2022 IEEE/RSJ International Conference on Intelligent Robots and Systems October 23-27, 2022. Kyoto, Japan
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Last updated on October 19, 2022. This conference program is tentative and subject to change

Technical Program for Monday October 24, 2022

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MoPL Main Hall
Plenary 1: The Robotics Part of Micro and Nano Robots, -- Brad Nelson,
Robotics and Intelligent Systems (IRIS), ETH Zürich, Switzerland
Plenary session
Chair: Ma, ShugenRitsumeikan University
MoA-1 Rm1 (Room A)
Award Session I Regular session
Chair: Yoshida, EiichiTokyo University of Science
Co-Chair: Pettersen, Kristin Y.Norwegian University of Science and Technology
10:00-10:15, Paper MoA-1.1 
 SpeedFolding: Learning Efficient Bimanual Folding of Garments
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)
(Finalist for IROS Best RoboCup Paper Award Sponsored by RoboCup Federation)

Avigal, YahavUC Berkeley
Berscheid, LarsKarlsruhe Institute of Technology
Asfour, TamimKarlsruhe Institute of Technology (KIT)
Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
Goldberg, KenUC Berkeley
10:15-10:30, Paper MoA-1.2 
 FAR Planner: Fast, Attemptable Route Planner Using Dynamic Visibility Update
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Yang, FanCarnegie Mellon University
Cao, ChaoCarnegie Mellon University
Zhu, HongbiaoHarbin Institute of Technology
Oh, JeanCarnegie Mellon University
Zhang, JiCarnegie Mellon University
10:30-10:45, Paper MoA-1.3 
 Learning-Based Localizability Estimation for Robust LiDAR Localization
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Nubert, JulianETH Zürich
Walther, EtienneETH Zürich
Khattak, ShehryarETH Zurich
Hutter, MarcoETH Zurich
10:45-11:00, Paper MoA-1.4 
 Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Escontrela, AlejandroUC Berkeley
Peng, Xue BinUniversity of California, Berkeley
Yu, WenhaoGoogle
Zhang, TingnanGoogle
Iscen, AtilGoogle
Goldberg, KenUC Berkeley
Abbeel, PieterUC Berkeley
11:00-11:15, Paper MoA-1.5 
 RCareWorld: A Human-Centric Simulation World for Caregiving Robots
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)
(Finalist for IROS Best RoboCup Paper Award Sponsored by RoboCup Federation)

Ye, RuolinCornell University
Xu, WenqiangShanghai Jiaotong University
Fu, HaoyuanShanghai Jiao Tong University
Jenamani, Rajat KumarCornell University
Nguyen, VyCornell University
Lu, CewuShangHai Jiao Tong University
Dimitropoulou, KatherineColumbia University
Bhattacharjee, TapomayukhCornell University
11:15-11:30, Paper MoA-1.6 
 Design and Modeling of a Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Li, WeiImperial College London
Zhang, DandanImperial College London
Yang, Guang-ZhongShanghai Jiao Tong University
Lo, Benny Ping LaiImperial College London
MoA-2 Rm2 (Room B-1)
Learning 1 Regular session
Chair: Stachniss, CyrillUniversity of Bonn
Co-Chair: Hughes, JosieEPFL
10:00-10:10, Paper MoA-2.1 
 CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks

Mees, OierAlbert-Ludwigs-Universität
Hermann, LukasUniversity of Freiburg
Rosete-Beas, ErickUniversity of Freiburg
Burgard, WolframUniversity Fo Freiburg
10:10-10:20, Paper MoA-2.2 
 Bio-Inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation

Junge, KaiÉcole Polytechnique Fédérale De Lausanne
Qiu, KevinÉcole Polytechnique Fédérale De Lausanne
Hughes, JosieEPFL
10:20-10:30, Paper MoA-2.3 
 RECALL: Rehearsal-Free Continual Learning for Object Classification

Knauer, MarkusGerman Aerospace Center (DLR)
Denninger, MaximilianGerman Aerospace Center (DLR)
Triebel, RudolphGerman Aerospace Center (DLR)
10:30-10:40, Paper MoA-2.4 
 PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis

Kanitkar, Shubham SatishCarnegie Mellon University
Jiang, HelenCarnegie Mellon University
Yuan, WenzhenCarnegie Mellon University
10:40-10:50, Paper MoA-2.5 
 LaneSNNs: Spiking Neural Networks for Lane Detection on the Loihi Neuromorphic Processor

Viale, AlbertoTU Wien
Marchisio, AlbertoTU Wien
Martina, MaurizioPolitecnico Di Torino
Masera, GuidoPolitecnico Di Torino
Shafique, MuhammadNew York University Abu Dhabi
10:50-11:00, Paper MoA-2.6 
 Striving for Less: Minimally-Supervised Pseudo-Label Generation for Monocular Road Segmentation

Robinet, FrançoisUniversity of Luxembourg
Akl, YussefUniversity of Luxembourg
Ullah, KaleemSaarland University
Nozarian, FarzadDFKI
Christian, MüllerDFKI
Frank, RaphaelUniversity of Luxembourg
11:00-11:10, Paper MoA-2.7 
 Learning Sequential Descriptors for Sequence-Based Visual Place Recognition

Mereu, RiccardoPolitecnico Di Torino
Trivigno, GabrielePolytechnic of Turin
Berton, GabrielePolitecnico Di Torino
Masone, CarloPolitecnico Di Torino
Caputo, BarbaraSapienza University
11:10-11:20, Paper MoA-2.8 
 DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments

Wiesmann, LouisUniversity of Bonn
Guadagnino, TizianoSapienza University of Rome
Vizzo, IgnacioUniversity of Bonn
Grisetti, GiorgioSapienza University of Rome
Behley, JensUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
11:20-11:30, Paper MoA-2.9 
 Deep Koopman Operator with Control for Nonlinear Systems

Haojie, ShiChinese University of Hong Kong
Meng, Max Q.-H.The Chinese University of Hong Kong
MoA-3 Rm3 (Room B-2)
Service Robotics Regular session
Chair: Wada, KazuyoshiTokyo Metropolitan University
Co-Chair: Song, SichaoCyberAgent Inc
10:00-10:10, Paper MoA-3.1 
 An Autonomous Descending-Stair Cleaning Robot with RGB-D Based Detection, Approaching, and Area Coverage Process

Prabakaran, VeerajagadheswarSingapore University of Technology and Design
Le, Anh VuOptoelectronics Research Group Faculty of Electricals and Electr
Kyaw, Phone ThihaYangon Technological University
Mohan, Rajesh ElaraSingapore University of Technology and Design
Aung Paing, AungYangon Technological University
10:10-10:20, Paper MoA-3.2 
 Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations

Stuede, MarvinLeibniz University Hannover
Schappler, MoritzInstitute of Mechatronic Systems, Leibniz Universitaet Hannover
10:20-10:30, Paper MoA-3.3 
 Service Robots in a Bakery Shop: A Field Study

Song, SichaoCyberAgent Inc
Baba, JunCyberAgent, Inc
Nakanishi, JunyaOsaka Univ
Yoshikawa, YuichiroOsaka University
Ishiguro, HiroshiOsaka University
10:30-10:40, Paper MoA-3.4 
 Shared Autonomy for Safety between a Self-Reconfigurable Robot and a Teleoperator Using Multi-Layer Fuzzy Logic

Garcia Azcarate, Raul FernandoSUTD
Sanchez Cruz, DanielaSUTD
Hayat, Abdullah AamirSingapore University of Technology and Design
Lim, YiSingapore University of Technology and Design
Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
Qinrui, TangSUTD
Palanisamy, PovendhanSingapore University of Technology and Design
Leong, Kristor Leong Jie KaiSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
10:40-10:50, Paper MoA-3.5 
 Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics

Paez-Granados, DiegoETH Zurich
He, YujieEPFL
Gonon, David JulianÉcole Polytechnique Fédérale De Lausanne
Jia, DanRWTH Aachen
Leibe, BastianRWTH Aachen University
Suzuki, KenjiUniversity of Tsukuba
Billard, AudeEPFL
10:50-11:00, Paper MoA-3.6 
 Design of a Reconfigurable Robot with Size-Adaptive Path Planner

Samarakoon Mudiyanselage, Bhagya Prasangi SamarakoonSingapore University of Technology and Design
Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
Kalimuthu, ManivannanSingapore University of Technology and Design
Chandrasekaran, Sathis KumarSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
11:00-11:10, Paper MoA-3.7 
 Testing Service Robots in the Field: An Experience Report

Ortega, ArgentinaHochschule Bonn-Rhein-Sieg
Hochgeschwender, NicoBonn-Rhein-Sieg University
Berger, ThorstenChalmers | University of Gothenburg
11:10-11:20, Paper MoA-3.8 
 Approximate Task Tree Retrieval in a Knowledge Network for Robotic Cooking

Sakib, Md SadmanUniversity of South Florida
Paulius Ramos, DavidBrown University
Sun, YuUniversity of South Florida
11:20-11:30, Paper MoA-3.9 
 Robotic Depowdering for Additive Manufacturing Via Pose Tracking

Liu, ZhenweiCarnegie Mellon University
Geng, JunyiCarnegie Mellon University
Dai, XikaiCarnegie Mellon University
Swierzewski, TomaszCarnegie Mellon
Shimada, KenjiCarnegie Mellon University
MoA-4 Rm4 (Room C-1)
Manipulation Systems 1 Regular session
Chair: Tanaka, KazutoshiOMRON SINIC X Corporation
Co-Chair: Keipour, AzarakhshAmazon
10:00-10:10, Paper MoA-4.1 
 A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories

Aceituno, BernardoMassachusetts Institute of Technology (MIT)
Rodriguez, AlbertoMassachusetts Institute of Technology
10:10-10:20, Paper MoA-4.2 
 Constraint-Based Task Specification and Trajectory Optimization for Sequential Manipulation

Phoon, Mun SengTechnical University of Munich
Schmitt, Philipp SebastianSiemens Corporate Technology
v. Wichert, GeorgSiemens AG
10:20-10:30, Paper MoA-4.3 
 Quasistatic Contact-Rich Manipulation Via Linear Complementarity Quadratic Programming

Katayama, SotaroKyoto University
Taniai, TatsunoriOMRON SINIC X Corporation
Tanaka, KazutoshiOMRON SINIC X Corporation
10:30-10:40, Paper MoA-4.4 
 Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation

Keipour, AzarakhshAmazon
Bandari, MaryamX
Schaal, StefanGoogle X
10:40-10:50, Paper MoA-4.5 
 Learning and Generalizing Cooperative Manipulation Skills Using Parametric Dynamic Movement Primitives (I)

Kim, HyoinSeoul National University
Oh, ChangsukSeoul National University
Jang, InkyuSeoul National University
Park, SungyongSeoul National University
Seo, HoseongSeoul National University
Kim, H. JinSeoul National University
10:50-11:00, Paper MoA-4.6 
 A Solution to Slosh-Free Robot Trajectory Optimization

Cabral Muchacho, Rafael IgnacioMunich Institute of Robotics & Machine Intelligence, Technische
Laha, RiddhimanTechnical University of Munich
Figueredo, Luis Felipe CruzTechnical University of Munich (TUM)
Haddadin, SamiTechnical University of Munich
11:00-11:10, Paper MoA-4.7 
 Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry

von Drigalski, Felix Wolf Hans ErichMujin Inc
Kasaura, KazumiOmron Sinic X
Beltran-Hernandez, Cristian CamiloOsaka University
Hamaya, MasashiOMRON SINIC X Corporation
Tanaka, KazutoshiOMRON SINIC X Corporation
Matsubara, TakamitsuNara Institute of Science and Technology
11:10-11:20, Paper MoA-4.8 
 Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback (I)

Lloyd, JohnUniversity of Bristol
Lepora, NathanUniversity of Bristol
11:20-11:30, Paper MoA-4.9 
 Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research

Hoque, RyanUniversity of California, Berkeley
Shivakumar, KaushikUniversity of California Berkeley
Aeron, ShreyUniversity of California, Berkeley
Deza, GabrielUniversity of California Berkeley
Ganapathi, AdityaUniversity of California, Berkeley
Wong, AdrianCornell University, Sandia National Labs
Lee, JohnnyGoogle
Zeng, AndyGoogle
Vanhoucke, VincentGoogle Research
Goldberg, KenUC Berkeley
MoA-5 Rm5 (Room C-2)
Computer Vision for Transportation Regular session
Chair: Burgard, WolframUniversity Fo Freiburg
Co-Chair: Triebel, RudolphGerman Aerospace Center (DLR)
10:00-10:10, Paper MoA-5.1 
 Multi-Sensor Data Annotation Using Sequence-Based Active Learning

Denzler, PatrickDB Netz AG
Ziegler, MarkusDB Netz AG
Jacobs, ArneDB Netz AG
Eiselein, VolkerDB Netz AG
Neumaier, PhilippDB Netz AG
Koeppel, MartinDB Netz AG
10:10-10:20, Paper MoA-5.2 
 3D Single-Object Tracking with Spatial-Temporal Data Association

Zhang, YongchangInstitute of Automation, Chinese Academy of Sciences, Beijing, C
Niu, HanbingUniversity of Electronic Science and Technology of China
Guo, YueChinese Academy of Sciences
He, WenhaoUniversity of Chinese Academy of Sciences
10:20-10:30, Paper MoA-5.3 
 Instance-Aware Multi-Object Self-Supervision for Monocular Depth Prediction

Boulahbal, Houssem EddineUniversity Cote d'Azur, Renault Software Labs
Voicila, AdrianRenault Software Labs
Comport, Andrew IanCNRS-I3S/UNS
10:30-10:40, Paper MoA-5.4 
 TransDARC: Transformer-Based Driver Activity Recognition with Latent Space Feature Calibration

