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An LLM-driven Framework for Multiple-Vehicle Dispatching and Navigation in Smart City Landscapes | https://ieeexplore.ieee.org/document/10610578/ | [
"Ruiqing Chen",
"Wenbin Song",
"Weiqin Zu",
"ZiXin Dong",
"Ze Guo",
"Fanglei Sun",
"Zheng Tian",
"Jun Wang",
"Ruiqing Chen",
"Wenbin Song",
"Weiqin Zu",
"ZiXin Dong",
"Ze Guo",
"Fanglei Sun",
"Zheng Tian",
"Jun Wang"
] | In the context of smart cities, autonomous vehicles, such as unmanned delivery vehicles and taxis are gradually gaining acceptance. However, their application scenarios remain significantly fragmented. Typically, an Autonomous Multi-Functional Vehicle (AMFV) is not engaged in other scenarios when idle in a specific one. Currently, a unified system capable of coordinating and using these resources ... |
A Retinex Structure-based Low-light Enhancement Model Guided by Spatial Consistency | https://ieeexplore.ieee.org/document/10610021/ | [
"Miao Zhang",
"Yiqing Shen",
"Zhuowei Li",
"Guofeng Pan",
"Shuai Lu",
"Miao Zhang",
"Yiqing Shen",
"Zhuowei Li",
"Guofeng Pan",
"Shuai Lu"
] | Images captured by robotics under low-light conditions are often plagued by several challenges, including diminished contrast, increased noise, loss of fine details, and unnatural color reproduction. These factors can significantly hinder the performance of computer vision tasks such as object detection and image segmentation. As a result, improving the quality of low-light images is of paramount ... |
Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback | https://ieeexplore.ieee.org/document/10610663/ | [
"Hung-Ching Lin",
"Murilo Marques Marinho",
"Kanako Harada",
"Hung-Ching Lin",
"Murilo Marques Marinho",
"Kanako Harada"
] | Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) of the microscopic camera necessitates camera motion to capture a broader workspace environment. In this work, we propose an autonomous robotic control method to constrain a robot-held camera within a designated FoV. Furt... |
RoSSO: A High-Performance Python Package for Robotic Surveillance Strategy Optimization Using JAX | https://ieeexplore.ieee.org/document/10610477/ | [
"Yohan John",
"Connor Hughes",
"Gilberto Díaz-García",
"Jason R. Marden",
"Francesco Bullo",
"Yohan John",
"Connor Hughes",
"Gilberto Díaz-García",
"Jason R. Marden",
"Francesco Bullo"
] | To enable the computation of effective randomized patrol routes for single- or multi-robot teams, we present RoSSO, a Python package designed for solving Markov chain optimization problems. We exploit machine-learning techniques such as reverse-mode automatic differentiation and constraint parametrization to achieve superior efficiency compared to general-purpose nonlinear programming solvers. Add... |
Semi-autonomous surface-tracking tasks using omnidirectional mobile manipulators | https://ieeexplore.ieee.org/document/10611518/ | [
"Carlos Suarez Zapico",
"Yvan Petillot",
"Mustafa Suphi Erden",
"Carlos Suarez Zapico",
"Yvan Petillot",
"Mustafa Suphi Erden"
] | Despite the potential of mobile manipulators and applications where robots require a force-controlled physical interaction with the environment, the majority of robot automation nowadays is still based on fixed manipulators for free-motion tasks (e.g. welding, pick and place, or painting). In this work, we propose a control solution for omnidirectional mobile manipulators in force-tracking tasks, ... |
Towards Optimal Lane-changing Coordination of CAVs in Multi-lane Mixed Traffic Scenarios | https://ieeexplore.ieee.org/document/10611720/ | [
"Yan Ding",
"Yijun Mao",
"Chongshan Jiao",
"Pengju Ren",
"Yan Ding",
"Yijun Mao",
"Chongshan Jiao",
"Pengju Ren"
] | Lane changing is a fundamental but challenging operation for moving vehicles. Connected and Automated Vehicles(CAVs) enable autonomous vehicles to cooperate with each other to accomplish the lane changing tasks, profiting from their communication ability. However, dispatching CAVs in mixed traffic remains difficult due to the stochastic behaviors and uncertain intentions of Human-Driven Vehicles(H... |
Reducing Non-IID Effects in Federated Autonomous Driving with Contrastive Divergence Loss | https://ieeexplore.ieee.org/document/10611202/ | [
"Tuong Do",
"Binh X. Nguyen",
"Quang D. Tran",
"Hien Nguyen",
"Erman Tjiputra",
"Te-Chuan Chiu",
"Anh Nguyen",
"Tuong Do",
"Binh X. Nguyen",
"Quang D. Tran",
"Hien Nguyen",
"Erman Tjiputra",
"Te-Chuan Chiu",
"Anh Nguyen"
] | Federated learning has been widely applied in autonomous driving since it enables training a learning model among vehicles without sharing users’ data. However, data from autonomous vehicles usually suffer from the non-independent-and-identically-distributed (non-IID) problem, which may cause negative effects on the convergence of the learning process. In this paper, we propose a new contrastive d... |
ODD-based Query-time Scenario Mutation Framework for Autonomous Driving Scenario databases | https://ieeexplore.ieee.org/document/10610412/ | [
"Yun Tang",
"Dhanush Raj",
"Xingyu Zhao",
"Xizhe Zhang",
"Antonio A. Bruto da Costa",
"Siddartha Khastgir",
"Paul Jennings",
"Yun Tang",
"Dhanush Raj",
"Xingyu Zhao",
"Xizhe Zhang",
"Antonio A. Bruto da Costa",
"Siddartha Khastgir",
"Paul Jennings"
] | Large-scale scenario databases may contain hundreds of thousands of scenarios for the verification and validation (V&V) of autonomous vehicles (AV). Scenarios in the database are often labelled with semantic Operational Design Domain (ODD) tags (e.g., WeatherRainy, RoadTypeHighway and ActorTypeTruck) to be queried via exact tag matching. Such a scenario database design has two major limitations, i... |
Hierarchical Learned Risk-Aware Planning Framework for Human Driving Modeling | https://ieeexplore.ieee.org/document/10610354/ | [
"Nathan Ludlow",
"Yiwei Lyu",
"John Dolan",
"Nathan Ludlow",
"Yiwei Lyu",
"John Dolan"
] | This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware estimation framework with learned parameters to generate human-like driving trajectories, accommodating multiple driver levels determined by model parameters. Thi... |
DESTINE: Dynamic Goal Queries with Temporal Transductive Alignment for Trajectory Prediction | https://ieeexplore.ieee.org/document/10611124/ | [
"Rezaul Karim",
"Soheil Mohamad Alizadeh Shabestary",
"Amir Rasouli",
"Rezaul Karim",
"Soheil Mohamad Alizadeh Shabestary",
"Amir Rasouli"
] | Predicting temporally consistent road users’ trajectories in a multi-agent setting is a challenging task due to the unknown characteristics of agents and their varying intentions. Besides using semantic map information and modeling interactions, it is important to build an effective mechanism capable of reasoning about behaviors at different levels of granularity.To this end, we propose Dynamic go... |
Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles | https://ieeexplore.ieee.org/document/10611158/ | [
"Zhenmin Huang",
"Haichao Liu",
"Shaojie Shen",
"Jun Ma",
"Zhenmin Huang",
"Haichao Liu",
"Shaojie Shen",
"Jun Ma"
] | The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. Difficulties remain unsolved in developing an effective and efficient coordination strategy for CAVs. In this paper, we formulate the cooperative autonomous driving task of CAVs as an optimal control problem with safety conditions enforced as hard constraints, and pro... |
POLITE: Preferences Combined with Highlights in Reinforcement Learning | https://ieeexplore.ieee.org/document/10610505/ | [
"Simon Holk",
"Daniel Marta",
"Iolanda Leite",
"Simon Holk",
"Daniel Marta",
"Iolanda Leite"
] | Many solutions to address the challenge of robot learning have been devised, namely through exploring novel ways for humans to communicate complex goals and tasks in reinforcement learning (RL) setups. One way that experienced recent research interest directly addresses the problem by considering human feedback as preferences between pairs of trajectories (sequences of state-action pairs). However... |
