Skip to content

Latest commit

 

History

History
1972 lines (1970 loc) · 158 KB

README.md

File metadata and controls

1972 lines (1970 loc) · 158 KB

IROS2022-paper-list

This list is edited by PaopaoRobot, 泡泡机器人 , the Chinese academic nonprofit organization. Welcome to follow our github and our WeChat Public Platform Account ( paopaorobot_slam ). Of course, you could contact with @Yvon Shong.

Award Session I

  • SpeedFolding: Learning Efficient Bimanual Folding of Garments
  • FAR Planner: Fast, Attemptable Route Planner Using Dynamic Visibility Update
  • Learning-Based Localizability Estimation for Robust LiDAR Localization
  • Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
  • RCareWorld: A Human-Centric Simulation World for Caregiving Robots
  • Design and Modeling of a Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery

Learning 1

  • CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
  • Bio-Inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation
  • RECALL: Rehearsal-Free Continual Learning for Object Classification
  • PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis
  • LaneSNNs: Spiking Neural Networks for Lane Detection on the Loihi Neuromorphic Processor
  • Striving for Less: Minimally-Supervised Pseudo-Label Generation for Monocular Road Segmentation
  • Learning Sequential Descriptors for Sequence-Based Visual Place Recognition
  • DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments
  • Deep Koopman Operator with Control for Nonlinear Systems

Service Robotics

  • An Autonomous Descending-Stair Cleaning Robot with RGB-D Based Detection, Approaching, and Area Coverage Process
  • Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations
  • Service Robots in a Bakery Shop: A Field Study
  • Shared Autonomy for Safety between a Self-Reconfigurable Robot and a Teleoperator Using Multi-Layer Fuzzy Logic
  • Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics
  • Design of a Reconfigurable Robot with Size-Adaptive Path Planner
  • Testing Service Robots in the Field: An Experience Report
  • Approximate Task Tree Retrieval in a Knowledge Network for Robotic Cooking
  • Robotic Depowdering for Additive Manufacturing Via Pose Tracking

Manipulation Systems 1

  • A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories
  • Constraint-Based Task Specification and Trajectory Optimization for Sequential Manipulation
  • Quasistatic Contact-Rich Manipulation Via Linear Complementarity Quadratic Programming
  • Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation
  • Learning and Generalizing Cooperative Manipulation Skills Using Parametric Dynamic Movement Primitives (I)
  • A Solution to Slosh-Free Robot Trajectory Optimization
  • Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry
  • Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback (I)
  • Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research

Computer Vision for Transportation

  • Multi-Sensor Data Annotation Using Sequence-Based Active Learning
  • 3D Single-Object Tracking with Spatial-Temporal Data Association
  • Instance-Aware Multi-Object Self-Supervision for Monocular Depth Prediction
  • TransDARC: Transformer-Based Driver Activity Recognition with Latent Space Feature Calibration
  • Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras
  • Towards Safety-Aware Pedestrian Detection in Autonomous Systems
  • Self-Supervised Moving Vehicle Detection from Audio-Visual Cues
  • Multi-Source Domain Alignment for Robust Segmentation in Unknown Targets
  • Depth360: Self-Supervised Learning for Monocular Depth Estimation Using Learnable Camera Distortion Model

Aerial Systems 1

  • Real-Time Hybrid Mapping of Populated Indoor Scenes Using a Low-Cost Monocular UAV
  • GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D
  • An Aerial Parallel Manipulator with Shared Compliance
  • RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
  • Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV
  • On-Board Physical Battery Replacement System and Procedure for Drones During Flight
  • Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer
  • Vision-Based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
  • Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and Their Collective-Search Behavior

Medical Robots and Systems 1

  • Automatic Laser Steering for Middle Ear Surgery
  • Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery
  • A Pneumatic MR-Conditional Guidewire Delivery Mechanism with Decoupled Rotary Linear Actuation for Endovascular Intervention
  • Design and Evaluation of the Infant Cardiac Robotic Surgical System (iCROSS)
  • A Robotic System for Solo Surgery in Flexible Ureterorenoscopy
  • Light in the Larynx: A Miniaturized Robotic Optical Fiber for In-Office Laser Surgery of the Vocal Folds
  • A 5-DOFs Robot for Posterior Segment Eye Microsurgery

Mechanism Design 1

  • DRPD, Compact Dual Reduction Ratio Planetary Drive for Actuators of Articulated Robots
  • Single-Rod Brachiation Robot
  • A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots
  • Wirelessly Magnetically Actuated Robotic Implant for Tissue Regeneration
  • Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism
  • Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots
  • A Modified Rocker-Bogie Mechanism with Fewer Actuators and High Mobility
  • Planar Multi-Closed-Loop Hyper-Redundant Manipulator Using Extendable Tape Springs: Design, Modeling, and Experiments
  • Autonomous State-Based Flipper Control for Articulated Tracked Robots in Urban Environments

Object Detection, Segmentation and Categorization 1

  • Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments
  • FocusTR: Focusing on Valuable Feature by Multiple Transformers for Fusing Feature Pyramid on Object Detection
  • DeepShapeKit: Accurate 4D Shape Reconstruction of Swimming Fish
  • E2Pose: Fully Convolutional Networks for End-To-End Multi-Person Pose Estimation
  • Fast Detection of Moving Traffic Participants in LiDAR Point Clouds by Using Particles Augmented with Free Space Information
  • RPG: Learning Recursive Point Cloud Generation
  • Fully Convolutional Transformer with Local–Global Attention
  • DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars
  • CVFNet: Real-Time 3D Object Detection by Learning Cross View Features

Haptics

  • Reduced Interface Models for Haptic Interfacing with Virtual Environments
  • A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures
  • A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation
  • EMG-Based Feedback Modulation for Increased Transparency in Teleoperation
  • Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation
  • Sensorimotor Control Sharing with Vibrotactile Feedback for Body Integration through Avatar Robot
  • Perception of Mechanical Properties Via Wrist Haptics: Effects of Feedback Congruence
  • Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality
  • Feeling the Pressure: The Influence of Vibrotactile Patterns on Feedback Perception

Human Factors and Human-In-The-Loop

  • SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-In-The-Loop
  • To Ask for Help or Not to Ask: A Predictive Approach to Human-In-The-Loop Motion Planning for Robot Manipulation Tasks
  • You Are in My Way: Non-Verbal Social Cues for Legible Robot Navigation Behaviors
  • Robot Trajectory Adaptation to Optimise the Trade-Off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
  • EMG-Based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
  • Modeling Human Response to Robot Errors for Timely Error Detection
  • Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition
  • Interactive Reinforcement Learning with Bayesian Fusion of Multimodal Advice
  • A Camera-Based Deep-Learning Solution for Visual Attention Zone Recognition in Maritime Navigational Operations

Visual Learning

  • Spatiotemporally Enhanced Photometric Loss for Self-Supervised Monocular Depth Estimation
  • J-RR: Joint Monocular Depth Estimation and Semantic Edge Detection Exploiting Reciprocal Relations
  • Towards Two-View 6D Object Pose Estimation: A Comparative Study on Fusion Strategy
  • Maximizing Self-Supervision from Thermal Image for Effective Self-Supervised Learning of Depth and Ego-Motion
  • Domain Invariant Siamese Attention Mask for Small Object Change Detection Via Everyday Indoor Robot Navigation
  • Investigation of Factorized Optical Flows As Mid-Level Representations
  • Augment-Connect-Explore: A Paradigm for Visual Action Planning with Data Scarcity
  • Learning 6-DoF Task-Oriented Grasp Detection Via Implicit Estimation and Visual Affordance
  • NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering

Mapping 1

  • Multi-Agent Relative Pose Estimation with UWB and Constrained Communications
  • Ranging-Aided Ground Robot Navigation Using UWB Nodes at Unknown Locations
  • Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
  • 360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM
  • Online Distance Field Priors for Gaussian Process Implicit Surfaces
  • An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions
  • PlaneSDF-Based Change Detection for Long-Term Dense Mapping
  • Efficient 2D LIDAR Based Map Updating for Long Term Operations in Dynamic Environments
  • Monocular UAV Localisation with Deep Learning and Uncertainty Propagation

Human-Centered Robotics 1

  • Task Decoupling in Preference-Based Reinforcement Learning for Personalized Human-Robot Interaction
  • Holo-SpoK: Affordance-Aware Augmented Reality Control of Legged Manipulators
  • Keeping Humans in the Loop: Teaching Via Feedback in Continuous Action Space Environments
  • An Adaptive, Affordable, Humanlike Arm Hand System for Deaf and Deaf Blind Communication with the American Sign Language
  • Examining Distance in UAV Gesture Perception
  • GA-STT: Human Trajectory Prediction with Group Aware Spatial-Temporal Transformer
  • Evaluating Human-Like Explanations for Robot Actions in Reinforcement Learning Scenarios
  • A Modular and Portable Black Box Recorder for Increased Transparency of Autonomous Service Robots

Localization 1

  • LiDAR-Aided Visual-Inertial Localization with Semantic Maps
  • Robust Onboard Localization in Changing Environments Exploiting Text Spotting
  • Fast Scan Context Matching for Omnidirectional 3D Scan
  • Probabilistic Object Maps for Long-Term Robot Localization
  • Level Set-Based Camera Pose Estimation from Multiple 2D/3D Ellipse-Ellipsoid Correspondences
  • Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements
  • Improving Worst Case Visual Localization Coverage Via Place-Specific Sub-Selection in Multi-Camera Systems
  • Hybrid Interval-Probabilistic Localization in Building Maps
  • Online Target Localization Using Adaptive Belief Propagation in the HMM Framework

Representation Learning

  • Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
  • DreamingV2: Reinforcement Learning with Discrete World Models without Reconstruction
  • Playful Interactions for Representation Learning
  • COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems
  • Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions
  • Neural Scene Representation for Locomotion on Structured Terrain
  • MO-Transformer: A Transformer-Based Multi-Object Point Cloud Reconstruction Network
  • Self-Supervised Feature Learning from Partial Point Clouds Via Pose Disentanglement
  • Efficiently Learning Manipulations by Selecting Structured Skill Representations

Automation and Robotics at Micro-Nano Scales

  • Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools
  • A Micro-Robotic Approach for the Correction of Angular Deviations in AFM Samples from Generic Topographic Data
  • Modeling and Characterization of Artificial Bacteria Flagella with Micro-Structured Soft-Magnetic Teeth
  • Deep Learning-Based 3D Magnetic Microrobot Tracking Using 2D MR Images
  • A PZT-Driven 6-DOF High-Speed Micromanipulator for Circular Vibration Simulation and Whirling Flow Generation
  • Real-Time Acoustic Holography with Physics-Based Deep Learning for Acoustic Robotic Manipulation
  • On-Chip Fabrication of Micro-Chain Robot with Selective Magnetization Using Magnetically Guided Arraying Microfluidic Devices
  • On-Chip Automatic Trapping and Rotating for Zebrafish Embryo Injection
  • Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following (I)

Motion and Path Planning 1

  • Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes
  • Transfer Learning for Machine Learning-Based Detection and Separation of Entanglements in Bin-Picking Applications
  • Deep Reinforcement Learning Based on Local GNN for Goal-Conditioned Deformable Object Rearranging
  • Controlling the Cascade: Kinematic Planning for N-Ball Toss Juggling
  • Rearrangement-Based Manipulation Via Kinodynamic Planning and Dynamic Planning Horizons
  • Parallel Monte Carlo Tree Search with Batched Rigid-Body Simulations for Speeding up Long-Horizon Episodic Robot Planning
  • Adapting Rapid Motor Adaptation for Bipedal Robots
  • Three-Dimensional Dynamic Running with a Point-Foot Biped Based on Differentially Flat SLIP
  • A Passive Control Framework for a Bilateral Leader-Follower Robotic Surgical Setup Imposing RCM and Active Constraints

Biologically-Inspired Robots 1

  • The Flatworm-Like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion
  • In-Hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers
  • Embodying Rather Than Encoding: Undulation with Binary Input
  • A Creeping Snake-Like Robot with Partial Actuation
  • Design and Experiments of Snake Robots with Docking Function
  • Modeling and Control of a Lizard Inspired Single Actuated Robot
  • Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions
  • A Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion
  • Bio-Inspired 2D Vertical Climbing with a Novel Tripedal Robot

Formal Methods in Robotics and Automation

  • Event-Based Signal Temporal Logic Tasks: Execution and Feedback in Complex Environments
  • Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints
  • Classification of Time-Series Data Using Boosted Decision Trees
  • Robustness-Based Synthesis for Stochastic Systems under Signal Temporal Logic Tasks
  • Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators
  • Fair Planning for Mobility-On-Demand with Temporal Logic Requests
  • Incremental Path Planning Algorithm Via Topological Mapping with Metric Gluing
  • UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation
  • Inference of Multi-Class STL Specifications for Multi-Label Human-Robot Encounters

SLAM 1

  • Making Parameterization and Constrains of Object Landmark Globally Consistent Via SPD(3) Manifold and Improved Cost Functions
  • ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment
  • NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection
  • FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
  • RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
  • DRG-SLAM: A Semantic RGB-D SLAM Using Geometric Features for Indoor Dynamic Scene
  • Scale-Aware Direct Monocular Odometry
  • IMU Preintegration for 2D SLAM Problems Using Lie Groups
  • Scale Estimation with Dual Quadrics for Monocular Object SLAM

Grasping 1

  • Learn from Interaction: Learning to Pick Via Reinforcement Learning in Challenging Clutter
  • GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutters
  • Simultaneous Object Reconstruction and Grasp Prediction Using a Camera-Centric Object Shell Representation
  • Visual Manipulation Relationship Detection Based on Gated Graph Neural Network for Robotic Grasping
  • Closed-Loop Next-Best-View Planning for Target-Driven Grasping
  • The DressGripper: A Collaborative Gripper with Electromagnetic Fingertips for Dressing Assistance
  • A New Gripper That Acts As an Active and Passive Joint to Facilitate Prehensile Grasping and Locomotion
  • Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed

Award Session II

  • Going in Blind: Object Motion Classification Using Distributed Tactile Sensing for Safe Reaching in Clutter
  • PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
  • Learning Visual Feedback Control for Dynamic Cloth Folding
  • PCBot: A Minimalist Robot Designed for Swarm Applications
  • Characterization of Real-Time Haptic Feedback from Multimodal Neural Network-Based Force Estimates During Teleoperation
  • Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills Using a Quadrupedal Robot

Learning 2

  • Multi-Modal Legged Locomotion Framework with Automated Residual Reinforcement Learning
  • Learning to Climb: Constrained Contextual Bayesian Optimisation on a Multi-Modal Legged Robot
  • Class-Incremental Gesture Recognition Learning with Out-Of-Distribution Detection
  • PIMNet: Physics-Infused Neural Network for Human Motion Prediction
  • What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data
  • Learning Solution Manifolds for Control Problems Via Energy Minimization
  • First Do Not Fall: Learning to Exploit a Wall with a Damaged Humanoid Robot
  • Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion During Release
  • Embodied Active Domain Adaptation for Semantic Segmentation Via Informative Path Planning

Grasping 2

  • ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation
  • Multi-Finger Grasping Like Humans
  • Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects
  • F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping
  • EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-Fingered Robot Hands
  • BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies
  • On Robotic Manipulation of Flexible Flat Cables: Employing a Multi-Modal Gripper with Dexterous Tips, Active Nails, and a Reconfigurable Suction Cup Module
  • Automated Design of Embedded Constraints for Soft Hands Enabling New Grasp Strategies
  • Scalable Learned Geometric Feasibility for Cooperative Grasp and Motion Planning

Manipulation Systems 2

  • A Solution to Adaptive Mobile Manipulator Throwing
  • A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
  • Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots
  • Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
  • A Versatile Affordance Modeling Framework Using Screw Primitives to Increase Autonomy During Manipulation Contact Tasks
  • Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks
  • An Open-Source Motion Planning Framework for Mobile Manipulators Using Constraint-Based Task Space Control with Linear MPC
  • View Planning for Object Pose Estimation Using Point Clouds: An Active Robot Perception Approach
  • Planning to Build Block Structures with Unstable Intermediate States Using Two Manipulators (I)

