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Integrated Learning of Robot Motion and Sentences: Real-Time Prediction of Grasping Motion and Attention based on Language Instructions | https://ieeexplore.ieee.org/document/9811815/ | [
"Hiroshi Ito",
"Hideyuki Ichiwara",
"Kenjiro Yamamoto",
"Hiroki Mori",
"Tetsuya Ogata",
"Hiroshi Ito",
"Hideyuki Ichiwara",
"Kenjiro Yamamoto",
"Hiroki Mori",
"Tetsuya Ogata"
] | We propose a motion generation model that can achieve robust behavior against environmental changes based on language instructions at a low cost. Conventional robots that communicate with humans use a restricted environment and language to build up a mapping between language and motion, and thus need to prepare a huge training set in order to achieve versatility. Our method trains pairs of languag... |
Development and Evaluation of a Gait Assistance System Based on Haptic Cane and Active Knee Orthosis | https://ieeexplore.ieee.org/document/9812307/ | [
"Hosu Lee",
"Amre Eizad",
"Junyeong Lee",
"Jungwon Yoon",
"Hosu Lee",
"Amre Eizad",
"Junyeong Lee",
"Jungwon Yoon"
] | Post-stroke gait rehabilitation is necessary to aid social re-integration. An active knee orthosis (AKO) can aid gait training through the provision of bodyweight support and assistive knee torque. However, its use may cause instability and it does not ensure improved gait symmetry and speed. Use of a speed regulation device such as a robotic cane in conjunction with and AKO may overcome these lim... |
Repeated Robot-Assisted Unilateral Stiffness Perturbations Result in Significant Aftereffects Relevant to Post-Stroke Gait Rehabilitation | https://ieeexplore.ieee.org/document/9812323/ | [
"Vaughn Chambers",
"Panagiotis Artemiadis",
"Vaughn Chambers",
"Panagiotis Artemiadis"
] | Due to hemiparesis, stroke survivors frequently develop a dysfunctional gait that is often characterized by an overall decrease in walking speed and a unilateral decrease in step length. With millions currently affected by this dys-functional gait, robust and effective rehabilitation protocols are needed. Although robotic devices have been used in numerous rehabilitation protocols for gait, the la... |
Patient-tailored Adaptive Control for Robot-aided Orthopaedic Rehabilitation | https://ieeexplore.ieee.org/document/9811791/ | [
"Christian Tamantini",
"Francesca Cordella",
"Clemente Lauretti",
"Francesco Scotto di Luzio",
"Marco Bravi",
"Federica Bressi",
"Francesco Draicchio",
"Silvia Sterzi",
"Loredana Zollo",
"Christian Tamantini",
"Francesca Cordella",
"Clemente Lauretti",
"Francesco Scotto di Luzio",
"Marco Bravi",
"Federica Bressi",
"Francesco Draicchio",
"Silvia Sterzi",
"Loredana Zollo"
] | Robot-aided rehabilitation is pushing forward novel robotic architectures to provide physical therapy. This paper presents a patient-tailored control architecture for upper-limb robot-aided orthopaedic rehabilitation capable of i) adapting the robot workspace on the basis of patient Range of Motion (RoM); ii) generating a tunnel, around the desired path to be followed by the patient, which guarant... |
A Low-Profile Hip Exoskeleton for Pathological Gait Assistance: Design and Pilot Testing | https://ieeexplore.ieee.org/document/9812300/ | [
"Safoura Sadegh Pour Aji Bishe",
"Leah Liebelt",
"Ying Fang",
"Zachary F. Lerner",
"Safoura Sadegh Pour Aji Bishe",
"Leah Liebelt",
"Ying Fang",
"Zachary F. Lerner"
] | Hip exoskeletons may hold potential to augment walking performance and mobility in individuals with disabilities. The purpose of this study was to design and validate a novel autonomous hip exoskeleton with a user-adaptive control strategy capable of reducing the energy cost of level and incline walking in individuals with and without walking impairment. First, in a small cohort of three unimpaire... |
An Over-Actuated Bionic Knee Prosthesis: Modeling, Design and Preliminary Experimental Characterization | https://ieeexplore.ieee.org/document/9812197/ | [
"Lorenzo Guercini",
"Federico Tessari",
"Josephus Driessen",
"Stefano Buccelli",
"Anna Pace",
"Samuele De Giuseppe",
"Simone Traverso",
"Lorenzo De Michieli",
"Matteo Laffranchi",
"Lorenzo Guercini",
"Federico Tessari",
"Josephus Driessen",
"Stefano Buccelli",
"Anna Pace",
"Samuele De Giuseppe",
"Simone Traverso",
"Lorenzo De Michieli",
"Matteo Laffranchi"
] | A pressing challenge in the design of actuated knee prostheses is the ability to address the high variation of speed and torque requirements for the different types and phases of locomotion. This manuscript presents a novel over-actuated knee prosthesis which makes use of a dual motor actuation architecture to address this issue. It utilizes a high speed/low torque motor to enable natural and high... |
Preliminary Investigation of Powered Knee Prosthesis with Small-Scale, Light-Weight, and Affordable Series-Elastic Actuator for Walking Rehabilitation of a Patient with Four-limb Deficiency | https://ieeexplore.ieee.org/document/9811780/ | [
"Ken Endo",
"Naoki Uchida",
"Ryusuke Morita",
"Tetsuo Tawara",
"Ken Endo",
"Naoki Uchida",
"Ryusuke Morita",
"Tetsuo Tawara"
] | Powered knee prosthesis commonly improves locomotion of above-knee amputees by generating net positive mechanical work at the knee joint which is especially required for movements with active knee extension and flexion such as sit-to-stand maneuvers, level-ground walking with various walking speed, stair/slope ascent ambulation and so forth. These studies tend to refer and trace normal human locom... |
A Novel Limbs-Free Variable Structure Wheelchair based on Face-Computer Interface (FCI) with Shared Control | https://ieeexplore.ieee.org/document/9811571/ | [
"Bo Zhu",
"DaoHui Zhang",
"YaQi Chu",
"XinGang Zhao",
"Bo Zhu",
"DaoHui Zhang",
"YaQi Chu",
"XinGang Zhao"
] | In order to meet the mobility and physical activity needs of people with impaired limbs function, a novel limbs-free variable structure wheelchair system controled by face-computer interface (FCI) was developed in this study. FCI used facial electromyography (fEMG) as a human intention recognition method from 6 facial movements, and the accuracy of intent recognition reached 97.6% under a series o... |
CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores | https://ieeexplore.ieee.org/document/9811732/ | [
"Dimitri Schreiber",
"Zhaowei Yu",
"Hanpeng Jiang",
"Taylor Henderson",
"Guosong Li",
"Julie Yu",
"Renjie Zhu",
"Alexander M. Norbash",
"Michael C. Yip",
"Dimitri Schreiber",
"Zhaowei Yu",
"Hanpeng Jiang",
"Taylor Henderson",
"Guosong Li",
"Julie Yu",
"Renjie Zhu",
"Alexander M. Norbash",
"Michael C. Yip"
] | Physicians perform minimally invasive percuta-neous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners, robots can enable physicians to more accurately target sub-dermal lesions while increasing safety. However, existing robots for this application have limited dexter... |
ROMAX: Certifiably Robust Deep Multiagent Reinforcement Learning via Convex Relaxation | https://ieeexplore.ieee.org/document/9812321/ | [
"Chuangchuang Sun",
"Dong-Ki Kim",
"Jonathan P. How",
"Chuangchuang Sun",
"Dong-Ki Kim",
"Jonathan P. How"
] | In a multirobot system, a number of cyber-physical attacks (e.g., communication hijack, observation per-turbations) can challenge the robustness of agents. This robust-ness issue worsens in multiagent reinforcement learning because there exists the non-stationarity of the environment caused by simultaneously learning agents whose changing policies affect the transition and reward functions. In thi... |
Learning Emergent Discrete Message Communication for Cooperative Reinforcement Learning | https://ieeexplore.ieee.org/document/9812285/ | [
"Sheng Li",
"Yutai Zhou",
"Ross Allen",
"Mykel J. Kochenderfer",
"Sheng Li",
"Yutai Zhou",
"Ross Allen",
"Mykel J. Kochenderfer"
