IEEE International Conference on
Robotics and Automation
   
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Last updated on May 18, 2024. This conference program is tentative and subject to change

Technical Program for Thursday May 16, 2024

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ThPL-HL  Plenary Session, National Convention Hall Add to My Program 
Plenary III: Rehabilitation Robotics: How to Improve Daily Functions in
People with Impairments? -- Prof. Sunil K Agrawal
 
 
Chair: Hasegawa, YasuhisaNagoya University
 
09:00-10:00, Paper ThPL-HL.1 Add to My Program
 Rehabilitation Robotics: How to Improve Daily Functions in People with Impairments?

Agrawal, SunilColumbia University
 
ThAT1-CC  Oral Session, CC-303 Add to My Program 
Motion Planning I  
 
Chair: Isele, DavidUniversity of Pennsylvania, Honda Research Institute USA
Co-Chair: Qureshi, Ahmed H.Purdue University
 
10:30-12:00, Paper ThAT1-CC.1 Add to My Program
 Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces

Bayraktar, Servet BoraTU Berlin
Orthey, AndreasRealtime Robotics Inc
Kingston, ZacharyRice University
Toussaint, MarcTU Berlin
Kavraki, LydiaRice University
 
10:30-12:00, Paper ThAT1-CC.2 Add to My Program
 Leveraging Opportunism in Sample-Based Motion Planning

Lanighan, MichaelTRACLabs, Inc
Youngquist, OscarUniversity of Massachusetts Amherst
 
10:30-12:00, Paper ThAT1-CC.3 Add to My Program
 SE(2) Assembly Planning for Magnetic Modular Cubes

Keune, KjellTechnische Universität Braunschweig
Becker, AaronUniversity of Houston
 
10:30-12:00, Paper ThAT1-CC.4 Add to My Program
 A Constrained Path Following Method for Snake-Like Manipulators Via Controlled Winding Uncoiling Strategy

Luo, MingruiInstitute of Automation, Chinese Academy of Sciences
Tian, YunongInstitute of Automation, Chinese Academy of Sciences
Cao, YinghuaInstitute of Automation,Chinese Academy of Sciences
Chen, MinghaoInstitute of Automation, Chinese Academy of Sciences
Zhang, YanfengInstitute of Automation, Chinese Academy of Sciences
Li, EnInstitute of Automation, Chinese Academy of Sciences
Tan, MinInstitute of Automation, Chinese Academy of Sciences
 
10:30-12:00, Paper ThAT1-CC.5 Add to My Program
 Multi-Profile Quadratic Programming (MPQP) for Optimal Gap Selection and Speed Planning of Autonomous Driving

Anon, Alexandre MirandaHonda Research Institute USA
Bae, SangjaeHonda Research Institute, USA
Saroya, ManishHonda Research Institute USA, Inc
Isele, DavidUniversity of Pennsylvania, Honda Research Institute USA
 
10:30-12:00, Paper ThAT1-CC.6 Add to My Program
 IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations

Wang, YepingUniversity of Wisconsin-Madison
Sifferman, CarterUniversity of Wisconsin-Madison
Gleicher, MichaelUniversity of Wisconsin - Madison
 
10:30-12:00, Paper ThAT1-CC.7 Add to My Program
 A Control Barrier Function-Based Motion Planning Scheme for a Quadruped Robot

Unlu, Halil UtkuNew York University
Gonçalves, Vinicius MarianoNew York University Abu Dhabi, United Arab Emirates
Chaikalis, DimitrisNew York University
Tzes, AnthonyNew York University Abu Dhabi
Khorrami, FarshadNew York University Tandon School of Engineering
 
10:30-12:00, Paper ThAT1-CC.8 Add to My Program
 Physics-Informed Neural Motion Planning on Constraint Manifolds

Ni, RuiqiPurdue University
Qureshi, Ahmed H.Purdue University
 
10:30-12:00, Paper ThAT1-CC.9 Add to My Program
 Practical and Safe Navigation Function Based Motion Planning of UAVs

Sinhmar, HimaniCornell University
Greiff, MarcusMitsubishi Electric Research Laboratories
Di Cairano, StefanoMitsubishi Electric Research Laboratories
 
ThAT2-CC  Oral Session, CC-311 Add to My Program 
Swarm Robotics  
 
Chair: Birattari, MauroUniversité Libre De Bruxelles
Co-Chair: Grosu, RaduTU Wien
 
10:30-12:00, Paper ThAT2-CC.1 Add to My Program
 Flock-Formation Control of Multi-Agent Systems Using Imperfect Relative Distance Measurements

Brandstätter, AndreasTechnische Universität Wien
Smolka, ScottStony Brook University
Stoller, ScottStony Brook University
Tiwari, AshishMicrosoft Corp
Grosu, RaduTU Wien
 
10:30-12:00, Paper ThAT2-CC.2 Add to My Program
 From Shadows to Light: A Swarm Robotics Approach with Onboard Control for Seeking Dynamic Sources in Constrained Environments

Karagüzel, Tugay AlperenVrije Universiteit Amsterdam
Retamal Guiberteau, VictorVrije Universiteit Amsterdam
Cambier, NicolasVrije Universiteit Amsterdam
Ferrante, EliseoVrije Universiteit Amsterdam
 
10:30-12:00, Paper ThAT2-CC.3 Add to My Program
 Multi-Swarm Interaction through Augmented Reality for Kilobots

Feola, LuigiUniversity of Rome "La Sapienza" - National Research Council IST
Reina, AndreagiovanniUniversité Libre De Bruxelles
Talamali, Mohamed S.University College London (UCL)
Trianni, VitoConsiglio Nazionale Delle Ricerche
 
10:30-12:00, Paper ThAT2-CC.4 Add to My Program
 Morphobot: A Platform for Morphogenesis in Robot Swarm

Qin, XiaoyangShenyang Institute of Automation, CAS
Yang, YongliangShenyang Institute of Automation, CAS
Pan, MengyunShenyang Institute of Automation, Chinese Academy of Sciences
Cui, LongShenyang Institute of Automation, Chinese Academy of Sciences
Liu, LianqingShenyang Institute of Automation
 
10:30-12:00, Paper ThAT2-CC.5 Add to My Program
 FireAntV3: A Modular Self-Reconfigurable Robot towards Free-Form Self-Assembly Using Attach-Anywhere Continuous Docks

Swissler, PetrasNew Jersey Institute of Technology
Rubenstein, MichaelNorthwestern University
 
10:30-12:00, Paper ThAT2-CC.6 Add to My Program
 Reciprocal and Non-Reciprocal Swarmalators with Programmable Locomotion and Formations for Robot Swarms

Ceron, StevenMassachusetts Institute of Technology
Xiao, WeiMIT
Rus, DanielaMIT
 
10:30-12:00, Paper ThAT2-CC.7 Add to My Program
 Automatically Designing Robot Swarms in Environments Populated by Other Robots: An Experiment in Robot Shepherding

Garzón Ramos, DavidUniversité Libre De Bruxelles
Birattari, MauroUniversité Libre De Bruxelles
 
10:30-12:00, Paper ThAT2-CC.8 Add to My Program
 CrazySim: A Software-In-The-Loop Simulator for the Crazyflie Nano Quadrotor

Llanes, ChristianThe Georgia Institute of Technology
Kakish, ZahiSandia National Laboratories
Williams, KyleSandia National Labs
Coogan, SamuelGeorgia Tech
 
ThAT3-CC  Oral Session, CC-313 Add to My Program 
Range Sensing  
 
Chair: De Martini, DanieleUniversity of Oxford
Co-Chair: Caron, GuillaumeCNRS
 
10:30-12:00, Paper ThAT3-CC.1 Add to My Program
 Geometry-Informed Distance Candidate Selection for Adaptive Lightweight Omnidirectional Stereo Vision with Fisheye Images

Pulling, ConnerCarnegie Mellon University
Tan, Je HonDefence Science and Technology Agency
Hu, YaoyuCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
10:30-12:00, Paper ThAT3-CC.2 Add to My Program
 On Camera Model Conversions

Goichon, EvaUPJV
Caron, GuillaumeCNRS
Vasseur, PascalUniversité De Picardie Jules Verne
Kanehiro, FumioNational Inst. of AIST
 
10:30-12:00, Paper ThAT3-CC.3 Add to My Program
 RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost Radars for Aerial and Ground Vehicles

Hunt, DavidDuke University
Luo, ShaochengDuke University
Khazraei, AmirDuke University
Zhang, XiaoDuke University
Hallyburton, RobertDuke University
Chen, TingjunDuke University
Pajic, MiroslavDuke University
 
10:30-12:00, Paper ThAT3-CC.4 Add to My Program
 That's My Point: Compact Object-Centric LiDAR Pose Estimation for Large-Scale Outdoor Localisation

Pramatarov, GeorgiUniversity of Oxford
Gadd, MatthewUniversity of Oxford
Newman, PaulOxford University
De Martini, DanieleUniversity of Oxford
 
10:30-12:00, Paper ThAT3-CC.5 Add to My Program
 A Point-To-Distribution Degeneracy Detection Factor for LiDAR SLAM Using Local Geometric Models

Ji, SehuaGuangdong University of Technology
Chen, WeinanGuangdong University of Technology
Su, ZerongInstitute of Intelligent Manufacturing, Guangdong Academy of Sci
Guan, YishengGuangdong University of Technology
Li, JiehaoSouth China University of Technology
Zhang, HongSUSTech
Zhu, HaifeiGuangdong University of Technology
 
10:30-12:00, Paper ThAT3-CC.6 Add to My Program
 I-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search

Zhu, JunTsinghua University
Li, HongyiTsinghua University
Wang, ZhepengLenovo Research
Wang, ShengjieTsinghua University
Zhang, TaoTsinghua University
 
10:30-12:00, Paper ThAT3-CC.7 Add to My Program
 Self-Supervised Depth Correction of Lidar Measurements from Map Consistency Loss

Agishev, RuslanCzech Technical University in Prague, FEE
Petricek, TomasCzech Technical University in Prague
Zimmermann, KarelCeske Vysoke Uceni Technicke V Praze, FEL
 
10:30-12:00, Paper ThAT3-CC.8 Add to My Program
 GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation

Steinke, NicolaiFreie Universität Berlin
Goehring, DanielFreie Universität Berlin
Rojas, RaulFreie Universität Berlin
 
10:30-12:00, Paper ThAT3-CC.9 Add to My Program
 Morphable-SfS: Enhancing Shape-From-Silhouette Via Morphable Modeling

Lu, GuoyuUniversity of Georgia
 
ThAT4-CC  Oral Session, CC-315 Add to My Program 
Path Planning for Multiple Mobile Robots or Agents I  
 
Chair: Zhu, QuanyanNew York University
Co-Chair: Min, Byung-CheolPurdue University
 
10:30-12:00, Paper ThAT4-CC.1 Add to My Program
 Collision Detection and Avoidance for Black Box Multi-Robot Navigation

Ayoubi, SaraNokia Bell Labs
Hadzic, IlijaNokia Bell Labs
Salaun, LouNokia Bell Labs
Massaro, AntonioNokia Bell Labs
 
10:30-12:00, Paper ThAT4-CC.2 Add to My Program
 Stackelberg Game-Theoretic Trajectory Guidance for Multi-Robot Systems with Koopman Operator

Zhao, YuhanNew York University
Zhu, QuanyanNew York University
 
10:30-12:00, Paper ThAT4-CC.3 Add to My Program
 Optimal Path Planning for a Convoy-Support Vehicle Pair through a Repairable Network (I)

Bhadoriya, Abhay SinghTexas A&M University
Montez, ChristopherTexas A&M University - College Station
Rathinam, SivakumarTAMU
Darbha, SwaroopTAMU
Casbeer, DavidAFRL
Manyam, Satyanarayana GuptaInfoscitex Corp
 
10:30-12:00, Paper ThAT4-CC.4 Add to My Program
 Learning Heterogeneous Multi-Agent Allocations for Ergodic Search

Rao, AnanyaCarnegie Mellon University
Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
Choset, HowieCarnegie Mellon University
 
10:30-12:00, Paper ThAT4-CC.5 Add to My Program
 Multi-Robot Cooperative Socially-Aware Navigation Using Multi-Agent Reinforcement Learning

Wang, WeizhengPurdue University
Mao, LeBeijing University of Chemical Technology
Wang, RuiqiPurdue University
Min, Byung-CheolPurdue University
 
10:30-12:00, Paper ThAT4-CC.6 Add to My Program
 Multi-Agent Path Finding for Cooperative Autonomous Driving

Yan, ZhongxiaMassachusetts Institute of Technology
Zheng, HanMassachusetts Institute of Technology
Wu, CathyMIT
 
10:30-12:00, Paper ThAT4-CC.7 Add to My Program
 Communication-Aware Map Compression for Online Path-Planning

Psomiadis, EvangelosGeorgia Institute of Technology
Maity, DipankarUniversity of North Carolina - Charlotte
Tsiotras, PanagiotisGeorgia Tech
 
10:30-12:00, Paper ThAT4-CC.8 Add to My Program
 Wind Field Modeling for Formation Planning in Multi-Drone Systems

Park, MinhyukUNIST
Au, Tsz-ChiuUlsan National Institute of Science and Technology
 
10:30-12:00, Paper ThAT4-CC.9 Add to My Program
 Multi-Robot Informative Path Planning from Regression with Sparse Gaussian Processes

Jakkala, KalvikUniversity of North Carolina at Charlotte
Akella, SrinivasUniversity of North Carolina at Charlotte
 
ThAT5-CC  Oral Session, CC-411 Add to My Program 
Visual Learning I  
 
Chair: Aragon-Camarasa, GerardoUniversity of Glasgow
Co-Chair: Yi, LiTsinghua University
 
10:30-12:00, Paper ThAT5-CC.1 Add to My Program
 ASP-LED: Learning Ambiguity-Aware Structural Priors for Joint Low-Light Enhancement and Deblurring

Ye, JingSun Yat-Sen University
Liu, YangSun Yat-Sen University
Yu, CongjingSun Yat-Sen University
Qiu, ChangzhenSun Yat-Sen University
Zhang, ZhiyongSun Yat-Sen University
 
10:30-12:00, Paper ThAT5-CC.2 Add to My Program
 AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViT

Qin, FangboInstitute of Automation, Chinese Academy of Sciences
Hou, TaogangBeijing Jiaotong University
Lin, ShanUniversity of California, San Diego
Wang, KaiyuanUniversity of California, San Diego
Yip, Michael C.University of California, San Diego
Yu, ShanInstitute of Automation, Chinese Academy of Sciences
 