Navigation Systems 1

  • RARA: Zero-Shot Sim2Real Visual Navigation with Following Foreground Cues
  • Navigation among Movable Obstacles with Object Localization Using Photorealistic Simulation
  • Navigating Underground Environments Using Simple Topological Representations
  • Teaching Agents How to Map: Spatial Reasoning for Multi-Object Navigation
  • NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces
  • Resilient Detection and Recovery of Autonomous Systems Operating under On-Board Controller Cyber Attacks
  • Benchmarking Augmentation Methods for Learning Robust Navigation Agents: The Winning Entry of the 2021 iGibson Challenge
  • Robotic Interestingness Via Human-Informed Few-Shot Object Detection
  • Map-Free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances

Aerial Systems 2

  • Rotor Array Synergies for Aerial Modular Reconfigurable Robots
  • Precise Position Control of a Multi-Rotor UAV with a Cable-Suspended Mechanism During Water Sampling
  • Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw
  • Unmanned Aircraft System-Based Radiological Mapping of Buildings
  • Towards Edible Drones for Rescue Missions: Design and Flight of Nutritional Wings
  • Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry
  • Enforcing Vision-Based Localization Using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles
  • Visual Loop Closure Detection for a Future Mars Science Helicopter
  • PencilNet: Zero-Shot Sim-To-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing

Medical Robots and Systems 2

  • Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment
  • A Training-Evaluation Method for Nursing Telerobot Operator with Unsupervised Trajectory Segmentation
  • Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot
  • Development of a Cable-Driven Growing Sling to Assist Patient Transfer
  • Development of an Inherently Safe Nasopharyngeal Swab Sampling Robot Using a Force Restriction Mechanism
  • On the Design of Integrated Tele-Monitoring/Operation System for Therapeutic Devices in Isolation Intensive Care Unit
  • Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times ofCorona: System Design, Feasibility and Usability Study
  • Novel Supernumerary Robotic Limb Based on Variable Stiffness Actuators for Hemiplegic Patients Assistance

Mechanism Design 2

  • Plate Harmonic Reducer with a Profiled Groove Wave Generator
  • Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism with Arc Prismatic Pairs
  • Manipulator Equipped with Differential Wrist Mechanism to Combine the Torque of Two Motors to Increase Fingertip Force and Wrist Torque
  • Design of a Modular Continuum Robot with Alterable Compliance Using Tubular-Actuation
  • 3D-Printable Low-Reduction Cycloidal Gearing for Robotics
  • Fold-Based Complex Joints for a 3 DoF 3R Parallel Robot Design
  • A 4-DoF Parallel Robot with a Built-In Gripper for Waste Sorting
  • Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs
  • Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion

Object Detection, Segmentation and Categorization 2

  • Real-Time IMU-Based Learning: A Classification of Contact Materials
  • New Objects on the Road? No Problem, We’ll Learn Them Too
  • Conditional Patch-Based Domain Randomization: Improving Texture Domain Randomization Using Natural Image Patches
  • CloudAttention: Efficient Multi-Scale Attention Scheme for 3D Point Cloud Learning
  • Fast Hierarchical Learning for Few-Shot Object Detection
  • Improving Single-View Mesh Reconstruction for Unseen Categories Via Primitive-Based Representation and Mesh Augmentation
  • Instance Segmentation with Cross-Modal Consistency
  • Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
  • Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems

Force and Tactile Sensing

  • Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning (I)
  • Mapping Mid-Air Haptics with a Low-Cost Tactile Robot
  • Autonomous Tactile Localization and Mapping of Objects Buried in Granular Materials
  • Tactile Gym 2.0: Sim-To-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch
  • Bioinspired, Multifunctional, Active Whisker Sensors for Tactile Sensing of Mobile Robots
  • Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition
  • DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
  • Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear
  • Multi-Purpose Tactile Perception Based on Deep Learning in a New Tendon-Driven Optical Tactile Sensor

Human-Robot Collaboration

  • A Multi-Granularity Scene Segmentation Network for Human-Robot Collaboration Environment Perception
  • Controller Design of a Robotic Assistant for the Transport of Large and Fragile Objects
  • Safety-Based Dynamic Task Offloading for Human-Robot Collaboration Using Deep Reinforcement Learning
  • "I'm Confident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming
  • RILI: Robustly Influencing Latent Intent
  • Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality
  • Learning and Executing Re-Usable Behaviour Trees from Natural Language Instruction
  • ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration
  • VR Facial Animation for Immersive Telepresence Avatars

Visual Servoing

  • An Offline Geometric Model for Controlling the Shape of Elastic Linear Objects
  • Skeleton-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space
  • Conditional Visual Servoing for Multi-Step Tasks
  • Optimal Shape Servoing with Task-Focused Convergence Constraints
  • An Event-Triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-Based Areas Using Multirotor Aerial Vehicles
  • Vision-Based Rotational Control of an Agile Observation Satellite
  • DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing
  • Self-Supervised Wide Baseline Visual Servoing Via 3D Equivariance
  • Visibility Maximization Controller for Robotic Manipulation

Mapping 2

  • Multi-Camera-LiDAR Auto-Calibration by Joint Structure-From-Motion
  • GeoROS: Georeferenced Real-Time Orthophoto Stitching with Unmanned Aerial Vehicle
  • Learning to Complete Object Shapes for Object-Level Mapping in Dynamic Scenes
  • Robot-Aided Microbial Density Estimation and Mapping
  • Elevation Mapping for Locomotion and Navigation Using GPU
  • LODM: Large-Scale Online Dense Mapping for UAV
  • Roadside HD Map Object Reconstruction Using Monocular Camera
  • Adaptive-Resolution Field Mapping Using Gaussian Process Fusion with Integral Kernels
  • Make It Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

Human-Centered Robotics 2

  • Learning Causal Relationships of Object Properties and Affordances through Human Demonstrations and Self-Supervised Intervention for Purposeful Action in Transfer Environments
  • Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science
  • Prediction of Whole-Body Velocity and Direction from Local Leg Joint Movements in Insect Walking Via LSTM Neural Networks
  • Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling
  • Registering Articulated Objects with Human-In-The-Loop Corrections
  • Learning-Based Approach for a Soft Assistive Robotic Arm to Achieve Simultaneous Position and Force Control
  • Egocentric Human Trajectory Forecasting with a Wearable Camera and Multi-Modal Fusion
  • Social Attitude towards a Robot Is Promoted by Motor-Induced Embodiment Independently of Spatial Perspective
  • Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together (I)

Sensor Fusion 1

  • Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation
  • Towards Autonomous Control of Surgical Instruments Using Adaptive-Fusion Tracking and Robot Self-Calibration
  • AFT-VO: Asynchronous Fusion Transformers for Multi-View Visual Odometry Estimation
  • A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes
  • HD-CCSOM: Hierarchical and Dense Collaborative Continuous Semantic Occupancy Mapping through Label Diffusion
  • Scalable and Modular Ultra-Wideband Aided Inertial Navigation
  • Optimal Multi-Robot Formations for Relative Pose Estimation Using Range Measurements
  • Monocular Event Visual Inertial Odometry Based on Event-Corner Using Sliding Windows Graph-Based Optimization
  • Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs

Reinforcement Learning 1

  • Safe Reinforcement Learning for Legged Locomotion
  • Safety Guided Policy Optimization
  • How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-Based Robotic Manipulation
  • A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
  • Learning Skills to Navigate without a Master: A Sequential Multi-Policy Reinforcement Learning Algorithm
  • Ordinal Inverse Reinforcement Learning Applied to Robot Learning with Small Data
  • Advanced Skills by Learning Locomotion and Local Navigation End-To-End
  • NavDreams: Towards Camera-Only RL Navigation among Humans
  • Impact Makes a Sound and Sound Makes an Impact: Sound Guides Representations and Explorations

Micro/Nano Robots

  • Origami Robot Self-Folding by Magnetic Induction
  • A Passive, Asymmetrically-Compliant Knee Joint Improves Obstacle Traversal in an Insect-Scale Legged Robot
  • Passive Compliant Foot Design for Improved Micororobotic Mobility on Rough Terrains
  • Torque-Actuated Multimodal Locomotion of Ferrofluid Robot with Environment and Task Adaptability
  • Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field
  • OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-Constrained IoT Devices
  • Insect-Scale SMAW-Based Soft Robot with Crawling, Jumping, and Loading Locomotion
  • Characterization of the Variable Stiffness Actuator Fabricated of SMA/SMP and MWCNT/IL: PDMS Strain-Sensitive Heater Electrode
  • Adaptive Autonomous Navigation of Multiple Optoelectronic Microrobots in Dynamic Environments

Motion Control

  • Beyond the Limit Automated Driving with Performance Constrained Reachability Analysis
  • Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators
  • Planar Magnetic Actuation for Soft and Rigid Robots Using a Scalable Electromagnet Array
  • Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
  • Set-Point Control for a Ground-Based Reconfigurable Robot
  • Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine
  • Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction
  • Co-Optimization of Acrobot Design and Controller for Increased Certifiable Stability
  • RoSA: A Mechatronically Synthesized Dataset for Rotodynamic System Anomaly Detection

Biologically-Inspired Robots 2

  • Toward Dexterous Flapping Flight: Effective Large Yaw Torque Generation by 2 × 2-Degrees-Of-Freedom Flapping Wings
  • End-To-End Design of Bespoke, Dexterous Snake-Like Surgical Robots: A Case Study with the RAVEN II (I)
  • Comparative Model Evaluation with a Symmetric Three-Link Swimming Robot
  • Development of a Stingray-Inspired High-Frequency Propulsion Platform with Variable Wavelength
  • Amoeba-Inspired Swimming through Isoperimetric Modulation of Body Shape
  • Compliant Thorax Design for Robustness and Elastic Energy Exchange in Flapping-Wing Robots
  • Event-Triggered Control of Robotic Fish with Reduced Communication Rate
  • Design and Testing of a Bioinspired Lightweight Perching Mechanism for Flapping-Wing MAVs Using Soft Grippers

Factory Automation and Logistics

  • Image Translation Based Synthetic Data Generation for Industrial Object Detection and Pose Estimation
  • Reconstructed Student-Teacher and Discriminative Networks for Anomaly Detection
  • Systematic Evaluation and Analysis on Hybrid Strategies of Automatic Agent Last Mile Delivery
  • Multi-Object Grasping -# Efficient Robotic Picking and Transferring Policy for Batch Picking
  • AssembleRL: Learning to Assemble Furniture from Their Point Clouds
  • FASTDLO: Fast Deformable Linear Objects Instance Segmentation
  • MS-Cubic: A Modularized Manufacturing System with Scalability, Portability and Parallelism
  • Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning

SLAM 2

  • DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment towards Accurate and Robust Loop Closure
  • One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
  • Keyframe Selection with Information Occupancy Grid Model for Long-Term Data Association
  • PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders
  • Thermal Inertial SLAM for the Environments with Challenging Illumination
  • Are We Ready for Robust and Resilient SLAM? a Framework for Quantitative Characterization of SLAM Datasets
  • Robust Change Detection Based on Neural Descriptor Fields
  • LayoutSLAM: Object Layout Based Simultaneous Localization and Mapping for Reducing Object Map Distortion
  • SLAM-Supported Self-Training for 6D Object Pose Estimation

Localization 2

  • ROLL: Long-Term Robust LiDAR-Based Localization with Temporary Mapping in Changing Environments
  • Indirect Point Cloud Registration: Aligning Distance Fields Using a Pseudo Third Point Set
  • Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds in Outdoor Environment
  • P3-VINS: Tightly Coupled PPP/INS/Visual SLAM Based on Optimization Approach
  • Gaussian Variational Inference with Covariance Constraints Applied to Range-Only Localization
  • Point Cloud Registration Leveraging Structural Regularity in Manhattan World
  • Pose Refinement with Joint Optimization of Visual Points and Lines
  • Closed-Form Error Propagation on SEn(3) Group for Invariant EKF with Applications to VINS

Motion and Path Planning 2

  • Comprehensive Reactive Safety: No Need for a Trajectory If You Have a Strategy
  • Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots (I)
  • Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning Over Physically Simulated Terrains
  • Risk-Aware Off-Road Navigation Via a Learned Speed Distribution Map
  • Dynamic Replanning with Posterior Sampling
  • Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
  • Learning to Herd Amongst Obstacles from an Optimized Surrogate
  • Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation

Award Session III

  • 1-Degree-Of-Freedom Robotic Gripper with Infinite Self-Twist Function
  • Aerial Grasping and the Velocity Sufficiency Region
  • Automated Design of Task Specific Additively Manufacturable Coupled Serial Chain Mechanisms for Tracing Predefined Planar Trajectories
  • Robot Learning to Paint from Demonstrations
  • The Wheelbot: A Jumping Reaction Wheel Unicycle
  • Robot Dance Generation with Music Based Trajectory Optimization

Award Session IV

  • Learning on the Job: Long-Term Behavioural Adaptation in Human-Robot Interactions
  • Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration
  • Intuitive & Efficient Human-Robot Collaboration Via Real-Time Approximate Bayesian Inference
  • Gesture2Vec: Clustering Gestures Using Representation Learning Methods for Co-Speech Gesture Generation
  • Robowflex: Robot Motion Planning with MoveIt Made Easy
  • Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Grasping 3

  • A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
  • Optimal Nonprehensile Interception Strategy for Objects in Flight
  • MasKGrasp: Mask-Based Grasping for Scenes with Multiple General Real-World Objects
  • Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs
  • Fixture-Aware DDQN for Generalized Environment-Enabled Grasping
  • Learning Push-Grasping in Dense Clutter
  • Grasping Strategy for Unknown Objects Based on Real-Time Grasp-Stability Evaluation Using Proximity Sensing
  • Resonant Pneumatic Tactile Sensing for Soft Grippers
  • A Mechanical Screwing Tool for 2-Finger Parallel Grippers -# Design, Optimization, and Manipulation Policies (I)

Manipulation Systems 3

  • Tactile-Guided Dynamic Object Planar Manipulation
  • 3D Visual-Based Tension Control in Strip-Like Deformable Objects Using a Catenary Model
  • DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping
  • Sim2Real Instance-Level Style Transfer for 6D Pose Estimation
  • Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
  • All You Need Is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings
  • Voting and Attention-Based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds
  • Acoustic Balance: Weighing in Ultrasonic Non-Contact Manipulators
  • The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion

Navigation Systems 2

  • On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion
  • Spatio-Temporal Graph Localization Networks for Image-Based Navigation
  • Stubborn: A Strong Baseline for Indoor Object Navigation
  • VI-IKD: High-Speed Accurate Off-Road Navigation Using Learned Visual-Inertial Inverse Kinodynamics
  • H-VLO: Hybrid LiDAR-Camera Fusion for Self-Supervised Odometry
  • B-GAP: Behavior-Rich Simulation and Navigation for Autonomous Driving
  • Memory-Augmented Reinforcement Learning for Image-Goal Navigation
  • Exploring Event Camera-Based Odometry for Planetary Robots
  • GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments

Aerial Systems 3

  • Automated Aerial Screwing with a Fully Actuated Aerial Manipulator
  • Automatic Parameter Adaptation for Quadrotor Trajectory Planning
  • Efficient Sampling-Based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining
  • DIDO: Deep Inertial Quadrotor Dynamical Odometry
  • Folding Knots Using a Team of Aerial Robots
  • Hand-Crafted Features for Floating Plastic Detection
  • Reactive Motion Planning for Rope Manipulation and Collision Avoidance Using Aerial Robots
  • Autonomous Emergency Landing for Multicopters Using Deep Reinforcement Learning
  • GNGraph: Self-Organizing Maps for Autonomous Aerial Vehicle Planning

