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Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force | https://ieeexplore.ieee.org/document/9197151/ | [
"Tori Shimizu",
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Eri Takane",
"Masashi Konyo",
"Satoshi Tadokoro",
"Tori Shimizu",
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Eri Takane",
"Masashi Konyo",
"Satoshi Tadokoro"
] | To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to its significant reduction rate with regard to the control force, the IB Magnet has two major problem... |
A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness | https://ieeexplore.ieee.org/document/9196688/ | [
"Bin Zhao",
"Lingyun Zeng",
"Baibo Wu",
"Kai Xu",
"Bin Zhao",
"Lingyun Zeng",
"Baibo Wu",
"Kai Xu"
] | Continuum manipulators can accomplish various tasks in confined spaces, benefiting from their compliant structures and improved dexterity. Confined and unstructured spaces may require both enhanced stiffness of a continuum manipulator for precision and payload, as well as compliance for safe interaction. Thus, studies have been consistently dedicated to design continuum or articulated manipulators... |
Design and Compensation Control of a Flexible Instrument for Endoscopic Surgery | https://ieeexplore.ieee.org/document/9196955/ | [
"Wuzhou Hong",
"Andreas Schmitz",
"Weibang Bai",
"Pierre Berthet-Rayne",
"Le Xie",
"Guang-Zhong Yang",
"Wuzhou Hong",
"Andreas Schmitz",
"Weibang Bai",
"Pierre Berthet-Rayne",
"Le Xie",
"Guang-Zhong Yang"
] | Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulated wrists and rolling motion of the end-effector. This paper presents a new instrument design with a ... |
Distance and Steering Heuristics for Streamline-Based Flow Field Planning | https://ieeexplore.ieee.org/document/9196555/ | [
"K. Y. Cadmus To",
"Chanyeol Yoo",
"Stuart Anstee",
"Robert Fitch",
"K. Y. Cadmus To",
"Chanyeol Yoo",
"Stuart Anstee",
"Robert Fitch"
] | Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computational efficiency. Important to such planners is an efficient means of computing the travel distance and direction between two points in free space, but this is difficult to achieve in strong incompressible flows such as ... |
Enhancing Coral Reef Monitoring Utilizing a Deep Semi-Supervised Learning Approach | https://ieeexplore.ieee.org/document/9196528/ | [
"Md Modasshir",
"Ioannis Rekleitis",
"Md Modasshir",
"Ioannis Rekleitis"
] | Coral species detection underwater is a challenging problem. There are many cases when even the experts (marine biologists) fail to recognize corals, hence limiting ground truth annotation for training a robust detection system. Identifying coral species is fundamental for enabling the monitoring of coral reefs, a task currently performed by humans, which can be automated with the use of underwate... |
DOB-Net: Actively Rejecting Unknown Excessive Time-Varying Disturbances | https://ieeexplore.ieee.org/document/9196641/ | [
"Tianming Wang",
"Wenjie Lu",
"Zheng Yan",
"Dikai Liu",
"Tianming Wang",
"Wenjie Lu",
"Zheng Yan",
"Dikai Liu"
] | This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OB-server Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed robot control capabilities. The DOB-Net integrates a disturbance dynamics observer network and a controller network. Originated from conventional DOB mechanism... |
Demonstration of Autonomous Nested Search for Local Maxima Using an Unmanned Underwater Vehicle | https://ieeexplore.ieee.org/document/9196625/ | [
"Andrew Branch",
"James McMahon",
"Guangyu Xu",
"Michael V. Jakuba",
"Christopher R. German",
"Steve Chien",
"James C. Kinsey",
"Andrew D. Bowen",
"Kevin P. Hand",
"Jeffrey S. Seewald",
"Andrew Branch",
"James McMahon",
"Guangyu Xu",
"Michael V. Jakuba",
"Christopher R. German",
"Steve Chien",
"James C. Kinsey",
"Andrew D. Bowen",
"Kevin P. Hand",
"Jeffrey S. Seewald"
] | Ocean Worlds represent one of the best chances for extra-terrestrial life in our solar system. A new mission concept must be developed to explore these oceans. This mission would require traversing the 10s of km thick icy shell and releasing a submersible into the ocean below. During the transit of the icy shell and the exploration of the ocean, the vehicle(s) would be out of contact with Earth fo... |
Towards distortion based underwater domed viewport camera calibration | https://ieeexplore.ieee.org/document/9197036/ | [
"Eduardo Iscar",
"Matthew Johnson-Roberson",
"Eduardo Iscar",
"Matthew Johnson-Roberson"
] | Photogrammetry techniques used for 3D reconstructions and motion estimation from images are based on projective geometry that models the image formation process. However, in the underwater setting, refraction of light rays at the housing interface introduce non-linear effects in the image formation. These effects produce systematic errors if not accounted for, and severely degrade the quality of t... |
How far are Pneumatic Artificial Muscles from biological muscles? | https://ieeexplore.ieee.org/document/9197177/ | [
"Omid Mohseni",
"Ferréol Gagey",
"Gouping Zhao",
"Andre Seyfarth",
"Maziar A. Sharbafi",
"Omid Mohseni",
"Ferréol Gagey",
"Gouping Zhao",
"Andre Seyfarth",
"Maziar A. Sharbafi"
] | There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most similar ones to biological muscles. In addition to similarities in force generation mechanism (tension ba... |
Shared Control Templates for Assistive Robotics | https://ieeexplore.ieee.org/document/9197041/ | [
"Gabriel Quere",
"Annette Hagengruber",
"Maged Iskandar",
"Samuel Bustamante",
"Daniel Leidner",
"Freek Stulp",
"Jörn Vogel",
"Gabriel Quere",
"Annette Hagengruber",
"Maged Iskandar",
"Samuel Bustamante",
"Daniel Leidner",
"Freek Stulp",
"Jörn Vogel"
] | Light-weight robotic manipulators can be used to restore the manipulation capability of people with a motor disability. However, manipulating the environment poses a complex task, especially when the control interface is of low bandwidth, as may be the case for users with impairments. Therefore, we propose a constraint-based shared control scheme to define skills which provide support during task ... |
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning | https://ieeexplore.ieee.org/document/9197315/ | [
"Haonan Chen",
"Hao Tan",
"Alan Kuntz",
"Mohit Bansal",
"Ron Alterovitz",
"Haonan Chen",
"Hao Tan",
"Alan Kuntz",
"Mohit Bansal",
"Ron Alterovitz"
] | Enabling robots to understand instructions provided via spoken natural language would facilitate interaction between robots and people in a variety of settings in homes and workplaces. However, natural language instructions are often missing information that would be obvious to a human based on environmental context and common sense, and hence does not need to be explicitly stated. In this paper, ... |
A Holistic Approach in Designing Tabletop Robot’s Expressivity | https://ieeexplore.ieee.org/document/9197016/ | [
"Randy Gomez",
"Deborah Szapiro",
"Luis Merino",
"Keisuke Nakamura",
"Randy Gomez",
"Deborah Szapiro",
"Luis Merino",
"Keisuke Nakamura"
] | Defining a robot's expressivity is a difficult task that requires thoughtful consideration of the potential of various robot modalities and a model of communication that humans understand. Humanoid and zoomorphic-designed robots can easily take cues from human and animals, respectively when designing their expressivity. However, a robot design that is neither human nor animal-like does not have a ... |
DirtNet: Visual Dirt Detection for Autonomous Cleaning Robots | https://ieeexplore.ieee.org/document/9196559/ | [
"Richard Bormann",
"Xinjie Wang",
"Jiawen Xu",
"Joel Schmidt",
"Richard Bormann",
"Xinjie Wang",
"Jiawen Xu",
"Joel Schmidt"
