The 2021 International Conference on Robotics and Automation (ICRA 2021) has taken place from May 30 to June 5, 2021 at the brand new magnificent Xi’an International Convention and Exhibition Center in Xi’an China.
The ICRA 2021 conference promises to be a great event with excellent technical and social programs. Paper manuscripts reporting original research results on all aspects of robotics and automation are welcome. Proposals for tutorials and workshops, and organized sessions, on new topics or innovative applications are invited. Video clips iIIustrating new and exciting results are invited for video sessions. Exhibits from both industries and research laboratories are welcome. Please visit the official conference website for detailed instructions for paper, proposal, video, and exhibit submissions and for competition information. The IEEE ICRA 2021 will be held in a hybrid format, including both on-site and cloud meetings.
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.
| index | title |
|---|---|
| Session | Automation Award Session |
| 11169 | Fabric Defect Detection Using Tactile Information |
| 729 | A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment |
| 10271 | Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity |
| 7255 | Automated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process |
| Session | Manipulation Award Session |
| 11782 | StRETcH: A Soft to Resistive Elastic Tactile Hand |
| 12040 | A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation |
| 6228 | KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation |
| 6236 | Policy Blending and Recombination for Multimodal Contact-Rich Tasks |
| Session | Robot Vision Award Session |
| 14382 | CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth |
| 11299 | Interval-Based Visual-LiDAR Sensor Fusion |
| 10950 | OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving |
| 5552 | VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments |
| Session | Best Paper Award Session |
| 1147 | An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans |
| 11262 | Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements |
| 10030 | Distributed Coordinated Path Following Using Guiding Vector Fields |
| 7309 | Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition |
| Session | Motion Planning: Learning-Based Prediction |
| 3529 | Uncertainty-Aware Non-Linear Model Predictive Control for Human-Following Companion Robot |
| 965 | Path Planning in Uncertain Ocean Currents Using Ensemble Forecasts |
| 1109 | Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control |
| 155 | Risk Conditioned Distributional Soft Actor-Critic for Risk-Sensitive Navigation |
| Session | Motion Planning and Control II |
| 3134 | NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators |
| 656 | Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot |
| 2760 | Motion Coupling Analysis for the Decoupled Design of a Two-Segment Notched Continuum Robot |
| 3562 | VINS-Motion: Tightly-Coupled Fusion of VINS and Motion Constraint |
| Session | Medical Imaging and Sensing I |
| 4062 | Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors |
| 1098 | Robot-To-Image Registration with Geometric Marker for CT-Guided Robotic Needle Insertion |
| 1291 | Shape Sensor Using Magnetic Induction with Frequency Sweeping for Medical Catheters |
| 3102 | Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification |
| Session | Mechanism Design IV |
| 264 | Temperature Compensated 3D Printed Strain Sensor for Advanced Manufacturing Applications |
| 2490 | Design of a Deployable Underwater Robot for the Recovery of Autonomous Underwater Vehicles Based on Origami Technique |
| 3955 | Modelling and Optimisation of a Mechanism-Based Metamaterial for a Wrist Flexion-Extension Assistive Device |
| 1325 | Mechatronic Design of a Low-Noise Active Knee Prosthesis with High Backdrivability |
| Session | Manipulation Control III |
| 620 | Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery |
| 4108 | Sim-To-Real Visual Grasping Via State Representation Learning Based on Combining Pixel-Level and Feature-Level Domain Adaptation |
| 1772 | Dexterous Manoeuvre through Touch in a Cluttered Scene |
| 1323 | Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion |
| Session | Machine Learning: Applications |
| 1421 | Robotic Indoor Scene Captioning from Streaming Video |
| 2514 | Geometry-Aware Unsupervised Domain Adaptation for Stereo Matching |
| 3665 | Reasoning Operational Decisions for Robots Via Time Series Causal Inference |
| 4093 | Embodying Pre-Trained Word Embeddings through Robot Actions |
| Session | Machine Learning for Pose Estimation |
| 3556 | HueCode: A Meta-Marker Exposing Relative Pose and Additional Information in Different Colored Layers |
| 3581 | REDE: End-To-End Object 6D Pose Robust Estimation Using Differentiable Outliers Elimination |
| 3908 | PREGAN: Pose Randomization and Estimation for Weakly Paired Image Style Translation |
| 3358 | Deep Samplable Observation Model for Global Localization and Kidnapping |
| Session | Localization and Mapping VII |
| 94 | B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles |
| 1556 | Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles |
| 2400 | Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation |
| 3386 | Lightweight 3-D Localization and Mapping for Solid-State LiDAR |
| Session | Learning-Based Manipulation VII |
| 3433 | Living Object Grasping Using Two-Stage Graph Reinforcement Learning |
| 3004 | Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix |
| 4095 | Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning |
| 2452 | Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents Via an Asymmetric Architecture |
| Session | Learning in Control |
| 2731 | Sample Efficient Reinforcement Learning Via Model-Ensemble Exploration and Exploitation |
| 252 | Dreaming: Model-Based Reinforcement Learning by Latent Imagination without Reconstruction |
| 2109 | A Variational Infinite Mixture for Probabilistic Inverse Dynamics Learning |
| 1391 | Model-Based Domain Randomization of Dynamics System with Deep Bayesian Locally Linear Embedding |
| Session | Learning for Motion Planning |
| 1265 | Deep Imitation Learning for Autonomous Navigation in Dynamic Pedestrian Environments |
| 110 | Learning from Demonstration without Demonstrations |
| 3147 | Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment Via Adaptive-Scaling Constrained Optimization |
| 3245 | Optimization-Based Framework for Excavation Trajectory Generation |
| Session | Humanoids and Animaloids VII |
| 1276 | Reachability-Based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum |
| 4135 | Meaningful Centroidal Frame Orientation of Multi-Body Floating Locomotion Systems |
| 3644 | Online Object Searching by a Humanoid Robot in an Unknown Environment |
| 4139 | Origami-Inspired New Material Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing Its Path |
| Session | Human-Robot Interaction XI |
| 3950 | Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces |
| 3512 | Design and Clinical Validation of a Robotic Ankle-Foot Simulator with Series Elastic Actuator for Ankle Clonus Assessment Training |
| 4122 | A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments |
| 3601 | Soft-Jig-Driven Assembly Operations |
| Session | Human-Robot Interaction IV |
| 3774 | Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation |
| 434 | Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration |
| 4162 | A Large Area Robotic Skin with Sparsely Embedded Microphones for Human-Robot Tactile Communication |
| 480 | Star Topology Based Interaction for Robust Trajectory Forecasting in Dynamic Scene |
| Session | Field Robotics V |
| 3542 | A Peg-In-Hole Task Strategy for Holes in Concrete |
| 3715 | Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data |
| 3711 | TaskNet: A Neural Task Planner for Autonomous Excavator |
| 2837 | Steering Induced Roll Quantification During Ship Turning Circle Manoeuvre |
| Session | Grasping II |
| 3675 | Dig-Grasping Via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking |
| 1337 | Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods |
| 2548 | SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction |
| 3604 | Tactile Velocity Estimation for Controlled In-Grasp Sliding |
| Session | Biologically-Inspired Robots |
| 4009 | Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms |
| 1034 | Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot |
| 3729 | An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand |
| 1210 | Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace |
| Session | Applications of Micro and Nano Robotics I |
| 680 | Parallel Actuation of Nanorod Swarm and Nanoparticle Swarm to Different Targets |
| 944 | Robotic Micromanipulation for Active Pin Alignment in Electronic Soldering Industry |
| 3687 | In-Situ Bonding of Multilayer Microfluidic Devices Assisted by a Fully-Automated Aligning System |
| 3285 | Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector |
| Session | Control and Optimization II |
| 3168 | A Class of Optimal Switching Mixed Data Injection Attack in Cyber-Physical Systems |
| 1425 | Observation Space Matters: Benchmark and Optimization Algorithm |
| 484 | Interleaving Fast and Slow Decision Making |
| 3310 | Multi-Output Infinite Horizon Gaussian Processes |
| Session | Aerial Robotics: Planning and Control |
| 1067 | Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning |
| 1596 | Real-Time Active Detection of Targets and Path Planning Using UAVs |
| 2444 | EVA-Planner: Environmental Adaptive Quadrotor Planning |
| 171 | EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors |
| Session | Navigation and Mapping |
| 664 | Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction |
| 1258 | Autonomous Navigation in Dynamic Environments with Multi-Modal Perception Uncertainties |
| 2457 | Learning World Transition Model for Socially Aware Robot Navigation |
| 2379 | Probabilistic Dynamic Crowd Prediction for Social Navigation |
| Session | Multiple and Distributed Systems I |
| 3899 | PRIMAL2: Pathfinding Via Reinforcement and Imitation Multi-Agent Learning - Lifelong |
| 437 | Consensus-Based Control Barrier Function for Swarm |
| 644 | Bayesian Disturbance Injection: Robust Imitation Learning of Flexible Policies |
| 1124 | Active Modular Environment for Robot Navigation |
| Session | Multiple and Distributed Systems III |
| 2071 | Deep Reinforcement Learning of Event-Triggered Communication and Control for Multi-Agent Cooperative Transport |
| 2103 | Multi-Robot Task Allocation Games in Dynamically Changing Environments |
| 2741 | An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems |
| 4080 | Priority Patrolling Using Multiple Agents |
| Session | Motion Planning: Semantic Scene |
| 2222 | Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements |
| 2629 | Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training |
| 3696 | Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation |
| 1434 | Cost-To-Go Function Generating Networks for High Dimensional Motion Planning |
| Session | Motion Planning: Optimization |
| 3395 | Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints |
| 638 | Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation |
| 3261 | Proximal Policy Optimization with Relative Pearson Divergence |
| 2616 | Optimal Object Placement for Minimum Discontinuity Non-Revisiting Coverage Task |
| Session | Motion Planning: Autonomous Driving |
| 3006 | ICurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving |
| 2533 | Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments |
| 1472 | Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation |
| 395 | SMT-Based Optimal Deployment of Mobile Robot Rechargers |
| Session | Motion and Path Planning II |
| 4028 | A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots |
| 3794 | Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach |
| 619 | Fast Replanning Multi-Heuristic A* |
| 232 | Generating Large-Scale Trajectories Efficiently Using Double Descriptions of Polynomials |