CoFRIDA: Self-Supervised Fine-Tuning for Human-Robot Co-Painting | https://ieeexplore.ieee.org/document/10610618/ | [
"Peter Schaldenbrand",
"Gaurav Parmar",
"Jun-Yan Zhu",
"James McCann",
"Jean Oh",
"Peter Schaldenbrand",
"Gaurav Parmar",
"Jun-Yan Zhu",
"James McCann",
"Jean Oh"
] | Prior robot painting and drawing work, such as FRIDA, has focused on decreasing the sim-to-real gap and expanding input modalities for users, but the interaction with these systems generally exists only in the input stages. To support interactive, human-robot collaborative painting, we introduce the Collaborative FRIDA (CoFRIDA) robot painting framework, which can co-paint by modifying and engagin... |
MateRobot: Material Recognition in Wearable Robotics for People with Visual Impairments | https://ieeexplore.ieee.org/document/10610333/ | [
"Junwei Zheng",
"Jiaming Zhang",
"Kailun Yang",
"Kunyu Peng",
"Rainer Stiefelhagen",
"Junwei Zheng",
"Jiaming Zhang",
"Kailun Yang",
"Kunyu Peng",
"Rainer Stiefelhagen"
] | People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill this gap, in this work, a wearable vision-based robotic system, MATERobot, is established for PVI to recognize materials and object categories beforehand. To addre... |
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning | https://ieeexplore.ieee.org/document/10611071/ | [
"Pietro Balatti",
"Idil Ozdamar",
"Doganay Sirintuna",
"Luca Fortini",
"Mattia Leonori",
"Juan M. Gandarias",
"Arash Ajoudani",
"Pietro Balatti",
"Idil Ozdamar",
"Doganay Sirintuna",
"Luca Fortini",
"Mattia Leonori",
"Juan M. Gandarias",
"Arash Ajoudani"
] | This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, trave... |
Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds | https://ieeexplore.ieee.org/document/10610275/ | [
"Tilman Daab",
"Noémie Jaquier",
"Christian Dreher",
"Andre Meixner",
"Franziska Krebs",
"Tamim Asfour",
"Tilman Daab",
"Noémie Jaquier",
"Christian Dreher",
"Andre Meixner",
"Franziska Krebs",
"Tamim Asfour"
] | Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy them in dynamic and unpredictable environments. Instead, the full potential of MPs remains to be attained via adaptable, large-scale MP libraries. In this paper, w... |
Supernumerary Robotic Limbs to Support Post-Fall Recoveries for Astronauts | https://ieeexplore.ieee.org/document/10610849/ | [
"Erik Ballesteros",
"Sang-Yoep Lee",
"Kalind C. Carpenter",
"H. Harry Asada",
"Erik Ballesteros",
"Sang-Yoep Lee",
"Kalind C. Carpenter",
"H. Harry Asada"
] | This paper proposes the utilization of Supernumerary Robotic Limbs (SuperLimbs) for augmenting astronauts during an Extra-Vehicular Activity (EVA) in a partial-gravity environment. We investigate the effectiveness of SuperLimbs in assisting astronauts to their feet following a fall. Based on preliminary observations from a pilot human study, we categorized post-fall recoveries into a sequence of s... |
Lissajous Curve-Based Vibrational Orbit Control of a Flexible Vibrational Actuator with a Structural Anisotropy | https://ieeexplore.ieee.org/document/10610781/ | [
"Yuto Miyazaki",
"Mitsuru Higashimori",
"Yuto Miyazaki",
"Mitsuru Higashimori"
] | This paper proposes a novel flexible vibrational actuator with a structural anisotropy and its control method to diversify the vibrational behavior. First, the analytical model of the proposed actuator, which comprises a rectangular cross-sectional flexible beam and a rotational-type motor, is introduced. Regarding the structural anisotropy, the rotational axis of the motor is nonparallel to both ... |
Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot | https://ieeexplore.ieee.org/document/10610678/ | [
"Eric Sihite",
"Alireza Ramezani",
"Morteza Gharib",
"Eric Sihite",
"Alireza Ramezani",
"Morteza Gharib"
] | Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and Hoatzin birds can repurpose their wings for quadrupedal walking and wing-assisted incline running (WAIR) to climb steep surfaces. We took inspiration from nature an... |
Design and Modeling of a Nested Bi-cavity-based Soft Growing Robot for Grasping in Constrained Environments | https://ieeexplore.ieee.org/document/10610986/ | [
"Haochen Yong",
"Fukang Xu",
"Chenfei Li",
"Han Ding",
"Zhigang Wu",
"Haochen Yong",
"Fukang Xu",
"Chenfei Li",
"Han Ding",
"Zhigang Wu"
] | Soft growing robots with unique navigation (tip extension by eversion) hold great promise in rescue, medical, and industrial applications. Equipping them with grasping capability would enhance their usefulness in constrained environments for various applications. However, in traditional designs, the tip’s eversion naturally conflicts with grasping, and the addition of grippers at the tip would lim... |
Optimized Design and Fabrication of Skeletal Muscle Actuators for Bio-syncretic Robots | https://ieeexplore.ieee.org/document/10611728/ | [
"Lianchao Yang",
"Chuang Zhang",
"Ruiqian Wang",
"Yiwei Zhang",
"Lianqing Liu",
"Lianchao Yang",
"Chuang Zhang",
"Ruiqian Wang",
"Yiwei Zhang",
"Lianqing Liu"
] | In recent years, bio-syncretic robots actuated by living materials have received widespread attention. Among the common living materials, engineered skeletal muscle tissue (eSKT) has been the focus of researchers due to its high contraction force and good controllability. However, the current performance of eSKT is far from that of natural skeletal muscle tissue. In this paper, an optimized design... |
Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty | https://ieeexplore.ieee.org/document/10610773/ | [
"Carlos Quintero-Peña",
"Wil Thomason",
"Zachary Kingston",
"Anastasios Kyrillidis",
"Lydia E. Kavraki",
"Carlos Quintero-Peña",
"Wil Thomason",
"Zachary Kingston",
"Anastasios Kyrillidis",
"Lydia E. Kavraki"
] | Motion planning under sensing uncertainty is critical for robots in unstructured environments, to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots such as manipulators, assumes simplified geometry of the robot or environment, or requires per-object knowledge of noise. Instead, we propose a method that direc... |
Constrained Hierarchical Monte Carlo Belief-State Planning | https://ieeexplore.ieee.org/document/10611223/ | [
"Arec Jamgochian",
"Hugo Buurmeijer",
"Kyle H. Wray",
"Anthony Corso",
"Mykel J. Kochenderfer",
"Arec Jamgochian",
"Hugo Buurmeijer",
"Kyle H. Wray",
"Anthony Corso",
"Mykel J. Kochenderfer"
] | Optimal plans in Constrained Partially Observable Markov Decision Processes (CPOMDPs) maximize reward objectives while satisfying hard cost constraints, generalizing safe planning under state and transition uncertainty. Unfortunately, online CPOMDP planning is extremely difficult in large or continuous problem domains. In many large robotic domains, hierarchical decomposition can simplify planning... |
Estimating 3D Uncertainty Field: Quantifying Uncertainty for Neural Radiance Fields | https://ieeexplore.ieee.org/document/10611116/ | [
"Jianxiong Shen",
"Ruijie Ren",
"Adria Ruiz",
"Francesc Moreno-Noguer",
"Jianxiong Shen",
"Ruijie Ren",
"Adria Ruiz",
"Francesc Moreno-Noguer"
] | Current methods based on Neural Radiance Fields (NeRF) significantly lack the capacity to quantify uncertainty in their predictions, particularly on the unseen space including the occluded and outside scene content. This limitation hinders their extensive applications in robotics, where the reliability of model predictions has to be considered for tasks such as robotic exploration and planning in ... |
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models | https://ieeexplore.ieee.org/document/10610323/ | [
"Marco Faroni",
"Dmitry Berenson",
"Marco Faroni",
"Dmitry Berenson"
] | Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot planner is unable to cope with mismatches between the expected and the actual behavior of the system (e.g., the presence of an unexpected obstacle). In these situations, the robot should use information gathered online to... |
Autonomous 3D Exploration in Large-Scale Environments with Dynamic Obstacles | https://ieeexplore.ieee.org/document/10610996/ | [
"Emil Wiman",
"Ludvig Widén",
"Mattias Tiger",
"Fredrik Heintz",
"Emil Wiman",
"Ludvig Widén",
"Mattias Tiger",
"Fredrik Heintz"
] | Exploration in dynamic and uncertain real-world environments is an open problem in robotics and it constitutes a foundational capability of autonomous systems operating in most of the real-world. While 3D exploration planning has been extensively studied, the environments are assumed static or only reactive collision avoidance is carried out. We propose a novel approach to not only avoid dynamic o... |
MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation | https://ieeexplore.ieee.org/document/10611319/ | [
"Jing Liang",
"Peng Gao",
"Xuesu Xiao",
"Adarsh Jagan Sathyamoorthy",
"Mohamed Elnoor",
"Ming C. Lin",
"Dinesh Manocha",
"Jing Liang",
"Peng Gao",
"Xuesu Xiao",
"Adarsh Jagan Sathyamoorthy",
"Mohamed Elnoor",
"Ming C. Lin",
"Dinesh Manocha"
] | We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for global planning using limited onboard robot perception in mapless environments while ensuring comprehensive coverage of all traversable directions. Our formulat... |
IBBT: Informed Batch Belief Trees for Motion Planning Under Uncertainty | https://ieeexplore.ieee.org/document/10610244/ | [
"Dongliang Zheng",
"Panagiotis Tsiotras",
"Dongliang Zheng",
"Panagiotis Tsiotras"
] | In this work, we propose the Informed Batch Belief Trees (IBBT) algorithm for motion planning under motion and sensing uncertainties. The original stochastic motion planning problem is divided into a deterministic motion planning problem and a graph search problem. First, we solve the deterministic planning problem using Rapidly-exploring Random Graph (RRG) to construct a nominal trajectory graph.... |
Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds | https://ieeexplore.ieee.org/document/10610404/ | [
"Kanghyun Ryu",
"Negar Mehr",
"Kanghyun Ryu",
"Negar Mehr"
] | Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how one can safely incorporate these learned models into a control loop due to the uncertain nature of human motion, which can make predictions of these models imprec... |
A GP-based Robust Motion Planning Framework for Agile Autonomous Robot Navigation and Recovery in Unknown Environments | https://ieeexplore.ieee.org/document/10610382/ | [
"Nicholas Mohammad",
"Jacob Higgins",
"Nicola Bezzo",
"Nicholas Mohammad",
"Jacob Higgins",
"Nicola Bezzo"
] | For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should be able to proactively predict and recover from such failures. To this end, we propose a Gaussian Process (GP) based model for proactively detecting the risk o... |
Development of the Assembling System for Structure Transformable Humanoid with Attach-Lock-Detachable Magnetic Coupling | https://ieeexplore.ieee.org/document/10611574/ | [
"Tasuku Makabe",
"Kei Okada",
"Masayuki Inaba",
"Tasuku Makabe",
"Kei Okada",
"Masayuki Inaba"
] | We propose the method to adapt humanoids the ability to change the body structures that modular robots have by using Attach-Lock-Detachable Magnetic Couplings(ALDMag) to give the ability to detach and attach the robot body with an arm-type robot, and the system to manage the connection state of modularized body elements. Robots and we can use the ALDMag to attach and detach mechanical and electric... |
HyperLeg: Biomechanics-Inspired High-DOF Leg and Toe Mechanism for Highly Dynamic Motions | https://ieeexplore.ieee.org/document/10610527/ | [
"Do-Yun Kim",
"Seong-Ho Yun",
"Joong-Kyung Lee",
"Jongjun Yoon",
"Dongyun Nam",
"Chan-Young Maeng",
"Yong-Jae Kim",
"Do-Yun Kim",
"Seong-Ho Yun",
"Joong-Kyung Lee",
"Jongjun Yoon",
"Dongyun Nam",
"Chan-Young Maeng",
"Yong-Jae Kim"
] | A human foot with high degrees of freedom (DOF) that has multi-DOF toe joints and a two-DOF ankle provides multiple benefits, such as increased stride length and walking speed, impact mitigation, and enhanced balancing. However, creating such mechanisms for legged robots has been challenging due to increased complexity, heavy weight, and vulnerability to impact. In this paper, a novel leg and toe ... |
Design of a Towing System by Multi Autonomous Sailboats* | https://ieeexplore.ieee.org/document/10611188/ | [
"Cheng Liang",
"Bairun Lin",
"Huihuan Qian",
"Cheng Liang",
"Bairun Lin",
"Huihuan Qian"
] | For researchers or administrators of relevant institutions who need to collect hydrological data of a certain water area, using autonomous sailboats to tow floating detection equipment is an energy-saving and convenient scheme for deploying detectors. However, due to the limited pulling force provided by a single autonomous sailboat, this scheme is not suitable for floating equipment with large ma... |
Non-Intrusive LiDAR Protection Module Emulating Bio-Inspired Wiping Motion for Outdoor Unmanned Vehicles | https://ieeexplore.ieee.org/document/10610438/ | [
"Youngrae Kim",
"Seunghyun Lim",
"Lee Hanmin",
"Seokchan Kim",
"Ji-Chul Kim",
"Dongwon Yun",
"Youngrae Kim",
"Seunghyun Lim",
"Lee Hanmin",
"Seokchan Kim",
"Ji-Chul Kim",
"Dongwon Yun"
] | In this paper, we have developed a protection module for Light Detection and Ranging (LiDAR) sensors used in outdoor unmanned vehicles. Bio-inspired wiping motion was figured to have more efficient and excellent wiping performance than conventional cleaning methods for LiDAR sensors. An water wiping experiment confirmed that the finger wiping motion removed 35% more water than the translational wi... |
OSCaR: An Origami-Inspired Shape-Changing Robot for Ground Coverage Tasks | https://ieeexplore.ieee.org/document/10610212/ | [
"Zirui Fan",
"Hongying Zhang",
"Zirui Fan",
"Hongying Zhang"
] | This paper introduces a novel origami-inspired shape-changing robot OSCaR. The objective is to enhance the adaptability of vehicles engaged in ground coverage tasks, such as floor cleaning. The robot exhibits two distinct configurations: it can fold itself for agile navigation through tight spaces, and unfold to cover larger areas efficiently. The folding pattern has a deploy-to-stow ratio of 3 in... |
Robust MITL planning under uncertain navigation times | https://ieeexplore.ieee.org/document/10611704/ | [
"Alexis Linard",
"Anna Gautier",
"Daniel Duberg",
"Jana Tumova",
"Alexis Linard",
"Anna Gautier",
"Daniel Duberg",
"Jana Tumova"
] | In environments like offices, the duration of a robot’s navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same way. In this work, we address the problem of routing in such environments with tasks expressed in Metric Interval Temporal Logic (MITL) – a rich robot task speci... |
Stochastic Games for Interactive Manipulation Domains | https://ieeexplore.ieee.org/document/10611623/ | [
"Karan Muvvala",
"Andrew M. Wells",
"Morteza Lahijanian",
"Lydia E. Kavraki",
"Moshe Y. Vardi",
"Karan Muvvala",
"Andrew M. Wells",
"Morteza Lahijanian",
"Lydia E. Kavraki",
"Moshe Y. Vardi"
] | As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of other agents’ actions and the possible interactions between agents. Previous works have considered reactive synthesis, where the human/environment is modeled as a ... |
Active Inference for Reactive Temporal Logic Motion Planning | https://ieeexplore.ieee.org/document/10611484/ | [
"Ziyang Chen",
"Zhangli Zhou",
"Lin Li",
"Zhen Kan",
"Ziyang Chen",
"Zhangli Zhou",
"Lin Li",
"Zhen Kan"