] | Communication is an important factor that en-ables agents to work cooperatively in multi-agent reinforcement learning (MARL) contexts. Prior work used continuous message communication whose high representational capacity comes at the expense of interpretability. Allowing agents to learn their own discrete emergent message communication protocols can increase the interpretability for human designer... |
Learning Observation-Based Certifiable Safe Policy for Decentralized Multi-Robot Navigation | https://ieeexplore.ieee.org/document/9811950/ | [
"Yuxiang Cui",
"Longzhong Lin",
"Xiaolong Huang",
"Dongkun Zhang",
"Yunkai Wang",
"Wei Jing",
"Junbo Chen",
"Rong Xiong",
"Yue Wang",
"Yuxiang Cui",
"Longzhong Lin",
"Xiaolong Huang",
"Dongkun Zhang",
"Yunkai Wang",
"Wei Jing",
"Junbo Chen",
"Rong Xiong",
"Yue Wang"
] | Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor measurement. The optimizer takes action commands from the policy network as initial values and provides refinement to drive the potentially dangerous ones back into safe r... |
Enhancing Deep Reinforcement Learning Approaches for Multi-Robot Navigation via Single-Robot Evolutionary Policy Search | https://ieeexplore.ieee.org/document/9812341/ | [
"Enrico Marchesini",
"Alessandro Farinelli",
"Enrico Marchesini",
"Alessandro Farinelli"
] | Recent Multi-Agent Deep Reinforcement Learning approaches factorize a global action-value to address non-stationarity and favor cooperation. These methods, however, hinder exploration by introducing constraints (e.g., additive value-decomposition) to guarantee the factorization. Our goal is to enhance exploration and improve sample efficiency of multi-robot mapless navigation by incorporating a pe... |
Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots | https://ieeexplore.ieee.org/document/9811604/ | [
"Xinglong Zhang",
"Yaoqian Peng",
"Wei Pan",
"Xin Xu",
"Haibin Xie",
"Xinglong Zhang",
"Yaoqian Peng",
"Wei Pan",
"Xin Xu",
"Haibin Xie"
] | Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL) algorithms are promising for control policy design. However, ... |
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty | https://ieeexplore.ieee.org/document/9812406/ | [
"Rel Guzman",
"Rafael Oliveira",
"Fabio Ramos",
"Rel Guzman",
"Rafael Oliveira",
"Fabio Ramos"
] | We propose an adaptive optimisation approach for tuning stochastic model predictive control (MPC) hyper-parameters while jointly estimating probability distributions of the transition model parameters based on performance rewards. In particular, we develop a Bayesian optimisation (BO) algorithm with a heteroscedastic noise model to deal with varying noise across the MPC hyper-parameter and dynamic... |
Asynchronous Reinforcement Learning for Real-Time Control of Physical Robots | https://ieeexplore.ieee.org/document/9811771/ | [
"Yufeng Yuan",
"A. Rupam Mahmood",
"Yufeng Yuan",
"A. Rupam Mahmood"
] | An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available implementations of RL algorithms process environment interactions and learning updates sequentially. As a consequence, when such implementations are deployed in the ... |
From Scratch to Sketch: Deep Decoupled Hierarchical Reinforcement Learning for Robotic Sketching Agent | https://ieeexplore.ieee.org/document/9811858/ | [
"Ganghun Lee",
"Minji Kim",
"Minsu Lee",
"Byoung-Tak Zhang",
"Ganghun Lee",
"Minji Kim",
"Minsu Lee",
"Byoung-Tak Zhang"
] | We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical reinforcement learning; two policies for stroke-based rendering and motor control are learned independently to achieve sub-tasks for drawing, and form a hierarchy whe... |
Robust Reinforcement Learning via Genetic Curriculum | https://ieeexplore.ieee.org/document/9812420/ | [
"Yeeho Song",
"Jeff Schneider",
"Yeeho Song",
"Jeff Schneider"
] | Achieving robust performance is crucial when applying deep reinforcement learning (RL) in safety critical systems. Some of the state of the art approaches try to address the problem with adversarial agents, but these agents often require expert supervision to fine tune and prevent the adversary from becoming too challenging to the trainee agent. While other approaches involve automatically adjusti... |
Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning | https://ieeexplore.ieee.org/document/9812181/ | [
"Hao-Lun Hsu",
"Qiuhua Huang",
"Sehoon Ha",
"Hao-Lun Hsu",
"Qiuhua Huang",
"Sehoon Ha"
] | One of the key challenges to deep reinforcement learning (deep RL) is to ensure safety at both training and testing phases. In this work, we propose a novel technique of unsupervised action planning to improve the safety of on-policy reinforcement learning algorithms, such as trust region policy optimization (TRPO) or proximal policy optimization (PPO). We design our safety-aware reinforcement lea... |
CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure | https://ieeexplore.ieee.org/document/9811849/ | [
"Pierre Dellenbach",
"Jean-Emmanuel Deschaud",
"Bastien Jacquet",
"François Goulette",
"Pierre Dellenbach",
"Jean-Emmanuel Deschaud",
"Bastien Jacquet",
"François Goulette"
] | Multi-beam LiDAR sensors are increasingly used in robotics, particularly with autonomous cars for localization and perception tasks, both relying on the ability to build a precise map of the environment. For this, we propose a new real-time LiDAR-only odometry method called CT-ICP (for Continuous-Time ICP), completed into a full SLAM with a novel loop detection procedure. The core of this method, ... |
SAGE: SLAM with Appearance and Geometry Prior for Endoscopy | https://ieeexplore.ieee.org/document/9812257/ | [
"Xingtong Liu",
"Zhaoshuo Li",
"Masaru Ishii",
"Gregory D. Hager",
"Russell H. Taylor",
"Mathias Unberath",
"Xingtong Liu",
"Zhaoshuo Li",
"Masaru Ishii",
"Gregory D. Hager",
"Russell H. Taylor",
"Mathias Unberath"
] | In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video. To this end, we develop a Simultaneous Localization and Mapping system by combining the learning-based appearance and optimizable geometry priors and factor grap... |
360VO: Visual Odometry Using A Single 360 Camera | https://ieeexplore.ieee.org/document/9812203/ | [
"Huajian Huang",
"Sai-Kit Yeung",
"Huajian Huang",
"Sai-Kit Yeung"
] | In this paper, we propose a novel direct visual odometry algorithm to take the advantage of a 360-degree camera for robust localization and mapping. Our system extends direct sparse odometry by using a spherical camera model to process equirectangular images without rectification to attain omnidirectional perception. After adapting mapping and optimization algorithms to the new model, camera param... |
Towards Scale Consistent Monocular Visual Odometry by Learning from the Virtual World | https://ieeexplore.ieee.org/document/9812347/ | [
"Sen Zhang",
"Jing Zhang",
"Dacheng Tao",
"Sen Zhang",
"Jing Zhang",
"Dacheng Tao"
] | Monocular visual odometry (VO) has attracted extensive research attention by providing real-time vehicle motion from cost-effective camera images. However, state-of-the-art optimization-based monocular VO methods suffer from the scale inconsistency problem for long-term predictions. Deep learning has recently been introduced to address this issue by leveraging stereo sequences or ground-truth moti... |
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM | https://ieeexplore.ieee.org/document/9811788/ | [
"Kevin J. Doherty",
"David M. Rosen",
"John J. Leonard",
"Kevin J. Doherty",
"David M. Rosen",
"John J. Leonard"
] | In this work we present the first initialization methods equipped with explicit performance guarantees that are adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems. SLAM and rotation averaging are typically formalized as large-scale nonconvex point estimation problems, with many bad local minima that can entrap the smooth optimization methods... |
VIP-SLAM: An Efficient Tightly-Coupled RGB-D Visual Inertial Planar SLAM | https://ieeexplore.ieee.org/document/9812354/ | [
"Danpeng Chen",
"Shuai Wang",
"Weijian Xie",
"Shangjin Zhai",
"Nan Wang",
"Hujun Bao",
"Guofeng Zhang",
"Danpeng Chen",
"Shuai Wang",
"Weijian Xie",
"Shangjin Zhai",
"Nan Wang",
"Hujun Bao",
