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Boosting Lidar 3D Object Detection with Point Cloud Semantic Segmentation | https://ieeexplore.ieee.org/document/10341613/ | [
"Xuchong Zhang",
"Chong Min",
"Yijie Jia",
"Liming Chen",
"Jingmin Zhang",
"Hongbin Sun",
"Xuchong Zhang",
"Chong Min",
"Yijie Jia",
"Liming Chen",
"Jingmin Zhang",
"Hongbin Sun"
] | The integration of semantic information can effectively enhance the performance of 3D object detection based on lidar point cloud. Most of previous researches utilize camera-lidar fusion to improve detection accuracy for distant or small objects. However, this approach is typically unsuitable for real-time applications due to the large amount of input data. Recently, a multi-task framework using o... |
Generalized Few-shot Semantic Segmentation for LiDAR Point Clouds | https://ieeexplore.ieee.org/document/10341978/ | [
"Pengze Wu",
"Jilin Mei",
"Xijun Zhao",
"Yu Hu",
"Pengze Wu",
"Jilin Mei",
"Xijun Zhao",
"Yu Hu"
] | Semantic segmentation of LiDAR point clouds can provide assistance for precise perception in autonomous driving, but traditional segmentation methods face challenges such as unbalanced class distribution and insufficient labeling. Generalized few-shot learning has been researched on image data, but these methods are difficult to apply directly to LiDAR point clouds. To tackle these challenges, we ... |
Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps | https://ieeexplore.ieee.org/document/10342071/ | [
"Kenneth Blomqvist",
"Lionel Ott",
"Jen Jen Chung",
"Roland Siegwart",
"Kenneth Blomqvist",
"Lionel Ott",
"Jen Jen Chung",
"Roland Siegwart"
] | Methods have recently been proposed that densely segment 3D volumes into classes using only color images and expert supervision in the form of sparse semantically annotated pixels. While impressive, these methods still require a relatively large amount of supervision and segmenting an object can take several minutes in practice. Such systems typically only optimize the representation on the scene ... |
Optical Flow Boosts Unsupervised Localization and Segmentation | https://ieeexplore.ieee.org/document/10342195/ | [
"Xinyu Zhang",
"Abdeslam Boularias",
"Xinyu Zhang",
"Abdeslam Boularias"
] | Unsupervised localization and segmentation are long-standing robot vision challenges that describe the critical ability for an autonomous robot to learn to decompose images into individual objects without labeled data. These tasks are important because of the limited availability of dense image manual annotation and the promising vision of adapting to an evolving set of object categories in lifelo... |
T-UDA: Temporal Unsupervised Domain Adaptation in Sequential Point Clouds | https://ieeexplore.ieee.org/document/10341446/ | [
"Awet Haileslassie Gebrehiwot",
"David Hurych",
"Karel Zimmermann",
"Patrick Pérez",
"Tomáš Svoboda",
"Awet Haileslassie Gebrehiwot",
"David Hurych",
"Karel Zimmermann",
"Patrick Pérez",
"Tomáš Svoboda"
] | Deep perception models have to reliably cope with an open-world setting of domain shifts induced by different geographic regions, sensor properties, mounting positions, and several other reasons. Since covering all domains with annotated data is technically intractable due to the endless possible variations, researchers focus on unsupervised domain adaptation (UDA) methods that adapt models traine... |
Superpixel Transformers for Efficient Semantic Segmentation | https://ieeexplore.ieee.org/document/10341519/ | [
"Alex Zihao Zhu",
"Jieru Mei",
"Siyuan Qiao",
"Hang Yan",
"Yukun Zhu",
"Liang-Chieh Chen",
"Henrik Kretzschmar",
"Alex Zihao Zhu",
"Jieru Mei",
"Siyuan Qiao",
"Hang Yan",
"Yukun Zhu",
"Liang-Chieh Chen",
"Henrik Kretzschmar"
] | Semantic segmentation, which aims to classify every pixel in an image, is a key task in machine perception, with many applications across robotics and autonomous driving. Due to the high dimensionality of this task, most existing approaches use local operations, such as convolutions, to generate per-pixel features. However, these methods are typically unable to effectively leverage global context ... |
Hierarchical Semi-Supervised Learning Framework for Surgical Gesture Segmentation and Recognition Based on Multi-Modality Data | https://ieeexplore.ieee.org/document/10341673/ | [
"Zhili Yuan",
"Jialin Lin",
"Dandan Zhang",
"Zhili Yuan",
"Jialin Lin",
"Dandan Zhang"
] | Segmenting and recognizing surgical operation trajectories into distinct, meaningful gestures is a critical preliminary step in surgical workflow analysis for robot-assisted surgery. This step is necessary for facilitating learning from demonstrations for autonomous robotic surgery, evaluating surgical skills, and so on. In this work, we develop a hierarchical semi-supervised learning framework fo... |
Lidar Panoptic Segmentation and Tracking without Bells and Whistles | https://ieeexplore.ieee.org/document/10341415/ | [
"Abhinav Agarwalla",
"Xuhua Huang",
"Jason Ziglar",
"Francesco Ferroni",
"Laura Leal-Taixé",
"James Hays",
"Aljoša Ošep",
"Deva Ramanan",
"Abhinav Agarwalla",
"Xuhua Huang",
"Jason Ziglar",
"Francesco Ferroni",
"Laura Leal-Taixé",
"James Hays",
"Aljoša Ošep",
"Deva Ramanan"
] | State-of-the-art lidar panoptic segmentation (LPS) methods follow “bottom-up” segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think this approach and propose a surprisingly simple yet effective detection-centric network for both LPS and tracking. Our network is modular by design and optimiz... |
CompUDA: Compositional Unsupervised Domain Adaptation for Semantic Segmentation Under Adverse Conditions | https://ieeexplore.ieee.org/document/10342102/ | [
"Ziqiang Zhengl",
"Yingshu Chen",
"Binh-Son Hua",
"Sai-Kit Yeung",
"Ziqiang Zhengl",
"Yingshu Chen",
"Binh-Son Hua",
"Sai-Kit Yeung"
] | In autonomous driving, performing robust semantic segmentation under adverse weather conditions is a long-standing challenge. Imperfect camera observations under adverse conditions result in images with reduced visibility, which hinders label annotation and semantic scene understanding based on these images. A common solution is to adopt semantic segmentation models trained in a source domain with... |
Transparent Object Tracking with Enhanced Fusion Module | https://ieeexplore.ieee.org/document/10341597/ | [
"Kalyan Garigapati",
"Erik Blasch",
"Jie Wei",
"Haibin Ling",
"Kalyan Garigapati",
"Erik Blasch",
"Jie Wei",
"Haibin Ling"
] | Accurate tracking of transparent objects, such as glasses, plays a critical role in many robotic tasks such as robot-assisted living. Due to the adaptive and often reflective texture of such objects, traditional tracking algorithms that rely on general-purpose learned features suffer from reduced performance. Recent research has proposed to instill trans-parency awareness into existing general obj... |
Self-Supervised Event-Based Monocular Depth Estimation Using Cross-Modal Consistency | https://ieeexplore.ieee.org/document/10342434/ | [
"Junyu Zhu",
"Lina Liu",
"Bofeng Jiang",
"Feng Wen",
"Hongbo Zhang",
"Wanlong Li",
"Yong Liu",
"Junyu Zhu",
"Lina Liu",
"Bofeng Jiang",
"Feng Wen",
"Hongbo Zhang",
"Wanlong Li",
"Yong Liu"
] | An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous “events”. It has advantages over conventional cameras in those scenes with high-speed motions and challenging lighting conditions because of the high temporal resolution, high dynamic range, low bandwidth, low power consumption, and no motion blur. Therefore, several supervise... |
Sim-to-Real Vision-Depth Fusion CNNs for Robust Pose Estimation Aboard Autonomous Nano-quadcopters | https://ieeexplore.ieee.org/document/10342162/ | [
"Luca Crupi",
"Elia Cereda",
"Alessandro Giusti",
"Daniele Palossi",
"Luca Crupi",
"Elia Cereda",
"Alessandro Giusti",
"Daniele Palossi"
] | Nano-quadcopters are versatile platforms attracting the interest of both academia and industry. Their tiny form factor, i.e., ~ 10 cm diameter, makes them particularly useful in narrow scenarios and harmless in human proximity. However, these advantages come at the price of ultra-constrained onboard computational and sensorial resources for autonomous operations. This work addresses the task of es... |
