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Sim2Real Instance-Level Style Transfer for 6D Pose Estimation | https://ieeexplore.ieee.org/document/9981878/ | [
"Takuya Ikeda",
"Suomi Tanishige",
"Ayako Amma",
"Michael Sudano",
"Hervé Audren",
"Koichi Nishiwaki",
"Takuya Ikeda",
"Suomi Tanishige",
"Ayako Amma",
"Michael Sudano",
"Hervé Audren",
"Koichi Nishiwaki"
] | In recent years, synthetic data has been widely used in the training of 6D pose estimation networks, in part because it automatically provides perfect annotation at low cost. However, there are still non-trivial domain gaps, such as differences in textures/materials, between synthetic and real data. These gaps have a measurable impact on performance. To solve this problem, we introduce a simulatio... |
Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback | https://ieeexplore.ieee.org/document/9981762/ | [
"Andrea Sipos",
"Nima Fazeli",
"Andrea Sipos",
"Nima Fazeli"
] | Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using exclusively proprioception and tactile feedback. Our approach leverages two complementary particle filters: one to estimate contact location (CPFGrasp) and ano... |
All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings | https://ieeexplore.ieee.org/document/9981768/ | [
"Brijen Thananjeyan",
"Justin Kerr",
"Huang Huang",
"Joseph E. Gonzalez",
"Ken Goldberg",
"Brijen Thananjeyan",
"Justin Kerr",
"Huang Huang",
"Joseph E. Gonzalez",
"Ken Goldberg"
] | Learning-based perception systems in robotics often requires large-scale image segmentation annotation. Current approaches rely on human labelers, which can be expensive, or simulation data, which can visually differ from real data. This paper proposes Labels from UltraViolet (LUV), a novel framework that enables rapid, automated, inexpensive, high quality data collection in real. LUV uses transpa... |
The Probabilistic Robot Kinematics Model and its Application to Sensor Fusion | https://ieeexplore.ieee.org/document/9981399/ | [
"Lukas Meyer",
"Klaus H. Strobl",
"Rudolph Triebel",
"Lukas Meyer",
"Klaus H. Strobl",
"Rudolph Triebel"
] | Robots with elasticity in structural components can suffer from undesired end-effector positioning imprecision, which exceeds the accuracy requirements for successful manipulation. We present the Probabilistic-Product-Of-Exponentials robot model, a novel approach for kinematic modeling of robots. It does not only consider the robot's deterministic geometry but additionally models time-varying and ... |
Spatio-Temporal Graph Localization Networks for Image-based Navigation | https://ieeexplore.ieee.org/document/9981958/ | [
"Takahiro Niwa",
"Shun Taguchi",
"Noriaki Hirose",
"Takahiro Niwa",
"Shun Taguchi",
"Noriaki Hirose"
] | Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed repeatedly, especially in indoor environments. To overcome this issue, we propose a learning-based localization method that simultaneously utilizes the spatial cons... |
Stubborn: A Strong Baseline for Indoor Object Navigation | https://ieeexplore.ieee.org/document/9981646/ | [
"Haokuan Luo",
"Albert Yue",
"Zhang-Wei Hong",
"Pulkit Agrawal",
"Haokuan Luo",
"Albert Yue",
"Zhang-Wei Hong",
"Pulkit Agrawal"
] | We present a strong baseline that surpasses the performance of previously published methods on the Habitat Challenge task of navigating to a target object in indoor environments. Our method is motivated from primary failure modes of prior state-of-the-art: poor exploration, inaccurate object identification, and agent getting trapped due to imprecise map construction. We make three contributions to... |
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics | https://ieeexplore.ieee.org/document/9982060/ | [
"Haresh Karnan",
"Kavan Singh Sikand",
"Pranav Atreya",
"Sadegh Rabiee",
"Xuesu Xiao",
"Garrett Warnell",
"Peter Stone",
"Joydeep Biswas",
"Haresh Karnan",
"Kavan Singh Sikand",
"Pranav Atreya",
"Sadegh Rabiee",
"Xuesu Xiao",
"Garrett Warnell",
"Peter Stone",
"Joydeep Biswas"
] | One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model, conditioned on inertial information of the vehicle to sense the kinodynamic interactions. In this pa... |
H-VLO: Hybrid LiDAR-Camera Fusion For Self-Supervised Odometry | https://ieeexplore.ieee.org/document/9981111/ | [
"Eren Aydemir",
"Naida Fetic",
"Mustafa Unel",
"Eren Aydemir",
"Naida Fetic",
"Mustafa Unel"
] | In this paper, we propose a hybrid visual-LiDAR odometry (H-VLO) framework that fuses predicted visual depth map and completed LiDAR map. Compared to the previous visual-LiDAR odometry methods, our approach leverages 2D feature matching and 3D association by utilizing deep depth map, deep flow map and deep LiDAR depth completion networks. Rather than extraction of the depth values from LiDAR measu... |
Memory-Augmented Reinforcement Learning for Image-Goal Navigation | https://ieeexplore.ieee.org/document/9981090/ | [
"Lina Mezghan",
"Sainbayar Sukhbaatar",
"Thibaut Lavril",
"Oleksandr Maksymets",
"Dhruv Batra",
"Piotr Bojanowski",
"Karteek Alahari",
"Lina Mezghan",
"Sainbayar Sukhbaatar",
"Thibaut Lavril",
"Oleksandr Maksymets",
"Dhruv Batra",
"Piotr Bojanowski",
"Karteek Alahari"
] | In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors. Our method is based on an attention-based end-to-end model that leverages an episodic memory to learn to navigate. First, we train a state-embedding network in ... |
Automated Aerial Screwing with a Fully Actuated Aerial Manipulator | https://ieeexplore.ieee.org/document/9981979/ | [
"Micha Schuster",
"David Bernstein",
"Paul Reck",
"Salua Hamaza",
"Michael Beitelschmidt",
"Micha Schuster",
"David Bernstein",
"Paul Reck",
"Salua Hamaza",
"Michael Beitelschmidt"
] | The tasks that unmanned aerial vehicles (UAVs) have taken upon have progressively grown in complexity over the years, alongside with the level of autonomy with which they are carried out. In this work, we present an example of aerial screwing operations with a fully-actuated tilt-rotor platform. Key contributions include a new control framework to automate screwing operations through a robust hole... |
Automatic Parameter Adaptation for Quadrotor Trajectory Planning | https://ieeexplore.ieee.org/document/9981552/ | [
"Xin Zhou",
"Chao Xu",
"Fei Gao",
"Xin Zhou",
"Chao Xu",
"Fei Gao"
] | Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict their interaction with unstructured environments. This work takes humans out of the loop by proposing a planner parameter adaptation framework that formulates objec... |
Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining | https://ieeexplore.ieee.org/document/9981707/ | [
"Hongkai Ye",
"Neng Pan",
"Qianhao Wang",
"Chao Xu",
"Fei Gao",
"Hongkai Ye",
"Neng Pan",
"Qianhao Wang",
"Chao Xu",
"Fei Gao"
] | For real-time multirotor kinodynamic planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We firstly propose a fast regional optimizer exploiting the information of local environments and then integrate it into a bidirectional global sampling process. The incorpo... |
Folding Knots Using a Team of Aerial Robots | https://ieeexplore.ieee.org/document/9981363/ | [
"Diego S. D’Antonio",
"David Saldaña",
"Diego S. D’Antonio",
"David Saldaña"
] | From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cabl... |
Hand-Crafted Features for Floating Plastic Detection | https://ieeexplore.ieee.org/document/9981320/ | [
"Matija Sukno",
"Ivana Palunko",
"Matija Sukno",
"Ivana Palunko"
] | Plastic waste is a global concern that has a negative impact on the oceans and wildlife health. This paper focuses on detection of floating plastics in aerial images taken from unmanned aerial vehicles (UAVs). It proposes a new method for plastic detection in marine environments, based on SIFT descriptor and color histograms for feature extraction, as an alternative to state-of-the-art object dete... |
Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots | https://ieeexplore.ieee.org/document/9981658/ | [
"Liping Shi",
"Michael Pantic",
"Olov Andersson",
"Marco Tognon",
"Roland Siegwart",
"Rune Hylsberg Jacobsen",
"Liping Shi",
"Michael Pantic",
"Olov Andersson",
"Marco Tognon",
"Roland Siegwart",
"Rune Hylsberg Jacobsen"
] | In this work we address the challenging problem of manipulating a flexible link, like a rope, with an aerial robot. Inspired by spraying tasks in construction and maintenance scenarios, we consider the case in which an autonomous end-effector (e.g., a spray nozzle moved by a robot or a human operator) is connected to a fixed point by a rope (e.g., a hose). To avoid collisions between the rope and ... |
Autonomous Emergency Landing for Multicopters using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9981152/ | [
"Luca Bartolomei",
"Yves Kompis",
"Lucas Teixeira",
"Margarita Chli",
"Luca Bartolomei",
"Yves Kompis",
"Lucas Teixeira",
"Margarita Chli"
] | This work presents a pipeline for autonomous emergency landing for multicopters, such as rotary wing Unmanned Aerial Vehicles (UAVs), using deep Reinforcement Learning (RL). Mechanical malfunctions, strong winds, sudden battery life drops (e.g, due to cold weather), failure in localization or GPS jamming are not uncommon and all constitute emergency situations that require a UAV to abort its missi... |
Lumen Shape Reconstruction using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography | https://ieeexplore.ieee.org/document/9981150/ | [
"James Avery",
"Mark Runciman",
"Cristina Fiani",
"Elena Monfort Sanchez",
"Saina Akhond",
"Zhuang Liu",
"Kirill Aristovich",
"George Mylonas",
"James Avery",
"Mark Runciman",
"Cristina Fiani",
"Elena Monfort Sanchez",
"Saina Akhond",
"Zhuang Liu",
"Kirill Aristovich",
"George Mylonas"
] | Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurements and Electrical Impedance Tomography (EIT) imaging to assess the deformation of the balloon and det... |
Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot | https://ieeexplore.ieee.org/document/9981635/ | [
"Artur João Anjos de Oliveira",
"Jorge Batista",
"Sarthak Misra",
"Venkatasubramanian Kalpathy Venkiteswaran",
"Artur João Anjos de Oliveira",
"Jorge Batista",
"Sarthak Misra",
"Venkatasubramanian Kalpathy Venkiteswaran"
] | Small untethered soft robots have potential for diverse applications, particularly in constrained spaces where the use of a tethered device would be infeasible. Examples include biomedical applications such as brachytherapy, fine-needle biospy and micro-needle drug delivery. To advance soft robots towards these applications, there is a need to establish methods for tracking and control using clini... |
Robust Sim2Real Transfer with the da Vinci Research Kit: A Study On Camera, Lighting, and Physics Domain Randomization | https://ieeexplore.ieee.org/document/9981573/ | [
"Mustafa Haiderbhai",
"Radian Gondokaryono",
"Thomas Looi",
"James M. Drake",
"Lueder A. Kahrs",
"Mustafa Haiderbhai",
"Radian Gondokaryono",
"Thomas Looi",
"James M. Drake",
"Lueder A. Kahrs"
] | Autonomous surgical robotics is a growing area of research, with advances being made in the areas of vision and control. Central to this research is the need for simulations to facilitate data collection and simulate learning environments for Reinforcement Learning (RL) agents. Recent simulators have facilitated RL policy generation, but lack a robust sim2real pipeline and a proven vision-based po... |
Sim-to-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning | https://ieeexplore.ieee.org/document/9982168/ | [
"Yongjun Cho",
"Jae-Hyeon Park",
"Jaesoon Choi",
"Dong Eui Chang",
"Yongjun Cho",
"Jae-Hyeon Park",
"Jaesoon Choi",
"Dong Eui Chang"
] | Percutaneous coronary intervention (PCI) is a frequently used surgical treatment for cardiovascular disease, one of the leading cause of death in the world. In traditional PCI, a doctor navigates a thin guidewire in a patient's vessel toward a target location by looking into live X-ray angiogram images of the patient. Recently, researchers are using reinforcement learning to automate this guidewir... |
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots | https://ieeexplore.ieee.org/document/9981474/ | [
"Rohit Kumar",
"Shivesh Kumar",
"Andreas Müller",
"Frank Kirchner",
"Rohit Kumar",
"Shivesh Kumar",
"Andreas Müller",
"Frank Kirchner"
] | Modeling closed loop mechanisms is a necessity for the control and simulation of various systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward and inverse dynamics for such systems require resolution of loop closure constraints which are often solved via numerical procedures. This brings an additional burden to these algorithms as they have to stabilize and con... |
Multi-axis Reorientation of a Free-falling Omnidirectional Wheeled Robot | https://ieeexplore.ieee.org/document/9981821/ | [
"Mark Charlet",
"Thierry Laliberté",
"Clément Gosselin",
"Mark Charlet",
"Thierry Laliberté",
"Clément Gosselin"
] | This paper presents reorientation manoeuvres applied to an omnidirectional wheeled robot for impact mitigation during short falls. The proposed robot architecture aims to build upon recent innovations in reorientation robots to attain fast, multi-axis reorientation. Indeed, the use of omnidirectional wheels allows for simplifications to be made with respect to previous mobile robot architectures t... |
Steady-State Manifold of Riderless Motorcycles | https://ieeexplore.ieee.org/document/9981899/ | [
"Yu Tian",
"Zhang Chen",
"Yang Deng",
"Boyi Wang",
"Bin Liang",
"Yu Tian",
"Zhang Chen",
"Yang Deng",
"Boyi Wang",
"Bin Liang"
] | Keeping balance is one of the most important tasks of a motorcycle. The steady-state manifold is proposed in this paper to explore the inherent dynamics and the balance properties of a riderless motorcycle. The dynamic and kinematic characteristics are analyzed based on the manifold and are validated by simulation. Comparing to traditional control method, the usefulness of the manifold in control ... |
Foot-operated Tele-impedance Interface for Robot Manipulation Tasks in Interaction with Unpredictable Environments | https://ieeexplore.ieee.org/document/9981065/ | [
"Stijn Klevering",
"Winfred Mugge",
"David A. Abbink",
"Luka Peternel",
"Stijn Klevering",
"Winfred Mugge",
"David A. Abbink",
"Luka Peternel"
] | Tele-impedance increases interaction performance between a robotic tool and unstructured/unpredictable en-vironments during teleoperation. However, the existing tele-impedance interfaces have several ongoing issues, such as long calibration times and various obstructions for the human operator. In addition, they are all designed to be controlled by the operator's arms, which can cause difficulties... |
Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions | https://ieeexplore.ieee.org/document/9981856/ | [
"Dimitri A. Lezcano",
"Min Jung Kim",
"Iulian I. Iordachita",
"Jin Seob Kim",
"Dimitri A. Lezcano",
"Min Jung Kim",
"Iulian I. Iordachita",
"Jin Seob Kim"
] | Complex needle shape prediction remains an issue for planning of surgical interventions of flexible needles. In this paper, we validate a theoretical method for flexible needle shape prediction allowing for non-uniform curvatures, extending upon a previous sensor-based model which combines curvature measurements from fiber Bragg grating (FBG) sensors and the mechanics of an inextensible elastic ro... |
Robust Cartesian Kinematics Estimation for Task-Space Control Systems | https://ieeexplore.ieee.org/document/9981233/ | [
"Seyed Ali Baradaran Birjandi",
"Niels Dehio",
"Abderrahmane Kheddar",
"Sami Haddadin",