Peng, KunyuKarlsruhe Institute of Technology
Roitberg, AlinaKarlsruhe Institute of Technology (KIT)
Yang, KailunKarlsruhe Institute of Technology
Zhang, JiamingKarlsruhe Institute of Technology
Stiefelhagen, RainerKarlsruhe Institute of Technology
10:40-10:50, Paper MoA-5.5 
 Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras

Zhao, YangUniversity of Electronic Science and Technology of China
Li, JieUniversity of Electronic Science and Technology of China
Huang, RuiUniversity of Electronic Science and Technology of China
Li, BoqiUniversity of Michigan, Ann Arbor
Luo, AoMegvii Technology
Li, YaochenXi'an Jiaotong University
Cheng, HongUniversity of Electronic Science and Technology
10:50-11:00, Paper MoA-5.6 
 Towards Safety-Aware Pedestrian Detection in Autonomous Systems

Lyssenko, MariaRobert Bosch GmbH, University of Munich
Gladisch, Christoph DavidRobert Bosch GmbH
Heinzemann, ChristianRobert Bosch GmbH
Woehrle, MatthiasRobert Bosch GmbH
Triebel, RudolphGerman Aerospace Center (DLR)
11:00-11:10, Paper MoA-5.7 
 Self-Supervised Moving Vehicle Detection from Audio-Visual Cues

Zürn, JannikUniversity of Freiburg
Burgard, WolframUniversity Fo Freiburg
11:10-11:20, Paper MoA-5.8 
 Multi-Source Domain Alignment for Robust Segmentation in Unknown Targets

Shyam, PranjayKorea Advanced Institute of Science and Technology
Yoon, Kuk-JinKAIST
Kim, Kyung-SooKAIST(Korea Advanced Institute of Science and Technology)
11:20-11:30, Paper MoA-5.9 
 Depth360: Self-Supervised Learning for Monocular Depth Estimation Using Learnable Camera Distortion Model

Hirose, NoriakiTOYOTA Central R&D Labs., INC
Tahara, KosukeToyota Central R&D Labs., Inc
MoA-6 Rm6 (Room D)
Aerial Systems 1 Regular session
Chair: Katzschmann, Robert KevinETH Zurich
Co-Chair: Suzuki, SatoshiChiba University
10:00-10:10, Paper MoA-6.1 
 Real-Time Hybrid Mapping of Populated Indoor Scenes Using a Low-Cost Monocular UAV

Golodetz, StuartUniversity of Oxford
Vankadari, MadhuUniversity of Oxford
Everitt, AlunaUniversity of Oxford
Shin, SangyunUniversity of Oxford
Markham, AndrewOxford University
Trigoni, NikiUniversity of Oxford
10:10-10:20, Paper MoA-6.2 
 GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D

Ercolani, ChiaraEPFL
Tang, LixuanEPFL
Martinoli, AlcherioEPFL
10:20-10:30, Paper MoA-6.3 
 An Aerial Parallel Manipulator with Shared Compliance

Stephens, BrettImperial College London
Orr, LachlanImperial College London
Kocer, Basaran BahadirImperial College London
Nguyen, Hai-NguyenImperial College London
Kovac, MirkoImperial College London
10:30-10:40, Paper MoA-6.4 
 RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots

Appius, Aurel XaverETH Zürich
Bauer, ErikETH Zürich
Blöchlinger, MarcETHZ
Kalra, AashiETHZ
Oberson, RobinETHZ
Raayatsanati, ArmanETH Zurich
Strauch, PascalETH Zurich
S Menon, SarathPSG College of Technology
von Salis, MarcoETH Zurich
Katzschmann, Robert KevinETH Zurich
10:40-10:50, Paper MoA-6.5 
 Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV

Brandao, Alexandre SantosFederal University of Viçosa
Smrcka, DanielCzech Technical University in Prague
Pairet Artau, ÈricTechnology Innovation Institute
Nascimento, TiagoUniversidade Federal Da Paraiba
Saska, MartinCzech Technical University in Prague
10:50-11:00, Paper MoA-6.6 
 On-Board Physical Battery Replacement System and Procedure for Drones During Flight

Guetta, YoadBen Gurion University of the Negev
Shapiro, AmirBen Gurion University of the Negev
11:00-11:10, Paper MoA-6.7 
 Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer

Asignacion, Abner JrChiba University
Suzuki, SatoshiChiba University
Noda, RyusukeKyoto University
Nakata, ToshiyukiChiba University
Liu, HaoChiba University
11:10-11:20, Paper MoA-6.8 
 Vision-Based Relative Detection and Tracking for Teams of Micro Aerial Vehicles

Ge, RundongNew York University
Lee, MoonyoungCarnegie Mellon University
Radhakrishnan, VivekTechnology Innovation Institute, New York University
Zhou, YangNew York University
Li, GuanruiNew York University
Loianno, GiuseppeNew York University
11:20-11:30, Paper MoA-6.9 
 Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and Their Collective-Search Behavior

Zeng, ChenUniversity at Buffalo
Krisshna Kumar, PrajitUniversity at Buffalo
Witter, JhoelUniversity at Buffalo
Chowdhury, SoumaUniversity at Buffalo, State University of New York
MoA-7 Rm7 (Room E)
Medical Robots and Systems 1 Regular session
Chair: Schlenk, ChristopherGerman Aerospace Center (DLR)
Co-Chair: Chen, Cheng-WeiNational Taiwan University
10:00-10:10, Paper MoA-7.1 
 Automatic Laser Steering for Middle Ear Surgery

So, Jae-HunInstitut Des Systèmes Intelligents Et De Robotique
Szewczyk, JérômeUniversité Pierre Et Marie Curie-Paris 6
Tamadazte, BrahimCNRS
10:10-10:20, Paper MoA-7.2 
 Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery

Korzeniowski, PrzemyslawSano Centre for Computational Medicine
Plotka, SzymonSano Centre for Computational Medicine
Brawura-Biskupski-Samaha, RobertII Department of Obstetrics and Gynaecology, the Medical Centre
Sitek, ArkadiuszSano Centre for Computational Medicine
10:20-10:30, Paper MoA-7.3 
 A Pneumatic MR-Conditional Guidewire Delivery Mechanism with Decoupled Rotary Linear Actuation for Endovascular Intervention

Huang, ShaopingShanghai Jiao Tong University
Lou, ChuqianImperial College London
Xuan, LianShanghai Jiao Tong University
Gao, HongyanShanghai Jiao Tong University
Gao, AnzhuShanghai Jiao Tong University
Yang, Guang-ZhongShanghai Jiao Tong University
10:30-10:40, Paper MoA-7.4 
 Design and Evaluation of the Infant Cardiac Robotic Surgical System (iCROSS)

Chen, Po-ChihNational Taiwan University
Hsieh, Pei-AnNational Taiwan University
Huang, Jing-YuanNational Taiwan University
Huang, Shu-ChienNational Taiwan University Hospital
Chen, Cheng-WeiNational Taiwan University
10:40-10:50, Paper MoA-7.5 
 A Robotic System for Solo Surgery in Flexible Ureterorenoscopy

Schlenk, ChristopherGerman Aerospace Center (DLR)
Klodmann, JulianGerman Aerospace Center
Hagmann, KatharinaGerman Aerospace Center
Kolb, AlexanderDLR
Hellings-Kuß, AnjaDLR
Steidle, FlorianGerman Aerospace Center
Schoeb, Dominik StefanUniversity of Freiburg
Jürgens, ThorstenOlympus Winter & Ibe GmbH
Miernik, ArkadiuszUniversity of Freiburg
Albu-Schäffer, AlinDLR - German Aerospace Center
10:50-11:00, Paper MoA-7.6 
 Light in the Larynx: A Miniaturized Robotic Optical Fiber for In-Office Laser Surgery of the Vocal Folds

Chiluisa, AlexWorcester Polytechnic Institute
Pacheco, NicholasWorcester Polytechnic Institute
Do, HoangWorcester Polytechnic Institute
Tougas, RyanWorcester Polytechnic Institute
Minch, EmilyWorcester Polytechnic Institute
Mihaleva, RositsaWorcester Polytechnic Institute
Shen, YaoWorcester Polytechnic Institute
Liu, YuxiangWorcester Polytechnic Institute
Carroll, ThomasHarvard Medical School
Fichera, LorisWorcester Polytechnic Institute
11:00-11:10, Paper MoA-7.7 
 A 5-DOFs Robot for Posterior Segment Eye Microsurgery

Wang, NingXi'an Jiaotong University
Zhang, XiaodongXi’an Jiaotong University
Li, MingyangXi'an Jiaotong University
Zhang, HongbingThe First Affiliated Hospital of Northwestern University
Stoyanov, DanailUniversity College London
Stilli, AgostinoUniversity College London
MoA-8 Rm8 (Room F)
Mechanism Design 1 Regular session
Chair: Mizuuchi, IkuoTokyo University of Agriculture and Technology
Co-Chair: Park, Hae-WonKorea Advanced Institute of Science and Technology
10:00-10:10, Paper MoA-8.1 
 DRPD, Compact Dual Reduction Ratio Planetary Drive for Actuators of Articulated Robots

Song, Tae-GyuKorea Advanced Institute of Science and Technology, KAIST
Shin, Young-HaKAIST
Hong, SeungwooKorea Advanced Institute of Science and Technology
Choi, Hyungho ChrisKorea Advanced Institute of Science and Technology
Kim, Joon-HaKorea Advanced Institute of Science and Technology(KAIST)
Park, Hae-WonKorea Advanced Institute of Science and Technology
10:10-10:20, Paper MoA-8.2 
 Single-Rod Brachiation Robot

Akahane, HijiriTokyo University of Agriculture and Technology
Mizuuchi, IkuoTokyo University of Agriculture and Technology
10:20-10:30, Paper MoA-8.3 
 A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots

Klas, CorneliusKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
10:30-10:40, Paper MoA-8.4 
 Wirelessly Magnetically Actuated Robotic Implant for Tissue Regeneration

Duffield, CameronThe University of Sheffield
Smith, Abigail FlorenceUniversity of Sheffield
Rus, DanielaMIT
Damian, DanaUniversity of Sheffield
Miyashita, ShuheiUniversity of Sheffield
10:40-10:50, Paper MoA-8.5 
 Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism

Pogue, ChloeUniversity of Toronto
Rao, PriyankaUniversity of Toronto
Peyron, QuentinInria Lille-Nord Europe and CRIStAL UMR CNRS 9189, University Of
Kim, JongwooKyung Hee University
Burgner-Kahrs, JessicaUniversity of Toronto
Diller, Eric D.University of Toronto
10:50-11:00, Paper MoA-8.6 
 Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots

Watanabe, MasahiroTohoku University
Kemmotsu, YutoTohoku University
Tadakuma, KenjiroTohoku University
Abe, KazukiTohoku University
Konyo, MasashiTohoku University
Tadokoro, SatoshiTohoku University
11:00-11:10, Paper MoA-8.7 
 A Modified Rocker-Bogie Mechanism with Fewer Actuators and High Mobility

Lim, KyeongtaeHanyang University Mechanical Engineering, RoDEL
Ryu, SijunHanyang University
Won, Jee HoHanyang University
Seo, TaeWonHanyang University
11:10-11:20, Paper MoA-8.8 
 Planar Multi-Closed-Loop Hyper-Redundant Manipulator Using Extendable Tape Springs: Design, Modeling, and Experiments

Ding, TonghuanShanghai University
Li, BoShanghai Aerospace System Engineering Institute
Liu, HuShanghai University
Peng, YanShanghai University
Yang, YiShanghai University
11:20-11:30, Paper MoA-8.9 
 Autonomous State-Based Flipper Control for Articulated Tracked Robots in Urban Environments

Azayev, TeymurCzech Technical University in Prague
Zimmermann, KarelCzech Technical University Prague
MoA-9 Rm9 (Room G)
Object Detection, Segmentation and Categorization 1 Regular session
Chair: Li, BingClemson University
Co-Chair: Sawada, YoshihideAISIN Corporation
10:00-10:10, Paper MoA-9.1 
 Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments

Puck, LennartFZI Forschungszentrum Informatik
Schik, MaximilianFZI Forschungszentrum Informatik
Schnell, TristanFZI Forschungszentrum Informatik
Buettner, TimotheeFZI Research Center for Information Technology
Roennau, ArneFZI Forschungszentrum Informatik, Karlsruhe
Dillmann, RüdigerFZI - Forschungszentrum Informatik - Karlsruhe
10:10-10:20, Paper MoA-9.2 
 FocusTR: Focusing on Valuable Feature by Multiple Transformers for Fusing Feature Pyramid on Object Detection

Xie, BangquanSouth China University of Technology
Liang, YangCity University of New York, City College
Yang, ZongmingClemson University
Wei, AilinClemson Univeristy
Weng, XiaoxiongSouth China University of Technology
Li, BingClemson University
10:20-10:30, Paper MoA-9.3 
 DeepShapeKit: Accurate 4D Shape Reconstruction of Swimming Fish

Wu, RuihengUniversity of Konstanz
Deussen, OliverUniversity of Konstanz
Li, LiangMax-Planck Institute of Animal Behavior
10:30-10:40, Paper MoA-9.4 
 E2Pose: Fully Convolutional Networks for End-To-End Multi-Person Pose Estimation

Tobeta, MasakazuAISIN Corporation
Sawada, YoshihideAISIN Corporation
Zheng, ZeAISIN Corporation
Takamuku, SawaAISIN Corporation
Natori, NaotakeAISIN Corporation
10:40-10:50, Paper MoA-9.5 
 Fast Detection of Moving Traffic Participants in LiDAR Point Clouds by Using Particles Augmented with Free Space Information