"Guofeng Zhang"
] | In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of map points bring us a high computational complexity, making it difficult to be deployed on mobile devices. On the other hand, planes are common structures in ma... |
Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping | https://ieeexplore.ieee.org/document/9812385/ | [
"Kenji Koide",
"Masashi Yokozuka",
"Shuji Oishi",
"Atsuhiko Banno",
"Kenji Koide",
"Masashi Yokozuka",
"Shuji Oishi",
"Atsuhiko Banno"
] | This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local mapping, and global mapping, which are all based on the tight coupling of the GPU-accelerated voxelized GICP matching cost factor and the IMU preintegration fact... |
Deep Networks for Point Cloud Map Validation | https://ieeexplore.ieee.org/document/9811595/ | [
"Nicole Camous",
"Sergi Adipraja Widjaja",
"Venice Erin Liong",
"Taigo Maria Bonanni",
"Nicole Camous",
"Sergi Adipraja Widjaja",
"Venice Erin Liong",
"Taigo Maria Bonanni"
] | Modern SLAM engines typically rely on high-end sensor rigs and robust algorithms to guarantee the high-quality requirements that self-driving cars and other complex autonomous systems require from 3D point cloud maps. Nonetheless, multiple factors can impact the reconstruction quality and it is not uncommon to end up with generally consistent maps affected by local distortions and artifacts, espec... |
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics | https://ieeexplore.ieee.org/document/9812162/ | [
"Weikun Zhen",
"Huai Yu",
"Yaoyu Hu",
"Sebastian Scherer",
"Weikun Zhen",
"Huai Yu",
"Yaoyu Hu",
"Sebastian Scherer"
] | In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. In this work, we focus on the param-eterization of frequently used geometric primitives including points, lines, planes, ellipsoids, cylinders, and cones. We first present a unified representation based on quadrics, a... |
DKNAS: A Practical Deep Keypoint Extraction Framework Based on Neural Architecture Search | https://ieeexplore.ieee.org/document/9812101/ | [
"Li Liu",
"Xing Cai",
"Ge Li",
"Thomas H Li",
"Li Liu",
"Xing Cai",
"Ge Li",
"Thomas H Li"
] | Keypoint extraction including both keypoint detection and description is a fundamental step in a wide range of geometric multimedia applications. In recent years, many learning-based approaches for keypoint extraction emerge and achieve promising results. However, they usually design network architectures empirically and lack of considerations about the comprehensive performance, which leads to li... |
Instinctive Real-time sEMG-based Control of Prosthetic Hand with Reduced Data Acquisition and Embedded Deep Learning Training | https://ieeexplore.ieee.org/document/9811741/ | [
"Zeyu Yang",
"Angus B. Clark",
"Digby Chappell",
"Nicolas Rojas",
"Zeyu Yang",
"Angus B. Clark",
"Digby Chappell",
"Nicolas Rojas"
] | Achieving instinctive multi-grasp control of prosthetic hands typically still requires a large number of sensors, such as electromyography (EMG) electrodes mounted on a residual limb, that can be costly and time consuming to position, with their signals difficult to classify. Deep-learning-based EMG classifiers however have shown promising results over traditional methods, yet due to high computat... |
Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis | https://ieeexplore.ieee.org/document/9811578/ | [
"Ross J. Cortino",
"Edgar Bolívar-Nieto",
"T. Kevin Best",
"Robert D. Gregg",
"Ross J. Cortino",
"Edgar Bolívar-Nieto",
"T. Kevin Best",
"Robert D. Gregg"
] | Passive prostheses cannot provide the net positive work required at the knee and ankle for step-over stair ascent. Powered prostheses can provide this net positive work, but user synchronization of joint motion and power input are critical to enabling natural stair ascent gaits. In this work, we build on previous phase variable-based control methods for walking and propose a stair ascent controlle... |
Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control | https://ieeexplore.ieee.org/document/9812175/ | [
"Erin Y. Chang",
"Raghid Mardini",
"Andrew I. W. McPherson",
"Yuri Gloumakov",
"Hannah S. Stuart",
"Erin Y. Chang",
"Raghid Mardini",
"Andrew I. W. McPherson",
"Yuri Gloumakov",
"Hannah S. Stuart"
] | Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired... |
Comprehensive Swing Leg Motion Predictor for Steady and Transient Walking Conditions | https://ieeexplore.ieee.org/document/9811835/ | [
"Haosen Xing",
"Saurav Kumar",
"Hartmut Geyer",
"Haosen Xing",
"Saurav Kumar",
"Hartmut Geyer"
] | Data-driven methods based on neural networks are becoming more widespread for predicting human lower-limb motion. Until now, however, actual examples have focused on only a handful, steady locomotion behaviors. Here we explore if neural network predictors can simultaneously cover many more behaviors including transient ones. Training four common types of predictor networks on a large data set of h... |
A Hybrid, Soft Robotic Exoskeleton Glove with Inflatable, Telescopic Structures and a Shared Control Operation Scheme | https://ieeexplore.ieee.org/document/9812426/ | [
"Lucas Gerez",
"Gal Gorjup",
"Yuran Zhou",
"Minas Liarokapis",
"Lucas Gerez",
"Gal Gorjup",
"Yuran Zhou",
"Minas Liarokapis"
] | Grasping and manipulation are two of the most important hand functions that allow people to efficiently execute activities of daily living. Over the last years, many robotic devices have been proposed to assist people who suffer from neurological conditions by enhancing their grasping capabilities. In this work, we focus on the development of a robotic exoskeleton glove that can increase the grasp... |
Designing a Highly Backdrivable and Kinematic Compatible Magneto-Rheological Knee Exoskeleton | https://ieeexplore.ieee.org/document/9812308/ | [
"Rafhael M. Andrade",
"Pedro H. F. Ulhoa",
"Claysson B. S. Vimieiro",
"Rafhael M. Andrade",
"Pedro H. F. Ulhoa",
"Claysson B. S. Vimieiro"
] | Lower limb exoskeletons have been successfully used in robotic-assisted rehabilitation. However, the design limitations of exoskeletons mechanics, such as weight and the lack of kinematic compatibility relative to the user's joints, limit the outcomes of treatment. To address these shortcomings, this work presents the design of a magneto-rheological fluid-based actuator for a knee exoskeleton, nam... |
A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots | https://ieeexplore.ieee.org/document/9811593/ | [
"Seyed Amir Tafrishi",
"Ankit A. Ravankar",
"Jose Victorio Salazar Luces",
"Yasuhisa Hirata",
"Seyed Amir Tafrishi",
"Ankit A. Ravankar",
"Jose Victorio Salazar Luces",
"Yasuhisa Hirata"
] | Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular for differential wheeled vehicles since the vehicle velocity and direction are controlled with only two actuating wheels. This problem gets more challenging when... |
Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots | https://ieeexplore.ieee.org/document/9812199/ | [
"Adwait Mane",
"Dylan Swart",
"Jason White",
"Christian Hubicki",
"Adwait Mane",
"Dylan Swart",
"Jason White",
"Christian Hubicki"
] | Tracks, wheels, and legs are all useful locomotion modes for Unmanned Ground Vehicles (UGVs), and ground robots that combine these mechanisms have the potential to climb over large obstacles. As robot morphologies include more degrees of freedom and obstacles become increasingly large and complex, UGVs will need to rely on automatic motion planning to compute the joint trajectories for traversal. ... |
Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result | https://ieeexplore.ieee.org/document/9812006/ | [
"Mehmet C. Yildirim",
"Mohamadreza Sabaghian",
"Thore Goll",
"Clemens Kössler",
"Christoph Jähne",
"Abdalla Swikir",
"Andriy Sarabakha",
"Sami Haddadin",
"Mehmet C. Yildirim",
"Mohamadreza Sabaghian",
"Thore Goll",
"Clemens Kössler",
"Christoph Jähne",
"Abdalla Swikir",
"Andriy Sarabakha",
"Sami Haddadin"