Medical Robots and Systems 3

  • Biocompatible Ferrofluid Robot with Photothermal Property for Targeted Tumor Therapy
  • Lumen Shape Reconstruction Using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography
  • Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot
  • Robust Sim2Real Transfer with the Da Vinci Research Kit: A Study on Camera, Lighting, and Physics Domain Randomization
  • Simulation-Based Reinforcement Learning for Real-World Autonomous US Probe Navigation
  • PH Sensor-Embedded Magnetically Driven Capsule for H. Pylori Infection Diagnosis
  • Development of a Robotic Capsule for in Vivo Sampling of Gut Microbiota
  • Local One-Dimensional Motion Estimation Using FBG-Based Shape Sensing for Cardiac Applications
  • Sim-To-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning

Mechanism Design 3

  • Modular and Hybrid Numerical-Analytical Approach # a Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
  • Multi-Axis Reorientation of a Free-Falling Omnidirectional Wheeled Robot
  • Steady-State Manifold of Riderless Motorcycles
  • Foot-Operated Tele-Impedance Interface for Robot Manipulation Tasks in Interaction with Unpredictable Environments
  • Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions
  • Robust Cartesian Kinematics Estimation for Task-Space Control Systems
  • Unsupervised 3D Link Segmentation of Articulated Objects with a Mixture of Coherent Point Drift
  • A Robot Factors Approach to Designing Modular Hardware
  • BSA # Bi-Stiffness Actuation for Optimally Exploiting Intrinsic Compliance and Inertial Coupling Effects in Elastic Joint Robots

Object Detection, Segmentation and Categorization 3

  • Time-To-Label: Temporal Consistency for Self-Supervised Monocular 3D Object Detection
  • 3D Multi-Object Tracking Using Graph Neural Networks with Cross-Edge Modality Attention
  • See Eye to Eye: A Lidar-Agnostic 3D Detection Framework for Unsupervised Multi-Target Domain Adaptation
  • MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-Wise Voting Network
  • Deep Tri-Training for Semi-Supervised Image Segmentation
  • Child Engagement Estimation in Heterogeneous Child-Robot Interactions Using Spatiotemporal Visual Cues
  • TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
  • One Object at a Time: Accurate and Robust Structure from Motion for Robots
  • 2D vs. 3D LiDAR-Based Person Detection on Mobile Robots

Contact Modeling and Force/Tactile Sensing

  • Validating Robotics Simulators on Real-World Impacts
  • Velocity Level Approximation of Pressure Field Contact Patches
  • Visual Pressure Estimation and Control for Soft Robotic Grippers
  • Environmental Interaction with Continuum Robots Exploiting Impact
  • Tactile Pattern Super Resolution with Taxel-Based Sensors
  • Learning-Based Six-Axis Force/Torque Estimation Using GelStereo Fingertip Visuotactile Sensing
  • Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force
  • Modulo Cellulo: Modular Versatile Tangible Educational Robots
  • Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering

Physical Human-Robot Interaction

  • A Framework of Rehabilitation-Assisted Robot Skill Representation, Learning, and Modulation Via Manifold-Mappings and Gaussian Processes
  • Position-Based Treadmill Drive with Wire Traction for Experience of Level Ground Walking from Gait Acceleration State to Steady State
  • A Null-Space Based Approach for a Safe and Effective Human-Robot Collaboration
  • Fast and Comfortable Interactive Robot-To-Human Object Handover
  • MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant Exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
  • In-Hand Admittance Controller for a Robotic Assistive Walker Based on Tactile Grasping Feedback
  • Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control
  • Towards Safe Physical Human-Robot Interaction by Exploring the Rapid Stiffness Switching Feature of Discrete Variable Stiffness Actuation
  • Robustness of Interaction Parameters Identification Technique for Collaborative Robots

Visual Tracking

  • Learning Moving-Object Tracking with FMCW LiDAR
  • Self-Supervised Learning for Multiple Object Tracking in 3D Point Clouds
  • An Efficient and Accurate Solution to Camera Pose Estimation Problem from Point and Line Correspondences Based on Null Space Analysis
  • Improving 3D Markerless Pose Estimation of Animals in the Wild Using Low-Cost Cameras
  • DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment
  • Scene-Level Tracking and Reconstruction without Object Priors
  • Smart Visual Beacons with Asynchronous Optical Communications Using Event Cameras
  • Category-Independent Articulated Object Tracking with Factor Graphs
  • ECDT: Event Clustering for Simultaneous Feature Detection and Tracking

Mapping 3

  • Hierarchical Road Topology Learning for Urban Mapless Driving
  • S-MKI: Incremental Dense Semantic Occupancy Reconstruction through Multi-Entropy Kernel Inference
  • BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision
  • Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms
  • OdomBeyondVision: An Indoor Multi-Modal Multi-Platform Odometry Dataset Beyond the Visible Spectrum
  • FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
  • STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping
  • VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
  • Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset

Human-Centered Robotics 3

  • Affective Behavior Learning for Social Robot Haru with Implicit Evaluative Feedback
  • Efficient Hand Gesture Recognition for Human-Robot Interaction
  • Augmented Reality-Assisted Reconfiguration and Workspace Visualisation of Malleable Robots (I)
  • A Tool for Organizing Key Characteristics of Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Systems: Synthesizing VAM-HRI Trends and Takeaways (I)
  • Feasibility Study on Disentangling Muscle Movements in TMR Patients through a Myokinetic Control Interface for the Control of Artificial Hands
  • A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation
  • Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack
  • Learning an Interpretable Model for Driver Behavior Prediction with Inductive Biases

Sensor Fusion 2

  • Robust Real-Time LiDAR-Inertial Initialization
  • VAST: Visual and Spectral Terrain Classification in Unstructured Multi-Class Environments
  • EFGHNet: A Versatile Image-To-Point Cloud Registration Network for Extreme Outdoor Environment
  • Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement
  • Estimating Odometry Scale and UWB Anchor Location Based on Semidefinite Programming Optimization
  • Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning
  • Exploring mmWave Radar and Camera Fusion for High-Resolution and Long-Range Depth Imaging
  • FAST-LIVO: Fast and Tightly-Coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
  • Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals

Reinforcement Learning 2

  • Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning
  • Learning Time-Optimized Path Tracking in Joint Space with or without Sensory Feedback
  • L2C2: Locally Lipschitz Continuous Constraint towards Stable and Smooth Reinforcement Learning
  • Learning Visual Robotic Control Efficiently with Contrastive Pre-Training and Data Augmentation
  • Analyzing and Overcoming Degradation in Warm-Start Reinforcement Learning
  • Online Model Learning for Shape Control of Deformable Linear Objects
  • PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion
  • SafeTAC: Safe Tsallis Actor-Critic Reinforcement Learning for Safer Exploration
  • Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space

Space Robotics and Automation

  • Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
  • Optimal and Risk-Aware Path Planning Considering Localization Uncertainty for Space Exploration Rovers
  • 3D Human Pose Estimation in Weightless Environments Using a Fisheye Camera
  • A Sampling Based Approach to Robust Planning for a Planetary Lander
  • Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning
  • Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments
  • An Approach to Science and Risk-Aware Planetary Rover Exploration
  • Attracting Conductive Nonmagnetic Objects with Rotating Magnetic Dipole Fields
  • Active Traversability Learning Via Risk-Aware Information Gathering for Planetary Exploration Rovers

Model Learning for Control

  • Randomized-To-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation
  • Nonlinear Model Learning for Compensation and Feed-Forward Control of Real-World Hydraulic Actuators Using Gaussian Processes
  • Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning
  • T3VIP: Transformation-Based 3D Video Prediction
  • Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features
  • TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics
  • Augmented Neural Network for Full Robot Kinematic Modelling in SE(3)
  • Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
  • Learning Non-Parametric Models in Real Time Via Online Generalized Product of Experts

Biologically-Inspired Robots 3

  • A Flexible Calibration Algorithm for High-Speed Bionic Vision System Based on Galvanometer
  • Design and Control of a Multi-Modal Soft Gripper Inspired by Elephant Fingers
  • Design Optimization of an Ultrafast-Striking Mantis Shrimp Microrobot
  • Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation
  • Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-Scale Robots
  • Tactile Perception for Growing Robots Via Discrete Curvature Measurements
  • Bioinspired Antagonist–agonist Artificial Muscles for Humanoid Eyeball Motions
  • The Relationship between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect
  • Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping

Failure Detection and Recovery

  • Model-Free Unsupervised Anomaly Detection of a General Robotic System Using a Stacked LSTM and Its Application to a Fixed-Wing Unmanned Aerial Vehicle
  • Meta-Active Learning in Probabilistically Safe Optimization
  • Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks
  • Design, Modeling and Control for a Tilt-Rotor VTOL UAV in the Presence of Actuator Failure
  • Transmissibility-Based DAgger for Fault Classification in Connected Autonomous Vehicles
  • Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots under Adverse Conditions
  • RoBiGAN: A Bidirectional Wasserstein GAN Approach for Online Robot Fault Diagnosis Via Internal Anomaly Detection
  • PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
  • Why Did I Fail? a Causal-Based Method to Find Explanations for Robot Failures

SLAM 3

  • Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-Object Scenes
  • Probabilistic Data Association for Semantic SLAM at Scale
  • Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration (I)
  • OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition
  • Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
  • CFP-SLAM: A Real-Time Visual SLAM Based on Coarse-To-Fine Probability in Dynamic Environments
  • Object-Plane Co-Represented and Graph Propagation-Based Semantic Descriptor for Relocalization
  • Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
  • LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-Of-View Cameras with Negative Plane

Localization 3

  • SO-PFH: Semantic Object-Based Point Feature Histogram for Global Localization in Parking Lot
  • Tether-Based Localization for Cooperative Ground and Aerial Vehicles
  • Tightly-Coupled Visual-Inertial-Pressure Fusion Using Forward and Backward IMU Preintegration
  • A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization
  • Global Data Association for SLAM with 3D Grassmannian Manifold Objects
  • Confidence-Rich Localization and Mapping Based on Particle Filter for Robotic Exploration

Motion and Path Planning 3

  • Homology-Class Guided Rapidly-Exploring Random Tree for Belief Space Planning
  • Improving the Efficiency of Sampling-Based Motion Planners Via Runtime Predictions for Motion-Planning Problems with Dynamics
  • BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
  • Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model
  • Image-Goal Navigation in Complex Environments Via Modular Learning
  • Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space
  • Multi-Objective Safe-Interval Path Planning with Dynamic Obstacles
  • Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning
  • Optimal Time Trajectory Generation and Tracking Control for Over-Actuated Multirotors with Large-Angle Maneuvering Capability

Award Session V

  • Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
  • Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents
  • Risk-Aware Motion Planning for Collision-Tolerant Aerial Robots Subject to Localization Uncertainty
  • A Planning-And-Control Framework for Aerial Manipulation of Articulated Objects
  • Safe Drone Flight with Time-Varying Backup Controllers
  • Mobile Manipulation Leveraging Multiple Views

Award Session VI

  • Safety-Critical Manipulation for Collision-Free Food Preparation
  • Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry
  • Soft Tissue Characterisation Using a Novel Robotic Medical Percussion Device with Acoustic Analysis and Neural Networks
  • Multi-Directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System
  • Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion

Grasping 4

  • Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
  • Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
  • A Novel Human-Safe Robotic Gripper: An Application of a Programmable Permanent Magnet Actuator
  • The Good Grasp, the Bad Grasp, and the Plateau in Tactile Based Grasp Stability Prediction
  • Extrinsic Dexterous Manipulation with a Direct-Drive Hand: A Case Study
  • GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper with Tactile Sensing
  • Single-Fingered Reconfigurable Robotic Gripper with a Folding Mechanism for Narrow Working Spaces
  • SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
  • Elongatable Gripper Fingers with Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation (I)

Manipulation Systems 4

  • Challenges and Outlook in Robotic Manipulation of Deformable Objects (I)
  • Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens (I)
  • 6D Robotic Assembly Based on RGB-Only Object Pose Estimation
  • Context and Intention Aware 3D Human Body Motion Prediction Using an Attention Deep Learning Model in Handover Tasks
  • Learning a State Estimator for Tactile In-Hand Manipulation
  • A Two-Stage Learning Architecture That Generates High-Quality Grasps for a Multi-Fingered Hand
  • Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks
  • Scene Editing As Teleoperation: A Case Study in 6DoF Kit Assembly
  • On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection

Navigation Systems 3

  • A Unified MPC Design Approach for AGV Path Following
  • GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles
  • RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving
  • Sem-Aug: Improving Camera-LiDAR Feature Fusion with Semantic Augmentation for 3D Vehicle Detection
  • P2EG: Prediction and Planning Integrated Robust Decision-Making for Automated Vehicle Negotiating in Narrow Lane with Explorative Game
  • Visual Mapping and Localization System Based on Compact Instance-Level Road Markings with Spatial Uncertainty
  • Motion Planning for HyTAQs: A Topology-Guided Unified NMPC Approach
  • SEAN 2.0: Formalizing and Generating Social Situations for Robot Navigation

SLAM 4

  • Group-K Consistent Measurement Set Maximization for Robust Outlier Detection
  • Floorplan-Aware Camera Poses Refinement
  • MOTSLAM: MOT-Assisted Monocular Dynamic SLAM Using Single-View Depth Estimation
  • Gravity-Constrained Point Cloud Registration
  • When Geometry Is Not Enough: Using Reflector Markers in Lidar SLAM
  • LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time 3D Mapping
  • The Hilti SLAM Challenge Dataset
  • Photometric Single-View Dense 3D Reconstruction in Endoscopy
  • Continuous-Time Stereo-Inertial Odometry

Virtual Reality and Interfaces

  • Immersive View and Interface Design for Teleoperated Aerial Manipulation
  • WFH-VR: Teleoperating a Robot Arm to Set a Dining Table across the Globe Via Virtual Reality
  • A Deep Learning Technique As a Sensor Fusion for Enhancing the Position in a Virtual Reality Micro-Environment
  • A Wearable Multi-Joint Wrist Contour Measuring Device for Hand Shape Recognition
  • A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation
  • Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery
  • Detecting Touch and Grasp Gestures Using a Wrist-Worn Optical and Inertial Sensing Network
  • Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments
  • Learning with Yourself: A Tangible Twin Robot System to Promote STEM Education

Tendon Driven Mechanisms

  • Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag
  • End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy
  • Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions
  • Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots
  • RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
  • Workspace-Based Model Predictive Control for Cable-Driven Robots (I)
  • Dexterity Analysis and Motion Optimization of In-Situ Torsionally-Steerable Flexible Surgical Robots

Planning under Uncertainty

  • Meta-Learning-Based Proactive Online Planning for UAVs under Degraded Conditions
  • Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs
  • Object-Aware SLAM Based on Efficient Quadric Initialization and Joint Data Association
  • Accelerated Reinforcement Learning for Temporal Logic Control Objectives
  • Smooth Model Predictive Path Integral Control without Smoothing
  • Monte-Carlo Robot Path Planning
  • Qualitative Belief Space Planning Via Compositions
  • Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
  • Generalizable Task Planning through Representation Pretraining

Robot Safety

  • An Analytical Study of Motion of Autonomous Vehicles under Imperfect Sensing
  • Adhesion Risk Assessment of an Aircraft Inspection Robot for Improving Operator Awareness
  • How Do We Fail? Stress Testing Perception in Autonomous Vehicles
  • HiddenGems: Efficient Safety Boundary Detection with Active Learning
  • Enpheeph: A Fault Injection Framework for Spiking and Compressed Deep Neural Networks
  • Continuous Safety Control of a Mobile Robot in Cluttered Environments
  • Dependability Analysis of Deep Reinforcement Learning Based Robotics and Autonomous Systems through Probabilistic Model Checking
  • On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
  • Semi-Perspective Decoupled Heatmaps for 3D Robot Pose Estimation from Depth Maps
  • Human and Humanoid Motion Analysis and Synthesis
  • Understanding Spatio-Temporal Relations in Human-Object Interaction Using Pyramid Graph Convolutional Network
  • Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-Like Walking in a Bipedal Robot
  • A Riemannian Take on Human Motion Analysis and Retargeting
  • Human-To-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
  • From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
  • End-To-End from Human Hand Synergies to Robot Hand Tendon Routing
  • A Centaur System for Assisting Human Walking with Load Carriage
  • Construction of a Simulator to Reproduce the Changes of Running by Motion Strategy with Spring-Loaded Inverted Pendulum Model
  • Koopman Pose Predictions for Temporally Consistent Human Walking Estimations

