2022 IEEE/RSJ International Conference on Intelligent Robots and Systems October 23-27, 2022. Kyoto, Japan
  
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Last updated on September 22, 2022. This conference program is tentative and subject to change

Technical Program for Tuesday October 25, 2022

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TuPL Main Hall
Plenary 2: Navigation Robot for the Visually Impaired, -- Chieko Asakawa,
IBM Research, CMU, Miraikan
Plenary session
Chair: Nakauchi, YasushiUniversity of Tsukuba
 
TuA-1 Rm1 (Room A)
Award Session V Regular session
Chair: Matsuno, FumitoshiKyoto University
Co-Chair: Harada, KensukeOsaka University
 
10:00-10:15, Paper TuA-1.1 
 Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
(Finalist for IROS Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi Sponsored by IRSI)

Chiou, ManolisUniversity of Birmingham
Epsimos, Georgios-TheofanisUniversity of Birmingham
Nikolaou, GrigorisUniversity of West Attica
Pappas, PantelisUnivercity of West Attica
Petousakis, GiannisUniversity of Birmingham
Muhl, StefanKerntechnische Hilfdienst GmbH (KHG)
Stolkin, RustamUniversity of Birmingham
 
10:15-10:30, Paper TuA-1.2 
 Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents
(Finalist for IROS Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi Sponsored by IRSI)

Cuniato, EugenioETH Zurich
Lawrance, Nicholas Robert JonathonETH Zürich
Tognon, MarcoETH Zurich
Siegwart, RolandETH Zurich
 
10:30-10:45, Paper TuA-1.3 
 Risk-Aware Motion Planning for Collision-Tolerant Aerial Robots Subject to Localization Uncertainty
(Finalist for IROS Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi Sponsored by IRSI)

De Petris, PaoloNTNU - Norwegian University of Science and Technology
Dharmadhikari, Mihir RahulNTNU - Norwegian University of Science and Technology
Nguyen, HuanNTNU - Norwegian University of Science and Technology
Alexis, KostasNTNU - Norwegian University of Science and Technology
 
10:45-11:00, Paper TuA-1.4 
 A Planning-And-Control Framework for Aerial Manipulation of Articulated Objects
(Finalist for IROS Best Paper Award on Mobile Manipulation Sponsored by OMRON Sinic X Corp.)

Brunner, MaximilianETH Zurich
Rizzi, Giuseppe MariaETH Zurich
Studiger, MatthiasETH Zürich
Siegwart, RolandETH Zurich
Tognon, MarcoETH Zurich
 
11:00-11:15, Paper TuA-1.5 
 Safe Drone Flight with Time-Varying Backup Controllers
(Finalist for IROS Best Paper Award on Safety, Security, and Rescue Robotics in Memory of Motohiro Kisoi Sponsored by IRSI)

Singletary, AndrewCalifornia Institute of Technology
Swann, AidenCaltech
Jimenez Rodriguez, Ivan DarioCalifornia Institute of Technology
Ames, AaronCaltech
 
11:15-11:30, Paper TuA-1.6 
 Mobile Manipulation Leveraging Multiple Views
(Finalist for IROS Best Paper Award on Mobile Manipulation Sponsored by OMRON Sinic X Corp.)

Watkins-Valls, DavidColumbia University
Allen, PeterColumbia University
Maia, HenriqueColumbia University
Seshadri, MadhavanColumbia University in the City of New York
Sanabria, JonathanColumbia University in the City of New York
Waytowich, NicholasUS. Army Research Laboratory
Varley, JacobGoogle
 
TuA-2 Rm2 (Room B-1)
Award Session VI Regular session
Chair: Oh, SehoonDGIST
Co-Chair: von Drigalski, Felix Wolf Hans ErichMujin Inc
 
10:00-10:15, Paper TuA-2.1 
 Safety-Critical Manipulation for Collision-Free Food Preparation
(Finalist for IROS Best Paper Award for Industrial Robotics Research with Real-World Applications Sponsored by Mujin Inc.)

Singletary, AndrewCalifornia Institute of Technology
Guffey, WilliamMiso Robotics
Molnar, Tamas G.California Institute of Technology
Sinnet, RyanMiso Robotics, Inc
Ames, AaronCaltech
 
10:15-10:30, Paper TuA-2.2 
 Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry
(Finalist for IROS Best Paper Award for Industrial Robotics Research with Real-World Applications Sponsored by Mujin Inc.)

Dyck, MichaelInstitute of Robotics and Mechatronics, German Aerospace Center
Sachtler, ArneTechnical University of Munich (TUM)
Klodmann, JulianGerman Aerospace Center
Albu-Schäffer, AlinDLR - German Aerospace Center
 
10:30-10:45, Paper TuA-2.3 
 Soft Tissue Characterisation Using a Novel Robotic Medical Percussion Device with Acoustic Analysis and Neural Networks
(Finalist for IROS Best Application Paper Award Sponsored by ICROS)

Zhang Qiu, PilarImperial College London
Tan, YongxuanImperial College London
Thompson, OliverImperial College London
Cobley, BennetImperial College London
Nanayakkara, ThrishanthaImperial College London
 
10:45-11:00, Paper TuA-2.4 
 Multi-Directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System
(Finalist for IROS Best Application Paper Award Sponsored by ICROS)

Ahmed, HabibUniversity of Nevada Reno
Nguyen, SonUniversity of Nevada, Reno
La, DucUniversity of Nevada, Reno
Le, ChuongUniversity of Oklahoma
La, HungUniversity of Nevada at Reno
 
11:00-11:15, Paper TuA-2.5 
 Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion
(Finalist for IROS Best Application Paper Award Sponsored by ICROS)

Okumura, RyoPanasonic Holdings Corporation
Nishio, NobukiPanasonic Corp
Taniguchi, TadahiroRitsumeikan University
 
TuA-3 Rm3 (Room B-2)
Grasping 4 Regular session
Chair: Watanabe, TetsuyouKanazawa University
Co-Chair: Yu, HaoyongNational University of Singapore
 
10:00-10:10, Paper TuA-3.1 
 Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints

Dong, HuixuZhejiang University
Feng, YueNanyang Technological University
Qiu, ChenNanyang Technological University
Pan, YeSenior Post Doctoral Research Associate, Computer Science, Uiver
He, MiaoChongqing University of Technology
Chen, I-MingNanyang Technological University
 
10:10-10:20, Paper TuA-3.2 
 Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis

Yako, ConnorStanford University
Yuan, ShenliStanford University
Salisbury, KennethStanford University
 
10:20-10:30, Paper TuA-3.3 
 A Novel Human-Safe Robotic Gripper: An Application of a Programmable Permanent Magnet Actuator

Ulagaoozhian, ChandramoulyEcole De Technologie Superieure
Duchaine, VincentEcole De Technologie Superieure
 
10:30-10:40, Paper TuA-3.4 
 The Good Grasp, the Bad Grasp, and the Plateau in Tactile Based Grasp Stability Prediction