] | Nowadays, wheeled mobile robots constitute a considerable portion of robots in industrial applications. Generally, regardless of their purpose, these systems are not designed to physically interact with humans, other robots, or the environment. In this study, we present a novel safe autonomous mobile - SAM - robot, which is a torque-controlled compliant robot that is conceived for safe human-robot... |
Improved Soft Duplicate Detection in Search-Based Motion Planning | https://ieeexplore.ieee.org/document/9812206/ | [
"Nader Maray",
"Anirudh Vemula",
"Maxim Likhachev",
"Nader Maray",
"Anirudh Vemula",
"Maxim Likhachev"
] | Search-based techniques have shown great success in motion planning problems such as robotic navigation by discretizing the state space and precomputing motion primitives. However in domains with complex dynamic constraints, constructing motion primitives in a discretized state space is non-trivial. This requires operating in continuous space which can be challenging for search-based planners as t... |
Enhancing Maneuverability via Gait Design | https://ieeexplore.ieee.org/document/9812061/ | [
"Siming Deng",
"Ross L. Hatton",
"Noah J. Cowan",
"Siming Deng",
"Ross L. Hatton",
"Noah J. Cowan"
] | The gaits of locomoting systems are typically designed to maximize some sort of efficiency, such as cost of transport or speed. Equally important is the ability to modulate such a gait to effect turning maneuvers. For drag-dominated systems, geometric mechanics provides an elegant and practical framework for both ends—gait design and gait modulation. Within this framework, “constraint curvature” m... |
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids | https://ieeexplore.ieee.org/document/9812118/ | [
"Christoforos Mavrogiannis",
"Jonathan DeCastro",
"Siddhartha S. Srinivasa",
"Christoforos Mavrogiannis",
"Jonathan DeCastro",
"Siddhartha S. Srinivasa"
] | We focus on the problem of analyzing multiagent interactions in traffic domains. Understanding the space of behavior of real-world traffic may offer significant advantages for algorithmic design, data-driven methodologies, and bench-marking. However, the high dimensionality of the space and the stochasticity of human behavior may hinder the identification of important interaction patterns. Our key... |
Jerk Constrained Velocity Planning for an Autonomous Vehicle: Linear Programming Approach | https://ieeexplore.ieee.org/document/9812155/ | [
"Yutaka Shimizu",
"Takamasa Horibe",
"Fumiya Watanabe",
"Shinpei Kato",
"Yutaka Shimizu",
"Takamasa Horibe",
"Fumiya Watanabe",
"Shinpei Kato"
] | Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined by the traffic rules; comfort of the passengers. In order to achieve these goals, the jerk and dynamic objects should be considered, however, it makes the proble... |
Improving Haptic Exploration of Object Shape by Discovering Symmetries | https://ieeexplore.ieee.org/document/9812200/ | [
"Aramis Augusto Bonzini",
"Lucia Seminara",
"Lorenzo Jamone",
"Aramis Augusto Bonzini",
"Lucia Seminara",
"Lorenzo Jamone"
] | The shapes of most real-world objects are symmetric with respect to at least one plane of symmetry. This information is unconsciously used by humans when they attempt to estimate the shape of an object in presence of uncertainty or missing evidence, for example if the object is partially occluded or if they are exploring the object by touch (i.e. haptic exploration). In robotics, this concept has ... |
Barrier Forming: Separating Polygonal Sets with Minimum Number of Lines | https://ieeexplore.ieee.org/document/9812256/ | [
"Si Wei Feng",
"Jingjin Yu",
"Si Wei Feng",
"Jingjin Yu"
] | In this work, we carry out structural and al-gorithmic studies of a problem of barrier forming: selecting the minimum number of straight line segments (barriers) that separate several sets of mutually disjoint objects in the plane. The problem models the optimal placement of line sensors (e.g., infrared laser beams) for isolating many types of regions in a pair- wise manner for practical purposes ... |
Anti-collision Static Rotation Local Planner for Four Independent Steering Drive Self-reconfigurable Robot | https://ieeexplore.ieee.org/document/9812445/ | [
"Lim Yi",
"Anh Vu Le",
"A.A. Hayat",
"K. Elangovan",
"K. Leong",
"A. Povendhan",
"M.R. Elara",
"Lim Yi",
"Anh Vu Le",
"A.A. Hayat",
"K. Elangovan",
"K. Leong",
"A. Povendhan",
"M.R. Elara"
] | Pavement cleaning is a labor-intensive, repetitive task and can be automated. Several autonomous pavement cleaning robots have been developed, pushing research towards their design and autonomous capabilities. Advances in design have been reported in earlier works on a self-reconfigurable robot with four independent steering drive (4ISD) capabilities, Panthera, for pavement cleaning and maintenanc... |
1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight | https://ieeexplore.ieee.org/document/9811757/ | [
"Jiaxin Hu",
"Jun Hu",
"Yunjun Shen",
"Xiaoming Lang",
"Bo Zang",
"Guoquan Huang",
"Yinian Mao",
"Jiaxin Hu",
"Jun Hu",
"Yunjun Shen",
"Xiaoming Lang",
"Bo Zang",
"Guoquan Huang",
"Yinian Mao"
] | This paper addresses the problem of visual-inertial odometry (VIO) with a downward facing monocular camera when a micro aerial vehicle (MAV) flying at high altitude (over 100 meters). It is important to note that large scene depth causes visual motion constraints significantly less informative than that in near-sighted scenarios as considered in most existing VIO methods. To cope with this challen... |
Insulator Aiming Using Multi-Feature Fusion-Based Visual Servo Control for Washing Drone | https://ieeexplore.ieee.org/document/9812338/ | [
"Jian Di",
"Shaofeng Chen",
"Xinghu Wang",
"Hepeng Zhang",
"Haibo Ji",
"Jian Di",
"Shaofeng Chen",
"Xinghu Wang",
"Hepeng Zhang",
"Haibo Ji"
] | Insulator visual aiming is difficult for washing drone due to the complex washing environment, strong dis-turbance, lack of debugging environment, and other factors. Conventional visual servo control methods often fail to consider these complex factors adequately and fall short in reliable insulator visual aiming. To address these problems, we propose a novel multi-feature fusion-based drone visua... |
Learning Model Predictive Control for Quadrotors | https://ieeexplore.ieee.org/document/9812077/ | [
"Guanrui Li",
"Alex Tunchez",
"Giuseppe Loianno",
"Guanrui Li",
"Alex Tunchez",
"Giuseppe Loianno"
] | Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem for quadrotors. We design a learning receding-horizon nonlinear control strategy directly formulated on the system nonlinear manifold configuration space SO(3)... |
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines | https://ieeexplore.ieee.org/document/9812283/ | [
"Affaf Junaid Ahamad Momin",
"Gabriele Nava",
"Giuseppe L'Erario",
"Hosameldin Awadalla Omer Mohamed",
"Fabio Bergonti",
"Punith Reddy Vanteddu",
"Francesco Braghin",
"Daniele Pucci",
"Affaf Junaid Ahamad Momin",
"Gabriele Nava",
"Giuseppe L'Erario",
"Hosameldin Awadalla Omer Mohamed",
"Fabio Bergonti",
"Punith Reddy Vanteddu",
"Francesco Braghin",
"Daniele Pucci"
] | Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones. However, due to limited instrumentation available in these turbojets, estimating the precise thrust using classical techniques is not straightforward. In this paper, ... |
LADC: Learning-Based Anti-Disturbance Control for Washing Drone | https://ieeexplore.ieee.org/document/9812305/ | [
"Jian Di",
"Shaofeng Chen",
"Han Yan",
"Xinghu Wang",
"Hepeng Zhang",
"Haibo Ji",
"Tao Jin",
"Jian Di",
"Shaofeng Chen",
"Han Yan",
"Xinghu Wang",
"Hepeng Zhang",
"Haibo Ji",
"Tao Jin"
] | Disturbance mainly caused by recoil force in-evitably makes washing drone seriously deviate from the desired position, thereby reducing the cleaning efficiency. It is neces-sary to develop an effective anti-disturbance control method. Although some progresses have been made, the position error thereof is still large, rendering existing methods inapplicable in washing drone. In this paper, we propo... |
