All Papers in ICRA 2021

All Papers in ICRA 2021

ICRA2021(38th IEEE International Conference on Robotics and Automation):

Active Perception in Robotics

  • Active Bayesian Multi-Class Mapping from Range and Semantic Segmentation Observations
  • Attention-Based Probabilistic Planning with Active Perception
  • Search-Based Planning for Active Sensing in Goal-Directed Coverage Tasks
  • Bearing-Only Active Sensing under Merged Measurements

Adaptive Robotic Systems

  • Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load
  • Adaptive Failure Search Using Critical States from Domain Experts
  • Policy Transfer Via Kinematic Domain Randomization and Adaptation
  • Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics

Aerial Robotics

  • A Tethered Quadrotor UAV-Buoy System for Marine Locomotion
  • Power Line Inspection Tasks with Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
  • Distributed Formation Estimation Via Pairwise Distance Measurements
  • Distributed Variable-Baseline Stereo SLAM from Two UAVs

Aerial Robotics: Control

  • Adaptive Stiffness Estimation Impedance Control for Achieving Sustained Contact in Aerial Manipulation
  • Model Predictive Control for Dynamic Quadrotor Bearing Formations
  • Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-And-Slide Operations
  • Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles
  • Fast Sampling-Based Next-Best-View Exploration Algorithm for a MAV
  • Neuromorphic Control for Optic-Flow-Based Landing of MAVs Using the Loihi Processor
  • Event-Driven Vision and Control for UAVs on a Neuromorphic Chip
  • Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots
  • Conquering Textureless with RF-Referenced Monocular Vision for MAV State Estimation
  • Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm
  • Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation
  • Flying with Damaged Wings: The Effect on Flight Capacity and Bio-Inspired Coping Strategies of a Flapping Wing Robot

Aerial Robotics: Design and Mechanism

  • Collision-Free Vector Field Guidance and MPC for a Fixed-Wing UAV
  • Toward Impact-Resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions
  • Soft Hybrid Aerial Vehicle Via Bistable Mechanism
  • H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF
  • The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors
  • Aerial Multi-Camera Robotic Jib Crane
  • Design, Sensing, and Control of a Novel UAV Platform for Aerial Drilling and Screwing
  • Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights

Aerial Robotics: Detection

  • Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance
  • GridNet: Image-Agnostic Conditional Anomaly Detection for Indoor Surveillance
  • Autonomous Flying into Buildings in a Firefighting Scenario
  • LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing

Aerial Robotics: Learning and Adaptive Systems

  • Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots
  • CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model
  • Hypergame-Based Adaptive Behavior Path Planning for Combined Exploration and Visual Search
  • Morphologically Adapatative Quad-Rotor towards Acquiring High-Performance Flight: A Comparative Study and Validation

Aerial Robotics: Mechanics and Control

  • Fixed-Root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings Using Rotor Thrust
  • Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller
  • Data-Driven MPC for Quadrotors
  • Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller
  • Underwater Stability of a Morphable Aerial-Aquatic Quadrotor with Variable Thruster Angles
  • Development of Flapping Robot with Self-Takeoff from the Ground Capability
  • Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
  • Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments (I)

Aerial Robotics: Optimization

  • Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor
  • Optimization-Based Trajectory Planning for Tethered Aerial Robots
  • A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
  • Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

Aerial Robotics: Planning and Control

  • Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
  • Real-Time Active Detection of Targets and Path Planning Using UAVs
  • EVA-Planner: Environmental Adaptive Quadrotor Planning
  • EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors

Aerial Robotics: Sensing and Control

  • MorphEyes: Variable Baseline Stereo for Quadrotor Navigation
  • A Drive-Through Recharging Strategy for a Quadrotor
  • Continuous-Time State & Dynamics Estimation Using a Pseudo-Spectral Parameterization
  • Use of a MEMS Differential Pressure Sensor to Detect Ground, Ceiling, and Walls on Small Quadrotors
  • UAV Localization Using Autoencoded Satellite Images
  • Cooperative Transportation of Cable Suspended Payloads with MAVs Using Monocular Vision and Inertial Sensing
  • Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset
  • SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments

Aerial Robotics: Space Robotics and Automation

  • An Anytime Algorithm for Chance Constrained Stochastic Shortest Path Problems and Its Application to Aircraft Routing
  • An Intention Guided Hierarchical Framework for Trajectory-Based Teleoperation of Mobile Robots
  • Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators
  • Distance Estimation Using Self-Induced Noise of an Aerial Vehicle

Aerial Robotics: Tracking

  • ADTrack: Target-Aware Dual Filter Learning for Real-Time Anti-Dark UAV Tracking
  • Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Label
  • Siamese Anchor Proposal Network for High-Speed Aerial Tracking
  • Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing

Aerial Systems: Mechanics and Control

  • Novel Omnidirectional Aerial Manipulator with Elastic Suspension: Dynamic Control and Experimental Performance Assessment
  • Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control
  • Design of the High-Payload Flapping Wing Robot E-Flap
  • Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment

Aerial Systems: Multi-Robots

  • A Multi-UAV System for Detection and Elimination of Multiple Targets
  • Optic Flow-Based Reactive Collision Prevention for MAV Using Fictitious Obstacle Hypothesis
  • Autonomous Aerial Swarming in GNSS-Denied Environments with High Obstacle Density
  • Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control

Aerial Systems: Perception and Autonomy

  • Combined System Identification and State Estimation for a Quadrotor UAV
  • Geometry-Aware Compensation Scheme for Morphing Drones
  • Autonomous Quadrotor Flight Despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
  • SplatPlanner: Efficient Autonomous Exploration Via Permutohedral Frontier Filtering

Applications of Micro and Nano Robotics

  • Parallel Actuation of Nanorod Swarm and Nanoparticle Swarm to Different Targets
  • Robotic Micromanipulation for Active Pin Alignment in Electronic Soldering Industry
  • In-Situ Bonding of Multilayer Microfluidic Devices Assisted by a Fully-Automated Aligning System
  • Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector
  • Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle
  • Molecular Transport of a Magnetic Nanoparticle Swarm towards Thrombolytic Therapy
  • Efficient Single Cell Mechanical Measurement by Integrating a Cell Arraying Microfluidic Device with Magnetic Tweezer
  • A Portable Acoustofluidic Device for Multifunctional Cell Manipulation and Reconstruction

Applications of Robotic Exploration

  • Design and Soft-Landing Control of a Six-Legged Mobile Repetitive Lander for Lunar Exploration
  • LEAF: Latent Exploration Along the Frontier
  • LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement
  • Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood

Automation

  • Viko: An Adaptive Gecko Gripper with Vision-Based Tactile Sensor
  • POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking
  • Learning-Based Predictive Path Following Control for Nonlinear Systems under Uncertain Disturbances
  • Thrust Enhancement of Wave-Driven Unmanned Surface Vehicle by Using Asymmetric Foil
  • Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot
  • ParametricNet: 6DoF Pose Estimation Network for Parametric Shapes in Stacked Scenarios
  • Optimal Online Dispatch for High-Capacity Shared Autonomous Mobility-On-Demand Systems
  • An Improved Magnetic Spot Navigation for Replacing the Barcode Navigation in Automated Guided Vehicles

Automation Award Session

  • Fabric Defect Detection Using Tactile Information
  • A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment
  • Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity
  • Automated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process

Automation and Industrial Robotics

  • Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input
  • Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications
  • The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks
  • In-Process Workpiece Geometry Estimation for Robotic Arc Welding Based on Supervised Learning for Multi-Sensor Inputs

Automation: Machine Learning

  • Model-Based Reinforcement Learning with Provable Safety Guarantees Via Control Barrier Functions
  • Continual Model-Based Reinforcement Learning with Hypernetworks
  • Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction
  • Solving Markov Decision Processes with Partial State Abstractions
  • Exploiting Object Similarity for Robotic Visual Recognition (I)
  • Team Assignment for Heterogeneous Multi-Robot Sensor Coverage through Graph Representation Learning
  • GPR-Based Model Reconstruction System for Underground Utilities Using GPRNet
  • Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter

Automation: Manufacturing

  • Optimizing Part Placement for Improving Accuracy of Robot-Based Additive Manufacturing
  • Automated Mosquito Salivary Gland Extractor for PfSPZ-Based Malaria Vaccine Production
  • Safe Tumbling of Heavy Objects Using a Two-Cable Crane
  • An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans

Automation: Performance Metrics

  • Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort
  • From Manual Operation to Collaborative Robot Assembly: An Integrated Model of Productivity and Ergonomic Performance
  • Performance Metrics Calculation for Assembly Systems with Exponential Reliability Machines
  • Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants

Automation: Sensors and Grasping

  • Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
  • Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement
  • Robotic Grasping of Fully-Occluded Objects Using RF Perception
  • A Simulation-Based Grasp Planner for Enabling Robotic Grasping During Composite Sheet Layup

Autonomous Driving

  • IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data
  • HD Map Update for Autonomous Driving with Crowdsourced Data
  • Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles
  • Ground-Aware Monocular 3D Object Detection for Autonomous Driving

Autonomous Manipulation

  • Precise Multi-Modal In-Hand Pose Estimation Using Low-Precision Sensors for Robotic Assembly
  • Assembly Sequences Based on Multiple Criteria against Products with Deformable Parts
  • A Versatile End-Effector for Pick-And-Release of Fabric Parts
  • A Soft Robotic Hand Based on Bellows Actuators for Dishwashing Automation

Autonomous Navigation

  • Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach
  • Comfortable and Safe Decelerations for a Self-Driving Transit Bus
  • A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
  • Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria
  • Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles
  • What Data Do We Need for Training an AV Motion Planner?
  • Learn to Path: Using Neural Networks to Predict Dubins Path Characteristics for Aerial Vehicles in Wind
  • Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation among Pedestrians
  • Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways
  • Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement Learning
  • Interpretable Goal-Based Prediction and Planning for Autonomous Driving
  • Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles

Autonomous Vehicle Navigation

  • Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition
  • NF-iSAM: Incremental Smoothing and Mapping Via Normalizing Flows
  • UPSLAM: Union of Panoramas SLAM
  • RELLIS-3D Dataset: Data, Benchmarks and Analysis
  • Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation
  • Learning Barrier Functions with Memory for Robust Safe Navigation
  • Hierarchical Object Map Estimation for Efficient and Robust Navigation
  • Robot Navigation in Constrained Pedestrian Environments Using Reinforcement Learning

Best Paper Award Session

  • An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans
  • Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
  • Distributed Coordinated Path Following Using Guiding Vector Fields
  • Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition

Best Student Paper Award Session

  • Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
  • Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
  • Planning with Attitude
  • Cascaded Filtering Using the Sigma Point Transformation

Biologically-Inspired Robots

  • Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms
  • Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot
  • An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand
  • Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace

Biomedical Robotics

  • Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model
  • An Integrated High-Dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation
  • A Sigmoid-Colon-Straightening Soft Actuator with Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon
  • A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery
  • A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets
  • Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures
  • Reinforcement Learning Control of a Novel Magnetic Actuated Flexible-Joint Robotic Camera System for Single Incision Laparoscopic Surgery
  • Muscular Stimulation Based Biological Actuator from Locust’s Hindleg
  • Three-Dimensional Positioning of the Micropipette for Intracytoplasmic Sperm Injection
  • Robotic Cardinal Vein Microinjection of Zebrafish Larvae Based on 3D Positioning
  • Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit
  • A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based on Spinal Module Activations

Cognitive Robotics Award Session

  • Learning Task Space Actions for Bipedal Locomotion
  • Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions
  • Auto-Tuned Sim-To-Real Transfer
  • How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning

Computer Vision for Automation

  • A Metric Space Perspective on Self-Supervised Policy Adaptation
  • Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences
  • Dynamic-Aware Autonomous Exploration in Populated Environments
  • Goal-Conditioned End-To-End Visuomotor Control for Versatile Skill Primitives

Computer Vision in Medical Robotics

  • Towards Standardized Acquisition with a Dual-Probe Ultrasound Robot for Fetal Imaging
  • A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly from Images
  • Robotic Instrument Segmentation with Image-To-Image Translation
  • Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction

Contact and Collision Control

  • Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots
  • Safe Impacts with Soft Contacts Based on Learned Deformations
  • A State-Dependent Damping Method to Reduce Collision Force and Its Variability
  • Contact Forces Preintegration for Estimation in Legged Robotics Using Factor Graphs

Continuum Robotics

  • Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum
  • Optimized 3D Path Planner for Steerable Catheters with Deductive Reasoning
  • Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy
  • Autonomous Steering of Concentric Tube Robots Via Nonlinear Model Predictive Control (I)
  • Learning-Based Inverse Kinematics from Shape As Input for Concentric Tube Continuum Robots
  • Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators
  • Using Euler Curves to Model Continuum Robots
  • Optimal Design of Continuum Robots with Reachability Constraints
  • Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume
  • An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator
  • Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains
  • Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery (I)

Control Applications

  • Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces
  • Force Control of a Hydraulic Actuator with a Neural Network Inverse Model
  • An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors
  • D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning

Control Theory

  • Mathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved Molds
  • A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation (I)
  • A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions
  • On-Line Force Capability Evaluation Based on Efficient Polytope Vertex Search
  • Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions
  • Robust Frequency-Based Structure Extraction
  • A Hybrid Collision Model for Safety Collision Control
  • Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback (I)
  • Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
  • A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
  • A Direct Collocation Method for Optimization of EMG-Driven Wrist Muscle Musculoskeletal Model
  • A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm (I)

Control and Optimization

  • A Class of Optimal Switching Mixed Data Injection Attack in Cyber-Physical Systems
  • Observation Space Matters: Benchmark and Optimization Algorithm
  • Interleaving Fast and Slow Decision Making
  • Multi-Output Infinite Horizon Gaussian Processes
  • Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions
  • Online Informative Path Planning for Active Information Gathering of a 3D Surface
  • EKF-Based Real-Time Self-Attitude Estimation with Camera DNN Learning Landscape Regularities
  • Advancing Mixture Models for Least Squares Optimization

Control for Multi-Robot Systems

  • A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation
  • Decentralized Connectivity Maintenance with Time Delays Using Control Barrier Functions
  • Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments
  • Multi-Robot Implicit Control of Herds

Control of Manipulation

  • Real-Time Friction Estimation for Grip Force Control
  • Uncertainty-Aware Deep Learning for Robot Touch: Application to Bayesian Tactile Servo Control
  • Towards Integrated Tactile Sensorimotor Control in Anthropomorphic Soft Robotic Hands
  • Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects
  • An Efficient Approach to Closed-Loop Shape Control of Deformable Objects Using Finite Element Models
  • Learning Stable Normalizing-Flow Control for Robotic Manipulation
  • Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
  • Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks

Data-Driven Model Estimation

  • Efficient Dynamics Estimation with Adaptive Model Sets
  • Data-Driven Actuator Selection for Artificial Muscle-Powered Robots
  • EMG-Based Neural Network Model of Human Arm Dynamics in a Haptic Training Simulator of Sinus Endoscopy
  • Multimodal Dynamics Modeling for Off-Road Autonomous Vehicles

Deep Learning in Robotics

  • Long-Range Hand Gesture Recognition Via Attention-Based SSD Network
  • Spectral Temporal Graph Neural Network for Trajectory Prediction
  • Dark Reciprocal-Rank: Teacher-To-Student Knowledge Transfer from Self-Localization Model to Graph-Convolutional Neural Network
  • Efficient SE(3) Reachability Map Generation Via Interplanar Integration of Intra-Planar Convolutions
  • FlowDriveNet: An End-To-End Network for Learning Driving Policies from Image Optical Flow and LiDAR Point Flow
  • PocoNet: SLAM-Oriented 3D LiDAR Point Cloud Online Compression Network
  • 3D Reconstruction of Deformable Colon Structures Based on Preoperative Model and Deep Neural Network
  • DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network

Deep Learning in Robotics and Automation

  • Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics
  • Regularizing Action Policies for Smooth Control with Reinforcement Learning
  • DeepReach: A Deep Learning Approach to High-Dimensional Reachability
  • Deep Reinforcement Learning for Active Target Tracking

Distributed Robotic Systems

  • Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-Of-View Constraints
  • Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation
  • Distributed Multi-Target Tracking in Camera Networks
  • GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics

Dynamic Manipulation

  • Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
  • Robot Dynamics Identification: A Reproducible Comparison with Experiments on the KINOVA Jaco2 (I)
  • Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators
  • Dynamic Manipulation of Deformable Objects with Implicit Integration