10:30-12:00, Paper ThAT5-CC.3 Add to My Program
 RenderOcc: Vision-Centric 3D Occupancy Prediction with 2D Rendering Supervision

Pan, MingjiePeking University
Liu, JiamingPeking University
Zhang, RenruiCUHK
Huang, PeixiangPeking University
Li, XiaoqiPeking University
Wang, BingNTU
Xie, HongweiNanjing University
Liu, LiXiaomi Car
Zhang, ShanghangPeking University
 
10:30-12:00, Paper ThAT5-CC.4 Add to My Program
 DRO: Deep Recurrent Optimizer for Video to Depth

Gu, XiaodongAlibaba Group
Yuan, WeihaoHong Kong University of Science and Technology
Dai, ZuozhuoAlibaba Group
Zhu, SiyuAlibaba AI Lab
Tang, ChengzhouSimon Fraser University
Dong, ZilongCompany
Tan, PingSimon Fraser University
 
10:30-12:00, Paper ThAT5-CC.5 Add to My Program
 Doduo: Learning Dense Visual Correspondence from Unsupervised Semantic-Aware Flow

Jiang, ZhenyuThe Unversity of Texas at Austin
Jiang, HanwenUT Austin
Zhu, YukeThe University of Texas at Austin
 
10:30-12:00, Paper ThAT5-CC.6 Add to My Program
 RoboLLM: Robotic Vision Tasks Grounded on Multimodal Large Language Models

Long, ZijunUniversity of Glasgow
Killick, GeorgeSchool of Computing Science, University of Glasgow
McCreadie, RichardUniversity of Glasgow
Aragon-Camarasa, GerardoUniversity of Glasgow
 
10:30-12:00, Paper ThAT5-CC.7 Add to My Program
 CrossVideo: Self-Supervised Cross-Modal Contrastive Learning for Point Cloud Video Understanding

Liu, YunzeTsinghua University
Chen, ChangxiTsinghua University
Wang, ZifanTsinghua University
Yi, LiTsinghua University
 
10:30-12:00, Paper ThAT5-CC.8 Add to My Program
 FSNet: Redesign Self-Supervised MonoDepth for Full-Scale Depth Prediction for Autonomous Driving (I)

Liu, YuxuanHong Kong University of Science and Technology
Xu, ZhenhuaThe Hong Kong University of Science and Technology
Huang, HuaiyangThe Hong Kong University of Science and Technology
Wang, LujiaThe Hong Kong University of Technology (Guangzhou)
Liu, MingHong Kong University of Science and Technology (Guangzhou)
 
10:30-12:00, Paper ThAT5-CC.9 Add to My Program
 V2CE: Video to Continuous Events Simulator

Zhang, ZhongyangUniversity of California San Diego
Cui, ShuyangUniversity of California, San Diego
Chai, KaidongUniversity of Massachusetts Amherst
Yu, HaowenUniversity of Massachusetts Amherst
Dasgupta, SubhasisUniversity of California San Diego
Mahbub, UpalQualcomm
Rahman, TauhidurUniversity of California San Diego
 
ThAT6-CC  Oral Session, CC-414 Add to My Program 
Computer Vision for Automation  
 
Chair: Bennewitz, MarenUniversity of Bonn
Co-Chair: Yamakawa, YujiThe University of Tokyo
 
10:30-12:00, Paper ThAT6-CC.1 Add to My Program
 Physically Grounded Vision-Language Models for Robotic Manipulation

Gao, JensenStanford University
Sarkar, BidiptaStanford University
Xia, FeiGoogle Inc
Xiao, TedGoogle
Wu, JiajunStanford University
Ichter, BrianGoogle Brain
Majumdar, AnirudhaPrinceton University
Sadigh, DorsaStanford University
 
10:30-12:00, Paper ThAT6-CC.2 Add to My Program
 How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?

Pan, SicongUniversity of Bonn
Jin, LirenUniversity of Bonn
Hu, HaoFudan University
Popovic, MarijaUniversity of Bonn
Bennewitz, MarenUniversity of Bonn
 
10:30-12:00, Paper ThAT6-CC.3 Add to My Program
 Active Implicit Reconstruction Using One-Shot View Planning

Hu, HaoFudan University
Pan, SicongUniversity of Bonn
Jin, LirenUniversity of Bonn
Popovic, MarijaUniversity of Bonn
Bennewitz, MarenUniversity of Bonn
 
10:30-12:00, Paper ThAT6-CC.4 Add to My Program
 Multimodal Object Query Initialization for 3D Object Detection

van Geerenstein, Mathijs RubenDelft University of Technology
Ruppel, FeliciaBosch Research and Ulm University
Dietmayer, KlausUniversity of Ulm
Gavrila, DariuDelft University of Technology
 
10:30-12:00, Paper ThAT6-CC.5 Add to My Program
 SM^3: Self-Supervised Multi-Task Modeling with Multi-View 2D Images for Articulated Objects

Wang, HaowenBeijing University of Posts and Telecommunications
Zhao, ZhenMidea Group
Jin, ZhaoMidea Group
Che, ZhengpingMidea Group
Qiao, LiangBeijing University of Posts and Telecommunications
Yakun, HuangBeijing University of Posts and Telecommunications
Fan, ZhipengBeijing University of Posts and Telecommunications
XiuQuan, QiaoBeijing University of Posts and Telecommunications
Tang, JianMidea Group (Shanghai) Co., Ltd
 
10:30-12:00, Paper ThAT6-CC.6 Add to My Program
 MF-MOS: A Motion-Focused Model for Moving Object Segmentation

Cheng, JintaoSouth China Normal University
Zeng, KangSouth China Normal University
Huang, ZhuoxuAberystwyth University
Tang, XiaoyuSouth China Normal University
Jin, WuUESTC
Zhang, ChengxiJiangnan Universtiy
Chen, XieyuanliNational University of Defense Technology
Fan, RuiTongji University
 
10:30-12:00, Paper ThAT6-CC.7 Add to My Program
 Improving Neural Indoor Surface Reconstruction with Mask-Guided Adaptive Consistency Constraints

Yu, XinyiZhejiang University of Technology
Lu, LiqinZhejiang University of Technology
Jintao, RongZhejiang University of Technology
Xu, GuangkaiZhejiang University
Ou, LinlinZhejiang University of Technology
 
10:30-12:00, Paper ThAT6-CC.8 Add to My Program
 NFL: Normal Field Learning for 6-DoF Grasping of Transparent Objects

Lee, JunhoSeoul National University
Kim, Sang MinSeoul National University
Lee, YonghyeonKorea Institute for Advanced Study
Kim, Young MinSeoul National University
 
10:30-12:00, Paper ThAT6-CC.9 Add to My Program
 TRTM: Template-Based Reconstruction and Target-Oriented Manipulation of Crumpled Cloths

Wang, WenboETH Zurich
Li, GenETH Zurich
Zamora Mora, Miguel AngelETH Zurich
Coros, StelianETH Zurich
 
ThAT7-CC  Oral Session, CC-416 Add to My Program 
Model Learning for Control  
 
Chair: Shin, Hyo-SangCranfield University
Co-Chair: Tilbury, DawnUniversity of Michigan
 
10:30-12:00, Paper ThAT7-CC.1 Add to My Program
 Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control

Saviolo, AlessandroNew York University
Frey, JonathanUniversity of Freiburg
Rathod, AbhishekUniversity of Idaho
Diehl, MoritzUniv. of Heidelberg
Loianno, GiuseppeNew York University
 
10:30-12:00, Paper ThAT7-CC.2 Add to My Program
 SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation

Bartsch, AlisonCarnegie Mellon University
Avra, CharlotteCarnegie Mellon University
Barati Farimani, AmirCarnegie Mellon University
 
10:30-12:00, Paper ThAT7-CC.3 Add to My Program
 Learning-Based Model Predictive Control for an Autonomous Formula Student Racing Car

Gomes, DavidInstituto Superior Técnico, University of Lisbon
Botto, MiguelDEM/IST
Lima, Pedro U.Instituto Superior Técnico - Institute for Systems and Robotics
 
10:30-12:00, Paper ThAT7-CC.4 Add to My Program
 Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving with Model Predictive Path Integral Control

Lee, HojinAgency for Defense Development
Kim, TaekyungAgency for Defense Development
Mun, JungwiAgency for Defense Development
Lee, WonsukAgency for Defense Development
 
10:30-12:00, Paper ThAT7-CC.5 Add to My Program
 Adaptive Gait Modeling and Optimization for Principally Kinematic Systems

Deng, SimingJohns Hopkins University
Cowan, Noah J.Johns Hopkins University
Bittner, BrianJHUAPL
 
10:30-12:00, Paper ThAT7-CC.6 Add to My Program
 Recursive Least Squares with Log-Determinant Divergence Regularisation for Online Inertia Identification

Cho, NamhoonCranfield University
Lee, TaeyoonNaver Labs
Shin, Hyo-SangCranfield University
 
10:30-12:00, Paper ThAT7-CC.7 Add to My Program
 Sequential Manipulation of Deformable Linear Object Networks with Endpoint Pose Measurements Using Adaptive Model Predictive Control

Toner, TylerUniversity of Michigan
Molazadeh, VahidrezaCarnegie Mellon University
Saez, MiguelGeneral Motors
Tilbury, DawnUniversity of Michigan
Barton, KiraUniversity of Michigan at Ann Arbor
 
10:30-12:00, Paper ThAT7-CC.8 Add to My Program
 Physics-Informed Neural Network for Multirotor Slung Load Systems Modeling

Serrano, GilInstituto Superior Técnico, University of Lisbon
Jacinto, MarceloInstituto Superior Técnico
Ribeiro-Gomes, JoseInstituto Superior Tecnico, University of Lisbon
Pinto, JoaoInstituto Superior Tecnico, Universidade De Lisboa
Guerreiro, Bruno J. N.NOVA School of Science and Technology
Bernardino, AlexandreIST - Técnico Lisboa
Cunha, RitaInstituto Superior Tecnico
 
10:30-12:00, Paper ThAT7-CC.9 Add to My Program
 A Probabilistic Motion Model for Skid-Steer Wheeled Mobile Robot Navigation on Off-Road Terrains

Trivedi, AnanyaNortheastern University
Zolotas, MarkNortheastern University
Abbas, AdeebNortheastern Univeristy
Prajapati, SarveshNortheastern University
Bazzi, SalahNortheastern University
Padir, TaskinNortheastern University
 
ThAT8-CC  Oral Session, CC-418 Add to My Program 
Learning in Field Robotics  
 
Chair: Gao, ZhiTemasek Laboratories @ NUS
Co-Chair: Sugiura, HisashiYanmar Co., Ltd
 
10:30-12:00, Paper ThAT8-CC.1 Add to My Program
 TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks

Sivaprakasam, MatthewCarnegie Mellon University
Maheshwari, ParvIndian Institute of Technology Kharagpur
Guaman Castro, MateoCarnegie Mellon University
Triest, SamuelCarnegie Mellon University
Nye, MicahUniversity of Pittsburgh
Willits, StevenCarnegie Mellon University
Saba, AndrewCarnegie Mellon University
Wang, WenshanCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
10:30-12:00, Paper ThAT8-CC.2 Add to My Program
 EnYOLO: A Real-Time Framework for Domain-Adaptive Underwater Object Detection with Image Enhancement

Wen, JunjieThe Chinese University of Hong Kong
Cui, JinqiangPeng Cheng Laboratory
Zhao, BenyunThe Chinese University of Hong Kong
Han, BingxinThe Chinese University of Hong Kong
Liu, XuchenThe Chinese University of Hong Kong
Gao, ZhiTemasek Laboratories @ NUS
Chen, Ben M.Chinese University of Hong Kong
 
10:30-12:00, Paper ThAT8-CC.3 Add to My Program
 GS-PKNN: An Efficient and High-Fidelity Mobility Prediction Method for Unmanned Ground Vehicles

Hua, ChenUniversity of Science and Technology of China
Jiang, ChunmaoUniversity of Science and Technology of China
Niu, RunxinHefei Institutes of Physical Science, Chinese Academy of Science
Yu, BiaoHefei Institutes of Physical Science, Chinese Academy of Science
Zhu, HuiHefei Institutes of Physical Science, Chinese Academy of Science
Li, BichunHefei Institutes of Physical Science, Chinese Academy of Science
 
10:30-12:00, Paper ThAT8-CC.4 Add to My Program
 UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments

Triest, SamuelCarnegie Mellon University
Fan, David D.Jet Propulsion Laboratory, California Institute of Technology, P
Scherer, SebastianCarnegie Mellon University
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
 
10:30-12:00, Paper ThAT8-CC.5 Add to My Program
 Robot-Dependent Traversability Estimation for Outdoor Environments Using Deep Multimodal Variational Autoencoders

Eder, MatthiasGraz University of Technology
Steinbauer-Wagner, GeraldGraz University of Technology
 
10:30-12:00, Paper ThAT8-CC.6 Add to My Program
 F3DMP: Foresighted 3D Motion Planning of Mobile Robots in Wild Environments

Yang, AndongInstitute of Computing Technology, Chinese Academy of Sciences
Li, WeiInstitute of Computing Technology, Chinese Academy of Sciences
Hu, YuInstitute of Computing Technology Chinese Academy of Sciences
 
10:30-12:00, Paper ThAT8-CC.7 Add to My Program
 MATRIX: Multi-Agent Trajectory Generation with Diverse Contexts

Xu, ZhuoUC Berkeley
Zhou, RuiUniversity of California, Berkeley
Yin, YidaUniversity of California, Berkeley
Gao, HuidongUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
Li, JiachenUniversity of California, Riverside
 
ThAT9-CC  Oral Session, CC-419 Add to My Program 
Task Planning  
 
Chair: Tazaki, YuichiKobe University
Co-Chair: Manjanna, SandeepPlaksha University
 
10:30-12:00, Paper ThAT9-CC.1 Add to My Program
 Distributed Multi-Robot Online Sampling with Budget Constraints

Shamshirgaran, AzinUniversity of California, Merced
Manjanna, SandeepPlaksha University
Carpin, StefanoUniversity of California, Merced
 
10:30-12:00, Paper ThAT9-CC.2 Add to My Program
 Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications

Xie, ShuangyuTexas A&M University
Hu, ChengsongTexas A&M University
Wang, DiTexas A&M University
Johnson, JoeTexas A&M University
Bagavathiannan, MuthukumarTexas A&M University
Song, DezhenMohamed Bin Zayed University of Artificial Intelligence (MBZUAI)
 