SSC-RS: Elevate LiDAR Semantic Scene Completion with Representation Separation and BEV Fusion | https://ieeexplore.ieee.org/document/10341742/ | [
"Jianbiao Mei",
"Yu Yang",
"Mengmeng Wang",
"Tianxin Huang",
"Xuemeng Yang",
"Yong Liu",
"Jianbiao Mei",
"Yu Yang",
"Mengmeng Wang",
"Tianxin Huang",
"Xuemeng Yang",
"Yong Liu"
] | Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of semantic context in segmentation. However, how to effectively exploit the relationships between the semantic context in semantic segmentation and geometric structu... |
PANet: LiDAR Panoptic Segmentation with Sparse Instance Proposal and Aggregation | https://ieeexplore.ieee.org/document/10342468/ | [
"Jianbiao Mei",
"Yu Yang",
"Mengmeng Wang",
"Xiaojun Hou",
"Laijian Li",
"Yong Liu",
"Jianbiao Mei",
"Yu Yang",
"Mengmeng Wang",
"Xiaojun Hou",
"Laijian Li",
"Yong Liu"
] | Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the dependency on the offset branch and improve the performance on large objects, which are always over-segmented by clustering algorithms. Firstly, we propose a non-learnin... |
Online Self-Supervised Thermal Water Segmentation for Aerial Vehicles | https://ieeexplore.ieee.org/document/10342016/ | [
"Connor Lee",
"Jonathan Gustafsson Frennert",
"Lu Gan",
"Matthew Anderson",
"Soon-Jo Chung",
"Connor Lee",
"Jonathan Gustafsson Frennert",
"Lu Gan",
"Matthew Anderson",
"Soon-Jo Chung"
] | We present a new method to adapt an RGB-trained water segmentation network to target-domain aerial thermal imagery using online self-supervision by leveraging texture and motion cues as supervisory signals. This new thermal capability enables current autonomous aerial robots operating in near-shore environments to perform tasks such as visual navigation, bathymetry, and flow tracking at night. Our... |
Lightweight, Uncertainty-Aware Conformalized Visual Odometry | https://ieeexplore.ieee.org/document/10341924/ | [
"Alex C. Stutts",
"Danilo Erricolo",
"Theja Tulabandhula",
"Amit Ranjan Trivedi",
"Alex C. Stutts",
"Danilo Erricolo",
"Theja Tulabandhula",
"Amit Ranjan Trivedi"
] | Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics devices like insect-scale drones and surgical robots lack a computationally efficient framework to estimate VO's predictive uncertainties. Meanwhile, as edge roboti... |
LiDAR Meta Depth Completion | https://ieeexplore.ieee.org/document/10341349/ | [
"Wolfgang Boettcher",
"Lukas Hoyer",
"Ozan Unal",
"Ke Li",
"Dengxin Dai",
"Wolfgang Boettcher",
"Lukas Hoyer",
"Ozan Unal",
"Ke Li",
"Dengxin Dai"
] | Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps by additionally using sparse depth information from other sensors such as LiDAR. However, current methods are specifically trained for a single LiDAR sensor. As... |
Primitive Skill-Based Robot Learning from Human Evaluative Feedback | https://ieeexplore.ieee.org/document/10341912/ | [
"Ayano Hiranaka",
"Minjune Hwang",
"Sharon Lee",
"Chen Wang",
"Li Fei-Fei",
"Jiajun Wu",
"Ruohan Zhang",
"Ayano Hiranaka",
"Minjune Hwang",
"Sharon Lee",
"Chen Wang",
"Li Fei-Fei",
"Jiajun Wu",
"Ruohan Zhang"
] | Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a novel framework, SEED, which leverages two approaches: reinforcement learning from human feedback (RLHF) and primitive skill-based reinforcement learning. Both a... |
Autocomplete of 3D Motions for UAV Teleoperation | https://ieeexplore.ieee.org/document/10342390/ | [
"Batool Ibrahim",
"Mohammad Haj Hussein",
"Imad H. Elhajj",
"Daniel Asmar",
"Batool Ibrahim",
"Mohammad Haj Hussein",
"Imad H. Elhajj",
"Daniel Asmar"
] | Tele-operating aerial vehicles without any automated assistance is challenging due to various limitations, especially for inexperienced users. Autocomplete addresses this problem by automatically identifying and completing the user's intended motion. Such a framework uses machine learning to recognize and classify human inputs as one of a set of motion primitives, and then, if the human operator a... |
Exploiting Spatio-Temporal Human-Object Relations Using Graph Neural Networks for Human Action Recognition and 3D Motion Forecasting | https://ieeexplore.ieee.org/document/10342491/ | [
"Dimitrios Lagamtzis",
"Fabian Schmidt",
"Jan Seyler",
"Thao Dang",
"Steffen Schober",
"Dimitrios Lagamtzis",
"Fabian Schmidt",
"Jan Seyler",
"Thao Dang",
"Steffen Schober"
] | Human action recognition and motion forecasting is becoming increasingly successful, in particular with utilizing graphs. We aim to transfer this success into the context of industrial Human-Robot Collaboration (HRC), where humans work closely with robots and interact with workpieces in defined workspaces. For this purpose, it is necessary to use all the available information extractable in such a... |
Improving Human-Robot Interaction Effectiveness in Human-Robot Collaborative Object Transportation Using Force Prediction | https://ieeexplore.ieee.org/document/10342517/ | [
"J. E. Domínguez-Vidal",
"Alberto Sanfeliu",
"J. E. Domínguez-Vidal",
"Alberto Sanfeliu"
] | In this work, we analyse the use of a prediction of the human's force in a Human-Robot collaborative object transportation task at a middle distance. We check that this force prediction can improve multiple parameters associated with effective Human-Robot Interaction (HRI) such as perception of the robot's contribution to the task, comfort or trust in the robot in a physical Human Robot Interactio... |
Leveraging Saliency-Aware Gaze Heatmaps for Multiperspective Teaching of Unknown Objects | https://ieeexplore.ieee.org/document/10342312/ | [
"Daniel Weber",
"Valentin Bolz",
"Andreas Zell",
"Enkelejda Kasneci",
"Daniel Weber",
"Valentin Bolz",
"Andreas Zell",
"Enkelejda Kasneci"
] | As robots become increasingly prevalent amidst diverse environments, their ability to adapt to novel scenarios and objects is essential. Advances in modern object detection have also paved the way for robots to identify interaction entities within their immediate vicinity. One drawback is that the robot's operational domain must be known at the time of training, which hinders the robot's ability t... |
Language Guided Temporally Adaptive Perception for Efficient Natural Language Grounding in Cluttered Dynamic Worlds | https://ieeexplore.ieee.org/document/10341527/ | [
"Siddharth Patki",
"Jacob Arkin",
"Nikola Raicevic",
"Thomas M. Howard",
"Siddharth Patki",
"Jacob Arkin",
"Nikola Raicevic",
"Thomas M. Howard"
] | As robots operate alongside humans in shared spaces, such as homes and offices, it is essential to have an effective mechanism for interacting with them. Natural language offers an intuitive interface for communicating with robots, but most of the recent approaches to grounded language understanding reason only in the context of an instantaneous state of the world. Though this allows for interpret... |
T-Top, an Open Source Tabletop Robot with Advanced Onboard Audio, Vision and Deep Learning Capabilities | https://ieeexplore.ieee.org/document/10342252/ | [
"Marc-Antoine Maheux",
"Adina M. Panchea",
"Philippe Warren",
"Dominic Létourneau",
"François Michaud",
"Marc-Antoine Maheux",
"Adina M. Panchea",
"Philippe Warren",
"Dominic Létourneau",
"François Michaud"
] | In recent years, studies on Socially Assistive Robots (SARs) examine how to improve the quality of life of people living with dementia and older adults (OAs) in general. However, most SARs have somewhat limited perception capabilities or interact using simple pre-programmed responses, providing limited or repetitive interaction modalities. Integrating more advanced perceptual capabilities with dee... |
Learning Human Motion Intention for pHRI Assistive Control | https://ieeexplore.ieee.org/document/10342014/ | [
"Paolo Franceschi",
"Fabio Bertini",
"Francesco Braghin",
"Loris Roveda",
"Nicola Pedrocchi",
"Manuel Beschi",
"Paolo Franceschi",
"Fabio Bertini",
"Francesco Braghin",
"Loris Roveda",
"Nicola Pedrocchi",
"Manuel Beschi"
] | This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the human wants to follow over a finite rolling prediction horizon so that the robot can assist in pursuing it. This work investigates a Recurrent Neural Network (RN... |
VARIQuery: VAE Segment-Based Active Learning for Query Selection in Preference-Based Reinforcement Learning | https://ieeexplore.ieee.org/document/10341795/ | [