Ad2Attack: Adaptive Adversarial Attack on Real-Time UAV Tracking | https://ieeexplore.ieee.org/document/9812056/ | [
"Changhong Fu",
"Sihang Li",
"Xinnan Yuan",
"Junjie Ye",
"Ziang Cao",
"Fangqiang Ding",
"Changhong Fu",
"Sihang Li",
"Xinnan Yuan",
"Junjie Ye",
"Ziang Cao",
"Fangqiang Ding"
] | Visual tracking is adopted to extensive unmanned aerial vehicle (UAV)-related applications, which leads to a highly demanding requirement on the robustness of UAV trackers. However, adding imperceptible perturbations can easily fool the tracker and cause tracking failures. This risk is often overlooked and rarely researched at present. Therefore, to help increase awareness of the potential risk an... |
Active Autorotation of Micro Aerial Vehicle with Foldable Winged Shell for Impact Mitigation during Free Fall | https://ieeexplore.ieee.org/document/9812294/ | [
"Quek Ching Alvin",
"Kazunori Ohno",
"Yoshito Okada",
"Daiki Fujikura",
"Satoshi Abe",
"Masaki Takahashi",
"Zitong Han",
"Satoshi Tadokoro",
"Quek Ching Alvin",
"Kazunori Ohno",
"Yoshito Okada",
"Daiki Fujikura",
"Satoshi Abe",
"Masaki Takahashi",
"Zitong Han",
"Satoshi Tadokoro"
] | Drop mitigation is an important function of micro aerial vehicles (MAVs) that are used for internal inspections of enclosed and cluttered structures (height: 5–10 m). The mechanism also allows continuous operation of drones, prevents the downtime required for maintenance and repair and also provides a safer environment for workers who are working below the drones. Some solutions include parachutes... |
Infrastructure-Enabled Autonomy: An Attention Mechanism for Occlusion Handling | https://ieeexplore.ieee.org/document/9812389/ | [
"Victoria Magdalena Dax",
"Mykel J. Kochenderfer",
"Ransalu Senanayake",
"Umair Ibrahim",
"Victoria Magdalena Dax",
"Mykel J. Kochenderfer",
"Ransalu Senanayake",
"Umair Ibrahim"
] | Although there has been tremendous progress in autonomous driving, navigating environments and predicting the behavior of other drivers in the presence of occlusions remains challenging. Cities have started investing in infrastructure sensors that could provide information about occluded spaces. We propose a framework that integrates infrastructure-to-vehicle communication in autonomous vehicle de... |
Gaussian Process Self-triggered Policy Search in Weakly Observable Environments | https://ieeexplore.ieee.org/document/9811781/ | [
"Hikaru Sasaki",
"Terushi Hirabayashi",
"Kaoru Kawabata",
"Takamitsu Matsubara",
"Hikaru Sasaki",
"Terushi Hirabayashi",
"Kaoru Kawabata",
"Takamitsu Matsubara"
] | The environments of such large industrial machines as waste cranes in waste incineration plants are often weakly observable, where little information about the environ-mental state is contained in the observations due to technical difficulty or maintenance cost (e.g., no sensors for observing the state of the garbage to be handled). Based on the findings that skilled operators in such environments... |
Online Payload Identification for Tactile Robots Using the Momentum Observer | https://ieeexplore.ieee.org/document/9811691/ | [
"Alexander Kurdas",
"Mazin Hamad",
"Jonathan Vorndamme",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin",
"Alexander Kurdas",
"Mazin Hamad",
"Jonathan Vorndamme",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin"
] | Knowledge of the robot's load inertial parameters is indispensable for accurate and safe operation, especially in collaborative robotics. However, an intuitive method for online inertial payload identification, usable while the robot is executing another online generated task, is still lacking. In this work, we propose an online payload identification approach based on the momentum observer using ... |
Real-time Inertial Parameter Identification of Floating-Base Robots Through Iterative Primitive Shape Division | https://ieeexplore.ieee.org/document/9812214/ | [
"Jiafeng Xu",
"Yu Zheng",
"Xinyang Jiang",
"Sicheng Yang",
"Lingzhu Xiang",
"Zhengyou Zhang",
"Jiafeng Xu",
"Yu Zheng",
"Xinyang Jiang",
"Sicheng Yang",
"Lingzhu Xiang",
"Zhengyou Zhang"
] | Dynamic models play a key role in robot motion generation and control and the identification of inertial parameters is a critical component for obtaining an accurate dynamic model of a robot. This paper presents a novel iterative primitive shape division method for the inertia parameter identification of floating-base robots. Describing a robot by a set of primitive shapes with uniform mass distri... |
UnDAF: A General Unsupervised Domain Adaptation Framework for Disparity or Optical Flow Estimation | https://ieeexplore.ieee.org/document/9811811/ | [
"Hengli Wang",
"Rui Fan",
"Peide Cai",
"Ming Liu",
"Lujia Wang",
"Hengli Wang",
"Rui Fan",
"Peide Cai",
"Ming Liu",
"Lujia Wang"
] | Disparity and optical flow estimation are respectively 1D and 2D dense correspondence matching (DCM) tasks in nature. Unsupervised domain adaptation (UDA) is crucial for their success in new and unseen scenarios, enabling networks to draw inferences across different domains without manually-labeled ground truth. In this paper, we propose a general UDA framework (UnDAF) for disparity or optical flo... |
Localization of a Smart Infrastructure Fisheye Camera in a Prior Map for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9811793/ | [
"Subodh Mishra",
"Armin Parchami",
"Enrique Corona",
"Punarjay Chakravarty",
"Ankit Vora",
"Devarth Parikh",
"Gaurav Pandey",
"Subodh Mishra",
"Armin Parchami",
"Enrique Corona",
"Punarjay Chakravarty",
"Ankit Vora",
"Devarth Parikh",
"Gaurav Pandey"
] | This work presents a technique for localization of a smart infrastructure node, consisting of a fisheye camera, in a prior map. These cameras can detect objects that are outside the line of sight of the autonomous vehicles (AV) and send that information to AVs using V2X technology. However, in order for this information to be of any use to the AV, the detected objects should be provided in the ref... |
ARChemist: Autonomous Robotic Chemistry System Architecture | https://ieeexplore.ieee.org/document/9811996/ | [
"Hatem Fakhruldeen",
"Gabriella Pizzuto",
"Jakub Glowacki",
"Andrew Ian Cooper",
"Hatem Fakhruldeen",
"Gabriella Pizzuto",
"Jakub Glowacki",
"Andrew Ian Cooper"
] | Automated laboratory experiments have the potential to propel new discoveries, while increasing reproducibility and improving scientists' safety when handling dangerous materials. However, many automated laboratory workflows have not fully leveraged the remarkable advancements in robotics and digital lab equipment. As a result, most robotic systems used in the labs are programmed specifically for ... |
Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data | https://ieeexplore.ieee.org/document/9811989/ | [
"Jan Steinbrener",
"Christian Brommer",
"Thomas Jantos",
"Alessandro Fornasier",
"Stephan Weiss",
"Jan Steinbrener",
"Christian Brommer",
"Thomas Jantos",
"Alessandro Fornasier",
"Stephan Weiss"
] | We present a novel approach to improve 6 degree-of-freedom state propagation for unmanned aerial vehicles in a classical filter through pre-processing of high-speed inertial data with AI algorithms. We evaluate both an LSTM-based approach as well as a Transformer encoder architecture. Both algorithms take as input short sequences of fixed length N of high-rate inertial data provided by an inertial... |
Hydraulically Actuated Soft Tubular Gripper | https://ieeexplore.ieee.org/document/9811983/ | [
"James Davies",
"Phuoc Thien Phan",
"Diana Huang",
"Trung Thien Hoang",
"Harrison Low",
"Mai Thanh Thai",
"Chi Cong Nguyen",
"Emanuele Nicotra",
"Nigel H. Lovell",
"Thanh Nho Do",
"James Davies",
"Phuoc Thien Phan",
"Diana Huang",
"Trung Thien Hoang",
"Harrison Low",
"Mai Thanh Thai",
"Chi Cong Nguyen",
"Emanuele Nicotra",
"Nigel H. Lovell",
"Thanh Nho Do"
