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Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers | https://ieeexplore.ieee.org/document/9981810/ | [
"Arthur Bucker",
"Luis Figueredo",
"Sami Haddadinl",
"Ashish Kapoor",
"Shuang Ma",
"Rogerio Bonatti",
"Arthur Bucker",
"Luis Figueredo",
"Sami Haddadinl",
"Ashish Kapoor",
"Shuang Ma",
"Rogerio Bonatti"
] | Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most of the current language interfaces require rigid templates with a static set of action targets and commands. In this work, we provide a flexible language-based... |
DreamingV2: Reinforcement Learning with Discrete World Models without Reconstruction | https://ieeexplore.ieee.org/document/9981405/ | [
"Masashi Okada",
"Tadahiro Taniguchi",
"Masashi Okada",
"Tadahiro Taniguchi"
] | The present paper proposes a novel reinforce-ment learning method with world models, DreamingV2, a collaborative extension of DreamerV2 and Dreaming. Dream- erV2 is a cutting-edge model-based reinforcement learning from pixels that uses discrete world models to represent latent states with categorical variables. Dreaming is also a form of reinforcement learning from pixels that attempts to avoid t... |
Playful Interactions for Representation Learning | https://ieeexplore.ieee.org/document/9981307/ | [
"Sarah Young",
"Jyothish Pari",
"Pieter Abbeel",
"Lerrel Pinto",
"Sarah Young",
"Jyothish Pari",
"Pieter Abbeel",
"Lerrel Pinto"
] | Ahstract- One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of low-cost assistive tools, we often still require 100–1000 demonstrations for every task to learn a visual representation and policy. To address this, we... |
COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems | https://ieeexplore.ieee.org/document/9982241/ | [
"Shuang Ma",
"Sai Vemprala",
"Wenshan Wang",
"Jayesh K. Gupta",
"Yale Song",
"Daniel McDufft",
"Ashish Kapoor",
"Shuang Ma",
"Sai Vemprala",
"Wenshan Wang",
"Jayesh K. Gupta",
"Yale Song",
"Daniel McDufft",
"Ashish Kapoor"
] | Learning representations that generalize across tasks and domains is challenging yet necessary for autonomous systems. Although task-driven approaches are appealing, de-signing models specific to each application can be difficult in the face of limited data, especially when dealing with highly variable multimodal input spaces arising from different tasks in different environments. We introduce the... |
Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions | https://ieeexplore.ieee.org/document/9982104/ | [
"Angel Daruna",
"Devleena Das",
"Sonia Chernova",
"Angel Daruna",
"Devleena Das",
"Sonia Chernova"
] | Learned knowledge graph representations supporting robots contain a wealth of domain knowledge that drives robot behavior. However, there does not exist an inference reconciliation framework that expresses how a knowledge graph representation affects a robot's sequential decision making. We use a pedagogical approach to explain the inferences of a learned, black-box knowledge graph representation,... |
MO-Transformer: A Transformer-Based Multi-Object Point Cloud Reconstruction Network | https://ieeexplore.ieee.org/document/9981837/ | [
"Erli Lyu",
"Zhengyan Zhang",
"Wei Liu",
"Jiaole Wang",
"Shuang Song",
"Max Q.-H. Meng",
"Erli Lyu",
"Zhengyan Zhang",
"Wei Liu",
"Jiaole Wang",
"Shuang Song",
"Max Q.-H. Meng"
] | This paper proposes a new network for reconstructing multi-object point cloud. Different from previous networks which reconstruct multi-object point cloud as a whole, our network iteratively reconstructs each individual object point cloud from a frame of multi-object point cloud. To achieve this goal, we have designed MO-Transformer, a transformer-based autoregressive network. During training, MO-... |
Self-Supervised Feature Learning from Partial Point Clouds via Pose Disentanglement | https://ieeexplore.ieee.org/document/9981390/ | [
"Meng-Shiun Tsai",
"Pei-Ze Chiang",
"Yi-Hsuan Tsai",
"Wei-Chen Chiu",
"Meng-Shiun Tsai",
"Pei-Ze Chiang",
"Yi-Hsuan Tsai",
"Wei-Chen Chiu"
] | Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn informative features from partial point clouds. We leverage partial point clouds scanned by LiDAR that contain both content and pose attributes, and we show that di... |
Efficiently Learning Manipulations by Selecting Structured Skill Representations | https://ieeexplore.ieee.org/document/9981422/ | [
"Mohit Sharma",
"Oliver Kroemer",
"Mohit Sharma",
"Oliver Kroemer"
] | A key challenge in learning to perform manipulation tasks is selecting a suitable skill representation. While specific skill representations are often easier to learn, they are often only suitable for a narrow set of tasks. In most prior works, roboticists manually provide the robot with a suitable skill representation to use e.g. a neural network or DMPs. By contrast, we propose to allow the robo... |
Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools | https://ieeexplore.ieee.org/document/9982033/ | [
"Yongyi Jia",
"Yu Chen",
"Hao Liu",
"Xiu Li",
"Xiang Li",
"Yongyi Jia",
"Yu Chen",
"Hao Liu",
"Xiu Li",
"Xiang Li"
] | Laser-driven micro-tools are formulated by treating highly-focused laser beams as actuators, to control the tool's motion to contact then manipulate a micro object, which allows it to manipulate opaque micro objects, or large cells without causing photodamage. However, most existing laser-driven tools are limited to relatively simple tasks, such as moving and caging, and cannot carry out in-hand d... |
A Micro-Robotic Approach for The Correction of Angular Deviations in AFM Samples From Generic Topographic Data | https://ieeexplore.ieee.org/document/9981512/ | [
"Freddy Romero Leiro",
"Ali Bazaei",
"Stéphane Régnier",
"Mokrane Boudaoud",
"Freddy Romero Leiro",
"Ali Bazaei",
"Stéphane Régnier",
"Mokrane Boudaoud"
] | This article proposes a method for the correction of angular deviations caused during the fixing process of samples prepared for Atomic Force Microscopy (AFM). The correction is done using the angular control of a 6-DOF PPPS parallel platform were the sample is placed, while the AFM scan is performed by a 3-DOF serial cartesian robot with a tuning fork probe designed to perform FM-AFM. The method ... |
Modeling and Characterization of Artificial Bacteria Flagella with Micro-structured Soft-magnetic Teeth | https://ieeexplore.ieee.org/document/9981435/ | [
"Zejie Yu",
"Chaojian Hou",
"Shuideng Wang",
"Kun Wang",
"Donglei Chen",
"Wenqi Zhang",
"Zhi Qu",
"Zhiyong Sun",
"Bo Song",
"Chao Zhou",
"Lixin Dong",
"Zejie Yu",
"Chaojian Hou",
"Shuideng Wang",
"Kun Wang",
"Donglei Chen",
"Wenqi Zhang",
"Zhi Qu",
"Zhiyong Sun",
"Bo Song",
"Chao Zhou",
"Lixin Dong"
] | Sub-structures such as micro-structured magnetic teeth fabricated with an artificial bacteria flagellum (ABF) are designed for achieving more motion modes, higher precision, and better controllability. To achieve these, a more precise model considering the non-circular cross-sectional features is setup without simplifying the structure as a helical filament with a circular cross-section as having ... |
Real-time Acoustic Holography with Physics-based Deep Learning for Acoustic Robotic Manipulation | https://ieeexplore.ieee.org/document/9981395/ | [
"Chengxi Zhong",
"Zhenhuan Sun",
"Kunyong Lyu",
"Yao Guo",
"Song Liu",
"Chengxi Zhong",
"Zhenhuan Sun",
"Kunyong Lyu",
"Yao Guo",
"Song Liu"
] | Acoustic holography is a newly emerging and promising technique to dynamically generate arbitrary desired holographic acoustic field in 3D space for contactless robotic manipulation. The latest technology supporting complex dynamic holographic acoustic field reconstruction is through phased transducer array (PTA), where the phase profile of emitted acoustic wave from discrete transducers is contro... |