"Seyed Ali Baradaran Birjandi",
"Niels Dehio",
"Abderrahmane Kheddar",
"Sami Haddadin"
] | We discuss a novel method for estimating task Cartesian position and velocity in robot manipulators. This is done by model-based fusion of inertial measurement units with motor encoders. The model is developed to robustly handle the uncertainties in the trajectory. Thus, not only the approach benefits from high fidelity and bandwidth thanks to multiple-sensory fusion, but it also enforces stabilit... |
A Robot Factors Approach to Designing Modular Hardware | https://ieeexplore.ieee.org/document/9981773/ | [
"Nathan Melenbrink",
"Clark Teeple",
"Justin Werfel",
"Nathan Melenbrink",
"Clark Teeple",
"Justin Werfel"
] | Robots are increasingly being called on to operate in settings and on tasks originally designed for humans, or where humans are also expected to work. Accordingly, the hardware and tools to be packaged, operated, or maintained are typically designed for use by humans, not robots. Robot autonomy in such cases can be expedited by a “robot factors” approach to the design of hardware, analogous to erg... |
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots | https://ieeexplore.ieee.org/document/9981928/ | [
"Dennis Ossadnik",
"Mehmet C. Yildirim",
"Fan Wu",
"Abdalla Swikir",
"Hugo T. M. Kussaba",
"Saeed Abdolshah",
"Sami Haddadin",
"Dennis Ossadnik",
"Mehmet C. Yildirim",
"Fan Wu",
"Abdalla Swikir",
"Hugo T. M. Kussaba",
"Saeed Abdolshah",
"Sami Haddadin"
] | Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, ... |
MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-wise Voting Network | https://ieeexplore.ieee.org/document/9982268/ | [
"Fabian Duffhauss",
"Tobias Demmler",
"Gerhard Neumann",
"Fabian Duffhauss",
"Tobias Demmler",
"Gerhard Neumann"
] | Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view 6D pose estimation method called MV6D which accurately predicts the 6D poses of all objects in a cluttered scene based on RGB-D images from multiple perspective... |
Child Engagement Estimation in Heterogeneous Child-Robot Interactions Using Spatiotemporal Visual Cues | https://ieeexplore.ieee.org/document/9981908/ | [
"Dafni Anagnostopoulou",
"Niki Efthymiou",
"Christina Papailiou",
"Petros Maragos",
"Dafni Anagnostopoulou",
"Niki Efthymiou",
"Christina Papailiou",
"Petros Maragos"
] | Robots are increasingly introduced in various Child-Robot Interactions with educational, entertainment or even therapeutic goals. In order to achieve qualitative inter-actions, robots need to adjust their behavior according to children's response. A robot's ability to successfully estimate partner's engagement is of great importance towards this direction. In this research we propose a method to e... |
One Object at a Time: Accurate and Robust Structure From Motion for Robots | https://ieeexplore.ieee.org/document/9981953/ | [
"Aravind Battaje",
"Oliver Brock",
"Aravind Battaje",
"Oliver Brock"
] | A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits regularities in the geometry of 3D space to obtain this information. These regularities introduce rotation-translation couplings that are not commonly used in struct... |
2D vs. 3D LiDAR-based Person Detection on Mobile Robots | https://ieeexplore.ieee.org/document/9981519/ | [
"Dan Jia",
"Alexander Hermans",
"Bastian Leibe",
"Dan Jia",
"Alexander Hermans",
"Bastian Leibe"
] | Person detection is a crucial task for mobile robots navigating in human-populated environments. LiDAR sensors are promising for this task, thanks to their accurate depth measurements and large field of view. Two types of LiDAR sensors exist: the 2D LiDAR sensors, which scan a single plane, and the 3D LiDAR sensors, which scan multiple planes, thus forming a volume. How do they compare for the tas... |
Visual Pressure Estimation and Control for Soft Robotic Grippers | https://ieeexplore.ieee.org/document/9982073/ | [
"Patrick Grady",
"Jeremy A. Collins",
"Samarth Brahmbhatt",
"Christopher D. Twigg",
"Chengcheng Tang",
"James Hays",
"Charles C. Kemp",
"Patrick Grady",
"Jeremy A. Collins",
"Samarth Brahmbhatt",
"Christopher D. Twigg",
"Chengcheng Tang",
"James Hays",
"Charles C. Kemp"
] | Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation challenging. We present visual pressure estimation & control (VPEC), a method that infers pressure applied by a soft gripper using an RGB image from an external camera. W... |
Tactile Pattern Super Resolution with Taxel-based Sensors | https://ieeexplore.ieee.org/document/9981062/ | [
"Bing Wu",
"Qian Liu",
"Qiang Zhang",
"Bing Wu",
"Qian Liu",
"Qiang Zhang"
] | In contrast to sophisticated means of visual su-per resolution (SR), not much work has been done in the tactile SR field. Existing tactile SR algorithms for taxel-based sensors mainly focus on enhancing the localization accuracy, and generally associate with a specific type of hardware, sometimes not applicable to generic taxel-based tactile sensors. Inspired by image SR, we investigate the tactil... |
Learning-based Six-axis Force/Torque Estimation Using GelStereo Fingertip Visuotactile Sensing | https://ieeexplore.ieee.org/document/9981100/ | [
"Chaofan Zhang",
"Shaowei Cui",
"Yinghao Cai",
"Jingyi Hu",
"Rui Wang",
"Shuo Wang",
"Chaofan Zhang",
"Shaowei Cui",
"Yinghao Cai",
"Jingyi Hu",
"Rui Wang",
"Shuo Wang"
] | Visuotactile sensors have recently attracted much attention in robot communities due to the benefit of high spatial resolution sensing. However, force/torque estimation by visuotactile sensors remains a challenging problem. In this paper, we propose a learning-based six-axis force/torque estimation network using GelStereo visuotactile sensor, which can provide two-dimensional (2D) and three-dimens... |
Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force | https://ieeexplore.ieee.org/document/9981457/ | [
"Hojung Choi",
"Dane Brouwer",
"Michael A. Lin",
"Kyle T. Yoshida",
"Carine Rognon",
"Benjamin Stephens-Fripp",
"Allison M. Okamura",
"Mark R. Cutkosky",
"Hojung Choi",
"Dane Brouwer",
"Michael A. Lin",
"Kyle T. Yoshida",
"Carine Rognon",
"Benjamin Stephens-Fripp",
"Allison M. Okamura",
"Mark R. Cutkosky"
] | When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused on the spatio-temporal distribution of normal forces, we hypothesize that the addition of shear forces will permit more reliable c... |
Modulo Cellulo: Modular Versatile Tangible Educational Robots | https://ieeexplore.ieee.org/document/9981983/ | [
"Hala Khodr",
"Kevin Holdcroft",
"Yi-Shiun Wu",
"Victor Borja",
"Hadrien Sprumont",
"Barbara Bruno",
"Jamie Paik",
"Pierre Dillenbourg",
"Hala Khodr",
"Kevin Holdcroft",
"Yi-Shiun Wu",
"Victor Borja",
"Hadrien Sprumont",
"Barbara Bruno",
"Jamie Paik",
"Pierre Dillenbourg"
] | This article presents the novel modular version of the robotic platform Cellulo, a versatile handheld robot initially designed as an educational robot. The use of Cellulo in different contexts and applications over the years has highlighted the need for modularity. Modularity adds versatility by increasing the spectrum of functionalities of the robot, as well as more robustness. Modulo Cellulo con... |
A Framework of Rehabilitation-assisted Robot Skill Representation, Learning, and Modulation via Manifold-Mappings and Gaussian Processes | https://ieeexplore.ieee.org/document/9982172/ | [
"Hongmin Wu",
"Zhihao Xu",
"Wu Yan",
"Yangmin Ou",
"Zhaoyang Liao",
"Xuefeng Zhou",
"Hongmin Wu",
"Zhihao Xu",
"Wu Yan",
"Yangmin Ou",
"Zhaoyang Liao",
"Xuefeng Zhou"
] | Stroke survivors usually have dyskinesia, who have an urgent need for rehabilitation-assist training. To reduce the labor of rehabilitation therapists, this paper attempts to investigate an effective rehabilitation-assisted robot skill acquisition framework, which is inspired by the scheme of robot learning from demonstration (LfD). Since most of the current LfD methods were implemented with rigor... |