] | There is an increasing interest in soft robotic grippers as they exhibit an ability to grip objects of differing shapes, sizes, textures, and even deformable materials, all of which present a difficult challenge to traditional rigid grippers. An ideal soft gripper would exhibit universal gripping with high gripping force and consists of low-cost materials with simple fabrication processes. This pa... |
TaTa: A Universal Jamming Gripper with High-Quality Tactile Perception and Its Application to Underwater Manipulation | https://ieeexplore.ieee.org/document/9811806/ | [
"Shoujie Li",
"Xianghui Yin",
"Chongkun Xia",
"Linqi Ye",
"Xueqian Wang",
"Bin Liang",
"Shoujie Li",
"Xianghui Yin",
"Chongkun Xia",
"Linqi Ye",
"Xueqian Wang",
"Bin Liang"
] | Large-area and high-precision tactile sensing information can not only improve the stability of robot grasping but also compensate for the lack of visual information in specific environments such as turbid underwater, dimness, and smoke. In this paper, we devise a universal jamming gripper with high-quality tactile sensing capability. The gripper adopts the particle jamming mechanism for grasping,... |
Mechanical Search on Shelves using a Novel “Bluction” Tool | https://ieeexplore.ieee.org/document/9811622/ | [
"Huang Huang",
"Michael Danielczuk",
"Chung Min Kim",
"Letian Fu",
"Zachary Tam",
"Jeffrey Ichnowski",
"Anelia Angelova",
"Brian Ichter",
"Ken Goldberg",
"Huang Huang",
"Michael Danielczuk",
"Chung Min Kim",
"Letian Fu",
"Zachary Tam",
"Jeffrey Ichnowski",
"Anelia Angelova",
"Brian Ichter",
"Ken Goldberg"
] | Shelves are common in homes, warehouses, and commercial settings due to their storage efficiency. However, this efficiency comes at the cost of reduced visibility and accessibility. When looking from a side (lateral) view of a shelf, most objects will be fully occluded, resulting in a constrained lateral-access mechanical search problem. To address this problem, we introduce: (1) a novel bluction ... |
The Wavejoints: A Novel Methodology to Design Soft-Rigid Grippers Made by Monolithic 3D Printed Fingers with Adjustable Joint Stiffness | https://ieeexplore.ieee.org/document/9811548/ | [
"Mihai Dragusanu",
"Gabriele Maria Achilli",
"Maria Cristina Valigi",
"Domenico Prattichizzo",
"Monica Malvezzi",
"Gionata Salvietti",
"Mihai Dragusanu",
"Gabriele Maria Achilli",
"Maria Cristina Valigi",
"Domenico Prattichizzo",
"Monica Malvezzi",
"Gionata Salvietti"
] | In this paper, we present a methodology to design soft-rigid grippers able to perform different manipulation tasks. The main idea is the introduction of wave-shaped hinges whose geometrical parameters can be designed to achieve different three-dimensional impedance characteristics. This allows one to use the same tendon-driven actuation to perform different tasks including grasping objects with di... |
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model | https://ieeexplore.ieee.org/document/9811777/ | [
"Chung Min Kim",
"Michael Danielczuk",
"Isabella Huang",
"Ken Goldberg",
"Chung Min Kim",
"Michael Danielczuk",
"Isabella Huang",
"Ken Goldberg"
] | Accurately simulating whether an object will be lifted securely or dropped during grasping is a longstanding Sim2Real challenge. Soft compliant jaw tips are almost universally used with parallel-jaw robot grippers due to their ability to increase contact area and friction between the jaws and the object to be manipulated. However, interactions between the compliant surfaces and rigid objects are n... |
DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction | https://ieeexplore.ieee.org/document/9811966/ | [
"Won Kyung Do",
"Monroe Kennedy",
"Won Kyung Do",
"Monroe Kennedy"
] | Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in manipulation tasks. Existing tactile sensor solutions with high resolution have limitations that include low accuracy, expensive components, or lack of scalability. ... |
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations | https://ieeexplore.ieee.org/document/9811739/ | [
"Arjun Lakshmipathy",
"Dominik Bauer",
"Cornelia Bauer",
"Nancy S. Pollard",
"Arjun Lakshmipathy",
"Dominik Bauer",
"Cornelia Bauer",
"Nancy S. Pollard"
] | We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not dependent on grasp families, requires no model training or grasp sampling, makes no assumptions about manipulator morphology or kinematics, and allows user control over... |
Microgripper Using Flexible Wire Hinge for Robotic Intraocular Snake | https://ieeexplore.ieee.org/document/9812022/ | [
"Makoto Jinno",
"Iulian Iordachita",
"Makoto Jinno",
"Iulian Iordachita"
] | A substantially advance skill-set is a prerequisite in the domain of retinal surgery, given that the surgical instruments, constrained by small incisions made on the sclera, should be manipulated in a confined intraocular space. Therefore, robotic technologies with a snake-like architecture may be critical in retinal surgery to overcome this problem. These robots are expected to approach a target ... |
Explore-Bench: Data Sets, Metrics and Evaluations for Frontier-based and Deep-reinforcement-learning-based Autonomous Exploration | https://ieeexplore.ieee.org/document/9812344/ | [
"Yuanfan Xu",
"Jincheng Yu",
"Jiahao Tang",
"Jiantao Qiu",
"Jian Wang",
"Yuan Shen",
"Yu Wang",
"Huazhong Yang",
"Yuanfan Xu",
"Jincheng Yu",
"Jiahao Tang",
"Jiantao Qiu",
"Jian Wang",
"Yuan Shen",
"Yu Wang",
"Huazhong Yang"
] | Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and platforms to evaluate the exploration approaches, we develop an autonomous robot exploration benchmark en-titled Explore-Bench. The benchmark involves various ex... |
A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation | https://ieeexplore.ieee.org/document/9811965/ | [
"Jeremy Shen",
"Erdong Xiao",
"Yuchen Liu",
"Chen Feng",
"Jeremy Shen",
"Erdong Xiao",
"Yuchen Liu",
"Chen Feng"
] | Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks, such a multi-robot system could be potentially controlled via Deep Reinforcement Learning (DRL) for different tasks more efficiently. However, the particle robot... |
Generalized Affordance Templates for Mobile Manipulation | https://ieeexplore.ieee.org/document/9812082/ | [
"Stephen Hart",
"Ana Huamán Quispe",
"Michael W. Lanighan",
"Seth Gee",
"Stephen Hart",
"Ana Huamán Quispe",
"Michael W. Lanighan",
"Seth Gee"
] | This paper presents recent advances to the Affordance Template (AT) task description language. Affordance Templates provide standardized, easy-to-use tools for defining robot manipulation tasks that provide a high level of augmented reality capabilities to facilitate human-in-the-loop operation, but can also be used to support robot autonomy when coupled with various planning tools. While initiall... |
Understanding Xacro Misunderstandings | https://ieeexplore.ieee.org/document/9812349/ | [
"Nicholas Albergo",
"Vivek Rathi",
"John-Paul Ore",
"Nicholas Albergo",
"Vivek Rathi",
"John-Paul Ore"
] | The Xacro XML macro language can be used to augment the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, mem-bers of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To bette... |
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients | https://ieeexplore.ieee.org/document/9812384/ | [
"Brian Plancher",
"Sabrina M. Neuman",
"Radhika Ghosal",
"Scott Kuindersma",
"Vijay Janapa Reddi",
"Brian Plancher",
"Sabrina M. Neuman",
"Radhika Ghosal",
"Scott Kuindersma",
"Vijay Janapa Reddi"
] | We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory opti-mization subproblem used in state-of-the-art robotic planning, control, and machine learning, which requires tens to hundreds of naturally parallel computations of rigid body dynamics and their gradients at each iteration. GRiD leve... |
Brick Yourself within 3 Minutes | https://ieeexplore.ieee.org/document/9812161/ | [
"Guyue Zhou",
"Liyi Luo",
"Hao Xu",
"Xinliang Zhang",
"Haole Guo",
"Hao Zhao",
"Guyue Zhou",
"Liyi Luo",
"Hao Xu",
"Xinliang Zhang",
"Haole Guo",
"Hao Zhao"