Vision

  • LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes
  • Ego+X: An Egocentric Vision System for Global 3D Human Pose Estimation and Social Interaction Characterization
  • Tracking Monocular Camera Pose and Deformation for SLAM Inside the Human Body
  • Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
  • Monocular Depth Estimation for Equirectangular Videos
  • Visual Servoing with Geometrically Interpretable Neural Perception
  • Online Adaptation for Implicit Object Tracking and Shape Reconstruction in the Wild
  • DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Association
  • EV-Catcher: High Speed Object Catching Using Low-Latency Event-Based Neural Networks

Mapping 4

  • Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction
  • 3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
  • Scalable Fiducial Tag Localization on a 3D Prior Map Via Graph-Theoretic Global Tag-Map Registration
  • These Maps Are Made for Walking: Real-Time Terrain Property Estimation for Mobile Robots
  • MapLite 2.0: Online HD Map Inference Using a Prior SD Map
  • Towards High-Definition Maps: A Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity
  • Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments from Occupancy Grid Maps
  • Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM
  • MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments

Soft Robot Materials and Design 1

  • Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception
  • Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces
  • A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Free-Form Shapes
  • A Multi-Segmented Soft Finger Using Snap-Through Instability of a Soft Valve with a Slit
  • Deformation-Driven Closed-Chain Soft Mobile Robot Aimed for Rolling and Climbing Locomotion
  • Soft, Multi-Layer, Disposable, Kirigami Based Robotic Grippers: On Handling of Delicate, Contaminated, and Everyday Objects
  • Topology Optimized Multi-Material Self-Healing Actuator with Reduced Out of Plane Deformation
  • Performance Evaluation for Braided McKibben Pneumatic Actuators in Telescopic Nested Structure
  • Energy-Efficient Tunable-Stiffness Soft Robots Using Second Moment of Area Actuation

Localization 4

  • Acoustic Localization and Communication Using a MEMS Microphone for Low-Cost and Low-Power Bio-Inspired Underwater Robots
  • Using Magnetic Fields to Navigate and Simultaneously Localize Catheters in Endoluminal Environments
  • Robust Slip-Aware Fusion for Mobile Robots State Estimation
  • Highly-Efficient Binary Neural Networks for Visual Place Recognition
  • GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation
  • Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
  • Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
  • Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments
  • Maintaining Robot Localizability with Bayesian Cramer-Rao Lower Bounds

Reinforcement Learning 3

  • Safe Reinforcement Learning Using Black-Box Reachability Analysis
  • Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies
  • Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization
  • Temporal Logic Guided Meta Q-Learning of Multiple Tasks
  • Model-Free Neural Lyapunov Control for Safe Robot Navigation
  • Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk
  • Variable Impedance Skill Learning for Contact-Rich Manipulation
  • Source Term Estimation Using Deep Reinforcement Learning with Gaussian Mixture Model Feature Extraction for Mobile Sensors
  • Autonomous Learning of Page Flipping Movements Via Tactile Feedback (I)

Climbing and Wheeled Robots

  • Magnetic Field Modeling of Linear Halbach Array for Wall-Climbing Robot Based on Radial Basis Function Neural Network
  • OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
  • SCALER: A Tough Versatile Quadruped Free-Climber Robot
  • Microspine Design for Additive Manufacturing
  • Design, Fabrication, and Characterization of a Hybrid Bionic Spherical Robotics with Multilegged Feedback Mechanism
  • The Concept of Rod-Driven Locomotion for Spherical Lunar Exploration Robots
  • Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot
  • Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives
  • Electro-Hydraulic Rolling Soft Wheel: Design, Hybrid Dynamic Modeling, and Model Predictive Control (I)

Motion and Path Planning 4

  • Linear MPC-Based Motion Planning for Autonomous Surgery
  • Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment
  • Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
  • Locomotion Policy Guided Traversability Learning Using Volumetric Representations of Complex Environments
  • Jerk-Continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints
  • Imitation Learning and Model Integrated Excavator Trajectory Planning
  • Online Complete Coverage Path Planning of a Reconfigurable Robot Using Glasius Bio-Inspired Neural Network and Genetic Algorithm
  • Quantity Over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data
  • TIGRIS: An Informed Sampling-Based Algorithm for Informative Path Planning

Biologically-Inspired Robots 4

  • Online Learning Feedback Control Method Considering Hysteresis for Musculoskeletal Structures
  • Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors from Human Constrained Teaching
  • A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine
  • Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface
  • Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis shrimp—Design and Control Method of Cavitation by Simulation and Experiment
  • Upside-Down Brachiation Robot Using Elastic Energy Stored through Soft Body Deformation
  • Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
  • Locomotion Via Active Suction in a Sea Star-Inspired Soft Robot
  • Joint-Space CPG for Safe Foothold Planning and Body Pose Control During Locomotion and Climbing

Distributed Robot Systems

  • Real-Time Distributed Multi-Robot Target Tracking Via Virtual Pheromones
  • Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems
  • Decay-Based Error Correction in Collective Robotic Construction
  • Perceive, Represent, Generate: Translating Multimodal Information to Robotic Motion Trajectories
  • SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking
  • Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits
  • Learning to Act with Affordance-Aware Multimodal Neural SLAM
  • Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments
  • Distributed Deployment with Multiple Moving Robots for Long Distance Complex Pipe Inspection

Medical Robots and Systems 4

  • Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope
  • Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology
  • A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype
  • Real-Time Intraoperative Surgical Guidance System in the Da Vinci Surgical Robot Based on Transrectal Ultrasound/photoacoustic Imaging with Photoacoustic Markers: An Ex Vivo Demonstration
  • Model-Free and Uncalibrated Visual-Feedback Control of Magnetically-Actuated Flexible Endoscopes
  • Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery
  • A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and Its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries
  • A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills
  • Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans (I)

Computer Vision for Automation 1

  • RGB-X Classification for Electronics Sorting
  • CPQNet: Contact Points Quality Network for Robotic Grasping
  • SESR: Self-Ensembling Sim-To-Real Instance Segmentation for Auto-Store Bin Picking
  • Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera
  • Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction
  • Lidar with Velocity: Motion Distortion Correction of Point Clouds from Oscillating Scanning Lidars
  • A Flexible and Robust Vision Trap for Automated Part Feeder Design
  • Leveraging Local Planar Motion Property for Robust Visual Matching and Localization
  • AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems

Award Session VII

  • Robot Learning of Mobile Manipulation with Reachability Behavior Priors
  • A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
  • Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
  • Instance Segmentation for Autonomous Log Grasping in Forestry Operations
  • Explicitly Incorporating Spatial Information to Recurrent Networks for Agriculture
  • Multimodal Aerial-Tethered Robot for Tree Canopy Exploration
  • Brain-Machine Interfaces and Natural Language Interaction
  • Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers
  • Dynamic Network Model for Multi-Domain End-To-End Task-Oriented Dialogue System
  • Hey Haru, Let’s Be Friends! Using the Tiers of Friendship to Build Rapport through Small Talk with the Tabletop Robot Haru
  • Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction
  • DoRO: Disambiguation of Referred Object for Embodied Agents
  • Following Natural Language Instructions for Household Tasks with Landmark Guided Search and Reinforced Pose Adjustment
  • SEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control
  • Hand Gesture Recognition Via Transient sEMG Using Transfer Learning of Dilated Efficient CapsNet: Towards Generalization for Neurorobotics
  • Deep Augmentation for Electrode Shift Compensation in Transient High-Density sEMG: Towards Application in Neurorobotics

Telerobotics and Teleoperation 1

  • Adaptive Wave Reconstruction through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks (I)
  • Analysis of User Behavior and Workload During Simultaneous Tele-Operation of Multiple Mobile Manipulators
  • Variable Impedance Control for Safety and Usability in Telemanipulation
  • Block-Based Novel Haptic Data Reduction for Time-Delayed Teleoperation
  • Skill-CPD: Real-Time Skill Refinement for Shared Autonomy in Manipulator Teleoperation
  • Haptic Teleoperation of High-Dimensional Robotic Systems Using a Feedback MPC Framework
  • Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators
  • Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
  • Design Interface Mapping for Efficient Free-Form Tele-Manipulation

Calibration and Identification

  • Simultaneous Calibration of Multiple Revolute Joints for Articulated Vision Systems Via SE(3) Kinematic Bundle Adjustment
  • DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-Aware Flow
  • CSA-SVM Method for Internal Cavitation Defects Detection and Its Application of District Heating Pipes
  • Industrial Robot Parameter Identification Using a Constrained Instrumental Variable Method
  • TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis
  • Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-Camera Using an Orthogonal Trihedron
  • Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor
  • Visual-Inertial-Aided Online MAV System Identification
  • Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles Using Static Objects Information

Navigation Systems 4

  • Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments (I)
  • Drift Reduced Navigation with Deep Explainable Features
  • A Robust and Fast Occlusion-Based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments
  • Bubble Planner: Planning High-Speed Smooth Quadrotor Trajectories Using Receding Corridors
  • Temporal Context for Robust Maritime Obstacle Detection
  • Information-Aware Guidance for Magnetic Anomaly Based Navigation
  • Unified Automatic Control of Vehicular Systems with Reinforcement Learning (I)
  • SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning
  • AIB-MDP: Continuous Probabilistic Motion Planning for Automated Vehicles by Leveraging Action Independent Belief Spaces

SLAM 5

  • InCOpt: Incremental Constrained Optimization Using the Bayes Tree
  • S3LAM: Structured Scene SLAM
  • Fast Structural Representation and Structure-Aware Loop Closing for Visual SLAM
  • Efficient 2D Graph SLAM for Sparse Sensing
  • Spectral Measurement Sparsification for Pose-Graph SLAM
  • BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend
  • RO-LOAM: 3D Reference Object-Based Trajectory and Map Optimization in LiDAR Odometry and Mapping
  • TwistSLAM: Constrained SLAM in Dynamic Environment
  • Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images

Medical Robots and Systems 5

  • Design and Evaluation of a Robotic Forceps with Flexible Wrist Joint Made of PEEK Plastic
  • External and Internal Sensor Fusion Based Localization Strategy for 6-DOF Pose Estimation of a Magnetic Capsule Robot
  • Robotic Auscultation Over Clothes for Eliminating Gender Bias
  • ANN-Based Optimization of Human Gait Data Obtained from a Robot-Mounted 3D Camera: A Multiple Sclerosis Case Study
  • Magnetic Microrobot Control Using an Adaptive Fuzzy Sliding-Mode Method
  • An Easy-To-Deploy Combined Nasal/Throat Swab Robot with Sampling Dexterity and Resistance to External Interference
  • Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion
  • Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution (I)

Robotics and Automation in Agriculture and Construction 1

  • Excavation of Fragmented Rocks with Multi-Modal Model-Based Reinforcement Learning
  • Model Learning and Predictive Control for Autonomous Obstacle Reduction Via Bulldozing
  • Design and Motion Planning for a Reconfigurable Robotic Base
  • External Load Estimation of Hydraulically Driven Construction Machinery from Cylinder Pressures and Link Accelerations
  • Connected Reconfiguration of Polyominoes Amid Obstacles Using RRT*
  • Autonomous Mobile 3D Printing of Large-Scale Trajectories
  • Soil-Adaptive Excavation Using Reinforcement Learning
  • Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles
  • Towards Autonomous Visual Navigation in Arable Fields

Recognition

  • STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations
  • Smart Explorer: Recognizing Objects in Dense Clutter Via Interactive Exploration
  • LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition
  • STUN: Self-Teaching Uncertainty Estimation for Place Recognition
  • Self-Supervised Reinforcement Learning for Active Object Detection
  • ReINView: Re-Interpreting Views for Multi-View 3D Object Recognition
  • Dual-Camera High Magnification Surveillance System with Non-Delay Gaze Control and Always-In-Focus Function in Indoor Scenes
  • Point Label Aware Superpixels for Multi-Species Segmentation of Underwater Imagery
  • Mapping of Spatiotemporal Scalar Fields by Mobile Robots Using Gaussian Process Regression

Safety in HRI

  • PSM: A Predictive Safety Model for Body Motion Based on the Spring-Damper Pendulum
  • Physical Adversarial Attack on a Robotic Arm
  • Regularized Deep Signed Distance Fields for Reactive Motion Generation
  • Safe and Ergonomic Human-Drone Interaction in Warehouses
  • Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space
  • Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton Using Rate-Limiting
  • Safety Compliant Control for Robotic Manipulator with Task and Input Constraints
  • Safe and Efficient Exploration of Human Models During Human-Robot Interaction
  • Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Humanoid and Bipedal Locomotion

  • Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller Via Model Predictive Control and Virtual Constraints
  • Robust Contact State Estimation in Humanoid Walking Gaits
  • Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots
  • Learning Dynamic Bipedal Walking across Stepping Stones
  • Humanoid Balance Control Using Centroidal Angular Momentum Based on Hierarchical Quadratic Programming
  • Resolved Motion Control for 3D Underactuated Bipedal Walking Using Linear Inverted Pendulum Dynamics and Neural Adaptation
  • Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain
  • Improved Biped Walking Performance Around the Kinematic Singularities of Biomimetic Four-Bar Knees
  • Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

Computer Vision for Automation 2

  • ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation Using Synthetic Data
  • Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
  • Intensity Image-Based LiDAR Fiducial Marker System
  • Multi-Modal Non-Isotropic Light Source Modelling for Reflectance Estimation in Hyperspectral Imaging
  • LiSnowNet: Real-Time Snow Removal for LiDAR Point Clouds
  • Application of Ghost-DeblurGAN to Fiducial Marker Detection
  • Learning Important Regions Via Attention for Video Streaming on Cloud Robotics
  • Unsupervised Simultaneous Learning for Camera Re-Localization and Depth Estimation from Video
  • HyperPocket: Generative Point Cloud Completion

Marine Robotics 1

  • Flexible Collision-Free Platooning Method for Unmanned Surface Vehicle with Experimental Validations
  • Development and Field Testing of an Optimal Path Following ASV Controller for Marine Surveys
  • Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots
  • Motion Attribute-Based Clustering and Collision Avoidance of Multiple In-Water Obstacles by Autonomous Surface Vehicle
  • Training Dynamic Motion Primitives Using Deep Reinforcement Learning to Control a Robotic Tadpole
  • Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method
  • An Underwater Target Perception Framework for Underwater Operation Scene

Soft Robot Materials and Design 2

  • Self-Morphing Soft Parallel-And-Coplanar Electroadhesive Grippers Based on Laser-Scribed Graphene Oxide Electrodes
  • Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator
  • A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications
  • GSG: A Granary-Shaped Soft Gripper with Mechanical Sensing Via Snap-Through Structure
  • FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles
  • Sensor-Based Reconstruction of Slender Flexible Beams Undergoing Large-Scale Deflection
  • Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin
  • Autonomous Intraluminal Navigation of a Soft Robot Using Deep-Learning-Based Visual Servoing
  • Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature

Localization 5

  • FSM: Correspondenceless Scan-Matching of Panoramic 2D Range Scans
  • VMVG-Loc: Visual Localization for Autonomous Driving Using Vector Map and Voxel Grid Map
  • Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization
  • CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition
  • A New Dense Hybrid Stereo Visual Odometry Approach
  • BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
  • Towards Holistic Autonomous Obstacle Detection in Railways by Complementing of On-Board Vision with UAV-Based Object Localization
  • Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion
  • Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors

Reinforcement Learning 4

  • Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback
  • DRL-ISP: Multi-Objective Camera ISP with Deep Reinforcement Learning
  • Renaissance Robot: Optimal Transport Policy Fusion for Learning Diverse Skills
  • SKILL-IL: Disentangling Skill and Knowledge in Multitask Imitation Learning
  • Learning Perceptual Locomotion on Uneven Terrains Using Sparse Visual Observations
  • Towards Adaptive Continuous Control of Soft Robotic Manipulator Using Reinforcement Learning
  • Infusing Model Predictive Control into Meta-Reinforcement Learning for Mobile Robots in Dynamic Environments
  • A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning
  • UNICON: Uncertainty-Conditioned Policy for Robust Behavior in Unfamiliar Scenarios

Field Robots

  • P-AgBot: In-Row & Under-Canopy Agricultural Robot for Monitoring and Physical Sampling
  • Efficient Sampling-Based Planning for Subterranean Exploration
  • A Novel Robot with Rolling and Climbing Modes for Power Transmission Line Inspection
  • Autonomous Pipeline Tracking Using Bernoulli Filter for Unmanned Underwater Surveys
  • An Evaluation of Position Keeping Strategies under Disturbances for a Symmetrical Shape Autonomous on Water Surface Robot
  • Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments
  • MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation
  • PUTN: A Plane-Fitting Based Uneven Terrain Navigation Framework
  • A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit

Motion and Path Planning 5

  • Speeding up POMDP Planning Via Simplification
  • Speeding up Optimization-Based Motion Planning through Deep Learning
  • Improved A-Search Guided Tree for Autonomous Trailer Planning
  • TerraPN: Unstructured Terrain Navigation Using Online Self-Supervised Learning
  • Robust Counterexample-Guided Optimization for Planning from Differentiable Temporal Logic
  • CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-Based Replanning
  • Adaptive Experience Sampling for Motion Planning Using the Generator-Critic Framework
  • This Is the Way: Differential Bayesian Filtering for Agile Trajectory Synthesis
  • Optimal Motion Planning in Unknown Workspaces Using Integral Reinforcement Learning

Swarm Robotics

  • Collective Decision-Making with Bayesian Robots in Dynamic Environments
  • Decentralized Control of Minimalistic Robotic Swarms for Guaranteed Target Encapsulation
  • A Dynamical System Approach to Decentralized Collision-Free Autonomous Coordination of a Mobile Assistive Furniture Swarm
  • Collective Decision Making in Communication-Constrained Environments
  • Chemistry-Inspired Pattern Formation with Robotic Swarms
  • Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
  • A Data-Driven Method for Metric Extraction to Detect Faults in Robot Swarms
  • Deliberative Democracy with Robot Swarms
  • Particle Swarm Optimizer-Based Attack Strategy with Swarm Robots

Industrial and Parallel Robots

  • Multi-Objective Geometric Optimization of a Multi-Link Manipulator Using Parameterized Design Method
  • A Configurable Skill Oriented Architecture Based on OPC UA
  • Accurate Edge Detection for Robotic Welding through Tactile Exploration
  • Vision-Based Safety System for Barrierless Human-Robot Collaboration
  • Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane with Minimal Sensors
  • An All-In-One Cable-Driven Parallel Robot with Flexible Workspace and Its Auto-Calibration Method
  • Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm
  • On a Balanced Delta Robot for Precise Aerial Manipulation: Implementation, Testing, and Lessons for Future Designs
  • Locally Optimal Estimation and Control of Cable Driven Parallel Robots Using Time Varying Linear Quadratic Gaussian Control

Learning from Demonstration 1

  • Learning Object Manipulation Skills from Video Via Approximate Differentiable Physics
  • Quantifying Demonstration Quality for Robot Learning and Generalization
  • Imitation of Manipulation Skills Using Multiple Geometries
  • Learning Category-Level Generalizable Object Manipulation Policy Via Generative Adversarial Self-Imitation Learning from Demonstrations
  • Robot Learning from Demonstration Using Elastic Maps
  • Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination
  • Inverse Reinforcement Learning with Hybrid-Weight Trust-Region Optimization and Curriculum Learning for Autonomous Maneuvering
  • WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded As Weighted Finite Automata
  • Ergodic Exploration Using Tensor Train: Applications in Insertion Tasks (I)

Manipulation Systems 5

  • SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation
  • VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting
  • TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors
  • Leveraging Publicly Available Textual Object Descriptions for Anthropomorphic Robotic Grasp Predictions
  • Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module
  • When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection

Biologically-Inspired Robots 5

  • Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-Inspired Robots
  • High-Performance Morphing Wing for Large-Scale Bio-Inspired Unmanned Aerial Vehicles
  • A Motion Generation Strategy of Robotic Rat Using Imitation Learning for Behavioral Interaction
  • Shaping Impedances to Comply with Constrained Task Dynamics (I)
  • Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions (I)

Aerial Systems 4

  • Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors
  • A Novel Quadrotor with a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules without Thrust Loss
  • Adaptive Tank-Based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation
  • A Robotic Aerial Platform with Functionally Anthropomorphic Arms Designed for Physical Interaction
  • Back-Transition Control with Large Deceleration for a Dual Propulsion VTOL UAV Based on Its Maneuverability
  • Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case
  • Design, Modeling and Control of a Two Flight Mode Capable Single Wing Rotorcraft with Mid-Air Transition Ability
  • Stabilization of Tangent and Normal Contact Forces for a Quadrotor Subject to Disturbances
  • Experimental Performance Comparison of Bidirectional Actuator Configurations for Suspended Aerial Platforms

Learning from Demonstration 2

  • Learning to Sequence and Blend Robot Skills Via Differentiable Optimization
  • Risk-Sensitive MPCs with Deep Distributional Inverse RL for Autonomous Driving
  • Learning Turn-Taking Behavior from Human Demonstrations for Social Human-Robot Interactions
  • A Framework for Transferring Surface Finishing Skills to New Surface Geometries
  • A Bimanual Manipulation Taxonomy
  • Learning Temporal Task Models from Human Bimanual Demonstrations
  • Learning Implicit Priors for Motion Optimization
  • Learning from Demonstration Based on Environmental Constraints
  • Multi-Level Task Learning Based on Intention and Constraint Inference for Autonomous Robotic Manipulation

Telerobotics and Teleoperation 2

  • HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot
  • A Method for Automated Drone Viewpoints to Support Remote Robot Manipulation
  • On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G
  • On Stabilizing Communication Law for Bilateral Force-Reflecting Teleoperation Systems
  • Towards Robot Avatar: Systems and Methods for Teleinteraction at Avatar XPRIZE Semi-Final
  • Multi-Phase Multi-Modal Haptic Teleoperation
  • Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators
  • Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation
  • Enhancing Rover Teleoperation on the Moon with Proprioceptive Sensors and Machine Learning Techniques

Manipulation Systems 6

  • The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms
  • Learning to Singulate Layers of Cloth Based on Tactile Feedback
  • Multi-Finger Tactile Servoing for Grasping Adjustment under Partial Observation
  • Finger-STS: Combined Proximity and Tactile Sensing for Robotic Manipulation
  • Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing
  • A Deep-Learning-Based System for Indoor Active Cleaning
  • Grasp Stability Prediction with Sim-To-Real Transfer from Tactile Sensing
  • Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
  • Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task

Navigation Systems 5

  • SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environments
  • A Robust Sidewalk Navigation Method for Mobile Robots Based on Sparse Semantic Point Cloud
  • RCA: Ride Comfort-Aware Visual Navigation Via Self-Supervised Learning
  • Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments (I)
  • Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds (I)
  • Optimal Hierarchical Planner for Object Search in Large Environments Via Mobile Manipulation
  • CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications
  • A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO
  • Stronger Together: Air-Ground Robotic Collaboration Using Semantics

SLAM 6

  • LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
  • Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
  • Keeping Less Is More: Point Sparsification for Visual SLAM
  • Online Extrinsic Correction of Multi-Camera Systems by Low-Dimensional Parameterization of Physical Deformation
  • Active SLAM in 3D Deformable Environments
  • Event-Based Line SLAM in Real-Time
  • MR-TopoMap: Multi-Robot Exploration Based on Topological Map in Communication Restricted Environment
  • LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM (I)
  • Anchor Selection for SLAM Based on Graph Topology and Sub-Modular Optimization (I)

Medical Robots and Systems 6

  • Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery
  • Autonomous Laparoscope Control for Minimally Invasive Surgery with Intuition and RCM Constraints
  • Learning Laparoscope Actions Via Video Features for Proactive Robotic Field-Of-View Control
  • A Surgical Robot for Intracorporeal Additive Manufacturing of Tissue Engineering Constructs
  • Automatic Keyframe Detection for Critical Actions from the Experience of Expert Surgeons
  • Localization of Interaction Using Fibre-Optic Shape Sensing in Soft-Robotic Surgery Tools
  • Accurate Pose Estimation for Comanipulation Robotic Surgery
  • Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction
  • A New Power Law Linking the Speed to the Geometry of Tool-Tip Orientation in Teleoperation of a Robot-Assisted Surgical System

Collision Avoidance

  • Differentiable Collision Avoidance Using Collision Primitives
  • Informed Sampling-Based Collision Avoidance with Least Deviation from the Nominal Path
  • Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space
  • HIRO: Heuristics Informed Robot Online Path Planning Using Pre-Computed Deterministic Roadmaps
  • A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
  • GraphDistNet: A Graph-Based Collision-Distance Estimator for Gradient-Based Trajectory Optimization
  • A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments
  • Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots
  • Deep Reinforcement Learning for Robot Collision Avoidance with Self-State-Attention and Sensor Fusion

Simulation and Animation

  • Fidelity Evaluation of Virtual Traffic Based on Anomalous Trajectory Detection
  • CapSense: A Real-Time Capacitive Sensor Simulation Framework for Physical Human-Robot Interaction
  • Learning to Simulate Realistic LiDARs
  • Realistic Real-Time Simulation of RGB and Depth Sensors for Dynamic Scenarios Using Augmented Image Based Rendering
  • Understanding Physical Effects for Effective Tool-Use
  • A High-Fidelity Simulation Platform for Industrial Manufacturing by Incorporating Robotic Dynamics into an Industrial Simulation Tool
  • Sequential Manipulation Planning on Scene Graph
  • Competency Assessment for Autonomous Agents Using Deep Generative Models
  • A Simulation Framework for Magnetic Continuum Robots

Social HRI

  • HRI Framework for Continual Learning in Face Recognition
  • Should a Robot Follow Social Norms? Human-Robot Interaction Design for Social Relations in Mixed Age Group
  • A Personable Robot: A Meta-Analysis of Robot Personality and Human Acceptance
  • A Novel Wire-Driven 3D Eyebrow Design for Communication with Humanoid Robot ICub
  • SonifyIt: Towards Transformative Sound for All Robots
  • Playful Recommendation: Sales Promotion That Robots Stimulate Pleasant Feelings Instead of Product Explanation
  • Android As a Receptionist in a Shopping Mall Using Inverse Reinforcement Learning
  • SanitizerBot: How Human-In-The-Loop Social Robots Can Playfully Support Humans
  • Deep Gesture Generation for Social Robots Using Type-Specific Libraries

Humanoid Robot Systems

  • Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum
  • Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance
  • Human-Humanoid Robot Cooperative Load Transportation: Model-Based Control Approach
  • Hands-Free Telelocomotion of a Wheeled Humanoid
  • Improved Zero Step Push Recovery with a Unified Reduced Order Model of Standing Balance
  • Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole
  • Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
  • Watch Me Calibrate My Force-Sensing Shoes!

RGB-D Perception

  • Unsupervised Confidence for LiDAR Depth Maps and Applications
  • Multi-Scaled and Densely Connected Locally Convolutional Layers for Depth Completion
  • From Local to Holistic: Self-Supervised Single Image 3D Face Reconstruction Via Multi-Level Constraints
  • Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation
  • Inferring Articulated Rigid Body Dynamics from RGBD Video
  • Multi-View Guided Multi-View Stereo
  • Semantic Scene Completion through Multi-Level Feature Fusion
  • RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments
  • SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D Using Signed Distance Fields

Marine Robotics 2

  • Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs
  • Analysis of Hybrid Cable-Thruster Actuated ROV in Heavy Lifting Interventions
  • Improving Marine Radar Odometry by Modeling Radar Resolution and Exploiting Additional Temporal Information
  • UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions
  • HoloOcean: Realistic Sonar Simulation
  • DRACo-SLAM: Distributed Robust Acoustic Communication-Efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
  • Confined Water Body Coverage under Resource Constraints
  • Self-Management of ROV Umbilical Using Sliding Buoys and Stop
  • AUV-Assisted Diver Navigation

Soft Robot Applications

  • Design of a Soft Wearable Passive Fitness Device for Upper Limb Resistance Exercise
  • Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming
  • Automated Fruit Quality Testing Using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper
  • Jammkle: Fibre Jamming 3D Printed Multi-Material Tendons and Their Application in a Robotic Ankle
  • Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor Array
  • RoboHeart: A Bi-Directional Zipping Actuator
  • Physics-Informed Recurrent Neural Networks for Soft Pneumatic Actuators
  • Design and Experimental Characterization of a Push-Pull Flexible Rod-Driven Soft-Bodied Robot

Localization 6

  • Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for Two Robots
  • Cooperative Localization Using Learning-Based Constrained Optimization
  • InCloud: Incremental Learning for Point Cloud Place Recognition
  • LNC Assisted Localization and Mapping in Pipe Environment
  • Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition with Mobile Robots
  • Predicting to Improve: Integrity Measures for Assessing Visual Localization Performance
  • What Goes Around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry
  • Learning-Enhanced Adaptive Robust GNSS Navigation in Challenging Environments
  • Optimization Strategies for Bayesian Source Localization Algorithms (I)

Imitation Learning

  • Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning
  • Using Human Gaze in Few-Shot Imitation Learning for Robot Manipulation
  • Divide & Conquer Imitation Learning
  • MMFN: Multi-Modal-Fusion-Net for End-To-End Driving
  • Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
  • Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving
  • Back to the Manifold: Recovering from Out-Of-Distribution States
  • From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation
  • DPMP-Deep Probabilistic Motion Planning: A Use Case in Strawberry Picking Robot

Field and Marine Robotics

  • Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
  • Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions
  • Speed up of Wave-Driven Unmanned Surface Vehicle Using Passively Transformable Two-Segment Foils
  • Simultaneous Localization of Rail Vehicles and Mapping of Environment with Multiple LiDARs
  • Forest Traversability Mapping (FTM): Traversability Estimation Using 3D Voxel-Based Normal Distributed Transform to Enable Forest Navigation
  • WayFAST: Navigation with Predictive Traversability in the Field
  • Learning Pseudo Front Depth for 2D Forward-Looking Sonar-Based Multi-View Stereo
  • Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
  • Informative Path Planning to Estimate Quantiles for Environmental Analysis

Motion and Path Planning 6

  • FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
  • Adaptive Sampling of Latent Phenomena Using Heterogeneous Robot Teams (ASLaP-HR)
  • Online Planning for Interactive-POMDPs Using Nested Monte Carlo Tree Search
  • Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
  • LTR*: Rapid Replanning in Executing Consecutive Tasks with Lazy Experience Graph
  • RRT*-Based Path Planning for Continuum Arms
  • FlowBot: Flow-Based Modeling for Robot Navigation
  • The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation
  • Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving Using Sim-To-Real

Control for Legged Robot

  • The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
  • Contact-Implicit Trajectory Optimization with Hydroelastic Contact and ILQR
  • Balancing Control and Pose Optimization for Wheel-Legged Robots Navigating High Obstacles
  • Large-Scale ADMM-Based Co-Design of Legged Robots
  • An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
  • Whole-Body Model Predictive Control with Rigid Contacts Via Online Switching Time Optimization
  • Generating Families of Optimally Actuated Gaits from a Legged System’s Energetically Conservative Dynamics
  • Optimal Gait Families Using Lagrange Multiplier Method
  • Lifted Contact Dynamics for Efficient Optimal Control of Rigid Body Systems with Contacts

