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A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO | https://ieeexplore.ieee.org/document/9981188/ | [
"Alessio De Luca",
"Luca Muratore",
"Nikos G. Tsagarakis",
"Alessio De Luca",
"Luca Muratore",
"Nikos G. Tsagarakis"
] | Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which explores a set of motion primitives and a 2.5D tra... |
Keeping Less is More: Point Sparsification for Visual SLAM | https://ieeexplore.ieee.org/document/9981694/ | [
"Yeonsoo Park",
"Soohyun Bae",
"Yeonsoo Park",
"Soohyun Bae"
] | When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the performance and the range of applications. In sparse feature based SLAM algorithms, one efficient way for this problem is to limit the map point size by selecting the ... |
Online Extrinsic Correction of Multi-Camera Systems by Low-Dimensional Parameterization of Physical Deformation | https://ieeexplore.ieee.org/document/9981254/ | [
"Sangheon Yang",
"Jongwoo Lim",
"Sangheon Yang",
"Jongwoo Lim"
] | In this paper, we propose the online extrinsic correction method that effectively optimizes the extrinsic parameters of multi-camera systems used in visual SLAM. In the typical visual SLAM systems that use multi-camera settings, the intrinsic and extrinsic parameters of the cameras are calculated through offline calibration, which is used as the fixed constraints in online execution. However, the ... |
Active SLAM in 3D deformable environments | https://ieeexplore.ieee.org/document/9982224/ | [
"Mengya Xu",
"Liang Zhao",
"Shoudong Huang",
"Qi Hao",
"Mengya Xu",
"Liang Zhao",
"Shoudong Huang",
"Qi Hao"
] | This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between ac... |
Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery | https://ieeexplore.ieee.org/document/9981611/ | [
"Chang Shi",
"Yi Zheng",
"Ann Majewicz Fey",
"Chang Shi",
"Yi Zheng",
"Ann Majewicz Fey"
] | Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and estimation, surgical skill evaluation, and shared control strategies during teleoperation. Transformer models were first developed for Natural Language Processing (NLP) to model word sequences and soon the method gained pop... |
Automatic Keyframe Detection for Critical Actions from the Experience of Expert Surgeons | https://ieeexplore.ieee.org/document/9981454/ | [
"Jie Zhang",
"Shenchao Shi",
"Yiwei Wang",
"Chidan Wan",
"Huan Zhao",
"Xiong Cai",
"Han Ding",
"Jie Zhang",
"Shenchao Shi",
"Yiwei Wang",
"Chidan Wan",
"Huan Zhao",
"Xiong Cai",
"Han Ding"
] | Robot-Assisted Minimally Invasive Surgery (RAMIS), which introduced robot-actuated invasive tools to increase the dexterity and efficiency of traditional MIS, has become popular. Investigations on how to achieve autonomy in RAMIS have drawn vast intention recently, which urges further insights into the process of the surgical procedures. In this paper, the definition of critical actions, which dis... |
Localization of Interaction using Fibre-Optic Shape Sensing in Soft-Robotic Surgery Tools | https://ieeexplore.ieee.org/document/9981765/ | [
"Solène Dietsch",
"Aoife McDonald–Bowyer",
"Emmanouil Dimitrakakis",
"Joanna M. Coote",
"Lukas Lindenroth",
"Agostino Stilli",
"Danail Stoyanov",
"Solène Dietsch",
"Aoife McDonald–Bowyer",
"Emmanouil Dimitrakakis",
"Joanna M. Coote",
"Lukas Lindenroth",
"Agostino Stilli",
"Danail Stoyanov"
] | Minimally invasive surgery requires real-time tool tracking to guide the surgeon where depth perception and visual occlusion present navigational challenges. Although vision-based and external sensor-based tracking methods exist, fibre-optic sensing can overcome their limitations as they can be integrated directly into the device, are biocompatible, small, robust and geometrically versatile. In th... |
Accurate Pose Estimation for Comanipulation Robotic Surgery | https://ieeexplore.ieee.org/document/9981944/ | [
"Jef De Smet",
"Gianni Borghesan",
"Emmanuel Vander Poorten",
"Jef De Smet",
"Gianni Borghesan",
"Emmanuel Vander Poorten"
] | Robotic comanipulation provides a cost-effective solution to telesurgery when remote operation is not strictly necessary. Within the field of laparoscopic surgery, the comanip-ulation scenario is only recently being exploited commercially in the form of lightweight backdrivable systems. A passive wrist backdrivable robot does not require preoperative alignment with the incision that acts as a fulc... |
Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction | https://ieeexplore.ieee.org/document/9982145/ | [
"Ruofeng Wei",
"Bin Li",
"Hangjie Mo",
"Fangxun Zhong",
"Yonghao Long",
"Qi Dou",
"Yun-Hui Liu",
"Dong Sun",
"Ruofeng Wei",
"Bin Li",
"Hangjie Mo",
"Fangxun Zhong",
"Yonghao Long",
"Qi Dou",
"Yun-Hui Liu",
"Dong Sun"
] | Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-based surgical systems due to the use of monocular endoscopy. In this paper, we present a novel framewor... |
Differentiable Collision Avoidance Using Collision Primitives | https://ieeexplore.ieee.org/document/9981093/ | [
"Simon Zimmermann",
"Matthias Busenhart",
"Simon Huber",
"Roi Poranne",
"Stelian Coros",
"Simon Zimmermann",
"Matthias Busenhart",
"Simon Huber",
"Roi Poranne",
"Stelian Coros"
] | A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between robots and obstacles. These computations can easily become a bottleneck, as they do not scale well with the complexity of the robots or the environment. To imp... |
Informed Sampling-based Collision Avoidance with Least Deviation from the Nominal Path | https://ieeexplore.ieee.org/document/9982202/ | [
"Thomas T. Enevoldsen",
"Roberto Galeazzi",
"Thomas T. Enevoldsen",
"Roberto Galeazzi"
] | This paper addresses local path re-planning for n-dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specified nominal path, such that the subset efficiently encapsulates all points along the nominal path. The... |
Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space | https://ieeexplore.ieee.org/document/9981453/ | [
"Lea Steffen",
"Tobias Weyer",
"Stefan Ulbrich",
"Arne Roennau",
"Rüdiger Dillmann",
"Lea Steffen",
"Tobias Weyer",
"Stefan Ulbrich",
"Arne Roennau",
"Rüdiger Dillmann"
] | We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path plan-ning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself and static as well as dynamic obstacles are mapped from the Cartesian task to the configuration space by precomputed kinematics. The condensed space represents a... |
HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps | https://ieeexplore.ieee.org/document/9981740/ | [
"Xi Huang",
"Gergely Sóti",
"Hongyi Zhou",
"Christoph Ledermann",
"Björn Hein",
"Torsten Kröger",
"Xi Huang",
"Gergely Sóti",
"Hongyi Zhou",
"Christoph Ledermann",
"Björn Hein",
"Torsten Kröger"
] | With the goal of efficiently computing collisionfree robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot environments into static and dynamic elements, we use the static part for initializing a deterministic roadmap, which provides a lower bound of the final path cost as infor... |
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers | https://ieeexplore.ieee.org/document/9982198/ | [
"Caleb Escobedo",
"Nataliya Nechyporenko",
"Shreyas Kadekodi",
"Alessandro Roncone",
"Caleb Escobedo",
"Nataliya Nechyporenko",
"Shreyas Kadekodi",
"Alessandro Roncone"
] | Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware con-trollers, methods for altering a robot's motion to anticipate and avoid possible collisions. This framework is focused on three design considerations: kinematics, motion profiles, and virtual constraints. Additionally, the analysis in ... |
Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots | https://ieeexplore.ieee.org/document/9981426/ | [
"Mela Coffey",
"Alyssa Pierson",
"Mela Coffey",
"Alyssa Pierson"
] | We propose a collaborative teleoperation algorithm which utilizes haptic force feedback to guide users around oncoming obstacles while accounting for non-holonomic constraints. The proposed algorithm predicts the user's goal, plans a path using a modified RRT* algorithm to the predicted goal, and provides haptic guidance to the path and away from obstacles when the user is in an unsafe pose. We sh... |
Fidelity Evaluation of Virtual Traffic Based on Anomalous Trajectory Detection | https://ieeexplore.ieee.org/document/9981800/ | [
"Chaoneng Li",
"Qianwen Chao",
"Guanwen Feng",
"Qiongyan Wang",
"Pengfei Liu",
"Yunan Li",
"Qiguang Miao",
"Chaoneng Li",
"Qianwen Chao",
"Guanwen Feng",
"Qiongyan Wang",
"Pengfei Liu",
"Yunan Li",
"Qiguang Miao"
] | Measuring the fidelity of synthesized virtual traffic has become an important and fundamental concern for evaluating the performance of different traffic simulation techniques and applications of autonomous vehicle testing. In this work, we propose a novel method to evaluate the fidelity of any trajectory data from the perspective of anomalous trajectory detection. First, given the trajectory data... |
Learning to Simulate Realistic LiDARs | https://ieeexplore.ieee.org/document/9981120/ | [
"Benoît Guillard",
"Sai Vemprala",
"Jayesh K. Gupta",
"Ondrej Miksik",
"Vibhav Vineet",
"Pascal Fua",
"Ashish Kapoor",
"Benoît Guillard",
"Sai Vemprala",
"Jayesh K. Gupta",
"Ondrej Miksik",
"Vibhav Vineet",
"Pascal Fua",
"Ashish Kapoor"
] | Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for data-driven simulation of a realistic LiDAR sensor. We propose a model that learns a mapping between RGB images and corresponding LiDAR features such as raydrop or pe... |
Realistic Real-Time Simulation of RGB and Depth Sensors for Dynamic Scenarios using Augmented Image Based Rendering | https://ieeexplore.ieee.org/document/9982014/ | [
"Johan Vertens",
"Wolfram Burgard",
"Johan Vertens",
"Wolfram Burgard"
] | Simulation remains one of the key methods for testing and validation of robotic perception systems and it also becomes increasingly important for training visuomotor policies for autonomous driving or manipulation. Further, as perception pipelines tend to leverage increasing amounts of modalities, it appears vital to simulate additional cues such as depth maps aside from RGB images. To align simul... |
Sequential Manipulation Planning on Scene Graph | https://ieeexplore.ieee.org/document/9981735/ | [
"Ziyuan Jiao",
"Yida Niu",
"Zeyu Zhang",
"Song-Chun Zhu",
"Yixin Zhu",
"Hangxin Liu",
"Ziyuan Jiao",
"Yida Niu",
"Zeyu Zhang",
"Song-Chun Zhu",
"Yixin Zhu",
"Hangxin Liu"
] | We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal configurations, naturally specified on contact graphs, can be produced by a genetic algorithm with a sto... |
Competency Assessment for Autonomous Agents using Deep Generative Models | https://ieeexplore.ieee.org/document/9981991/ | [
"Aastha Acharya",
"Rebecca Russell",
"Nisar R. Ahmed",
"Aastha Acharya",
"Rebecca Russell",
"Nisar R. Ahmed"
] | For autonomous agents to act as trustworthy partners to human users, they must be able to reliably communicate their competency for the tasks they are asked to perform. Towards this objective, we develop probabilistic world models based on deep generative modelling that allow for the simulation of agent trajectories and accurate calculation of tasking outcome probabilities. By combining the streng... |
HRI Framework for Continual Learning in Face Recognition | https://ieeexplore.ieee.org/document/9981671/ | [
"Giulia Belgiovine",
"Jonas Gonzlez-Billandon",
"Alessandra Sciutti",
"Giulio Sandini",
"Francesco Rea",
"Giulia Belgiovine",
"Jonas Gonzlez-Billandon",
"Alessandra Sciutti",
"Giulio Sandini",
"Francesco Rea"
] | Recognizing human partners is an essential social skill for building personalized and long-term human-robot interactions. However, robots deployed in complex, real-world environments have to face several challenges, such as managing unstructured interactions with multiple users, limited computational resources, and intrinsic and continuous variability of their sensory evidence. To cope with these ... |
Should a Robot Follow Social Norms? Human-Robot Interaction Design for Social Relations in Mixed Age Group | https://ieeexplore.ieee.org/document/9981755/ | [
"Sangmin Kim",
"Jongsuk Choi",
"Yoonseob Lim",
"Sonya S. Kwak",
"Sangmin Kim",
"Jongsuk Choi",
"Yoonseob Lim",
"Sonya S. Kwak"
] | Social relations within a group are one of the factors that build the social context. Less attention has been paid to social relations within a group for human-robot interaction design. In this study, we designed different types of service behaviors for social relations in a mixed age group and conducted an experiment to investigate the effect of service behavior types (serving the elderly first v... |
A Novel Wire-driven 3D Eyebrow Design for Communication with Humanoid Robot iCub | https://ieeexplore.ieee.org/document/9981954/ | [
"Motonobu Aoki",
"Karthikeyan Kalyanasundaram Balasubramanian",
"Diego Torazza",
"Francesco Rea",
"Doreen Jirak",
"Giulio Sandini",
"Takura Yanagi",
"Atsushi Takamatsu",
"Stephane Bouet",
"Tomohiro Yamamura",
"Motonobu Aoki",
"Karthikeyan Kalyanasundaram Balasubramanian",
"Diego Torazza",
"Francesco Rea",
"Doreen Jirak",
"Giulio Sandini",
"Takura Yanagi",
"Atsushi Takamatsu",
"Stephane Bouet",
"Tomohiro Yamamura"
] | The purpose of this research is to contribute to social communication between humans and robots in scenes that have been considered difficult due to the limited facial expression capabilities of robots. In order to provide more detailed facial expressions, we designed a novel wire-driven 3D eyebrow using a soft material with a bending structure. We then demonstrated the mechanical properties of th... |
SanitizerBot: How Human-in-the-Loop Social Robots Can Playfully Support Humans | https://ieeexplore.ieee.org/document/9981917/ | [
"Yao-Lin Tsai",
"Parthasarathy Reddy Bana",
"Sierra Loiselle",
"Heather Knight",
"Yao-Lin Tsai",
"Parthasarathy Reddy Bana",
"Sierra Loiselle",
"Heather Knight"
] | This paper evaluates a robot that distributed hand-sanitizer over an eight month period (October 2020-June 2021) in public places on the Oregon State University campus. During COVID times, many robots have been deployed in public places as social distancing enforcers, food delivery robots, UV-sanitation robots and more, but few studies have assessed the social situations of these robots. Using the... |
Deep Gesture Generation for Social Robots Using Type-Specific Libraries | https://ieeexplore.ieee.org/document/9981734/ | [
"Hitoshi Teshima",
"Naoki Wake",
"Diego Thomas",
"Yuta Nakashima",
"Hiroshi Kawasaki",
"Katsushi Ikeuchi",
"Hitoshi Teshima",
"Naoki Wake",
"Diego Thomas",
"Yuta Nakashima",
"Hiroshi Kawasaki",
"Katsushi Ikeuchi"
] | Body language such as conversational gesture is a powerful way to ease communication. Conversational gestures do not only make a speech more lively but also contain semantic meaning that helps to stress important information in the discussion. In the field of robotics, giving conversational agents (humanoid robots or virtual avatars) the ability to properly use gestures is critical, yet remain a t... |
Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum | https://ieeexplore.ieee.org/document/9981380/ | [
"Federico Allione",
"Antonios E. Gkikakis",
"Roy Featherstone",
"Federico Allione",
"Antonios E. Gkikakis",
"Roy Featherstone"