Controlled Fabrication of Micro-Chain Robot Using Magnetically Guided Arraying Microfluidic Devices | https://ieeexplore.ieee.org/document/9981455/ | [
"Xiaoqing Tang",
"Xiaoming Liu",
"Yuyang Li",
"Dan Liu",
"Yuke Li",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai",
"Xiaoqing Tang",
"Xiaoming Liu",
"Yuyang Li",
"Dan Liu",
"Yuke Li",
"Masaru Kojima",
"Qiang Huang",
"Tatsuo Arai"
] | The magnetic microrobot has become a promising approach in many biomedical applications due to its small volume, flexible motion, and untethered micromachines. The micro-chain robot is one of the most popular magnetic microrobots. However, the uncontrollable magnetic moment direction and quantity of the magnetic beads consisted in the existing self-assembled micro-chain robot limit their locomotio... |
Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes | https://ieeexplore.ieee.org/document/9981873/ | [
"Nils Dengler",
"David Großklaus",
"Maren Bennewitz",
"Nils Dengler",
"David Großklaus",
"Maren Bennewitz"
] | Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoided to reduce the risk of damage. In this paper, we approach this problem by applying deep reinforcement learning to generate pushing actions for a robotic manipulator acting on a planar surface where objects have to be p... |
Transfer Learning for Machine Learning-based Detection and Separation of Entanglements in Bin-Picking Applications | https://ieeexplore.ieee.org/document/9981082/ | [
"Marius Moosmann",
"Felix Spenrath",
"Johannes Rosport",
"Philipp Melzer",
"Werner Kraus",
"Richard Bormann",
"Marco F. Huber",
"Marius Moosmann",
"Felix Spenrath",
"Johannes Rosport",
"Philipp Melzer",
"Werner Kraus",
"Richard Bormann",
"Marco F. Huber"
] | In this paper, we present a Domain Randomization and a Domain Adaptation approach to transfer experience for entanglement detection and separation from simulation into a real-world bin-picking application. We investigate the influence of different randomization options in image processing and use a CycleGAN as a further Domain Adaptation method to synthesize simulation data as realistically as pos... |
Deep Reinforcement Learning Based on Local GNN for Goal-Conditioned Deformable Object Rearranging | https://ieeexplore.ieee.org/document/9981669/ | [
"Yuhong Deng",
"Chongkun Xia",
"Xueqian Wang",
"Lipeng Chen",
"Yuhong Deng",
"Chongkun Xia",
"Xueqian Wang",
"Lipeng Chen"
] | Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by model-based or data-driven approaches and the application scenarios are therefore limited. Some research has been attempting to design a general framework to obtai... |
Controlling the Cascade: Kinematic Planning for N-ball Toss Juggling | https://ieeexplore.ieee.org/document/9981678/ | [
"Kai Ploeger",
"Jan Peters",
"Kai Ploeger",
"Jan Peters"
] | Dynamic movements are ubiquitous in human motor behavior as they tend to be more efficient and can solve a broader range of skill domains than their quasi-static counterparts. For decades, robotic juggling tasks have been among the most frequently studied dynamic manipulation problems since the required dynamic dexterity can be scaled to arbitrarily high difficulty. However, successful approaches ... |
Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons | https://ieeexplore.ieee.org/document/9981599/ | [
"Kejia Ren",
"Lydia E. Kavraki",
"Kaiyu Hang",
"Kejia Ren",
"Lydia E. Kavraki",
"Kaiyu Hang"
] | Robot manipulation in cluttered environments of-ten requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions involved in such scenarios, rearrangement-based manipulation is still limited to a small range of tasks and is especially vulnerable to physical uncertainties and p... |
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning | https://ieeexplore.ieee.org/document/9981962/ | [
"Baichuan Huang",
"Abdeslam Boularias",
"Jingjin Yu",
"Baichuan Huang",
"Abdeslam Boularias",
"Jingjin Yu"
] | We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree search (MCTS) is an effective heuristic search algorithm for solving episodic decision-making problems whose underlying search spaces are expansive. Leveraging a GPU-based large-scale simulator, PMBS introduces massive parall... |
Adapting Rapid Motor Adaptation for Bipedal Robots | https://ieeexplore.ieee.org/document/9981091/ | [
"Ashish Kumar",
"Zhongyu Li",
"Jun Zeng",
"Deepak Pathak",
"Koushil Sreenath",
"Jitendra Malik",
"Ashish Kumar",
"Zhongyu Li",
"Jun Zeng",
"Deepak Pathak",
"Koushil Sreenath",
"Jitendra Malik"
] | Recent advances in legged locomotion have en-abled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which ... |
Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP | https://ieeexplore.ieee.org/document/9981516/ | [
"Zejun Hong",
"Hua Chen",
"Wei Zhang",
"Zejun Hong",
"Hua Chen",
"Wei Zhang"
] | This paper presents a novel framework for point- foot biped running in three-dimensional space. The proposed approach generates center of mass (CoM) reference trajectories based on a differentially flat spring-loaded inverted pendulum (SLIP) model. A foothold planner is used to select touch down location that renders optimal CoM trajectory for upcoming step in real time. Dynamically feasible traje... |
A passive control framework for a bilateral leader-follower robotic surgical setup imposing RCM and active constraints | https://ieeexplore.ieee.org/document/9982206/ | [
"Theodora Kastritsi",
"Zoe Doulgeri",
"Theodora Kastritsi",
"Zoe Doulgeri"
] | We consider the problem of controlling a bilateral leader-follower robotic surgical set-up to allow kinesthetic haptic feedback to the user when the instrument approaches a forbidden area like sensitive organs arteries or veins that should be protected from injuries during surgery. The leader is a haptic device while the follower is a general purpose manipulator holding an elongated tool with an a... |
The Flatworm-like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion | https://ieeexplore.ieee.org/document/9982155/ | [
"G.V.C. Rasanga",
"K. Hirashi",
"R. Hodoshima",
"S. Kotosaka",
"G.V.C. Rasanga",
"K. Hirashi",
"R. Hodoshima",
"S. Kotosaka"
] | WORMESH is a unique robot concept inspired by flatworm locomotion and its key feature is the use of multiple traveling waves for locomotion. This paper presents the steering method for anisotropic module configuration (AMC) of WORMESH-II based on the kinematics of skid steering of mobile robots. AMC of WORMESH-II used two parallel pedal waves to generate locomotion. The kinematic model of WORMESH-... |
In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers | https://ieeexplore.ieee.org/document/9982281/ | [
"Tomoya Onodera",
"Noriyasu Iwamoto",
"Takuya Umedachi",
"Tomoya Onodera",
"Noriyasu Iwamoto",
"Takuya Umedachi"
] | This paper presents a novel method of realizing in-hand manipulation inspired by the peristaltic motion of a large-sized caterpillar. The sharp contrast between the proposed soft-bodied finger and the conventional hard/rigid robotic ones is peristaltic motion with compression and bending deformations. The design is based on the biological fact that large-size caterpillars (e.g., Bombyx mori) utili... |
Embodying Rather Than Encoding: Undulation with Binary Input | https://ieeexplore.ieee.org/document/9982001/ | [
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Yang Tian",
"Yiming Cao",
"Makoto Nokata",
"Zhiqing Li",
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Yang Tian",
"Yiming Cao",
"Makoto Nokata",
"Zhiqing Li"