] | Visual dirt detection is becoming an important capability of modern professional cleaning robots both for optimizing their wet cleaning results and for facilitating demand-oriented daily vacuum cleaning. This paper presents a robust, fast, and reliable dirt and office item detection system for these tasks based on an adapted YOLOv3 framework. Its superiority over state-of-the-art dirt detection sy... |
Semantic Linking Maps for Active Visual Object Search | https://ieeexplore.ieee.org/document/9196830/ | [
"Zhen Zeng",
"Adrian Röfer",
"Odest Chadwicke Jenkins",
"Zhen Zeng",
"Adrian Röfer",
"Odest Chadwicke Jenkins"
] | We aim for mobile robots to function in a variety of common human environments. Such robots need to be able to reason about the locations of previously unseen target objects. Landmark objects can help this reasoning by narrowing down the search space significantly. More specifically, we can exploit background knowledge about common spatial relations between landmark and target objects. For example... |
Active Depth Estimation: Stability Analysis and its Applications | https://ieeexplore.ieee.org/document/9196670/ | [
"Rômulo T. Rodrigues",
"Pedro Miraldo",
"Dimos V. Dimarogonas",
"A. Pedro Aguiar",
"Rômulo T. Rodrigues",
"Pedro Miraldo",
"Dimos V. Dimarogonas",
"A. Pedro Aguiar"
] | Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical properties of the SfM, known as the incremental active depth estimation. The term incremental stands for estimating the 3D structure of the scene over a chronological sequence of image frames. Active means that the camera... |
VALID: A Comprehensive Virtual Aerial Image Dataset | https://ieeexplore.ieee.org/document/9197186/ | [
"Lyujie Chen",
"Feng Liu",
"Yan Zhao",
"Wufan Wang",
"Xiaming Yuan",
"Jihong Zhu",
"Lyujie Chen",
"Feng Liu",
"Yan Zhao",
"Wufan Wang",
"Xiaming Yuan",
"Jihong Zhu"
] | Aerial imagery plays an important role in land-use planning, population analysis, precision agriculture, and unmanned aerial vehicle tasks. However, existing aerial image datasets generally suffer from the problem of inaccurate labeling, single ground truth type, and few category numbers. In this work, we implement a simulator that can simultaneously acquire diverse visual ground truth data in the... |
Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection | https://ieeexplore.ieee.org/document/9196764/ | [
"Han Wang",
"Chen Wang",
"Lihua Xie",
"Han Wang",
"Chen Wang",
"Lihua Xie"
] | Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties. Existing works on 3D loop closure detection often leverage on matching of local or global geometrical-only descriptors which discard intensity reading. In this... |
TextSLAM: Visual SLAM with Planar Text Features | https://ieeexplore.ieee.org/document/9197233/ | [
"Boying Li",
"Danping Zou",
"Daniele Sartori",
"Ling Pei",
"Wenxian Yu",
"Boying Li",
"Danping Zou",
"Daniele Sartori",
"Ling Pei",
"Wenxian Yu"
] | We propose to integrate text objects in man-made scenes tightly into the visual SLAM pipeline. The key idea of our novel text-based visual SLAM is to treat each detected text as a planar feature which is rich of textures and semantic meanings. The text feature is compactly represented by three parameters and integrated into visual SLAM by adopting the illumination-invariant photometric error. We a... |
FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment | https://ieeexplore.ieee.org/document/9197118/ | [
"Ke Wang",
"Kaixuan Wang",
"Shaojie Shen",
"Ke Wang",
"Kaixuan Wang",
"Shaojie Shen"
] | Many approaches have been proposed to estimate camera poses by directly minimizing photometric error. However, due to the non-convex property of direct alignment, proper initialization is still required for these methods. Many robust norms (e.g. Huber norm) have been proposed to deal with the outlier terms caused by incorrect initializations. These robust norms are solely defined on the magnitude ... |
Redesigning SLAM for Arbitrary Multi-Camera Systems | https://ieeexplore.ieee.org/document/9197553/ | [
"Juichung Kuo",
"Manasi Muglikar",
"Zichao Zhang",
"Davide Scaramuzza",
"Juichung Kuo",
"Manasi Muglikar",
"Zichao Zhang",
"Davide Scaramuzza"
] | Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we aim at an adaptive SLAM system that works for arbitrary multi-camera setups. To this end, we revisit several common building blocks in visual SLAM. In particular,... |
Dynamic SLAM: The Need For Speed | https://ieeexplore.ieee.org/document/9196895/ | [
"Mina Henein",
"Jun Zhang",
"Robert Mahony",
"Viorela Ila",
"Mina Henein",
"Jun Zhang",
"Robert Mahony",
"Viorela Ila"
] | The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and estimate their velocity in real-time. Most existing SLAM based approaches rely on a database of 3D models of objects or impose significant motion constraints. In this... |
∇SLAM: Dense SLAM meets Automatic Differentiation | https://ieeexplore.ieee.org/document/9197519/ | [
"Krishna Murthy Jatavallabhula",
"Ganesh Iyer",
"Liam Paull",
"Krishna Murthy Jatavallabhula",
"Ganesh Iyer",
"Liam Paull"
] | The question of "representation" is central in the context of dense simultaneous localization and mapping (SLAM). Learning-based approaches have the potential to leverage data or task performance to directly inform the representation. However, blending representation learning approaches with "classical" SLAM systems has remained an open question, because of their highly modular and complex nature.... |
Learning local behavioral sequences to better infer non-local properties in real multi-robot systems | https://ieeexplore.ieee.org/document/9196728/ | [
"Taeyeong Choi",
"Sehyeok Kang",
"Theodore P. Pavlic",
"Taeyeong Choi",
"Sehyeok Kang",
"Theodore P. Pavlic"
] | When members of a multi-robot team follow regular motion rules sensitive to robots and other environmental factors within sensing range, the team itself may become an informational fabric for gaining situational awareness without explicit signalling among robots. In our previous work [1], we used machine learning to develop a scalable module, trained only on data from 3-robot teams, that could pre... |
Unsupervised Geometry-Aware Deep LiDAR Odometry | https://ieeexplore.ieee.org/document/9197366/ | [
"Younggun Cho",
"Giseop Kim",
"Ayoung Kim",
"Younggun Cho",
"Giseop Kim",
"Ayoung Kim"
] | Learning-based ego-motion estimation approaches have recently drawn strong interest from researchers, mostly focusing on visual perception. A few learning-based approaches using Light Detection and Ranging (LiDAR) have been re-ported; however, they heavily rely on a supervised learning manner. Despite the meaningful performance of these approaches, supervised training requires ground-truth pose la... |
SA-Net: Robust State-Action Recognition for Learning from Observations | https://ieeexplore.ieee.org/document/9197393/ | [
"Nihal Soans",
"Ehsan Asali",
"Yi Hong",
"Prashant Doshi",
"Nihal Soans",
"Ehsan Asali",
"Yi Hong",
"Prashant Doshi"
] | Learning from observation (LfO) offers a new paradigm for transferring task behavior to robots. LfO requires the robot to observe the task being performed and decompose the sensed streaming data into sequences of state-action pairs, which are then input to LfO methods. Thus, recognizing the state-action pairs correctly and quickly in sensed data is a crucial prerequisite. We present SA-Net a deep ... |
A Generative Approach for Socially Compliant Navigation | https://ieeexplore.ieee.org/document/9197497/ | [
"Chieh-En Tsai",
"Jean Oh",
"Chieh-En Tsai",
"Jean Oh"