10:30-12:00, Paper ThAT9-CC.3 Add to My Program
 RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning

Collins, JackUniversity of Oxford
Robson, MarkUniversity of Birmingham
Yamada, JunUniversity of Oxford
Sridharan, MohanUniversity of Edinburgh
Janik, KarolManufacturing Technology Centre
Posner, IngmarOxford University
 
10:30-12:00, Paper ThAT9-CC.4 Add to My Program
 Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database

Kirschner, Robin JeanneTU Munich, Institute for Robotics and Systems Intelligence
Micheler, Carina M.Technical University of Munich, TUM School of Medicine, Klinikum
Zhou, YangcanTechnical University of Munich
Siegner, Sebastian JulianTU Munich
Hamad, MazinTechnical University of Munich (TUM)
Glowalla, ClaudioDepartment of Orthopaedics and Sports Orthopaedics, Klinikum Rec
Neumann, JanTU Munich
Rajaei, NaderTechnical University of Munich
Burgkart, RainerTechnische Universität München
Haddadin, SamiTechnical University of Munich
 
10:30-12:00, Paper ThAT9-CC.5 Add to My Program
 Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies

Elimelech, KhenRice University
Kingston, ZacharyRice University
Thomason, WilRice University
Moshe, VardiRice University
Kavraki, LydiaRice University
 
10:30-12:00, Paper ThAT9-CC.6 Add to My Program
 Long-Horizon Planning and Execution with Functional Object-Oriented Networks

Paulius, DavidBrown University
Agostini, AlejandroUniversity of Innsbruck
Lee, DongheuiTechnische Universität Wien (TU Wien)
 
10:30-12:00, Paper ThAT9-CC.7 Add to My Program
 From Cooking Recipes to Robot Task Trees – Improving Planning Correctness and Task Efficiency by Leveraging LLMs with a Knowledge Network

Sakib, Md SadmanUniversity of South Florida
Sun, YuUniversity of South Florida
 
10:30-12:00, Paper ThAT9-CC.8 Add to My Program
 Stepwise Large-Scale Multi-Agent Task Planning Using Neighborhood Search

Zeng, FanThe University of Tokyo
Shirafuji, ShouheiKansai University
Fan, ChangxiangInstitute of Facility Agriculture, Guangdong Academy of Agricult
Nishio, MasahiroToyota Motor Corporation
Ota, JunThe University of Tokyo
 
10:30-12:00, Paper ThAT9-CC.9 Add to My Program
 Bayesian-Guided Evolutionary Strategy with RRT for Multi-Robot Exploration

Wu, ShugeBeihang University
Wang, ChunzhengBeihang University
Pan, JiayiBeihang University
Han, DongmingBeihang University
Zhao, ZhongliangBeihang University
 
ThAT10-CC  Oral Session, CC-501 Add to My Program 
Modeling, Control, and Learning for Soft Robots I  
 
Chair: Mochiyama, HiromiUniversity of Tsukuba
Co-Chair: Della Santina, CosimoTU Delft
 
10:30-12:00, Paper ThAT10-CC.1 Add to My Program
 A Novel Model for Layer Jamming-Based Continuum Robots

Yi, BowenPolytechnique Montreal
Fan, YemanUniversity of Technology Sydney
Liu, DikaiUniversity of Technology, Sydney
 
10:30-12:00, Paper ThAT10-CC.2 Add to My Program
 Lumped Parameter Dynamic Model of an Eversion Growing Robot: Analysis, Simulation and Experimental Validation

Vartholomeos, PanagiotisUniversity of Thessaly
Wu, ZicongKing's College London
Sadati, S.M.HadiKing's College London
Bergeles, ChristosKing's College London
 
10:30-12:00, Paper ThAT10-CC.3 Add to My Program
 Trajectory Tracking Control of Dual-PAM Soft Actuator with Hysteresis Compensator

Shen, JunyiThe University of Tokyo
Miyazaki, TetsuroThe University of Tokyo
Ohno, ShingoBridgestone Corporation
Sogabe, MainaThe University of Tokyo
Kawashima, KenjiThe University of Tokyo
 
10:30-12:00, Paper ThAT10-CC.4 Add to My Program
 Kinematic Modeling and Control of a Soft Robotic Arm with Non-Constant Curvature Deformation

Wang, ZhanchiUniversity of Science and Technology of China
Wang, GaotianUniversity of Science and Technology of China
Chen, XiaopingUniversity of Science and Technology of China
Freris, NikolaosUniversity of Science and Technology of China
 
10:30-12:00, Paper ThAT10-CC.5 Add to My Program
 CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots

Zhang, HannaUniversity of Toronto
Giamou, MatthewUniversity of Toronto
Maric, FilipUniversity of Toronto Institute for Aerospace Studies
Kelly, JonathanUniversity of Toronto
Burgner-Kahrs, JessicaUniversity of Toronto
 
10:30-12:00, Paper ThAT10-CC.6 Add to My Program
 Automatically-Tuned Model Predictive Control for an Underwater Soft Robot

Null, W. DavidUniversity of Illinois Urbana-Champaign
Edwards, WilliamUniversity of Illinois at Urbana-Champaign
Jeong, DohunUniversity of Illinois at Urbana-Champaign
Tchalakov, TeodorUniversity of Illinois Urbana Champaign
Menezes, JamesUniversity of Illinois at Urbana Champaign
Hauser, KrisUniversity of Illinois at Urbana-Champaign
Z, YUniversity of Illinois at Urbana-Champaign
 
10:30-12:00, Paper ThAT10-CC.7 Add to My Program
 Soft Acoustic End-Effector

Zhang, ZhiyuanAcoustic Robotics Systems Laboratory, Institute of Robotics And
Koch, MichaelAcoustic Robotics Systems Laboratory, Institute of Robotics And
Ahmed, DanielETH Zurich
 
10:30-12:00, Paper ThAT10-CC.8 Add to My Program
 A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Pierallini, MicheleCentro Di Ricerca E. Piaggio - Università Di Pisa
Stella, FrancescoEPFL
Angelini, FrancoUniversity of Pisa
Deutschmann, BastianGerman Aerospace Center
Hughes, JosieEPFL
Bicchi, AntonioFondazione Istituto Italiano Di Tecnologia
Garabini, ManoloUniversità Di Pisa
Della Santina, CosimoTU Delft
 
ThAT11-CC  Oral Session, CC-502 Add to My Program 
Learning from Demonstration I  
 
Chair: Tsuji, ToshiakiSaitama University
Co-Chair: Mingyu, YouTongji
 
10:30-12:00, Paper ThAT11-CC.1 Add to My Program
 Stable Motion Primitives Via Imitation and Contrastive Learning

Pérez-Dattari, RodrigoDelft University of Technology
Kober, JensTU Delft
 
10:30-12:00, Paper ThAT11-CC.2 Add to My Program
 GAN-Based Editable Movement Primitive from High-Variance Demonstrations

Xu, XuanhuiTongJi University
Mingyu, YouTongji
Hongjun, ZhouTongji University
Qian, ZhifengTongji University
Xu, WeishengTongji University
He, BinTongji University
 
10:30-12:00, Paper ThAT11-CC.3 Add to My Program
 One-Shot Imitation Learning with Graph Neural Networks for Pick-And-Place Manipulation Tasks

Di Felice, FrancescoMechanical Intelligence Institute, Sant'Anna School of Advanced
D'Avella, SalvatoreSant'Anna School of Advanced Studies
Remus, AlbertoSant'Anna School of Advanced Studies
Tripicchio, PaoloScuola Superiore Sant'Anna
Avizzano, Carlo AlbertoScuola Superiore Sant'Anna
 
10:30-12:00, Paper ThAT11-CC.4 Add to My Program
 Unsupervised Human Motion Segmentation Based on Characteristic Force Signals of Contact Events

Sugawara, KeitoSaitama University
Sakaino, ShoUniversity of Tsukuba
Tsuji, ToshiakiSaitama University
 
10:30-12:00, Paper ThAT11-CC.5 Add to My Program
 Robotic Skill Mutation in Robot-To-Robot Propagation During a Physically Collaborative Sawing Task

Maessen, Rosa Enna SophiaDelft University of Technology
Prendergast, J. MicahDelft University of Technology
Peternel, LukaDelft University of Technology
 
10:30-12:00, Paper ThAT11-CC.6 Add to My Program
 Few-Shot Learning of Force-Based Motions from Demonstration through Pre-Training of Haptic Representation

Aoyama, Marina Y.The University of Edinburgh
Moura, JoaoThe University of Edinburgh
Saito, NamikoThe University of Edinburgh
Vijayakumar, SethuUniversity of Edinburgh
 
10:30-12:00, Paper ThAT11-CC.7 Add to My Program
 Learning-Based Risk-Bounded Path Planning under Environmental Uncertainty (I)

Meng, FeiThe Chinese University of Hong Kong
Chen, LiangliangGeorgia Institute of Technology
Ma, HanThe Chinese University of Hong Kong
Wang, JiankunSouthern University of Science and Technology
Meng, Max Q.-H.The Chinese University of Hong Kong
 
10:30-12:00, Paper ThAT11-CC.8 Add to My Program
 ConBaT: Control Barrier Transformer for Safe Robot Learning from Demonstrations

Meng, YueMassachusetts Institute of Technology
Vemprala, SaiScaled Foundations
Bonatti, RogerioMicrosoft
Fan, ChuchuMassachusetts Institute of Technology
Kapoor, AshishMicroSoft
 
10:30-12:00, Paper ThAT11-CC.9 Add to My Program
 Unsupervised Learning of Neuro-Symbolic Rules for Generalizable Context-Aware Planning in Object Arrangement Tasks

Sharma, SiddhantIndian Institute of Technology Delhi
Tuli, ShreshthIndian Institute of Technology Delhi
Paul, RohanIndian Institute of Technology Delhi
 
ThAT12-CC  Oral Session, CC-503 Add to My Program 
Deep Learning I  
 
Chair: Valada, AbhinavUniversity of Freiburg
Co-Chair: Barfoot, TimothyUniversity of Toronto
 
10:30-12:00, Paper ThAT12-CC.1 Add to My Program
 PCPNet: An Efficient and Semantic-Enhanced Transformer Network for Point Cloud Prediction

Luo, ZhenBeijing Institute of Technology
Ma, JunyiBeijing Institute of Technology
Zhou, ZijieBeijing Institute of Technology
Xiong, GuangmingBeijing Institute of Technology
 
10:30-12:00, Paper ThAT12-CC.2 Add to My Program
 N2M2: Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments

Honerkamp, DanielAlbert Ludwigs Universität Freiburg
Welschehold, TimAlbert-Ludwigs-Universität Freiburg
Valada, AbhinavUniversity of Freiburg
 
10:30-12:00, Paper ThAT12-CC.3 Add to My Program
 The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation

Thomas, HuguesUniversity of Toronto
Zhang, JianPurdue University
Barfoot, TimothyUniversity of Toronto
 
10:30-12:00, Paper ThAT12-CC.4 Add to My Program
 The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation

von Hartz, Jan OleUniversity of Freiburg
Chisari, EugenioUniversity of Freiburg
Welschehold, TimAlbert-Ludwigs-Universität Freiburg
Burgard, WolframUniversity of Technology Nuremberg
Boedecker, JoschkaUniversity of Freiburg
Valada, AbhinavUniversity of Freiburg
 
10:30-12:00, Paper ThAT12-CC.5 Add to My Program
 PBP: Path-Based Trajectory Prediction for Autonomous Driving

Afshar, SepidehMotional
Deo, NachiketUC San Diego
Bhagat, AkshayMotional AD Inc
Chakraborty, TitasMotional
Shao, YunmingZOOX
Buddharaju, Balarama RajuMotional AD
Deshpande, AdwaitGeorgia Institute of Technology
Cui, HenggangMotional
 
10:30-12:00, Paper ThAT12-CC.6 Add to My Program
 Sensorless Estimation of Contact Using Deep-Learning for Human-Robot Interaction

Shan, ShilinNanyang Technological University
Pham, Quang-CuongNTU Singapore
 
10:30-12:00, Paper ThAT12-CC.7 Add to My Program
 Merging Decision Transformers: Weight Averaging for Forming Multi-Task Policies

Lawson, DanielPurdue University
Qureshi, Ahmed H.Purdue University
 
ThAT13-AX  Oral Session, AX-201 Add to My Program 
Human-Robot Collaboration IV  
 
Chair: Morimoto, JunATR Computational Neuroscience Labs
Co-Chair: Xiao, JingWorcester Polytechnic Institute (WPI)
 
10:30-12:00, Paper ThAT13-AX.1 Add to My Program
 Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications

Yu, PianUniversity of Oxford
Dong, ShuyangUniversity of Virginia
Sheng, ShiliUniversity of Virginia
Feng, LuUniversity of Virginia
Kwiatkowska, kwiatkowska_floc18_4YQkwtC9University of Oxford
 
10:30-12:00, Paper ThAT13-AX.2 Add to My Program
 Towards Proactive Safe Human-Robot Collaborations Via Data-Efficient Conditional Behavior Prediction

Pandya, RaviCarnegie Mellon University
Wang, ZhuoyuanCarnegie Mellon University
Nakahira, YorieCMU
Liu, ChangliuCarnegie Mellon University
 
10:30-12:00, Paper ThAT13-AX.3 Add to My Program
 Risk-Bounded Online Team Interventions Via Theory of Mind

Zhang, YueningMassachusetts Institute of Technology
Robertson, PaulDynamic Object Language Labs Inc. (DOLL Inc.)
Shu, TianminMassachusetts Institute of Technology
Hong, SungkweonMassachusetts Institute of Technology
Williams, BrianMIT
 
10:30-12:00, Paper ThAT13-AX.4 Add to My Program
 Human-Robot Complementary Collaboration for Flexible and Precision Assembly

Cao, ShichenWorcester Polytechnic Institute
Xiao, JingWorcester Polytechnic Institute (WPI)
 
10:30-12:00, Paper ThAT13-AX.5 Add to My Program
 HAC-SLAM: Human Assisted Collaborative 3D-SLAM through Augmented Reality

Sayour, MalakAmerican University of Beirut
Yassine, Mohammad KarimAmerican University of Beirut
Dib, NadimAmerican University of Beirut
Elhajj, ImadAmerican University of Beirut
Asmar, BoulosIdealworks
Khoury, ElieIdealworks
Asmar, DanielAmerican University of Beirut
 
10:30-12:00, Paper ThAT13-AX.6 Add to My Program
 GAN-Based Semi-Supervised Training of LSTM Nets for Intention Recognition in Cooperative Tasks