] | This paper demonstrates the practical performance of a new theory of balance control that has been shown in simulation to out-perform earlier balance control theories in the sense of allowing the robot to make larger and faster movements while still maintaining its balance. The case studied here is that of a general planar double inverted pendulum, which resembles a legged robot's behaviour when t... |
Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance | https://ieeexplore.ieee.org/document/9981410/ | [
"Shimpei Sato",
"Yuta Kojio",
"Yohei Kakiuchi",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Shimpei Sato",
"Yuta Kojio",
"Yohei Kakiuchi",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba"
] | When robots walk on uneven terrain, trajectory planning should take into account both the whole-body dy-namics and the ground geometry simultaneously. In uneven terrain environments, there are only a limited number of places where the robot is able to make stable contact with the ground without its feet wobbling or slipping because of the intricate round geometry. In such environments, the optiona... |
Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach | https://ieeexplore.ieee.org/document/9981487/ | [
"Rémy Rahem",
"Christopher Yee Wong",
"Wael Suleiman",
"Rémy Rahem",
"Christopher Yee Wong",
"Wael Suleiman"
] | In order to properly integrate humanoid robots in real-life situations, they must be able to collaborate with humans in completing tasks. One of these tasks is the cooperative transportation of a heavy object, which has been widely studied in the humanoids literature. However, the proposed methods rely heavily on six-axis force/torque (F/T) sensors at the wrists, which medium-sized or even some fu... |
Hands-free Telelocomotion of a Wheeled Humanoid | https://ieeexplore.ieee.org/document/9981629/ | [
"Amartya Purushottam",
"Yeongtae Jung",
"Kevin Murphy",
"Donghoon Baek",
"Joao Ramos",
"Amartya Purushottam",
"Yeongtae Jung",
"Kevin Murphy",
"Donghoon Baek",
"Joao Ramos"
] | Robotic systems capable of Dynamic Mobile Manipulation (DMM) tasks combine dynamic manipulation and locomotion and could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it aside. Here we introduce a teleoperation system that targets the realization of these tasks using human... |
Improved Zero Step Push Recovery with a Unified Reduced Order Model of Standing Balance | https://ieeexplore.ieee.org/document/9981193/ | [
"Thomas Huckell",
"Amy R. Wu",
"Thomas Huckell",
"Amy R. Wu"
] | Standing balance for legged robots can be achieved through regulating the center of pressure (ankle strategy), the angular momentum about the center of mass (hip strategy), and the magnitude of ground reaction force (variable height strategy). Prevalent reduced order models used to model legged robots at most only capture two of these strategies, and the contribution of the three available strateg... |
Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole | https://ieeexplore.ieee.org/document/9981889/ | [
"Yun-Ho Han",
"Junyeon Namgung",
"Baek-Kyu Cho",
"Yun-Ho Han",
"Junyeon Namgung",
"Baek-Kyu Cho"
] | Although many walking control frameworks have been developed to enable biped robots to walk stably on uneven terrain, the foot sole of the robot is also important. Inspired by that study, we have developed a Variable Stiffness Sole (VSS), which is able to adapt to the shape of the obstacles on the ground in Compliant Mode and provide robust support in Stiff Mode. Furthermore, we proposed a walking... |
Watch Me Calibrate My Force-Sensing Shoes! | https://ieeexplore.ieee.org/document/9982221/ | [
"Yuanfeng Han",
"Boren Jiang",
"Gregory S. Chirikjian",
"Yuanfeng Han",
"Boren Jiang",
"Gregory S. Chirikjian"
] | This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reac... |
Unsupervised confidence for LiDAR depth maps and applications | https://ieeexplore.ieee.org/document/9981654/ | [
"Andrea Conti",
"Matteo Poggi",
"Filippo Aleotti",
"Stefano Mattoccia",
"Andrea Conti",
"Matteo Poggi",
"Filippo Aleotti",
"Stefano Mattoccia"
] | Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be coupled with an RGB camera to understand the framed scene semantically. Usually, the former is projected over the camera image plane, leading to a sparse depth... |
Multi-Scaled and Densely Connected Locally Convolutional Layers for Depth Completion | https://ieeexplore.ieee.org/document/9982179/ | [
"Sihaeng Lee",
"Eojindl Yi",
"Janghyeon Lee",
"Junmo Kim",
"Sihaeng Lee",
"Eojindl Yi",
"Janghyeon Lee",
"Junmo Kim"
] | The depth completion task aims to predict a dense depth map from a sparse LiDAR point cloud and an RGB image. This task is critical because an accurate depth map can be used as prior information to solve many computer vision tasks, such as downstream tasks in autonomous vehicles and robot vision. Previous deep learning methods which focus on the local affinity have achieved impressive results. How... |
From Local to Holistic: Self-supervised Single Image 3D Face Reconstruction Via Multi-level Constraints | https://ieeexplore.ieee.org/document/9982284/ | [
"Yawen Lu",
"Michel Sarkis",
"Ning Bi",
"Guoyu Lu",
"Yawen Lu",
"Michel Sarkis",
"Ning Bi",
"Guoyu Lu"
] | Single image 3D face reconstruction with accurate geometric details is a critical and challenging task due to the similar appearance on the face surface and fine details in organs. In this work, we introduce a self-supervised 3D face reconstruction approach from a single image that can recover detailed textures under different camera settings. The proposed network learns high-quality disparity map... |
Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation | https://ieeexplore.ieee.org/document/9981342/ | [
"Shao-Yuan Lo",
"Wei Wang",
"Jim Thomas",
"Jingjing Zheng",
"Vishal M. Patel",
"Cheng-Hao Kuo",
"Shao-Yuan Lo",
"Wei Wang",
"Jim Thomas",
"Jingjing Zheng",
"Vishal M. Patel",
"Cheng-Hao Kuo"
] | Monocular depth estimation (MDE) has attracted intense study due to its low cost and critical functions for robotic tasks such as localization, mapping and obstacle detection. Supervised approaches have led to great success with the advance of deep learning, but they rely on large quantities of ground-truth depth annotations that are expensive to acquire. Unsupervised domain adaptation (UDA) trans... |
Inferring Articulated Rigid Body Dynamics from RGBD Video | https://ieeexplore.ieee.org/document/9981687/ | [
"Eric Heiden",
"Ziang Liu",
"Vibhav Vineet",
"Erwin Coumans",
"Gaurav S. Sukhatme",
"Eric Heiden",
"Ziang Liu",
"Vibhav Vineet",
"Erwin Coumans",
"Gaurav S. Sukhatme"
] | Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to obtain. Despite recent progress, significant human effort is needed to configure simulators to accurately reproduce real-world behavior. We introduce a pipeline ... |
Multi-View Guided Multi-View Stereo | https://ieeexplore.ieee.org/document/9982010/ | [
"Matteo Poggi",
"Andrea Conti",
"Stefano Mattoccia",
"Matteo Poggi",
"Andrea Conti",
"Stefano Mattoccia"
] | This paper introduces a novel deep framework for dense 3D reconstruction from multiple image frames, leveraging a sparse set of depth measurements gathered jointly with image acquisition. Given a deep multi-view stereo network, our framework uses sparse depth hints to guide the neural network by modulating the plane-sweep cost volume built during the forward step, enabling us to infer constantly m... |
Semantic Scene Completion through Multi-Level Feature Fusion | https://ieeexplore.ieee.org/document/9981517/ | [
"Ruochong Fu",
"Hang Wu",
"Mengxiang Hao",
"Yubin Miao",
"Ruochong Fu",
"Hang Wu",
"Mengxiang Hao",