Intelligent and Flexible Manufacturing

  • Heuristic-Free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
  • A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
  • Online 3D Bin Packing Reinforcement Learning Solution with Buffer
  • GoferBot: A Visual Guided Human-Robot Collaborative Assembly System
  • Robot Companion, an Intelligent Interactive Robot Coworker for the Industry 5.0
  • Metal Wire Manipulation Planning for 3D Curving a Low Payload Robot That Uses a Bending Machine to Bend High-Stiffness Wire
  • SurfMan: Generating Smooth Robotic Surface Manipulation Trajectories for Human-Demonstrated Pattern Sequence
  • Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks
  • Robotics and Automation in Agriculture and Construction 2
  • EPAR: An Efficient and Privacy-Aware Augmented Reality Framework for Indoor Location-Based Services
  • Compact Strawberry Harvesting Tube Employing Laser Cutter
  • Reconstructing a Spatial Field with an Autonomous Robot under a Budget Constraint
  • Hybrid Discrete-Continuous Path Planning for Lattice Traversal
  • RECCraft System: Towards Reliable and Efficient Collective Robotic Construction

Reinforcement Learning 5

  • Improved Robustness and Safety for Pre-Adaptation of Meta Reinforcement Learning with Prior Regularization
  • Active Tactile Exploration Using Shape Dependent Reinforcement Learning
  • DARL1N: Distributed Multi-Agent Reinforcement Learning with One-Hop Neighbors
  • Adaptive Environment Modeling Based Reinforcement Learning for Collision Avoidance in Complex Scenes
  • Scalable Model-Based Policy Optimization for Decentralized Networked Systems
  • Safety Correction from Baseline: Towards the Risk-Aware Policy in Robotics Via Dual-Agent Reinforcement Learning
  • Multi-Objective Policy Gradients with Topological Constraints
  • Backward Imitation and Forward Reinforcement Learning Via Bi-Directional Model Rollouts
  • BIMRL: Brain Inspired Meta Reinforcement Learning
  • Coordination with Humans Via Strategy Matching
  • DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent PHRI
  • Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition
  • Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning
  • Proactive Robotic Assistance Via Theory of Mind
  • A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice
  • SESNO: Sample Efficient Social Navigation from Observation
  • Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots
  • Gesture2Vec: Clustering Gestures Using Representation Learning Methods for Co-Speech Gesture Generation
  • Optical Flow-Based Branch Segmentation for Complex Orchard Environments
  • Near Real-Time Vineyard Downy Mildew Detection and Severity Estimation
  • View Planning Using Discrete Optimization for 3D Reconstruction of Row Crops
  • BonnBot-I: A Precise Weed Management and Crop Monitoring Platform
  • An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting
  • Algorithm Design and Integration for a Robotic Apple Harvesting System
  • Predicting Fruit-Pick Success Using a Grasp Classifier Trained on a Physical Proxy
  • Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
  • Beyond mAP: Towards Practical Object Detection for Weed Spraying in Precision Agriculture
  • Audio-Visual Depth and Material Estimation for Robot Navigation
  • Design of a Low-Cost Passive Acoustic Monitoring System for Animal Localisation from Calls
  • Spotforming by NMF Using Multiple Microphone Arrays
  • Noisy Agents: Self-Supervised Exploration by Predicting Auditory Events
  • Direction-Aware Adaptive Online Neural Speech Enhancement with an Augmented Reality Headset in Real Noisy Conversational Environments
  • Object Surface Recognition Using Microphone Array by Acoustic Standing Wave
  • Recognizing Object Surface Material from Impact Sounds for Robot Manipulation
  • Controlling the Impression of Robots Via GAN-Based Gesture Generation
  • Outdoor Evaluation of Sound Source Localization for Drone Groups Using Microphone Arrays

Machine Learning for Robot Control 1

  • Reactive Stepping for Humanoid Robots Using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
  • Hybrid Approach for Stabilizing Large Time Delays in Cooperative Adaptive Cruise Control with Reduced Performance Penalties
  • Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers
  • Federated Learning from Demonstration for Active Assistance to Smart Wheelchair Users
  • PourNet: Robust Robotic Pouring through Curriculum and Curiosity-Based Reinforcement Learning
  • Simulation-Based Learning of the Peg-In-Hole Process Using Robot-Skills
  • Hybrid LMC: Hybrid Learning and Model-Based Control for Wheeled Humanoid Robot Via Ensemble Deep Reinforcement Learning
  • Active Exploration for Robotic Manipulation
  • Cloud-Edge Training Architecture for Sim-To-Real Deep Reinforcement Learning

Soft Robot Modeling and Control 1

  • Towards Accurate Modeling of Modular Soft Pneumatic Robots: From Volume FEM to Cosserat Rod
  • A Proprioceptive Method for Soft Robots Using Inertial Measurement Units
  • Model-Based Contact Detection and Accommodation for Soft Bending Actuators: An Integrated Direct/Indirect Adaptive Robust Approach
  • A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints
  • Contact-Implicit Trajectory and Grasp Planning for Soft Continuum Manipulators
  • Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper
  • Planar Modeling and Sim-To-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
  • Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator Using Orientation Sensing
  • Variable Stiffness Object Recognition with Bayesian Convolutional Neural Network on a Soft Gripper

SLAM 7

  • Simultaneous Localization and Mapping through the Lens of Nonlinear Optimization
  • Fast and Safe Exploration Via Adaptive Semantic Perception in Outdoor Environments
  • Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapped Monocular Cameras
  • Scalable Probabilistic Gas Distribution Mapping Using Gaussian Belief Propagation
  • WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue
  • A Tightly-Coupled Event-Inertial Odometry Using Exponential Decay and Linear Preintegrated Measurements
  • Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles (I)
  • FAST-LIO2: Fast Direct LiDAR-Inertial Odometry (I)
  • Rail Vehicle Localization and Mapping with LiDAR-Vision-Inertial-GNSS Fusion

Medical Robots and Systems 7

  • A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation
  • Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope
  • GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator
  • A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
  • Intrinsic Force Sensing for Motion Estimation in a Parallel, Fluidic Soft Robot for Endoluminal Interventions
  • Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach
  • Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter
  • Colonoscopy Navigation Using End-To-End Deep Visuomotor Control: A User Study
  • Shape Memory Polymer Variable Stiffness Magnetic Catheters with Hybrid Stiffness Control

Compliance and Impedance Control 1

  • Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces through Proprioceptive and Tactile Sensing
  • Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control
  • Perturbation-Based Stiffness Inference in Variable Impedance Control
  • A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
  • Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots
  • An Observer-Based Responsive Variable Impedance Control for Dual–User Haptic Training System
  • Development of Low-Inertia Backdrivable Arm Focusing on Learning-Based Control
  • BEAR-H: An Intelligent Bilateral Exoskeletal Assistive Robot for Smart Rehabilitation (I)
  • Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning

Software, Middleware and Programming Environments 1

  • OHM: GPU Based Occupancy Map Generation
  • IKFlow: Generating Diverse Inverse Kinematics Solutions
  • Ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2
  • RobotCore: An Open Architecture for Hardware Acceleration in ROS 2
  • Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills
  • Containerization and Orchestration of Software for Autonomous Mobile Robots: A Case Study of Mixed-Criticality Tasks across Edge-Cloud Computing Platforms
  • GPU-Accelerated Incremental Euclidean Distance Transform for Online Motion Planning of Mobile Robots
  • Transactional Transform Library for ROS
  • Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

Wearable Robotics

  • An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices
  • Human-Exoskeleton Cooperative Balance Strategy for a Human-Powered Augmentation Lower Exoskeleton
  • RANK # Robotic Ankle: Design and Testing on Irregular Terrains
  • A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification
  • A Soft Fabric-Based Shrink-To-Fit Pneumatic Sleeve for Comfortable Limb Assistance
  • Ring-Pull Type Soft Wearable Robotic Glove for Hand Strength Assistance
  • Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks
  • Reconfigurable Self-Sensing Pneumatic Artificial Muscle with Locking Ability Based on Modular Multi-Chamber Soft Actuator
  • Design of a Wearable Mechanism with Shape Memory Alloy (SMA)-Based Artificial Muscle for Assisting with Shoulder Abduction

Intention Recognition

  • Intention Estimation from Gaze and Motion Features for Human-Robot Shared-Control Object Manipulation
  • Disentangled Sequence Clustering for Human Intention Inference
  • Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users Via Data Augmentation Using Mutual Information
  • Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles
  • MPC-PF: Social Interaction Aware Trajectory Prediction of Dynamic Objects for Autonomous Driving Using Potential Fields
  • Optimization of Forcemyography Sensor Placement for Arm Movement Recognition
  • Pedestrian Intention Prediction Based on Traffic-Aware Scene Graph Model
  • Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patterns
  • A Hierarchical Deliberative Architecture Framework Based on Goal Decomposition

Semantic Scene Understanding 1

  • SynWoodScape: Synthetic Surround-View Fisheye Camera Dataset for Autonomous Driving
  • Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database
  • Low-Latency LiDAR Semantic Segmentation
  • Implicit-Part Based Context Aggregation for Point Cloud Instance Segmentation
  • Unsupervised Domain Adaptation for Point Cloud Semantic Segmentation Via Graph Matching
  • SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition
  • Fisheye Object Detection Based on Standard Image Datasets with 24-Points Regression Strategy
  • Real-Time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection
  • Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks

Multi-Robot Systems 1

  • Multi-Robot Unknown Area Exploration Using Frontier Trees
  • Min-Max Vertex Cycle Covers with Connectivity Constraints for Multi-Robot Patrolling
  • Efficient Range-Constrained Manifold Optimization with Application to Cooperative Navigation
  • On Coverage Control for Limited Range Multi-Robot Systems
  • Multi-Goal Multi-Agent Pickup and Delivery
  • Asynchronous Real-Time Decentralized Multi-Robot Trajectory Planning
  • Decentralized Learning with Limited Communications for Multi-Robot Coverage of Unknown Spatial Fields
  • Multi-Agent Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
  • Multi-Modal User Interface for Multi-Robot Control in Underground Environments

Soft Sensors and Actuators 1

  • Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor
  • Estimation of Soft Robotic Bladder Compression for Smart Helmets Using IR Range Finding and Hall Effect Magnetic Sensing
  • Kirigami Skin Based Flexible Whisker Sensor
  • Design and Characterisation of a Soft Barometric Sensing Skin for Robotic Manipulation
  • A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing
  • Transferable Shape Estimation of Soft Pneumatic Actuators Based on Active Vibroacoustic Sensing
  • Shape Reconstruction of Soft Manipulators Using Vision and IMU Feedback
  • FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators
  • Soft-Skin Actuator Capable of Seawater Propulsion Based on MagnetoHydroDynamics

Path Planning for Multiple Mobile Robots and Agents 1

  • Collaborative Navigation-Aware Coverage in Feature-Poor Environments
  • Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination
  • Energy-Efficient Orienteering Problem in the Presence of Ocean Currents
  • MAPFASTER: A Faster and Simpler Take on Multi-Agent Path Finding Algorithm Selection
  • A Conflict-Driven Interface between Symbolic Planning and Nonlinear Constraint Solving
  • Scalable Online Coverage Path Planning for Multi-Robot Systems
  • DiMOpt: A Distributed Multi-Robot Trajectory Optimization Algorithm
  • Non-Submodular Maximization Via the Greedy Algorithm and the Effects of Limited Information in Multi-Agent Execution
  • Gathering Physical Particles with a Global Magnetic Field Using Reinforcement Learning

Transfer Learning

  • Contrastive Learning for Cross-Domain Open World Recognition
  • Efficient Multi-Task Learning Via Iterated Single-Task Transfer
  • MPR-RL: Multi-Prior Regularized Reinforcement Learning for Knowledge Transfer
  • Unsupervised Reinforcement Learning for Transferable Manipulation Skill Discovery
  • Subspace-Based Feature Alignment for Unsupervised Domain Adaptation
  • Using Simulation Optimization to Improve Zero-Shot Policy Transfer of Quadrotors
  • Bilateral Knowledge Distillation for Unsupervised Domain Adaptation of Semantic Segmentation
  • Self-Supervised Noisy Label Learning for Source-Free Unsupervised Domain Adaptation
  • Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks

Assembly and Additive Manufacturing

  • Additive Manufacturing for Tissue Engineering Applications in a Temperature-Controlled Environment
  • On CAD Informed Adaptive Robotic Assembly
  • Graph-Based Reinforcement Learning Meets Mixed Integer Programs: An Application to 3D Robot Assembly Discovery
  • Assembly Planning from Observations under Physical Constraints
  • Coordinated Toolpath Planning for Multi-Extruder Additive Manufacturing
  • A Hierarchical Finite-State Machine-Based Task Allocation Framework for Human-Robot Collaborative Assembly Tasks
  • Self-Stabilizing Self-Assembly
  • Flexible and Precision Snap-Fit Peg-In-Hole Assembly Based on Multiple Sensations and Damping Identification
  • A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty

Motion and Path Planning 7

  • Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborting A*
  • Collision and Rollover-Free mathcal{G}^2 Path Planning for Mobile Manipulation
  • Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
  • Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information
  • NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments
  • FISS: A Trajectory Planning Framework Using Fast Iterative Search and Sampling Strategy for Autonomous Driving
  • Reshaping Local Path Planner
  • T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments
  • Hierarchical Planning with Annotated Skeleton Guidance

Legged Robots 1

  • Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
  • A Versatile Co-Design Approach for Dynamic Legged Robots
  • Motion Planning for Agile Legged Locomotion Using Failure Margin Constraints
  • Energy-Based Legged Robots Terrain Traversability Modeling Via Deep Inverse Reinforcement Learning
  • Robust High-Speed Running for Quadruped Robots Via Deep Reinforcement Learning
  • Toward a Data-Driven Template Model for Quadrupedal Locomotion
  • Planning of Obstacle-Aided Navigation for Multi-Legged Robots Using a Sampling-Based Method Over Directed Graphs
  • Real-Time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
  • Adaptive Feet for Quadrupedal Walkers (I)

Art and Entertainment and Manipulation

  • Towards Learning to Play Piano with Dexterous Hands and Touch
  • Consensus-Based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination
  • Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
  • Simultaneous Depth Estimation and Localization for Cell Manipulation Based on Deep Learning
  • Cooperative Object Manipulation under Signal Temporal Logic Tasks and Uncertain Dynamics
  • DrozBot: Using Ergodic Control to Draw Portraits
  • Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions
  • Tactile Feedback Enabling In-Hand Pivoting and Internal Force Control for Dual-Arm Cooperative Object Carrying
  • DUQIM-Net: Probabilistic Object Hierarchy Representation for Multi-View Manipulation

Aerial Systems 5

  • Downwash-Aware Control Allocation for Over-Actuated UAV Platforms
  • Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention
  • Unsteady Aerodynamic Modeling of Aerobat Using Lifting Line Theory and Wagner's Function
  • Design and Analysis of Truss Aerial Transportation System (TATS): The Lightweight Bar Spherical Joint Mechanism
  • SytaB: A Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters
  • Real-Time Trajectory Planning for Aerial Perching
  • Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
  • Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment
  • Autoexplorer: Autonomous Exploration of Unknown Environments Using Fast Frontier-Region Detection and Parallel Path Planning

Navigation Systems 6

  • Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform
  • MPNP: Multi-Policy Neural Planner for Urban Driving
  • Contextual Tuning of Model Predictive Control for Autonomous Racing
  • Temporal Logic Path Planning under Localization Uncertainty
  • Navigating to Objects in Unseen Environments by Distance Prediction
  • Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles
  • DSOL: A Fast Direct Sparse Odometry Scheme
  • Planning for Negotiations in Autonomous Driving Using Reinforcement Learning
  • Towards Specialized Hardware for Learning-Based Visual Odometry on the Edge