Dynamic Modeling

  • Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics
  • A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops
  • Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator
  • A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Dynamics and Control

  • Model Based Evaluation of Human and Lower-Limb Exoskeleton Interaction During Sit to Stand Motion
  • Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems
  • Compensation for Undefined Behaviors During Robot Task Execution by Switching Controllers Depending on Embedded Dynamics in RNN
  • Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank
  • Switching Control in Two-Wheeled Self-Balancing Robots
  • Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission
  • A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
  • Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach
  • Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
  • Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
  • Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
  • The Dynamic Effect of Mechanical Losses of Transmissions on the Equations of Motion of Legged Robots
  • No-Frills Dynamic Planning Using Static Planners
  • PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads Using a Single Camera and IMU
  • Learning Agile Locomotion Skills with a Mentor
  • Automating Behavior Selection for Affective Telepresence Robot

Field Robotics

  • A Peg-In-Hole Task Strategy for Holes in Concrete
  • Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data
  • TaskNet: A Neural Task Planner for Autonomous Excavator
  • Steering Induced Roll Quantification During Ship Turning Circle Manoeuvre
  • A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control
  • Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
  • Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification
  • Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
  • Predicting the Post-Impact Velocity of a Robotic Arm Via Rigid Multibody Models: An Experimental Study
  • Compliant Plant Exploration for Agricultural Procedures with a Collaborative Robot
  • Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments
  • Resilient Collision-Tolerant Navigation in Confined Environments
  • Data-Driven Sea State Estimation for Vessels Using Multi-Domain Features from Motion Responses
  • A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions
  • How to Train Your Heron
  • Robust Underwater Visual SLAM Fusing Acoustic Sensing
  • Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks
  • Robot-Supervised Learning of Crop Row Segmentation
  • Deep Regression versus Detection for Counting in Robotic Phenotyping
  • Neural Network Controller for Autonomous Pile Loading Revised
  • SLIP Walking Over Rough Terrain Via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
  • DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain
  • Wetland Soil Strength Tester and Core Sampler Using a Drone
  • Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics
  • Place Recognition in Forests with Urquhart Tessellations
  • Detecting and Counting Oysters
  • Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization
  • Locomotion and Control of a Friction-Driven Tripedal Robot

Field Robotics VI

  • Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment
  • Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle
  • ASVLite: A High-Performance Simulator for Autonomous Surface Vehicles
  • Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots

Field Robotics: Agricultural Applications

  • PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention
  • Using Depth Information and Colour Space Variations for Improving Outdoor Robustness for Instance Segmentation of Cabbage
  • Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping
  • MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards

Field Robotics: Control

  • Environment Reconfiguration Planning for Autonomous Robotic Manipulation to Overcome Mobility Constraints
  • On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation (I)
  • LaND: Learning to Navigate from Disengagements
  • Adaptive Sampling Using POMDPs with Domain-Specific Considerations

Field Robotics: Machine Learning

  • Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control
  • Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy
  • BADGR: An Autonomous Self-Supervised Learning-Based Navigation System
  • A Generative Model-Based Predictive Display for Robotic Teleoperation

Field Robotics: Mobile Robots

  • Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks
  • Integration of a Human-Aware Risk-Based Braking System into an Open-Field Mobile Robot​
  • Online Velocity Fluctuation of Off-Road Wheeled Mobile Robots: A Reinforcement Learning Approach
  • Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots

Field Robotics: Perception

  • Three-Dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces
  • Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance
  • LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation
  • Real-Time Navigation Using Virtual Magnetic Fields

Field Robots

  • Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal
  • Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment
  • A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning
  • Parameter Estimation of an Industrial Car-Like Tractor
  • Enhancement for Robustness of Koopman Operator-Based Data-Driven Mobile Robotic Systems
  • Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots
  • MSTC*: Multi-Robot Coverage Path Planning under Physical Constraints
  • Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control

Force Control

  • Admittance Control with Uknown Location of Interaction
  • Low-Level Force-Control of MR-Hydrostatic Actuators
  • Zero-Potential-Energy Motions Due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study
  • KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation

Grasping

  • Dig-Grasping Via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking
  • Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods
  • SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction
  • Tactile Velocity Estimation for Controlled In-Grasp Sliding
  • Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure
  • Analysis of Open-Loop Grasping from Piles
  • Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder
  • An Underactuated Gripper Based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection

Grasping and Manipulation

  • Adversarial Skill Learning for Robust Manipulation
  • Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures
  • Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification
  • Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition

Hierarchical Motion Planning

  • Q-Tree Search: An Information-Theoretic Approach Toward Hierarchical Abstractions for Agents with Computational Limitations (I)
  • A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning
  • Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning
  • Collision Avoidance in Tightly-Constrained Environments without Coordination: A Hierarchical Control Approach

Human-Centered Robotics

  • Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm
  • Conditioning Style on Substance: Plans for Narrative Observation
  • Negative Emotion Management Using a Smart Shirt and a Robot Assistant
  • Corrective Shared Autonomy for Addressing Task Variability
  • A Robot Walks into a Bar: Automatic Robot Joke Success Assessment
  • Reverse Psychology in Trust-Aware Human-Robot Interaction
  • Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Interaction
  • Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI
  • Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models
  • I Know What You Meant: Learning Human Objectives by (Under)estimating Their Choice Set
  • Analyzing Human Models That Adapt Online
  • When Shall I Be Empathetic? the Utility of Empathetic Parameter Estimation in Multi-Agent Interactions

Human-In-The-Loop Control

  • End-To-End Grasping Policies for Human-In-The-Loop Robots Via Deep Reinforcement Learning
  • An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction
  • Situational Confidence Assistance for Lifelong Shared Autonomy
  • Recognizing Orientation Slip in Human Demonstrations

Human-Robot Interaction

  • Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces
  • Design and Clinical Validation of a Robotic Ankle-Foot Simulator with Series Elastic Actuator for Ankle Clonus Assessment Training
  • A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments
  • Soft-Jig-Driven Assembly Operations
  • Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation
  • Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration
  • A Large Area Robotic Skin with Sparsely Embedded Microphones for Human-Robot Tactile Communication
  • Star Topology Based Interaction for Robust Trajectory Forecasting in Dynamic Scene
  • Human-In-The-Loop Auditory Cueing Strategy for Gait Modification
  • A Self-Training Approach-Based Traversability Analysis for Mobile Robots in Urban Environments
  • Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators
  • Proactive Interaction Framework for Intelligent Social Receptionist Robots
  • A Reversible Dynamic Movement Primitive Formulation
  • A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration
  • A Human-Centered Dynamic Scheduling Architecture for Collaborative Application
  • Towards Efficient Human-Robot Cooperation for Socially-Aware Robot Navigation in Human-Populated Environments: The SNAPE Framework
  • Interpreting Contact Interactions to Overcome Failure in Robot Assembly Task
  • Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation
  • Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments
  • Real-Time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution
  • Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems
  • Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals
  • Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation
  • Effect of Robot Assistance, Operator Cognitive Fatigue, and Sex on Task Efficiency, Workload, and Situation Awareness in Human-Robot Collaboration
  • Maximum Spectral Flatness Control of a Manipulandum for Human Motor System Identification
  • Learning from Demonstration for Real-Time User Goal Prediction and Assistive Shared Control
  • Human-Aware Robot Task Planning Based on a Hierarchical Task Model
  • Exploiting Natural Language for Efficient Risk-Aware Multi-Robot SaR Planning
  • Evaluating Guided Policy Search for Human-Robot Handovers
  • Communication Strategy for Efficient Guidance Providing
  • LBGP: Learning Based Goal Planning for Autonomous Following in Front
  • Reactive Human-To-Robot Handovers of Arbitrary Objects
  • Two-Stream 2D/3D Residual Networks for Learning Robot Manipulations from Human Demonstration Videos
  • Waypoints Updating Based on Adam and ILC for Path Learning in Physical Human-Robot Interaction
  • Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning from Demonstration
  • A Graph Attention Spatio-Temporal Convolutional Network for 3D Human Pose Estimation in Video
  • Relational Navigation Learning in Continuous Action Space among Crowds
  • Limits of Probabilistic Safety Guarantees When Considering Human Uncertainty
  • Probabilistic Human Motion Prediction Via a Bayesian Neural Network
  • Directed Acyclic Graph Neural Network for Human Motion Prediction
  • Composing HARMONI: An Open-Source Tool for Human and Robot Modular OpeN Interaction
  • Robot Interaction Studio: A Platform for Unsupervised HRI
  • MorphFace: A Hybrid Morphable Face for a Robopatient
  • Which Gesture Generator Performs Better?

Human-Robot Interaction Award Session

  • Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects Via Physical Simulations
  • Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy
  • Automated Acquisition of Structured, Semantic Models of Manipulation Activities from Human VR Demonstration
  • Reactive Human-To-Robot Handovers of Arbitrary Objects

Human-Robot Interaction in Exoskeletons

  • Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment
  • ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
  • Control of a Transfemoral Prosthesis on Sloped Terrain Using Continuous and Nonlinear Impedance Parameters
  • Model-Dependent Prosthesis Control with Interaction Force Estimation

Human-Robot Interaction: Learning to Predict

  • Identifying Driver Interactions Via Conditional Behavior Prediction
  • Autonomous Robotic Escort Incorporating Motion Prediction and Human Intention
  • Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks
  • Dynamically Switching Human Prediction Models for Efficient Planning

Human-Robot Interaction: Robot Navigation

  • Investigation of Unmanned Aerial Vehicle Gesture Perceptibility and Impact of Viewpoint Variance
  • Watch Where You’re Going! Gaze and Head Orientation As Predictors for Social Robot Navigation
  • Can a Robot Trust You? a DRL-Based Approach to Personality-Driven, Human-Guided Navigation
  • Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies
  • Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data
  • Social Navigation for Mobile Robots in the Emergency Department
  • Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning
  • Range Limited Coverage Control Using Air-Ground Multi-Robot Teams

Human-Robot Interaction: Control

  • Robust Classification of Grasped Objects in Intuitive Human-Robot Collaboration Using a Wearable Force-Myography Device
  • Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control
  • An Optimization Approach for a Robust and Flexible Control in Collaborative Applications
  • Probabilistic Adaptive Control for Robust Behavior Imitation

Human-Robot Interaction: Detection

  • Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy
  • CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems
  • A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration
  • Pointing at Moving Robots: Detecting Events from Wrist IMU Data

Human-Robot Interaction: Haptics

  • A Unified Perception Benchmark for Capacitive Proximity Sensing towards Safe Human-Robot Collaboration (HRC)
  • Learning Human-Like Hand Reaching for Human-Robot Handshaking
  • Simultaneous Haptic Guidance and Learning of Task Parameters During Robotic Teleoperation - a Geometrical Approach
  • Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction

Human-Robot Interaction: Learning

  • Engagement Estimation During Child Robot Interaction Using Deep Convolutional Networks Focusing on ASD Children
  • Ergodic Imitation: Learning from What to Do and What Not to Do
  • Imitation Learning with Inconsistent Demonstrations through Uncertainty-Based Data Manipulation
  • Learning Motor Resonance in Human-Human and Human-Robot Interaction with Coupled Dynamical Systems

Human-Robot Interaction: Medical Robots and Systems

  • Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot
  • Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip
  • Entrainment During Human Locomotion Using a Soft Wearable Ankle Robot
  • Active Telepresence Assistance for Supervisory Control: A User Study with a Multi-Camera Tele-Nursing Robot
  • Can Therapists Design Robot-Mediated Interventions and Teleoperate Robots Using VR to Deliver Interventions for ASD?
  • A Low-Cost Intrinsically Safe Mechanism for Physical Distancing between Clinicians and Patients
  • Collaborative Fall Detection Using a Wearable Device and a Companion Robot
  • Conversation-Based Medication Management System for Older Adults Using a Companion Robot and Cloud

Human-Robot Interaction: Motion Planning

  • A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration
  • Temporal Anticipation and Adaptation Methods for Fluent Human-Robot Teaming
  • Robust Planning with Emergent Human-Like Behavior for Agents Traveling in Groups
  • Order Matters: Generating Progressive Explanations for Planning Tasks in Human-Robot Teaming

Human-Robot Interaction: Motion Prediction

  • Human-Robot Collaborative Object Transfer Using Human Motion Prediction Based on Cartesian Pose Dynamic Movement Primitives
  • Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration
  • Achieving Hard Real-Time Capability for 3D Human Pose Estimation Systems
  • Zoomorphic Gestures for Cobots

Human-Robot Interaction: Multimedia

  • ARROCH: Augmented Reality for Robots Collaborating with a Human
  • ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance Via Constrained Learning from Demonstration
  • Bringing WALL-E Out of the Silver Screen: Understanding How Transformative Robot Sound Affects Human Perception
  • How People Use Active Telepresence Cameras in Tele-Manipulation

Human-Robot Interaction: Safety

  • Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions
  • Optimal Scaling of Dynamic Safety Zones for Collaborative Robotics
  • 3D Collision-Force-Map for Safe Human-Robot Collaboration
  • Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions

Human-Robot Interaction: Scheduling and Teleoperation

  • Online Dynamic Time Warping Algorithm for Human-Robot Imitation
  • Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction
  • Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management
  • Time-Domain Passivity-Based Controller with an Optimal Two-Channel Lawrence Telerobotic Architecture

Human-Robot Interaction: Simulation and Experiment

  • Virtual Adversarial Humans Finding Hazards in Robot Workplaces
  • Crowd against the Machine: A Simulation-Based Benchmark Tool to Evaluate and Compare Robot Capabilities to Navigate a Human Crowd
  • Roboticists and Reporters. a Rhetorical Experiment at the Cité Des Sciences Et De l’Industrie (Paris, France) (I)
  • DROID: Minimizing the Reality Gap Using Single-Shot Human Demonstration

Human-Robot Interaction: Task Planning

  • Task Planning with a Weighted Functional Object-Oriented Network
  • Haptic-Guided Path Generation for Remote Car-Like Vehicles
  • Task-Based Role Adaptation for Human-Robot Cooperative Object Handling
  • Towards Providing Explanations for Robot Motion Planning

Human-Robot Interaction: Teleoperation

  • Stabilization of User-Defined Feedback Controllers in Teleoperation with Passive Coupling Reference
  • Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control
  • Task Autocorrection for Immersive Teleoperation
  • Manipulability Optimization for Multi-Arm Teleoperation

Human-Robots Interface System

  • UAV Target-Selection: 3D Pointing Interface System for Large-Scale Environment
  • A Framework for Customizable Multi-User Teleoperated Control
  • SQRP: Sensing Quality-Aware Robot Programming System for Non-Expert Programmers
  • Automated Environment Reduction for Debugging Robotic Systems

Humanoid Robots

  • A Comparison between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests
  • Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots
  • Model Hierarchy Predictive Control of Robotic Systems
  • Impedance Optimization for Uncertain Contact Interactions through Risk Sensitive Optimal Control

Humanoid and Bipedal Locomotion

  • Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard
  • Global Position Control on Underactuated Bipedal Robots: Step-To-Step Dynamics Approximation for Step Planning
  • One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-Inspired Controller
  • Hybrid Sampling/Optimization-Based Planning for Agile Jumping Robots on Challenging Terrains
  • Learning Bipedal Robot Locomotion from Human Movement
  • Learning Task Space Actions for Bipedal Locomotion
  • Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots
  • Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Humanoids and Animaloids

  • Reachability-Based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum
  • Meaningful Centroidal Frame Orientation of Multi-Body Floating Locomotion Systems
  • Online Object Searching by a Humanoid Robot in an Unknown Environment
  • Origami-Inspired New Material Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing Its Path
  • Lywal: A Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions
  • Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots
  • Stair Climbing Capability-Based Dimensional Synthesis for the Multi-Legged Robot
  • Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies
  • Robust Landing Stabilization of Humanoid Robot on Uneven Terrain Via Admittance Control and Heel Strike Motion
  • Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software (I)
  • Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids
  • State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks
  • DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using Extended Kalman Filtering on Matrix Lie Groups
  • Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
  • Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids
  • Humanoid Control under Interchangeable Fixed and Sliding Unilateral Contacts
  • Fast Footstep Planning with Aborting A*
  • Stiffness Modulation in a Humanoid Robotic Leg and Knee
  • Exploiting Visual Servoing and Centroidal Momentum for Whole-Body Motion Control of Humanoid Robots in Absence of Contacts and Gravity
  • Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
  • Learning Human Objectives from Sequences of Physical Corrections
  • SimGAN: Hybrid Simulator Identification for Domain Adaptation Via Adversarial Reinforcement Learning
  • Look at My New Blue Force-Sensing Shoes!
  • Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
  • Vision-Based Path Following of Snake-Like Robots
  • Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control
  • A Passive Hydraulic Auxiliary System Designed for Increasing Legged Robot Payload and Efficiency
  • Legged Robot State Estimation in Slippery Environments UsingInvariant Extended Kalman Filter with Velocity Update
  • Precise Jump Planning Using Centroidal Dynamics Based Bilevel Optimization
  • DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning
  • ULT-Model: Towards a One-Legged Unified Locomotion Template Model for Forward Hopping with an Upright Trunk
  • Nonlinear Stiffness Allows Passive Dynamic Hopping for One-Legged Robots with an Upright Trunk