] | Undulation is the most common gait generated by legless creatures, which enables their robust and efficient locomotion in various environments. Such advantages inspired the control design of many kinds of locomotion robots. Despite their technical details, most of them realize the undulation gait via tracking predetermined trajectories called serpenoid curves, which are a group of sinusoidal wavef... |
A Creeping Snake-like Robot with Partial Actuation | https://ieeexplore.ieee.org/document/9981782/ | [
"Yiming Cao",
"Longchuan Li",
"Shugen Ma",
"Yiming Cao",
"Longchuan Li",
"Shugen Ma"
] | Enlightened by the creeping gait of natural snakes, snake-like robots swing joints side to side at similar tracks for generating propelling forces. However, it is not always essential to control all joints of a snake-like robot to realize the creeping gait. Therefore, in this paper, a creeping snake-like robot with partially actuated joints has been investigated, towards reducing the redundancy ca... |
Design and Experiments of Snake Robots with Docking Function | https://ieeexplore.ieee.org/document/9981896/ | [
"Fatao Qin",
"Xiaojie Duan",
"Shihao Ma",
"Jinglun Yuan",
"Xiangyu Wang",
"Jianming Wang",
"Xuan Xiao",
"Fatao Qin",
"Xiaojie Duan",
"Shihao Ma",
"Jinglun Yuan",
"Xiangyu Wang",
"Jianming Wang",
"Xuan Xiao"
] | This paper presents a novel snake robot with the docking function, which can help the snake robots to connect with each other to achieve a stronger one with double length and double degrees of freedom. First, the mechanical design of the snake robot with docking function is introduced, including the body link and the head-tail passive docking mechanical structure. Second, the control system is bui... |
Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion | https://ieeexplore.ieee.org/document/9981749/ | [
"Yuanyuan Jia",
"Shugen Ma",
"Yuanyuan Jia",
"Shugen Ma"
] | Reinforcement learning commonly suffers from slow convergence speed and requires thousands of episodes, which makes it hard to be applied for physical robotic applications. Little research has been studied for snake robot control using RL because of the additional difficulty of high redundancy of freedom. Existing methods either adopts an asynchronous A3C structure or a joint state representation.... |
Bio-inspired 2D Vertical Climbing with a Novel Tripedal Robot | https://ieeexplore.ieee.org/document/9981088/ | [
"Clyde Webster",
"Felix H. Kong",
"Robert Fitch",
"Clyde Webster",
"Felix H. Kong",
"Robert Fitch"
] | Climbing robots have the potential to revolutionize the maintenance and inspection operations of many types of vertical structures. In nature, parrots exhibit a remarkable capacity for manipulation during climbing behaviors, for which robotics can benefit from studying. In this paper we present a novel tripedal robot that is inspired by the morphology of these impressive birds, which use their leg... |
Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints | https://ieeexplore.ieee.org/document/9981384/ | [
"Akshay Dhonthi",
"Philipp Schillinger",
"Leonel Rozo",
"Daniele Nardi",
"Akshay Dhonthi",
"Philipp Schillinger",
"Leonel Rozo",
"Daniele Nardi"
] | For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving techniques. Our work builds on the learning-from-demonstration (LfD) paradigm, where an expert demonstrates motions, and the robot learns to imitate them. However,... |
Classification of Time-Series Data Using Boosted Decision Trees | https://ieeexplore.ieee.org/document/9982105/ | [
"Erfan Aasi",
"Cristian Ioan Vasile",
"Mahroo Bahreinian",
"Calin Belta",
"Erfan Aasi",
"Cristian Ioan Vasile",
"Mahroo Bahreinian",
"Calin Belta"
] | Time-series data classification is central to the analysis and control of autonomous systems, such as robots and self-driving cars. Temporal logic-based learning algorithms have been proposed recently as classifiers of such data. However, current frameworks are either inaccurate for real-world applications, such as autonomous driving, or they generate long and complicated formulae that lack interp... |
Robustness-based Synthesis for Stochastic Systems under Signal Temporal Logic Tasks | https://ieeexplore.ieee.org/document/9982233/ | [
"Guy Scher",
"Sadra Sadraddini",
"Hadas Kress-Gazit",
"Guy Scher",
"Sadra Sadraddini",
"Hadas Kress-Gazit"
] | We develop a method for synthesizing control policies for stochastic, linear, time-varying systems that must perform tasks specified in signal temporal logic. We build upon an efficient, sampling-based framework that computes the probability of the system satisfying its specification. By exploiting the properties of linear systems and robustness score in temporal logic specifications, we obtain sa... |
Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators | https://ieeexplore.ieee.org/document/9982209/ | [
"Christopher Yee Wong",
"Wael Suleiman",
"Christopher Yee Wong",
"Wael Suleiman"
] | In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific axes in task space as a function of joint configuration in serial robot manipulators. For example, joint torque sensors are often used in serial robot manipulator... |
Fair Planning for Mobility-on-Demand with Temporal Logic Requests | https://ieeexplore.ieee.org/document/9981291/ | [
"Kaier Liang",
"Cristian-Ioan Vasile",
"Kaier Liang",
"Cristian-Ioan Vasile"
] | Mobility-on-demand systems are transforming the way we think about the transportation of people and goods. Most research effort has been placed on scalability issues for systems with a large number of agents and simple pickup/drop-off demands. In this paper, we consider fair multi-vehicle route planning with streams of complex, temporal logic transportation demands. We consider an approximately en... |
Incremental Path Planning Algorithm via Topological Mapping with Metric Gluing | https://ieeexplore.ieee.org/document/9981379/ | [
"Aakriti Upadhyay",
"Boris Goldfarb",
"Chinwe Ekenna",
"Aakriti Upadhyay",
"Boris Goldfarb",
"Chinwe Ekenna"
] | We present an incremental topology-based motion planner that, while planning paths in the configuration space, performs metric gluing on the constructed Vietoris-Rips simplicial complex of each sub-space (voxel). By incrementally capturing topological and geometric information in batches of voxel graphs, our algorithm avoids the time overhead of analyzing the properties of the entire configuration... |
UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation | https://ieeexplore.ieee.org/document/9981957/ | [
"Durgakant Pushp",
"Swapnil Kalhapure",
"Kaushik Das",
"Lantao Liu",
"Durgakant Pushp",
"Swapnil Kalhapure",
"Kaushik Das",
"Lantao Liu"
] | We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages the heterogeneous robots to accomplish a task that cannot be done using a single robot system. It enables the UAV to explore a hidden space with a narrow opening through whic... |
Inference of Multi-Class STL Specifications for Multi-Label Human-Robot Encounters | https://ieeexplore.ieee.org/document/9982088/ | [
"Alexis Linard",
"Ilaria Torre",
"Iolanda Leite",
"Jana Tumova",
"Alexis Linard",
"Ilaria Torre",
"Iolanda Leite",
"Jana Tumova"
] | This paper is interested in formalizing human trajectories in human-robot encounters. Inspired by robot navigation tasks in human-crowded environments, we consider the case where a human and a robot walk towards each other, and where humans have to avoid colliding with the incoming robot. Further, humans may describe different be-haviors, ranging from being in a hurry/minimizing completion time to... |
ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment | https://ieeexplore.ieee.org/document/9982170/ | [
"Junhui Wang",
"Bin Tian",
"Rui Zhang",
"Long Chen",
"Junhui Wang",
"Bin Tian",
"Rui Zhang",
"Long Chen"
