2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
September 27 - October 1, 2021. Prague, Czech Republic
  
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Sept 27 - Oct 1, 2021, Prague, Czech Republic (on-line)

Program at a Glance    Monday    Tuesday    Wednesday    Thursday    Friday    Author Index    Keyword Index    My Program  

Last updated on September 23, 2021. This conference program is tentative and subject to change

Technical Program for Wednesday September 29, 2021

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WeAT1  Lecture Session, Room T1 Add to My Program 
SLAM I  
 
Chair: Wang, QiuyuanPeking University
Co-Chair: Zhao, LiangUniversity of Technology Sydney
 
14:30-14:36, Paper WeAT1.1 Add to My Program
A General Framework for Lifelong Localization and Mapping in Changing Environment

Zhao, MinGaussian Robotics
Guo, XinGaussian Robotics
Song, LeGaussian Robotics
Qin, BaoxingNUS
Shi, XuesongIntel
Lee, Gim HeeNational University of Singapore
 
14:36-14:42, Paper WeAT1.2 Add to My Program
Geometry-Based Graph Pruning for Lifelong SLAM

Kurz, GerhardRobert Bosch GmbH
Holoch, MatthiasRobert Bosch GmbH
Biber, PeterRobert Bosch GmbH
 
14:42-14:48, Paper WeAT1.3 Add to My Program
Consistent SLAM Using Local Optimization with Virtual Prior Topologies

Castro, Gastón IgnacioUniversity of Buenos Aires
Pessacg, FacundoUBA
De Cristóforis, PabloFacultad De Ciencias Exactas Y Naturales, Universidad De Buenos
 
14:48-14:54, Paper WeAT1.4 Add to My Program
Line Flow Based Simultaneous Localization and Mapping (I)

Wang, QiuyuanPeking University
Yan, ZikePeking University
Wang, JunqiuBeijing Changcheng Aviation Measurement and Control Institute
Xue, FeiPeking University
Ma, WeiBeijing University of Technology
Zha, HongbinPeking University
 
14:54-15:00, Paper WeAT1.5 Add to My Program
Probabilistic Appearance-Invariant Topometric Localization with New Place Awareness

Xu, MingQueensland University of Technology
Fischer, TobiasQueensland University of Technology
Sünderhauf, NikoQueensland University of Technology
Milford, Michael JQueensland University of Technology
 
15:00-15:06, Paper WeAT1.6 Add to My Program
Efficient Multimodal Belief Propagation for Robust SLAM Using Clustering Based Reparameterization

Choi, SeungwonSeoul National University
Kim, TaewanSeoul National University
 
15:06-15:12, Paper WeAT1.7 Add to My Program
Robust Initialization of Multi-Camera SLAM with Limited View Overlaps and Inaccurate Extrinsic Calibration

Li, AngShanghai Jiao Tong University
Zou, DanpingShanghai Jiao Ton University
Yu, WenxianShanghai Jiao Tong University
 
WeAT2  Lecture Session, Room T2 Add to My Program 
Object Detection, Segmentation and Categorization I  
 
Co-Chair: Huang, XinmingWorcester Polytechnic Institute
 
14:30-14:36, Paper WeAT2.1 Add to My Program
Camera Parameters Aware Motion Segmentation Network with Compensated Optical Flow

Wang, XianshunShanghai Institute of Microsystem and Information Technology, Ch
Zhu, DongchenShanghai Institute of Microsystem and Information Technology, Chi
Xu, ShaojieShanghai Institute of Microsystem and Information Technology, Ch
Shi, WenjunShanghai Institute of Microsystem and Information Technology
Liu, YanqingShanghai Institute of Microsystem and Information Technology, Ch
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chi
 
14:36-14:42, Paper WeAT2.2 Add to My Program
APEX: Unsupervised, Object-Centric Scene Segmentation and Tracking for Robot Manipulation

Wu, YizheUniversity of Oxford
Parker Jones, OiwiUniversity of Oxford
Engelcke, MartinUniversity of Oxford
Posner, IngmarOxford University
 
14:42-14:48, Paper WeAT2.3 Add to My Program
PLUMENet: Efficient 3D Object Detection from Stereo Images

Wang, YanCornell
Yang, BinUniversity of Toronto
Hu, RuiUber
Liang, MingUber
Urtasun, RaquelUniversity of Toronto
 
14:48-14:54, Paper WeAT2.4 Add to My Program
Part-Aware Data Augmentation for 3D Object Detection in Point Cloud

Choi, JaeseokSeoul National University
Song, YejiSeoul National University
Kwak, NojunSeoul National University
 
14:54-15:00, Paper WeAT2.5 Add to My Program
MS-UDA: Multi-Spectral Unsupervised Domain Adaptation for Thermal Image Semantic Segmentation

Kim, Yeong-HyeonKorean Advanced Institute of Science and Technology
Shin, UkcheolKAIST(Korea Advanced Institute of Science and Technology)
Park, JinsunKAIST
Kweon, In SoKAIST
 
15:00-15:06, Paper WeAT2.6 Add to My Program
MapFusion: A General Framework for 3D Object Detection with HDMaps

Fang, JinBaidu
Zhou, DingfuBaidu
Song, XibinBaidu Inc
Zhang, LiangjunBaidu USA
 
15:06-15:12, Paper WeAT2.7 Add to My Program
SpikeMS: Deep Spiking Neural Network for Motion Segmentation

Parameshwara, ChethanUniversity of Maryland, College Park
Li, SiminUniversity of Maryland, College Park
Fermuller, CorneliaUniversity of Maryland
J Sanket, NitinUniversity of Maryland, College Park
Evanusa, MatthewUniversity of Maryland, College Park
Aloimonos, YiannisUniversity of Maryland
 
WeAT3  Lecture Session, Room T3 Add to My Program 
Autonomous Vehicle Navigation III  
 
Chair: Meghjani, MalikaSingapore University of Technology and Design
Co-Chair: Liu, KatherineMIT
 
14:30-14:36, Paper WeAT3.1 Add to My Program
Deep Semantic Segmentation at the Edge for Autonomous Navigation in Vineyard Rows

Aghi, DiegoPolitecnico Di Torino
Cerrato, SimonePolitecnico Di Torino
Mazzia, VittorioPolitecnico Di Torino
Chiaberge, MarcelloPolitecnico Di Torino
 
14:36-14:42, Paper WeAT3.2 Add to My Program
Exploration-RRT: A Multi-Objective Path Planning and Exploration Framework for Unknown and Unstructured Environments

Lindqvist, BjörnLuleå University of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
Nikolakopoulos, GeorgeLuleå University of Technology
 
14:42-14:48, Paper WeAT3.3 Add to My Program
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain

Xiao, XuesuThe University of Texas at Austin
Biswas, JoydeepUniversity of Texas at Austin
Stone, PeterUniversity of Texas at Austin
 
14:48-14:54, Paper WeAT3.4 Add to My Program
Pallet Detection and Docking Strategy for Autonomous Pallet Truck AGV Operation

Tsiogas, EfthimiosCentre for Research and Technology Hellas
Kleitsiotis, IoannisCERTH
Kostavelis, IoannisCenter for Research and Technology Hellas
Kargakos, AndreasCERTH
Giakoumis, DimitrisCentre for Research and Technology Hellas
Bosch-Jorge, MarcRobotnik
Julia Ros, RaquelRobotnik
López Tarazón, RafaRobotnik Automation, SLL
Likothanassis, SpyridonUniversity of Patras
Tzovaras, DimitriosCentre for Research and Technology Hellas
 
14:54-15:00, Paper WeAT3.5 Add to My Program
Vulnerability of Connected Autonomous Vehicles Networks to Periodic Time-Varying Communication Delays of Certain Frequency

Hsueh, Kuei-Fang (Albert)University of Toronto
Al-Darabsah, IsamUniversity of Waterloo
Al Janaideh, MohammadMemorial University &University of Toronto
Campbell, Sue AnnUniversity of Waterloo
Kundur, DeepaUniversity of Toronto
 
15:00-15:06, Paper WeAT3.6 Add to My Program
LiDAR Degradation Quantification for Autonomous Driving in Rain

Zhang, ChenNational University of Singapore
Huang, ZefanSingapore-MIT Alliance for Research and Technology
Ang Jr, Marcelo HNational University of Singapore
Rus, DanielaMIT
 
15:06-15:12, Paper WeAT3.7 Add to My Program
Map-Aided Train Navigation with IMU Measurements

Lavoie, Marc-AntoineMcGill University
Forbes, James RichardMcGill University
 
WeAT4  Lecture Session, Room T4 Add to My Program 
Reinforcement Learning II  
 
Chair: Li, ZhibinUniversity of Edinburgh
Co-Chair: Kalweit, GabrielUniversity of Freiburg
 
14:30-14:36, Paper WeAT4.1 Add to My Program
Sample-Efficient Reinforcement Learning Representation Learning with Curiosity Contrastive Forward Dynamics Model

Nguyen, ThanhKorea Advanced Institute of Science and Technology (KAIST)
Luu, TungKorea Advanced Institute of Science and Technology
Vu, ThangKorea Advanced Institute of Science and Technology
Yoo, ChangKAIST
 
14:36-14:42, Paper WeAT4.2 Add to My Program
An Efficient Image-To-Image Translation HourGlass-Based Architecture for Object Pushing Policy Learning

Ewerton, MarcoIdiap Research Institute
Martinez-Gonzalez, AngelEPFL, IDIAP
Odobez, Jean-MarcIDIAP
 
14:42-14:48, Paper WeAT4.3 Add to My Program
A Joint Imitation-Reinforcement Learning Framework for Reduced Baseline Regret

Dey, SheelabhadraTexas A&M University
Pendurkar, SumedhTexas A&M University
Sharon, GuniUniversity of Texas at Austin
Hanna, JosiahUniversity of Edinburgh
 
14:48-14:54, Paper WeAT4.4 Add to My Program
Passing through Narrow Gaps with Deep Reinforcement Learning

Tidd, BrendanAustralian Centre for Robotics Vision / QUT
Cosgun, AkanselMonash University
Leitner, JurgenLYRO Robotics / Australian Centre for Robotic Vision / QUT
Hudson, NicolasX, the Moonshot Factory
 
14:54-15:00, Paper WeAT4.5 Add to My Program
HARL-A: Hardware Agnostic Reinforcement Learning through Adversarial Selection

Jackson, LucyThe University of Surrey
Eckersley, SteveSurrey Satellite Technology Ltd
Senior, PeteSurrey Satellite Technology Ltd
Hadfield, SimonUniversity of Surrey
 
15:00-15:06, Paper WeAT4.6 Add to My Program
Motion Planning for Autonomous Vehicles in the Presence of Uncertainty Using Reinforcement Learning

Rezaee, KasraHuawei Technologies
Yadmellat, PeymanHuawei Technologies Canada
Chamorro, SimonUniversité De Sherbrooke
 
15:06-15:12, Paper WeAT4.7 Add to My Program
Safe Continuous Control with Constrained Model-Based Policy Optimization

Daaboul, KaramKarlsruhe Institut for Technology
Zanger, MoritzTechnical University of Delft
Zöllner, Johann MariusFZI Forschungszentrum Informatik
 
WeAT5  Lecture Session, Room T5 Add to My Program 
Deep Learning for Visual Perception IV  
 
Chair: Dansereau, DonaldUniversity of Sydney
 
14:30-14:36, Paper WeAT5.1 Add to My Program
ViNet: Pushing the Limits of Visual Modality for Audio-Visual Saliency Prediction

Jain, SamyakIIIT Hyderabad
Yarlagadda, Sree Ram Sai PradeepIIIT Hyderabad
Jyoti, ShreyankIIIT Hyderabad
Karthik, ShyamgopalIIIT Hyderabad
Subramanian, RamanathanNational University of Singapore
Gandhi, VineetIIIT Hyderabad
 
14:36-14:42, Paper WeAT5.2 Add to My Program
MDN-VO: Estimating Visual Odometry with Confidence

Kaygusuz, NimetUniversity of Surrey
Mendez Maldonado, Oscar AlejandroUniversity of Surrey
Bowden, RichardUniversity of Surrey
 
14:42-14:48, Paper WeAT5.3 Add to My Program
Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments

Almalioglu, YasinThe University of Oxford
Santamaria-Navarro, AngelNASA Jet Propulsion Laboratory, Caltech
Morrell, BenjaminJet Propulsion Laboratory, California Institute of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
 
14:48-14:54, Paper WeAT5.4 Add to My Program
Correlate-And-Excite: Real-Time Stereo Matching Via Guided Cost Volume Excitation

Bangunharcana, AntyantaKAIST
Cho, Jae WonKorea Advanced Institute of Science and Technology
Lee, SeokjuKAIST
Kweon, In SoKAIST
Kim, Kyung-SooKAIST(Korea Advanced Institute of Science and Technology)
Kim, SoohyunKAIST(Korea Advanced Institute of Science and Technology)
 
14:54-15:00, Paper WeAT5.5 Add to My Program
Improving Robot Localisation by Ignoring Visual Distraction

Mendez Maldonado, Oscar AlejandroUniversity of Surrey
Vowels, MatthewUniversity of Surrey
Bowden, RichardUniversity of Surrey
 
15:00-15:06, Paper WeAT5.6 Add to My Program
Semantic Segmentation-Assisted Scene Completion for LiDAR Point Clouds

Yang, XuemengZhejiang University
Zou, HaoZhejiang University
Kong, XinZhejiang University
Huang, TianxinZheJiang University
Liu, YongZhejiang University
Li, WanlongBeijing Huawei Digital Technologies Co., Ltd
Wen, FengHuawei Technologies Co., Ltd
Zhang, HongboHuawei Technologies
 
15:06-15:12, Paper WeAT5.7 Add to My Program
Dynamic Domain Adaptation for Single-View 3D Reconstruction

Yang, CongEcovacs Robotics
Xie, HousenEcovacs Robotics
Tian, HaihongEcovacs Robotics
Yu, YuanlongAI Institute, Ecovacs Robotics
 
WeAT6  Lecture Session, Room T6 Add to My Program 
Deep Learning in Grasping and Manipulation I  
 
Chair: Averta, GiuseppeUniversity of Pisa
Co-Chair: Huang, DiBeihang University
 
14:30-14:36, Paper WeAT6.1 Add to My Program
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation

Li, YimingUniversity of Chinese Academy of Sciences
Kong, TaoByteDance
Chu, RuihangThe Chinese University of Hong Kong
Li, YifengByteDance AI Lab
Wang, PengChinese Acdamy of Sciences
Li, LeiByteDance AI Lab
 
14:36-14:42, Paper WeAT6.2 Add to My Program
Efficient Learning of Goal-Oriented Push-Grasping Synergy in Clutter

Xu, KechunZhejiang University
Yu, HongxiangZhejiang University
Lai, QianenZhejiang University
Wang, YueZhejiang University
Xiong, RongZhejiang University
 
14:42-14:48, Paper WeAT6.3 Add to My Program
Iterative Coarse-To-Fine 6D-Pose Estimation Using Back-Propagation

Araki, RyosukeChubu University
Mano, KohsukeChubu University
Hirano, TadanoriCKD Corporation
Hirakawa, TsubasaChubu University
Yamashita, TakayoshiChubu University
Fujiyoshi, HironobuChubu University
 
14:48-14:54, Paper WeAT6.4 Add to My Program
Understanding Human Manipulation with the Environment: A Novel Taxonomy for Video Labelling

Arapi, VisarCentro E. Piaggio
Della Santina, CosimoTU Delft
Averta, GiuseppeUniversity of Pisa
Bicchi, AntonioUniversità Di Pisa
Bianchi, MatteoUniversity of Pisa
 
14:54-15:00, Paper WeAT6.5 Add to My Program
Excavation Learning for Rigid Objects in Clutter

Lu, QingkaiBaidu USA
Zhang, LiangjunBaidu USA
 
15:00-15:06, Paper WeAT6.6 Add to My Program
Fast-Learning Grasping and Pre-Grasping Via Clutter Quantization and Q-Map Masking

Ren, DafaShanghai University
Ren, XiaoqiangShanghai University
Wang, XiaofanShanghai University
Digumarti, Sundara TejaswiUniversity of Sydney
Shi, GuodongThe University of Sydney
 
15:06-15:12, Paper WeAT6.7 Add to My Program
Joint Space Control Via Deep Reinforcement Learning

C V Kumar, VisakGeorgia Institute of Technology
Hoeller, DavidNVIDIA
Sundaralingam, BalakumarNVIDIA Corporation
Tremblay, JonathanNvidia
Birchfield, StanNVIDIA Corporation
 
WeAT7  Lecture Session, Room T7 Add to My Program 
Motion and Path Planning IV  
 
Chair: Safaoui, SleimanThe University of Texas at Dallas
Co-Chair: Orthey, AndreasTU Berlin / Max Planck Institute for Intelligent Systems
 
14:30-14:36, Paper WeAT7.1 Add to My Program
DT*: Temporal Logic Path Planning in a Dynamic Environment

Purohit, PriyaIIT Kanpur
Saha, IndranilIIT Kanpur
 
14:36-14:42, Paper WeAT7.2 Add to My Program
Mobile Recharger Path Planning and Recharge Scheduling in a Multi-Robot Environment

Kundu, TanmoyIndian Institute of Technology - Kanpur
Saha, IndranilIIT Kanpur
 
14:42-14:48, Paper WeAT7.3 Add to My Program
Geometric Motion Planning for a System on the Cylindrical Surface

Chen, ShuoqiCarnegie Mellon University
Fu, RuijieCarnegie Mellon University
Hatton, RossOregon State University
Choset, HowieCarnegie Mellon University
 
14:48-14:54, Paper WeAT7.4 Add to My Program
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning (I)

Orthey, AndreasTU Berlin / Max Planck Institute for Intelligent Systems
Toussaint, MarcTu Berlin
 
14:54-15:00, Paper WeAT7.5 Add to My Program
PG-RRT: A Gaussian Mixture Model Driven, Kinematically Constrained Bi-Directional RRT for Robot Path Planning

Sharma, ParasIIIT Delhi
Gupta, AnkitIntel Corporation
Ghosh, DibyenduIntel Corporation
Honkote, VinayakIntel Corporation
Nandakumar, GaneshramTunga Aerospace Industries
Ghose, DebasishIndian Institute of Science
 
15:00-15:06, Paper WeAT7.6 Add to My Program
Accelerating Kinodynamic RRT* through Dimensionality Reduction

Zheng, DongliangGeorgia Institute of Technology
Tsiotras, PanagiotisGeorgia Tech
 
15:06-15:12, Paper WeAT7.7 Add to My Program
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems under Uncertainty

Safaoui, SleimanThe University of Texas at Dallas
Gravell, BenjaminUniversity of Texas at Dallas
Renganathan, VenkatramanUniversity of Texas at Dallas
Summers, TylerUniversity of Texas at Dallas
 
WeAT8  Lecture Session, Room T8 Add to My Program 
Mobile and Bimanual Manipulation  
 
Chair: Wang, ShengjieTsinghua University
Co-Chair: Vivas, CarlosPAL Robotics
 
14:30-14:36, Paper WeAT8.1 Add to My Program
Mobile Manipulation Hackathon: Moving into Real World Applications (I)

Roa, Maximo A.DLR - German Aerospace Center
Dogar, Mehmet RUniversity of Leeds
Pages, JordiPal Robotics
Vivas, CarlosPAL Robotics
Morales, AntonioUniversitat Jaume I
Correll, NikolausUniversity of Colorado at Boulder
Görner, MichaelUniversity of Hamburg
Rosell, JanUniversitat Politècnica De Catalunya (UPC)
Foix, SergiCSIC-UPC
Memmesheimer, RaphaelUniversity of Koblenz-Landau
Ferro, FrancescoPAL Robotics
 
14:36-14:42, Paper WeAT8.2 Add to My Program
Optimal Order Pick-And-Place of Objects in Cluttered Scene by a Mobile Manipulator

Wang, FengyiTechnical University of Munich
Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Cheng, GordonTechnical University of Munich
 
14:42-14:48, Paper WeAT8.3 Add to My Program
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments

Finean, Mark NicholasUniversity of Oxford
Merkt, Wolfgang XaverUniversity of Oxford
Havoutis, IoannisUniversity of Oxford
 
14:48-14:54, Paper WeAT8.4 Add to My Program
Effect of Assembly Design on a Walking Multi-Arm Robotics for In-Space Assembly

McBryan, KatherineUS Naval Research Laboratory
 
14:54-15:00, Paper WeAT8.5 Add to My Program
A Multi-Target Trajectory Planning of a 6-DoF Free-Floating Space Robot Via Reinforcement Learning

Wang, ShengjieTsinghua University
Zheng, XiangCity University of Hong Kong
Cao, YuxueChina Academy of Space Technology
Zhang, TaoTsinghua University
 
15:00-15:06, Paper WeAT8.6 Add to My Program
Disentangling Dense Multi-Cable Knots

Viswanath, VainaviUniversity of California, Berkeley
Grannen, JenniferUC Berkeley
Sundaresan, PriyaUniversity of California, Berkeley
Thananjeyan, BrijenUC Berkeley
Balakrishna, AshwinUniversity of California, Berkeley
Novoseller, EllenUniversity of California, Berkeley
Ichnowski, JeffreyUC Berkeley
Laskey, MichaelUniversity of California, Berkeley
Gonzalez, Joseph E.UC Berkeley
Goldberg, KenUC Berkeley
 
15:06-15:12, Paper WeAT8.7 Add to My Program
Design and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm

Dennler, NathanielUniversity of Southern California
Shin, EuraHarvard University
Mataric, MajaUniversity of Southern California
Nikolaidis, StefanosUniversity of Southern California
 
WeAT9  Lecture Session, Room T9 Add to My Program 
Visual Servoing  
 
Chair: Krawez, MichaelUniversity of Freiburg
Co-Chair: Prendergast, J. MicahDelft University of Technology
 
14:30-14:36, Paper WeAT9.1 Add to My Program
Mind Control of a Service Robot with Visual Servoing

Zhang, LinaNankai University
Sun, ZheRIKEN
Duan, FengNankai University
Zhu, ChiMaebashi Institute of Technology
Yokoi, HiroshiThe University of Electro-Communications
 
14:36-14:42, Paper WeAT9.2 Add to My Program
Sampling-Based MPC for Constrained Vision Based Control

Mohamed, IhabUniversity of Genova
Allibert, GuillaumeUniv Cote d'Azur, CNRS, I3S
Martinet, PhilippeINRIA
 
14:42-14:48, Paper WeAT9.3 Add to My Program
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation (I)

Prendergast, J. MicahDelft University of Technology
Formosa, GregoryUniversity of Colorado at Boulder
Fulton, MitchellUniversity of Colorado at Boulder
Rentschler, MarkUniversity of Colorado at Boulder
Heckman, ChristofferUniversity of Colorado at Boulder
 
14:48-14:54, Paper WeAT9.4 Add to My Program
Image-Based Visual Servoing of Rotorcrafts to Planar Visual Targets of Arbitrary Orientation

Li, JiananWestlake University
Xie, HuiCurtin University
Low, K. H.Nanyang Technological University
Yong, JianwenNanyang Technological University
Li, BoyangThe Hong Kong Polytechnic University
 
14:54-15:00, Paper WeAT9.5 Add to My Program
Robot-Assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation

Akbari, MojtabaUniversity of Alberta
Carriere, JayUniversity of Alberta
Sloboda, RonaldCross Cancer Institute
Meyer, TylerBaker Cancer Centre
Usmani, NawaidCross Cancer Institute
Husain, SirajTom Baker Cancer Centre
Tavakoli, MahdiUniversity of Alberta
 
15:00-15:06, Paper WeAT9.6 Add to My Program
Multi-Scale Laplacian-Based FMM for Shape Control

Cuiral-Zueco, IgnacioUniversidad De Zaragoza
Lopez-Nicolas, GonzaloUniversidad De Zaragoza
 
15:06-15:12, Paper WeAT9.7 Add to My Program
RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing

Qureshi, Mohammad NomaanInternational Institute of Information Technology (IIIT), Hydera
Katara, PushkalRobotics Research Center, IIITH
Gupta, AbhinavInternational Institute of Information Technology (IIIT), Hydera
Pandya, HaritCambridge Research Laboratory, Toshiba Europe, Cambridge, UK
Y V S, HarishInternational Institute of Information Technology Hyderabad
Sanchawala, AadilMehdiRobotics Research Center, KCIS, IIIT Hyderabad
Kumar, GouravInternational Institute of Information Technology, Hyderabad, In
Bhowmick, BrojeshwarTata Consultancy Services
Krishna, MadhavaIIIT Hyderabad
 
WeAT10  Lecture Session, Room T10 Add to My Program 
Computer Vision for Transportation  
 
Chair: Huang, ShoudongUniversity of Technology, Sydney
Co-Chair: Erin, OnderCarnegie Mellon University, Max Planck Institute
 
14:30-14:36, Paper WeAT10.1 Add to My Program
Unsupervised Vehicle Re-Identification Via Self-Supervised Metric Learning Using Feature Dictionary

Yu, JongminKorea Advanced Institute of Science and Technology
Oh, HyeontaekKorea Advanced Institute of Science and Technology
 
14:36-14:42, Paper WeAT10.2 Add to My Program
Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography

Zhu, MinghanUniversity of Michigan
Zhang, SonganUniversity of Michigan
Zhong, YuanxinUniversity of Michigan
Lu, PingpingUniversity of Michigan
Peng, HueiUniversity of MIchigan
Lenneman, JohnToyota
 
14:42-14:48, Paper WeAT10.3 Add to My Program
Drive on Pedestrian Walk. TUK Campus Dataset

Keen, Hannan EjazTecnische Universitaet Kaiserslautern
Jan, Qazi HamzaTecnische Universitaet Kaiserslautern
Berns, KarstenUniversity of Kaiserslautern
 
14:48-14:54, Paper WeAT10.4 Add to My Program
Stereo Waterdrop Removal with Row-Wise Dilated Attention

Shi, ZifanHKUST
Fan, NaThe Hong Kong University of Science and Technology
Yeung, Dit-YanHong Kong University of Science and Technology
Chen, QifengHKUST
 
14:54-15:00, Paper WeAT10.5 Add to My Program
Temporally-Continuous Probabilistic Prediction Using Polynomial Trajectory Parameterization

Su, ZhaoenUber
Wang, ChaoUber Advanced Technologies Group
Cui, HenggangUber Advanced Technologies Group
Djuric, NemanjaAurora Innovation
Vallespi-Gonzalez, CarlosCMU
Bradley, DavidCarnegie Mellon University
 
15:00-15:06, Paper WeAT10.6 Add to My Program
Content Disentanglement for Semantically Consistent Synthetic-To-Real Domain Adaptation

Savkin, ArtemTUM
Keser, MertTUM
Tombari, FedericoTechnische Universität München
 
15:06-15:12, Paper WeAT10.7 Add to My Program
Cross-Modal 3D Object Detection and Tracking for Auto-Driving

Zeng, YihanShanghai Jiao Tong University
Ma, ChaoShanghai Jiao Tong University
Zhu, MingShanghai Jiao Tong University
Fan, ZhimingShanghai Jiao Tong University
Yang, XiaokangShanghai Jiao Tong University
 
WeAT11  Lecture Session, Room T11 Add to My Program 
Machine Learning for Robot Control I  
 
Chair: Funabashi, SatoshiWaseda University
Co-Chair: Dames, PhilipTemple University
 
14:30-14:36, Paper WeAT11.1 Add to My Program
Learning to Play Pursuit-Evasion with Visibility Constraints

Engin, Kazim SelimUniversity of Minnesota
Jiang, QingyuanUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
 
14:36-14:42, Paper WeAT11.2 Add to My Program
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion

Sun, YuUC Berkeley
Ubellacker, WyattCalifornia Institute of Technology
Ma, WenlongCaltech
Zhang, XiangUniversity of California, Berkeley
Wang, ChanghaoUniversity of California, Berkeley
Csomay-Shanklin, NoelCalifornia Institute of Technology
Tomizuka, MasayoshiUniversity of California
Sreenath, KoushilUniversity of California, Berkeley
Ames, AaronCalifornia Institute of Technology
 
14:42-14:48, Paper WeAT11.3 Add to My Program
Learning-Based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach

Tsukamoto, HiroyasuCalifornia Institute of Technology
Chung, Soon-JoCaltech
 
14:48-14:54, Paper WeAT11.4 Add to My Program
InsertionNet - a Scalable Solution for Insertion

Spector, OrenBosch Center for Artificial Intelligence
Di Castro, DotanBosch
 
14:54-15:00, Paper WeAT11.5 Add to My Program
Object Picking Using a Two-Fingered Gripper Measuring the Deformation and Slip Detection Based on a 3-Axis Tactile Sensing

Funabashi, SatoshiWaseda University
Kage, YutaWaseda University
Oka, HiroyukiThe University of TOkyo
Sakamoto, YoshihiroWaseda University
Sugano, ShigekiWaseda University
 
15:00-15:06, Paper WeAT11.6 Add to My Program
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control

Jimenez Rodriguez, Ivan DarioCalifornia Institute of Technology
Rosolia, UgoCaltech
Ames, AaronCaltech
Yue, YisongCalifornia Institute of Technology
 
15:06-15:12, Paper WeAT11.7 Add to My Program
OHPL: One-Shot Hand-Eye Policy Learner

Oh, ChangjaeQueen Mary University of London
Pang, Yik LungQueen Mary University of London
Cavallaro, AndreaQueen Mary University of London
 
WeAT12  Lecture Session, Room T12 Add to My Program 
Soft Robot Applications  
 
Chair: Hirai, ShinichiRitsumeikan Univ
Co-Chair: Ceron, StevenCornell University
 
14:30-14:36, Paper WeAT12.1 Add to My Program
Laser Endoscopic Manipulator Using Spring-Reinforced Multi-DoF Soft Actuator

Zhang, BoyuWestlake University
Yang, PenghuiTsinghua University
Gu, XiangmingTsinghua University
Liao, HongenTsinghua University
 
14:36-14:42, Paper WeAT12.2 Add to My Program
Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve

Mbakop, SteeveYncrea Hauts-De-France
Tagne, GillesYncréa Hauts De France / ISEN Lille
Frouin, Marc-HenriNiryo
Achille, MelinguiUniversity of Lille1, Polytech' Lille, LAGIS Laboratory
Merzouki, RochdiCRIStAL, CNRS UMR 9189, University of Lille1
 
14:42-14:48, Paper WeAT12.3 Add to My Program
Soft Robotic Oscillators with Strain-Based Coordination

Ceron, StevenCornell University
Kimmel, Marta AnCornell University
Nilles, AlexandraCornell University
Petersen, Kirstin HagelskjaerCornell University
 
14:48-14:54, Paper WeAT12.4 Add to My Program
SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments

Graule, Moritz A.Harvard University
Teeple, ClarkHarvard University
McCarthy, ThomasHarvard University
Kim, GraceHarvard University
St. Louis, RandallHarvard University
Wood, RobertHarvard University
 
14:54-15:00, Paper WeAT12.5 Add to My Program
Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators

Gu, HaoyuanShanghai Jiao-Tong University
Wang, HeshengShanghai Jiao Tong University
Chen, WeidongShanghai Jiao Tong University
 
15:00-15:06, Paper WeAT12.6 Add to My Program
Fuzzy-Depth Objects Grasping Based on FSG Algorithm and Soft Robotic Hand

Cao, HanwenChinese University of Hong Kong
Junda, HuangChinese University of Hong Kong
Zhou, JianshuThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
 
15:06-15:12, Paper WeAT12.7 Add to My Program
Deformable Elasto-Plastic Object Shaping Using an Elastic Hand and Model-Based Reinforcement Learning

Matl, CarolynUniversity of California, Berkeley
Bajcsy, RuzenaUniv of California, Berkeley
 
WeAT13  Lecture Session, Room T13 Add to My Program 
Grasping I  
 
Chair: Sun, YuUniversity of South Florida
 
14:30-14:36, Paper WeAT13.1 Add to My Program
Temporal Force Synergies in Human Grasping

Starke, JuliaKarlsruhe Institute of Technology
Keller, MarcoKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
14:36-14:42, Paper WeAT13.2 Add to My Program
Trajectory-Based Split Hindsight Reverse Curriculum Learning

Wu, JiaxiInstitute of Automation, Chinese Academy of Science
Zhang, DianminInstitute of Automation, Chinese Academy of Science
Zhong, ShanlinInstitute of Automation, Chinese Academy of Sciences
Qiao, HongInstitute of Automation, Chinese Academy of Sciences
 
14:42-14:48, Paper WeAT13.3 Add to My Program
Detecting Grasp Phases and Adaption of Object-Hand Interaction Forces of a Soft Humanoid Hand Based on Tactile Feedback

Weiner, PascalKarlsruhe Institute of Technology
Hundhausen, FelixKarlsruhe Institute of Technology
Grimm, RaphaelKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
14:48-14:54, Paper WeAT13.4 Add to My Program
SpectGRASP: Robotic Grasping by Spectral Correlation

Adjigble, Komlan Jean MaximeUniversity of Birmingham
de Farias, CristianaUniversity of Birmingham
Stolkin, RustamUniversity of Birmingham
Marturi, NareshUniversity of Birmingham
 
14:54-15:00, Paper WeAT13.5 Add to My Program
Assessing Grasp Quality Using Local Sensitivity Analysis

Zechmair, MichaelMaastricht University
Morel, YannickMaastricht University
 
15:00-15:06, Paper WeAT13.6 Add to My Program
Geometry-Based Grasping Pipeline for Bi-Modal Pick and Place

Haschke, RobertBielefeld University
Walck, GuillaumeBielefeld University
Ritter, Helge JoachimBielefeld University
 
15:06-15:12, Paper WeAT13.7 Add to My Program
Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs

Fakhari, AminStony Brook University
Patankar, AdityaStony Brook University
Xie, JiayinStony Brook University
Chakraborty, NilanjanStony Brook University
 
WeAT14  Lecture Session, Room T14 Add to My Program 
Surgical Robotics  
 
Co-Chair: Mago Gerardino, JesusHaption, Sorbonne Université, CNRS, INSERM, ISIR-Agathe
 
14:30-14:36, Paper WeAT14.1 Add to My Program
Autonomous Bi-Manual Surgical Suturing Based on Skills Learned from Demonstration

Schwaner, Kim LindbergUniversity of Southern Denmark
Iturrate, IñigoUniversity of Southern Denmark
Andersen, Jakob Kristian HolmUniversity of Southern Denmark
Jensen, Pernille TineAarhus University Hospital
Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
14:36-14:42, Paper WeAT14.2 Add to My Program
Safe Reinforcement Learning Using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery

Pore, AmeyaUniversity of Verona
Corsi, DavideUniversity of Verona
Marchesini, EnricoUniversity of Verona
Dall'Alba, DiegoUniversity of Verona
Casals, AliciaUniversitatPolitècnica De Catalunya, Barcelona Tech
Farinelli, AlessandroUniversity of Verona
Fiorini, PaoloUniversity of Verona
 
14:42-14:48, Paper WeAT14.3 Add to My Program
Fall Detection for Robotic Endoscope Holders in Minimally Invasive Surgery

Mago Gerardino, JesusHaption, Sorbonne Université, CNRS, INSERM, ISIR-Agathe
Louveau, FrancoisHaption
Vitrani, Marie-AudeUniv. Pierre Et Marie Curie - Paris6
 
14:48-14:54, Paper WeAT14.4 Add to My Program
Pre-Operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution

Cursi, FrancescoImperial College London
Kormushev, PetarImperial College London
 
14:54-15:00, Paper WeAT14.5 Add to My Program
Globally Optimal Fetoscopic Mosaicking Based on Pose Graph Optimisation with Affine Constraints

Li, LiangUniversity College London
Bano, SophiaUniversity College London
Deprest, JanUniversity Hospital Leuven
David, AnnaUCL Institute for Women's Health, University College London
Stoyanov, DanailUniversity College London
Vasconcelos, FranciscoUniversity College London
 
15:00-15:06, Paper WeAT14.6 Add to My Program
Fusion of Biplane Fluoroscopy with Fiber Bragg Grating for 3D Catheter Shape Reconstruction

Ourak, MouloudUniversity of Leuven
De Buck, StijnUniversity of Leuven
Ha, Xuan ThaoKU Leuven
Al-Ahmad, OmarKatholieke Universiteit Leuven
Bamps, KobeUniversity of Leuven
Ector, JorisUniversity of Leuven
Vander Poorten, Emmanuel BKU Leuven
 
15:06-15:12, Paper WeAT14.7 Add to My Program
Position-Based Dynamics Simulator of Brain Deformations for Path Planning and Intra-Operative Control in Keyhole Neurosurgery

Segato, AlicePolitecnico Di Milano, Milano , Italy
Di Vece, ChiaraUniversity College London
Zucchelli, SaraPolitecnico Di Milano
Di Marzo, MarcoPolitecnico Di Milano
Wendler, ThomasTechnische Universität München
Azampour, Mohammad FaridTechnical Univeristy of Munich
Galvan, StefanoImperial College London
Secoli, RiccardoImperial College London
De Momi, ElenaPolitecnico Di Milano
 
WeAT15  Lecture Session, Room T15 Add to My Program 
Humanoid Robot Systems  
 
Chair: Kajita, ShuujiChubu University
Co-Chair: Kamimura, TomoyaNagoya Institute of Technology
 
14:30-14:36, Paper WeAT15.1 Add to My Program
Dynamical Effect of Elastically Supported Wobbling Mass on Biped Running

Kamimura, TomoyaNagoya Institute of Technology
Sato, KodaiNagoya Institute of Technology
Murayama, DaikiNagoya Institute of Technology
Kawase, NanakoNagoya Institute of Technology
Sano, AkihitoNagoya Institute of Technology
 
14:36-14:42, Paper WeAT15.2 Add to My Program
Dynamic Fall Recovery Motion Generation on Biped Robot with Shell Protector

Nguyen, Kim-Ngoc-KhanhThe University of Tokyo
Kojio, YutaThe University of Tokyo
Noda, Shintaro'
Sugai, FumihitoThe University of Tokyo
Kojima, KunioThe University of Tokyo
Kakiuchi, YoheiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
14:42-14:48, Paper WeAT15.3 Add to My Program
Human Trajectory Prediction Model and Its Coupling with a Walking Pattern Generator of a Humanoid Robot

Maroger, IsabelleLAAS CNRS
Ramuzat, NoëlieLAAS-CNRS, AIRBUS Operation SAS
Stasse, OlivierCNRS
Watier, BrunoLAAS, CNRS, Université Toulouse 3
 
14:48-14:54, Paper WeAT15.4 Add to My Program
Communicative Learning with Natural Gestures for Embodied Navigation Agents with Human-In-The-Scene

Wu, QiUniversity of California, Los Angeles
Wu, Cheng-JuUniversity of California, Los Angeles
Zhu, YixinUniversity of California, Los Angeles
Joo, JungseockUCLA
 
14:54-15:00, Paper WeAT15.5 Add to My Program
The ARoA Platform: An Autonomous Robotic Assistant with a Reconfigurable Torso System and Dexterous Manipulation Capabilities

Gorjup, GalThe University of Auckland
Chang, Che-MingUniversity of Auckland
Gao, GengUniversity of Auckland
Gerez, LucasHarvard University
Dwivedi, AnanyUniversity of Auckland
Yu, RuobingAi Data Innovations
Jarvis, PatrickHumanoid Artificial Intelligence
Liarokapis, MinasThe University of Auckland
 
15:00-15:06, Paper WeAT15.6 Add to My Program
Dynamic Humanoid Locomotion Over Rough Terrain with Streamlined Perception-Control Pipeline

Lee, MoonyoungCarnegie Mellon University
Kwon, YoungsunKAIST
Lee, SebinKAIST
Jonghun, ChoeKAIST
Park, JunyongKAIST
Jeong, HyobinRainbow Robotics
Heo, YujinKAIST
Kim, Min-SuKorea Advanced Institute of Science and Technology
Jo, SunghoKorea Advanced Institute of Science and Technology (KAIST)
Yoon, Sung-euiKAIST
Oh, Jun HoKorea Advanced Inst. of Sci. and Tech
 
15:06-15:12, Paper WeAT15.7 Add to My Program
Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes

Sato, ShimpeiThe University of Tokyo
Kojio, YutaThe University of Tokyo
Kojima, KunioThe University of Tokyo
Sugai, FumihitoThe University of Tokyo
Kakiuchi, YoheiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
WeAT16  Lecture Session, Room T16 Add to My Program 
Brain-Machine Interfaces  
 
Chair: Chapman, JaydenThe University of Auckland
Co-Chair: Gillini, GiuseppeUniv. of Cassino and Southern Lazio
 
14:30-14:36, Paper WeAT16.1 Add to My Program
Design of an SSVEP-Based BCI Stimuli System for Attention-Based Robot Navigation in Robotic Telepresence

Wang, XingchaoChinese University of Hongkong, Shenzhen
Huang, XiaopengThe Chinese University of Hong Kong, Shenzhen
Lin, YiThe Chinese University of Hong Kong, Shenzhen
Zhou, LiguangThe Chinese University of Hong Kong, Shenzhen
Sun, ZhenglongChinese University of Hong Kong, Shenzhen
Xu, YangshengThe Chinese University of Hong Kong, Shenzhen / Shenzhen Institu
 
14:36-14:42, Paper WeAT16.2 Add to My Program
An Assistive Shared Control Architecture for a Robotic Arm Using EEG-Based BCI with Motor Imagery

Gillini, GiuseppeUniv. of Cassino and Southern Lazio
Di Lillo, PaoloUniversity of Cassino and Southern Lazio
Arrichiello, FilippoUniv. of Cassino and Southern Lazio
 
14:42-14:48, Paper WeAT16.3 Add to My Program
A Wearable, Open-Source, Lightweight Forcemyography Armband: On Intuitive, Robust Muscle-Machine Interfaces

Chapman, JaydenThe University of Auckland
Dwivedi, AnanyUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
14:48-14:54, Paper WeAT16.4 Add to My Program
Manifold Trial Selection to Reduce Negative Transfer in Motor Imagery-Based Brain–Computer Interface

Liang, ZilinBeihang University
Zheng, ZhengBeijing University of Aeronautics and Astronautics
Chen, WeihaiBeihang University
Wang, JianhuaBeihang University
Zhang, JianbinBeijing University of Aeronautics & Astronautics
Chen, JianerZhejiang Chinese Medical University
Chen, ZuobingThe First Affiliated Hospital College of Medicine Zhejiang Unive
 
14:54-15:00, Paper WeAT16.5 Add to My Program
Neurointerface Implemented with Oscillator Motifs

Talanov, MaxB-Rain Labs LLC, ITIS KFU
Suleimanova, AlinaB-Rain Labs LLC, Kazan, Russian Federation; Neuromorphic Computi
Leukhin, AlexeyB-Rain Labs LLC, Kazan Federal University
Mikhailova, YliaKazan Federal University
Toschev, AlexanderB-Rain LLC
Militskova, AlenaKazan Federal University, Institute of Fundamental Medicine And
Lavrov, IgorMayo Clinic
Magid, EvgeniKazan Federal University
 
15:00-15:06, Paper WeAT16.6 Add to My Program
Hybrid Graph Convolutional Neural Networks for Skeleton-Based and EEG-Based Lower Limb Action Recognition

Feng, NaishiNortheastern University
Hu, FoNortheastern University
Hong, WangNortheastern University
Zhao, ZiqiSouthern University of Science and Technology
 
15:06-15:12, Paper WeAT16.7 Add to My Program
Affect-Driven Robot Behavior Learning System Using EEG Signals for Less Negative Feelings and More Positive Outcomes

Kim, Byung HyungKAIST
Kwak, Ji HoKAIST
Kim, MinukUniversity
Jo, SunghoKorea Advanced Institute of Science and Technology (KAIST)
 
WeAT17  Lecture Session, Room T17 Add to My Program 
Aerial Systems: Applications I  
 
Chair: Kayacan, ErdalAarhus University
Co-Chair: Ho, CherieCarnegie Mellon University
 
14:30-14:36, Paper WeAT17.1 Add to My Program
Design, Integration and Implementation of an Intelligent and Self-Recharging Drone System for Autonomous Power Line Inspection

Iversen, NicolaiUniversity of Southern Denmark
Bowen Schofield, OscarUniversity of Southern Denmark
Cousin, LindaFraunhofer IMS
Ayoub, NaeemUniversity of Southern Denmark
vom Bögel, GerdFraunhofer IMS
Ebeid, EmadUniversity of Southern Denmark
 
14:36-14:42, Paper WeAT17.2 Add to My Program
GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing

Pham, HuyAarhus University
Bozcan, IlkerAarhus University
Sarabakha, AndriyNanyang Technological University
Haddadin, SamiTechnical University of Munich
Kayacan, ErdalAarhus University
 
14:42-14:48, Paper WeAT17.3 Add to My Program
CCRobot-IV-F: A Ducted-Fan-Driven Flying-Type Bridge Stay Cable Climbing Robot

Zhang, WenchaoAIRS
Zheng, ZhenliangThe Chinese University of Hong Kong, Shenzhen
Fu, XueqiShenzhen Institute of Artificial Intelligence and Robotics for S
Hazken, SarsenbekShenzhen Institute of Artificial Intelligence and Robotics for S
Chen, HuapingShenZhen Institute of Artificial Intelligence and Robotics for S
Zhao, MinAIRS
Ding, NingThe Chinese University of Hong Kong, Shenzhen
 
14:48-14:54, Paper WeAT17.4 Add to My Program
REAL: Rapid Exploration with Active Loop-Closing Toward Large-Scale 3D Mapping Using UAVs

Lee, EungChangKorea Advanced Institute of Science and Technology
Choi, JunhoKAIST
Lim, HyungtaeKorea Advanced Institute of Science and Technology
Myung, HyunKAIST (Korea Advanced Institute of Science and Technology)
 
14:54-15:00, Paper WeAT17.5 Add to My Program
Stability and Robustness Analysis of Plug-Pulling Using an Aerial Manipulator

Byun, JeonghyunSeoul National University
Lee, DongjaeSeoul National University
Seo, HoseongSeoul National University
Jang, InkyuSeoul National University
Choi, JeongjunSeoul National University
Kim, H. JinSeoul National University
 
15:00-15:06, Paper WeAT17.6 Add to My Program
A Motion De-Coupled Aerial Robotic Manipulator for Better Inspection

Peng, RuiThe University of Hong Kong
Chen, XiandaThe University of Hong Kong
Lu, PengThe University of Hong Kong
 
15:06-15:12, Paper WeAT17.7 Add to My Program
Dynamic Grasping with a “Soft” Drone: From Theory to Practice

Fishman, JoshuaMassachusetts Institute of Technology
Ubellacker, SamuelMassachusetts Institute of Technology
Hughes, NathanMIT
Carlone, LucaMassachusetts Institute of Technology
 
WeAT18  Lecture Session, Room T18 Add to My Program 
Telerobotics and Teleoperation I  
 
Chair: Pollard, Nancy SCarnegie Mellon University
Co-Chair: Kitagawa, ShingoThe University of Tokyo
 
14:30-14:36, Paper WeAT18.1 Add to My Program
Miniature Tangible Cube: Concept and Design of Target-Object-Oriented User Interface for Dual-Arm Telemanipulation

Kitagawa, ShingoThe University of Tokyo
Hasegawa, ShunThe University of Tokyo
Yamaguchi, NaoyaThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
14:36-14:42, Paper WeAT18.2 Add to My Program
Cursor-Based Robot Tele-Manipulation through 2D-To-SE2 Interfaces

Cabrera, Maria EugeniaUniversity of Washington
Dey, KaviUniversity of Washington
Krishnaswamy, KavitaUniversity of Maryland Baltimore County (UMBC)
Bhattacharjee, TapomayukhCornell University
Cakmak, MayaUniversity of Washington
 
14:42-14:48, Paper WeAT18.3 Add to My Program
Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator's Arm Motion

Fu, GuanhaoJohns Hopkins University
Azimi, EhsanJohns Hopkins University
Kazanzides, PeterJohns Hopkins University
 
14:48-14:54, Paper WeAT18.4 Add to My Program
Drawing Elon Musk: A Robot Avatar for Remote Manipulation

Chen, LingyunTechnical University of Munich
Swikir, AbdallaTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
14:54-15:00, Paper WeAT18.5 Add to My Program
Analysis of User Preferences for Robot Motions in Immersive Telepresence

Mimnaugh, Katherine J.University of Oulu
Suomalainen, MarkkuUniversity of Oulu
Becerra, IsraelCentro De Investigacion En Matematicas
Lozano, EliezerCentro De Investigación En Matemáticas
Murrieta-Cid, RafaelCenter for Mathematical Research
LaValle, Steven MUniversity of Oulu
 
15:00-15:06, Paper WeAT18.6 Add to My Program
A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation

Gholami, SoheilIstituto Italiano Di Tecnologia (IIT)
Tassi, FrancescoIstituto Italiano Di Tecnologia
De Momi, ElenaPolitecnico Di Milano
Ajoudani, ArashIstituto Italiano Di Tecnologia
 
15:06-15:12, Paper WeAT18.7 Add to My Program
Safety-Oriented Teleoperation Framework for Contact-Rich Tasks in Hazardous Workspaces

Lee, DonghyeonPohang University of Science and Technology(POSTECH)
Chung, Wan KyunPOSTECH
Kim, KeehoonPOSTECH, Pohang University of Science and Technology
 
WeAT19  Lecture Session, Room T19 Add to My Program 
Robotic Systems and Benchmarking I  
 
Chair: Ramos, JoaoUniversity of Illinois at Urbana-Champaign
Co-Chair: Kirschner, Robin JeanneTU Munich, Institute for Robotics and Systems Intelligence
 
14:30-14:36, Paper WeAT19.1 Add to My Program
Identifying Performance Regression Conditions for Testing & Evaluation of Autonomous Systems

Stankiewicz, PaulJohns Hopkins University Applied Physics Laboratory
Kobilarov, MarinJohns Hopkins University
 
14:36-14:42, Paper WeAT19.2 Add to My Program
JCopter: Reliable UAV Software through Managed Languages

Czerniejewski, AdamSUNY Buffalo
Burns, John HenrySUNY Binghamton
Ghanei, FarshadUniversity at Buffalo
Dantu, KarthikUniversity of Buffalo
Liu, Yu DavidSUNY Binghamton
Ziarek, LukaszSUNY at Buffalo
 
14:42-14:48, Paper WeAT19.3 Add to My Program
Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Kirschner, Robin JeanneTU Munich, Institute for Robotics and Systems Intelligence
Kurdas, Alexander AndreasTechnical University of Munich
Karacan, KübraTechnical University of Munich
Junge, PhilippTechnical University of Munich
Baradaran Birjandi, Seyed AliTechnical University of Munich
Mansfeld, NicoTechnical University of Munich
Abdolshah, SaeedTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
14:48-14:54, Paper WeAT19.4 Add to My Program
On Assessing the Usefulness of Proxy Domains for Developing and Evaluating Embodied Agents

Courchesne, AnthonyMila, Université De Montréal
Censi, AndreaETH Zürich
Paull, LiamUniversité De Montréal
 
14:54-15:00, Paper WeAT19.5 Add to My Program
Towards Efficient Learning-Based Model Predictive Control Via Feedback Linearization and Gaussian Process Regression

Caldwell, JackQueen's University
Marshall, Joshua A.Queen's University
 
15:00-15:06, Paper WeAT19.6 Add to My Program
HOPPY: An Open-Source Kit for Education with Dynamic Legged Robots

Ramos, JoaoUniversity of Illinois at Urbana-Champaign
Ding, YanranUniversity of Illinois at Urbana-Champaign
Sim, YoungwooUniversity of Illinois at Urbana-Champaign
Murphy, KevinUniversity of Illinois Urbana-Champaign
Block, DanielUniversity of Illinois
 
15:06-15:12, Paper WeAT19.7 Add to My Program
A Methodology for Approaching the Integration of Complex Robotics Systems Illustrated through a Bi-Manual Manipulation Case-Study (I)

Triantafyllou, PavlosOcado Technology
Afonso Rodrigues, RafaelOcado Technology
Chaikunsaeng, SirapoabOcado Technology
Almeida, DiogoOcado Technology
Deacon, GrahamOCADO - Robotics Research
Konstantinova, JelizavetaOcado Technology
Cotugno, GiuseppeOcado Technology
 
WeAT20  Lecture Session, Room T20 Add to My Program 
Marine Robotics I  
 
Chair: Quraishi, Anwar AhmadÉcole Polytechnique Fédérale De Lausanne
Co-Chair: Bobadilla, LeonardoFlorida International University
 
14:30-14:36, Paper WeAT20.1 Add to My Program
An Open-Source, Fiducial-Based, Underwater Stereo Visual-Inertial Localization Method with Refraction Correction

Zhang, PengfeiInstitute of Automation,Chinese Academy of Sciences
Wu, ZhengxingChinese Academy of Sciences
Wang, JianInstitute of Automation, Chinese Academy of Sciences
Kong, ShihanInstitute of Automation, Chinese Academy of Sciences
Tan, MinInstitute of Automation, Chinese Academy of Sciences
Yu, JunzhiChinese Academy of Sciences
 
14:36-14:42, Paper WeAT20.2 Add to My Program
Cooperative ASV/AUV System Exploiting Active Acoustic Localization

Bresciani, MatteoUniversity of Pisa
Peralta, GiovanniUniversity of Pisa
Ruscio, FrancescoUniversity of Pisa
Bazzarello, LorenzoUniversity of Pisa
Caiti, AndreaUniversity of Pisa
Costanzi, RiccardoUniversità Di Pisa
 
14:42-14:48, Paper WeAT20.3 Add to My Program
Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Quraishi, Anwar AhmadÉcole Polytechnique Fédérale De Lausanne
Martinoli, AlcherioEPFL
 
14:48-14:54, Paper WeAT20.4 Add to My Program
Shipborne Sea-Ice Field Mapping Using a LiDAR

Sandru, AndreiAalto University
Visala, ArtoAalto University, School of Electrical Engineering
Kujala, PenttiAalto University
 
14:54-15:00, Paper WeAT20.5 Add to My Program
3D Ensemble-Based Online Oceanic Flow Field Estimation for Underwater Glider Path Planning

Kong, Felix HonglimThe University of Technology Sydney
To, Kwun Yiu CadmusUniversity of Technology Sydney
Brassington, GaryThe Australian Bureau of Meteorology
Anstee, Stuart DavidDefence Science and Technology Group
Fitch, RobertUniversity of Technology Sydney
 
15:00-15:06, Paper WeAT20.6 Add to My Program
Leveraging Metadata in Representation Learning with Georeferenced Seafloor Imagery

Yamada, TakakiUniversity of Southampton
Massot-Campos, MiquelUniversity of Southampton
Prugel-Bennett, AdamUniversity of Southampton
Williams, Stefan BernardUniversity of Sydney
Pizarro, OscarAustralian Centre for Field Robotics
Thornton, BlairUniversity of Southampton
 
15:06-15:12, Paper WeAT20.7 Add to My Program
Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Quraishi, Anwar AhmadÉcole Polytechnique Fédérale De Lausanne
Martinoli, AlcherioEPFL
 
WePL  Plenary session, Room T21 Add to My Program 
Plenary II  
 
 
, Paper WePL. Add to My Program
Learning Risk and Social Behavior in Mixed Human-Autonomous Vehicles Systems

Rus, DanielaMIT
 
WeBT1  Lecture Session, Room T1 Add to My Program 
SLAM II  
 
Chair: Wang, Yu-PingTsinghua University
Co-Chair: Zhou, LipuCarnegie Mellon University
 
16:25-16:31, Paper WeBT1.1 Add to My Program
Visual Place Recognition Using LiDAR Intensity Information

Di Giammarino, LucaSapienza Univ. of Rome
Aloise, IrvinSapienze University of Rome
Stachniss, CyrillUniversity of Bonn
Grisetti, GiorgioSapienza University of Rome
 
16:31-16:37, Paper WeBT1.2 Add to My Program
F-LOAM: Fast LiDAR Odometry and Mapping

Wang, HanNanyang Technological University
Wang, ChenCarnegie Mellon University
Chen, Chun-LinNanyang Technological University
Xie, LihuaNanyangTechnological University
 
16:37-16:43, Paper WeBT1.3 Add to My Program
LiDAR-Based Object-Level SLAM for Autonomous Vehicles

Cao, BingyiFreie Universität Berlin
Carrillo Mendoza, RicardoFreie Universitaet Berlin
Philipp, AndreasFreie Universität Berlin
Goehring, DanielFreie Universität Berlin
 
16:43-16:49, Paper WeBT1.4 Add to My Program
LiDAR SLAM with Plane Adjustment for Indoor Environment

Zhou, LipuCarnegie Mellon University
Koppel, DanielMagic Leap
Kaess, MichaelCarnegie Mellon University
 
16:49-16:55, Paper WeBT1.5 Add to My Program
Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System

Chen, PengxinThe Hong Kong Polytechnic University
Shi, WenzhongThe Hong Kong Polytechnic University
Bao, ShengThe Hong Kong Polytechnic University
Wang, MuyangThe Hong Kong Polytechnic University
Fan, WenzhengThe Hong Kong Polytechnic University
Xiang, HaodongThe Hong Kong Polytechnic University
 
16:55-17:01, Paper WeBT1.6 Add to My Program
RF-LIO: Removal-First Tightly-Coupled Lidar Inertial Odometry in High Dynamic Environments

Qian, ChenglongXi'an Jiaotong University
Xiang, ZhaohongXi'an Jiaotong University
Wu, ZhuoranXi’an Jiaotong University
Sun, HongbinXi'an Jiaotong University
 
17:01-17:07, Paper WeBT1.7 Add to My Program
What's in My LiDAR Odometry Toolbox?

Dellenbach, PierreMines-Paristech
Deschaud, Jean-EmmanuelMINES ParisTech
Jacquet, BastienKitware
Goulette, FrançoisMINES ParisTech
 
WeBT2  Lecture Session, Room T2 Add to My Program 
Object Detection, Segmentation and Categorization II  
 
Chair: Zhang, LiangjunBaidu USA
Co-Chair: Wu, YizheUniversity of Oxford
 
16:25-16:31, Paper WeBT2.1 Add to My Program
Active Perception for Ambiguous Objects Classification

Safronov, EvgeniiIstituto Italiano Di Tecnologia
Piga, NicolaIstituto Italiano Di Tecnologia, Università Di Genova
Colledanchise, MicheleIIT - Italian Institute of Technology
Natale, LorenzoIstituto Italiano Di Tecnologia
 
16:31-16:37, Paper WeBT2.2 Add to My Program
Event-Based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting

Lu, XiuyuanHong Kong University of Science and Technology
Zhou, YiHong Kong University of Science and Technology
Shen, ShaojieHong Kong University of Science and Technology
 
16:37-16:43, Paper WeBT2.3 Add to My Program
FIDNet: LiDAR Point Cloud Semantic Segmentation with Fully Interpolation Decoding

Zhao, YimingWorcester Polytechnic Institute
Bai, LinWorcester Polytechnic Institute
Huang, XinmingWorcester Polytechnic Institute
 
16:43-16:49, Paper WeBT2.4 Add to My Program
Look before You Act: Boosting Pseudo-LiDAR with Online Semantic Embedding

Zhang, LiangjunHikvision Research Institute
Song, TaoHikvision
Jiang, TaoHangzhou Hikvision Digital Technology Co., Ltd
Xie, DiHikvision Research Institute
Pu, ShiliangHangzhou Hikvision Digital Technology Co. Ltd
 
16:49-16:55, Paper WeBT2.5 Add to My Program
FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-Time Semantic Segmentation

Deng, FuqinShenzhen Institute of Artificial Intelligence and Robotics for S
Feng, HuaWuyi University
Liang, MingjianWuyi University
Wang, HongminWuyi University
Yang, YongShenzhen 3irobotix Co., Ltd
Gao, YuanUppsala University
Chen, JunfengShenzhen Institute of Artificial Intelligence and Robotics for S
Hu, JunjieThe Chinese University of Hong Kong, Shenzhen
Guo, XiyueThe Shenzhen Institute of Artificial Intelligence and Robotics F
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
 
16:55-17:01, Paper WeBT2.6 Add to My Program
ODIP: Towards Automatic Adaptation for Object Detection by Interactive Perception

Chen, Tung-INational Taiwan University
Wang, Jen-WeiNational Taiwan University
Hsu, WinstonNational Taiwan University
 
17:01-17:07, Paper WeBT2.7 Add to My Program
Vessel Classification Using a Regression Neural Network Approach

Andersen, Rasmus EckholdtTechnicel University of Denmark
Nalpantidis, LazarosDTU - Technical University of Denmark
Boukas, EvangelosTechnical University of Denmark
 
WeBT3  Lecture Session, Room T3 Add to My Program 
Autonomous Vehicle Navigation IV  
 
Co-Chair: Kamran, DanialKarlsruhe Institute of Technology
 
16:25-16:31, Paper WeBT3.1 Add to My Program
Evaluation of Long-Term LiDAR Place Recognition

Peltomaki, JukkaTampere University
Alijani, FaridTampere University
Puura, JussiSandvik Mining and Construction Oy
Huttunen, HeikkiTampere University of Technology
Rahtu, EsaUniversity of Oulu
Kamarainen, Joni-KristianTampere University of Technology
 
16:31-16:37, Paper WeBT3.2 Add to My Program
KB-Tree: Learnable and Continuous Monte-Carlo Tree Search for Autonomous Driving Planning

Lanxin, LeiAlibaba
Luo, RuimingZhejiang University
Renjie, ZhengAlibaba
Wang, JingkeZhejiang University
Zhang, JianweiAlibaba
Qiu, CongAlibaba
Ma, LiulongAlibaba
Jin, LiyangDepartment of Autonomous Driving Lab, Alibaba DAMO Academy
Zhang, PingAlibaba
Chen, JunboAlibaba Group
 
16:37-16:43, Paper WeBT3.3 Add to My Program
Autonomous Mobile Robot Navigation Independent of Road Boundary Using Driving Recommendation Map

Onozuka, YuyaThe University of Tokyo
Matsumi, RyosukeThe University of Tokyo
Shino, MotokiThe University of Tokyo
 
16:43-16:49, Paper WeBT3.4 Add to My Program
Learning-Based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments

Wang, LiziZhejiang University
Ye, HongkaiZhejiang University
Wang, QianhaoZhejiang University
Gao, YumanZhejiang University
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
 
16:49-16:55, Paper WeBT3.5 Add to My Program
Cooperative Autonomous Vehicles That Sympathize with Human Drivers

Toghi, BehradUniversity of Central Florida
Valiente, RodolfoUniversity of Central Florida
Sadigh, DorsaStanford University
Pedarsani, RamtinUniversity of California, Santa Barbara
Fallah, YaserUniversity of Central Florida
 
16:55-17:01, Paper WeBT3.6 Add to My Program
Shape Estimation of Negative Obstacles for Autonomous Navigation

Lebakula, ViswadeepMississippi State University
Tang, BoUniversity of Rhode Island
Goodin, ChristopherMississippi State University
Bethel, Cindy L.Mississippi State University
 
17:01-17:07, Paper WeBT3.7 Add to My Program
Reinforcement Learning Based Negotiation-Aware Motion Planning of Autonomous Vehicles

Zhitao, WangHuawei Technologies
Yuzheng, ZhuangHuawei Technologies
Qiang, GuHuawei Technologies
Dong, ChenHuawei Technologies
Hongbo, ZhangHuawei Technologies
Liu, WulongNoah’s Ark Lab, Huawei
 
WeBT4  Lecture Session, Room T4 Add to My Program 
Reinforcement Learning III  
 
Chair: Akinola, IretiayoColumbia University
Co-Chair: Tian, RanUC Berkeley
 
16:25-16:31, Paper WeBT4.1 Add to My Program
Terrain-Aware Risk-Assessment-Network-Aided Deep Reinforcement Learning for Quadrupedal Locomotion in Tough Terrain

Zhang, HongyinWestlake University
Wang, JilongWestlake University
Wu, ZhengqingWestlake University
Wang, YinuoWestlake University
Wang, DonglinWestlake University
 
16:31-16:37, Paper WeBT4.2 Add to My Program
Hierarchical Terrain-Aware Control for Quadrupedal Locomotion by Combining Deep Reinforcement Learning and Optimal Control

Yao, QingfengShenyang Institute of Automation, Chinese Academy of Sciences
Wang, JilongWestlake University
Wang, DonglinWestlake University
Yang, ShuyuWestlake University
Zhang, HongyinWestlake University
Wang, YinuoWestlake University
Wu, ZhengqingWestlake University
 
16:37-16:43, Paper WeBT4.3 Add to My Program
Model-Based Constrained Reinforcement Learning Using Generalized Control Barrier Function

Ma, HaitongTsinghua University
Chen, JianyuTsinghua University
Li, Shengbo EbenTsinghua University
Lin, ZiyuTsinghua University
Guan, YangTsinghua University
Ren, YangangTsinghua University
Zheng, SifaTsinghua University
 
16:43-16:49, Paper WeBT4.4 Add to My Program
Learning Human Rewards by Inferring Their Latent Intelligence Levels in Multi-Agent Games: A Theory-Of-Mind Approach with Application to Driving Data

Tian, RanUC Berkeley
Tomizuka, MasayoshiUniversity of California
Sun, LitingUniversity of California, Berkeley
 
16:49-16:55, Paper WeBT4.5 Add to My Program
Meta-Learning for Fast Adaptive Locomotion with Uncertainties in Environments and Robot Dynamics

Anne, TimothéeENS Rennes
Wilkinson, Jack JeffreyUniversity of Edinburgh
Li, ZhibinUniversity of Edinburgh
 
16:55-17:01, Paper WeBT4.6 Add to My Program
Monolithic vs. Hybrid Controller for Multi-Objective Sim-To-Real Learning

Dag, AtakanTampere University
Angleraud, AlexandreTampere University
Yang, WenyanTampere University
Strokina, NataliyaTampere University
Pieters, Roel S.Tampere University
Lanz, MinnaDepartment of Mechanical Engineering and Industrial Systems
Kamarainen, Joni-KristianTampere University of Technology
 
17:01-17:07, Paper WeBT4.7 Add to My Program
Centralizing State-Values in Dueling Networks for Multi-Robot Reinforcement Learning Mapless Navigation

Marchesini, EnricoUniversity of Verona
Farinelli, AlessandroUniversity of Verona
 
WeBT5  Lecture Session, Room T5 Add to My Program 
Deep Learning for Visual Perception V  
 
Chair: Yi, BrentUniversity of California, Berkeley
Co-Chair: Digumarti, Sundara TejaswiUniversity of Sydney
 
16:25-16:31, Paper WeBT5.1 Add to My Program
You Only Group Once: Efficient Point-Cloud Processing with Token Representation and Relation Inference Module

Xu, ChenfengUniversity of California, Berkeley
Zhai, BohanUC Berkeley
Wu, BichenUC Berkeley
Li, TianPeking University
Zhan, WeiUniveristy of California, Berkeley
Vajda, PeterFacebook
Keutzer, KurtUC Berkeley
Tomizuka, MasayoshiUniversity of California
 
16:31-16:37, Paper WeBT5.2 Add to My Program
VIPose: Real-Time Visual-Inertial 6D Object Pose Tracking

Ge, RundongNew York University
Loianno, GiuseppeNew York University
 
16:37-16:43, Paper WeBT5.3 Add to My Program
Using Visual Anomaly Detection for Task Execution Monitoring

Thoduka, SantoshHochschule Bonn-Rhein-Sieg
Gall, JuergenUniversity of Bonn
Plöger, Paul G.Hochschule Bonn Rhein Sieg
 
16:43-16:49, Paper WeBT5.4 Add to My Program
Moving SLAM: Fully Unsupervised Deep Learning in Non-Rigid Scenes

Xu, DanHong Kong University of Science and Technology
Vedaldi, AndreaOxford Univ
Henriques, JoaoUniversity of Oxford
 
16:49-16:55, Paper WeBT5.5 Add to My Program
Pose Estimation from RGB Images of Highly Symmetric Objects Using a Novel Multi-Pose Loss and Differential Rendering

Bengtson, Stefan HeinAalborg University
Åström, HampusLund University
Moeslund, Thomas B.Aalborg University
Topp, Elin AnnaLund University - LTH
Krueger, VolkerLund University
 
16:55-17:01, Paper WeBT5.6 Add to My Program
Denoising 3D Human Poses from Low-Resolution Video Using Variational Autoencoder

Nakatsuka, ChihiroKDDI Research
Komorita, SatoshiKDDI Research, Inc
 
17:01-17:07, Paper WeBT5.7 Add to My Program
KDFNet: Learning Keypoint Distance Field for 6D Object Pose Estimation

Liu, XingyuCarnegie Mellon University
Iwase, ShunCarnegie Mellon University
Kitani, KrisCarnegie Mellon University
 
WeBT6  Lecture Session, Room T6 Add to My Program 
Deep Learning in Grasping and Manipulation II  
 
Chair: Wang, PengChinese Acdamy of Sciences
Co-Chair: Chang, JaesikSamsung Research, Samsung Electronics Co., Ltd
 
16:25-16:31, Paper WeBT6.1 Add to My Program
Precise Object Placement with Pose Distance Estimations for Different Objects and Grippers

Kleeberger, KilianFraunhofer IPA
Schnitzler, JonathanFraunhofer IPA
Khalid, Muhammad UsmanResearch Institute
Bormann, RichardFraunhofer IPA
Kraus, WernerFraunhofer IPA
Huber, Marco F.University of Stuttgart
 
16:31-16:37, Paper WeBT6.2 Add to My Program
Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter

Corsaro, MattBrown University
Tellex, StefanieBrown
Konidaris, GeorgeBrown University
 
16:37-16:43, Paper WeBT6.3 Add to My Program
Double-Dot Network for Antipodal Grasp Detection

Wang, YaoBeihang University
Zheng, YangtaoBeihang University
Gao, BoyangGeometry Robotics Ltd
Huang, DiBeihang University
 
16:43-16:49, Paper WeBT6.4 Add to My Program
Neural Motion Prediction for In-Flight Uneven Object Catching

Yu, HongxiangZhejiang University
Guo, DashunZhejiang University
Yin, HuanZhejiang Univerisity
Chen, AnzheZhejiang University
Xu, KechunZhejiang University
Chen, ZexiZhejiang University
Wang, MinhangHuawei
Tan, QimengBeijing Institute of Spacecraft System Engineering
Wang, YueZhejiang University
Xiong, RongZhejiang University
 
16:49-16:55, Paper WeBT6.5 Add to My Program
Learning a Generative Transition Model for Uncertainty-Aware Robotic Manipulation

Berscheid, LarsKarlsruhe Institute of Technology
Meißner, PascalUniversity of Aberdeen
Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
 
16:55-17:01, Paper WeBT6.6 Add to My Program
Occlusion-Aware Search for Object Retrieval in Clutter

Bejjani, WissamUniversity of Leeds
Agboh, Wisdom C.University of Leeds
Dogar, Mehmet RUniversity of Leeds
Leonetti, MatteoUniversity of Leeds
 
17:01-17:07, Paper WeBT6.7 Add to My Program
Grasp Pose Detection from a Single RGB Image

Cheng, HuThe Chinese University of Hong Kong
Wang, YingyingThe Chinese University of Hong Kong
Meng, Max Q.-H.The Chinese University of Hong Kong
 
WeBT7  Lecture Session, Room T7 Add to My Program 
Motion and Path Planning V  
 
Chair: Mukadam, MustafaFacebook AI Research
Co-Chair: Upadhyay, SaurabhFaculty of Engineering, University of Bristol
 
16:25-16:31, Paper WeBT7.1 Add to My Program
Learning When to Quit: Meta-Reasoning for Motion Planning

Sung, YoonchangMassachusetts Institute of Technology
Kaelbling, LeslieMIT
Lozano-Perez, TomasMIT
 
16:31-16:37, Paper WeBT7.2 Add to My Program
Joint Sampling and Trajectory Optimization Over Graphs for Online Motion Planning

Alwala, Kalyan VasudevFacebook
Mukadam, MustafaFacebook AI Research
 
16:37-16:43, Paper WeBT7.3 Add to My Program
Path Planning for Robotic Manipulators in Dynamic Environments Using Distance Information

Covic, NerminUniversity of Sarajevo, Faculty of Electrical Engineering
Lacevic, BakirUniversity of Sarajevo
Osmankovic, DinkoFaculty of Electrical Engineering Sarajevo
 
16:43-16:49, Paper WeBT7.4 Add to My Program
Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Kučerová, KristýnaCzech Technical University in Prague
Váňa, PetrCzech Technical University in Prague
Faigl, JanCzech Technical University in Prague
 
16:49-16:55, Paper WeBT7.5 Add to My Program
Risk-Aware Submodular Optimization for Stochastic Travelling Salesperson Problem

Balasubramanian, RishabNIT Trichy
Zhou, LifengUniversity of Pennsylvania
Tokekar, PratapUniversity of Maryland
Pb, SujitIISER Bhopal
 
16:55-17:01, Paper WeBT7.6 Add to My Program
Fast Generation of Obstacle-Avoiding Motion Primitives for Quadrotors

Upadhyay, SaurabhFaculty of Engineering, University of Bristol
Richardson, ThomasUniversity of Bristol
Richards, ArthurUniversity of Bristol
 
17:01-17:07, Paper WeBT7.7 Add to My Program
Roadmap for Visibility-Based Target Tracking: Iterative Construction and Motion Strategy

Laguna, GuillermoIowa State University
Mandal, ShashwataIowa State University
Bhattacharya, SourabhIowa State University
 
WeBT8  Lecture Session, Room T8 Add to My Program 
Multi-Robot Systems III  
 
Chair: Colombo, LeonardoSpanish Research Council (CSIC)
Co-Chair: Sikand, KavanUniversity of Texas at Austin
 
16:25-16:31, Paper WeBT8.1 Add to My Program
Flocking and Collision Avoidance for a Dynamic Squad of Fixed-Wing UAVs Using Deep Reinforcement Learning

Yan, ChaoNational University of Defense Technology
Xiang, XiaojiaNational University of Defense Technology
Wang, ChangNational University of Defense Technology
Lan, ZhenNational University of Defense Technology
 
16:31-16:37, Paper WeBT8.2 Add to My Program
Learning to Play Soccer from Scratch: Sample-Efficient Emergent Coordination through Curriculum-Learning and Competition

Samtani, PavanUniversidad De Chile
Leiva, FranciscoUniversidad De Chile
Ruiz-del-Solar, JavierUniversidad De Chile
 
16:37-16:43, Paper WeBT8.3 Add to My Program
Dual Quaternion Cluster-Space Formation Control

Giribet, Juan IgnacioUniversity of Buenos Aires
Colombo, LeonardoSpanish Research Council (CSIC)
Moreno, PatricioUniversidad De Buenos Aires
Mas, IgnacioCONICET-ITBA
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
16:43-16:49, Paper WeBT8.4 Add to My Program
Impact of Heterogeneity and Risk Aversion on Task Allocation in Multi-Agent Teams

Wu, HaochenUniversity of Michigan, Ann Arbor
Ghadami, AminUniversity of Michigan, Ann Arbor
Bayrak, Alparslan EmrahStevens Instituite of Technology
Smereka, Jonathon M.U.S. Army TARDEC
Epureanu, BogdanUniversity of Michigan, Ann Arbor
 
16:49-16:55, Paper WeBT8.5 Add to My Program
Hiding Leader's Identity in Leader-Follower Navigation through Multi-Agent Reinforcement Learning

Deka, AnkurCarnegie Mellon University
Luo, WenhaoCarnegie Mellon University
Li, HuaoUniversity of Pittsburgh
Lewis, MichaelUniversity of Pittsburgh
Sycara, KatiaCarnegie Mellon University
 
16:55-17:01, Paper WeBT8.6 Add to My Program
Moving Forward in Formation: A Decentralized Hierarchical Learning Approach to Multi-Agent Moving Together

Liu, ShanqiZheJiang University
Wen, LichengZhejiang University
Cui, JinhaoZhejiang University
Yang, XuemengZhejiang University
Cao, JunjieInstitute of Cyber Systems and Control, Zhejiang University
Liu, YongZhejiang University
 
17:01-17:07, Paper WeBT8.7 Add to My Program
Scalable Reinforcement Learning Policies for Multi-Agent Control

Hsu, Christopher D.U.S. Army CCDC Army Research Laboratory
Jeong, HeejinUniversity of Pennsylvania
Pappas, George J.University of Pennsylvania
Chaudhari, PratikUniversity of Pennsylvania
 
WeBT9  Lecture Session, Room T9 Add to My Program 
Visual Learning I  
 
Chair: Behley, JensUniversity of Bonn
Co-Chair: Patten, TimothyUniversity of Technology Sydney
 
16:25-16:31, Paper WeBT9.1 Add to My Program
ADD: A Fine-Grained Dynamic Inference Architecture for Semantic Image Segmentation

Kung, Chi-HsiNational Tsing Hua University
Lee, Che-RungNational Tsing Hua University
 
16:31-16:37, Paper WeBT9.2 Add to My Program
COINet: Adaptive Segmentation with Co-Interactive Network for Autonomous Driving

Liu, JieCity University of Hong Kong
Guo, XiaoqingCity University of Hong Kong
Li, BaopuBaidu Research(USA)
Yuan, YixuanCity University of Hong Kong
 
16:37-16:43, Paper WeBT9.3 Add to My Program
Category-Level 6D Object Pose Estimation Via Cascaded Relation and Recurrent Reconstruction Networks

Wang, JiazeThe Chinese University of Hong Kong
Chen, KaiThe Chinese University of Hong Kong
Dou, QiThe Chinese University of Hong Kong
 
16:43-16:49, Paper WeBT9.4 Add to My Program
Scanline Resolution-Invariant Depth Completion Using a Single Image and Sparse LiDAR Point Cloud

Ryu, KwonyoungPOSTECH
Lee, Kang-ilKAIST
Cho, JegyeongKAIST
Yoon, Kuk-JinKAIST
 
16:49-16:55, Paper WeBT9.5 Add to My Program
Unknown Object Segmentation from Stereo Images

Durner, MaximilianGerman Aerospace Center DLR
Boerdijk, WoutGerman Aerospace Center (DLR)
Sundermeyer, MartinGerman Aerospace Center (DLR)
Friedl, WernerGerman AerospaceCenter (DLR)
Marton, Zoltan-CsabaGerman Aerospace Center (DLR)
Triebel, RudolphGerman Aerospace Center (DLR)
 
16:55-17:01, Paper WeBT9.6 Add to My Program
Object Learning for 6D Pose Estimation and Grasping from RGB-D Videos of In-Hand Manipulation

Patten, TimothyUniversity of Technology Sydney
Park, KiruTU Wien
Leitner, MarkusTU Wien
Wolfram, KevinTU Wien
Vincze, MarkusVienna University of Technology
 
17:01-17:07, Paper WeBT9.7 Add to My Program
Online Monitoring of Object Detection Performance During Deployment

Rahman, Quazi MarufurQueensland University of Technology
Sünderhauf, NikoQueensland University of Technology
Dayoub, FerasQueensland University of Technology
 
WeBT10  Lecture Session, Room T10 Add to My Program 
Intelligent Transportation Systems I  
 
Chair: Hanna, JosiahUniversity of Edinburgh
Co-Chair: Liniger, AlexanderETH Zurich
 
16:25-16:31, Paper WeBT10.1 Add to My Program
Dynamic Lambda-Field: A Counterpart of the Bayesian Occupancy Grid for Risk Assessment in Dynamic Environments

Laconte, JohannInstitut Pascal
Randriamiarintsoa, ElieInstitut Pascal
Kasmi, AbderrahimSherpa Engineering/ Institut Pascal - Clermont Auvergne Universi
Pomerleau, FrancoisLaval University
Chapuis, RolandInstitut Pascal
Debain, ChristopheIrstea
Aufrere, RomualdClermont Auvergne University
 
16:31-16:37, Paper WeBT10.2 Add to My Program
3D Radar Velocity Maps for Uncertain Dynamic Environments

Senanayake, RansaluStanford University
Hatch, Kyle BeltranStanford University
Zheng, Jason ZimingStanford University
Kochenderfer, MykelStanford University
 
16:37-16:43, Paper WeBT10.3 Add to My Program
Extended VINS-Mono: A Systematic Approach for Absolute and Relative Vehicle Localization in Large-Scale Outdoor Environments

He, MengwenCarnegie Mellon University
Rajkumar, Ragunathan (Raj)Carnegie Mellon University
 
16:43-16:49, Paper WeBT10.4 Add to My Program
Automated Type-Aware Traffic Speed Prediction Based on Sparse Intelligent Camera System

Xie, XiaoyangRutgers University
Shao, KangjiaUniversity of Science and Technology of China
Wang, YangUniversity of Science and Technology of China
Miao, FeiUniversity of Connecticut
Zhang, DeshengRutgers University
 
16:49-16:55, Paper WeBT10.5 Add to My Program
Vision-Based Control of an Unknown Suspended Payload with a Multirotor

Slabber, FrancoisStellenbosch University
Jordaan, Hendrik WillemStellenbosch University
 
16:55-17:01, Paper WeBT10.6 Add to My Program
Gridlock-Free Autonomous Parking Lots for Autonomous Vehicles

Au, Tsz-ChiuUlsan National Institute of Science and Technology
 
17:01-17:07, Paper WeBT10.7 Add to My Program
Maneuver-Based Trajectory Prediction for Self-Driving Cars Using Spatio-Temporal Convolutional Networks

Mersch, BenediktUniversity of Bonn
Höllen, ThomasUniversity of Bonn
Zhao, KunAptiv Services Deutschland GmbH
Stachniss, CyrillUniversity of Bonn
Roscher, RibanaUniversity of Bonn
 
WeBT11  Lecture Session, Room T11 Add to My Program 
Machine Learning for Robot Control II  
 
Chair: Zacksenhouse, MiriamTechnion-Israel Institute of Technology
Co-Chair: Otte, SebastianUniversity of Tübingen
 
16:25-16:31, Paper WeBT11.1 Add to My Program
NaturalNets: Simplified Biological Neural Networks for Learning Complex Tasks

Zimmermann, DanielFZI Research Center for Information Technology
Jürgens, BjörnFZI Research Center for Information Technology
Deubel, PatrickForschungszentrum Informatik (FZI)
Koziolek, AnneKarlsruhe Institute of Technology
 
16:31-16:37, Paper WeBT11.2 Add to My Program
Talk the Talk and Walk the Walk: Dialogue-Driven Navigation in Unknown Indoor Environments

Ilyevsky, Thomas VictorPurdue University
Johansen, Jared SigurdPurdue University
Siskind, Jeffrey MarkPurdue University
 
16:37-16:43, Paper WeBT11.3 Add to My Program
ORCHID: Optimisation of Robotic Control and Hardware in Design Using Reinforcement Learning

Jackson, LucyThe University of Surrey
Walters, CelynUniversity of Surrey
Eckersley, SteveSurrey Satellite Technology Ltd
Senior, PeteSurrey Satellite Technology Ltd
Hadfield, SimonUniversity of Surrey
 
16:43-16:49, Paper WeBT11.4 Add to My Program
Many-Joint Robot Arm Control with Recurrent Spiking Neural Networks

Traub, ManuelEberhard Karls University of Tübingen, Max Planck Institute For
Legenstein, RobertGraz University of Technology
Otte, SebastianUniversity of Tübingen
 
16:49-16:55, Paper WeBT11.5 Add to My Program
Bootstrapping Motor Skill Learning with Motion Planning

Abbatematteo, BenBrown University
Rosen, EricBrown University
Tellex, StefanieBrown
Konidaris, GeorgeBrown University
 
16:55-17:01, Paper WeBT11.6 Add to My Program
Towards Safe Navigation through Crowded Dynamic Environments

Xie, ZhantengTemple University
Xin, PujieTemple University
Dames, PhilipTemple University
 
17:01-17:07, Paper WeBT11.7 Add to My Program
Self-Balancing Online Dataset for Incremental Driving Intelligence

Yoon, HyungsukSeoul National University
Kim, ChanSeoul National University
Kim, Seong-WooSeoul National University
Seo, Seung-WooSeoul National University
 
WeBT12  Lecture Session, Room T12 Add to My Program 
Soft Robot Materials and Design I  
 
Co-Chair: Kamezaki, MitsuhiroWaseda University
 
16:25-16:31, Paper WeBT12.1 Add to My Program
Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness

Takahashi, TomoyaTohoku University
Watanabe, MasahiroTohoku University
Tadakuma, KenjiroTohoku University
Takane, EriTohoku University
Konyo, MasashiTohoku University
Tadokoro, SatoshiTohoku University
 
16:31-16:37, Paper WeBT12.2 Add to My Program
Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot

Gallardo Luna, OscarFemto-ST
Mauzé, BenjaminUniversity Bourgogne Franche-Comté, Femto-ST Institute ASM Depar
Dahmouche, RedwanUniversité De Franche Comté
Duriez, ChristianINRIA
Laurent, Guillaume J.Univ. Bourgogne Franche-Comté, ENSMM
 
16:37-16:43, Paper WeBT12.3 Add to My Program
Origami-Inspired Robot That Swims Via Jet Propulsion

Yang, ZhiyuanUniversity of Pennsylvania
Chen, DongshengUniversity of Pennsylvania
Levine, DavidUniversity of Pennsylvania
Sung, CynthiaUniversity of Pennsylvania
 
16:43-16:49, Paper WeBT12.4 Add to My Program
Multifunctional Robotic Glove with Active-Passive Training Modes for Hand Rehabilitation and Assistance

Jiang, YongkangBeihang University
Chen, DianshengBeihang University
Ma, JunlinBeihang University, Institute of Robotics
Liu, ZheBeihang University
Luo, YazheBeihang University
Li, JianBeihang University & National Research Center for Rehabilitation
Li, YingtianShenzhen Institutes of Advanced Technology, Chinese Academy of S
 
16:49-16:55, Paper WeBT12.5 Add to My Program
S-Climbot: A Soft Robot with Novel Grippers and Rigid-Compliantly Constrained Body for Climbing on Various Poles

Su, ManjiaGuangdong University of Technology
Qiu, YuGuangdong University of Technology
Guan, YishengGuangdong University of Technology
Zhu, HaifeiGuangdong University of Technology
Liu, ZhiGuangdong University of Technology
 
16:55-17:01, Paper WeBT12.6 Add to My Program
Soft Retraction Device and Internal Camera Mount for Everting Vine Robots

Heap, WilliamUniversity of California, Santa Barbara
Naclerio, NicholasUniversity of California, Santa Barbara
Coad, Margaret M.University of Notre Dame
Jeong, Sang-GooKAIST
Hawkes, Elliot WrightUniversity of California, Santa Barbara
 
17:01-17:07, Paper WeBT12.7 Add to My Program
Partial Formation of Hydroxyapatite on Poly (Vinyl Alcohol) Hydrogel for Intensive Motions of Biomimetic Soft Robots

Ueno, TowaThe University of Tokyo
Oda, HarukaThe University of Tokyo
Morimoto, YuyaThe University of Tokyo
Takeuchi, ShojiThe University of Tokyo
 
WeBT13  Lecture Session, Room T13 Add to My Program 
Grasping II  
 
Chair: Haschke, RobertBielefeld University
Co-Chair: Adjigble, Komlan Jean MaximeUniversity of Birmingham
 
16:25-16:31, Paper WeBT13.1 Add to My Program
Multi-Object Grasping -- Estimating the Number of Objects in a Robotic Grasp

Chen, TianzeUniversity of South Florida
Shenoy, AdheeshUniversity of South Florida
Kolinko, AnzhelikaUniversity of South Florida
Shah, Syed MutaharUniversity of South Florida
Sun, YuUniversity of South Florida
 
16:31-16:37, Paper WeBT13.2 Add to My Program
PackerBot: Variable-Sized Product Packing with Heuristic Deep Reinforcement Learning

Yang, ZifeiShandong University
Yang, ShuoShandong University
Song, ShuaiShandong University
Zhang, WeiShandong University
Song, RanShandong University
Cheng, JiyuShandong University
Li, YibinShandong University
 
16:37-16:43, Paper WeBT13.3 Add to My Program
Geometric Characterization of the Planar Multi-Finger Equilibrium Grasps

Rimon, ElonTechnion - Israel Institute of Technology
 
16:43-16:49, Paper WeBT13.4 Add to My Program
Formulation and Validation of an Intuitive Quality Measure for Antipodal Grasp Pose Evaluation

Tan, TianUniversity of South Florida
Alqasemi, RedwanUniversity of South Florida
Dubey, RajivUniversity of South Florida
Sarkar, SudeepUSF
 
16:49-16:55, Paper WeBT13.5 Add to My Program
Scooping Manipulation Via Motion Control with a Two-Fingered Gripper and Its Application to Bin Picking

He, TieruiThe Hong Kong University of Science and Technology
Aslam, ShoaibThe Hong Kong University of Science and Technology (HKUST), Clea
Tong, ZhekaiThe Hong Kong University of Science and Technology
Seo, JungwonThe Hong Kong University of Science and Technology
 
16:55-17:01, Paper WeBT13.6 Add to My Program
DDGC: Generative Deep Dexterous Grasping in Clutter

Lundell, JensAalto University
Verdoja, FrancescoAalto University
Kyrki, VilleAalto University
 
17:01-17:07, Paper WeBT13.7 Add to My Program
Planning Grasps with Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes (I)

Wan, WeiweiOsaka University
Harada, KensukeOsaka University
Kanehiro, FumioNational Inst. of AIST
 
WeBT14  Lecture Session, Room T14 Add to My Program 
Prosthetics and Exoskeletons I  
 
Chair: Artemiadis, PanagiotisUniversity of Delaware
Co-Chair: Huang, He (Helen)North Carolina State University and University of North Carolina at Chapel Hill
 
16:25-16:31, Paper WeBT14.1 Add to My Program
A Soft Robotic Hip Exosuit (SR-HExo) to Assist Hip Flexion and Extension During Human Locomotion

Thalman, CarlyArizona State University
Baye-Wallace, LilyArizona State University, School for Engineering of Matter, Tran
Lee, HyunglaeArizona State University
 
16:31-16:37, Paper WeBT14.2 Add to My Program
Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User

Karulkar, Roopak M.University of Notre Dame
Wensing, Patrick M.University of Notre Dame
 
16:37-16:43, Paper WeBT14.3 Add to My Program
Virtual Energy Regulator: A Time-Independent Solution for Control of Lower Limb Exoskeletons

Nasiri, RezvanUniversity of Waterloo
Shushtari, MohammadUniversity of Waterloo
Rouhani, HosseinUniversity of Alberta
Arami, ArashUniversity of Waterloo
 
16:43-16:49, Paper WeBT14.4 Add to My Program
Online Learning of the Dynamical Internal Model of Transfemoral Prosthesis for Enhancing Compliance

Heins, SophieUniversité Catholique De Louvain
Tolu, SilviaTechnical University of Denmark
Ronsse, RenaudUniversité Catholique De Louvain
 
16:49-16:55, Paper WeBT14.5 Add to My Program
Muscle Synergies Enable Accurate Joint Moment Prediction Using Few Electromyography Sensors

Liu, YixingKTH Royal Institute of Technology
Gutierrez-Farewik, ElenaKTH Royal Institute of Technology
 
16:55-17:01, Paper WeBT14.6 Add to My Program
F-VESPA: A Kinematic-Based Algorithm for Real-Time Heel-Strike Detection During Walking

Karakasis, ChrysostomosUniversity of Delaware, Mechanical Engineering Department
Artemiadis, PanagiotisUniversity of Delaware
 
17:01-17:07, Paper WeBT14.7 Add to My Program
Temporal Dilation of Deep LSTM for Agile Decoding of sEMG: Application in Prediction of Upperlimb Motor Intention in NeuroRobotics

Sun, TianyunNew York University
Hu, QinNew York University
Gulati, ParasNew York University
Atashzar, S. FarokhNew York University (NYU), US
 
WeBT15  Lecture Session, Room T15 Add to My Program 
Humanoid and Bipedal Locomotion  
 
Chair: Zhao, MingguoTsinghua University
Co-Chair: Furukawa, TomonariUniversity of Virginia
 
16:25-16:31, Paper WeBT15.1 Add to My Program
Fast Online Planning for Bipedal Locomotion Via Centroidal Model Predictive Gait Synthesis

Guo, YijieUBTECH Robotics
Zhang, MingweiUbtech Robotics Corp Ltd
Dong, HaoTsinghua University
Zhao, MingguoTsinghua University
 
16:31-16:37, Paper WeBT15.2 Add to My Program
Knee-Stretched Biped Gait Generation Along Spatially Quantized Curves

Onishi, YukiTokyo Institute of Technology
Kajita, ShuujiChubu University
Ibuki, TatsuyaMeiji University
Sampei, MitsujiTokyo Institute of Technology
 
16:37-16:43, Paper WeBT15.3 Add to My Program
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

Murooka, MasakiAIST
Chappellet, KevinCNRS
Tanguy, ArnaudCNRS-UM LIRMM
Benallegue, MehdiAIST Japan
Kumagai, IoriNational Inst. of AIST
Morisawa, MitsuharuNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
Kheddar, AbderrahmaneCNRS-AIST
 
16:43-16:49, Paper WeBT15.4 Add to My Program
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot

Castillo, GuillermoThe Ohio State University
Weng, BowenThe Ohio State University
Zhang, WeiSouthern University of Science and Technology
Hereid, AyongaOhio State University
 
16:49-16:55, Paper WeBT15.5 Add to My Program
Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts

Tidd, BrendanAustralian Centre for Robotics Vision / QUT
Cosgun, AkanselMonash University
Leitner, JurgenLYRO Robotics / Australian Centre for Robotic Vision / QUT
Hudson, NicolasX, the Moonshot Factory
 
16:55-17:01, Paper WeBT15.6 Add to My Program
Impact Invariant Control with Applications to Bipedal Locomotion

Yang, WilliamUniversity of Pennsylvania
Posa, MichaelUniversity of Pennsylvania
 
17:01-17:07, Paper WeBT15.7 Add to My Program
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes

Rajan, Lokesh KrishnaIndian Institute of Technology (BHU) Varanasi
Mishra, Utkarsh AashuIndian Institute of Technology Roorkee
Castillo, GuillermoThe Ohio State University
Hereid, AyongaOhio State University
Kolathaya, ShishirIndian Institute of Science
 
WeBT16  Lecture Session, Room T16 Add to My Program 
Contact Modeling, Planning and Control  
 
Chair: Lee, DongjunSeoul National University
Co-Chair: Roy, SpandanInternational Institute of Information Technology, Hyderabad (IIIT-H)
 
16:25-16:31, Paper WeBT16.1 Add to My Program
Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation

Lakshmipathy, ArjunCarnegie Mellon University
Bauer, DominikCarnegie Mellon University
Pollard, Nancy SCarnegie Mellon University
 
16:31-16:37, Paper WeBT16.2 Add to My Program
Real-Time Physically-Accurate Simulation of Robotic Snap Connection Process

Lee, MinjiSeoul National University
Lee, JeongminSeoul National University
Yoon, JaeminSeoul National University
Lee, DongjunSeoul National University
 
16:37-16:43, Paper WeBT16.3 Add to My Program
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics

Parmar, MihirUniversity of Pennsylvania
Halm, MathewUniversity of Pennsylvania
Posa, MichaelUniversity of Pennsylvania
 
16:43-16:49, Paper WeBT16.4 Add to My Program
Multi-Contact Locomotion Planning with Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition

Kumagai, IoriNational Inst. of AIST
Murooka, MasakiAIST
Morisawa, MitsuharuNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
 
16:49-16:55, Paper WeBT16.5 Add to My Program
Computationally Efficient HQP-Based Whole-Body Control Exploiting the Operational-Space Formulation

Lee, YisooKorea Institute of Science and Technology
Ahn, JunewheeSeoul Natl. Univ
Lee, JinohGerman Aerospace Center (DLR)
Park, JaeheungSeoul National University
 
16:55-17:01, Paper WeBT16.6 Add to My Program
Towards an Online Framework for Changing-Contact Robot Manipulation Tasks

Sidhik, SaifUniversity of Birmingham
Sridharan, MohanUniversity of Birmingham
Ruiken, DirkHonda Research Institute Europe
 
17:01-17:07, Paper WeBT16.7 Add to My Program
Experimental Verification of Stability Theory for a Planar Rigid Body with Two Unilateral Frictional Contacts (I)

Or, YizharTechnion
Varkonyi, Peter L.Budapest University of Technology and Economics
 
WeBT17  Lecture Session, Room T17 Add to My Program 
Aerial Systems: Applications II  
 
Chair: Kim, H. JinSeoul National University
Co-Chair: Zhao, MinShenzhen Institute of Artificial Intelligence and Robotics for Society
 
16:25-16:31, Paper WeBT17.1 Add to My Program
Hermes - Wind Energy Harvesting Wireless System for Sensing Angle of Attack and Wind Speed

Sharma, SuryanshDelft University of Technology
Simha, AshutoshDelft University of Technology
Venkatesha Prasad, RangaRaoDelft University of Technology
Gokhale, VineetDelft University of Technology
Narayana, SujayDelft University of Technology
 
16:31-16:37, Paper WeBT17.2 Add to My Program
Toward Battery-Free Flight: Duty Cycled Recharging of Small Drones

Elkunchwar, NishantUniversity of Washington
Chandrasekaran, SuveshaUniversity of Washington, Seattle
Iyer, VikramUniversity of Washington
Fuller, SawyerUniversity of Washington
 
16:37-16:43, Paper WeBT17.3 Add to My Program
Aggressive Visual Perching with Quadrotors on Inclined Surfaces

Mao, JeffreyNew York University
Li, GuanruiNew York University
Nogar, StephenCCDC U.S. Army Research Laboratory
Kroninger, ChristopherU.S. Army Research Laboratory
Loianno, GiuseppeNew York University
 
16:43-16:49, Paper WeBT17.4 Add to My Program
Visibility-Aware Trajectory Optimization with Application to Aerial Tracking

Wang, QianhaoZhejiang University
Gao, YumanZhejiang University
Ji, JialinZhejiang University
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
 
16:49-16:55, Paper WeBT17.5 Add to My Program
Gamma-Ray Imaging with Spatially Continuous Intensity Statistics

Greiff, MarcusLund University
Rofors, EmilLund University
Robertsson, AndersLTH, Lund University
Johansson, RolfLund University
Tyllström, RikardLund University
 
16:55-17:01, Paper WeBT17.6 Add to My Program
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras

Ho, CherieCarnegie Mellon University
Jong, AndrewCarnegie Mellon University
Freeman, HarryCarnegie Mellon University
Rao, RohanCarnegie Mellon University
Bonatti, RogerioCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
17:01-17:07, Paper WeBT17.7 Add to My Program
Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot

Cardona, Gustavo A.Lehigh University
S. D'Antonio, DiegoLehigh University
Vasile, Cristian IoanLehigh University
Saldaña, DavidLehigh University
 
WeBT18  Lecture Session, Room T18 Add to My Program 
Telerobotics and Teleoperation II  
 
Chair: Kazanzides, PeterJohns Hopkins University
 
16:31-16:37, Paper WeBT18.2 Add to My Program
Passivity-Based Control for Haptic Teleoperation of a Legged Manipulator in Presence of Time-Delays

Risiglione, MattiaItalian Institute of Technology
Sleiman, Jean-PierreETH Zurich
Minniti, Maria VittoriaETH Zurich
Cizmeci, BurakETH Zurich
Dresscher, DouweUniversity of Twente
Hutter, MarcoETH Zurich
 
16:37-16:43, Paper WeBT18.3 Add to My Program
SnakeRaven: Teleoperation of a 3D Printed Snake-Like Manipulator Integrated to the RAVEN II Surgical Robot

Razjigaev, AndrewQueensland University of Technology
Pandey, AjayQueensland University of Technology
Howard, DavidCSIRO
Roberts, JonathanQueensland University of Technology
Wu, LiaoUniversity of New South Wales
 
16:43-16:49, Paper WeBT18.4 Add to My Program
Position Synchronization through the Energy-Reflection Based Time Domain Passivity Approach in Position-Position Architectures

Panzirsch, MichaelDLR Institute of Robotics and Mechatronics
Singh, HarsimranDLR German Aerospace Center
 
16:49-16:55, Paper WeBT18.5 Add to My Program
Learning to Guide Human Attention on Mobile Telepresence Robots with 360 Vision

Chandan, KishanSUNY Binghamton
Albertson, JackSUNY Binghamton
Zhang, XiaohanSUNY Binghamton
Zhang, XiaoyangSUNY Binghamton
Liu, YaoSUNY Binghamton
Zhang, ShiqiSUNY Binghamton
 
16:55-17:01, Paper WeBT18.6 Add to My Program
Learning to Arbitrate Human and Robot Control Using Disagreement between Sub-Policies

Oh, YoojinUniversity of Stuttgart
Toussaint, MarcTu Berlin
Mainprice, JimMax Planck Institute
 
17:01-17:07, Paper WeBT18.7 Add to My Program
NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation

Schwarz, MaxUniversity Bonn
Lenz, ChristianUniversity of Bonn
Rochow, AndreUniversity of Bonn
Schreiber, MichaelUniversity of Bonn
Behnke, SvenUniversity of Bonn
 
WeBT19  Lecture Session, Room T19 Add to My Program 
Robotic Systems and Benchmarking II  
 
Chair: Cotugno, GiuseppeOcado Technology
Co-Chair: Reza, MdDrake University
 
16:25-16:31, Paper WeBT19.1 Add to My Program
Robust SLAM Systems: Are We There Yet?

Bujanca, MihaiUniversity of Manchester
Shi, XuesongIntel
Spear, MatthewThe University of Manchester
Zhao, PengpengBeihang University
Lennox, BarryThe University of Manchester
Luján, MikelUniversity of Manchester
 
16:31-16:37, Paper WeBT19.2 Add to My Program
Evaluating the Impact of Semantic Segmentation and Pose Estimation on Dense Semantic SLAM

Bista, Suman RajQueensland University of Technology (QUT)
Hall, DavidQueensland University of Technology
Talbot, BenQueensland University of Technology
Zhang, HaoyangQueensland University of Technology
Dayoub, FerasQueensland University of Technology
Sünderhauf, NikoQueensland University of Technology
 
16:37-16:43, Paper WeBT19.3 Add to My Program
Overlap Displacement Error: Are Your SLAM Poses Map-Consistent?

Mostegel, ChristianAmazon
Ye, JianboAmazon
Luo, YuAmazon
Liu, YangAmazon
 
16:43-16:49, Paper WeBT19.4 Add to My Program
Error Diagnosis of Deep Monocular Depth Estimation Models

Chawla, JagpreetIndiana University
Thakurdesai, Nikhil ShripadIndiana University
Godase, Anuj BalasahebIndiana University - Bloomington
Reza, MdIndiana University
Crandall, DavidIndiana University
Jung, Soon-heungElectronics and Telecommunications Research Institute
 
16:49-16:55, Paper WeBT19.5 Add to My Program
New Metrics for Industrial Depth Sensors Evaluation for Precise Robotic Applications

Cop, Konrad PiotrRobotics and Autonomous Systems Group, CSIRO; Autonomous Systems
Peters, ArneTechnical University of Munich
Žagar, Bare LukaTechnical University Munich
Hettegger, DanielTechnical University of Munich
Knoll, AloisTech. Univ. Muenchen TUM
 
16:55-17:01, Paper WeBT19.6 Add to My Program
I3SA: The Increased Step Size Stability Assessment Benchmark and Its Application to the Humanoid Robot REEM-C

Aller, FelixUniversity of Heidelberg
Harant, MonikaHeidelberg University
Sontag, SebastianUniversity of Heidelberg
Millard, MatthewUniversity of Heidelberg
Mombaur, KatjaUniversity of Waterloo
 
17:01-17:07, Paper WeBT19.7 Add to My Program
Interpretable Trade-Offs between Robot Task Accuracy and Compute Efficiency

Ghosh, BineetUniversity of North Carolina at Chapel Hill
Chinchali, SandeepStanford
Duggirala, Parasara SridharUniversity of North Carolina at Chapel Hill
 
WeBT20  Lecture Session, Room T20 Add to My Program 
Marine Robotics II  
 
Chair: Yamada, TakakiUniversity of Southampton
Co-Chair: Xu, RuoyuThe Chinese University of Hong Kong, Shenzhen
 
16:25-16:31, Paper WeBT20.1 Add to My Program
Towards Robust Visual Diver Detection Onboard Autonomous Underwater Robots: Assessing the Effect of Models and Data

de Langis, Karin Johanna DentonUniversity of Minnesota
Fulton, MichaelUniversity of Minnesota
Sattar, JunaedUniversity of Minnesota
 
16:31-16:37, Paper WeBT20.2 Add to My Program
Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration

Agarwal, TanmayUniversity of Minnesota, Twin Cities
Fulton, MichaelUniversity of Minnesota
Sattar, JunaedUniversity of Minnesota
 
16:37-16:43, Paper WeBT20.3 Add to My Program
Efficient LiDAR-Based In-Water Obstacle Detection and Segmentation by Autonomous Surface Vehicles in Aquatic Environments

Jeong, MingiDartmouth College
Quattrini Li, AlbertoDartmouth College
 
16:43-16:49, Paper WeBT20.4 Add to My Program
Robust Data Association for Multi-Object Detection in Maritime Environments Using Camera and Radar Measurements

Kim, KeunhwanKorea Electronics Technology Institute
Kim, JonghwiKAIST
Kim, JinwhanKAIST
 
16:49-16:55, Paper WeBT20.5 Add to My Program
ShorelineNet: An Efficient Deep Learning Approach for Shoreline Semantic Segmentation for Unmanned Surface Vehicles

Yao, LinghongUniversity College London
Kanoulas, DimitriosUniversity College London
Ji, ZeCardiff University
Liu, YuanchangUniversity College London
 
16:55-17:01, Paper WeBT20.6 Add to My Program
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles

Xanthidis, MariosUniversity of South Carolina
Kalaitzakis, MichailUniversity of South Carolina
Karapetyan, NareUniversity of South Carolina
Johnson, JamesUniversity of South Carolina
Vitzilaios, NikolaosUniversity of South Carolina
O'Kane, JasonUniversity of South Carolina
Rekleitis, IoannisUniversity of South Carolina
 
WeCT1  Lecture Session, Room T1 Add to My Program 
SLAM III  
 
Chair: Zhang, TianweiThe University of Tokyo
Co-Chair: Zuñiga-Noël, DavidUniversity of Malaga
 
17:20-17:26, Paper WeCT1.1 Add to My Program
Accurate Visual-Inertial SLAM by Manhattan Frame Re-Identification

Peng, XiongfengSamsung R&D Institute China-Beijing
Liu, ZhihuaSamsung Research Center, Beijing, China
Wang, QiangSamsung
Kim, Yun-TaeSamsung Electronics
Lee, Hong-SeokSAIT, Samsung Electronics
 
17:26-17:32, Paper WeCT1.2 Add to My Program
SymbioLCD: Ensemble-Based Loop Closure Detection Using CNN-Extracted Objects and Visual Bag-Of-Words

Kim, Jonathan J.Y.University of Auckland, Callaghan Innovation
Urschler, MartinUniversity of Auckland
Riddle, PatriciaThe University of Auckland
Wicker, Jörg SimonUniversity of Auckland
 
17:32-17:38, Paper WeCT1.3 Add to My Program
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM

Lu, ZiqiMIT
Huang, QiangqiangMassachusetts Institute of Technology
Doherty, KevinMassachusetts Institute of Technology
Leonard, JohnMIT
 
17:38-17:44, Paper WeCT1.4 Add to My Program
GR-Fusion: Multi-Sensor Fusion SLAM for Ground Robots with High Robustness and Low Drift

Wang, TingRobotics Lab., Shenyang Institute of Automation, CAS
Su, YunShenyang Institute of Automation
Shao, ShiliangSIA
Yao, ChenShenyang Institute of Automation, Chinese Academy of Sciences
Wang, ZhidongChiba Institute of Technology
 
17:44-17:50, Paper WeCT1.5 Add to My Program
Multi-Layer VI-GNSS Global Positioning Framework with Numerical Solution Aided MAP Initialization

Han, BingAlibaba Group
Xiao, ZhongyangAlibaba Group
Huang, ShuaiAlibaba
Zhang, TaoAutonavi
 
17:50-17:56, Paper WeCT1.6 Add to My Program
Angular Super-Resolution Radar SLAM

Zeng, ZhiyuanAerospace Information Research Institute, Chinese Academy of Sci
Dang, XiangweiNational Key Laboratory of Microwave Imaging Technology, Aerospa
Li, YanLeiNational Key Laboratory of Microwave Imaging Technology, Aerospa
Bu, XiangxiNational Key Laboratory of Microwave Imaging Technology, Aerospa
Liang, XingdongNational Key Laboratory of Microwave Imaging Technology, Aerospa
 
17:56-18:02, Paper WeCT1.7 Add to My Program
CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry

Adolfsson, DanielÖrebro University
Magnusson, MartinÖrebro University
Alhashimi, AnasORU
Lilienthal, Achim J.Orebro University
Andreasson, HenrikÖrebro University
 
WeCT2  Lecture Session, Room T2 Add to My Program 
Localization III  
 
Chair: Chen, XieyuanliUniversity of Bonn
Co-Chair: Mazhar, OsamaTechnische Universiteit Delft
 
17:20-17:26, Paper WeCT2.1 Add to My Program
BSP-MonoLoc: Basic Semantic Primitives Based Monocular Localization on Roads

Li, HepingInstitute of Automation, Chinese Academy of Sciences, University
Xue, ChangliangHuawei Technologies
Wen, FengHuawei Technologies Co., Ltd
Zhang, HongboHuawei Technologies
Gao, WeiNational Laboratory of Pattern Recognition, Institute of Automat
 
17:26-17:32, Paper WeCT2.2 Add to My Program
Ground Encoding: Learned Factor Graph-Based Models for Localizing Ground Penetrating Radar

Baikovitz, AlexanderCarnegie Mellon University
Sodhi, PalomaCarnegie Mellon University
Dille, MichaelSGT Inc. / NASA Ames Research Center
Kaess, MichaelCarnegie Mellon University
 
17:32-17:38, Paper WeCT2.3 Add to My Program
CLMM-Net: Robust Cascaded LiDAR Map Matching Based onMulti-Level Intensity Map

Chen, KaiSenseTime Research
He, LeiSensetime
Wang, XiaofengSenseTime Research
Liu, YuqianSenseTime
Zhao, MingSensetime
 
17:38-17:44, Paper WeCT2.4 Add to My Program
DLL: Direct LIDAR Localization. a Map-Based Localization Approach for Aerial Robots

Caballero, FernandoUniversidad De Sevilla
Merino, LuisUniversidad Pablo De Olavide
 
17:44-17:50, Paper WeCT2.5 Add to My Program
Real-Time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry Using Continuous-Time Trajectory Optimization

Quenzel, JanUniversity of Bonn
Behnke, SvenUniversity of Bonn
 
17:50-17:56, Paper WeCT2.6 Add to My Program
Efficient Localisation Using Images and OpenStreetMaps

Zhou, MengjieUniversity of Bristol
Chen, XieyuanliUniversity of Bonn
Samano, NoeUniversity of Bristol
Stachniss, CyrillUniversity of Bonn
Calway, AndrewUniversity of Bristol
 
17:56-18:02, Paper WeCT2.7 Add to My Program
Direct Near-Infrared-Depth Visual SLAM with Active Lighting

Kong, DaZhejiang University
Zhang, YuZhejiang University
Dai, WeichenHangzhou Dianzi University
 
18:02-18:08, Paper WeCT2.8 Add to My Program
A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors

Pfeiffer, SvenTU Delft
De Wagter, ChristopheDelft University of Technology
de Croon, GuidoTU Delft
 
WeCT3  Lecture Session, Room T3 Add to My Program 
Autonomous Vehicle Navigation V  
 
Chair: Tavakoli, MahdiUniversity of Alberta
Co-Chair: Xiao, XuesuThe University of Texas at Austin
 
17:20-17:26, Paper WeCT3.1 Add to My Program
Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph

Kumar, SumitAurora
Gu, YimingGoogle
Hoang, JerrickUber ATG
Haynes, Galen ClarkUber Advanced Technologies Group
Marchetti-Bowick, MicolAurora Innovation