IMU-Based Localization

  • IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach
  • Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization
  • Robust Localization for Planar Moving Robot in Changing Environment: A Perspective on Density of Correspondence and Depth
  • IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving

Intelligence Design

  • Optimizing Cellular Networks Via Continuously Moving Base Stations on Road Networks
  • The Resh Programming Language for Multirobot Orchestration
  • Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization
  • Generative Design of NU’s Husky Carbon: A Morpho-Functional, Legged Robot

Learning and Control in Robotics and Automation

  • Hyperparameter Auto-Tuning in Self-Supervised Robotic Learning
  • An Analytical Diabolo Model for Robotic Learning and Control
  • Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems
  • Imitation Learning of Hierarchical Driving Model: From Continuous Intention to Continuous Trajectory

Learning and Optimization

  • Evolvable Motion-Planning Method Using Deep Reinforcement Learning
  • Learning Sequences of Manipulation Primitives for Robotic Assembly
  • Data-Efficient Learning for Complex and Real-Time Physical Problem Solving Using Augmented Simulation
  • EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments

Learning for Motion Planning

  • Deep Imitation Learning for Autonomous Navigation in Dynamic Pedestrian Environments
  • Learning from Demonstration without Demonstrations
  • Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment Via Adaptive-Scaling Constrained Optimization
  • Optimization-Based Framework for Excavation Trajectory Generation

Learning for Robotics

  • Differentiable Physics Models for Real-World Offline Model-Based Reinforcement Learning
  • Adversarial Training Is Not Ready for Robot Learning
  • Deep Learning on 3D Object Detection for Automatic Plug-In Charging Using a Mobile Manipulator
  • Decentralized Multi-Agent Pursuit Using Deep Reinforcement Learning
  • Sample-Efficient Reinforcement Learning in Robotic Table Tennis
  • Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning
  • No Face-Touch: Exploiting Wearable Devices and Machine Learning for Gesture Detection
  • Robot Learning with Crash Constraints

Learning in Control

  • Sample Efficient Reinforcement Learning Via Model-Ensemble Exploration and Exploitation
  • Dreaming: Model-Based Reinforcement Learning by Latent Imagination without Reconstruction
  • A Variational Infinite Mixture for Probabilistic Inverse Dynamics Learning
  • Model-Based Domain Randomization of Dynamics System with Deep Bayesian Locally Linear Embedding

Learning in Robotics and Automation

  • Learning Spatial Context with Graph Neural Network for Multi-Person Pose Grouping
  • Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation
  • Gaze-Based Dual Resolution Deep Imitation Learning for High-Precision Dexterous Robot Manipulation
  • Graph Convolutional Network Based Configuration Detection for Freeform Modular Robot Using Magnetic Sensor Array
  • PVStereo: Pyramid Voting Module for End-To-End Self-Supervised Stereo Matching
  • Embedding Symbolic Temporal Knowledge into Deep Sequential Models
  • Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning
  • Linguistic Descriptions of Human Motion with Generative Adversarial Seq2Seq Learning
  • MDANet: Multi-Modal Deep Aggregation Network for Depth Completion
  • GPR: Grasp Pose Refinement Network for Cluttered Scenes
  • Diversity-Aware Label Distribution Learning for Microscopy Auto Focusing
  • Contour Primitive of Interest Extraction Network Based on One-Shot Learning for Object-Agnostic Vision Measurement
  • UMLE: Unsupervised Multi-Discriminator Network for Low Light Enhancement
  • Unsupervised Learning of 3D Scene Flow from Monocular Camera
  • Monocular 3D Detection with Geometric Constraints Embedding and Semi-Supervised Training
  • Deep3DRanker: A Novel Framework for Learning to Rank 3D Models with Self-Attention in Robotic Vision
  • FGR: Frustum-Aware Geometric Reasoning for Weakly Supervised 3D Vehicle Detection

Learning to Predict

  • Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction
  • Predicting Disparity Distributions
  • Scoring Graspability Based on Grasp Regression for Better Grasp Prediction
  • MonoSOD: Monocular Salient Object Detection Based on Predicted Depth

Learning-Based Control

  • Leveraging Forward Model Prediction Error for Learning Control
  • GoSafe: Globally Optimal Safe Robot Learning
  • Distilling a Hierarchical Policy for Planning and Control Via Representation and Reinforcement Learning
  • Active Model Learning Using Informative Trajectories for Improved Closed-Loop Control on Real Robots
  • Interactive Learning of Temporal Features for Control (I)
  • A Fully Spiking Neural Control System Based on Cerebellar Predictive Learning for Sensor-Guided Robots
  • Learning to Steer a Locomotion Contact Planner
  • Learning Shape Control of Elastoplastic Deformable Linear Objects
  • Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers
  • Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control
  • Neural Identification for Control
  • Learning Variable Impedance Control Via Inverse Reinforcement Learning for Force-Related Tasks

Learning-Based Grasping

  • Robot Learning of 6 DoF Grasping Using Model-Based Adaptive Primitives
  • Conditional StyleGAN for Grasp Generation
  • Go Fetch! - Dynamic Grasps Using Boston Dynamics Spot with External Robotic Arm
  • Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps

Learning-Based Human-Robot Interaction

  • Machine Learning-Based Human-Following System: Following the Predicted Position of a Walking Human
  • Anytime Game-Theoretic Planning with Active Reasoning about Humans’ Latent States for Human-Centered Robots
  • Momentum Observer-Based Collision Detection Using LSTM for Model Uncertainty Learning
  • Deep Learning and Mixed Reality to Autocomplete Teleoperation

Learning-Based Manipulation

  • Living Object Grasping Using Two-Stage Graph Reinforcement Learning
  • Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix
  • Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning
  • Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents Via an Asymmetric Architecture
  • AdaGrasp: Learning a Gripper-Aware Grasping Policy
  • TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly
  • Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study
  • Learning to Place Objects Onto Flat Surfaces in Upright Orientations
  • Learning Behavior Trees with Genetic Programming in Unpredictable Environments
  • Active Learning of Bayesian Probabilistic Movement Primitives
  • Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
  • Coarse-To-Fine Imitation Learning: Robot Manipulation from a Single Demonstration
  • Efficient Self-Supervised Data Collection for Offline Robot Learning
  • Total Singulation with Modular Reinforcement Learning
  • Active Inference for Integrated State-Estimation, Control, and Learning
  • Robot Program Parameter Inference Via Differentiable Shadow Program Inversion
  • Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables
  • Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
  • A Joint Network for Grasp Detection Conditioned on Natural Language Commands
  • ReLMoGen: Integrating Motion Generation in Reinforcement Learning for Mobile Manipulation
  • Learning Multimodal Contact-Rich Skills from Demonstrations without Reward Engineering
  • Keep It Simple: Data-Efficient Learning for Controlling Complex Systems with Simple Models
  • DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
  • Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination
  • ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation
  • Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies
  • SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation Using Deep Learning for Feature Extraction
  • An Affordance Keypoint Detection Network for Robot Manipulation
  • Mechanical Intelligence for Adaptive Precision Grasp
  • Learning Multi-Object Dense Descriptor for Autonomous Goal-Conditioned Grasping
  • Hierarchical Learning from Demonstrations for Long-Horizon Tasks
  • How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning
  • Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category
  • ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation
  • Adversarial Imitation Learning with Trajectorial Augmentation and Correction
  • Learning Reachable Manifold and Inverse Mapping for a Redundant Robot Manipulator

Learning-Based Motion Planning

  • Learning Robot Trajectories Subject to Kinematic Joint Constraints
  • Enhancing Lattice-Based Motion Planning with Introspective Learning and Reasoning
  • Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning
  • Self-Imitation Learning by Planning
  • Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions
  • Learning and Planning for Temporally Extended Tasks in Unknown Environments
  • Behavior Tree Learning for Robotic Task Planning through Monte Carlo DAG Search Over a Formal Grammar
  • Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions
  • Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability Via Lipschitz Constants
  • Single-Query Path Planning Using Sample-Efficient Probability Informed Trees
  • Learning from Imperfect Demonstrations from Agents with Varying Dynamics
  • Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving
  • Robotic Information Gathering Using Semantic Language Instructions
  • MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints
  • Deep Structured Reactive Planning
  • Learning a Centroidal Motion Planner for Legged Locomotion

Legged Robots

  • Balancing on a Springy Leg
  • Gyrubot: Nonanthropomorphic Stabilization for a Biped
  • Feasible Region: An Actuation-Aware Extension of the Support Region (I)
  • A Novel Method for Computing the 3D Friction Cone Using Complimentary Constraints
  • Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12
  • Imitation Learning from MPC for Quadrupedal Multi-Gait Control
  • Comparison of Predictive Controllers for Locomotion and Balance Recovery of Quadruped Robots
  • Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO
  • Optimal Estimation of the Centroidal Dynamics of Legged Robots
  • A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design
  • A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion
  • Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
  • Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion
  • The Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion
  • Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion
  • Coupled Control Lyapunov Functions for Interconnected Systems, with Application to Quadrupedal Locomotion

LiDAR-Based Localization

  • LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)
  • Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry
  • Locus: LiDAR-Based Place Recognition Using Spatiotemporal Higher-Order Pooling
  • Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board
  • Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
  • KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry
  • CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System
  • PSF-LO: Parameterized Semantic Features Based Lidar Odometry

Localization

  • GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization
  • Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization
  • Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement
  • Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment
  • Global Aerial Localisation Using Image and Map Embeddings
  • UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation
  • Range Image-Based LiDAR Localization for Autonomous Vehicles
  • RadarLoc: Learning to Relocalize in FMCW Radar
  • Freetures: Localization in Signed Distance Function Maps
  • End-To-End Semi-Supervised Learning for Differentiable Particle Filters
  • Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions
  • Learning to Localize in New Environments from Synthetic Training Data
  • SoftMP: Attentive Feature Pooling for Joint Local Feature Detection and Description for Place Recognition in Changing Environments
  • Resolving Place Recognition Inconsistencies Using Intra-Set Similarities
  • Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition
  • Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization

Localization and Control

  • Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments
  • Instance-Aware Predictive Navigation in Multi-Agent Environments
  • SLAAM: Simultaneous Localization and Additive Manufacturing (I)
  • SimNet: Learning Reactive Self-Driving Simulations from Real-World Observations

Localization and Estimation

  • MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization
  • Enabling Spatio-Temporal Aggregation in Birds-Eye-View Vehicle Estimation
  • Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation
  • There and Back Again: Self-Supervised Multispectral Correspondence Estimation

Localization and Mapping

  • B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles
  • Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles
  • Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation
  • Lightweight 3-D Localization and Mapping for Solid-State LiDAR
  • Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion
  • Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware
  • ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
  • UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments
  • FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
  • BALM: Bundle Adjustment for Lidar Mapping
  • Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments
  • MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos
  • Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering
  • Signal Temporal Logic Synthesis As Probabilistic Inference
  • Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points
  • Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression
  • DiSCO: Differentiable Scan Context with Orientation
  • MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments
  • Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization
  • Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios
  • Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking
  • Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping
  • Deep Compression for Dense Point Cloud Maps
  • Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making
  • SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
  • Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief
  • Efficient Online Calibration for Autonomous Vehicle’s Longitudinal Dynamical System: A Gaussian Model Approach
  • Fuzzing Mobile Robot Environments for Fast Automated Crash Detection
  • Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation
  • Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?
  • Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
  • Robust Place Recognition Using an Imaging Lidar
  • High-Speed Robot Navigation Using Predicted Occupancy Maps
  • 3D Motion Capture of an Unmodified Drone with Single-Chip Millimeter Wave Radar
  • Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration under Uncertainty
  • Fast Uncertainty Quantification for Deep Object Pose Estimation
  • Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning
  • Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior
  • Learned Uncertainty Calibration for Visual Inertial Localization
  • CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association (I)
  • Distributed Client-Server Optimization for SLAM with Limited On-Device Resources
  • Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps
  • Greedy-Based Feature Selection for Efficient LiDAR SLAM
  • Road Mapping and Localization Using Sparse Semantic Visual Features
  • Retrieval and Localization with Observation Constraints
  • Robust Dual Quadric Initialization for Forward-Translating Camera Movements
  • Robust Motion Averaging under Maximum Correntropy Criterion
  • Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model
  • Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry
  • Multi-Parameter Optimization for a Robust RGB-D SLAM System
  • Invariant EKF Based 2D Active SLAM with Exploration Task
  • 2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining
  • A Switching-Coupled Backend for Simultaneous Localization and Dynamic Object Tracking

Localization and Mapping: Dataset

  • VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments
  • A Multi-Spectral Dataset for Evaluating Motion Estimation Systems
  • PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices
  • 3D Surfel Map-Aided Visual Relocalization with Learned Descriptors

Localization and Mapping: Distributed Systems

  • Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation
  • Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization
  • Optimizing Non-Markovian Information Gain under Physics-Based Communication Constraints
  • Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors

Localization and Mapping: LiDAR

  • Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets
  • RADIATE: A Radar Dataset for Automotive Perception in Bad Weather
  • Poisson Surface Reconstruction for LiDAR Odometry and Mapping
  • Lidar-Monocular Surface Reconstruction Using Line Segments

Localization and Mapping: Point Cloud

  • SKD: Keypoint Detection for Point Clouds Using Saliency Estimation
  • Panoster: End-To-End Panoptic Segmentation of LiDAR Point Clouds
  • NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation
  • PHASER: A Robust and Correspondence-Free Global Pointcloud Registration

Localization and Mapping: Sensor Fusion

  • Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space
  • Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration
  • Robust Monocular Visual-Inertial Depth Completion for Embedded Systems
  • Range-Visual-Inertial Odometry: Scale Observability without Excitation
  • Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot
  • Cirrus: A Long-Range Bi-Pattern LiDAR Dataset
  • Airflow-Inertial Odometry for Resilient State Estimation on Multirotors
  • π-LSAM: LiDAR Smoothing and Mapping with Planes
  • Asynchronous Multi-View SLAM
  • Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments
  • Relative Position Estimation between Two UWB Devices with IMUs
  • LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping

Localization for Robotics

  • Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning
  • Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
  • Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization
  • Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching

Machine Learning

  • MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior
  • Shape-Based Transfer of Generic Skills
  • Safety Uncertainty in Control Barrier Functions Using Gaussian Processes
  • Object Rearrangement Using Learned Implicit Collision Functions
  • Continual Learning of Knowledge Graph Embeddings
  • Learning Topology from Synthetic Data for Unsupervised Depth Completion
  • PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling
  • Feedback Linearization for Quadrotors with a Learned Acceleration Error Model

Machine Learning Method for Navigation

  • Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents
  • DWA-RL: Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation among Mobile Obstacles
  • Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships
  • A Lifelong Learning Approach to Mobile Robot Navigation

Machine Learning for Control

  • Reinforced iLQR: A Sample-Efficient Robot Locomotion Learning
  • Learning Multi-Arm Manipulation through Collaborative Teleoperation
  • Scalable Learning of Safety Guarantees for Autonomous Systems Using Hamilton-Jacobi Reachability
  • OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation

Machine Learning for Pose Estimation

  • HueCode: A Meta-Marker Exposing Relative Pose and Additional Information in Different Colored Layers
  • REDE: End-To-End Object 6D Pose Robust Estimation Using Differentiable Outliers Elimination
  • PREGAN: Pose Randomization and Estimation for Weakly Paired Image Style Translation
  • Deep Samplable Observation Model for Global Localization and Kidnapping

Machine Learning for Robotic Applications

  • Robot in a China Shop: Using Reinforcement Learning for Location-Specific Navigation Behaviour
  • Model Identification of a Small Fully-Actuated Aquatic Surface Vehicle Using a Long Short-Term Memory Neural Network
  • Real-Time Trajectory Adaptation for Quadrupedal Locomotion Using Deep Reinforcement Learning
  • Robust Iterative Learning Control for Pneumatic Muscle with State Constraint and Model Uncertainty