Deep Learning for Visual Perception 1

  • MPT-Net: Mask Point Transformer Network for Large Scale Point Cloud Semantic Segmentation
  • Timestamp-Supervised Action Segmentation with Graph Convolutional Networks
  • CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Space
  • 3D Object Aided Self-Supervised Monocular Depth Estimation
  • DeepMLE: A Robust Deep Maximum Likelihood Estimator for Two-View Structure from Motion
  • Attention-Guided RGB-D Fusion Network for Category-Level 6D Object Pose Estimation
  • Robust Sim2Real 3D Object Classification Using Graph Representations and a Deep Center Voting Scheme
  • Weak6D: Weakly Supervised 6D Pose Estimation with Iterative Annotation Resolver
  • Robust Human Motion Forecasting Using Transformer-Based Model
  • Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics
  • A Framework for Robot Self-Assessment of Expected Task Performance
  • An Empirical Study of Reward Explanations with Human-Robot Interaction Applications
  • The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models
  • Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming
  • Learning on the Job: Long-Term Behavioural Adaptation in Human-Robot Interactions
  • Bounded Rational Game-Theoretical Modeling of Human Joint Actions with Incomplete Information
  • COSM2IC: Optimizing Real-Time Multi-Modal Instruction Comprehension
  • Quantifying Changes in Kinematic Behavior of a Human-Exoskeleton Interactive System

Learning from Demonstration 3

  • Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation
  • Learning Deformable Object Manipulation from Expert Demonstrations
  • Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
  • Learning Perceptual Concepts by Bootstrapping from Human Queries
  • Extending Extrapolation Capabilities of Probabilistic Motion Models Learned from Human Demonstrations Using Shape-Preserving Virtual Demonstrations
  • Learning High Speed Precision Table Tennis on a Physical Robot
  • Behaviour Learning with Adaptive Motif Discovery and Interacting Multiple Model
  • Learning from Demonstration Using a Curvature Regularized Variational Auto-Encoder (CurvVAE)
  • Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation (I)

Deep Learning for Visual Perception 2

  • Bayesian Active Learning for Sim-To-Real Robotic Perception
  • DiffCloud: Real-To-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
  • Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
  • What's in the Black Box? the False Negative Mechanisms Inside Object Detectors
  • RVMOS: Range-View Moving Object Segmentation Leveraged by Semantic and Motion Features
  • Pseudo-Label Guided Cross-Video Pixel Contrast for Robotic SurgicalScene Segmentation with Limited Annotations
  • An Unsupervised Domain Adaptive Approach for Multimodal 2D Object Detection in Adverse Weather Conditions
  • BIMS-PU: Bi-Directional and Multi-Scale Point Cloud Upsampling
  • LiCaS3: A Simple LiDAR–Camera Self-Supervised Synchronization Method (I)

Machine Learning for Robot Control 2

  • Multiscale Sensor Fusion and Continuous Control with Neural CDEs
  • SMS-MPC: Adversarial Learning-Based Simultaneous Prediction Control with Single Model for Mobile Robots
  • Dynamic Inference on Graphs Using Structured Transition Models
  • Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search
  • Non-Blocking Asynchronous Training for Reinforcement Learning in Real-World Environments
  • End-To-End Learning to Grasp Via Sampling from Object Point Clouds
  • Robot Skill Learning with Identification of Preconditions and Postconditions Via Level Set Estimation
  • Sex Parity in Cognitive Fatigue Model Development for Effective Human-Robot Collaboration
  • Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-Based Control Barrier Functions

Soft Robot Modeling and Control 2

  • Task-Space Control of Continuum Robots Using Underactuated Discrete Rod Models
  • Nonlinear Dynamics Modeling and Fault Detection for a Soft Trunk Robot: An Adaptive NN-Based Approach
  • Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines
  • Geometrically-Exact Inverse Kinematic Control of Sof Manipulators with General Threadlike Actuators’ Routing
  • Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA
  • Controlling Soft Fluidic Actuators Using Soft DEA-Based Valves
  • Omnidirectional Walking of a Quadruped Robot Enabled by Compressible Tendon-Driven Soft Actuators
  • Estimating Forces Along Continuum Robots
  • Learning Physics-Informed Simulation Models for Soft Robotic Manipulation: A Case Study with Dielectric Elastomer Actuators

SLAM 8

  • Detecting Invalid Map Merges in Lifelong SLAM
  • MD-SLAM: Multi-Cue Direct SLAM
  • Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation
  • ACEFusion # Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes
  • A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization
  • Situational Graphs for Robot Navigation in Structured Indoor Environments
  • PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-Based SLAM
  • Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs
  • City-Wide Street-To-Satellite Image Geolocalization of a Mobile Ground Agent

Rehabilitation Robotics

  • Soft Actuators for Facial Reanimation
  • Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries
  • Development of a Novel Low-Profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries
  • A Novel Wheelchair-Exoskeleton Hybrid Robot to Assist Movement and Aid Rehabilitation
  • Facial Expressions-Controlled Flight Game with Haptic Feedback for Stroke Rehabilitation: A Proof-Of-Concept Study
  • An Intention Prediction Based Shared Control System for Point-To-Point Navigation of a Robotic Wheelchair
  • A Wearable System with Harmonic Oscillations to Assess Finger Biomechanics
  • Evaluation of TENS Based Biofeedback and Warning for Improvement of Seated Balance on a Trunk Rehabilitation Robot
  • Soft Robotic Fabric Actuator with Elastic Bands for High Force & Bending Performance in Hand Exoskeletons

Compliance and Impedance Control 2

  • Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery
  • Reinforcement Learning of Impedance Policies for Peg-In-Hole Tasks: Role of Asymmetric Matrices
  • A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration
  • Probabilistic Approach to Online Stiffness Estimation for Robotic Tasks
  • Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
  • On the Performance and Passivity of Admittance Control with Feed-Forward Input
  • Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures Using Force Information
  • A Comparative Study of Force Observers for Accurate Force Control of Multisensor-Based Force Controlled Motion Systems
  • Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Software, Middleware and Programming Environments 2

  • Gazebo Fluids: SPH-Based Simulation of Fluid Interaction with Articulated Rigid Body Dynamics
  • SOCIALGYM: A Framework for Benchmarking Social Robot Navigation
  • SROS2: Usable Cyber Security Tools for ROS 2
  • Automatic Co-Design of Aerial Robots Using a Graph Grammar
  • ARviz – an Augmented Reality-Enabled Visualization Platform for ROS Applications (I)
  • A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems (I)
  • Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics
  • On-Device CPU Scheduling for Robot Systems

Whole-Body Motion Planning and Control 1

  • Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
  • Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition
  • Multimodal Generation of Novel Action Appearances for Synthetic-To-Real Recognition of Activities of Daily Living
  • Learning a Group-Aware Policy for Robot Navigation
  • Feedback-Efficient Active Preference Learning for Socially Aware Robot Navigation
  • Watch Out! There May Be a Human. Addressing Invisible Humans in Social Navigation
  • Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
  • Discover Life Skills for Planning As Bandits Via Observing and Learning How the World Works
  • An Optimal Motion Planning Framework for Quadruped Jumping

Intelligent Transportation Systems 1

  • Trajectory Prediction with Graph-Based Dual-Scale Context Fusion
  • IMU Dead-Reckoning Localization with RNN-IEKF Algorithm
  • A Value-Based Dynamic Learning Approach for Vehicle Dispatch in Ride-Sharing
  • Deep Kernel Learning for Uncertainty Estimation in Multiple Trajectory Prediction Networks
  • Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-Driven and Autonomous Vehicles
  • Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction
  • InterSim: Interactive Traffic Simulation Via Explicit Relation Modeling
  • Driving Anomaly Detection Using Contrastive Multiview Coding to Interpret Cause of Anomaly
  • TIP: Task-Informed Motion Prediction for Intelligent Vehicles

Semantic Scene Understanding 2

  • Hybrid Belief Pruning with Guarantees for Viewpoint-Dependent Semantic SLAM
  • Invariant-Based World Models for Robust Robotic Systems Demonstrated on an Autonomous Football Table
  • Efficient Spatial-Temporal Information Fusion for LiDAR-Based 3D Moving Object Segmentation
  • Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps
  • Perceiving the Invisible: Proposal-Free Amodal Panoptic Segmentation
  • Meta-RangeSeg: LiDAR Sequence Semantic Segmentation Using Multiple Feature Aggregation
  • Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions
  • Unsupervised Class-Agnostic Instance Segmentation of 3D LiDAR Data for Autonomous Vehicles
  • FedDrive: Generalizing Federated Learning to Semantic Segmentation in Autonomous Driving

Multi-Robot Systems 2

  • Collecting a Flock with Multiple Sub-Groups by Using Multi-Robot System
  • A Hybrid PSO Algorithm for Multi-Robot Target Search and Decision Awareness
  • Interactive Multi-Robot Aerial Cinematography through Hemispherical Manifold Coverage
  • Passive Multiuser Teleoperation of a Multirobot System with Connectivity-Preserving Containment (I)
  • PD-FAC: Probability Density Factorized Multi-Agent Distributional Reinforcement Learning for Multi-Robot Reliable Search
  • Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape
  • Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking As a Case Study
  • Decentralized Multi-Robot Velocity Estimation for UAVs Enhancing Onboard Camera-Based Velocity Measurements
  • Autonomous Service Robots for Urban Waste Management # Multiagent Route Planning and Cooperative Operation

Soft Sensors and Actuators 2

  • Mechanically Programmable Jamming Based on Articulated Mesh Structures for Variable Stiffness Robots
  • Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators
  • Modeling and Position Control of the HASEL Actuator Via Port-Hamiltonian Approach
  • Motion Tracking Smart Work Suit with a Modular Joint Angle Sensor Using Screw Routing
  • 3D Curvature-Based Tip Load Estimation for Continuum Robots
  • Optimizing Out-Of-Plane Stiffness for Soft Grippers
  • Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber
  • Vision-Based Sensing for Electrically-Driven Soft Actuators
  • FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots (I)

Path Planning for Multiple Mobile Robots and Agents 2

  • Planning with Intermittent State Observability: Knowing When to Act Blind
  • Selecting the Partial State Abstractions of MDPs: A Metareasoning Approach with Deep Reinforcement Learning
  • Adaptive Online Sampling of Periodic Processes with Application to Coral Reef Acoustic Abundance Monitoring
  • Learning Coordination Policies Over Heterogeneous Graphs for Human-Robot Teams Via Recurrent Neural Schedule Propagation
  • Deep Reinforcement Learning Based Robot Navigation in Dynamic Environments Using Occupancy Values of Motion Primitives
  • A Polynomial Time Approximation Scheme for the Scheduling Problem in the AGV System
  • Fast and Compute-Efficient Sampling-Based Local Exploration Planning Via Distribution Learning
  • DC-MRTA: Decentralized Multi-Robot Task Allocation and Navigation in Complex Environments
  • Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding with Continuous Time on 2D Roadmaps

Optimization and Optimal Control 1

  • Simulation Aided Co-Design for Robust Robot Optimization
  • Reference Acceleration Model Predictive Control (RA-MPC) for Cable-Driven Robots
  • CARLA Simulator-Based Evaluation Framework Development of Lane Detection Accuracy Performance under Sensor Blockage Caused by Heavy Rain for Autonomous Vehicle
  • Planning under Periodic Observations: Bounds and Bounding-Based Solutions
  • Real-Time Predictive Kinematics Control of Redundancy: A Benchmark of Optimal Control Approaches
  • Automatic Generation of Optimization Model Using Process Mining and Petri Nets for Optimal Motion Planning of 6-DOF Manipulators
  • Physically Consistent Lie Group Mesh Models for Robot Design and Motion Co-Optimization
  • Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
  • High-Speed Accurate Robot Control Using Learned Forward Kinodynamics and Non-Linear Least Squares Optimization

Bimanual and In-Hand Manipulation

  • Kinesthetic Teaching of Bi-Manual Tasks with Known Relative Constraints
  • Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
  • A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
  • Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
  • E-TRoll: Tactile Sensing and Classification Via a Simple Robotic Gripper for Extended Rolling Manipulations
  • Variable Friction Based In-Hand Manipulation of Fabrics Applied to Unfolding Operations
  • A Target-Guided Telemanipulation Architecture for Assisted Grasping
  • DA^2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping
  • A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-Arm Systems

Motion and Path Planning 8

  • Generating Safe Corridors Roadmap for Urban Air Mobility
  • Explainable Robotic Plan Execution Monitoring under Partial Observability (I)
  • Sampling-Based View Planning for MAVs in Active Visual-Inertial State Estimation
  • Maximizing the Probability of Task Completion for Redundant Robots Experiencing Locked Joint Failures (I)
  • Dynamic Compressed Sensing of Unsteady Flows with a Mobile Robot
  • Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
  • Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air-Mobility
  • Informative Path Planning for Active Learning in Aerial Semantic Mapping
  • Towards Autonomous Grading in the Real World

Legged Robots 2

  • Vastus and Gastrocnemius Improve Hopping Efficiency and Joints Synchronicity at Different Frequencies: A Robotic Study
  • Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
  • Improved Performance of CPG Parameter Inference for Path-Following Control of Legged Robots
  • Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
  • Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints
  • Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap between Reduced and Full-Order Models
  • Contact-Timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
  • Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers
  • The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems (I)

Task Planning

  • Optimal Constrained Task Planning As Mixed Integer Programming
  • Extended Time Dependent Vehicle Routing Problem for Joint Task Allocation and Path Planning in Shared Space
  • Multi-Objective Task Allocation for Multi-Agent Systems Using Hierarchical Cost Function
  • Probabilistic Planning for AUV Data Harvesting from Smart Underwater Sensor Networks
  • Efficient Task/Motion Planning for a Dual-Arm Robot from Language Instructions and Cooking Images
  • Clustering Trust Dynamics in a Human-Robot Sequential Decision-Making Task
  • Behavior-Tree Embeddings for Robot Task-Level Knowledge
  • Can We Reach Human Expert Programming Performance? a Tactile Manipulation Case Study in Learning Time and Task Performance
  • Data-Driven Abstractions for Robots with Stochastic Dynamics (I)

Aerial Systems 6

  • Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study
  • Design and Trajectory Tracking Control of a New Bi-Copter UAV
  • Local Perception-Aware Transformer for Aerial Tracking
  • End-To-End Feature Decontaminated Network for UAV Tracking
  • Blind As a Bat: Audible Echolocation on Small Robots
  • HighlightNet: Highlighting Low-Light Potential Features for Real-Time UAV Tracking
  • Drone with Pneumatic-Tethered Suction-Based Perching Mechanism for High Payload Application
  • Geometrically Constrained Trajectory Optimization for Multicopters (I)
  • Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes

Navigation Systems 7

  • Dynamic-GAN: Learning Spatial-Temporal Attention for Dynamic Object Removal in Feature Dense Environments
  • Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty
  • Lifelong Topological Visual Navigation
  • D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR SLAM in Complicated Circumstances with Noisy Point Clouds
  • State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersections
  • Vehicle Type Specific Waypoint Generation
  • Autonomous Navigation of AGVs in Unknown Cluttered Environments: Log-MPPI Control Strategy
  • Cross-Modal Fusion-Based Prior Correction for Road Detection in Off-Road Environments
  • InterFusion: Interaction-Based 4D Radar and Lidar Fusion for 3D Object Detection

Prosthetics and Exoskeletons 1

  • Experimental Assessment of a Control Strategy for Locomotion Assistance Relying on Simplified Motor Primitives
  • Design of EMG-Driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
  • Visual Environment Perception for Obstacle Detection and Crossing of Lower-Limb Exoskeletons
  • Unilateral Stiffness Modulation with a Robotic Hip Exoskeleton Elicits Adaptation During Gait
  • A Piecewise Monotonic Smooth Phase Variable for Speed-Adaptation Control of Powered Knee-Ankle Prostheses
  • Imposing Healthy Hip Movement Pattern and Range by Exoskeleton Control for Individualized Assistance
  • Characterizing Prosthesis Control Fault During Human-Prosthesis Interactive Walking Using Intrinsic Sensors
  • A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes
  • Understanding Modulation of Ankle Stiffness During Stance Phase of Walking on Different Environments and Its Implications for the Design of Impedance Controllers

