Datasets:

DeepNLP
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IROS-2022-Accepted-Papers

title stringlengths 7 205	detail_url stringlengths 27 45	author_list sequencelengths 0 34	abstract stringlengths 0 403
IEEE/RSJ International Conference on Intelligent Robots and Systems	https://ieeexplore.ieee.org	[]	IEEE/RSJ International Conference on Intelligent Robots and Systems
Welcome	https://ieeexplore.ieee.org/document/9981995/	[]
Organizing Committee	https://ieeexplore.ieee.org/document/9982064/	[]
Program at a Glance	https://ieeexplore.ieee.org	[]
Content List of IROS 2022	https://ieeexplore.ieee.org	[]	Content List of IROS 2022
IROS 2022 Author Index	https://ieeexplore.ieee.org	[]	IROS 2022 Author Index
SpeedFolding: Learning Efficient Bimanual Folding of Garments	https://ieeexplore.ieee.org/document/9981402/	[ "Yahav Avigal", "Lars Berscheid", "Tamim Asfour", "Torsten Kröger", "Ken Goldberg", "Yahav Avigal", "Lars Berscheid", "Tamim Asfour", "Torsten Kröger", "Ken Goldberg" ]	Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to a canonical smooth configuration before folding. In this work, we develop SpeedFolding, a reliable and efficient bimanual system, which given user-defined inst...
FAR Planner: Fast, Attemptable Route Planner using Dynamic Visibility Update	https://ieeexplore.ieee.org/document/9981574/	[ "Fan Yang", "Chao Cao", "Hongbiao Zhu", "Jean Oh", "Ji Zhang", "Fan Yang", "Chao Cao", "Hongbiao Zhu", "Jean Oh", "Ji Zhang" ]	Path planning in unknown environments remains a challenging problem, as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly and constantly, to account for the new observations. In this paper, we present a visibility graph-based planning framework capable of dealing with navigation tasks in both known ...
Learning-based Localizability Estimation for Robust LiDAR Localization	https://ieeexplore.ieee.org/document/9982257/	[ "Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter", "Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter" ]	LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time. Yet, as a consequence of insufficient environmental constraints present in the scene, this dependence on geometry can result in localization failure, happening ...
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions	https://ieeexplore.ieee.org/document/9981973/	[ "Alejandro Escontrela", "Xue Bin Peng", "Wenhao Yu", "Tingnan Zhang", "Atil Iscen", "Ken Goldberg", "Pieter Abbeel", "Alejandro Escontrela", "Xue Bin Peng", "Wenhao Yu", "Tingnan Zhang", "Atil Iscen", "Ken Goldberg", "Pieter Abbeel" ]	Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors, reinforcement learning practitioners often utilize complex reward functions that encourage physically plausible behaviors. However, a tedious labor-intensive t...
RCare World: A Human-centric Simulation World for Caregiving Robots	https://ieeexplore.ieee.org/document/9982244/	[ "Ruolin Ye", "Wenqiang Xu", "Haoyuan Fu", "Rajat Kumar Jenamani", "Vy Nguyen", "Cewu Lu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee", "Ruolin Ye", "Wenqiang Xu", "Haoyuan Fu", "Rajat Kumar Jenamani", "Vy Nguyen", "Cewu Lu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee" ]	We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders. RCareWorld has realistic human models of care recipients with mobility limitations and caregivers, home environments with multiple levels of accessibility and assistive devices, and robots commonly used for caregiving. It interfaces with various physics engines...
Design and Modelling of A Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery	https://ieeexplore.ieee.org/document/9982261/	[ "Wei Li", "Dandan Zhang", "Guang-Zhong Yang", "Benny Lo", "Wei Li", "Dandan Zhang", "Guang-Zhong Yang", "Benny Lo" ]	In endoluminal surgery, the miniature instruments shall be of high accuracy and flexibility for minimal invasive diagnosis and surgical intervention. To this end, continuum robots with flexible joints have been proposed as the mechanism of endoscopic instruments. The compliance and deformability of the continuum joints enable access into the curved lumen. However, the manufacturing tolerances are ...
Bio-inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation	https://ieeexplore.ieee.org/document/9981310/	[ "Kai Junge", "Kevin Qiu", "Josie Hughes", "Kai Junge", "Kevin Qiu", "Josie Hughes" ]	Humans have an incredible sense of self-preservation that is both instilled, and also learned through experience. One system which contributes to this is the pain and reflex system which both minimizes damage through involuntary reflex actions and also serves as a means of 'negative reinforcement’ to allow learning of poor actions or decision. Equipping robots with a reflex system and parallel lea...
RECALL: Rehearsal-free Continual Learning for Object Classification	https://ieeexplore.ieee.org/document/9981968/	[ "Markus Knauer", "Maximilian Denninger", "Rudolph Triebel", "Markus Knauer", "Maximilian Denninger", "Rudolph Triebel" ]	Convolutional neural networks show remarkable results in classification but struggle with learning new things on the fly. We present a novel rehearsal-free approach, where a deep neural network is continually learning new unseen object categories without saving any data of prior sequences. Our approach is called RECALL, as the network recalls categories by calculating logits for old categories bef...
PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis	https://ieeexplore.ieee.org/document/9981562/	[ "Shubham Kanitkar", "Helen Jiang", "Wenzhen Yuan", "Shubham Kanitkar", "Helen Jiang", "Wenzhen Yuan" ]	When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any subsequent re-positioning of the arm. However, the grasp stability could vary widely based on the object's holding pose, as the gravitational torque and gripper ...
LaneSNNs: Spiking Neural Networks for Lane Detection on the Loihi Neuromorphic Processor	https://ieeexplore.ieee.org/document/9981034/	[ "Alberto Viale", "Alberto Marchisio", "Maurizio Martina", "Guido Masera", "Muhammad Shafique", "Alberto Viale", "Alberto Marchisio", "Maurizio Martina", "Guido Masera", "Muhammad Shafique" ]	Autonomous Driving (AD) related features represent important elements for the next generation of mobile robots and autonomous vehicles focused on increasingly intelligent, autonomous, and interconnected systems. The applications involving the use of these features must provide, by definition, real-time decisions, and this property is key to avoid catastrophic accidents. Moreover, all the decision ...
An Autonomous Descending-Stair Cleaning Robot with RGB-D based Detection, Approaching, and Area coverage Process	https://ieeexplore.ieee.org/document/9982007/	[ "Prabakaran Veerajagadheswar", "Anh Vu Le", "Phone Thiha Kyaw", "Mohan Rajesh Elara", "Aung Paing", "Prabakaran Veerajagadheswar", "Anh Vu Le", "Phone Thiha Kyaw", "Mohan Rajesh Elara", "Aung Paing" ]	Cleaning robots are one of the market dominators in the commercialized robot space. So far, numerous robots have been introduced that can perform cleaning tasks in various settings, including floor, pavement, pool, lawn, windows, etc. However, none of the existing commercial cleaning robots targets the staircase, commonly found in multi-story buildings. Even though few works in the literature intr...
Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations	https://ieeexplore.ieee.org/document/9982067/	[ "Marvin Stuede", "Moritz Schappler", "Marvin Stuede", "Moritz Schappler" ]	This work presents a non-parametric spatiotemporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial and temporal-periodic dependencies to create a continuous representation of human occurrences. The inhomogeneous data distribution resulting from movements of the...
