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Development and Evaluation of a Robotic Vessel Positioning System for Semi-Automatic Microvascular Anastomosis | https://ieeexplore.ieee.org/document/10161296/ | [
"Jesse Haworth",
"Justin Opfermann",
"Michael Kam",
"Yaning Wang",
"Robin Yang",
"Jin U. Kang",
"Axel Krieger",
"Jesse Haworth",
"Justin Opfermann",
"Michael Kam",
"Yaning Wang",
"Robin Yang",
"Jin U. Kang",
"Axel Krieger"
] | This paper describes a novel tissue positioning system with an integrated suturing robot and demonstrates its ability to perform semi-automatic anastomoses of synthetic blood vessels. We began with a finite element analysis-based design consideration for achieving adequate grasping of blood vessels to demonstrate robust performance under expected clinical forces. We then conducted standardized pos... |
Robotic Sonographer: Autonomous Robotic Ultrasound using Domain Expertise in Bayesian Optimization | https://ieeexplore.ieee.org/document/10161542/ | [
"Deepak Raina",
"SH Chandrashekhara",
"Richard Voyles",
"Juan Wachs",
"Subir Kumar Saha",
"Deepak Raina",
"SH Chandrashekhara",
"Richard Voyles",
"Juan Wachs",
"Subir Kumar Saha"
] | Ultrasound is a vital imaging modality utilized for a variety of diagnostic and interventional procedures. However, an expert sonographer is required to make accurate maneuvers of the probe over the human body while making sense of the ultrasound images for diagnostic purposes. This procedure requires a substantial amount of training and up to a few years of experience. In this paper, we propose a... |
Autonomous Intelligent Navigation for Flexible Endoscopy Using Monocular Depth Guidance and 3-D Shape Planning | https://ieeexplore.ieee.org/document/10161505/ | [
"Yiang Lu",
"Ruofeng Wei",
"Bin Li",
"Wei Chen",
"Jianshu Zhou",
"Qi Dou",
"Dong Sun",
"Yun-hui Liu",
"Yiang Lu",
"Ruofeng Wei",
"Bin Li",
"Wei Chen",
"Jianshu Zhou",
"Qi Dou",
"Dong Sun",
"Yun-hui Liu"
] | Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible endoscopy, the challenge remains for efficient and safe navigation in patient-specific scenarios. This paper presents a novel data-driven framework with self-co... |
A Probabilistic Rotation Representation for Symmetric Shapes With an Efficiently Computable Bingham Loss Function | https://ieeexplore.ieee.org/document/10160682/ | [
"Hiroya Sato",
"Takuya Ikeda",
"Koichi Nishiwaki",
"Hiroya Sato",
"Takuya Ikeda",
"Koichi Nishiwaki"
] | In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation, it cannot represent the ambiguity of the observation. In order to handle the ambiguity, the Bingham distribution is one promising solution. However, it requires complicated calculation when yielding the negative log-likelihood (NLL) loss. An a... |
Topological Trajectory Prediction with Homotopy Classes | https://ieeexplore.ieee.org/document/10160250/ | [
"Jennifer Wakulicz",
"Ki Myung Brian Lee",
"Teresa Vidal-Calleja",
"Robert Fitch",
"Jennifer Wakulicz",
"Ki Myung Brian Lee",
"Teresa Vidal-Calleja",
"Robert Fitch"
] | Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under consideration, we utilise homotopy classes to partition the space into countably many mathematically equivalent classes. All members within a class demonstrate ... |
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning | https://ieeexplore.ieee.org/document/10160407/ | [
"Daniel T. Larsson",
"Arash Asgharivaskasi",
"Jaein Lim",
"Nikolay Atanasov",
"Panagiotis Tsiotras",
"Daniel T. Larsson",
"Arash Asgharivaskasi",
"Jaein Lim",
"Nikolay Atanasov",
"Panagiotis Tsiotras"
] | In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-dimensional, semantic tree representation of the environment from raw sensor data which is then compressed by a novel information-theoretic tree-pruning approach. The proposed approach is probabilistic and incorporates th... |
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization | https://ieeexplore.ieee.org/document/10160570/ | [
"Harel Biggie",
"Andrew Beathard",
"Christoffer Heckman",
"Harel Biggie",
"Andrew Beathard",
"Christoffer Heckman"
] | Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for choosing this starting condition rely on stochastic sampling or global optimization techniques such as branch and bound. In this work, we present a new method based o... |
DuEqNet: Dual-Equivariance Network in Outdoor 3D Object Detection for Autonomous Driving | https://ieeexplore.ieee.org/document/10161353/ | [
"Xihao Wang",
"Jiaming Lei",
"Hai Lan",
"Arafat Al-Jawari",
"Xian Wei",
"Xihao Wang",
"Jiaming Lei",
"Hai Lan",
"Arafat Al-Jawari",
"Xian Wei"
] | Outdoor 3D object detection has played an essential role in the environment perception of autonomous driving. In complicated traffic situations, precise object recognition provides indispensable information for prediction and planning in the dynamic system, improving self-driving safety and reliability. However, with the vehicle's veering, the constant rotation of the surrounding scenario makes a ... |
NVRadarNet: Real-Time Radar Obstacle and Free Space Detection for Autonomous Driving | https://ieeexplore.ieee.org/document/10160592/ | [
"Alexander Popov",
"Patrik Gebhardt",
"Ke Chen",
"Ryan Oldja",
"Alexander Popov",
"Patrik Gebhardt",
"Ke Chen",
"Ryan Oldja"
] | Detecting obstacles is crucial for safe and efficient autonomous driving. To this end, we present NVRadarNet, a deep neural network (DNN) that detects dynamic obstacles and drivable free space using automotive RADAR sensors. The network utilizes temporally accumulated data from multiple RADAR sensors to detect dynamic obstacles and compute their orientation in a top-down bird's-eye view (BEV). The... |
TransRSS: Transformer-based Radar Semantic Segmentation | https://ieeexplore.ieee.org/document/10161200/ | [
"Hao Zou",
"Zhen Xie",
"Jiarong Ou",
"Yutao Gao",
"Hao Zou",
"Zhen Xie",
"Jiarong Ou",
"Yutao Gao"
] | Radar semantic segmentation is a challenging task in environmental understanding, due as the radar data is noisy and suffers measurement ambiguities, which could lead to poor feature learning. To better tackle such difficulties, we present a novel and high-performance Transformer-based Radar Semantic Segmentation method, named TransRSS, to effectively and efficiently feature extraction for radar s... |
Source-free Unsupervised Domain Adaptation for 3D Object Detection in Adverse Weather | https://ieeexplore.ieee.org/document/10161341/ | [
"Deepti Hegde",
"Velat Kilic",
"Vishwanath Sindagi",
"A Brinton Cooper",
"Mark Foster",
"Vishal M Patel",
"Deepti Hegde",
"Velat Kilic",
"Vishwanath Sindagi",
"A Brinton Cooper",
"Mark Foster",
"Vishal M Patel"
] | A domain shift exists between the distributions of large scale, outdoor lidar datasets due to being captured using different types of lidar sensors, in different locations, and under varying weather conditions. Inclement weather in particular affects the quality of lidar data, adding artifacts such as scattered and missed points, leading to a drop in performance of 3D object detection networks tra... |
Bayesian deep learning for affordance segmentation in images | https://ieeexplore.ieee.org/document/10160606/ | [
"Lorenzo Mur-Labadia",
"Ruben Martinez-Cantin",
"Jose J. Guerrero",
"Lorenzo Mur-Labadia",
"Ruben Martinez-Cantin",
"Jose J. Guerrero"
] | Affordances are a fundamental concept in robotics since they relate available actions for an agent depending on its sensory-motor capabilities and the environment. We present a novel Bayesian deep network to detect affordances in images, at the same time that we quantify the distribution of the aleatoric and epistemic variance at the spatial level. We adapt the Mask-RCNN architecture to learn a pr... |
Multi-View Keypoints for Reliable 6D Object Pose Estimation | https://ieeexplore.ieee.org/document/10160354/ | [
"Alan Li",
"Angela P. Schoellig",
"Alan Li",
"Angela P. Schoellig"