] | Simultaneous Localization and Mapping (SLAM) has greatly assisted in exploring perceptually-degraded underground environments, such as human-made tunnels, mine tunnels, and caves. However, the recurring sensor failures and spurious loop closures in these scenes bring significant challenges to applying SLAM. This paper proposes an architecture for underground localization and semantic mapping (ULSM... |
NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection | https://ieeexplore.ieee.org/document/9981180/ | [
"Ruihao Zhou",
"Li He",
"Hong Zhang",
"Xubin Lin",
"Yisheng Guan",
"Ruihao Zhou",
"Li He",
"Hong Zhang",
"Xubin Lin",
"Yisheng Guan"
] | Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entropy of a point cloud as the descriptor. We also propose a fast rotation alignment process and use cor... |
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry | https://ieeexplore.ieee.org/document/9981413/ | [
"Shenhan Jia",
"Yanmei Jiao",
"Zhuqing Zhang",
"Rong Xiong",
"Yue Wang",
"Shenhan Jia",
"Yanmei Jiao",
"Zhuqing Zhang",
"Rong Xiong",
"Yue Wang"
] | In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO meth-ods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian Visual-Inertial-Ranging Odometry (FEJ-VIRO) to reduce the localization drifts of VIO by incorporating ultra-wideband (UWB) ranging measurements into the VIO framework consistently.... |
DRG-SLAM: A Semantic RGB-D SLAM using Geometric Features for Indoor Dynamic Scene | https://ieeexplore.ieee.org/document/9981238/ | [
"Yanan Wang",
"Kun Xu",
"Yaobin Tian",
"Xilun Ding",
"Yanan Wang",
"Kun Xu",
"Yaobin Tian",
"Xilun Ding"
] | Visual SLAM methods based on point features have achieved acceptable results in texture-rich static scenes, but they often suffer from a deficiency of texture and the existence of dynamic objects in real indoor scenes, which limits the application of these methods. In this paper, we have presented DRG-SLAM, which combines line features and plane features into point features to improve the robustne... |
Scale-aware direct monocular odometry | https://ieeexplore.ieee.org/document/9982173/ | [
"Carlos Campos",
"Juan D. Tardós",
"Carlos Campos",
"Juan D. Tardós"
] | We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth prediction residual which allows us to incorporate multi-view depth information. In addition, we propose to use a truncated robust cost function which prevents... |
IMU preintegration for 2D SLAM problems using Lie Groups | https://ieeexplore.ieee.org/document/9981876/ | [
"Idril Geer",
"Joan Vallvé",
"Joan Solà",
"Idril Geer",
"Joan Vallvé",
"Joan Solà"
] | 2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely used in 3D problems for the 2D case, making use of Lie Theory. The Lie theory based formalization, fir... |
Scale Estimation with Dual Quadrics for Monocular Object SLAM | https://ieeexplore.ieee.org/document/9981554/ | [
"Shuangfu Song",
"Junqiao Zhao",
"Tiantian Feng",
"Chen Ye",
"Lu Xiong",
"Shuangfu Song",
"Junqiao Zhao",
"Tiantian Feng",
"Chen Ye",
"Lu Xiong"
] | The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the absolute scale of the reconstructed map, we formulate an optimization problem to make the scaled dimensions of objects conform to the distribution of their sizes in ... |
Learn from Interaction: Learning to Pick via Reinforcement Learning in Challenging Clutter | https://ieeexplore.ieee.org/document/9981530/ | [
"Chao Zhao",
"Jungwon Seo",
"Chao Zhao",
"Jungwon Seo"
] | Bin picking is a challenging problem in robotics due to high dimensional action space, partially visible objects, and contact-rich environments. State-of-the-art methods for bin picking are often simplified as planar manipulation, or learn policy based on human demonstration and motion primitives. The designs have escalated in complexity while still failing to reach the generality and robustness o... |
GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutter | https://ieeexplore.ieee.org/document/9981499/ | [
"Zhan Liu",
"Ziwei Wang",
"Sichao Huang",
"Jie Zhou",
"Jiwen Lu",
"Zhan Liu",
"Ziwei Wang",
"Sichao Huang",
"Jie Zhou",
"Jiwen Lu"
] | Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and oc-clusions in the cluttered scenario cause significant difficul-ties to generate valid grasp poses without collisions, which results in low efficiency and high failure rates. To address these, we present a generic framework called GE-Grasp for robotic motion planning in dense clutter, where we lev... |
Simultaneous Object Reconstruction and Grasp Prediction using a Camera-centric Object Shell Representation | https://ieeexplore.ieee.org/document/9981955/ | [
"Nikhil Chavan-Dafle",
"Sergiy Popovych",
"Shubham Agrawal",
"Daniel D. Lee",
"Volkan Isler",
"Nikhil Chavan-Dafle",
"Sergiy Popovych",
"Shubham Agrawal",
"Daniel D. Lee",
"Volkan Isler"
] | Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the core of our approach is a novel camera-centric object representation called the “object shell” which is composed of an observed “entry image” and a predicted “... |
Visual Manipulation Relationship Detection based on Gated Graph Neural Network for Robotic Grasping | https://ieeexplore.ieee.org/document/9981077/ | [
"Mengyuan Ding",
"Yaxin Liu",
"Chenjie Yang",
"Xuguang Lan",
"Mengyuan Ding",
"Yaxin Liu",
"Chenjie Yang",
"Xuguang Lan"
] | Exploring the relationship among objects and giving the correct operation sequence is vital for robotic manipulation. However, most previous algorithms only model the relationship between pairs of objects independently, ignoring the interaction effect between them, which may generate redundant or missing relations in complex scenes, such as multi-object stacking and partial occlusion. To solve thi... |
Closed-Loop Next-Best-View Planning for Target-Driven Grasping | https://ieeexplore.ieee.org/document/9981472/ | [
"Michel Breyer",
"Lionel Ott",
"Roland Siegwart",
"Jen Jen Chung",
"Michel Breyer",
"Lionel Ott",
"Roland Siegwart",
"Jen Jen Chung"
] | Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop next-best-view planner that drives exploration based on occluded object parts. By continuously predicting grasps from an up-to-date scene reconstruction, our po... |
A new gripper that acts as an active and passive joint to facilitate prehensile grasping and locomotion | https://ieeexplore.ieee.org/document/9981475/ | [
"Nagamanikandan Govindan",
"Shashank Ramesh",
"Asokan Thondiyath",
"Nagamanikandan Govindan",
"Shashank Ramesh",
"Asokan Thondiyath"
] | Among primates, the prehensile nature of the hand is vital for greater adaptability and a secure grip over the substrate/branches, particularly for arm-swinging motion or brachiation. Though various brachiation mechanisms that are mechanically equivalent to underactuated pendulum models are reported in the literature, not much attention has been given to the hand design that facilitates both locom... |
Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter | https://ieeexplore.ieee.org/document/9981924/ | [
"Rachel Thomasson",
"Etienne Roberge",
"Mark R. Cutkosky",
"Jean-Philippe Roberge",
"Rachel Thomasson",
"Etienne Roberge",
"Mark R. Cutkosky",
"Jean-Philippe Roberge"
] | Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place obstacles into a desired pose, we suggest allowing incidental contacts to rearrange obstacles while monitoring contacts for safety. Bypassing object identification, ... |
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations | https://ieeexplore.ieee.org/document/9981952/ | [
"Kuang-Huei Lee",
"Ofir Nachum",
"Tingnan Zhang",
"Sergio Guadarrama",
"Jie Tan",
"Wenhao Yu",
"Kuang-Huei Lee",
"Ofir Nachum",
"Tingnan Zhang",
"Sergio Guadarrama",
"Jie Tan",
"Wenhao Yu"