Machine Learning: Adaptive Systems

  • APPLI: Adaptive Planner Parameter Learning from Interventions
  • APPLR: Adaptive Planner Parameter Learning from Reinforcement
  • An Adaptive Framework for Learning Unsupervised Depth Completion
  • PennSyn2Real: Training Object Recognition Models without Human Labeling

Machine Learning: Applications

  • Robotic Indoor Scene Captioning from Streaming Video
  • Geometry-Aware Unsupervised Domain Adaptation for Stereo Matching
  • Reasoning Operational Decisions for Robots Via Time Series Causal Inference
  • Embodying Pre-Trained Word Embeddings through Robot Actions

Manipulation

  • Contact Localization for Robot Arms in Motion without Torque Sensing
  • Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact
  • Finite Horizon Synthesis for Probabilistic Manipulation Domains
  • IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks
  • Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction
  • Attribute-Based Robotic Grasping with One-Grasp Adaptation
  • Collision-Aware Target-Driven Object Grasping in Constrained Environments
  • 6-DoF Contrastive Grasp Proposal Network
  • RASCAL: Robotic Arm for Sherds and Ceramics Automated Locomotion
  • Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
  • Dynamic Grasping for Object Picking Using Passive Zero-DOF End Effectors
  • Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution
  • An Integrated Approach for Determining Objects to Be Relocated and Their Goal Positions Inside Clutter for Object Retrieval
  • A Hybrid Position/Force Controller for Joint Robots
  • DIMSAN: Fast Exploration with the Synergy between Density-Based Intrinsic Motivation and Self-Adaptive Action Noise
  • A Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation

Manipulation Award Session

  • StRETcH: A Soft to Resistive Elastic Tactile Hand
  • A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation
  • KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation
  • Policy Blending and Recombination for Multimodal Contact-Rich Tasks

Manipulation Control

  • Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery
  • Sim-To-Real Visual Grasping Via State Representation Learning Based on Combining Pixel-Level and Feature-Level Domain Adaptation
  • Dexterous Manoeuvre through Touch in a Cluttered Scene
  • Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
  • Position and Orientation Control of Polygonal Objects by Sensorless In-Hand Caging Manipulation
  • Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment
  • 3D Biped Locomotion Control Including Seamless Transition between Walking and Running Via 3D ZMP Manipulation
  • Modeling and Balance Control of SuperArm for Overhead Tasks
  • Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis
  • Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-Robot Manipulation
  • Dynamic Compensation in Throwing Motion with High-Speed Robot Hand-Arm
  • Policy Blending and Recombination for Multimodal Contact-Rich Tasks

Manipulation and Grasping

  • Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots
  • Improving Grasp Classification through Spatial Metrics Available from Sensors
  • Assistive Supernumerary Grasping with the Back of the Hand
  • Robotic Pick-And-Place with Uncertain Object Instance Segmentation and Shape Completion
  • Learning Dexterous Grasping with Object-Centric Visual Affordances
  • Learning Collaborative Pushing and Grasping Policies in Dense Clutter
  • Grasping with Chopsticks: Combating Covariate Shift in Model-Free Imitation Learning for Fine Manipulation
  • Learning Task-Oriented Dexterous Grasping from Human Knowledge
  • Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
  • Deep Affordance Foresight: Planning through What Can Be Done in the Future
  • Learning Dense Rewards for Contact-Rich Manipulation Tasks
  • ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

Manipulation: Haptics

  • Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
  • Sim-To-Real for Robotic Tactile Sensing Via Physics-Based Simulation and Learned Latent Projections
  • Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing
  • Fingers See Things Differently (FIST-D): An Object Aware Visualization and Manipulation Framework Based on Tactile Observations

Manipulation: Measurement

  • Mass Estimation of a Moving Object through Minimal Manipulation Interaction
  • GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
  • Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations
  • Cable-Driven Parallel Robot Pose Estimation Using Extended Kalman Filtering with Inertial Payload Measurements

Manipulation: Perception

  • Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation
  • Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints
  • Friction Estimation for Tendon-Driven Robotic Hands
  • Representation Matters: Improving Perception and Exploration for Robotics

Manipulation: Planning

  • Reactive Cooperative Manipulation Based on Set Primitives and Circular Fields
  • Efficient Multi-Scale POMDPs for Robotic Object Search and Delivery
  • Path Planning for Manipulation Using Experience-Driven Random Trees
  • Co-Optimizing Robot, Environment, and Tool Design Via Joint Manipulation Planning
  • Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D
  • KPAM-SC: Generalizable Manipulation Planning Using KeyPoint Affordance and Shape Completion
  • Alternative Paths Planner (APP) for Provably Fixed-Time Manipulation Planning in Semi-Structured Environments
  • Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
  • Region-Based Planning for 3D Within-Hand-Manipulation Via Variable Friction Robot Fingers and Extrinsic Contacts
  • Planning for Multi-Stage Forceful Manipulation
  • Towards Robust Planar Translations Using Delta-Manipulator Arrays
  • Manipulation Planning among Movable Obstacles Using Physics-Based Adaptive Motion Primitives

Manipulation: Real World Applications

  • Robotic Slicing of Fruits and Vegetables: Modeling the Effects of Fracture Toughness and Knife Geometry
  • Auto-Tuned Sim-To-Real Transfer
  • A Convex Quasistatic Time-Stepping Scheme for Rigid Multibody Systems with Contact and Friction
  • Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search

Manipulation: Reinforcement Learning

  • Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations Using Generative Models
  • DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies
  • Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
  • LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
  • Multi-Step Recurrent Q-Learning for Robotic Velcro Peeling
  • Reset-Free Reinforcement Learning Via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention
  • Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning
  • Batch Exploration with Examples for Scalable Robotic Reinforcement Learning

Mapping

  • ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames
  • Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning
  • Weighted Node Mapping and Localisation on a Pixel Processor Array
  • Direct Sparse Mapping (I)
  • Dynamic Occupancy Grid Mapping with Recurrent Neural Networks
  • Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning
  • Lightweight Semantic Mesh Mapping for Autonomous Vehicles
  • LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping

Marine Robotics

  • Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
  • Autonomous Data Collection with Timed Communication Constraints for Unmanned Underwater Vehicles
  • Predictive 3D Sonar Mapping of Underwater Environments Via Object-Specific Bayesian Inference
  • Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective

Mechanism Design

  • Temperature Compensated 3D Printed Strain Sensor for Advanced Manufacturing Applications
  • Design of a Deployable Underwater Robot for the Recovery of Autonomous Underwater Vehicles Based on Origami Technique
  • Modelling and Optimisation of a Mechanism-Based Metamaterial for a Wrist Flexion-Extension Assistive Device
  • Mechatronic Design of a Low-Noise Active Knee Prosthesis with High Backdrivability
  • Restoring Force Design of Active Self-Healing Tension Transmission System and Application to Tendon-Driven Legged Robot
  • A Translational Parallel Continuum Robot Reinforced by Origami and Cross-Routing Tendons
  • Design of a 3-DOF Coupled Tendon-Driven Waist Joint
  • Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction
  • Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-Of-Freedom Coupled Tendon-Driven Joint Module
  • Mecanum Crank: A Novel Omni-Directional Vehicle Using Crank Leg
  • Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle
  • 2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders
  • A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables
  • Stable, Sensor-Less and Compliance-Less Module Connection for Automated Construction System of a Modularized Rail Structure
  • Numerical Simulations of a Novel Force Controller Serially Combining the Admittance and Impedance Controllers
  • Kinematic Stability Based AFG-RRT* Path Planning for Cable-Driven Parallel Robots
  • Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces
  • A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment
  • An Autonomous Vault-Building Robot System for Creating Spanning Structures
  • Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots
  • Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints (I)
  • Design and Testing of a Damped Piezo-Driven Decoupled XYZ Stage
  • Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3
  • A Variable Stiffness Actuator Based on Second-Order Lever Mechanism and Its Manipulator Integration
  • Neural Fidelity Warping for Efficient Robot Morphology Design
  • Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications
  • Human Driven Compliant Transmission Mechanism
  • Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application

Mechanism Design and Control

  • Design and Control of a Highly Redundant Rigid–Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling
  • Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case
  • Visual Servoing of Cable-Driven Parallel Robots with Tension Management
  • Automated Design of Underactuated Monolithic Soft Robotics Structures with Multiple Predefined End Poses
  • Multifunctional Arm for Telerobotic Wind Turbine Blade Repair
  • Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot
  • Automated Behavior Tree Error Recovery Framework for Robotic Systems
  • Design of a Magnetic Actuation System for a Microbiota-Collection Ingestible Capsule

Mechanism and Control

  • Pneumatic Actuation-Based Bidirectional Modules with Variable Stiffness and Closed-Loop Position Control
  • A Capturability-Based Control Framework for the Underactuated Bipedal Walking
  • Appearance-Based Loop Closure Detection Via Bidirectional Manifold Representation Consensus
  • Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots
  • Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy
  • Reduced Dynamics and Control for an Autonomous Bicycle
  • Balance Control of a Novel Wheel-Legged Robot: Design and Experiments
  • Blending of Series-Parallel Compliant Actuation with Field-Weakening Control for Explosive Motion Generation

Mechanism and Verification

  • Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions
  • Scalable POMDP Decision-Making Using Circulant Controllers
  • Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories
  • Implicit Integration for Articulated Bodies with Contact Via the Nonconvex Maximal Dissipation Principle

Mechatronics and Design Award Session

  • Soft Hybrid Aerial Vehicle Via Bistable Mechanism
  • A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops
  • Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators
  • Surface Robots Based on S-Isothermic Surfaces

Medical Imaging and Sensing

  • Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors
  • Robot-To-Image Registration with Geometric Marker for CT-Guided Robotic Needle Insertion
  • Shape Sensor Using Magnetic Induction with Frequency Sweeping for Medical Catheters
  • Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification
  • Generalized Point Set Registration with the Kent Distribution
  • Self-Supervised Learning for Monocular Depth Estimation on Minimally Invasive Surgery Scenes
  • Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-Precision Surgical Manipulation
  • Towards Fully Autonomous Ultrasound Scanning Robot with Imitation Learning Based on Clinical Protocols

Medical Robotics Award Session

  • Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery
  • Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support
  • Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection
  • A Fluidic Soft Robot for Needle Guidance and Motion Compensation in Intratympanic Steroid Injections

Micro/Nano Robotics

  • Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-Like Cell Structure
  • Automated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process
  • A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics
  • 3D Periodic Magnetic Servoing System for Microrobot Actuation Using Decoupled Asynchronous Repetitive Control Approach
  • Tailored Magnetic Torsion Springs for Miniature Magnetic Robots
  • Real-Time Teleoperation of Magnetic Force-Driven Microrobots with 3D Haptic Force Feedback for Micro-Navigation and Micro-Transportation
  • Yaw Control of a Hovering Flapping-Wing Aerial Vehicle with a Passive Wing Hinge
  • Automated End-Effector Alignment for Robotic Cell Manipulation
  • A High-Voltage Power Electronics Unit for Flying Insect Robots That Can Modulate Wing Thrust
  • Residual Model Learning for Microrobot Control
  • Small Autonomous Robot Actuator (SARA): A Solar-Powered Wireless MEMS Gripper
  • Path Planning and Tracking for an Underactuated Two-Microrobot System
  • Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter

Micro/Nano Robotis

  • Modeling and Control of an Untethered Magnetic Gripper
  • A Flexible Magnetic Field Mapping Model for Calibration of Magnetic Manipulation System
  • Dynamic Tracking of Microrobot with Active Magnetic Sensor Array
  • Dynamic Modeling of Magnetic Helical Microrobots

Model Learning for Control

  • Batteries, Camera, Action! Learning a Semantic Control Space for Expressive Robot Cinematography
  • Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition
  • Agile Robot Navigation through Hallucinated Learning and Sober Deployment
  • Nonholonomic Yaw Control of an Underactuated Flying Robot with Model-Based Reinforcement Learning

Model Predictive Control

  • ALTRO-C: A Fast Solver for Conic Model-Predictive Control
  • Model Predictive Control of Nonlinear Latent Force Models: A Scenario-Based Approach
  • The Value of Planning for Infinite-Horizon Model Predictive Control
  • Automatic Tuning for Data-Driven Model Predictive Control
  • High-Frequency Nonlinear Model Predictive Control of a Manipulator
  • Adaptive Nonlinear Model Predictive Control for Autonomous Surface Vessels with Largely Varying Payload
  • Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots
  • Koopman NMPC: Koopman-Based Learning and Nonlinear Model Predictive Control of Control-Affine Systems

Motion Control for Manipulators

  • Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories
  • A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators
  • Robot Arm Motion Planning Based on Geodesics
  • FlexDMP - Extending Dynamic Movement Primitives towards Flexible Joint Robots
  • Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
  • Generalizing Object-Centric Task-Axes Controllers Using Keypoints
  • Dynamic Primitives and Optimal Feedback Control for the Manipulation of Complex Objects
  • Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models

Motion Estimation

  • Unsupervised 3D Motion Estimation of Vehicles Using ICP
  • CNN-Based Ego-Motion Estimation for Fast MAV Maneuvers
  • Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles
  • Pose Estimation for Vehicle-Mounted Cameras Via Horizontal and Vertical Planes

Motion Planning

  • Reactive Navigation in Crowds for Non-Holonomic Robots with Convex Bounding Shape
  • NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments
  • Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments
  • High Speed Planning in Unknown Environments for Multirotors Considering Drag
  • Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning
  • Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning
  • Search-Based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices
  • Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots
  • Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning
  • MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning
  • Cubic Bézier Local Path Planner for Non-Holonomic Feasible and Comfortable Path Generation
  • Voxplan: A 3D Global Planner Using Signed Distance Function Submaps
  • Learning from Simulation, Racing in Reality
  • Equality Constrained Differential Dynamic Programming
  • Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
  • Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories
  • Multi-Hypothesis Interactions in Game-Theoretic Motion Planning
  • An Approximation Algorithm for an Assisted Shortest Path Problem
  • TAMPC: A Controller for Escaping Traps in Novel Environments
  • Projector-Guided Non-Holonomic Mobile 3D Printing
  • Image Representation of a City and Its Taxi Fleet for End-To-End Learning of Rebalancing Policies
  • COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts
  • Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios
  • Self-Supervised Motion Retargeting with Safety Guarantee

Motion Planning and Control

  • NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators
  • Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot
  • Motion Coupling Analysis for the Decoupled Design of a Two-Segment Notched Continuum Robot
  • VINS-Motion: Tightly-Coupled Fusion of VINS and Motion Constraint
  • SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure
  • Reinforcement Learning-Based Visual Navigation with Information-Theoretic Regularization
  • An On-Line POMDP Solver for Continuous Observation Spaces

Motion Planning for Aerial Robotics

  • The Reachable Set of a Drone: Exploring the Position Isochrones for a Quadcopter
  • Two-Stage Trajectory Optimization for Flapping Flight with Data-Driven Models
  • Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
  • SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms under Uncertainty

Motion Planning for Autonomous Vehicle

  • Path Optimization for Ground Vehicles in Off-Road Terrain
  • Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision
  • Vehicle Trajectory Prediction Using Generative Adversarial Network with Temporal Logic Syntax Tree Features
  • Autonomous Vehicle Motion Planning Via Recurrent Spline Optimization

Motion Planning for Surgical Robots

  • Bimanual Regrasping for Suture Needles Using Reinforcement Learning for Rapid Motion Planning
  • Dual-Arm Needle Manipulation with the Da Vinci® Surgical Robot under Uncertainty
  • Learning Surgical Motion Pattern from Small Data in Endoscopic Sinus and Skull Base Surgeries
  • Backward Planning for a Multi-Stage Steerable Needle Lung Robot

Motion Planning for Task-Specific Robots

  • A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels
  • A Scavenger Hunt for Service Robots
  • Exploring Large and Complex Environments Fast and Efficiently
  • Planning Laser-Forming Folding Motion with Thermal Simulation
  • Robot Development and Path Planning for Indoor Ultraviolet Light Disinfection
  • Piecewise-Linear Motion Planning Amidst Static, Moving, or Morphing Obstacles
  • Smooth Path Planning for Continuum Arms
  • Anticipatory Path Planning for Continuum Arms in Dynamic Environments