"Yubin Miao"
] | Partial observation of indoor scenes (single-viewed RGB-D) carries insufficient spatial information for complex tasks such as autonomous navigation and virtual reality, thus many learning-based methods are proposed to realize semantic scene completion (SSC) from single-viewed input. However, most of them only extract scene-level features of input to generate output, which might lose details. In th... |
Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs | https://ieeexplore.ieee.org/document/9982072/ | [
"Christopher Morency",
"Daniel J. Stilwell",
"Christopher Morency",
"Daniel J. Stilwell"
] | We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward looking sonar are prohibitive. In contrast, a single-beam system is relatively easy to integrate into a small AUV, but does not provide the performance of a mult... |
Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions | https://ieeexplore.ieee.org/document/9981861/ | [
"Nikolas Sacchi",
"Enrico Simetti",
"Gianluca Antonelli",
"Giovanni Indiveri",
"Vincent Creuze",
"Marc Gouttefarde",
"Nikolas Sacchi",
"Enrico Simetti",
"Gianluca Antonelli",
"Giovanni Indiveri",
"Vincent Creuze",
"Marc Gouttefarde"
] | Many operations performed by work class Remotely Operated Vehicles (ROVs) require the manipulation of heavy loads. An example is the manipulation and grouting of armour stones. A way to increase the working capabilities of the ROV is to introduce cables among the set of actuators. The cable lengths and tensions are controlled by winches placed on the vehicle. Being similar to a cable-driven parall... |
Improving Marine Radar Odometry by Modeling Radar Resolution and Exploiting Additional Temporal Information | https://ieeexplore.ieee.org/document/9981293/ | [
"Carl H. Schiller",
"Bruno Arsenali",
"Deran Maas",
"Stefano Maranó",
"Carl H. Schiller",
"Bruno Arsenali",
"Deran Maas",
"Stefano Maranó"
] | Radar odometry may provide valuable input for surface vessels in several marine applications. The vulnerability of global positioning satellite systems to jamming and spoofing motivates the search for alternatives. In this work, we investigate the feasibility of W-band frequency modulated continuous wave radars in marine settings for odometry. A method to model radar resolution is presented and is... |
UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions | https://ieeexplore.ieee.org/document/9981364/ | [
"Fabian Steinmetz",
"Daniel A Duecker",
"Nils Sichert",
"Christian Busse",
"Edwin Kreuzer",
"Bernd-Christian Renner",
"Fabian Steinmetz",
"Daniel A Duecker",
"Nils Sichert",
"Christian Busse",
"Edwin Kreuzer",
"Bernd-Christian Renner"
] | Considering realistic characteristics of acoustic localization methods is crucial for roboticists when developing guidance and control algorithms for small and agile underwater robots. Current simulators either rely purely on geometric distancing, i.e. do not consider dynamic effects such as robot motion during acoustic signal propagation, or they are too complex for usage by non-communication exp... |
HoloOcean: Realistic Sonar Simulation | https://ieeexplore.ieee.org/document/9981119/ | [
"Easton Potokar",
"Kalliyan Lay",
"Kalin Norman",
"Derek Benham",
"Tracianne B. Neilsen",
"Michael Kaess",
"Joshua G. Mangelson",
"Easton Potokar",
"Kalliyan Lay",
"Kalin Norman",
"Derek Benham",
"Tracianne B. Neilsen",
"Michael Kaess",
"Joshua G. Mangelson"
] | Sonar sensors play an integral part in underwater robotic perception by providing imagery at long distances where standard optical cameras cannot. They have proven to be an important part in various robotic algorithms including localization, mapping, and structure from motion. Unfortunately, generating realistic sonar imagery for algorithm development is difficult due to the high cost of field tri... |
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams | https://ieeexplore.ieee.org/document/9981822/ | [
"John McConnell",
"Yewei Huang",
"Paul Szenher",
"Ivana Collado-Gonzalez",
"Brendan Englot",
"John McConnell",
"Yewei Huang",
"Paul Szenher",
"Ivana Collado-Gonzalez",
"Brendan Englot"
] | An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the team members. However, this has primarily been achieved with direct rendezvous between underwater robots, via inter-robot ranging. We propose a novel distribut... |
Confined Water Body Coverage under Resource Constraints | https://ieeexplore.ieee.org/document/9981764/ | [
"Ibrahim Salman",
"Jason Raiti",
"Nare Karapetyan",
"Archana Venkatachari",
"Annie Bourbonnais",
"Jason M. O'Kane",
"Ioannis Rekleitis",
"Ibrahim Salman",
"Jason Raiti",
"Nare Karapetyan",
"Archana Venkatachari",
"Annie Bourbonnais",
"Jason M. O'Kane",
"Ioannis Rekleitis"
] | This paper presents a novel algorithm for monitoring marine environments utilizing a resource-constrained robot. Collecting water quality data from large bodies of water is paramount for monitoring the ecosystem's health, particularly for predicting harmful cyanobacteria blooms. The large spatial dimensions of such bodies of water and the slow varying of water quality parameters make exhaustive, c... |
Design of a Soft Wearable Passive Fitness Device for Upper Limb Resistance Exercise | https://ieeexplore.ieee.org/document/9981189/ | [
"Junghoon Park",
"Jaehong Kim",
"Dong Hyun Kim",
"Jungsik Hwang",
"Youngtae G. Kim",
"SeungYong Hyung",
"Soon-Heum Ko",
"Minhyung Lee",
"Junghoon Park",
"Jaehong Kim",
"Dong Hyun Kim",
"Jungsik Hwang",
"Youngtae G. Kim",
"SeungYong Hyung",
"Soon-Heum Ko",
"Minhyung Lee"
] | An increase in health awareness has fueled the development of fitness equipment or devices nowadays. Most conventional fitness devices have had some issues in space limitation and the high cost of equipment. With the advance in wearable robotics, we proposed a soft passive fitness wearable device for upper limb resistance exercises such as chest press, frontal raise, and chest fly. Users can custo... |
Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming | https://ieeexplore.ieee.org/document/9981444/ | [
"Weiwang Fan",
"He Xu",
"Haihang Wang",
"Siqing Chen",
"Qiandiao Wei",
"Chaochao You",
"Weiwang Fan",
"He Xu",
"Haihang Wang",
"Siqing Chen",
"Qiandiao Wei",
"Chaochao You"
] | Soft robots have a wide rang of applications due to their compliance, flexibility and low fabrication cost. Compare to rigid robots, soft robots are more safe for human. In this work, we design various multi-DoF actuators with spring reinforce and particle jamming, and two fabrication methods are proposed to make them. Each type of actuator is tested to evaluate the mechanical properties by experi... |
Automated Fruit Quality Testing using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper | https://ieeexplore.ieee.org/document/9981987/ | [
"Elijah Almanzor",
"Thomas George Thuruthel",
"Fumiya Iida",
"Elijah Almanzor",
"Thomas George Thuruthel",
"Fumiya Iida"
] | Soft robotic grippers are becoming increasingly popular for agricultural and logistics automation. Their passive conformability enables them to adapt to varying product shapes and sizes, providing stable large-area grasps. This work presents a novel methodology for combining soft robotic grippers with electrical impedance tomography-based sensors to infer intrinsic properties of grasped fruits. We... |
Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle | https://ieeexplore.ieee.org/document/9982171/ | [
"Joshua Pinskier",
"James Brett",
"Lauren Hanson",
"Katrina Lo Surdo",
"David Howard",
"Joshua Pinskier",
"James Brett",
"Lauren Hanson",
"Katrina Lo Surdo",
"David Howard"