] | Robots navigating in human crowds need to optimize their paths not only for their task performance but also for their compliance to social norms. One of the key challenges in this context is the lack of standard metrics for evaluating and optimizing a socially compliant behavior. Existing works in social navigation can be grouped according to the differences in their optimization objectives. For i... |
Scalable Multi-Task Imitation Learning with Autonomous Improvement | https://ieeexplore.ieee.org/document/9197020/ | [
"Avi Singh",
"Eric Jang",
"Alexander Irpan",
"Daniel Kappler",
"Murtaza Dalal",
"Sergey Levinev",
"Mohi Khansari",
"Chelsea Finn",
"Avi Singh",
"Eric Jang",
"Alexander Irpan",
"Daniel Kappler",
"Murtaza Dalal",
"Sergey Levinev",
"Mohi Khansari",
"Chelsea Finn"
] | While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively generalize broadly. Imitation learning, in particular, has remained a stable and powerful approach for robot learning, but critically relies on expert operators for data... |
Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos | https://ieeexplore.ieee.org/document/9197324/ | [
"Ajay Kumar Tanwani",
"Pierre Sermanet",
"Andy Yan",
"Raghav Anand",
"Mariano Phielipp",
"Ken Goldberg",
"Ajay Kumar Tanwani",
"Pierre Sermanet",
"Andy Yan",
"Raghav Anand",
"Mariano Phielipp",
"Ken Goldberg"
] | Learning meaningful visual representations in an embedding space can facilitate generalization in downstream tasks such as action segmentation and imitation. In this paper, we learn a motion-centric representation of surgical video demonstrations by grouping them into action segments/subgoals/options in a semi-supervised manner. We present Motion2Vec, an algorithm that learns a deep embedding feat... |
A New Path Planning Architecture to Consider Motion Uncertainty in Natural Environment | https://ieeexplore.ieee.org/document/9197238/ | [
"Michihiro Mizuno",
"Takashi Kubota",
"Michihiro Mizuno",
"Takashi Kubota"
] | This paper proposes a new path planning algorithm to consider motion uncertainty for wheeled robots in rough environments. The proposed method uses particles to express the uncertainty propagation in complicated environments constructed with various types of terrain. Also, RRT (Rapidly-exploring Random Tree) is expanded based on the uncertainty of each node in order to prevent increasing the accum... |
Revisiting the Asymptotic Optimality of RRT | https://ieeexplore.ieee.org/document/9196553/ | [
"Kiril Solovey",
"Lucas Janson",
"Edward Schmerling",
"Emilio Frazzoli",
"Marco Pavone",
"Kiril Solovey",
"Lucas Janson",
"Edward Schmerling",
"Emilio Frazzoli",
"Marco Pavone"
] | RRT* is one of the most widely used sampling-based algorithms for asymptotically-optimal motion planning. RRT* laid the foundations for optimality in motion planning as a whole, and inspired the development of numerous new algorithms in the field, many of which build upon RRT* itself. In this paper, we first identify a logical gap in the optimality proof of RRT*, which was developed by Karaman and... |
Sample Complexity of Probabilistic Roadmaps via ε-nets | https://ieeexplore.ieee.org/document/9196917/ | [
"Matthew Tsao",
"Kiril Solovey",
"Marco Pavone",
"Matthew Tsao",
"Kiril Solovey",
"Marco Pavone"
] | We study fundamental theoretical aspects of probabilistic roadmaps (PRM) in the finite time (non-asymptotic) regime. In particular, we investigate how completeness and optimality guarantees of the approach are influenced by the underlying deterministic sampling distribution X and connection radius r > 0. We develop the notion of (δ, ε)-completeness of the parameters X, r, which indicates that for ... |
Reinforcement Learning Based Manipulation Skill Transferring for Robot-assisted Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/9196588/ | [
"Hang Su",
"Yingbai Hu",
"Zhijun Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi",
"Hang Su",
"Yingbai Hu",
"Zhijun Li",
"Alois Knoll",
"Giancarlo Ferrigno",
"Elena De Momi"
] | The complexity of surgical operation can be released significantly if surgical robots can learn the manipulation skills by imitation from complex tasks demonstrations such as puncture, suturing, and knotting, etc.. This paper proposes a reinforcement learning algorithm based manipulation skill transferring technique for robot-assisted Minimally Invasive Surgery by Teaching by Demonstration. It emp... |
Safe Mission Planning under Dynamical Uncertainties | https://ieeexplore.ieee.org/document/9196515/ | [
"Yimeng Lu",
"Maryam Kamgarpour",
"Yimeng Lu",
"Maryam Kamgarpour"
] | This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to mod-eling and integrating dynamical uncertainties into a safe planning framework, and finding a solution in a computationally tractable way. In this work, we first develop a proba... |
An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics | https://ieeexplore.ieee.org/document/9196517/ | [
"David Fridovich-Keil",
"Vicenç Rubies-Royo",
"Claire J. Tomlin",
"David Fridovich-Keil",
"Vicenç Rubies-Royo",
"Claire J. Tomlin"
] | Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multi-player general-sum differential games. Here, ILQ methods are capable of finding local equilibria in interactive motion planning problems in real-time. As in most iterative procedures, however, this approach can be sensitive to init... |
A Morphable Aerial-Aquatic Quadrotor with Coupled Symmetric Thrust Vectoring | https://ieeexplore.ieee.org/document/9196687/ | [
"Yu Herng Tan",
"Ben M. Chen",
"Yu Herng Tan",
"Ben M. Chen"
] | Hybrid aerial-aquatic vehicles have the unique ability of travelling in both air and water and can benefit from both lower fluid resistance in air and energy efficient position holding in water. However, they have to address the differing requirements which make optimising a single design difficult. While existing examples have shown the possibility of such vehicles, they are mostly structurally i... |
An Autonomous Intercept Drone with Image-based Visual Servo | https://ieeexplore.ieee.org/document/9197539/ | [
"Kun Yang",
"Quan Quan",
"Kun Yang",
"Quan Quan"
] | For most people on the ground, facing an unwanted drone buzzing around overhead, there is not a lot that we can do, especially if it is out of gun (radio wave gun or shotgun) range. A solution to this is to use intercept drones that seek out and bring down other drones. In order to make the interception autonomous, an image-based visual servo algorithm is designed with a forward-looking monocular ... |
On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System | https://ieeexplore.ieee.org/document/9197279/ | [
"Pratik Prajapati",
"Sagar Parekh",
"Vineet Vashista",
"Pratik Prajapati",
"Sagar Parekh",
"Vineet Vashista"
] | A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human control of a multiple quadcopters system to transport a cable-suspended payload. The coupled dynamics of the system, due to the inherent physical constraints, is... |
A*3D Dataset: Towards Autonomous Driving in Challenging Environments | https://ieeexplore.ieee.org/document/9197385/ | [
"Quang-Hieu Pham",
"Pierre Sevestre",
"Ramanpreet Singh Pahwa",
"Huijing Zhan",
"Chun Ho Pang",
"Yuda Chen",
"Armin Mustafa",
"Vijay Chandrasekhar",
"Jie Lin",
"Quang-Hieu Pham",
"Pierre Sevestre",
"Ramanpreet Singh Pahwa",
"Huijing Zhan",
"Chun Ho Pang",
"Yuda Chen",
"Armin Mustafa",
"Vijay Chandrasekhar",
"Jie Lin"
] | With the increasing global popularity of self-driving cars, there is an immediate need for challenging real-world datasets for benchmarking and training various computer vision tasks such as 3D object detection. Existing datasets either represent simple scenarios or provide only day-time data. In this paper, we introduce a new challenging A*3D dataset which consists of RGB images and LiDAR data wi... |
SegVoxelNet: Exploring Semantic Context and Depth-aware Features for 3D Vehicle Detection from Point Cloud | https://ieeexplore.ieee.org/document/9196556/ | [