Motion Planning in Automation

  • Prediction-Based Reachability for Collision Avoidance in Autonomous Driving
  • Lane-Free Autonomous Intersection Management: A Batch-Processing Framework Integrating Reservation-Based and Planning-Based Methods
  • Pheromone-Diffusion-Based Conscientious Reactive Path Planning for Road Network Persistent Surveillance

Motion Planning in Multi-Agents System

  • A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem
  • Time-Optimal Multi-Quadrotor Trajectory Planning for Pesticide Spraying
  • Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography
  • MIDAS: Multi-Agent Interaction-Aware Decision-Making with Adaptive Strategies for Urban Autonomous Navigation
  • Scalable Active Information Acquisition for Multi-Robot Systems
  • MAPS-X: Explainable Multi-Robot Motion Planning Via Segmentation
  • Representation-Optimal Multi-Robot Motion Planning Using Conflict-Based Search
  • Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
  • Towards Safe Motion Planning in Human Workspaces: A Robust Multi-Agent Approach
  • Anytime Fault-Tolerant Adaptive Routing for Multi-Robot Teams
  • Exploiting Collisions for Sampling-Based Multicopter Motion Planning
  • Multi-Robot Motion Planning with Unlabeled Goals for Mobile Robots with Differential Constraints

Motion Planning with Partial Information

  • Data-Based Control of Partially-Observed Robotic Systems
  • Partial Information Target Defense Game
  • Stochastic Motion Planning under Partial Observability for Mobile Robots with Continuous Range Measurements (I)
  • Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information

Motion Planning: Autonomous Driving

  • ICurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving
  • Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments
  • Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation
  • SMT-Based Optimal Deployment of Mobile Robot Rechargers

Motion Planning: Collision Avoidance

  • VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance
  • Dynamic Window Approach with Human Imitating Collision Avoidance
  • Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction
  • Dynamic Movement Primitive Based Motion Retargeting for Dual-Arm Sign Language Motions

Motion Planning: Control

  • Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS
  • Constraint Handling in Continuous-Time DDP-Based Model Predictive Control
  • Sparsity-Inducing Optimal Control Via Differential Dynamic Programming
  • A Passive Navigation Planning Algorithm for Collision-Free Control of Mobile Robots

Motion Planning: Decision

  • TIE: Time-Informed Exploration for Robot Motion Planning
  • MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches
  • Belief Space Partitioning for Symbolic Motion Planning
  • Anticipatory Planning and Dynamic Lost Person Models for Human-Robot Search and Rescue

Motion Planning: Kinematics and Dynamics

  • The Virtual Wheel Concept for the Singularity-Free Kinematic and Dynamic Modeling of Pseudo-Omnidirectional Vehicles
  • Collision-Free MPC for Legged Robots in Static and Dynamic Scenes
  • Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations
  • Obstacle Avoidance with Kinetic Energy Buffer

Motion Planning: Learning

  • Tra2Tra: Trajectory-To-Trajectory Prediction with a Global Social Spatial-Temporal Attentive Neural Network
  • Remote-Center-Of-Motion Recommendation Toward Brain Needle Intervention Using Deep Reinforcement Learning
  • Autonomous Navigation of an Ultrasound Probe towards Standard Scan Planes with Deep Reinforcement Learning
  • A Knowledge-Based Fast Motion Planning Method through Online Environmental Feature Learning

Motion Planning: Learning-Based Prediction

  • Uncertainty-Aware Non-Linear Model Predictive Control for Human-Following Companion Robot
  • Path Planning in Uncertain Ocean Currents Using Ensemble Forecasts
  • Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control
  • Risk Conditioned Distributional Soft Actor-Critic for Risk-Sensitive Navigation

Motion Planning: Legged Robots

  • Optimization-Inspired Controller Design for Transient Legged Locomotion
  • Multi-Layered Safety for Legged Robots Via Control Barrier Functions and Model Predictive Control
  • Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
  • Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots

Motion Planning: Manipulator

  • Robot Motion Planning with Human-Like Motion Patterns Based on Human Arm Movement Primitive Chains
  • A Model-Free Synchronous Control of Humanoid Robot Finger
  • An Overall Configuration Planning Method of Continuum Hyper-Redundant Manipulators Based on Improved Artificial Potential Field Method
  • Autonomous UAV Exploration of Dynamic Environments Via Incremental Sampling and Probabilistic Roadmap

Motion Planning: Optimization

  • Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints
  • Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation
  • Proximal Policy Optimization with Relative Pearson Divergence
  • Optimal Object Placement for Minimum Discontinuity Non-Revisiting Coverage Task

Motion Planning: Robot Perception

  • Active Information Acquisition under Arbitrary Unknown Disturbances
  • Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector
  • A Robotic Platform to Navigate MRI-Guided Focused Ultrasound System
  • Approximating Constraint Manifolds Using Generative Models for Sampling-Based Constrained Motion Planning

Motion Planning: Semantic Scene

  • Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements
  • Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training
  • Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
  • Cost-To-Go Function Generating Networks for High Dimensional Motion Planning

Motion Planning: Task-Based Planning

  • Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
  • Social Trajectory Planning for Urban Autonomous Surface Vessels (I)
  • A Geometric Folding Pattern for Robot Coverage Path Planning
  • Tree Search-Based Task and Motion Planning with Prehensile and Non-Prehensile Manipulation for Obstacle Rearrangement in Clutter

Motion Prediction

  • Design, Development and Validation of a Dynamic Fall Prediction System for Excavators
  • Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion
  • Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-Term Motion Prediction with Capsule Networks
  • Movement Recognition and Prediction Using DMPs

Motion Prediction in Navigation

  • Occupancy Map Inpainting for Online Robot Navigation
  • Ellipse Loss for Scene-Compliant Motion Prediction
  • Predictive Runtime Monitoring for Mobile Robots Using Logic-Based Bayesian Intent Inference
  • BiTraP: Bi-Directional Pedestrian Trajectory Prediction with Multi-Modal Goal Estimation
  • Graph-SIM: A Graph-Based Spatiotemporal Interaction Modelling for Pedestrian Action Prediction

Motion and Path Planning

  • A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots
  • Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach
  • Fast Replanning Multi-Heuristic A*
  • Generating Large-Scale Trajectories Efficiently Using Double Descriptions of Polynomials
  • Efficient Heuristic Generation for Robot Path Planning with Recurrent Generative Model
  • Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas
  • Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes
  • Towards an Online RRT-Based Path Planning Algorithm forAckermann-Steering Vehicles
  • Chance Constrained Simultaneous Path Planning and Task Assignment with Bottleneck Objective
  • Planning with Attitude
  • Constrained Path Planning and Guidance in General Wind Fields
  • LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
  • AXLE: Computationally-Efficient Trajectory Smoothing Using Factor Graph Chains
  • Computationally-Efficient Roadmap-Based Inspection Planning Via Incremental Lazy Search
  • Multi-Query Serverless Motion Planning for Fog Robotics
  • Composable Geometric Motion Policies Using Multi-Task Pullback Bundle Dynamical Systems
  • A Gravity-Referenced Moving Frame for Vehicle Path Following Applications in 3D
  • Safe, Optimal, Real-Time Trajectory Planning with a Parallel Constrained Bernstein Algorithm (I)
  • A Spatial Searching Method for Planning under Time Dependent Constraints for Eco-Driving in Signalized Traffic Intersection
  • A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs

Multi-Robot Systems

  • Self-Organised Saliency Detection and Representation in Robot Swarms
  • A Practical Method to Cover Evenly a Dynamic Region with a Swarm
  • Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-Robot Systems
  • ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture
  • WRAPP-Up: A Dual-Arm Robot for Intralogistics (I)
  • A Laser-Based Dual-Arm System for Precise Control of Collaborative Robots
  • Near-Optimal Multi-Robot Motion Planning with Finite Sampling
  • Whole-Body Real-Time Motion Planning for Multicopters

Multi-Robotic Systems Award Session

  • Optimal Sequential Stochastic Deployment of Multiple Passenger Robots
  • Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective
  • Learning Multi-Arm Manipulation through Collaborative Teleoperation
  • Vision-Based Self-Assembly for Modular Multirotor Structures

Multi-View Perception

  • Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking
  • Multi-View Sensor Fusion by Integrating Model-Based Estimation and Graph Learning for Collaborative Object Localization
  • Deep Multi-View Depth Estimation with Predicted Uncertainty
  • MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation Using Incremental Viewpoint-Compensated Feature Extraction

Multiple and Distributed Intelligence

  • Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
  • Learning to Herd Agents Amongst Obstacles: Training Robust Shepherding Behaviors Using Deep Reinforcement Learning
  • Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces
  • Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results

Multiple and Distributed Systems

  • PRIMAL2: Pathfinding Via Reinforcement and Imitation Multi-Agent Learning - Lifelong
  • Consensus-Based Control Barrier Function for Swarm
  • Bayesian Disturbance Injection: Robust Imitation Learning of Flexible Policies
  • Active Modular Environment for Robot Navigation
  • Deep Reinforcement Learning of Event-Triggered Communication and Control for Multi-Agent Cooperative Transport
  • Multi-Robot Task Allocation Games in Dynamically Changing Environments
  • An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems
  • Priority Patrolling Using Multiple Agents
  • Command Filtered Tracking Control for High-Order Systems with Limited Transmission Bandwidth
  • Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight Corridor
  • Multi-Scale Cost Volumes Cascade Network for Stereo Matching
  • Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems
  • Distributed Heuristic Multi-Agent Path Finding with Communication
  • Distributed PDOP Coverage Control: Providing Large-Scale Positioning Service Using a Multi-Robot System
  • Autonomous Distributed System for Gait Generation for Single-Legged Modular Robots Connected in Various Configurations (I)
  • A Distributed Two-Layer Framework for Teleoperated Platooning of Fixed-Wing UAVs Via Decomposition and Backstepping
  • Multi-Target Coverage with Connectivity Maintenance Using Knowledge-Incorporated Policy Framework
  • SMMR-Explore: SubMap-Based Multi-Robot Exploration System with Multi-Robot Multi-Target Potential Field Exploration Method
  • Multi-Objective Conflict-Based Search for Multi-Agent Path Finding
  • Simultaneous Calibration of Multi-Coordinates for a Dual-Robot System by Solving the AXB=YCZ Problem (I)
  • The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed
  • Multiplexing Robot Experiments: Theoretical Underpinnings, Conditions for Existence, and Demonstrations
  • SMAC: Symbiotic Multi-Agent Construction
  • Efficient Multi-Robot Inspection of Row Crops Via Kernel Estimation and Region-Based Task Allocation
  • PuzzleBots: Physical Coupling of Robot Swarms
  • Spatial Intention Maps for Multi-Agent Mobile Manipulation
  • Flocking-Segregative Swarming Behaviors Using Gibbs Random Fields
  • Multi-Agent Ergodic Coverage in Urban Environments
  • Flow-FL: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems
  • CHORD: Distributed Data-Sharing Via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments
  • ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators
  • Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
  • An Adaptive Fuzzy Reinforcement Learning Cooperative Approach for the Autonomous Control of Flock Systems
  • Optimal Sequential Stochastic Deployment of Multiple Passenger Robots
  • Online Connectivity-Aware Dynamic Deployment for Multi-Robot System
  • Achieving Multitasking Robots in Multi-Robot Tasks
  • Probabilistic Resilience of Dynamic Multi-Robot Systems
  • Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems
  • Decentralized Nested Gaussian Processes for Multi-Robot Systems
  • Cascaded Filtering Using the Sigma Point Transformation
  • Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles
  • Decentralized Circle Formation Control for Fish-Like Robots in Real-World Via Reinforcement Learning
  • Graph Connectivity Control of a Mobile Robot Network with Mixed Dynamic Multi-Tasks
  • Distributed Rendezvous Control of Networked Uncertain Robotic Systems with Bearing Measurements

Multiple and Distributed Systems: Control

  • Communication-Aware Multi-Robot Coordination with Submodular Maximization
  • Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach (I)
  • Online Flocking Control of UAVs with Mean-Field Approximation
  • Proportional and Reachable Cluster Teleoperation of a Distributed Multi-Robot System

Multiple and Distributed Systems: Monitoring and Planning

  • Planning of Heterogeneous Multi-Agent Systems under Signal Temporal Logic Specifications with Integral Predicates
  • Multi-Agent Aerial Monitoring of Moving Convoys Using Elliptical Orbits
  • LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
  • Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks
  • Affordable Autonomy through Cooperative Sensing and Planning
  • Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components
  • Multi-Robot Dynamical Source Seeking in Unknown Environments
  • Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments

Multiple and Distributed Systems: Perception

  • Adaptation to Team Composition Changes for Heterogeneous Multi-Robot Sensor Coverage
  • Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of Views
  • Safety with Limited Range Sensing Constraints for Fixed Wing Aircraft
  • A Queue-Stabilizing Framework for Networked Multi-Robot Exploration

Multiple and Distributed Systems: Search Algorithm

  • Multi-Robot Gaussian Process Estimation and Coverage: A Deterministic Sequencing Algorithm and Regret Analysis
  • Multi-Agent Receding Horizon Search with Terminal Cost
  • Shaped Policy Search for Evolutionary Strategies Using Waypoints
  • Multi-Agent Active Search Using Realistic Depth-Aware Noise Model

Multiple and Distributed Systems: Task Allocation

  • Fair Robust Assignment Using Redundancy
  • Fast Near-Optimal Heterogeneous Task Allocation Via Flow Decomposition
  • Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
  • Resilient Task Allocation in Heterogeneous Multi-Robot Systems

Navigation and Mapping

  • Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction
  • Autonomous Navigation in Dynamic Environments with Multi-Modal Perception Uncertainties
  • Learning World Transition Model for Socially Aware Robot Navigation
  • Probabilistic Dynamic Crowd Prediction for Social Navigation

Navigation in Humanoids and Animaloids

  • Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments
  • Real-Time Optimal Navigation Planning Using Learned Motion Costs
  • Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps
  • Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers

Novel Applications

  • A General Elimination Strategy for Camera Motion Estimation
  • Group Feature Learning and Domain Adversarial Neural Network for aMCI Diagnosis System Based on EEG
  • Line-Based Automatic Extrinsic Calibration of LiDAR and Camera
  • RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema
  • Sliding Mode Control of the Semi-Active Hover Backpack Based on the Bioinspired Skyhook Damper Model
  • Fast Light Show Design Platform for K-12 Children
  • Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning
  • An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors
  • OpenBot: Turning Smartphones into Robots
  • Quasi-LPV Unknown Input Observer with Nonlinear Outputs: Application to Motorcycles
  • A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments
  • Compact Digital Microrobot Based on Multistable Modules
  • ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics
  • Formal Verification of ROS Based Systems Using a Linear Logic Theorem Prover
  • Fuzz Testing in Behavior-Based Robotics
  • The Robot Household Marathon Experiment
  • A Relative Dynamics Formulation for Hardware-In-The-Loop Simulation of On-Orbit Robotic Missions
  • Structured Prediction for CRiSP Inverse Kinematics Learning with Misspecified Robot Models
  • Rapid Solution of Cosserat Rod Equations Via a Nonlinear Partial Observer
  • The Effects of Robot Cognitive Reliability and Social Positioning on Child-Robot Team Dynamics

Novel Applications: Manipulation

  • ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments
  • Towards Real-Time Interaction with Industrial Robots in the Creative Industries
  • Automated Acquisition of Structured, Semantic Models of Manipulation Activities from Human VR Demonstration
  • A Shared Control Framework for Robotic Telemanipulation Combining Electromyography Based Motion Estimation and Compliance Control

Novel Design Technologies

  • NeuralSim: Augmenting Differentiable Simulators with Neural Networks
  • V-Stability Based Control for Energy-Saving towards Long Range Sailing*
  • Continuous Transition: Improving Sample Efficiency for Continuous Control Problems Via MixUp
  • Effective Crash Recovery of Robot Software Programs in ROS

Object Detection and Segmentation

  • Self-Supervised Visual Terrain Classification from Unsupervised Acoustic Feature Learning (I)
  • Fast Few-Shot Classification by Few-Iteration Meta-Learning
  • Deep Hierarchical Rotation Invariance Learning with Exact Geometry Feature Representation for Point Cloud Classification
  • Fool Me Once: Robust Selective Segmentation Via Out-Of-Distribution Detection with Contrastive Learning

Object Recognition and Segmentation

  • TORNADO-Net: MulTiview tOtal vaRiatioN semAntic Segmentation with Diamond inceptiOn Module
  • Lite-HDSeg: LiDAR Semantic Segmentation Using Lite Harmonic Dense Convolutions
  • Real-Time Semantic Segmentation with Fast Attention
  • A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences
  • Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation
  • YolactEdge: Real-Time Instance Segmentation on the Edge
  • Learning Panoptic Segmentation from Instance Contours
  • 0-MMS: Zero-Shot Multi-Motion Segmentation with a Monocular Event Camera