Mavsar, MatijaJozef Stefan Institute
Morimoto, JunATR Computational Neuroscience Labs
Ude, AlesJozef Stefan Institute
 
10:30-12:00, Paper ThAT13-AX.7 Add to My Program
 CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation

Jain, AayushIrish Manufacturing Research and Technological University Dublin
Long, PhilipAtlantic Technological University
Villani, ValeriaUniversity of Modena and Reggio Emilia
Kelleher, John D.Trinity Colege Dublin
Leva, Maria ChiaraTechnological University Dublin
 
10:30-12:00, Paper ThAT13-AX.8 Add to My Program
 A Dynamic Planner for Safe and Predictable Human-Robot Collaboration

Pupa, AndreaUniversity of Modena and Reggio Emilia
Minelli, MarcoUniversity of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
 
10:30-12:00, Paper ThAT13-AX.9 Add to My Program
 Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference-Aligned Path Planning

Karnan, HareshThe University of Texas at Austin
Yang, ElvinUniversity of Michigan, Ann Arbor
Warnell, GarrettU.S. Army Research Laboratory
Stone, PeterUniversity of Texas at Austin
Biswas, JoydeepUniversity of Texas at Austin
 
ThAT15-AX  Oral Session, AX-203 Add to My Program 
Modeling and Simulating Humans  
 
Chair: Maruyama, HisatakaNagoya University
Co-Chair: Sui, YananTsinghua University
 
10:30-12:00, Paper ThAT15-AX.1 Add to My Program
 Towards Unifying Human Likeness: Evaluating Metrics for Human-Like Motion Retargeting on Bimanual Manipulation Tasks

Meixner, AndreKarlsruhe Institute of Technology (KIT)
Carl, MischaKarlsruhe Institute of Technology (KIT)
Krebs, FranziskaKarlsruhe Institute of Technology (KIT)
Jaquier, NoémieKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
10:30-12:00, Paper ThAT15-AX.2 Add to My Program
 MiBOT: A Head-Worn Robot That Modulates Cardiovascular Responses through Human-Like Soft Massage

Mylaeus, AliceETH Zurich
Vogt, StephanieETH Zurich
Demirel, Berken UtkuETH Zurich
Gort, MarcelETH Zurich
Meboldt, MirkoETH Zurich
Meier, ManuelETH Zurich
Holz, ChristianETH Zürich
 
10:30-12:00, Paper ThAT15-AX.3 Add to My Program
 ESP: Extro-Spective Prediction for Long-Term Behavior Reasoning in Emergency Scenarios

Wang, DingruiTechnical University of Munich
Zheyuan, LaiInceptio
Li, YudaInceptio Technology
Wu, YiNanjing University of Posts and Telecommunications
Ma, YuexinShanghaiTech University
Betz, JohannesTechnical University of Munich
Yang, RuigangUniversity of Kentucky
Li, WeiInceptio
 
10:30-12:00, Paper ThAT15-AX.4 Add to My Program
 SynthAct: Towards Generalizable Human Action Recognition Based on Synthetic Data

Schneider, DavidKarlsruhe Institute of Technology
Keller, MarcoKarlsruhe Institute of Technology (KIT)
Zhong, ZeyunKarlsruhe Institute of Technology
Peng, KunyuKarlsruhe Institute of Technology
Roitberg, AlinaUniversity of Stuttgart
Beyerer, JürgenFraunhofer Gesellschaft
Stiefelhagen, RainerKarlsruhe Institute of Technology
 
10:30-12:00, Paper ThAT15-AX.5 Add to My Program
 Visual-Tactile Robot Grasping Based on Human Skill Learning from Demonstrations Using a Wearable Parallel Hand Exoskeleton

Lu, ZhenyuBristol Robotics Laboratory
Chen, LuShanxi University
Dai, HengtaiUniversity of Bristol
Li, HaoranUniversity of Bristol
Zhao, ZhouCentral China Normal University
Zheng, BofangUniversity of Bristol
Lepora, NathanUniversity of Bristol
Yang, ChenguangUniversity of Liverpool
 
10:30-12:00, Paper ThAT15-AX.6 Add to My Program
 Workstation Suitability Maps: Generating Ergonomic Behaviors on a Population of Virtual Humans with Multi-Task Optimization

Zhong, JacquesCEA-List
Weistroffer, VincentCEA LIST
Mouret, Jean-BaptisteInria
Colas, FrancisInria Nancy Grand Est
Maurice, PaulineCnrs - Loria
 
10:30-12:00, Paper ThAT15-AX.7 Add to My Program
 Self Model for Embodied Intelligence: Modeling Full-Body Human Musculoskeletal System and Locomotion Control with Hierarchical Low-Dimensional Representation

He, KaiboTsinghua University
Zuo, ChenhuiTsinghua University
Shao, JingTsinghua University
Sui, YananTsinghua University
 
10:30-12:00, Paper ThAT15-AX.8 Add to My Program
 Keypoints-Guided Lightweight Network for Single-View 3D Human Reconstruction

Chen, YuhangSoutheast University
Wang, ChenxingSoutheast University
 
10:30-12:00, Paper ThAT15-AX.9 Add to My Program
 Moving Horizon Estimation of Human Kinematics and Muscle Forces

Ceglia, AmedeoUniversity of Montreal
Bailly, FrançoisINRIA, Université De Montpellier
Begon, MickaelUniversity of Montreal
 
ThAT16-AX  Oral Session, AX-204 Add to My Program 
Humanoid and Bipedal Locomotion  
 
Chair: Yi, JingangRutgers University
Co-Chair: Cheng, GordonTechnical University of Munich
 
10:30-12:00, Paper ThAT16-AX.1 Add to My Program
 Reinforcement Learning with Energy-Exchange Dynamics for Spring-Loaded Biped Robot Walking

Kuo, Cheng-YuNara Institute of Science and Technology
Shin, HirofumiHonda R&D Co., Ltd
Matsubara, TakamitsuNara Institute of Science and Technology
 
10:30-12:00, Paper ThAT16-AX.2 Add to My Program
 Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains

Chen, XunjieRutgers University
Aditya, AnikodeRutgers University
Yi, JingangRutgers University
Liu, TaoZhejiang University
 
10:30-12:00, Paper ThAT16-AX.3 Add to My Program
 Adaptive Passive Biped Dynamic Walking on Unknown Uneven Terrain

Pu, LishenTongji University
Liu, YixuanTongji University
Aiqun, ZhengShanghai New Tobacco Product Research Institute Co., Ltd
Qi, BofengDepartment of Control Science & Engineering, Tongji University
Xu, ChunquanTongji University
 
10:30-12:00, Paper ThAT16-AX.4 Add to My Program
 HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot Via Wasserstein Adversarial Imitation

Tang, AnnanThe University of Tokyo
Hiraoka, TakumaThe University of Tokyo
Hiraoka, NaokiThe University of Tokyo
Shi, FanETH Zürich
Kawaharazuka, KentoThe University of Tokyo
Kojima, KunioThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:30-12:00, Paper ThAT16-AX.5 Add to My Program
 Online Adaptive Motion Generation for Humanoid Locomotion on Non-Flat Terrain Via Template Behavior Extension (I)

Meng, XiangBeijing Institute of Technology
Yu, ZhangguoBeijing Institute of Technology
Chen, XuechaoBeijing Insititute of Technology
Huang, ZelinBeijing Institute of Technology
Meng, FeiBeijing Institute of Technology
Huang, QiangBeijing Institute of Technology
 
10:30-12:00, Paper ThAT16-AX.6 Add to My Program
 A Bio-Plausible Approach to Realizing Heat-Evoked Nociceptive Withdrawal Reflex on the Upper Limb of a Humanoid Robot

Wang, FengyiTechnical University of Munich
Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Thakor, Nitish V.Johns Hopkins University, Baltimore, USA
Cheng, GordonTechnical University of Munich
 
10:30-12:00, Paper ThAT16-AX.7 Add to My Program
 Fall Prediction for Bipedal Robots: The Standing Phase

Mungai, M. EvaUniversity of Michigan
Grizzle, J.WUniversity of Michigan
Prabhakaran, GokulUniveristy of Michigan
 
10:30-12:00, Paper ThAT16-AX.8 Add to My Program
 Shape-Changing Robotic Mannequin Shoulder with Bio-Inspired Layered Structure

Long, JuncaiZheJiang University
Li, JituoZhejiang University
Lu, YiwenZhejiang University
Zhou, ChengdiZheJiang University
Lu, GuoDongZhejiang University
Feng, YixiongZhejiang University
 
10:30-12:00, Paper ThAT16-AX.9 Add to My Program
 UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots

Sorrentino, InesIstituto Italiano Di Tecnologia
Romualdi, GiulioIstituto Italiano Di Tecnologia
Pucci, DanieleItalian Institute of Technology
 
ThAT17-AX  Oral Session, AX-205 Add to My Program 
Reactive and Sensor-Based Planning  
 
Chair: Akai, NaokiNagoya University
Co-Chair: Pantic, MichaelETH Zürich
 
10:30-12:00, Paper ThAT17-AX.1 Add to My Program
 Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance

Reijgwart, VictorETH Zurich
Pantic, MichaelETH Zürich
Siegwart, RolandETH Zurich
Ott, LionelETH Zurich
 
10:30-12:00, Paper ThAT17-AX.2 Add to My Program
 Whisker-Based Tactile Navigation Algorithm for Underground Robots

Kossas, TanelTallinn University of Technology
Remmas, WalidTallinn University of Technology / Université De Montpellier
Gkliva, RozaTallinn University of Technology
Ristolainen, AskoTallinn University of Technology
Kruusmaa, MaarjaTallinn University of Technology (TalTech)
 
10:30-12:00, Paper ThAT17-AX.3 Add to My Program
 Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation

Miura, TakatoNagoya University
Akai, NaokiNagoya University
Honda, KoheiNagoya University
Hara, SusumuNagoya University
 
10:30-12:00, Paper ThAT17-AX.4 Add to My Program
 RETOM: Leveraging Maneuverability for Reactive Tool Manipulation Using Wrench-Fields

Eberle, FelixTechnical University of Munich
Laha, RiddhimanTechnical University of Munich
Yao, HaowenTechnical Univerity of Munich
Naceri, AbdeldjallilTechnical University of Munich
Figueredo, LuisTechnical University of Munich (TUM)
Haddadin, SamiTechnical University of Munich
 
10:30-12:00, Paper ThAT17-AX.5 Add to My Program
 Optimal Prescribed-Time Control Based Reactive Planning System for Quadruped Robot Navigation

Xu, ShaohangHuazhong University of Science and Technology
Zhang, WentaoHuazhong University of Science and Technology
Ho, Chin PangCity University of Hong Kong
Zhu, LijunHuazhong University of Science and Technology
 
10:30-12:00, Paper ThAT17-AX.6 Add to My Program
 On the Fly Robotic-Assisted Medical Instrument Planning and Execution Using Mixed Reality

Ai, LetianJohns Hopkins University
Liu, YihaoJohns Hopkins University
Armand, MehranJohns Hopkins University
Kheradmand, AmirJohns Hopkins University
Martin-Gomez, AlejandroJohns Hopkins University
 
10:30-12:00, Paper ThAT17-AX.7 Add to My Program
 K-VIL: Keypoints-Based Visual Imitation Learning

Gao, JianfengKarlsruhe Institute of Technology (KIT)
Tao, ZhiKarlsruhe Institute of Technology
Jaquier, NoémieKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
10:30-12:00, Paper ThAT17-AX.8 Add to My Program
 Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer

Zeug, FabriceGottfried Wilhelm Leibniz Universität Hannover
Becker, MarvinGottfried Wilhelm Leibniz Universität Hannover
Müller, Matthias A.Gottfried Wilhelm Leibniz Universität Hannover
 
10:30-12:00, Paper ThAT17-AX.9 Add to My Program
 Autonomous Mapless Navigation on Uneven Terrains

Jardali, HassanIndiana University
Ali, MahmoudIndiana University
Liu, LantaoIndiana University
 
ThAT18-AX  Oral Session, AX-206 Add to My Program 
Optimization and Optimal Control III  
 
Chair: Del Prete, AndreaUniversity of Trento
Co-Chair: Calinon, SylvainIdiap Research Institute
 
10:30-12:00, Paper ThAT18-AX.1 Add to My Program
 Optimal Control of Granular Material

Aoyama, YuichiroGeorgia Institute of Technology
Haeri, AminConcordia University
Theodorou, EvangelosGeorgia Institute of Technology
 
10:30-12:00, Paper ThAT18-AX.2 Add to My Program
 CACTO: Continuous Actor-Critic with Trajectory Optimization---Towards Global Optimality

Grandesso, GianluigiUniversity of Trento
Alboni, ElisaUniversity of Trento
Rosati Papini, Gastone PietroUniversity of Trento
Wensing, Patrick M.University of Notre Dame
Del Prete, AndreaUniversity of Trento
 
10:30-12:00, Paper ThAT18-AX.3 Add to My Program
 Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing

Xue, HaoruCarnegie Mellon University
Zhu, EdwardUniversity of California, Berkeley
Dolan, John M.Carnegie Mellon University
Borrelli, FrancescoUniversity of California, Berkeley
 
10:30-12:00, Paper ThAT18-AX.4 Add to My Program
 Robust Balancing Control of Biped Robots for External Forces

Park, Hae YeonPOSTECH
Kim, Jung HoonPohang University of Science and Technology
 
10:30-12:00, Paper ThAT18-AX.5 Add to My Program
 Robust Policy Iteration of Uncertain Interconnected Systems with Imperfect Data (I)

Qasem, OmarAmerican International University
Gao, WeinanFlorida Institute of Technology
 
10:30-12:00, Paper ThAT18-AX.6 Add to My Program
 Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability

Girlanda, FedericoUniversity of Padua
Kumar, ShiveshDFKI GmbH
Shala, LasseDeutsches Forschungszentrum Für Künstliche Intelligenz
Kirchner, FrankUniversity of Bremen
 
10:30-12:00, Paper ThAT18-AX.7 Add to My Program
 Whole-Body Ergodic Exploration with a Manipulator Using Diffusion

Bilaloglu, CemIdiap Research Institute, École Polytechnique Fédérale De Lausan
Löw, TobiasIdiap Research Institute, EPFL
Calinon, SylvainIdiap Research Institute
 
10:30-12:00, Paper ThAT18-AX.8 Add to My Program
 ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control

Bishop, ArunCarnegie Mellon University
Zhang, JohnCarnegie Mellon University
Gurumurthy, SwaminathanCarnegie Mellon University
Tracy, KevinCarnegie Mellon University
Manchester, ZacharyCarnegie Mellon University
 