Aerial Systems 7

  • Robust and Efficient Velocity Estimation for MAVs with an RGB-D Camera
  • Geometric MPC Techniques for Reduced Attitude Control on Quadrotors with Bidirectional Thrust
  • Tightly-Coupled EKF-Based Radar-Inertial Odometry
  • Accurate Vision-Based Flight with Fixed-Wing Drones
  • Autonomous Quadrotor Landing on Inclined Surfaces in High Particle Environments Using Radar Sensor Perception
  • Retro-RL: Reinforcing Nominal Controller with Deep Reinforcement Learning for Tilting-Rotor Drones
  • TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
  • Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments
  • Predicting Visual Differentiability for Unmanned Aerial Vehicle Gestures

Learning from Experience

  • Robot Task Learning with Motor Babbling Using Pseudo Rehearsal
  • Continual Learning in Real-Life Applications
  • Autonomous Cycle Time Reduction of Robotic Tasks Using Iterative Learning Control
  • Medical Ultrasound Image Quality Assessment for Autonomous Robotic Screening
  • Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
  • SafeAPT: Safe Simulation-To-Real Robot Learning Using Diverse Policies Learned in Simulation
  • Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes
  • Safe Adaptation in Multiagent Competition
  • Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower

Deep Learning Methods

  • PUA-MOS: End-To-End Point-Wise Uncertainty Weighted Aggregation for Moving Object Segmentation
  • Grounding Commands for Autonomous Vehicles Via Layer Fusion with Region-Specific Dynamic Layer Attention
  • Neural-Guided Runtime Prediction of Planners for Improved Motion and Task Planning with Graph Neural Networks
  • OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Robotics
  • FloorGenT: Generative Vector Graphic Model of Floor Plans for Robotics
  • Robot Motion Planning As Video Prediction: A Spatio-Temporal Neural Network-Based Motion Planner
  • Adversarial Attacks on Monocular Pose Estimation
  • Don’t Share My Face: Privacy Preserving Inpainting for Visual Localization
  • Torque Control of Hydraulic Pressure Servo Valve Driven Actuator with Deep Neural Network

AI-Enabled Robotics

  • SGL: Symbolic Goal Learning in a Hybrid, Modular Framework for Human Instruction Following
  • Towards Defensive Autonomous Driving: Collecting and Probing Driving Demonstrations of Mixed Qualities
  • TAE: A Semi-Supervised Controllable Behavior-Aware Trajectory Generator and Predictor
  • Visual-Tactile Sensing for Real-Time Liquid Volume Estimation in Grasping
  • Comparing Reconstruction and Contrastive-Based Models for Visual Task Planning
  • Learning Object-Based State Estimators for Household Robots
  • Deep Residual Reinforcement Learning Based Autonomous Blimp Control
  • Semantic Grasping Via a Knowledge Graph of Robotic Manipulation: A Graph Representation Learning Approach
  • 3D Part Assembly Generation with Instance Encoded Transformer

Soft Robot Modeling and Control 3

  • Continuum-Body-Pose Estimation from Partial Sensor Information Using Recurrent Neural Networks
  • Sim2Real for Soft Robotic Fish Via Differentiable Simulation
  • An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle
  • Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing
  • Model-Based Design Optimization of Underwater Flagellate Propellers
  • Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots
  • Hybrid Eye-In-Hand/Eye-To-Hand Image Based Visual Servoing for Soft Continuum Arms
  • Using R-Functions to Control the Shape of Soft Robots

Cellular, Modular and Cooperating Robots

  • RePoSt: Distributed Self-Reconfiguration Algorithm for Modular Robots Based on Porous Structure
  • Selective Self-Assembly Using Re-Programmable Magnetic Pixels
  • Physical Neural Cellular Automata for 2D Shape Classification
  • Multi-Modal Multi-Agent Optimization for LIMMS, a Modular Robotics Approach to Delivery Automation
  • Design, Modeling and Control of a Composable and Extensible Drone with Tilting Rotors
  • Robotic Parasitic Array Control for Increased RSS in Non-Line-Of-Sight
  • Modular Robot Networking: A Novel Schema and Its Performance Assessment
  • Coordinated Multi-Agent Exploration, Rendezvous, & Task Allocation in Unknown Environments with Limited Connectivity
  • Multi-AGV's Temporal Memory-Based RRT Exploration in Unknown Environment

Prosthetics and Exoskeletons 2

  • A Novel Method for Detecting Misclassifications of the Locomotion Mode in Lower-Limb Exoskeleton Robot Control
  • Sample-Efficient Policy Adaptation for Exoskeletons under Variations in the Users and the Environment
  • Deep-Learning to Map a Benchmark Dataset of Non-Amputee Ambulation for Controlling an Open Source Bionic Leg
  • Continuous Locomotion Mode Recognition and Gait Phase Estimation Based on a Shank-Mounted IMU with Artificial Neural Networks
  • Biomechanical Design Optimization of Passive Exoskeletons through Surrogate Modeling on Industrial Activity Data
  • Application of Piece-Wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation
  • Real-Time Locomotion Recognition Algorithm for an Active Pelvis Orthosis to Assist Lower-Limb Amputees
  • Predictive Locomotion Mode Recognition and Accurate Gait Phase Estimation for Hip Exoskeleton on Various Terrains
  • Simultaneous Gesture Classification and Speed Control for Myoelectric Prosthetic Hand Using Joint-Loss Neural Network

Robust/Adaptive Control

  • Unbiased Active Inference for Classical Control
  • Plane-To-Plane Positioning by Proximity-Based Control
  • Safe Control Synthesis with Uncertain Dynamics and Constraints
  • Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
  • Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle under Wind Disturbance with Onboard Thermistor-Based Airflow Sensing
  • Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments
  • An Adaptive Approach to Whole-Body Balance Control of Wheel-Bipedal Robot Ollie
  • An Optimal Dynamic Control Method for Manipulators with Virtual Links
  • Constrained Imitation Learning for a Flapping Wing Unmanned Aerial Vehicle

Calibration and Robot Safety

  • CROON: Automatic Multi-LiDAR Calibration and Refinement Method in Road Scene
  • Geometric Calibration of Single-Pixel Distance Sensors
  • Data-Driven Kalman Filter with Kernel-Based Koopman Operators for Nonlinear Robot Systems
  • High Precision and Robust Camera Calibration under Learning-Based Distortion Correction and Feature Detection
  • Extrinsic Camera Calibration from a Moving Person
  • A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems
  • Quantifying Safety of Learning-Based Self-Driving Control Using Almost-Barrier Functions
  • A Task-Based Post-Impact Safety Protocol Based on Energy Tanks
  • Scalable Safety-Critical Policy Evaluation with Accelerated Rare Event Sampling
  • Multi-Contact Whole-Body Motion Planning and Control
  • Deep Active Visual Attention for Real-Time Robot Motion Generation: Emergence of Tool-Body Assimilation and Adaptive Tool-Use
  • Automatic Tuning and Selection of Whole-Body Controllers
  • Learning to Guide Online Multi-Contact Receding Horizon Planning
  • Real-Time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments
  • Modeling, Analysis and Activation of Planar Viscoelastically-Combined Rimless Wheels
  • Minor Change, Major Gains II: Are Maximal Coordinates the Fastest Choice for Trajectory Optimization?
  • Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion
  • Integration of Variable-Height and Hopping Strategies for Humanoid Push Recovery
  • Learning Agile Hybrid Whole-Body Motor Skills for Thruster-Aided Humanoid Robots

Intelligent Transportation Systems 2

  • Active Mapping Via Gradient Ascent Optimization of Shannon Mutual Information Over Continuous SE(3) Trajectories
  • A Framework for Optimized Topology Design and Leader Selection in Affine Formation Control
  • Contextual Driving Scene Perception from Anonymous Vehicle Bus Data for Automotive Applications
  • Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
  • Self-Supervised Scene Flow Estimation with 4-D Automotive Radar
  • Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction
  • ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
  • Detecting Adversarial Perturbations in Multi-Task Perception
  • Recognition Beyond Perception: Environmental Model Completion by Reasoning for Occluded Vehicles

Data Sets for Robotic Vision

  • ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception
  • EVOPS Benchmark: Evaluation of Plane Segmentation from RGBD and LiDAR Data
  • 6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
  • Realism Assessment for Synthetic Images in Robot Vision through Performance Characterization
  • Danish Airs and Grounds: A Dataset for Aerial-To-Street-Level Place Recognition and Localization
  • Object Pose Estimation Using Mid-Level Visual Representations
  • Grasp Pre-Shape Selection by Synthetic Training: Eye-In-Hand Shared Control on the Hannes Prosthesis
  • Sequential Thermal Image-Based Adult and Baby Detection Robust to Thermal Residual Heat Marks
  • IndoLayout: Leveraging Attention for Extended Indoor Layout Estimation from an RGB Image

Autonomous Agents

  • A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor
  • Cola-HRL: Continuous-Lattice Hierarchical Reinforcement Learning for Autonomous Driving
  • Visibility-Inspired Models of Touch Sensors for Navigation
  • Factorization of Dynamic Games Over Spatio-Temporal Resources
  • Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation
  • Low-Drift LiDAR-Only Odometry and Mapping for UGVs in Environments with Non-Level Roads
  • Stochastic Games with Stopping States and Their Application to Adversarial Motion Planning Problems
  • BOBCAT: Behaviors, Objectives and Binary States for Coordinated Autonomous Tasks
  • ATF-3D: Semi-Supervised 3D Object Detection withAdaptive Thresholds Filtering Based on Confidenceand Distance

Actuation and Joint Mechanisms

  • Adaptative Friction Shock Absorbers and Reverse Thrust for Fast Multirotor Landing on Inclined Surfaces
  • DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
  • Jumping on Air: Design and Modeling of Latch-Mediated, Spring-Actuated Air-Jumpers
  • Anisotropic-Stiffness Belt in Mono Wheeled Flexible Track for Rough Terrain Locomotion
  • Wave-Shaped Notched Compliant Joint with High Rigidity
  • A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator
  • An In-Pipe Crawling Robot Based on Tensegrity Structures
  • Vertical Bend and T-Branch Travels of an Articulated Wheeled In-Pipe Inspection Robot by Combining Its Joint Angle and Torque Controls

Sensor Systems

  • Learned Depth Estimation of 3D Imaging Radar for Indoor Mapping
  • Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
  • Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
  • Linewise Non-Rigid Point Cloud Registration
  • A LiDAR-Inertial Odometry with Principled Uncertainty Modeling
  • DeepCIR: Insights into CIR-Based Data-Driven UWB Error Mitigation
  • From Timing Variations to Performance Degradation: Understanding and Mitigating the Impact of Software Execution Timing in SLAM
  • Combined Dual-Prediction Based Data Fusion and Enhanced Leak Detection and Isolation Method for WSN Pipeline Monitoring System (I)
  • Upper Limb Movement Estimation and Function Evaluation of the Shoulder Girdle by Multi-Sensing Flexible Sensor Wear

Optimization and Optimal Control 2

  • A Legendre-Gauss Pseudospectral Collocation Method for Trajectory Optimization in Second Order Systems
  • An Equivalent Time-Optimal Problem to Find Energy-Optimal Paths for Skid-Steer Rovers
  • Visibility-Aware Navigation with Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost
  • Refining Control Barrier Functions through Hamilton-Jacobi Reachability
  • Newton-PnP: Real-Time Visual Navigation for Autonomous Toy-Drones
  • Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach
  • Introducing Force Feedback in Model Predictive Control
  • Toward Global Sensing Quality Maximization: A Configuration Optimization Scheme for Camera Networks
  • Embedding Koopman Optimal Control in Robot Policy Learning

Behavior-Based Systems

  • HGCN-GJS: Hierarchical Graph Convolutional Network with Groupwise Joint Sampling for Trajectory Prediction
  • Teaching Robots to Span the Space of Functional Expressive Motion
  • Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance
  • Learning Bidirectional Translation between Descriptions and Actions with Small Paired Data
  • Generalizability Analysis of Graph-Based Trajectory Predictor with Vectorized Representation
  • CreativeBot: A Creative Storyteller Agent Developed by Leveraging Pre-Trained Language Models
  • Adaptive Sequential Composition for Robot Behaviours
  • Collective Conditioned Reflex: A Bio-Inspired Fast Emergency Reaction Mechanism for Designing Safe Multi-Robot Systems
  • Use of Action Label in Deep Predictive Learning for Robot Manipulation

Motion and Path Planning 9

  • Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework (I)
  • Fast Cost-Aware Lazy-Theta* Over Euclidean Distance Functions for 3D Planning of Aerial Robots in Building-Like Environments
  • Conflict-Based Search for Multi-Robot Motion Planning with Kinodynamic Constraints
  • Motion Planning by Search in Derivative Space and Convex Optimization with Enlarged Solution Space
  • From Low to High Order Motion Planners: Safe Robot Navigation Using Motion Prediction and Reference Governor
  • Hierarchical Planning through Goal-Conditioned Offline Reinforcement Learning
  • Learning Minimum Time Flight in Cluttered Environments
  • NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots with Nonholonomic Constraints
  • Db-A*: Discontinuity-Bounded Search for Kinodynamic Mobile Robot Motion Planning

Legged Robots 3

  • Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots
  • An Online Interactive Approach for Crowd Navigation of Quadrupedal Robots
  • Simultaneous Contact-Rich Grasping and Locomotion Via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
  • Vision-Assisted Localization and Terrain Reconstruction with Quadruped Robots
  • Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms
  • Feasible Wrench Set Computation for Legged Robots
  • Online Kinematic Calibration for Legged Robots
  • Collision Detection and Identification for a Legged Manipulator
  • Bio-Inspired Rhythmic Locomotion for Quadruped Robots

Constrained Motion Planning

  • Predictive Angular Potential Field-Based Obstacle Avoidance for Dynamic UAV Flights
  • Avoiding Dynamic Obstacles with Real-Time Motion Planning Using Quadratic Programming for Varied Locomotion Modes
  • CoMBiNED: Multi-Constrained Model Based Planning for Navigation in Dynamic Environments
  • A Saturation-Aware Trajectory-Based Explicit Reference Governor for a Robotic Arm
  • Time-Optimal Online Replanning for Agile Quadrotor Flight
  • Collision Detection for Unions of Convex Bodies with Smooth Boundaries Using Closed-Form Contact Space Parameterization
  • Trajectory Planning for UAVs Based on Interfered Fluid Dynamical System and Bézier Curves
  • Time-Optimal Trajectory Planning with Interaction with the Environment
  • Obstacle Aware Sampling for Path Planning

Multi-Robot Systems 3

  • Distributed Ranging SLAM for Multiple Robots with Ultra-WideBand and Odometry Measurements
  • MT*: Multi-Robot Path Planning with Temporal Logic Specification
  • Meeting-Merging-Mission: A Multi-Robot Coordinate Framework for Large-Scale Communication-Limited Exploration
  • Communication-Preserving Bids in Market-Based Task Allocation
  • Toolbox Release: A WiFi-Based Relative Bearing Framework for Robotics
  • Multi-Robot Dynamic Swarm Disablement
  • Attention-Based Population-Invariant Deep Reinforcement Learning for Collision-Free Flocking with a Scalable Fixed-Wing UAV Swarm
  • Multi-UAV Cooperative Short-Range Combat Via Attention-Based Reinforcement Learning Using Individual Reward Shaping
  • Vision-Based Distributed Multi-UAV Collision Avoidance Via Deep Reinforcement Learning for Navigation

Path Planning for Multiple Mobile Robots and Agents 3

  • Sequence-Of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
  • RHH-LGP: Receding Horizon and Heuristics-Based Logic-Geometric Programming for Task and Motion Planning
  • FC3: Feasibility-Based Control Chain Coordination
  • Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning
  • Collision-Free Minimum-Time Trajectory Planning for Multiple Vehicles Based on ADMM
  • Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots
  • AB-Mapper: Attention and BicNet Based Multi-Agent Path Planning for Dynamic Environment
  • Graph Embedding for Multi-Robot Path Planning in Complex Environments
  • Artificial Learning for Part Identification in Robotic Disassembly through Automatic Rule Generation in an Ontology (I)