| Session | Mechanism Design V |
| 1112 | Restoring Force Design of Active Self-Healing Tension Transmission System and Application to Tendon-Driven Legged Robot |
| 1927 | A Translational Parallel Continuum Robot Reinforced by Origami and Cross-Routing Tendons |
| 3334 | Design of a 3-DOF Coupled Tendon-Driven Waist Joint |
| 992 | Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human-Robot Interaction |
| Session | Mechanism Design I |
| 3113 | Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-Of-Freedom Coupled Tendon-Driven Joint Module |
| 3284 | Mecanum Crank: A Novel Omni-Directional Vehicle Using Crank Leg |
| 3288 | Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle |
| 4052 | 2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders |
| Session | Manipulation Control I |
| 636 | Position and Orientation Control of Polygonal Objects by Sensorless In-Hand Caging Manipulation |
| 3233 | Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment |
| 2087 | 3D Biped Locomotion Control Including Seamless Transition between Walking and Running Via 3D ZMP Manipulation |
| 3957 | Modeling and Balance Control of SuperArm for Overhead Tasks |
| Session | Localization IV |
| 2509 | GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization |
| 54 | Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization |
| 234 | Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement |
| 3319 | Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment |
| Session | Localization and Mapping X |
| 3610 | Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion |
| 2458 | Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware |
| 3508 | ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building |
| 1122 | UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments |
| Session | LiDAR-Based Localization II |
| 1568 | LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI) |
| 2515 | Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry |
| 579 | Locus: LiDAR-Based Place Recognition Using Spatiotemporal Higher-Order Pooling |
| 2365 | Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board |
| Session | Learning-Based Human-Robot Interaction |
| 1690 | Machine Learning-Based Human-Following System: Following the Predicted Position of a Walking Human |
| 1655 | Anytime Game-Theoretic Planning with Active Reasoning about Humans' Latent States for Human-Centered Robots |
| 3031 | Momentum Observer-Based Collision Detection Using LSTM for Model Uncertainty Learning |
| 1204 | Deep Learning and Mixed Reality to Autocomplete Teleoperation |
| Session | Learning in Robotics and Automation I |
| 1091 | Learning Spatial Context with Graph Neural Network for Multi-Person Pose Grouping |
| 2254 | Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation |
| 3300 | Gaze-Based Dual Resolution Deep Imitation Learning for High-Precision Dexterous Robot Manipulation |
| 2305 | Graph Convolutional Network Based Configuration Detection for Freeform Modular Robot Using Magnetic Sensor Array |
| Session | Learning and Control in Robotics and Automation |
| 3460 | Hyperparameter Auto-Tuning in Self-Supervised Robotic Learning |
| 2831 | An Analytical Diabolo Model for Robotic Learning and Control |
| 3037 | Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems |
| 3466 | Imitation Learning of Hierarchical Driving Model: From Continuous Intention to Continuous Trajectory |
| Session | Humanoids and Animaloids III |
| 2383 | Lywal: A Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions |
| 3333 | Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots |
| 1311 | Stair Climbing Capability-Based Dimensional Synthesis for the Multi-Legged Robot |
| 3978 | Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies |
| Session | Human-Robot Interaction VIII |
| 3958 | Human-In-The-Loop Auditory Cueing Strategy for Gait Modification |
| 3356 | A Self-Training Approach-Based Traversability Analysis for Mobile Robots in Urban Environments |
| 3225 | Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators |
| 2184 | Proactive Interaction Framework for Intelligent Social Receptionist Robots |
| Session | Field Robotics VIII |
| 3689 | A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control |
| 2399 | Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements |
| 3217 | Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification |
| 2261 | Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs |
| Session | Deep Learning in Robotics I |
| 577 | Long-Range Hand Gesture Recognition Via Attention-Based SSD Network |
| 2620 | Spectral Temporal Graph Neural Network for Trajectory Prediction |
| 892 | Dark Reciprocal-Rank: Teacher-To-Student Knowledge Transfer from Self-Localization Model to Graph-Convolutional Neural Network |
| 1360 | Efficient SE(3) Reachability Map Generation Via Interplanar Integration of Intra-Planar Convolutions |
| Session | Biomedical Robotics I |
| 1043 | Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model |
| 416 | An Integrated High-Dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation |
| 3735 | A Sigmoid-Colon-Straightening Soft Actuator with Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon |
| 4131 | A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery |
| Session | Applications of Micro and Nano Robotics II |
| 1471 | Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle |
| 3660 | Molecular Transport of a Magnetic Nanoparticle Swarm towards Thrombolytic Therapy |
| 4087 | Efficient Single Cell Mechanical Measurement by Integrating a Cell Arraying Microfluidic Device with Magnetic Tweezer |
| 2217 | A Portable Acoustofluidic Device for Multifunctional Cell Manipulation and Reconstruction |
| Session | Applications of Robotic Exploration |
| 1045 | Design and Soft-Landing Control of a Six-Legged Mobile Repetitive Lander for Lunar Exploration |
| 192 | LEAF: Latent Exploration Along the Frontier |
| 796 | LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement |
| 1059 | Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood |
| Session | Aerial Robotics: Mechanics and Control I |
| 3012 | Fixed-Root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings Using Rotor Thrust |
| 3663 | Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller |
| 3040 | Data-Driven MPC for Quadrotors |
| 2918 | Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller |
| Session | Navigation in Humanoids and Animaloids |
| 2387 | Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments |
| 699 | Real-Time Optimal Navigation Planning Using Learned Motion Costs |
| 3396 | Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps |
| 4075 | Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers |
| Session | Multiple and Distributed Systems II |
| 377 | Command Filtered Tracking Control for High-Order Systems with Limited Transmission Bandwidth |
| 3764 | Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight Corridor |
| 2298 | Multi-Scale Cost Volumes Cascade Network for Stereo Matching |
| 2701 | Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems |
| Session | Multiple and Distributed Systems IV |
| 2322 | Distributed Heuristic Multi-Agent Path Finding with Communication |
| 3151 | Distributed PDOP Coverage Control: Providing Large-Scale Positioning Service Using a Multi-Robot System |
| 4188 | Autonomous Distributed System for Gait Generation for Single-Legged Modular Robots Connected in Various Configurations (I) |
| 3718 | A Distributed Two-Layer Framework for Teleoperated Platooning of Fixed-Wing UAVs Via Decomposition and Backstepping |
| Session | Motion Planning: Task-Based Planning |
| 4031 | Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery |
| 4217 | Social Trajectory Planning for Urban Autonomous Surface Vessels (I) |
| 266 | A Geometric Folding Pattern for Robot Coverage Path Planning |
| 2640 | Tree Search-Based Task and Motion Planning with Prehensile and Non-Prehensile Manipulation for Obstacle Rearrangement in Clutter |
| Session | Motion Planning: Robot Perception |
| 2206 | Active Information Acquisition under Arbitrary Unknown Disturbances |
| 172 | Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector |
| 4132 | A Robotic Platform to Navigate MRI-Guided Focused Ultrasound System |
| 2127 | Approximating Constraint Manifolds Using Generative Models for Sampling-Based Constrained Motion Planning |
| 2806 | Maintaining a Reliable World Model Using Action-Aware Perceptual Anchoring |
| Session | Motion Planning: Collision Avoidance |
| 4024 | VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance |
| 624 | Dynamic Window Approach with Human Imitating Collision Avoidance |
| 3795 | Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction |
| 2331 | Dynamic Movement Primitive Based Motion Retargeting for Dual-Arm Sign Language Motions |
| Session | Motion Planning and Control I |
| 1682 | SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure |
| 60 | Reinforcement Learning-Based Visual Navigation with Information-Theoretic Regularization |
| 658 | An On-Line POMDP Solver for Continuous Observation Spaces |
| 2607 | Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit |
| Session | Mechanism and Control II |
| 117 | Pneumatic Actuation-Based Bidirectional Modules with Variable Stiffness and Closed-Loop Position Control |
| 973 | A Capturability-Based Control Framework for the Underactuated Bipedal Walking |
| 672 | Appearance-Based Loop Closure Detection Via Bidirectional Manifold Representation Consensus |
| 3405 | Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots |
| Session | Mechanism Design II |
| 2 | A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables |
| 1282 | Stable, Sensor-Less and Compliance-Less Module Connection for Automated Construction System of a Modularized Rail Structure |
| 4133 | Numerical Simulations of a Novel Force Controller Serially Combining the Admittance and Impedance Controllers |
| 1743 | Kinematic Stability Based AFG-RRT* Path Planning for Cable-Driven Parallel Robots |
| Session | Manipulation Control II |
| 2921 | Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis |
| 3060 | Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-Robot Manipulation |
| 2236 | Dynamic Compensation in Throwing Motion with High-Speed Robot Hand-Arm |
| 3510 | Policy Blending and Recombination for Multimodal Contact-Rich Tasks |
| Session | Localization and Mapping XIII |
| 3808 | FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter |
| 4063 | BALM: Bundle Adjustment for Lidar Mapping |
| 3504 | Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments |
| 3505 | MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos |
| 3639 | Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering |
| Session | Localization and Mapping XII |
| 2882 | Signal Temporal Logic Synthesis As Probabilistic Inference |
| 1719 | Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points |
| 2410 | Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression |
| 3382 | DiSCO: Differentiable Scan Context with Orientation |
| Session | Localization and Mapping IV |
| 1280 | MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments |
| 3427 | Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization |
| 389 | Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios |
| 2772 | Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking |
| Session | Learning-Based Manipulation IV |
| 1008 | AdaGrasp: Learning a Gripper-Aware Grasping Policy |
| 290 | TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly |
| 3733 | Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study |
| 3802 | Learning to Place Objects Onto Flat Surfaces in Upright Orientations |
| Session | Learning in Robotics and Automation II |
| 4078 | PVStereo: Pyramid Voting Module for End-To-End Self-Supervised Stereo Matching |
| 2163 | Embedding Symbolic Temporal Knowledge into Deep Sequential Models |
| 2307 | Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning |
| 3124 | Linguistic Descriptions of Human Motion with Generative Adversarial Seq2Seq Learning |