] | This paper presents an intelligent machine which can automatically convert the captured portrait into a physical gadget made up of LEGO bricks. On the contrary to synthesising a 2D image or a virtual 3D object, generating physical 3D assembly object needs to take physical properties and assembly process into consideration, leading to more challenges. To generate brick models for arbitrary portrait... |
FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning | https://ieeexplore.ieee.org/document/9812066/ | [
"Wenji Liu",
"Kai Bai",
"Xuming He",
"Shuran Song",
"Changxi Zheng",
"Xiaopei Liu",
"Wenji Liu",
"Kai Bai",
"Xuming He",
"Shuran Song",
"Changxi Zheng",
"Xiaopei Liu"
] | Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due to lack of a large amount of available training data as well as the high cost in real physical environment. Alternatively, simulation has been considered as a v... |
Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Chairs via Robot Imagination | https://ieeexplore.ieee.org/document/9811619/ | [
"Hongtao Wu",
"Xin Meng",
"Sipu Ruan",
"Gregory S. Chirikjian",
"Hongtao Wu",
"Xin Meng",
"Sipu Ruan",
"Gregory S. Chirikjian"
] | In this paper, we study the problem of autonomously seating a teddy bear on a previously unseen chair. To achieve this goal, we present a novel method for robots to imagine the sitting pose of the bear by physically simulating a virtual humanoid agent sitting on the chair. We also develop a robotic system which leverages motion planning to plan SE(2) motions for a humanoid robot to walk to the cha... |
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects | https://ieeexplore.ieee.org/document/9811931/ | [
"Weiyu Liu",
"Chris Paxton",
"Tucker Hermans",
"Dieter Fox",
"Weiyu Liu",
"Chris Paxton",
"Tucker Hermans",
"Dieter Fox"
] | Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange objects into these semantically meaningful structures. To be useful, these robots must contend with previously unseen objects and receive instructions without sig... |
InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory Input | https://ieeexplore.ieee.org/document/9811798/ | [
"Oren Spector",
"Vladimir Tchuiev",
"Dotan Di Castro",
"Oren Spector",
"Vladimir Tchuiev",
"Dotan Di Castro"
] | We address the problem of devising the means for a robot to rapidly and safely learn insertion skills with just a few human interventions and without hand-crafted rewards or demonstrations. Our InsertionNet version 2.0 provides an improved technique to robustly cope with a wide range of use-cases featuring different shapes, colors, initial poses, etc. In particular, we present a regression-based m... |
Data-efficient learning of object-centric grasp preferences | https://ieeexplore.ieee.org/document/9811760/ | [
"Yoann Fleytoux",
"Anji Ma",
"Serena Ivaldi",
"Jean-Baptiste Mouret",
"Yoann Fleytoux",
"Anji Ma",
"Serena Ivaldi",
"Jean-Baptiste Mouret"
] | Grasping made impressive progress during the last few years thanks to deep learning. However, there are many objects for which it is not possible to choose a grasp by only looking at an RGB-D image, might it be for physical reasons (e.g., a hammer with uneven mass distribution) or task constraints (e.g., food that should not be spoiled). In such situations, the preferences of experts need to be ta... |
Provably Safe Deep Reinforcement Learning for Robotic Manipulation in Human Environments | https://ieeexplore.ieee.org/document/9811698/ | [
"Jakob Thumm",
"Matthias Althoff",
"Jakob Thumm",
"Matthias Althoff"
] | Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal safety assurances prevents the application of RL for manipulators in real-world human environments. Therefore, we propose a shielding mechanism that ensures ISO... |
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation | https://ieeexplore.ieee.org/document/9811575/ | [
"Jacky Liang",
"Mohit Sharma",
"Alex LaGrassa",
"Shivam Vats",
"Saumya Saxena",
"Oliver Kroemer",
"Jacky Liang",
"Mohit Sharma",
"Alex LaGrassa",
"Shivam Vats",
"Saumya Saxena",
"Oliver Kroemer"
] | Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared skill implementations, or task-specific plan skeletons, which limit adaptation to new skills and tasks. By contrast, we propose doing task planning by jointly ... |
Reinforcement Learning for Picking Cluttered General Objects with Dense Object Descriptors | https://ieeexplore.ieee.org/document/9811911/ | [
"Hoang–Giang Cao",
"Weihao Zeng",
"I–Chen Wu",
"Hoang–Giang Cao",
"Weihao Zeng",
"I–Chen Wu"
] | Picking cluttered general objects is a challenging task due to the complex geometries and various stacking configurations. Many prior works utilize pose estimation for picking, but pose estimation is difficult on cluttered objects. In this paper, we propose Cluttered Objects Descriptors (CODs), a dense cluttered objects descriptor which can represent rich object structures, and use the pre-trained... |
A Hybrid Approach for Learning to Shift and Grasp with Elaborate Motion Primitives | https://ieeexplore.ieee.org/document/9811735/ | [
"Zohar Feldman",
"Hanna Ziesche",
"Ngo Anh Vien",
"Dotan Di Castro",
"Zohar Feldman",
"Hanna Ziesche",
"Ngo Anh Vien",
"Dotan Di Castro"
] | Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the endeavor of enabling robots to grasp, with a particular focus on bin picking applications. Bin picking is especially challenging due to the often cluttered and... |
Affordance Learning from Play for Sample-Efficient Policy Learning | https://ieeexplore.ieee.org/document/9811889/ | [
"Jessica Borja-Diaz",
"Oier Mees",
"Gabriel Kalweit",
"Lukas Hermann",
"Joschka Boedecker",
"Wolfram Burgard",
"Jessica Borja-Diaz",
"Oier Mees",
"Gabriel Kalweit",
"Lukas Hermann",
"Joschka Boedecker",
"Wolfram Burgard"
] | Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we propose a novel approach that extracts a self-supervised visual affordance model from human teleoperated play data and leverages it to enable efficient policy le... |
Stable Object Reorientation using Contact Plane Registration | https://ieeexplore.ieee.org/document/9811655/ | [
"Richard Li",
"Carlos Esteves",
"Ameesh Makadia",
"Pulkit Agrawal",
"Richard Li",
"Carlos Esteves",
"Ameesh Makadia",
"Pulkit Agrawal"
] | We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to accurately classify contact surfaces. Our system is capable of operating from noisy and partially-observed pointcloud observations captured by real world depth cameras. ... |
Offline Meta-Reinforcement Learning for Industrial Insertion | https://ieeexplore.ieee.org/document/9812312/ | [
"Tony Z. Zhao",
"Jianlan Luo",
"Oleg Sushkov",
"Rugile Pevceviciute",
"Nicolas Heess",
"Jon Scholz",
"Stefan Schaal",
"Sergey Levine",
"Tony Z. Zhao",
"Jianlan Luo",
"Oleg Sushkov",
"Rugile Pevceviciute",
"Nicolas Heess",
"Jon Scholz",
"Stefan Schaal",
"Sergey Levine"
] | Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the framework of meta-learning, which utilizes past tasks to learn to adapt with a specific focus on industrial insertion tasks. Fast adaptation is crucial because prohibi... |
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation | https://ieeexplore.ieee.org/document/9812146/ | [
"Anthony Simeonov",
"Yilun Du",
"Andrea Tagliasacchi",
"Joshua B. Tenenbaum",
"Alberto Rodriguez",
"Pulkit Agrawal",
"Vincent Sitzmann",
"Anthony Simeonov",
"Yilun Du",
"Andrea Tagliasacchi",
"Joshua B. Tenenbaum",
"Alberto Rodriguez",
"Pulkit Agrawal",
"Vincent Sitzmann"
] | We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ this representation for object manipulation, where given a task demonstration, we want to repeat the same task on a new object instance from the same category. W... |
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation | https://ieeexplore.ieee.org/document/9811568/ | [
"Bowen Wen",
"Wenzhao Lian",
"Kostas Bekris",
"Stefan Schaal",
"Bowen Wen",
"Wenzhao Lian",
"Kostas Bekris",
"Stefan Schaal"
] | Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to define and annotate. There is also yet no consensus on proper representations for modeling or off-the-shelf tools for performing task-relevant grasps. This work pro... |