Position-based Treadmill Drive with Wire Traction for Experience of Level Ground Walking from Gait Acceleration State to Steady State | https://ieeexplore.ieee.org/document/9981711/ | [
"Tamon Miyake",
"Shunya Itano",
"Mitsuhiro Kamezaki",
"Shigeki Sugano",
"Tamon Miyake",
"Shunya Itano",
"Mitsuhiro Kamezaki",
"Shigeki Sugano"
] | A treadmill system has a large potential to provide humans with an augmented walking experience in real-life without a spatial limitation. However, a treadmill gait is different from walking on level ground. In previous studies, the adaptive belt speed control of a treadmill was developed to achieve a self-paced walking for making the users' treadmill gait similar to their level ground gait. Such ... |
A Null-space based Approach for a Safe and Effective Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9981682/ | [
"Federico Benzi",
"Cristian Secchi",
"Federico Benzi",
"Cristian Secchi"
] | During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these objectives. Nevertheless, when the admittance dynamics is time-varying, it can happen that, for ensuring a passive and stable behaviour, some spurious dissipative effects... |
Fast and Comfortable Interactive Robot-to-Human Object Handover | https://ieeexplore.ieee.org/document/9981484/ | [
"Chongxi Meng",
"Tianwei Zhang",
"Tin lun Lam",
"Chongxi Meng",
"Tianwei Zhang",
"Tin lun Lam"
] | Transferring tools and objects to human hands is an important ability of collaborative robots. Most of the existing approaches focus on handover affordance, however, the comfort of receiving objects with human hands is often neglected. In this paper, we use advanced deep learning models to pre-generate handover target configurations that are convenient for human grasping based on the characteristi... |
Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control | https://ieeexplore.ieee.org/document/9982000/ | [
"Alireza Madani",
"Pouya P. Niaz",
"Berk Guler",
"Yusuf Aydin",
"Cagatay Basdogan",
"Alireza Madani",
"Pouya P. Niaz",
"Berk Guler",
"Yusuf Aydin",
"Cagatay Basdogan"
] | Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers. On the other hand, it can be impractical to fully automate such a task in real manufacturing environments because the parts arriving at an assembly line can hav... |
Learning Moving-Object Tracking with FMCW LiDAR | https://ieeexplore.ieee.org/document/9981346/ | [
"Yi Gu",
"Hongzhi Cheng",
"Kafeng Wang",
"Dejing Dou",
"Chengzhong Xu",
"Hui Kong",
"Yi Gu",
"Hongzhi Cheng",
"Kafeng Wang",
"Dejing Dou",
"Chengzhong Xu",
"Hui Kong"
] | In this paper, we propose a learning-based moving-object tracking method utilizing the newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, FMCW LiDAR can provide additional Doppler velocity information to each 3D point of the point clouds. Benefiting from this, we can generate instance labels as ground truth in a sem... |
Self Supervised Learning for Multiple Object Tracking in 3D Point Clouds | https://ieeexplore.ieee.org/document/9981793/ | [
"Aakash Kumar",
"Jyoti Kini",
"Ajmal Mian",
"Mubarak Shah",
"Aakash Kumar",
"Jyoti Kini",
"Ajmal Mian",
"Mubarak Shah"
] | Multiple object tracking in 3D point clouds has applications in mobile robots and autonomous driving. This is a challenging problem due to the sparse nature of the point clouds and the added difficulty of annotation in 3D for supervised learning. To overcome these challenges, we propose a neural network architecture that learns effective object features and their affinities in a self supervised fa... |
An Efficient and Accurate Solution to Camera Pose Estimation Problem from Point and Line Correspondences Based on Null Space Analysis | https://ieeexplore.ieee.org/document/9982023/ | [
"Yi Zhang",
"Yueqiang Zhang",
"Biao Hu",
"Yihe Yin",
"Wenjun Chen",
"Xiaolin Liu",
"Qifeng Yu",
"Yi Zhang",
"Yueqiang Zhang",
"Biao Hu",
"Yihe Yin",
"Wenjun Chen",
"Xiaolin Liu",
"Qifeng Yu"
] | In this paper, we propose an accurate and simultaneously efficient solution to perspective-n-point-and-line (PnPL) problem by null space analysis. Although many PnPL-like methods have been proposed, it is hard to obtain the optimal solution considering both calculation efficiency and accuracy at the same time. Based on the remarkable EOPnP method, the proposed algorithm integrates linear-expressed... |
Improving 3D Markerless Pose Estimation of Animals in the Wild using Low-Cost Cameras | https://ieeexplore.ieee.org/document/9981746/ | [
"Naoya Muramatsu",
"Zico da Silva",
"Daniel Joska",
"Fred Nicolls",
"Amir Patel",
"Naoya Muramatsu",
"Zico da Silva",
"Daniel Joska",
"Fred Nicolls",
"Amir Patel"
] | Tracking the 3D motion of agile animals in the wild will enable new insight into the design of robotic controllers. However, in-field 3D pose estimation of high-speed wildlife such as cheetahs is still a challenge [1]. In this work, we aim to solve two of these challenges: unnatural pose estimates during highly occluded sequences and synchronization error between multi-view data. We expand on our ... |
DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment | https://ieeexplore.ieee.org/document/9981260/ | [
"Mariia Gladkova",
"Nikita Korobov",
"Nikolaus Demmel",
"Aljoša Ošep",
"Laura Leal-Taixé",
"Daniel Cremers",
"Mariia Gladkova",
"Nikita Korobov",
"Nikolaus Demmel",
"Aljoša Ošep",
"Laura Leal-Taixé",
"Daniel Cremers"
] | Direct methods have shown excellent performance in the applications of visual odometry and SLAM. In this work we propose to leverage their effectiveness for the task of 3D multi-object tracking. To this end, we propose DirectTracker, a framework that effectively combines direct image alignment for the short-term tracking and sliding-window photometric bundle adjustment for 3D object detection. Obj... |
Scene-level Tracking and Reconstruction without Object Priors | https://ieeexplore.ieee.org/document/9982159/ | [
"Haonan Chang",
"Abdeslam Boularias",
"Haonan Chang",
"Abdeslam Boularias"
] | We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast with previous methods such as Co-Fusion and MaskFusion that first segment the scene into individual objects and then process each object independently, the pro... |
Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras | https://ieeexplore.ieee.org/document/9982016/ | [
"Ziwei Wang",
"Yonhon Ng",
"Jack Henderson",
"Robert Mahony",
"Ziwei Wang",
"Yonhon Ng",
"Jack Henderson",
"Robert Mahony"
] | Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target tracking in concert with a broadcast visual communication channel for smart visual beacons with applications in distributed robotics. Visual beacons can be constr... |
Category-Independent Articulated Object Tracking with Factor Graphs | https://ieeexplore.ieee.org/document/9982029/ | [
"Nick Heppert",
"Toki Migimatsu",
"Brent Yi",
"Claire Chen",
"Jeannette Bohg",
"Nick Heppert",
"Toki Migimatsu",
"Brent Yi",
"Claire Chen",
"Jeannette Bohg"
] | Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are inconsistent with categorical priors: for example, a drawer might rotate about a hinge joint instead of sliding open. We propose a category-independent framework for pre... |
eCDT: Event Clustering for Simultaneous Feature Detection and Tracking | https://ieeexplore.ieee.org/document/9981451/ | [
"Sumin Hu",
"Yeeun Kim",
"Hyungtae Lim",
"Alex Junho Lee",
"Hyun Myung",
"Sumin Hu",
"Yeeun Kim",
"Hyungtae Lim",
"Alex Junho Lee",
"Hyun Myung"
] | Contrary to other standard cameras, event cam-eras interpret the world in an entirely different manner; as a collection of asynchronous events. Despite event camera's unique data output, many event feature detection and tracking algorithms have shown significant progress by making detours to frame-based data representations. This paper questions the need to do so and proposes a novel event data-fr... |