Service Robots in a Bakery Shop: A Field Study	https://ieeexplore.ieee.org/document/9981439/	[ "Sichao Song", "Baba Jun", "Junya Nakanishi", "Yuichiro Yoshikawa", "Hiroshi Ishiguro", "Sichao Song", "Baba Jun", "Junya Nakanishi", "Yuichiro Yoshikawa", "Hiroshi Ishiguro" ]	In this paper, we report on a field study in which we employed two service robots in a bakery store as a sales promotion. Previous studies have explored public applications of service robots public such as shopping malls. However, more evidence is needed that service robots can contribute to sales in real stores. Moreover, the behaviors of customers and service robots in the context of sales promo...
Shared Autonomy for Safety Between a Self-reconfigurable Robot and a Teleoperator Using Multi-layer Fuzzy Logic	https://ieeexplore.ieee.org/document/9981872/	[ "Raul F.G. Azcarate", "S.C. Daniela", "A.A. Hayat", "Lim Yi", "M. A. Viraj J. Muthugala", "Q.R Tang", "A.P. Povendhan", "K.J.K. Leong", "M.R. Elara", "Raul F.G. Azcarate", "S.C. Daniela", "A.A. Hayat", "Lim Yi", "M. A. Viraj J. Muthugala", "Q.R Tang", "A.P. Povendhan", "K.J.K. Leong", "M.R. Elara" ]	Autonomous vehicles are designed to elevate the efficiency of assigned tasks and ensure the safety of the environment in which they operate. This paper presents a research study focused on shared autonomy using a multi-layer fuzzy logic framework to build a relationship between an autonomous self-reconfigurable robot and a human user by switching control to the teleoperator to assist the robot whe...
Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics	https://ieeexplore.ieee.org/document/9981705/	[ "Diego Paez-Granados", "Yujie He", "David Gonon", "Dan Jia", "Bastian Leibe", "Kenji Suzuki", "Aude Billard", "Diego Paez-Granados", "Yujie He", "David Gonon", "Dan Jia", "Bastian Leibe", "Kenji Suzuki", "Aude Billard" ]	Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation control framework that delivers continuous obstacle avoidance and post-contact control evaluated on an autonomous personal mobility vehicle. We propose evaluation me...
Design of a Reconfigurable Robot with Size-Adaptive Path Planner	https://ieeexplore.ieee.org/document/9981125/	[ "S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Manivannan Kalimuthu", "Sathis Kumar Chandrasekaran", "Mohan Rajesh Elara", "S. M. Bhagya P. Samarakoon", "M. A. Viraj J. Muthugala", "Manivannan Kalimuthu", "Sathis Kumar Chandrasekaran", "Mohan Rajesh Elara" ]	Area coverage is demanded from the robots utilized in application domains such as floor cleaning. Even though many advanced coverage algorithms have been developed, the area coverage performance is limited due to the inaccessibility of narrow spaces caused by physical constraints. Reconfigurable robots have been introduced to overcome this limitation where reconfigurability could help in assessing...
Testing Service Robots in the Field: An Experience Report	https://ieeexplore.ieee.org/document/9981789/	[ "Argentina Ortega", "Nico Hochgeschwender", "Thorsten Berger", "Argentina Ortega", "Nico Hochgeschwender", "Thorsten Berger" ]	Service robots are mobile autonomous robots, often operating in uncertain and difficult environments. While being increasingly popular, engineering service robots is challenging. Especially, evolving them from prototype to deployable product requires effective validation and verification, assuring the robot's correct and safe operation in the target environment. While testing is the most common va...
A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories	https://ieeexplore.ieee.org/document/9981862/	[ "Bernardo Aceituno", "Alberto Rodriguez", "Bernardo Aceituno", "Alberto Rodriguez" ]	Given an object, an environment, and a goal pose, how should a robot make contact to move it? Solving this problem requires reasoning about rigid-body dynamics, object and environment geometries, and hybrid contact mechanics. This paper proposes a hierarchical framework that solves this problem in 2D worlds, with polygonal objects and point fingers. To achieve this, we decouple the problem in thre...
Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation	https://ieeexplore.ieee.org/document/9981909/	[ "Mun Seng Phoon", "Philipp S. Schmitt", "Georg V. Wichert", "Mun Seng Phoon", "Philipp S. Schmitt", "Georg V. Wichert" ]	To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approach follows the ideas of constraint-based task specification by aiming for a minimal and object-centri...
Quasistatic contact-rich manipulation via linear complementarity quadratic programming	https://ieeexplore.ieee.org/document/9981498/	[ "Sotaro Katayarna", "Tatsunori Taniai", "Kazutoshi Tanaka", "Sotaro Katayarna", "Tatsunori Taniai", "Kazutoshi Tanaka" ]	Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich manipulation that determines the continuous control action under variable contact modes online. We model the physical characteristics of contact-rich manipulation by...
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation	https://ieeexplore.ieee.org/document/9981939/	[ "Azarakhsh Keipour", "Maryam Bandari", "Stefan Schaal", "Azarakhsh Keipour", "Maryam Bandari", "Stefan Schaal" ]	With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to industrial assembly and construction. Routing approaches for deformable objects which rely on learned implicit spatial representations (e.g., Learning-from-Dem...
A Solution to Slosh-free Robot Trajectory Optimization	https://ieeexplore.ieee.org/document/9981173/	[ "Rafael I. Cabral Muchacho", "Riddhiman Laha", "Luis F.C. Figueredo", "Sami Haddadin", "Rafael I. Cabral Muchacho", "Riddhiman Laha", "Luis F.C. Figueredo", "Sami Haddadin" ]	This paper is about fast slosh-free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical pendulum and study the requirements for slosh-free motion and the validity of the point mass model. In this approach, slosh-free trajectories are generated by cont...
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research	https://ieeexplore.ieee.org/document/9981253/	[ "Ryan Hoque", "Kaushik Shivakumar", "Shrey Aeron", "Gabriel Deza", "Aditya Ganapathi", "Adrian Wong", "Johnny Lee", "Andy Zeng", "Vincent Vanhoucke", "Ken Goldberg", "Ryan Hoque", "Kaushik Shivakumar", "Shrey Aeron", "Gabriel Deza", "Aditya Ganapathi", "Adrian Wong", "Johnny Lee", "Andy Zeng", "Vincent Vanhoucke", "Ken Goldberg" ]	Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first systematic benchmarking of fabric manipulation al-gorithms on physical hardware. We develop 4 novel ...
Multi-Sensor Data Annotation Using Sequence-based Active Learning	https://ieeexplore.ieee.org/document/9981074/	[ "Patrick Denzler", "Markus Ziegler", "Arne Jacobs", "Volker Eiselein", "Philipp Neumaier", "Martin Köppel", "Patrick Denzler", "Markus Ziegler", "Arne Jacobs", "Volker Eiselein", "Philipp Neumaier", "Martin Köppel" ]	Neural Networks are the state-of-the-art technology for environmental perception in applications such as autonomous driving. However, they require a large amount of training data in order to perform well, making the selection and annotation of sensor data a time-consuming and expensive task. Active learning is a promising approach to reduce the required amount of training data by selecting samples...