] | Fibre jamming is a new and understudied soft robotic mechanism that has previously found success in stiffness-tunable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-materia... |
Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor Array | https://ieeexplore.ieee.org/document/9981972/ | [
"Haoyuan Wang",
"Hongge Ru",
"Hongliang Lei",
"Chi Zhang",
"Cheng Han",
"Hao Wu",
"Jian Huang",
"Haoyuan Wang",
"Hongge Ru",
"Hongliang Lei",
"Chi Zhang",
"Cheng Han",
"Hao Wu",
"Jian Huang"
] | Although the grasping state analysis is vital in the study of manipulators, the grasping state analysis of soft manipulators as an independent research topic is not much so far. This paper proposes a novel pneumatic soft manipulator with a flexible tactile sensor array (SM-FTSA). The flexible tactile sensor array comprises piezoresistive materials with a porous structure. An equal potential approa... |
Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots | https://ieeexplore.ieee.org/document/9982117/ | [
"Eren Allak",
"Axel Barrau",
"Roland Jung",
"Jan Steinbrener",
"Stephan Weiss",
"Eren Allak",
"Axel Barrau",
"Roland Jung",
"Jan Steinbrener",
"Stephan Weiss"
] | Collaboratively estimating the state of two robots under communication constraints is challenging regarding computational complexity and statistical optimality. Previous work only achieves practical solutions by either disregarding parts of the measurements or imposing a communication overhead, being non-optimal or not entirely distributed, respectively. In this work, we present a centralized-equi... |
InCloud: Incremental Learning for Point Cloud Place Recognition | https://ieeexplore.ieee.org/document/9981252/ | [
"Joshua Knights",
"Peyman Moghadam",
"Milad Ramezani",
"Sridha Sridharan",
"Clinton Fookes",
"Joshua Knights",
"Peyman Moghadam",
"Milad Ramezani",
"Sridha Sridharan",
"Clinton Fookes"
] | Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or highly dynamic environments, and require additional training on the collected data. However naively fine-tuning on new training distributions can cause severe degra... |
LNC Assisted Localization and Mapping in Pipe Environment | https://ieeexplore.ieee.org/document/9981563/ | [
"Hongkai Zhang",
"Jianjun Yuan",
"Shijie Guo",
"Hesheng Wang",
"Shugen Ma",
"Sheng Bao",
"Liang Du",
"Hongkai Zhang",
"Jianjun Yuan",
"Shijie Guo",
"Hesheng Wang",
"Shugen Ma",
"Sheng Bao",
"Liang Du"
] | Regular maintenance of pipelines is an important task to ensure oil transportation and other operation (sewers, nature gas). Precise localization of pipeline damage can greatly improve the efficiency of maintenance work. Since the texture similarity and illumination change of pipe, traditional local descriptors for image matching like SIFT, SURF and ORB are easy to suffer from false correspondence... |
Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning | https://ieeexplore.ieee.org/document/9981982/ | [
"Eugene Valassakis",
"Georgios Papagiannis",
"Norman Di Palo",
"Edward Johns",
"Eugene Valassakis",
"Georgios Papagiannis",
"Norman Di Palo",
"Edward Johns"
] | We present DOME, a novel method for one-shot imitation learning, where a task can be learned from just a single demonstration and then be deployed immediately, without any further data collection or training. DOME does not require prior task or object knowledge, and can perform the task in novel object configurations and with distractors. At its core, DOME uses an image-conditioned object segmenta... |
Using human gaze in few-shot imitation learning for robot manipulation | https://ieeexplore.ieee.org/document/9981706/ | [
"Shogo Hamano",
"Heecheol Kim",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi",
"Shogo Hamano",
"Heecheol Kim",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi"
] | Imitation learning has attracted attention as a method for realizing complex robot control without programmed robot behavior. Meta-imitation learning has been proposed to solve the high cost of data collection and low generalizability to new tasks that imitation learning suffers from. Meta-imitation can learn new tasks involving unknown objects from a small amount of data by learning multiple task... |
Divide & Conquer Imitation Learning | https://ieeexplore.ieee.org/document/9982020/ | [
"Alexandre Chenu",
"Nicolas Perrin-Gilbert",
"Olivier Sigaud",
"Alexandre Chenu",
"Nicolas Perrin-Gilbert",
"Olivier Sigaud"
] | When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach to bootstrap the learning process. However, most IL methods require several expert demonstrations which can be prohibitively difficult to acquire. Only a handfu... |
MMFN: Multi-Modal-Fusion-Net for End-to-End Driving | https://ieeexplore.ieee.org/document/9981775/ | [
"Qingwen Zhang",
"Mingkai Tang",
"Ruoyu Geng",
"Feiyi Chen",
"Ren Xin",
"Lujia Wang",
"Qingwen Zhang",
"Mingkai Tang",
"Ruoyu Geng",
"Feiyi Chen",
"Ren Xin",
"Lujia Wang"
] | Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs are fused through transformers for better driving performance. These inputs are normally further interpreted as high-level map information to assist navigation... |
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning | https://ieeexplore.ieee.org/document/9981888/ | [
"Andrea Tagliabue",
"Jonathan P. How",
"Andrea Tagliabue",
"Jonathan P. How"
] | Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often data-inefficient, requiring the collection of a large number of demonstrations and producing policies with limited robustness to uncertainties. In this work, we comb... |
Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving | https://ieeexplore.ieee.org/document/9981695/ | [
"Eli Bronstein",
"Mark Palatucci",
"Dominik Notz",
"Brandyn White",
"Alex Kuefler",
"Yiren Lu",
"Supratik Paul",
"Payam Nikdel",
"Paul Mougin",
"Hongge Chen",
"Justin Fu",
"Austin Abrams",
"Punit Shah",
"Evan Racah",
"Benjamin Frenkel",
"Shimon Whiteson",
"Dragomir Anguelov",
"Eli Bronstein",
"Mark Palatucci",
"Dominik Notz",
"Brandyn White",
"Alex Kuefler",
"Yiren Lu",
"Supratik Paul",
"Payam Nikdel",
"Paul Mougin",
"Hongge Chen",
"Justin Fu",
"Austin Abrams",
"Punit Shah",
"Evan Racah",
"Benjamin Frenkel",
"Shimon Whiteson",
"Dragomir Anguelov"
] | We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to arbitrary goal routes, and measure performance using a closed-loop evaluation framework with simulated interactive agents. We train policies from expert trajectorie... |
Back to the Manifold: Recovering from Out-of-Distribution States | https://ieeexplore.ieee.org/document/9981315/ | [
"Alfredo Reichlin",
"Giovanni Luca Marchetti",
"Hang Yin",
"Ali Ghadirzadeh",
"Danica Kragic",
"Alfredo Reichlin",
"Giovanni Luca Marchetti",
"Hang Yin",
"Ali Ghadirzadeh",
"Danica Kragic"
] | Learning from previously collected datasets of expert data offers the promise of acquiring robotic policies without unsafe and costly online explorations. However, a major challenge is a distributional shift between the states in the training dataset and the ones visited by the learned policy at the test time. While prior works mainly studied the distribution shift caused by the policy during the ... |
dPMP-Deep Probabilistic Motion Planning: A use case in Strawberry Picking Robot | https://ieeexplore.ieee.org/document/9982187/ | [
"Alessandra Tafuro",
"Bappaditya Debnath",
"Andrea M. Zanchettin",
"E. Amir Ghalamzan",
"Alessandra Tafuro",
"Bappaditya Debnath",
"Andrea M. Zanchettin",
"E. Amir Ghalamzan"
] | This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep move-ment primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper extends DMPs and presents a deep probabilistic model that maps the visual information into a distribution of effective robot trajectories. The architecture that lea... |
Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion | https://ieeexplore.ieee.org/document/9981553/ | [
"Zhi Xu",
"Hongbo Zhu",
"Hua Chen",
"Wei Zhang",
"Zhi Xu",
"Hongbo Zhu",
"Hua Chen",
"Wei Zhang"
] | This paper studies the problem of constructing polytopic representations for planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged locomotion applications. To address the polytopic planar region characterization problem, we propose a two-stage solution scheme. At the first stage, the planar r... |
Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions | https://ieeexplore.ieee.org/document/9981137/ | [
"Quentin Serdel",
"Christophe Grand",
"Julien Marzat",
"Julien Moras",
"Quentin Serdel",
"Christophe Grand",
"Julien Marzat",
"Julien Moras"
] | This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown environments and provide an associated colored 3D mesh representation in real time. It is intended to be used by a remote human operator to easily visualise the map... |
Speed up of Wave-Driven Unmanned Surface Vehicle Using Passively Transformable Two-segment Foils | https://ieeexplore.ieee.org/document/9982255/ | [
"Lyucheng Xie",
"Hongzheng Cui",
"Tin Lun Lam",
"Lyucheng Xie",
"Hongzheng Cui",
"Tin Lun Lam"
] | For wave-driven unmanned surface vehicles (WUSVs), utilizing oscillating foils is the most straightforward and common wave energy conversion mechanism. Improving the thrust of the oscillating foil to increase its speed can help WUSVs improve their maneuverability and shorten the completion of ocean missions. This paper proposes a novel transformable two-segment foil, improving the wave energy-conv... |
Forest Traversability Mapping (FTM): Traversability estimation using 3D voxel-based Normal Distributed Transform to enable forest navigation | https://ieeexplore.ieee.org/document/9981401/ | [
"Fabio Ruetz",
"Paulo Borges",
"Niko Suenderhauf",
"Emili Hernández",
"Thierry Peynot",
"Fabio Ruetz",
"Paulo Borges",
"Niko Suenderhauf",
"Emili Hernández",
"Thierry Peynot"
] | Autonomous navigation in dense vegetation remains an open challenge and is an area of major interest for the research community. In this paper we propose a novel traversability estimation method, the Forest Traversability Map, that gives autonomous ground vehicles the ability to navigate in harsh forests or densely vegetated environments. The method estimates travers ability in unstructured enviro... |
Learning Pseudo Front Depth for 2D Forward-Looking Sonar-based Multi-view Stereo | https://ieeexplore.ieee.org/document/9982049/ | [
"Yusheng Wang",
"Yonghoon Ji",
"Hiroshi Tsuchiya",
"Hajime Asama",
"Atsushi Yamashita",
"Yusheng Wang",
"Yonghoon Ji",
"Hiroshi Tsuchiya",
"Hajime Asama",
"Atsushi Yamashita"
] | Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which allows the robot to generate 3D maps with fly-through motion. However, owing to the unique image formulation principle, estimating 3D information from a single image... |
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget | https://ieeexplore.ieee.org/document/9981271/ | [
"Oriana Peltzer",
"Amanda Bouman",
"Sung-Kyun Kim",
"Ransalu Senanayake",
"Joshua Ott",
"Harrison Delecki",
"Mamoru Sobue",
"Mykel J. Kochenderfer",
"Mac Schwager",
"Joel Burdick",
"Ali-akbar Agha-mohammadi",
"Oriana Peltzer",
"Amanda Bouman",
"Sung-Kyun Kim",
"Ransalu Senanayake",
"Joshua Ott",
"Harrison Delecki",
"Mamoru Sobue",
"Mykel J. Kochenderfer",
"Mac Schwager",
"Joel Burdick",
"Ali-akbar Agha-mohammadi"
] | We present a method for autonomous exploration of large-scale unknown environments under mission time con-straints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) - a generalization of the traditional orienteering problem where the assumption of a reliable environmental model no longer holds. The FIG-OP ad-dresses model uncertainty by frontloading expected inf... |
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR) | https://ieeexplore.ieee.org/document/9982270/ | [
"Matthew Malencia",
"Sandeep Manjanna",
"M. Ani Hsieh",
"George Pappas",
"Vijay Kumar",
"Matthew Malencia",
"Sandeep Manjanna",
"M. Ani Hsieh",
"George Pappas",
"Vijay Kumar"
] | In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decision making. Current robotic sampling methods seek to gather information about an observable spatial field. However, many applications, such as environmental monitoring and precision agriculture, involve phenomena that ar... |
Online Planning for Interactive-POMDPs using Nested Monte Carlo Tree Search | https://ieeexplore.ieee.org/document/9981713/ | [
"Jonathon Schwartz",
"Ruijia Zhou",
"Hanna Kurniawati",
"Jonathon Schwartz",
"Ruijia Zhou",
"Hanna Kurniawati"
] | The ability to make good decisions in partially observed non-cooperative multi-agent scenarios is important for robots to interact effectively in human environments. A robust framework for such decision-making problems is the Interactive Partially Observable Markov Decision Processes (I-POMDPs), which explicitly models the other agents' beliefs up to a finite reasoning level in order to more accur... |
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation | https://ieeexplore.ieee.org/document/9981389/ | [
"Jaein Lim",
"Siddhartha Srinivasa",
"Panagiotis Tsiotras",
"Jaein Lim",
"Siddhartha Srinivasa",
"Panagiotis Tsiotras"
] | We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where edge evaluation is expensive. We use a lazily evaluated LPA* to repair the cost-to-come inconsistencies of the relevant region of the current search tree based o... |
LTR*: Rapid Replanning in Executing Consecutive Tasks with Lazy Experience Graph | https://ieeexplore.ieee.org/document/9982237/ | [
"Tin Lai",
"Fabio Ramos",
"Tin Lai",
"Fabio Ramos"
] | In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be occupied by the manoeuvred objects, and previously occupied space might now open up new paths. We propose Lazy Tree-based Replanner (LTR *)-a novel hybrid planner th... |
FlowBot: Flow-based Modeling for Robot Navigation | https://ieeexplore.ieee.org/document/9981407/ | [
"Daniel Dugas",
"Kuanqi Cai",
"Olov Andersson",
"Nicholas Lawrance",
"Roland Siegwart",
"Jen Jen Chung",
"Daniel Dugas",
"Kuanqi Cai",
"Olov Andersson",
"Nicholas Lawrance",
"Roland Siegwart",
"Jen Jen Chung"
] | Autonomous navigation among people is a com-plex problem that also exhibits considerable variation depending on the type of environment and people involved. Here we consider navigation among crowds that exhibit flow-like behavior like people moving through a train station. We propose a novel pseudo-fluid model of crowd flow for such problems. These have an intuitive physical interpretation and do ... |
Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving using Sim-to-Real | https://ieeexplore.ieee.org/document/9981319/ | [
"Eduardo Candela",
"Leandro Parada",
"Luis Marques",
"Tiberiu-Andrei Georgescu",
"Yiannis Demiris",
"Panagiotis Angeloudis",
"Eduardo Candela",
"Leandro Parada",
"Luis Marques",
"Tiberiu-Andrei Georgescu",
"Yiannis Demiris",
"Panagiotis Angeloudis"
] | Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains largely unresolved. Multi-Agent Reinforcement Learning has arisen as a powerful method to accomplish this task because it considers the interaction between agents and also allows for decentralized training—which makes it ... |
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards | https://ieeexplore.ieee.org/document/9981218/ | [
"J. Joe Payne",
"Nathan J. Kong",
"Aaron M. Johnson",
"J. Joe Payne",
"Nathan J. Kong",
"Aaron M. Johnson"