Hierarchical Road Topology Learning for Urban Mapless Driving | https://ieeexplore.ieee.org/document/9981820/ | [
"Li Zhang",
"Faezeh Tafazzoli",
"Gunther Krehl",
"Runsheng Xu",
"Timo Rehfeld",
"Manuel Schier",
"Arunava Seal",
"Li Zhang",
"Faezeh Tafazzoli",
"Gunther Krehl",
"Runsheng Xu",
"Timo Rehfeld",
"Manuel Schier",
"Arunava Seal"
] | The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor scalability of such prior maps. In this paper, we tackle the problem of online road map extraction via leveraging the sensory system aboard the vehicle itself.... |
S-MKI: Incremental Dense Semantic Occupancy Reconstruction Through Multi-Entropy Kernel Inference | https://ieeexplore.ieee.org/document/9982101/ | [
"Yinan Deng",
"Meiling Wang",
"Danwei Wang",
"Yufeng Yue",
"Yinan Deng",
"Meiling Wang",
"Danwei Wang",
"Yufeng Yue"
] | Autonomous robots are often required to acquire high-level prior knowledge by continuously reconstructing the semantics and geometry of the surrounding scene, which is the basis of exploration and planning. Most existing continuous semantic mapping algorithms cannot distinguish potential differences in voxels, resulting in an over-inflated map. Furthermore, fixed-size query ranges introduce high c... |
BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision | https://ieeexplore.ieee.org/document/9981258/ | [
"James Ross",
"Oscar Mendez",
"Avishkar Saha",
"Mark Johnson",
"Richard Bowden",
"James Ross",
"Oscar Mendez",
"Avishkar Saha",
"Mark Johnson",
"Richard Bowden"
] | The ability to produce large-scale maps for nav-igation, path planning and other tasks is a crucial step for autonomous agents, but has always been challenging. In this work, we introduce BEV-SLAM, a novel type of graph-based SLAM that aligns semantically-segmented Bird's Eye View (BEV) predictions from monocular cameras. We introduce a novel form of occlusion reasoning into BEV estimation and dem... |
Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms | https://ieeexplore.ieee.org/document/9981078/ | [
"Li Qingqing",
"Yu Xianjia",
"Jorge Peña Queralta",
"Tomi Westerlund",
"Li Qingqing",
"Yu Xianjia",
"Jorge Peña Queralta",
"Tomi Westerlund"
] | Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent years. Public datasets have enabled benchmarking of algorithms and have set standards for the cutting edge technology. However, existing datasets are not representa... |
OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum | https://ieeexplore.ieee.org/document/9981865/ | [
"Peize Li",
"Kaiwen Cai",
"Muhamad Risqi U. Saputra",
"Zhuangzhuang Dai",
"Chris Xiaoxuan Lu",
"Peize Li",
"Kaiwen Cai",
"Muhamad Risqi U. Saputra",
"Zhuangzhuang Dai",
"Chris Xiaoxuan Lu"
] | This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional navigation sensors, sensors such as IMUs, mechanical LiDAR, RGBD camera, it also includes several emerging sensors such as the single-chip mmWave radar, LWIR thermal... |
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms | https://ieeexplore.ieee.org/document/9982119/ | [
"Jianhao Jiao",
"Hexiang Wei",
"Tianshuai Hu",
"Xiangcheng Hu",
"Yilong Zhu",
"Zhijian He",
"Jin Wu",
"Jingwen Yu",
"Xupeng Xie",
"Huaiyang Huang",
"Ruoyu Geng",
"Lujia Wang",
"Ming Liu",
"Jianhao Jiao",
"Hexiang Wei",
"Tianshuai Hu",
"Xiangcheng Hu",
"Yilong Zhu",
"Zhijian He",
"Jin Wu",
"Jingwen Yu",
"Xupeng Xie",
"Huaiyang Huang",
"Ruoyu Geng",
"Lujia Wang",
"Ming Liu"
] | Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete multi-sensor dataset with a diverse set of sequences for mobile robots. This paper presents three contributions. We first advance a portable and versatile multi... |
STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping | https://ieeexplore.ieee.org/document/9981857/ | [
"Seungsang Yun",
"Minwoo Jung",
"Jeongyun Kim",
"Sangwoo Jung",
"Younghun Cho",
"Myung-Hwan Jeon",
"Giseop Kim",
"Ayoung Kim",
"Seungsang Yun",
"Minwoo Jung",
"Jeongyun Kim",
"Sangwoo Jung",
"Younghun Cho",
"Myung-Hwan Jeon",
"Giseop Kim",
"Ayoung Kim"
] | This paper introduces a stereo thermal camera dataset (STheReO) with multiple navigation sensors to encourage thermal SLAM researches. A thermal camera measures infrared rays beyond the visible spectrum therefore it could provide a simple yet robust solution to visually degraded environments where existing visual sensor-based SLAM would fail. Existing thermal camera datasets mostly focused on mono... |
Affective Behavior Learning for Social Robot Haru with Implicit Evaluative Feedback | https://ieeexplore.ieee.org/document/9981752/ | [
"Hui Wang",
"Jinying Lin",
"Zhen Ma",
"Yurii Vasylkiv",
"Heike Brock",
"Keisuke Nakamura",
"Randy Gomez",
"Bo He",
"Guangliang Li",
"Hui Wang",
"Jinying Lin",
"Zhen Ma",
"Yurii Vasylkiv",
"Heike Brock",
"Keisuke Nakamura",
"Randy Gomez",
"Bo He",
"Guangliang Li"
] | We propose a human-in-the-loop reinforcement learning mechanism to help robots learn emotional behavior. Unlike the previous methods of providing explicit feedback via pressing keyboard buttons or mouse clicks, we provide a more natural way for ordinary people to train social robots how to perform social tasks according to their preferences - facial expressions. The whole experiment is carried out... |
A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation | https://ieeexplore.ieee.org/document/9981365/ | [
"Alexander Moortgat-Pick",
"Peter So",
"Michael J Sack",
"Emma G Cunningham",
"Benjamin P Hughes",
"Anna Adamczyk",
"Andriy Sarabakha",
"Leila Takayama",
"Sami Haddadin",
"Alexander Moortgat-Pick",
"Peter So",
"Michael J Sack",
"Emma G Cunningham",
"Benjamin P Hughes",
"Anna Adamczyk",
"Andriy Sarabakha",
"Leila Takayama",
"Sami Haddadin"
] | We present an accessible robot interface for telemanipulation (A-RIFT), which preserves the haptic channel partially in a zero-additional-cost interface by visual substitution of force feedback (VSFF). This work explores a gap in the literature, resulting from the focus on performance improvements in telerobotics at increasing interface costs. Unlike most telemanipulation interfaces for high-degre... |
Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack | https://ieeexplore.ieee.org/document/9981129/ | [
"Yu Cao",
"Jian Huang",
"Xiaolong Li",
"Mengshi Zhang",
"Caihua Xiong",
"Samer Mohammed",
"Yaonan Zhu",
"Yasuhisa Hasegawa",
"Yu Cao",
"Jian Huang",
"Xiaolong Li",
"Mengshi Zhang",
"Caihua Xiong",
"Samer Mohammed",
"Yaonan Zhu",
"Yasuhisa Hasegawa"
] | The dynamic load attached to the load gravity imposes an excessive burden to human shoulders during load carriage, resulting in possible muscle injuries and additional physical exertion. This paper proposes an active suspension backpack, capable of transferring partial load from human shoulders to pelvis and alleviating the dynamic load through separated panels and motor actuation, to reduce press... |
Learning an Interpretable Model for Driver Behavior Prediction with Inductive Biases | https://ieeexplore.ieee.org/document/9981142/ | [
"Salar Arbabi",
"Davide Tavernini",
"Saber Fallah",
"Richard Bowden",
"Salar Arbabi",
"Davide Tavernini",
"Saber Fallah",
"Richard Bowden"
] | To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning pre-dictive models of human driving behavior from data. However, the predictions suffer from cascading errors, resulting in large inaccuracies over long time horizons. ... |
Robust Real-time LiDAR-inertial Initialization | https://ieeexplore.ieee.org/document/9982225/ | [
"Fangcheng Zhu",
"Yunfan Ren",
"Fu Zhang",
"Fangcheng Zhu",
"Yunfan Ren",
"Fu Zhang"
