bertrand Douillard",
"Chi Pang Lam",
"Dragomir Anguelov",
"Benjamin Sapp",
"Balakrishnan Varadarajan",
"Ahmed Hefny",
"Avikalp Srivastava",
"Khaled S. Refaat",
"Nigamaa Nayakanti",
"Andre Cornman",
"Kan Chen",
"Bertrand Douillard",
"Chi Pang Lam",
"Dragomir Anguelov",
"Benjamin Sapp"
] | Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception signals and map information, and inferring highly multi-modal distributions over possible futures. In this paper, we present MultiPath++, a future prediction model th... |
An Adaptive PID Autotuner for Multicopters with Experimental Results | https://ieeexplore.ieee.org/document/9812065/ | [
"John Spencer",
"Joonghyun Lee",
"Juan Augusto Paredes",
"Ankit Goel",
"Dennis Bernstein",
"John Spencer",
"Joonghyun Lee",
"Juan Augusto Paredes",
"Ankit Goel",
"Dennis Bernstein"
] | This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on retrospective cost adaptive control implemented in the PX4 flight stack. A learning trajectory is used to optimize the autopilot during a single flight. The autotuned autopilot is then compared with the default PX4 autopi... |
When Being Soft Makes You Tough: A Collision-Resilient Quadcopter Inspired by Arthropods' Exoskeletons | https://ieeexplore.ieee.org/document/9811841/ | [
"Ricardo de Azambuja",
"Hassan Fouad",
"Yann Bouteiller",
"Charles Sol",
"Giovanni Beltrame",
"Ricardo de Azambuja",
"Hassan Fouad",
"Yann Bouteiller",
"Charles Sol",
"Giovanni Beltrame"
] | Flying robots are usually rather delicate and require protective enclosures when facing the risk of collision, while high complexity and reduced payload are recurrent problems with collision-resilient flying robots. Inspired by arthropods' exoskeletons, we design a simple, open source, easily manufactured, semi-rigid structure with soft joints that can withstand high-velocity impacts. With an exos... |
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection | https://ieeexplore.ieee.org/document/9812158/ | [
"Tianyu Liu",
"Qianhao Wang",
"Xingguang Zhong",
"Zhepei Wang",
"Chao Xu",
"Fu Zhang",
"Fei Gao",
"Tianyu Liu",
"Qianhao Wang",
"Xingguang Zhong",
"Zhepei Wang",
"Chao Xu",
"Fu Zhang",
"Fei Gao"
] | The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not being complete or even failing. In this paper, we propose a visibility guaranteed planner by star-convex constrained optimization. The visible space is modeled as star convex polytope (SCP) by nature and is generated by f... |
Robot Grasping through a Joint-Initiative Supervised Autonomy Framework | https://ieeexplore.ieee.org/document/9811721/ | [
"Abbas Sidaoui",
"Naseem Daher",
"Daniel Asmar",
"Abbas Sidaoui",
"Naseem Daher",
"Daniel Asmar"
] | Robot grasping applications are faced with challenges and limitations leading to errors that affect their performance and accuracy. Although these errors are reduced in expensive industrial systems, low-cost robots are still prone to inaccurate perception and execution due to their limited hardware and software capabilities. To mitigate these challenges and limitations, this work develops a Joint-... |
Improved Task Planning through Failure Anticipation in Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9812236/ | [
"Silvia Izquierdo-Badiola",
"Gerard Canal",
"Carlos Rizzo",
"Guillem Alenyà",
"Silvia Izquierdo-Badiola",
"Gerard Canal",
"Carlos Rizzo",
"Guillem Alenyà"
] | Human-Robot Collaboration (HRC) has become a major trend in robotics in recent years with the idea of combining the strengths from both humans and robots. In order to share the work to be done, many task planning approaches have been implemented. However, they don't fully satisfy the required adaptability in human-robot collaborative tasks, with most approaches not considering neither the state of... |
Adaptive Impedance Controller for Human-Robot Arbitration based on Cooperative Differential Game Theory | https://ieeexplore.ieee.org/document/9811853/ | [
"Paolo Franceschi",
"Nicola Pedrocchi",
"Manuel Beschi",
"Paolo Franceschi",
"Nicola Pedrocchi",
"Manuel Beschi"