ThAT19-NT  Oral Session, NT-G301 Add to My Program 
Surgical Robotics I  
 
Chair: Jones, DominicUniversity of Leeds
Co-Chair: Kanoulas, DimitriosUniversity College London
 
10:30-12:00, Paper ThAT19-NT.1 Add to My Program
 Markerless Ultrasound Probe Pose Estimation in Mini-Invasive Surgery

Kalantari, Mohammad MahdiClermont Auvergne INP, CNRS, SIGMA Clermont, Institut Pascal
Ozgur, ErolSIGMA-Clermont / Institut Pascal
Alkhatib, MohammadUniversité Clermont Auvergne
Buc, EmmanuelUniversity Hospital of Clermont-Ferrand, France
Le Roy, BertrandUniversity Hospital of Saint-Etienne, France
Modrzejewski, RichardSurgAR
Mezouar, YoucefClermont Auvergne INP - SIGMA Clermont
Bartoli, AdrienUCA
 
10:30-12:00, Paper ThAT19-NT.2 Add to My Program
 Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues with 3D Surface Feedback

Hu, JunleiUniversity of Leeds
Jones, DominicUniversity of Leeds
Dogar, Mehmet RUniversity of Leeds
Valdastri, PietroUniversity of Leeds
 
10:30-12:00, Paper ThAT19-NT.3 Add to My Program
 Sensorless Transparency Optimized Haptic Teleoperation on the Da Vinci Research Kit

Yilmaz, NuralMarmara University
Burkhart, BrendanJohns Hopkins University
Deguet, AntonJohns Hopkins University
Kazanzides, PeterJohns Hopkins University
Tumerdem, UgurMarmara University
 
10:30-12:00, Paper ThAT19-NT.4 Add to My Program
 Multimodal Transformers for Real-Time Surgical Activity Prediction

Weerasinghe, KesharaUniversity of Virginia
Roodabeh, Seyed HamidRezaUniversity of Virginia
Hutchinson, KayUniversity of Virginia
Alemzadeh, HomaUniversity of Virginia
 
10:30-12:00, Paper ThAT19-NT.5 Add to My Program
 Learning Needle Pick-And-Place without Expert Demonstrations

Bendikas, RokasUCL
Modugno, ValerioUniversity College London
Kanoulas, DimitriosUniversity College London
Vasconcelos, FranciscoUniversity College London
Stoyanov, DanailUniversity College London
 
10:30-12:00, Paper ThAT19-NT.6 Add to My Program
 Learning Nonprehensile Dynamic Manipulation: Sim2real Vision-Based Policy with a Surgical Robot

Gondokaryono, RadianUniversity of Toronto
Haiderbhai, MustafaUniversity of Toronto
Suryadevara, Sai AneeshIndian Institute of Technology Bombay
Kahrs, Lueder AlexanderUniversity of Toronto Mississauga
 
10:30-12:00, Paper ThAT19-NT.7 Add to My Program
 Realistic Data Generation for 6D Pose Estimation of Surgical Instruments

Barragan, Juan AntonioJohns Hopkins University
Zhang, JintanJohns Hopkins University
Zhou, HaoyingWorcester Polytechnic Institute
Munawar, AdnanJohns Hopkins University
Kazanzides, PeterJohns Hopkins University
 
10:30-12:00, Paper ThAT19-NT.8 Add to My Program
 Surgical Gym: A High-Performance GPU-Based Platform for Reinforcement Learning with Surgical Robots

Schmidgall, SamuelJohns Hopkins University
Krieger, AxelJohns Hopkins University
Eshraghian, JasonUniversity of California, Santa Cruz
 
10:30-12:00, Paper ThAT19-NT.9 Add to My Program
 Multi-Objective Cross-Task Learning Via Goal-Conditioned GPT-Based Decision Transformers for Surgical Robot Task Automation

Fu, JiaweiInstitute of Artificial Intelligence and Robotics
Long, YonghaoThe Chinese University of Hong Kong
Chen, KaiThe Chinese University of Hong Kong
Wei, WangThe Chinese University of Hong Kong
Dou, QiThe Chinese University of Hong Kong
 
ThAT20-NT  Oral Session, NT-G302 Add to My Program 
Safety in HRI  
 
Chair: Haddadin, SamiTechnical University of Munich
Co-Chair: Kamezaki, MitsuhiroThe University of Tokyo
 
10:30-12:00, Paper ThAT20-NT.1 Add to My Program
 Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots

Škerlj, JonTechnical University of Munich
Hamad, MazinTechnical University of Munich (TUM)
Elsner, JeanTechnical University of Munich
Naceri, AbdeldjallilTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
10:30-12:00, Paper ThAT20-NT.2 Add to My Program
 Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions

Shen, ZhengTU Munich
Saveriano, MatteoUniversity of Trento
Abu-Dakka, FaresMondragon University
Haddadin, SamiTechnical University of Munich
 
10:30-12:00, Paper ThAT20-NT.3 Add to My Program
 Real-Time Batched Distance Computation for Time-Optimal Safe Path Tracking

Fujii, ShoheiNanyang Technological University, DENSO Corporation
Pham, Quang-CuongNTU Singapore
 
10:30-12:00, Paper ThAT20-NT.4 Add to My Program
 Overcoming Hand and Arm Occlusion in Human-To-Robot Handovers: Predicting Safe Poses with a Multimodal DNN Regression Model

Lollett, CatherineWaseda University
Sriram, AdvaithWaseda University
Kamezaki, MitsuhiroThe University of Tokyo
Sugano, ShigekiWaseda University
 
10:30-12:00, Paper ThAT20-NT.5 Add to My Program
 Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions

Geldenbott, JasperUniversity of Washington
Leung, KarenUniversity of Washington
 
10:30-12:00, Paper ThAT20-NT.6 Add to My Program
 Integrated Data-Driven Inference and Planning-Based Human Motion Prediction for Safe Human-Robot Interaction

Nam, YoungimUlsan National Institute of Science and Technology
Kwon, CheolhyeonUlsan National Institute of Science and Technology
 
10:30-12:00, Paper ThAT20-NT.7 Add to My Program
 How Does Perception Affect Safety: New Metrics and Strategy

Zhang, XiaotongMassachusetts Institute of Technology
Chong, JingerMassachusetts Institute of Technology
Youcef-Toumi, KamalMassachusetts Institute of Technology
 
10:30-12:00, Paper ThAT20-NT.8 Add to My Program
 Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators

Zhang, ZhiquanUniversity of Pennsylvania
Li, TianyuUniversity of Pennsylvania
Figueroa, NadiaUniversity of Pennsylvania
 
10:30-12:00, Paper ThAT20-NT.9 Add to My Program
 Boosting Adversarial Training in Safety-Critical Systems through Boundary Data Selection

Jia, YifanZhejiang University
Poskitt, Christopher M.Singapore Management University
Zhang, PeixinSingapore Management University
Wang, JingyiZhejiang University
Sun, JunSingapore Management University
Chattopadhyay, SudiptaSingapore University of Technology and Design
 
ThAT21-NT  Oral Session, NT-G303 Add to My Program 
Micro/Nano Robots I  
 
Chair: Xu, QingsongUniversity of Macau
Co-Chair: Cappelleri, DavidPurdue University
 
10:30-12:00, Paper ThAT21-NT.1 Add to My Program
 Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Zhao, YueBeijing Institute of Technology
Liu, XiaomingBeijing Institute of Technology
Wang, RuixiTsinghua University
Liu, DanBeijing Institute of Technology
Kojima, MasaruOsaka University
Huang, QiangBeijing Institute of Technology
Arai, TatsuoUniversity of Electro-Communications
 
10:30-12:00, Paper ThAT21-NT.2 Add to My Program
 Thin-Film NiTi Microactuator with a Magnetic Spring for a Tiny Launcher Mechanism

Kim, SukjunUniversity of California, San Diego
Bergbreiter, SarahCarnegie Mellon University
 
10:30-12:00, Paper ThAT21-NT.3 Add to My Program
 Nature-Inspired Bubble Magnetic Microrobots for Multimode Locomotion, Cargo Delivery, Imaging, and Biosensing

Xu, ZichenUniversity of Macau
Xu, QingsongUniversity of Macau
Yu, Hon HoKiang Wu Hospital
 
10:30-12:00, Paper ThAT21-NT.4 Add to My Program
 Magnetic Mobile Micro-Gripping MicroRobots (MMμGRs) with Two Independent Magnetic Actuation Modes

Davis, Aaron C.Purdue University
Freeman, EmmettPurdue University
Cappelleri, DavidPurdue University
 
10:30-12:00, Paper ThAT21-NT.6 Add to My Program
 Electroosmotic Self-Propelled Microswimmer with Magnetic Steering

Yamanaka, ToshiroThe University of Tokyo
Arai, FumihitoThe University of Tokyo
 
10:30-12:00, Paper ThAT21-NT.7 Add to My Program
 A Flat Tendon-Driven Continuum Microrobot for Brain Interventions

Noseda, LorenzoEPFL
Liu, AddisonHarvard University
Pancaldi, LucioEPFL
Sakar, Mahmut SelmanEPFL
 
10:30-12:00, Paper ThAT21-NT.8 Add to My Program
 A Selectively Controllable Triple-Helical Micromotor

Zhao, HongyuShenzhen Institute of Artificial Intelligence and Robotics for S
Ye, MinShenzhen Institute of Artificial Inteligence and Robotics for So
Nelson, Bradley J.ETH Zurich
Wang, XiaopuShenzhen Institute of Artificial Intelligence and Robotics for S
 
ThAT22-NT  Oral Session, NT-G304 Add to My Program 
Space Robotics II  
 
Chair: Abiko, SatokoShibaura Institute of Technology
Co-Chair: Hirano, DaichiJapan Aerospace Exploration Agency
 
10:30-12:00, Paper ThAT22-NT.1 Add to My Program
 System Identification of Space Manipulator Systems and Its Implications on Robust Control Performance

Rekleitis, GeorgiosNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
10:30-12:00, Paper ThAT22-NT.2 Add to My Program
 Model Design and Concept of Operations of Standard Interface for On-Orbit Construction

Zhao, JingdongHarbin Institute of Technology
Wang, ZiruiHarbin Institute of Technology
Liu, ZiyiHarbin Institute of Technology
Zhao, LiangliangHarbin Institute of Technology
Duan, QifanHarbin Institute of Technology
Liu, HongHarbin Institute of Technology
 
10:30-12:00, Paper ThAT22-NT.3 Add to My Program
 Enabling Faster Locomotion of Planetary Rovers with a Mechanically-Hybrid Suspension

Rodríguez-Martínez, DavidÉcole Polytechnique Fédérale De Lausanne (EPFL)
Uno, KentaroTohoku University
Sawa, KentaTohoku University
Uda, MasahiroTohoku University
Kudo, GenTohoku University
Diaz Huenupan, Gustavo HernanTohoku University
Umemura, AyumiTohoku University
Santra, ShreyaTohoku University
Yoshida, KazuyaTohoku University
 
10:30-12:00, Paper ThAT22-NT.4 Add to My Program
 RoboBall: An All-Terrain Spherical Robot with a Pressurized Shell

Oevermann, MicahTexas A&M University
Pravecek, DerekTexas A&M University
Jibrail, Joseph GarrettTexas A&M University
Jangale, RishiTexas A&M University
Ambrose, RobertTexas A&M University
 
10:30-12:00, Paper ThAT22-NT.5 Add to My Program
 Enhanced Multifunctional Interface for Reconfigurability of Robotic Teams in Planetary Applications

Yüksel, MehmedDFKI GmbH
Brinkmann, WiebkeDFKI Robotics Innovation Center Bremen
Jankovic, MarkoGerman Research Center for Artificial Intelligence GmbH (DFKI)
Kücüker, Hilmi DoguDFKI-RIC
Kirchner, FrankUniversity of Bremen
 
10:30-12:00, Paper ThAT22-NT.6 Add to My Program
 Autonomous Perching on Flat Surfaces for Free-Flying Robots with Gecko Adhesive Gripper

Hirano, DaichiJapan Aerospace Exploration Agency
Tanishima, NobutakaJAXA
Chen, Tony G.Stanford University
 
10:30-12:00, Paper ThAT22-NT.7 Add to My Program
 VWDER: A Variable Wheel-Diameter Ellipsoidal Robot

Qin, ZiaoBeijing University of Posts and Telecommunications
Song, JingzhouBeijing University of Posts and Telecommunications
Gong, XinglongBeijing University of Posts and Telecommunications
Liu, ChangruiBeijing University of Posts and Telecommunications
 
10:30-12:00, Paper ThAT22-NT.8 Add to My Program
 On Robust Control Laws Trade-Off Analysis for Space Manipulators with Uncertain Parameters and Flexible Appendages

Nanos, KostasNational Technical University of Athens
Chachamis, EfstathiosNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
ThAT23-NT  Oral Session, NT-G401 Add to My Program 
Aerial Systems: Perception and Autonomy I  
 
Chair: Scherer, SebastianCarnegie Mellon University
Co-Chair: Kyriakopoulos, KostasNew York University - Abu Dhabi
 
10:30-12:00, Paper ThAT23-NT.1 Add to My Program
 N-MPC for Deep Neural Network-Based Collision Avoidance Exploiting Depth Images

Jacquet, MartinNTNU
Alexis, KostasNTNU - Norwegian University of Science and Technology
 
10:30-12:00, Paper ThAT23-NT.2 Add to My Program
 Aerial Transportation of Cable-Suspended Loads with an Event Camera

Panetsos, FotisNational Technical University of Athens
Karras, GeorgeUniversity of Thessaly
Kyriakopoulos, KostasNew York University - Abu Dhabi
 
10:30-12:00, Paper ThAT23-NT.3 Add to My Program
 Autonomous Overhead Powerline Recharging for Uninterrupted Drone Operations

Duong Hoang, VietUniversity of Southern Denmark
Falk Nyboe, FrederikUniversity of Southern Denmark
Malle, NicolajUniversity of Southern Denmark
Ebeid, EmadUniversity of Southern Denmark
 
10:30-12:00, Paper ThAT23-NT.4 Add to My Program
 LPNet: A Reaction-Based Local Planner for Autonomous Collision Avoidance Using Imitation Learning

Lu, JunjieTianjin University
Tian, BailingTianjin University
Shen, HongmingNanyang Technological University
Zhang, XueweiTianjin University
Hui, YulinTianjin University
 