] | Evolution Strategy (ES) algorithms have shown promising results in training complex robotic control policies due to their massive parallelism capability, simple implementation, effective parameter-space exploration, and fast training time. However, a key limitation of ES is its scalability to large capacity models, including modern neural network architectures. In this work, we develop Predictive ... |
Learning Visual Feedback Control for Dynamic Cloth Folding | https://ieeexplore.ieee.org/document/9981376/ | [
"Julius Hietala",
"David Blanco–Mulero",
"Gokhan Alcan",
"Ville Kyrki",
"Julius Hietala",
"David Blanco–Mulero",
"Gokhan Alcan",
"Ville Kyrki"
] | Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in dynamic folding, for example, when a square piece of fabric is folded in two by a single manipulator. To account for the complexity and uncertainties, feedback ... |
PCBot: a Minimalist Robot Designed for Swarm Applications | https://ieeexplore.ieee.org/document/9981377/ | [
"Jingxian Wang",
"Michael Rubenstein",
"Jingxian Wang",
"Michael Rubenstein"
] | Complexity, cost, and power requirements for the actuation of individual robots can play a large factor in limiting the size of robotic swarms. Here we present PCBot, a minimalist robot that can precisely move on an orbital shake table using a bi-stable solenoid actuator built directly into its PCB. This allows the actuator to be built as part of the automated PCB manufacturing process, greatly re... |
Characterization of Real-time Haptic Feedback from Multimodal Neural Network-based Force Estimates during Teleoperation | https://ieeexplore.ieee.org/document/9981662/ | [
"Zonghe Chua",
"Allison M. Okamura",
"Zonghe Chua",
"Allison M. Okamura"
] | Force estimation using neural networks is a promising approach to enable haptic feedback in minimally invasive surgical robots without end-effector force sensors. Various network architectures have been proposed, but none have been tested in real time with surgical-like manipulations. Thus, questions remain about the real-time transparency and stability of force feedback from neural network-based ... |
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot | https://ieeexplore.ieee.org/document/9981984/ | [
"Yandong Ji",
"Zhongyu Li",
"Yinan Sun",
"Xue Bin Peng",
"Sergey Levine",
"Glen Berseth",
"Koushil Sreenath",
"Yandong Ji",
"Zhongyu Li",
"Yinan Sun",
"Xue Bin Peng",
"Sergey Levine",
"Glen Berseth",
"Koushil Sreenath"
] | We address the problem of enabling quadrupedal robots to perform precise shooting skills in the real world using reinforcement learning. Developing algorithms to enable a legged robot to shoot a soccer ball to a given target is a challenging problem that combines robot motion control and planning into one task. To solve this problem, we need to consider the dynamics limitation and motion stability... |
Class-Incremental Gesture Recognition Learning with Out-of-Distribution Detection | https://ieeexplore.ieee.org/document/9981167/ | [
"Mingxue Li",
"Yang Cong",
"Yuyang Liu",
"Gan Sun",
"Mingxue Li",
"Yang Cong",
"Yuyang Liu",
"Gan Sun"
] | Gesture recognition is a popular human-computer interaction technology, which has been widely applied in many fields (e.g., autonomous driving, medical care, VR and AR). However, 1) most existing gesture recognition methods focus on the fixed recognition scenarios with several gestures, which could lead to memory consumption and computational effort when continuously learning new gestures; 2) Mean... |
Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release | https://ieeexplore.ieee.org/document/9982211/ | [
"Menno Lubbers",
"Job van Voorst",
"Maarten Jongeneel",
"Alessandro Saccon",
"Menno Lubbers",
"Job van Voorst",
"Maarten Jongeneel",
"Alessandro Saccon"
] | Suction grippers are the most common pick-and-place end effectors used in industry. However, there is little literature on creating and validating models to predict their force interaction with objects in dynamic conditions. In this paper, we study the interaction dynamics of an active vacuum suction gripper during the vertical release of an object. Object and suction cup motions are recorded usin... |
ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation | https://ieeexplore.ieee.org/document/9982183/ | [
"Jingtao Sun",
"Yaonan Wang",
"Mingtao Feng",
"Danwei Wang",
"Jiawen Zhao",
"Cyrill Stachniss",
"Xieyuanli Chen",
"Jingtao Sun",
"Yaonan Wang",
"Mingtao Feng",
"Danwei Wang",
"Jiawen Zhao",
"Cyrill Stachniss",
"Xieyuanli Chen"
] | Robots that are supposed to interact with or manipulate objects in the world must be able to track the poses of objects in their sensor data. Thus, Detecting and tracking the 6-DoF poses of targeted objects is important for aerial manipulation and is still in the early stage due to the high dynamics and limited onboard capacity of such systems. In this paper, we propose ICK-Track, a novel method f... |
Multi-Finger Grasping Like Humans | https://ieeexplore.ieee.org/document/9981805/ | [
"Yuming Du",
"Philippe Weinzaepfel",
"Vincent Lepetit",
"Romain Brégier",
"Yuming Du",
"Philippe Weinzaepfel",
"Vincent Lepetit",
"Romain Brégier"
] | Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping demonstration performed by a human. We propose a novel optimization-based approach for transferring human grasp demonstrations to any multi-fingered grippers, wh... |
Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects | https://ieeexplore.ieee.org/document/9982151/ | [
"A. Shirizly",
"E. D. Rimon",
"A. Shirizly",
"E. D. Rimon"
] | Gravity based caging grasps are robotic grasps where the robot hand passively supports an object against gravity. When a robot hand supports an object at a local minimum of the object gravitational energy, the robot hand forms a basket like grasp of the object. Any object movement in a basket grasp requires an increase of the object gravitational energy, thus allowing secure object pickup and tran... |
On Robotic Manipulation of Flexible Flat Cables: Employing a Multi-Modal Gripper with Dexterous Tips, Active Nails, and a Reconfigurable Suction Cup Module | https://ieeexplore.ieee.org/document/9981313/ | [
"Joao Buzzatto",
"Jayden Chapman",
"Mojtaba Shahmohammadi",
"Felipe Sanches",
"Mahla Nejati",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis",
"Joao Buzzatto",
"Jayden Chapman",
"Mojtaba Shahmohammadi",
"Felipe Sanches",
"Mahla Nejati",
"Saori Matsunaga",
"Rintaro Haraguchi",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis"
] | A popular solution for connecting different components in modern electronics, such as mobile phones, laptops, tablets, etc, is the use of flexible flat cables (FFC). Typically, it takes hours of repetition from a highly trained worker, or a high precision autonomous robot with specialised end effectors to reliably manage the installation of these cables. Human workers are prone to error, and canno... |
A Solution to Adaptive Mobile Manipulator Throwing | https://ieeexplore.ieee.org/document/9981231/ | [
"Yang Liu",
"Aradhana Nayak",
"Aude Billard",
"Yang Liu",
"Aradhana Nayak",
"Aude Billard"
] | Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feasible throw under a wide set of task specifications. We show that the mobile manipulator throwing problem can be simplified to a planar problem, hence greatly reducing the computational costs. Using machine learning appro... |
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation | https://ieeexplore.ieee.org/document/9982229/ | [
"Yordan Tsvetkov",
"Subramanian Ramamoorthy",
"Yordan Tsvetkov",
"Subramanian Ramamoorthy"
] | Quadruped robots are usually equipped with ad-ditional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque and precision to perform manipulation. In this paper, we present a novel design for a small-scale quadruped robot equipped with two leg-mounted manipulators ins... |
Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots | https://ieeexplore.ieee.org/document/9982177/ | [
"Filippo Bertoncelli",
"Mario Selvaggio",
"Fabio Ruggiero",
"Lorenzo Sabattini",
"Filippo Bertoncelli",
"Mario Selvaggio",
"Fabio Ruggiero",
"Lorenzo Sabattini"
] | This work addresses the problem of transporting an object along a desired planar trajectory by pushing with mobile robots. More specifically, we concentrate on establishing optimal contacts between the object and the robots to execute the given task with minimum effort. We present a task-oriented contact placement optimization strategy for object pushing that allows calculating optimal contact poi... |
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation | https://ieeexplore.ieee.org/document/9981779/ | [
"Mayank Mittal",
"David Hoeller",
"Farbod Farshidian",
"Marco Hutter",
"Animesh Garg",
"Mayank Mittal",
"David Hoeller",
"Farbod Farshidian",
"Marco Hutter",
"Animesh Garg"
] | A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid mobility. While mobile manipulators in different form factors provide an extended workspace, their real-world adoption has been limited. Executing a high-level task fo... |
An open-source motion planning framework for mobile manipulators using constraint-based task space control with linear MPC | https://ieeexplore.ieee.org/document/9982245/ | [
"Simon Stelter",
"Georg Bartels",
"Michael Beetz",
"Simon Stelter",
"Georg Bartels",
"Michael Beetz"
] | We present an open source motion planning framework for ROS, which uses constraint and optimization based task space control to generate trajectories for the whole body of mobile manipulators. Motion goals are defined as constraints which are enforced on task space functions. They map the controllable degrees of freedom of a system onto custom task spaces, which can, but do not have to be, the Car... |
RARA: Zero-shot Sim2Real Visual Navigation with Following Foreground Cues | https://ieeexplore.ieee.org/document/9982066/ | [
"Klaas Kelchtermans",
"Tinne Tuytelaars",
"Klaas Kelchtermans",
"Tinne Tuytelaars"
] | The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of camera-based navigation, formulating it as following a visual cue in the foreground with arbitrary backgrounds. The visual cue in the foreground can often be simul... |
Navigation Among Movable Obstacles with Object Localization using Photorealistic Simulation | https://ieeexplore.ieee.org/document/9981587/ | [
"Kirsty Ellis",
"Henry Zhang",
"Danail Stoyanov",
"Dimitrios Kanoulas",
"Kirsty Ellis",
"Henry Zhang",
"Danail Stoyanov",
"Dimitrios Kanoulas"
] | While mobile navigation has been focused on obstacle avoidance, Navigation Among Movable Obstacles (NAMO) via interaction with the environment, is a problem that is still open and challenging. This paper, presents a novel system integration to handle NAMO using visual feedback. In order to explore the capabilities of our introduced system, we explore the solution of the problem via graph-based pat... |
Navigating underground environments using simple topological representations | https://ieeexplore.ieee.org/document/9981336/ | [
"Lorenzo Cano",
"Alejandro R. Mosteo",
"Danilo Tardioli",
"Lorenzo Cano",
"Alejandro R. Mosteo",
"Danilo Tardioli"
] | Underground environments are some of the most challenging for autonomous navigation. The long, featureless corridors, loose and slippery soils, bad illumination and unavailability of global localization make many traditional approaches struggle. In this work, a topological-based navigation system is presented that enables autonomous navigation of a ground robot in mine-like environments relying ex... |
Teaching Agents how to Map: Spatial Reasoning for Multi-Object Navigation | https://ieeexplore.ieee.org/document/9982216/ | [
"Pierre Marza",
"Laetitia Matignon",
"Olivier Simonin",
"Christian Wolf",
"Pierre Marza",
"Laetitia Matignon",
"Olivier Simonin",
"Christian Wolf"
] | In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial rea-soning, where an agent is able to perceive spatial relationships and regularities, and discover object characteristics. Recent work introduces learnable po... |
NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces | https://ieeexplore.ieee.org/document/9982207/ | [
"Sriram Siva",
"Maggie Wigness",
"John G. Rogers",
"Long Quang",
"Hao Zhang",
"Sriram Siva",
"Maggie Wigness",
"John G. Rogers",
"Long Quang",
"Hao Zhang"
] | When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to robot navigation, including dynamic obstacles and terrain uncertainty, leading to inefficient traversal or navigation failures. To address these challenges, we int... |
Resilient Detection and Recovery of Autonomous Systems Operating under On-board Controller Cyber Attacks | https://ieeexplore.ieee.org/document/9981844/ | [
"Paul J Bonczek",
"Nicola Bezzo",
"Paul J Bonczek",
"Nicola Bezzo"
] | Cyber-attacks, failures, and implementation errors inside the controller of an autonomous system can affect its correct behavior leading to unsafe states and degraded performance. In this paper, we focus on such problems specifically on cyber-attacks that manipulate controller parameters like the gains in a feedback controller or that triggers different behaviors or block inputs based on specific ... |
Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge | https://ieeexplore.ieee.org/document/9981743/ | [
"Naoki Yokoyama",
"Qian Luo",
"Dhruv Batra",
"Sehoon Ha",
"Naoki Yokoyama",
"Qian Luo",
"Dhruv Batra",
"Sehoon Ha"
] | Recent advances in deep reinforcement learning and scalable photorealistic simulation have led to increasingly mature embodied AI for various visual tasks, including navigation. However, while impressive progress has been made for teaching embodied agents to navigate static environments, much less progress has been made on more dynamic environments that may include moving pedestrians or movable ob... |
Robotic Interestingness via Human-Informed Few-Shot Object Detection | https://ieeexplore.ieee.org/document/9981461/ | [
"Seungchan Kim",
"Chen Wang",
"Bowen Li",
"Sebastian Scherer",
"Seungchan Kim",
"Chen Wang",
"Bowen Li",
"Sebastian Scherer"
] | Interestingness recognition is crucial for decision making in autonomous exploration for mobile robots. Previous methods proposed an unsupervised online learning approach that can adapt to environments and detect interesting scenes quickly, but lack the ability to adapt to human-informed interesting objects. To solve this problem, we introduce a human-interactive framework, AirInteraction, that ca... |
Rotor Array Synergies for Aerial Modular Reconfigurable Robots | https://ieeexplore.ieee.org/document/9982034/ | [
"Benjamin Moshirian",
"Pauline E.I. Pounds",
"Benjamin Moshirian",
"Pauline E.I. Pounds"
] | Aerial Modular Reconfigurable Robots (AMRRs) are scalable systems consisting of rotor modules capable of rearrangement during flight. The potential to dynamically change any shape for a given task poses the question: what arrangements offer the most aerodynamic benefit for the task of flying? Answering this requires understanding how adjacent rotors in various configurations influence each another... |
Precise Position Control of a Multi-rotor UAV with a Cable-suspended Mechanism During Water Sampling | https://ieeexplore.ieee.org/document/9981057/ | [
"Fotis Panetsos",
"George C. Karras",
"Sotirios N. Aspragkathos",
"Kostas J. Kyriakopoulos",
"Fotis Panetsos",
"George C. Karras",
"Sotirios N. Aspragkathos",
"Kostas J. Kyriakopoulos"