Reich, AndreasUniversität Der Bundeswehr München
Wuensche, Hans Joachim JoeUniversität Der Bundeswehr München
10:50-11:00, Paper MoA-9.6 
 RPG: Learning Recursive Point Cloud Generation

Ko, Wei JanNational Chiao Tung University
Chiu, Chen-YiNational Yang Ming Chiao Tung University
Kuo, Yu-LiangNational Yang Ming Chiao Tung University
Chiu, Wei-ChenNational Chiao Tung University
11:00-11:10, Paper MoA-9.7 
 Fully Convolutional Transformer with Local–Global Attention

Lee, SihaengLG AI Research
Yi, EojindlKAIST
Lee, JanghyeonLG AI Research
Yoo, JinsuHanyang University
Lee, HonglakUniversity of Michigan
Kim, Seung HwanLG AI Research
11:10-11:20, Paper MoA-9.8 
 DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars

Drews, FlorianRobert Bosch GmbH
Feng, DiRobert Bosch GmbH
Faion, FlorianRobert Bosch GmbH
Rosenbaum, LarsRobert Bosch GmbH
Ulrich, MichaelRobert Bosch GmbH
Glaeser, ClaudiusRobert Bosch GmbH
11:20-11:30, Paper MoA-9.9 
 CVFNet: Real-Time 3D Object Detection by Learning Cross View Features

Gu, JiaqiZhejiang University
Xiang, ZhiyuZhejiang University
Zhao, PanZhejiang University
Bai, TingmingZhejiang University
Wang, LingxuanZhejiang University
Zhao, XijunChina North Vehicle Research Institute, China North Artificial I
Zhang, ZhiyuanZhejiang University
MoA-10 Rm10 (Room H)
Haptics Regular session
Chair: Hasegawa, YasuhisaNagoya University
Co-Chair: Yamane, KatsuPath Robotics Inc
10:00-10:10, Paper MoA-10.1 
 Reduced Interface Models for Haptic Interfacing with Virtual Environments

Kerr, LiamMcGill University
Kovecses, JozsefMcGill University
10:10-10:20, Paper MoA-10.2 
 A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures

Gerald, ArincheyanBoston University
Batliwala, RukaiyaBoston University
Ye, JonathanBoston University
Hsu, PatraBoston University
Aihara, HiroyukiBrigham and Women's Hospital
Russo, SheilaBoston University
10:20-10:30, Paper MoA-10.3 
 A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation

Nunez, Cara M.Stanford University
Do, BrianStanford University
Low, Andrew K.Stanford University
Blumenschein, LauraPurdue University
Yamane, KatsuPath Robotics Inc
Okamura, Allison M.Stanford University
10:30-10:40, Paper MoA-10.4 
 EMG-Based Feedback Modulation for Increased Transparency in Teleoperation

Schoot Uiterkamp, LucUniversity of Twente
Porcini, FrancescoPERCRO Laboratory, TeCIP Institute, Sant’Anna School of Advanced
Englebienne, GwennUniversity of Twente
Frisoli, AntonioScuola Superiore Sant'Anna
Dresscher, DouweUniversity of Twente
10:40-10:50, Paper MoA-10.5 
 Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation

Zhu, YaonanNagoya University
Colan, JacintoNagoya University
Aoyama, TadayoshiNagoya University
Hasegawa, YasuhisaNagoya University
10:50-11:00, Paper MoA-10.6 
 Sensorimotor Control Sharing with Vibrotactile Feedback for Body Integration through Avatar Robot

Tanaka, YoshihiroNagoya Institute of Technology
Katagiri, TakumiNagoya Institute of Technology
Yukawa, HikariNagoya Institute of Technology
Nishimura, TakumiNagoya Institute of Technology
Tanada, RyoheiNagoya Institute of Technology
Ogura, ItsukiNagoya Institute of Technology
Hagiwara, TakayoshiKeio University
Minamizawa, KoutaKeio University
11:00-11:10, Paper MoA-10.7 
 Perception of Mechanical Properties Via Wrist Haptics: Effects of Feedback Congruence

Sarac, MineKadir Has University
Di Luca, MassimilianoUniversity of Birmingham
Okamura, Allison M.Stanford University
11:10-11:20, Paper MoA-10.8 
 Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality

Palmer, JasminStanford University
Sarac, MineKadir Has University
Garza, AaronStanford University
Okamura, Allison M.Stanford University
11:20-11:30, Paper MoA-10.9 
 Feeling the Pressure: The Influence of Vibrotactile Patterns on Feedback Perception

Smith, AlexBristol Robotics Laboratory
Ward-Cherrier, BenjaminUniversity of Bristol
Etoundi, Appolinaire C.University of the West of England
Pearson, MartinBristol Robotics Laboratory
MoA-11 Rm11 (Room I)
Human Factors and Human-In-The-Loop Regular session
Chair: Rossi, SilviaUniversita' Di Napoli Federico II
Co-Chair: Oyama, EimeiAIST
10:00-10:10, Paper MoA-11.1 
 SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-In-The-Loop

Madan, RishabhCornell University
Jenamani, Rajat KumarCornell University
Nguyen, VyCornell University
Moustafa, AhmedCornell University
Hu, XuefengCornell University
Dimitropoulou, KatherineColumbia University
Bhattacharjee, TapomayukhCornell University
10:10-10:20, Paper MoA-11.2 
 To Ask for Help or Not to Ask: A Predictive Approach to Human-In-The-Loop Motion Planning for Robot Manipulation Tasks

Papallas, RafaelUniversity of Leeds
Dogar, Mehmet RUniversity of Leeds
10:20-10:30, Paper MoA-11.3 
 You Are in My Way: Non-Verbal Social Cues for Legible Robot Navigation Behaviors

Angelopoulos, GeorgiosInterdepartmental Center for Advances in Robotic Surgery - ICARO
Rossi, AlessandraUniversity of Naples Federico II
Di Napoli, ClaudiaICAR - National Research Council
Rossi, SilviaUniversita' Di Napoli Federico II
10:30-10:40, Paper MoA-11.4 
 Robot Trajectory Adaptation to Optimise the Trade-Off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks

Lagomarsino, MartaIstituto Italiano Di Tecnologia
Lorenzini, MartaIstituto Italiano Di Tecnologia
De Momi, ElenaPolitecnico Di Milano
Ajoudani, ArashIstituto Italiano Di Tecnologia
10:40-10:50, Paper MoA-11.5 
 EMG-Based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging

Li, TengUniversity of Alberta
Xing, HongjunNanjing University of Aeronautics and Astronautics
Taghirad, Hamid D.K.N.Toosi University of Technology
Tavakoli, MahdiUniversity of Alberta
10:50-11:00, Paper MoA-11.6 
 Modeling Human Response to Robot Errors for Timely Error Detection

Stiber, MaiaJohns Hopkins University
Taylor, Russell H.The Johns Hopkins University
Huang, Chien-MingJohns Hopkins University
11:00-11:10, Paper MoA-11.7 
 Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition

Oyama, EimeiAIST
Ioka, YuyaMeiji University
Agah, ArvinUniversity of Kansas
Okada, HiroyukiTamagawa University
Shimada, SotaroMeiji Univeristy
11:10-11:20, Paper MoA-11.8 
 Interactive Reinforcement Learning with Bayesian Fusion of Multimodal Advice

Trick, SusanneTechnische Universität Darmstadt
Herbert, FranziskaTU Darmstadt
Rothkopf, ConstantinFrankfurt Institute for Advanced Studies
Koert, DorotheaTechnische Universitaet Darmstadt
11:20-11:30, Paper MoA-11.9 
 A Camera-Based Deep-Learning Solution for Visual Attention Zone Recognition in Maritime Navigational Operations

Wu, BaihengNTNU
Han, PeihuaNorwegian University of Science and Technology
Kanazawa, MotoyasuNTNU
Hildre, Hans PetterAalesund University College
Zhao, LumanNorwegian University of Science and Technology
Zhang, HouxiangNorwegian University of Science and Technology
Li, GuoyuanNorwegian University of Science and Technology
MoA-12 Rm12 (Room J)
Visual Learning Regular session
Chair: Lee, Chun-YiNational Tsing Hua University
Co-Chair: Zhang, JianweiUniversity of Hamburg
10:00-10:10, Paper MoA-12.1 
 Spatiotemporally Enhanced Photometric Loss for Self-Supervised Monocular Depth Estimation

Zhang, TianyuChinese Academy of Sciences
Zhu, DongchenShanghai Institute of Microsystem and Information Technology, Chi
Zhang, GuanghuiShanghai Institute of Microsystem and Information Technology, Ch
Shi, WenjunShanghai Institute of Microsystem and Information Technology
Liu, YanqingShanghai Institute of Microsystem and Information Technology, Ch
Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chi
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
10:10-10:20, Paper MoA-12.2 
 J-RR: Joint Monocular Depth Estimation and Semantic Edge Detection Exploiting Reciprocal Relations

Wu, DemingShanghaitech
Zhu, DongchenShanghai Institute of Microsystem and Information Technology, Chi
Zhang, GuanghuiShanghai Institute of Microsystem and Information Technology, Ch
Shi, WenjunShanghai Institute of Microsystem and Information Technology
Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chi
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
10:20-10:30, Paper MoA-12.3 
 Towards Two-View 6D Object Pose Estimation: A Comparative Study on Fusion Strategy

Wu, JunZhejiang University
Liu, LiluZhejiang University
Wang, YueZhejiang University
Xiong, RongZhejiang University
10:30-10:40, Paper MoA-12.4 
 Maximizing Self-Supervision from Thermal Image for Effective Self-Supervised Learning of Depth and Ego-Motion

Shin, UkcheolKAIST(Korea Advanced Institute of Science and Technology)
Lee, KyunghyunKAIST
Lee, Byeong-UkKAIST
Kweon, In SoKAIST
10:40-10:50, Paper MoA-12.5 
 Domain Invariant Siamese Attention Mask for Small Object Change Detection Via Everyday Indoor Robot Navigation

Takeda, KojiTokyo Metropolitan Industrial Technology Research Institute
Tanaka, KanjiUniversity of Fukui
Nakamura, YoshimasaTokyo Metropolitan Industrial Technology Research Institute
10:50-11:00, Paper MoA-12.6 
 Investigation of Factorized Optical Flows As Mid-Level Representations

Yang, Hsuan-KungNational Tsing Hua University
Hsiao, Tsu-ChingNational Tsing Hua University
Liao, Ting-HsuanNational Tsing Hua University
Liu, Hsu-ShenNational Tsing Hua University
Tsao, Li-YuanNational Tsing Hua University
Wang, Tzu-WenNational Tsing Hua University
Yang, Shan-YaNational Tsing Hua University
Chen, Yu-WenNational Tsing Hua University
Liao, HuangRuNational Tsing Hua University
Lee, Chun-YiNational Tsing Hua University
11:00-11:10, Paper MoA-12.7 
 Augment-Connect-Explore: A Paradigm for Visual Action Planning with Data Scarcity

Lippi, MartinaUniversity of Roma Tre
Welle, Michael C.KTH Royal Institute of Technology
Poklukar, PetraKTH Royal Institute of Technology
Marino, AlessandroUniversity of Cassino and Southern Lazio
Kragic, DanicaKTH
11:10-11:20, Paper MoA-12.8 
 Learning 6-DoF Task-Oriented Grasp Detection Via Implicit Estimation and Visual Affordance

Chen, WenkaiUniversity of Hamburg
Liang, HongzhuoUniversity of Hamburg
Chen, ZhaopengUniversity of Hamburg
Sun, FuchunTsinghua University
Zhang, JianweiUniversity of Hamburg
11:20-11:30, Paper MoA-12.9 
 NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering

Lewis, StanleyUniversity of Michigan
Pavlasek, JanaUniversity of Michigan
Jenkins, Odest ChadwickeUniversity of Michigan
MoA-13 Rm13 (Room K)
Mapping 1 Regular session
Chair: Tan, U-XuanSingapore University of Techonlogy and Design
Co-Chair: Rajvanshi, AbhinavSRI International
10:00-10:10, Paper MoA-13.1 
 Multi-Agent Relative Pose Estimation with UWB and Constrained Communications

Fishberg, AndrewMIT
How, JonathanMassachusetts Institute of Technology
10:10-10:20, Paper MoA-13.2 
 Ranging-Aided Ground Robot Navigation Using UWB Nodes at Unknown Locations

Rajvanshi, AbhinavSRI International
Chiu, Han-PangSRI International
Krasner, AlexSRI International
Sizintsev, MikhailSRI International
Murray, GlennSRI International
Samarasekera, SupunSRI Sarnoff
10:20-10:30, Paper MoA-13.3 
 Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry

Chongjian, YuanThe University of Hong Kong
Xu, WeiUniversity of Hong Kong
Liu, XiyuanThe University of Hong Kong
Hong, XiaopingSouthern University of Science and Technology
Zhang, FuUniversity of Hong Kong
10:30-10:40, Paper MoA-13.4 
 360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM

Liu, HongjiThe Hong Kong University of Science and Technology
Huang, HuajianThe Hong Kong University of Science and Technology
Yeung, Sai-KitHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
10:40-10:50, Paper MoA-13.5 
 Online Distance Field Priors for Gaussian Process Implicit Surfaces

Ivan, Jean-Paul AndréÖrebro University
Stoyanov, TodorÖrebro University
Stork, Johannes A.Orebro University
10:50-11:00, Paper MoA-13.6 
 An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions

Yuan, YijunUniversity of Wuerzburg
Nuechter, AndreasUniversity of Würzburg
11:00-11:10, Paper MoA-13.7 
 PlaneSDF-Based Change Detection for Long-Term Dense Mapping