] | Reactive planning enables the robots to deal with dynamic events in uncertain environments. However, existing methods heavily rely on the predefined hard-coded robot behaviors, e.g, a pre-coded temporal logic formula that specifies how robot should react. Little attention has been paid for autonomous generation of reactive tasks specifications during the runtime. As a first attempt towards this go... |
Skill Transfer for Temporal Task Specification | https://ieeexplore.ieee.org/document/10611432/ | [
"Jason Xinyu Liu",
"Ankit Shah",
"Eric Rosen",
"Mingxi Jia",
"George Konidaris",
"Stefanie Tellex",
"Jason Xinyu Liu",
"Ankit Shah",
"Eric Rosen",
"Mingxi Jia",
"George Konidaris",
"Stefanie Tellex"
] | Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task specification language with a compositional grammar that naturally induces commonalities among tasks while preserving safety guarantees. However, most prior work on r... |
High Precision Paint Deposition Modeling Considering Variable Posture of Spray Painting Robot | https://ieeexplore.ieee.org/document/10610968/ | [
"Genichiro Tanaka",
"Yoshinobu Takahashi",
"Hiroyasu Iwata",
"Genichiro Tanaka",
"Yoshinobu Takahashi",
"Hiroyasu Iwata"
] | This study developed a high-precision paint deposition model that considers the position and direction of a spray-painting gun. Our angle-specific paint deposition model focused on the change in paint deposition due to the change in the painting angle; however, there was a problem with its versatility. We analyzed this problem, and the solution was achieved by separately modeling changes in the fi... |
Verifiable Learned Behaviors via Motion Primitive Composition: Applications to Scooping of Granular Media | https://ieeexplore.ieee.org/document/10611279/ | [
"Andrew Benton",
"Eugen Solowjow",
"Prithvi Akella",
"Andrew Benton",
"Eugen Solowjow",
"Prithvi Akella"
] | A robotic behavior model that can reliably generate behaviors from natural language inputs in real time would substantially expedite the adoption of industrial robots due to enhanced system flexibility. To facilitate these efforts, we construct a framework in which learned behaviors, created by a natural language abstractor, are verifiable by construction. Leveraging recent advancements in motion ... |
Knowledge acquisition plans: Generation, combination, and execution | https://ieeexplore.ieee.org/document/10610628/ | [
"Dylan A. Shell",
"Jason M. O’Kane",
"Dylan A. Shell",
"Jason M. O’Kane"
] | This paper contemplates the possibility of asking robots questions and having them use their ability to go out into the environment and probe it, in combination with what they already know of the world, to provide answers. We describe a method whereby a robot system efficiently answers such questions on the basis of reasoning about observations as they are made, interrelationships between multiple... |
Assessing Reputation to Improve Team Performance in Heterogeneous Multi-Robot Coverage | https://ieeexplore.ieee.org/document/10611134/ | [
"Mela Coffey",
"Alyssa Pierson",
"Mela Coffey",
"Alyssa Pierson"
] | When agents in a multi-robot team have limited knowledge about their relative performance, their teammates, or the environment, robots must observe individual performance variations and adapt accordingly. We propose robot reputation to assess the historical performance of agents and make future adaptations in a persistent coverage task. We consider a heterogeneous multi-robot team, where robots ar... |
Learning Decentralized Flocking Controllers with Spatio-Temporal Graph Neural Network | https://ieeexplore.ieee.org/document/10610627/ | [
"Siji Chen",
"Yanshen Sun",
"Peihan Li",
"Lifeng Zhou",
"Chang-Tien Lu",
"Siji Chen",
"Yanshen Sun",
"Peihan Li",
"Lifeng Zhou",
"Chang-Tien Lu"
] | Recently a line of research has delved into the use of graph neural networks (GNNs) for decentralized control in swarm robotics. However, it has been observed that relying solely on the states of immediate neighbors is insufficient to imitate a centralized control policy. To address this limitation, prior studies proposed incorporating L-hop delayed states into the computation. While this approach... |
Simultaneous Time Synchronization and Mutual Localization for Multi-robot System | https://ieeexplore.ieee.org/document/10610915/ | [
"Xiangyong Wen",
"Yingjian Wang",
"Xi Zheng",
"Kaiwei Wang",
"Chao Xu",
"Fei Gao",
"Xiangyong Wen",
"Yingjian Wang",
"Xi Zheng",
"Kaiwei Wang",
"Chao Xu",
"Fei Gao"
] | Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it significantly influences estimation accuracy. In this paper, we introduce time synchronization into mutual localization to recover the time offset and relative poses betwee... |
Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications | https://ieeexplore.ieee.org/document/10611469/ | [
"Fernando Cladera",
"Zachary Ravichandran",
"Ian D. Miller",
"M. Ani Hsieh",
"C. J. Taylor",
"Vijay Kumar",
"Fernando Cladera",
"Zachary Ravichandran",
"Ian D. Miller",
"M. Ani Hsieh",
"C. J. Taylor",
"Vijay Kumar"
] | Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent communication links. In this work, we present MOCHA (Multi-robot Opportunistic Communication for Heterogeneous Collaboration), a framework for resilient multi-r... |
AG-Cvg: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV | https://ieeexplore.ieee.org/document/10610339/ | [
"Nare Karapetyan",
"Ahmad Bilal Asghar",
"Amisha Bhaskar",
"Guangyao Shi",
"Dinesh Manocha",
"Pratap Tokekar",
"Nare Karapetyan",
"Ahmad Bilal Asghar",
"Amisha Bhaskar",
"Guangyao Shi",
"Dinesh Manocha",
"Pratap Tokekar"
] | In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover. The goal is to perform complete coverage by both robots while minimizing the coverage time. The UGV can also serve as a mobile recharging station. The UAV and ... |
A non-cubic space-filling modular robot | https://ieeexplore.ieee.org/document/10611176/ | [
"Tyler Hummer",
"Sam Kriegman",
"Tyler Hummer",
"Sam Kriegman"
] | Space-filling building blocks of diverse shape permeate nature at all levels of organization, from atoms to honeycombs, and have proven useful in artificial systems, from molecular containers to clay bricks. But, despite the wide variety of space-filling polyhedra known to mathematics, only the cube has been explored in robotics. Thus, here we roboticize a non-cubic space-filling shape: the rhombi... |
Optimal Containment Control of Multiple Quadrotors via Reinforcement Learning* | https://ieeexplore.ieee.org/document/10611262/ | [
"Ming Cheng",
"Hao Liu",
"Deyuan Liu",
"Haibo Gu",
"Xiangke Wang",
"Ming Cheng",
"Hao Liu",
"Deyuan Liu",
"Haibo Gu",
"Xiangke Wang"
] | This paper explores the optimal containment control problem for nonlinear and underactuated quadrotors with multiple team leaders governed by nonlinear dynamics, employing the reinforcement learning. A cascade controller is formulated, comprising a position control component to ensure containment achievement and an attitude control component to govern rotational channel. The proposed optimal contr... |
Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning | https://ieeexplore.ieee.org/document/10611385/ | [
"Martina Lippi",
"Michael C. Welle",
"Andrea Gasparri",
"Danica Kragic",
"Martina Lippi",
"Michael C. Welle",
"Andrea Gasparri",
"Danica Kragic"
] | Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap (LSR) framework, which builds a graph in a learned structured latent space to perform planning. Given multiple LSR framework instances, that differ either on t... |
Direct 3D model-based object tracking with event camera by motion interpolation | https://ieeexplore.ieee.org/document/10611576/ | [
"Y. Kang",
"G. Caron",
"R. Ishikawa",
"A. Escande",
"K. Chappellet",
"R. Sagawa",
"T. Oishi",
"Y. Kang",
"G. Caron",
"R. Ishikawa",
"A. Escande",
"K. Chappellet",
"R. Sagawa",
"T. Oishi"