3D Single-Object Tracking with Spatial-Temporal Data Association	https://ieeexplore.ieee.org/document/9981905/	[ "Yongchang Zhang", "Hanbing Niu", "Yue Guo", "Wenhao He", "Yongchang Zhang", "Hanbing Niu", "Yue Guo", "Wenhao He" ]	This paper proposes a novel 3D single-object tracker to more stably, accurately, and faster track objects, even if they are temporarily missed. Our idea is to utilize spatial-temporal data association to achieve object tracking robustly, and it consists of two main parts. We firstly employ a temporal motion model cross frames to estimate the object's temporal information and update the region of i...
TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration	https://ieeexplore.ieee.org/document/9981445/	[ "Kunyu Peng", "Alina Roitberg", "Kailun Yang", "Jiaming Zhang", "Rainer Stiefelhagen", "Kunyu Peng", "Alina Roitberg", "Kailun Yang", "Jiaming Zhang", "Rainer Stiefelhagen" ]	Traditional video-based human activity recognition has experienced remarkable progress linked to the rise of deep learning, but this effect was slower as it comes to the downstream task of driver behavior understanding. Understanding the situation inside the vehicle cabin is essential for Advanced Driving Assistant System (ADAS) as it enables identifying distraction, predicting driver's intent and...
Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras	https://ieeexplore.ieee.org/document/9982143/	[ "Yang Zhao", "Jie Li", "Rui Huang", "Boqi Li", "Ao Luo", "Yaochen Li", "Hong Cheng", "Yang Zhao", "Jie Li", "Rui Huang", "Boqi Li", "Ao Luo", "Yaochen Li", "Hong Cheng" ]	Experienced human drivers always make safe driving decisions by selectively observing the front, rear and side- view mirrors. Several end - to-end methods have been pro-posed to learn driving models with multi-view visual infor-mation. However, these benchmark methods lack semantic understanding of multi-view image contents, where human drivers usually reason these information for decision making ...
Towards Safety-Aware Pedestrian Detection in Autonomous Systems	https://ieeexplore.ieee.org/document/9981309/	[ "Maria Lyssenko", "Christoph Gladisch", "Christian Heinzemann", "Matthias Woehrle", "Rudolph Triebel", "Maria Lyssenko", "Christoph Gladisch", "Christian Heinzemann", "Matthias Woehrle", "Rudolph Triebel" ]	In this paper, we present a framework to assess the quality of a pedestrian detector in an autonomous driving scenario. To do this, we exploit performance metrics from the domain of computer vision on one side and so-called threat metrics from the motion planning domain on the other side. Based on a reachability analysis that accounts for the uncertainty in future motions of other traffic particip...
Multi-Source Domain Alignment for Domain Invariant Segmentation in Unknown Targets	https://ieeexplore.ieee.org/document/9981166/	[ "Pranjay Shyam", "Kuk-Jin Yoon", "Kyung-Soo Kim", "Pranjay Shyam", "Kuk-Jin Yoon", "Kyung-Soo Kim" ]	Semantic segmentation provides scene understanding capability by performing pixel-wise classification of objects within an image. However, the sensitivity of such algorithms towards domain changes requires fine-tuning using an annotated dataset for each novel domain, which is expensive to construct and inefficient. We highlight that irrespective of the training dataset, structural properties of sc...
Depth360: Self-supervised Learning for Monocular Depth Estimation using Learnable Camera Distortion Model	https://ieeexplore.ieee.org/document/9981751/	[ "Noriaki Hirose", "Kosuke Tahara", "Noriaki Hirose", "Kosuke Tahara" ]	Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is promising because the depth and pose networks can be trained from just time-sequence images without the need for the ground truth depth and poses. In this work, we estimate the depth around a robot (360° view) using time-sequence spherical camera im...
Real-Time Hybrid Mapping of Populated Indoor Scenes using a Low-Cost Monocular UAV	https://ieeexplore.ieee.org/document/9982054/	[ "Stuart Golodetz", "Madhu Vankadari", "Aluna Everitt", "Sangyun Shin", "Andrew Markham", "Niki Trigoni", "Stuart Golodetz", "Madhu Vankadari", "Aluna Everitt", "Sangyun Shin", "Andrew Markham", "Niki Trigoni" ]	Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces, especially close to humans, remains a challenge. One solution, when limited payload is required, is to use micro-UAVs, which pose less risk to humans and typically ...
GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D	https://ieeexplore.ieee.org/document/9981976/	[ "Chiara Ercolani", "Lixuan Tang", "Alcherio Martinoli", "Chiara Ercolani", "Lixuan Tang", "Alcherio Martinoli" ]	Chemical gas dispersion poses considerable threat to humans, animals and the environment. The research areas of gas source localization and gas distribution mapping aim to localize the source of gas leaks and map the gas plume respectively, in order to help the coordination of swift rescue missions. Although very similar, these two areas are often treated separately in literature. In some cases, i...
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots	https://ieeexplore.ieee.org/document/9981668/	[ "Aurel X. Appius", "Erik Bauer", "Marc Blöchlinger", "Aashi Kalra", "Robin Oberson", "Arman Raayatsanati", "Pascal Strauch", "Sarath Suresh", "Marco von Salis", "Robert K. Katzschmann", "Aurel X. Appius", "Erik Bauer", "Marc Blöchlinger", "Aashi Kalra", "Robin Oberson", "Arman Raayatsanati", "Pascal Strauch", "Sarath Suresh", "Marco von Salis", "Robert K. Katzschmann" ]	Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries for successful grasping. We propose RAPTOR, a quadcopter platform combined with a custom Fin Ray®gripper to enable more flexible grasping of objects with differ...
Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles	https://ieeexplore.ieee.org/document/9981115/	[ "Rundong Ge", "Moonyoung Lee", "Vivek Radhakrishnan", "Yang Zhou", "Guanrui Li", "Giuseppe Loianno", "Rundong Ge", "Moonyoung Lee", "Vivek Radhakrishnan", "Yang Zhou", "Guanrui Li", "Giuseppe Loianno" ]	In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and identical IDs across all observing agents). We design several vision-based decentralized Bayesian multi-tracking filtering strategies to resolve the associatio...
Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and their Collective-Search Behavior	https://ieeexplore.ieee.org/document/9981312/	[ "Chen Zeng", "Prajit KrisshnaKumar", "Jhoel Witter", "Souma Chowdhury", "Chen Zeng", "Prajit KrisshnaKumar", "Jhoel Witter", "Souma Chowdhury" ]	The collective operation of robots, such as unmanned aerial vehicles (UAVs) operating as a team or swarm, is affected by their individual capabilities, which in turn is dependent on their physical design, aka morphology. However, with the exception of a few (albeit ad hoc) evolutionary robotics methods, there has been very little work on understanding the interplay of morphology and collective beh...
Automatic laser steering for middle ear surgery	https://ieeexplore.ieee.org/document/9982176/	[ "Jae-Hun So", "Jérême Szewczyk", "Brahim Tamadazte", "Jae-Hun So", "Jérême Szewczyk", "Brahim Tamadazte" ]	This paper deals with the control of a laser spot in the context of minimally invasive surgery of the middle ear, e.g., cholesteatoma removal. More precisely, our work is concerned with the exhaustive burring of residual infected cells after primary mechanical resection of the pathological tissues since the latter cannot guarantee the treatment of all the infected tissues, the remaining infected c...
Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery	https://ieeexplore.ieee.org/document/9981920/	[ "Przemysław Korzeniowski", "Szymon Płotka", "Robert Brawura-Biskupski-Samaha", "Arkadiusz Sitek", "Przemysław Korzeniowski", "Szymon Płotka", "Robert Brawura-Biskupski-Samaha", "Arkadiusz Sitek" ]	Spina Bifida (SB) is a birth defect developed during the early stage of pregnancy in which there is incomplete closing of the spine around the spinal cord. The growing interest in fetoscopic Spina-Bifida repair, which is performed in fetuses who are still in the pregnant uterus, prompts the need for appropriate training. The learning curve for such procedures is steep and requires excellent proced...
A Pneumatic MR-conditional Guidewire Delivery Mechanism with Decoupled Actuations for Endovascular Intervention	https://ieeexplore.ieee.org/document/9981596/	[ "Shaoping Huang", "Chuqian Lou", "Lian Xuan", "Hongyan Gao", "Anzhu Gao", "Guang–Zhong Yang", "Shaoping Huang", "Chuqian Lou", "Lian Xuan", "Hongyan Gao", "Anzhu Gao", "Guang–Zhong Yang" ]	Percutaneous coronary intervention (PCI) involves the delivery of a flexible submillimeter guidewire and existing x- ray based approaches impose significant ironing radiation. The use of magnetic resonance imaging (MRI) for intraoperative guidance has the advantages of not only being safe but also having high positioning accuracy and excellent tissue contrast. This paper develops a pneumatically d...
Design and Evaluation of the infant Cardiac Robotic Surgical System (iCROSS)	https://ieeexplore.ieee.org/document/9981503/	[ "Po-Chih Chen", "Pei-An Hsieh", "Jing-Yuan Huang", "Shu-Chien Huang", "Cheng-Wei Chen", "Po-Chih Chen", "Pei-An Hsieh", "Jing-Yuan Huang", "Shu-Chien Huang", "Cheng-Wei Chen" ]	In this study, the infant Cardiac Robotic Surgical System (iCROSS) is developed to assist a surgeon in performing the patent ductus arteriosus (PDA) closure and other infant cardiac surgeries. The iCROSS is a dual-arm robot allowing two surgical instruments to collaborate in a narrow space while keeping a sufficiently large workspace. Compared with the existing surgical robotic systems, the iCROSS...
Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds	https://ieeexplore.ieee.org/document/9981202/	[ "Alex J. Chiluisa", "Nicholas E. Pacheco", "Hoang S. Do", "Ryan M. Tougas", "Emily V. Minch", "Rositsa Mihaleva", "Yao Shen", "Yuxiang Liu", "Thomas L. Carroll", "Loris Fichera", "Alex J. Chiluisa", "Nicholas E. Pacheco", "Hoang S. Do", "Ryan M. Tougas", "Emily V. Minch", "Rositsa Mihaleva", "Yao Shen", "Yuxiang Liu", "Thomas L. Carroll", "Loris Fichera" ]	This paper reports the design, construction, and experimental validation of a novel hand-held robot for inoffice laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be ...
DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators	https://ieeexplore.ieee.org/document/9981201/	[ "Tae-Gyu Song", "Young-Ha Shin", "Seungwoo Hong", "Hyungho Chris Choi", "Joon-Ha Kim", "Hae-Won Park", "Tae-Gyu Song", "Young-Ha Shin", "Seungwoo Hong", "Hyungho Chris Choi", "Joon-Ha Kim", "Hae-Won Park" ]	This paper presents a reduction mechanism for robot actuators that can switch between two types of reduction ratio. By fixing the carrier or ring gear of the proposed actuator which is based on the 3K compound planetary drive, the actuator can shift its reduction ratio. For compact design with reduced weight of the actuator, unique pawl brake mechanism interacting with cams and micro servos for sw...
Single-Rod Brachiation Robot	https://ieeexplore.ieee.org/document/9981331/	[ "Hijiri Akahane", "Ikuo Mizuuchi", "Hijiri Akahane", "Ikuo Mizuuchi" ]	In this paper, we propose a new brachiation robot, a single-rod brachiation robot. Brachiation is a method of locomotion that makes clever use of gravity and has been tried to apply to robots. Conventional brachiation robots are multiple-pendulum-like robots that mimic a gibbon. Although the multiple-pendulum-like robot can easily change the length of one brachiation step by joints, it has complex...
A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots	https://ieeexplore.ieee.org/document/9981787/	[ "Cornelius Klas", "Tamim Asfour", "Cornelius Klas", "Tamim Asfour" ]	Building humanoid robots with properties similar to those of humans in terms of strength and agility is a great and unsolved challenge. This work introduces a compact and lightweight wrist joint mechanism that is singularity-free and has large range of motion. The mechanism provides two degrees of freedom (DoF) and was developed for integration into a human scale humanoid robot arm. It is based on...
Wirelessly Magnetically Actuated Motor for Tissue Regeneration Robotic Implant	https://ieeexplore.ieee.org/document/9981834/	[ "Cameron Duffield", "Abigail F Smith", "Daniela Rus", "Dana Damian", "Shuhei Miyashita", "Cameron Duffield", "Abigail F Smith", "Daniela Rus", "Dana Damian", "Shuhei Miyashita" ]	In biomedical engineering, robotic implants provide new methods to restore and improve bodily function, and regenerate tissue. A significant challenge with the design of these devices is to safely actuate them for weeks or months, while they are residing in a patient's body. Magnetic, and other force-at-distance actuation methods, allow mechanisms to be controlled remotely and without contact or l...
Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism	https://ieeexplore.ieee.org/document/9982193/	[ "Chloe Pogue", "Priyanka Rao", "Quentin Peyron", "Jongwoo Kim", "Jessica Burgner-Kahrs", "Eric Diller", "Chloe Pogue", "Priyanka Rao", "Quentin Peyron", "Jongwoo Kim", "Jessica Burgner-Kahrs", "Eric Diller" ]	Tendon-driven continuum robots show promise for use in surgical applications as they can assume complex configurations to navigate along tortuous paths. However, to achieve these complex robot shapes, multiple segments are required as each robot segment can bend only with a single constant curvature. To actuate these additional robot segments, multiple tendons must typically be added on-board the ...
Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots	https://ieeexplore.ieee.org/document/9982162/	[ "Masahiro Watanabe", "Yuto Kemmotsu", "Kenjiro Tadakuma", "Kazuki Abe", "Masashi Konyo", "Satoshi Tadokoro", "Masahiro Watanabe", "Yuto Kemmotsu", "Kenjiro Tadakuma", "Kazuki Abe", "Masashi Konyo", "Satoshi Tadokoro" ]	We propose a novel toroidal origami monotrack capable of smooth-skin driving and bending for closed-skin-drive robots. Monotracks are a promising solution for achieving high mobility in unstructured environments. Toroidal-drive mechanisms enable whole skin drive; however, conventional methods experience unexpected wrinkling and buckles that lead to a large resistance. In this study, we propose an ...
Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments	https://ieeexplore.ieee.org/document/9981446/	[ "Lennart Puck", "Maximilian Schik", "Tristan Schnell", "Timothee Buettner", "Arne Roennau", "Rüdiger Dillmann", "Lennart Puck", "Maximilian Schik", "Tristan Schnell", "Timothee Buettner", "Arne Roennau", "Rüdiger Dillmann" ]	Exploring unknown environments, such as caves or planetary surfaces, requires a quick understanding of the surroundings. Beforehand, only aerial footage from satellites or images from previous missions might be available. The proposed ensemble based anomaly detection framework utilizes previously gained knowledge and incorporates it with insights gained during the mission. The modular system consi...