Fu, JiahuiMassachusetts Institute of Technology
Lin, ChengyuanMeta
Taguchi, YuichiMeta
Cohen, AndreaMeta Inc
Zhang, YifuMeta
Mylabathula, StephenMeta (Facebook)
Leonard, JohnMIT
11:10-11:20, Paper MoA-13.8 
 Efficient 2D LIDAR Based Map Updating for Long Term Operations in Dynamic Environments

Stefanini, ElisaCentro Di Ricerca E. Piaggio - Università Di Pisa
Ciancolini, EnricoUniversità Di Pisa
Settimi, AlessandroProxima Robotics S.r.l
Pallottino, LuciaUniversità Di Pisa
11:20-11:30, Paper MoA-13.9 
 Monocular UAV Localisation with Deep Learning and Uncertainty Propagation

Oh, XueyanSingapore University of Technology and Design
Lim, Ryan Jon HuiSingapore University of Technology & Design
Loh, LeonardSingapore University of Technology and Design
Tan, Chee HowSingapore University of Technology & Design
Foong, ShaohuiSingapore University of Technology and Design
Tan, U-XuanSingapore University of Techonlogy and Design
MoA-14 Rm14 (Room 501)
Human-Centered Robotics 1 Regular session
Chair: Cruz, FranciscoUNSW Sydney
Co-Chair: Itadera, ShunkiNational Institute of Advanced Industrial Science and Technology
10:00-10:10, Paper MoA-14.1 
 Task Decoupling in Preference-Based Reinforcement Learning for Personalized Human-Robot Interaction

Liu, MingjiangNanjing University
Chen, ChunlinNanjing University
10:10-10:20, Paper MoA-14.2 
 Holo-SpoK: Affordance-Aware Augmented Reality Control of Legged Manipulators

Chacon Quesada, RodrigoImperial College London
Demiris, YiannisImperial College London
10:20-10:30, Paper MoA-14.3 
 Keeping Humans in the Loop: Teaching Via Feedback in Continuous Action Space Environments

Sheidlower, IsaacTufts University
Moore, AllisonTufts University
Short, Elaine SchaertlTufts University
10:30-10:40, Paper MoA-14.4 
 An Adaptive, Affordable, Humanlike Arm Hand System for Deaf and Deaf Blind Communication with the American Sign Language

Chang, Che-MingUniversity of Auckland
Sanches, Felipe PadulaUniversity of Auckland
Gao, GengUniversity of Auckland
Johnson, SamanthaNortheastern University
Liarokapis, MinasThe University of Auckland
10:40-10:50, Paper MoA-14.5 
 Examining Distance in UAV Gesture Perception

Jelonek, KarissaUniversity of Nebraska-Lincoln
Fletcher, PaulUniversity of Nebraska
Duncan, BrittanyUniversity of Nebraska, Lincoln
Detweiler, CarrickUniversity of Nebraska-Lincoln
10:50-11:00, Paper MoA-14.6 
 GA-STT: Human Trajectory Prediction with Group Aware Spatial-Temporal Transformer

Zhou, LeiInstitute of Robotics and Automatic Information System, Nankai U
Yang, DingyeNankai University
Zhai, XiaolinNankai University
Wu, ShichaoNankai University
Hu, ZhengxiNankai University
Liu, JingtaiNankai University
11:00-11:10, Paper MoA-14.7 
 Evaluating Human-Like Explanations for Robot Actions in Reinforcement Learning Scenarios

Cruz, FranciscoUNSW Sydney
Young, CharlotteFederation University
Dazeley, RichardDeakin University
Vamplew, PeterFederation University
11:10-11:20, Paper MoA-14.8 
 A Modular and Portable Black Box Recorder for Increased Transparency of Autonomous Service Robots

Schmidt, MaxSimulation, Systems Optimization and Robotics Group, Technical U
Kirchhoff, JérômeTechnische Universität Darmstadt
von Stryk, OskarTechnische Universität Darmstadt
MoA-15 Rm15 (Room 509)
Localization 1 Regular session
Chair: Behley, JensUniversity of Bonn
Co-Chair: Pages, GaëlISAE-SUPAERO
10:00-10:10, Paper MoA-15.1 
 LiDAR-Aided Visual-Inertial Localization with Semantic Maps

Li, HaoTusimple
Pan, LiangliangTusimple
Zhao, JiTuSimple
10:10-10:20, Paper MoA-15.2 
 Robust Onboard Localization in Changing Environments Exploiting Text Spotting

Zimmerman, NickyUniversity of Bonn
Wiesmann, LouisUniversity of Bonn
Guadagnino, TizianoSapienza University of Rome
Läbe, ThomasUniversity of Bonn
Behley, JensUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
10:20-10:30, Paper MoA-15.3 
 Fast Scan Context Matching for Omnidirectional 3D Scan

Kihara, HikaruKumamoto University
Kumon, MakotoKumamoto University
Nakatsuma, KeiKumamoto University
Furukawa, TomonariUniversity of Virginia
10:30-10:40, Paper MoA-15.4 
 Probabilistic Object Maps for Long-Term Robot Localization

Adkins, AmandaUniversity of Texas at Austin
Chen, TaijingUniversity of Texas at Austin
Biswas, JoydeepUniversity of Texas at Austin
10:40-10:50, Paper MoA-15.5 
 Level Set-Based Camera Pose Estimation from Multiple 2D/3D Ellipse-Ellipsoid Correspondences

Zins, MatthieuInria
Simon, GillesLoria
Berger, Marie-OdileINRIA
10:50-11:00, Paper MoA-15.6 
 Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements

Cano, JustinPolytechnique Montréal
Chaumette, EricUniversity of Toulouse/Isae-Supaero
Le Ny, JeromePolytechnique Montreal
11:00-11:10, Paper MoA-15.7 
 Improving Worst Case Visual Localization Coverage Via Place-Specific Sub-Selection in Multi-Camera Systems

Hausler, StephenQueensland University of Technology
Xu, MingQueensland University of Technology
Garg, SouravQueensland University of Technology
Chakravarty, PunarjayFord Motor Company
Shrivastava, ShubhamFord Greenfield Labs
Vora, AnkitFord AV LLC
Milford, Michael JQueensland University of Technology
11:10-11:20, Paper MoA-15.8 
 Hybrid Interval-Probabilistic Localization in Building Maps

Ehambram, AaronkumarInstitute of Systems Engineering, Leibniz Universität Hannover
Jaulin, LucENSTA-Bretagne
Wagner, BernardoLeibniz Universität Hannover
11:20-11:30, Paper MoA-15.9 
 Online Target Localization Using Adaptive Belief Propagation in the HMM Framework

Seo, Min-WonUniversity of California, Irvine
Kia, SolmazUinversity of California Irvine
MoA-16 Rm16 (Room 510)
Representation Learning Regular session
Chair: Taniguchi, TadahiroRitsumeikan University
Co-Chair: Haddadin, SamiTechnical University of Munich
10:00-10:10, Paper MoA-16.1 
 Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

Bucker, Arthur Fender CoelhoUniversidade De São Paulo
Figueredo, Luis Felipe CruzTechnical University of Munich (TUM)
Haddadin, SamiTechnical University of Munich
Kapoor, AshishMicroSoft
Ma, ShuangMicrosoft
Bonatti, RogerioMicrosoft
10:10-10:20, Paper MoA-16.2 
 DreamingV2: Reinforcement Learning with Discrete World Models without Reconstruction

Okada, MasashiPanasonic Corporation
Taniguchi, TadahiroRitsumeikan University
10:20-10:30, Paper MoA-16.3 
 Playful Interactions for Representation Learning

Young, SarahUC Berkeley
Pari, JyothishNew York University
Abbeel, PieterUC Berkeley
Pinto, LerrelNew York University
10:30-10:40, Paper MoA-16.4 
 COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems

Ma, ShuangMicrosoft
Vemprala, SaiMicrosoft Corporation
Wang, WenshanCarnegie Mellon University
Gupta, JayeshStanford University
Song, YaleMeta AI
McDuff, DanielMicrosoft
Kapoor, AshishMicroSoft
10:40-10:50, Paper MoA-16.5 
 Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions

Daruna, AngelGeorgia Institute of Technology, Atlanta, GA 30332
Das, DevleenaGeorgia Institute of Technology
Chernova, SoniaGeorgia Institute of Technology
10:50-11:00, Paper MoA-16.6 
 Neural Scene Representation for Locomotion on Structured Terrain

Hoeller, DavidETH Zurich, NVIDIA
Rudin, NikitaETH Zurich, NVIDIA
Choy, ChristopherNVIDIA
Anandkumar, AnimaCaltech
Hutter, MarcoETH Zurich
11:00-11:10, Paper MoA-16.7 
 MO-Transformer: A Transformer-Based Multi-Object Point Cloud Reconstruction Network

Lyu, ErliHarbin Institute of Technology Shenzhen
Zhang, ZhengyanHarbin Institute of Technology, Shenzhen
Liu, WeiSouthern University of Science and Technology
Wang, JiaoleHarbin Institute of Technology, Shenzhen
Song, ShuangHarbin Institute of Technology (Shenzhen)
Meng, Max Q.-H.The Chinese University of Hong Kong
11:10-11:20, Paper MoA-16.8 
 Self-Supervised Feature Learning from Partial Point Clouds Via Pose Disentanglement

Tsai, Meng-ShiunNational Yang Ming Chiao Tung University
Chiang, Pei-ZeNational Yang Ming Chiao Tung University
Tsai, Yi-HsuanNEC Labs America
Chiu, Wei-ChenNational Chiao Tung University
11:20-11:30, Paper MoA-16.9 
 Efficiently Learning Manipulations by Selecting Structured Skill Representations

Sharma, MohitCarnegie Mellon University
Kroemer, OliverCarnegie Mellon University
MoA-17 Rm17 (Room 553)
Automation and Robotics at Micro-Nano Scales Regular session
Chair: Kojima, MasaruOsaka University
Co-Chair: Sugiura, HirotakaThe University of Tokyo
10:00-10:10, Paper MoA-17.1 
 Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools

Jia, YongyiTsinghua University
Chen, YuTsinghua University
Liu, HaoTsinghua University
Li, XiuTsinghua University
Li, XiangTsinghua University
10:10-10:20, Paper MoA-17.2 
 A Micro-Robotic Approach for the Correction of Angular Deviations in AFM Samples from Generic Topographic Data

Romero Leiro, FreddySorbonne Université - Institut Des Systèmes Intélligents Et Robo
Bazaei, AliUniversity of Newcastle, Australia
Régnier, StéphaneSorbonne University
Boudaoud, MokraneSorbonne Université
10:20-10:30, Paper MoA-17.3 
 Modeling and Characterization of Artificial Bacteria Flagella with Micro-Structured Soft-Magnetic Teeth

Yu, ZejieCity University of Hong Kong
Hou, ChaojianCity University of Hong Kong
Wang, ShuidengCity University of Hongkong
Wang, KunCity University of Hong Kong
Chen, DongleiCity University of HongKong
Zhang, WenqiCity University of HongKong
Qu, ZhiCity University of Hong Kong
Sun, ZhiyongThe University of Hong Kong
Song, BoHefei Institutes of Physical Science, Chinese Academy of Science
Zhou, ChaoInstitute of Plasma Physics, Hefei Institute of Physical Science
Dong, LixinCity University of Hong Kong
10:30-10:40, Paper MoA-17.4 
 Deep Learning-Based 3D Magnetic Microrobot Tracking Using 2D MR Images

Tiryaki, Mehmet EfeMax Plank Institute for Intelligent Systems
Demir, Sinan OzgunMax Planck Institute for Intelligent Systems
Sitti, MetinMax-Planck Institute for Intelligent Systems
10:40-10:50, Paper MoA-17.5 
 A PZT-Driven 6-DOF High-Speed Micromanipulator for Circular Vibration Simulation and Whirling Flow Generation

Luo, WeikunBeijing Institute of Technology
Liu, XiaomingBeijing Institute of Technology
Tang, XiaoqingBeijing Institute of Technology
Liu, DanBeijing Institute of Technology
Kojima, MasaruOsaka University
Huang, QiangBeijing Institute of Technology
Arai, TatsuoUniversity of Electro-Communications
10:50-11:00, Paper MoA-17.6 
 Real-Time Acoustic Holography with Physics-Based Deep Learning for Acoustic Robotic Manipulation

Zhong, ChengxiShanghaiTech University
Sun, ZhenhuanShanghaitech University
Lyu, KunyongShanghaitech University
Guo, YaoShanghai Jiao Tong University
Liu, SongShanghaiTech University
11:00-11:10, Paper MoA-17.7 
 On-Chip Fabrication of Micro-Chain Robot with Selective Magnetization Using Magnetically Guided Arraying Microfluidic Devices

Tang, XiaoqingBeijing Institute of Technology
Liu, XiaomingBeijing Institute of Technology
Li, YuyangBeijing Institute of Technology
Liu, DanBeijing Institute of Technology
Li, YukeBeijing Institute of Technology
Kojima, MasaruOsaka University
Huang, QiangBeijing Institute of Technology
Arai, TatsuoUniversity of Electro-Communications
11:10-11:20, Paper MoA-17.8 
 On-Chip Automatic Trapping and Rotating for Zebrafish Embryo Injection

Chen, ZhuoBeijing Institute of Technology
Liu, XiaomingBeijing Institute of Technology
Tang, XiaoqingBeijing Institute of Technology
Li, YuyangBeijing Institute of Technology
Liu, DanBeijing Institute of Technology
Li, YukeBeijing Institute of Technology
Huang, QiangBeijing Institute of Technology
Arai, TatsuoUniversity of Electro-Communications
11:20-11:30, Paper MoA-17.9 
 Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following (I)