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Jana Tumova",
"Iolanda Leite",
"Daniel Marta",
"Simon Holk",
"Christian Pek",
"Jana Tumova",
"Iolanda Leite"
] | Human-in-the-loop reinforcement learning (RL) methods actively integrate human knowledge to create reward functions for various robotic tasks. Learning from preferences shows promise as alleviates the requirement of demonstrations by querying humans on state-action sequences. However, the limited granularity of sequence-based approaches complicates temporal credit assignment. The amount of human q... |
Interactive Spatiotemporal Token Attention Network for Skeleton-Based General Interactive Action Recognition | https://ieeexplore.ieee.org/document/10342472/ | [
"Yuhang Wen",
"Zixuan Tang",
"Yunsheng Pang",
"Beichen Ding",
"Mengyuan Liu",
"Yuhang Wen",
"Zixuan Tang",
"Yunsheng Pang",
"Beichen Ding",
"Mengyuan Liu"
] | Recognizing interactive action plays an important role in human-robot interaction and collaboration. Previous methods use late fusion and co-attention mechanism to capture interactive relations, which have limited learning capability or inefficiency to adapt to more interacting entities. With assumption that priors of each entity are already known, they also lack evaluations on a more general sett... |
Learning Joint Policies for Human-Robot Dialog and Co-Navigation | https://ieeexplore.ieee.org/document/10341663/ | [
"Yohei Hayamizu",
"Zhou Yu",
"Shiqi Zhang",
"Yohei Hayamizu",
"Zhou Yu",
"Shiqi Zhang"
] | Service robots need language capabilities for communicating with people, and navigation skills for beyond-proximity interaction in the real world. When the robot explores the real world with people side by side, there is the compound problem of human-robot dialog and co-navigation. The human-robot team uses dialog to decide where to go, and their shared spatial awareness affects the dialog state. ... |
Initial Task Allocation for Multi-Human Multi-Robot Teams with Attention-Based Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10341410/ | [
"Ruiqi Wang",
"Dezhong Zhao",
"Byung-Cheol Min",
"Ruiqi Wang",
"Dezhong Zhao",
"Byung-Cheol Min"
] | Multi-human multi-robot teams have great potential for complex and large-scale tasks through the collaboration of humans and robots with diverse capabilities and expertise. To efficiently operate such highly heterogeneous teams and maximize team performance timely, sophisticated initial task allocation strategies that consider individual differences across team members and tasks are required. Whil... |
Human-Robot Collaboration for Unknown Flexible Surface Exploration and Treatment Based on Mesh Iterative Learning Control | https://ieeexplore.ieee.org/document/10341612/ | [
"Jingkang Xia",
"Kithmi N. D. Widanage",
"Ruiqing Zhang",
"Rizuwana Parween",
"Hareesh Godaba",
"Nicolas Herzig",
"Romeo Glovnea",
"Deqing Huang",
"Yanan Li",
"Jingkang Xia",
"Kithmi N. D. Widanage",
"Ruiqing Zhang",
"Rizuwana Parween",
"Hareesh Godaba",
"Nicolas Herzig",
"Romeo Glovnea",
"Deqing Huang",
"Yanan Li"
] | Contact tooling operations like sanding and polishing have been high in demand for robotics and automation, as manual operations are labour-intensive with inconsistent quality. However, automating these operations remains a challenge since they are highly dependent on prior knowledge about the geometry of the workpiece. While several methods have been developed in existing research to automate the... |
Projecting Robot Intentions Through Visual Cues: Static vs. Dynamic Signaling | https://ieeexplore.ieee.org/document/10342222/ | [
"Shubham Sonawani",
"Yifan Zhou",
"Heni Ben Amor",
"Shubham Sonawani",
"Yifan Zhou",
"Heni Ben Amor"
] | Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it is unclear what type of signals support such a process and whether signals can be combined without adding additional cognitive stress to the partner. This paper... |
Robottheory Fitness: GoBot's Engagement Edge for Spurring Physical Activity in Young Children | https://ieeexplore.ieee.org/document/10341442/ | [
"Rafael Morales Mayoral",
"Ameer Helmi",
"Shel-Twon Warren",
"Samuel W. Logan",
"Naomi T. Fitter",
"Rafael Morales Mayoral",
"Ameer Helmi",
"Shel-Twon Warren",
"Samuel W. Logan",
"Naomi T. Fitter"
] | Children around the world are growing more sedentary over time, which leads to considerable accompanying wellness challenges. Pilot results from our research group have shown that robots may offer something different or better than other developmentally appropriate toys when it comes to motivating physical activity. However, the foundations of this work involved larger-group interactions in which ... |
Implicit Projection: Improving Team Situation Awareness for Tacit Human-Robot Interaction via Virtual Shadows | https://ieeexplore.ieee.org/document/10341641/ | [
"Andrew Boateng",
"Wenlong Zhang",
"Yu Zhang",
"Andrew Boateng",
"Wenlong Zhang",
"Yu Zhang"
] | Fluent teaming is characterized by tacit interaction without explicit communication. Such interaction requires team situation awareness (TSA) to facilitate. However, existing approaches often rely on explicit communication (such as visual projection) to support TSA, resulting in a paradox. In this paper, we consider implicit projection (IP) to improve TSA for tacit human-robot interaction. IP mini... |
User Interactions and Negative Examples to Improve the Learning of Semantic Rules in a Cognitive Exercise Scenario | https://ieeexplore.ieee.org/document/10341942/ | [
"Alejandro Suárez-Hernández",
"Antonio Andriella",
"Carme Torras",
"Guillem Alenyà",
"Alejandro Suárez-Hernández",
"Antonio Andriella",
"Carme Torras",
"Guillem Alenyà"
] | Enabling a robot to perform new tasks is a complex endeavor, usually beyond the reach of non-technical users. For this reason, research efforts that aim at empowering end-users to teach robots new abilities using intuitive modes of interaction are valuable. In this article, we present INtuitive PROgramming 2 (INPRO2), a learning framework that allows inferring planning actions from demonstrations ... |
Large Language Models as Zero-Shot Human Models for Human-Robot Interaction | https://ieeexplore.ieee.org/document/10341488/ | [
"Bowen Zhang",
"Harold Soh",
"Bowen Zhang",
"Harold Soh"
] | Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing context-dependent human behavior requires significant prior knowledge and/or large amounts of interaction data, both of which are difficult to obtain. In this work, we ... |
MPC-Based Human-Accompanying Control Strategy for Improving the Motion Coordination Between the Target Person and the Robot | https://ieeexplore.ieee.org/document/10342246/ | [
"Jianwei Peng",
"Zhelin Liao",
"Hanchen Yao",
"Zefan Su",
"Yadan Zeng",
"Houde Dai",
"Jianwei Peng",
"Zhelin Liao",
"Hanchen Yao",
"Zefan Su",
"Yadan Zeng",
"Houde Dai"
] | Social robots have gained widespread attention for their potential to assist people in diverse domains, such as living assistance and logistics transportation. Human-accompanying, i.e., walking side-by-side with a person, is an expected and essential capability for social robots. However, due to the complexity of motion coordination between the target person and the mobile robot, the accompanying ... |
Improved Inference of Human Intent by Combining Plan Recognition and Language Feedback | https://ieeexplore.ieee.org/document/10342380/ | [
"Ifrah Idrees",
"Tian Yun",
"Naveen Sharma",
"Yunxin Deng",
"Nakul Gopalan",
"George Konidaris",
"Stefanie Tellex",
"Ifrah Idrees",
"Tian Yun",
"Naveen Sharma",
"Yunxin Deng",
"Nakul Gopalan",
"George Konidaris",
"Stefanie Tellex"
] | Conversational assistive robots can aid people, especially those with cognitive impairments, to accomplish various tasks such as cooking meals, performing exercises, or operating machines. However, to interact with people effectively, robots must recognize human plans and goals from noisy observations of human actions, even when the user acts sub-optimally. Previous works on Plan and Goal Recognit... |
Online Human Capability Estimation Through Reinforcement Learning and Interaction | https://ieeexplore.ieee.org/document/10341868/ | [
"Chengke Sun",
"Anthony G. Cohn",
"Matteo Leonetti",
"Chengke Sun",
"Anthony G. Cohn",
"Matteo Leonetti"