] | 6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. 6D pose estimation is particularly challenging in bin- picking applications, where many objects are low-feature and reflective, and self-occlusion between objects of the same type is common. We propose a novel multi-view approach leveraging known camera transformations from an eye-... |
Towards Unsupervised Filtering of Millimetre-Wave Radar Returns for Autonomous Vehicle Road Following | https://ieeexplore.ieee.org/document/10161274/ | [
"Dean Sacoransky",
"Joshua A. Marshall",
"Keyvan Hashtrudi-Zaad",
"Dean Sacoransky",
"Joshua A. Marshall",
"Keyvan Hashtrudi-Zaad"
] | Path planning and localization in low-light and inclement weather conditions are critical problems facing autonomous vehicle systems. Our proposed method applies a single modality, millimetre-wave radar perception system for the detection of roadside retro-reflectors. Radar-based perception tasks can be challenging to perform due to the sparse and noisy nature of radar data. We propose the use of ... |
Domain Generalised Fully Convolutional One Stage Detection | https://ieeexplore.ieee.org/document/10160937/ | [
"Karthik Seemakurthy",
"Petra Bosilj",
"Erchan Aptoula",
"Charles Fox",
"Karthik Seemakurthy",
"Petra Bosilj",
"Erchan Aptoula",
"Charles Fox"
] | Real-time vision in robotics plays an important role in localising and recognising objects. Recently, deep learning approaches have been widely used in robotic vision. However, most of these approaches have assumed that training and test sets come from similar data distributions, which is not valid in many real world applications. This study proposes an approach to address domain generalisation (i... |
GNN-Based Point Cloud Maps Feature Extraction and Residual Feature Fusion for 3D Object Detection | https://ieeexplore.ieee.org/document/10160932/ | [
"Wei-Hsiang Liao",
"Chieh-Chih Wang",
"Wen-Chieh Lin",
"Wei-Hsiang Liao",
"Chieh-Chih Wang",
"Wen-Chieh Lin"
] | LiDAR detection of long-range vehicles is challenging because very few and sparse points are measured in long distances and vehicles with similar shapes of targets could lead to false positives easily. To tackle these challenges, taking the environment information (HD maps) into account could be beneficial to predetermine where targets are more or less likely to appear. Compared with semantic maps... |
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos | https://ieeexplore.ieee.org/document/10160786/ | [
"Shiyang Lu",
"Yunfu Deng",
"Abdeslam Boularias",
"Kostas Bekris",
"Shiyang Lu",
"Yunfu Deng",
"Abdeslam Boularias",
"Kostas Bekris"
] | This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A key feature of the self-supervised training process is a graph-matching algorithm that operates on the over-segmentation output of the point cloud that is recon... |
Depth Is All You Need for Monocular 3D Detection | https://ieeexplore.ieee.org/document/10160483/ | [
"Dennis Park",
"Jie Li",
"Dian Chen",
"Vitor Guizilini",
"Adrien Gaidon",
"Dennis Park",
"Jie Li",
"Dian Chen",
"Vitor Guizilini",
"Adrien Gaidon"
] | A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image features. More recent works leverage depth prediction as a pretraining task and fine-tune the depth representation while training it for 3D detection. However, the ad... |
Towards Visual Classification Under Class Ambiguity | https://ieeexplore.ieee.org/document/10161568/ | [
"Viktor Kozák",
"Jan Mikula",
"Lukáš Bertl",
"Karel Košnar",
"Libor Přeučil",
"Viktor Kozák",
"Jan Mikula",
"Lukáš Bertl",
"Karel Košnar",
"Libor Přeučil"
] | Visual classification under uncertainty is a complex computer vision problem. We present a thorough comparison of several variants of convolutional neural network (CNN) classification techniques in the context of ambiguous image data interpretation. We explore possible improvements in classification accuracy achieved by insertion of prior ambiguity information during the annotation process. This e... |
Lidar Augment: Searching for Scalable 3D LiDAR Data Augmentations | https://ieeexplore.ieee.org/document/10161037/ | [
"Zhaoqi Leng",
"Guowang Li",
"Chenxi Liu",
"Ekin Dogus Cubuk",
"Pei Sun",
"Tong He",
"Dragomir Anguelov",
"Mingxing Tan",
"Zhaoqi Leng",
"Guowang Li",
"Chenxi Liu",
"Ekin Dogus Cubuk",
"Pei Sun",
"Tong He",
"Dragomir Anguelov",
"Mingxing Tan"
] | Data augmentations are important for training high-performance 3D object detectors that use point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most current state-of-the-art 3D detectors only rely on a few simple data augmentations. In particular, different from 2D image data augmentations, 3D data augmentations need to account for different representati... |
HFT: Lifting Perspective Representations via Hybrid Feature Transformation for BEV Perception | https://ieeexplore.ieee.org/document/10161214/ | [
"Jiayu Zou",
"Zheng Zhu",
"Junjie Huang",
"Tian Yang",
"Guan Huang",
"Xingang Wang",
"Jiayu Zou",
"Zheng Zhu",
"Junjie Huang",
"Tian Yang",
"Guan Huang",
"Xingang Wang"
] | Restoring an accurate Bird's Eye View (BEV) map plays a crucial role in the perception of autonomous driving. The existing works of lifting representations from frontal view to BEV can be classified into two categories, i.e., Camera model-Based Feature Transformation (CBFT) and Camera model-Free Feature Transformation (CFFT). We empirically analyze the significant differences between CBFT and CFFT... |
Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Clouds | https://ieeexplore.ieee.org/document/10161152/ | [
"Matthias Zeller",
"Vardeep S. Sandhu",
"Benedikt Mersch",
"Jens Behley",
"Michael Heidingsfeld",
"Cyrill Stachniss",
"Matthias Zeller",
"Vardeep S. Sandhu",
"Benedikt Mersch",
"Jens Behley",
"Michael Heidingsfeld",
"Cyrill Stachniss"
] | The awareness about moving objects in the surroundings of a self-driving vehicle is essential for safe and reliable autonomous navigation. The interpretation of LiDAR and camera data achieves exceptional results but typically requires to accumulate and process temporal sequences of data in order to extract motion information. In contrast, radar sensors, which are already installed in most recent v... |
CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention | https://ieeexplore.ieee.org/document/10161160/ | [
"Yifeng Bai",
"Zhirong Chen",
"Zhangjie Fu",
"Lang Peng",
"Pengpeng Liang",
"Erkang Cheng",
"Yifeng Bai",
"Zhirong Chen",
"Zhangjie Fu",
"Lang Peng",
"Pengpeng Liang",
"Erkang Cheng"
] | 3D lane detection is an integral part of au-tonomous driving systems. Previous CNN and Transformer-based methods usually first generate a bird's-eye-view (BEV) feature map from the front view image, and then use a sub-network with BEV feature map as input to predict 3D lanes. Such approaches require an explicit view transformation between BEV and front view, which itself is still a challenging pro... |
Distributional Instance Segmentation: Modeling Uncertainty and High Confidence Predictions with Latent-MaskRCNN | https://ieeexplore.ieee.org/document/10160812/ | [
"YuXuan Liu",
"Nikhil Mishra",
"Pieter Abbeel",
"Xi Chen",
"YuXuan Liu",
"Nikhil Mishra",
"Pieter Abbeel",
"Xi Chen"
] | Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such can cause critical errors in high-performance applications. In this paper, we explore a class of distributional instance segmentation models using latent codes th... |
Bayesian inference of fog visibility from LiDAR point clouds and correlation with probabilities of detection | https://ieeexplore.ieee.org/document/10161535/ | [
"Karl Montalban",
"Christophe Reymann",
"Dinesh Atchuthan",
"Paul-Edouard Dupouy",
"Nicolas Rivière",
"Simon Lacroix",
"Karl Montalban",
"Christophe Reymann",
"Dinesh Atchuthan",
"Paul-Edouard Dupouy",
"Nicolas Rivière",
"Simon Lacroix"