FocusTR: Focusing on Valuable Feature by Multiple Transformers for Fusing Feature Pyramid on Object Detection	https://ieeexplore.ieee.org/document/9981047/	[ "Bangquan Xie", "Liang Yang", "Zongming Yang", "Ailin Wei", "Xiaoxiong Weng", "Bing Li", "Bangquan Xie", "Liang Yang", "Zongming Yang", "Ailin Wei", "Xiaoxiong Weng", "Bing Li" ]	The feature pyramid, which is a vital component of the convolutional neural networks, plays a significant role in several perception tasks, including object detection for autonomous driving. However, how to better fuse multi-level and multi-sensor feature pyramids is still a significant challenge, especially for object detection. This paper presents a FocusTR (Focusing on the valuable features by ...
DeepShapeKit: accurate 4D shape reconstruction of swimming fish	https://ieeexplore.ieee.org/document/9982097/	[ "Ruiheng Wu", "Oliver Deussen", "Liang Li", "Ruiheng Wu", "Oliver Deussen", "Liang Li" ]	In this paper, we present methods for capturing 4D body shapes of swimming fish with affordable small training datasets and textureless 2D videos. Automated capture of spatiotemporal animal movements and postures is revolutionizing the study of collective animal behavior. 4D (including 3D space + time) shape data from animals like schooling fish contains a rich array of social and non-social infor...
E2Pose: Fully Convolutional Networks for End-to-End Multi-Person Pose Estimation	https://ieeexplore.ieee.org/document/9981322/	[ "Masakazu Tobeta", "Yoshihide Sawada", "Ze Zheng", "Sawa Takamuku", "Naotake Natori", "Masakazu Tobeta", "Yoshihide Sawada", "Ze Zheng", "Sawa Takamuku", "Naotake Natori" ]	Highly accurate multi-person pose estimation at a high framerate is a fundamental problem in autonomous driving. Solving the problem could aid in preventing pedestrian-car accidents. The present study tackles this problem by proposing a new model composed of a feature pyramid and an original head to a general backbone. The original head is built using lightweight CNNs and directly estimates multi-...
Fast Detection of Moving Traffic Participants in LiDAR Point Clouds by using Particles augmented with Free Space Information	https://ieeexplore.ieee.org/document/9982239/	[ "Andreas Reich", "Hans-Joachim Wuensche", "Andreas Reich", "Hans-Joachim Wuensche" ]	To navigate safely, it is essential for a robot to detect all kinds of moving objects that could possibly interfere with the own trajectory. For common object classes, like cars, regular pedestrians, and trucks, there are large scale datasets as well as corresponding machine learning techniques, which provide remarkable results in commonly available detection benchmarks. A big challenge that remai...
RPG: Learning Recursive Point Cloud Generation	https://ieeexplore.ieee.org/document/9981471/	[ "Wei-Jan Kol", "Chen-Yi Chiu", "Yu-Liang Kuo", "Wei-Chen Chiu", "Wei-Jan Kol", "Chen-Yi Chiu", "Yu-Liang Kuo", "Wei-Chen Chiu" ]	In this paper we propose a novel point cloud generator that is able to reconstruct and generate 3D point clouds composed of semantic parts. Given a latent representation of the target 3D model, the generation starts from a single point and gets expanded recursively to produce the high-resolution point cloud via a sequence of point expansion stages. During the recursive procedure of generation, we ...
Fully Convolutional Transformer with Local-Global Attention	https://ieeexplore.ieee.org/document/9981339/	[ "Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Jinsu Yoo", "Honglak Lee", "Seung Hwan Kim", "Sihaeng Lee", "Eojindl Yi", "Janghyeon Lee", "Jinsu Yoo", "Honglak Lee", "Seung Hwan Kim" ]	In an attempt to imitate the success of transformers in the field of natural language processing into computer vision tasks, vision transformers (ViTs) have recently gained attention. Performance breakthroughs have been achieved in coarse-grained tasks like classification. However, dense prediction tasks, such as detection, segmentation, and depth estimation, require additional modifications and h...
DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars	https://ieeexplore.ieee.org/document/9981778/	[ "Florian Drews", "Di Feng", "Florian Faion", "Lars Rosenbaum", "Michael Ulrich", "Claudius Gläser", "Florian Drews", "Di Feng", "Florian Faion", "Lars Rosenbaum", "Michael Ulrich", "Claudius Gläser" ]	We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily, making the approach simple and flexible. Extracted features are transformed into bird's-eye-view as a common representation for fusion. Spatial and semantic alignme...
CVFNet: Real-time 3D Object Detection by Learning Cross View Features	https://ieeexplore.ieee.org/document/9981087/	[ "Jiaqi Gu", "Zhiyu Xiang", "Pan Zhao", "Tingming Bai", "Lingxuan Wang", "Xijun Zhao", "Zhiyuan Zhang", "Jiaqi Gu", "Zhiyu Xiang", "Pan Zhao", "Tingming Bai", "Lingxuan Wang", "Xijun Zhao", "Zhiyuan Zhang" ]	In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve time-consuming operations such as 3D convolutions on voxels or ball query among points, making the resulting network inappropriate for time critical applications. O...
A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures	https://ieeexplore.ieee.org/document/9981652/	[ "Arincheyan Gerald", "Rukaiya Batliwala", "Jonathan Ye", "Patra Hsu", "Hiroyuki Aihara", "Sheila Russo", "Arincheyan Gerald", "Rukaiya Batliwala", "Jonathan Ye", "Patra Hsu", "Hiroyuki Aihara", "Sheila Russo" ]	This paper presents a proof-of-concept soft robotic glove that provides haptic feedback to the surgeon's hand during interventional endoscopy procedures, specifically colonoscopy. The glove is connected to a force sensing soft robotic sleeve that is mounted onto a colonoscope. The glove consists of pneumatic actuators that inflate in proportion to the incident forces on the soft robotic sleeve. Th...
A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation	https://ieeexplore.ieee.org/document/9981919/	[ "Cara M. Nunez", "Brian H. Do", "Andrew K. Low", "Laura H. Blumenschein", "Katsu Yamane", "Allison M. Okamura", "Cara M. Nunez", "Brian H. Do", "Andrew K. Low", "Laura H. Blumenschein", "Katsu Yamane", "Allison M. Okamura" ]	While haptics research has traditionally focused on the fingertips and hands, other locations on the body provide large areas of skin that could be utilized to relay large-area haptic sensations. Researchers have thus developed wearable devices that use distributed vibrotactile actuators and distributed pneumatic force displays, but these methods have limitations. In prior work, we presented a nov...
EMG-based Feedback Modulation for Increased Transparency in Teleoperation	https://ieeexplore.ieee.org/document/9981162/	[ "Luc Schoot Uiterkamp", "Francesco Porcini", "Gwenn Englebienne", "Antonio Frisoli", "Douwe Dresscher", "Luc Schoot Uiterkamp", "Francesco Porcini", "Gwenn Englebienne", "Antonio Frisoli", "Douwe Dresscher" ]	In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling of operator stiffness and the expected feedback force with EMG, the artifacts can be selectively filt...
Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation	https://ieeexplore.ieee.org/document/9982247/	[ "Yaonan Zhu", "Jacinto Colan", "Tadayoshi Aoyama", "Yasuhisa Hasegawa", "Yaonan Zhu", "Jacinto Colan", "Tadayoshi Aoyama", "Yasuhisa Hasegawa" ]	In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many researchers have been trying to solve pivoting problems using mathematical modeling or learning-based approaches, the problems remain as open challenges. On the other...