] | The problem addressed in this work is the arbitration of the role between a robot and a human during physical Human-Robot Interaction, sharing a common task. The system is modeled as a Cartesian impedance, with two separate external forces provided by the human and the robot. The problem is then reformulated as a Cooperative Differential Game, which possibly has multiple solutions on the Pareto fr... |
On-chip Continuous Pairing, Separation and Electrofusion of Cells Using a Microdroplet | https://ieeexplore.ieee.org/document/9812390/ | [
"Naotomo Tottori",
"Sora Sadamichi",
"Shinya Sakuma",
"Tomomi Tsubouchi",
"Yoko Yamanishi",
"Naotomo Tottori",
"Sora Sadamichi",
"Shinya Sakuma",
"Tomomi Tsubouchi",
"Yoko Yamanishi"
] | Cell fusion has been widely applied in scientific research for cancer immunotherapy, antibody production, and nuclear reprogramming of somatic cells, and therefore the cell fusion technique that enable us to precisely control the fusion process with high throughput manner has been desired. Here, we present a novel microfluidic method for automatic cell pairing by microdroplets, separation of dropl... |
Robotic Cell Manipulation for Blastocyst Biopsy | https://ieeexplore.ieee.org/document/9812246/ | [
"Guanqiao Shan",
"Zhuoran Zhang",
"Changsheng Dai",
"Hang Liu",
"Xian Wang",
"Wenkun Dou",
"Yu Sun",
"Guanqiao Shan",
"Zhuoran Zhang",
"Changsheng Dai",
"Hang Liu",
"Xian Wang",
"Wenkun Dou",
"Yu Sun"
] | Soft tissue cutting is used for incision, separation and removal of tissues or cells. Due to high deformation of soft tissues resulting from their viscosity and elasticity, it is challenging to accurately cut the tissue along a desired path and control the force applied to the tissue for reducing invasiveness, especially at the microscale. This paper presents a robotic biopsy system for cutting an... |
Acoustic and magnetic hybrid actuated immune cell robot for target and kill cancer cells | https://ieeexplore.ieee.org/document/9812071/ | [
"Xue Bai",
"Wei Zhang",
"Yuguo Dai",
"Yueying Wang",
"Hongyan Sun",
"Lin Feng",
"Xue Bai",
"Wei Zhang",
"Yuguo Dai",
"Yueying Wang",
"Hongyan Sun",
"Lin Feng"
] | Macrophage immunotherapy is a promising clinical approach to treat cancer. However, low targeting efficiency severely limits the immunotherapeutic effect of macrophages. Here, we report a unique macrophage robot that can target and kill cancer cells using a combination of external acoustic and magnetic fields. First, the inactive macrophages (Mø) are magnetized by endocytosis of the $\gamma$-Fe2O3... |
Optimizing Multi-Robot Placements for Wire Arc Additive Manufacturing | https://ieeexplore.ieee.org/document/9812318/ | [
"Prahar M. Bhatt",
"Andrzej Nycz",
"Satyandra K. Gupta",
"Prahar M. Bhatt",
"Andrzej Nycz",
"Satyandra K. Gupta"
] | Wire arc additive manufacturing is a metal additive manufacturing process in which the material is deposited using arc welding technology. It is gaining popularity due to high material deposition rates and faster build time. It is en-abled using robotic manipulators and can build relatively large-scale parts faster when compared with other metal additive manufacturing processes. However, the size ... |
Map-based Visual-Inertial Localization: A Numerical Study | https://ieeexplore.ieee.org/document/9811829/ | [
"Patrick Geneva",
"Guoquan Huang",
"Patrick Geneva",
"Guoquan Huang"
] | We revisit the problem of efficiently leveraging prior map information within a visual-inertial estimation framework. The use of traditional landmark-based maps with 2D-to-3D measurements along with the recently introduced keyframe-based maps with 2D-to-2D measurements are inves-tigated. The full joint estimation of the prior map is compared within a visual-inertial simulator to the Schmidt-Kalman... |
Crossview Mapping with Graph-based Geolocalization on City-Scale Street Maps | https://ieeexplore.ieee.org/document/9811743/ | [
"Zhichao Ye",
"Chong Bao",
"Xinyang Liu",
"Hujun Bao",
"Zhaopeng Cui",
"Guofeng Zhang",
"Zhichao Ye",
"Chong Bao",
"Xinyang Liu",
"Hujun Bao",
"Zhaopeng Cui",
"Guofeng Zhang"