] | For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information may not be always available in customized LiDAR-inertial systems. In this paper, we propose LI-Init: a full and real-time LiDAR-inertial system initialization pr... |
VAST: Visual and Spectral Terrain Classification in Unstructured Multi-Class Environments | https://ieeexplore.ieee.org/document/9982078/ | [
"Nathaniel Hanson",
"Michael Shaham",
"Deniz Erdoğmuş",
"Taşkin Padir",
"Nathaniel Hanson",
"Michael Shaham",
"Deniz Erdoğmuş",
"Taşkin Padir"
] | Terrain classification is a challenging task for robots operating in unstructured environments. Existing classification methods make simplifying assumptions, such as a reduced number of classes, clearly segmentable roads, or good lighting conditions, and focus primarily on one sensor type. These assumptions do not translate well to off-road vehicles, which operate in varying terrain conditions. To... |
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement | https://ieeexplore.ieee.org/document/9982174/ | [
"Emile Mackute",
"Balint Thamo",
"Kevin Dhaliwal",
"Mohsen Khadem",
"Emile Mackute",
"Balint Thamo",
"Kevin Dhaliwal",
"Mohsen Khadem"
] | Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathematical model of the CTR with a measurement of the Cartesian coordinates of the robot's tip using an ele... |
Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning | https://ieeexplore.ieee.org/document/9982218/ | [
"Leszek Pecyna",
"Siyuan Dong",
"Shan Luo",
"Leszek Pecyna",
"Siyuan Dong",
"Shan Luo"
] | Manipulation of deformable objects is a challenging task for a robot. It would be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture the global information that is useful for the task. In this paper, we study the problem of using vision and tactile inputs together to complete the task of fol... |
Exploring mmWave Radar and Camera Fusion for High-Resolution and Long-Range Depth Imaging | https://ieeexplore.ieee.org/document/9982080/ | [
"Akarsh Prabhakara",
"Diana Zhang",
"Chao Li",
"Sirajum Munir",
"Aswin C. Sankaranarayanan",
"Anthony Rowe",
"Swarun Kumar",
"Akarsh Prabhakara",
"Diana Zhang",
"Chao Li",
"Sirajum Munir",
"Aswin C. Sankaranarayanan",
"Anthony Rowe",
"Swarun Kumar"
] | Robotic geo-fencing and surveillance systems require accurate monitoring of objects if/when they violate perimeter restrictions. In this paper, we seek a solution for depth imaging of such objects of interest at high accuracy (few tens of cm) over extended ranges (up to 300 meters) from a single vantage point, such as a pole mounted platform. Unfortunately, the rich literature in depth imaging usi... |
FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry | https://ieeexplore.ieee.org/document/9981107/ | [
"Chunran Zheng",
"Qingyan Zhu",
"Wei Xu",
"Xiyuan Liu",
"Qizhi Guo",
"Fu Zhang",
"Chunran Zheng",
"Qingyan Zhu",
"Wei Xu",
"Xiyuan Liu",
"Qizhi Guo",
"Fu Zhang"
] | To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multisensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes FAST-LIVO, a fast LiDAR-Inertial-Visual Odometry system, which builds on two tightly-coupled and direct odometry subsystems: a VIO subsystem and a LIO subsystem. T... |
Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals | https://ieeexplore.ieee.org/document/9981893/ | [
"Akos Odry",
"Istvan Kecskes",
"Dominik Csik",
"Hashim A. Hashim",
"Peter Sarcevic",
"Akos Odry",
"Istvan Kecskes",
"Dominik Csik",
"Hashim A. Hashim",
"Peter Sarcevic"
] | This paper proposes a novel extended Kalman filter (EKF) along with its adaptive variant for effective magnetic, angular rate and gravity (MARG) sensor-only pose estimation of mobile robots operated longer periods in reference-denied environments. First, a gradient-descent orientation-based EKF framework is derived, which formulates the MARG-based pose propagation with both bandpass-filtered and b... |
Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning | https://ieeexplore.ieee.org/document/9981164/ | [
"Jayesh Kumar",
"Chinmay Satish Raut",
"Niravkumar Patel",
"Jayesh Kumar",
"Chinmay Satish Raut",
"Niravkumar Patel"
] | Planning a safe trajectory for minimally invasive (keyhole) neurosurgery procedures require avoiding critical anatomical structures such as blood vessels and ventricles while optimizing the needle trajectory parameters such as length and curvature to comply with the needle kinematics. In this paper, we propose a reinforcement learning-based method for obtaining kinematically feasible trajectories ... |
Learning Time-optimized Path Tracking with or without Sensory Feedback | https://ieeexplore.ieee.org/document/9982053/ | [
"Jonas C. Kiemel",
"Torsten Kröger",
"Jonas C. Kiemel",
"Torsten Kröger"
] | In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to offline methods for time-optimal path parameterization, the reference path can be changed during motion execution. In addition, our approach can utilize sensory fe... |
L2C2: Locally Lipschitz Continuous Constraint towards Stable and Smooth Reinforcement Learning | https://ieeexplore.ieee.org/document/9981812/ | [
"Taisuke Kobayashi",
"Taisuke Kobayashi"
] | This paper proposes a new regularization technique for reinforcement learning (RL) towards making policy and value functions smooth and stable. RL is known for the instability of the learning process and the sensitivity of the acquired policy to noise. Several methods have been proposed to resolve these problems, and in summary, the smoothness of policy and value functions learned mainly in RL con... |
Learning Visual Robotic Control Efficiently with Contrastive Pre-training and Data Augmentation | https://ieeexplore.ieee.org/document/9981055/ | [
"Albert Zhan",
"Ruihan Zhao",
"Lerrel Pinto",
"Pieter Abbeel",
"Michael Laskin",
"Albert Zhan",
"Ruihan Zhao",
"Lerrel Pinto",
"Pieter Abbeel",
"Michael Laskin"
] | Recent advances in unsupervised representation learning significantly improved the sample efficiency of training Reinforcement Learning policies in simulated environments. However, similar gains have not yet been seen for real-robot reinforcement learning. In this work, we focus on enabling data-efficient real-robot learning from pixels. We present Contrastive Pre-training and Data Augmentation fo... |
Analyzing and Overcoming Degradation in Warm-Start Reinforcement Learning | https://ieeexplore.ieee.org/document/9981286/ | [
"Benjamin Wexler",
"Elad Sarafian",
"Sarit Kraus",
"Benjamin Wexler",
"Elad Sarafian",
"Sarit Kraus"
] | Reinforcement Learning (RL) for robotic applications can benefit from a warm-start where the agent is initialized with a pretrained behavioral policy. However, when transitioning to RL updates, degradation in performance can occur, which may compromise the robot's safety. This degradation, which constitutes an inability to properly utilize the pretrained policy, is attributed to extrapolation erro... |
Online Model Learning for Shape Control of Deformable Linear Objects | https://ieeexplore.ieee.org/document/9981080/ | [
"Yuxuan Yang",
"Johannes A. Stork",
"Todor Stoyanov",
"Yuxuan Yang",
"Johannes A. Stork",
"Todor Stoyanov"
] | Traditional approaches to manipulating the state of deformable linear objects (DLOs) - i.e., cables, ropes - rely on model-based planning. However, constructing an accurate dynamic model of a DLO is challenging due to the complexity of interactions and a high number of degrees of freedom. This renders the task of achieving a desired DLO shape particularly difficult and motivates the use of model-f... |
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion | https://ieeexplore.ieee.org/document/9982259/ | [
"Ren Liu",
"Nitish Sontakke",
"Sehoon Ha",
"Ren Liu",
"Nitish Sontakke",
"Sehoon Ha"