"Hongwei Yi",
"Shaoshuai Shi",
"Mingyu Ding",
"Jiankai Sun",
"Kui Xu",
"Hui Zhou",
"Zhe Wang",
"Sheng Li",
"Guoping Wang",
"Hongwei Yi",
"Shaoshuai Shi",
"Mingyu Ding",
"Jiankai Sun",
"Kui Xu",
"Hui Zhou",
"Zhe Wang",
"Sheng Li",
"Guoping Wang"
] | 3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context information in LiDAR is seldom explored in previous works, which may help identify ambiguous vehicles. Second, the distribution of point cloud on vehicles varies ... |
Fine-Grained Driving Behavior Prediction via Context-Aware Multi-Task Inverse Reinforcement Learning | https://ieeexplore.ieee.org/document/9197126/ | [
"Kentaro Nishi",
"Masamichi Shimosaka",
"Kentaro Nishi",
"Masamichi Shimosaka"
] | Research on advanced driver assistance systems for reducing risks to vulnerable road users (VRUs) has recently gained popularity because the traffic accident reduction rate for VRUs is still small. Dealing with unexpected VRU movements on residential roads requires proficient acceleration and deceleration. Although fine-grained prediction of driving behavior through inverse reinforcement learning ... |
How to Keep HD Maps for Automated Driving Up To Date | https://ieeexplore.ieee.org/document/9197419/ | [
"David Pannen",
"Martin Liebner",
"Wolfgang Hempel",
"Wolfram Burgard",
"David Pannen",
"Martin Liebner",
"Wolfgang Hempel",
"Wolfram Burgard"
] | The current state of the art in automotive high definition digital (HD) map generation based on dedicated mapping vehicles cannot reliably keep these maps up to date because of the low traversal frequencies. Anonymized data collected from the fleet of vehicles that is already on the road provides a huge potential to outperform such state of the art solutions in robustness, safety and up-to-datenes... |
Binary DAD-Net: Binarized Driveable Area Detection Network for Autonomous Driving | https://ieeexplore.ieee.org/document/9197119/ | [
"Alexander Frickenstein",
"Manoj-Rohit Vemparala",
"Jakob Mayr",
"Naveen-Shankar Nagaraja",
"Christian Unger",
"Federico Tombari",
"Walter Stechele",
"Alexander Frickenstein",
"Manoj-Rohit Vemparala",
"Jakob Mayr",
"Naveen-Shankar Nagaraja",
"Christian Unger",
"Federico Tombari",
"Walter Stechele"
] | Driveable area detection is a key component for various applications in the field of autonomous driving (AD), such as ground-plane detection, obstacle detection and maneuver planning. Additionally, bulky and over-parameterized networks can be easily forgone and replaced with smaller networks for faster inference on embedded systems. The driveable area detection, posed as a two class segmentation t... |
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes | https://ieeexplore.ieee.org/document/9196526/ | [
"Weisong Wen",
"Yiyang Zhou",
"Guohao Zhang",
"Saman Fahandezh-Saadi",
"Xiwei Bai",
"Wei Zhan",
"Masayoshi Tomizuka",
"Li-Ta Hsu",
"Weisong Wen",
"Yiyang Zhou",
"Guohao Zhang",
"Saman Fahandezh-Saadi",
"Xiwei Bai",
"Wei Zhan",
"Masayoshi Tomizuka",
"Li-Ta Hsu"
] | Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature matching, and inertia navigation has greatly enhanced the accuracy and robustness of mapping and localization in different scenarios. However, highly urbanized scenes... |
Map As the Hidden Sensor: Fast Odometry-Based Global Localization | https://ieeexplore.ieee.org/document/9197225/ | [
"Cheng Peng",
"David Weikersdorfer",
"Cheng Peng",
"David Weikersdorfer"
] | Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is able to provide an accurate belief tensor of the robot state. Our method can be used for blind robots in dark or highly reflective areas. In contrast to odometry... |
Joint Human Pose Estimation and Stereo 3D Localization | https://ieeexplore.ieee.org/document/9197069/ | [
"Wenlong Deng",
"Lorenzo Bertoni",
"Sven Kreiss",
"Alexandre Alahi",
"Wenlong Deng",
"Lorenzo Bertoni",
"Sven Kreiss",
"Alexandre Alahi"
] | We present an end-to-end trainable Neural Network architecture for stereo imaging that jointly locates and estimates human body poses in 3D. Our method defines a 2D pose for each human in a stereo pair of images and uses a correlation layer with a composite field to associate each left-right pair of joints. In absence of a stereo pose dataset, we show that we can train our method with synthetic da... |
Self-Supervised Deep Pose Corrections for Robust Visual Odometry | https://ieeexplore.ieee.org/document/9197562/ | [
"Brandon Wagstaff",
"Valentin Peretroukhin",
"Jonathan Kelly",
"Brandon Wagstaff",
"Valentin Peretroukhin",
"Jonathan Kelly"
] | We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses data-driven learning to regress pose corrections that account for systematic errors due to violations of modelling assumptions. Our self-supervised formulation ... |
Ultra-High-Accuracy Visual Marker for Indoor Precise Positioning | https://ieeexplore.ieee.org/document/9196535/ | [
"Hideyuki Tanaka",
"Hideyuki Tanaka"
] | Indoor positioning technology is essential for indoor mobile robots and drones. However, there has never been a general-purpose technology or infrastructure that enables indoor positioning with an accuracy of less than 10 cm. We have developed an attitude measurement method using multiple dynamic moires with a lenticular lens and developed an ultra- high-accuracy visual marker with an attitude est... |
Accurate position tracking with a single UWB anchor | https://ieeexplore.ieee.org/document/9197345/ | [
"Yanjun Cao",
"Chenhao Yang",
"Rui Li",
"Alois Knoll",
"Giovanni Beltrame",
"Yanjun Cao",
"Chenhao Yang",
"Rui Li",
"Alois Knoll",
"Giovanni Beltrame"
] | Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a loc... |
Preference-Based Learning for Exoskeleton Gait Optimization | https://ieeexplore.ieee.org/document/9196661/ | [
"Maegan Tucker",
"Ellen Novoseller",
"Claudia Kann",
"Yanan Sui",
"Yisong Yue",
"Joel W. Burdick",
"Aaron D. Ames",
"Maegan Tucker",
"Ellen Novoseller",
"Claudia Kann",
"Yanan Sui",
"Yisong Yue",
"Joel W. Burdick",
"Aaron D. Ames"
] | This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user prefer-ences, e.g., for comfort. Building upon work in preference-based interactive learning, we present the CoSpar algorithm. CoSpar prompts the user to give pairwise preferences bet... |
Adaptive Neural Trajectory Tracking Control for Flexible-Joint Robots with Online Learning | https://ieeexplore.ieee.org/document/9197051/ | [
"Shuyang Chen",
"John T. Wen",
"Shuyang Chen",
"John T. Wen"
] | Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint dynamics compounds the challenge. In this paper, we present a new control architecture for controlling flexible-joint robots. Our approach uses a multi-layer neural ne... |
BiCF: Learning Bidirectional Incongruity-Aware Correlation Filter for Efficient UAV Object Tracking | https://ieeexplore.ieee.org/document/9196530/ | [
"Fuling Lin",
"Changhong Fu",
"Yujie He",
"Fuyu Guo",
"Qian Tang",
"Fuling Lin",
"Changhong Fu",
"Yujie He",
"Fuyu Guo",
"Qian Tang"
] | Correlation filters (CFs) have shown excellent performance in unmanned aerial vehicle (UAV) tracking scenarios due to their high computational efficiency. During the UAV tracking process, viewpoint variations are usually accompanied by changes in the object and background appearance, which poses a unique challenge to CF-based trackers. Since the appearance is gradually changing over time, an ideal... |
Adaptive Unknown Object Rearrangement Using Low-Cost Tabletop Robot | https://ieeexplore.ieee.org/document/9197356/ | [
"Chun-Yu Chai",
"Wen-Hsiao Peng",
"Shiao-Li Tsao",
"Chun-Yu Chai",
"Wen-Hsiao Peng",
"Shiao-Li Tsao"