Xu, TiantianChinese Academy of Sciences
Huang, ChenyangShenzhen Institutes of Advanced Technology, Chinese Academy of S
Lai, ZhengyuChinese Academy of Science, Shenzhen Institude of Advanced Techn
Wu, XinyuCAS
MoA-18 Rm18 (Room 554)
Motion and Path Planning 1 Regular session
Chair: Moosmann, MariusFraunhofer IPA
Co-Chair: Yu, JingjinRutgers University
10:00-10:10, Paper MoA-18.1 
 Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes

Dengler, NilsUniversity of Bonn
Großklaus, DavidRheinische Friedrich-Wilhelms-Universität Bonn
Bennewitz, MarenUniversity of Bonn
10:10-10:20, Paper MoA-18.2 
 Transfer Learning for Machine Learning-Based Detection and Separation of Entanglements in Bin-Picking Applications

Moosmann, MariusFraunhofer IPA
Spenrath, FelixFraunhofer Institute for Manufacturing Engineering and Automatio
Rosport, JohannesFraunhofer-Institut Für Produktionstechnik Und Automatisierung
Melzer, PhilippFraunhofer-Institut Für Produktionstechnik Und Automatisierung I
Kraus, WernerFraunhofer IPA
Bormann, RichardFraunhofer IPA
Huber, Marco F.University of Stuttgart
10:20-10:30, Paper MoA-18.3 
 Deep Reinforcement Learning Based on Local GNN for Goal-Conditioned Deformable Object Rearranging

Deng, YuhongTsinghua Univerisity
Xia, ChongkunTsinghua University
Wang, XueqianCenter for Artificial Intelligence and Robotics, Graduate School
Chen, LipengTencent
10:30-10:40, Paper MoA-18.4 
 Controlling the Cascade: Kinematic Planning for N-Ball Toss Juggling

Ploeger, KaiTechnische Universität Darmstadt
Peters, JanTechnische Universität Darmstadt
10:40-10:50, Paper MoA-18.5 
 Rearrangement-Based Manipulation Via Kinodynamic Planning and Dynamic Planning Horizons

Ren, KejiaRice University
Kavraki, LydiaRice University
Hang, KaiyuRice University
10:50-11:00, Paper MoA-18.6 
 Parallel Monte Carlo Tree Search with Batched Rigid-Body Simulations for Speeding up Long-Horizon Episodic Robot Planning

Huang, BaichuanRutgers University
Boularias, AbdeslamRutgers University
Yu, JingjinRutgers University
11:00-11:10, Paper MoA-18.7 
 Adapting Rapid Motor Adaptation for Bipedal Robots

Kumar, AshishUC Berkeley
Li, ZhongyuUniversity of California, Berkeley
Zeng, JunUniversity of California, Berkeley
Pathak, DeepakCarnegie Mellon University
Sreenath, KoushilUniversity of California, Berkeley
Malik, JitendraUC Berkeley
11:10-11:20, Paper MoA-18.8 
 Three-Dimensional Dynamic Running with a Point-Foot Biped Based on Differentially Flat SLIP

Hong, ZejunSouthern University of Science and Technology
Chen, HuaSouthern University of Science and Technology
Zhang, WeiSouthern University of Science and Technology
11:20-11:30, Paper MoA-18.9 
 A Passive Control Framework for a Bilateral Leader-Follower Robotic Surgical Setup Imposing RCM and Active Constraints

Kastritsi, TheodoraAristotle University of Thessaloniki
Doulgeri, ZoeAristotle University of Thessaloniki
MoA-19 Rm19 (Room 555)
Biologically-Inspired Robots 1 Regular session
Chair: Nansai, ShunsukeTokyo Denki University
Co-Chair: Umedachi, TakuyaShinshu University
10:00-10:10, Paper MoA-19.1 
 The Flatworm-Like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion

Ganegoda Vidanage, Charaka RasangaSaitama University
Hiraishi, KengoSaitama University
Hodoshima, RyuichiSaitama University
Kotosaka, ShinyaSaitama University
10:10-10:20, Paper MoA-19.2 
 In-Hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers

Onodera, TomoyaShinshu University
Iwamoto, NoriyasuShinshu Univ
Umedachi, TakuyaShinshu University
10:20-10:30, Paper MoA-19.3 
 Embodying Rather Than Encoding: Undulation with Binary Input

Li, LongchuanBeijing University of Chemical Technology
Ma, ShugenRitsumeikan University
Tokuda, IsaoRitsumeikan University
Tian, YangRitsumeikan University
Cao, YimingRitsumeikan University
Nokata, MakotoRitsumeikan University
Li, ZhiqingBeijing University of Chemical Technology
10:30-10:40, Paper MoA-19.4 
 A Creeping Snake-Like Robot with Partial Actuation

Cao, YimingRitsumeikan University
Li, LongchuanBeijing University of Chemical Technology
Ma, ShugenRitsumeikan University
10:40-10:50, Paper MoA-19.5 
 Design and Experiments of Snake Robots with Docking Function

Qin, FataoTianGong University
Duan, XiaojieTianGong University
Ma, ShihaoTiangong University
Yuan, JinglunTIANGONG University
Wang, XiangyuTiangong University
Wang, JianmingTiangong University
Xiao, XuanTiangong University
10:50-11:00, Paper MoA-19.6 
 Modeling and Control of a Lizard Inspired Single Actuated Robot

Nansai, ShunsukeTokyo Denki University
Kamamichi, NorihiroTokyo Denki University
Itoh, HiroshiTokyo Denki University
Noji, ShoheiTokyo Denki University
11:00-11:10, Paper MoA-19.7 
 Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions

Li, XiaohanTianjin University
Ren, ChaoTianjin University
Ma, ShugenRitsumeikan University
11:10-11:20, Paper MoA-19.8 
 A Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion

Jia, YuanyuanRitsumeikan University
Ma, ShugenRitsumeikan University
11:20-11:30, Paper MoA-19.9 
 Bio-Inspired 2D Vertical Climbing with a Novel Tripedal Robot

Webster, ClydeUniversity of Technology Sydney
Kong, Felix HonglimThe University of Technology Sydney
Fitch, RobertUniversity of Technology Sydney
MoA-20 Rm20 (Room 104)
Formal Methods in Robotics and Automation Regular session
Chair: Kress-Gazit, HadasCornell University
Co-Chair: Suleiman, WaelUniversity of Sherbrooke
10:00-10:10, Paper MoA-20.1 
 Event-Based Signal Temporal Logic Tasks: Execution and Feedback in Complex Environments

Gundana, DavidCornell University
Kress-Gazit, HadasCornell University
10:10-10:20, Paper MoA-20.2 
 Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints

Dhonthi, AkshayUniversity of Twente
Schillinger, PhilippBosch Center for Artificial Intelligence
Rozo, LeonelBosch Center for Artificial Intelligence
Nardi, DanieleSapienza University of Rome
10:20-10:30, Paper MoA-20.3 
 Classification of Time-Series Data Using Boosted Decision Trees

Aasi, ErfanBoston University
Vasile, Cristian IoanLehigh University
Bahreinian, MahrooBoston University
Belta, CalinBoston University
10:30-10:40, Paper MoA-20.4 
 Robustness-Based Synthesis for Stochastic Systems under Signal Temporal Logic Tasks

Scher, GuyCornell University
Sadraddini, SadraMIT
Kress-Gazit, HadasCornell University
10:40-10:50, Paper MoA-20.5 
 Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators

Wong, Christopher YeeUniversity of Sherbrooke
Suleiman, WaelUniversity of Sherbrooke
10:50-11:00, Paper MoA-20.6 
 Fair Planning for Mobility-On-Demand with Temporal Logic Requests

Liang, KaierLehigh University
Vasile, Cristian IoanLehigh University
11:00-11:10, Paper MoA-20.7 
 Incremental Path Planning Algorithm Via Topological Mapping with Metric Gluing

Upadhyay, AakritiUniversity at Albany, SUNY
Goldfarb, BorisUniversity at Albany, SUNY
Ekenna, ChinweUniversity at Albany
11:10-11:20, Paper MoA-20.8 
 UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation

Pushp, DurgakantIndiana University Bloomington
Kalhapure, SwapnilThe University of Sheffield
Das, KaushikTATA Consultancy Service
Liu, LantaoIndiana University
11:20-11:30, Paper MoA-20.9 
 Inference of Multi-Class STL Specifications for Multi-Label Human-Robot Encounters

Linard, AlexisKTH Royal Institute of Technology
Torre, IlariaKTH Royal Institute of Technology
Leite, IolandaKTH Royal Institute of Technology
Tumova, JanaKTH Royal Institute of Technology
MoA-OL1 Rm21 (on-line)
SLAM 1 Regular session
Chair: Biber, PeterRobert Bosch GmbH
Co-Chair: He, LiSouthern University of Science and Technology
10:00-10:10, Paper MoA-OL1.1 
 Making Parameterization and Constrains of Object Landmark Globally Consistent Via SPD(3) Manifold and Improved Cost Functions

Hu, YutongBeihang University
Wang, WeiBeihang University
10:10-10:20, Paper MoA-OL1.2 
 ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment

Wang, JunhuiInstitute of Automation, Chinese Academy of Sciences
Bin, TianInstitute of Automation, Chinese Academy of Sciences
Zhang, RuiWaytous Inc, Beijing
Chen, LongSun Yat-Sen University
10:20-10:30, Paper MoA-OL1.3 
 NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection

Zhou, RuihaoGuangdong University of Technology
He, LiSouthern University of Science and Technology
Zhang, HongSUSTech
Lin, XubinGuangdong University of Technology
Guan, YishengGuangdong University of Technology
10:30-10:40, Paper MoA-OL1.4 
 FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry

Jia, ShenhanZhejiang University
Jiao, YanmeiZhejiang University
Zhang, ZhuqingZhejiang University
Xiong, RongZhejiang University
Wang, YueZhejiang University
10:40-10:50, Paper MoA-OL1.5 
 RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects

Long, RanUniversity of Edinburgh
Rauch, ChristianUniversity of Edinburgh
Zhang, TianweiThe University of Tokyo
Ivan, VladimirTouchlab Limited
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Vijayakumar, SethuUniversity of Edinburgh
10:50-11:00, Paper MoA-OL1.6 
 DRG-SLAM: A Semantic RGB-D SLAM Using Geometric Features for Indoor Dynamic Scene

Wang, YananBeihang University
Xu, KunBeijing University of Aeronautics and Astronautics
Tian, YaobinBeihang University
Ding, XilunBeijing Univerisity of Aeronautics and Astronautics
11:00-11:10, Paper MoA-OL1.7 
 Scale-Aware Direct Monocular Odometry

Campos, CarlosUniversidad De Zaragoza
Tardos, Juan D.Universidad De Zaragoza
11:10-11:20, Paper MoA-OL1.8 
 IMU Preintegration for 2D SLAM Problems Using Lie Groups

Geer Cousté, Idril TadzioUniversitat Politècnica De Catalunya
Vallvé, JoanCSIC-UPC
Solà, JoanInstitut De Robòtica I Informàtica Industrial
11:20-11:30, Paper MoA-OL1.9 
 Scale Estimation with Dual Quadrics for Monocular Object SLAM

Song, ShuangfuTongji University
Zhao, JunqiaoTongji University
Feng, TiantianTongji University
Ye, ChenTongji University
Xiong, LuTongji University
MoA-OL3 Rm23 (on-line)
Grasping 1 Regular session
Chair: Makita, SatoshiFukuoka Institute of Technology
Co-Chair: Chung, Jen JenETH Zürich
10:00-10:10, Paper MoA-OL3.1 
 Learn from Interaction: Learning to Pick Via Reinforcement Learning in Challenging Clutter

Zhao, ChaoHong Kong University of Science and Technology
Seo, JungwonThe Hong Kong University of Science and Technology
10:10-10:20, Paper MoA-OL3.2 
 GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutters

Liu, ZhanTsinghua University
Wang, ZiweiTsinghua University
Huang, SichaoTsinghua University
Zhou, JieTsinghua University
Lu, JiwenTsinghua University
10:20-10:30, Paper MoA-OL3.3 
 Simultaneous Object Reconstruction and Grasp Prediction Using a Camera-Centric Object Shell Representation

Chavan-Dafle, NikhilSamsung Research America
Popovych, SergiyPrinceton University
Agrawal, ShubhamColumbia University
Lee, DanielCornell Tech
Isler, VolkanUniversity of Minnesota
10:30-10:40, Paper MoA-OL3.4 
 Visual Manipulation Relationship Detection Based on Gated Graph Neural Network for Robotic Grasping

Ding, MengyuanXi'an Jiaotong University
Liu, YaXinXi'an Jiaotong University
Yang, ChenjieXi'an Jiaotong University
Lan, XuguangXi'an Jiaotong University
10:40-10:50, Paper MoA-OL3.5 
 Closed-Loop Next-Best-View Planning for Target-Driven Grasping

Breyer, MichelAutonomous Systems Lab, ETH Zurich
Ott, LionelETH Zurich
Siegwart, RolandETH Zurich
Chung, Jen JenETH Zürich
10:50-11:00, Paper MoA-OL3.6 
 The DressGripper: A Collaborative Gripper with Electromagnetic Fingertips for Dressing Assistance

Dragusanu, MihaiUniversity of Siena
Marullo, SaraUniversity of Siena
Malvezzi, MonicaUniversity of Siena
Achilli, Gabriele MariaUniversity of Perugia, Polo Scientifico Didattico Di Terni
Valigi, Maria CristinaUniversity of Perugia
Prattichizzo, DomenicoUniversità Di Siena
Salvietti, GionataUniversity of Siena
11:00-11:10, Paper MoA-OL3.7 
 A New Gripper That Acts As an Active and Passive Joint to Facilitate Prehensile Grasping and Locomotion