Perception of Mechanical Properties via Wrist Haptics: Effects of Feedback Congruence	https://ieeexplore.ieee.org/document/9982079/	[ "Mine Sarac", "Massimiliano Di Luca", "Allison M. Okamura", "Mine Sarac", "Massimiliano Di Luca", "Allison M. Okamura" ]	Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist (normal and shear) relate to the perception of the mechanical properties of virtual objects. We hypothesized that a congruent mapping (i.e. when the most relevant in...
Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality	https://ieeexplore.ieee.org/document/9981392/	[ "Jasmin E. Palmer", "Mine Sarac", "Aaron A. Garza", "Allison M. Okamura", "Jasmin E. Palmer", "Mine Sarac", "Aaron A. Garza", "Allison M. Okamura" ]	Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn tactile haptic devices and a virtual environment to study how various mappings between fingers and tactors affect task performance. The haptic feedback rendere...
Feeling the Pressure: The Influence of Vibrotactile Patterns on Feedback Perception	https://ieeexplore.ieee.org/document/9981594/	[ "Alexander Smith", "Benjamin Ward-Cherrier", "Appolinaire Etoundi", "Martin J. Pearson", "Alexander Smith", "Benjamin Ward-Cherrier", "Appolinaire Etoundi", "Martin J. Pearson" ]	Tactile feedback is necessary for closing the sen-sorimotor loop in prosthetic and tele-operable control, which would allow for more precise manipulation and increased acceptance of use of such devices. Pressure stimuli are commonly presented to users in haptic devices through a sensory substitution to vibration. The precise nature of this substitution affects pressure sensitivity, as well as the ...
SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop	https://ieeexplore.ieee.org/document/9981936/	[ "Rishabh Madan", "Rajat Kumar Jenamani", "Vy Thuy Nguyen", "Ahmed Moustafa", "Xuefeng Hu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee", "Rishabh Madan", "Rajat Kumar Jenamani", "Vy Thuy Nguyen", "Ahmed Moustafa", "Xuefeng Hu", "Katherine Dimitropoulou", "Tapomayukh Bhattacharjee" ]	Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the caregiving community. We propose Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these challenges. SPARCS ...
To ask for help or not to ask: A predictive approach to human-in-the-loop motion planning for robot manipulation tasks	https://ieeexplore.ieee.org/document/9981679/	[ "Rafael Papallas", "Mehmet R. Dogar", "Rafael Papallas", "Mehmet R. Dogar" ]	We present a predictive system for non-prehensile, physics-based motion planning in clutter with a human-in-the-loop. Recent shared-autonomous systems present motion planning performance improvements when high-level reasoning is provided by a human. Humans are usually good at quickly identifying high-level actions in high-dimensional spaces, and robots are good at converting high-level actions int...
You Are In My Way: Non-verbal Social Cues for Legible Robot Navigation Behaviors	https://ieeexplore.ieee.org/document/9981754/	[ "Georgios Angelopoulos", "Alessandra Rossi", "Claudia Di Napoli", "Silvia Rossi", "Georgios Angelopoulos", "Alessandra Rossi", "Claudia Di Napoli", "Silvia Rossi" ]	People and robots may need to cross each other in narrow spaces when they are sharing environments. It is expected that autonomous robots will behave in these contexts safely but also show social behaviors. Thereby, developing an acceptable behavior for autonomous robots in the area mentioned above is a foreseeable problem for the Human-Robot Interaction (HRI) field. Our current work focuses on in...
Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks	https://ieeexplore.ieee.org/document/9981424/	[ "Marta Lagomarsino", "Marta Lorenzini", "Elena De Momi", "Arash Ajoudani", "Marta Lagomarsino", "Marta Lorenzini", "Elena De Momi", "Arash Ajoudani" ]	In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in which the robot behaviour is adapted online according to the operator's cognitive workload and stress. The method exploits the generation of B-spline trajectorie...
EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging	https://ieeexplore.ieee.org/document/9981615/	[ "Teng Li", "Hongjun Xing", "Hamid D. Taghirad", "Mahdi Tavakoli", "Teng Li", "Hongjun Xing", "Hamid D. Taghirad", "Mahdi Tavakoli" ]	Ultrasound (US) imaging is a common but physically demanding task in the medical field, and sonographers may need to put in considerable physical effort for producing high-quality US images. During physical human-robot interaction on US imaging, robot compliance is a critical feature that can ensure human user safety while automatic force regulation ability can help to improve task performance. Ho...
Modeling Human Response to Robot Errors for Timely Error Detection	https://ieeexplore.ieee.org/document/9981726/	[ "Maia Stiber", "Russell Taylor", "Chien-Ming Huang", "Maia Stiber", "Russell Taylor", "Chien-Ming Huang" ]	In human-robot collaboration, robot errors are inevitable—damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social interactions it is possible to use human responses to detect errors. However, there is little exploration in the domain of nonsocial, physical human-robot collaboration such ...
Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition	https://ieeexplore.ieee.org/document/9981048/	[ "Eimei Oyama", "Yuya Ioka", "Arvin Agah", "Hiroyuki Okada", "Sotaro Shimada", "Eimei Oyama", "Yuya Ioka", "Arvin Agah", "Hiroyuki Okada", "Sotaro Shimada" ]	Self-body awareness refers to the recognition of one's body as one's own and consists of two senses: “sense of body ownership” and “sense of agency.” In telexistence/telepresence robot operation, time delays in the robot's motion degrade self-body awareness of the robot body. We investigated how self-body recognition can be affected in a telexistence robot operation in a VR space when the robot is...
A Camera-based Deep-Learning Solution for Visual Attention Zone Recognition in Maritime Navigational Operations	https://ieeexplore.ieee.org/document/9981783/	[ "Baiheng Wu", "Peihua Han", "Motoyasu Kanazawa", "Hans Petter Hildre", "Luman Zhao", "Houxiang Zhang", "Guoyuan Li", "Baiheng Wu", "Peihua Han", "Motoyasu Kanazawa", "Hans Petter Hildre", "Luman Zhao", "Houxiang Zhang", "Guoyuan Li" ]	The visual attention of navigators is imperative to understand the logic of navigation as well as the surveillance of navigators' status and operation. Current studies are implemented with the help of wearable eye-tracker glasses; yet, the high expenditure demanded by such equipment and service and its limitations on usability have impeded related research from further development. In this letter,...
Spatiotemporally Enhanced Photometric Loss for Self-Supervised Monocular Depth Estimation	https://ieeexplore.ieee.org/document/9981595/	[ "Tianyu Zhang", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Yanqing Liu", "Xiaolin Zhang", "Jiamao Li", "Tianyu Zhang", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Yanqing Liu", "Xiaolin Zhang", "Jiamao Li" ]	Recovering depth information from a single image is a long-standing challenge, and self-supervised depth estimation methods have gradually attracted attention due to not relying on high-cost ground truth. Constructing an accurate photometric loss based on photometric consistency is crucial for these self-supervised methods to obtain high-quality depth maps. However, the photometric loss in most st...