] | 3D environment mapping has been actively stud-ied recently with the development of autonomous driving and augmented reality. Although many image-based methods are proposed due to their convenience and flexibility compared to other complex sensors, few works focus on fixing the inherent scale ambiguity of image-based methods and registering the reconstructed structure to the real-world 3D map, whic... |
DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments | https://ieeexplore.ieee.org/document/9812356/ | [
"Tingxiang Fan",
"Bowen Shen",
"Hua Chen",
"Wei Zhang",
"Jia Pan",
"Tingxiang Fan",
"Bowen Shen",
"Hua Chen",
"Wei Zhang",
"Jia Pan"
] | Emergence of massive dynamic objects will diversify spatial structures when robots navigate in urban environments. Therefore, the online removal of dynamic objects is critical. In this paper, we introduce a novel online removal framework for highly dynamic urban environments. The framework consists of the scan-to-map front-end and the map-to-map back-end modules. Both the front- and back-ends deep... |
LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping | https://ieeexplore.ieee.org/document/9811916/ | [
"Giseop Kim",
"Ayoung Kim",
"Giseop Kim",
"Ayoung Kim"
] | Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites. This is achieved by dividing the problem into successive subproblems: multi-session SLAM (MSS), high/low dynamic change detection, and positive/negative change... |
Memory-Efficient Gaussian Fitting for Depth Images in Real Time | https://ieeexplore.ieee.org/document/9811682/ | [
"Peter Zhi Xuan Li",
"Sertac Karaman",
"Vivienne Sze",
"Peter Zhi Xuan Li",
"Sertac Karaman",
"Vivienne Sze"
] | Computing consumes a significant portion of energy in many robotics applications, especially the ones involving energy-constrained robots. In addition, memory access accounts for a significant portion of the computing energy. For mapping a 3D environment, prior approaches reduce the map size while incurring a large memory overhead used for storing sensor measurements and temporary variables during... |
A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments | https://ieeexplore.ieee.org/document/9812018/ | [
"Hyungtae Lim",
"Suyong Yeon",
"Soohyun Ryu",
"Yonghan Lee",
"Youngji Kim",
"Jaeseong Yun",
"Euigon Jung",
"Donghwan Lee",
"Hyun Myung",
"Hyungtae Lim",
"Suyong Yeon",
"Soohyun Ryu",
"Yonghan Lee",
"Youngji Kim",
"Jaeseong Yun",
"Euigon Jung",
"Donghwan Lee",
"Hyun Myung"
] | Global registration using 3D point clouds is a crucial technology for mobile platforms to achieve localization or manage loop-closing situations. In recent years, numerous researchers have proposed global registration methods to address a large number of outlier correspondences. Unfortunately, the degeneracy problem, which represents the phenomenon in which the number of estimated inliers becomes ... |
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency | https://ieeexplore.ieee.org/document/9811877/ | [
"Lukas Schmid",
"Jeffrey Delmerico",
"Johannes L. Schönberger",
"Juan Nieto",
"Marc Pollefeys",
"Roland Siegwart",
"Cesar Cadena",
"Lukas Schmid",
"Jeffrey Delmerico",
"Johannes L. Schönberger",
"Juan Nieto",
"Marc Pollefeys",
"Roland Siegwart",
"Cesar Cadena"
] | For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We thus propose panoptic multi-TSDFs as a novel representation for multi-resolution volumetric mapping in changing environments. By leveraging high-level informat... |
FD-SLAM: 3-D Reconstruction Using Features and Dense Matching | https://ieeexplore.ieee.org/document/9812049/ | [
"Xingrui Yang",
"Yuhang Ming",
"Zhaopeng Cui",
"Andrew Calway",
"Xingrui Yang",
"Yuhang Ming",
"Zhaopeng Cui",
"Andrew Calway"
] | It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can suffer from inaccurate local pose estimation when feature information is sparse. Based on these observations, we propose an RGB-D SLAM system that leverages the ... |
AirDOS: Dynamic SLAM benefits from Articulated Objects | https://ieeexplore.ieee.org/document/9811667/ | [
"Yuheng Qiu",
"Chen Wang",
"Wenshan Wang",
"Mina Henein",
"Sebastian Scherer",
"Yuheng Qiu",
"Chen Wang",
"Wenshan Wang",
"Mina Henein",
"Sebastian Scherer"
] | Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper, we show that feature-based visual SLAM systems can also benefit from the presence of dynamic articulated objects by taking advantage of two observations: (1) The... |
DRG: A Dynamic Relation Graph for Unified Prior-Online Environment Modeling in Urban Autonomous Driving | https://ieeexplore.ieee.org/document/9812290/ | [
"Rowan Dempster",
"Mohammad Al-Sharman",
"Yeshu Jain",
"Jeffery Li",
"Derek Rayside",
"William Melek",
"Rowan Dempster",
"Mohammad Al-Sharman",
"Yeshu Jain",
"Jeffery Li",
"Derek Rayside",
"William Melek"
] | Environment modeling is the backbone of how autonomous agents understand the world, and therefore has significant implications for decision-making and verification. Motivated by the success of relational mapping tools such as Lanelet2, we present the Dynamic Relation Graph (DRG). The DRG is a novel method for extending prior relational maps to include online observations, creating a unified en-vir... |
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface | https://ieeexplore.ieee.org/document/9812225/ | [
"Juan M. Gandarias",
"Pietro Balatti",
"Edoardo Lamon",
"Marta Lorenzini",
"Arash Ajoudani",
"Juan M. Gandarias",
"Pietro Balatti",
"Edoardo Lamon",
"Marta Lorenzini",
"Arash Ajoudani"
] | This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performing daily activities. The previous interface was based on a magnetic clamp attached to one arm of the ... |
A Novel Multimodal Human-Exoskeleton Interface Based on EEG and sEMG Activity for Rehabilitation Training | https://ieeexplore.ieee.org/document/9812180/ | [
"Kecheng Shi",
"Rui Huang",
"Fengjun Mu",
"Zhinan Peng",
"Ke Huang",
"Yizhe Qin",
"Xiao Yang",
"Hong Cheng",
"Kecheng Shi",
"Rui Huang",
"Fengjun Mu",
"Zhinan Peng",
"Ke Huang",
"Yizhe Qin",
"Xiao Yang",
"Hong Cheng"
] | Despite the advances in the field of human-robot interface (HRI) based on biological neural signal, the use of the sole electroencephalography (EEG) signal to help robotic exoskeleton predict the limb movement is currently no mature in rehabilitation training, due to its unreliability. Multimodal HRI represents a very recent solution to enhance the performance of single modal HRI. These HRI normal... |
Predicting the effects of oscillator-based assistance on stride-to-stride variability of Parkinsonian walkers | https://ieeexplore.ieee.org/document/9811822/ | [
"Virginie Otlet",
"Renaud Ronsse",
"Virginie Otlet",
"Renaud Ronsse"
] | Parkinson's disease is a severe neurodegenerative disorder that affects sensorimotor control. In particular, several gait impairments are reported, including a decrease of long-range autocorrelations in stride duration time series. This complex statistics is potentially a biomarker of the risk of falling. This paper aims at developing model-based predictions about the loss of long-range autocorrel... |
On Wearable, Lightweight, Low-Cost Human Machine Interfaces for the Intuitive Collection of Robot Grasping and Manipulation Data | https://ieeexplore.ieee.org/document/9812198/ | [
"Che-Ming Chang",
"Jayden Chapman",
"Ke Wang",
"Patrick Jarvis",
"Minas Liarokapis",
"Che-Ming Chang",
"Jayden Chapman",
"Ke Wang",
"Patrick Jarvis",
"Minas Liarokapis"
] | Robot grasping and manipulation allow robots to interact with their environments and execute a plethora of complex tasks that require increased dexterity (e.g., open a door, push buttons, collect and transpose objects, etc.). Collecting data of such activities is of paramount importance as it allows roboticists to create new methods and models that will facilitate the execution of sophisticated ta... |
Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke | https://ieeexplore.ieee.org/document/9811932/ | [
"Jingxi Xu",
"Cassie Meeker",
"Ava Chen",
"Lauren Winterbottom",
"Michaela Fraser",
"Sangwoo Park",
"Lynne M. Weber",
"Mitchell Miya",
"Dawn Nilsen",
"Joel Stein",
"Matei Ciocarlie",
"Jingxi Xu",
"Cassie Meeker",
"Ava Chen",
"Lauren Winterbottom",
"Michaela Fraser",
"Sangwoo Park",
"Lynne M. Weber",
"Mitchell Miya",
"Dawn Nilsen",
"Joel Stein",
"Matei Ciocarlie"