Govindan, NagamanikandanInternational Institute of Information Technology Hyderabad
Ramesh, ShashankIndian Institute of Technology, Madras
Thondiyath, AsokanIIT Madras
11:10-11:20, Paper MoA-OL3.8 
 Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed

Ostyn, FrederikGhent University
Vanderborght, BramVrije Universiteit Brussel
Crevecoeur, GuillaumeGhent University
MoK-1 Main Hall
Keynote Session 1 Keynote session
Chair: Nakauchi, YasushiUniversity of Tsukuba
12:30-13:00, Paper MoK-1.1 
 Launching Socially-Aware Mobile Manipulation Robots in Hospitals

Chu, VivianDiligent Robotics
13:00-13:30, Paper MoK-1.2 
 Toward Scalable Autonomy

Faust, AleksandraGoogle Brain
13:30-14:00, Paper MoK-1.3 
 The Future of Intelligent Machines: Combining the Safety of Model-Based Design with the Scalability of Data-Driven Algorithms

Kuffner, JamesToyota Motor Corporation
MoK-2 Rm1 (Room A)
Keynote Session 2 Keynote session
Chair: Kwon, Dong-SooKAIST
12:30-13:00, Paper MoK-2.1 
 Sensorimotor Control Meets Surgical Robotics – a Model of the Surgeon Can Benefit Patients

Nisky, IlanaBen Gurion University of the Negev
13:00-13:30, Paper MoK-2.2 
 Wearable Robotics with Smart Fluid Devices: Progress and Possibilities

Hassan, ModarUniversity of Tsukuba
13:30-14:00, Paper MoK-2.3 
 Responsible & Empathetic Human Robot Interactions

Fung, PascaleThe Hong Kong University of Science and Technology
MoK-3 Rm2 (Room B-1)
Keynote Session 3 Keynote session
Chair: Tadokoro, SatoshiTohoku University
12:30-13:00, Paper MoK-3.1 
 Anticipatory Control of Human-Robot Interaction: Towards Autonomous yet Truly Collaborative Robots

Ajoudani, ArashIstituto Italiano di Tecnologia
13:00-13:30, Paper MoK-3.2 
 Robot-Assisted Remote Minimally Invasive Surgery: The Fusion of 5G and AI

Wang, ShuxinTianjin University
13:30-14:00, Paper MoK-3.3 
 Inventing Robotic Mechanisms

Tadakuma, KenjiroTohoku University
MoB-1 Rm1 (Room A)
Award Session II Regular session
Chair: Yoshida, EiichiTokyo University of Science
Co-Chair: Hutchinson, SethGeorgia Institute of Technology
14:10-14:25, Paper MoB-1.1 
 Going in Blind: Object Motion Classification Using Distributed Tactile Sensing for Safe Reaching in Clutter
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Thomasson, RachelStanford University
Roberge, EtienneÉcole De Technologie Supérieure
Cutkosky, MarkStanford University
Roberge, Jean-PhilippeÉcole De Technologie Supérieure
14:25-14:40, Paper MoB-1.2 
 PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Lee, Kuang-HueiGoogle Research
Nachum, OfirGoogle
Zhang, TingnanGoogle
Guadarrama, SergioGoogle
Tan, JieGoogle
Yu, WenhaoGoogle
14:40-14:55, Paper MoB-1.3 
 Learning Visual Feedback Control for Dynamic Cloth Folding
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)
(Finalist for IROS Best RoboCup Paper Award Sponsored by RoboCup Federation)

Hietala, JuliusAalto University
Blanco-Mulero, DavidAalto University
Alcan, GokhanAalto University
Kyrki, VilleAalto University
14:55-15:10, Paper MoB-1.4 
 PCBot: A Minimalist Robot Designed for Swarm Applications
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)
(Finalist for IROS Best Paper Award on Robot Mechanisms and Design Sponsored by ROBOTIS)

Wang, JingxianNorthwestern University
Rubenstein, MichaelNorthwestern University
15:10-15:25, Paper MoB-1.5 
 Characterization of Real-Time Haptic Feedback from Multimodal Neural Network-Based Force Estimates During Teleoperation
(Finalist for IROS Best Paper Award and ABB Best Student Paper Award)

Chua, ZongheStanford University
Okamura, Allison M.Stanford University
15:25-15:40, Paper MoB-1.6 
 Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills Using a Quadrupedal Robot
(Finalist for IROS Best RoboCup Paper Award Sponsored by RoboCup Federation)

Ji, YandongMIT
Li, ZhongyuUniversity of California, Berkeley
Sun, YinanUniversity of California, Berkeley
Peng, Xue BinUniversity of California, Berkeley
Levine, SergeyUC Berkeley
Berseth, GlenUniversité De Montréal
Sreenath, KoushilUniversity of California, Berkeley
MoB-2 Rm2 (Room B-1)
Learning 2 Regular session
Chair: Rosendo, AndreWorcester Polytechnic Institute
Co-Chair: Tran, Dinh TuanCollege of Information Science and Engineering, Ritsumeikan University, Japan
14:10-14:20, Paper MoB-2.1 
 Multi-Modal Legged Locomotion Framework with Automated Residual Reinforcement Learning

Yu, ChenShanghaiTech University
Rosendo, AndreShanghaiTech University
14:20-14:30, Paper MoB-2.2 
 Learning to Climb: Constrained Contextual Bayesian Optimisation on a Multi-Modal Legged Robot

Yu, ChenShanghaiTech University
Cao, JinyueShanghaitech University
Rosendo, AndreShanghaiTech University
14:30-14:40, Paper MoB-2.3 
 Class-Incremental Gesture Recognition Learning with Out-Of-Distribution Detection

Li, MingxueUniversity of Chinese Academy of Sciences, Shenyang Institute Of
Cong, YangChinese Academy of Science, China
Liu, YuyangState Key Laboratory of Robotics, Shenyang Institute of Automati
Gan, SunState Key Laboratory of Robotics, Shenyang Institute of Automati
14:40-14:50, Paper MoB-2.4 
 PIMNet: Physics-Infused Neural Network for Human Motion Prediction

Zhang, ZhiboUniversity at Buffalo
Zhu, YanjunUniversity at Buffalo
Rai, RahulClemson University
Doermann, DavidUniversity at Buffalo
14:50-15:00, Paper MoB-2.5 
 What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data

Mees, OierAlbert-Ludwigs-Universität
Hermann, LukasUniversity of Freiburg
Burgard, WolframUniversity Fo Freiburg
15:00-15:10, Paper MoB-2.6 
 Learning Solution Manifolds for Control Problems Via Energy Minimization

Zamora, MiguelETH Zurich
Poranne, RoiETHZ
Coros, StelianETH Zurich
15:10-15:20, Paper MoB-2.7 
 First Do Not Fall: Learning to Exploit a Wall with a Damaged Humanoid Robot

Anne, TimothéeUniversité De Lorraine
Dalin, EloiseINRIA
Bergonzani, IvanINRIA
Ivaldi, SerenaINRIA
Mouret, Jean-BaptisteInria
15:20-15:30, Paper MoB-2.8 
 Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion During Release

Lubbers, MennoEindhoven University of Technology (TU/e)
van Voorst, JobEindhoven University of Technology (TU/e)
Jongeneel, MaartenEindhoven University of Technology
Saccon, AlessandroEindhoven University of Technology
15:30-15:40, Paper MoB-2.9 
 Embodied Active Domain Adaptation for Semantic Segmentation Via Informative Path Planning

Zurbrügg, RenéETH Zürich
Blum, HermannETH Zurich
Cadena Lerma, CesarETH Zurich
Siegwart, RolandETH Zurich
Schmid, Lukas MaximilianETH Zurich
MoB-3 Rm3 (Room B-2)
Grasping 2 Regular session
Chair: Ozawa, RyutaMeiji University
Co-Chair: Park, JaeheungSeoul National University
14:10-14:20, Paper MoB-3.1 
 ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation

Sun, JingtaoHunan University, College of Electrical and Information Engineer
Wang, YaonanHunan University
Feng, MingtaoXidian University
Wang, DanweiNanyang Technological University
Zhao, JiawenCollege of Electrical and Information Engineering, Hunan Univers
Stachniss, CyrillUniversity of Bonn
Chen, XieyuanliN/A
14:20-14:30, Paper MoB-3.2 
 Multi-Finger Grasping Like Humans

Du, YumingEcole Des Ponts Paristech
Weinzaepfel, PhilippeNAVER LABS Europe
Lepetit, VincentENPC ParisTech
Brégier, RomainNAVER LABS Europe
14:30-14:40, Paper MoB-3.3 
 Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects

Shirizly, AlonTechnion - Israel Institute of Technology
Rimon, ElonTechnion - Israel Institute of Technology
14:40-14:50, Paper MoB-3.4 
 F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping

Maeda, Guilherme JorgeSony AI
Fukaya, NaokiPreferred Networks, Inc
Maeda, Shin-ichiPreferred Networks
14:50-15:00, Paper MoB-3.5 
 EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-Fingered Robot Hands

Li, KelinImperial College London
Baron, NicholasOcado Technology
Zhang, XianImperial College London
Rojas, NicolasImperial College London
15:00-15:10, Paper MoB-3.6 
 BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies

Li, HaoranUniversity of Bristol
Ford, ChristopherUniversity of Bristol
Bianchi, MatteoUniversity of Pisa
Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Psomopoulou, EfiUniversity of Bristol
Lepora, NathanUniversity of Bristol
15:10-15:20, Paper MoB-3.7 
 On Robotic Manipulation of Flexible Flat Cables: Employing a Multi-Modal Gripper with Dexterous Tips, Active Nails, and a Reconfigurable Suction Cup Module

Buzzatto, JoaoThe University of Auckland
Chapman, JaydenThe University of Auckland
Shahmohammadi, MojtabaUniversity of Auckland
Sanches, Felipe PadulaUniversity of Auckland
Nejati, MahlaThe University of Auckland
Matsunaga, SaoriMitsubishi Electric Corporation
Haraguchi, RintaroMitsubishiElectric Corp
Mariyama, ToshisadaMitsubishi Electric Corporation
MacDonald, BruceUniversity of Auckland
Liarokapis, MinasThe University of Auckland
15:20-15:30, Paper MoB-3.8 
 Automated Design of Embedded Constraints for Soft Hands Enabling New Grasp Strategies

Bo, ValerioIstituto Italiano Di Tecnologia
Turco, EnricoIstituto Italiano Di Tecnologia
Pozzi, MariaUniversity of Siena
Malvezzi, MonicaUniversity of Siena
Prattichizzo, DomenicoUniversity of Siena
15:30-15:40, Paper MoB-3.9 
 Scalable Learned Geometric Feasibility for Cooperative Grasp and Motion Planning

Park, SuhanSeoul National University
Kim, Hyoung CheolSeoul National University
Baek, JiyeongSeoul National University
Park, JaeheungSeoul National University
MoB-4 Rm4 (Room C-1)
Manipulation Systems 2 Regular session
Chair: Harada, KensukeOsaka University
Co-Chair: Yamanobe, NatsukiAdvanced Industrial Science and Technology
14:10-14:20, Paper MoB-4.1 
 A Solution to Adaptive Mobile Manipulator Throwing

Liu, YangEPFL
Nayak, AradhanaEPFL
Billard, AudeEPFL
14:20-14:30, Paper MoB-4.2 
 A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation

Tsvetkov, YordanUniversity of Edinburgh
Ramamoorthy, SubramanianThe University of Edinburgh
14:30-14:40, Paper MoB-4.3 
 Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots

Bertoncelli, FilippoUniversity of Modena and Reggio Emilia
Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
Ruggiero, FabioUniversità Di Napoli Federico II
Sabattini, LorenzoUniversity of Modena and Reggio Emilia
14:40-14:50, Paper MoB-4.4 
 Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

Mittal, MayankETH Zurich
Hoeller, DavidETH Zurich, NVIDIA
Farshidian, FarbodETH Zurich
Hutter, MarcoETH Zurich
Garg, AnimeshUniversity of Toronto
14:50-15:00, Paper MoB-4.5 
 A Versatile Affordance Modeling Framework Using Screw Primitives to Increase Autonomy During Manipulation Contact Tasks

Pettinger, AdamThe University of Texas at Austin
Alambeigi, FarshidUniversity of Texas at Austin
Pryor, MitchellUniversity of Texas
15:00-15:10, Paper MoB-4.6 
 Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks

Reister, FabianKarlsruhe Institute of Technology (KIT)
Grotz, MarkusKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
15:10-15:20, Paper MoB-4.7 
 An Open-Source Motion Planning Framework for Mobile Manipulators Using Constraint-Based Task Space Control with Linear MPC

Stelter, SimonUniversität Bremen
Bartels, GeorgUniversität Bremen
Beetz, MichaelUniversity of Bremen
15:20-15:30, Paper MoB-4.8 
 View Planning for Object Pose Estimation Using Point Clouds: An Active Robot Perception Approach

Hu, JieTexas A&M University
Pagilla, Prabhakar ReddyTexas A&M University
15:30-15:40, Paper MoB-4.9 
 Planning to Build Block Structures with Unstable Intermediate States Using Two Manipulators (I)

Chen, HaoOsaka University
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
Koyama, KeisukeOsaka University
MoB-5 Rm5 (Room C-2)
Navigation Systems 1 Regular session
Chair: Stoyanov, DanailUniversity College London
Co-Chair: Taguchi, ShunToyota Central R&D Labs., Inc
14:10-14:20, Paper MoB-5.1 
 RARA: Zero-Shot Sim2Real Visual Navigation with Following Foreground Cues