] | Deep reinforcement learning (deep RL) has emerged as an effective tool for developing controllers for legged robots. However, vanilla deep RL often requires a tremendous amount of training samples and is not feasible for achieving robust behaviors. Instead, researchers have investigated a novel policy architecture by incorporating human experts' knowledge, such as Policies Modulating Trajectory Ge... |
SafeTAC: Safe Tsallis Actor-Critic Reinforcement Learning for Safer Exploration | https://ieeexplore.ieee.org/document/9982140/ | [
"Dohyeong Kim",
"Jaeseok Heo",
"Songhwai Oh",
"Dohyeong Kim",
"Jaeseok Heo",
"Songhwai Oh"
] | Satisfying safety constraints is the top priority in safe reinforcement learning (RL). However, without proper exploration, an overly conservative policy such as freezing at the same position can be generated. To this end, we utilize maximum entropy RL methods for exploration. In particular, an RL method with Tsallis entropy maximization, called Tsallis actor-critic (TAC), is used to synthesize po... |
Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space | https://ieeexplore.ieee.org/document/9981999/ | [
"Kuan Fang",
"Patrick Yin",
"Ashvin Nair",
"Sergey Levine",
"Kuan Fang",
"Patrick Yin",
"Ashvin Nair",
"Sergey Levine"
] | General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach configurable goals for a wide range of tasks on command. However, such goal-conditioned policies are notoriously difficult and time-consuming to train from scratc... |
Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform | https://ieeexplore.ieee.org/document/9981294/ | [
"A. Bredenbeck",
"S. Vyas",
"M. Zwick",
"D. Borrmann",
"M.A. Olivares-Mendez",
"A. Nüchter",
"A. Bredenbeck",
"S. Vyas",
"M. Zwick",
"D. Borrmann",
"M.A. Olivares-Mendez",
"A. Nüchter"
] | Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped... |
Optimal and Risk-Aware Path Planning considering Localization Uncertainty for Space Exploration Rovers | https://ieeexplore.ieee.org/document/9981179/ | [
"J. Ricardo Sánchez-Ibáñez",
"Pedro J. Sanchez-Cuevas",
"Miguel Olivares-Mendez",
"J. Ricardo Sánchez-Ibáñez",
"Pedro J. Sanchez-Cuevas",
"Miguel Olivares-Mendez"
] | The reliability of autonomous traverses of rovers is critical. It may be jeopardized by the accumulation of errors and the uncertainty propagation of their localization systems. Moreover, space environments are usually harsh, challenging and unpredictable. Teleoperation is complex due to the significant and unavoidable delay. For these reasons, a path planner that provides some level of autonomy w... |
3D Human Pose Estimation in Weightless Environments Using a Fisheye Camera | https://ieeexplore.ieee.org/document/9982265/ | [
"Koji Minoda",
"Takehisa Yairi",
"Koji Minoda",
"Takehisa Yairi"
] | Three-dimensional (3D) human pose estimation is one of the most basic tasks for human-interacting robots. Especially in weightless environments such as the International Space Station (ISS), wherein objects may move with a higher degree of freedom compared to on the ground, a camera with a wider field of view (FOV) is crucial in improving the probability of capturing surrounding humans. To this en... |
A Sampling Based Approach to Robust Planning for a Planetary Lander | https://ieeexplore.ieee.org/document/9981083/ | [
"Connor Basich",
"Joseph A. Russino",
"Steve Chien",
"Shlomo Zilberstein",
"Connor Basich",
"Joseph A. Russino",
"Steve Chien",
"Shlomo Zilberstein"
] | Planning for autonomous operation in unknown environments poses a number of technical challenges. The agent must ensure robustness to unknown phenomena, un-predictable variation in execution, and uncertain resources, all while maximizing its objective. These challenges are ex-acerbated in the context of space missions where uncertainty is often higher, long communication delays necessitate robust ... |
Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9981661/ | [
"Andrej Orsula",
"Simon Bøgh",
"Miguel Olivares-Mendez",
"Carol Martinez",
"Andrej Orsula",
"Simon Bøgh",
"Miguel Olivares-Mendez",
"Carol Martinez"
] | Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering scientific data and collecting samples. This work investigates the applicability of deep reinforcement learning for vision-based robotic grasping of objects on the ... |
Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments | https://ieeexplore.ieee.org/document/9982113/ | [
"Pranay Thangeda",
"Melkior Ornik",
"Pranay Thangeda",
"Melkior Ornik"
] | Autonomously selecting the right sequence of locations to sample is critical during exploration missions in unknown environments, with constraints on the number of samples that can be collected, and a possibility of system failure. A key idea for decision-making in unknown environments is to exploit side information available to the agent, combined with the information gained from samples collecte... |
Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning | https://ieeexplore.ieee.org/document/9981440/ | [
"Rohan Chitnis",
"Tom Silver",
"Joshua B. Tenenbaum",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling",
"Rohan Chitnis",
"Tom Silver",
"Joshua B. Tenenbaum",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling"
] | In robotic domains, learning and planning are complicated by continuous state spaces, continuous action spaces, and long task horizons. In this work, we address these challenges with Neuro-Symbolic Relational Transition Models (NSRTs), a novel class of models that are data-efficient to learn, compatible with powerful robotic planning methods, and generalizable over objects. NSRTs have both symboli... |
T3VIP: Transformation-based 3D Video Prediction | https://ieeexplore.ieee.org/document/9981187/ | [
"Iman Nematollahi",
"Erick Rosete-Beas",
"Seyed Mahdi B. Azad",
"Raghu Rajan",
"Frank Hutter",
"Wolfram Burgard",
"Iman Nematollahi",
"Erick Rosete-Beas",
"Seyed Mahdi B. Azad",
"Raghu Rajan",
"Frank Hutter",
"Wolfram Burgard"
] | For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a transformation-based 3D video prediction (T3VIP) approach that explicitly models the 3D motion by decomposing a scene into its object parts and predicting their corresponding r... |
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features | https://ieeexplore.ieee.org/document/9981303/ | [
"Taekyung Kim",
"Hojin Lee",
"Wonsuk Lee",
"Taekyung Kim",
"Hojin Lee",
"Wonsuk Lee"
] | Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear and complex dynamics under various environments. On the other hand, neural network models have been widely employed in this domain, demonstrating powerful functi... |
A Flexible Calibration Algorithm for High-speed Bionic Vision System based on Galvanometer | https://ieeexplore.ieee.org/document/9981947/ | [
"Qing Li",
"Mengjuan Chen",
"Qingyi Gu",
"Idaku Ishii",
"Qing Li",
"Mengjuan Chen",
"Qingyi Gu",
"Idaku Ishii"
] | Traditional gimbal-based bionic eye systems usually use a multi-degree-of-freedom mechanical platform to move the camera freely, which makes the structure complex and bulky. The galvanometer-based reflective bionic eye system uses a galvanometer to replace the traditional mechanical rotation structure, which separates the camera from the gimbal system, greatly simplifying the structure. However, t... |
Design and Control of a Multi-Modal Soft Gripper Inspired by Elephant Fingers | https://ieeexplore.ieee.org/document/9982126/ | [
"Shogo Washio",
"Kieran Gilday",
"Fumiya Iida",
"Shogo Washio",
"Kieran Gilday",
"Fumiya Iida"
] | Soft grippers have the potential to solve many existing manipulation challenges, particularly in agile industry applications. However, existing soft grippers are often limited in the range of objects they can pick, or by cluttered environments. We present a design inspired by the nose and fingers at the end of an elephant's trunk, which can pick both by suction and pinching, allowing increased gra... |
