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