] | Service robots are expected to assist users in a constantly growing range of environments and tasks. People may be unique in many ways, and online adaptation of robots is central to personalized assistance. We focus on collaborative tasks in which the human collaborator may not be fully ablebodied, with the aim for the robot to automatically determine the best level of support. We propose a method... |
Cognitive Approach to Hierarchical Task Selection for Human-Robot Interaction in Dynamic Environments | https://ieeexplore.ieee.org/document/10341768/ | [
"Syed Tanweer Shah Bukhari",
"Bashira Akter Anima",
"David Feil-Seifer",
"Wajahat Mahmood Qazi",
"Syed Tanweer Shah Bukhari",
"Bashira Akter Anima",
"David Feil-Seifer",
"Wajahat Mahmood Qazi"
] | In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying “what to do” in such cases requires an agent to have the ability to construct associations between objects, their actions, and the effect of actions on the environment. In this regard, semantic memory is bein... |
Reward Shaping for Building Trustworthy Robots in Sequential Human-Robot Interaction | https://ieeexplore.ieee.org/document/10341904/ | [
"Yaohui Guo",
"X. Jessie Yang",
"Cong Shi",
"Yaohui Guo",
"X. Jessie Yang",
"Cong Shi"
] | Trust-aware human-robot interaction (HRI) has received increasing research attention, as trust has been shown to be a crucial factor for effective HRI. Research in trust-aware HRI discovered a dilemma - maximizing task rewards often leads to decreased human trust, while maximizing human trust would compromise task performance. In this work, we address this dilemma by formulating the HRI process as... |
Latent Emission-Augmented Perspective-Taking (LEAPT) for Human-Robot Interaction | https://ieeexplore.ieee.org/document/10342126/ | [
"Kaiqi Chen",
"Jing Yu Lim",
"Kingsley Kuan",
"Harold Soh",
"Kaiqi Chen",
"Jing Yu Lim",
"Kingsley Kuan",
"Harold Soh"
] | Perspective-taking is the ability to perceive or understand a situation or concept from another individual's point of view, and is crucial in daily human interactions. Enabling robots to perform perspective-taking remains an unsolved problem; existing approaches that use deterministic or handcrafted methods are unable to accurately account for uncertainty in partially-observable settings. This wor... |
An Attentional Recurrent Neural Network for Occlusion-Aware Proactive Anomaly Detection in Field Robot Navigation | https://ieeexplore.ieee.org/document/10341852/ | [
"Andre Schreiber",
"Tianchen Ji",
"D. Livingston McPherson",
"Katherine Driggs-Campbell",
"Andre Schreiber",
"Tianchen Ji",
"D. Livingston McPherson",
"Katherine Driggs-Campbell"
] | The use of mobile robots in unstructured environments like the agricultural field is becoming increasingly common. The ability for such field robots to proactively identify and avoid failures is thus crucial for ensuring efficiency and avoiding damage. However, the cluttered field environment introduces various sources of noise (such as sensor occlusions) that make proactive anomaly detection diff... |
Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots | https://ieeexplore.ieee.org/document/10341508/ | [
"Bingyi Xia",
"Hao Luan",
"Ziqi Zhao",
"Xuheng Gao",
"Peijia Xie",
"Anxing Xiao",
"Jiankun Wang",
"Max Q.-H. Meng",
"Bingyi Xia",
"Hao Luan",
"Ziqi Zhao",
"Xuheng Gao",
"Peijia Xie",
"Anxing Xiao",
"Jiankun Wang",
"Max Q.-H. Meng"
] | Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framewor... |
Deconfounded Opponent Intention Inference for Football Multi-Player Policy Learning | https://ieeexplore.ieee.org/document/10341469/ | [
"Shijie Wang",
"Yi Pan",
"Zhiqiang Pu",
"Boyin Liu",
"Jianqiang Yi",
"Shijie Wang",
"Yi Pan",
"Zhiqiang Pu",
"Boyin Liu",
"Jianqiang Yi"
] | Due to the high complexity of a football match, the opponents' strategies are variable and unknown. Thus predicting the opponents' future intentions accurately based on current situation is crucial for football players' decision-making. To better anticipate the opponents and learn more effective strategies, a deconfounded opponent intention inference (DOII) method for football multi-player policy ... |
Stroke-Based Rendering and Planning for Robotic Performance of Artistic Drawing | https://ieeexplore.ieee.org/document/10341808/ | [
"Ivaylo Ilinkin",
"Daeun Song",
"Young J. Kim",
"Ivaylo Ilinkin",
"Daeun Song",
"Young J. Kim"
] | We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the stroke sequence should also exhibit a human artist's planning process. Thus, when a robot executes the drawing task, both the drawing results and the way the robot... |
Heterogeneous Robot-Assisted Services in Isolation Wards: A System Development and Usability Study | https://ieeexplore.ieee.org/document/10341857/ | [
"Youngsun Kwon",
"Soyeon Shin",
"Kyonmo Yang",
"Seongah Park",
"Soomin Shin",
"Hwawoo Jeon",
"Kijung Kim",
"Guhnoo Yun",
"Sangyong Park",
"Jeewon Byun",
"Sang Hoon Kang",
"Kyoung-Ho Song",
"Doik Kim",
"Dong Hwan Kim",
"Kapho Seo",
"Sonya S. Kwak",
"Yoonseob Lim",
"Youngsun Kwon",
"Soyeon Shin",
"Kyonmo Yang",
"Seongah Park",
"Soomin Shin",
"Hwawoo Jeon",
"Kijung Kim",
"Guhnoo Yun",
"Sangyong Park",
"Jeewon Byun",
"Sang Hoon Kang",
"Kyoung-Ho Song",
"Doik Kim",
"Dong Hwan Kim",
"Kapho Seo",
"Sonya S. Kwak",
"Yoonseob Lim"
] | Isolation wards operate in quarantine rooms to prevent cross-contamination caused by infectious diseases. Behind the benefits, medical personnel can have the infection risk from patients and the heavy workload due to the isolation. This work proposes a robot-assisted system to alleviate these problems in isolation wards. We conducted a survey about the medical staff's difficulties and envisioning ... |
Irregular Change Detection in Sparse Bi-Temporal Point Clouds Using Learned Place Recognition Descriptors and Point-to-Voxel Comparison | https://ieeexplore.ieee.org/document/10342248/ | [
"Nikolaos Stathoulopoulos",
"Anton Koval",
"George Nikolakopoulos",
"Nikolaos Stathoulopoulos",
"Anton Koval",
"George Nikolakopoulos"
] | Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments. This article proposes an innovative approach for change detection in 3D point clouds using deep learned place recognition descriptors and irregular object extrac... |
Magnetically Controlled Cell Robots with Immune-Enhancing Potential | https://ieeexplore.ieee.org/document/10341753/ | [
"Hongyan Sun",
"Yuguo Dai",
"Jiaying Zhang",
"Junjie Xu",
"Lina Jia",
"Chutian Wang",
"Luyao Wang",
"Chan Li",
"Xue Bai",
"Bo Chen",
"Lin Feng",
"Hongyan Sun",
"Yuguo Dai",
"Jiaying Zhang",
"Junjie Xu",
"Lina Jia",
"Chutian Wang",
"Luyao Wang",
"Chan Li",
"Xue Bai",
"Bo Chen",
"Lin Feng"
] | Magnetic microrobots exhibit enormous potential in targeted drug delivery owing to the remote wireless manipulation and minimum invasion for medical treatment. High degree of freedom offers the magnetic propelled robots extraordinary application prospect since they can be controlled precisely when different magnetic fields sources working cooperatively. However, the biocompatibility of microrobots... |
Tightly-Coupled Visual-DVL Fusion For Accurate Localization of Underwater Robots | https://ieeexplore.ieee.org/document/10342197/ | [
"Yupei Huang",
"Peng Li",
"Shuaizheng Yan",
"Yaming Ou",
"Zhengxing Wu",
"Min Tan",
"Junzhi Yu",
"Yupei Huang",
"Peng Li",
"Shuaizheng Yan",
"Yaming Ou",
"Zhengxing Wu",
"Min Tan",
"Junzhi Yu"
] | This paper proposes a tightly-coupled visual-Doppler-Velocity-Log (visual-DVL) fusion method for underwater robot localization through integrating the velocity measurements from a DVL into a visual odometry (VO). Considering that employing the DVL measurements in dead-reckoning systems easily leads to error accumulation and suboptimal results in previous works, we directly integrate them into the ... |
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer | https://ieeexplore.ieee.org/document/10342519/ | [
"Xihang Yu",
"Sangli Teng",
"Theodor Chakhachiro",
"Wenzhe Tong",
"Tingjun Li",
"Tzu-Yuan Lin",
"Sarah Koehler",
"Manuel Ahumada",
"Jeffrey M. Walls",
"Maani Ghaffari",
"Xihang Yu",
"Sangli Teng",
"Theodor Chakhachiro",
"Wenzhe Tong",
"Tingjun Li",
"Tzu-Yuan Lin",
"Sarah Koehler",
"Manuel Ahumada",
"Jeffrey M. Walls",
"Maani Ghaffari"