] | In this paper, we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimation. Examining how guard surface uncertainty affects the time spent in each mode, we derive a novel guard saltation matrix- which maps perturbations prior to hybrid events to perturbations after - accounting for additio... |
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR | https://ieeexplore.ieee.org/document/9981686/ | [
"Vince Kurtz",
"Hai Lin",
"Vince Kurtz",
"Hai Lin"
] | Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the challenge of ensuring both numerical reliability and physical realism. In this paper, we present preliminary results suggesting that the Iterative Linear Quadrat... |
Balancing Control and Pose Optimization for wheel-legged Robots Navigating High Obstacles | https://ieeexplore.ieee.org/document/9981432/ | [
"Junheng Li",
"Junchao Ma",
"Quan Nguyen",
"Junheng Li",
"Junchao Ma",
"Quan Nguyen"
] | This paper proposes a novel approach to controlling wheel-legged quadrupedal robots using pose optimization and force-based control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel actuation to roll over high obstacles while keeping wheel traction with the terrain. In detail, we first present linear rigid body dynamics with wheels that can... |
Large-Scale ADMM-based Co-Design of Legged Robots | https://ieeexplore.ieee.org/document/9981641/ | [
"Gabriel Bravo-Palacios",
"Patrick M. Wensing",
"Gabriel Bravo-Palacios",
"Patrick M. Wensing"
] | This paper considers the problem of designing legged robots for traversing uneven terrain, wherein terrain characteristics represent uncertainty for the design process. When this process encompasses a wider variety of terrains, the likelihood of the designed robot falling in the real world should decrease. However, computational scalability limits the number of terrains that can be taken into acco... |
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control | https://ieeexplore.ieee.org/document/9981282/ | [
"Sangli Teng",
"Dianhao Chen",
"William Clark",
"Maani Ghaffari",
"Sangli Teng",
"Dianhao Chen",
"William Clark",
"Maani Ghaffari"
] | This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra. Moreover, given an initial condition, the linearized tracking error dynamics and equations of motion are globally valid and evolve independently of the system t... |
Whole-body model predictive control with rigid contacts via online switching time optimization | https://ieeexplore.ieee.org/document/9981790/ | [
"Sotaro Katayama",
"Toshiyuki Ohtsuka",
"Sotaro Katayama",
"Toshiyuki Ohtsuka"
] | This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO). We treat robot dynamics with rigid contacts as a switched system and formulate an optimal control problem of switched systems to implement the MPC. We utilize an efficient solution algorithm for the MPC problem that o... |
Generating Families of Optimally Actuated Gaits from a Legged System's Energetically Conservative Dynamics | https://ieeexplore.ieee.org/document/9981693/ | [
"Maximilian Raff",
"Nelson Rosa",
"C. David Remy",
"Maximilian Raff",
"Nelson Rosa",
"C. David Remy"
] | We present a homotopic approach to generating energetically optimal gaits for legged robots that maps passive (i.e., unactuated) gaits of an energetically conservative model of the robot to a model with user-defined target dynamics with dissipation and actuation (i.e., the more “realistic” legged model). Our core contribution is advancing the state-of-the-art towards a turn-key approach where the ... |
Optimal Gait Families using Lagrange Multiplier Method | https://ieeexplore.ieee.org/document/9981871/ | [
"Jinwoo Choi",
"Capprin Bass",
"Ross L. Hatton",
"Jinwoo Choi",
"Capprin Bass",
"Ross L. Hatton"
] | The Robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For example, the optimal gait for maximizing displacement with respect to cost is quite different from the maximum displacement optimal gait. Beyond these two general optimal gaits, we believe that the optimal gait should deal... |
Lifted contact dynamics for efficient optimal control of rigid body systems with contacts | https://ieeexplore.ieee.org/document/9982048/ | [
"Sotaro Katayama",
"Toshiyuki Ohtsuka",
"Sotaro Katayama",
"Toshiyuki Ohtsuka"
] | We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration, contact forces, and control input torques, as optimization variables and the inverse dynamics and acceleration constraints on the contact frames as equality co... |
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments | https://ieeexplore.ieee.org/document/9982093/ | [
"Benjamin Alt",
"Darko Katic",
"Rainer Jäkel",
"Michael Beetz",
"Benjamin Alt",
"Darko Katic",
"Rainer Jäkel",
"Michael Beetz"
] | In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic variations, requiring search motions to find relevant features such as holes. While search improves robustness, it comes at the cost of increased runtime: More exhausti... |
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion | https://ieeexplore.ieee.org/document/9981467/ | [
"Rui Chen",
"Chenxi Wang",
"Tianhao Wei",
"Changliu Liu",
"Rui Chen",
"Chenxi Wang",
"Tianhao Wei",
"Changliu Liu"
] | Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The chal-lenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be inserted. To deliver a feasible robotic solution for these insertion tasks, we also need to account for hardware limits of existing robotic systems and minimize... |
Online 3D Bin Packing Reinforcement Learning Solution with Buffer | https://ieeexplore.ieee.org/document/9982095/ | [
"Aaron Valero Puche",
"Sukhan Lee",
"Aaron Valero Puche",
"Sukhan Lee"
] | The 3D Bin Packing Problem (3D-BPP) is one of the most demanded yet challenging problems in industry, where an agent must pack variable size items delivered in sequence into a finite bin with the aim to maximize the space utilization. It represents a strongly NP-Hard optimization problem such that no solution has been offered to date with high performance in space utilization. In this paper, we pr... |
GoferBot: A Visual Guided Human-Robot Collaborative Assembly System | https://ieeexplore.ieee.org/document/9981122/ | [
"Zheyu Zhuang",
"Yizhak Ben-Shabat",
"Jiahao Zhang",
"Stephen Gould",
"Robert Mahony",
"Zheyu Zhuang",
"Yizhak Ben-Shabat",
"Jiahao Zhang",
"Stephen Gould",
"Robert Mahony"
] | The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for collaborative robots to efficiently and effectively perform tasks in unstructured and dynamic environments. Integrating recent data-driven machine vision capabiliti... |
Robot Companion, an intelligent interactive robot coworker for the Industry 5.0 | https://ieeexplore.ieee.org/document/9982004/ | [
"F. Gosselin",
"S. Kchir",
"G. Acher",
"F. Keith",
"O. Lebec",
"C. Louison",
"B. Luvison",
"F. Mayran de Chamisso",
"B. Meden",
"M. Morelli",
"B. Perochon",
"J. Rabarisoa",
"C. Vienne",
"G. Ameyugo",
"F. Gosselin",
"S. Kchir",
"G. Acher",
"F. Keith",
"O. Lebec",
"C. Louison",
"B. Luvison",
"F. Mayran de Chamisso",
"B. Meden",
"M. Morelli",
"B. Perochon",
"J. Rabarisoa",
"C. Vienne",
"G. Ameyugo"
] | To overcome the limitations of the so-called Industry 4.0 focusing on mass production and full automation, a novel paradigm was recently introduced, namely Industry 5.0, which aims at an increased collaboration between humans and machines, and particularly robots, instead of replacing the former with the latter. This challenge requires novel interactive intelligent robots able to perform complex t... |
Metal Wire Manipulation Planning for 3D Curving - A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire | https://ieeexplore.ieee.org/document/9981672/ | [
"Ruishuang Liu",