] | Studies on object rearrangement planning typically consider known objects. Some learning-based methods can predict the movement of an unknown object after single-step interaction, but require intermediate targets, which are generated manually, to achieve the rearrangement task. In this work, we propose a framework for unknown object rearrangement. Our system first models an object through a small-... |
Unsupervised Learning and Exploration of Reachable Outcome Space | https://ieeexplore.ieee.org/document/9196819/ | [
"Giuseppe Paolo",
"Alban Laflaquière",
"Alexandre Coninx",
"Stephane Doncieux",
"Giuseppe Paolo",
"Alban Laflaquière",
"Alexandre Coninx",
"Stephane Doncieux"
] | Performing Reinforcement Learning in sparse rewards settings, with very little prior knowledge, is a challenging problem since there is no signal to properly guide the learning process. In such situations, a good search strategy is fundamental. At the same time, not having to adapt the algorithm to every single problem is very desirable. Here we introduce TAXONS, a Task Agnostic eXploration of Out... |
Context-aware Cost Shaping to Reduce the Impact of Model Error in Receding Horizon Control | https://ieeexplore.ieee.org/document/9197521/ | [
"Christopher D. McKinnon",
"Angela P. Schoellig",
"Christopher D. McKinnon",
"Angela P. Schoellig"
] | This paper presents a method to enable a robot using stochastic Model Predictive Control (MPC) to achieve high performance on a repetitive path-following task. In particular, we consider the case where the accuracy of the model for robot dynamics varies significantly over the path-motivated by the fact that the models used in MPC must be computationally efficient, which limits their expressive pow... |
Aortic 3D Deformation Reconstruction using 2D X-ray Fluoroscopy and 3D Pre-operative Data for Endovascular Interventions | https://ieeexplore.ieee.org/document/9197410/ | [
"Yanhao Zhang",
"Liang Zhao",
"Shoudong Huang",
"Yanhao Zhang",
"Liang Zhao",
"Shoudong Huang"
] | Current clinical endovascular interventions rely on 2D guidance for catheter manipulation. Although an aortic 3D surface is available from the pre-operative CT/MRI imaging, it cannot be used directly as a 3D intra-operative guidance since the vessel will deform during the procedure. This paper aims to reconstruct the live 3D aortic deformation by fusing the static 3D model from the pre-operative d... |
Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion | https://ieeexplore.ieee.org/document/9196960/ | [
"Yuyang Chen",
"Haozhe Yang",
"Xu Liu",
"Kai Xu",
"Yuyang Chen",
"Haozhe Yang",
"Xu Liu",
"Kai Xu"
] | Needle-based procedures, such as biopsy and percutaneous tumor ablation, highly depend on the accuracy of needle placement. The accuracy is significantly affected by the needle-tissue interaction no matter what needles (straight or steerable) are used. Due to the unknown tissue mechanics, it is challenging to achieve high accuracy in practice. This paper hence proposes a needle design with an arti... |
Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation | https://ieeexplore.ieee.org/document/9197515/ | [
"Paul Baksic",
"Hadrien Courtecuisse",
"Christian Duriez",
"Bernard Bayle",
"Paul Baksic",
"Hadrien Courtecuisse",
"Christian Duriez",
"Bernard Bayle"
] | This paper introduces a method for robotic steering of a flexible needle inside moving and deformable tissues. The method relies on a set of objective functions allowing to automatically steer the needle along a predefined path. In order to follow the desired trajectory, an inverse problem linking the motion of the robot end effector with the objective functions is solved using a Finite Element si... |
Collaborative Robot-Assisted Endovascular Catheterization with Generative Adversarial Imitation Learning | https://ieeexplore.ieee.org/document/9196912/ | [
"Wenqiang Chi",
"Giulio Dagnino",
"Trevor M. Y. Kwok",
"Anh Nguyen",
"Dennis Kundrat",
"Mohamed E. M. K. Abdelaziz",
"Celia Riga",
"Colin Bicknell",
"Guang-Zhong Yang",
"Wenqiang Chi",
"Giulio Dagnino",
"Trevor M. Y. Kwok",
"Anh Nguyen",
"Dennis Kundrat",
"Mohamed E. M. K. Abdelaziz",
"Celia Riga",
"Colin Bicknell",
"Guang-Zhong Yang"
] | Master-slave systems for endovascular catheterization have brought major clinical benefits including reduced radiation doses to the operators, improved precision and stability of the instruments, as well as reduced procedural duration. Emerging deep reinforcement learning (RL) technologies could potentially automate more complex endovascular tasks with enhanced success rates, more consistent motio... |
GA3C Reinforcement Learning for Surgical Steerable Catheter Path Planning | https://ieeexplore.ieee.org/document/9196954/ | [
"Alice Segato",
"Luca Sestini",
"Antonella Castellano",
"Elena De Momi",
"Alice Segato",
"Luca Sestini",
"Antonella Castellano",
"Elena De Momi"
] | Path planning algorithms for steerable catheters, must guarantee anatomical obstacles avoidance, reduce the insertion length and ensure the compliance with needle kinematics. The majority of the solutions in literature focuses on graph based or sampling based methods, both limited by the impossibility to directly obtain smooth trajectories. In this work we formulate the path planning problem as a ... |
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion | https://ieeexplore.ieee.org/document/9197312/ | [
"Octavio Villarreal",
"Victor Barasuol",
"Patrick M. Wensing",
"Darwin G. Caldwell",
"Claudio Semini",
"Octavio Villarreal",
"Victor Barasuol",
"Patrick M. Wensing",
"Darwin G. Caldwell",
"Claudio Semini"
] | We present a novel control strategy for dynamic legged locomotion in complex scenarios that considers information about the morphology of the terrain in contexts when only on-board mapping and computation are available. The strategy is built on top of two main elements: first a contact sequence task that provides safe foothold locations based on a convolutional neural network to perform fast and c... |
An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty | https://ieeexplore.ieee.org/document/9197120/ | [
"Prem Chand",
"Sushant Veer",
"Ioannis Poulakakis",
"Prem Chand",
"Sushant Veer",
"Ioannis Poulakakis"
] | This paper presents an adaptive control scheme for robotic systems that operate in the face of-potentially large-structured uncertainty. The proposed adaptive controller employs an on-line supervisor that utilizes logic-based switching among a finite set of controllers to identify uncertain parameters, and adapt the behavior of the system based on a current estimate of their value. To achieve this... |
Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction | https://ieeexplore.ieee.org/document/9197230/ | [
"Okkee Sim",
"Hyobin Jeong",
"Jaesung Oh",
"Moonyoung Lee",
"Kang Kyu Lee",
"Hae-Won Park",
"Jun-Ho Oh",
"Okkee Sim",
"Hyobin Jeong",
"Jaesung Oh",
"Moonyoung Lee",
"Kang Kyu Lee",
"Hae-Won Park",
"Jun-Ho Oh"
] | This paper proposes a novel algorithm for joint space position/torque hybrid control of a mammal-type quadruped robot. With this control algorithm, the robot demonstrated both dynamic locomotion and push reaction abilities without the need for torque control in the ab/ad joints. Based on the tipping and slipping condition of the legged robot, we showed that reaction to a typical push in the horizo... |
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity | https://ieeexplore.ieee.org/document/9197070/ | [
"Eric Ambrose",
"Aaron D. Ames",
"Eric Ambrose",
"Aaron D. Ames"
] | Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on a moving-mass robot, wherein a single spring was utilized below the body of the robot. This paper finds that the addition of a spring in parallel to the actuato... |
Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot | https://ieeexplore.ieee.org/document/9196777/ | [