] | Degraded visual environments have strong impacts on the quality of LiDAR data. Experiments in artificial fog conditions show that noise points caused by water particles present various distance distributions which depend on visibility. This article introduces a mathematical framework based on Bayesian inference and Markov Chain Monte-Carlo sampling to infer optical visibility from point clouds. Th... |
GDIP: Gated Differentiable Image Processing for Object Detection in Adverse Conditions | https://ieeexplore.ieee.org/document/10160356/ | [
"Sanket Kalwar",
"Dhruv Patel",
"Aakash Aanegola",
"Krishna Reddy Konda",
"Sourav Garg",
"K Madhava Krishna",
"Sanket Kalwar",
"Dhruv Patel",
"Aakash Aanegola",
"Krishna Reddy Konda",
"Sourav Garg",
"K Madhava Krishna"
] | Detecting objects under adverse weather and lighting conditions is crucial for the safe and continuous operation of an autonomous vehicle, and remains an unsolved problem. We present a Gated Differentiable Image Processing (GDIP) block, a domain-agnostic network architecture, which can be plugged into existing object detection networks (e.g., Yolo) and trained end-to-end with adverse condition ima... |
Sample, Crop, Track: Self-Supervised Mobile 3D Object Detection for Urban Driving LiDAR | https://ieeexplore.ieee.org/document/10160980/ | [
"Sangyun Shin",
"Stuart Golodetz",
"Madhu Vankadari",
"Kaichen Zhou",
"Andrew Markham",
"Niki Trigoni",
"Sangyun Shin",
"Stuart Golodetz",
"Madhu Vankadari",
"Kaichen Zhou",
"Andrew Markham",
"Niki Trigoni"
] | Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been great interest in leveraging weakly, semi- or self- supervised methods to avoid this, with much success. Whilst weakly and semi-supervised methods require some a... |
Topology Matching of Branched Deformable Linear Objects | https://ieeexplore.ieee.org/document/10161483/ | [
"Manuel Zürn",
"Markus Wnuk",
"Armin Lechler",
"Alexander Verl",
"Manuel Zürn",
"Markus Wnuk",
"Armin Lechler",
"Alexander Verl"
] | This paper presents a new method for correspondence estimation between a previously known topology of a branched deformable linear object and an image representation from a 3D stereo camera. Although frequently encountered in production, robotic deformable linear object manipulation still lacks reliable sensor feedback. Especially for branched deformable linear objects, such as wire harnesses, cor... |
DLOFTBs – Fast Tracking of Deformable Linear Objects with B-splines | https://ieeexplore.ieee.org/document/10160437/ | [
"Piotr Kicki",
"Amadeusz Szymko",
"Krzysztof Walas",
"Piotr Kicki",
"Amadeusz Szymko",
"Krzysztof Walas"
] | While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing the state of the DLO as its geometry changes during manipulation. This paper proposes an algorithm for fast-tracking the shape of a DLO based on the masked image... |
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking | https://ieeexplore.ieee.org/document/10160653/ | [
"Zixuan Huang",
"Xingyu Lin",
"David Held",
"Zixuan Huang",
"Xingyu Lin",
"David Held"
] | State estimation is one of the greatest challenges for cloth manipulation due to cloth's high dimensionality and self-occlusion. Prior works propose to identify the full state of crumpled clothes by training a mesh reconstruction model in simulation. However, such models are prone to suffer from a sim-to-real gap due to differences between cloth simulation and the real world. In this work, we prop... |
Learning to Estimate 3-D States of Deformable Linear Objects from Single-Frame Occluded Point Clouds | https://ieeexplore.ieee.org/document/10160784/ | [
"Kangchen Lv",
"Mingrui Yu",
"Yifan Pu",
"Xin Jiang",
"Gao Huang",
"Xiang Li",
"Kangchen Lv",
"Mingrui Yu",
"Yifan Pu",
"Xin Jiang",
"Gao Huang",
"Xiang Li"
] | Accurately and robustly estimating the state of deformable linear objects (DLOs), such as ropes and wires, is crucial for DLO manipulation and other applications. However, it remains a challenging open issue due to the high dimensionality of the state space, frequent occlusions, and noises. This paper focuses on learning to robustly estimate the states of DLOs from single-frame point clouds in the... |
Feature Extraction for Effective and Efficient Deep Reinforcement Learning on Real Robotic Platforms | https://ieeexplore.ieee.org/document/10160862/ | [
"Peter Böhm",
"Pauline Pounds",
"Archie C. Chapman",
"Peter Böhm",
"Pauline Pounds",
"Archie C. Chapman"
] | Deep reinforcement learning (DRL) methods can solve complex continuous control tasks in simulated environments by taking actions based solely on state observations at each decision point. Because of the dynamics involved, individual snapshots of real-world sensor measurements afford only partial state observability, so it is typical to use a history of observations to improve training and policy p... |
Online Safety Property Collection and Refinement for Safe Deep Reinforcement Learning in Mapless Navigation | https://ieeexplore.ieee.org/document/10161312/ | [
"Luca Marzari",
"Enrico Marchesini",
"Alessandro Farinelli",
"Luca Marzari",
"Enrico Marchesini",
"Alessandro Farinelli"
] | Safety is essential for deploying Deep Reinforcement Learning (DRL) algorithms in real-world scenarios. Recently, verification approaches have been proposed to allow quantifying the number of violations of a DRL policy over input-output relationships, called properties. However, such properties are hard-coded and require task-level knowledge, making their application intractable in challenging saf... |
Learning to View: Decision Transformers for Active Object Detection | https://ieeexplore.ieee.org/document/10160946/ | [
"Wenhao Ding",
"Nathalie Majcherczyk",
"Mohit Deshpande",
"Xuewei Qi",
"Ding Zhao",
"Rajasimman Madhivanan",
"Arnie Sen",
"Wenhao Ding",
"Nathalie Majcherczyk",
"Mohit Deshpande",
"Xuewei Qi",
"Ding Zhao",
"Rajasimman Madhivanan",
"Arnie Sen"
] | Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically independent of motion planning. For example, traditional object detection is passive: it operates only on the images it receives. However, we have a chance to improve... |
Deep Reinforcement Learning for Autonomous Driving using High-Level Heterogeneous Graph Representations | https://ieeexplore.ieee.org/document/10160762/ | [
"Maximilian Schier",
"Christoph Reinders",
"Bodo Rosenhahn",
"Maximilian Schier",
"Christoph Reinders",
"Bodo Rosenhahn"
] | Graph networks have recently been used for decision making in automated driving tasks for their ability to capture a variable number of traffic participants. Current high-level graph-based approaches, however, do not model the entire road network and thus must rely on handcrafted features for vehicle-to-vehicle edges encompassing the road topology indirectly. We propose an entity-relation framewor... |
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision | https://ieeexplore.ieee.org/document/10161491/ | [
"Ashvin Nair",
"Brian Zhu",
"Gokul Narayanan",
"Eugen Solowjow",
"Sergey Levine",
"Ashvin Nair",
"Brian Zhu",
"Gokul Narayanan",
"Eugen Solowjow",
"Sergey Levine"
] | Learning-based methods in robotics hold the promise of generalization, but what can be done if a learned policy does not generalize to a new situation? In principle, if an agent can at least evaluate its own success (i.e., with a reward classifier that generalizes well even when the policy does not), it could actively practice the task and finetune the policy in this situation. We study this probl... |
Multi-Alpha Soft Actor-Critic: Overcoming Stochastic Biases in Maximum Entropy Reinforcement Learning | https://ieeexplore.ieee.org/document/10161395/ | [
"Conor Igoe",
"Swapnil Pande",
"Siddarth Venkatraman",
"Jeff Schneider",
"Conor Igoe",
"Swapnil Pande",
"Siddarth Venkatraman",
"Jeff Schneider"
] | The successful application of robotic control requires intelligent decision-making to handle the long tail of complex scenarios that arise in real-world environments. Recently, Deep Reinforcement Learning (DRL) has provided a data-driven framework to automatically learn effective policies in such complex settings. Since its introduction in 2018, Soft Actor-Critic (SAC) remains as one of the most p... |