] | This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit and body velocity within a Right Invariant Extended Kalman Filter (RI-EKF). By embedding the slip velocity into SE3 (3) matrix Lie group, the developed DOB-bas... |
Predicting Energy Consumption and Traversal Time of Ground Robots for Outdoor Navigation on Multiple Types of Terrain | https://ieeexplore.ieee.org/document/10341716/ | [
"Matthias Eder",
"Gerald Steinbauer-Wagner",
"Matthias Eder",
"Gerald Steinbauer-Wagner"
] | The outdoor navigation capabilities of ground robots have improved significantly in recent years, opening up new potential applications in a variety of settings. Cost-based representations of the environment are frequently used in the path planning domain to obtain an optimized path based on various objectives, such as traversal time or energy consumption. However, obtaining such cost representati... |
Informative Path Planning for Scalar Dynamic Reconstruction Using Coregionalized Gaussian Processes and a Spatiotemporal Kernel | https://ieeexplore.ieee.org/document/10341858/ | [
"Lorenzo Booth",
"Stefano Carpin",
"Lorenzo Booth",
"Stefano Carpin"
] | The proliferation of unmanned vehicles offers many opportunities for solving environmental sampling tasks with applications in resource monitoring and precision agriculture. Informative path planning (IPP) includes a family of methods which offer improvements over traditional surveying techniques for suggesting locations for observation collection. In this work, we present a novel solution to the ... |
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control | https://ieeexplore.ieee.org/document/10342474/ | [
"Prithvi Akella",
"Wyatt Ubellacker",
"Aaron D. Ames",
"Prithvi Akella",
"Wyatt Ubellacker",
"Aaron D. Ames"
] | Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for general nonlinear safety-critical finite-time optimal controllers. These methods forego the usual (perhaps) restrictive assumptions required for typical theoretical ... |
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems | https://ieeexplore.ieee.org/document/10342065/ | [
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams",
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams"
] | In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the states of the system from the nominal state trajectories due to uncertainties and disturbances. Existing approaches to address the control problem of probabilis... |
Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-Objective Bayesian Optimization with Priors | https://ieeexplore.ieee.org/document/10342096/ | [
"Masashi Okada",
"Mayumi Komatsu",
"Ryo Okumura",
"Tadahiro Taniguchi",
"Masashi Okada",
"Mayumi Komatsu",
"Ryo Okumura",
"Tadahiro Taniguchi"
] | Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather than safety (or compliance). Thus, this paper proposes a novel stiffness learning method to satisfy both task performance and compliance requirements. The propo... |
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization | https://ieeexplore.ieee.org/document/10342149/ | [
"Haotian Xu",
"Shengjie Wang",
"Zhaolei Wang",
"Yunzhe Zhang",
"Qing Zhuo",
"Yang Gao",
"Tao Zhang",
"Haotian Xu",
"Shengjie Wang",
"Zhaolei Wang",
"Yunzhe Zhang",
"Qing Zhuo",
"Yang Gao",
"Tao Zhang"
] | Reinforcement learning (RL) has achieved promising results on most robotic control tasks. Safety of learning-based controllers is an essential notion of ensuring the effectiveness of the controllers. Current methods adopt whole consistency constraints during the training, thus resulting in inefficient exploration in the early stage. In this paper, we propose an algorithm named Constrained Policy O... |
Quadratic Dynamic Matrix Control for Fast Cloth Manipulation | https://ieeexplore.ieee.org/document/10341850/ | [
"Edoardo Caldarelli",
"Adrià Colomé",
"Carlos Ocampo-Martinez",
"Carme Torras",
"Edoardo Caldarelli",
"Adrià Colomé",
"Carlos Ocampo-Martinez",
"Carme Torras"
] | Robotic cloth manipulation is an increasingly relevant area of research, challenging classic control algorithms due to the deformable nature of cloth. While it is possible to apply linear model predictive control to make the robot move the cloth according to a given reference, this approach suffers from a large dimensionality of the state-space representation of the cloth models. To address this i... |
A Gaussian Process Model for Opponent Prediction in Autonomous Racing | https://ieeexplore.ieee.org/document/10341566/ | [
"Edward L. Zhu",
"Finn Lukas Busch",
"Jake Johnson",
"Francesco Borrelli",
"Edward L. Zhu",
"Finn Lukas Busch",
"Jake Johnson",
"Francesco Borrelli"
] | In head-to-head racing, performing tightly con-strained, but highly rewarding maneuvers, such as overtaking, require an accurate model of interactive behavior of the opposing target vehicle (TV). We propose to construct a prediction model given data of the TV from previous races. In particular, a one-step Gaussian process (GP) model is trained on closed-loop interaction data to learn the behavior ... |
Optimal Energy Tank Initialization for Minimum Sensitivity to Model Uncertainties | https://ieeexplore.ieee.org/document/10341568/ | [
"Andrea Pupa",
"Paolo Robuffo Giordano",
"Cristian Secchi",
"Andrea Pupa",
"Paolo Robuffo Giordano",
"Cristian Secchi"
] | Energy tanks have gained popularity inside the robotics and control communities over the last years, since they represent a formidable tool to enforce passivity (and, thus, input/output stability) of a controlled robot, possibly interacting with uncertain environments. One weak point of passification strategies based on energy tanks concerns, however, their initialization. Indeed, a too large init... |
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems | https://ieeexplore.ieee.org/document/10341651/ | [
"Anusha Srikanthan",
"Fengjun Yang",
"Igor Spasojevic",
"Dinesh Thakur",
"Vijay Kumar",
"Nikolai Matni",
"Anusha Srikanthan",
"Fengjun Yang",
"Igor Spasojevic",
"Dinesh Thakur",
"Vijay Kumar",
"Nikolai Matni"
] | We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory generation, and the low layer ensures approximate tracking of this trajectory via feedback control. While such layered control architectures are standard and work we... |
Time-Optimal Control via Heaviside Step-Function Approximation | https://ieeexplore.ieee.org/document/10342255/ | [
"Kai Pfeiffer",
"Quang-Cuong Pham",
"Kai Pfeiffer",
"Quang-Cuong Pham"
] | Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\ell_{0}$- or $\ell_{0}-\mathbf{norm}$ for time-optimal control are not equivalently solvable. In this work, we propose a non-linear hierarchical least-squares programming (NL-HLSP) for time-optimal control of non-linear di... |
Bi-Component Silicone 3D Printing with Dynamic Mix Ratio Modification for Soft Robotic Actuators | https://ieeexplore.ieee.org/document/10342125/ | [
"Brice Parilusyan",
"Alina-Elena Nicolae",
"Thomas Batigne",
"Clément Duhart",
"Marcos Serrano",
"Brice Parilusyan",
"Alina-Elena Nicolae",
"Thomas Batigne",
"Clément Duhart",
"Marcos Serrano"
] | Pneumatically operated soft actuators are increasingly researched due to their fabrication simplicity, actuation capabilities, and low production cost. Depending on the Soft Pneumatic Actuator (SPA) objective, its design can be modified to reach new bending angles or increase its actuation strength. However, increasing the abilities of Soft Pneumatic Actuators (SPAs) requires increasing the comple... |
Two-stage Train Components Defect Detection Based on Prior Knowledge | https://ieeexplore.ieee.org/document/10341915/ | [
"Gang Peng",
"Zhiyong Li",
"Shaowei Wan",
"Zhang Deng",
"Gang Peng",
"Zhiyong Li",
"Shaowei Wan",
"Zhang Deng"
] | The existing method of detecting defects in train components, which relies on visual identification, requires extensive involvement from inspectors and presents certain limitations. In this study, a two-stage defect detection based on prior knowledge was developed, which first detects the types and positions of components, and then conducts targeted detection of possible existing defect types. The... |
Complete Coverage Path Planning for Omnidirectional Expand and Collapse Robot Panthera | https://ieeexplore.ieee.org/document/10342525/ | [
"Lim Yi",
"Ash Wan Yaw Sang",
"Abdullah Aamir Hayat",
"Qinrui Tang",