HMD-former: a Transformer-based Human Mesh Deformer with Inter-layer Semantic Consistency | https://ieeexplore.ieee.org/document/9812024/ | [
"Siyu Zou",
"Sheng Liu",
"Chaonan Li",
"Lu Yao",
"Shengyong Chen",
"Siyu Zou",
"Sheng Liu",
"Chaonan Li",
"Lu Yao",
"Shengyong Chen"
] | We present a transformer-based network, Human Mesh Deformer (HMD-former), to tackle the problem of 3D human mesh reconstruction from a single RGB image. HMD-former applies a pre-trained CNN to extract image grid features and a transformer decoder to gradually warp the template 3D mesh to the deformed mesh. On each decoder layer, the fine-grained local information of grid features is well utilized ... |
Augmented Pointing Gesture Estimation for Human-Robot Interaction | https://ieeexplore.ieee.org/document/9811617/ | [
"Zhixian Hu",
"Yingtian Xu",
"Waner Lin",
"Ziya Wang",
"Zhenglong Sun",
"Zhixian Hu",
"Yingtian Xu",
"Waner Lin",
"Ziya Wang",
"Zhenglong Sun"
] | With recent advancements in CV (computer vision) and AI (Artificial Intelligence) technologies, pointing gesture is becoming an emerging trend for human-robot interaction. Its intuitive and deictic nature makes it an ideal way for giving commands, especially referring spatial information to the robots. In this paper, we propose an augmented pointing gesture estimation method to enable richer and p... |
Dual Regression for Efficient Hand Pose Estimation | https://ieeexplore.ieee.org/document/9812217/ | [
"Dong Wei",
"Shan An",
"Xiajie Zhang",
"Jiayi Tian",
"Konstantinos A. Tsintotas",
"Antonios Gasteratos",
"Haogang Zhu",
"Dong Wei",
"Shan An",
"Xiajie Zhang",
"Jiayi Tian",
"Konstantinos A. Tsintotas",
"Antonios Gasteratos",
"Haogang Zhu"
] | Hand pose estimation constitutes prime attainment for human-machine interaction-based applications. Real-time operation is vital in such tasks. Thus, a reliable estimator should exhibit low computational complexity and high precision at the same time. Previous works have explored the regression techniques, including the coordinate regression and heatmap regression methods. Primarily incorporating ... |
Path-Aware Graph Attention for HD Maps in Motion Prediction | https://ieeexplore.ieee.org/document/9812100/ | [
"Fang Da",
"Yu Zhang",
"Fang Da",
"Yu Zhang"
] | The success of motion prediction for autonomous driving relies on integration of information from the HD maps. As maps are naturally graph-structured, investigation on graph neural networks (GNNs) for encoding HD maps is burgeoning in recent years. However, unlike many other applications where GNNs have been straightforwardly deployed, HD maps are heterogeneous graphs where vertices (lanes) are co... |
Exact-likelihood User Intention Estimation for Scene-compliant Shared-control Navigation | https://ieeexplore.ieee.org/document/9811913/ | [
"Kavindie Katuwandeniya",
"Stefan H. Kiss",
"Lei Shi",
"Jaime Valls Miro",
"Kavindie Katuwandeniya",
"Stefan H. Kiss",
"Lei Shi",
"Jaime Valls Miro"
] | A predictive model for mobility systems capable of understanding the trajectory a user intends to follow in the environment is proposed. Understanding user intention is paramount for any shared-control navigation strategy between a user and an active robotic agent. Equally important however is being able to go beyond simple sample generation to assign probabilistic meaning to the set of possible f... |
Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton | https://ieeexplore.ieee.org/document/9811824/ | [
"Omar Mounir Alaoui",
"Fabien Expert",
"Guillaume Morel",
"Nathanaël Jarrassé",
"Omar Mounir Alaoui",
"Fabien Expert",
"Guillaume Morel",
"Nathanaël Jarrassé"
] | This work investigates how arm swing movements measured by Inertial Motion Unit (IMU) sensors can be used to identify and maintain the walking state in a self-balanced lower-limb exoskeleton for medical use. When an exoskeleton is in a dynamical state during gait, short patterns in IMU signals (e.g. a braking movement) can be hard to extract. Therefore, by relying on a threshold-based classifier c... |
Cost-Effective Sensing for Goal Inference: A Model Predictive Approach | https://ieeexplore.ieee.org/document/9811974/ | [
"Ran Tian",
"Nan Li",
"Anouck Girard",
"Ilya Kolmanovsky",
"Masayoshi Tomizuka",
"Ran Tian",
"Nan Li",
"Anouck Girard",
"Ilya Kolmanovsky",
"Masayoshi Tomizuka"
] | Goal inference is of great importance for a variety of applications that involve interaction, coordination, and/or competition with goal-oriented agents. Typical goal inference approaches use as many pointwise measurements of the agent's trajectory as possible to pursue a most accurate a-posteriori estimate of the goal. However, taking frequent measurements may not be preferred in situations where... |
A Data-Driven Multiple Model Framework for Intention Estimation | https://ieeexplore.ieee.org/document/9812432/ | [
"Yongming Qin",
"Makoto Kumon",
"Tomonari Furukawa",
"Yongming Qin",
"Makoto Kumon",
"Tomonari Furukawa"
] | This paper presents a data-driven multiple model framework for estimating the intention of a target from observations. Multiple model (MM) state estimation methods have been extensively used for intention estimation by mapping one intention to one dynamic model assuming one-to-one relations. However, intentions are subjective to humans and it is difficult to establish the one-to-one relations expl... |
Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance | https://ieeexplore.ieee.org/document/9812422/ | [
"John Bell",
"H. Harry Asada",
"John Bell",
"H. Harry Asada"
] | In providing physical assistance to elderly people, ensuring cooperative behavior from the elderly persons is a critical requirement. In sit-to-stand assistance, for example, an older adult must lean forward, so that the body mass can shift towards the feet before a caregiver starts lifting the body. An experienced caregiver guides the older adult through verbal communications and physical interac... |
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields | https://ieeexplore.ieee.org/document/9812291/ | [
"Lin Yen-Chen",
"Pete Florence",
"Jonathan T. Barron",
"Tsung-Yi Lin",
"Alberto Rodriguez",
"Phillip Isola",
"Lin Yen-Chen",
"Pete Florence",
"Jonathan T. Barron",
"Tsung-Yi Lin",
"Alberto Rodriguez",
"Phillip Isola"
] | Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly chal-lenging for robot perception because it is hard to reconstruct them using commodity RGB-D cameras or multi-view stereo techniques. While traditional pipelines struggle with objects like these, Neural Radiance Fields (NeRFs) have recently been shown to be remarkably effective for performi... |
Fusion-FlowNet: Energy-Efficient Optical Flow Estimation using Sensor Fusion and Deep Fused Spiking-Analog Network Architectures | https://ieeexplore.ieee.org/document/9811821/ | [
"Chankyu Lee",
"Adarsh Kumar Kosta",
"Kaushik Roy",
"Chankyu Lee",
"Adarsh Kumar Kosta",
"Kaushik Roy"
] | Standard frame-based cameras that sample light intensity frames are heavily impacted by motion blur for high-speed motion and fail to perceive scene accurately in high-dynamic range environments. Event-based cameras, on the other hand, overcome these limitations by asynchronously detecting the variation in individual pixel intensities. However, event cameras only capture pixels in motion, leading ... |
SelfTune: Metrically Scaled Monocular Depth Estimation through Self-Supervised Learning | https://ieeexplore.ieee.org/document/9811639/ | [
"Jaehoon Choi",
"Dongki Jung",
"Yonghan Lee",
"Deokhwa Kim",
"Dinesh Manocha",
"Donghwan Lee",
"Jaehoon Choi",
"Dongki Jung",
"Yonghan Lee",
"Deokhwa Kim",
"Dinesh Manocha",
"Donghwan Lee"
] | Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with proprioceptive sensors. Such monocular SLAM systems can provide metrically scaled camera poses. Given these metric poses and monocular sequences, we propose a self-superv... |
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