] | Event cameras are recent sensors that measure intensity changes in each pixel asynchronously. It is being used due to lower latency and higher temporal resolution compared to traditional frame-based camera. We propose a method of 3D model-based object tracking directly from events captured by event camera. To enable reliable and accurate tracking of objects, we use a new event representation and p... |
Using Specularities to Boost Non-Rigid Structure-from-Motion | https://ieeexplore.ieee.org/document/10610803/ | [
"Agniva Sengupta",
"Karim Makki",
"Adrien Bartoli",
"Agniva Sengupta",
"Karim Makki",
"Adrien Bartoli"
] | Non-Rigid Structure-from-Motion (NRSfM) reconstructs the time-varying 3D shape of a deforming object from 2D point correspondences in monocular images. Despite promising use-cases such as the grasping of deformable objects and visual navigation in a non-rigid environment, NRSfM has had limited applications in robotics due to a lack of accuracy. To remedy this, we propose a new method which boosts ... |
Tracking Snake-Like Robots in the Wild Using Only a Single Camera | https://ieeexplore.ieee.org/document/10611438/ | [
"Jingpei Lu",
"Florian Richter",
"Shan Lin",
"Michael C. Yip",
"Jingpei Lu",
"Florian Richter",
"Shan Lin",
"Michael C. Yip"
] | Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded sensors or markers, leading to increased complexity, cost, and increased points of failure. Alternatively, deploying an external camera in the environment is ve... |
Multi-Object Tracking by Hierarchical Visual Representations | https://ieeexplore.ieee.org/document/10611201/ | [
"Jinkun Cao",
"Jiangmiao Pang",
"Kris Kitani",
"Jinkun Cao",
"Jiangmiao Pang",
"Kris Kitani"
] | We propose a new visual hierarchical representation paradigm for multi-object tracking. It is more effective to discriminate between objects by attending to objects’ compositional visual regions and contrasting with the background contextual information instead of sticking to only the semantic visual cue such as bounding boxes. This compositional-semantic-contextual hierarchy is flexible to be int... |
AgriSORT: A Simple Online Real-time Tracking-by-Detection framework for robotics in precision agriculture | https://ieeexplore.ieee.org/document/10610231/ | [
"Leonardo Saraceni",
"Ionut M. Motoi",
"Daniele Nardi",
"Thomas A. Ciarfuglia",
"Leonardo Saraceni",
"Ionut M. Motoi",
"Daniele Nardi",
"Thomas A. Ciarfuglia"
] | The problem of multi-object tracking (MOT) consists in detecting and tracking all the objects in a video sequence while keeping a unique identifier for each object. It is a challenging and fundamental problem for robotics. In precision agriculture the challenge of achieving a satisfactory solution is amplified by extreme camera motion, sudden illumination changes, and strong occlusions. Most moder... |
Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints | https://ieeexplore.ieee.org/document/10611458/ | [
"Weihan Wang",
"Chieh Chou",
"Ganesh Sevagamoorthy",
"Kevin Chen",
"Zheng Chen",
"Ziyue Feng",
"Youjie Xia",
"Feiyang Cai",
"Yi Xu",
"Philippos Mordohai",
"Weihan Wang",
"Chieh Chou",
"Ganesh Sevagamoorthy",
"Kevin Chen",
"Zheng Chen",
"Ziyue Feng",
"Youjie Xia",
"Feiyang Cai",
"Yi Xu",
"Philippos Mordohai"
] | We propose an accurate and robust initialization approach for stereo visual-inertial SLAM systems. Unlike the current state-of-the-art method, which heavily relies on the accuracy of a pure visual SLAM system to estimate inertial variables without updating camera poses, potentially compromising accuracy and robustness, our approach offers a different solution. We realize the crucial impact of prec... |
nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping | https://ieeexplore.ieee.org/document/10611532/ | [
"Alexander Millane",
"Helen Oleynikova",
"Emilie Wirbel",
"Remo Steiner",
"Vikram Ramasamy",
"David Tingdahl",
"Roland Siegwart",
"Alexander Millane",
"Helen Oleynikova",
"Emilie Wirbel",
"Remo Steiner",
"Vikram Ramasamy",
"David Tingdahl",
"Roland Siegwart"
] | Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, often on computationally constrained hardware. Previous works leave a gap between CPU-based systems for robotic mapping which, due to computation constraints, limit map resolution or scale, and GPU-based reconstruction sy... |
Multi-Resolution Planar Region Extraction for Uneven Terrains | https://ieeexplore.ieee.org/document/10610269/ | [
"Yinghan Sun",
"Linfang Zheng",
"Hua Chen",
"Wei Zhang",
"Yinghan Sun",
"Linfang Zheng",
"Hua Chen",
"Wei Zhang"
] | This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting planar regions from the environment, they often suffer from issues such as low computational efficien... |
RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction | https://ieeexplore.ieee.org/document/10611694/ | [
"Isaac Kasahara",
"Shubham Agrawal",
"Selim Engin",
"Nikhil Chavan-Dafle",
"Shuran Song",
"Volkan Isler",
"Isaac Kasahara",
"Shubham Agrawal",
"Selim Engin",
"Nikhil Chavan-Dafle",
"Shuran Song",
"Volkan Isler"
] | General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such as AR/VR, autonomous navigation, and robotics, only a single view of the scene may be available, making the scene reconstruction task challenging. In this paper, we present a method for scene reconstruction by structural... |
Stereo-LiDAR Depth Estimation with Deformable Propagation and Learned Disparity-Depth Conversion | https://ieeexplore.ieee.org/document/10611533/ | [
"Ang Li",
"Anning Hu",
"Wei Xi",
"Wenxian Yu",
"Danping Zou",
"Ang Li",
"Anning Hu",
"Wei Xi",
"Wenxian Yu",
"Danping Zou"
] | Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness is limited by the low density and non-uniform distribution. To address this issue, we propose a novel stereo-LiDAR depth estimation network with Semi-Dense hin... |
Leveraging Cycle-Consistent Anchor Points for Self-Supervised RGB-D Registration | https://ieeexplore.ieee.org/document/10610738/ | [
"Siddharth Tourani",
"Jayaram Reddy",
"Sarvesh Thakur",
"K Madhava Krishna",
"Muhammad Haris Khan",
"N Dinesh Reddy",
"Siddharth Tourani",
"Jayaram Reddy",
"Sarvesh Thakur",
"K Madhava Krishna",
"Muhammad Haris Khan",
"N Dinesh Reddy"
] | With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration methods rely on geometric and feature-based similarity, we take a different approach. We use cycle-consistent keypoints as salient points to enforce spatial coherence constraints during... |
MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats | https://ieeexplore.ieee.org/document/10610957/ | [
"Shenghai Yuan",
"Yizhuo Yang",
"Thien Hoang Nguyen",
"Thien-Minh Nguyen",
"Jianfei Yang",
"Fen Liu",
"Jianping Li",
"Han Wang",
"Lihua Xie",
"Shenghai Yuan",
"Yizhuo Yang",
"Thien Hoang Nguyen",
"Thien-Minh Nguyen",
"Jianfei Yang",
"Fen Liu",
"Jianping Li",
"Han Wang",
"Lihua Xie"
] | In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we introduce MMAUD: a comprehensive Multi-Modal Anti-UAV Dataset. MMAUD addresses a critical gap in contemporary threat detection methodologies by focusing on drone detection, UAV-type classification, and trajectory estimati... |
Mean Shift Mask Transformer for Unseen Object Instance Segmentation | https://ieeexplore.ieee.org/document/10610943/ | [
"Yangxiao Lu",
"Yuqiao Chen",
"Nicholas Ruozzi",
"Yu Xiang",
"Yangxiao Lu",
"Yuqiao Chen",
"Nicholas Ruozzi",
"Yu Xiang"
] | Segmenting unseen objects from images is a critical perception skill that a robot needs to acquire. In robot manipulation, it can facilitate a robot to grasp and manipulate unseen objects. Mean shift clustering is a widely used method for image segmentation tasks. However, the traditional mean shift clustering algorithm is not differentiable, making it difficult to integrate it into an end-to-end ... |
SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion using a 3D Recurrent U-Net | https://ieeexplore.ieee.org/document/10610602/ | [