Kelchtermans, KlaasKU Leuven
Tuytelaars, TinneKU Leuven
14:20-14:30, Paper MoB-5.2 
 Navigation among Movable Obstacles with Object Localization Using Photorealistic Simulation

Ellis, KirstyUniversity College London
Zhang, Henry, ZihengUCL
Stoyanov, DanailUniversity College London
Kanoulas, DimitriosUniversity College London
14:30-14:40, Paper MoB-5.3 
 Navigating Underground Environments Using Simple Topological Representations

Cano, LorenzoUniversidad De Zaragoza
Mosteo, Alejandro R.Centro Universitario De La Defensa De Zaragoza
Tardioli, DaniloCentro Universitario De La Defensa
14:40-14:50, Paper MoB-5.4 
 Teaching Agents How to Map: Spatial Reasoning for Multi-Object Navigation

Marza, PierreINSA Lyon
Matignon, LaetitiaUniversité Lyon Claude Bernard
Simonin, OlivierINSA De Lyon
Wolf, ChristianNaver Labs Europe
14:50-15:00, Paper MoB-5.5 
 NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces

Siva, SriramColorado School of Mines
Wigness, MaggieU.S. Army Research Laboratory
Rogers III, John G.US Army Research Laboratory
Quang, LongU.S. Army Research Laboratory
Zhang, HaoColorado School of Mines
15:00-15:10, Paper MoB-5.6 
 Resilient Detection and Recovery of Autonomous Systems Operating under On-Board Controller Cyber Attacks

Bonczek, PaulUniversity of Virginia
Bezzo, NicolaUniversity of Virginia
15:10-15:20, Paper MoB-5.7 
 Benchmarking Augmentation Methods for Learning Robust Navigation Agents: The Winning Entry of the 2021 iGibson Challenge

Yokoyama, NaokiGeorgia Institute of Technology
Luo, QianGeorgia Institute of Technology
Batra, DhruvGeorgia Tech / Facebook AI Research
Ha, SehoonGeorgia Institute of Technology
15:20-15:30, Paper MoB-5.8 
 Robotic Interestingness Via Human-Informed Few-Shot Object Detection

Kim, SeungchanCarnegie Mellon University
Wang, ChenCarnegie Mellon University
Li, BowenTongji University
Scherer, SebastianCarnegie Mellon University
15:30-15:40, Paper MoB-5.9 
 Map-Free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances

Lesak, Mark C.United States Military Academy
Gonzalez, DanielAurora Flight Sciences
Zhou, Michelle W.Cornell University
Petruska, Andrew J.Colorado School of Mines
MoB-6 Rm6 (Room D)
Aerial Systems 2 Regular session
Chair: Floreano, DarioEcole Polytechnique Federal, Lausanne
Co-Chair: Shimonomura, KazuhiroRitsumeikan University
14:10-14:20, Paper MoB-6.1 
 Rotor Array Synergies for Aerial Modular Reconfigurable Robots

Moshirian, Benjamin NabilQueensland University of Technology
Pounds, PaulineThe University of Queensland
14:20-14:30, Paper MoB-6.2 
 Precise Position Control of a Multi-Rotor UAV with a Cable-Suspended Mechanism During Water Sampling

Panetsos, FotisNational Technical University of Athens
Karras, GeorgeNational Technical University of Athens
Aspragkathos, SotirisNTUA
Kyriakopoulos, KostasNational Technical Univ. of Athens
14:30-14:40, Paper MoB-6.3 
 Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw

Miyazaki, RyoRitsumeikan University
Matori, WataruRitsumeikan University
Kominami, TakamasaRitsumeikan University
Paul, HannibalRitsumeikan University
Shimonomura, KazuhiroRitsumeikan University
14:40-14:50, Paper MoB-6.4 
 Unmanned Aircraft System-Based Radiological Mapping of Buildings

Lazna, TomasBrno University of Technology
Gabrlik, PetrBrno University of Technology
Sladek, PetrNuclear Science and Instrumentation Laboratory, International At
Jilek, TomasBrno University of Technology
Zalud, LudekBrno University of Technology
14:50-15:00, Paper MoB-6.5 
 Towards Edible Drones for Rescue Missions: Design and Flight of Nutritional Wings

Kwak, BokeonEPFL
Shintake, JunUniversity of Electro-Communications
Zhang, LuWageningen University & Research
Floreano, DarioEcole Polytechnique Federal, Lausanne
15:00-15:10, Paper MoB-6.6 
 Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry

Polizzi, VincenzoUniversity of Zurich and ETH Zurich
Hewitt, RobertJet Propulsion Laboratory
Hidalgo Carrio, JavierUniversity of Zurich and ETH Zurich
Delaune, JeffJet Propulsion Laboratory
Scaramuzza, DavideUniversity of Zurich
15:10-15:20, Paper MoB-6.7 
 Enforcing Vision-Based Localization Using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles

Jacquet, MartinLAAS, CNRS
Franchi, AntonioUniversity of Twente
15:20-15:30, Paper MoB-6.8 
 Visual Loop Closure Detection for a Future Mars Science Helicopter

Dietsche, AlexanderETH Zurich
Ott, LionelETH Zurich
Siegwart, RolandETH Zurich
Brockers, RolandCalifornia Institute of Technology
15:30-15:40, Paper MoB-6.9 
 PencilNet: Zero-Shot Sim-To-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing

Pham, HuyAarhus University
Sarabakha, AndriyNanyang Technological University
Odnoshyvkin, MykolaTechnical University of Munich
Kayacan, ErdalAarhus University
MoB-7 Rm7 (Room E)
Medical Robots and Systems 2 Regular session
Chair: Haddadin, SamiTechnical University of Munich
Co-Chair: Chen, Cheng-WeiNational Taiwan University
14:10-14:20, Paper MoB-7.1 
 Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment

Cheng, Hao-FangNational Taiwan University
Li, Yi-ChanNational Taiwan University
Ho, Yi-ChingTaipei Veterans General Hospital
Chen, Cheng-WeiNational Taiwan University
14:20-14:30, Paper MoB-7.2 
 A Training-Evaluation Method for Nursing Telerobot Operator with Unsupervised Trajectory Segmentation

Xie, JiexinFudan University
Zhu, DeLiangHebei University of Technology
Wang, JiaxinHebei University of Technology
Guo, ShijieHebei University of Technology
14:30-14:40, Paper MoB-7.3 
 Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot

Hwang, GuebinKIST
Lee, JongwonKorea Institute of Science and Technology
Yang, SungwookKorea Institute of Science and Technology
14:40-14:50, Paper MoB-7.4 
 Development of a Cable-Driven Growing Sling to Assist Patient Transfer

Lee, MyungJoongKorea Institute of Science and Technology, University of Science
Moon, YonghwanKorea Institute of Science and Technology
Kim, JeongryulKorea Institute of Science and Technology
Lee, SeungjunKorea Institute of Science and Technology
Kim, KeriKorea Institute of Science and Technology
In, HyunKiKorea Institute of Science and Technology
14:50-15:00, Paper MoB-7.5 
 Development of an Inherently Safe Nasopharyngeal Swab Sampling Robot Using a Force Restriction Mechanism

Maeng, Chan-YoungKorea University of Technology and Education (KOREATECH)
Yoon, JongJunKoreatech
Kim, Do-yunKOREATECH University
Lee, JongwonKorea Institute of Science and Technology
Kim, Yong-JaeKorea University of Technology and Education
15:00-15:10, Paper MoB-7.6 
 On the Design of Integrated Tele-Monitoring/Operation System for Therapeutic Devices in Isolation Intensive Care Unit

Song, ChangSeobKorea Institue of Science and Technology
Yang, GyungtakKorea Institute of Science and Technology
Park, SungwooKorea University, Korea Institute of Science and Technology
Jang, NamseonKorea Institute of Science and Technology
Jeon, SoobinKorea Advanced Institute of Science and Technology (KAIST)
Oh, Sang-RokKIST
Hwang, DonghyunKorea Institute of Science and Technology
15:10-15:20, Paper MoB-7.7 
 Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times ofCorona: System Design, Feasibility and Usability Study

Naceri, AbdeldjallilTUM
Elsner, JeanTechnical University of Munich
Troebinger, MarioTechnical University of Munich
Sadeghian, HamidTechnical University of Munich
Johannsmeier, LarsTechnical University Munich
Voigt, FlorianTechnical University of Munich
Chen, XiaoTechnical University of Munich
Macari, DanielaFranka Emika
Jaehne, ChristophFranka Emika GmbH
Berlet, MaximilianTUM
Fuchtmann, JonasTUM
Figueredo, Luis Felipe CruzTechnical University of Munich (TUM)
Feussner, HubertusKlinikum Rechts Der Isar Der TUM
Wilhelm, DirkKlinikum Rechts Der Isar Der TUM
Haddadin, SamiTechnical University of Munich
15:20-15:30, Paper MoB-7.8 
 Novel Supernumerary Robotic Limb Based on Variable Stiffness Actuators for Hemiplegic Patients Assistance

Hasanen, BasmaKhalifa University of Science and Technology
Awad, Mohammad I.Khalifa University
Boushaki, MohamedScuola Superiore S'Anna Pisa
Niu, ZhenweiKhalifa University Robotics and Autonomous Robotics Center
Ramadan, MohammedKhalifa University
Hussain, IrfanKhalifa University
MoB-8 Rm8 (Room F)
Mechanism Design 2 Regular session
Chair: Kiguchi, KazuoKyushu University
Co-Chair: Watanabe, MasahiroTohoku University
14:10-14:20, Paper MoB-8.1 
 Plate Harmonic Reducer with a Profiled Groove Wave Generator

You, SeungbinSeoul National University
Jung, JaesugTechnical University of Munich
Sung, EunhoSeoul National University
Park, JaeheungSeoul National University
14:20-14:30, Paper MoB-8.2 
 Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism with Arc Prismatic Pairs

Saiki, NaotoTohoku University
Tadakuma, KenjiroTohoku University
Watanabe, MasahiroTohoku University
Abe, KazukiTohoku University
Konyo, MasashiTohoku University
Tadokoro, SatoshiTohoku University
14:30-14:40, Paper MoB-8.3 
 Manipulator Equipped with Differential Wrist Mechanism to Combine the Torque of Two Motors to Increase Fingertip Force and Wrist Torque

Bao, YuanhaoHiroshima University
Takaki, TakeshiHiroshima University
14:40-14:50, Paper MoB-8.4 
 Design of a Modular Continuum Robot with Alterable Compliance Using Tubular-Actuation

Wang, MingyuanShanghai Robotics Institute, School of Mechatronic Engineering An
Du, LiangShanghai University
Bao, ShengShanghai University
Yuan, JianjunShanghai University, China
Zhou, JinshuShanghai University
Ma, ShugenRitsumeikan University
14:50-15:00, Paper MoB-8.5 
 3D-Printable Low-Reduction Cycloidal Gearing for Robotics

Roozing, WesleyUniversity of Twente
Roozing, GlennAuto Elect B.V
15:00-15:10, Paper MoB-8.6 
 Fold-Based Complex Joints for a 3 DoF 3R Parallel Robot Design

Merz, Judith U.RWTH Aachen University
Huber, MarkusTechnical University of Munich
Irlinger, FranzTechnische Universität München
Lueth, Tim C.Technical University of Munich
Pfitzner, JanikRWTH Aachen University
Corves, BurkhardRWTH Aachen University
15:10-15:20, Paper MoB-8.7 
 A 4-DoF Parallel Robot with a Built-In Gripper for Waste Sorting

Leveziel, MaxenceFEMTO-ST Institute
Laurent, Guillaume J.Univ. Bourgogne Franche-Comté, ENSMM
Haouas, WissemFemto-St
Gauthier, MichaelFEMTO-ST Institute
Dahmouche, RedwanUniversité De Franche Comté
15:20-15:30, Paper MoB-8.8 
 Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs

Nishikawa, SatoshiKyushu University
Tokunaga, DaigoKyushu University
Kiguchi, KazuoKyushu University
15:30-15:40, Paper MoB-8.9 
 Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion

Urs, KarthikUniversity of Michigan
Enninful Adu, ChallenUniversity of Michigan
Rouse, ElliottUniversity of Michigan / (Google) X
Moore, TaliaUniversity of Michigan
MoB-9 Rm9 (Room G)
Object Detection, Segmentation and Categorization 2 Regular session
Chair: Haddadin, SamiTechnical University of Munich
Co-Chair: Ani, MohammadUniversity of Birmingham
14:10-14:20, Paper MoB-9.1 
 Real-Time IMU-Based Learning: A Classification of Contact Materials

Valle, Carlos MagnoTechnical University of Munich
Kurdas, Alexander AndreasTechnical University of Munich
Pozo Fortunić, EdmundoTechnische Universität München
Abdolshah, SaeedTechnical University of Munich
Haddadin, SamiTechnical University of Munich
14:20-14:30, Paper MoB-9.2 
 New Objects on the Road? No Problem, We’ll Learn Them Too

Singh, Deepak KumarIIITH
Rai, Shyam NandanIIIT Hyderabad
K J, JosephIndian Institute of Technology Hyderabad
Saluja, RohitIIIT Hyderabad
Balasubramanian, VineethIndian Institute of Technology, Hyderabad
Arora, ChetanIndian Institute of Technology, Delhi
Subramanian, AnbumaniIntel
Jawahar, C.V.IIIT, Hyderabad
14:30-14:40, Paper MoB-9.3 
 Conditional Patch-Based Domain Randomization: Improving Texture Domain Randomization Using Natural Image Patches