Kwiatkowski, JenniferÉcole De Technologie Supérieure
Jolaei, MohammadÉcole De Technologie Supérieure (ÉTS)
Bernier, AlexandreÉcole De Technologie Supérieure
Duchaine, VincentEcole De Technologie Superieure
 
10:40-10:50, Paper TuA-3.5 
 Small Parts, Non-Prehensile Manipulation for Assembly with a Direct-Drive Hand

Gupta, ArnavCarnegie Mellon University
Mao, YueminCarnegie Mellon University
Bhatia, AnkitCarnegie Mellon University
Cheng, XianyiCarnegie Mellon University
King, JonathanThe Robotics Institute, Carnegie Mellon University
Hou, YifanCarnegie Mellon University
Mason, Matthew T.Carnegie Mellon University
 
10:50-11:00, Paper TuA-3.6 
 GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper with Tactile Sensing

Lu, ZeyuNational University of Singapore
Guo, HaotianNational University of Singapore
Zhang, WensiNational University of Singapore
Yu, HaoyongNational University of Singapore
 
11:00-11:10, Paper TuA-3.7 
 Single-Fingered Reconfigurable Robotic Gripper with a Folding Mechanism for Narrow Working Spaces

Nishimura, ToshihiroKanazawa University
Muryoe, TsubasaKanazawa University
Asama, YoshitatsuPanasonic Corporation
Ikeuchi, HirokiPanasonic Corporation
Toshima, RyoPanasonic Corporation
Watanabe, TetsuyouKanazawa University
 
11:10-11:20, Paper TuA-3.8 
 SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

Suh, Hyung Ju TerryMassachusetts Institute of Technology
Kuppuswamy, NaveenToyota Research Institute
Pang, TaoMassachusetts Institute of Technology
Mitiguy, PaulStanford University
Alspach, AlexToyota Research Institute
Tedrake, RussMassachusetts Institute of Technology
 
11:20-11:30, Paper TuA-3.9 
 Elongatable Gripper Fingers with Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation (I)

Yoon, Sohee JohnSeoul National University
Choi, MinsikSeoul National University
Jeong, BominSeoul National University
Park, Yong-LaeSeoul National University
 
TuA-4 Rm4 (Room C-1)
Manipulation Systems 4 Regular session
Chair: Sanfeliu, AlbertoUniversitat Politècnica De Cataluyna
Co-Chair: Klee, DavidNortheastern University
 
10:00-10:10, Paper TuA-4.1 
 Challenges and Outlook in Robotic Manipulation of Deformable Objects (I)

Zhu, JihongTU Delft
Cherubini, AndreaLIRMM - Universite De Montpellier CNRS
Dune, ClaireUniversité De Toulon
Navarro-Alarcon, DavidThe Hong Kong Polytechnic University
Alambeigi, FarshidUniversity of Texas at Austin
Berenson, DmitryUniversity of Michigan
Ficuciello, FannyUniversità Di Napoli Federico II
Harada, KensukeOsaka University
Kober, JensTU Delft
Li, XiangTsinghua University
Pan, JiaUniversity of Hong Kong
Yuan, WenzhenCarnegie Mellon University
Gienger, MichaelHonda Research Institute Europe
 
10:10-10:20, Paper TuA-4.2 
 Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens (I)

Liu, RuishuangOsaka University
Wan, WeiweiOsaka University
Koyama, KeisukeOsaka University
Harada, KensukeOsaka University
 
10:20-10:30, Paper TuA-4.3 
 6D Robotic Assembly Based on RGB-Only Object Pose Estimation

Fu, BowenTsinghua University
Leong, Sek KunTsinghua University
Lian, XiaocongTsinghua University
Ji, XiangyangTsinghua University
 
10:30-10:40, Paper TuA-4.4 
 Context and Intention Aware 3D Human Body Motion Prediction Using an Attention Deep Learning Model in Handover Tasks

Laplaza, JavierUniversitat Politècnica De Catalunya
Moreno-Noguer, FrancescCSIC
Sanfeliu, AlbertoUniversitat Politècnica De Cataluyna
 
10:40-10:50, Paper TuA-4.5 
 Learning a State Estimator for Tactile In-Hand Manipulation

Röstel, LennartGerman Aerospace Center (DLR)
Sievers, LeonGerman Aerospace Center
Pitz, JohannesGerman Aerospace Center
Bäuml, BertholdGerman Aerospace Center (DLR)
 
10:50-11:00, Paper TuA-4.6 
 A Two-Stage Learning Architecture That Generates High-Quality Grasps for a Multi-Fingered Hand

Winkelbauer, DominikDLR
Bäuml, BertholdGerman Aerospace Center (DLR)
Humt, MatthiasGerman Aerospace Center (DLR), Technical University Munich (TUM)
Thuerey, NilsTechnical University Munich
Triebel, RudolphGerman Aerospace Center (DLR)
 
11:00-11:10, Paper TuA-4.7 
 Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks

Klee, DavidNortheastern University
Biza, OndrejCzech Technical University in Prague
Platt, RobertNortheastern University
 
11:10-11:20, Paper TuA-4.8 
 Scene Editing As Teleoperation: A Case Study in 6DoF Kit Assembly

Li, YulongColumbia University
Agrawal, ShubhamColumbia University
Liu, Jen-ShuoColumbia University
Feiner, StevenColumbia University
Song, ShuranColumbia University
 
11:20-11:30, Paper TuA-4.9 
 On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection

Stephan, BenedictIlmenau University of Technology
Aganian, DustinUniversity of Technology Ilmenau
Hinneburg, LarsIlmenau University of Technology
Eisenbach, MarkusIlmenau University of Technology
Mueller, SteffenIlmenau University of Technology
Gross, Horst-MichaelIlmenau University of Technology
 
TuA-5 Rm5 (Room C-2)
Navigation Systems 3 Regular session
Chair: Nagatani, KeijiThe University of Tokyo
Co-Chair: Ohno, KazunoriTohoku University
 
10:00-10:10, Paper TuA-5.1 
 A Unified MPC Design Approach for AGV Path Following

Kokot, MirkoUniversity of Zagreb
Miklic, DamjanRomb Technologies
Petrovic, TamaraUniv. of Zagreb
 
10:10-10:20, Paper TuA-5.2 
 GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles

Lee, YeongseokKorea Advanced Institute of Science and Technology
Cho, MinsuKorea Advanced Institute of Science and Techonology
Kim, Kyung-SooKAIST(Korea Advanced Institute of Science and Technology)
 
10:20-10:30, Paper TuA-5.3 
 RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving

Ha, TimothySeoul National University
Oh, JeongwooSeoul National University
Chung, HojunSeoul National University
Lee, GunminSeoul National University
Oh, SonghwaiSeoul National University
 
10:30-10:40, Paper TuA-5.4 
 Sem-Aug: Improving Camera-LiDAR Feature Fusion with Semantic Augmentation for 3D Vehicle Detection

Zhao, LinSchool of Automation, Beijing Institute of Technology
Wang, MeilingBeijing Institute of Technology
Yue, YufengBeijing Institute of Technology
 