Design Optimization of an Ultrafast-Striking Mantis Shrimp Microrobot | https://ieeexplore.ieee.org/document/9981352/ | [
"Sandra C. Wells",
"Nak-Seung P. Hyun",
"Emma Steinhardt",
"Tran H. Nguyen",
"Robert J. Wood",
"Sandra C. Wells",
"Nak-Seung P. Hyun",
"Emma Steinhardt",
"Tran H. Nguyen",
"Robert J. Wood"
] | Mantis shrimp produce one of the fastest strikes in the animal kingdom, their striking appendages reaching tip velocities of tens of meters per second underwater. Their ultrafast movement is capable of crushing the shells of prey and generating cavitation bubbles, and has long raised interest from the scientific community. To study the underlying mechanisms and operating principles behind these be... |
Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation | https://ieeexplore.ieee.org/document/9981673/ | [
"Yoshimoto Ribayashi",
"Kento Kawaharazuka",
"Yasunori Toshimitsu",
"Daiki Kusuyama",
"Akihiro Miki",
"Koki Shinjo",
"Masahiro Baudo",
"Temma Suzuki",
"Yuta Kojio",
"Kei Okada",
"Masayuki Inaba",
"Yoshimoto Ribayashi",
"Kento Kawaharazuka",
"Yasunori Toshimitsu",
"Daiki Kusuyama",
"Akihiro Miki",
"Koki Shinjo",
"Masahiro Baudo",
"Temma Suzuki",
"Yuta Kojio",
"Kei Okada",
"Masayuki Inaba"
] | There is a way to utilize humanoid robots to mimic human behavior by taking advantage of their human-like proportions. In general, motion capture is used; in this case, the posture of the body links can be taken. However, this method does not provide detailed information on the contact state, which is important for actions that involve contact with objects. In this study, we focused on the foot, w... |
Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-scale Robots | https://ieeexplore.ieee.org/document/9981585/ | [
"Zhitao Yu",
"Gioele Zardini",
"Andrea Censi",
"Sawyer Fuller",
"Zhitao Yu",
"Gioele Zardini",
"Andrea Censi",
"Sawyer Fuller"
] | Visual navigation for insect-scale robots is very challenging because in such a small scale, the size, weight, and power (SWaP) constraints do not appear to permit visual navigation techniques such as SLAM (Simultaneous Localization and Mapping) because they are likely to be too power-hungry. We propose to use a biology-inspired approach, which we term the bilinear optic flow approximation, that i... |
Tactile Perception for Growing Robots via Discrete Curvature Measurements | https://ieeexplore.ieee.org/document/9981273/ | [
"Micah Bryant",
"Connor Watson",
"Tania K. Morimoto",
"Micah Bryant",
"Connor Watson",
"Tania K. Morimoto"
] | Soft, growing robots have the ability to conform to their environment and traverse highly curved paths that would typically prove challenging for other robot designs. As they navigate through these constrained and cluttered environments, there is often significant interaction between the robot and its surroundings. In this work, we propose a method to enable tactile perception for growing robots, ... |
Bioinspired Antagonist-agonist Artificial Muscles for Humanoid Eyeball Motions | https://ieeexplore.ieee.org/document/9982226/ | [
"Zhen Luo",
"Zhipeng Xu",
"Jisen Li",
"Jian Zhu",
"Zhen Luo",
"Zhipeng Xu",
"Jisen Li",
"Jian Zhu"
] | Natural eyeball motions in humanoid robots can contribute to friendly communication, thus improving the human-robot interaction. In this paper, we develop antagonist-agonist artificial muscles for humanoid eyeball motions, by using dielectric elastomer actuators (DEAs). Inspired by human eyeballs, the artificial muscles consist of two pairs of DEA: one pair for the horizontal motion, and the other... |
The Relationship Between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect | https://ieeexplore.ieee.org/document/9981657/ | [
"Robert Kovenburg",
"Andrew Slezak",
"Chase George",
"Richard Gale",
"Burak Aksak",
"Robert Kovenburg",
"Andrew Slezak",
"Chase George",
"Richard Gale",
"Burak Aksak"
] | The fingerprint effect, wherein vibrations are produced with frequencies related to the speed of a surface sliding across fingerprint ridges and the period of those ridges, has been studied for use in both slip detection and texture recognition. Here, we use a simple bioinspired sensor with parallel, straight, fingerprint-like ridges and a single ferroelectric ceramic transducer to show that the f... |
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping | https://ieeexplore.ieee.org/document/9981060/ | [
"Marco Bolignari",
"An Mo",
"Marco Fontana",
"Alexander Badri-Spröwitz",
"Marco Bolignari",
"An Mo",
"Marco Fontana",
"Alexander Badri-Spröwitz"
] | The observation of the anatomy of agile animals and their locomotion capabilities emphasizes the importance of fast and lightweight legs and confirms the intrinsic compliance integrated into muscle-tendon units as a major ingredient for energy efficient and robust locomotion. This quality is especially relevant for distal leg segments which are subject to aggressive dynamics. Legged robots are acc... |
Model-Free Unsupervised Anomaly Detection of a General Robotic System Using a Stacked LSTM and Its Application to a Fixed-Wing Unmanned Aerial Vehicle | https://ieeexplore.ieee.org/document/9981950/ | [
"Jae-Hyeon Park",
"Soham Shanbhag",
"Dong Eui Chang",
"Jae-Hyeon Park",
"Soham Shanbhag",
"Dong Eui Chang"
] | With the growing application of various robots in real life, the need for an automatic anomaly detection system for robots is necessary for safety. In this paper, we develop an anomaly detection method using a stacked LSTM that can be applied to any robot controlled by a feedback control. Our method does not need installation of additional sensors. Our method is model-free and unsupervised because... |
Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks | https://ieeexplore.ieee.org/document/9982223/ | [
"Patrick Hegemann",
"Tim Zechmeister",
"Markus Grotz",
"Kevin Hitzler",
"Tamim Asfour",
"Patrick Hegemann",
"Tim Zechmeister",
"Markus Grotz",
"Kevin Hitzler",
"Tamim Asfour"
] | The ability to detect failure during task execution and to recover from failure is vital for autonomous robots performing tasks in previously unknown environments. In this paper, we present an approach for failure detection during the execution of grasping and mobile manipulation tasks by a humanoid robot. The approach combines multi-modal sensory information consisting of proprioceptive, force an... |
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure | https://ieeexplore.ieee.org/document/9981806/ | [
"Mohammadreza Mousaei",
"Junyi Geng",
"Azarakhsh Keipour",
"Dongwei Bai",
"Sebastian Scherer",
"Mohammadreza Mousaei",
"Junyi Geng",
"Azarakhsh Keipour",
"Dongwei Bai",
"Sebastian Scherer"
] | Enabling vertical take-off and landing while pro-viding the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are a better choice than fixed-wing and multirotor aircraft for such applications. Prior works on these aircraft have addresse... |
Transmissibility-based DAgger For Fault Classification in Connected Autonomous Vehicles | https://ieeexplore.ieee.org/document/9982083/ | [
"Abdelrahman Khalil",
"Mohammad Al Janaideh",
"Lourdes Peña Castillo",
"Octavia A. Dobre",
"Abdelrahman Khalil",
"Mohammad Al Janaideh",
"Lourdes Peña Castillo",
"Octavia A. Dobre"
] | Fault mitigation in Connected Autonomous Vehicle (CAV) platoons is faster and more reliable if the fault structure is known. In this paper we propose using transmissibility operators, which are relationships that relate a set of velocities with another in the platoon, to classify the faults. Transmissibility operators were shown to be exceptional in signals estimation; however, its also shown to b... |
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