| Session | Learning and Optimization |
| 75 | Evolvable Motion-Planning Method Using Deep Reinforcement Learning |
| 2404 | Learning Sequences of Manipulation Primitives for Robotic Assembly |
| 3968 | Data-Efficient Learning for Complex and Real-Time Physical Problem Solving Using Augmented Simulation |
| 1433 | EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments |
| Session | Humanoids and Animaloids V |
| 3239 | Robust Landing Stabilization of Humanoid Robot on Uneven Terrain Via Admittance Control and Heel Strike Motion |
| 4176 | Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software (I) |
| 3686 | Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids |
| 2257 | State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks |
| Session | Grasping and Manipulation |
| 1108 | Adversarial Skill Learning for Robust Manipulation |
| 2318 | Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures |
| 82 | Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification |
| 123 | Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition |
| Session | Dynamics and Control IV |
| 3316 | Model Based Evaluation of Human and Lower-Limb Exoskeleton Interaction During Sit to Stand Motion |
| 3029 | Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems |
| 3642 | Compensation for Undefined Behaviors During Robot Task Execution by Switching Controllers Depending on Embedded Dynamics in RNN |
| 2744 | Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank |
| Session | Deep Learning in Robotics II |
| 716 | FlowDriveNet: An End-To-End Network for Learning Driving Policies from Image Optical Flow and LiDAR Point Flow |
| 734 | PocoNet: SLAM-Oriented 3D LiDAR Point Cloud Online Compression Network |
| 2497 | 3D Reconstruction of Deformable Colon Structures Based on Preoperative Model and Deep Neural Network |
| 3577 | DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network |
| Session | Control Applications |
| 3272 | Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces |
| 3578 | Force Control of a Hydraulic Actuator with a Neural Network Inverse Model |
| 425 | An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors |
| 193 | D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning |
| Session | Autonomous Manipulation |
| 2855 | Precise Multi-Modal In-Hand Pose Estimation Using Low-Precision Sensors for Robotic Assembly |
| 3651 | Assembly Sequences Based on Multiple Criteria against Products with Deformable Parts |
| 3676 | A Versatile End-Effector for Pick-And-Release of Fabric Parts |
| 3769 | A Soft Robotic Hand Based on Bellows Actuators for Dishwashing Automation |
| Session | Autonomous Driving |
| 3439 | IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data |
| 3383 | HD Map Update for Autonomous Driving with Crowdsourced Data |
| 453 | Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles |
| 3094 | Ground-Aware Monocular 3D Object Detection for Autonomous Driving |
| Session | Aerial Robotics: Mechanics and Control II |
| 506 | Underwater Stability of a Morphable Aerial-Aquatic Quadrotor with Variable Thruster Angles |
| 4076 | Development of Flapping Robot with Self-Takeoff from the Ground Capability |
| 628 | Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments |
| 4194 | Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments (I) |
| Session | Human-Robot Interaction Award Session |
| 11523 | Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects Via Physical Simulations |
| 3111 | Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy |
| 9460 | Automated Acquisition of Structured, Semantic Models of Manipulation Activities from Human VR Demonstration |
| 3118 | Reactive Human-To-Robot Handovers of Arbitrary Objects |
| Session | Service Robotics Award Session |
| 11322 | Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing |
| 11470 | Human with Leash-Guided Hybrid Physical Interaction |
| 12047 | Compact Flat Fabric Pneumatic Artificial Muscle (ffPAM) for Soft Wearable Robotic Devices |
| 11329 | BADGR: An Autonomous Self-Supervised Learning-Based Navigation System |
| Session | Mechatronics and Design Award Session |
| 7107 | Soft Hybrid Aerial Vehicle Via Bistable Mechanism |
| 7114 | A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops |
| 12017 | Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators |
| 12076 | Surface Robots Based on S-Isothermic Surfaces |
| Session | Best Student Paper Award Session |
| 9623 | Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry |
| 1154 | Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator |
| 7517 | Planning with Attitude |
| 8888 | Cascaded Filtering Using the Sigma Point Transformation |
| Session | Motion Planning I |
| 4017 | Reactive Navigation in Crowds for Non-Holonomic Robots with Convex Bounding Shape |
| 745 | NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments |
| 4040 | Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments |
| 3991 | High Speed Planning in Unknown Environments for Multirotors Considering Drag |
| Session | Mechanism Design and Control I |
| 3736 | Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling |
| 3332 | Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case |
| 273 | Visual Servoing of Cable-Driven Parallel Robots with Tension Management |
| 3044 | Automated Design of Underactuated Monolithic Soft Robotics Structures with Multiple Predefined End Poses |
| Session | Manipulation: Perception |
| 1238 | Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation |
| 851 | Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints |
| 3496 | Friction Estimation for Tendon-Driven Robotic Hands |
| 1212 | Representation Matters: Improving Perception and Exploration for Robotics |
| Session | Localization I |
| 1718 | Global Aerial Localisation Using Image and Map Embeddings |
| 1990 | UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation |
| 279 | Range Image-Based LiDAR Localization for Autonomous Vehicles |
| 520 | RadarLoc: Learning to Relocalize in FMCW Radar |
| Session | Localization and Estimation |
| 870 | MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization |
| 526 | Enabling Spatio-Temporal Aggregation in Birds-Eye-View Vehicle Estimation |
| 2874 | Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation |
| 2856 | There and Back Again: Self-Supervised Multispectral Correspondence Estimation |
| Session | Learning-Based Manipulation VI |
| 1681 | Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category |
| 1840 | ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation |
| 666 | Adversarial Imitation Learning with Trajectorial Augmentation and Correction |
| 919 | Learning Reachable Manifold and Inverse Mapping for a Redundant Robot Manipulator |
| Session | Learning-Based Control II |
| 1606 | Leveraging Forward Model Prediction Error for Learning Control |
| 1700 | GoSafe: Globally Optimal Safe Robot Learning |
| 1731 | Distilling a Hierarchical Policy for Planning and Control Via Representation and Reinforcement Learning |
| 2790 | Active Model Learning Using Informative Trajectories for Improved Closed-Loop Control on Real Robots |
| Session | Learning for Robotics I |
| 1628 | Differentiable Physics Models for Real-World Offline Model-Based Reinforcement Learning |
| 1674 | Adversarial Training Is Not Ready for Robot Learning |
| 1993 | Deep Learning on 3D Object Detection for Automatic Plug-In Charging Using a Mobile Manipulator |
| 3157 | Decentralized Multi-Agent Pursuit Using Deep Reinforcement Learning |
| Session | Human-Robot Interaction: Teleoperation |
| 3936 | Stabilization of User-Defined Feedback Controllers in Teleoperation with Passive Coupling Reference |
| 4157 | Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control |
| 1864 | Task Autocorrection for Immersive Teleoperation |
| 1903 | Manipulability Optimization for Multi-Arm Teleoperation |
| Session | Human-Robot Interaction: Motion Prediction |
| 833 | Human-Robot Collaborative Object Transfer Using Human Motion Prediction Based on Cartesian Pose Dynamic Movement Primitives |
| 1143 | Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration |
| 1485 | Achieving Hard Real-Time Capability for 3D Human Pose Estimation Systems |
| 3872 | Zoomorphic Gestures for Cobots |
| Session | Human-Robot Interaction: Control |
| 3836 | Robust Classification of Grasped Objects in Intuitive Human-Robot Collaboration Using a Wearable Force-Myography Device |
| 740 | Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control |
| 1581 | An Optimization Approach for a Robust and Flexible Control in Collaborative Applications |
| 3304 | Probabilistic Adaptive Control for Robust Behavior Imitation |
| Session | Field Robotics VII |
| 3495 | Predicting the Post-Impact Velocity of a Robotic Arm Via Rigid Multibody Models: An Experimental Study |
| 3563 | Compliant Plant Exploration for Agricultural Procedures with a Collaborative Robot |
| 1899 | Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments |
| 1607 | Resilient Collision-Tolerant Navigation in Confined Environments |
| Session | Field Robotics VI |
| 3684 | Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment |
| 3053 | Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle |
| 1211 | ASVLite: A High-Performance Simulator for Autonomous Surface Vehicles |
| 1629 | Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots |
| Session | Dynamic Modeling |
| 881 | Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics |
| 3632 | A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops |
| 1267 | Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator |
| 4060 | A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures |
| Session | Control and Optimization I |
| 3514 | Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions |
| 2094 | Online Informative Path Planning for Active Information Gathering of a 3D Surface |
| 3440 | EKF-Based Real-Time Self-Attitude Estimation with Camera DNN Learning Landscape Regularities |
| 2853 | Advancing Mixture Models for Least Squares Optimization |
| Session | Control Theory I |
| 832 | Mathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved Molds |
| 4202 | A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation (I) |
| 4067 | A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions |
| 1726 | On-Line Force Capability Evaluation Based on Efficient Polytope Vertex Search |
| Session | Autonomous Navigation I |
| 450 | Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach |
| 3294 | Comfortable and Safe Decelerations for a Self-Driving Transit Bus |
| 3988 | A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift |
| 4002 | Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria |
| Session | Aerial Systems: Multi-Robots |
| 3662 | A Multi-UAV System for Detection and Elimination of Multiple Targets |
| 3128 | Optic Flow-Based Reactive Collision Prevention for MAV Using Fictitious Obstacle Hypothesis |
| 3550 | Autonomous Aerial Swarming in GNSS-Denied Environments with High Obstacle Density |
| 3707 | Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control |
| Session | Aerial Robotics: Control II |
| 4158 | Adaptive Stiffness Estimation Impedance Control for Achieving Sustained Contact in Aerial Manipulation |
| 3838 | Model Predictive Control for Dynamic Quadrotor Bearing Formations |
| 1801 | Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-And-Slide Operations |
| 3059 | Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles |
| Session | Aerial Robotics |
| 1865 | A Tethered Quadrotor UAV-Buoy System for Marine Locomotion |
| 3998 | Power Line Inspection Tasks with Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications |
| 3554 | Distributed Formation Estimation Via Pairwise Distance Measurements |
| 3738 | Distributed Variable-Baseline Stereo SLAM from Two UAVs |
| Session | Perception for Manipulation I |
| 3121 | Embodied Reasoning for Discovering Object Properties Via Manipulation |
| 1798 | Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation |
| 1762 | Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization |
| 1834 | "What's This?" - Learning to Segment Unknown Objects from Manipulation Sequences |
| Session | Multi-Robot Systems I |
| 3159 | Self-Organised Saliency Detection and Representation in Robot Swarms |
| 3131 | A Practical Method to Cover Evenly a Dynamic Region with a Swarm |
| 633 | Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-Robot Systems |
| 1658 | ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture |
| Session | Motion Planning: Legged Robots |
| 1092 | Optimization-Inspired Controller Design for Transient Legged Locomotion |
| 3969 | Multi-Layered Safety for Legged Robots Via Control Barrier Functions and Model Predictive Control |
| 3234 | Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach |
| 806 | Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots |
| Session | Motion Planning VI |
| 62 | Image Representation of a City and Its Taxi Fleet for End-To-End Learning of Rebalancing Policies |
| 1675 | COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts |
| 629 | Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios |
| 1537 | Self-Supervised Motion Retargeting with Safety Guarantee |
| Session | Motion Planning II |
| 263 | Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning |
| 268 | Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning |
| 1748 | Search-Based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices |
| 4020 | Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots |
| Session | Mechanism Design and Control II |
| 3097 | Multifunctional Arm for Telerobotic Wind Turbine Blade Repair |
| 3021 | Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot |
| 1444 | Automated Behavior Tree Error Recovery Framework for Robotic Systems |
| 1901 | Design of a Magnetic Actuation System for a Microbiota-Collection Ingestible Capsule |
| Session | Manipulation: Planning III |
| 2663 | Reactive Cooperative Manipulation Based on Set Primitives and Circular Fields |
| 754 | Efficient Multi-Scale POMDPs for Robotic Object Search and Delivery |
| 3230 | Path Planning for Manipulation Using Experience-Driven Random Trees |
| 1290 | Co-Optimizing Robot, Environment, and Tool Design Via Joint Manipulation Planning |
| Session | Localization II |
| 3467 | Freetures: Localization in Signed Distance Function Maps |
| 1807 | End-To-End Semi-Supervised Learning for Differentiable Particle Filters |
| 3449 | Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions |
| 330 | Learning to Localize in New Environments from Synthetic Training Data |
| Session | Localization and Mapping I |
| 3221 | Hough2Map - Iterative Event-Based Hough Transform for High-Speed Railway Mapping |
| 3468 | Deep Compression for Dense Point Cloud Maps |
| 837 | Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making |
| 3745 | SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes |
| Session | Learning-Based Motion Planning |
| 848 | Learning Robot Trajectories Subject to Kinematic Joint Constraints |
| 4008 | Enhancing Lattice-Based Motion Planning with Introspective Learning and Reasoning |
| 3306 | Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning |
| 2505 | Self-Imitation Learning by Planning |
| Session | Learning-Based Grasping |
| 677 | Robot Learning of 6 DoF Grasping Using Model-Based Adaptive Primitives |
| 2297 | Conditional StyleGAN for Grasp Generation |
| 1535 | Go Fetch! - Dynamic Grasps Using Boston Dynamics Spot with External Robotic Arm |
| 1289 | Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps |
| Session | Learning for Robotics II |
| 779 | Sample-Efficient Reinforcement Learning in Robotic Table Tennis |
| 3437 | Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning |
| 3837 | No Face-Touch: Exploiting Wearable Devices and Machine Learning for Gesture Detection |
| 3348 | Robot Learning with Crash Constraints |
| Session | Humanoids and Animaloids I |
| 1534 | DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using Extended Kalman Filtering on Matrix Lie Groups |
| 3868 | Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control |
| 3984 | Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids |
| 3694 | Humanoid Control under Interchangeable Fixed and Sliding Unilateral Contacts |
| Session | Human-Robot Interaction: Safety |
| 1763 | Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions |
| 3834 | Optimal Scaling of Dynamic Safety Zones for Collaborative Robotics |
| 3874 | 3D Collision-Force-Map for Safe Human-Robot Collaboration |
| 1751 | Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions |
| Session | Human-Robot Interaction: Detection |
| 488 | Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy |
| 2319 | CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems |
| 1856 | A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration |
| 2309 | Pointing at Moving Robots: Detecting Events from Wrist IMU Data |
| Session | Field Robotics: Agricultural Applications |
| 704 | PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention |
| 859 | Using Depth Information and Colour Space Variations for Improving Outdoor Robustness for Instance Segmentation of Cabbage |
| 3459 | Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping |
| 1918 | MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards |
| Session | Field Robotics: Mobile Robots |
| 206 | Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks |
| 1546 | Integration of a Human-Aware Risk-Based Braking System into an Open-Field Mobile Robot |
| 777 | Online Velocity Fluctuation of Off-Road Wheeled Mobile Robots: A Reinforcement Learning Approach |
| 3425 | Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots |
| Session | Dynamics and Control I |
| 3279 | Switching Control in Two-Wheeled Self-Balancing Robots |
| 3970 | Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission |
| 3870 | A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation |
| 4041 | Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach |
| Session | Control for Multi-Robot Systems |
| 1970 | A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation |
| 3894 | Decentralized Connectivity Maintenance with Time Delays Using Control Barrier Functions |
| 3399 | Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments |
| 3548 | Multi-Robot Implicit Control of Herds |
| Session | Control Theory II |
| 4116 | Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions |
| 1593 | Robust Frequency-Based Structure Extraction |
| 1499 | A Hybrid Collision Model for Safety Collision Control |
| 4221 | Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback (I) |
| Session | Computer Vision for Automation |
| 3237 | A Metric Space Perspective on Self-Supervised Policy Adaptation |
| 158 | Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences |
| 1776 | Dynamic-Aware Autonomous Exploration in Populated Environments |
| 721 | Goal-Conditioned End-To-End Visuomotor Control for Versatile Skill Primitives |
| Session | Aerial Systems: Mechanics and Control |
| 3704 | Novel Omnidirectional Aerial Manipulator with Elastic Suspension: Dynamic Control and Experimental Performance Assessment |
| 1216 | Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control |
| 3402 | Design of the High-Payload Flapping Wing Robot E-Flap |
| 697 | Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment |
| Session | Aerial Systems: Perception and Autonomy |
| 1845 | Combined System Identification and State Estimation for a Quadrotor UAV |
| 3668 | Geometry-Aware Compensation Scheme for Morphing Drones |
| 3667 | Autonomous Quadrotor Flight Despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events |
| 2161 | SplatPlanner: Efficient Autonomous Exploration Via Permutohedral Frontier Filtering |
| Session | Aerial Robotics: Control I |
| 1709 | Fast Sampling-Based Next-Best-View Exploration Algorithm for a MAV |
| 306 | Neuromorphic Control for Optic-Flow-Based Landing of MAVs Using the Loihi Processor |
| 1645 | Event-Driven Vision and Control for UAVs on a Neuromorphic Chip |
| 3126 | Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots |
| Session | Rehabilitation and Assistive Robotics II |
| 3628 | A Variable Soft Finger Exoskeleton for Quantifying Fatigue-Induced Mechanical Impedance |
| 3538 | A Constant-Force End-Effector with Online Force Adjustment for Robotic Ultrasonography |
| 3603 | Affordance-Aware Handovers with Human Arm Mobility Constraints |
| 3315 | Wearable Integrated Soft Haptics in a Prosthetic Socket |
| Session | Rehabilitation and Assistive Robotics V |
| 4100 | Toward Seamless Transitions between Shared Control and Supervised Autonomy in Robotic Assistance |
| 1736 | Computing the Positioning Error of an Upper-Arm Robotic Prosthesis from the Observation of Its Wearer's Posture |
| 1868 | Intent-Aware Control in Kinematically Redundant Systems: Towards Collaborative Wearable Robots |
| 3771 | Foot Placement Prediction for Assistive Walking by Fusing Sequential 3D Gaze and Environmental Context |
| Session | Motion Prediction |
| 687 | Design, Development and Validation of a Dynamic Fall Prediction System for Excavators |
| 1953 | Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion |
| 1945 | Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-Term Motion Prediction with Capsule Networks |
| 3945 | Movement Recognition and Prediction Using DMPs |
| Session | Motion Planning: Control |
| 813 | Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS |
| 2135 | Constraint Handling in Continuous-Time DDP-Based Model Predictive Control |
| 1437 | Sparsity-Inducing Optimal Control Via Differential Dynamic Programming |
| 1849 | A Passive Navigation Planning Algorithm for Collision-Free Control of Mobile Robots |
| Session | Motion Planning III |
| 200 | Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning |
| 783 | MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning |
| 707 | Cubic Bézier Local Path Planner for Non-Holonomic Feasible and Comfortable Path Generation |
| 711 | Voxplan: A 3D Global Planner Using Signed Distance Function Submaps |
| Session | Motion Control for Manipulators II |
| 4044 | Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories |
| 185 | A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators |
| 496 | Robot Arm Motion Planning Based on Geodesics |
| 878 | FlexDMP - Extending Dynamic Movement Primitives towards Flexible Joint Robots |
| Session | Mapping I |
| 1785 | ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames |
| 3473 | Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning |
| 2235 | Weighted Node Mapping and Localisation on a Pixel Processor Array |
| 4210 | Direct Sparse Mapping (I) |
| Session | Localization III |
| 1698 | SoftMP: Attentive Feature Pooling for Joint Local Feature Detection and Description for Place Recognition in Changing Environments |
| 3442 | Resolving Place Recognition Inconsistencies Using Intra-Set Similarities |
| 1992 | Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition |
| 999 | Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization |
| Session | Localization and Mapping: LiDAR |
| 3746 | Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets |
| 175 | RADIATE: A Radar Dataset for Automotive Perception in Bad Weather |
| 646 | Poisson Surface Reconstruction for LiDAR Odometry and Mapping |
| 1965 | Lidar-Monocular Surface Reconstruction Using Line Segments |
| Session | Legged Robots III |
| 1351 | Balancing on a Springy Leg |
| 3195 | Gyrubot: Nonanthropomorphic Stabilization for a Biped |
| 4204 | Feasible Region: An Actuation-Aware Extension of the Support Region (I) |
| 1475 | A Novel Method for Computing the 3D Friction Cone Using Complimentary Constraints |
| Session | Learning-Based Manipulation III |
| 1166 | Learning Behavior Trees with Genetic Programming in Unpredictable Environments |
| 3346 | Active Learning of Bayesian Probabilistic Movement Primitives |
| 795 | Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation |
| 1565 | Coarse-To-Fine Imitation Learning: Robot Manipulation from a Single Demonstration |
| Session | Learning to Predict |
| 3325 | Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction |
| 857 | Predicting Disparity Distributions |
| 379 | Scoring Graspability Based on Grasp Regression for Better Grasp Prediction |
| 1178 | MonoSOD: Monocular Salient Object Detection Based on Predicted Depth |
| Session | Humanoids and Animaloids IV |
| 3238 | Fast Footstep Planning with Aborting A* |
| 4104 | Stiffness Modulation in a Humanoid Robotic Leg and Knee |
| 1200 | Exploiting Visual Servoing and Centroidal Momentum for Whole-Body Motion Control of Humanoid Robots in Absence of Contacts and Gravity |
| 3975 | Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control |
| Session | Human-Robot Interaction: Simulation and Experiment |
| 748 | Virtual Adversarial Humans Finding Hazards in Robot Workplaces |
| 1622 | Crowd against the Machine: A Simulation-Based Benchmark Tool to Evaluate and Compare Robot Capabilities to Navigate a Human Crowd |
| 4198 | Roboticists and Reporters. a Rhetorical Experiment at the Cité Des Sciences Et De l' Industrie (Paris, France) (I) |
| 3918 | DROID: Minimizing the Reality Gap Using Single-Shot Human Demonstration |
| Session | Human-Robot Interaction: Haptics |
| 4170 | A Unified Perception Benchmark for Capacitive Proximity Sensing towards Safe Human-Robot Collaboration (HRC) |
| 751 | Learning Human-Like Hand Reaching for Human-Robot Handshaking |
| 872 | Simultaneous Haptic Guidance and Learning of Task Parameters During Robotic Teleoperation - a Geometrical Approach |
| 1620 | Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction |
| Session | Human-Robot Interaction II |
| 3912 | A Reversible Dynamic Movement Primitive Formulation |
| 3829 | A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration |
| 4161 | A Human-Centered Dynamic Scheduling Architecture for Collaborative Application |
| 916 | Towards Efficient Human-Robot Cooperation for Socially-Aware Robot Navigation in Human-Populated Environments: The SNAPE Framework |
| Session | Grasping I |
| 3232 | Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure |
| 1688 | Analysis of Open-Loop Grasping from Piles |
| 41 | Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder |
| 679 | An Underactuated Gripper Based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection |
| Session | Field Robotics II |
| 140 | Data-Driven Sea State Estimation for Vessels Using Multi-Domain Features from Motion Responses |
| 1795 | A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions |
| 3714 | How to Train Your Heron |
| 867 | Robust Underwater Visual SLAM Fusing Acoustic Sensing |
| Session | Control of Manipulation I |
| 1959 | Real-Time Friction Estimation for Grip Force Control |
| 1961 | Uncertainty-Aware Deep Learning for Robot Touch: Application to Bayesian Tactile Servo Control |
| 2156 | Towards Integrated Tactile Sensorimotor Control in Anthropomorphic Soft Robotic Hands |
| 3393 | Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects |
| Session | Control of Manipulation II |
| 325 | An Efficient Approach to Closed-Loop Shape Control of Deformable Objects Using Finite Element Models |
| 547 | Learning Stable Normalizing-Flow Control for Robotic Manipulation |
| 1886 | Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks |
| 3570 | Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks |
| Session | Computer Vision in Medical Robotics |
| 3014 | Towards Standardized Acquisition with a Dual-Probe Ultrasound Robot for Fetal Imaging |
| 3501 | A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly from Images |
| 3100 | Robotic Instrument Segmentation with Image-To-Image Translation |
| 2890 | Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction |
| Session | Autonomous Navigation III |
| 3210 | Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles |
| 1653 | What Data Do We Need for Training an AV Motion Planner? |
| 1486 | Learn to Path: Using Neural Networks to Predict Dubins Path Characteristics for Aerial Vehicles in Wind |
| 4001 | Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation among Pedestrians |
| Session | Automation and Industrial Robotics |
| 817 | Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input |
| 822 | Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications |
| 1640 | The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks |
| 1644 | In-Process Workpiece Geometry Estimation for Robotic Arc Welding Based on Supervised Learning for Multi-Sensor Inputs |
| Session | Aerial Robotics: Detection |
| 3089 | Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance |
| 3724 | GridNet: Image-Agnostic Conditional Anomaly Detection for Indoor Surveillance |
| 1354 | Autonomous Flying into Buildings in a Firefighting Scenario |
| 3664 | LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing |
| Session | Perception for Manipulation II |
| 507 | Polyhedral Friction Cone Estimator for Object Manipulation |
| 3303 | Interpretability in Contact-Rich Manipulation Via Kinodynamic Images |
| 3228 | Differentiable Simulation for Physical System Identification |
| 4094 | Few-Shot Model-Based Adaptation in Noisy Conditions |
| Session | Reinforcement Learning for Robotics II |
| 1572 | Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives |
| 2329 | Secure Planning against Stealthy Attacks Via Model-Free Reinforcement Learning |
| 4014 | Harmonic-Based Optimal Motion Planning in Constrained Workspaces Using Reinforcement Learning |
| 4208 | Reward Learning from Very Few Demonstrations (I) |
| 528 | Hierarchies of Planning and Reinforcement Learning for Robot Navigation |
| Session | Multi-Robot Systems II |
| 4213 | WRAPP-Up: A Dual-Arm Robot for Intralogistics (I) |
| 1518 | A Laser-Based Dual-Arm System for Precise Control of Collaborative Robots |
| 1624 | Near-Optimal Multi-Robot Motion Planning with Finite Sampling |
| 700 | Whole-Body Real-Time Motion Planning for Multicopters |
| Session | Motion Planning: Kinematics and Dynamics |
| 3636 | The Virtual Wheel Concept for the Singularity-Free Kinematic and Dynamic Modeling of Pseudo-Omnidirectional Vehicles |
| 1550 | Collision-Free MPC for Legged Robots in Static and Dynamic Scenes |
| 3506 | Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations |
| 1848 | Obstacle Avoidance with Kinetic Energy Buffer |
| Session | Motion Planning V |
| 1694 | Learning from Simulation, Racing in Reality |
| 1547 | Equality Constrained Differential Dynamic Programming |
| 3982 | Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network |
| 3205 | Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories |
| Session | Motion Estimation |
| 766 | Unsupervised 3D Motion Estimation of Vehicles Using ICP |
| 2558 | CNN-Based Ego-Motion Estimation for Fast MAV Maneuvers |
| 1440 | Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles |
| 627 | Pose Estimation for Vehicle-Mounted Cameras Via Horizontal and Vertical Planes |
| Session | Mapping II |
| 294 | Dynamic Occupancy Grid Mapping with Recurrent Neural Networks |
| 1559 | Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning |
| 1189 | Lightweight Semantic Mesh Mapping for Autonomous Vehicles |
| 392 | LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping |
| Session | Machine Learning for Robotic Applications |
| 901 | Robot in a China Shop: Using Reinforcement Learning for Location-Specific Navigation Behaviour |
| 1931 | Model Identification of a Small Fully-Actuated Aquatic Surface Vehicle Using a Long Short-Term Memory Neural Network |
| 3362 | Real-Time Trajectory Adaptation for Quadrupedal Locomotion Using Deep Reinforcement Learning |
| 1520 | Robust Iterative Learning Control for Pneumatic Muscle with State Constraint and Model Uncertainty |
| Session | Localization and Mapping: Point Cloud |
| 4079 | SKD: Keypoint Detection for Point Clouds Using Saliency Estimation |
| 3105 | Panoster: End-To-End Panoptic Segmentation of LiDAR Point Clouds |
| 873 | NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation |
| 2988 | PHASER: A Robust and Correspondence-Free Global Pointcloud Registration |
| Session | Legged Robots IV |
| 2873 | Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12 |
| 1663 | Imitation Learning from MPC for Quadrupedal Multi-Gait Control |
| 1612 | Comparison of Predictive Controllers for Locomotion and Balance Recovery of Quadruped Robots |
| 3144 | Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO |
| Session | Learning-Based Manipulation IX |
| 2706 | Efficient Self-Supervised Data Collection for Offline Robot Learning |
| 3799 | Total Singulation with Modular Reinforcement Learning |
| 889 | Active Inference for Integrated State-Estimation, Control, and Learning |
| 1150 | Robot Program Parameter Inference Via Differentiable Shadow Program Inversion |
| Session | Learning-Based Control I |
| 4214 | Interactive Learning of Temporal Features for Control (I) |
| 2000 | A Fully Spiking Neural Control System Based on Cerebellar Predictive Learning for Sensor-Guided Robots |
| 2080 | Learning to Steer a Locomotion Contact Planner |
| 924 | Learning Shape Control of Elastoplastic Deformable Linear Objects |
| Session | Humanoids and Animaloids VI |
| 3330 | Precise Jump Planning Using Centroidal Dynamics Based Bilevel Optimization |
| 701 | DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning |
| 2345 | ULT-Model: Towards a One-Legged Unified Locomotion Template Model for Forward Hopping with an Upright Trunk |
| 2788 | Nonlinear Stiffness Allows Passive Dynamic Hopping for One-Legged Robots with an Upright Trunk |
| Session | Human-Robot Interaction: Task Planning |
| 1897 | Task Planning with a Weighted Functional Object-Oriented Network |
| 3756 | Haptic-Guided Path Generation for Remote Car-Like Vehicles |
| 3881 | Task-Based Role Adaptation for Human-Robot Cooperative Object Handling |
| 3831 | Towards Providing Explanations for Robot Motion Planning |
| Session | Human-Robot Interaction: Learning |
| 1925 | Engagement Estimation During Child Robot Interaction Using Deep Convolutional Networks Focusing on ASD Children |
| 3344 | Ergodic Imitation: Learning from What to Do and What Not to Do |
| 2766 | Imitation Learning with Inconsistent Demonstrations through Uncertainty-Based Data Manipulation |
| 1887 | Learning Motor Resonance in Human-Human and Human-Robot Interaction with Coupled Dynamical Systems |
| Session | Human-Robot Interaction X |
| 1979 | Interpreting Contact Interactions to Overcome Failure in Robot Assembly Task |
| 3156 | Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation |
| 3891 | Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments |
| 1561 | Real-Time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution |
| Session | Human-Robot Interaction VI |
| 1266 | Composing HARMONI: An Open-Source Tool for Human and Robot Modular OpeN Interaction |
| 3876 | Robot Interaction Studio: A Platform for Unsupervised HRI |
| 3949 | MorphFace: A Hybrid Morphable Face for a Robopatient |
| 394 | Which Gesture Generator Performs Better? |
| Session | Field Robotics IV |
| 3248 | Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks |
| 1253 | Robot-Supervised Learning of Crop Row Segmentation |
| 3457 | Deep Regression versus Detection for Counting in Robotic Phenotyping |
| 397 | Neural Network Controller for Autonomous Pile Loading Revised |
| Session | Continuum Robotics III |
| 1941 | Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum |
| 1369 | Optimized 3D Path Planner for Steerable Catheters with Deductive Reasoning |
| 1442 | Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy |
| 4191 | Autonomous Steering of Concentric Tube Robots Via Nonlinear Model Predictive Control (I) |
| Session | Distributed Robotic Systems |
| 3491 | Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-Of-View Constraints |
| 1598 | Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation |
| 3897 | Distributed Multi-Target Tracking in Camera Networks |
| 1564 | GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics |
| Session | Contact and Collision Control |
| 2915 | Overload Clutch Design for Collision Tolerant High-Speed Industrial Robots |
| 3497 | Safe Impacts with Soft Contacts Based on Learned Deformations |