10:40-10:50, Paper TuA-5.5 
 P2EG: Prediction and Planning Integrated Robust Decision-Making for Automated Vehicle Negotiating in Narrow Lane with Explorative Game

Zhang, QianyiNankai University
Li, XiaoMeituan Group
He, EthanMeituan Group
Ding, ShuguangMeituan Group
Wang, NaizhengMeituan Group
Liu, JingtaiNankai University
 
10:50-11:00, Paper TuA-5.6 
 Visual Mapping and Localization System Based on Compact Instance-Level Road Markings with Spatial Uncertainty

Zhou, YuxuanWuhan University
Li, XingxingWuhan University
Li, ShengyuWuhan University
Wang, XuanbinWuhan University
 
11:00-11:10, Paper TuA-5.7 
 Motion Planning for HyTAQs: A Topology-Guided Unified NMPC Approach

Wu, TongHarbin Institute of Technology
Zhu, YiminHarbin Institute of Technology
Zhang, LixianHarbin Institute of Technology
Yang, JiananHarbin Institute of Technology
Ding, YihangHarbin Institute of Technology
 
11:10-11:20, Paper TuA-5.8 
 SEAN 2.0: Formalizing and Generating Social Situations for Robot Navigation

Tsoi, NathanYale University
Xiang, AlecYale University
Yu, PeterYale University
Sohn, SamuelRutgers University
Schwartz, GregYale University
Ramesh, SubashriYale University
Hussein, MohamedRutgers University-Camden
Gupta, AnjaliYale University
Kapadia, MubbasirRutgers University
Vázquez, MarynelYale University
 
TuA-6 Rm6 (Room D)
SLAM 4 Regular session
Chair: Mangelson, JoshuaBrigham Young University
Co-Chair: Pomerleau, FrancoisUniversité Laval
 
10:00-10:10, Paper TuA-6.1 
 Group-K Consistent Measurement Set Maximization for Robust Outlier Detection

Forsgren, BrendonBrigham Young University
Vasudevan, RamUniversity of Michigan
Kaess, MichaelCarnegie Mellon University
McLain, T.W.Brigham Young University
Mangelson, JoshuaBrigham Young University
 
10:10-10:20, Paper TuA-6.2 
 Floorplan-Aware Camera Poses Refinement

Sokolova, AnnaSamsung AI Center, Moscow
Nikitin, FilippSamsung Research
Vorontsova, AnnaSamsung AI Center, Moscow
Konushin, AntonSamsung AI Center Moscow
 
10:20-10:30, Paper TuA-6.3 
 MOTSLAM: MOT-Assisted Monocular Dynamic SLAM Using Single-View Depth Estimation

Zhang, HanweiKyushu University
Uchiyama, HideakiNara Institute of Science and Technology
Ono, ShintaroThe University of Tokyo
Kawasaki, HiroshiKyushu University
 
10:30-10:40, Paper TuA-6.4 
 Gravity-Constrained Point Cloud Registration

Kubelka, VladimirÖrebro University
Vaidis, MaximeUniversité Laval
Pomerleau, FrancoisUniversité Laval
 
10:40-10:50, Paper TuA-6.5 
 When Geometry Is Not Enough: Using Reflector Markers in Lidar SLAM

Kurz, GerhardRobert Bosch GmbH
Scherer, Sebastian AndreasRobert Bosch GmbH
Biber, PeterRobert Bosch GmbH
Fleer, DavidBosch Rexroth AG
 
10:50-11:00, Paper TuA-6.6 
 LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time 3D Mapping

Reinke, AndrzejUniversity of Bonn
Palieri, MatteoPolytechnic University of Bari
Morrell, BenjaminJet Propulsion Laboratory, California Institute of Technology
Chang, YunMIT
Ebadi, KamakNASA Jet Propulsion Laboratory
Carlone, LucaMassachusetts Institute of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
 
11:00-11:10, Paper TuA-6.7 
 The Hilti SLAM Challenge Dataset

Helmberger, MichaelHILTI AG
Morin, KristianHILTI AG
Berner, BedaHilti AG
Kumar, NitishETH Zurich
Cioffi, GiovanniUniversity of Zurich
Scaramuzza, DavideUniversity of Zurich
 
11:10-11:20, Paper TuA-6.8 
 Photometric Single-View Dense 3D Reconstruction in Endoscopy

Batlle, Victor M.I3A. Universidad De Zaragoza
Montiel, J.M.MI3A. Universidad De Zaragoza
Tardos, Juan D.Universidad De Zaragoza
 
11:20-11:30, Paper TuA-6.9 
 Continuous-Time Stereo-Inertial Odometry

Hug, DavidETH Zurich
Bänninger, PhilippETH Zurich
Alzugaray, IgnacioETH Zürich
Chli, MargaritaETH Zurich
 
TuA-7 Rm7 (Room E)
Virtual Reality and Interfaces Regular session
Chair: Kovac, MirkoImperial College London
Co-Chair: Fukui, RuiThe University of Tokyo
 
10:00-10:10, Paper TuA-7.1 
 Immersive View and Interface Design for Teleoperated Aerial Manipulation

Kocer, Basaran BahadirImperial College London
Stedman, HarveyUniversity College London
Caves, IzaakImperial College London
Van Zalk, NejraImperial College London
Pawar, Vijay ManoharUniversity College London
Kovac, MirkoImperial College London
 
10:10-10:20, Paper TuA-7.2 
 WFH-VR: Teleoperating a Robot Arm to Set a Dining Table across the Globe Via Virtual Reality

Yim, Lai SumNational Yang Ming Chiao Tung University
Vo, QuangGeorge Mason University
Huang, Ching-INational Chiao Tung University
Wang, Chu-RueiNational Yang Ming Chiao Tung University
McQueary, WrenGeorge Mason University
Wang, Hsueh-ChengNational Yang Ming Chiao Tung University, Taiwan
Huang, HaikunGeorge Mason University
Yu, Lap-FaiGeorge Mason University
 
10:20-10:30, Paper TuA-7.3 
 A Deep Learning Technique As a Sensor Fusion for Enhancing the Position in a Virtual Reality Micro-Environment

Prieto Prada, JohnDGIST
Luna, MiguelDGIST
Park, Sang HyunDGIST
Song, CheolDGIST
 
10:30-10:40, Paper TuA-7.4 
 A Wearable Multi-Joint Wrist Contour Measuring Device for Hand Shape Recognition

Mitani, TatsuroThe University of Tokyo
Okishiba, ShunsukeThe University of Tokyo
Tateyama, NaokiThe University of Tokyo
Yamanojo, KoshiThe University of Tokyo
Warisawa, Shin'ichiThe University of Tokyo
Fukui, RuiThe University of Tokyo
 
10:40-10:50, Paper TuA-7.5 
 A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation

Minelli, MarcoUniversity of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena & Reggio Emilia
 
10:50-11:00, Paper TuA-7.6 
 Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery

Iqbal, HishamImperial College London
Rodriguez y Baena, FerdinandoImperial College, London, UK
 
11:00-11:10, Paper TuA-7.7 
 Detecting Touch and Grasp Gestures Using a Wrist-Worn Optical and Inertial Sensing Network