Ani, MohammadUniversity of Birmingham
Basevi, HectorUniversity of Birmingham
Leonardis, AlesUniversity of Birmingham
14:40-14:50, Paper MoB-9.4 
 CloudAttention: Efficient Multi-Scale Attention Scheme for 3D Point Cloud Learning

Saleh, MahdiTechnical University Munich
Wang, YigeTechnical University of Munich
Navab, NassirTU Munich
Busam, BenjaminTechnical University of Munich
Tombari, FedericoTechnische Universität München
14:50-15:00, Paper MoB-9.5 
 Fast Hierarchical Learning for Few-Shot Object Detection

She, YihangETH Zurich
Bhat, GoutamETH
Danelljan, MartinETH Zurich
Yu, FisherETH Zurich
15:00-15:10, Paper MoB-9.6 
 Improving Single-View Mesh Reconstruction for Unseen Categories Via Primitive-Based Representation and Mesh Augmentation

Kuo, Yu-LiangNational Yang Ming Chiao Tung University
Ko, Wei JanNational Chiao Tung University
Chiu, Chen-YiNational Yang Ming Chiao Tung University
Chiu, Wei-ChenNational Chiao Tung University
15:10-15:20, Paper MoB-9.7 
 Instance Segmentation with Cross-Modal Consistency

Zhu, Alex ZihaoWaymo LLC
Casser, Vincent MichaelWaymo LLC
Mahjourian, RezaWaymo
Kretzschmar, HenrikWaymo
Pirk, SorenRobotics at Google
15:20-15:30, Paper MoB-9.8 
 Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments

Lei, XianmeiNASA JPL
Taeyeon, KimKorea Advanced Institute of Science and Technology
Marchal, Nicolas PaulETH Zurich
Pastor, DanielCaltech
Ridge, BarryNASA Jet Propulsion Laboratory, California Institute of Technolo
Terry, EdwardNASA JPL
Touma, ThomasCaltech
Chavez, FernandoJet Propulsion Laboratory
Otsu, KyoheiCalifornia Institute of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
Scholler, FrederikTechnical University of Denmark
Morrell, BenjaminJet Propulsion Laboratory, California Institute of Technology
15:30-15:40, Paper MoB-9.9 
 Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems

Vedder, KyleUniversity of Pennsylvania
Eaton, EricUniversity of Pennsylvania
MoB-10 Rm10 (Room H)
Force and Tactile Sensing Regular session
Chair: Santos, Veronica J.University of California, Los Angeles
Co-Chair: Lepora, NathanUniversity of Bristol
14:10-14:20, Paper MoB-10.1 
 Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning (I)

Lepora, NathanUniversity of Bristol
Lloyd, JohnUniversity of Bristol
14:20-14:30, Paper MoB-10.2 
 Mapping Mid-Air Haptics with a Low-Cost Tactile Robot

Alakhawand, NoorUniversity of Bristol
Frier, WilliamUltraleap
Lepora, NathanUniversity of Bristol
14:30-14:40, Paper MoB-10.3 
 Autonomous Tactile Localization and Mapping of Objects Buried in Granular Materials

Jia, ShengxinUniversity of California, Los Angeles
Zhang, LionelUniversity of California, Los Angeles
Santos, Veronica J.University of California, Los Angeles
14:40-14:50, Paper MoB-10.4 
 Tactile Gym 2.0: Sim-To-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch

Lin, YijiongUniversity of Bristol
Lloyd, JohnUniversity of Bristol
Church, AlexUniversity of Bristol
Lepora, NathanUniversity of Bristol
14:50-15:00, Paper MoB-10.5 
 Bioinspired, Multifunctional, Active Whisker Sensors for Tactile Sensing of Mobile Robots

Yu, ZhiqiangBeijing Institute of Technology
Guo, YueBeijing Institute of Technology
Su, JiajiCase Western Reserve University
Huang, QiangBeijing Institute of Technology
Fukuda, ToshioBeijing Institute of Technology
Cao, Changyong (Chase)Case Western Reserve University
Shi, QingBeijing Institute of Technology
15:00-15:10, Paper MoB-10.6 
 Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition

Murali, Prajval KumarBMW Group and University of Glasgow
Wang, CongTechnical University of Munich
Lee, DongheuiTechnische Universität Wien (TU Wien)
Dahiya, RavinderUniversity of Glasgow
Kaboli, MohsenBMW Group and Radboud University, Donders Institute for Brain An
15:10-15:20, Paper MoB-10.7 
 DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch

Lepora, NathanUniversity of Bristol
Lin, YijiongUniversity of Bristol
Money-Coomes, BenUniversity of Bristol
Lloyd, JohnUniversity of Bristol
15:20-15:30, Paper MoB-10.8 
 Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear

Gupta, Anupam K.University of Bristol
Church, AlexUniversity of Bristol
Lepora, NathanUniversity of Bristol
15:30-15:40, Paper MoB-10.9 
 Multi-Purpose Tactile Perception Based on Deep Learning in a New Tendon-Driven Optical Tactile Sensor

Zhao, ZhouEPITA Research and Development Laboratory (LRDE)
Lu, ZhenyuBristol Robotics Laboratory
MoB-11 Rm11 (Room I)
Human-Robot Collaboration Regular session
Chair: Ohara, KenichiMeijo University
Co-Chair: Suzuki, TakuoAichi Prefectural University
14:10-14:20, Paper MoB-11.1 
 A Multi-Granularity Scene Segmentation Network for Human-Robot Collaboration Environment Perception

Fan, JunmingThe Hong Kong Polytechnic University
Zheng, PaiThe Hong Kong Polytechnic University
Lee, Carman K.M.The Hong Kong Polytechnic University - Dept of Industrial and Sy
14:20-14:30, Paper MoB-11.2 
 Controller Design of a Robotic Assistant for the Transport of Large and Fragile Objects

Dumora, JulieCEA (French Alternative Energies AndAtomicEnergyCommission)
Nicolas, JulienCommissariat à l'Energie Atomique
Geffard, FranckAtomic Energy Commissariat (CEA)
14:30-14:40, Paper MoB-11.3 
 Safety-Based Dynamic Task Offloading for Human-Robot Collaboration Using Deep Reinforcement Learning

Ruggeri, FrancoEricsson AB
Terra, AhmadEricsson AB
Hata, Alberto YukinobuEricsson Telecomunicações S/A
Inam, RafiaEricsson AB
Leite, IolandaKTH Royal Institute of Technology
14:40-14:50, Paper MoB-11.4 
 "I'm Confident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming

Conlon, NicholasUniversity of Colorado Boulder
Szafir, Daniel J.University of North Carolina at Chapel Hill
Ahmed, NisarUniversity of Colorado Boulder
14:50-15:00, Paper MoB-11.5 
 RILI: Robustly Influencing Latent Intent

Parekh, SagarVirginia Tech
Habibian, SoheilVirginia Tech
Losey, DylanVirginia Tech
15:00-15:10, Paper MoB-11.6 
 Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality

Nakamura, HitoshiRitsumeikan University
El Hafi, LotfiRitsumeikan University
Taniguchi, AkiraRitsumeikan University
Hagiwara, YoshinobuRitsumeikan University
Taniguchi, TadahiroRitsumeikan University
15:10-15:20, Paper MoB-11.7 
 Learning and Executing Re-Usable Behaviour Trees from Natural Language Instruction

Suddrey, GavinQueensland University of Technology
Talbot, BenQueensland University of Technology
Maire, FredericQueensland University of Technology
15:20-15:30, Paper MoB-11.8 
 ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration

Mochizuki, ShunsukeKeio University
Kawasaki, YosukeKeio University
Takahashi, MasakiKeio University
15:30-15:40, Paper MoB-11.9 
 VR Facial Animation for Immersive Telepresence Avatars

Rochow, AndreUniversity of Bonn
Schwarz, MaxUniversity Bonn
Schreiber, MichaelUniversity of Bonn
Behnke, SvenUniversity of Bonn
MoB-12 Rm12 (Room J)
Visual Servoing Regular session
Chair: Chaumette, FrancoisInria Rennes-Bretagne Atlantique
Co-Chair: Aranda, MiguelUniversidad De Zaragoza
14:10-14:20, Paper MoB-12.1 
 An Offline Geometric Model for Controlling the Shape of Elastic Linear Objects

Aghajanzadeh, OmidUniversite Clermont Auvergne, Institut Pascal
Aranda, MiguelUniversidad De Zaragoza
Lopez-Nicolas, GonzaloUniversidad De Zaragoza
Lenain, RolandINRAE
Mezouar, YoucefClermont Auvergne INP - SIGMA Clermont
14:20-14:30, Paper MoB-12.2 
 Skeleton-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space

Gandhi, AbhinavWorceser Polytechnic Institute
Chatterjee, SreejaniWorcester Polytechnic Institute
Calli, BerkWorcester Polytechnic Institute
14:30-14:40, Paper MoB-12.3 
 Conditional Visual Servoing for Multi-Step Tasks

Izquierdo, SergioUniversity of Freiburg
Argus, MaximilianUniversity of Freiburg
Brox, ThomasUniversity of Freiburg
14:40-14:50, Paper MoB-12.4 
 Optimal Shape Servoing with Task-Focused Convergence Constraints

Giraud, Victor HenriSIGMA-Clermont / Institut Pascal
Padrin, Maxime LinoINP Clermont Auvergne - Sigma Clermont
Shetab-Bushehri, MohammadrezaUniversité Clermont Auvergne, Institut Pascal
Bouzgarrou, ChedliInstitut Pascal UMR 6602 - UCA/CNRS/SIGMA
Mezouar, YoucefClermont Auvergne INP - SIGMA Clermont
Ozgur, ErolSIGMA-Clermont / Institut Pascal
14:50-15:00, Paper MoB-12.5 
 An Event-Triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-Based Areas Using Multirotor Aerial Vehicles

Aspragkathos, SotirisNTUA
Sinani, MarioNational Technical University of Athens - Control Systems Labora
Karras, GeorgeNational Technical University of Athens
Panetsos, FotisNational Technical University of Athens
Kyriakopoulos, KostasNational Technical Univ. of Athens
15:00-15:10, Paper MoB-12.6 
 Vision-Based Rotational Control of an Agile Observation Satellite

Robic, MaximeINRIA
Fraisse, RenaudAirbus Defence & Space
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
15:10-15:20, Paper MoB-12.7 
 DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing

Toshimitsu, YasunoriUniversity of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Miki, AkihiroThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
15:20-15:30, Paper MoB-12.8 
 Self-Supervised Wide Baseline Visual Servoing Via 3D Equivariance

Huh, JinwookSamsung
Hong, JungseokUniversity of Minnesota
Garg, SuveerUniversity of Pennsylvania
Park, Hyun SooUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
15:30-15:40, Paper MoB-12.9 
 Visibility Maximization Controller for Robotic Manipulation

He, KerryMonash University
Newbury, RhysMonash University
Tran, TinMonash University
Haviland, JesseQueensland University of Technology
Burgess-Limerick, BenQueensland University of Technology
Kulic, DanaMonash University
Corke, PeterQueensland University of Technology
Cosgun, AkanselMonash University
MoB-13 Rm13 (Room K)
Mapping 2 Regular session
Chair: Stachniss, CyrillUniversity of Bonn
Co-Chair: Leutenegger, StefanTechnical University of Munich
14:10-14:20, Paper MoB-13.1 
 Multi-Camera-LiDAR Auto-Calibration by Joint Structure-From-Motion

Tu, DiantaoInstitute of Automation, Chinese Academy of Sciences
Wang, BaoyuInstitute of Automation, Chinese Academy of Sciences
Cui, HainanInstitute of Automation, Chinese Academy of Sciences
Liu, YuqianSenseTime
Shen, ShuhanInstitute of Automation, Chinese Academy of Sciences
14:20-14:30, Paper MoB-13.2 
 GeoROS: Georeferenced Real-Time Orthophoto Stitching with Unmanned Aerial Vehicle

Gao, GuangzeInsititute of Automation Chinese Academy of Sciences
Yuan, MengkeInstitute of Automation, Chinese Academy of Sciences
Ma, ZhihaoInstitute of Automation,Chinese Academy of Sciences
Jiaming, GuInstitute of Automation, Chinese Academy of Sciences
Meng, WeiliangInstitute of Automation, Chinese Academy of Sciences
Xu, ShibiaoBeijing University of Posts and Telecommunications
Zhang, XiaopengNational Laboratory of Pattern Recognition, Institute of Automat
14:30-14:40, Paper MoB-13.3 
 Learning to Complete Object Shapes for Object-Level Mapping in Dynamic Scenes

Xu, BinbinImperial College London
Davison, Andrew JImperial College London
Leutenegger, StefanTechnical University of Munich
14:40-14:50, Paper MoB-13.4 
 Robot-Aided Microbial Density Estimation and Mapping

Pey, Javier Jia JieSingapore University of Technology and Design
Palanisamy, PovendhanSingapore University of Technology and Design
Pathmakumar, ThejusSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
14:50-15:00, Paper MoB-13.5 
 Elevation Mapping for Locomotion and Navigation Using GPU

Miki, TakahiroETH Zurich
Wellhausen, LorenzETH Zürich
Grandia, RubenETH Zurich
Jenelten, FabianETH Zurich
Homberger, TimonETH Zurich
Hutter, MarcoETH Zurich
15:00-15:10, Paper MoB-13.6 
 LODM: Large-Scale Online Dense Mapping for UAV

Huang, JianxinZhejiang University
Li, LaijianZhejiang University
Zhao, XiangruiZhejiang University
Lang, XiaoleiZhejiang University
Zhu, DeyeZhejiang University
Liu, YongZhejiang University
15:10-15:20, Paper MoB-13.7 
 Roadside HD Map Object Reconstruction Using Monocular Camera