"D. Kim",
"D. Carballo",
"J. Di Carlo",
"B. Katz",
"G. Bledt",
"B. Lim",
"S. Kim",
"D. Kim",
"D. Carballo",
"J. Di Carlo",
"B. Katz",
"G. Bledt",
"B. Lim",
"S. Kim"
] | Legged robots have been highlighted as promising mobile platforms for disaster response and rescue scenarios because of their rough terrain locomotion capability. In cluttered environments, small robots are desirable as they can maneuver through small gaps, narrow paths, or tunnels. However small robots have their own set of difficulties such as limited space for sensors, limited obstacle clearanc... |
Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning | https://ieeexplore.ieee.org/document/9197243/ | [
"Lifeng Zhou",
"Vasileios Tzoumas",
"George J. Pappas",
"Pratap Tokekar",
"Lifeng Zhou",
"Vasileios Tzoumas",
"George J. Pappas",
"Pratap Tokekar"
] | We aim to guard swarm-robotics applications against denial-of-service (DoS) attacks that result in withdrawals of robots. We focus on applications requiring the selection of actions for each robot, among a set of available ones, e.g., which trajectory to follow. Such applications are central in large-scale robotic applications, e.g., multi-robot motion planning for target tracking. But the current... |
Multirobot Patrolling Against Adaptive Opponents with Limited Information | https://ieeexplore.ieee.org/document/9197287/ | [
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin",
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin"
] | We study a patrolling problem where multiple agents are tasked with protecting an environment where one or more adversaries are trying to compromise targets of varying value. The objective of the patrollers is to move between targets to quickly spot when an attack is taking place and then diffuse it. Differently from most related literature, we do not assume that attackers have full knowledge of t... |
Distributed Optimization of Nonlinear, Non-Gaussian, Communication-Aware Information using Particle Methods | https://ieeexplore.ieee.org/document/9197404/ | [
"Sangwoo Moon",
"Eric W. Frew",
"Sangwoo Moon",
"Eric W. Frew"
] | This paper presents a distributed optimization framework and its local utility design for communication-aware information gathering by mobile robotic sensor networks. The main idea of the optimization is that each robot decides based on its local utility that considers the decisions of other neighbor robots higher in a given hierarchy. The local utility is designed as conditional mutual informatio... |
Targeted Drug Delivery: Algorithmic Methods for Collecting a Swarm of Particles with Uniform, External Forces | https://ieeexplore.ieee.org/document/9196551/ | [
"Aaron T. Becker",
"Sándor P. Fekete",
"Li Huang",
"Phillip Keldenich",
"Linda Kleist",
"Dominik Krupke",
"Christian Rieck",
"Arne Schmidt",
"Aaron T. Becker",
"Sándor P. Fekete",
"Li Huang",
"Phillip Keldenich",
"Linda Kleist",
"Dominik Krupke",
"Christian Rieck",
"Arne Schmidt"
] | We investigate algorithmic approaches for targeted drug delivery in a complex, maze-like environment, such as a vascular system. The basic scenario is given by a large swarm of micro-scale particles ("agents") and a particular target region ("tumor") within a system of passageways. Agents are too small to contain on-board power or computation and are instead controlled by a global external force t... |
Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach | https://ieeexplore.ieee.org/document/9196789/ | [
"Gao Tang",
"Weidong Sun",
"Kris Hauser",
"Gao Tang",
"Weidong Sun",
"Kris Hauser"
] | Time-optimal trajectories for dynamic robotic vehicles are difficult to compute even for state-of-the-art nonlinear programming (NLP) solvers, due to nonlinearity and bang-bang control structure. This paper presents a bilevel optimization framework that addresses these problems by decomposing the spatial and temporal variables into a hierarchical optimization. Specifically, the original problem is... |
Constrained Sampling-based Trajectory Optimization using Stochastic Approximation | https://ieeexplore.ieee.org/document/9197284/ | [
"George I. Boutselis",
"Ziyi Wang",
"Evangelos A. Theodorou",
"George I. Boutselis",
"Ziyi Wang",
"Evangelos A. Theodorou"
] | We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints, as well as nonlinear state constraints for discrete dynamical systems. Regarding the former, our strategy is to optimize over truncated parameterized distributions on control inputs. Furthermore, we show how non-smooth penalty f... |
Learning Control Policies from Optimal Trajectories | https://ieeexplore.ieee.org/document/9196791/ | [
"Christoph Zelch",
"Jan Peters",
"Oskar von Stryk",
"Christoph Zelch",
"Jan Peters",
"Oskar von Stryk"
] | The ability to optimally control robotic systems offers significant advantages for their performance. While time-dependent optimal trajectories can numerically be computed for high dimensional nonlinear system dynamic models, constraints and objectives, finding optimal feedback control policies for such systems is hard. This is unfortunate, as without a policy, the control of real-world systems re... |
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control | https://ieeexplore.ieee.org/document/9196673/ | [
"Carlos Mastalli",
"Rohan Budhiraja",
"Wolfgang Merkt",
"Guilhem Saurel",
"Bilal Hammoud",
"Maximilien Naveau",
"Justin Carpentier",
"Ludovic Righetti",
"Sethu Vijayakumar",
"Nicolas Mansard",
"Carlos Mastalli",
"Rohan Budhiraja",
"Wolfgang Merkt",
"Guilhem Saurel",
"Bilal Hammoud",
"Maximilien Naveau",
"Justin Carpentier",
"Ludovic Righetti",
"Sethu Vijayakumar",
"Nicolas Mansard"
] | We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently computes the state trajectory and the control policy for a given predefined sequence of contacts. Its efficiency is due to the use of sparse analytical derivatives, exploitation of the problem structure, and data sharin... |
Grasp for Stacking via Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9197508/ | [
"Junhao Zhang",
"Wei Zhang",
"Ran Song",
"Lin Ma",
"Yibin Li",
"Junhao Zhang",
"Wei Zhang",
"Ran Song",
"Lin Ma",
"Yibin Li"
] | Integrated robotic arm system should contain both grasp and place actions. However, most grasping methods focus more on how to grasp objects, while ignoring the placement of the grasped objects, which limits their applications in various industrial environments. In this research, we propose a model-free deep Q-learning method to learn the grasping-stacking strategy end-to-end from scratch. Our met... |
CAGE: Context-Aware Grasping Engine | https://ieeexplore.ieee.org/document/9197289/ | [
"Weiyu Liu",
"Angel Daruna",
"Sonia Chernova",
"Weiyu Liu",
"Angel Daruna",
"Sonia Chernova"
] | Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object and task constraints, needs to be accounted for. We introduce the Context-Aware Grasping Engine, which combines a novel semantic representation of grasp contexts... |
Super-Pixel Sampler: a Data-driven Approach for Depth Sampling and Reconstruction | https://ieeexplore.ieee.org/document/9197191/ | [
"Adam Wolff",
"Shachar Praisler",
"Ilya Tcenov",
"Guy Gilboa",
"Adam Wolff",
"Shachar Praisler",
"Ilya Tcenov",
"Guy Gilboa"
] | Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An emerging technology, based on solid-state depth sensors, with no mechanical parts, allows fast and adaptive scans. In this paper, we propose an adaptive, image-driven... |
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking | https://ieeexplore.ieee.org/document/9197138/ | [
"Eric Heiden",
"Ziang Liu",
"Ragesh K. Ramachandran",
"Gaurav S. Sukhatme",
"Eric Heiden",
"Ziang Liu",
"Ragesh K. Ramachandran",
"Gaurav S. Sukhatme"
] | Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other types of depth sensors, such as stereo or time-of-flight cameras, the accurate modeling of LIDAR sensors requires laborious manual calibration that typically d... |
A Spatial-temporal Multiplexing Method for Dense 3D Surface Reconstruction of Moving Objects | https://ieeexplore.ieee.org/document/9197462/ | [
"Congying Sui",
"Kejing He",
"Zerui Wang",
"Congyi Lyu",
"Huiwen Guo",
"Yun-Hui Liu",
"Congying Sui",
"Kejing He",
"Zerui Wang",
"Congyi Lyu",
"Huiwen Guo",
"Yun-Hui Liu"
] | Three-dimensional reconstruction of dynamic objects is important for robotic applications, for example, the robotic recognition and manipulation. In this paper, we present a novel 3D surface reconstruction method for moving objects. The proposed method combines the spatial-multiplexing and time-multiplexing structured-light techniques that have advantages of less image acquisition time and accurat... |
PhaRaO: Direct Radar Odometry using Phase Correlation | https://ieeexplore.ieee.org/document/9197231/ | [
"Yeong Sang Park",
"Young-Sik Shin",
"Ayoung Kim",
"Yeong Sang Park",
"Young-Sik Shin",
"Ayoung Kim"
] | Recent studies in radar-based navigation present promising navigation performance using scanning radars. These scanning radar-based odometry methods are mostly feature-based; they detect and match salient features within a radar image. Differing from existing feature-based methods, this paper reports on a method using direct radar odometry, PhaRaO, which infers relative motion from a pair of radar... |
DeepTemporalSeg: Temporally Consistent Semantic Segmentation of 3D LiDAR Scans | https://ieeexplore.ieee.org/document/9197193/ | [
"Ayush Dewan",
"Wolfram Burgard",
"Ayush Dewan",
"Wolfram Burgard"
] | Understanding the semantic characteristics of the environment is a key enabler for autonomous robot operation. In this paper, we propose a deep convolutional neural network (DCNN) for semantic segmentation of a LiDAR scan into the classes car, pedestrian and bicyclist. This architecture is based on dense blocks and efficiently utilizes depth separable convolutions to limit the number of parameters... |
Discrete Bimanual Manipulation for Wrench Balancing | https://ieeexplore.ieee.org/document/9196527/ | [
"Silvia Cruciani",
"Diogo Almeida",
"Danica Kragic",
"Yiannis Karayiannidis",
"Silvia Cruciani",
"Diogo Almeida",
"Danica Kragic",
"Yiannis Karayiannidis"
] | Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object. However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits. In this work, we consider the problem of balancing the wrenches experienced by a dual-arm robot grasping a rigid tray. The distributi... |
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition | https://ieeexplore.ieee.org/document/9197046/ | [
"Benjamin Ward-Cherrier",
"Nicholas Pestell",
"Nathan F. Lepora",
"Benjamin Ward-Cherrier",
"Nicholas Pestell",
"Nathan F. Lepora"
] | Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation tasks to help achieve this goal. Here we present the neuroTac, a novel neuromorphic optical tactile sensor. The neuroTac combines the biomimetic hardware design fro... |
Reducing Uncertainty in Pose Estimation under Complex Contacts via Force Forecast | https://ieeexplore.ieee.org/document/9197190/ | [
"Huitan Mao",
"Jing Xiao",
"Huitan Mao",
"Jing Xiao"
] | How to reduce uncertainty in object pose estimation under complex contacts is crucial to autonomous robotic manipulation and assembly. In this paper, we introduce an approach through forecasting contact force from simulated complex contacts with calibration based on real force sensing. A constraint-based haptic simulation algorithm is used with sphere-tree representation of contacting objects to c... |
Comparison of Constrained and Unconstrained Human Grasp Forces Using Fingernail Imaging and Visual Servoing | https://ieeexplore.ieee.org/document/9196963/ | [
"Navid Fallahinia",
"Stephen A. Mascaro",
"Navid Fallahinia",
"Stephen A. Mascaro"
] | Fingernail imaging has been proven to be effective in prior works [1], [2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp force measurement on multiple fingers to study human grasping. Moreover, two robotic arms with mounted cameras and a visual tracking system have been devised to... |
Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry | https://ieeexplore.ieee.org/document/9196814/ | [
"Haoang Li",
"Wen Chen",
"Ji Zhao",
"Jean-Charles Bazin",
"Lei Luo",
"Zhe Liu",
"Yun-Hui Liu",
"Haoang Li",
"Wen Chen",
"Ji Zhao",
"Jean-Charles Bazin",
"Lei Luo",
"Zhe Liu",
"Yun-Hui Liu"
] | Given a set of 3D-to-2D point correspondences corrupted by outliers, we aim to robustly estimate the absolute camera pose. Existing methods robust to outliers either fail to guarantee high robustness and efficiency simultaneously, or require an appropriate initial pose and thus lack generality. In contrast, we propose a novel approach based on the robust "L2-minimizing estimate" (L2E) loss. We fir... |
Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments | https://ieeexplore.ieee.org/document/9197481/ | [
"Jiahao Lin",
"Hai Zhu",
"Javier Alonso-Mora",
"Jiahao Lin",
"Hai Zhu",
"Javier Alonso-Mora"
] | In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides the estimated position, velocity and size of the obstacles. Robust collision avoidance is achieved by formulating a chance-constrained model predictive controll... |
Proximity Estimation Using Vision Features Computed On Sensor | https://ieeexplore.ieee.org/document/9197370/ | [
"Jianing Chen",
"Yanan Liu",
"Stephen J. Carey",
"Piotr Dudek",
"Jianing Chen",
"Yanan Liu",
"Stephen J. Carey",
"Piotr Dudek"
] | This paper presents a monocular vision based proximity estimation system using abstract features, such as corner points, blobs and edges, as inputs to a neural network. An experimental vehicle was built using a vision system integrating the SCAMP-5 vision chip, a micro-controller, and an RC model car. The vision chip includes image sensor with embedded 256×256 processor SIMD array. The pixel proce... |
Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles | https://ieeexplore.ieee.org/document/9196595/ | [
"Ling Gao",
"Junyan Su",
"Jiadi Cui",
"Xiangchen Zeng",
"Xin Peng",
"Laurent Kneip",
"Ling Gao",
"Junyan Su",
"Jiadi Cui",
"Xiangchen Zeng",
"Xin Peng",
"Laurent Kneip"
] | The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts fronto-parallel motion with respect to the ground plane. This turns the motion estimation into a simple image registration problem in which we only have to identify a 2-para... |
egoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands | https://ieeexplore.ieee.org/document/9196721/ | [
"Justin S. Smith",
"Ruoyang Xu",
"Patricio Vela",
"Justin S. Smith",
"Ruoyang Xu",
"Patricio Vela"
] | The TEB hierarchical planner for real-time navigation through unknown environments is highly effective at balancing collision avoidance with goal directed motion. Designed over several years and publications, it implements a multi-trajectory optimization based synthesis method for identifying topologically distinct trajectory candidates through navigable space. Unfortunately, the underlying factor... |
Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation | https://ieeexplore.ieee.org/document/9197326/ | [
"Rae Jeong",
"Yusuf Aytar",
"David Khosid",
"Yuxiang Zhou",
"Jackie Kay",
"Thomas Lampe",
"Konstantinos Bousmalis",
"Francesco Nori",
"Rae Jeong",
"Yusuf Aytar",
"David Khosid",
"Yuxiang Zhou",
"Jackie Kay",
"Thomas Lampe",
"Konstantinos Bousmalis",
"Francesco Nori"
] | Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a huge potential to further accelerate robotic learning. We consider here the problem of performing manipulation tasks from pixels. In such tasks, choosing an app... |