Cofer, SavannahStanford University
Chen, TylerStanford University
Yang, Jackie (Junrui)Stanford University
Follmer, SeanStanford University
 
11:10-11:20, Paper TuA-7.8 
 Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments

Li, ZhengFudan University
Huang, YimingHKUST
Yau, Yui-PanThe Hong Kong University of Science and Technology
Hui, PanHong Kong University of Science and Technology
Lee, Lik-HangKAIST
 
11:20-11:30, Paper TuA-7.9 
 Learning with Yourself: A Tangible Twin Robot System to Promote STEM Education

Gao, JiasiTsinghua University
Gong, JiangtaoLenovo Research
Zhou, GuyueTsinghua University
Guo, HaoleTsinghua University
Qi, TongTsinghua University
 
TuA-8 Rm8 (Room F)
Tendon Driven Mechanisms Regular session
Chair: Tahara, KenjiKyushu University
Co-Chair: Hawkes, Elliot WrightUniversity of California, Santa Barbara
 
10:00-10:10, Paper TuA-8.1 
 Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag

Allak, ErenUniversity of Klagenfurt
Khorrambakht, RoohollaK. N. Toosi University of Technology
Brommer, ChristianUniversity of Klagenfurt
Weiss, StephanUniversität Klagenfurt
 
10:10-10:20, Paper TuA-8.2 
 End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy

Tsuboi, ShokiKyushu University
Kino, HitoshiChukyo University
Tahara, KenjiKyushu University
 
10:20-10:30, Paper TuA-8.3 
 Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions

Zou, YongweiHarbin Institute of Technology, Shenzhen
Hu, YushengHarbin Institute of Technology, Shenzhen
Cao, HuanhuiHarbin Institute of Technology
Xu, YuchenHarbin Institute of Technology(Shenzhen)
Yu, YuanjieHarbin Institute of Technology, Shenzhen
Lu, WenjieHarbin Institute of Technology (Shenzhen)
Xiong, HaoHarbin Institute of Technology, Shenzhen
 
10:30-10:40, Paper TuA-8.4 
 Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots

Heap, WilliamUniversity of California, Santa Barbara
Keeley, ChristopherUniversity of California, Santa Barbara
Yao, ElvyUniversity of California, Santa Barbara
Naclerio, NicholasUniversity of California, Santa Barbara
Hawkes, Elliot WrightUniversity of California, Santa Barbara
 
10:40-10:50, Paper TuA-8.5 
 RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping

Suzuki, TemmaThe University of Tokyo
Toshimitsu, YasunoriUniversity of Tokyo
Nagamatsu, YuyaThe University of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Miki, AkihiroThe University of Tokyo
Ribayashi, YoshimotoJSK Robotics Lab
Bando, MasahiroThe University of Tokyo
Kojima, KunioThe University of Tokyo
Kakiuchi, YoheiToyohashi University of Technology
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:50-11:00, Paper TuA-8.6 
 Workspace-Based Model Predictive Control for Cable-Driven Robots (I)

Song, ChenThe Chinese University of Hong Kong
Lau, DarwinThe Chinese University of Hong Kong
 
11:00-11:10, Paper TuA-8.7 
 Dexterity Analysis and Motion Optimization of In-Situ Torsionally-Steerable Flexible Surgical Robots

Kong, YixuanHarbin Institute of Technology, Shenzhen
Wang, JiaoleHarbin Institute of Technology, Shenzhen
Zhang, NingHarbin Institute of Technology, Shenzhen
Song, ShuangHarbin Institute of Technology (Shenzhen)
Li, BingHarbin Institute of Technology (Shenzhen)
 
TuA-9 Rm9 (Room G)
Planning under Uncertainty Regular session
Chair: Zhang, YunzhouNortheastern University
Co-Chair: Bezzo, NicolaUniversity of Virginia
 
10:00-10:10, Paper TuA-9.1 
 Meta-Learning-Based Proactive Online Planning for UAVs under Degraded Conditions

Gao, ShijieUniversity of Virginia
Yel, EsenStanford University
Bezzo, NicolaUniversity of Virginia
 
10:10-10:20, Paper TuA-9.2 
 Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs

Phiquepal, CamilleUniversity of Stuttgart
Orthey, AndreasTU Berlin
Toussaint, MarcTU Berlin
 
10:20-10:30, Paper TuA-9.3 
 Object-Aware SLAM Based on Efficient Quadric Initialization and Joint Data Association

Cao, ZhenzhongNortheastern University
Zhang, YunzhouNortheastern University
Tian, RuiNortheastern University
Ma, RongBeijing Simulation Center
Hu, XinggangNortheastern University
Coleman, SonyaUniversity of Ulster
Kerr, DermotUniversity of Ulster
 
10:30-10:40, Paper TuA-9.4 
 Accelerated Reinforcement Learning for Temporal Logic Control Objectives

Kantaros, YiannisWashington University in St. Louis
 
10:40-10:50, Paper TuA-9.5 
 Smooth Model Predictive Path Integral Control without Smoothing

Kim, TaekyungAgency for Defense Development
Park, GyuhyunAgency for Defense Development(ADD)
Kwak, KihoAgency for Defense Development
Bae, JihwanAgency for Defense Development
Lee, WonsukAgency for Defense Development
 
10:50-11:00, Paper TuA-9.6 
 Monte-Carlo Robot Path Planning

Dam, TuanTechnische Universität Darmastadt
Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems
Peters, JanTechnische Universität Darmstadt
Pajarinen, JoniAalto University
 
11:00-11:10, Paper TuA-9.7 
 Qualitative Belief Space Planning Via Compositions

Zilberman, ItaiTechnion
Indelman, VadimTechnion - Israel Institute of Technology
 
11:10-11:20, Paper TuA-9.8 
 Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning

Thomason, WilliamRice University
Strub, Marlin PoloNASA Jet Propulsion Laboratory
Gammell, JonathanUniversity of Oxford
 
11:20-11:30, Paper TuA-9.9 
 Generalizable Task Planning through Representation Pretraining

Wang, ChenStanford University
Xu, DanfeiStanford Univesity
Fei-Fei, LiStanford University
 
TuA-10 Rm10 (Room H)
Robot Safety Regular session
Chair: Elara, Mohan RajeshSingapore University of Technology and Design
Co-Chair: Biswas, SwagataTCS Research
 
10:00-10:10, Paper TuA-10.1 
 An Analytical Study of Motion of Autonomous Vehicles under Imperfect Sensing

Biswas, SwagataTCS Research
Paul, Himadri SekharTCS Research
Bagchi, SaurabhPurdue University
 
10:10-10:20, Paper TuA-10.2 
 Adhesion Risk Assessment of an Aircraft Inspection Robot for Improving Operator Awareness

Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
Vega-Heredia, ManuelSingapore University of Technology and Design & Universidad Autó
Nay, Htet LinDepartment of Engineering Product Development, Singapore Univers
Samarakoon Mudiyanselage, Bhagya Prasangi SamarakoonSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
 