"Helin Cao",
"Sven Behnke",
"Helin Cao",
"Sven Behnke"
] | We introduce SLCF-Net, a novel approach for the Semantic Scene Completion (SSC) task that sequentially fuses LiDAR and camera data. It jointly estimates missing geometry and semantics in a scene from sequences of RGB images and sparse LiDAR measurements. The images are semantically segmented by a pre-trained 2D U-Net and a dense depth prior is estimated from a depth-conditioned pipeline fueled by ... |
Overparametrization helps offline-to-online generalization of closed-loop control from pixels | https://ieeexplore.ieee.org/document/10610284/ | [
"Mathias Lechner",
"Ramin Hasani",
"Alexander Amini",
"Tsun-Hsuan Wang",
"Thomas A. Henzinger",
"Daniela Rus",
"Mathias Lechner",
"Ramin Hasani",
"Alexander Amini",
"Tsun-Hsuan Wang",
"Thomas A. Henzinger",
"Daniela Rus"
] | There is an ever-growing zoo of modern neural network models that can efficiently learn end-to-end control from visual observations. These advanced deep models, ranging from convolutional to Vision Transformers, from small to gigantic networks, have been extensively tested on offline image classification tasks. In this paper, we study these vision models with respect to the open-loop training to c... |
Hierarchical Human-to-Robot Imitation Learning for Long-Horizon Tasks via Cross-Domain Skill Alignment | https://ieeexplore.ieee.org/document/10610084/ | [
"Zhenyang Lin",
"Yurou Chen",
"Zhiyong Liu",
"Zhenyang Lin",
"Yurou Chen",
"Zhiyong Liu"
] | For a general-purpose robot, it is desirable to imitate human demonstration videos that can effectively solve long-horizon tasks and perform novel ones. Recent advances in skill-based imitation learning have shown that extracting skill embedding from raw human videos is a promising paradigm to enable robots to cope with long-horizon tasks. However, generalization to unseen tasks in a different dom... |
Policy Optimization by Looking Ahead for Model-based Offline Reinforcement Learning | https://ieeexplore.ieee.org/document/10610966/ | [
"Yang Liu",
"Marius Hofert",
"Yang Liu",
"Marius Hofert"
] | Offline reinforcement learning (RL) aims to optimize a policy, based on pre-collected data, to maximize the cumulative rewards after performing a sequence of actions. Existing approaches learn a value function from historical data and then guide the updating of the policy parameters by maximizing the value function at a single time. Driven by the gap between maximizing the cumulative rewards of RL... |
DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models | https://ieeexplore.ieee.org/document/10610923/ | [
"Norman Di Palo",
"Edward Johns",
"Norman Di Palo",
"Edward Johns"
] | We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel object, DINOBot first uses these features to retrieve the most visually similar object experienced during human demonstrations, and then uses this object to align... |
Rank2Reward: Learning Shaped Reward Functions from Passive Video | https://ieeexplore.ieee.org/document/10610873/ | [
"Daniel Yang",
"Davin Tjia",
"Jacob Berg",
"Dima Damen",
"Pulkit Agrawal",
"Abhishek Gupta",
"Daniel Yang",
"Davin Tjia",
"Jacob Berg",
"Dima Damen",
"Pulkit Agrawal",
"Abhishek Gupta"
] | Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly easier to provide raw, action-free visual data of tasks being performed. Moreover, this data can even be mined from video datasets or the web. Ideally, this data... |
A Generalized Acquisition Function for Preference-based Reward Learning | https://ieeexplore.ieee.org/document/10611472/ | [
"Evan Ellis",
"Gaurav R. Ghosal",
"Stuart J. Russell",
"Anca Dragan",
"Erdem Bıyık",
"Evan Ellis",
"Gaurav R. Ghosal",
"Stuart J. Russell",
"Anca Dragan",
"Erdem Bıyık"
] | Preference-based reward learning is a popular technique for teaching robots and autonomous systems how a human user wants them to perform a task. Previous works have shown that actively synthesizing preference queries to maximize information gain about the reward function parameters improves data efficiency. The information gain criterion focuses on precisely identifying all parameters of the rewa... |
Offline Goal-Conditioned Reinforcement Learning for Safety-Critical Tasks with Recovery Policy | https://ieeexplore.ieee.org/document/10610856/ | [
"Chenyang Cao",
"Zichen Yan",
"Renhao Lu",
"Junbo Tan",
"Xueqian Wang",
"Chenyang Cao",
"Zichen Yan",
"Renhao Lu",
"Junbo Tan",
"Xueqian Wang"
] | Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various approaches for agents to learn near-optimal policies, these methods encounter limitations when dealing with diverse constraints in complex environments, such as safety constraints. Some of these approaches prioritize goal ... |
Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization | https://ieeexplore.ieee.org/document/10610047/ | [
"Fan Yang",
"Wenxuan Zhou",
"Zuxin Liu",
"Ding Zhao",
"David Held",
"Fan Yang",
"Wenxuan Zhou",
"Zuxin Liu",
"Ding Zhao",
"David Held"
] | Safe Reinforcement Learning (RL) plays an important role in applying RL algorithms to safety-critical real-world applications, addressing the trade-off between maximizing rewards and adhering to safety constraints. This work introduces a novel approach that combines RL with trajectory optimization to manage this trade-off effectively. Our approach embeds safety constraints within the action space ... |
Distributional Reinforcement Learning with Sample-set Bellman Update | https://ieeexplore.ieee.org/document/10610740/ | [
"Weijian Zhang",
"Jianshu Wang",
"Yang Yu",
"Weijian Zhang",
"Jianshu Wang",
"Yang Yu"
] | Distributional Reinforcement Learning (DRL) not only endeavors to optimize expected returns, but also strives to accurately characterize the full distribution of these returns, a key aspect in enhancing risk-aware decision-making. Previous DRL implementations often inappropriately treat statistical estimations as concrete samples, which undermines the integrity of learning. While several studies h... |
Learning Adaptive Safety for Multi-Agent Systems | https://ieeexplore.ieee.org/document/10611037/ | [
"Luigi Berducci",
"Shuo Yang",
"Rahul Mangharam",
"Radu Grosu",
"Luigi Berducci",
"Shuo Yang",
"Rahul Mangharam",
"Radu Grosu"
] | Ensuring safety in dynamic multi-agent systems is challenging due to limited information about the other agents. Control Barrier Functions (CBFs) are showing promise for safety assurance but current methods make strong assumptions about other agents and often rely on manual tuning to balance safety, feasibility, and performance. In this work, we delve into the problem of adaptive safe learning for... |
Contrastive Initial State Buffer for Reinforcement Learning | https://ieeexplore.ieee.org/document/10610528/ | [
"Nico Messikommer",
"Yunlong Song",
"Davide Scaramuzza",
"Nico Messikommer",
"Yunlong Song",
"Davide Scaramuzza"
] | In Reinforcement Learning, the trade-off between exploration and exploitation poses a complex challenge for achieving efficient learning from limited samples. While recent works have been effective in leveraging past experiences for policy updates, they often overlook the potential of reusing past experiences for data collection. Independent of the underlying RL algorithm, we introduce the concept... |
Safety Optimized Reinforcement Learning via Multi-Objective Policy Optimization | https://ieeexplore.ieee.org/document/10611316/ | [
"Homayoun Honari",
"Mehran Ghafarian Tamizi",
"Homayoun Najjaran",
"Homayoun Honari",
"Mehran Ghafarian Tamizi",
"Homayoun Najjaran"
] | Safe reinforcement learning (Safe RL) refers to a class of techniques that aim to prevent RL algorithms from violating constraints in the process of decision-making and exploration during trial and error. In this paper, a novel model-free Safe RL algorithm, formulated based on the multi-objective policy optimization framework is introduced where the policy is optimized towards optimality and safet... |
Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning | https://ieeexplore.ieee.org/document/10611215/ | [
"Lev Grossman",
"Brian Plancher",
"Lev Grossman",
"Brian Plancher"
] | Perceptive deep reinforcement learning (DRL) has lead to many recent breakthroughs for complex AI systems leveraging image-based input data. Applications of these results range from super-human level video game agents to dexterous, physically intelligent robots. However, training these perceptive DRL-enabled systems remains incredibly compute and memory intensive, often requiring huge training dat... |
Projected Task-Specific Layers for Multi-Task Reinforcement Learning | https://ieeexplore.ieee.org/document/10610483/ | [
"Josselin Somerville Roberts",
"Julia Di",
"Josselin Somerville Roberts",
"Julia Di"
] | Multi-task reinforcement learning could enable robots to scale across a wide variety of manipulation tasks in homes and workplaces. However, generalizing from one task to another and mitigating negative task interference still remains a challenge. Addressing this challenge by successfully sharing information across tasks will depend on how well the structure underlying the tasks is captured. In th... |
Bi2Lane: Bi-Directional Temporal Refinement with Bi-Level Feature Aggregation for 3D Lane Detection | https://ieeexplore.ieee.org/document/10610794/ | [
"Chengxin Li",
"Yihui Hu",
"Zewen Zheng",
"Xiang Gao",
"Yongqiang Mou",
"Peng Nie",
"Jun Li",
"Chengxin Li",
"Yihui Hu",
"Zewen Zheng",
"Xiang Gao",
"Yongqiang Mou",
"Peng Nie",
"Jun Li"
] | Monocular 3D lane detection has recently received increasing research attention in autonomous driving due to its application effectiveness and simplicity. However, depending solely on the limited semantic information from a single image makes current monocular detection methods unable to deal with complex scenarios, such as occluded, blurred, and unaligned scenes. In this study, we introduce an en... |
Exploitation-Guided Exploration for Semantic Embodied Navigation | https://ieeexplore.ieee.org/document/10610117/ | [
"Justin Wasserman",
"Girish Chowdhary",
"Abhinav Gupta",
"Unnat Jain",
"Justin Wasserman",
"Girish Chowdhary",
"Abhinav Gupta",
"Unnat Jain"
] | In the recent progress in embodied navigation and sim-to-robot transfer, modular policies have emerged as a de facto framework. However, there is more to compositionality beyond the decomposition of the learning load into modular components. In this work, we investigate a principled way to syntactically combine these components. Particularly, we propose Exploitation-Guided Exploration (XgX) where ... |
Teach and Repeat Navigation: A Robust Control Approach | https://ieeexplore.ieee.org/document/10611662/ | [
"Payam Nourizadeh",
"Michael Milford",
"Tobias Fischer",
"Payam Nourizadeh",
"Michael Milford",
"Tobias Fischer"
] | Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high performance in autonomous repeated tasks under challenging circumstances, but research within T&R has predominantly focused on motion planning as opposed to motion control. In this paper, we propose a novel T&R system based on ... |
Uncertainty-aware hybrid paradigm of nonlinear MPC and model-based RL for offroad navigation: Exploration of transformers in the predictive model | https://ieeexplore.ieee.org/document/10610452/ | [
"Faraz Lotfi",
"Khalil Virji",
"Farnoosh Faraji",
"Lucas Berry",
"Andrew Holliday",
"David Meger",
"Gregory Dudek",
"Faraz Lotfi",
"Khalil Virji",
"Farnoosh Faraji",
"Lucas Berry",
"Andrew Holliday",
"David Meger",
"Gregory Dudek"
] | In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains without relying on predefined maps. Our innovative approach takes inspiration from BADGR, an LSTM-based network that primarily concentrates on environment modeling, b... |
Robot Navigation in Unseen Environments using Coarse Maps | https://ieeexplore.ieee.org/document/10611256/ | [
"Chengguang Xu",
"Christopher Amato",
"Lawson L.S. Wong",
"Chengguang Xu",
"Christopher Amato",
"Lawson L.S. Wong"
] | Metric occupancy maps are widely used in autonomous robot navigation systems. However, when a robot is deployed in an unseen environment, building an accurate metric map is time-consuming. Can an autonomous robot directly navigate in previously unseen environments using coarse maps? In this work, we propose the Coarse Map Navigator (CMN), a navigation framework that can perform robot navigation in... |
Bicode: A Hybrid Blinking Marker System for Event Cameras | https://ieeexplore.ieee.org/document/10611033/ | [
"Takuya Kitade",
"Wataru Yamada",
"Keiichi Ochiai",
"Michita Imai",
"Takuya Kitade",
"Wataru Yamada",
"Keiichi Ochiai",
"Michita Imai"
] | In the field of robotics, tag systems play an important role in various applications, such as object identification and robot control in real-world environments. While typical visual markers use two-dimensional (2D) patterns and RGB cameras for recognizing object IDs and poses, achieving long-distance recognition necessitates increasing marker size and camera magnification to ensure the required r... |
RAPIDFlow: Recurrent Adaptable Pyramids with Iterative Decoding for Efficient Optical Flow Estimation | https://ieeexplore.ieee.org/document/10610277/ | [
"Henrique Morimitsu",
"Xiaobin Zhu",
"Roberto M. Cesar",
"Xiangyang Ji",
"Xu-Cheng Yin",
"Henrique Morimitsu",
"Xiaobin Zhu",
"Roberto M. Cesar",
"Xiangyang Ji",
"Xu-Cheng Yin"
] | Extracting motion information from videos with optical flow estimation is vital in multiple practical robot applications. Current optical flow approaches show remarkable accuracy, but top-performing methods have high computational costs and are unsuitable for embedded devices. Although some previous works have focused on developing low-cost optical flow strategies, their estimation quality has a n... |
Design and Analysis of Soft Hybrid-Driven Manipulator with Variable Stiffness and Multiple Motion Patterns | https://ieeexplore.ieee.org/document/10610612/ | [
"Xin Fu",
"Daohui Zhang",
"Liyan Mo",
"Kai Li",
"Xingang Zhao",
"Xin Fu",
"Daohui Zhang",
"Liyan Mo",
"Kai Li",
"Xingang Zhao"
] | Soft manipulators offer the advantages of safety and adaptability. However, due to insufficient stiffness and single motion mode limitations, existing soft manipulators usually exhibit low load capacity and small working space. To address this problem, we propose a novel soft hybrid-driven manipulator with continuous stiffness control capability and multiple motion patterns (omnidirectional bendin... |
Directly 3D Printed, Pneumatically Actuated Multi-Material Robotic Hand | https://ieeexplore.ieee.org/document/10610016/ | [
"Hanna Matusik",
"Chao Liu",
"Daniela Rus",
"Hanna Matusik",
"Chao Liu",
"Daniela Rus"
] | Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which significantly increases their cost. We present a design of a multi-material 15 DoF robotic hand with five fingers including an opposable thumb. Our design has 15 pneu... |
Soft Hand Extension Glove with Thumb Abduction and Extension Assistance | https://ieeexplore.ieee.org/document/10610770/ | [
"Disheng Xie",
"Yujie Su",
"Xiangqian Shi",
"Zheng Li",
"Raymond Kai-yu Tong",
"Disheng Xie",
"Yujie Su",
"Xiangqian Shi",
"Zheng Li",
"Raymond Kai-yu Tong"
] | Hand extension is crucial for stroke survivors with spasticity, where their fingers become rigid and their thumb remains curled within the palm. Due to the underactuated nature of the hand, the dominance of flexor muscles over extensors, and the limited surface area available, developing an extension glove with thumb assistance poses a challenge for researchers. This paper introduces a fully weara... |
Design and Characterization of a Soft Flat Tube Twisting Actuator | https://ieeexplore.ieee.org/document/10609872/ | [