] | In order to provide therapy in a functional context, controls for wearable robotic orthoses need to be robust and intuitive. We have previously introduced an intuitive, user-driven, EMG-based method to operate a robotic hand orthosis, but the process of training a control that is robust to concept drift (changes in the input signal) places a substantial burden on the user. In this paper, we explor... |
MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies | https://ieeexplore.ieee.org/document/9811684/ | [
"Huawei Wang",
"Vittorio Caggiano",
"Guillaume Durandau",
"Massimo Sartori",
"Vikash Kumar",
"Huawei Wang",
"Vittorio Caggiano",
"Guillaume Durandau",
"Massimo Sartori",
"Vikash Kumar"
] | Owing to the restrictions of live experimentation, musculoskeletal simulation models play a key role in biological motor control studies and investigations. Successful results of which are then tried on live subjects to develop treatments as well as robot aided rehabilitation procedures for addressing neuromusculoskeletal anomalies ranging from limb loss, to tendinitis, from sarcopenia to brain an... |
Multimodal Hydrostatic Actuators for Wearable Robots: A Preliminary Assessment of Mass-Saving and Energy-Efficiency Opportunities | https://ieeexplore.ieee.org/document/9812435/ | [
"Jeff Denis",
"Alex Lecavalier",
"Jean-Sébastien Plante",
"Alexandre Girard",
"Jeff Denis",
"Alex Lecavalier",
"Jean-Sébastien Plante",
"Alexandre Girard"
] | Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a lightweight and efficient system by using hydraulic valves to dynamically reconfigure the connections of a hydrostatic actuator. The analyzed opportunities consist ... |
Depth Distribution Split Labeling for Rubble Recognition of Crushing Machine | https://ieeexplore.ieee.org/document/9811689/ | [
"Takahiro Ikeda",
"Satoshi Ueki",
"Kazuma Shinkai",
"Hironao Yamada",
"Takahiro Ikeda",
"Satoshi Ueki",
"Kazuma Shinkai",
"Hironao Yamada"
] | This paper describes rubble recognition using a depth image sensor and an automatic rubble crushing system using a construction machine for automatic rubble crushing at a building demolition site. Depth Distribution Split Labeling (DDSL) is proposed to recognize irregularly shaped rubble using depth images and to identify the largest rubble in the workspace. In DDSL, we focused on the fact that th... |
Inside LineRanger: Mechanism Design to Optimize Operation and Performances of Powerline Inspection Robot | https://ieeexplore.ieee.org/document/9811366/ | [
"Pierre-Luc Richard",
"François Morin",
"Marco Lepage",
"Philippe Hamelin",
"Ghislain Lambert",
"Alex Sartor",
"Camille Hébert",
"Nicolas Pouliot",
"Pierre-Luc Richard",
"François Morin",
"Marco Lepage",
"Philippe Hamelin",
"Ghislain Lambert",
"Alex Sartor",
"Camille Hébert",
"Nicolas Pouliot"
] | Even if UAVs undoubtedly had a profound effect on the visual inspection capabilities of transmission lines, rolling robots, especially for bundled configurations, will still play an extensive role in the maintenance of these strategic assets. As such, LineRanger is among the most efficient and capable wheeled platform, that can travel at an average speed of 8 km/h. In this paper, LineRanger mechan... |
Crawling Locomotion Enabled by a Novel Actuated Rover Chassis | https://ieeexplore.ieee.org/document/9811836/ | [
"Arthur Bouton",
"Yang Gao",
"Arthur Bouton",
"Yang Gao"
] | Traversing soft soils represents a major concern of planetary rover missions. In this paper, we present a new chassis mechanism capable of a crawling gait that enhances trafficability on soft soil while relying on as few actuators as possible. Articulated by two actuated joints, MARCEL is a four-wheeled rover chassis which name stands for Mobile Active Rover Chassis for Enhanced Locomotion. MARCEL... |
Trajectory Planning for Sensors and Payloads Moving Through Mixed and Uncertain Media | https://ieeexplore.ieee.org/document/9811773/ | [
"Camilo Ordonez",
"David Jay",
"Christian Hubicki",
"Camilo Ordonez",
"David Jay",
"Christian Hubicki"
] | Heterogeneous robotic systems in the field often encounter bodies of water with unknown traversability properties. One approach to measuring depth, current, soil composition, etc. is via an in situ underwater sensor being dragged by cable attached to a maneuvering airborne multicopter - which entails a novel motion planning and control problem with mixed resistive media. In this work we propose a ... |