10:30-12:00, Paper ThAT23-NT.5 Add to My Program
 Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Changoluisa Caiza, Ivan DavidUniversity of Zagreb
Milas, AnaUniversity of Zagreb, Faculty of Electrical Engineering and Comp
Montes Grova, Marco AntonioCenter for Advanced Aerospace Technologies (CATEC)
Perez Grau, Francisco JavierCenter for Advanced Aerospace Technologies
Petrovic, TamaraUniv. of Zagreb
 
10:30-12:00, Paper ThAT23-NT.6 Add to My Program
 Learning Multi-Scale Context Mask-RCNN Network for Slant Angled Aerial Imagery in Instance Segmentation Using Sim2Real

Saadiyean, QiranulIndian Institute of Science, Banglore
S P, SamprithiPES University
Sundaram, SureshIndian Institute of Science
 
10:30-12:00, Paper ThAT23-NT.7 Add to My Program
 Real-Time Multi-Modal Active Vision for Object Detection on UAVs Equipped with Limited Field of View LiDAR and Camera

Shi, ChuanbeibeiUniveristy of Bristol
Lai, GanghuaBeijing Institute of Technology
Yu, YushuBeijing Institute of Technology
Bellone, MauroTallinn University of Technology
Lippiello, VincenzoUniversity of Naples FEDERICO II
 
10:30-12:00, Paper ThAT23-NT.8 Add to My Program
 High-Speed Stereo Visual SLAM for Low-Powered Computing Devices

Kumar, AshishIndian Institute of Technology, Kanpur
Park, JaesikSeoul National University
Behera, LaxmidharIIT Kanpur
 
ThAT24-NT  Oral Session, NT-G402 Add to My Program 
Robotics and Automation in Agriculture and Forestry II  
 
Chair: Karydis, KonstantinosUniversity of California, Riverside
Co-Chair: Singh, Arun KumarUniversity of Tartu
 
10:30-12:00, Paper ThAT24-NT.1 Add to My Program
 Robotic Assessment of a Crop's Need for Watering

Dechemi, AmelUniversity of California, Riverside
Chatziparaschis, DimitriosUC Riverside
Chen, JoshuaUniversity of California, Riverside
Campbell, MerrickUniversity of California, Riverside
Shamshirgaran, AzinUniversity of California, Merced
Mucchiani, CaioUniversity of California Riverside
Roy-Chowdhury, AmitUniversity of California, Riverside
Carpin, StefanoUniversity of California, Merced
Karydis, KonstantinosUniversity of California, Riverside
 
10:30-12:00, Paper ThAT24-NT.2 Add to My Program
 Enhancement on Target-Gripper Alignment: A Tomato Harvesting Robot with Dual-Camera Image-Based Visual Servoing

Lian, Feng-LiNational Taiwan University
Wang, Lu-ChingNational Taiwan University
Chu, Yen-ChengNational Taiwan University
 
10:30-12:00, Paper ThAT24-NT.3 Add to My Program
 Few-Shot Fruit Segmentation Via Transfer Learning

James, JordanUniversity of Texas at Arlington
Manching, Heather K.North Carolina State University
Hulse-Kemp, Amanda M.North Carolina State University
Beksi, William J.The University of Texas at Arlington
 
10:30-12:00, Paper ThAT24-NT.4 Add to My Program
 Spatio-Temporal Correspondence Estimation of Growing Plants by Hausdorff Distance Based Skeletonization for Organ Tracking

Pandey, Sharmistha BISRO
Colliaux, DavidSony CSL Paris
Chaudhury, AyanIndian Institute of Technology Kharagpur
 
10:30-12:00, Paper ThAT24-NT.5 Add to My Program
 Field Robot for High-Throughput and High-Resolution 3D Plant Phenotyping

Esser, FelixUniversity of Bonn
Rosu, Radu AlexandruUniversity of Bonn
Cornelissen, AndreUniversity of Bonn
Klingbeil, LasseUniversity of Bonn
Kuhlmann, HeinerUniversity of Bonn
Behnke, SvenUniversity of Bonn
 
10:30-12:00, Paper ThAT24-NT.6 Add to My Program
 A Hybrid Controller Enhancing Transient Performance for an Aerial Manipulator Extracting a Wedged Object (I)

Byun, JeonghyunSeoul National University
Jang, InkyuSeoul National University
Lee, DongjaeSeoul National University
Kim, H. JinSeoul National University
 
10:30-12:00, Paper ThAT24-NT.7 Add to My Program
 VACNA: Visibility-Aware Cooperative Navigation with Application in Inventory Management

Masnavi, HoumanInstitute of Technology, University of Tartu
Shrestha, JatanUniversity of Tartu
Kruusamäe, KarlUniversity of Tartu
Singh, Arun KumarUniversity of Tartu
 
10:30-12:00, Paper ThAT24-NT.8 Add to My Program
 A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties

Sankaranarayanan, Viswa NarayananLulea University of Techonology
Saradagi, AkshitLuleå University of Technology, Luleå, Sweden
Satpute, SumeetLuleå University of Technology
Nikolakopoulos, GeorgeLuleå University of Technology
 
ThAT25-NT  Oral Session, NT-G403 Add to My Program 
Localization VII  
 
Chair: Lu, Chris XiaoxuanUniversity College London
Co-Chair: Schwertfeger, SörenShanghaiTech University
 
10:30-12:00, Paper ThAT25-NT.1 Add to My Program
 Multimodal Indoor Localization Using Crowdsourced Radio Maps

Yi, ZhaoguangUniversity of Edinburgh
Wen, XiangyuThe University of Edinburgh
Xia, QiyueUniversity of Edinburgh
Li, PeizeUniversity of Edinburgh
Zampella, FranciscoEdinburgh Research Center, Huawei Technologies Co., Ltd
Alsehly, FirasHuawei Technologies R&D UK
Lu, Chris XiaoxuanUniversity of Edinburgh
 
10:30-12:00, Paper ThAT25-NT.2 Add to My Program
 CLIP-Loc: Multi-Modal Landmark Association for Global Localization in Object-Based Maps

Matsuzaki, ShigemichiToyota Motor Corporation
Sugino, TakumaToyota Motor Corporation
Tanaka, KazuhitoToyota Motor Corporation
Sha, ZijunToyota Motor Corporation
Nakaoka, ShintaroKeio University
Yoshizawa, ShintaroToyota Motor Corporation
Shintani, KazuhiroToyota Motor Corporation
 
10:30-12:00, Paper ThAT25-NT.3 Add to My Program
 Multiple Update Particle Filter: Position Estimation by Combining GNSS Pseudorange and Carrier Phase Observations

Suzuki, TaroChiba Institute of Technology
 
10:30-12:00, Paper ThAT25-NT.4 Add to My Program
 Robust Lifelong Indoor LiDAR Localization Using the Area Graph

Xie, FujingShanghaitech University
Schwertfeger, SörenShanghaiTech University
 
10:30-12:00, Paper ThAT25-NT.5 Add to My Program
 Multi-Camera Asynchronous Ball Localization and Trajectory Prediction with Factor Graphs and Human Poses

Xiao, QingyuGeorgia Institute of Technology
Zaidi, ZulfiqarGeorgia Institute of Technology
Gombolay, MatthewGeorgia Institute of Technology
 
10:30-12:00, Paper ThAT25-NT.6 Add to My Program
 Doppler-Only Single-Scan 3D Vehicle Odometry

Galeote-Luque, AndresUniversidad De Málaga
Kubelka, VladimirÖrebro University
Magnusson, MartinÖrebro University
Ruiz-Sarmiento, J.R.University of Malaga
Gonzalez-Jimenez, JavierUniversity of Malaga
 
10:30-12:00, Paper ThAT25-NT.7 Add to My Program
 Do We Need Scan-Matching in Radar Odometry?

Kubelka, VladimirÖrebro University
Fritz, EmilÖrebro University
Magnusson, MartinÖrebro University
 
10:30-12:00, Paper ThAT25-NT.8 Add to My Program
 Outram: One-Shot Global Localization Via Triangulated Scene Graph and Global Outlier Pruning

Yin, PengyuNanyang Technological University
Cao, HaozhiNanyang Technological University
Nguyen, Thien-MinhNanyang Technological University
Yuan, ShenghaiNanyang Technological University
Zhang, ShuyangThe Hong Kong University of Science and Technology
Liu, KangchengETH Zurich
Xie, LihuaNanyangTechnological University
 
10:30-12:00, Paper ThAT25-NT.9 Add to My Program
 Fast and Consistent Covariance Recovery for Sliding-Window Optimization-Based VINS

Chen, ChuchuUniversity of Delaware
Peng, YuxiangUniversity of Delaware
Huang, GuoquanUniversity of Delaware
 
ThAT26-NT  Oral Session, NT-G404 Add to My Program 
SLAM IV  
 
Chair: Pu, JianFudan University
Co-Chair: Rosen, DavidNortheastern University
 
10:30-12:00, Paper ThAT26-NT.1 Add to My Program
 LONER: LiDAR Only Neural Representations for Real-Time SLAM

Isaacson, SethUniversity of Michigan
Kung, Pou-ChunUniversity of Michigan, Ann Arbor
Srinivasan Ramanagopal, ManikandasriramCarnegie Mellon University
Vasudevan, RamUniversity of Michigan
Skinner, KatherineUniversity of Michigan
 
10:30-12:00, Paper ThAT26-NT.2 Add to My Program
 LIO-EKF: High Frequency LiDAR-Inertial Odometry Using Extended Kalman Filters

Wu, YibinUniversity of Bonn
Guadagnino, TizianoUniversity of Bonn
Wiesmann, LouisUniversity of Bonn
Klingbeil, LasseUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
Kuhlmann, HeinerUniversity of Bonn
 
10:30-12:00, Paper ThAT26-NT.3 Add to My Program
 Multi-LIO: A Lightweight Multiple LiDAR-Inertial Odometry System

Chen, QiFudan University
Li, GuanghaoFudan University
Xue, XiangyangFudan University
Pu, JianFudan University
 
10:30-12:00, Paper ThAT26-NT.4 Add to My Program
 The Importance of Coordinate Frames in Dynamic SLAM

Morris, JesseUniversity of Sydney
Wang, YiduoUniversity of Sydney
Ila, ViorelaThe University of Sydney
 
10:30-12:00, Paper ThAT26-NT.5 Add to My Program
 VoxelMap++: Mergeable Voxel Mapping Method for Online LiDAR(-Inertial) Odometry

Wu, ChangUniversity of Electronic Science and Technology of China (UESTC)
You, YuanUniversity of Electronic Science and Technology of China
Yuan, YifeiUniversity of Electronic Science and Technology of China
Kong, XiaotongUniversity of Electronic Science and Technology of China (UESTC)
Zhang, YingUniversity of Electronic Science and Technology of China
Li, QiyanUniversity of Electronic Science and Technology of China
Zhao, KaiyongHong Hong Baptist University
 
10:30-12:00, Paper ThAT26-NT.6 Add to My Program
 Efficient and Consistent Bundle Adjustment on Lidar Point Clouds

Liu, ZhengUniversity of Hong Kong
Liu, XiyuanThe University of Hong Kong
Zhang, FuUniversity of Hong Kong
 
10:30-12:00, Paper ThAT26-NT.7 Add to My Program
 DORF: A Dynamic Object Removal Framework for Robust Static LiDAR Mapping in Urban Environments

Chen, ZhimingHong Kong University of Science and Technology
Zhang, KunHong Kong University of Science and Technology
Chen, HuaSouthern University of Science and Technology
Wang, Michael YuMywang@gbu.edu.cn
Zhang, WeiSouthern University of Science and Technology
Yu, HongyuThe Hong Kong University of Science and Technology
 
10:30-12:00, Paper ThAT26-NT.8 Add to My Program
 ImMesh: An Immediate LiDAR Localization and Meshing Framework

Lin, JiarongThe University of Hong Kong
Yuan, ChongjianThe University of Hong Kong
Cai, YixiUniversity of Hong Kong
Li, HaotianThe University of Hong Kong
Ren, YunfanThe University of Hong Kong
Zou, YuyingThe University of Hong Kong
Hong, XiaopingSouthern University of Science and Technology
Zhang, FuUniversity of Hong Kong
 
10:30-12:00, Paper ThAT26-NT.9 Add to My Program
 OASIS: Optimal Arrangements for Sensing in SLAM

Kaveti, PushyamiNortheastern University
Giamou, MatthewMcMaster University
Singh, HanumantNortheatern University
Rosen, DavidNortheastern University
 
ThAT27-NT  Oral Session, NT-G2 Add to My Program 
Dexterous Manipulation I  
 
Chair: Pinto, LerrelNew York University
Co-Chair: Kasaei, MohammadrezaUniversity of Edinburgh
 
10:30-12:00, Paper ThAT27-NT.1 Add to My Program
 See to Touch: Learning Tactile Dexterity through Visual Incentives

Guzey, IrmakNew York University
Dai, YinlongNYU
Evans, BenNew York University
Chintala, SoumithFacebook AI Research
Pinto, LerrelNew York University
 
10:30-12:00, Paper ThAT27-NT.2 Add to My Program
 Real-Time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints

Chen, KejiaTechnical University of Munich
Bing, ZhenshanTechnical University of Munich
Wu, YansongTechnische Universität München
Wu, FanTechnical University of Munich
Zhang, LidingTechnical University of Munich
Haddadin, SamiTechnical University of Munich
Knoll, AloisTech. Univ. Muenchen TUM
 
10:30-12:00, Paper ThAT27-NT.3 Add to My Program
 Self-Supervised Learning for Joint Pushing and Grasping Policies in Highly Cluttered Environments

Wang, YongliangUniversity of Groningen
Mokhtar, KamalUniversity of Groningen
Heemskerk, CockHeemkerk Innovative Technology
Kasaei, HamidrezaUniversity of Groningen
 
10:30-12:00, Paper ThAT27-NT.4 Add to My Program
 A Robust Model Predictive Controller for Tactile Servoing

Wang, ShuaiTencent
Huang, YihaoThe University of Manchester
Lee, Wang WeiTencent
Liu, TianliangHarbin Institute of Technology
Teng, XiaoKeppel-NUS Corporate Lab, National University of Singapore
Zheng, YuTencent
Li, QiangShenzhen Technology University
 
10:30-12:00, Paper ThAT27-NT.5 Add to My Program
 Harnessing the Synergy between Pushing, Grasping, and Throwing to Enhance Object Manipulation in Cluttered Scenarios

Kasaei, HamidrezaUniversity of Groningen
Kasaei, MohammadrezaUniversity of Edinburgh
 