10:20-10:30, Paper TuA-10.3 
 How Do We Fail? Stress Testing Perception in Autonomous Vehicles

Delecki, HarrisonStanford University
Itkina, MashaStanford University
Lange, BernardStanford University
Senanayake, RansaluStanford University
Kochenderfer, MykelStanford University
 
10:30-10:40, Paper TuA-10.4 
 HiddenGems: Efficient Safety Boundary Detection with Active Learning

Petrov, AleksandarUniversity of Oxford
Fang, CarterETH Zurich
Pham, Minh KhangMotional
Eng, You HongFuture Urban Mobility, Singapore-MIT Alliance for Research and T
Fu, James Guo MingNuTonomy
Pendleton, Scott DrewMotional
 
10:40-10:50, Paper TuA-10.5 
 Enpheeph: A Fault Injection Framework for Spiking and Compressed Deep Neural Networks

Colucci, AlessioTU Wien
Steininger, AndreasTU Wien
Shafique, MuhammadNew York University Abu Dhabi
 
10:50-11:00, Paper TuA-10.6 
 Continuous Safety Control of a Mobile Robot in Cluttered Environments

Wu, SiNortheastern University, China
Liu, TengfeiNortheastern University, China
Niu, QinglinNortheastern University, China
Jiang, Zhong-PingNew York University
 
11:00-11:10, Paper TuA-10.7 
 Dependability Analysis of Deep Reinforcement Learning Based Robotics and Autonomous Systems through Probabilistic Model Checking

Dong, YiUniversity of Liverpool
Zhao, XingyuUniversity of Liverpool
Huang, XiaoweiUniversity of Liverpool
 
11:10-11:20, Paper TuA-10.8 
 On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots

Weng, BowenThe Ohio State University
Castillo, GuillermoThe Ohio State University
Zhang, WeiSouthern University of Science and Technology
Hereid, AyongaOhio State University
 
11:20-11:30, Paper TuA-10.9 
 Semi-Perspective Decoupled Heatmaps for 3D Robot Pose Estimation from Depth Maps

Simoni, AlessandroUniversity of Modena and Reggio Emilia
Pini, StefanoUniversity of Modena and Reggio Emilia
Borghi, GuidoUniversity of Bologna
Vezzani, RobertoUniversity of Modena and Reggio Emilia
 
TuA-11 Rm11 (Room I)
Human and Humanoid Motion Analysis and Synthesis Regular session
Chair: Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
10:00-10:10, Paper TuA-11.1 
 Understanding Spatio-Temporal Relations in Human-Object Interaction Using Pyramid Graph Convolutional Network

Xing, HaoTechnical University of Munich (TUM)
Burschka, DariusTechnische Universitaet Muenchen
 
10:10-10:20, Paper TuA-11.2 
 Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-Like Walking in a Bipedal Robot

Kiss, BernadettMax Planck Institute for Intelligent Systems
Gonen, Emre CemalMax Planck Institute for Intelligent Systems
Mo, AnMPI IS Stuttgart
Buchmann, AlexandraTechnical University of Munich
Renjewski, DanielTechnische Universität München
Badri-Spröwitz, AlexanderMax Planck Institute for Intelligent Systems
 
10:20-10:30, Paper TuA-11.3 
 A Riemannian Take on Human Motion Analysis and Retargeting

Klein, HolgerKarlsruhe Institute of Technology
Jaquier, NoémieKarlsruhe Institute of Technology
Meixner, AndreKarlsruhe Institute of Technology (KIT)
Asfour, TamimKarlsruhe Institute of Technology (KIT)
 
10:30-10:40, Paper TuA-11.4 
 Human-To-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP

Reithmeir, AnnaTechnical University of Munich
Figueredo, Luis Felipe CruzTechnical University of Munich (TUM)
Haddadin, SamiTechnical University of Munich
 
10:40-10:50, Paper TuA-11.5 
 From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps

Verhagen, Joris Petrus MartinusDelft University of Technology
Xiong, XiaobinCalifornia Institute of Technology
Ames, AaronCaltech
Seth, AjayDelft University of Technology
 
10:50-11:00, Paper TuA-11.6 
 End-To-End from Human Hand Synergies to Robot Hand Tendon Routing

Hidalgo Carvajal, Diego XavierTechnical University of Munich
Herneth, ChristopherTechnical University Munich
Naceri, AbdeldjallilTUM
Haddadin, SamiTechnical University of Munich
 
11:00-11:10, Paper TuA-11.7 
 A Centaur System for Assisting Human Walking with Load Carriage

Yang, PingSouthern University of Science and Technology
Yan, HaoyunSouthern University of Science and Technology
Yang, BowenSouthern University of Science and Technology
Li, JianquanDepartment of Mechanical and Energy Engineering, Southern Univer
Li, KailinDepartment of Mechanical and Energy Engineering, Southern Univer
Leng, YuquanSouthern University of Science and Technology
Fu, ChenglongSouthern University of Science and Technology (SUSTech)
 
11:10-11:20, Paper TuA-11.8 
 Construction of a Simulator to Reproduce the Changes of Running by Motion Strategy with Spring-Loaded Inverted Pendulum Model

Kitagawa, MasakiHokkaido University
Tanaka, TakayukiHokkaido University
Murai, AkihikoThe National Institute of Advanced Industrial Science and Techno
 
11:20-11:30, Paper TuA-11.9 
 Koopman Pose Predictions for Temporally Consistent Human Walking Estimations

Mitjans, MarcBoston University
Levine, David MichaelBrigham and Women's Hospital
Awad, LouisHarvard University
Tron, RobertoBoston University
 
TuA-12 Rm12 (Room J)
Vision Regular session
Chair: Yamashita, AtsushiThe University of Tokyo
Co-Chair: Wang, XiaolongUC San Diego
 
10:00-10:10, Paper TuA-12.1 
 LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes

Alt, BenjaminArtiMinds Robotics
Kunz, ChristianKarlsruhe Institute of Technology
Katic, DarkoKarlsruhe Institute for Technology (KIT)
Younis, RayanHeidelberg University
Jäkel, RainerKarlsruhe Institute of Technology
Müller-Stich, BeatUniversity Hospital Heidelberg, Department of Surgery
Wagner, MartinHeidelberg University Hospital
Mathis-Ullrich, FranziskaKarlsruhe Institute of Technology
 
10:10-10:20, Paper TuA-12.2 
 Ego+X: An Egocentric Vision System for Global 3D Human Pose Estimation and Social Interaction Characterization

Liu, YuxuanShanghai Jiao Tong University
Yang, JianxinShanghai Jiao Tong University
Gu, XiaoImperial College London
Guo, YaoShanghai Jiao Tong University
Yang, Guang-ZhongShanghai Jiao Tong University
 
10:20-10:30, Paper TuA-12.3 
 Tracking Monocular Camera Pose and Deformation for SLAM Inside the Human Body

Gomez Rodriguez, Juan JoseUniversity of Zaragoza
Montiel, J.M.MI3A. Universidad De Zaragoza
Tardos, Juan D.Universidad De Zaragoza
 