J-RR: Joint Monocular Depth Estimation and Semantic Edge Detection Exploiting Reciprocal Relations	https://ieeexplore.ieee.org/document/9981343/	[ "Deming Wu", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Xiaolin Zhang", "Jiamao Li", "Deming Wu", "Dongchen Zhu", "Guanghui Zhang", "Wenjun Shi", "Xiaolin Zhang", "Jiamao Li" ]	Depth estimation and semantic edge detection are two key tasks in computer vision, which have made great progress. To date, how to associatively predict the depth and the semantic edge is rarely explored. In this work, we first propose a flexible two-branch framework that can make the two tasks take advantage of each other, achieving a win-win situation. Specifically, for the semantic edge detecti...
Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategy	https://ieeexplore.ieee.org/document/9981630/	[ "Jun Wu", "Lilu Liu", "Yue Wang", "Rong Xiong", "Jun Wu", "Lilu Liu", "Yue Wang", "Rong Xiong" ]	Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of environment and textureless or resemblant object surfaces. Hence, RGB-based methods generally achieve less competitive results than RGBD-based methods, which deploy ...
Domain Invariant Siamese Attention Mask for Small Object Change Detection via Everyday Indoor Robot Navigation	https://ieeexplore.ieee.org/document/9982196/	[ "Koji Takeda", "Kanji Tanaka", "Yoshimasa Nakamura", "Koji Takeda", "Kanji Tanaka", "Yoshimasa Nakamura" ]	The problem of image change detection via every-day indoor robot navigation is explored from a novel perspective of the self-attention technique. Detecting semantically non-distinctive and visually small changes remains a key challenge in the robotics community. Intuitively, these small non-distinctive changes may be better handled by the recent paradigm of the attention mechanism, which is the ba...
Investigation of Factorized Optical Flows as Mid-Level Representations	https://ieeexplore.ieee.org/document/9981638/	[ "Hsuan-Kung Yang", "Tsu-Ching Hsiao", "Ting-Hsuan Liao", "Hsu-Shen Liu", "Li-Yuan Tsao", "Tzu-Wen Wang", "Shan-Ya Yang", "Yu-Wen Chen", "Huang-Ru Liao", "Chun-Yi Lee", "Hsuan-Kung Yang", "Tsu-Ching Hsiao", "Ting-Hsuan Liao", "Hsu-Shen Liu", "Li-Yuan Tsao", "Tzu-Wen Wang", "Shan-Ya Yang", "Yu-Wen Chen", "Huang-Ru Liao", "Chun-Yi Lee" ]	In this paper, we introduce a new concept of incorporating factorized flow maps as mid-level representations, for bridging the perception and the control modules in modular learning based robotic frameworks. To investigate the advantages of factorized flow maps and examine their interplay with the other types of mid-level representations, we further develop a configurable framework, along with fou...
Augment-Connect-Explore: a Paradigm for Visual Action Planning with Data Scarcity	https://ieeexplore.ieee.org/document/9982199/	[ "Martina Lippi", "Michael C. Welle", "Petra Poklukar", "Alessandro Marino", "Danica Kragic", "Martina Lippi", "Michael C. Welle", "Petra Poklukar", "Alessandro Marino", "Danica Kragic" ]	Visual action planning particularly excels in applications where the state of the system cannot be computed explicitly, such as manipulation of deformable objects, as it enables planning directly from raw images. Even though the field has been significantly accelerated by deep learning techniques, a crucial requirement for their success is the availability of a large amount of data. In this work, ...
Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance	https://ieeexplore.ieee.org/document/9981900/	[ "Wenkai Chen", "Hongzhuo Liang", "Zhaopeng Chen", "Fuchun Sun", "Jianwei Zhang", "Wenkai Chen", "Hongzhuo Liang", "Zhaopeng Chen", "Fuchun Sun", "Jianwei Zhang" ]	Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp candidates are restricted to a small workspace. To mitigate these limitations, we firstly construct a novel affordance-based grasp dataset and propose a 6-DoF ta...
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering	https://ieeexplore.ieee.org/document/9982194/	[ "Stanley Lewis", "Jana Pavlasek", "Odest Chadwicke Jenkins", "Stanley Lewis", "Jana Pavlasek", "Odest Chadwicke Jenkins" ]	Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally difficult, while also making the process of realworld dataset collection unscalable. With the aim of addressing these scalability issues, we propose Neural Articulated Radiance Fields (NARF22), a pipeline which uses a ful...
Multi-Agent Relative Pose Estimation with UWB and Constrained Communications	https://ieeexplore.ieee.org/document/9982005/	[ "Andrew Fishberg", "Jonathan P. How", "Andrew Fishberg", "Jonathan P. How" ]	Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with addit...
Ranging-Aided Ground Robot Navigation Using UWB Nodes at Unknown Locations	https://ieeexplore.ieee.org/document/9981186/	[ "Abhinav Rajvanshi", "Han-Pang Chiu", "Alex Krasner", "Mikhail Sizintsev", "Glenn Murray", "Supun Samarasekera", "Abhinav Rajvanshi", "Han-Pang Chiu", "Alex Krasner", "Mikhail Sizintsev", "Glenn Murray", "Supun Samarasekera" ]	Ranging information from ultra-wideband (UWB) ranging radios can be used to improve estimated navigation accuracy of a ground robot with other on-board sensors. However, all ranging-aided navigation methods demand the locations of ranging nodes to be known, which is not suitable for time-pressed situations, dynamic cluttered environments, or collaborative navigation applications. This paper descri...
360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM	https://ieeexplore.ieee.org/document/9982142/	[ "Hongji Liu", "Huajian Huang", "Sai-Kit Yeung", "Ming Liu", "Hongji Liu", "Huajian Huang", "Sai-Kit Yeung", "Ming Liu" ]	As an abstract representation of the environment structure, a topological map has advantageous properties for path-planning and navigation. Here we proposed an online topological mapping method, 360ST-Mapping, using omnidirectional vision. The 360° field-of-view allows the agent to obtain consistent observation and incrementally extract topological environment information. Moreover, we leverage se...
Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments	https://ieeexplore.ieee.org/document/9982047/	[ "Elisa Stefanini", "Enrico Ciancolini", "Alessandro Settimi", "Lucia Pallottino", "Elisa Stefanini", "Enrico Ciancolini", "Alessandro Settimi", "Lucia Pallottino" ]	Long-time operations of autonomous vehicles and mobile robots in logistics and service applications are still a challenge. To avoid a continuous re-mapping, the map can be updated to obtain a consistent representation of the current environment. In this paper, we propose a novel LIDAR-based occupancy grid map updating algorithm for dynamic environments taking into account possible localisation and...
Task Decoupling in Preference-based Reinforcement Learning for Personalized Human-Robot Interaction	https://ieeexplore.ieee.org/document/9981076/	[ "Mingjiang Liu", "Chunlin Chen", "Mingjiang Liu", "Chunlin Chen" ]	Intelligent robots designed to interact with hu-mans in the real world need to adapt to the preferences of different individuals. Preference-based reinforcement learning (RL) has shown great potential for teaching robots to learn personalized behaviors from interacting with humans with-out a meticulous, hand-crafted reward function, replaced by learning reward based on a human's preferences betwee...
Holo-SpoK: Affordance-Aware Augmented Reality Control of Legged Manipulators	https://ieeexplore.ieee.org/document/9981989/	[ "Rodrigo Chacón Quesada", "Yiannis Demiris", "Rodrigo Chacón Quesada", "Yiannis Demiris" ]	Although there is extensive research regarding legged manipulators, comparatively little focuses on their User Interfaces (UIs). Towards extending the state-of-art in this domain, in this work, we integrate a Boston Dynamics (BD) Spot® with a light-weight 7 DoF Kinova® robot arm and a Robotiq® 2F-85 gripper into a legged manipulator. Furthermore, we jointly control the robotic platform using an af...