| 3567 | A State-Dependent Damping Method to Reduce Collision Force and Its Variability |
| 661 | Contact Forces Preintegration for Estimation in Legged Robotics Using Factor Graphs |
| Session | Autonomous Navigation II |
| 1686 | Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways |
| 1976 | Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement Learning |
| 515 | Interpretable Goal-Based Prediction and Planning for Autonomous Driving |
| 3855 | Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles |
| Session | Control Theory III |
| 1949 | Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems |
| 3672 | A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration |
| 1529 | A Direct Collocation Method for Optimization of EMG-Driven Wrist Muscle Musculoskeletal Model |
| 4211 | A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm (I) |
| Session | Aerial Robotics: Optimization |
| 841 | Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor |
| 2312 | Optimization-Based Trajectory Planning for Tethered Aerial Robots |
| 3961 | A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure |
| 3959 | Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force |
| Session | Soft Robotics for Delicate and Dexterous Manipulation |
| Session | CESAR: Committee to Explore Synergies in Automation and Robotics |
| Session | Three-Year Journey of Tencent Robotics X in Robot Locomotion Research |
| Session | Learning Humanoid Manipulation from Humans |
| Session | Automation and Industry 4.0 Strategies for Logistic and Transportation |
Systems |
|
| Session | I, Continuum Robot |
| Session | Cognitive Robotics Award Session |
| 1276 | Learning Task Space Actions for Bipedal Locomotion |
| 1283 | Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions |
| 1290 | Auto-Tuned Sim-To-Real Transfer |
| 4552 | How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning |
| Session | Medical Robotics Award Session |
| 13346 | Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery |
| 10413 | Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support |
| 12387 | Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection |
| 12110 | A Fluidic Soft Robot for Needle Guidance and Motion Compensation in Intratympanic Steroid Injections |
| Session | Multi-Robotic Systems Award Session |
| 8934 | Optimal Sequential Stochastic Deployment of Multiple Passenger Robots |
| 9204 | Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective |
| 9212 | Learning Multi-Arm Manipulation through Collaborative Teleoperation |
| 13142 | Vision-Based Self-Assembly for Modular Multirotor Structures |
| Session | Unmanned Aerial Vehicle Award Session |
| 8806 | Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles |
| 138 | Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles |
| 290 | Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller |
| 12860 | Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators |
| Session | Manipulation and Grasping I |
| 2389 | Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots |
| 2729 | Improving Grasp Classification through Spatial Metrics Available from Sensors |
| 2194 | Assistive Supernumerary Grasping with the Back of the Hand |
| 3803 | Robotic Pick-And-Place with Uncertain Object Instance Segmentation and Shape Completion |
| Session | Machine Learning I |
| 1446 | MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior |
| 1721 | Shape-Based Transfer of Generic Skills |
| 1791 | Safety Uncertainty in Control Barrier Functions Using Gaussian Processes |
| 2557 | Object Rearrangement Using Learned Implicit Collision Functions |
| Session | Localization and Mapping: Sensor Fusion II |
| 897 | Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space |
| 1296 | Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration |
| 1613 | Robust Monocular Visual-Inertial Depth Completion for Embedded Systems |
| 3609 | Range-Visual-Inertial Odometry: Scale Observability without Excitation |
| Session | Localization and Mapping VIII |
| 404 | Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief |
| 1549 | Efficient Online Calibration for Autonomous Vehicle's Longitudinal Dynamical System: A Gaussian Model Approach |
| 2104 | Fuzzing Mobile Robot Environments for Fast Automated Crash Detection |
| 3566 | Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation |
| Session | Legged Robots I |
| 4141 | Optimal Estimation of the Centroidal Dynamics of Legged Robots |
| 3840 | A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design |
| 4137 | A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion |
| 4090 | Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation |
| Session | Learning-Based Manipulation II |
| 1825 | Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables |
| 1048 | Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks |
| 2326 | A Joint Network for Grasp Detection Conditioned on Natural Language Commands |
| 1083 | ReLMoGen: Integrating Motion Generation in Reinforcement Learning for Mobile Manipulation |
| Session | Learning-Based Control |
| 946 | Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers |
| 4042 | Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control |
| 3302 | Neural Identification for Control |
| 3519 | Learning Variable Impedance Control Via Inverse Reinforcement Learning for Force-Related Tasks |
| Session | Humanoid and Bipedal Locomotion II |
| 2822 | Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard |
| 996 | Global Position Control on Underactuated Bipedal Robots: Step-To-Step Dynamics Approximation for Step Planning |
| 1892 | One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-Inspired Controller |
| 2280 | Hybrid Sampling/Optimization-Based Planning for Agile Jumping Robots on Challenging Terrains |
| Session | Human-Robot Interaction: Robot Navigation II |
| 785 | Investigation of Unmanned Aerial Vehicle Gesture Perceptibility and Impact of Viewpoint Variance |
| 2672 | Watch Where You're Going! Gaze and Head Orientation As Predictors for Social Robot Navigation |
| 2427 | Can a Robot Trust You? a DRL-Based Approach to Personality-Driven, Human-Guided Navigation |
| 2628 | Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies |
| Session | Human-Robot Interaction: Medical Robots and Systems II |
| 3747 | Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot |
| 3941 | Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip |
| 3445 | Entrainment During Human Locomotion Using a Soft Wearable Ankle Robot |
| 414 | Active Telepresence Assistance for Supervisory Control: A User Study with a Multi-Camera Tele-Nursing Robot |
| Session | Human-Robot Interaction V |
| 591 | Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems |
| 3828 | Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals |
| 2107 | Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation |
| 4091 | Effect of Robot Assistance, Operator Cognitive Fatigue, and Sex on Task Efficiency, Workload, and Situation Awareness in Human-Robot Collaboration |
| Session | Field Robotics: Control |
| 2551 | Environment Reconfiguration Planning for Autonomous Robotic Manipulation to Overcome Mobility Constraints |
| 4185 | On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation (I) |
| 3352 | LaND: Learning to Navigate from Disengagements |
| 1717 | Adaptive Sampling Using POMDPs with Domain-Specific Considerations |
| Session | Human-Centered Robotics I |
| 255 | Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm |
| 2645 | Conditioning Style on Substance: Plans for Narrative Observation |
| 3944 | Negative Emotion Management Using a Smart Shirt and a Robot Assistant |
| 3877 | Corrective Shared Autonomy for Addressing Task Variability |
| Session | Field Robotics I |
| 3976 | SLIP Walking Over Rough Terrain Via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program |
| 3980 | DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain |
| 1984 | Wetland Soil Strength Tester and Core Sampler Using a Drone |
| 616 | Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics |
| Session | Continuum Robotics I |
| 3331 | Learning-Based Inverse Kinematics from Shape As Input for Concentric Tube Continuum Robots |
| 3446 | Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators |
| 4058 | Using Euler Curves to Model Continuum Robots |
| 4128 | Optimal Design of Continuum Robots with Reachability Constraints |
| Session | Data-Driven Model Estimation |
| 3241 | Efficient Dynamics Estimation with Adaptive Model Sets |
| 1744 | Data-Driven Actuator Selection for Artificial Muscle-Powered Robots |
| 1946 | EMG-Based Neural Network Model of Human Arm Dynamics in a Haptic Training Simulator of Sinus Endoscopy |
| 2450 | Multimodal Dynamics Modeling for Off-Road Autonomous Vehicles |
| Session | Aerial Robotics: Space Robotics and Automation |
| 1105 | An Anytime Algorithm for Chance Constrained Stochastic Shortest Path Problems and Its Application to Aircraft Routing |
| 2105 | An Intention Guided Hierarchical Framework for Trajectory-Based Teleoperation of Mobile Robots |
| 3698 | Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators |
| 3702 | Distance Estimation Using Self-Induced Noise of an Aerial Vehicle |
| Session | Optimization |
| 3264 | A Complete, Accurate and Efficient Solution for the Perspective-N-Line Problem |
| 3246 | Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA |
| 289 | Accelerating Combinatorial Filter Reduction through Constraints |
| 3032 | Persistent Covering with Latency and Energy Constraints |
| Session | Aerial Robotics: Sensing and Control I |
| 410 | MorphEyes: Variable Baseline Stereo for Quadrotor Navigation |
| 563 | A Drive-Through Recharging Strategy for a Quadrotor |
| 1420 | Continuous-Time State & Dynamics Estimation Using a Pseudo-Spectral Parameterization |
| 3960 | Use of a MEMS Differential Pressure Sensor to Detect Ground, Ceiling, and Walls on Small Quadrotors |
| Session | Active Perception in Robotics |
| 2244 | Active Bayesian Multi-Class Mapping from Range and Semantic Segmentation Observations |
| 1827 | Attention-Based Probabilistic Planning with Active Perception |
| 2719 | Search-Based Planning for Active Sensing in Goal-Directed Coverage Tasks |
| 3671 | Bearing-Only Active Sensing under Merged Measurements |
| Session | Marine Robotics |
| 3214 | Autonomous Data Collection with Timed Communication Constraints for Unmanned Underwater Vehicles |
| 536 | Docking and Undocking a Modular Underactuated Oscillating Swimming Robot |
| 757 | Predictive 3D Sonar Mapping of Underwater Environments Via Object-Specific Bayesian Inference |
| 767 | Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective |
| Session | Manipulation: Measurement |
| 1473 | Mass Estimation of a Moving Object through Minimal Manipulation Interaction |
| 2384 | GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger |
| 2801 | Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations |
| 3974 | Cable-Driven Parallel Robot Pose Estimation Using Extended Kalman Filtering with Inertial Payload Measurements |
| Session | Manipulation: Planning I |
| 828 | Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D |
| 905 | KPAM-SC: Generalizable Manipulation Planning Using KeyPoint Affordance and Shape Completion |
| 1835 | Alternative Paths Planner (APP) for Provably Fixed-Time Manipulation Planning in Semi-Structured Environments |
| 1866 | Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs |
| Session | Manipulation I |
| 535 | Contact Localization for Robot Arms in Motion without Torque Sensing |
| 1066 | Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact |
| 1829 | Finite Horizon Synthesis for Probabilistic Manipulation Domains |
| 2169 | IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks |
| Session | Manipulation and Grasping II |
| 47 | Learning Dexterous Grasping with Object-Centric Visual Affordances |
| 1329 | Learning Collaborative Pushing and Grasping Policies in Dense Clutter |
| 48 | Grasping with Chopsticks: Combating Covariate Shift in Model-Free Imitation Learning for Fine Manipulation |
| 2332 | Learning Task-Oriented Dexterous Grasping from Human Knowledge |