"Weiwei Wan",
"Emiko Isomura",
"Kensuke Harada",
"Ruishuang Liu",
"Weiwei Wan",
"Emiko Isomura",
"Kensuke Harada"
] | This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a weak payload to bend objects with large stiffness, and developed a combined planner for the robot to use a bending machine. Our method converts a 3D curve to a b... |
Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks | https://ieeexplore.ieee.org/document/9982134/ | [
"Hirokazu Kondo",
"Jose Victorio Salazar Luces",
"Yasuhisa Hirata",
"Hirokazu Kondo",
"Jose Victorio Salazar Luces",
"Yasuhisa Hirata"
] | Robotic automation is steadily growing in different industries around the world. However, in some industries, such as garment manufacturing, most tasks are still predominantly manual, due to the flexible nature of clothes. Garment and clothes are easily deformed when some force is applied, so it is difficult for robots to handle them while predicting their deformation. Our general research goal is... |
EPAR: An Efficient and Privacy-Aware Augmented Reality Framework for Indoor Location-Based Services | https://ieeexplore.ieee.org/document/9981149/ | [
"Zhe Peng",
"Songlin Hou",
"Yixuan Yuan",
"Zhe Peng",
"Songlin Hou",
"Yixuan Yuan"
] | Augmented reality (AR) defines a new information-delivery paradigm by overlaying computer-generated information on the perception of the real world. AR-integrated robot has become an appealing concept in terms of enhanced human-robot interaction. Despite intensive research on AR, existing indoor location-based AR systems are vulnerable to attacks and can hardly meet the security and privacy requir... |
Compact Strawberry Harvesting Tube Employing Laser Cutter | https://ieeexplore.ieee.org/document/9981720/ | [
"Mohamed Sorour",
"PåL Johan From",
"Khaled Elgeneidy",
"Stratis Kanarachos",
"Mohamed Sallam",
"Mohamed Sorour",
"PåL Johan From",
"Khaled Elgeneidy",
"Stratis Kanarachos",
"Mohamed Sallam"
] | In this paper, a novel prototype for hanging produce harvesting is presented, that is productive, versatile, and robust. In our methodology, the robot-mounted tube approaches, and eventually surrounds the produce of interest at the entry side, that can be as small as the produce diameter, plus a small margin. The stem is then cut by a laser beam, with the optics set up for a distant focal point. S... |
Reconstructing a Spatial Field with an Autonomous Robot Under a Budget Constraint | https://ieeexplore.ieee.org/document/9981128/ | [
"Azin Shamshirgaran",
"Stefano Carpin",
"Azin Shamshirgaran",
"Stefano Carpin"
] | In this paper we consider the information path-planning problem for a single robot in a stochastic environment with static obstacles subject to a preassigned constraint on the distance it can travel. Given a set of candidate sampling locations, the objective is to determine a path for the robot that allows to visit as many sampling locations as possible to accurately reconstruct an unknown underly... |
Hybrid Discrete-Continuous Path Planning for Lattice Traversal | https://ieeexplore.ieee.org/document/9981801/ | [
"Santiago Franco",
"Julius Sustarevas",
"Sara Bernardini",
"Santiago Franco",
"Julius Sustarevas",
"Sara Bernardini"
] | Lattice structures allow robotic systems to operate in complex and hazardous environments, e.g. construction, mining and nuclear plants, reliably and effectively. However, current navigation systems for these structures are neither realistic, as they assume simplistic motion primitives and obstacle-free workspaces, nor efficient as they rely solely on global discrete search in an attempt to levera... |
RECCraft System: Towards Reliable and Efficient Collective Robotic Construction | https://ieeexplore.ieee.org/document/9982068/ | [
"Qiwei Xu",
"Yizheng Zhang",
"Shenghao Zhang",
"Rui Zhao",
"Zhuoxing Wu",
"Dongsheng Zhang",
"Cheng Zhou",
"Xiong Li",
"Jiahong Chen",
"Zengjun Zhao",
"Luyang Tang",
"Zhengyou Zhang",
"Lei Han",
"Qiwei Xu",
"Yizheng Zhang",
"Shenghao Zhang",
"Rui Zhao",
"Zhuoxing Wu",
"Dongsheng Zhang",
"Cheng Zhou",
"Xiong Li",
"Jiahong Chen",
"Zengjun Zhao",
"Luyang Tang",
"Zhengyou Zhang",
"Lei Han"
] | This research presents a novel Collective Robotic Construction (CRC) system named RECCraft. The RECCraft hardware system is composed of the mobile manipulation vehicles, the cubic blocks, and the folding ramp blocks. Solid connection and easy removal of the blocks are achieved by an electropermanent magnet and silicon steel sheets. With one degree of freedom (DOF) lifting manipulator, the robot ca... |
Improved Robustness and Safety for Pre-Adaptation of Meta Reinforcement Learning with Prior Regularization | https://ieeexplore.ieee.org/document/9981621/ | [
"Lu Wen",
"Songan Zhang",
"H. Eric Tseng",
"Baljeet Singh",
"Dimitar Filev",
"Huei Peng",
"Lu Wen",
"Songan Zhang",
"H. Eric Tseng",
"Baljeet Singh",
"Dimitar Filev",
"Huei Peng"
] | Meta Reinforcement Learning (Meta-RL) has seen substantial advancements recently. In particular, off-policy methods were developed to improve the data efficiency of Meta-RL techniques. Probabilistic embeddings for actor-critic $\boldsymbol{RL}$ (PEARL) is a leading approach for multi-MDP adaptation problems. A major drawback of many existing Meta-RL methods, including PEARL, is that they do not ex... |
Active Tactile Exploration using Shape-Dependent Reinforcement Learning | https://ieeexplore.ieee.org/document/9982266/ | [
"Shuo Jiang",
"Lawson L.S. Wong",
"Shuo Jiang",
"Lawson L.S. Wong"
] | Tactile signals provide rich information about objects via touch and are essential for a robot to perform dex-terous manipulation. Exploring actively via tactile perception collects important information about the workspace. However, designing an effective tactile exploration policy is challenging in unstructured environments. Typically, the geometric information is incomplete, and need to be comp... |
DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors | https://ieeexplore.ieee.org/document/9981441/ | [
"Baoqian Wang",
"Junfei Xie",
"Nikolay Atanasov",
"Baoqian Wang",
"Junfei Xie",
"Nikolay Atanasov"
] | Multi-agent reinforcement learning (MARL) meth-ods face a curse of dimensionality in the policy and value function representations as the number of agents increases. The development of distributed or parallel training techniques is also hindered by the global coupling among the agent dynamics, requiring simultaneous state transitions. This paper introduces Distributed multi-Agent Reinforcement Lea... |
Adaptive Environment Modeling Based Reinforcement Learning for Collision Avoidance in Complex Scenes | https://ieeexplore.ieee.org/document/9982107/ | [
"Shuaijun Wang",
"Rui Gao",
"Ruihua Han",
"Shengduo Chen",
"Chengyang Li",
"Qi Hao",
"Shuaijun Wang",
"Rui Gao",
"Ruihua Han",
"Shengduo Chen",
"Chengyang Li",
"Qi Hao"
] | The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model based collision avoidance reinforcement learning (i.e., AEMCARL) framework for an unmanned robot to achieve collision-free motions in challenging navigation scenari... |
Scalable Model-based Policy Optimization for Decentralized Networked Systems | https://ieeexplore.ieee.org/document/9982253/ | [
"Yali Du",
"Chengdong Ma",
"Yuchen Liu",
"Runji Lin",
"Hao Dong",
"Jun Wang",
"Yaodong Yang",
"Yali Du",
"Chengdong Ma",
"Yuchen Liu",
"Runji Lin",
"Hao Dong",
"Jun Wang",
"Yaodong Yang"
] | Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly, requiring communications or shifting or resources. This work aims to improve data efficiency of multi-agent control by model-based learning. We consider network... |
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