Keeping Humans in the Loop: Teaching via Feedback in Continuous Action Space Environments	https://ieeexplore.ieee.org/document/9982282/	[ "Isaac Sheidlower", "Allison Moore", "Elaine Short", "Isaac Sheidlower", "Allison Moore", "Elaine Short" ]	Interactive Reinforcement Learning (IntRL) allows human teachers to accelerate the learning process of Reinforcement Learning (RL) robots. However, IntRL has largely been limited to tasks with discrete-action spaces in which actions are relatively slow. This limits IntRL's application to more complicated and challenging robotic tasks, the very tasks that modern RL is particularly well-suited for. ...
An Adaptive, Affordable, Humanlike Arm Hand System for Deaf and DeafBlind Communication with the American Sign Language	https://ieeexplore.ieee.org/document/9982052/	[ "Che-Ming Chang", "Felipe Sanches", "Geng Gao", "Samantha Johnson", "Minas Liarokapis", "Che-Ming Chang", "Felipe Sanches", "Geng Gao", "Samantha Johnson", "Minas Liarokapis" ]	To communicate, the ~ 1.5 million Americans living with deafblindess use tactile American Sign Language (t-ASL). To provide Deafßilind (DB) individuals with a means of using their primary communication language without the use of an interpreter, we developed an assistive technology that promotes their autonomy. The TATUM (Tactile ASL Translational User Mechanism) anthropomorphic arm hand system le...
Examining Distance in UAV Gesture Perception	https://ieeexplore.ieee.org/document/9981971/	[ "Karissa Jelonek", "Paul Fletcher", "Brittany Duncan", "Carrick Detweiler", "Karissa Jelonek", "Paul Fletcher", "Brittany Duncan", "Carrick Detweiler" ]	Unmanned aerial vehicles (UAVs) are becoming more common, presenting the need for effective human-robot communication strategies that address the unique nature of unmanned aerial flight. Visual communication via drone flight paths, also called gestures, may prove to be an ideal method. However, the effectiveness of visual communication techniques is dependent on several factors including an observ...
Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios	https://ieeexplore.ieee.org/document/9981334/	[ "Francisco Cruz", "Charlotte Young", "Richard Dazeley", "Peter Vamplew", "Francisco Cruz", "Charlotte Young", "Richard Dazeley", "Peter Vamplew" ]	Explainable artificial intelligence is a research field that tries to provide more transparency for autonomous intelligent systems. Explainability has been used, particularly in reinforcement learning and robotic scenarios, to better understand the robot decision-making process. Previous work, however, has been widely focused on providing technical explanations that can be better understood by AI ...
LiDAR-Aided Visual-Inertial Localization with Semantic Maps	https://ieeexplore.ieee.org/document/9982152/	[ "Hao Li", "Liangliang Pan", "Ji Zhao", "Hao Li", "Liangliang Pan", "Ji Zhao" ]	Accurate and robust localization is an essential task for autonomous driving systems. In this paper, we propose a novel 3D LiDAR-aided visual-inertial localization method. Our method fully explores the complementarity of visual and LiDAR observations. On the one hand, the association between semantic features in images and a given semantic map provides constraints for the absolute pose. On the oth...
Robust Onboard Localization in Changing Environments Exploiting Text Spotting	https://ieeexplore.ieee.org/document/9981049/	[ "Nicky Zimmerman", "Louis Wiesmann", "Tiziano Guadagnino", "Thomas Läbe", "Jens Behley", "Cyrill Stachniss", "Nicky Zimmerman", "Louis Wiesmann", "Tiziano Guadagnino", "Thomas Läbe", "Jens Behley", "Cyrill Stachniss" ]	Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map built at a different point in time. To overcome the discrepancy between the map and the observed environment caused by such changes, we exploit human-readable l...
Fast Scan Context Matching for Omnidirectional 3D Scan	https://ieeexplore.ieee.org/document/9981143/	[ "Hikaru Kihara", "Makoto Kumon", "Kei Nakatsuma", "Tomonari Furukawa", "Hikaru Kihara", "Makoto Kumon", "Kei Nakatsuma", "Tomonari Furukawa" ]	Autonomous robots need to recognize the environment by identifying the scene. Scan context is one of global descriptors, and it encodes the three-dimensional scan data of the scene for the identification in a matrix form. Scan context is in a matrix form that is simple to store, but the matching of scan contexts can require computational effort because the descriptor is orientation-dependent. Beca...
Probabilistic Object Maps for Long-Term Robot Localization	https://ieeexplore.ieee.org/document/9981316/	[ "Amanda Adkins", "Taijing Chen", "Joydeep Biswas", "Amanda Adkins", "Taijing Chen", "Joydeep Biswas" ]	Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of identifying and focusing on long-term features to handle change in such environments, we propose a different approach - can a robot understand the distribution of movab...
Level Set-Based Camera Pose Estimation From Multiple 2D/3D Ellipse-Ellipsoid Correspondences	https://ieeexplore.ieee.org/document/9981161/	[ "Matthieu Zins", "Gilles Simon", "Marie-Odile Berger", "Matthieu Zins", "Gilles Simon", "Marie-Odile Berger" ]	In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function characterizing the projection of a 3D object onto a 2D object detection is not straightforward. We develop an ellipse-ellipse cost based on level sets sampling,...
Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements	https://ieeexplore.ieee.org/document/9981718/	[ "Justin Cano", "Gaël Pages", "Eric Chaumette", "Jerome Le Ny", "Justin Cano", "Gaël Pages", "Eric Chaumette", "Jerome Le Ny" ]	Position estimation in Multi-Robot Systems (MRS) relies on relative angle or distance measurements between the robots, which generally deteriorate as distances increase. Moreover, the localization accuracy is strongly influenced both by the quality of the raw measurements but also by the overall geometry of the network. In this paper, we design a cost function that accounts for these two issues an...

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IROS 2022 Accepted Paper Meta Info Dataset

This dataset is collect from the IROS 2022-2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (https://ieeexplore.ieee.org/xpl/conhome/9981026/proceeding) as well as the arxiv website DeepNLP paper arxiv (http://www.deepnlp.org/content/paper/iros2022). For researchers who are interested in doing analysis of IROS 2022 accepted papers and potential trends, you can use the already cleaned up json files. Each row contains the meta information of a paper in the IROS 2022 conference. To explore more AI & Robotic papers (NIPS/ICML/ICLR/IROS/ICRA/etc) and AI equations, feel free to navigate the Equation Search Engine (http://www.deepnlp.org/search/equation) as well as the AI Agent Search Engine to find the deployed AI Apps and Agents (http://www.deepnlp.org/search/agent) in your domain.

Equations Latex code and Papers Search Engine

Meta Information of Json File of Paper


{
    "title": "Learning-based Localizability Estimation for Robust LiDAR Localization",
    "detail_url": "https://ieeexplore.ieee.org/document/9982257/",
    "author_list": ["Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter", "Julian Nubert", "Etienne Walther", "Shehryar Khattak", "Marco Hutter"],
    "abstract": "LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time. Yet, as a consequence of insufficient environmental constraints present in the scene, this dependence on geometry can result in localization failure, happening ..."
}