| Session | Machine Learning II |
| 3038 | Continual Learning of Knowledge Graph Embeddings |
| 3076 | Learning Topology from Synthetic Data for Unsupervised Depth Completion |
| 3811 | PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling |
| 2684 | Feedback Linearization for Quadrotors with a Learned Acceleration Error Model |
| Session | Localization and Mapping: Sensor Fusion III |
| 3580 | Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot |
| 883 | Cirrus: A Long-Range Bi-Pattern LiDAR Dataset |
| 1385 | Airflow-Inertial Odometry for Resilient State Estimation on Multirotors |
| 2418 | π-LSAM: LiDAR Smoothing and Mapping with Planes |
| Session | Localization and Mapping XI |
| 3387 | Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? |
| 3448 | Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator |
| 382 | Robust Place Recognition Using an Imaging Lidar |
| 803 | High-Speed Robot Navigation Using Predicted Occupancy Maps |
| Session | Legged Robots II |
| 3986 | Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion |
| 2162 | The Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion |
| 514 | Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion |
| 3139 | Coupled Control Lyapunov Functions for Interconnected Systems, with Application to Quadrupedal Locomotion |
| Session | Learning-Based Manipulation V |
| 2659 | Learning Multimodal Contact-Rich Skills from Demonstrations without Reward Engineering |
| 3252 | Keep It Simple: Data-Efficient Learning for Controlling Complex Systems with Simple Models |
| 2028 | DIPN: Deep Interaction Prediction Network with Application to Clutter Removal |
| 3977 | Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination |
| Session | Learning-Based Motion Planning I |
| 1982 | Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions |
| 3531 | Learning and Planning for Temporally Extended Tasks in Unknown Environments |
| 904 | Behavior Tree Learning for Robotic Task Planning through Monte Carlo DAG Search Over a Formal Grammar |
| 2442 | Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions |
| Session | Humanoid Robots |
| 1081 | A Comparison between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests |
| 3194 | Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots |
| 3337 | Model Hierarchy Predictive Control of Robotic Systems |
| 3987 | Impedance Optimization for Uncertain Contact Interactions through Risk Sensitive Optimal Control |
| Session | Human-Robot Interaction: Learning to Predict |
| 789 | Identifying Driver Interactions Via Conditional Behavior Prediction |
| 2077 | Autonomous Robotic Escort Incorporating Motion Prediction and Human Intention |
| 2354 | Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks |
| 2416 | Dynamically Switching Human Prediction Models for Efficient Planning |
| Session | Human-Robot Interaction: Motion Planning |
| 3063 | A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration |
| 3656 | Temporal Anticipation and Adaptation Methods for Fluent Human-Robot Teaming |
| 1854 | Robust Planning with Emergent Human-Like Behavior for Agents Traveling in Groups |
| 3695 | Order Matters: Generating Progressive Explanations for Planning Tasks in Human-Robot Teaming |
| Session | Human-Robot Interaction IX |
| 4101 | Maximum Spectral Flatness Control of a Manipulandum for Human Motor System Identification |
| 598 | Learning from Demonstration for Real-Time User Goal Prediction and Assistive Shared Control |
| 3198 | Human-Aware Robot Task Planning Based on a Hierarchical Task Model |
| 3490 | Exploiting Natural Language for Efficient Risk-Aware Multi-Robot SaR Planning |
| Session | Field Robotics: Machine Learning |
| 4046 | Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control |
| 1936 | Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy |
| 3516 | BADGR: An Autonomous Self-Supervised Learning-Based Navigation System |
| 3762 | A Generative Model-Based Predictive Display for Robotic Teleoperation |
| Session | Human-Centered Robotics II |
| 3104 | A Robot Walks into a Bar: Automatic Robot Joke Success Assessment |
| 3873 | Reverse Psychology in Trust-Aware Human-Robot Interaction |
| 3948 | Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Interaction |
| 3180 | Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI |
| Session | Field Robotics III |
| 40 | Place Recognition in Forests with Urquhart Tessellations |
| 2306 | Detecting and Counting Oysters |
| 2446 | Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization |
| 3317 | Locomotion and Control of a Friction-Driven Tripedal Robot |
| Session | Continuum Robotics II |
| 3621 | Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume |
| 3067 | An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator |
| 3526 | Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains |
| 4193 | Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery (I) |
| Session | Dynamic Manipulation |
| 2195 | Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms |
| 4175 | Robot Dynamics Identification: A Reproducible Comparison with Experiments on the KINOVA Jaco2 (I) |
| 487 | Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators |
| 3412 | Dynamic Manipulation of Deformable Objects with Implicit Integration |
| Session | Aerial Robotics: Sensing and Control II |
| 3740 | UAV Localization Using Autoencoded Satellite Images |
| 3058 | Cooperative Transportation of Cable Suspended Payloads with MAVs Using Monocular Vision and Inertial Sensing |
| 3709 | Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset |
| 768 | SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments |
| Session | Automation: Sensors and Grasping |
| 2477 | Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors |
| 552 | Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement |
| 2112 | Robotic Grasping of Fully-Occluded Objects Using RF Perception |
| 2494 | A Simulation-Based Grasp Planner for Enabling Robotic Grasping During Composite Sheet Layup |
| Session | Aerial Robotics: Design and Mechanism I |
| 967 | Collision-Free Vector Field Guidance and MPC for a Fixed-Wing UAV |
| 222 | Toward Impact-Resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions |
| 2356 | Soft Hybrid Aerial Vehicle Via Bistable Mechanism |
| 2714 | H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF |
| Session | Adaptive Robotic Systems |
| 1004 | Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load |
| 949 | Adaptive Failure Search Using Critical States from Domain Experts |
| 2648 | Policy Transfer Via Kinematic Domain Randomization and Adaptation |
| 4045 | Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics |
| Session | Mechanism and Verification |
| 335 | Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions |
| 1000 | Scalable POMDP Decision-Making Using Circulant Controllers |
| 3413 | Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories |
| 597 | Implicit Integration for Articulated Bodies with Contact Via the Nonconvex Maximal Dissipation Principle |
| Session | Manipulation: Reinforcement Learning I |
| 296 | Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations Using Generative Models |
| 2317 | DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies |
| 4151 | Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones |
| 2321 | LASER: Learning a Latent Action Space for Efficient Reinforcement Learning |
| Session | Manipulation: Planning II |
| 1934 | Region-Based Planning for 3D Within-Hand-Manipulation Via Variable Friction Robot Fingers and Extrinsic Contacts |
| 2015 | Planning for Multi-Stage Forceful Manipulation |
| 2182 | Towards Robust Planar Translations Using Delta-Manipulator Arrays |
| 3673 | Manipulation Planning among Movable Obstacles Using Physics-Based Adaptive Motion Primitives |
| Session | Manipulation II |
| 90 | Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction |
| 943 | Attribute-Based Robotic Grasping with One-Grasp Adaptation |
| 1026 | Collision-Aware Target-Driven Object Grasping in Constrained Environments |
| 1939 | 6-DoF Contrastive Grasp Proposal Network |
| Session | Manipulation and Grasping III |
| 161 | Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting |
| 240 | Deep Affordance Foresight: Planning through What Can Be Done in the Future |
| 1814 | Learning Dense Rewards for Contact-Rich Manipulation Tasks |
| 2612 | ACRONYM: A Large-Scale Grasp Dataset Based on Simulation |
| Session | Machine Learning Method for Navigation |
| 3821 | Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents |
| 2678 | DWA-RL: Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation among Mobile Obstacles |
| 2106 | Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships |
| 3602 | A Lifelong Learning Approach to Mobile Robot Navigation |
| Session | Localization for Robotics |
| 2539 | Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning |
| 3864 | Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements |
| 3318 | Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization |
| 4144 | Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching |
| Session | Localization and Mapping: Distributed Systems |
| 3851 | Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation |
| 891 | Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization |
| 3551 | Optimizing Non-Markovian Information Gain under Physics-Based Communication Constraints |
| 4168 | Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors |
| Session | Localization and Mapping II |
| 405 | 3D Motion Capture of an Unmodified Drone with Single-Chip Millimeter Wave Radar |
| 1386 | Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration under Uncertainty |
| 2090 | Fast Uncertainty Quantification for Deep Object Pose Estimation |
| 1905 | Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning |
| Session | Learning-Based Manipulation VIII |
| 2386 | ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation |
| 2689 | Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies |
| 2994 | SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation Using Deep Learning for Feature Extraction |
| 3418 | An Affordance Keypoint Detection Network for Robot Manipulation |
| Session | Learning-Based Motion Planning II |
| 4019 | Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability Via Lipschitz Constants |
| 3992 | Single-Query Path Planning Using Sample-Efficient Probability Informed Trees |
| 3913 | Learning from Imperfect Demonstrations from Agents with Varying Dynamics |
| 571 | Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving |
| Session | Humanoids and Animaloids |
| 2803 | Learning Human Objectives from Sequences of Physical Corrections |
| 1863 | SimGAN: Hybrid Simulator Identification for Domain Adaptation Via Adversarial Reinforcement Learning |
| 3582 | Look at My New Blue Force-Sensing Shoes! |
| 3973 | Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model |
| Session | Human-Robots Interface System |
| 632 | UAV Target-Selection: 3D Pointing Interface System for Large-Scale Environment |
| 3625 | A Framework for Customizable Multi-User Teleoperated Control |
| 2333 | SQRP: Sensing Quality-Aware Robot Programming System for Non-Expert Programmers |
| 2437 | Automated Environment Reduction for Debugging Robotic Systems |
| Session | Human-Robot Interaction: Multimedia |
| 1732 | ARROCH: Augmented Reality for Robots Collaborating with a Human |
| 2193 | ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance Via Constrained Learning from Demonstration |
| 343 | Bringing WALL-E Out of the Silver Screen: Understanding How Transformative Robot Sound Affects Human Perception |
| 386 | How People Use Active Telepresence Cameras in Tele-Manipulation |
| Session | Human-Robot Interaction: Robot Navigation I |
| 3181 | Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data |
| 2610 | Social Navigation for Mobile Robots in the Emergency Department |
| 977 | Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning |
| 1920 | Range Limited Coverage Control Using Air-Ground Multi-Robot Teams |
| Session | Human-Robot Interaction I |