] | This paper addresses the problem of water sampling by using a multirotor UAV with a cable-suspended mechanism. In order to ensure the safe execution of the sampling procedure and the stabilization of the vehicle, the disturbances, induced by the water flow and transferred through the cable, have to be identified. Specifically, an estimate of the disturbances is extracted by integrating a depth sen... |
Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw | https://ieeexplore.ieee.org/document/9981306/ | [
"Ryo Miyazaki",
"Wataru Matori",
"Takamasa Kominami",
"Hannibal Paul",
"Kazuhiro Shimonomura",
"Ryo Miyazaki",
"Wataru Matori",
"Takamasa Kominami",
"Hannibal Paul",
"Kazuhiro Shimonomura"
] | Pruning work at high altitude is a dangerous work with a high risk of accidents for human workers. In this research, we propose a multirotor flying robot that is equipped with a wire-suspended device and performs pruning task. We use a saber saw as a cutting tool. If the cutting tool is installed on the body of the multirotor platform, it is difficult for the flying robot to approach the desired w... |
Unmanned Aircraft System-Based Radiological Mapping of Buildings | https://ieeexplore.ieee.org/document/9981415/ | [
"Tomas Lazna",
"Petr Gabrlik",
"Petr Sladek",
"Tomas Jilek",
"Ludek Zalud",
"Tomas Lazna",
"Petr Gabrlik",
"Petr Sladek",
"Tomas Jilek",
"Ludek Zalud"
] | The article focuses on acquiring a 3D radiation map of a building via a two-phase survey performed with an unmanned aircraft system (UAS). First, a model of the stud-ied building is created by means of photogrammetry. Then, radiation data are collected using a 2-inch NaI(Tl) detector in a regular grid at a distance of 2 m from all accessible surfaces of the building (i.e., the walls and the roof).... |
Towards edible drones for rescue missions: design and flight of nutritional wings | https://ieeexplore.ieee.org/document/9981956/ | [
"Bokeon Kwak",
"Jun Shintake",
"Lu Zhang",
"Dario Floreano",
"Bokeon Kwak",
"Jun Shintake",
"Lu Zhang",
"Dario Floreano"
] | Drones have shown to be useful aerial vehicles for unmanned transport missions such as food and medical supply delivery. This can be leveraged to deliver life-saving nutrition and medicine for people in emergency situations. However, commercial drones can generally only carry 10 %–30 % of their own mass as payload, which limits the amount of food delivery in a single flight. One novel solution to ... |
Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles | https://ieeexplore.ieee.org/document/9981643/ | [
"Martin Jacquet",
"Antonio Franchi",
"Martin Jacquet",
"Antonio Franchi"
] | This work introduces a Nonlinear Model Predictive Control (N-MPC) for camera-equipped Unmanned Aerial Vehicles (UAVs), which controls at the motor level the UAV motion to ensure the quality of vision-based state estimation while performing other tasks. The controller ensures visibility over a sufficient amount of features, while optimizing their coverage, based on an assessment of the estimation q... |
Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment | https://ieeexplore.ieee.org/document/9981393/ | [
"Hao-Fang Cheng",
"Yi-Chan Li",
"Yi-Ching Ho",
"Cheng-Wei Chen",
"Hao-Fang Cheng",
"Yi-Chan Li",
"Yi-Ching Ho",
"Cheng-Wei Chen"
] | Due to the precise manipulations required in dental surgery, robotic technologies have been applied to dentistry. So far, most dental robots are designed for implant surgery, helping dentists accurately place the implant to the desired position and depth. This paper presents the DentiBot, the first robot designed for dental endodontic treatment. Without visual feedback, the DentiBot is integrated ... |
A Training-Evaluation Method for Nursing Telerobot Operator with Unsupervised Trajectory Segmentation | https://ieeexplore.ieee.org/document/9981224/ | [
"Jiexin Xie",
"Deliang Zhu",
"Jiaxin Wang",
"Shijie Guo",
"Jiexin Xie",
"Deliang Zhu",
"Jiaxin Wang",
"Shijie Guo"
] | To cope with the difficulty of training and eval-uation for nursing telerobot operator. This paper proposes a training-evaluation method for operator with unsupervised trajectory segmentation. To evaluate the dexterity and proce-dural knowledge of the operators objectively, we propose a new unsupervised model TSC-CRP that can automatically segment trajectory from nursing robotic training sessions.... |
Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot | https://ieeexplore.ieee.org/document/9981349/ | [
"Guebin Hwang",
"Jongwon Lee",
"Sungwook Yang",
"Guebin Hwang",
"Jongwon Lee",
"Sungwook Yang"
] | In this study, we present a visual servo control framework for fully automated nasopharyngeal swab robots. The proposed framework incorporates a deep learning-based nostril detection with a cascade approach to reliably identify the nostrils with high accuracy in real time. In addition, a partitioned visual servoing scheme that combines image-based visual servoing with axial control is formulated f... |
Development of a cable-driven Growing Sling to assist patient transfer | https://ieeexplore.ieee.org/document/9981770/ | [
"MyungJoong Lee",
"Yonghwan Moon",
"Jeongryul Kim",
"Seungjun Lee",
"Keri Kim",
"HyunKi In",
"MyungJoong Lee",
"Yonghwan Moon",
"Jeongryul Kim",
"Seungjun Lee",
"Keri Kim",
"HyunKi In"
] | As the aging of society continues to accelerate, the number of elderly patients is increasing, as is the demand for manpower to care for them. In particular, there is an urgent need for bedridden patient care. However, limitations in the supply of human resources have caused an increase in the burden for care. In particular, nursing personnel often experience inconvenience and difficulties owing t... |
Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance | https://ieeexplore.ieee.org/document/9981932/ | [
"Basma B. Hasanen",
"Mohammad I. Awad",
"Mohamed N. Boushaki",
"Zhenwei Niu",
"Mohammed A. Ramadan",
"Irfan Hussain",
"Basma B. Hasanen",
"Mohammad I. Awad",
"Mohamed N. Boushaki",
"Zhenwei Niu",
"Mohammed A. Ramadan",
"Irfan Hussain"
] | Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees of Freedom (DoFs) by introducing an independent new limb. The actuation systems in SRL can be categorized into rigid and soft actuat... |
Plate Harmonic Reducer with a Profiled Groove Wave Generator | https://ieeexplore.ieee.org/document/9981317/ | [
"Seungbin You",
"Jaesug Jung",
"Eunho Sung",
"Jaeheung Park",
"Seungbin You",
"Jaesug Jung",
"Eunho Sung",
"Jaeheung Park"
] | In this study, a mechanism that realizes a novel structural form of the harmonic reducer is introduced. Conventional robots often use various mechanical reducers owing to low torque and high-speed characteristics of electric motors. Among them, harmonic reducers are frequently used because of their compact size and backlash-free precision. The plate harmonic reducer which uses the same topological... |
Design of a modular continuum robot with alterable compliance using tubular-actuation | https://ieeexplore.ieee.org/document/9982238/ | [
"Mingyuan Wang",
"Liang Du",
"Sheng Bao",
"Jianjun Yuan",
"Jinshu Zhou",
"Shugen Ma",
"Mingyuan Wang",
"Liang Du",
"Sheng Bao",
"Jianjun Yuan",
"Jinshu Zhou",
"Shugen Ma"
] | Compliance is good. However, it is challenging for one compliant continuum robot to finish both high precision manipulation and environmental-adapted motions. In this paper, a modular continuum robot with the alterable compliance characteristic is proposed. Besides, an actuation module is also proposed using a tubular-screw mechanism for non-slippage transmission. Kinematic analyses and dynamic co... |
3D-printable low-reduction cycloidal gearing for robotics | https://ieeexplore.ieee.org/document/9982006/ | [
"Wesley Roozing",
"Glenn Roozing",
"Wesley Roozing",
"Glenn Roozing"