10:30-12:00, Paper ThAT27-NT.6 Add to My Program
 Direct Self-Identification of Inverse Jacobians for Dexterous Manipulation through Particle Filtering

Grace, JoshuaYale University
Chanrungmaneekul, PodsharaRice University
Hang, KaiyuRice University
Dollar, AaronYale University
 
10:30-12:00, Paper ThAT27-NT.7 Add to My Program
 Masked Visual-Tactile Pre-Training for Robot Manipulation

Liu, QingtaoZhejiang University
Ye, QiZhejiang University
Sun, ZhengnanZhejiang University
Cui, YuZhejiang University
Li, GaofengZhejiang University
Chen, JimingZhejiang University
 
10:30-12:00, Paper ThAT27-NT.8 Add to My Program
 Tactile Estimation of Extrinsic Contact Patch for Stable Placement

Ota, KeiTokyo Institute of Technology
Jha, DeveshMitsubishi Electric Research Laboratories
Jatavallabhula, Krishna MurthyMIT
Kanezaki, AsakoTokyo Institute of Technology
Tenenbaum, JoshuaMassachusetts Institute of Technology
 
10:30-12:00, Paper ThAT27-NT.9 Add to My Program
 Robotic Manipulation of Hand Tools: The Case of Screwdriving

Tang, LingIowa State University
Jia, Yan-BinIowa State University
Xue, YuechuanAmazon.com
 
ThAT28-NT  Oral Session, NT-G4 Add to My Program 
Perception for Grasping and Manipulation I  
 
Chair: Jin, LongLanzhou University
Co-Chair: Lee, DongjunSeoul National University
 
10:30-12:00, Paper ThAT28-NT.1 Add to My Program
 You Only Scan Once: A Dynamic Scene Reconstruction Pipeline for 6-DoF Robotic Grasping of Novel Objects

Zhou, LeiNational University of Singapore
Wang, HaozheNational University of Singapore
Zhang, ZhengshenNational University of Singapore
Liu, ZhiyangNational University of Singapore
Tay, FrancisNUS
Ang Jr, Marcelo HNational University of Singapore
 
10:30-12:00, Paper ThAT28-NT.2 Add to My Program
 Thermoformed Electronic Skins for Conformal Tactile Sensor Arrays

Lu, PengTencent
Liang, JiamingTencent
Huang, BidanTencent
Yang, SichengTencent
Lee, Wang WeiTencent
 
10:30-12:00, Paper ThAT28-NT.3 Add to My Program
 The GEM-C Controller for Load Compensation in Object Manipulation

Papadakis, EmmanouilFoundation for Research and Technology - Hellas
Sigalas, MarkosFoundation for Research and Technology - Hellas
Vangos, MichailFoundation for Research and Technology-Hellas
Trahanias, PanosFoundation for Research and Technology – Hellas (FORTH)
 
10:30-12:00, Paper ThAT28-NT.4 Add to My Program
 Sim-To-Real Grasp Detection with Global-To-Local RGB-D Adaptation

Ma, HaoxiangBeihang University
Qin, RanBeihang University
Shi, ModiBeihang University
Gao, BoyangGeometry Robotics Ltd. Harbin Institute of Technology
Huang, DiBeihang University
 
10:30-12:00, Paper ThAT28-NT.5 Add to My Program
 Residual-NeRF : Learning Residual NeRFs for Transparent Object Manipulation

Duisterhof, BartCarnegie Mellon University
Mao, YueminCarnegie Mellon University
Teng, Si HengDSTA
Ichnowski, JeffreyCarnegie Mellon University
 
10:30-12:00, Paper ThAT28-NT.6 Add to My Program
 Online 3D Edge Reconstruction of Wiry Structures from Monocular Image Sequences

Choi, HyelimSeoul National University
Lee, MinjiSeoul National University
Kang, JiseockSeoul National University
Lee, DongjunSeoul National University
 
10:30-12:00, Paper ThAT28-NT.7 Add to My Program
 Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating

Huang, Hung-JuiCarnegie Mellon University
Xiang, JingyiUniversity of Illinois at Urbana-Champaign
Yuan, WenzhenUniversity of Illinois
 
10:30-12:00, Paper ThAT28-NT.8 Add to My Program
 HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Image

Choi, HongsukSamsung AI Center, New York
Chavan-Dafle, NikhilSamsung Research America
Yuan, JiachengUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
Park, Hyun SooUniversity of Minnesota
 
10:30-12:00, Paper ThAT28-NT.9 Add to My Program
 Robotic Grasping of Harvested Tomato Trusses Using Vision and Online Learning

van den Bent, LuukTechnical University Delft
Coleman, TomásTU Delft
Babuska, RobertDelft University of Technology
 
ThAT29-NT  Oral Session, NT-G5 Add to My Program 
Object Detection III  
 
Chair: Nguyen, AnhUniversity of Liverpool
Co-Chair: Xiang, YuUniversity of Texas at Dallas
 
10:30-12:00, Paper ThAT29-NT.1 Add to My Program
 RISeg: Robot Interactive Object Segmentation Via Body Frame-Invariant Features

Qian, Howard H.Rice University
Lu, YangxiaoThe University of Texas at Dallas
Ren, KejiaRice University
Wang, GaotianRice University
Khargonkar, NinadUniversity of Texas at Dallas
Xiang, YuUniversity of Texas at Dallas
Hang, KaiyuRice University
 
10:30-12:00, Paper ThAT29-NT.2 Add to My Program
 PUMA: Fully Decentralized Uncertainty-Aware Multiagent Trajectory Planner with Real-Time Image Segmentation-Based Frame Alignment

Kondo, KotaMassachusetts Institute of Technology
Tewari, Claudius TaroonMassachusetts Institute of Technology
Peterson, Mason B.Massachusetts Institute of Technology
Thomas, AnnikaMassachusetts Institute of Technology
Kinnari, JoukoSaab Finland Oy
Tagliabue, AndreaMassachusetts Institute of Technology
How, JonathanMassachusetts Institute of Technology
 
10:30-12:00, Paper ThAT29-NT.3 Add to My Program
 Open-Vocabulary Affordance Detection Using Knowledge Distillation and Text-Point Correlation

Van Vo, TuanFPT Software
Vu, Minh NhatTU Wien, Austria
Huang, BaoruImperial College London
Nguyen, Tien ToanFPT Software
Le, NganUniversity of Arkansas
Vo, ThieuTon Duc Thang University
Nguyen, AnhUniversity of Liverpool
 
10:30-12:00, Paper ThAT29-NT.4 Add to My Program
 MEDL-U: Uncertainty-Aware 3D Automatic Annotation Based on Evidential Deep Learning

Paat, HelbertHKUST
Lian, QingHKUST
Yao, WeilongAutowise.AI
Zhang, TongHong Kong University of Science and Technology
 
10:30-12:00, Paper ThAT29-NT.5 Add to My Program
 HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors

Zhang, ShutongUniversity of Toronto
Qiao, Yi-LingUniversity of Maryland, College Park
Zhu, GuangleiUniversity of Toronto, Carnegie Mellon University
Heiden, EricNVIDIA
Turpin, DylanUniversity of Toronto
Liu, JingzhouUniversity of Toronto, NVIDIA
Lin, Ming C.University of Maryland at College Park
Macklin, MilesUniversity of Copenhagen, NVIDIA
Garg, AnimeshGeorgia Institute of Technology
 
10:30-12:00, Paper ThAT29-NT.6 Add to My Program
 Dynamic Occupancy Grids for Object Detection: A Radar-Centric Approach

Ronecker, Max PeterSETLabs Research GmbH
Markus Schratter, MarkusVirtual Vehicle Research GmbH
Kuschnig, LukasVirtual Vehicle Research GmbH
Watzenig, DanielTU Graz
 
10:30-12:00, Paper ThAT29-NT.7 Add to My Program
 Dynamic Object Classification of Low-Resolution Point Clouds: An LSTM-Based Ensemble Learning Approach

Zhang, ShaomingTongji University
Yao, TangjunTongji University
Wang, JianmeiTongji University
Feng, TiantianTongji University
Wang, ZhongTongji University
 
10:30-12:00, Paper ThAT29-NT.8 Add to My Program
 Dynablox: Real-Time Detection of Diverse Dynamic Objects in Complex Environments

Schmid, Lukas M.Massachusetts Institute of Technology (MIT)
Andersson, OlovKTH Royal Institute
Sulser, AurelioETH Zurich
Pfreundschuh, PatrickETH Zurich
Siegwart, RolandETH Zurich
 
10:30-12:00, Paper ThAT29-NT.9 Add to My Program
 3D Object Detection with VI-SLAM Point Clouds: The Impact of Object and Environment Characteristics on Model Performance

Duan, LinDuke University
Scargill, TimDuke University
Chen, YingDuke University
Gorlatova, MariaDuke University
 
ThAT30-NT  Oral Session, NT-G6 Add to My Program 
Robotics with Large Language Models  
 
Chair: Hori, ChioriMitsubishi Electric Research Laboratories (MERL)
Co-Chair: Sukhatme, GauravUniversity of Southern California
 
10:30-12:00, Paper ThAT30-NT.1 Add to My Program
 ERRA: An Embodied Representation and Reasoning Architecture for Long-Horizon Language-Conditioned Manipulation Tasks

Zhao, ChaoHong Kong University of Science and Technology
Yuan, ShuaiThe Hong Kong University of Science and Technology
Jiang, ChunliThe Hong Kong University of Science and Technology
Cai, JunhaoHong Kong University of Science and Technology
Yu, HongyuThe Hong Kong University of Science and Technology
Wang, Michael YuMywang@gbu.edu.cn
Chen, QifengHKUST
 
10:30-12:00, Paper ThAT30-NT.2 Add to My Program
 Grasp-Anything: Large-Scale Grasp Dataset from Foundation Models

Vuong, An DinhFPT Software
Vu, Minh NhatTU Wien, Austria
Hieu, Le TrungFPT Software
Huang, BaoruImperial College London
Binh, Huynh Thi ThanhSchool of Information and Communication Technology (Hanoi Univer
Vo, ThieuTon Duc Thang University
Kugi, AndreasTU Wien
Nguyen, AnhUniversity of Liverpool
 
10:30-12:00, Paper ThAT30-NT.3 Add to My Program
 Anticipate & Act : Integrating LLMs and Classical Planning for Efficient Task Execution in Household Environments

Arora, RaghavIIIT Hyderabad
Singh, ShivamInternational Institute of Information Technology Hyderabad
Swaminathan, KarthikInternational Institutue of Information Technology - Hyderabad (
Datta, AhanaInternational Institute of Information Technology, Hyderabad
Banerjee, SnehasisIiit-H / Tcs
Bhowmick, BrojeshwarTata Consultancy Services
Jatavallabhula, Krishna MurthyMIT
Sridharan, MohanUniversity of Edinburgh
Krishna, MadhavaIIIT Hyderabad
 
10:30-12:00, Paper ThAT30-NT.4 Add to My Program
 Conditionally Combining Robot Skills Using Large Language Models

Zentner, K.R.University of Southern California
Julian, RyanGoogle
Ichter, BrianGoogle Brain
Sukhatme, GauravUniversity of Southern California
 
10:30-12:00, Paper ThAT30-NT.5 Add to My Program
 Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks

Sun, LingfengUniversity of California, Berkeley
Jha, DeveshMitsubishi Electric Research Laboratories
Hori, ChioriMitsubishi Electric Research Laboratories (MERL)
Jain, SiddarthMitsubishi Electric Research Laboratories (MERL)
Corcodel, RaduMitsubishi Electric Research Laboratories
Zhu, XinghaoUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
Romeres, DiegoMitsubishi Electric Research Laboratories
 
10:30-12:00, Paper ThAT30-NT.6 Add to My Program
 Optimal Scene Graph Planning with Large Language Model Guidance

Dai, ZhiruiUC San Diego
Asgharivaskasi, ArashUniversity of California, San Diego
Duong, ThaiUniversity of California, San Diego
Lin, ShusenUniversity of California, San Diego
Tzes, MarilizaUniversity of Pennsylvania
Pappas, George J.University of Pennsylvania
Atanasov, NikolayUniversity of California, San Diego
 
10:30-12:00, Paper ThAT30-NT.7 Add to My Program
 CAPE: Corrective Actions from Precondition Errors Using Large Language Models

Sundara Raman, ShreyasBrown University
Cohen, VanyaBrown University
Idrees, IfrahBrown University
Rosen, EricBrown University
Mooney, RaymondUniversity of Texas at Austin
Tellex, StefanieBrown
Paulius, DavidBrown University
 
10:30-12:00, Paper ThAT30-NT.8 Add to My Program
 GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping

Tang, ChaoSouthern University of Science and Technology
Huang, DehaoSouthern University of Science and Technology
Ge, WenqiSouthern University of Science and Technology
Liu, WeiyuStanford University
Zhang, HongSUSTech
 
10:30-12:00, Paper ThAT30-NT.9 Add to My Program
 DOS: A Deployment Operating System for RoboOps

Ye, GuoNorthwestern University
Lin, QinjieNorthwestern University
Luo, ZeningNorthwestern University
Liu, HanNorthwestern University
 
ThAT31-NT  Oral Session, NT-G7 Add to My Program 
Autonomous Vehicle Navigation I  
 
Chair: Ding, WenchaoFudan University
Co-Chair: Yang, MingShanghai Jiao Tong University
 
10:30-12:00, Paper ThAT31-NT.1 Add to My Program
 Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving

Chen, LongWayve
Sinavski, OlegWayve Technologies Ltd
Hünermann, JanWayve
Karnsund, AliceWayve
Willmott, AndrewWayve
Birch, DannyWayve
Maund, DanielWayve
Shotton, JamieWayve Technologies Ltd
 
10:30-12:00, Paper ThAT31-NT.2 Add to My Program
 HHGNN: Heterogeneous Hypergraph Neural Network for Traffic Agents Trajectory Prediction in Grouping Scenarios

Guo, HetianSouthern University of Science and Technology
Peng, YingzhiSouthern University of Science and Technology
Fan, ZipeiUniversity of Tokyo
Zhu, HeSouthern University of Science and Technology
Song, XuanUniversity of Tokyo
 
10:30-12:00, Paper ThAT31-NT.3 Add to My Program
 Odometry Estimation by Fusing Multiple Radar Sensors and an Inertial Measurement Unit

Brühl, TimDr. Ing. H.c. F. Porsche AG
Eberhardt, Tim DieterHTW Berlin
Schwager, RobinPorsche AG
Ewecker, LukasDr. Ing. H.c. F. Porsche AG
Sohn, Tin StriborDr. Ing H.c. F. Porsche AG
Hohmann, SörenInstitute of Control Systems, Karlsruhe Institute of Technology
 
10:30-12:00, Paper ThAT31-NT.4 Add to My Program
 Thermal Voyager: A Comparative Study of RGB and Thermal Cameras for Night-Time Autonomous Navigation

Ng, AdityaPES University
Pb, DhruvalPES University
Shalabi, JehanPurdue University
Jape, ShubhankarPurdue University
Wang, XuejiPurdue University
Jacob, ZubinPurdue University
 
10:30-12:00, Paper ThAT31-NT.5 Add to My Program
 Rethinking Imitation-Based Planners for Autonomous Driving

Cheng, JieHong Kong University of Science and Technology
Chen, YingbingThe Hongkokng University of Science and Technology
Mei, XiaodongHKUST
Yang, BowenThe Hong Kong University of Science and Technology, Robotics Ins
Li, BoLotus Technology Ltd
Liu, MingHong Kong University of Science and Technology (Guangzhou)
 
10:30-12:00, Paper ThAT31-NT.6 Add to My Program
 Traffic Flow-Based Crowdsourced Mapping in Complex Urban Scenario

Qin, TongShanghai Jiao Tong University
Huang, HaihuiZhejiang University
Wang, ZiqiangAutonomous Driving Solution, IAS BU, Huawei
Chen, TongqingHuawei Technology
Ding, WenchaoFudan University
 
10:30-12:00, Paper ThAT31-NT.7 Add to My Program
 Scene Informer: Anchor-Based Occlusion Inference and Trajectory Prediction in Partially Observable Environments

Lange, BernardStanford University
Li, JiachenUniversity of California, Riverside
Kochenderfer, MykelStanford University
 
10:30-12:00, Paper ThAT31-NT.8 Add to My Program
 Monocular Localization with Semantics Map for Autonomous Vehicles

Wan, JixiangOPPO Research Institute
Zhang, XudongOPPO Research Institute
Dong, ShuzhouOPPO
Zhang, YuweiOPPO Research Institute
Yang, YuchenOPPO Research Institute
Ruoxi, WuOPPO Research Institute, Shanghai, China
Jiang, YeOPPO Research Institute
Li, JijunnanOPPO Research Institute
Lin, JinquanOPPO Research Institute
Yang, MingShanghai Jiao Tong University
 
10:30-12:00, Paper ThAT31-NT.9 Add to My Program
 DiPA: Probabilistic Multi-Modal Interactive Prediction for Autonomous Driving

Knittel, AnthonyFive AI
Hawasly, MajdFiveAI Ltd
Albrecht, Stefano V.University of Edinburgh
Redford, JohnFive AI Ltd
Ramamoorthy, SubramanianThe University of Edinburgh
 
ThAT32-NT  Oral Session, NT-G8 Add to My Program 
Intelligent Transportation Systems IV  
 
Chair: Xue, JianruXi'an Jiaotong University
Co-Chair: Ma, JunThe Hong Kong University of Science and Technology
 
10:30-12:00, Paper ThAT32-NT.1 Add to My Program
 MacFormer: Map-Agent Coupled Transformer for Real-Time and Robust Trajectory Prediction

Feng, ChenHong Kong University of Science and Technology
Zhou, HangningMegvii
Lin, HuadongBeihang University
Zhang, ZhigangMegvii.Inc
Xu, ZiyaoMegvii
Zhang, ChiMach
Zhou, BoyuSun Yat-Sen University
Shen, ShaojieHong Kong University of Science and Technology
 
10:30-12:00, Paper ThAT32-NT.2 Add to My Program
 Real-Time Capable Decision Making for Autonomous Driving Using Reachable Sets

Kochdumper, NiklasStony Brook University
Bak, StanleyStony Brook University
 
10:30-12:00, Paper ThAT32-NT.3 Add to My Program
 Vehicle Behavior Prediction by Episodic-Memory Implanted NDT

Shen, PeiningChang'an University
Fang, JianwuXian Jiaotong University
Yu, HongkaiCleveland State University
Xue, JianruXi'an Jiaotong University
 
10:30-12:00, Paper ThAT32-NT.4 Add to My Program
 Optimal Driver Warning Generation in Dynamic Driving Environment

Li, ChenranUniversity of California, Berkeley
Xu, AolinHRI
Sachdeva, EnnaHonda Research Institute
Misu, TeruhisaHonda Research Institute USA, Inc
Dariush, BehzadHonda Research Institute USA
 
10:30-12:00, Paper ThAT32-NT.5 Add to My Program
 Active Learning with Dual Model Predictive Path-Integral Control for Interaction-Aware Autonomous Highway On-Ramp Merging

Knaup, JacobGeorgia Institute of Technology
D'sa, JovinHonda Research Institute, USA
Chalaki, BehdadHonda Research Institute USA, Inc
Naes, TylerHonda Research Institute, USA
Nourkhiz Mahjoub, HosseinHonda Research Institute US
Moradi-Pari, EhsanHonda Research Institute
Tsiotras, PanagiotisGeorgia Tech
 
10:30-12:00, Paper ThAT32-NT.6 Add to My Program
 Informed Reinforcement Learning for Situation-Aware Traffic Rule Exceptions

Bogdoll, DanielFZI Research Center for Information Technoloy
Qin, JingKarlsruhe Institute of Technology
Nekolla, MoritzFZI Research Center for Information Technoloy
Abouelazm, AhmedFZI Forschungszentrum Informatik
Joseph, TimFZI Research Center for Information Technoloy
Zöllner, Johann MariusFZI Forschungszentrum Informatik
 
10:30-12:00, Paper ThAT32-NT.7 Add to My Program
 Chance-Aware Lane Change with High-Level Model Predictive Control through Curriculum Reinforcement Learning

Wang, YubinThe Hong Kong University of Science and Technology (Guangzhou)
Li, YulinHong Kong University of Science and Technology(HKUST)
Peng, ZengqiThe Hong Kong University of Science and Technology (Guangzhou)
Ghazzai, HakimKing Abdullah University of Science and Technology
Ma, JunThe Hong Kong University of Science and Technology
 
10:30-12:00, Paper ThAT32-NT.8 Add to My Program
 Human Observation-Inspired Trajectory Prediction for Autonomous Driving in Mixed-Autonomy Traffic Environments

Haicheng, LiaoUniversity of Macau
Liu, ShangqianUniversity of Macau
Li, Yong KangUniversity of Electronic Science and Technology of China
Li, ZhenningUniversity of Macau
Wang, ChengyueUniversity of Macau
Yunjian, LiMacau University of Science and Technology
Li, Shengbo EbenTsinghua University
Xu, ChengzhongUniversity of Macau
 
10:30-12:00, Paper ThAT32-NT.9 Add to My Program
 Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Prediction

Xu, PeiStanford University
Hayet, Jean-BernardCIMAT
Karamouzas, IoannisClemson University
 
ThAT33-CC  Oral Session, CC-301 Add to My Program 
Integrated Planning and Control  
 
Chair: Lehnert, ChristopherQueensland University of Technology
Co-Chair: Devasia, SantoshUniversity of Washington
 
10:30-12:00, Paper ThAT33-CC.1 Add to My Program
 Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC)

Polevoy, AdamJohns Hopkins University Applied Physics Lab
Kobilarov, MarinJohns Hopkins University
Moore, JosephJohns Hopkins University Applied Physics Lab
 
10:30-12:00, Paper ThAT33-CC.2 Add to My Program
 QuAD: Query-Based Interpretable Neural Motion Planning for Autonomous Driving

Biswas, SouravWaabi, University of Toronto
Casas Romero, SergioUniversity of Toronto
Sykora, QuinUniversity of Toronto
Agro, BenUofT, Waabi
Sadat, AbbasWaabi
Urtasun, RaquelUniversity of Toronto
 
10:30-12:00, Paper ThAT33-CC.3 Add to My Program
 Safe Receding Horizon Motion Planning with Infinitesimal Update Interval

Jang, InkyuSeoul National University
Hwang, SunwooSeoul National University
Byun, JeonghyunSeoul National University
Kim, H. JinSeoul National University
 
10:30-12:00, Paper ThAT33-CC.4 Add to My Program
 NPC: Neural Predictive Control for Fuel-Efficient Autonomous Trucks

Ren, JiapingInceptio Technology
Xiang, JiahaoTongji University, Inceptio Technology
Gao, HongfeiInceptio Technology
Zhang, JinchuanInceptio Technology
Ren, YimingShanghaiTech University
Ma, YuexinShanghaiTech University
Wu, YiNanjing University of Posts and Telecommunications
Yang, RuigangUniversity of Kentucky
Li, WeiInceptio
 
10:30-12:00, Paper ThAT33-CC.5 Add to My Program
 Robustified Time-Optimal Collision-Free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions

Zhang, ShuhaoKU Leuven
Bos, MathiasKU Leuven
Vandewal, BastiaanKU Leuven
Decré, WilmKatholieke Universiteit Leuven
Gillis, JorisKU Leuven
Swevers, JanKU Leuven
 
10:30-12:00, Paper ThAT33-CC.6 Add to My Program
 Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic

Bouzidi, Mohamed-KhalilContinental, FU Berlin
Yao, YueFreie Universität Berlin & Continental AG
Reichardt, JoergContinental AG
Goehring, DanielFreie Universität Berlin
 
10:30-12:00, Paper ThAT33-CC.7 Add to My Program
 Co-Learning Planning and Control Policies Constrained by Differentiable Logic Specifications

Xiong, ZikangPurdue University
Lawson, DanielPurdue University
Eappen, Joe KurianPurdue University
Qureshi, Ahmed H.Purdue University
Jagannathan, SureshPurdue University
 
10:30-12:00, Paper ThAT33-CC.8 Add to My Program
 Output-Sampled Model Predictive Path Integral Control (o-MPPI) for Increased Efficiency

Yan, LeonUniversity of Washington
Devasia, SantoshUniversity of Washington
 
10:30-12:00, Paper ThAT33-CC.9 Add to My Program
 The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods

Pasricha, AnujUniversity of Colorado Boulder
Roncone, AlessandroUniversity of Colorado Boulder
 
ThAL-EX  Poster Session, Exhibition Hall Add to My Program 
Late Breaking Results Poster VII  
 
 
10:30-12:00, Paper ThAL-EX.1 Add to My Program
 Development of Control Systems for Autonomous Mobile Robots in Hololinc Manufacturing Systems

Yang, DayeonKorea Institute of Industrial Technology
Ju, ChanyoungKorea Institute of Industrial Technology
 
10:30-12:00, Paper ThAL-EX.2 Add to My Program
 Development of a Printable Joint Structure Using Multi-Material 4D Printing

Park, Jong HooSeoul National University
Lee, HaeminSeoul National University
Cho, Kyu-JinSeoul National University, Biorobotics Laboratory
 
10:30-12:00, Paper ThAL-EX.3 Add to My Program
 A Machine Vision for the Automation Process of Slaughtering Ducks

Ko, KwangEunKorea Institute of Industrial Technology
Yoon, ChanyoungKorea Institute of Industrial Technology
Yang, Gi-HunKITECH
Kang, JaehyeonKorea Institute of Industrial Technology
Han, Sang KuyKorea Institute of Industrial Technology
 
10:30-12:00, Paper ThAL-EX.4 Add to My Program
 Vision-Based UAV Geo-Localization Using Satellite Images in GNSS-Denied Environments

Choi, EuncheolInha University
Jung, SungwookKETI (Korea Electronics Technology Institute)
Cho, YounggunInha University
 
10:30-12:00, Paper ThAL-EX.5 Add to My Program
 Visual Affordance Model for Apple Harvesting Based on Hybrid Egocentric Dataset Collection

Kim, GeonkukKorea University
Park, JuyounKorea Institute of Science and Technology
 
10:30-12:00, Paper ThAL-EX.6 Add to My Program
 Trajectory Planning Based on Time-Space Network with Dijkstra Algorithm for Security Screening Using THz Sensor-Equipped UGV

Uchida, YukiNational Defense Academy of Japan
Tsujita, TeppeiNational Defense Academy of Japan
Sakuma, YutakaNational Defense Academy of Japan
Abiko, SatokoShibaura Institute of Technology
Sato, DaisukeTokyo City University
 
10:30-12:00, Paper ThAL-EX.7 Add to My Program
 Walking in Constrained Environment Using Model-Based Reinforcement Learning for Virtual Constraint-Based Gait

Jin, TakanoriNational Institute of Informatics/SOKENDAI
Kobayashi, TaisukeNational Institute of Informatics
Matsubara, TakamitsuNara Institute of Science and Technology
 
10:30-12:00, Paper ThAL-EX.8 Add to My Program
 Action Recognition Based Variable Scaling Teleoperation System for Robotic Spine Surgery

Lee, HunjoKorea University of Science and Technology, Korea Institute of I
Kim, DonghyunUniversity of Science and Technology
Yang, Gi-HunKITECH
 
10:30-12:00, Paper ThAL-EX.9 Add to My Program
 Legged Robot State Estimation within Non-Inertial Environments

Zijian, HePurdue University
Teng, SangliUniversity of Michigan, Ann Arbor
Lin, Tzu-YuanUniversity of Michigan
Ghaffari, MaaniUniversity of Michigan
Gu, YanPurdue University
 
10:30-12:00, Paper ThAL-EX.10 Add to My Program
 Continual Skill Learning with Vision-Language Model for Robotic Manipulation

Tan, RunjiaNanyang Technological University
Lou, ShanheNanyang Technological University
Huang, WenhuiNanYang Technological University
Lv, ChenNanyang Technological University
 
10:30-12:00, Paper ThAL-EX.11 Add to My Program
 Characterizing Robot Vision Solutions for Anomaly Detection in Confined Spaces

Patil, ApoorvaUniversity of Washington
Lee, RyanUniversity of Washington
Balasubramaniyam, ShankruthIndian Institute of Technology Madras
Zhang, TommyUniversity of Washington
Wong, BenjaminUniversity of Washington
Banerjee, AshisUniversity of Washington
 
10:30-12:00, Paper ThAL-EX.12 Add to My Program
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Sakamaki, ArataTamagawa University
Contreras-Toledo, Luis AngelTamagawa University
Inamura, TetsunariTamagawa University
Okada, HiroyukiTamagawa University
 
10:30-12:00, Paper ThAL-EX.13 Add to My Program
 Cardiac Assistive Device Based on Electroactive Polymer

Kim, JiyeopSeoul National University
Lee, JunheonSeoul National University
Song, SeinSeoul National University