| 4163 | Evaluating Guided Policy Search for Human-Robot Handovers |
| 1338 | Communication Strategy for Efficient Guidance Providing |
| 2152 | LBGP: Learning Based Goal Planning for Autonomous Following in Front |
| 1737 | Reactive Human-To-Robot Handovers of Arbitrary Objects |
| Session | Human-Centered Robotics III |
| 556 | Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models |
| 543 | I Know What You Meant: Learning Human Objectives by (Under)estimating Their Choice Set |
| 1857 | Analyzing Human Models That Adapt Online |
| 2183 | When Shall I Be Empathetic? the Utility of Empathetic Parameter Estimation in Multi-Agent Interactions |
| Session | Field Robotics: Perception |
| 761 | Three-Dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces |
| 853 | Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance |
| 2221 | LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation |
| 3367 | Real-Time Navigation Using Virtual Magnetic Fields |
| Session | Dynamics and Control III |
| 925 | Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints |
| 3841 | Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking |
| 4043 | Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics |
| 3017 | The Dynamic Effect of Mechanical Losses of Transmissions on the Equations of Motion of Legged Robots |
| Session | Deep Learning in Robotics and Automation |
| 1516 | Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics |
| 1616 | Regularizing Action Policies for Smooth Control with Reinforcement Learning |
| 1818 | DeepReach: A Deep Learning Approach to High-Dimensional Reachability |
| 3353 | Deep Reinforcement Learning for Active Target Tracking |
| Session | Autonomous Vehicle Navigation I |
| 975 | Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition |
| 2158 | NF-iSAM: Incremental Smoothing and Mapping Via Normalizing Flows |
| 3616 | UPSLAM: Union of Panoramas SLAM |
| 1913 | RELLIS-3D Dataset: Data, Benchmarks and Analysis |
| Session | Automation: Machine Learning I |
| 1310 | Model-Based Reinforcement Learning with Provable Safety Guarantees Via Control Barrier Functions |
| 176 | Continual Model-Based Reinforcement Learning with Hypernetworks |
| 81 | Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction |
| 862 | Solving Markov Decision Processes with Partial State Abstractions |
| Session | Aerial Robotics: Learning and Adaptive Systems |
| 3176 | Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots |
| 2585 | CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model |
| 815 | Hypergame-Based Adaptive Behavior Path Planning for Combined Exploration and Visual Search |
| 2019 | Morphologically Adapatative Quad-Rotor towards Acquiring High-Performance Flight: A Comparative Study and Validation |
| Session | Automation: Performance Metrics |
| 283 | Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort |
| 3226 | From Manual Operation to Collaborative Robot Assembly: An Integrated Model of Productivity and Ergonomic Performance |
| 4115 | Performance Metrics Calculation for Assembly Systems with Exponential Reliability Machines |
| 893 | Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants |
| Session | Mechanism Design VII |
| 3776 | Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces |
| 1875 | A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment |
| 1796 | An Autonomous Vault-Building Robot System for Creating Spanning Structures |
| 2687 | Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots |
| Session | Manipulation: Reinforcement Learning II |
| 522 | Multi-Step Recurrent Q-Learning for Robotic Velcro Peeling |
| 2207 | Reset-Free Reinforcement Learning Via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention |
| 1917 | Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning |
| 4150 | Batch Exploration with Examples for Scalable Robotic Reinforcement Learning |
| Session | Manipulation: Real World Applications |
| 2140 | Robotic Slicing of Fruits and Vegetables: Modeling the Effects of Fracture Toughness and Knife Geometry |
| 2698 | Auto-Tuned Sim-To-Real Transfer |
| 2403 | A Convex Quasistatic Time-Stepping Scheme for Rigid Multibody Systems with Contact and Friction |
| 2363 | Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search |
| Session | Manipulation III |
| 922 | RASCAL: Robotic Arm for Sherds and Ceramics Automated Locomotion |
| 1481 | Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments |
| 3391 | Dynamic Grasping for Object Picking Using Passive Zero-DOF End Effectors |
| 521 | Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution |
| Session | Manipulation: Haptics |
| 1808 | Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry |
| 2023 | Sim-To-Real for Robotic Tactile Sensing Via Physics-Based Simulation and Learned Latent Projections |
| 2291 | Tactile SLAM: Real-Time Inference of Shape and Pose from Planar Pushing |
| 3844 | Fingers See Things Differently (FIST-D): An Object Aware Visualization and Manipulation Framework Based on Tactile Observations |
| Session | Machine Learning: Adaptive Systems |
| 1452 | APPLI: Adaptive Planner Parameter Learning from Interventions |
| 2013 | APPLR: Adaptive Planner Parameter Learning from Reinforcement |
| 3596 | An Adaptive Framework for Learning Unsupervised Depth Completion |
| 3883 | PennSyn2Real: Training Object Recognition Models without Human Labeling |
| Session | Machine Learning for Control |
| 2586 | Reinforced iLQR: A Sample-Efficient Robot Locomotion Learning |
| 1149 | Learning Multi-Arm Manipulation through Collaborative Teleoperation |
| 2745 | Scalable Learning of Safety Guarantees for Autonomous Systems Using Hamilton-Jacobi Reachability |
| 2066 | OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation |
| Session | Localization and Mapping: Sensor Fusion I |
| 160 | Asynchronous Multi-View SLAM |
| 327 | Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments |
| 3850 | Relative Position Estimation between Two UWB Devices with IMUs |
| 391 | LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping |
| Session | Localization and Mapping V |
| 3647 | Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior |
| 799 | Learned Uncertainty Calibration for Visual Inertial Localization |
| 4187 | CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association (I) |
| 849 | Distributed Client-Server Optimization for SLAM with Limited On-Device Resources |
| Session | Localization and Control |
| 2374 | Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments |
| 3479 | Instance-Aware Predictive Navigation in Multi-Agent Environments |
| 4222 | SLAAM: Simultaneous Localization and Additive Manufacturing (I) |
| 1389 | SimNet: Learning Reactive Self-Driving Simulations from Real-World Observations |
| Session | Learning-Based Motion Planning III |
| 1611 | Robotic Information Gathering Using Semantic Language Instructions |
| 4004 | MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints |
| 406 | Deep Structured Reactive Planning |
| 1819 | Learning a Centroidal Motion Planner for Legged Locomotion |
| Session | Intelligence Design |
| 3152 | Optimizing Cellular Networks Via Continuously Moving Base Stations on Road Networks |
| 912 | The Resh Programming Language for Multirobot Orchestration |
| 1543 | Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization |
| 1844 | Generative Design of NU's Husky Carbon: A Morpho-Functional, Legged Robot |
| Session | Humanoid and Bipedal Locomotion I |
| 105 | Learning Bipedal Robot Locomotion from Human Movement |
| 1972 | Learning Task Space Actions for Bipedal Locomotion |
| 2362 | Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots |
| 1809 | Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots |
| Session | Human-Robot Interaction: Scheduling and Teleoperation |
| 533 | Online Dynamic Time Warping Algorithm for Human-Robot Imitation |
| 3866 | Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction |
| 978 | Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management |
| 3865 | Time-Domain Passivity-Based Controller with an Optimal Two-Channel Lawrence Telerobotic Architecture |
| Session | Human-Robot Interaction: Medical Robots and Systems I |
| 1938 | Can Therapists Design Robot-Mediated Interventions and Teleoperate Robots Using VR to Deliver Interventions for ASD? |
| 3734 | A Low-Cost Intrinsically Safe Mechanism for Physical Distancing between Clinicians and Patients |
| 2187 | Collaborative Fall Detection Using a Wearable Device and a Companion Robot |
| 3657 | Conversation-Based Medication Management System for Older Adults Using a Companion Robot and Cloud |
| 2402 | Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-Precision Surgical Manipulation |
| Session | Human-Robot Interaction in Exoskeletons |
| 2898 | Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment |
| 2113 | ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes |
| 3627 | Control of a Transfemoral Prosthesis on Sloped Terrain Using Continuous and Nonlinear Impedance Parameters |
| 2722 | Model-Dependent Prosthesis Control with Interaction Force Estimation |
| Session | Human-In-The-Loop Control |
| 2579 | End-To-End Grasping Policies for Human-In-The-Loop Robots Via Deep Reinforcement Learning |
| 3882 | An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction |
| 2501 | Situational Confidence Assistance for Lifelong Shared Autonomy |
| 1277 | Recognizing Orientation Slip in Human Demonstrations |
| 1695 | Aggregating Long-Term Context for Learning Laparoscopic and Robot-Assisted Surgical Workflows |
| Session | Hierarchical Motion Planning |
| 4209 | Q-Tree Search: An Information-Theoretic Approach Toward Hierarchical Abstractions for Agents with Computational Limitations (I) |
| 2030 | A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning |
| 1509 | Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning |
| 2289 | Collision Avoidance in Tightly-Constrained Environments without Coordination: A Hierarchical Control Approach |
| Session | Force Control |
| 4156 | Admittance Control with Uknown Location of Interaction |
| 3200 | Low-Level Force-Control of MR-Hydrostatic Actuators |
| 880 | Zero-Potential-Energy Motions Due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study |
| 3435 | KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation |
| Session | Dynamics and Control II |
| 890 | No-Frills Dynamic Planning Using Static Planners |
| 2821 | PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads Using a Single Camera and IMU |
| 2079 | Learning Agile Locomotion Skills with a Mentor |
| 2670 | Automating Behavior Selection for Affective Telepresence Robot |
| Session | Autonomous Vehicle Navigation II |
| 879 | Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation |
| 4174 | Learning Barrier Functions with Memory for Robust Safe Navigation |
| 207 | Hierarchical Object Map Estimation for Efficient and Robust Navigation |
| 876 | Robot Navigation in Constrained Pedestrian Environments Using Reinforcement Learning |
| Session | Automation: Machine Learning II |
| 4192 | Exploiting Object Similarity for Robotic Visual Recognition (I) |
| 242 | Team Assignment for Heterogeneous Multi-Robot Sensor Coverage through Graph Representation Learning |
| 1638 | GPR-Based Model Reconstruction System for Underground Utilities Using GPRNet |
| 2784 | Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter |
| Session | Aerial Robotics: Design and Mechanism II |
| 3685 | The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors |
| 3813 | Aerial Multi-Camera Robotic Jib Crane |
| 3712 | Design, Sensing, and Control of a Novel UAV Platform for Aerial Drilling and Screwing |
| 2708 | Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights |
| Session | Automation: Manufacturing |
| 2063 | Optimizing Part Placement for Improving Accuracy of Robot-Based Additive Manufacturing |
| 1911 | Automated Mosquito Salivary Gland Extractor for PfSPZ-Based Malaria Vaccine Production |
| 3007 | Safe Tumbling of Heavy Objects Using a Two-Cable Crane |
| 562 | An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans |