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)

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

Technical Program for Thursday September 30, 2021

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ThAT1  Lecture Session, Room T1 Add to My Program 
SLAM IV  
 
Chair: Zhao, LiangUniversity of Technology Sydney
Co-Chair: Fischer, TobiasQueensland University of Technology
 
14:30-14:36, Paper ThAT1.1 Add to My Program
Stereo Plane SLAM Based on Intersecting Lines

Zhang, XiaoyuBeihang University
Wang, WeiBeihang University
Qi, XianyuBeihang University
Liao, ZiweiBeihang University
 
14:36-14:42, Paper ThAT1.2 Add to My Program
Hierarchical Segment-Based Optimization for SLAM

Tian, YuXinBeihang Universuty
Wang, YujieIntel
Ouyang, MingInstitute of Automation, Chinese Academy of Sciences
Shi, XuesongIntel
 
14:42-14:48, Paper ThAT1.3 Add to My Program
CodeMapping: Real-Time Dense Mapping for Sparse SLAM Using Compact Scene Representations

Matsuki, HidenobuImperial College London
Scona, RalucaUniversity of Edinburgh
Czarnowski, JanImperial College London
Davison, Andrew JImperial College London
 
14:48-14:54, Paper ThAT1.4 Add to My Program
Topology Aware Object-Level Semantic Mapping towards More Robust Loop Closure

Lin, ShiqiUniversity of Science and Technology of China
Jikai, WangUniversity of Science and Technology of China, Department of Aut
Xu, MengUniversity of Science and Technology of China
Zhao, HaoUniversity of Science and Technology of China (USTC)
Chen, ZonghaiUniversity of Sciences and Technology of China
 
14:54-15:00, Paper ThAT1.5 Add to My Program
Random Fourier Features Based SLAM

Kapushev, YermekSber AI Lab
Kishkun, AnastasiaSkolkovo Institute of Science and Technology
Ferrer, GonzaloSkolkovo Institute of Science and Technology
Burnaev, EvgenySkoltech
 
15:00-15:06, Paper ThAT1.6 Add to My Program
Robust Rank Deficient SLAM

Nashed, SamerUniversity of Massachusetts Amherst
Park, Jong JinAmazon Lab126
Webster, RogerAmazon
Durham, Joseph W.Amazon Robotics
 
15:06-15:12, Paper ThAT1.7 Add to My Program
Keypoint Matching for Point Cloud Registration Using Multiplex Dynamic Graph Attention Networks

Shi, ChenghaoNUDT
Chen, XieyuanliUniversity of Bonn
Huang, KaihongNational University of Defense Technology
Xiao, JunhaoNational University of Defense Technology
Lu, HuiminNational University of Defense Technology
Stachniss, CyrillUniversity of Bonn
 
ThAT2  Lecture Session, Room T2 Add to My Program 
Mapping I  
 
Chair: Kottege, NavindaCSIRO
Co-Chair: Behley, JensUniversity of Bonn
 
14:30-14:36, Paper ThAT2.1 Add to My Program
What's Best for My Mesh? Convex or Non-Convex Regularisation for Mesh Optimisation

Pilbrough, JasonUniversity of Cape Town
Amayo, PaulUniversity of Cape Town
 
14:36-14:42, Paper ThAT2.2 Add to My Program
Local to Global Plane Regularity Aggregation for Dense Surfel Mapping

Tan, JiexiangTsinghua University
Ji, XiangyangTsinghua University
 
14:42-14:48, Paper ThAT2.3 Add to My Program
Smooth Mesh Estimation from Depth Data Using Non-Smooth Convex Optimization

Rosinol, AntoniMIT
Carlone, LucaMassachusetts Institute of Technology
 
14:48-14:54, Paper ThAT2.4 Add to My Program
DeepRelativeFusion: Dense Monocular SLAM Using Single-Image Relative Depth Prediction

Loo, Shing YanUniversity of Alberta, Universiti Putra Malaysia
Mashohor, SyamsiahUniversiti Putra Malaysia
Tang, Sai HongUniversity Putra Malaysia
Zhang, HongUniversity of Alberta
 
14:54-15:00, Paper ThAT2.5 Add to My Program
Automatic Construction of Lane-Level HD Maps for Urban Scenes

Zhou, YiyangUniversity of California, Berkeley
Takeda, YuichiUniversity of California Berkeley
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
 
15:00-15:06, Paper ThAT2.6 Add to My Program
CLINS: Continuous-Time Trajectory Estimation for LiDAR Inertial System

Lv, JiajunZhejiang University
Hu, KeweiZhejiang University
Xu, JinhongZhejiang University
Liu, YongZhejiang University
Ma, XiushuiNingboTech University
Zuo, XingxingZhejiang University
 
15:06-15:12, Paper ThAT2.7 Add to My Program
An Efficient and Continuous Representation for Occupancy Mapping with Random Mapping

Liu, XuShenyang Institute of Automation, Chinese Academy of Sciences
Li, DecaiShenyang Institute of Automation, Chinese Academy of Sciences
He, YuqingShenyang Institute of Automation, Chinese Academy of Sciences
 
ThAT3  Lecture Session, Room T3 Add to My Program 
Autonomous Agents  
 
Chair: Papachristos, ChristosUniversity of Nevada Reno
Co-Chair: Kästner, LinhTechnische Universität Berlin
 
14:30-14:36, Paper ThAT3.1 Add to My Program
Fast Autonomous Robotic Exploration Using the Underlying Graph Structure

Placed, Julio A.Universidad De Zaragoza
Castellanos, Jose A.University of Zaragoza
 
14:36-14:42, Paper ThAT3.2 Add to My Program
A High-Accuracy Framework for Vehicle Dynamic Modeling in Autonomous Driving

Jiang, ShuBaidu, USA
Wang, YuBaidu Apollo
Lin, WeimanBaidu USA
Cao, YuBaidu USA LLC
Lin, LongtaoBaidu USA LLC
Miao, JinghaoBaidu
Luo, QiBaidu USA LLC
 
14:42-14:48, Paper ThAT3.3 Add to My Program
Monitoring Object Detection Abnormalities Via Data-Label and Post-Algorithm Abstractions

Chen, YuhangInstitute of Software, Chinese Academy of Science
Cheng, Chih-HongDENSO Automotive Deutschland GmbH
Yan, JunInstitute of Software, Chinese Academy of Science
Yan, RongjieInstitute of Software, Chinese Academy of Sciences
 
14:48-14:54, Paper ThAT3.4 Add to My Program
Agent-Aware State Estimation for Autonomous Vehicles

Parr, ShaneUniversity of Massachusetts Amherst
Khatri, IshanUniversity of Massachusetts Amherst
Svegliato, JustinUniversity of Massachusetts Amherst
Zilberstein, ShlomoUniversity of Massachusetts
 
14:54-15:00, Paper ThAT3.5 Add to My Program
Designing and Deploying a Mobile UVC Disinfection Robot

Pierson, AlyssaBoston University
Romanishin, JohnMIT
Hansen, HunterMassachusetts Institute of Technology
Zamora Yañez, LeonardoMassachusetts Institute of Technology
Rus, DanielaMIT
 
15:00-15:06, Paper ThAT3.6 Add to My Program
The Reasonable Crowd: Towards Evidence-Based and Interpretable Models of Driving Behavior

Helou, BassamMotional
Dusi, AdityaMotional AD Inc
Collin, AnneMotional
Mehdipour, NoushinMotional
Chen, ZhiliangMotional
Belta, CalinBoston University
Wongpiromsarn, TichakornIowa State University
Duintjer Tebbens, Radboud JacobusMotional
Beijbom, OscarMotional
Lizarazo, CristhianMotional
 
15:06-15:12, Paper ThAT3.7 Add to My Program
Mobile Manipulation-Based Deployment of Micro Aerial Robot Scouts through Constricted Aperture-Like Ingress Points

Arora, PrateekUniversity of Nevada, Reno
Papachristos, ChristosUniversity of Nevada Reno
 
ThAT4  Lecture Session, Room T4 Add to My Program 
Learning from Experience  
 
Chair: Mitrevski, AlexHochschule Bonn-Rhein-Sieg
Co-Chair: Guo, MengBosch Center for Artificial Intelligence (BCAI)
 
14:30-14:36, Paper ThAT4.1 Add to My Program
In-Air Knotting of Rope Using Dual-Arm Robot Based on Deep Learning

Suzuki, KanataFujitsu Laboratories LTD
Kanamura, MomomiWaseda University
Suga, YukiWaseda University
Mori, HirokiWaseda University
Ogata, TetsuyaWaseda University
 
14:36-14:42, Paper ThAT4.2 Add to My Program
Automated Generation of Robotic Planning Domains from Observations

Diehl, MaximilianChalmers University of Technology
Paxton, ChrisNVIDIA Research
Ramirez-Amaro, KarinneChalmers University of Technology
 
14:42-14:48, Paper ThAT4.3 Add to My Program
Behavior Self-Organization Supports Task Inference for Continual Robot Learning

Hafez, Muhammad BurhanUniversity of Hamburg
Wermter, StefanUniversity of Hamburg
 
14:48-14:54, Paper ThAT4.4 Add to My Program
CRIL: Continual Robot Imitation Learning Via Generative and Prediction Model

Gao, ChongkaiTsinghua University
Gao, HaichuanTsinghua University
Guo, ShangqiTsinghua University
Zhang, TianrenTsinghua University
Chen, FengTsinghua University
 
14:54-15:00, Paper ThAT4.5 Add to My Program
Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State

Kawaharazuka, KentoThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
15:00-15:06, Paper ThAT4.6 Add to My Program
Ontology-Assisted Generalisation of Robot Action Execution Knowledge

Mitrevski, AlexHochschule Bonn-Rhein-Sieg
Plöger, Paul G.Hochschule Bonn Rhein Sieg
Lakemeyer, GerhardComputer Science Department, RWTH Aachen University
 
15:06-15:12, Paper ThAT4.7 Add to My Program
Self-Body Image Acquisition and Posture Generation with Redundancy Using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation

Koga, YuyaThe University of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Toshimitsu, YasunoriUniversity of Tokyo
Nishiura, ManabuUniversity of Tokyo
Omura, YusukeThe University of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Kawasaki, KojiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
ThAT5  Lecture Session, Room T5 Add to My Program 
Perception for Grasping and Manipulation  
 
Chair: Kelestemur, TarikNortheastern University
Co-Chair: Tahoun, MohamedINSA-Centre Val De Loire and Université Clermont Auvergne
 
14:30-14:36, Paper ThAT5.1 Add to My Program
Sim-To-Real Transfer for Robotic Manipulation with Tactile Sensory

Ding, ZihanImperial College London
Tsai, Ya-YenImperial College London
Lee, Wang WeiTencent
Huang, BidanTencent
 
14:36-14:42, Paper ThAT5.2 Add to My Program
Visual-Tactile Fusion for 3D Objects Reconstruction from a Single Depth View and a Single Gripper Touch for Robotics Tasks

Tahoun, MohamedINSA-Centre Val De Loire and Université Clermont Auvergne
Tahri, OmarUniversité Bourgogne Franche-Comté (UBFC)
Corrales Ramon, Juan AntonioUniversidade De Santiago De Compostela
Mezouar, YoucefSIGMA-Clermont
 
14:42-14:48, Paper ThAT5.3 Add to My Program
Policy Learning for Visually Conditioned Tactile Manipulation

Kelestemur, TarikNortheastern University
Padir, TaskinNortheastern University
Platt, RobertNortheastern University
 
14:48-14:54, Paper ThAT5.4 Add to My Program
Hybrid ICP

Dreczkowski, KamilImperial College London
Johns, EdwardImperial College London
 
14:54-15:00, Paper ThAT5.5 Add to My Program
Improving Grasp Stability with Rotation Measurement from Tactile Sensing

Kolamuri, RajCarnegie Mellon University
Si, ZilinCarnegie Mellon University
Zhang, YufanCarnegie Mellon University
Agarwal, ArpitCarnegie Mellon University
Yuan, WenzhenCarnegie Mellon University
 
15:00-15:06, Paper ThAT5.6 Add to My Program
Multi-View Fusion for Multi-Level Robotic Scene Understanding

Lin, YunzhiGeorgia Institute of Technology
Tremblay, JonathanNvidia
Tyree, StephenNVIDIA
Vela, PatricioGeorgia Institute of Technology
Birchfield, StanNVIDIA Corporation
 
15:06-15:12, Paper ThAT5.7 Add to My Program
Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-Accelerated CNNs

Hundhausen, FelixKarlsruhe Institute of Technology
Grimm, RaphaelKarlsruhe Institute of Technology (KIT)
Stieber, Leon MaximilianKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
ThAT6  Lecture Session, Room T6 Add to My Program 
Sensor Fusion II  
 
Chair: Pan, WeiDelft University of Technology
Co-Chair: Jung, RolandAlpen-Adria-Universität Klagenfurt
 
14:30-14:36, Paper ThAT6.1 Add to My Program
Accurate Depth Estimation from a Hybrid Event-RGB Stereo Setup

Zuo, Yi-FanBeijing Institute of Technology
Cui, LiShanghaiTech University
Peng, XinShanghaiTech University
Xu, YanyuA-STAR, IHPC
Gao, ShenghuaShanghaitech University
Wang, XiaBeijing Institute of Technology
Kneip, LaurentShanghaiTech University
 
14:36-14:42, Paper ThAT6.2 Add to My Program
FINO-Net: A Deep Multimodal Sensor Fusion Framework for Manipulation Failure Detection

Inceoglu, ArdaIstanbul Technical University
Aksoy, Eren ErdalHalmstad University
Ak, Abdullah CihanIstanbul Technical University
Sariel, SanemIstanbul Technical University
 
14:42-14:48, Paper ThAT6.3 Add to My Program
3D-FFS: Faster 3D Object Detection with Focused Frustum Search in Sensor Fusion Based Networks

Ganguly, AniruddhaBangladesh University of Engineering and Technology
Ishmam, TasinBangladesh University of Engineering and Technology
Islam, Khandker AftarulBangladesh University of Engineering and Technology
Rahman, Md ZahidurAmazon.com
Bayzid, Md. ShamsuzzohaBangladesh University of Engineering and Technology
 
14:48-14:54, Paper ThAT6.4 Add to My Program
Reinforcement Learning Compensated Extended Kalman Filter for Attitude Estimation

Tang, YujieDelft University of Technology
Hu, LiangUniversity of Essex
Zhang, QingruiSun Yat-Sen University
Pan, WeiDelft University of Technology
 
14:54-15:00, Paper ThAT6.5 Add to My Program
Radar Ghost Target Detection Via Multimodal Transformers

Wang, LeiChenDaimler AG
Giebenhain, SimonUniversity Konstanz
Anklam, CarstenDaimler AG
Goldluecke, BastianUniversity of Konstanz
 
15:00-15:06, Paper ThAT6.6 Add to My Program
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments

Zhang, TianweiThe University of Tokyo
Zhang, HuayanShenzhen Institute of Artificial Intelligence and Robotics for S
Li, XiaofeiINRIA Grenoble Rhone-Alpes
Chen, JunfengShenzhen Institute of Artificial Intelligence and Robotics for S
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Vijayakumar, SethuUniversity of Edinburgh
 
15:06-15:12, Paper ThAT6.7 Add to My Program
Data-Fusion for Robust Off-Road Perception Considering Data Quality of Uncertain Sensors

Wolf, PatrickTU Kaiserslautern
Berns, KarstenUniversity of Kaiserslautern
 
ThAT7  Lecture Session, Room T7 Add to My Program 
Motion and Path Planning VII  
 
Chair: Clark, RonaldImperial College London
Co-Chair: Shome, RahulRice University
 
14:30-14:36, Paper ThAT7.1 Add to My Program
A Meta-Learning-Based Trajectory Tracking Framework for UAVs under Degraded Conditions

Yel, EsenUniversity of Virginia
Bezzo, NicolaUniversity of Virginia
 
14:36-14:42, Paper ThAT7.2 Add to My Program
Orientation-Aware Planning for Parallel Task Execution of Omni-Directional Mobile Robot

Gong, ChengBeijing Institute of Technology
Li, ZiruiBeijing Institute of Technology
Zhou, XingyuBeijing Institute of Technology
Li, JiachenUniversity of California, Berkeley
Gong, JianweiBeijing Institute of Technology
Zhou, JunhuiBeijing Institute of Technology
 
14:42-14:48, Paper ThAT7.3 Add to My Program
Informed Sampling Exploration Path Planner for 3D Reconstruction of Large Scenes

Kompis, YvesETH Zürich
Bartolomei, LucaETH Zurich
Mascaro Palliser, RubenETH Zurich
Teixeira, LucasETH Zurich
Chli, MargaritaETH Zurich
 
14:48-14:54, Paper ThAT7.4 Add to My Program
Class-Ordered LPA: An Incremental-Search Algorithm for Weighted Colored Graphs

Lim, JaeinGeorgia Institute of Technology
Salzman, OrenTechnion
Tsiotras, PanagiotisGeorgia Tech
 
14:54-15:00, Paper ThAT7.5 Add to My Program
Rough Terrain Navigation for Legged Robots Using Reachability Planning and Template Learning

Wellhausen, LorenzETH Zürich
Hutter, MarcoETH Zurich
 
15:00-15:06, Paper ThAT7.6 Add to My Program
Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems

Kingston, ZacharyRice University
Chamzas, ConstantinosRice University
Kavraki, LydiaRice University
 
15:06-15:12, Paper ThAT7.7 Add to My Program
A Sampling-Based Motion Planning Framework for Complex Motor Actions

Sobti, ShlokRice University
Shome, RahulRice University
Chaudhuri, SwaratRice University
Kavraki, LydiaRice University
 
ThAT8  Lecture Session, Room T8 Add to My Program 
Cellular and Modular Robots  
 
Chair: Teles Gabrich, BrunoUniversity of Pennsylvania
Co-Chair: Lipton, JeffreyUniversity of Washington
 
14:30-14:36, Paper ThAT8.1 Add to My Program
Reconfiguring Metamorphic Robots Via SMT: Is It a Viable Way?

Mrázek, JanMasaryk University
Jonáš, MartinMasaryk University
Barnat, JiriMasaryk University
 
14:36-14:42, Paper ThAT8.2 Add to My Program
Balloon Animal Robots: Reconfigurable Isoperimetric Inflated Soft Robots

Stuart, AnthonyStanford University
Hammond, ZacharyStanford University
Follmer, SeanStanford University
 
14:42-14:48, Paper ThAT8.3 Add to My Program
Self-Reconfiguration of Modular Robots Using Virtual Forces

Hourany, EdyHoly Spirit University of Kaslik
Stephan, ChristianUniverté De Bourgogne Framche-Comté
Makhoul, AbdallahUniversity of Franche-Comté
Piranda, BenoîtUniversité De Franche-Comté / FEMTO-ST
Bachir, HabibUSEK
Bourgeois, JulienInstitut FEMTO-ST
 
14:48-14:54, Paper ThAT8.4 Add to My Program
CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning

Wang, JiayuTsinghua University
Hu, ChuxiongTsinghua University
Zhu, YuTsinghua University
 
14:54-15:00, Paper ThAT8.5 Add to My Program
Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots

Feshbach, Daniel A.University of Pennsylvania
Sung, CynthiaUniversity of Pennsylvania
 
15:00-15:06, Paper ThAT8.6 Add to My Program
Finding Structure Configurations for Flying Modular Robots

Teles Gabrich, BrunoUniversity of Pennsylvania
Saldaña, DavidLehigh University
Yim, MarkUniversity of Pennsylvania
 
15:06-15:12, Paper ThAT8.7 Add to My Program
Enumeration of Polyominoes & Polycubes Composed of Magnetic Cubes

Lu, YitongUniversity of Houston
Bhattacharjee, AnuruddhaSouthern Methodist University
Biediger, DanUniversity of Houston
Kim, MinJunSouthern Methodist University
Becker, AaronUniversity of Houston
 
ThAT9  Lecture Session, Room T9 Add to My Program 
Visual Tracking I  
 
Chair: Allibert, GuillaumeUniv Cote d'Azur, CNRS, I3S
Co-Chair: Heckman, ChristofferUniversity of Colorado at Boulder
 
14:30-14:36, Paper ThAT9.1 Add to My Program
Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving

Huang, KemiaoSouthern University of Science and Technology
Hao, QiSouthern University of Science and Technology
 
14:36-14:42, Paper ThAT9.2 Add to My Program
Powerline Tracking with Event Cameras

Dietsche, AlexanderETH Zurich
Cioffi, GiovanniUniversity of Zurich
Hidalgo Carrio, JavierUniversity of Zurich and ETH Zurich
Scaramuzza, DavideUniversity of Zurich
 
14:42-14:48, Paper ThAT9.3 Add to My Program
Improvement of Optical Flow Estimation by Using the Hampel Filter for Low-End Embedded Systems

Park, Ji-ilKAIST (Korea Advanced Institute of Science and Technology
Lee, YeongseokKorea Advanced Institute of Science and Technology
Suh, EungyoKorea Advanced Institute of Science and Technology
Jeon, HyunyongKAIST(Korea Advanced Institute of Science and Technology)
Kim, Kyung-SooKAIST(Korea Advanced Institute of Science and Technology)
Yoon, Kuk-JinKAIST
 
14:48-14:54, Paper ThAT9.4 Add to My Program
Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments

Krawez, MichaelUniversity of Freiburg
Caselitz, TimUniversity of Freiburg
Sundram, JugeshToyota Motor Europe NV/SA
Van Loock, MarkToyota Motor Europe NV/SA
Burgard, WolframUniversity Fo Freiburg
 
14:54-15:00, Paper ThAT9.5 Add to My Program
CRACT: Cascaded Regression-Align-Classification for Robust Tracking

Fan, HengUniversity of North Texas
Ling, HaibinStony Brook University
 
15:00-15:06, Paper ThAT9.6 Add to My Program
Dynamic Event Camera Calibration

Huang, KunShanghaiTech University
Wang, YifuShanghaiTech University
Kneip, LaurentShanghaiTech University
 
15:06-15:12, Paper ThAT9.7 Add to My Program
PointSiamRCNN: Target-Aware Voxel-Based Siamese Tracker for Point Clouds

Zou, HaoZhejiang University
Zhang, ChujuanZhejiang University
Liu, YongZhejiang University
Li, WanlongBeijing Huawei Digital Technologies Co., Ltd
Wen, FengHuawei Technologies Co., Ltd
Zhang, HongboHuawei Technologies
 
ThAT10  Lecture Session, Room T10 Add to My Program 
Intelligent Transportation Systems III  
 
Chair: Au, Tsz-ChiuUlsan National Institute of Science and Technology
Co-Chair: He, MengwenCarnegie Mellon University
 
14:30-14:36, Paper ThAT10.1 Add to My Program
Diverse Critical Interaction Generation for Planning and Planner Evaluation

Yin, Zhao-HengNanjing University
Sun, LingfengUniversity of California, Berkeley
Sun, LitingUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
 
14:36-14:42, Paper ThAT10.2 Add to My Program
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles

Hanna, JosiahUniversity of Edinburgh
Rahman, Muhammad ArrasyUniversity of Edinburgh
Fosong, ElliotUniversity of Edinburgh
Eiras, FranciscoFiveAI
Dobre, MihaiFiveAI
Redford, JohnFive AI Ltd
Ramamoorthy, SubramanianThe University of Edinburgh
Albrecht, Stefano V.University of Edinburgh
 
14:42-14:48, Paper ThAT10.3 Add to My Program
Semi-Cooperative Control for Autonomous Emergency Vehicles

Buckman, NoamMassachusetts Institute of Technology
Schwarting, WilkoMassachusetts Institute of Technology (MIT)
Karaman, SertacMassachusetts Institute of Technology
Rus, DanielaMIT
 
14:48-14:54, Paper ThAT10.4 Add to My Program
RV-FuseNet: Range View Based Fusion of Time-Series LiDAR Data for Joint 3D Object Detection and Motion Forecasting

Laddha, AnkitUber Advanced Technologies Group
Gautam, ShivamCarnegie Mellon University
Meyer, Gregory P.Motional
Vallespi-Gonzalez, CarlosCMU
Wellington, CarlCarnegie Mellon University
 
14:54-15:00, Paper ThAT10.5 Add to My Program
A Simple and Efficient Multi-Task Network for 3D Object Detection and Road Understanding

Feng, DiRobert Bosch GmbH
Zhou, YiyangUniversity of California, Berkeley
Xu, ChenfengUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
 
15:00-15:06, Paper ThAT10.6 Add to My Program
DeepSIL: A Software-In-The-Loop Framework for Evaluating Motion Planning Schemes Using Multiple Trajectory Prediction Networks

Strohbeck, JanUlm University
Müller, JohannesUlm University
Holzbock, AdrianUlm University
Buchholz, MichaelUniversity of Ulm
 
15:06-15:12, Paper ThAT10.7 Add to My Program
Joint Intention and Trajectory Prediction Based on Transformer

Sui, ZeShanghai Jiao Tong University
Zhou, YueShanghai Jiao Tong University
Zhao, XuShanghai Jiao Tong University
Chen, AoShanghai Jiaotong University
Ni, YiyangShanghai Jiao Tong University
 
ThAT11  Lecture Session, Room T11 Add to My Program 
Model Learning for Control  
 
Chair: Derner, ErikCzech Technical University in Prague
Co-Chair: Acar, CihanInstitute for Infocomm Research (I2R), A*STAR
 
14:30-14:36, Paper ThAT11.1 Add to My Program
GloCAL: Glocalized Curriculum-Aided Learning of Multiple Tasks with Application to Robotic Grasping

Kurkcu, AnilNTU
Acar, CihanInstitute for Infocomm Research (I2R), A*STAR
Campolo, DomenicoNanyang Technological University
Tee, Keng PengInstitute for Infocomm Research
 
14:36-14:42, Paper ThAT11.2 Add to My Program
Multi-Scale Aggregation with Self-Attention Network for Modeling Electrical Motor Dynamics

Huang, Kuan-ChihAsusTek Computer Inc
Yang, Hao-HsiangAsusTek Computer Inc
Chen, Wei-TingNational Taiwan University
 
14:42-14:48, Paper ThAT11.3 Add to My Program
A Robust Data-Driven Approach for Dynamics Model Identification in Trajectory Planning

Chen, JiangqiuUniversity of Bristol
Minyu Zhang, MinyuUniversity of Bristol
Zhifei, YangUniversity of Bristol
Xia, LinqingChinese Academy of Sciences
 
14:48-14:54, Paper ThAT11.4 Add to My Program
Guiding Robot Model Construction with Prior Features

Derner, ErikCzech Technical University in Prague
Kubalik, JiriCTU in Prague
Babuska, RobertDelft University of Technology
 
14:54-15:00, Paper ThAT11.5 Add to My Program
A Novel Quotient Space Approach to Model-Based Fault Detection and Isolation: Theory and Preliminary Simulation Evaluation

Mao, AnnieJohns Hopkins University
Whitcomb, LouisThe Johns Hopkins University
 
15:00-15:06, Paper ThAT11.6 Add to My Program
Particle MPC for Uncertain and Learning-Based Control

Dyro, RobertStanford University
Harrison, JamesStanford University
Sharma, ApoorvaStanford University
Pavone, MarcoStanford University
 
15:06-15:12, Paper ThAT11.7 Add to My Program
DMotion: Robotic Visuomotor Control with Unsupervised Forward Model Learned from Videos

Yuan, HaoqiPeking University
Wu, RuihaiPeking University
Zhao, AndrewPeking University
Zhang, HaipengPeking University
Ding, ZihanImperial College London
Dong, HaoPeking University
 
ThAT12  Lecture Session, Room T12 Add to My Program 
Soft Sensors and Actuators  
 
Chair: Matsuno, TakahiroRitsumeikan Univ
Co-Chair: Balak, RomanGeorgia Institute of Technology
 
14:30-14:36, Paper ThAT12.1 Add to My Program
EPM–MRE: Electropermanent Magnet–Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping

Zhang, PeizhiWaseda University
Kamezaki, MitsuhiroWaseda University
He, ZhuoyiWaseda University
Sakamoto, HiroyukiNippon Paint Holdings Co. Ltd
Sugano, ShigekiWaseda University
 
14:36-14:42, Paper ThAT12.2 Add to My Program
Double Helical Soft Pneumatic Actuator Capable of Generating Complex 3D Torsional Motions

Yuan, PeizhengTokyo Institute of Technology
Tsukagoshi, HideyukiTokyo Institute of Technology
 
14:42-14:48, Paper ThAT12.3 Add to My Program
Bistable Valves for Magnetorheological Fluid-Based Soft Robotic Actuation Systems

Balak, RomanGeorgia Institute of Technology
Mazumdar, YiGeorgia Institute of Technology
 
14:48-14:54, Paper ThAT12.4 Add to My Program
Wireless Powered Dielectric Elastomer Actuator

Chen, LaiThe University of Tokyo
Sasatani, TakuyaThe University of Tokyo
Or, KeungThe University of Tokyo
Nishikawa, SatoshiUniversity of Tokyo
Niiyama, RyumaUniversity of Tokyo
Kawahara, YoshihiroThe University of Tokyo
Kuniyoshi, YasuoThe University of Tokyo
 
14:54-15:00, Paper ThAT12.5 Add to My Program
Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor

Matsuno, TakahiroRitsumeikan Univ
Hirai, ShinichiRitsumeikan Univ
 
15:00-15:06, Paper ThAT12.6 Add to My Program
Dynamic Hand Gesture Recognition Using a Stretchable Multi-Layer Capacitive Array, Proximity Sensing, and a SVM Classifier

Virone, MatteoPolitecnico Di Torino
Lopes, Pedro Filipe AlhaisISR-UC Institute of Systems and Robotics - University of Coimbra
Rocha, RuiUniversity of Coimbra
de Almeida, AnibalIROS 2012 General Chair
Tavakoli, MahmoudUniversity of Coimbra
 
15:06-15:12, Paper ThAT12.7 Add to My Program
Estimating the Shape of Soft Pneumatic Actuators Using Active Vibroacoustic Sensing

Chandrasiri, KazumiTokai University
Takemura, KentaroTokai University
 
ThAT13  Lecture Session, Room T13 Add to My Program 
Grippers and Other End-Effectors II  
 
Chair: Tsagarakis, NikosIstituto Italiano Di Tecnologia
Co-Chair: Borisov, IvanITMO University
 
14:30-14:36, Paper ThAT13.1 Add to My Program
A Caging Inspired Gripper Using Flexible Fingers and a Movable Palm

Beddow, Luke JonathanUniversity College London
Wurdemann, Helge ArneUniversity College London
Kanoulas, DimitriosUniversity College London
 
14:36-14:42, Paper ThAT13.2 Add to My Program
The Role of Digit Arrangement in Soft Robotic In-Hand Manipulation

Teeple, ClarkHarvard University
St. Louis, RandallHarvard University
Graule, Moritz A.Harvard University
Wood, RobertHarvard University
 
14:42-14:48, Paper ThAT13.3 Add to My Program
A Dexterous, Reconfigurable Robot Hand Combining Anthropomorphic and Interdigitated Configurations

Gao, GengUniversity of Auckland
Chapman, JaydenThe University of Auckland
Matsunaga, SaoriMitsubishi Electric Corporation
Mariyama, ToshisadaMitsubishi Electric Corporation
MacDonald, BruceUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
14:48-14:54, Paper ThAT13.4 Add to My Program
A Computational Framework for Robot Hand Design Via Reinforcement Learning

Zhang, ZhongCity University of Hong Kong
Zheng, YuTencent
Hu, ZheCity University of Hong Kong
Liu, LezhangWuyi University
Zhao, XuanCity University of Hong Kong
Li, XiongTencent
Pan, JiaUniversity of Hong Kong
 
14:54-15:00, Paper ThAT13.5 Add to My Program
Variable-Grasping-Mode Gripper with Different Finger Structures for Grasping Small-Sized Items

Morino, KotaKanazawa University
Asama, YoshitatsuPanasonic Corporation
Nishitani, SeijiPanasonic Corporation
Toshima, RyoPanasonic Corporation
Watanabe, TetsuyouKanazawa University
 
15:00-15:06, Paper ThAT13.6 Add to My Program
Force Control with Friction Compensation in a Pneumatic Gripper

Romeo, Rocco AntonioIstituto Italiano Di Tecnologia
Zocco, AgataIstituto Italiano Di Tecnologia
Fiorio, LucaIstituto Italiano Di Tecnologia
Pucci, DanieleItalian Institute of Technology
Maggiali, MarcoItalian Institute of Technology
 
15:06-15:12, Paper ThAT13.7 Add to My Program
Analysis of Fingertip Force Vector for Pinch-Lifting Gripper with Robust Adaptation to Environments (I)

Yoon, DukchanHanyang University
Choi, YoungjinHanyang University
 
ThAT14  Lecture Session, Room T14 Add to My Program 
Physical Human-Robot Interaction  
 
Chair: Papageorgiou, DimitriosAristotle University of Thessaloniki
Co-Chair: Hagenow, MichaelUniversity of Wisconsin - Madison
 
14:30-14:36, Paper ThAT14.1 Add to My Program
Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators Using Onboard Proximity Sensors

Escobedo, CalebUniversity of Colorado - Boulder
Strong, MatthewUniversity of Colorado Boulder
West, MaryUniversity of Colorado Boulder
Aramburu, AnderUniversity of Colorado
Roncone, AlessandroUniversity of Colorado Boulder
 
14:36-14:42, Paper ThAT14.2 Add to My Program
Biomechanics Aware Collaborative Robot System for Delivery of Safe Physical Therapy in Shoulder Rehabilitation

Prendergast, J. MicahDelft University of Technology
Balvert, StephanTU Delft
Driessen, TomTU Delft
Seth, AjayStanford University
Peternel, LukaDelft University of Technology
 
14:42-14:48, Paper ThAT14.3 Add to My Program
A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction (I)

Aydin, YusufMEF University
Tokatli, OzanUKAEA
Patoglu, VolkanSabanci University
Basdogan, CagatayKoc University
 
14:48-14:54, Paper ThAT14.4 Add to My Program
Task Geometry Aware Assistance for Kinesthetic Teaching of Redundant Robots

Papageorgiou, DimitriosAristotle University of Thessaloniki
Stavridis, SotirisAristotle University of Thessaloniki
Papakonstantinou, ChristosAristotle University of Thessaloniki, Greece
Doulgeri, ZoeAristotle University of Thessaloniki
 
14:54-15:00, Paper ThAT14.5 Add to My Program
A Framework for Dyadic Physical Interaction Studies During Ankle Motor Tasks

Kim, Sangjoon J.Shirley Ryan AbilityLab
Wen, YueUniversity of North Carolina at Chapel Hill
Kucuktabak, Emek BarisNorthwestern University, Shirley Ryan Ability Lab
Zhan, ShaoboNorthwestern University
Lynch, KevinNorthwestern University
Hargrove, LeviRehabilitation Institute of Chicago
Perreault, EricRehabilitaiton Institute of Chicago
Pons, Jose L.Shirley Ryan AbilityLab
 
15:00-15:06, Paper ThAT14.6 Add to My Program
A Conceptual Approach of Passive Human-Intention-Orientated Variable Admittance Control Using Power Envelope

Chen, JingdongBaylor University
Ro, PaulBaylor University
 
15:06-15:12, Paper ThAT14.7 Add to My Program
Inferring Goals with Gaze During Teleoperated Manipulation

Aronson, ReubenCarnegie Mellon University
Almutlak, NadiaColumbia University
Admoni, HennyCarnegie Mellon University
 
ThAT15  Lecture Session, Room T15 Add to My Program 
Human and Humanoid Motion Analysis and Synthesis  
 
Chair: Posa, MichaelUniversity of Pennsylvania
Co-Chair: Hereid, AyongaOhio State University
 
14:30-14:36, Paper ThAT15.1 Add to My Program
Multitask Variational Autoencoding of Human-To-Human Object Handover

Razali, HaziqImperial College London
Demiris, YiannisImperial College London
 
14:36-14:42, Paper ThAT15.2 Add to My Program
Synergetic Gait Prediction for Stroke Rehabilitation with Varying Walking Speeds

Zou, ChaobinUniversity of Electronic Science and Technology of China
Huang, RuiUniversity of Electronic Science and Technology of China
Peng, ZhinanUnversity of Electronic Science and Tehcnology of China
Qiu, JingUniversity of Electronic Science and Technology of China
Cheng, HongUniversity of Electronic Science and Technology
 
14:42-14:48, Paper ThAT15.3 Add to My Program
Organization and Understanding of a Tactile Information Dataset TacAct for Physical Human-Robot Interactions

Wang, PengHebei University of Technology
Liu, JixiaoHebei University of Technology
Hou, FuningFudan University
Chen, DicaiHebei University of Technology
Xia, ZihouHebei University of Technology
Guo, ShijieHebei University of Technology
 
14:48-14:54, Paper ThAT15.4 Add to My Program
Towards Human Haptic Gesture Interpretation for Robotic Systems

Bianchini, BibitUniversity of Pennsylvania
Verma, PrateekStanford University
Salisbury, KennethStanford University
 
14:54-15:00, Paper ThAT15.5 Add to My Program
State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning

Furukawa, TomonariUniversity of Virginia
Steckenrider, J. JosiahUnited States Military Academy
Dissanayake, GaminiUniversity of Technology Sydney
 
15:00-15:06, Paper ThAT15.6 Add to My Program
Computationally Affordable Hierarchical Framework for Humanoid Robot Control

Ishihara, KojiATR Computational Neuroscience Labs
Morimoto, JunATR Computational Neuroscience Labs
 
15:06-15:12, Paper ThAT15.7 Add to My Program
Domain and View-Point Agnostic Hand Action Recognition

Sabater, AlbertoUniversidad De Zaragoza
Alonso, IñigoUniversity of Zaragoza
Montesano, LuisUniversidad De Zaragoza
Murillo, Ana CristinaUniversity of Zaragoza
 
ThAT16  Lecture Session, Room T16 Add to My Program 
Biologically-Inspired Robots I  
 
Chair: Marques, LinoUniversity of Coimbra
Co-Chair: Nanayakkara, ThrishanthaImperial College London
 
14:30-14:36, Paper ThAT16.1 Add to My Program
Water Surface Stability Prediction of Amphibious Bio-Inspired Undulatory Fin Robot

Chen, ZhenhanXi'an Jiaotong University
Hu, QiaoXi'an Jiaotong University
Chen, YingliangKunming Precision Machinery Research Institute
Wei, ChangXi'an Jiaotong University
Yin, ShenglinXi'an Jiaotong University
 
14:36-14:42, Paper ThAT16.2 Add to My Program
Quasi-Static Motion of a New Serial Snake-Like Robot on a Water Surface: A Geometrical Approach

Xiao, XieIMT Atlantique
Herault, JohannIMT-Atlantique
Clément, EtienneIMT Atlantique
Lebastard, VincentIMT Atlantique
Boyer, FrédéricEcole Des Mines De Nantes
 
14:42-14:48, Paper ThAT16.3 Add to My Program
Simulating Ocean Wave Movement in a Soft Pneumatic Surface

Steelman, AlexandraCornell University
Sabinson, ElenaCornell University
Pradhan, IshaCornell University
Ghatak, AratrikaCornell University
Green, Keith EvanCornell University
 
14:48-14:54, Paper ThAT16.4 Add to My Program
Microspine-Rubber Composite for High Friction on Smooth, Rough, and Wet Surfaces

Berdan, Constance C.University of California, Santa Barbara
Johnson, Bryan GaryAbbott Vascular
Hawkes, Elliot WrightUniversity of California, Santa Barbara
 
14:54-15:00, Paper ThAT16.5 Add to My Program
Wing Fold and Twist Greatly Improves Flight Efficiency for Bat-Scale Flapping Wing Robots

Fan, XiaozhouBrown University
Breuer, KennethBrown University
Vejdani, Hamid RezaLawrence Technological University
 
15:00-15:06, Paper ThAT16.6 Add to My Program
Development of a Bio-Inspired Soft Robotic Gripper Based on Tensegrity Structures

Liu, YixiangShandong University
Bi, QingShandong Institute of Advanced Technology, Chinese Academy of Sc
Li, YibinShandong University
 
15:06-15:12, Paper ThAT16.7 Add to My Program
A Real-Time Motion Detection and Object Tracking Framework for Future Robot-Rat Interaction

Chen, ChenBeijing Institute of Technology
Jia, GuangluBeijing Institute of Technology
Gao, ZihangBeijing Institute of Technology
Guo, XiaowenBeijing Institute of Technology
Huang, QiangBeijing Institute of Technology
Fukuda, ToshioMeijo University
Shi, QingBeijing Institute of Technology
 
ThAT17  Lecture Session, Room T17 Add to My Program 
Legged Robots II  
 
Chair: Roa, Maximo A.DLR - German Aerospace Center
Co-Chair: Kamikawa, YasuhisaSONY Corporation
 
14:30-14:36, Paper ThAT17.1 Add to My Program
Development of Rotating Workspace Ground Contact Force Observer for Legged Robot

Kang, WoosongDGIST
Lee, ChanYeungnam University
Oh, SehoonDGIST (Daegu Gyeongbuk Institute of Science and Technology)
 
14:36-14:42, Paper ThAT17.2 Add to My Program
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum

Liu, JunweiSouthern University of Science and Technology
Chen, HuaSouthern University of Science and Technology
Wensing, Patrick M.University of Notre Dame
Zhang, WeiSouthern University of Science and Technology
 
14:42-14:48, Paper ThAT17.3 Add to My Program
Design of a Large-Scale Electrically-Actuated Quadruped Robot and Locomotion Control for the Narrow Passage

Ye, ShushengThe Chinese University of Hong Kong (CUHK), Shenzhen, China
Luo, JianwenThe Chinese University of Hong Kong, Shenzhen
Sun, CaimingThe Chinese University of Hong Kong, Shenzhen
Jin, BingchenThe Chinese University of Hong Kong, Shenzhen
Su, JuntongShenzhen Institute of Artificial Intelligence and Robotics for S
Zhang, AidongThe Chinese University of Hong Kong, Shenzhen
 
14:48-14:54, Paper ThAT17.4 Add to My Program
Force-Feedback Based Whole-Body Stabilizer for Position-Controlled Humanoid Robots

Yang, ShunpengSouthern University of Science and Technology
Chen, HuaSouthern University of Science and Technology
Fu, ZhenSouthern University of Science and Technology
Zhang, WeiSouthern University of Science and Technology
 
14:54-15:00, Paper ThAT17.5 Add to My Program
Adaptive Force-Based Control for Legged Robots

Sombolestan, MohsenPh.D. Student, AME Dept., University of Southern California
Chen, YiyuUniversity of Southern California
Nguyen, QuanUniversity of Southern California
 
15:00-15:06, Paper ThAT17.6 Add to My Program
Quadruped Robot Hopping on Two Legs

Li, ShenggaoUniversity of Notre Dame
Chen, HuaSouthern University of Science and Technology
Zhang, WeiSouthern University of Science and Technology
Wensing, Patrick M.University of Notre Dame
 
15:06-15:12, Paper ThAT17.7 Add to My Program
Trotting and Pacing Locomotion of a Position-Controlled Quadruped Robot

Zhang, GuotengShandong University
Li, YibinShandong University
Ma, ShugenRitsumeikan University
 
ThAT18  Lecture Session, Room T18 Add to My Program 
Micro/Nano Robots I  
 
Chair: Cappelleri, DavidPurdue University
Co-Chair: Boudaoud, MokraneSorbonne Université
 
14:30-14:36, Paper ThAT18.1 Add to My Program
Precise Control of Magnetized Macrophage Cell Robot for Targeted Drug Delivery

Wang, LuyaoBeihang University
Dai, YuguoBeihang University
Sun, HongyanBeihang University
Song, LiBeihang University
Lina, JiaBEIHANG UNIVERSITY
Jiang, ChijuBeihang University
Arai, FumihitoThe University of Tokyo
Feng, LinBeihang University
 
14:36-14:42, Paper ThAT18.2 Add to My Program
Development of a Vision-Based Robotic Manipulation System for Transferring of Oocytes

Miao, ShuHarbin Institute of Technology, Shenzhen
Chen, DayuanHarbin Institute of Technology (Shenzhen)
Nie, QiangThe Chinese University of Hong Kong
Jiang, XinHarbin Institute of Technology, Shenzhen
Sun, XulinChinese University of Hong Kong
Dai, JianjunInstitute of Animal Husbandry Veterinary Science, Shanghai, Acade
Liu, YunhuiChinese University of Hong Kong
Li, XiangTsinghua University
 
14:42-14:48, Paper ThAT18.3 Add to My Program
Hybrid Magnetic Force and Torque Actuation of Miniature Helical Robots Using Mobile Coils to Accelerate Blood Clot Removal

Yang, LidongThe Chinese University of Hong Kong
Zhang, MoqiuThe Chinese University of Hong Kong
Yang, HaojinThe Chinese University of Hong Kong
Yang, ZhengxinThe Chinese Univeristy of HongKong
Zhang, LiThe Chinese University of Hong Kong
 
14:48-14:54, Paper ThAT18.4 Add to My Program
Adaptive Tracking Controller for an Alginate Artificial Cell

Kararsiz, GokhanSouthern Methodist University
Rogowski, LouisSouthern Methodist University
Zhang, XiaoSouthern Methodist University
Bhattacharjee, AnuruddhaSouthern Methodist University
Kim, MinJunSouthern Methodist University
 
14:54-15:00, Paper ThAT18.5 Add to My Program
Automatic Cell Rotation Based on Real-Time Detection and Tracking

Gong, HuiyingNankai University
Li, LuNankai University
Qiu, JinyuNankai University
Yao, YatongNankai University
Liu, YaoweiNankai University
Cui, MaoshengTianjin Animal Science
Zhao, QiliNankai University
Zhao, XinNankai University
Sun, MingzhuNankai University
 
15:00-15:06, Paper ThAT18.6 Add to My Program
Autonomous Object Harvesting Using Synchronized Optoelectronic Microrobots

Bendkowski, ChristopherUniversity College London
Mennillo, LaurentUniversity College London
Xu, TaoUniversity College London
Elsayed, MohamedUniversity of Toronto
Stojic, FilipUniversity of Toronto
Edwards, HarrisonUniversity of Toronto
Zhang, ShuailongUniversity of Toronto
Morshead, CindiUniversity of Toronto
Pawar, Vijay ManoharUniversity College London
Wheeler, AaronUniversity of Toronto
Stoyanov, DanailUniversity College London
Shaw, Michael JamesUniversity College London
 
15:06-15:12, Paper ThAT18.7 Add to My Program
Keeping It Simple: Bio-Inspired Threshold-Based Strain Sensing for Micro-Aerial Vehicles

Kubicek, ReganCarnegie Mellon University
Babaei, MahnoushCarnegie Mellon University
Bergbreiter, SarahCarnegie Mellon University
 
ThAT19  Lecture Session, Room T19 Add to My Program 
Simulation  
 
Chair: Panerati, JacopoUniversity of Toronto
Co-Chair: Singamaneni, Phani TejaLAAS-CNRS
 
14:30-14:36, Paper ThAT19.1 Add to My Program
Learning to Fly—a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-Agent Quadcopter Control

Panerati, JacopoUniversity of Toronto
Zheng, HehuiUniversity of Cambridge
Zhou, SiqiUniversity of Toronto
Xu, JamesUniversity of Toronto
Prorok, AmandaUniversity of Cambridge
Schoellig, Angela P.University of Toronto
 
14:36-14:42, Paper ThAT19.2 Add to My Program
IGibson 1.0: A Simulation Environment for Interactive Tasks in Large Realistic Scenes

Shen, BokuiStanford University
Xia, FeiStanford University
Li, ChengshuStanford University
Martín-Martín, RobertoStanford University
Fan, LinxiStanford University
Wang, GuanzhiStanford University
Pérez-D'Arpino, ClaudiaStanford University
Buch, ShyamalStanford University
Srivastava, SanjanaStanford University
Tchapmi Petse, LyneStanford University
Tchapmi, Micael EdmondStanford University
Vainio, KentStanford University
Wong, JosiahStanford University
Fei-Fei, LiStanford University
Savarese, SilvioStanford University
 
14:42-14:48, Paper ThAT19.3 Add to My Program
An Approach to Deploy Interactive Robotic Simulators on the Web for HRI Experiments: Results in Social Robot Navigation

Tsoi, NathanYale University
Hussein, MohamedRutgers University-Camden
Fugikawa, OliviaYale University
Zhao, JdYale University
Vázquez, MarynelYale University
 
14:48-14:54, Paper ThAT19.4 Add to My Program
Co-Design of Embodied Intelligence: A Structured Approach

Zardini, GioeleETH Zürich
Milojevic, DejanETH Zürich
Censi, AndreaETH Zürich
Frazzoli, EmilioETH
 
14:54-15:00, Paper ThAT19.5 Add to My Program
Muscle-Reflex Model of Human Locomotion Entrains to Mechanical Perturbations

Abdikadirova, BanuUniversity of Massachusetts Amherst
Lee, JongwooMassachusetts Institute of Technology (MIT)
Hogan, NevilleMassachusetts Institute of Technology
Huber, MeghanUniversity of Massachusetts Amherst
 
15:00-15:06, Paper ThAT19.6 Add to My Program
Daß: Distributable and Scalable Simulation of Robotic Applications

Woithe, HansNokia Bell Labs
Segall, ItaiNokia Bell-Labs
 
15:06-15:12, Paper ThAT19.7 Add to My Program
Mobile 3D Printing Robot Simulation with Viscoelastic Fluids

Berdica, UljadNew York University Abu Dhabi
Fu, YueweiNew York University
Liu, YuchenNew York University
Angelidis, EmmanouilResearch Institute of the Free State of Bavaria
Feng, ChenNew York University
 
ThAT20  Lecture Session, Room T20 Add to My Program 
Manufacturing Automation  
 
Chair: Meattini, RobertoUniversity of Bologna
 
14:30-14:36, Paper ThAT20.1 Add to My Program
Textile Taxonomy and Classification Using Pulling and Twisting

Longhini, AlbertaKTH Royal Institute of Technology
Welle, Michael C.KTH Royal Institute of Technology
Mitsioni, IoannaKTH Royal Institute of Technology
Kragic, DanicaKTH
 
14:36-14:42, Paper ThAT20.2 Add to My Program
Learning of Parameters in Behavior Trees for Movement Skills

Mayr, MatthiasLund University
Chatzilygeroudis, KonstantinosUniversity of Patras
Ahmad, FaseehLund University
Nardi, LuigiStanford
Krueger, VolkerLund University
 
14:42-14:48, Paper ThAT20.3 Add to My Program
On Step-And-Scan Trajectories Used in Wafer Scanners in Semiconductor Manufacturing

Al-Rawashdeh, YazanKing Fahd University of Petroleum and Minerals
Al Janaideh, MohammadMemorial University &University of Toronto
Heertjes, MarcelEindhoven University of Technology
 
14:48-14:54, Paper ThAT20.4 Add to My Program
Energy-Efficient Mobile Robot Control Via Run-Time Monitoring of Environmental Complexity and Computing Workload

Mohamed, Sherif Abdelmonem SayedUniversity of Turku
Haghbayan, Mohammad-HashemUniversity of Turku
Miele, AntonioPolitecnico Di Milano
Onur, MutluETH Zurich
Plosila, JuhaUniversity of Turku
 
14:54-15:00, Paper ThAT20.5 Add to My Program
Adaptive Optimization of Autonomous Vehicle Computational Resources for Performance and Energy Improvement

Jambotkar, SaurabhClemson University
Guo, LongxiangClemson University
Jia, YunyiClemson University
 
15:00-15:06, Paper ThAT20.6 Add to My Program
Design of a New Robot End-Effector Based on Compliant Constant-Force Mechanism

Yuzhang, WeiUniversity of Macau
Xu, QingsongUniversity of Macau
 
15:06-15:12, Paper ThAT20.7 Add to My Program
A New Method for Generating Work Piece Surface Representations for Robotic Machining

Leth, Nikolaj WestphalUniversity of Southern Denmark
Petersen, Henrik GordonUniversity of Southern Denmark
 
ThPL  Plenary session, Room T21 Add to My Program 
Plenary III  
 
 
, Paper ThPL. Add to My Program
Computer-Aided and Robot-Assisted Medical Interventions: Myths, Reality and Challenges

Troccaz, JocelyneCNRS-UJF
 
ThBT1  Lecture Session, Room T1 Add to My Program 
SLAM V  
 
Chair: Zhu, HongbiaoCarnegie Mellon University
Co-Chair: Kim, Jonathan J.Y.University of Auckland, Callaghan Innovation
 
16:25-16:31, Paper ThBT1.1 Add to My Program
Robust Multi-Camera SLAM with Manhattan Constraint Toward Automated Valet Parking

Kang, YifeiZongmu Tech
Song, YuBeijing Jiaotong University
Ge, WuweiZongMu Tech
Ling, TongZongMu Tech
 
16:31-16:37, Paper ThBT1.2 Add to My Program
DSVP: Dual-Stage Viewpoint Planner for Rapid Exploration by Dynamic Expansion

Zhu, HongbiaoCarnegie Mellon University
Cao, ChaoCarnegie Mellon University
Xia, YukunCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
Zhang, JiCarnegie Mellon University
Wang, WeidongHarbin Institute of Technology
 
16:37-16:43, Paper ThBT1.3 Add to My Program
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-Time

Zhang, HuayanShenzhen Institute of Artificial Intelligence and Robotics for S
Zhang, TianweiThe University of Tokyo
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Vijayakumar, SethuUniversity of Edinburgh
 
16:43-16:49, Paper ThBT1.4 Add to My Program
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM

Fu, JiahuiMassachusetts Institute of Technology
Huang, QiangqiangMassachusetts Institute of Technology
Doherty, KevinMassachusetts Institute of Technology
Wang, YueMassachusetts Institute of Technology
Leonard, JohnMIT
 
16:49-16:55, Paper ThBT1.5 Add to My Program
Underwater Visual Acoustic SLAM with Extrinsic Calibration

Xu, ShidaHeriot-Watt University
Łuczyński, TomaszHeriot-Watt University
Scharff Willners, JonatanHeriot-Watt University
Hong, ZiyangHeriot-Watt University
Zhang, KaichengHeriot-Watt University
Petillot, Yvan R.Heriot-Watt University
Wang, SenEdinburgh Centre for Robotics, Heriot-Watt University
 
16:55-17:01, Paper ThBT1.6 Add to My Program
Some Research Questions for SLAM in Deformable Environments

Huang, ShoudongUniversity of Technology, Sydney
Chen, YongboUniversity of Technology, Sydney
Zhao, LiangUniversity of Technology Sydney
Zhang, YanhaoUniversity of Technology Sydney
Xu, MengyaUTS
 
17:01-17:07, Paper ThBT1.7 Add to My Program
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems

Zuñiga-Noël, DavidUniversity of Malaga
Moreno, Francisco-AngelUniversity of Malaga
Gonzalez-Jimenez, JavierUniversity of Malaga
 
ThBT2  Lecture Session, Room T2 Add to My Program 
Mapping II  
 
Chair: Amayo, PaulUniversity of Cape Town
Co-Chair: Rosinol, AntoniMIT
 
16:25-16:31, Paper ThBT2.1 Add to My Program
Moving Object Segmentation in 3D LiDAR Data: A Learning-Based Approach Exploiting Sequential Data

Chen, XieyuanliUniversity of Bonn
Li, ShiJieBonn University
Mersch, BenediktUniversity of Bonn
Wiesmann, LouisUniversity of Bonn
Gall, JuergenUniversity of Bonn
Behley, JensUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
 
16:31-16:37, Paper ThBT2.2 Add to My Program
R2LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping

Lin, JiarongThe University of Hong Kong
Zheng, ChunranThe University of Hong Kong
Xu, WeiUniversity of Hong Kong
Zhang, FuUniversity of Hong Kong
 
16:37-16:43, Paper ThBT2.3 Add to My Program
Endo-Depth-And-Motion: Reconstruction and Tracking in Endoscopic Videos Using Depth Networks and Photometric Constraints

Recasens, DavidUniversity of Zaragoza
Lamarca, JoseUNIZAR
Fácil, José M.Universidad De Zaragoza
Montiel, J.M.MI3A. Universidad De Zaragoza
Civera, JavierUniversidad De Zaragoza
 
16:43-16:49, Paper ThBT2.4 Add to My Program
CRMI: Confidence-Rich Mutual Information for Information-Theoretic Mapping

Xu, YangZhejiang University
Zheng, RonghaoZhejiang University
Liu, MeiqinZhejiang University
Zhang, SenlinZhejiang University
 
16:49-16:55, Paper ThBT2.5 Add to My Program
3D Shape Reconstruction of Small Bodies from Sparse Features

Jarvis, BenjaminUniversity of Sydney
Choi, Gary P. T.Massachusetts Institute of Technology
Hockman, BenjaminNASA Jet Propulsion Laboratory, California Institute of Technolo
Morrell, BenjaminJet Propulsion Laboratory, California Institute of Technology
Bandyopadhyay, SaptarshiCalifornia Institute of Technology
Lubey, DanielJet Propulsion Laboratory, California Institute of Technology
Villa, JacopoJet Propulsion Laboratory, California Institute of Technology
Bhaskaran, ShyamJet Propulsion Laboratory, California Institute of Technology
Bayard, DavidJet Propulsion Laboratory, California Institute Of
Nesnas, IssaJet Propulsion Laboratory
 
16:55-17:01, Paper ThBT2.6 Add to My Program
Adaptive Hyperparameter Tuning for Black-Box LiDAR Odometry

Koide, KenjiNational Institute of Advanced Industrial Science and Technology
Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Banno, AtsuhikoNational Instisute of Advanced Industrial Science and Technology
 
17:01-17:07, Paper ThBT2.7 Add to My Program
CatChatter: Acoustic Perception for Mobile Robots

Tracy, EthanQueensland University of Technology
Kottege, NavindaCSIRO
 
ThBT3  Lecture Session, Room T3 Add to My Program 
Shared Autonomy for Physical Human-Robot Interaction I  
 
Chair: Luo, RuiNortheastern University
Co-Chair: Hagenow, MichaelUniversity of Wisconsin - Madison
 
16:25-16:31, Paper ThBT3.1 Add to My Program
Shared Control Based on a Brain-Computer Interface for Human-Multirobot Cooperation

Dai, WeiNational University of Defense Technology
Liu, YaruNational University of Defense Technology
Lu, HuiminNational University of Defense Technology
Zhou, ZongtanNational University of Defense Technology
Zheng, ZhiqiangNational University of Defense Technology
 
16:31-16:37, Paper ThBT3.2 Add to My Program
Reconfigurable Constraint-Based Reactive Framework for Assistive Robotics with Adaptable Levels of Autonomy

Iregui, SantiagoKU Leuven
De Schutter, JorisKU Leuven
Aertbelien, ErwinKU Leuven
 
16:37-16:43, Paper ThBT3.3 Add to My Program
Toward Vision-Based High Sampling Interaction Force Estimation with Master Position and Orientation for Teleoperation

Lee, Kang-WonDongguk University
Ko, Dae-KwanDongguk University
Lim, Soo-ChulDongguk University
 
16:43-16:49, Paper ThBT3.4 Add to My Program
Informing Real-Time Corrections in Corrective Shared Autonomy through Expert Demonstrations

Hagenow, MichaelUniversity of Wisconsin - Madison
Senft, EmmanuelUniversity of Wisconsin Madison
Radwin, RobertUniversity of Wisconsin-Madison
Gleicher, MichaelUniversity of Wisconsin - Madison
Mutlu, BilgeUniversity of Wisconsin–Madison
Zinn, MichaelUniversity of Wisconsin - Madison
 
16:49-16:55, Paper ThBT3.5 Add to My Program
Autonomy in Physical Human-Robot Interaction: A Brief Survey

Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
Cognetti, MarcoMaynooth University
Nikolaidis, StefanosUniversity of Southern California
Ivaldi, SerenaINRIA
Siciliano, BrunoUniv. Napoli Federico II
 
16:55-17:01, Paper ThBT3.6 Add to My Program
A Shared Control Method for Collaborative Human-Robot Plug Task

Chang, PengNortheastern University
Luo, RuiNortheastern University
Dorostian, MehrdadNortheastern University
Padir, TaskinNortheastern University
 
ThBT4  Lecture Session, Room T4 Add to My Program 
Learning from Demonstration  
 
Chair: Ogata, TetsuyaWaseda University
Co-Chair: Wu, YanA*STAR Institute for Infocomm Research
 
16:25-16:31, Paper ThBT4.1 Add to My Program
Learning Forceful Manipulation Skills from Multi-Modal Human Demonstrations

Le, An ThaiUniversity of Stuttgart
Guo, MengBosch Group
van Duijkeren, NielsRobert Bosch GmbH
Rozo, LeonelBosch Center for Artificial Intelligence
Krug, RobertBosch Corporate Research
Kupcsik, AndrasBosch Center for AI
Bürger, MathiasBosch Center for Artificial Intelligence
 
16:31-16:37, Paper ThBT4.2 Add to My Program
ILoSA: Interactive Learning of Stiffness and Attractors

Franzese, GiovanniTU Delft
Mészáros, AnnaDelft University of Technology
Peternel, LukaDelft University of Technology
Kober, JensTU Delft
 
16:37-16:43, Paper ThBT4.3 Add to My Program
A Marginal Log-Likelihood Approach for the Estimation of Discount Factors of Multiple Experts in Inverse Reinforcement Learning

Giwa, Babatunde H.University of Toronto
Lee, Chi-GuhnUniversity of Toronto
 
16:43-16:49, Paper ThBT4.4 Add to My Program
Towards Coordinated Robot Motions: End-To-End Learning of Motion Policies on Transform Trees

Rana, Muhammad AsifGeorgia Institute of Technology
Li, AnqiUniversity of Washington
Fox, DieterUniversity of Washington
Chernova, SoniaGeorgia Institute of Technology
Boots, ByronUniversity of Washington
Ratliff, NathanNVIDIA
 
16:49-16:55, Paper ThBT4.5 Add to My Program
Learning to Optimize Control Policies and Evaluate Reproduction Performance from Human Demonstrations

Gesel, PaulUniversity of New Hampshire
LaRoche, DainUniversity of New Hampshire
Arthanat, SajayUniversity of New Hampshire
Begum, MomotazUniversity of New Hampshire
 
16:55-17:01, Paper ThBT4.6 Add to My Program
Learning from Successful and Failed Demonstrations Via Optimization

Hertel, BrendanUniversity of Masssachusetts - Lowell
Ahmadzadeh, S. RezaUniversity of Massachusetts Lowell
 
17:01-17:07, Paper ThBT4.7 Add to My Program
A Novel Curved Gaussian Mixture Model and Its Application in Motion Skill Encoding

Disi Chen, DisiUniversity of Portsmouth
Li, GongfaCollege of Machinery and Automation, Wuhan University of Science
Zhou, DalinUniversity of Portsmouth
Ju, ZhaojieUniversity of Portsmouth
 
ThBT5  Lecture Session, Room T5 Add to My Program 
Imitation Learning I  
 
Chair: Mullins, GalenUniversity of Maryland
Co-Chair: Tolstaya, EkaterinaUPenn
 
16:25-16:31, Paper ThBT5.1 Add to My Program
Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning

Cai, PeideHong Kong University of Science and Technology
Wang, HengliThe Hong Kong University of Science and Technology
Huang, HuaiyangThe Hong Kong University of Science and Technology
Liu, YuxuanHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
16:31-16:37, Paper ThBT5.2 Add to My Program
Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos

Xiong, HaoyuUniversity of Toronto, Tianjin University
Li, QuanzhouUniversity of Toronto
Chen, Yun-ChunUniversity of Toronto
Bharadhwaj, HomangaUniversity of Toronto, Canada
Sinha, SamrathUniversity of Toronto
Garg, AnimeshUniversity of Toronto
 
16:37-16:43, Paper ThBT5.3 Add to My Program
Contrastively Learning Visual Attention As Affordance Cues from Demonstrations for Robotic Grasping

Zha, YantianArizona State University
Bhambri, SiddhantArizona State University
Guan, LinArizona State University
 
16:43-16:49, Paper ThBT5.4 Add to My Program
Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations

Ablett, TrevorUniversity of Toronto
Zhai, YifanUniversity of Toronto Institute for Aerospace Studies
Kelly, JonathanUniversity of Toronto
 
16:49-16:55, Paper ThBT5.5 Add to My Program
Adaptive T-Momentum-Based Optimization for Unknown Ratio of Outliers in Amateur Data in Imitation Learning

Ilboudo, Wendyam Eric LionelNara Institute of Science and Technology (NAIST)
Kobayashi, TaisukeNara Institute of Science and Technology
Sugimoto, KenjiNara Institute of Science and Technology
 
16:55-17:01, Paper ThBT5.6 Add to My Program
Robust Behavior Cloning with Adversarial Demonstration Detection

Hussein, MostafaUnvirisity of New Hampshire
Crowe, BrendanUniversity of New Hampshire
Clark-Turner, MadisonUniversity of New Hampshire
Gesel, PaulUniversity of New Hampshire
Petrik, MarekIBM
Begum, MomotazUniversity of New Hampshire
 
17:01-17:07, Paper ThBT5.7 Add to My Program
State-Only Imitation Learning for Dexterous Manipulation

Radosavovic, IlijaUC Berkeley
Wang, XiaolongUC San Diego
Pinto, LerrelNew York University
Malik, JitendraUC Berkeley
 
ThBT6  Lecture Session, Room T6 Add to My Program 
Deep Learning Methods I  
 
Chair: Ekenna, ChinweUniversity at Albany
Co-Chair: Zhi, WeimingUniversity of Sydney
 
16:25-16:31, Paper ThBT6.1 Add to My Program
Adversarial Training on Point Clouds for Sim-To-Real 3D Object Detection

DeBortoli, RobertOregon State University
Li, FuxinOregon State University
Kapoor, AshishMicroSoft
Hollinger, GeoffreyOregon State University
 
16:31-16:37, Paper ThBT6.2 Add to My Program
CrossMap Transformer: A Crossmodal Masked Path TransformerUsing Double Back-Translation for Vision-And-Language Navigation

Magassouba, AlyNICT
Sugiura, KomeiKeio University
Kawai, HisashiNational Institute of Information and Communications Technology
 
16:37-16:43, Paper ThBT6.3 Add to My Program
Case Relation Transformer: A Crossmodal Language Generation Model for Fetching Instructions

Kambara, MotonariKeio University
Sugiura, KomeiKeio University
 
16:43-16:49, Paper ThBT6.4 Add to My Program
Target-Dependent UNITER: A Transformer-Based Multimodal Language Comprehension Model for Domestic Service Robots

Ishikawa, ShintaroKeio University
Sugiura, KomeiKeio University
 
16:49-16:55, Paper ThBT6.5 Add to My Program
Self-Critical Learning of Influencing Factors for Trajectory Prediction Using Gated Graph Convolutional Network

Bhujel, NirajNanyang Technological University
Yau, Wei-YunI2R
Wang, HanNanyang Technological University
Dwivedi, Vijay PrakashNanyang Technological University
 
16:55-17:01, Paper ThBT6.6 Add to My Program
Trajectory Generation in New Environments from past Experiences

Zhi, WeimingUniversity of Sydney
Lai, TinUniversity of Sydney
Ott, LionelETH Zurich
Ramos, FabioUniversity of Sydney, NVIDIA
 
17:01-17:07, Paper ThBT6.7 Add to My Program
DistillPose: Lightweight Camera Localization Using Auxiliary Learning

Abouelnaga, YehyaTechnical University of Munich
Bui, MaiTechnical University Munich
Ilic, SlobodanTechnische Universitat Munchen
 
ThBT7  Lecture Session, Room T7 Add to My Program 
Motion and Path Planning VIII  
 
Chair: Schöller, ChristophFortiss GmbH
Co-Chair: Letizia, Nunzio AlexandroUniversity of Klagenfurt
 
16:25-16:31, Paper ThBT7.1 Add to My Program
Capacitated Vehicle Routing with Target Geometric Constraints

Gao, KaiRutgers University
Yu, JingjinRutgers University
 
16:31-16:37, Paper ThBT7.2 Add to My Program
Sparsification for Fast Optimal Multi-Robot Path Planning in Lazy Compilation Schemes

Surynek, PavelCzech Technical University in Prague
 
16:37-16:43, Paper ThBT7.3 Add to My Program
A Novel Recursive Smooth Trajectory Generation Method for Unmanned Vehicles (I)

Letizia, Nunzio AlexandroUniversity of Klagenfurt
Salamat, BabakAlpen-Adria Universitat
Andrea M. Tonello, AndreaAlpen-Adria Universitat
 
16:43-16:49, Paper ThBT7.4 Add to My Program
Search-Based Planning with Learned Behaviors for Navigation among Pedestrians

Chatterjee, IshaniCarnegie Mellon University
Oza, YashCarnegie Mellon University
Likhachev, MaximCarnegie Mellon University
Veloso, ManuelaCarnegie Mellon University
 
16:49-16:55, Paper ThBT7.5 Add to My Program
A Fast Algorithm for Stochastic Orienteering with Chance Constraints

Thayer, Thomas C.University of California, Merced
Carpin, StefanoUniversity of California, Merced
 
16:55-17:01, Paper ThBT7.6 Add to My Program
Kohonen Self-Organizing Map Based Route Planning: A Revisit

Guan, QingshuXi'an Jiaotong University
Hong, XiaopengXi'an Jiaotong University
Ke, WeiXi'an Jiaotong University
Zhang, LiangfeiUniversity of St Andrews
Sun, GuanghuiHarbin Institute of Technology
Gong, YihongXian Jiaotong University
 
17:01-17:07, Paper ThBT7.7 Add to My Program
FloMo: Tractable Motion Prediction with Normalizing Flows

Schöller, ChristophFortiss GmbH
Knoll, AloisTech. Univ. Muenchen TUM
 
ThBT8  Lecture Session, Room T8 Add to My Program 
Parallel Robots  
 
Chair: Yi, Byung-JuHanyang University
Co-Chair: Chemori, AhmedLIRMM, University of Montpellier, CNRS
 
16:25-16:31, Paper ThBT8.1 Add to My Program
Static Workspace Optimization of Aerial Cable Towed Robots with Land-Fixed Winches (I)

Jamshidifar, HamedUniversity of Waterloo
Khajepour, AmirUniversity of Waterloo
 
16:31-16:37, Paper ThBT8.2 Add to My Program
A Reaction-Based Stabilizer for Nonmodel-Based Vibration Control of Cable-Driven Parallel Robots (I)

Jamshidifar, HamedUniversity of Waterloo
Rushton, MitchellUniversity of Waterloo
Khajepour, AmirUniversity of Waterloo
 
16:37-16:43, Paper ThBT8.3 Add to My Program
Wrench Feasibility and Workspace Expansion of Planar Cable-Driven Parallel Robots by a Novel Passive Counterbalancing Mechanism (I)

Jamshidifar, HamedUniversity of Waterloo
Khajepour, AmirUniversity of Waterloo
Habibnejad Korayem, AminUniversity of Waterloo
 
16:43-16:49, Paper ThBT8.4 Add to My Program
Development of a New 2-DOF Wrist Mechanism Using Reverse Motion Transmission

Jeong, HyunhwanKorea University
Shin, HyunseokKOREA UNIV
Yi, Byung-JuHanyang University
 
16:49-16:55, Paper ThBT8.5 Add to My Program
A Novel 2-SUR 6-DOF Parallel Manipulator Actuated by Spherical Motion Generators

Wang, KunChongqing University of Technology
Wu, XiaoyongChongqing University of Technology
Wang, YujinChongqing University of Technology
Li, BoChongqing University of Technology
Yuan, BoChongqing University of Technology
Bai, ShaopingAalborg University
 
16:55-17:01, Paper ThBT8.6 Add to My Program
A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments

Saied, HusseinUnivesity of Montpellier, LIRMM
Chemori, AhmedLIRMM, University of Montpellier, CNRS
El Rafei, MaherLebanese University, Faculty of Engineering, CRSI
Clovis Francis, ClovisLebanese University
 
17:01-17:07, Paper ThBT8.7 Add to My Program
Moving-Platform Pose Estimation for Cable-Driven Parallel Robots

Zake, ZaneIRT Jules Verne
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
Pedemonte, NicoloIRT Jules Verne
Caro, StéphaneCNRS/LS2N
 
ThBT9  Lecture Session, Room T9 Add to My Program 
Visual Tracking II  
 
Chair: Wen, BowenRutgers University
Co-Chair: Yu, RuiPennsylvania State University
 
16:25-16:31, Paper ThBT9.1 Add to My Program
Improving Object Permanence Using Agent Actions and Reasoning

Liang, Ying SiuAgency for Science, Technology and Research (A*STAR)
Zhang, ChenA*STAR
Choi, DongkyuAgency for Science, Technology and Research
Kwok, KennethInstitute of High Performance Computing
 
16:31-16:37, Paper ThBT9.2 Add to My Program
Multi-Variable State Prediction: HMM Based Approach for Real-Time Trajectory Prediction

., AnkitIntel, BITS Pilani
Narayanan, KarthikIntel Corporation
Ghosh, DibyenduIntel Corporation
Honkote, VinayakIntel Corporation
Nandakumar, GaneshramIntel Technology India Pvt Ltd
 
16:37-16:43, Paper ThBT9.3 Add to My Program
Towards Robust Human Trajectory Prediction in Raw Videos

Yu, RuiPennsylvania State University
Zhou, ZihanThe Pennsylvania State University
 
16:43-16:49, Paper ThBT9.4 Add to My Program
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

Wen, BowenRutgers University
Bekris, Kostas E.Rutgers, the State University of New Jersey
 
16:49-16:55, Paper ThBT9.5 Add to My Program
Model-Free Vehicle Tracking and State Estimation in Point Cloud Sequences

Pang, ZiqiPeking University, TuSimple
Li, ZhichaoTusimple.ai
Wang, NaiyanTuSimple
 
16:55-17:01, Paper ThBT9.6 Add to My Program
Score Refinement for Confidence-Based 3D Multi-Object Tracking

Benbarka, NuriUniversity of Tübingen
Schröder, JonaUniversity of Tübingen
Zell, AndreasUniversity of Tübingen
 
17:01-17:07, Paper ThBT9.7 Add to My Program
A High-Accuracy Fiducial Marker with Parallel Lenticular Angle Gauges

Tanaka, HideyukiNational Institute of AIST
Ogata, KunihiroNational Institute of Advanced Industrial Science and Technology
 
ThBT10  Lecture Session, Room T10 Add to My Program 
Collision Avoidance I  
 
Chair: Asayesh, SalarSimon Fraser University
Co-Chair: Reinhold, JanKiel University (CAU)
 
16:25-16:31, Paper ThBT10.1 Add to My Program
V-RVO: Decentralized Multi-Agent Collision Avoidance Using Voronoi Diagrams and Reciprocal Velocity Obstacles

Arul, Senthil HariharanUniversity of Maryland, College Park
Manocha, DineshUniversity of Maryland
 
16:31-16:37, Paper ThBT10.2 Add to My Program
Human-Inspired Multi-Agent Navigation Using Knowledge Distillation

Xu, PeiClemson University
Karamouzas, IoannisClemson University
 
16:37-16:43, Paper ThBT10.3 Add to My Program
Trajectory Splitting: A Distributed Formulation for Collision Avoiding Trajectory Optimization

Wang, ChanghaoUniversity of California, Berkeley
Bingham, JeffreyX
Tomizuka, MasayoshiUniversity of California
 
16:43-16:49, Paper ThBT10.4 Add to My Program
Potential Gap: A Gap-Informed Reactive Policy for Safe Hierarchical Navigation

Xu, RuoyangCarnegie Mellon University
Feng, ShiyuGeorgia Institute of Technology
Vela, PatricioGeorgia Institute of Technology
 
16:49-16:55, Paper ThBT10.5 Add to My Program
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance

Singletary, AndrewCalifornia Institute of Technology
Klingebiel, KarlAeroVironment
Bourne, Joseph R.University of Utah Robotics Center
Browning, N. AndrewBoston University
Tokumaru, PhillipAeroVironment, Inc
Ames, AaronCaltech
 
16:55-17:01, Paper ThBT10.6 Add to My Program
DRQN-Based 3D Obstacle Avoidance with a Limited Field of View

Chen, Yu'anUniversity of Science and Technology of China
Chen, GuangdaUniversity of Science and Technology of China
Pan, LifanUniversity of Science and Technology of China
Ma, JunUniversity of Science and Technology of China
Zhang, YuUniversity of Science and Technology of China
Zhang, YanyongUniversity of Science and Technology of China
Ji, JianminUniversity of Science and Technology of China
 
17:01-17:07, Paper ThBT10.7 Add to My Program
Crowd-Aware Robot Navigation for Pedestrians with Multiple Collision Avoidance Strategies Via Map-Based Deep Reinforcement Learning

Yao, ShunyiUniversity of Science and Technology of China
Chen, GuangdaUniversity of Science and Technology of China
Qiu, QuechengSchool of Data Science, USTC, Hefei 230026, China
Ma, JunUniversity of Science and Technology of China
Chen, XiaopingUniversity of Science and Technology of China
Ji, JianminUniversity of Science and Technology of China
 
ThBT11  Lecture Session, Room T11 Add to My Program 
Motion Control  
 
Chair: Nedelchev, SimeonInnopolis University
Co-Chair: Prado, RomoPontificia Universidad Católica De Chile
 
16:25-16:31, Paper ThBT11.1 Add to My Program
Exponential Stability of Trajectory Tracking Control in the Orientation Space Utilizing Unit Quaternions

Koutras, LeonidasAristotle University of Thessaloniki
Doulgeri, ZoeAristotle University of Thessaloniki
 
16:31-16:37, Paper ThBT11.2 Add to My Program
Control of Spherical Robots on Uneven Terrains

Sabet, SahandThe University of Arizona
Poursina, MohammadAssociate Professor/University of Agder
Nikravesh, ParvizUniversity of Arizona Tucson
 
16:37-16:43, Paper ThBT11.3 Add to My Program
Area Defense and Surveillance on Rectangular Regions Using Control Barrier Functions

Guerrero-Bonilla, LuisGeorgia Institute of Technology
Egerstedt, MagnusGeorgia Institute of Technology
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
16:43-16:49, Paper ThBT11.4 Add to My Program
Robust Feedback Motion Primitives for Exploration of Unknown Terrains

Chernik, CharlesKTH Royal Institute of Technology
Tajvar, PouriaKTH Royal Institute of Technology
Tumova, JanaKTH Royal Institute of Technology
 
16:49-16:55, Paper ThBT11.5 Add to My Program
On Energy-Preserving Motion in Twisted String Actuators

Nedelchev, SimeonInnopolis University
Skvortsova, ValeriaInnopolis University
Guryev, BorisInnopolis University
Gaponov, IgorInnopolis University
Ryu, Jee-HwanKorea Advanced Institute of Science and Technology
 
16:55-17:01, Paper ThBT11.6 Add to My Program
Learning-Based Balance Control of Wheel-Legged Robots

Cui, LeileiNew York University
Wang, ShuaiTencent
Zhang, JingfanUniversity of Manchester
Dongsheng, ZhangTencent Robotics X
Lai, JieTencent
Zheng, YuTencent
Zhang, ZhengyouTencent
Jiang, Zhong-PingNew York University
 
17:01-17:07, Paper ThBT11.7 Add to My Program
Source Seeking Control of Unicycle Robots with 3D-Printed Flexible Piezoresistive Sensors (I)

Li, TinghuaUniversity of Groningen
Jayawardhana, BayuUniversity of Groningen
Kamat, AmarUniversity of Groningen
Kottapalli, Ajay Giri PrakashUniversity of Groningen
 
ThBT12  Lecture Session, Room T12 Add to My Program 
Compliant Joints and Mechanisms  
 
Chair: Asada, HarryMIT
Co-Chair: Rouse, ElliottUniversity of Michigan / (Google) X
 
16:25-16:31, Paper ThBT12.1 Add to My Program
A Self-Biasing Shape Memory Alloy Gripper for Lightweight Applications

Thomas, SeanEcole Polytechnique Fédérale De Lausanne (EPFL)
Maquignaz, GabrielEcole Polytechnique Fédérale De Lausanne (EPFL)
Thabuis, AdrienEcole Polytechnique Fédérale De Lausanne (EPFL)
Perriard, YvesEcole Polytechnique Fédérale De Lausanne (EPFL)
 
16:31-16:37, Paper ThBT12.2 Add to My Program
A Compliant Five-Bar Legged Mechanism for Heavy-Load Legged Robots by Using Magneto-Rheological Actuators

Chen, GuangzengHarbin Institute of Technology, Shenzhen
Ran, JiangtaoHarbin Institute of Technology, Shenzhen
Bai, ChenguangHarbin Institute of Technology (Shenzhen)
Pengyu, JieHarbin Institude of Technology
Lou, YunjiangHarbin Institute of Technology, Shenzhen
 
16:37-16:43, Paper ThBT12.3 Add to My Program
Parallel Variable Stiffness Actuators

Mathews, ChaseVanderbilt University
Braun, DavidVanderbilt University
 
16:43-16:49, Paper ThBT12.4 Add to My Program
Novel Variable Stiffness Spring Mechanism: Modulating Stiffness Independent of the Energy Stored by the Spring

Kim, SungVanderbilt University
Braun, DavidVanderbilt University
 
16:49-16:55, Paper ThBT12.5 Add to My Program
Self-Sensing McKibben Artificial Muscles Embedded with Dielectric Elastomer Sensor

Kanno, RyoUniversity of Electro-Communications
Watanabe, ShuyaUniversity of Electro-Communications
Shimizu, KeitaUniversity of Electro-Communications
Shintake, JunUniversity of Electro-Communications
 
16:55-17:01, Paper ThBT12.6 Add to My Program
An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity

Subburaman, RajeshIstituto Italiano Di Tecnologia
D'Imperio, MariapaolaIstituto Italiano Di Tecnologia
Lee, JinohGerman Aerospace Center (DLR)
Cannella, FerdinandoIstituto Italiano Di Tecnologia
 
17:01-17:07, Paper ThBT12.7 Add to My Program
Design and Analysis of a Twisted Elastic-Rail Actuator Based on a Double-Stranded Helix Structure

Kim, Jae InSeoul National University
Choi, JaeyounSeoul National University
Kim, JunhyungSeoul National University
Park, Yong-LaeSeoul National University
 
ThBT13  Lecture Session, Room T13 Add to My Program 
Manipulation Planning I  
 
Chair: Costanzo, MarcoUniversità Degli Studi Della Campania Luigi Vanvitelli
Co-Chair: Chakraborty, NilanjanStony Brook University
 
16:25-16:31, Paper ThBT13.1 Add to My Program
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-Contact Dexterous Manipulation

Chen, ClaireStanford University
Culbertson, PrestonStanford University
Lepert, MarionStanford University
Schwager, MacStanford University
Bohg, JeannetteStanford University
 
16:31-16:37, Paper ThBT13.2 Add to My Program
Geometry-Based Two-Contact Inverse Kinematic Solution for Whole Arm Manipulation

Gliesche, PascalOFFIS - Institut Für Informatik
Kowalski, ChristianOFFIS - Institute for Information Technology
Pfingsthorn, MaxOFFIS Institute for Information Technology
Hein, AndreasUniversity of Oldenburg
 
16:37-16:43, Paper ThBT13.3 Add to My Program
Can Robots Refill a Supermarket Shelf?: Motion Planning and Grasp Control (I)