] | The recent trend towards low reduction gearing in robotic actuation has revitalised the need for high-performance gearing concepts. In this work we propose compact low-reduction cycloidal gearing, that is 3D-printable and combined with off-the-shelf components. This approach presents an enormous potential for high performance-to-cost implementations. After discussing parameter selection and design... |
Fold-based Complex Joints for a 3 DoF 3R Parallel Robot Design | https://ieeexplore.ieee.org/document/9981031/ | [
"Judith U. Merz",
"Markus M. Huber",
"Franz Irlinger",
"Tim C. Lueth",
"Janik Pfitzner",
"Burkhard Corves",
"Judith U. Merz",
"Markus M. Huber",
"Franz Irlinger",
"Tim C. Lueth",
"Janik Pfitzner",
"Burkhard Corves"
] | This contribution demonstrates the usage of fold-based joints to create a novel 3 DoF 3R(RPaR) parallel robot design. Multiple folding mechanisms are introduced, fulfilling the function of revolute, prismatic, and spherical joints. Folding mechanisms are here tested regarding their applicability in parallel kinematic robots taking advantage of beneficial properties such as increased stiffness, fla... |
Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs | https://ieeexplore.ieee.org/document/9981521/ | [
"Satoshi Nishikawa",
"Daigo Tokunaga",
"Kazuo Kiguchi",
"Satoshi Nishikawa",
"Daigo Tokunaga",
"Kazuo Kiguchi"
] | For universal robotic limbs, having a large workspace with high stiffness and adjustable output properties is important to adapt to various situations. A combination of parallel mechanisms that can change output characteristics is promising to meet these demands. As such, we propose a lever mechanism with double parallel link platforms. This mechanism is composed of a lever mechanism with the effo... |
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion | https://ieeexplore.ieee.org/document/9981940/ | [
"Karthik Urs",
"Challen Enninful Adu",
"Elliott J. Rouse",
"Talia Y. Moore",
"Karthik Urs",
"Challen Enninful Adu",
"Elliott J. Rouse",
"Talia Y. Moore"
] | Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology. However, development of custom actuators for legged robots is expensive and time consuming, discouraging application-specific actuator optimization. This paper pres... |
Real-time IMU-Based Learning: a Classification of Contact Materials | https://ieeexplore.ieee.org/document/9981139/ | [
"Carlos Magno C. O. Valle",
"Alexander Kurdas",
"Edmundo Pozo Fortunić",
"Saeed Abdolshah",
"Sami Haddadin",
"Carlos Magno C. O. Valle",
"Alexander Kurdas",
"Edmundo Pozo Fortunić",
"Saeed Abdolshah",
"Sami Haddadin"
] | In modern highly dynamic robot manipulation, collisions between a robot and objects may be intentionally executed to improve performance. To distinguish between these deliberate contacts and accidental collisions beyond the limit of state-of-the-art human-robot interactions, new sensing approaches are required. This work seeks an easy-to-implement and real-time capable solution to detect the ident... |
New Objects on the Road? No Problem, We'll Learn Them Too | https://ieeexplore.ieee.org/document/9981886/ | [
"Deepak Kumar Singh",
"Shyam Nandan Rai",
"K J Joseph",
"Rohit Saluja",
"Vineeth N Balasubramanian",
"Chetan Arora",
"Anbumani Subramanian",
"C.V. Jawahar",
"Deepak Kumar Singh",
"Shyam Nandan Rai",
"K J Joseph",
"Rohit Saluja",
"Vineeth N Balasubramanian",
"Chetan Arora",
"Anbumani Subramanian",
"C.V. Jawahar"
] | Object detection plays an essential role in providing localization, path planning, and decision making capabilities in autonomous navigation systems. However, existing object detection models are trained and tested on a fixed number of known classes. This setting makes the object detection model difficult to generalize well in real-world road scenarios while encountering an unknown object. We addr... |
Conditional Patch-Based Domain Randomization: Improving Texture Domain Randomization Using Natural Image Patches | https://ieeexplore.ieee.org/document/9981381/ | [
"Mohammad Ani",
"Hector Basevi",
"Aleš Leonardis",
"Mohammad Ani",
"Hector Basevi",
"Aleš Leonardis"
] | Using Domain Randomized synthetic data for training deep learning systems is a promising approach for addressing the data and the labeling requirements for supervised techniques to bridge the gap between simulation and the real world. We propose a novel approach for generating and applying class-specific Domain Randomization textures by using randomly cropped image patches from real-world data. In... |
CloudAttention: Efficient Multi-Scale Attention Scheme For 3D Point Cloud Learning | https://ieeexplore.ieee.org/document/9982276/ | [
"Mahdi Saleh",
"Yige Wang",
"Nassir Navab",
"Benjamin Busam",
"Federico Tombari",
"Mahdi Saleh",
"Yige Wang",
"Nassir Navab",
"Benjamin Busam",
"Federico Tombari"
] | Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for vision tasks. However, attention calculations in transformers come with quadratic complexity in the number of inputs and miss spatial intuition on sets like poi... |
Fast Hierarchical Learning for Few-Shot Object Detection | https://ieeexplore.ieee.org/document/9981327/ | [
"Yihang She",
"Goutam Bhat",
"Martin Danelljan",
"Fisher Yu",
"Yihang She",
"Goutam Bhat",
"Martin Danelljan",
"Fisher Yu"
] | Transfer learning based approaches have recently achieved promising results on the few-shot detection task. These approaches however suffer from “catastrophic forgetting” issue due to finetuning of base detector, leading to sub-optimal performance on the base classes. Furthermore, the slow convergence rate of stochastic gradient descent (SGD) results in high latency and consequently restricts real... |
Improving Single-View Mesh Reconstruction for Unseen Categories via Primitive-Based Representation and Mesh Augmentation | https://ieeexplore.ieee.org/document/9982024/ | [
"Yu-Liang Kuo",
"Wei-Jan Ko",
"Chen-Yi Chiu",
"Wei-Chen Chiu",
"Yu-Liang Kuo",
"Wei-Jan Ko",
"Chen-Yi Chiu",
"Wei-Chen Chiu"
] | As most existing works of single-view 3D reconstruction aim at learning the better mapping functions to directly transform the 2D observation into the corresponding 3D shape for achieving state-of-the-art performance, there often comes a potential concern on having the implicit bias towards the seen classes learnt in their models (i.e. reconstruction intertwined with the classification) thus leadi... |
Instance Segmentation with Cross-Modal Consistency | https://ieeexplore.ieee.org/document/9982285/ | [
"Alex Zihao Zhu",
"Vincent Casser",
"Reza Mahjourian",
"Henrik Kretzschmar",
"Sören Pirk",
"Alex Zihao Zhu",
"Vincent Casser",
"Reza Mahjourian",
"Henrik Kretzschmar",
"Sören Pirk"
] | Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple sensor modalities, such as cameras and LiDAR. Our method learns to predict embeddings for each pixel or point that give rise to a dense segmentation of the scen... |
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments | https://ieeexplore.ieee.org/document/9982267/ | [
"Xianmei Lei",
"Taeyeon Kim",
"Nicolas Marchal",
"Daniel Pastor",
"Barry Ridge",
"Frederik Schöller",
"Edward Terry",
"Fernando Chavez",
"Thomas Touma",
"Kyohei Otsu",
"Benjamin Morrell",
"Ali Agha",
"Xianmei Lei",
"Taeyeon Kim",
"Nicolas Marchal",
"Daniel Pastor",
"Barry Ridge",
"Frederik Schöller",
"Edward Terry",
"Fernando Chavez",
"Thomas Touma",
"Kyohei Otsu",
"Benjamin Morrell",
"Ali Agha"
] | Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging. During such missions, high recall is desirable to avoid missing true target objects and high precision is also critical to avoid wasting valuable operational time on false positives. Given recent advancements in ... |
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