Odometry

  • Simple but Effective Redundant Odometry for Autonomous Vehicles
  • Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry
  • R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object
  • Autonomous Cooperative Visual Navigation for Planetary Exploration Robots
  • Self-Supervised Learning of LiDAR Odometry for Robotic Applications
  • Tight Integration of Feature-Based Relocalization in Monocular Direct Visual Odometry
  • Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images
  • Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry

Optimal Control for Motion Planning

  • Optimal TCP and Robot Base Placement for a Set of Complex Continuous Paths
  • Control-Tree Optimization: An Approach to MPC under Discrete Partial Observability
  • Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions
  • Gramian-Based Optimal Active Sensing Control under Intermittent Measurements

Optimization

  • A Complete, Accurate and Efficient Solution for the Perspective-N-Line Problem
  • Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA
  • Accelerating Combinatorial Filter Reduction through Constraints
  • Persistent Covering with Latency and Energy Constraints

Optimization and Control

  • Linear-Quadratic Optimal Control in Maximal Coordinates
  • Safe and Efficient Model-Free Adaptive Control Via Bayesian Optimization
  • Data-Efficient Domain Randomization with Bayesian Optimization
  • Adaptive Robust Kernels for Non-Linear Least Squares Problems
  • Equality Constrained Linear Optimal Control with Factor Graphs
  • Robust Optimization-Based Motion Planning for High-DOF Robots under Sensing Uncertainty
  • Optimized Coverage Planning for UV Surface Disinfection
  • Constrained Differential Dynamic Programming Revisited
  • Computing All Solutions to a Discretization-Invariant Formulation for Optimal Mechanism Design
  • Optimal Multi-Manipulator Arm Placement for Maximal Dexterity During Robotics Surgery
  • Balancing Stability and Stiffness through Optimization of Parallel Compliance (I)
  • Direct Policy Optimization Using Deterministic Sampling and Collocation

Optimization for Legged Robots

  • Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
  • Trajectory Optimization of Contact-Rich Motions Using Implicit Differential Dynamic Programming
  • Friction-Driven Three-Foot Robot Inspired by Snail Movement
  • Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers

Optimization for Multi-Robot Systems

  • General-Sum Multi-Agent Continuous Inverse Optimal Control
  • Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization
  • Rapidly Adapting Robot Swarms with Swarm Map-Based Bayesian Optimisation
  • GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization

Optimization in Robotic Design

  • Minimum-Effort Task-Based Design Optimization of Modular Reconfigurable Robots
  • Computational Design of Energy-Efficient Legged Robots: Optimizing for Size and Actuators
  • On the Effect of Robotic Leg Design on Energy Efficiency
  • Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)
  • Multi-Objective Graph Heuristic Search for Terrestrial Robot Design
  • Factor Graph-Based Trajectory Optimization for a Pneumatically-Actuated Jumping Robot
  • MO-BBO: Multi-Objective Bilevel Bayesian Optimization for Robot and Behavior Co-Design
  • Manipulator Task Space Trajectory Tracking with Kinematics and Dynamics Uncertainties

Optimization-Based Motion Planning

  • Multi-Modal Motion Planning Using Composite Pose Graph Optimization
  • Asymptotically Optimal Kinodynamic Planning Using Bundles of Edges
  • CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance
  • Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units
  • Contact-Implicit Trajectory Optimization with Learned Deformable Contacts Using Bilevel Optimization
  • Energy-Optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles
  • Double Meta-Learning for Data Efficient Policy Optimization in Non-Stationary Environments
  • Adversarial Attacks on Optimization Based Planners
  • Strobe: An Acceleration Meta-Algorithm for Optimizing Robot Paths Using Concurrent Interleaved Sub-Epoch Pods
  • Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning
  • Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees
  • Belief Space Planning for Mobile Robots with Range Sensors Using ILQG

Path Planning

  • FT-BSP: Focused Topological Belief Space Planning
  • Path Planning for a Reconfigurable Robot in Extreme Environments
  • AM-RRT*: Informed Sampling-Based Planning with Assisting Metric
  • Complete Path Planning That Simultaneously Optimizes Length and Clearance
  • On Smooth Time-Optimal Trajectory Planning in Twisted String Actuators
  • Fast Swing-Up Trajectory Optimization for a Spherical Pendulum on a 7-DoF Collaborative Robot
  • Surface-Based Path Following Control: Application of Curved Tapes on 3D Objects (I)
  • Human-Robot Collaborative Multi-Agent Path Planning Using Monte Carlo Tree Search and Social Reward Sources

Path Planning for Multiple Mobile Robots

  • Hierarchical and Flexible Traffic Management of Multi-AGV Systems Applied to Industrial Environments
  • Combining Multi-Robot Motion Planning and Goal Allocation Using Roadmaps
  • Asynchronous Reliability-Aware Multi-UAV Coverage Path Planning
  • Distributed Coordinated Path Following Using Guiding Vector Fields

Path Planning for Multiple Robots

  • An Efficient Parallel Self-Assembly Planning Algorithm for Modular Robots in Environments with Obstacles
  • Multi-Robot Informative Path Planning Using a Leader-Follower Architecture
  • Tightly-Coupled Perception and Navigation of Heterogeneous Land-Air Robots in Complex Scenarios
  • Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators (I)

Perception for Manipulation

  • Embodied Reasoning for Discovering Object Properties Via Manipulation
  • Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
  • Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization
  • “What’s This?” - Learning to Segment Unknown Objects from Manipulation Sequences
  • Polyhedral Friction Cone Estimator for Object Manipulation
  • Interpretability in Contact-Rich Manipulation Via Kinodynamic Images
  • Differentiable Simulation for Physical System Identification
  • Few-Shot Model-Based Adaptation in Noisy Conditions

Planning Algorithms for Robotics

  • Minimal Exposure Dubins Orienteering Problem
  • Generalized Nonlinear and Finsler Geometry for Robotics
  • A Fast and Approximate Medial Axis Sampling Technique
  • An Adaptive Method for the Stochastic Orienteering Problem

Pose Estimation

  • Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds
  • Learning a State Representation and Navigation in Cluttered and Dynamic Environments
  • Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee
  • Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection

Probabilistic Method in Motion Planning

  • Planning on a (Risk) Budget: Safe Non-Conservative Planning in Probabilistic Dynamic Environments
  • Avoidance Critical Probabilistic Roadmaps for Motion Planning in Dynamic Environments
  • Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity
  • Planning under Non-Rational Perception of Uncertain Spatial Costs

Reconstruction and Perception

  • Rapid Pose Label Generation through Sparse Representation of Unknown Objects
  • Learning to Predict Repeatability of Interest Points
  • DRACO: Weakly Supervised Dense Reconstruction and Canonicalization of Objects
  • FastFlowNet: A Lightweight Network for Fast Optical Flow Estimation

Rehabilitation and Assistive Robotics

  • A Variable Soft Finger Exoskeleton for Quantifying Fatigue-Induced Mechanical Impedance
  • A Constant-Force End-Effector with Online Force Adjustment for Robotic Ultrasonography
  • Affordance-Aware Handovers with Human Arm Mobility Constraints
  • Wearable Integrated Soft Haptics in a Prosthetic Socket
  • Toward Seamless Transitions between Shared Control and Supervised Autonomy in Robotic Assistance
  • Computing the Positioning Error of an Upper-Arm Robotic Prosthesis from the Observation of Its Wearer’s Posture
  • Intent-Aware Control in Kinematically Redundant Systems: Towards Collaborative Wearable Robots
  • Foot Placement Prediction for Assistive Walking by Fusing Sequential 3D Gaze and Environmental Context
  • Developing of a Rigid-Compliant Finger Joint Exoskeleton Using Topology Optimization Method
  • Wheel-Legged Robotic Limb to Assist Human with Load Carriage: An Application for Environmental Disinfection During COVID-19
  • SpringExo, a Spring-Based Exoskeleton for Providing Knee Assistance: Design, Characterization and Feasibility Study
  • High-Force Fabric-Based Pneumatic Actuators with Asymmetric Chambers and Interference-Reinforced Structure for Soft Wearable Assistive Gloves
  • Verbal Focus-Of-Attention System for Learning-From-Observation
  • Hybrid Model Control of WalkON Suit for Precise and Robust Gait Assistance of Paraplegics
  • A Novel Gait Phase Detection Algorithm for Foot Drop Correction through Optimal Hybrid FES-Orthosis Assistance
  • A Phase-Shifting Based Human Gait Phase Estimation for the Powered Transfemoral Prosthesis
  • Drumming Arm: An Upper-Limb Prosthetic System to Restore Grip Control for a Transradial Amputee Drummer
  • Analysis of the Effect of Common Disturbances on the Safety of a Wearable Tremor Suppression Device
  • FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury
  • Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-Pipe Rigidity
  • Customized Handling of Unintended Interface Operation in Assistive Robots
  • Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support
  • Inverse Optimal Robust Adaptive Controller for Upper Limb Rehabilitation Exoskeletons with Inertia and Load Uncertainties
  • Perceived Usefulness of a Social Robot Augmented Telehealth Platform by Therapists in the United States
  • Nonlinear Disturbance Observer-Based Robust Position Control for Series Elastic Actuator-Driven Robots
  • Composing an Assistive Control Strategy Based on Linear Bellman Combination from Estimated User’s Motor Goal
  • Biomimetic Control of Myoelectric Prosthetic Hand Based on a Lambda-Type Muscle Model
  • Control and Evaluation of Body Weight Support Walker for Overground Gait Training

Rehabilitation and Assistive Robotics: Machine Learning

  • Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding
  • Task-Invariant Learning of Continuous Joint Kinematics During Steady-State and Transient Ambulation Using Ultrasound Sensing
  • Toward Deep Generalization of Peripheral EMG-Based Human-Robot Interfacing: A Hybrid Explainable Solution for NeuroRobotic Systems
  • Kinesthetic Feedback Improves Grasp Performance in Cable-Driven Prostheses

Rehabilitation and Assistive Robotics: Prosthetics and Exoskeletons

  • Real-Time User-Independent Slope Prediction Using Deep Learning for Modulation of Robotic Knee Exoskeleton Assistance
  • Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion
  • Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis
  • Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance

Rehabilitation and Assistive Robotics: Reinforcement Learning

  • Human-Guided Robot Behavior Learning: A GAN-Assisted Preference-Based Reinforcement Learning Approach
  • Protective Policy Transfer
  • Natural Walking with Musculoskeletal Models Using Deep Reinforcement Learning
  • A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton

Reinforcement Learning for Robotics

  • Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives
  • Secure Planning against Stealthy Attacks Via Model-Free Reinforcement Learning
  • Harmonic-Based Optimal Motion Planning in Constrained Workspaces Using Reinforcement Learning
  • Reward Learning from Very Few Demonstrations (I)
  • Hierarchies of Planning and Reinforcement Learning for Robot Navigation
  • Context-Aware Safe Reinforcement Learning for Non-Stationary Environments
  • Deep Learning Assisted Robotic Magnetic Anchored and Guided Endoscope for Real-Time Instrument Tracking
  • Incorporating Multi-Context into the Traversability Map for Urban Autonomous Driving Using Deep Inverse Reinforcement Learning
  • Quantification of Joint Redundancy Considering Dynamic Feasibility Using Deep Reinforcement Learning
  • FISAR: Forward Invariant Safe Reinforcement Learning with a Deep Neural Network-Based Optimizer
  • Coding for Distributed Multi-Agent Reinforcement Learning
  • Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads
  • Transfer Reinforcement Learning across Homotopy Classes

Reinforcement Learning in Navigation

  • A Novel Hybrid Approach for Fault-Tolerant Control of UAVs Based on Robust Reinforcement Learning
  • Deep Probabilistic Feature-Metric Tracking
  • Using Reinforcement Learning to Create Control Barrier Functions for Explicit Risk Mitigation in Adversarial Environments
  • Edge Computing in 5G for Drone Navigation: What to Offload?

Robot Safety

  • Encoding Defensive Driving As a Dynamic Nash Game
  • Enhancing Safety of Students with Mobile Air Filtration During School Reopening from COVID-19
  • Probabilistic Safety Assured Adaptive Merging Control for Autonomous Vehicles
  • Negotiating Visibility for Safe Autonomous Navigation in Occluding and Uncertain Environments

Robot Vision Award Session

  • CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth
  • Interval-Based Visual-LiDAR Sensor Fusion
  • OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving
  • VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

Robotic Learning with Visual Signal

  • Visionary: Vision Architecture Discovery for Robot Learning
  • Zero-Shot Policy Learning with Spatial Temporal Reward Decomposition on Contingency-Aware Observation
  • Approximate Inverse Reinforcement Learning from Vision-Based Imitation Learning
  • Efficient Robotic Object Search Via HIEM: Hierarchical Policy Learning with Intrinsic-Extrinsic Modeling

Robotic Manipulation

  • Reward Conditioned Neural Movement Primitives for Population-Based Variational Policy Optimization
  • Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills
  • Optimal Deep Learning for Robot Touch (I)
  • Learning Optimal Impedance Control During Complex 3D Arm Movements

Robotic Mechanisms and Design

  • Air-Hydraulic Servo Booster Toward Submersible Water-Driven Robots
  • Joint Mechanical Design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle Via Collaborative Co-Evolution
  • Development of Cable-Driven Anthropomorphic Robot Hand
  • Origami-Inspired Snap-Through Bistability in Parallel and Curved Mechanisms through the Inflection of Degree Four Vertexes
  • Applications: Twisted String Actuation-Based Compact Automatic Transmission
  • Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance
  • A Novel Variable Resolution Torque Sensor Based on Variable Stiffness Principle
  • A Motion Estimation Filter for Inertial Measurement Unit with On-Board Ferromagnetic Materials
  • Energy Saving of Schooling Robotic Fish in Three Dimensional Formations

Robotic Perception

  • HDROmni: Optical Extension of Dynamic Range for Panoramic Robot Vision
  • The GRIFFIN Perception Dataset: Bridging the Gap between Flapping-Wing Flight and Robotic Perception
  • OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving
  • Offline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods
  • Self-Guided Instance-Aware Network for Depth Completion and Enhancement
  • World-In-The-Loop Simulation for Autonomous Systems Validation
  • RetinaGAN: An Object-Aware Approach to Sim-To-Real Transfer
  • A Framework for Multisensory Foresight for Embodied Agents
  • 6D Object Pose Estimation with Pairwise Compatible Geometric Features
  • Robust Skin-Feature Tracking in Free-Hand Video from Smartphone or Robot-Held Camera, to Enable Clinical-Tool Localization and Guidance
  • In-Hand Object-Dynamics Inference Using Tactile Fingertips (I)
  • From Multi-Target Sensory Coverage to Complete Sensory Coverage: An Optimization-Based Robotic Sensory Coverage Approach

Robotic Percetpion

  • A Minimally Supervised Approach Based on Variational Autoencoders for Anomaly Detection in Autonomous Robots
  • Faster R-CNN-Based Decision Making in a Novel Adaptive Dual-Mode Robotic Anchoring System
  • Hearing What You Cannot See: Acoustic Vehicle Detection Around Corners
  • Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models

Robotic Vision

  • Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images
  • STA-VPR: Spatio-Temporal Alignment for Visual Place Recognition
  • Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose Estimation
  • Voxelized GICP for Fast and Accurate 3D Point Cloud Registration
  • Generic Hand-Eye Calibration of Uncertain Robots
  • In-Situ Translational Hand-Eye Calibration of Laser Profile Sensors Using Arbitrary Objects
  • Autonomous UAV Safety by Visual Human Crowd Detection Using Multi-Task Deep Neural Networks
  • CloudAAE: Learning 6D Object Pose Regression with On-Line Data Synthesis on Point Clouds

Robust Control

  • No Need for Interactions: Robust Model-Based Imitation Learning Using Neural ODE
  • Robust Trajectory Planning with Parametric Uncertainties
  • Robust Policy Search for Robot Navigation
  • Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Robust/Optimal Control

  • Towards Robust One-Shot Task Execution Using Knowledge Graph Embeddings
  • An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control
  • RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
  • Sliding on Manifolds: Geometric Attitude Control with Quaternions