"Anh Vu Le",
"Mohan Rajesh Elara",
"Lim Yi",
"Ash Wan Yaw Sang",
"Abdullah Aamir Hayat",
"Qinrui Tang",
"Anh Vu Le",
"Mohan Rajesh Elara"
] | Autonomous mobile robots (AMRs) face challenges in efficiently covering complex environments. To navigate narrow and expansive areas, AMRs must have two essential attributes: compact size for confined spaces and larger size with omnidirectional locomotion for broader spaces. This study utilizes omnidirectional expand and collapse robots (OECRs) to demonstrate efficient area coverage. OECRs can col... |
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning | https://ieeexplore.ieee.org/document/10342430/ | [
"Kai Pfeiffer",
"Leonardo Edgar",
"Quang-Cuong Pham",
"Kai Pfeiffer",
"Leonardo Edgar",
"Quang-Cuong Pham"
] | Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the action sequences. In this work, we propose a multi-goal symbolic task planner for deterministic decision processes based on Monte Carlo Tree Search. We augment the a... |
Efficient and Feasible Robotic Assembly Sequence Planning via Graph Representation Learning | https://ieeexplore.ieee.org/document/10342352/ | [
"Matan Atad",
"Jianxiang Feng",
"Ismael Rodríguez",
"Maximilian Durner",
"Rudolph Triebel",
"Matan Atad",
"Jianxiang Feng",
"Ismael Rodríguez",
"Maximilian Durner",
"Rudolph Triebel"
] | Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such automation resides in efficiently finding solutions from a growing number of potential sequences for increasingly complex assemblies. Besides, costly feasibility ... |
Statistical Characterization of Position-Dependent Behavior Using Frequency-Aware B-Spline | https://ieeexplore.ieee.org/document/10341845/ | [
"Yazan M. Al-Rawashdeh",
"Marcel Heertjes",
"Mohammad Al Janaideh",
"Yazan M. Al-Rawashdeh",
"Marcel Heertjes",
"Mohammad Al Janaideh"
] | Stretching the definition of the standard Sine profile allows building a generalized symmetric frequency-aware basis function that can be used to generate reference motion trajectories. Other profiles such as polynomials, sigmoid, and harmonic-based models can be equally used under the proposed technique. Despite being suitable at the level of any higher-order time derivative, in this study, the g... |
Flexible Gear Assembly with Visual Servoing and Force Feedback | https://ieeexplore.ieee.org/document/10341833/ | [
"Junjie Ming",
"Daniel Bargmann",
"Hongpeng Cao",
"Marco Caccamo",
"Junjie Ming",
"Daniel Bargmann",
"Hongpeng Cao",
"Marco Caccamo"
] | This paper presents a vision-guided two-stage approach with force feedback to achieve high-precision and flexible gear assembly. The proposed approach integrates YOLO to coarsely localize the target workpiece in a searching phase and deep reinforcement learning (DRL) to complete the insertion. Specifically, DRL addresses the challenge of partial visibility when the on-wrist camera is too close to ... |
Robotic Powder Grinding with Audio-Visual Feedback for Laboratory Automation in Materials Science | https://ieeexplore.ieee.org/document/10341526/ | [
"Yusaku Nakajima",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Takafumi Hawai",
"Felix von Drigalski",
"Yasuo Takeichi",
"Yoshitaka Ushiku",
"Kanta Ono",
"Yusaku Nakajima",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Takafumi Hawai",
"Felix von Drigalski",
"Yasuo Takeichi",
"Yoshitaka Ushiku",
"Kanta Ono"
] | This study focuses on the powder grinding process, which is a necessary step for material synthesis in materials science experiments. In material science, powder grinding is a time-consuming process that is typically executed by hand, as commercial grinding machines are unsuitable for samples of small size. Robotic powder grinding would solve this problem, but it is a challenging task for robots, ... |
Deep Learning-Based Leaf Detection for Robotic Physical Sampling with P-AgBot | https://ieeexplore.ieee.org/document/10341516/ | [
"Aarya Deb",
"Kitae Kim",
"David J. Cappelleri",
"Aarya Deb",
"Kitae Kim",
"David J. Cappelleri"
] | Automating leaf detection and physical leaf sample collection using Internet of Things (IoT) technologies is a crucial task in precision agriculture. In this paper, we present a deep learning-based approach for detecting and segmenting crop leaves for robotic physical sampling. We discuss a method for generating a physical dataset of agricultural crops. Our proposed pipeline incorporates using an ... |
In-Situ Measurement of Extrusion Width for Fused Filament Fabrication Process Using Vision and Machine Learning Models | https://ieeexplore.ieee.org/document/10341406/ | [
"Arya Shabani",
"Uriel Martinez-Hernandez",
"Arya Shabani",
"Uriel Martinez-Hernandez"
] | Measuring geometry of the printing road is key for detection of anomalies in 3D printing processes. Although commercial 3D printers can measure the extrusion height using various distance sensors, measuring of the width in real-time remains a challenge. This paper presents a visual in-situ monitoring system to measure width of the printing filament road in 2D patterns. The proposed system is compo... |
Motion Orchestration in Dual-Stage Wafer Scanners | https://ieeexplore.ieee.org/document/10342526/ | [
"Yazan M. Al-Rawashdeh",
"Marcel Heertjes",
"Mohammad Al Janaideh",
"Yazan M. Al-Rawashdeh",
"Marcel Heertjes",
"Mohammad Al Janaideh"
] | In semiconductor manufacturing, lithography machines are becoming more and more sophisticated system of systems. As an example, a TWINSCAN wafer scanner machine is composed of a wafer, and reticle handlers, reticle, optics, and two wafer chains or systems. In previous studies, we covered the interactions between the reticle, optics, and wafer chains during the step-and-scan cycle. In this study, w... |
Towards Packaging Unit Detection for Automated Palletizing Tasks | https://ieeexplore.ieee.org/document/10342076/ | [
"Markus Völk",
"Kilian Kleeberger",
"Werner Kraus",
"Richard Bormann",
"Markus Völk",
"Kilian Kleeberger",
"Werner Kraus",
"Richard Bormann"
] | For various automated palletizing tasks, the detection of packaging units is a crucial step preceding the actual handling of the packaging units by an industrial robot. We propose an approach to this challenging problem that is fully trained on synthetically generated data and can be robustly applied to arbitrary real world packaging units without further training or setup effort. The proposed app... |
Robotic Barrier Construction through Weaved, Inflatable Tubes | https://ieeexplore.ieee.org/document/10342190/ | [
"Heather Jin Hee Kim",
"Haron Abdel-Raziq",
"Xinyu Liu",
"Alexandra Young Siskovic",
"Shreyas Patil",
"Kirstin H. Petersen",
"Hsin-Liu Kao",
"Heather Jin Hee Kim",
"Haron Abdel-Raziq",
"Xinyu Liu",
"Alexandra Young Siskovic",
"Shreyas Patil",
"Kirstin H. Petersen",
"Hsin-Liu Kao"
] | In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots and in this context, we present a new method to steer their growth. We characterize the mechanism in terms of accuracy resilience, and, towards their use as bar... |
Bistable Tensegrity Robot with Jumping Repeatability Based on Rigid Plate-Shaped Compressors | https://ieeexplore.ieee.org/document/10342069/ | [
"Kento Shimura",
"Noriyasu Iwamoto",
"Takuya Umedachi",
"Kento Shimura",
"Noriyasu Iwamoto",
"Takuya Umedachi"
] | This study presents a bistable tensegrity robot that can perform repetitive jumps using one motor. This robot is based on a tensegrity structure that uses rigid plate-shaped compressors. To achieve bistability in this structure, we optimized the position of additional springs using a physics simulator that considers geometric constraints attributed to the collision between compression materials. A... |
Accessible Soft Robotics Education with Re-Configurable Balloon Robots | https://ieeexplore.ieee.org/document/10342299/ | [
"Yi-Shiun Wu",
"Kieran Gilday",
"Josie Hughes",
"Yi-Shiun Wu",
"Kieran Gilday",
"Josie Hughes"
] | Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to date has been highly ad hoc. We present a low-cost toolkit based on re-configurable balloon which allows rapid development of soft yet functional r... |
A Fabrication and Simulation Recipe for Untethering Soft-Rigid Robots with Cable-Driven Stiffness Modulation | https://ieeexplore.ieee.org/document/10341630/ | [