Costanzo, MarcoUniversità Degli Studi Della Campania Luigi Vanvitelli
De Maria, GiuseppeUniversità Degli Studi Della Campania Luigi Vanvitelli
Lettera, GaetanoUniversità Degli Studi Della Campania Luigi Vanvitelli
Natale, CiroUniversità Degli Studi Della Campania "Luigi Vanvitelli"
 
16:43-16:49, Paper ThBT13.4 Add to My Program
Efficient Task Planning for Mobile Manipulation: A Virtual Kinematic Chain Perspective

Jiao, ZiyuanUniversity of California, Los Angeles
Zhang, ZeyuUCLA
Wang, WeiqiUniversity of California, Los Angeles
Han, DavidOffice of Naval Research
Zhu, Song-ChunUCLA
Zhu, YixinUniversity of California, Los Angeles
Liu, HangxinUniversity of California, Los Angeles
 
16:49-16:55, Paper ThBT13.5 Add to My Program
Efficient Picking by Considering Simultaneous Two-Object Grasping

Sakamoto, TakumiOsaka University
Wan, WeiweiOsaka University
Nishi, TakaoNational Institute of Advanced Industrial Science and Technology
Harada, KensukeOsaka University
 
16:55-17:01, Paper ThBT13.6 Add to My Program
Search-Based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-Based Primitives

Saleem, Muhammad SuhailCarnegie Mellon University
Sood, RaghavCarnegie Mellon University
Onodera, ShoMitsubshi Heavy Industries Ltd
Arora, RohitMitsubishi Heavy Industries
Kanazawa, HiroyukiMitsubishi Heavy Industries Ltd
Likhachev, MaximCarnegie Mellon University
 
17:01-17:07, Paper ThBT13.7 Add to My Program
NMPC-MP: Real-Time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation

Hu, SiqiTechnical University of Munich
Babaians, EdwinTechnical University of Munich
Karimi, MojtabaTechnical University of Munich
Steinbach, EckehardTechnical University of Munich
 
ThBT14  Lecture Session, Room T14 Add to My Program 
Haptics and Haptic Interfaces  
 
Chair: Kappassov, ZhanatNazarbayev University
Co-Chair: Hejrati, BabakUniversity of Maine
 
16:25-16:31, Paper ThBT14.1 Add to My Program
Design and Validation of a Smartphone-Based Haptic Feedback System for Gait Training

Alizadeh Noghani, MohsenUniversity of Maine
Shahinpoor, MohsenUniversity of Maine
Hejrati, BabakUniversity of Maine
 
16:31-16:37, Paper ThBT14.2 Add to My Program
Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback

Liao, ZhenyuTohoku University
Salazar Luces, Jose VictorioTohoku University
Hirata, YasuhisaTohoku University
 
16:37-16:43, Paper ThBT14.3 Add to My Program
Variable Stiffness Folding Joints for Haptic Feedback

Zuliani, FabioEPFL
Paik, JamieEcole Polytechnique Federale De Lausanne
 
16:43-16:49, Paper ThBT14.4 Add to My Program
Can a Vibrotactile Stimulation on Fingertips Make an Illusion of Elbow Joint Movement?

Mukashev, DinmukhammedNazarbayev University
Adilkhanov, AdilzhanNazarbayev University
Kappassov, ZhanatNazarbayev University
 
16:49-16:55, Paper ThBT14.5 Add to My Program
Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace

Zhang, ChangqiSouthern University of Science and Technology
Wang, CongzheChongqing University of Posts and Telecommunications
Miao, QingSouthern University of Science and Technology
Zhang, MingmingSouthern University of Science and Technology
 
16:55-17:01, Paper ThBT14.6 Add to My Program
Stable Haptic Teleoperation of UAVs Via Small L2 Gain and Control Barrier Functions

Zhang, DaweiBoston University
Tron, RobertoBoston University
 
17:01-17:07, Paper ThBT14.7 Add to My Program
A Novel Testbed for Investigating the Impact of Teleoperator Dynamics on Perceived Environment Dynamics

Singhala, MohitJohns Hopkins University
Brown, Jeremy DeLaineJohns Hopkins University
 
ThBT15  Lecture Session, Room T15 Add to My Program 
Wheeled Robots  
 
Chair: Ishigami, GenyaKeio University
Co-Chair: Bjelonic, MarkoETH Zurich
 
16:25-16:31, Paper ThBT15.1 Add to My Program
Development of an Agile Omnidirectional Mobile Robot with Gravity Compensated Wheel-Leg Mechanisms for Human Environment

Yun, Seong-HoKoreatech
Park, JaehyunKorea Tech
Seo, JiwonKoreatech
Kim, Yong-JaeKorea University of Technology and Education
 
16:31-16:37, Paper ThBT15.2 Add to My Program
Continuous Robust Trajectory Tracking Control for Autonomous Ground Vehicles Considering Lateral and Longitudinal Kinematics and Dynamics Via Recursive Backstepping

Xin, MingInceptio Technology
Yin, YueTechnical University Berlin
Zhang, KaiInceptio Technology, Inc
Lackner, DavidInceptio Technology
Ren, ZhongchaoAutel
Minor, MarkUniversity of Utah
 
16:37-16:43, Paper ThBT15.3 Add to My Program
Sub-Optimal and Robust Path Tracking: A Geometric Approach

Tieber, KarinVirtual Vehicle Research Center
Rumetshofer, JohannesVirtual Vehicle Research GmbH, Graz University of Technology Ins
Stolz, MichaelVIRTUAL VEHICLE Research Center
Watzenig, DanielTU Graz
 
16:43-16:49, Paper ThBT15.4 Add to My Program
Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots

Bjelonic, MarkoETH Zurich
Grandia, RubenETH Zurich
Harley, OliverETH Zurich
Galliard, Cla MattiaETH Zürich
Zimmermann, SamuelETH Zurich
Hutter, MarcoETH Zurich
 
16:49-16:55, Paper ThBT15.5 Add to My Program
Design and Analysis of a Bi-Directional Transformable Wheel Robot Trimode

Xu, QiweiTencent
Xu, HaoShanghai Jiao Tong University
Xiong, KunTencent
Zhou, QinqinBeijing Institute of Technology
Guo, W.Z.Shanghai Jiao Tong University
 
16:55-17:01, Paper ThBT15.6 Add to My Program
Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots

Kawaharazuka, KentoThe University of Tokyo
Shinjo, KokiThe University of Tokyo
Kawamura, YoichiroThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
17:01-17:07, Paper ThBT15.7 Add to My Program
Traversability-Based Trajectory Planning with Quasi-Dynamic Vehicle Model in Loose Soil

Takemura, ReiyaKeio University
Ishigami, GenyaKeio University
 
ThBT16  Lecture Session, Room T16 Add to My Program 
Biologically-Inspired Robots II  
 
Chair: Norby, JosephCarnegie Mellon University
Co-Chair: Sareh, SinaRoyal College of Art
 
16:25-16:31, Paper ThBT16.1 Add to My Program
Marine Autonomous Navigation for Biomimetic Underwater Robots Based on Deep Stereo Attention Network

Yan, ShuaizhengInstitute of Automation, Chinese Academy of Sciences
Wu, ZhengxingChinese Academy of Sciences
Wang, JianInstitute of Automation, Chinese Academy of Sciences
Tan, MinInstitute of Automation, Chinese Academy of Sciences
Yu, JunzhiChinese Academy of Sciences
 
16:31-16:37, Paper ThBT16.2 Add to My Program
Bat Bot 2.0: Bio-Inspired Anisotropic Skin, Passive Wrist Joints, and Redesigned Flapping Mechanism

Hoff, JonathanUniversity of Illinois at Urbana-Champaign
Jeon, NicoleUniversity of Illinois at Urbana-Champaign
Li, PatrickUniversity of Illinois at Urbana-Champaign
Kim, JoohyungUniversity of Illinois at Urbana-Champaign
 
16:37-16:43, Paper ThBT16.3 Add to My Program
Evolving Infotaxis for Meandering Environments

Macedo, João PedroInstitute of Systems and Robotics, University of Coimbra
Marques, LinoUniversity of Coimbra
Costa, ErnestoUniversity of Coimbra
 
16:43-16:49, Paper ThBT16.4 Add to My Program
A Method to Use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots

Yu, ZhenhuaImperial College London
Sadati, SeyedmohammadhadiKing's College London
Wegiriya, HasithaKing's College London
Childs, Peter R. N.Imperial College London
Nanayakkara, ThrishanthaImperial College London
 
16:49-16:55, Paper ThBT16.5 Add to My Program
Robust Top-Down and Bottom-Up Visual Saliency for Mobile Robots Using Bio-Inspired Design Principles

Jaramillo Avila, UzielUniversity of Sheffield
Aitken, Jonathan MaxwellUniversity of Sheffield
Gurney, KevinUniveristy of Sheffield
Anderson, SeanUniversity of Sheffield
 
16:55-17:01, Paper ThBT16.6 Add to My Program
Design of Galloping Robots with Elastic Spine: Tracking Relations between Dynamic Model Parameters Based on Motion Analysis of a Real Cheetah

Borisova, OlgaITMO University
Borisov, IvanITMO University
Kolyubin, SergeyITMO University
Stramigioli, StefanoUniversity of Twente
 
17:01-17:07, Paper ThBT16.7 Add to My Program
Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Sadeghian, RasoulRoyal College of Art
Sareh, PooyaUniversity of Liverpool
Shahin, ShahroozRoyal College of Art
Sareh, SinaRoyal College of Art
 
ThBT17  Lecture Session, Room T17 Add to My Program 
Legged Robots III  
 
Chair: Oh, SehoonDGIST (Daegu Gyeongbuk Institute of Science and Technology)
Co-Chair: Sun, CaimingThe Chinese University of Hong Kong, Shenzhen
 
16:25-16:31, Paper ThBT17.1 Add to My Program
A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning

Tan, WenhaoShandong University
Fang, XingShandong University
Zhang, WeiShandong University
Song, RanShandong University
Chen, TengShandong University
Zheng, YuTencent
Li, YibinShandong University
 
16:31-16:37, Paper ThBT17.2 Add to My Program
Linear Policies Are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain

Rahme, MauriceNorthwestern University
Abraham, IanCarnegie Mellon University
Elwin, MatthewNorthwestern University
Murphey, ToddNorthwestern University
 
16:37-16:43, Paper ThBT17.3 Add to My Program
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Ubellacker, WyattCalifornia Institute of Technology
Csomay-Shanklin, NoelCalifornia Institute of Technology
Molnar, Tamas G.California Institute of Technology
Ames, AaronCalifornia Institute of Technology
 
16:43-16:49, Paper ThBT17.4 Add to My Program
Rapid Stability Margin Estimation for Contact-Rich Locomotion

Orsolino, RomeoArrival Ltd
Gangapurwala, SiddhantUniversity of Oxford
Melon, Oliwier AleksanderUniversity of Oxford
Geisert, MathieuUniversity of Oxford
Havoutis, IoannisUniversity of Oxford
Fallon, MauriceUniversity of Oxford
 
16:49-16:55, Paper ThBT17.5 Add to My Program
GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots

Mishra, BhavyanshInstitute of Human and Machine Cognition, University of West Flo
Calvert, DuncanIHMC, UWF
Bertrand, SylvainInstitute for Human and Machine Cognition
McCrory, StephenInstitute for Human and Machine Cognition
Griffin, Robert J.Institute for Human and Machine Cognition (IHMC)
Sevil, Hakki ErhanUniversity of West Florida
 
16:55-17:01, Paper ThBT17.6 Add to My Program
Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Kang, DonghoETH Zürich
Zimmermann, SimonETH Zurich
Coros, StelianETH Zurich
 
17:01-17:07, Paper ThBT17.7 Add to My Program
Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer

Yin, FulongBeihang University
Tang, AnnanThe University of Tokyo
Xu, LiangweiPeking University
Cao, YueColumbia University
Zheng, YuTencent
Zhang, ZhengyouTencent
Chen, XiangyuTENCENT
 
ThBT18  Lecture Session, Room T18 Add to My Program 
Micro/Nano Robots II  
 
Chair: Feng, LinBeihang University
Co-Chair: Pawar, Vijay ManoharUniversity College London
 
16:25-16:31, Paper ThBT18.1 Add to My Program
Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors

Zhang, MoqiuThe Chinese University of Hong Kong
Yang, LidongThe Chinese University of Hong Kong
Zhang, ChongThe Chinese University of Hong Kong
Yang, ZhengxinThe Chinese Univeristy of HongKong
Zhang, LiThe Chinese University of Hong Kong
 
16:31-16:37, Paper ThBT18.2 Add to My Program
Enhancing Swimming and Pumping Performance of Helical Swimmers at Low Reynolds Numbers

Quispe, Johan EdilbertoSorbonne University, CNRS Institut Des Systèmes Intelligents Et
Bolopion, AudeFemto-St Institute
Renaud, PierreICube AVR
Régnier, StéphaneSorbonne University
 
16:37-16:43, Paper ThBT18.3 Add to My Program
Modeling of Bilayer Hydrogel Springs for Microrobots with Adaptive Locomotion

Tan, LiyuanPurdue University
Cappelleri, DavidPurdue University
 
16:43-16:49, Paper ThBT18.4 Add to My Program
Low Voltage Control of Micro-Ionic Thrusters Using the Electrostatic Induced Potential of the Collector

Zhang, HengyuBeihang University
Leng, JiamingBeihang University
Liu, DiBeihang University
Liu, ZhiweiBeihang University
Huang, DaweiBeihang University
Qi, MingjingBeihang
Yan, XiaojunBeihang University, Beijing 100191, China
 
16:49-16:55, Paper ThBT18.5 Add to My Program
Open-Loop Magnetic Actuation of Helical Robots Using Position-Constrained Rotating Dipole Field

Avaneesh, RitwikUniversity of Twente
Venezian, RobertoUniversity of Twente UT
Kim, Chang-SeiChonnam National University
Park, Jong-ohChonnam National University
Misra, SarthakUniversity of Twente
Khalil, Islam S.M.University of Twente
 
16:55-17:01, Paper ThBT18.6 Add to My Program
Analysis of the Effect of Clearance in Spherical Joints on the Rotation Accuracy of Parallel Type Micro-Robotic Systems

Pumphrey, Michael JosephMemorial University of Newfoundland
Al-Tamimi, MahmoudMemorial University of Newfoundland
Abouzarkhanifard, AylarMemorial University of Newfoundland
Régnier, StéphaneSorbonne University
Al Janaideh, MohammadMemorial University &University of Toronto
Boudaoud, MokraneSorbonne Université
 
17:01-17:07, Paper ThBT18.7 Add to My Program
A Portable Remote Optoelectronic Tweezer System for Microobjects Manipulation

Cao, YuqingBeihang University
Liang, ShuzhangBeihang University
Chen, HanlongUniversity of Southern California
Gan, ChunyuanBeihang University
Song, LiBeihang University
Zhang, ChaonanBeihang University
Arai, FumihitoThe University of Tokyo
Feng, LinBeihang University
 
ThBT19  Lecture Session, Room T19 Add to My Program 
Data Sets in Robotics I  
 
Chair: Su, HangPolitecnico Di Milano
Co-Chair: Sadat, AbbasUber
 
16:25-16:31, Paper ThBT19.1 Add to My Program
Let's Play for Action: Recognizing Activities of Daily Living by Learning from Life Simulation Video Games

Roitberg, AlinaKarlsruhe Institute of Technology (KIT)
Schneider, DavidKarlsruhe Institute of Technology
Djamal, AuliaKarlsruhe Institute of Technology
Seibold, ConstantinKarlsruhe Institute of Technology
Reiß, SimonKarlsruhe Institute of Technology
Stiefelhagen, RainerKarlsruhe Institute of Technology
 
16:31-16:37, Paper ThBT19.2 Add to My Program
The Radar Ghost Dataset – an Evaluation of Ghost Objects in Automotive Radar Data

Kraus, FlorianMercedes-Benz AG
Scheiner, NicolasMercedes-Benz AG
Ritter, WernerDaimler AG
Dietmayer, KlausUniversity of Ulm
 
16:37-16:43, Paper ThBT19.3 Add to My Program
ChangeSim: Towards End-To-End Online Scene Change Detection in Industrial Indoor Environments

Park, Jin-ManKAIST
Jang, Jae-HyukKAIST
Yoo, SahngminKorea Advanced Institute of Science and Technology(KAIST)
Lee, Sun-KyungKAIST
Kim, Ue-HwanKorea Advanced Institute of Science and Technology (KAIST)
Kim, Jong-HwanKAIST
 
16:43-16:49, Paper ThBT19.4 Add to My Program
Indoor Future Person Localization from an Egocentric Wearable Camera

Qiu, JianingImperial College London
Lo, Po WenImperial College London
Gu, XiaoImperial College London
Sun, YingnanImperial College London
Jiang, ShuoTongji University
Lo, Benny Ping LaiImperial College London
 
16:49-16:55, Paper ThBT19.5 Add to My Program
Grounding Linguistic Commands to Navigable Regions

Rufus, NiveditaIIITH
Jain, KanishkIIIT Hyderabad
Krishnan R Nair, UnniIIITH
Gandhi, VineetIIIT Hyderabad
Krishna, MadhavaIIIT Hyderabad
 
16:55-17:01, Paper ThBT19.6 Add to My Program
TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset

Klenk, SimonTechnical University of Munich
Chui, JasonComputer Vision Group, Technical University of Munich, Germany
Demmel, NikolausTechnische Universität München
Cremers, DanielTechnical University of Munich
 
17:01-17:07, Paper ThBT19.7 Add to My Program
Diverse Complexity Measures for Dataset Curation in Self-Driving

Sadat, AbbasUber
Segal, SeanUniversity of Toronto
Casas Romero, SergioUniversity of Toronto
Tu, JamesUniversity of Toronto
Yang, BinUniversity of Toronto
Urtasun, RaquelUniversity of Toronto
Yumer, ErsinUber ATG
 
ThBT20  Lecture Session, Room T20 Add to My Program 
Marine Robotics III  
 
Chair: O'Kane, JasonUniversity of South Carolina
Co-Chair: Kanoulas, DimitriosUniversity College London
 
16:25-16:31, Paper ThBT20.1 Add to My Program
From Aerobatics to Hydrobatics: Agile Trajectory Planning and Tracking for Micro Underwater Robots

Duecker, Daniel AndreHamburg University of Technology
Horst, Christian-HendrikTechnische Universität Hamburg (TUHH)
Kreuzer, EdwinHamburg University of Technology
 
16:31-16:37, Paper ThBT20.2 Add to My Program
A Predictive Control Framework for Stabilizing a Manipulator-Assisted UAV Landing Platform on a Disturbed USV

Xu, RuoyuThe Chinese University of Hong Kong, Shenzhen
Ji, XiaoqiangShenzhen Institute of Artificial Intelligence and Robotics for S
Hou, JiafanThe Chinese University of Hong Kong, Shenzhen
Liu, HengliPeng Cheng Laboratory, Shenzhen
Qian, Huihuan (Alex)The Chinese University of Hong Kong, Shenzhen
 
16:37-16:43, Paper ThBT20.3 Add to My Program
Invariant Extended Kalman Filtering for Underwater Navigation

Potokar, EastonBrigham Young University
Norman, KalinBrigham Young University
Mangelson, JoshuaBrigham Young University
 
16:43-16:49, Paper ThBT20.4 Add to My Program
Long-Term Autonomy for AUVs Operating under Uncertainties in Dynamic Marine Environments

Redwan Newaz, Abullah AlNorth Carolina Agricultural and Technical State University
Alam, TauhidulLouisiana State University Shreveport
Murad Reis, GregoryFlorida International University
Bobadilla, LeonardoFlorida International University
Smith, Ryan N.Fort Lewis College
 
16:49-16:55, Paper ThBT20.5 Add to My Program
Embedded Stochastic Field Exploration with Micro Diving Agents Using Bayesian Optimization-Guided Tree-Search and GMRFs

Duecker, Daniel AndreHamburg University of Technology
Mersch, BenediktUniversity of Bonn
Hochdahl, René ChristopherHamburg University of Technology
Kreuzer, EdwinHamburg University of Technology
 
16:55-17:01, Paper ThBT20.6 Add to My Program
Stochastic Guidance of Buoyancy Controlled Vehicles under Ice Shelves Using Ocean Currents

Rossi, FedericoJet Propulsion Laboratory - California Institute of Technology
Branch, AndrewJet Propulsion Laboratory
Schodlok, MichaelJet Propulsion Laboratory - California Institute of Technology
Stanton, TimothyMoss Landing Marine Laboratories
Fenty, IanJet Propulsion Laboratory - California Institute of Technology
Vander Hook, JoshuaNASA Jet Propulsion Laboratory
Clark, EvanJet Propulsion Laboratory - California Institute of Technology
 
17:01-17:07, Paper ThBT20.7 Add to My Program
Thrust Direction Control of an Underactuated Oscillating Swimming Robot

Knizhnik, GedaliahUniversity of Pennsylvania
Yim, MarkUniversity of Pennsylvania
 
ThCT1  Lecture Session, Room T1 Add to My Program 
Multi-Robot SLAM  
 
Chair: Hu, JunyanThe University of Manchester
Co-Chair: Wang, Yu-PingTsinghua University
 
17:20-17:26, Paper ThCT1.1 Add to My Program
MR-iSAM2: Incremental Smoothing and Mapping with Multi-Root Bayes Tree for Multi-Robot SLAM

Zhang, YetongGeorgia Tech
Hsiao, MingCarnegie Mellon University
Dong, JingGeorgia Institute of Technology
Engel, JakobFacebook
Dellaert, FrankGeorgia Institute of Technology
 
17:26-17:32, Paper ThCT1.2 Add to My Program
A Collaborative Visual SLAM Framework for Service Robots

Ouyang, MingInstitute of Automation, Chinese Academy of Sciences
Shi, XuesongIntel
Wang, YujieIntel
Tian, YuXinBeihang Universuty
Shen, YingzheIntel Labs China
Wang, DaweiIntel Labs
Wang, PengIntel
Cao, ZhiqiangInstitute of Automation, Chinese Academy of Sciences
 
17:32-17:38, Paper ThCT1.3 Add to My Program
Distributed Certifiably Correct Pose-Graph Optimization (I)

Tian, YulunMassachusetts Institute of Technology
Khosoussi, KasraMassachusetts Institute of Technology
Rosen, DavidMassachusetts Institute of Technology
How, JonathanMassachusetts Institute of Technology
 
17:38-17:44, Paper ThCT1.4 Add to My Program
ORBBuf: A Robust Buffering Method for Remote Visual SLAM

Wang, Yu-PingTsinghua University
Zou, Zi-XinTsinghua University
Wang, CongTsinghua University
Dong, Yue-JiangTsinghua University
Qiao, LeiBeijing Institute of Control Engineering
Manocha, DineshUniversity of Maryland
 
17:44-17:50, Paper ThCT1.5 Add to My Program
Distributed Visual-Inertial Cooperative Localization

Zhu, PengxiangUniversity of California at Riverside
Geneva, PatrickUniversity of Delaware
Ren, WeiUniversity of California, Riverside
Huang, Guoquan (Paul)University of Delaware
 
17:50-17:56, Paper ThCT1.6 Add to My Program
Coxgraph: Multi-Robot Collaborative, Globally Consistent, Online Dense Reconstruction System

Liu, XiangyuNanyang Technological University Singapore
Ye, WeicaiZhejiang University
Tian, ChaoranZhejiang University
Cui, ZhaopengZhejiang University
Bao, HujunZhejiang University
Zhang, GuofengZhejiang University
 
17:56-18:02, Paper ThCT1.7 Add to My Program
Super Odometry: IMU-Centric LiDAR-Visual-Inertial Estimator for Challenging Environments

Zhao, ShiboCarnegie Mellon University
Zhang, HengruiCarnegie Mellon University
Wang, PengNortheastern University
Nogueira, LucasCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
ThCT2  Lecture Session, Room T2 Add to My Program 
Space Robotics and Automation  
 
Chair: Albee, KeenanMassachusetts Institute of Technology
Co-Chair: Demmel, NikolausTechnische Universität München
 
17:20-17:26, Paper ThCT2.1 Add to My Program
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions

Wudenka, Martin WolfgangGerman Aerospace Center (DLR)
Müller, Marcus GerhardGerman Aerospace Center
Demmel, NikolausTechnische Universität München
Wedler, ArminDLR - German Aerospace Center
Triebel, RudolphGerman Aerospace Center (DLR)
Cremers, DanielTechnical University of Munich
Stuerzl, WolfgangDLR, Institute of Robotics and Mechatronics
 
17:26-17:32, Paper ThCT2.2 Add to My Program
Stereo Perception in the Dark Using Uncalibrated Line Laser

Vijayarangan, SrinivasanCarnegie Mellon University
Wettergreen, DavidCarnegie Mellon University
 
17:32-17:38, Paper ThCT2.3 Add to My Program
Enhancing Lunar Reconnaissance Orbiter Images Via Multi-Frame Super Resolution for Future Robotic Space Missions

Delgado-Centeno, José IgnacioUniversite Du Luxembourg
Sanchez-Cuevas, Pedro JUniversity of Seville
Martinez, CarolUniversitÉ Du Luxembourg
Olivares-Mendez, Miguel A.Interdisciplinary Centre for Security, Reliability and Trust - U
 
17:38-17:44, Paper ThCT2.4 Add to My Program
Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps

Giubilato, RiccardoGerman Aerospace Center (DLR)
Vayugundla, MallikarjunaDLR (German Aerospace Center)
Stuerzl, WolfgangDLR, Institute of Robotics and Mechatronics
Schuster, Martin J.German Aerospace Center (DLR)
Wedler, ArminDLR - German Aerospace Center
Triebel, RudolphGerman Aerospace Center (DLR)
 
17:44-17:50, Paper ThCT2.5 Add to My Program
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers

Ekal, MonicaInstituto Superior Tecnico
Albee, KeenanMassachusetts Institute of Technology
Coltin, BrianCarnegie Mellon University
Ventura, RodrigoInstituto Superior Técnico
Linares, RichardUniversity of Minnesota
Miller, David W.MIT
 
17:50-17:56, Paper ThCT2.6 Add to My Program
Surface Sliding Behavior Analysis of Space Probes in Simulated Extraterrestrial Environments

Sutoh, MasatakuJapan Aerospace Exploration Agency
Sakakieda, YutaShinshu University
Otsuki, MasatsuguJapan Aerospace Exploration Agency
Kobayashi, TaizoRitsumeikan Univeristy
 
17:56-18:02, Paper ThCT2.7 Add to My Program
A Compliant Partitioned Shared Control Strategy for an Orbital Robot

Mishra, HrishikGerman Aerospace Center (DLR)
Balachandran, RibinDLR
De Stefano, MarcoGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
18:02-18:08, Paper ThCT2.8 Add to My Program
Compliant Floating-Base Control of Space Robots

Giordano, Alessandro MassimoDLR (German Aerospace Center)
Calzolari, DavideGerman Aerospace Center, Technical University of Munich
De Stefano, MarcoGerman Aerospace Center (DLR)
Mishra, HrishikGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
 
ThCT3  Lecture Session, Room T3 Add to My Program 
Shared Autonomy for Physical Human-Robot Interaction II  
 
Chair: Padir, TaskinNortheastern University
Co-Chair: Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
 
17:20-17:26, Paper ThCT3.1 Add to My Program
Robotics for Occupational Therapy: Learning Upper-Limb Exercises from Demonstrations

Hu, SiyaoUniversity of Pennsylvania
Mendonca, RochelleColumbia University
Johnson, Michelle J.University of Pennsylvania
Kuchenbecker, Katherine J.Max Planck Institute for Intelligent Systems
 
17:26-17:32, Paper ThCT3.2 Add to My Program
Intelligent Locomotion Planning with Enhanced Postural Stability for Lower-Limb Exoskeletons

K. Mehr, JavadUniversity of Alberta
Sharifi, MojtabaUniversity of Alberta
Mushahwar, Vivian K.University of Alberta
Tavakoli, MahdiUniversity of Alberta