Meta Reinforcement Learning for Sim-to-real Domain Adaptation | https://ieeexplore.ieee.org/document/9196540/ | [
"Karol Arndt",
"Murtaza Hazara",
"Ali Ghadirzadeh",
"Ville Kyrki",
"Karol Arndt",
"Murtaza Hazara",
"Ali Ghadirzadeh",
"Ville Kyrki"
] | Modern reinforcement learning methods suffer from low sample efficiency and unsafe exploration, making it infeasible to train robotic policies entirely on real hardware. In this work, we propose to address the problem of sim-to-real domain transfer by using meta learning to train a policy that can adapt to a variety of dynamic conditions, and using a task-specific trajectory generation model to pr... |
Variational Auto-Regularized Alignment for Sim-to-Real Control | https://ieeexplore.ieee.org/document/9197130/ | [
"Martin Hwasser",
"Danica Kragic",
"Rika Antonova",
"Martin Hwasser",
"Danica Kragic",
"Rika Antonova"
] | General-purpose simulators can be a valuable data source for flexible learning and control approaches. However, training models or control policies in simulation and then directly applying to hardware can yield brittle control. Instead, we propose a novel way to use simulators as regularizers. Our approach regularizes a decoder of a variational autoencoder to a black-box simulation, with the laten... |
Experience Selection Using Dynamics Similarity for Efficient Multi-Source Transfer Learning Between Robots | https://ieeexplore.ieee.org/document/9196744/ | [
"Michael J. Sorocky",
"Siqi Zhou",
"Angela P. Schoellig",
"Michael J. Sorocky",
"Siqi Zhou",
"Angela P. Schoellig"
] | In the robotics literature, different knowledge transfer approaches have been proposed to leverage the experience from a source task or robot-real or virtual-to accelerate the learning process on a new task or robot. A commonly made but infrequently examined assumption is that incorporating experience from a source task or robot will be beneficial. In practice, inappropriate knowledge transfer can... |
DeepRacer: Autonomous Racing Platform for Experimentation with Sim2Real Reinforcement Learning | https://ieeexplore.ieee.org/document/9197465/ | [
"Bharathan Balaji",
"Sunil Mallya",
"Sahika Genc",
"Saurabh Gupta",
"Leo Dirac",
"Vineet Khare",
"Gourav Roy",
"Tao Sun",
"Yunzhe Tao",
"Brian Townsend",
"Eddie Calleja",
"Sunil Muralidhara",
"Dhanasekar Karuppasamy",
"Bharathan Balaji",
"Sunil Mallya",
"Sahika Genc",
"Saurabh Gupta",
"Leo Dirac",
"Vineet Khare",
"Gourav Roy",
"Tao Sun",
"Yunzhe Tao",
"Brian Townsend",
"Eddie Calleja",
"Sunil Muralidhara",
"Dhanasekar Karuppasamy"
] | DeepRacer is a platform for end-to-end experimentation with RL and can be used to systematically investigate the key challenges in developing intelligent control systems. Using the platform, we demonstrate how a 1/18th scale car can learn to drive autonomously using RL with a monocular camera. It is trained in simulation with no additional tuning in the physical world and demonstrates: 1) formulat... |
A closed-loop and ergonomic control for prosthetic wrist rotation | https://ieeexplore.ieee.org/document/9197554/ | [
"Mathilde Legrand",
"Nathanaël Jarrassé",
"Florian Richer",
"Guillaume Morel",
"Mathilde Legrand",
"Nathanaël Jarrassé",
"Florian Richer",
"Guillaume Morel"
] | Beyond the ultimate goal of prosthetics, repairing all the capabilities of amputees, the development line of upper-limb prostheses control mainly relies on three aspects: the robustness, the intuitiveness and the reduction of mental fatigue. Many complex structures and algorithms are proposed but no one question a common open-loop nature, where the user is the one in charge of correcting errors. Y... |
Comparison of online algorithms for the tracking of multiple magnetic targets in a myokinetic control interface | https://ieeexplore.ieee.org/document/9196804/ | [
"J. Montero",
"M. Gherardini",
"F. Clemente",
"C. Cipriani",
"J. Montero",
"M. Gherardini",
"F. Clemente",
"C. Cipriani"
] | Magnetic tracking algorithms can be used to determine the position and orientation of magnetic markers or devices. These techniques are particularly interesting for biomedical applications such as teleoperated surgical robots or the control of upper limb prostheses. The performance of different algorithms used for magnetic tracking was compared in the past. However, in most cases, those algorithms... |
Congestion-aware Evacuation Routing using Augmented Reality Devices | https://ieeexplore.ieee.org/document/9197494/ | [
"Zeyu Zhang",
"Hangxin Liu",
"Ziyuan Jiao",
"Yixin Zhu",
"Song-Chun Zhu",
"Zeyu Zhang",
"Hangxin Liu",
"Ziyuan Jiao",
"Yixin Zhu",
"Song-Chun Zhu"
] | We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes among multiple destinations while keeping tracks of all evacuees’ locations. A population density map, obtained on-the-fly by aggregating locations of evacuees from user-end Augmented Reality (AR) devices, is used to model the congestion distribution inside a build... |
Human-robot interaction for robotic manipulator programming in Mixed Reality | https://ieeexplore.ieee.org/document/9196965/ | [
"Mikhail Ostanin",
"Stanislav Mikhel",
"Alexey Evlampiev",
"Valeria Skvortsova",
"Alexandr Klimchik",
"Mikhail Ostanin",
"Stanislav Mikhel",
"Alexey Evlampiev",
"Valeria Skvortsova",
"Alexandr Klimchik"
] | The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real robot location by the point cloud analysis, to use virtual markers and menus for the task creation, t... |
Heart Rate Sensing with a Robot Mounted mmWave Radar | https://ieeexplore.ieee.org/document/9197437/ | [
"Peijun Zhao",
"Chris Xiaoxuan Lu",
"Bing Wang",
"Changhao Chen",
"Linhai Xie",
"Mengyu Wang",
"Niki Trigoni",
"Andrew Markham",
"Peijun Zhao",
"Chris Xiaoxuan Lu",
"Bing Wang",
"Changhao Chen",
"Linhai Xie",
"Mengyu Wang",
"Niki Trigoni",
"Andrew Markham"
] | Heart rate monitoring at home is a useful metric for assessing health e.g. of the elderly or patients in post-operative recovery. Although non-contact heart rate monitoring has been widely explored, typically using a static, wall-mounted device, measurements are limited to a single room and sensitive to user orientation and position. In this work, we propose mBeats, a robot mounted millimeter wave... |
Prediction of Gait Cycle Percentage Using Instrumented Shoes with Artificial Neural Networks | https://ieeexplore.ieee.org/document/9196747/ | [
"Antonio Prado",
"Xiya Cao",
"Xiangzhuo Ding",
"Sunil K. Agrawal",
"Antonio Prado",
"Xiya Cao",
"Xiangzhuo Ding",
"Sunil K. Agrawal"
] | Gait training is widely used to treat gait abnormalities. Traditional gait measurement systems are limited to instrumented laboratories. Even though gait measurements can be made in these settings, it is challenging to estimate gait parameters robustly in real-time for gait rehabilitation, especially when walking over-ground. In this paper, we present a novel approach to track the continuous gait ... |
Flow Compensation for Hydraulic Direct-Drive System with a Single-rod Cylinder Applied to Biped Humanoid Robot | https://ieeexplore.ieee.org/document/9196956/ | [
"J. Shimizu",
"T. Otani",
"H. Mizukami",
"K. Hashimoto",
"A. Takanishi",
"J. Shimizu",
"T. Otani",
"H. Mizukami",
"K. Hashimoto",
"A. Takanishi"
] | Biped robots require massive power on each leg while walking, hopping, and running. We have developed a flow-based control system-called hydraulic direct drive system- that can achieve high output while avoiding spatial limitations. To implement the proposed system with simple equipment configuration, a pump and single-rod cylinder are connected in a closed loop. However, because compensation for ... |
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