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning | https://ieeexplore.ieee.org/document/10160764/ | [
"Zheng Wu",
"Yichen Xie",
"Wenzhao Lian",
"Changhao Wang",
"Yanjiang Guo",
"Jianyu Chen",
"Stefan Schaal",
"Masayoshi Tomizuka",
"Zheng Wu",
"Yichen Xie",
"Wenzhao Lian",
"Changhao Wang",
"Yanjiang Guo",
"Jianyu Chen",
"Stefan Schaal",
"Masayoshi Tomizuka"
] | Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be combined to generalize across novel compositional settings. In this work, we aim to achieve zero-shot policy generalization of Reinforcement Learning (RL) agents by ... |
Real World Offline Reinforcement Learning with Realistic Data Source | https://ieeexplore.ieee.org/document/10161474/ | [
"Gaoyue Zhou",
"Liyiming Ke",
"Siddhartha Srinivasa",
"Abhinav Gupta",
"Aravind Rajeswaran",
"Vikash Kumar",
"Gaoyue Zhou",
"Liyiming Ke",
"Siddhartha Srinivasa",
"Abhinav Gupta",
"Aravind Rajeswaran",
"Vikash Kumar"
] | Offline reinforcement learning (ORL) holds great promise for robot learning due to its ability to learn from arbitrary pre-generated experience. However, current ORL benchmarks are almost entirely in simulation and utilize contrived datasets like replay buffers of online RL agents or sub-optimal trajectories, and thus hold limited relevance for real-world robotics. In this work (Real-ORL), we posi... |
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization | https://ieeexplore.ieee.org/document/10161283/ | [
"Thomas Lew",
"Sumeet Singh",
"Mario Prats",
"Jeffrey Bingham",
"Jonathan Weisz",
"Benjie Holson",
"Xiaohan Zhang",
"Vikas Sindhwani",
"Yao Lu",
"Fei Xia",
"Peng Xu",
"Tingnan Zhang",
"Jie Tan",
"Montserrat Gonzalez",
"Thomas Lew",
"Sumeet Singh",
"Mario Prats",
"Jeffrey Bingham",
"Jonathan Weisz",
"Benjie Holson",
"Xiaohan Zhang",
"Vikas Sindhwani",
"Yao Lu",
"Fei Xia",
"Peng Xu",
"Tingnan Zhang",
"Jie Tan",
"Montserrat Gonzalez"
] | We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics of crumbs and spills captured via high-dimensional visual observations. Simultaneously, we must guarantee constraints satisfaction to enable safe deployment in... |
Towards True Lossless Sparse Communication in Multi-Agent Systems | https://ieeexplore.ieee.org/document/10161322/ | [
"Seth Karten",
"Mycal Tucker",
"Siva Kailas",
"Katia Sycara",
"Seth Karten",
"Mycal Tucker",
"Siva Kailas",
"Katia Sycara"
] | Communication enables agents to cooperate to achieve their goals. Learning when to communicate, i.e., sparse (in time) communication, and whom to message is particularly important when bandwidth is limited. However, recent work in learning sparse individualized communication suffers from high variance during training, where decreasing communication comes at the cost of decreased reward, particular... |
Adaptive Risk-Tendency: Nano Drone Navigation in Cluttered Environments with Distributional Reinforcement Learning | https://ieeexplore.ieee.org/document/10160324/ | [
"Cheng Liu",
"Erik-Jan van Kampen",
"Guido C.H.E. de Croon",
"Cheng Liu",
"Erik-Jan van Kampen",
"Guido C.H.E. de Croon"
] | Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot learns to navigate an apriori-unknown cluttered environment under partial observability. We present a distributional reinforcement learning framework to generate a... |
Self-Adaptive Driving in Nonstationary Environments through Conjectural Online Lookahead Adaptation | https://ieeexplore.ieee.org/document/10161368/ | [
"Tao Li",
"Haozhe Lei",
"Quanyan Zhu",
"Tao Li",
"Haozhe Lei",
"Quanyan Zhu"
] | Powered by deep representation learning, re-inforcement learning (RL) provides an end-to-end learning framework capable of solving self-driving (SD) tasks without manual designs. However, time-varying nonstationary environments cause proficient but specialized RL policies to fail at execution time. For example, an RL-based SD policy trained under sunny days does not generalize well to rainy weathe... |
Sim-to-Real Policy and Reward Transfer with Adaptive Forward Dynamics Model | https://ieeexplore.ieee.org/document/10161298/ | [
"Rongshun Juan",
"Hao Ju",
"Jie Huang",
"Randy Gomez",
"Keisuke Nakamura",
"Guangliang Li",
"Rongshun Juan",
"Hao Ju",
"Jie Huang",
"Randy Gomez",
"Keisuke Nakamura",
"Guangliang Li"
] | Deep reinforcement learning has shown promise in learning robust skills for robot control, but typically requires a large amount of samples to achieve good performance. Sim-to-real transfer learning has been developed to solve this problem, but the policy trained in simulation usually has unsatisfactory performance in the real world because simulators inevitably model the dynamics of reality imper... |
Safety-Constrained Policy Transfer with Successor Features | https://ieeexplore.ieee.org/document/10161256/ | [
"Zeyu Feng",
"Bowen Zhang",
"Jianxin Bi",
"Harold Soh",
"Zeyu Feng",
"Bowen Zhang",
"Jianxin Bi",
"Harold Soh"
] | In this work, we focus on the problem of safe policy transfer in reinforcement learning: we seek to leverage existing policies when learning a new task with specified constraints. This problem is important for safety-critical applications where interactions are costly and unconstrained exploration can lead to undesirable or dangerous outcomes, e.g., with physical robots that interact with humans. ... |
GNM: A General Navigation Model to Drive Any Robot | https://ieeexplore.ieee.org/document/10161227/ | [
"Dhruv Shah",
"Ajay Sridhar",
"Arjun Bhorkar",
"Noriaki Hirose",
"Sergey Levine",
"Dhruv Shah",
"Ajay Sridhar",
"Arjun Bhorkar",
"Noriaki Hirose",
"Sergey Levine"
] | Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of robots, we could train more powerful navigation models. In this paper, we study how a general goal-conditioned model for vision-based navigation can be trained on dat... |
ViPFormer: Efficient Vision-and-Pointcloud Transformer for Unsupervised Pointcloud Understanding | https://ieeexplore.ieee.org/document/10160658/ | [
"Hongyu Sun",
"Yongcai Wang",
"Xudong Cai",
"Xuewei Bai",
"Deying Li",
"Hongyu Sun",
"Yongcai Wang",
"Xudong Cai",
"Xuewei Bai",
"Deying Li"
] | Recently, a growing number of work design unsupervised paradigms for point cloud processing to alleviate the limitation of expensive manual annotation and poor transferability of supervised methods. Among them, CrossPoint follows the contrastive learning framework and exploits image and point cloud data for unsupervised point cloud understanding. Although the promising performance is presented, th... |
Learning Exploration Strategies to Solve Real-World Marble Runs | https://ieeexplore.ieee.org/document/10160759/ | [
"Alisa Allaire",
"Christopher G. Atkeson",
"Alisa Allaire",
"Christopher G. Atkeson"
] | Tasks involving locally unstable or discontinuous dynamics (such as bifurcations and collisions) remain challenging in robotics, because small variations in the environment can have a significant impact on task outcomes. For such tasks, learning a robust deterministic policy is difficult. We focus on structuring exploration with multiple stochastic policies based on a mixture of experts (MoE) poli... |
Multi-embodiment Legged Robot Control as a Sequence Modeling Problem | https://ieeexplore.ieee.org/document/10161034/ | [
"Chen Yu",
"Weinan Zhang",
"Hang Lai",
"Zheng Tian",
"Laurent Kneip",
"Jun Wang",
"Chen Yu",
"Weinan Zhang",
"Hang Lai",
"Zheng Tian",
"Laurent Kneip",
"Jun Wang"
] | Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the complex interplay between the controller and morphology. In this paper, we propose a learning-based control method that can inherently take morphology into consi... |
Efficient Recovery Learning using Model Predictive Meta-Reasoning | https://ieeexplore.ieee.org/document/10160382/ | [
"Shivam Vats",
"Maxim Likhachev",
"Oliver Kroemer",
"Shivam Vats",