GPS-Denied Global Visual-Inertial Ground Vehicle State Estimation via Image Registration | https://ieeexplore.ieee.org/document/9812364/ | [
"Yehonathan Litman",
"Daniel McGann",
"Eric Dexheimer",
"Michael Kaess",
"Yehonathan Litman",
"Daniel McGann",
"Eric Dexheimer",
"Michael Kaess"
] | Robotic systems such as unmanned ground vehicles (UGVs) often depend on GPS for navigation in outdoor environments. In GPS-denied environments, one approach to maintain a global state estimate is localizing based on preexisting georeferenced aerial or satellite imagery. However, this is inherently challenged by the significantly differing perspectives between the UGV and reference images. In this ... |
Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests | https://ieeexplore.ieee.org/document/9812235/ | [
"Laura Jarin-Lipschitz",
"Xu Liu",
"Yuezhan Tao",
"Vijay Kumar",
"Laura Jarin-Lipschitz",
"Xu Liu",
"Yuezhan Tao",
"Vijay Kumar"
] | Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this capability with a search-based planning framework that adapts sampling density in realtime to find dynamically-feasible plans while remaining computationally tractable. ... |
Active Learning for Testing and Evaluation in Field Robotics: A Case Study in Autonomous, Off-Road Navigation | https://ieeexplore.ieee.org/document/9812453/ | [
"Jason M. Gregory",
"Daniel Sahu",
"Eli Lancaster",
"Felix Sanchez",
"Trevor Rocks",
"Brian Kaukeinen",
"Jonathan Fink",
"Satyandra K. Gupta",
"Jason M. Gregory",
"Daniel Sahu",
"Eli Lancaster",
"Felix Sanchez",
"Trevor Rocks",
"Brian Kaukeinen",
"Jonathan Fink",
"Satyandra K. Gupta"
] | Testing and evaluation of field robotic systems requires both experimentation in representative conditions and human supervision to effectively assess components, manage risk, and interpret results. Due to the complexity of robotic sys-tems, we argue this experimentation should be done adaptively by using insights gained from previous trials. Furthermore, we envision an advisory system that could ... |
Modelling and control of a variable-length flexible beam on inspection ground robot | https://ieeexplore.ieee.org/document/9812444/ | [
"Giancarlo D'Ago",
"Marie Lefebvre",
"Luca Rosario Buonocore",
"Fabio Ruggiero",
"Mario Di Castro",
"Vincenzo Lippiello",
"Giancarlo D'Ago",
"Marie Lefebvre",
"Luca Rosario Buonocore",
"Fabio Ruggiero",
"Mario Di Castro",
"Vincenzo Lippiello"
] | Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechan-ical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the European Organization for Nuclear Research (CERN) for visual and remote inspection tasks of particle accele... |
Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9812090/ | [
"Hyeongyeol Ryu",
"Minsung Yoon",
"Daehyung Park",
"Sung-Eui Yoon",
"Hyeongyeol Ryu",
"Minsung Yoon",
"Daehyung Park",
"Sung-Eui Yoon"
] | This paper considers the problem of prolonged occlusions on navigation sensors due to dust, smudges, soils, etc. Such uncontrollable occlusions often cause lower visibility as well as higher uncertainty that require considerably sophisticated behavior. To secure visibility (i.e., confidence about the world), we propose a confidence-based navigation method that encourages the robot to explore the u... |
Hybrid Physical Metric For 6-DoF Grasp Pose Detection | https://ieeexplore.ieee.org/document/9811961/ | [
"Yuhao Lu",
"Beixing Deng",
"Zhenyu Wang",
"Peiyuan Zhi",
"Yali Li",
"Shengjin Wang",
"Yuhao Lu",
"Beixing Deng",
"Zhenyu Wang",
"Peiyuan Zhi",
"Yali Li",
"Shengjin Wang"
] | 6-DoF grasp pose detection of multi-grasp and multi-object is a challenge task in the field of intelligent robot. To imitate human reasoning ability for grasping objects, data driven methods are widely studied. With the introduction of large-scale datasets, we discover that a single physical metric usually generates several discrete levels of grasp confidence scores, which cannot finely distinguis... |
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