"James M. Bern",
"Zach J. Patterson",
"Leonardo Zamora Yañez",
"Kristoff K. Misquitta",
"Daniela Rus",
"James M. Bern",
"Zach J. Patterson",
"Leonardo Zamora Yañez",
"Kristoff K. Misquitta",
"Daniela Rus"
] | We explore the idea of robotic mechanisms that can shift between soft and rigid states, with the long-term goal of creating robots that marry the flexibility and robustness of soft robots with the strength and precision of rigid robots. We present a simple yet effective method to achieve large and rapid stiffness variations by compressing and relaxing a flexure using cables. Next, we provide a dif... |
Integrated Design of a Robotic Bio-Inspired Trunk | https://ieeexplore.ieee.org/document/10341706/ | [
"Tanguy Chevillon",
"Steeve Mbakop",
"Gilles Tagne",
"Rochdi Merzouki",
"Tanguy Chevillon",
"Steeve Mbakop",
"Gilles Tagne",
"Rochdi Merzouki"
] | Soft-Continuum Manipulators are of increasing interest to researchers for various non-destructive applications (minimally invasive surgery, fibroscopy, oncology, pipe exploration and many others). They are made with soft material or special arrangement of actuators allowing them to exhibit resilience and dexterity. The concept of Proprioceptive Soft-Continuum Manipulators still remains a major cha... |
A New Design of Multilayered String Jamming Mechanism with Three-Degree-of-Freedom | https://ieeexplore.ieee.org/document/10342146/ | [
"Ryohei Michikawa",
"Kenjiro Tadakuma",
"Fumitoshi Matsuno",
"Ryohei Michikawa",
"Kenjiro Tadakuma",
"Fumitoshi Matsuno"
] | A robot must exhibit softness so as not to accidentally damage its environment. However, stiffness is also necessary, so that the robot can transmit forces and perform tasks. In soft robotics, it is desirable to be able to switch between two states, namely a flexible state for adapt ion to the environment and a rigid state for the transmission of forces. String jamming mechanisms, which comprise m... |
Protective Skin Mechanism with an Exhaustive Arrangement of Tiny Rigid Bodies for Soft Robots: Evaluation of Puncture Resistance, Elasticity, and Descaling Resistance of the Scale Mechanism | https://ieeexplore.ieee.org/document/10341363/ | [
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Satoshi Tadokoro",
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Satoshi Tadokoro"
] | Soft actuators have several advantages, including large deformation, safety and adaptability to the environment, and shock absorbance. However, they are weak against sharp objects owing to their soft bodies. This paper proposes a novel protective skin mechanism with an exhaustive arrangement of tiny rigid bodies. Small pieces were sewed on an elastic sheet using Kevlar strings. We conducted some m... |
Printable Bistable Structures for Programmable Frictional Skins of Soft-Bodied Robots | https://ieeexplore.ieee.org/document/10341445/ | [
"Tung D. Ta",
"Yoshihiro Kawahara",
"Tung D. Ta",
"Yoshihiro Kawahara"
] | Soft robots made of flexible materials are highly adaptive, easy to fabricate, and safer to interact with. One of the ways for soft robots to interact with the surrounding environment is through their deformable bodily characteristics including internal body stiffness and external body friction. Though the flexibility of soft-bodied robots has been rigorously studied, the frictional skin of such s... |
mCLARI: A Shape-Morphing Insect-Scale Robot Capable of Omnidirectional Terrain-Adaptive Locomotion in Laterally Confined Spaces | https://ieeexplore.ieee.org/document/10341588/ | [
"Heiko Kabutz",
"Alexander Hedrick",
"William P. McDonnell",
"Kaushik Jayaram",
"Heiko Kabutz",
"Alexander Hedrick",
"William P. McDonnell",
"Kaushik Jayaram"
] | Soft compliant microrobots have the potential to deliver significant societal impact when deployed in applications such as search and rescue. In this research we present mCLARI, a body compliant quadrupedal microrobot of 20mm neutral body length and 0.97g, improving on its larger predecessor, CLARI. This robot has four independently actuated leg modules with 2 degrees of freedom, each driven by pi... |
FABRIKv: A Fast, Iterative Inverse Kinematics Solver for Surgical Continuum Robot with Variable Curvature Model | https://ieeexplore.ieee.org/document/10342089/ | [
"Fuhao Wang",
"Wang Ye",
"Xiaoyang Kang",
"Hongbo Wang",
"Jingjing Luo",
"Li Chen",
"Xiuhong Tang",
"Fuhao Wang",
"Wang Ye",
"Xiaoyang Kang",
"Hongbo Wang",
"Jingjing Luo",
"Li Chen",
"Xiuhong Tang"
] | Due to the advantages of high flexibility, large workspace, and good human-body compatibility, flexible tendon-driven surgical continuum robots have attracted a lot of attention in robot-assisted minimally invasive surgery. However, due to the coupling of the position and angle of the continuum robot, and the easy deformation of the external force, its inverse kinematics solution has always been a... |
Design and Synchronous Control of a Magnetically-Actuated and Ultrasound-Guided Multi-Arm Robotic System | https://ieeexplore.ieee.org/document/10341399/ | [
"Zhengyang Li",
"Qingsong Xu",
"Zhengyang Li",
"Qingsong Xu"
] | This paper presents the design of a new multi-arm robotic system with mobile magnetic actuation and extracorpo-real ultrasound guidance dedicated to magnetic catheterization. The kinematic model of the external mobile actuation arm (EMAA) and extracorporeal ultrasound-integrated tracking arm (EUTA) are derived based on Denavit-Hartenberg (DH) parameters, including specially designed end-effectors.... |
A Shared-Control Dexterous Robotic System for Assisting Transoral Mandibular Fracture Reduction: Development and Cadaver Study | https://ieeexplore.ieee.org/document/10342097/ | [
"Yan Wang",
"Hao Zheng",
"Yu-Chung Lee",
"Catherine P. L. Chan",
"Jason Ying-Kuen Chan",
"Russell H. Taylor",
"Kwok Wai Samuel Au",
"Yan Wang",
"Hao Zheng",
"Yu-Chung Lee",
"Catherine P. L. Chan",
"Jason Ying-Kuen Chan",
"Russell H. Taylor",
"Kwok Wai Samuel Au"
] | The rigid and straight nature of conventional surgical drills and screwdrivers makes it difficult to access the posterior mandible for fracture reduction without the creation of facial incisions. To assist transoral mandibular fracture reduction in hard-to-reach areas, we propose a shared-control dexterous robotic system. The end effector of this system is an articulated drilling/screwing tool to ... |
Model-Based Bending Control of Magnetically-Actuated Robotic Endoscopes for Automatic Retroflexion in Confined Spaces | https://ieeexplore.ieee.org/document/10342414/ | [
"Yichong Sun",
"Yehui Li",
"Jixiu Li",
"Wing Yin Ng",
"Yitian Xian",
"Yisen Huang",
"Philip Wai Yan Chiu",
"Zheng Li",
"Yichong Sun",
"Yehui Li",
"Jixiu Li",
"Wing Yin Ng",
"Yitian Xian",
"Yisen Huang",
"Philip Wai Yan Chiu",
"Zheng Li"
] | This paper is concerned with the issue of the kinematic model-based bending control for the magnetically actuated robotic endoscope and its application for automatic retroflexion. By the utilization of the Cosserat rod theory and the transformation in the magnetic tip of the endoscope, the comprehensive kinematic model of the magnetically-actuated robotic endoscope is established. Afterward, a mag... |
3D Laser-and-Tissue Agnostic Data-Driven Method for Robotic Laser Surgical Planning | https://ieeexplore.ieee.org/document/10341343/ | [
"Guangshen Ma",
"Ravi Prakash",
"Brian Mann",
"Weston Ross",
"Patrick Codd",
"Guangshen Ma",
"Ravi Prakash",
"Brian Mann",
"Weston Ross",
"Patrick Codd"
] | In robotic laser surgery, shape prediction of an one-shot ablation crater is an important problem for minimizing errant overcutting of healthy tissue during the course of pathological tissue resection and precise tumor removal. Since it is difficult to physically model the laser-tissue interaction due to the variety of optical tissue properties, complicated process of heat transfer, and uncertaint... |
Insertion, Retrieval and Performance Study of Miniature Magnetic Rotating Swimmers for the Treatment of Thrombi | https://ieeexplore.ieee.org/document/10342355/ | [
"Yitong Lu",
"Jocelyn Ramos",
"Mohamad G. Ghosn",
"Dipan J. Shah",
"Aaron T. Becker",
"Julien Leclerc",
"Yitong Lu",
"Jocelyn Ramos",
"Mohamad G. Ghosn",
"Dipan J. Shah",
"Aaron T. Becker",
"Julien Leclerc"