"Maxim Likhachev",
"Oliver Kroemer"
] | Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing one of a small number of hand-engineered recovery strategies. By contrast, contact-rich sequential manipulation tasks, like opening doors and assembling furnit... |
Multi-swarm Genetic Gray Wolf Optimizer with Embedded Autoencoders for High-dimensional Expensive Problems | https://ieeexplore.ieee.org/document/10161299/ | [
"Jing Bi",
"Jiahui Zhai",
"Haitao Yuan",
"Ziqi Wang",
"Junfei Qiao",
"Jia Zhang",
"MengChu Zhou",
"Jing Bi",
"Jiahui Zhai",
"Haitao Yuan",
"Ziqi Wang",
"Junfei Qiao",
"Jia Zhang",
"MengChu Zhou"
] | High-dimensional expensive problems are often encountered in the design and optimization of complex robotic and automated systems and distributed computing systems, and they suffer from a time-consuming fitness evaluation process. It is extremely challenging and difficult to produce promising solutions in a high-dimensional search space. This work proposes an evolutionary optimization framework wi... |
H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions | https://ieeexplore.ieee.org/document/10160575/ | [
"Kei Ota",
"Hsiao-Yu Tung",
"Kevin A. Smith",
"Anoop Cherian",
"Tim K. Marks",
"Alan Sullivan",
"Asako Kanezaki",
"Joshua B. Tenenbaum",
"Kei Ota",
"Hsiao-Yu Tung",
"Kevin A. Smith",
"Anoop Cherian",
"Tim K. Marks",
"Alan Sullivan",
"Asako Kanezaki",
"Joshua B. Tenenbaum"
] | The world is filled with articulated objects that are difficult to determine how to use from vision alone, e.g., a door might open inwards or outwards. Humans handle these objects with strategic trial-and-error: first pushing a door then pulling if that doesn't work. We enable these capabilities in autonomous agents by proposing “Hypothesize, Simulate, Act, Update, and Repeat” (H-SAUR), a probabil... |
Self-Supervised Learning of Action Affordances as Interaction Modes | https://ieeexplore.ieee.org/document/10161371/ | [
"Liquan Wang",
"Nikita Dvornik",
"Rafael Dubeau",
"Mayank Mittal",
"Animesh Garg",
"Liquan Wang",
"Nikita Dvornik",
"Rafael Dubeau",
"Mayank Mittal",
"Animesh Garg"
] | When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what interactions are likely to be successful, i.e., to open a new door we first try the handle. While learning such priors without supervision is easy for humans, it is noto... |
LATTE: LAnguage Trajectory TransformEr | https://ieeexplore.ieee.org/document/10161068/ | [
"Arthur Bucker",
"Luis Figueredo",
"Sami Haddadin",
"Ashish Kapoor",
"Shuang Ma",
"Sai Vemprala",
"Rogerio Bonatti",
"Arthur Bucker",
"Luis Figueredo",
"Sami Haddadin",
"Ashish Kapoor",
"Shuang Ma",
"Sai Vemprala",
"Rogerio Bonatti"
] | Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of combining a robot's inherent low-level geometric and kinodynamic constraints with a human's high-level semantic instructions traditionally is solved using task-s... |
Learning Visual Locomotion with Cross-Modal Supervision | https://ieeexplore.ieee.org/document/10160760/ | [
"Antonio Loquercio",
"Ashish Kumar",
"Jitendra Malik",
"Antonio Loquercio",
"Ashish Kumar",
"Jitendra Malik"
] | In this work, we show how to learn a visual walking policy that only uses a monocular RGB camera and proprioception. Since simulating RGB is hard, we necessarily have to learn vision in the real world. We start with a blind walking policy trained in simulation. This policy can traverse some terrains in the real world but often struggles since it lacks knowledge of the upcoming geometry. This can b... |
MMIC-I: A Robotic Platform for Assembly Integration and Internal Locomotion through Mechanical Meta-Material Structures | https://ieeexplore.ieee.org/document/10161263/ | [
"Olivia Formoso",
"Greenfield Trinh",
"Damiana Catanoso",
"In-Won Park",
"Christine Gregg",
"Kenneth Cheung",
"Olivia Formoso",
"Greenfield Trinh",
"Damiana Catanoso",
"In-Won Park",
"Christine Gregg",
"Kenneth Cheung"
] | In-space assembly is crucial to creating large-scale space structures and enabling long term space missions. Natural limitations in the size of transportation vehicles and ISRU production facilities necessitate an additive strategy with the size of the typical structural unit being essentially fixed and inversely proportional to the final assembly size. In prior robotic and space assembly examples... |
Flow-Based Rendezvous and Docking for Marine Modular Robots in Gyre-Like Environments | https://ieeexplore.ieee.org/document/10161430/ | [
"Gedaliah Knizhnik",
"Peihan Li",
"Mark Yim",
"M. Ani Hsieh",
"Gedaliah Knizhnik",
"Peihan Li",
"Mark Yim",
"M. Ani Hsieh"
] | Modular self-assembling systems typically assume that modules are present to assemble. But in sparsely observed ocean environments modules of an aquatic modular robotic system may be separated by distances they do not have the energy to cross, and the information needed for optimal path planning is often unavailable. In this work we present a flow-based rendezvous and docking controller that allow... |
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media | https://ieeexplore.ieee.org/document/10160777/ | [
"Jason Lim",
"Calvin Joyce",
"Elizabeth Peiros",
"Mingwei Yeoh",
"Peter V. Gavrilov",
"Sara G. Wickenhiser",
"Dimitri A. Schreiber",
"Florian Richter",
"Michael C. Yip",
"Jason Lim",
"Calvin Joyce",
"Elizabeth Peiros",
"Mingwei Yeoh",
"Peter V. Gavrilov",
"Sara G. Wickenhiser",
"Dimitri A. Schreiber",
"Florian Richter",
"Michael C. Yip"
] | Robots “in-the-wild” encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific domains. Screw-based locomotion is a promising approach for multi-domain mobility, leveraged in exploratory robotic designs, including amphibious vehicles and sn... |
TJ-FlyingFish: Design and Implementation of an Aerial-Aquatic Quadrotor with Tiltable Propulsion Units | https://ieeexplore.ieee.org/document/10160899/ | [
"Xuchen Liu",
"Minghao Dou",
"Dongyue Huang",
"Songqun Gao",
"Ruixin Yan",
"Biao Wang",
"Jinqiang Cui",
"Qinyuan Ren",
"Lihua Dou",
"Zhi Gao",
"Jie Chen",
"Ben M. Chen",
"Xuchen Liu",
"Minghao Dou",
"Dongyue Huang",
"Songqun Gao",
"Ruixin Yan",
"Biao Wang",
"Jinqiang Cui",
"Qinyuan Ren",
"Lihua Dou",
"Zhi Gao",
"Jie Chen",
"Ben M. Chen"
] | Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the vast differences in the fluid properties of water and air. For propulsion, the operating range is switched for the different mediums by the dual-speed propulsi... |
Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg | https://ieeexplore.ieee.org/document/10161131/ | [
"Youngrae Kim",
"Sunghyun Choi",
"Jinhyeok Song",
"Dongwon Yun",
"Youngrae Kim",
"Sunghyun Choi",
"Jinhyeok Song",
"Dongwon Yun"
] | This study proposes a modular Multi-axis Elastic Actuator (MAEA) for legged robots that can effectively cope with impacts that may occur during dynamic maneuvering. MAEA has multi-axis compliance and can measure the torque without additional encoders. Therefore, effective impact resistance is possible with less volume and weight than conventional Series Elastic Actuators (SEA). The 6-axis stiffnes... |
Design and Mechanics of Cable-Driven Rolling Diaphragm Transmission for High-Transparency Robotic Motion | https://ieeexplore.ieee.org/document/10160832/ | [
"Hoi Man Lam",
"W. Jared Walker",
"Lucas Jonasch",
"Dimitri Schreiber",
"Michael C. Yip",
"Hoi Man Lam",
"W. Jared Walker",
"Lucas Jonasch",
"Dimitri Schreiber",
"Michael C. Yip"
] | Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However, the stiffness-enabling pressure preloads can form a tradeoff against bearing loading in some rolling diaphragm layouts, and transmission setup can be difficult. U... |
Twist Snake: Plastic table-top cable-driven robotic arm with all motors located at the base link | https://ieeexplore.ieee.org/document/10160995/ | [
"Kazutoshi Tanaka",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Masashi Hamaya"