10:30-10:40, Paper TuA-12.4 
 Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery

Chiu, Zih-YunUniversity of California, San Diego
Liao, AlbertUniversity of California, San Diego
Richter, FlorianUniversity of California, San Diego
Johnson, BjornUniversity of California, San Diego
Yip, Michael C.University of California, San Diego
 
10:40-10:50, Paper TuA-12.5 
 Monocular Depth Estimation for Equirectangular Videos

Fraser, HelmiEdinburgh Centre for Robotics, Heriot-Watt University
Wang, SenEdinburgh Centre for Robotics, Heriot-Watt University
 
10:50-11:00, Paper TuA-12.6 
 Visual Servoing with Geometrically Interpretable Neural Perception

Paolillo, AntonioIDSIA USI-SUPSI
Nava, MirkoIDSIA
Piga, DarioSUPSI-IDSIA
Giusti, AlessandroIDSIA Lugano, SUPSI
 
11:00-11:10, Paper TuA-12.7 
 Online Adaptation for Implicit Object Tracking and Shape Reconstruction in the Wild

Ye, JianglongUC San Diego
Chen, YuntaoTuSimple
Wang, NaiyanTuSimple
Wang, XiaolongUC San Diego
 
11:10-11:20, Paper TuA-12.8 
 DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Association

Wang, XiyangChongqing University
Fu, ChunyunChongqing University
Li, ZhankunChongqing University
Lai, YingGuangdong Songshan Polytechnic
He, JiaweiChongqing University
 
11:20-11:30, Paper TuA-12.9 
 EV-Catcher: High Speed Object Catching Using Low-Latency Event-Based Neural Networks

Wang, ZiyunUniversity of Pennsylvania
Cladera Ojeda, FernandoUniversity of Pennsylvania
Bisulco, AnthonySamsung
Lee, DaewonSamsung AI Center New York
Taylor, Camillo JoseUniversity of Pennsylvania
Daniilidis, KostasUniversity of Pennsylvania
Hsieh, M. AniUniversity of Pennsylvania
Lee, DanielCornell Tech
Isler, VolkanUniversity of Minnesota
 
TuA-13 Rm13 (Room K)
Mapping 4 Regular session
Chair: Ghaffari, MaaniUniversity of Michigan
Co-Chair: Ewen, ParkerUniversity of Michigan
 
10:00-10:10, Paper TuA-13.1 
 Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction

Pan, YueETH Zurich
Kompis, YvesETH Zürich
Bartolomei, LucaETH Zurich
Mascaro Palliser, RubenETH Zurich
Stachniss, CyrillUniversity of Bonn
Chli, MargaritaETH Zurich
 
10:10-10:20, Paper TuA-13.2 
 3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation

Tao, YifuUniversity of Oxford
Popovic, MarijaUniversity of Bonn
Wang, YiduoUniversity of Oxford
Digumarti, Sundara TejaswiUniversity of Oxford
Chebrolu, NivedUniversity of Oxford
Fallon, MauriceUniversity of Oxford
 
10:20-10:30, Paper TuA-13.3 
 Scalable Fiducial Tag Localization on a 3D Prior Map Via Graph-Theoretic Global Tag-Map Registration

Koide, KenjiNational Institute of Advanced Industrial Science and Technology
Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Banno, AtsuhikoNational Instisute of Advanced Industrial Science and Technology
 
10:30-10:40, Paper TuA-13.4 
 These Maps Are Made for Walking: Real-Time Terrain Property Estimation for Mobile Robots

Ewen, ParkerUniversity of Michigan
Li, AdamUniversity of Michigan
Chen, YuxinUniversity of Michigan
Hong, StevenUniversity of Michigan
Vasudevan, RamUniversity of Michigan
 
10:40-10:50, Paper TuA-13.5 
 MapLite 2.0: Online HD Map Inference Using a Prior SD Map

Ort, TeddyMassachusetts Institute of Technology
Walls, JeffreyUniversity of Michigan
Parkison, StevenUniversity of Michigan
Gilitschenski, IgorUniversity of Toronto
Rus, DanielaMIT
 
10:50-11:00, Paper TuA-13.6 
 Towards High-Definition Maps: A Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity

Manninen, Petri JuhaniFinnish Geospatial Research Institute
Hyyti, Heikki SakariFinnish Geospatial Research Institute FGI, National Land Survey
Kyrki, VilleAalto University
Maanpää, Jyri SakariDepartment of Remote Sensing and Photogrammetry, Finnish Geospat
Taher, JosefAalto University
Hyyppä, JuhaFinnish Geospatial Research Institute
 
11:00-11:10, Paper TuA-13.7 
 Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments from Occupancy Grid Maps

Luperto, MatteoUniversità Degli Studi Di Milano
Kucner, Tomasz PiotrAalto University
Tassi, AndreaPolitecnico Di Milano
Magnusson, MartinÖrebro University
Amigoni, FrancescoPolitecnico Di Milano
 
11:10-11:20, Paper TuA-13.8 
 Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM

Jeon, JinwooKAIST
Lim, HyunjunKorea Advanced Institute of Science and Technology
Seo, Dong-UkKorea Advanced Institute of Science and Technology
Myung, HyunKAIST (Korea Advanced Institute of Science and Technology)
 
11:20-11:30, Paper TuA-13.9 
 MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments

Wilson, JosephUniversity of Michigan
Song, JingyuUniversity of Michigan
Fu, YueweiUniversity of Michigan
Zhang, ArthurUniversity of Michigan
Capodieci, AndrewNeya Robotics
Jayakumar, ParamsothyU.S. Army DEVCOM Ground Vehicle Systems Center
Barton, KiraUniversity of Michigan at Ann Arbor
Ghaffari, MaaniUniversity of Michigan
 
TuA-14 Rm14 (Room 501)
Soft Robot Materials and Design 1 Regular session
Chair: Legrand, JulieVUB
Co-Chair: Coad, Margaret M.University of Notre Dame
 
10:00-10:10, Paper TuA-14.1 
 Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception

Zhen, RuichenHarbin Institute of Technology
Jiang, LiHarbin Institute of Technology
 
10:10-10:20, Paper TuA-14.2 
 Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces

Badillo, NelsonUniversity of Notre Dame
Coad, Margaret M.University of Notre Dame
 
10:20-10:30, Paper TuA-14.3 
 A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Free-Form Shapes

Wang, SichengPurdue University
Blumenschein, LauraPurdue University
 
10:30-10:40, Paper TuA-14.4 
 A Multi-Segmented Soft Finger Using Snap-Through Instability of a Soft Valve with a Slit

Park, TongilKorea Institute of Medical Microrobotics
Choi, EunpyoChonnam National University
Kim, Chang-SeiChonnam National University
Park, Jong-ohChonnam National University
Hong, AyoungChonnam National University
 
10:40-10:50, Paper TuA-14.5 
 Deformation-Driven Closed-Chain Soft Mobile Robot Aimed for Rolling and Climbing Locomotion

Johnsen, Luka PaulTokyo Institute of Technology
Tsukagoshi, HideyukiTokyo Institute of Technology
 