] | Miniature Magnetic Rotating Swimmers (MMRSs) are untethered machines containing magnetic materials. An external rotating magnetic field produces a torque on the swimmers to make them rotate. MMRSs have propeller fins that convert the rotating motion into forward propulsion. This type of robot has been shown to have potential applications in the medical realm. This paper presents new MMRS designs w... |
Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions | https://ieeexplore.ieee.org/document/10341686/ | [
"Giovanni Pittiglio",
"Margherita Mencattelli",
"Abdulhamit Donder",
"Yash Chitalia",
"Pierre E. Dupont",
"Giovanni Pittiglio",
"Margherita Mencattelli",
"Abdulhamit Donder",
"Yash Chitalia",
"Pierre E. Dupont"
] | A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kin... |
Semi-Autonomous Assistance for Telesurgery Under Communication Loss | https://ieeexplore.ieee.org/document/10341450/ | [
"Hisashi Ishida",
"Adnan Munawar",
"Russell H. Taylor",
"Peter Kazanzides",
"Hisashi Ishida",
"Adnan Munawar",
"Russell H. Taylor",
"Peter Kazanzides"
] | Telesurgery has a clear potential for providing high-quality surgery to medically underserved areas like rural areas, battlefields, and spacecraft; nevertheless, effective methods to overcome unreliable communication systems are still lacking. Furthermore, it is not well understood how users react at the moment of communication loss and also during the loss. In this paper, we aim to analyze human ... |
Improving Surgical Situational Awareness with Signed Distance Field: A Pilot Study in Virtual Reality | https://ieeexplore.ieee.org/document/10342004/ | [
"Hisashi Ishida",
"Juan Antonio Barragan",
"Adnan Munawar",
"Zhaoshuo Li",
"Andy Ding",
"Peter Kazanzides",
"Danielle Trakimas",
"Francis X. Creighton",
"Russell H. Taylor",
"Hisashi Ishida",
"Juan Antonio Barragan",
"Adnan Munawar",
"Zhaoshuo Li",
"Andy Ding",
"Peter Kazanzides",
"Danielle Trakimas",
"Francis X. Creighton",
"Russell H. Taylor"
] | The introduction of image-guided surgical navigation (IGSN) has greatly benefited technically demanding surgical procedures by providing real-time support and guidance to the surgeon during surgery. To develop effective IGSN, a careful selection of the surgical information and the medium to present this information to the surgeon is needed. However, this is not a trivial task due to the broad arra... |
Development and Evaluation of a Single-arm Robotic System for Autonomous Suturing | https://ieeexplore.ieee.org/document/10341999/ | [
"Jiawei Liu",
"Michael Kam",
"Justin D. Opfermann",
"Zheyuan Zhang",
"Michael H. Hsieh",
"Jin U. Kang",
"Axel Krieger",
"Jiawei Liu",
"Michael Kam",
"Justin D. Opfermann",
"Zheyuan Zhang",
"Michael H. Hsieh",
"Jin U. Kang",
"Axel Krieger"
] | This article introduces a novel suture managing device (SMD) and new suture management controller to enable single-arm suture management during autonomous suturing with the Smart Tissue Autonomous Robot (STAR). The primary function of the SMD is to tension and manage the suture thread, a task that was previously carried out by a second manipulator or a human assistant. The SMD and its controller a... |
End-to-End Learning of Deep Visuomotor Policy for Needle Picking | https://ieeexplore.ieee.org/document/10342194/ | [
"Hongbin Lin",
"Bin Li",
"Xiangyu Chu",
"Qi Dou",
"Yunhui Liu",
"Kwok Wai Samuel Au",
"Hongbin Lin",
"Bin Li",
"Xiangyu Chu",
"Qi Dou",
"Yunhui Liu",
"Kwok Wai Samuel Au"
] | Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works, heavily relying on the prior of needles (e.g., geometric models), are hard to scale to unseen needles' variations. In this paper, we present the first end- to-end le... |
Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot | https://ieeexplore.ieee.org/document/10342180/ | [
"Tao Huang",
"Kai Chen",
"Wang Wei",
"Jianan Li",
"Yonghao Long",
"Qi Dou",
"Tao Huang",
"Kai Chen",
"Wang Wei",
"Jianan Li",
"Yonghao Long",
"Qi Dou"
] | Reinforcement learning is still struggling with solving long-horizon surgical robot tasks which involve multiple steps over an extended duration of time due to the policy exploration challenge. Recent methods try to tackle this problem by skill chaining, in which the long-horizon task is decomposed into multiple subtasks for easing the exploration burden and subtask policies are temporally connect... |
Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots | https://ieeexplore.ieee.org/document/10342265/ | [
"Jingwen Zhang",
"Junjie Shen",
"Yeting Liu",
"Dennis Hong",
"Jingwen Zhang",
"Junjie Shen",
"Yeting Liu",
"Dennis Hong"
] | Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place higher requirements for the control strategy given a much smaller support polygon. To solve this problem, a novel heuristic landing planner is proposed in this pape... |
Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion | https://ieeexplore.ieee.org/document/10342530/ | [
"Daegyu Lim",
"Myeong-Ju Kim",
"Junhyeok Cha",
"Donghyeon Kim",
"Jaeheung Park",
"Daegyu Lim",
"Myeong-Ju Kim",
"Junhyeok Cha",
"Donghyeon Kim",
"Jaeheung Park"
] | The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque sensor (FTS), FTS increases the cost, inertia, complexity, and failure possibility of the system. This paper introduces a method for learning external joint torque s... |
Time to Danger, an Alternative to Passive Safety for the Locomotion of a Biped Robot in a Crowd | https://ieeexplore.ieee.org/document/10342001/ | [
"Matteo Ciocca",
"Pierre-Brice Wieber",
"Thierry Fraichard",
"Matteo Ciocca",
"Pierre-Brice Wieber",
"Thierry Fraichard"
] | A biped robot walking in a crowd must avoid falls and collisions at the same time. The latter is usually addressed through Passive Safety (PS), which guarantees that the robot is at rest when a collision is inevitable. Since PS may limit the robot's mobility, the purpose of this work is to introduce and explore the novel concept of Time To Danger (TTD) as an alternative. For a given robot motion, ... |
ZMP Feedback Balance Control of Humanoid in Response to Ground Acceleration | https://ieeexplore.ieee.org/document/10341851/ | [
"Masanori Konishi",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Koji Kawasaki",
"Masanori Konishi",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Koji Kawasaki"
] | In order for a humanoid robot to balance on the movable ground, balance feedback control in response to its unpredictable movement is required. However, feedback control in response to ground movement has the following two issues, (A) Interaction between the ground dynamics and the balance control may cause vibration. (B) The balance control may rather deteriorate the stability due to the response... |
Manipulation of Center of Pressure for Bipedal Locomotion by Passive Twisting of Viscoelastic Trunk Joint and Asymmetrical Arm Swinging | https://ieeexplore.ieee.org/document/10342461/ | [
"Takashi Takuma",
"Ibuki Hashimoto",
"Ryo Andachi",
"Yasuhiro Sugimoto",
"Shinya Aoi",
"Takashi Takuma",
"Ibuki Hashimoto",
"Ryo Andachi",
"Yasuhiro Sugimoto",
"Shinya Aoi"
] | To implement successful bipedal locomotion in a robot, its center of pressure (CoP) is placed on a supporting area. To achieve locomotion, many studies have focused on the lower body. Given that the human upper body has a large mass and its behavior influences locomotion even in the case of the robot, this study investigates the effect of the upper body, which contains moving arms and a twisting t... |
An Implantable Variable Length Actuator for Modulating in Vivo Musculo-Tendon Force in a Bipedal Animal Model | https://ieeexplore.ieee.org/document/10341584/ | [
"Sean Thomas",
"Ravin Joshi",
"Bo Cheng",
"Huanyu Cheng",
"Michael C. Aynardi",
"Gregory S. Sawicki",
"Jonas Rubenson",
"Sean Thomas",
"Ravin Joshi",
"Bo Cheng",
"Huanyu Cheng",
"Michael C. Aynardi",
"Gregory S. Sawicki",
"Jonas Rubenson"
] | Mobility, a critical factor in quality of life, is often rehabilitated using simplistic solutions, such as walkers. Exoskeletons (wearable robotics) offer a more sophisticated rehabilitation approach. However, non-adherence to externally worn mobility aids limits their efficacy. Here, we present the concept of a fully implantable assistive limb actuator that overcomes non-adherence constraints, an... |
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