] | Table-top robotic arms for education and research must be low-cost for availability and lightweight and soft for safety. Therefore, as such a robot, this study focuses on designing a plastic table-top cable-driven robotic arm with all motors located at the base link. However, locating all motors at the base link results in a significant distance between a driving motor and driven joint, increases ... |
Strained Elastic Surfaces with Adjustable-Modulus Edges (SESAMEs) for Soft Robotic Actuation | https://ieeexplore.ieee.org/document/10160299/ | [
"Christopher J. Kimmer",
"Michael Seokyoung Han",
"Cindy K. Harnett",
"Christopher J. Kimmer",
"Michael Seokyoung Han",
"Cindy K. Harnett"
] | For robots to interact safely with humans and travel with minimal weight, low-density packable actuators are sought. Electronically-driven active materials like shape memory wire and other artificial muscle fibers offer solutions, but these materials need a restoring force. Moreover, if joint bending is required, the actuators must exert a bending moment around the joint. In this paper, we model t... |
Controllable Mechanical-domain Energy Accumulators | https://ieeexplore.ieee.org/document/10161146/ | [
"Sung Y. Kim",
"David J. Braun",
"Sung Y. Kim",
"David J. Braun"
] | Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load, but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically d... |
Concept Design of a New XY Compliant Parallel Manipulator With Spatial Configuration | https://ieeexplore.ieee.org/document/10161526/ | [
"Zekui Lyu",
"Qingsong Xu",
"Zekui Lyu",
"Qingsong Xu"
] | This paper proposes the concept design of a novel XY compliant parallel manipulator (CPM) with spatial configuration, which is beneficial to promote the performance of the XY CPM. Evolved from a planar configuration, a spatial compliant parallelogram flexure is devised as the basic module structure. Then, a mirror-symmetric XY CPM adopting spatial layout is proposed based on four-prismatic-prismat... |
Computational Design of 3D-Printable Compliant Mechanisms with Bio-Inspired Sliding Joints | https://ieeexplore.ieee.org/document/10160584/ | [
"Felipe Velasquez",
"Bernhard Thomaszewski",
"Stelian Coros",
"Felipe Velasquez",
"Bernhard Thomaszewski",
"Stelian Coros"
] | We propose a computational approach for designing fully-integrated compliant mechanisms with bio-inspired joints that are stabilized and actuated by elastic elements. Similar to human knees or finger phalanges, our mechanisms leverage sliding between pairs of contacting surfaces to generate complex motions. Due to the vast design space, however, finding surface shapes that lead to ideal approximat... |
Compliant Finger Joint with Controlled Variable Stiffness based on Twisted Strings Actuation | https://ieeexplore.ieee.org/document/10160353/ | [
"Mihai Dragusanu",
"Danilo Troisi",
"Domenico Prattichizzo",
"Monica Malvezzi",
"Mihai Dragusanu",
"Danilo Troisi",
"Domenico Prattichizzo",
"Monica Malvezzi"
] | Underactuated tendon-driven fingers are a simple, yet effective solution, for realizing robotic grippers and hands. The lack of controllable degrees of actuation and precise sensing is compensated by the deformable structure of the finger, which is able to adapt to the objects to be grasped and manipulated, and also to implement grasping strategies based on environmental constraint exploitation. O... |
Design of a Variable Stiffness Spring with Human-Selectable Stiffness | https://ieeexplore.ieee.org/document/10161305/ | [
"Chase W. Mathews",
"David J. Braun",
"Chase W. Mathews",
"David J. Braun"
] | Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assistive joint torques, and therefore, springs with different stiffness. Variable stiffness springs are a ... |
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints | https://ieeexplore.ieee.org/document/10161577/ | [
"Cole A. Dempsey",
"David J. Braun",
"Cole A. Dempsey",
"David J. Braun"
] | Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. In this paper... |
Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot | https://ieeexplore.ieee.org/document/10160318/ | [
"Andrew L. Bernhard",
"Joseph M. Schimmels",
"Andrew L. Bernhard",
"Joseph M. Schimmels"
] | This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, together with a combined position/compliance manipulation path, is used to: 1) allow the robot to passivel... |
A Stiffness-Changeable Soft Finger Based on Chain Mail Jamming | https://ieeexplore.ieee.org/document/10161061/ | [
"Zhengtao Hu",
"Abdullah Ahmed",
"Weiwei Wan",
"Tetsuyou Watanabe",
"Kensuke Harada",
"Zhengtao Hu",
"Abdullah Ahmed",
"Weiwei Wan",
"Tetsuyou Watanabe",
"Kensuke Harada"
] | This paper presents a stiffness-changeable soft finger using chain mail jamming. This finger can achieve adaptive grasping and in-hand manipulation by reshaping and exerting changeable gripping force. The jamming phenomenon happens when particles in a chamber get interlocked where confining pressure is exerted at their boundaries, which is widely used to construct mechanisms with changeable stiffn... |
Repetitive Twisting Durability of Synthetic Fiber Ropes | https://ieeexplore.ieee.org/document/10160745/ | [
"Shinya Sadachika",
"Masahito Kanekiyo",
"Hiroyuki Nabae",
"Gen Endo",
"Shinya Sadachika",
"Masahito Kanekiyo",
"Hiroyuki Nabae",
"Gen Endo"
] | Synthetic fiber ropes are widely used for robots because of their advantages such as lightweight, high tensile strength and flexibility. However, there is limited information on the physical properties of synthetic fiber ropes when used for robots. This study focuses on repetitive twisting of synthetic fiber ropes and provides information for selecting them for robots based on durability. To this ... |
Computational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation | https://ieeexplore.ieee.org/document/10161209/ | [
"Kirill V. Nasonov",
"Dmitriy V. Ivolga",
"Ivan I. Borisov",
"Sergey A. Kolyubin",
"Kirill V. Nasonov",
"Dmitriy V. Ivolga",
"Ivan I. Borisov",
"Sergey A. Kolyubin"
] | The main advantages of legged robots over wheeled ones are their abilities to traverse on uneven terrain due to the use of intermittent contacts and an ability to shift the center of mass relative to the contact location. A robot's leg design can be implemented by using an open-chain mechanism actuated with high-density torque actuators though this solution needs a vast energy budget. An alternati... |
Trajectory planning issues in cuspidal commercial robots | https://ieeexplore.ieee.org/document/10161444/ | [
"Durgesh Haribhau Salunkhe",
"Damien Chablat",
"Philippe Wenger",
"Durgesh Haribhau Salunkhe",
"Damien Chablat",
"Philippe Wenger"
] | A cuspidal serial robot can travel from one inverse kinematic solution to another without crossing a singularity. Cuspidal robots ask for extra care and caution in trajectory planning, as identifying an aspect related to one unique inverse kinematic solution is not possible. The issues related to motion planning with cuspidal robots are related to the inherent property arising from the geometric d... |
Big data approach for synthesizing a spatial linkage mechanism | https://ieeexplore.ieee.org/document/10161300/ | [
"Neung Hwan Yim",
"Jegyeong Ryu",
"Yoon Young Kim",
"Neung Hwan Yim",
"Jegyeong Ryu",
"Yoon Young Kim"
] | This paper presents a novel two-step method for synthesizing spatial linkage mechanisms. Compared with planar mechanisms, the main challenge in synthesizing spatial mechanisms is that the generating motion varies depending on its mechanism topologies. Therefore, we propose a big data approach to determine the topology of spatial mechanisms. We adopt a three-dimensional (3D) spring-connected rigid ... |
Croche-Matic: a robot for crocheting 3D cylindrical geometry | https://ieeexplore.ieee.org/document/10160345/ | [
"Gabriella Perry",
"Jose Luis García del Castillo y López",
"Nathan Melenbrink",
"Gabriella Perry",
"Jose Luis García del Castillo y López",