10:50-11:00, Paper TuA-14.6 
 Soft, Multi-Layer, Disposable, Kirigami Based Robotic Grippers: On Handling of Delicate, Contaminated, and Everyday Objects

Buzzatto, JoaoThe University of Auckland
Shahmohammadi, MojtabaUniversity of Auckland
Liang, JunBangThe University of Auckland
Sanches, Felipe PadulaUniversity of Auckland
Matsunaga, SaoriMitsubishi Electric Corporation
Haraguchi, RintaroMitsubishiElectric Corp
Mariyama, ToshisadaMitsubishi Electric Corporation
MacDonald, BruceUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
11:00-11:10, Paper TuA-14.7 
 Topology Optimized Multi-Material Self-Healing Actuator with Reduced Out of Plane Deformation

Wang, ZhanweiVrije Universiteit Brussel
Terryn, SeppeVrije Universiteit Brussel (VUB)
Legrand, JulieVUB
Ferrentino, PasqualeVrije Universiteit Brussels
Kashef Tabrizian, SeyedrezaVrije Universiteit Brussel
Brancart, JoostVrije Universiteit Brussel (VUB)
Roels, EllenVrije Universiteit Brussel
Van Assche, GuyVrije Universiteit Brussel (VUB)
Vanderborght, BramVrije Universiteit Brussel
 
11:10-11:20, Paper TuA-14.8 
 Performance Evaluation for Braided McKibben Pneumatic Actuators in Telescopic Nested Structure

Kadir, RaihanStudent
Mohd Faudzi, Ahmad `AthifUniversiti Teknologi Malaysia
Abdul Rahman, Mohd AziziMalaysia-Japan International Institute of Technology
 
11:20-11:30, Paper TuA-14.9 
 Energy-Efficient Tunable-Stiffness Soft Robots Using Second Moment of Area Actuation

Micklem, LeoUniversity of Southampton
Weymouth, GabrielUniversity of Southampton
Thornton, BlairUniversity of Southampton
 
TuA-15 Rm15 (Room 509)
Localization 4 Regular session
Chair: Nelson, Bradley J.ETH Zurich
Co-Chair: Suzuki, TaroChiba Institute of Technology
 
10:00-10:10, Paper TuA-15.1 
 Acoustic Localization and Communication Using a MEMS Microphone for Low-Cost and Low-Power Bio-Inspired Underwater Robots

Hinduja, AkshayCarnegie Mellon University
Ohm, YunsikCarnegie Mellon Univesity
Liao, JiaheCarnegie Mellon University
Majidi, CarmelCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
10:10-10:20, Paper TuA-15.2 
 Using Magnetic Fields to Navigate and Simultaneously Localize Catheters in Endoluminal Environments

Fischer, CedricETH Zurich
Boehler, QuentinETH Zurich
Nelson, Bradley J.ETH Zurich
 
10:20-10:30, Paper TuA-15.3 
 Robust Slip-Aware Fusion for Mobile Robots State Estimation

Hashemi, EhsanUniversity of Alberta
He, XingkangUniversity of Notre Dame
Johansson, Karl H.Royal Institute of Technology
 
10:30-10:40, Paper TuA-15.4 
 Highly-Efficient Binary Neural Networks for Visual Place Recognition

Ferrarini, BrunoUniverstiy of Essex
Milford, Michael JQueensland University of Technology
McDonald-Maier, KlausUniversity of Essex
Ehsan, ShoaibUniversity of Essex
 
10:40-10:50, Paper TuA-15.5 
 GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation

Suzuki, TaroChiba Institute of Technology
 
10:50-11:00, Paper TuA-15.6 
 Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

Huai, ZhengUniversity of Delaware
Huang, GuoquanUniversity of Delaware
 
11:00-11:10, Paper TuA-15.7 
 Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?

Burnett, KeenanUniversity of Toronto
Wu, YuchenUniversity of Toronto
Yoon, David JunyUniversity of Toronto
Schoellig, Angela P.University of Toronto
Barfoot, TimothyUniversity of Toronto
 
11:10-11:20, Paper TuA-15.8 
 Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments

Zhang, HaomingRWTH Aachen University
Xia, XiaoInstitute of Automatic Control, RWTH Aachen University
Nitsch, MaximilianInstitute of Automatic Control, RWTH Aachen University
Abel, DirkRWTH Aachen University
 
11:20-11:30, Paper TuA-15.9 
 Maintaining Robot Localizability with Bayesian Cramer-Rao Lower Bounds

Cano, JustinPolytechnique Montréal
Chauffaut, CorentinUniversité De Toulouse
Chaumette, EricUniversity of Toulouse/Isae-Supaero
Pages, GaëlISAE-SUPAERO
Le Ny, JeromePolytechnique Montreal
 
TuA-16 Rm16 (Room 510)
Reinforcement Learning 3 Regular session
Co-Chair: Kobayashi, TaisukeNational Institute of Informatics
 
10:00-10:10, Paper TuA-16.1 
 Safe Reinforcement Learning Using Black-Box Reachability Analysis

Selim, MahmoudAin Shams University
Alanwar, AmrKTH Royal Institute of Technology
Kousik, ShreyasStanford University
Gao, GraceStanford University
Pavone, MarcoStanford University
Johansson, Karl H.Royal Institute of Technology
 
10:10-10:20, Paper TuA-16.2 
 Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies

Lee, Jeong-HoonYonsei Univ
Choi, JongeunYonsei University
 
10:20-10:30, Paper TuA-16.3 
 Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization

Imai, Chieko SarahUniversity of California San Diego
Zhang, MinghaoTsinghua University
Zhang, YuchenUniversity Od California, San Diego
Kierebinski, MarcinUniversity of California, San Diego
Yang, RuihanUC San Diego
Qin, YuzheUCSD
Wang, XiaolongUC San Diego
 
10:30-10:40, Paper TuA-16.4 
 Temporal Logic Guided Meta Q-Learning of Multiple Tasks

Zhang, HaoUniversity of Science and Technology of China
Kan, ZhenUniversity of Science and Technology of China
 
10:40-10:50, Paper TuA-16.5 
 Model-Free Neural Lyapunov Control for Safe Robot Navigation

Xiong, ZikangPurdue University
Eappen, Joe KurianPurdue University
Qureshi, Ahmed H.Purdue University
Jagannathan, SureshPurdue University
 
10:50-11:00, Paper TuA-16.6 
 Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk

Kim, DohyeongSeoul National University
Oh, SonghwaiSeoul National University
 
11:00-11:10, Paper TuA-16.7 
 Variable Impedance Skill Learning for Contact-Rich Manipulation

Yang, QuantaoOrebro University
Dürr, AlexanderLund University
Topp, Elin AnnaLund University - LTH
Stork, Johannes A.Orebro University
Stoyanov, TodorÖrebro University
 
11:10-11:20, Paper TuA-16.8 
 Source Term Estimation Using Deep Reinforcement Learning with Gaussian Mixture Model Feature Extraction for Mobile Sensors