"Hao Liu",
"Changchun Wu",
"Senyuan Lin",
"Yonghua Chen",
"Hao Liu",
"Changchun Wu",
"Senyuan Lin",
"Yonghua Chen"
] | Soft actuators have shown advantages of adaptiveness, large deformation, and safe human-robot interaction, making them suitable for various applications. Herein, a novel soft flat tube twisting actuator (SFTTA) is proposed. The SFTTA is composed of a folded flat tube sandwiched between two silicone rubber laminates. When inflated by compressed air, the folded corners of the flat tube tend to unfol... |
High-Curvature, High-Force, Vine Robot for Inspection | https://ieeexplore.ieee.org/document/10610845/ | [
"Mijaíl Jaén Mendoza",
"Nicholas D. Naclerio",
"Elliot W. Hawkes",
"Mijaíl Jaén Mendoza",
"Nicholas D. Naclerio",
"Elliot W. Hawkes"
] | Robot performance has advanced considerably both in and out of the factory, however in tightly constrained, unknown environments such as inside a jet engine or the human heart, current robots are less adept. In such cases where a borescope or endoscope can’t reach, disassembly or surgery are costly. One promising inspection device inspired by plant growth are "vine robots" that can navigate clutte... |
A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity | https://ieeexplore.ieee.org/document/10611527/ | [
"Kyle L. Walker",
"Alix J. Partridge",
"Hsing-Yu Chen",
"Rahul R. Ramachandran",
"Adam A. Stokes",
"Kenjiro Tadakuma",
"Lucas Cruz Da Silva",
"Francesco Giorgio-Serchi",
"Kyle L. Walker",
"Alix J. Partridge",
"Hsing-Yu Chen",
"Rahul R. Ramachandran",
"Adam A. Stokes",
"Kenjiro Tadakuma",
"Lucas Cruz Da Silva",
"Francesco Giorgio-Serchi"
] | Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two drawbacks which limit the scale of continuum designs, preventing widespread adoption of this technology. To tackle these problems, this work details the design ... |
EgoPAT3Dv2: Predicting 3D Action Target from 2D Egocentric Vision for Human-Robot Interaction | https://ieeexplore.ieee.org/document/10610283/ | [
"Irving Fang",
"Yuzhong Chen",
"Yifan Wang",
"Jianghan Zhang",
"Qiushi Zhang",
"Jiali Xu",
"Xibo He",
"Weibo Gao",
"Hao Su",
"Yiming Li",
"Chen Feng",
"Irving Fang",
"Yuzhong Chen",
"Yifan Wang",
"Jianghan Zhang",
"Qiushi Zhang",
"Jiali Xu",
"Xibo He",
"Weibo Gao",
"Hao Su",
"Yiming Li",
"Chen Feng"
] | A robot’s ability to anticipate the 3D action target location of a hand’s movement from egocentric videos can greatly improve safety and efficiency in human-robot interaction (HRI). While previous research predominantly focused on semantic action classification or 2D target region prediction, we argue that predicting the action target’s 3D coordinate could pave the way for more versatile downstrea... |
Distribution-Aware Continual Test-Time Adaptation for Semantic Segmentation | https://ieeexplore.ieee.org/document/10610045/ | [
"Jiayi Ni",
"Senqiao Yang",
"Ran Xu",
"Jiaming Liu",
"Xiaoqi Li",
"Wenyu Jiao",
"Zehui Chen",
"Yi Liu",
"Shanghang Zhang",
"Jiayi Ni",
"Senqiao Yang",
"Ran Xu",
"Jiaming Liu",
"Xiaoqi Li",
"Wenyu Jiao",
"Zehui Chen",
"Yi Liu",
"Shanghang Zhang"
] | Since autonomous driving systems usually face dynamic and ever-changing environments, continual test-time adaptation (CTTA) has been proposed as a strategy for transferring deployed models to continually changing target domains. However, the pursuit of long-term adaptation often introduces catastrophic forgetting and error accumulation problems, which impede the practical implementation of CTTA in... |
STNet: Spatio-Temporal Fusion-Based SelfAttention for Slip Detection in Visuo-Tactile Sensors | https://ieeexplore.ieee.org/document/10610734/ | [
"Jin Lu",
"Bangyan Niu",
"Huan Ma",
"Jiafeng Zhu",
"Jingjing Ji",
"Jin Lu",
"Bangyan Niu",
"Huan Ma",
"Jiafeng Zhu",
"Jingjing Ji"
] | Slip detection plays a pivotal role in the dexterity of robotics, improving the reliability and precision of manipulations but also contributing to safety, efficiency, and adaptability. Deep learning-based slip detection algorithms commonly difficult to concentrate on key features when faced with dense 3D shape data obtained by visuo-tactile sensors. Data from noncontact locations can interfere wi... |
Commonsense Spatial Knowledge-aware 3-D Human Motion and Object Interaction Prediction | https://ieeexplore.ieee.org/document/10610161/ | [
"Sang Uk Lee",
"Sang Uk Lee"
] | We propose a novel 3-D human motion and object interaction prediction model that is aware of commonsense knowledge about human–object interaction. We jointly predict human joint motion and human–object interactions. The two prediction results are combined to enforce commonsense knowledge, such as "if the human right hand is predicted to be in contact with an object after 1 second, the distance bet... |
High-Degrees-of-Freedom Dynamic Neural Fields for Robot Self-Modeling and Motion Planning | https://ieeexplore.ieee.org/document/10611047/ | [
"Lennart Schulze",
"Hod Lipson",
"Lennart Schulze",
"Hod Lipson"
] | A robot self-model is a task-agnostic representation of the robot’s physical morphology that can be used for motion planning tasks in the absence of a classical geometric kinematic model. In particular, when the latter is hard to engineer or the robot’s kinematics change unexpectedly, human-free self-modeling is a necessary feature of truly autonomous agents. In this work, we leverage neural field... |
Language-Conditioned Affordance-Pose Detection in 3D Point Clouds | https://ieeexplore.ieee.org/document/10610008/ | [
"Toan Nguyen",
"Minh Nhat Vu",
"Baoru Huang",
"Tuan Van Vo",
"Vy Truong",
"Ngan Le",
"Thieu Vo",
"Bac Le",
"Anh Nguyen",
"Toan Nguyen",
"Minh Nhat Vu",
"Baoru Huang",
"Tuan Van Vo",
"Vy Truong",
"Ngan Le",
"Thieu Vo",
"Bac Le",
"Anh Nguyen"
] | Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task. Previous methods for affodance-pose joint learning are limited to a predefined set of affordances, thus limiting the adaptability of robots in real-wor... |
Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter | https://ieeexplore.ieee.org/document/10611029/ | [
"Seunghyeon Lim",
"Youngjae Yoo",
"Jun Ki Lee",
"Byoung-Tak Zhang",
"Seunghyeon Lim",
"Youngjae Yoo",
"Jun Ki Lee",
"Byoung-Tak Zhang"
] | In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large- scale indoor structures, our approach—Multi-Object RANSAC emphasizes cluttered environments that contain a wide range of objects with different scales. It enhances plane ... |
Utilizing Inpainting for Training Keypoint Detection Algorithms Towards Markerless Visual Servoing | https://ieeexplore.ieee.org/document/10610006/ | [
"Sreejani Chatterjee",
"Duc Doan",
"Berk Calli",
"Sreejani Chatterjee",
"Duc Doan",
"Berk Calli"
] | This paper presents a novel strategy to train keypoint detection models for robotics applications. Our goal is to develop methods that can robustly detect and track natural features on robotic manipulators. Such features can be used for vision-based control and pose estimation purposes, when placing artificial markers (e.g. ArUco) on the robot’s body is not possible or practical in runtime. Prior ... |
Symmetric Models for Visual Force Policy Learning | https://ieeexplore.ieee.org/document/10610728/ | [
"Colin Kohler",
"Anuj Shrivatsav Srikanth",
"Eshan Arora",
"Robert Platt",
"Colin Kohler",
"Anuj Shrivatsav Srikanth",
"Eshan Arora",
"Robert Platt"
] | While it is generally acknowledged that force feedback is beneficial to robotic control, applications of policy learning to robotic manipulation typically only leverage visual feedback. Recently, symmetric neural models have been used to significantly improve the sample efficiency and performance of policy learning across a variety of robotic manipulation domains. This paper explores an applicatio... |
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