"Nathan Melenbrink"
] | Crochet is a textile craft that has resisted mech-anization and industrialization except for a select number of one-off crochet machines. These machines are only capable of producing a limited subset of common crochet stitches. Crochet machines are not used in the textile industry, yet mass-produced crochet objects and clothes sold in stores like Target and Zara are almost certainly the products o... |
A Novel Platform to Control Biofouling in Pearl Oysters Cultivation | https://ieeexplore.ieee.org/document/10160471/ | [
"Van-Nhan Tran",
"Quan-Dung Pham",
"Tan-Sang Ha",
"Yue Him Wong",
"Sai-Kit Yeung",
"Van-Nhan Tran",
"Quan-Dung Pham",
"Tan-Sang Ha",
"Yue Him Wong",
"Sai-Kit Yeung"
] | This paper presents a simple yet effective design of a platform to automate the task of shellfish aquaculture, specifically pearl oysters. Compared to traditional methods, our platform can eliminate the tedious task of cleaning the pearl oysters due to fouling. Inspired by the low and high tide characteristics of the intertidal zone, our platform employs an air-water displacement mechanism to peri... |
Embedded Active Stiffening Mechanisms to Modulate Kresling Tower Kinetostatic Properties | https://ieeexplore.ieee.org/document/10160882/ | [
"John Berre",
"Lennart Rubbert",
"François Geiskopf",
"Pierre Renaud",
"John Berre",
"Lennart Rubbert",
"François Geiskopf",
"Pierre Renaud"
] | Non-rigidly foldable origamis are of great interest to build robotic components, as they are light, offer large deployability and can also be multistable. In this paper, we consider the Kresling tower, and propose an original way to actively modulate its kinetostatic properties. Actuated stiffening mechanisms are embedded on some folds of the origami. By adjusting the axial stiffness of the folds,... |
A Compact, Two-Part Torsion Spring Architecture | https://ieeexplore.ieee.org/document/10161174/ | [
"Zachary Bons",
"Gray C. Thomas",
"Luke M. Mooney",
"Elliott J. Rouse",
"Zachary Bons",
"Gray C. Thomas",
"Luke M. Mooney",
"Elliott J. Rouse"
] | Springs are essential mechanical elements that are used across a wide variety of industries and mechanisms. Common across many spring types and applications is the importance of compactness, low mass and customizability. In this paper, we present a novel rotary spring design that is lightweight, compact and customizable. In addition, we empirically validate the design by experimentally quantifying... |
HREyes: Design, Development, and Evaluation of a Novel Method for AUVs to Communicate Information and Gaze Direction* | https://ieeexplore.ieee.org/document/10161179/ | [
"Michael Fulton",
"Aditya Prabhu",
"Junaed Sattar",
"Michael Fulton",
"Aditya Prabhu",
"Junaed Sattar"
] | We present the design, development, and evaluation of HREyes: biomimetic communication devices which use light to communicate information and, for the first time, gaze direction from AUVs to humans. First, we introduce two types of information displays using the HREye devices: active lucemes and ocular lucemes. Active lucemes communicate information explicitly through animations, while ocular luce... |
Dense Depth Completion Based on Multi-Scale Confidence and Self-Attention Mechanism for Intestinal Endoscopy | https://ieeexplore.ieee.org/document/10161549/ | [
"Ruyu Liu",
"Zhengzhe Liu",
"Haoyu Zhang",
"Guodao Zhang",
"Zhigui Zuo",
"Weiguo Sheng",
"Ruyu Liu",
"Zhengzhe Liu",
"Haoyu Zhang",
"Guodao Zhang",
"Zhigui Zuo",
"Weiguo Sheng"
] | Doctors perform limited one-way intestine endoscopy, in which advanced surgical robots with depth sensors, such as stereo and ToF endoscopes, can only provide sparse and incomplete depth information. However, dense, accurate and instant depth estimation during endoscopy is vital for doctors to judge the 3D location and shape of intestinal tissues, which affects the human-robot interaction between ... |
Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly | https://ieeexplore.ieee.org/document/10160993/ | [
"Sebastian Hjorth",
"Edoardo Lamon",
"Dimitrios Chrysostomou",
"Arash Ajoudani",
"Sebastian Hjorth",
"Edoardo Lamon",
"Dimitrios Chrysostomou",
"Arash Ajoudani"
] | Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with creaky and potentially damaged components. Nevertheless, when disassembling worn-out or damaged components, unexpected robot behaviors may emerge, so harmless ... |
Towards Robots that Influence Humans over Long-Term Interaction | https://ieeexplore.ieee.org/document/10160321/ | [
"Shahabedin Sagheb",
"Ye-Ji Mun",
"Neema Ahmadian",
"Benjamin A. Christie",
"Andrea Bajcsy",
"Katherine Driggs-Campbell",
"Dylan P. Losey",
"Shahabedin Sagheb",
"Ye-Ji Mun",
"Neema Ahmadian",
"Benjamin A. Christie",
"Andrea Bajcsy",
"Katherine Driggs-Campbell",
"Dylan P. Losey"
] | When humans interact with robots influence is inevitable. Consider an autonomous car driving near a human: the speed and steering of the autonomous car will affect how the human drives. Prior works have developed frameworks that enable robots to influence humans towards desired behaviors. But while these approaches are effective in the short-term (i.e., the first few human-robot interactions), her... |
Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots | https://ieeexplore.ieee.org/document/10160677/ | [
"Doganay Sirintuna",
"Idil Ozdamar",
"Arash Ajoudani",
"Doganay Sirintuna",
"Idil Ozdamar",
"Arash Ajoudani"
] | This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while sharing the load with multiple robots depending on the size and the weight of the object. This is achieved by merging the haptic information transferred through the ... |
A Control Approach for Human-Robot Ergonomic Payload Lifting | https://ieeexplore.ieee.org/document/10161454/ | [
"Lorenzo Rapetti",
"Carlotta Sartore",
"Mohamed Elobaid",
"Yeshasvi Tirupachuri",
"Francesco Draicchio",
"Tomohiro Kawakami",
"Takahide Yoshiike",
"Daniele Pucci",
"Lorenzo Rapetti",
"Carlotta Sartore",
"Mohamed Elobaid",
"Yeshasvi Tirupachuri",
"Francesco Draicchio",
"Tomohiro Kawakami",
"Takahide Yoshiike",
"Daniele Pucci"
] | Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring through whole-body wearable sensors, and interaction modelling through coupled rigid-body dynamics.... |
Active Reward Learning from Online Preferences | https://ieeexplore.ieee.org/document/10160439/ | [
"Vivek Myers",
"Erdem Bıyık",
"Dorsa Sadigh",
"Vivek Myers",
"Erdem Bıyık",
"Dorsa Sadigh"
] | Robot policies need to adapt to human preferences and/or new environments. Human experts may have the domain knowledge required to help robots achieve this adaptation. However, existing works often require costly offline re-training on human feedback, and those feedback usually need to be frequent and too complex for the humans to reliably provide. To avoid placing undue burden on human experts an... |
Supernumerary Robotic Limbs for Next Generation Space Suit Technology | https://ieeexplore.ieee.org/document/10161579/ | [
"Erik Ballesteros",
"Brandon Man",
"H. Harry Asada",
"Erik Ballesteros",
"Brandon Man",
"H. Harry Asada"
] | This paper discusses the incorporation of a pair of Supernumerary Robotic Limbs (SuperLimbs) onto the next generation of NASA space suits. The wearable robots attached to the space suit assist an astronaut in performing Extra-Vehicular Activities (EVAs). The SuperLimbs grab handrails fixed to the outside of a space vehicle to securely hold the astronaut body. The astronaut can use both hands for p... |
It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying | https://ieeexplore.ieee.org/document/10161386/ | [
"Eley Ng",
"Ziang Liu",
"Monroe Kennedy",
"Eley Ng",
"Ziang Liu",
"Monroe Kennedy"
] | Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for predicting realistic motion plans for cooperative human-robot teams on the task. Using a Variational Recurrent Neural Network (VRNN) to model the variation in the traje... |
Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot | https://ieeexplore.ieee.org/document/10160661/ | [
"Dario Zurlo",
"Tom Heitmann",
"Merlin Morlock",
"Alessandro De Luca",
"Dario Zurlo",
"Tom Heitmann",
"Merlin Morlock",
"Alessandro De Luca"
] | In physical human-robot interaction (pHRI) it is essential to reliably estimate and localize contact forces between the robot and the environment. In this paper, a complete contact detection, isolation, and reaction scheme is presented and tested on a new 6-dof industrial collaborative robot. We combine two popular methods, based on monitoring energy and generalized momentum, to detect and isolate... |
The Human Gaze Helps Robots Run Bravely and Efficiently in Crowds | https://ieeexplore.ieee.org/document/10161222/ | [
"Qianyi Zhang",
"Zhengxi Hu",
"Yinuo Song",
"Jiayi Pei",
"Jingtai Liu",
"Qianyi Zhang",
"Zhengxi Hu",
"Yinuo Song",
"Jiayi Pei",
"Jingtai Liu"
] | In human-aware navigation, the robot tacitly games with humans, balancing safety and efficiency according to human intentions. Poor balance or bad intent recognition causes the robot to stop conservatively or advance rashly, resulting in a deadlock or even a collision respectively. To address the issue, this paper proposes an improved limit cycle for collaboratively parameterizing human intentions... |
A Gaze-Speech System in Mixed Reality for Human-Robot Interaction | https://ieeexplore.ieee.org/document/10161010/ | [
"John David Prieto Prada",
"Myung Ho Lee",
"Cheol Song",
"John David Prieto Prada",
"Myung Ho Lee",
"Cheol Song"
] | Human-robot interaction (HRI) demands efficient time performance along the tasks. However, some interaction approaches may extend the time to complete such tasks. Thus, the time performance in HRI must be enhanced. This work presents an effective way to enhance the time performance in HRI tasks with a mixed reality (MR) method based on a gaze-speech system. In this paper, we design an MR world for... |
ADAPT: Action-aware Driving Caption Transformer | https://ieeexplore.ieee.org/document/10160326/ | [
"Bu Jin",
"Xinyu Liu",
"Yupeng Zheng",
"Pengfei Li",
"Hao Zhao",
"Tong Zhang",
"Yuhang Zheng",
"Guyue Zhou",
"Jingjing Liu",
"Bu Jin",
"Xinyu Liu",
"Yupeng Zheng",
"Pengfei Li",
"Hao Zhao",
"Tong Zhang",
"Yuhang Zheng",
"Guyue Zhou",
"Jingjing Liu"
] | End-to-end autonomous driving has great potential in the transportation industry. However, the lack of transparency and interpretability of the automatic decision-making process hinders its industrial adoption in practice. There have been some early attempts to use attention maps or cost volume for better model explainability which is difficult for ordinary passengers to understand. To bridge the ... |
Aligning Human Preferences with Baseline Objectives in Reinforcement Learning | https://ieeexplore.ieee.org/document/10161261/ | [
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Jana Tumova",
"Iolanda Leite",
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Jana Tumova",
"Iolanda Leite"
] | Practical implementations of deep reinforcement learning (deep RL) have been challenging due to an amplitude of factors, such as designing reward functions that cover every possible interaction. To address the heavy burden of robot reward engineering, we aim to leverage subjective human preferences gathered in the context of human-robot interaction, while taking advantage of a baseline reward func... |
EWareNet: Emotion-Aware Pedestrian Intent Prediction and Adaptive Spatial Profile Fusion for Social Robot Navigation | https://ieeexplore.ieee.org/document/10161504/ | [
"Venkatraman Narayanan",
"Bala Murali Manoghar",
"Rama Prashanth RV",
"Aniket Bera",
"Venkatraman Narayanan",
"Bala Murali Manoghar",
"Rama Prashanth RV",
"Aniket Bera"
] | We present EWareNet, a novel intent and affect-aware social robot navigation algorithm among pedestrians. Our approach predicts the trajectory-based pedestrian intent from gait sequence, which is then used for intent-guided navigation taking into account social and proxemic constraints. We propose a transformer-based model that works on commodity RGB-D cameras mounted onto a moving robot. Our inte... |
SCAN: Socially-Aware Navigation Using Monte Carlo Tree Search | https://ieeexplore.ieee.org/document/10160270/ | [
"Jeongwoo Oh",
"Jaeseok Heo",
"Junseo Lee",
"Gunmin Lee",
"Minjae Kang",
"Jeongho Park",
"Songhwai Oh",
"Jeongwoo Oh",
"Jaeseok Heo",
"Junseo Lee",
"Gunmin Lee",
"Minjae Kang",
"Jeongho Park",
"Songhwai Oh"
] | Designing a socially-aware navigation method for crowded environments has become a critical issue in robotics. In order to perform navigation in a crowded environment without causing discomfort to nearby pedestrians, it is necessary to design a global planner that is able to consider both human-robot interaction (HRI) and prediction of future states. In this paper, we propose a socially-aware glob... |
SGPT: The Secondary Path Guides the Primary Path in Transformers for HOI Detection | https://ieeexplore.ieee.org/document/10160329/ | [
"Sixian Chan",
"Weixiang Wang",
"Zhanpeng Shao",
"Cong Bai",
"Sixian Chan",
"Weixiang Wang",
"Zhanpeng Shao",
"Cong Bai"
] | HOI detection is essential for human-computer interaction, especially in behavior detection and robot manipulation. Existing mainstream transformer methods of HOI detection are focused on single-stream detection only, e.g., $image \rightarrow HOI(\mathcal{P}_{1})$, or $image \rightarrow HO\rightarrow I(\mathcal{P}_{2})$. Both paths have their own characteristics of concern, so we propose a novel m... |
Robot Person Following Under Partial Occlusion | https://ieeexplore.ieee.org/document/10160738/ | [
"Hanjing Ye",
"Jieting Zhao",
"Yaling Pan",
"Weinan Cherr",
"Li He",
"Hong Zhang",
"Hanjing Ye",
"Jieting Zhao",
"Yaling Pan",
"Weinan Cherr",
"Li He",
"Hong Zhang"
] | Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often as-sume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of ro... |
A Little Bit Attention Is All You Need for Person Re-Identification | https://ieeexplore.ieee.org/document/10160304/ | [
"Markus Eisenbach",
"Jannik Lübberstedt",
"Dustin Aganian",
"Horst-Michael Gross",
"Markus Eisenbach",
"Jannik Lübberstedt",
"Dustin Aganian",
"Horst-Michael Gross"
] | Person re-identification plays a key role in applications where a mobile robot needs to track its users over a long period of time, even if they are partially unobserved for some time, in order to follow them or be available on demand. In this context, deep-learning-based real-time feature extraction on a mobile robot is often performed on special-purpose devices whose computational resources are ... |
Automatic Generation of Robot Facial Expressions with Preferences | https://ieeexplore.ieee.org/document/10160409/ | [
"Bing Tang",
"Rongyun Cao",
"Rongya Chen",
"Xiaoping Chen",
"Bei Hua",
"Feng Wu",
"Bing Tang",
"Rongyun Cao",
"Rongya Chen",
"Xiaoping Chen",
"Bei Hua",
"Feng Wu"
] | The capability of humanoid robots to generate facial expressions is crucial for enhancing interactivity and emotional resonance in human-robot interaction. However, humanoid robots vary in mechanics, manufacturing, and ap-pearance. The lack of consistent processing techniques and the complexity of generating facial expressions pose significant challenges in the field. To acquire solutions with hig... |
A Task Allocation Framework for Human Multi-Robot Collaborative Settings | https://ieeexplore.ieee.org/document/10161458/ | [
"Martina Lippi",
"Paolo Di Lillo",
"Alessandro Marino",
"Martina Lippi",
"Paolo Di Lillo",
"Alessandro Marino"
] | The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. While this integration has the potential to provide various benefits, it also raises questions about how to effectively manage these teams, taking into account the different characteristics of the agents involved. This paper ... |
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