SLAM

  • Hybrid Bird’s-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking
  • Collaborative Visual Inertial SLAM for Multiple Smart Phones
  • MS*: A New Exact Algorithm for Multi-Agent Simultaneous Multi-Goal Sequencing and Path Finding
  • Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-Scale Environments
  • Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM
  • Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements
  • LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence
  • Compositional and Scalable Object SLAM
  • Markov Parallel Tracking and Mapping for Probabilistic SLAM
  • Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor
  • Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features
  • Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment
  • Online Range-Based SLAM Using B-Spline Surfaces
  • RGB-D SLAM with Structural Regularities
  • Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization
  • RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects
  • MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square
  • Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data
  • A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures
  • Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization
  • TT-SLAM: Dense Monocular SLAM for Planar Environments
  • OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications
  • DOT: Dynamic Object Tracking for Visual SLAM
  • DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences (I)

SLAM with Monocular Camera

  • CAROM - Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures
  • A Front-End for Dense Monocular SLAM Using a Learned Outlier Mask Prior
  • HyperMap: Compressed 3D Map for Monocular Camera Registration
  • Bidirectional Attention Network for Monocular Depth Estimation

Segmentation and Recognition

  • Deep Balanced Learning for Long-Tailed Facial Expressions Recognition
  • AU-Expression Knowledge Constrained Representation Learning for Facial Expression Recognition
  • Covariance Self-Attention Dual Path UNet for Rectal Tumor Segmentation
  • Fabric Defect Detection Using Tactile Information

Semantic Planning

  • Towards Real-Time Semantic RGB-D SLAM in Dynamic Environments
  • Real-Time Robot Path Planning Using Rapid Visible Tree
  • Semantically Guided Multi-View Stereo for Dense 3D Road Mapping
  • Spatial Reasoning from Natural Language Instructions for Robot Manipulation

Semantic Scene Understanding

  • Semantic SLAM with Autonomous Object-Level Data Association
  • Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
  • Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR
  • Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search

Semantics Localization

  • Point Set Registration with Semantic Region AssociationUsing Cascaded Expectation Maximization
  • A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge
  • RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving
  • Visual Semantic Localization Based on HD Map for Autonomous Vehicles in Urban Scenarios

Sensing in Manipulation

  • Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
  • Needle Tip Tracking in 2D Ultrasound Based on Improved Compressive Tracking and Adaptive Kalman Filter
  • Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning
  • Contact Feature Recognition Based on MFCC of Force Signals

Sensor Fusion

  • DSEC: A Stereo Event Camera Dataset for Driving Scenarios
  • Interval-Based Visual-LiDAR Sensor Fusion
  • Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation
  • EagerMOT: 3D Multi-Object Tracking Via Sensor Fusion

Service Robotics

  • A Robotic Defect Inspection System for Free-Form Specular Surfaces
  • Keeping Social Distance During the Pandemic: Contactless Meal Order and Takeout Service Via AI-Assisted Smart Robots
  • Serverless Architecture for Service Robot Management System
  • Can Non-Humanoid Social Robots Reduce Workload of Special Educators : An Online and In-Premises Field Study
  • Heart Position Estimation Based on Bone Distribution Toward Autonomous Robotic Fetal Ultrasonography
  • Chip-Less Wireless Sensing of Origami Structural Morphing under Various Mechanical Stimuli Using Home-Based Ink-Jet Printable Materials
  • A 2-Dimensional Branch-And-Bound Algorithm for Hand-Eye Self-Calibration of SCARA Robots
  • Long-Term Multiple Time-Constant Model of a Spring Roll Dielectric Elastomer Actuator under Dynamic Loading
  • A Wheeled V-Shaped In-Pipe Robot with Clutched Underactuated Joints
  • Walking Trajectory Design of Hydraulic Legged Robot with Limited Powered Pump
  • Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
  • An Overconstrained Robotic Leg with Coaxial Quasi-Direct Drives for Omni-Directional Ground Mobility
  • Not Your Grandmother’s Toolbox – the Robotics Toolbox Reinvented for Python
  • Multiple-Place Swarm Foraging with Dynamic Robot Chains
  • Collaborative Learning of Multiple-Discontinuous-Image Saliency Prediction for Drone Exploration
  • Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances
  • S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs
  • HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler (I)
  • Multimodal Anomaly Detection Based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots
  • Route Coverage Testing for Autonomous Vehicles Via Map Modeling
  • A Data-Set and a Method for Pointing Direction Estimation from Depth Images for Human-Robot Interaction and VR Applications
  • Learning-Based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping
  • SeqNet: Learning Descriptors for Sequence-Based Hierarchical Place Recognition
  • Extendable Navigation Network Based Reinforcement Learning for Indoor Robot Exploration

Service Robotics Award Session

  • Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing
  • Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
  • Compact Flat Fabric Pneumatic Artificial Muscle (ffPAM) for Soft Wearable Robotic Devices
  • BADGR: An Autonomous Self-Supervised Learning-Based Navigation System

Simulation and Control

  • Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
  • Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects Via Physical Simulations
  • Visualization of Stable Heteroclinic Channel-Based Movement Primitives
  • Stable Learning-Based Tracking Control of Underactuated Balance Robots

Soft Robotics

  • Elevation Control of a Soft Jumping Robot
  • A Soft-Rigid Air-Propelled Pipe-Climbing Robot
  • A Versatile Pneumatic Actuator Based on Scissor Mechanisms: Design, Modeling, and Experiments
  • A Lightweight Soft Gripper Driven by Self-Sensing Super-Coiled Polymer Actuator
  • Design and Analysis of a Novel Lightweight, Versatile Soft-Rigid Robot
  • Kinetostatics for Variable Cross-Section Continuum Manipulators
  • Numerical Simulation of an Untethered Omni-Directional Star-Shaped Swimming Robot
  • Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration (I)
  • Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization
  • Reconstruction of Backbone Curves for Snake Robots
  • Hybrid Vine Robot with Internal Steering-Reeling Mechanism Enhances System-Level Capabilities
  • A Dynamics Simulator for Soft Growing Robots
  • StRETcH: A Soft to Resistive Elastic Tactile Hand
  • An Active Palm Enhances Dexterity of Soft Robotic In-Hand Manipulation
  • Elastica: A Compliant Mechanics Environment for Soft Robotic Control
  • Compensating for Unmodeled Forces Using Neural Networks in Soft Manipulator Planning
  • A Legged Soft Robot Platform for Dynamic Locomotion
  • States and Contact Forces Estimation for a Fabric-Reinforced Inflatable Soft Robot
  • Acoustic Communication and Sensing for Inflatable Modular Soft Robots
  • Cooperative Collision Avoidance Control of Servo/IPMC Driven Robotic Fish with Back-Relaxation Effect

Soft Robotics: Actuation

  • Amplifying Laminar Jamming for Soft Robots by Geometry-Induced Rigidity
  • Long Short Term Memory Model Based Position-Stiffness Control of Antagonistically Driven Twisted-Coiled Polymer Actuators Using Model Predictive Control
  • Expending Pouch Motor Patterns for Programmable Soft Bending Actuation (I)
  • Towards a Multi-Imager Compatible Continuum Robot with Improved Dynamics Driven by Modular SMA

Soft Robotics: Analysis and Modeling

  • Screw Theory-Based Stiffness Analysis for a Fluidic-Driven Soft Robotic Manipulator
  • Liquid Metal Logic for Soft Robotics
  • Minimum Directed Information: A Design Principle for Compliant Robots
  • Model and Validation of a Highly Extensible and Tough Actuator Based on a Ballooning Membrane

Soft Robotics: Bionic Robots

  • SomBot: A Bio-Inspired Dynamic Somersaulting Soft Robot
  • A Bioinspired Composite Finger with Self-Locking Joints
  • A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction (I)
  • Design and Modeling of a Biomimetic Gastropod-Like Soft Robot with Wet Adhesive Locomotion

Soft Robotics: Control

  • Deep Reinforcement Learning Framework for Underwater Locomotion of Soft Robot
  • A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation
  • Compact Flat Fabric Pneumatic Artificial Muscle (ffPAM) for Soft Wearable Robotic Devices
  • An Autonomous Robotic Flexible Endoscope System with a DNA-Inspired Continuum Mechanism
  • Planning for a Tight Squeeze: Navigation of Morphing Soft Robots in Congested Environments
  • Soft Robot Optimal Control Via Reduced Order Finite Element Models
  • Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators
  • Design and Optimization of a Dextrous Robotic Finger: Incorporating a Sliding, Rotating, and Soft-Bending Mechanism While Maximizing Dexterity and Minimizing Dimensions (I)

Soft Robotics: Crawling Robots

  • Design and Experiment of a Pneumatic Soft Climbing Robot
  • Starfish Inspired Milli Soft Robot with Omnidirectional Adaptive Locomotion Ability
  • Surface Robots Based on S-Isothermic Surfaces
  • Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-And-Place Objects

Soft Robotics: Design

  • Highly Maneuverable Eversion Robot Based on Fusion of Function with Structure
  • Automated Routing of Muscle Fibers for Soft Robots (I)
  • A Fluidic Soft Robot for Needle Guidance and Motion Compensation in Intratympanic Steroid Injections
  • B: Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses

Soft Robotics: Mechanism Design

  • Soft Twisting Pneumatic Actuators Enabled by Freeform Surface Design
  • A Dual-Mode Actuator for Soft Robotic Hand
  • Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine (I)
  • Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump

Soft Sensors and Materials

  • A Soft Robotic Gripper with Anti-Freezing Ionic Hydrogel-Based Sensors for Learning-Based Object Recognition
  • Adaptive Tracking Control of Soft Robots Using Integrated Sensing Skins and Recurrent Neural Networks
  • WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection
  • Embedded Neuromorphic Architecture for Form + Function 4-D Printing of Robotic Materials: Emulation of Optimized Neurons

Stereo Vision Applications

  • Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation
  • Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments
  • Learning the Next Best View for 3D Point Clouds Via Topological Features
  • A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

Surgical Continuum Robots

  • Towards Collision Detection, Localization and Force Estimation for a Soft Cable-Driven Manipulator
  • Kinematic Analysis of a Flexible Surgical Instrument for Robot-Assisted Minimally Invasive Surgery
  • Hybrid Adaptive Control Strategy for Continuum Surgical Robot under External Load
  • A Multi-Contact-Aided Continuum Manipulator with Anisotropic Shapes

Surgical Robotics

  • A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance
  • Learning Domain Adaptation with Model Calibration for Surgical Report Generation in Robotic Surgery
  • Tele-Operative Low-Cost Robotic Lung Ultrasound Scanning Platform for Triage of COVID-19 Patients
  • Data-Driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-Based Depth Perception
  • Design and Implementation of a Novel, Intrinsically Safe Rigid-Flexible Coupling Manipulator for COVID-19 Oropharyngeal Swab Sampling
  • Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation
  • Towards a Wristed Percutaneous Robot with Variable Stiffness for Pericardiocentesis
  • Corneal Suturing Robot Capable of Producing Sutures with Desired Shape for Corneal Transplantation Surgery (I)
  • Model-Based Design and Digital Implementation to Improve Control of the Da Vinci Research Kit Telerobotic Surgical System
  • Shared Control Strategy for Needle Insertion into Deformable Tissue Using Inverse Finite Element Simulation
  • An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation
  • Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery
  • Parallelism in Autonomous Robotic Surgery
  • A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure
  • Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant
  • A Robotic System for Implant Modification in Single-Stage Cranioplasty
  • Recovering Stress Distribution on Deformable Tissue for a Magnetic Actuated Insertable Laparoscopic Surgical Camera
  • A Novel Robotic System for Ultrasound-Guided Peripheral Vascular Localization
  • Real-To-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy
  • Toward Force Estimation in Robot-Assisted Surgery Using Deep Learning with Vision and Robot State
  • Multibranch Learning for Angiodysplasia Segmentation with Attention-Guided Networks and Domain Adaptation
  • Model-Predictive Control of Blood Suction for Surgical Hemostasis Using Differentiable Fluid Simulations
  • Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection
  • Learning Invariant Representation of Tasks for Robust Surgical State Estimation
  • Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization
  • MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection
  • Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection
  • Design and Development of a Robotic Bioreactor for in Vitro Tissue Engineering

Surgical Robots

  • Cutting Depth Compensation Based on Milling Acoustic Signal for Robotic-Assisted Laminectomy
  • Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current
  • Fast Localization and Segmentation of Tissue Abnormalities by Autonomous Robotic Palpation
  • Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction
  • Motion-Aware Robotic 3D Ultrasound
  • A 3D Printed Mechanical Model of the Knee to Detect and Avoid Total Knee Replacement Surgery Errors
  • Detecting Blindspots in Colonoscopy by Modelling Curvature
  • Out-Of-Plane Corrections for Autonomous Robotic Breast Ultrasound Acquisitions

Tactile Sensing for Manipulation

  • Improved Learning of Robot Manipulation Tasks Via Tactile Intrinsic Motivation
  • Exploiting Distributed Tactile Sensors to Drive a Robot Arm through Obstacles
  • Slip Detection for Grasp Stabilisation with a Multi-Fingered Tactile Robot Hand (I)
  • Grasp Detection for Robot to Human Handovers Using Capacitive Sensors

Tactile Sensing in Surgical Appplications

  • Foot Control of a Surgical Laparoscopic Gripper Via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control
  • Providing Automatic Feedback to Trainees after Automatic Evaluation
  • An Abdominal Phantom with Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training (I)
  • A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation Training

Task Planning

  • Productive Multitasking for Industrial Robots
  • Automated Planning of Workcell Layouts Considering Task Sequences
  • Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line
  • Multi-Goal Path Planning Using Multiple Random Trees
  • Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning
  • Meta-Adversarial Inverse Reinforcement Learning for Decision-Making Tasks
  • Min-Max Entropy Inverse RL of Multiple Tasks
  • Task Planning on Stochastic Aisle Graphs for Precision Agriculture
  • Deep Learning for Robotic Mass Transport Cloaking (I)
  • Collective Transport of Unconstrained Objects Via Implicit Coordination and Adaptive Compliance
  • Approximate Solutions to a Class of Reachability Games
  • Reactive Task and Motion Planning under Temporal Logic Specifications

Time Delay Systems

  • Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization Enhancement
  • DESERTS: Delay-Tolerant Semi-Autonomous Robot Teleoperation for Surgery
  • Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner
  • The Effect of Input Signals Time-Delay on Stabilizing Traffic with Autonomous Vehicles

Topology-Based Motion Planning

  • Homotopy-Driven Exploration of Human-Made Spaces Using Signs
  • A Topologically Inspired Path-Following Method with Intermittent State Feedback
  • Graph-Based Topological Exploration Planning in Large-Scale 3D Environments
  • Roadmap Learning for Probabilistic Occupancy Maps with Topology-Informed Growing Neural Gas

Trajectory Optimization

  • Trajectory Optimisation in Learned Multimodal Dynamical Systems Via Latent-ODE Collocation
  • Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
  • Coupled Mobile Manipulation Via Trajectory Optimization with Free Space Decomposition
  • Designing Fast and Smooth Trajectories in Collaborative Workstations

Trajectory Planning

  • Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
  • Online DCM Trajectory Adaptation for Push and Stumble Recovery During Humanoid Locomotion
  • Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning
  • Exploring Dynamic Context for Multi-Path Trajectory Prediction

Transfer Learning

  • Benchmarking Domain Randomisation for Visual Sim-To-Real Transfer
  • There and Back Again: Learning to Simulate Radar Data for Real-World Applications
  • Generation of GelSight Tactile Images for Sim2Real Learning
  • Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-Driven Robotics

Underactuated and Stable Control

  • Operational Space Control for Planar PA^{N-1} Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming
  • A Stable Control Strategy for Industrial Robots with External Feedback Loop
  • Distance-Based Formation Control with Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems
  • Operational Space Control under Actuator Bandwidth Limitation

Unmanned Aerial Vehicle Award Session

  • Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles
  • Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles
  • Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller
  • Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators

Vision and Perception

  • Toward a Unified Framework for Point Set Registration
  • A Heteroscedastic Likelihood Model for Two-Frame Optical Flow
  • Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment
  • Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation
  • Robot Motion Control with Compressive Feedback
  • Action Sequencing Using Visual Permutations
  • MFPN-6D : Real-Time One-Stage Pose Estimation of Objects on RGB Images
  • A Novel Tactile Feedback System with On-Line Texture Decoding and Direct-Texture-Feedback
  • PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation
  • Real-Time Mesh Extraction from Implicit Functions Via Direct Reconstruction of Decision Boundary
  • Uncertainty-Aware Fast Curb Detection Using Convolutional Networks in Point Clouds
  • OCR-Based Inventory Management Algorithms Robust to Damaged Images
  • Visual Place Recognition Via Local Affine Preserving Matching
  • View-Expansive Microscope System with Real-Time High-Resolution Imaging for Simplified Microinjection Experiments
  • Leveraging Enhanced Virtual Reality Methods and Environments for Efficient, Intuitive, and Immersive Teleoperation of Robots
  • End-To-End Multi-Instance Robotic Reaching from Monocular Vision
  • FG-Conv: Large-Scale LiDAR Point Clouds Understanding Leveraging Feature Correlation Mining and Geometric-Aware Modeling
  • Exploiting Local Geometry for Feature and Graph Construction for Better 3D Point Cloud Processing with Graph Neural Networks
  • Elevation Angle Estimation in 2D Acoustic Images Using Pseudo Front View
  • Stereo Object Matching Network

Vision and Perception: 3D Estimation

  • Robust Improvement in 3D Object Landmark Inference for Semantic Mapping
  • YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection
  • UniFuse: Unidirectional Fusion for 360 Panorama Depth Estimation
  • Depth Estimation under Motion with Single Pair Rolling Shutter Stereo Images

Vision and Perception: Action Recognition

  • Maintaining a Reliable World Model Using Action-Aware Perceptual Anchoring
  • Modeling Affect-Based Intrinsic Rewards for Exploration and Learning
  • A Multi-Level Network for Human Pose Estimation
  • Open-Set Intersection Intention Prediction for Autonomous Driving
  • Pose Refinement Graph Convolutional Network for Skeleton-Based Action Recognition
  • Attentional Learn-Able Pooling for Human Activity Recognition
  • Real-Time Instance Detection with Fast Incremental Learning
  • 3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs

Vision and Perception: Applications

  • LiDAR Few-Shot Domain Adaptation Via Integrated CycleGAN and 3D Object Detector with Joint Learning Delay
  • Three-Filters-To-Normal: An Accurate and Ultrafast Surface Normal Estimator
  • Device Design and System Integration of a Two-Axis Water-Immersible Micro Scanning Mirror (WIMSM) to Enable Dual-Modal Optical and Acoustic Communication and Ranging for Underwater Vehicles
  • Vanishing Point Aided LiDAR-Visual-Inertial Estimator
  • Fine-Grained Activity Recognition for Assembly Videos
  • Cooperative Visual-Inertial Odometry
  • Vision-Based Self-Assembly for Modular Multirotor Structures
  • Evaluation of a Drone-Based Camera Calibration Approach for Hard-To-Reach Cameras

Vision and Perception: Auto-Calibration

  • Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras
  • A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration
  • Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
  • Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications

Vision and Perception: Autonomous Vehicle Navigation

  • Learning Robust Driving Policies without Online Exploration
  • SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation
  • Ego-Centric Stereo Navigation Using Stixel World
  • PyTouch: A Machine Learning Library for Touch Processing
  • ViNG: Learning Open-World Navigation with Visual Goals
  • MaAST: Map Attention with Semantic Transformers for Efficient Visual Navigation
  • A Few Shot Adaptation of Visual Navigation Skills to New Observations Using Meta-Learning
  • Hierarchical Cross-Modal Agent for Robotics Vision-And-Language Navigation
  • Efficient and Robust LiDAR-Based End-To-End Navigation
  • Visual Navigation among Humans with Optimal Control As a Supervisor
  • Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera
  • Learning Composable Behavior Embeddings for Long-Horizon Visual Navigation

Vision and Perception: Detection and Recognition

  • A Cascaded LiDAR-Camera Fusion Network for Road Detection
  • GPR-RCNN: An Algorithm of Subsurface Defect Detection for Airport Runway Based on GPR
  • On the Challenges of Open World Recognition under Shifting Visual Domains
  • CentroidReg: A Global-To-Local Framework for Partial Point Cloud Registration
  • Adversarially Trained Hierarchical Feature Extractor for Vehicle Re-Identification
  • VIC-Net: Voxelization Information Compensation Network for Point Cloud 3D Object Detection
  • Semantic Reinforced Attention Learning for Visual Place Recognition
  • Towards Efficient Multiview Object Detection with Adaptive Action Prediction
  • Joint Representation of Temporal Image Sequences and Object Motion for Video Object Detection
  • Targetless Multiple Camera-LiDAR Extrinsic Calibration Using Object Pose Estimation
  • Recognition and Prediction of Surgical Actions Based on Online Robotic Tool Detection
  • Target-Style-Aware Unsupervised Domain Adaptation for Object Detection
  • Real-Time 3D-Lidar, MMW Radar and GPS/IMU Fusion Based Vehicle Detection and Tracking in Unstructured Environment
  • Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery
  • In Defense of Knowledge Distillation for Task Incremental Learning and Its Application in 3D Object Detection
  • City-Scale Scene Change Detection Using Point Clouds
  • VelocityNet: Motion-Driven Feature Aggregation for 3D Object Detection in Point Cloud Sequences
  • Don’t Blindly Trust Your CNN: Towards Competency-Aware Object Detection by Evaluating Novelty in Open-Ended Environments
  • What My Motion Tells Me about Your Pose: A Self-Supervised Monocular 3D Vehicle Detector
  • Self-Supervised Person Detection in 2D Range Data Using a Calibrated Camera

Vision and Perception: Grasping

  • RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images
  • Hybrid Vision/Force Control for Interaction with the Bottle-Like Object
  • REGNet: REgion-Based Grasp Network for End-To-End Grasp Detection in Point Clouds
  • Visual Servoing of a Cable-Driven Soft Robot Manipulator with Shape Feature
  • Binary-LoRAX: Low-Latency Runtime Adaptable XNOR Classifier for Semi-Autonomous Grasping with Prosthetic Hands
  • Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
  • Residual Squeeze-And-Excitation Network with Multi-Scale Spatial Pyramid Module for Fast Robotic Grasping Detection
  • End-To-End Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB

Vision and Perception: Identification and Prediction

  • Efficient Real-Time Inference in Temporal Convolution Networks
  • F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning
  • Deformable Linear Object Prediction Using Locally Linear Latent Dynamics
  • Visual-Inertial Filtering for Human Walking Quantification

Vision and Perception: Image Segmentation

  • Discriminative Asymmetric Learning for Efficient Surgical Instrument Parsing
  • One to Many: Adaptive Instrument Segmentation Via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Video
  • Target-Targeted Domain Adaptation for Unsupervised Semantic Segmentation
  • Point Cloud Segmentation Via Edge-Fused Local Graph Learning
  • CABiNet: Efficient Context Aggregation Network for Low-Latency Semantic Segmentation
  • Efficient RGB-D Semantic Segmentation for Indoor Scene Analysis
  • Plane Segmentation in Organized Point Clouds Using Flood Fill
  • Semantic Feature Mining for 3D Object Classification and Segmentation
  • PlaneSegNet: Fast and Robust Plane Estimation Using a Single-Stage Instance Segmentation CNN
  • Fast Object Segmentation Learning with Kernel-Based Methods for Robotics
  • Diffuser: Multi-View 2D-To-3D Label Diffusion for Semantic Scene Segmentation
  • A Benchmark for LiDAR-Based Panoptic Segmentation Based on KITTI

Vision and Perception: Learning

  • Object-Centric Video Prediction without Annotation
  • Generalization in Reinforcement Learning by Soft Data Augmentation
  • Test-Time Training for Deformable Multi-Scale Image Registration
  • Multi-GAT: A Graphical Attention-Based Hierarchical Multimodal Representation Learning Approach for Human Activity Recognition

Vision and Perception: Measurement

  • Learning a Geometric Representation for Data-Efficient Depth Estimation Via Gradient Field and Contrastive Loss
  • Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image
  • Identifying Reflected Images from Object Detector in Indoor Environment Utilizing Depth Information
  • PENet: Towards Precise and Efficient Image Guided Depth Completion

Vision and Perception: Modeling

  • Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models
  • ScrewNet: Category-Independent Articulation Model Estimation from Depth Images Using Screw Theory
  • Visual Perspective Taking for Opponent Behavior Modeling
  • Learning Tactile Models for Factor Graph-Based Estimation

Vision and Perception: Multi-Agents

  • Congestion-Aware Multi-Agent Trajectory Prediction for Collision Avoidance
  • 3D Multi-Object Tracking Using Random Finite Set-Based Multiple Measurement Models Filtering (RFS-M^3) for Autonomous Vehicles
  • Joint Object Detection and Multi-Object Tracking with Graph Neural Networks
  • Droidlet: Modular, Heterogenous, Multi-Modal Agents

Vision and Perception: Navigation

  • A Real-Time Multi-Task Framework for Guidewire Segmentation and Endpoint Localization in Endovascular Interventions
  • Towards Adjoint Sensing and Acting Schemes and Interleaving Task Planning for Robust Robot Plan
  • Autonomous Multi-View Navigation Via Deep Reinforcement Learning
  • Towards Multi-Modal Perception-Based Navigation: A Deep Reinforcement Learning Method
  • VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms
  • Embodied Visual Navigation with Automatic Curriculum Learning in Real Environments
  • An Event-Based Vision Dataset for Visual Navigation Tasks in Agricultural Environments
  • Visual Navigation in Real-World Indoor Environments Using End-To-End Deep Reinforcement Learning

Vision and Perception: Navigation and Autonomous Driving

  • Robust Navigation for Racing Drones Based on Imitation Learning and Modularization
  • Learning Interpretable End-To-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation
  • Cross-Modal Contrastive Learning of Representations for Navigation Using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions
  • Task-Driven Deep Image Enhancement Network for Autonomous Driving in Bad Weather

Vision and Perception: Optimization

  • Optimizing Keypoint-Based Single-Shot Camera-To-Robot Pose Estimation through Shape Segmentation
  • Handling Object Symmetries in CNN-Based Pose Estimation
  • Efficient and Robust Orientation Estimation of Strawberries for Fruit Picking Applications
  • Probabilistic Terrain Estimation for Autonomous Off-Road Driving
  • VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough
  • ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants
  • CLIPPER: A Graph-Theoretic Framework for Robust Data Association
  • Monitoring Fatigue-Induced Changes in Performance During Robot-Mediated Dynamic Movement

Vision and Perception: Point Cloud

  • Evaluating Initialization Methods for Discriminative and Fast-Converging HGMM Point Clouds
  • Navigable Space Construction from Sparse Noisy Point Clouds
  • Point Set Voting for Partial Point Cloud Analysis
  • LRGNet: Learnable Region Growing for Class-Agnostic Point Cloud Segmentation

Vision and Perception: Pose Estimation

  • AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild
  • PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift
  • Investigations on Output Parameterizations of Neural Networks for Single Shot 6D Object Pose Estimation
  • L6DNet: Light 6 DoF Network for Robust and Precise Object Pose Estimation with Small Datasets

Vision and Perception: Prediction

  • Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments
  • Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast
  • LaserFlow: Efficient and Probabilistic Object Detection and Motion Forecasting
  • Efficient Map Prediction Via Low-Rank Matrix Completion

Vision and Perception: Rendering

  • Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss
  • Multi-View Object Pose Refinement with Differentiable Renderer
  • Efficient Haptic Rendering of Regolith
  • Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints

Vision and Perception: Segmentation

  • A Large-Scale Dataset for Benchmarking Elevator Button Segmentation and Character Recognition
  • Neighborhood Spatial Aggregation Based Efficient Uncertainty Estimation for Point Cloud Semantic Segmentation
  • A Two-Stage Unsupervised Approach for Low Light Image Enhancement
  • S3Net: 3D LiDAR Sparse Semantic Segmentation Network
  • PointMoSeg: Sparse Tensor-Based End-To-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving
  • Referring Image Segmentation Via Language-Driven Attention
  • GPU-Efficient Dense Convolutional Network for Real-Time Semantic Segmentation
  • Feature Enhanced Projection Network for Zero-Shot Semantic Segmentation

Vision and Perception: Self-Supervised Learning

  • Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation
  • A Self-Supervised Near-To-Far Approach for Terrain-Adaptive Off-Road Autonomous Driving
  • A Self-Supervised Learning System for Object Detection in Videos Using Random Walks on Graphs
  • Adversarial Differentiable Data Augmentation for Autonomous Systems

Vision and Perception: Sensing

  • A Tactile Sensing Foot for Single Robot Leg Stabilization
  • High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor with Dense Random Color Pattern
  • Looking Farther in Parametric Scene Parsing with Ground and Aerial Imagery
  • Fast Motion Understanding with Spatiotemporal Neural Networks and Dynamic Vision Sensors

Vision and Perception: Sensor Fusion

  • Fingertip Pulse-Echo Ultrasound and Optoacoustic Dual-Modal and Dual Sensing Mechanisms Near-Distance Sensor for Ranging and Material Sensing in Robotic Grasping
  • Development of a Perception System for an Autonomous Surface Vehicle Using Monocular Camera, LIDAR, and Marine RADAR
  • Detecting and Mapping Trees in Unstructured Environments with a Stereo Camera and Pseudo-Lidar
  • Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion

Vision and Perception: Stastistical Method

  • Out-Of-Distribution Robustness with Deep Recursive Filters
  • ZePHyR: Zero-Shot Pose Hypothesis Rating
  • CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy
  • A Successive-Elimination Approach to Adaptive Robotic Source Seeking (I)

Vision and Perception: Tracking

  • Tracking Partially-Occluded Deformable Objects While Enforcing Geometric Constraints
  • Online Recommendation-Based Convolutional Features for Scale-Aware Visual Tracking
  • Exploiting Probabilistic Siamese Visual Tracking with a Conditional Variational Autoencoder
  • Toward Intraoperative Endomicroscopy with a GPU-Accelerated Deformable Video Mosaicking Algorithm
  • Tracking 6-DoF Object Motion from Events and Frames
  • Visual Tracking of Deforming Objects Using Physics-Based Models
  • Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping
  • TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

Vision and Perception: Trajectory Prediction and Tracking

  • Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving
  • AVGCN: Trajectory Prediction Using Graph Convolutional Networks Guided by Human Attention
  • Attentional-GCNN: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases
  • Spatial Graph Regularized Multi-Kernel Subtask Cross-Correlation Tracker

Vision-Based Control

  • Constrained Image-Based Visual Servoing Using Barrier Functions
  • Deep Learning-Based Photoacoustic Visual Servoing: Using Outputs from Raw Sensor Data As Inputs to a Robot Controller
  • Uncertainty Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots
  • Analyzing Neural Jacobian Methods in Applications of Visual Servoing and Kinematic Control

Vision-Based Manipulation

  • Reward Machines for Vision-Based Robotic Manipulation
  • What Can I Do Here? Learning New Skills by Imagining Visual Affordances
  • Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input
  • Simulation of Vision-Based Tactile Sensors Using Physics Based Rendering

Visual Learning

  • Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat
  • MS-RANAS: Multi-Scale Resource-Aware Neural Architecture Search
  • Vision-Based Mobile Robotics Obstacle Avoidance with Deep Reinforcement Learning
  • A Probabilistic Next Best View Planner for Depth Cameras Based on Deep Learning

Visual Odometry

  • ENCODE: A dEep poiNt Cloud ODometry NEtwork
  • CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth
  • Lifelong Localization in Semi-Dynamic Environment
  • Deep Online Correction for Monocular Visual Odometry
  • Direct Sparse Stereo Visual-Inertial Global Odometry

Visual Odometry for Localization

  • Learning Optical Flow with R-CNN for Visual Odometry
  • A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars
  • Are We Ready for Unmanned Surface Vehicles in Inland Waterways? the USVInland Multisensor Dataset and Benchmark
  • An Equivariant Filter for Visual Inertial Odometry

Visual Servoing

  • Subsequent Keyframe Generation for Visual Servoing
  • Defocus-Based Direct Visual Servoing
  • Siame-Se(3): Regression in Se(3) for End-To-End Visual Servoing
  • Human-Piloted Drone Racing: Visual Processing and Control

Visual and Haptic Perception

  • Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic
  • Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback
  • A General Visual-Impedance Framework for Effectively Combining Vision and Force Sensing in Feature Space
  • Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements

Visual-Inertial Localization

  • VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
  • Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle
  • LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry
  • Control of a Flexible Continuum Manipulator for Laser Beam Steering

Wearable Robots

  • Macro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays
  • Sensing and Control of a Multi-Joint Soft Wearable Robot for Upper-Limb Assistance and Rehabilitation
  • Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers
  • Artificial Neural Networks to Solve Forward Kinematics of a Wearable Parallel Robot with Semi-Rigid Links

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