Park, MinkyuUNIST (Ulsan National Institute of Science and Technology)
Ladosz, PawelUNIST
Oh, HyondongUNIST
 
11:20-11:30, Paper TuA-16.9 
 Autonomous Learning of Page Flipping Movements Via Tactile Feedback (I)

Zheng, YiUniversity of California, Los Angeles
Veiga, Filipe FernandesMIT
Peters, JanTechnische Universität Darmstadt
Santos, Veronica J.University of California, Los Angeles
 
TuA-17 Rm17 (Room 553)
Climbing and Wheeled Robots Regular session
Chair: Nadan, PaulCarnegie Mellon University
Co-Chair: Mashimo, TomoakiOkayama University
 
10:00-10:10, Paper TuA-17.1 
 Magnetic Field Modeling of Linear Halbach Array for Wall-Climbing Robot Based on Radial Basis Function Neural Network

Liu, XiaofeiShenzhen Institute of Advanced Technology, Chinese Academy of Sc
Yi, ZhengkunShenzhen Institute of Advanced Technology, Chinese Academy of Sc
Wu, XinyuSIAT
Shang, WanfengShenzhen Institutes of Advanced Technology, Chinese Academy of S
 
10:10-10:20, Paper TuA-17.2 
 OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Cao, RuixiangShanghaitech University
Gu, JunShanghaiTech University
Yu, ChenShanghaiTech University
Rosendo, AndreShanghaiTech University
 
10:20-10:30, Paper TuA-17.3 
 SCALER: A Tough Versatile Quadruped Free-Climber Robot

Tanaka, YusukeUniversity of California, Los Angeles
Shirai, YukiUniversity of California, Los Angeles
Lin, XuanUCLA
Schperberg, AlexanderUniversity of California Los Angeles
Kato, HayatoUCLA
Swerdlow, AlexanderUniversity of California, Los Angeles
Kumagai, NaoyaUniversity of California, Los Angeles
Hong, DennisUCLA
 
10:30-10:40, Paper TuA-17.4 
 Microspine Design for Additive Manufacturing

Nadan, PaulCarnegie Mellon University
Patel, DineshCarnegie Mellon University
Pavlov, CatherineCarnegie Mellon University
Backus, SpencerNASA Jet Propulsion Lab
Johnson, Aaron M.Carnegie Mellon University
 
10:40-10:50, Paper TuA-17.5 
 Design, Fabrication, and Characterization of a Hybrid Bionic Spherical Robotics with Multilegged Feedback Mechanism

Xu, MinyiDalian Maritime University
Zheng, JiaxiDalian Maritime University
Xu, PengDalian Maritime University
Meng, ZhaochenDalian Maritime University
Liu, JianhuaDalian Maritime University
Wang, SiyuanDalian Maritime University
Wang, XinyuDalian Maritime University
Xie, GuangmingPeking University
Tao, JinNankai University
 
10:50-11:00, Paper TuA-17.6 
 The Concept of Rod-Driven Locomotion for Spherical Lunar Exploration Robots

Zevering, JasperJulius-Maximilians-Universität Würzburg
Borrmann, DoritJulius-Maximilians-University of Würzburg
Bredenbeck, AntonTU Delft
Nuechter, AndreasUniversity of Würzburg
 
11:00-11:10, Paper TuA-17.7 
 Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot

Lim, JaehyunYonsei University
Lee, HyeonwooYonsei University
Choi, JongeunYonsei University
 
11:10-11:20, Paper TuA-17.8 
 Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives

Khalil, Mohamed M.Toyohashi University of Technology
Mashimo, TomoakiOkayama University
 
11:20-11:30, Paper TuA-17.9 
 Electro-Hydraulic Rolling Soft Wheel: Design, Hybrid Dynamic Modeling, and Model Predictive Control (I)

Ly, KhoiUniversity of Colorado
Mayekar, JatinUniversity of Colorado Boulder, ABB
Aguasvivas Manzano, SarahUniversity of Colorado Boulder
Keplinger, ChristophUniversity of Colorado
Rentschler, MarkUniversity of Colorado at Boulder
Correll, NikolausUniversity of Colorado at Boulder
 
TuA-18 Rm18 (Room 554)
Motion and Path Planning 4 Regular session
Chair: Julien, LeclercUniversity of Houston
Co-Chair: Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
 
10:00-10:10, Paper TuA-18.1 
 Linear MPC-Based Motion Planning for Autonomous Surgery

Minelli, MarcoUniversity of Modena and Reggio Emilia
Sozzi, AlessioUniversity of Ferrara
De Rossi, GiacomoUniversity of Verona
Ferraguti, FedericaUniversità Degli Studi Di Modena E Reggio Emilia
Farsoni, SaverioUniversity of Ferrara
Setti, FrancescoUniversity of Verona
Muradore, RiccardoUniversity of Verona
Bonfe, MarcelloUniversity of Ferrara
Secchi, CristianUniv. of Modena & Reggio Emilia
 
10:10-10:20, Paper TuA-18.2 
 Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment

Noël, ThibaultINRIA Rennes
Kabbour, Salah EddineGroupeCreative
Lehuger, Antoine LehugerGroupe Créative
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
Chaumette, FrancoisInria Rennes-Bretagne Atlantique
 
10:20-10:30, Paper TuA-18.3 
 Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots

Atas, FetullahNational Taipei University of Technology
Cielniak, GrzegorzUniversity of Lincoln
Grimstad, LarsNorwegian University of Life Sciences
 
10:30-10:40, Paper TuA-18.4 
 Locomotion Policy Guided Traversability Learning Using Volumetric Representations of Complex Environments

Frey, JonasETH Zurich
Höller, DavidETH
Khattak, ShehryarETH Zurich
Hutter, MarcoETH Zurich
 
10:40-10:50, Paper TuA-18.5 
 Jerk-Continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints

Zhao, HaoranUniversity of Houston
Abdurahiman, NihalHamad Medical Corporation
Navkar, NikhilHamad Medical Corporation
Julien, LeclercUniversity of Houston
Becker, AaronUniversity of Houston
 
10:50-11:00, Paper TuA-18.6 
 Imitation Learning and Model Integrated Excavator Trajectory Planning

Guo, QiangqiangWashington University
Ye, ZhixianBaidu
Wang, LiyangBaidu USA
Zhang, LiangjunBaidu
 
11:00-11:10, Paper TuA-18.7 
 Online Complete Coverage Path Planning of a Reconfigurable Robot Using Glasius Bio-Inspired Neural Network and Genetic Algorithm

Samarakoon Mudiyanselage, Bhagya Prasangi SamarakoonSingapore University of Technology and Design
Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
 
11:10-11:20, Paper TuA-18.8 
 Quantity Over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data

Platinsky, LukasLyft
Naseer, TayyabWoven Planet
Chen, HuiWoven Planet
Haines, BenWoven Planet
Zhu, HaoyueWoven Planet
Grimmett, HugoLyft
Del Pero, LucaLyft
 
11:20-11:30, Paper TuA-18.9 
 TIGRIS: An Informed Sampling-Based Algorithm for Informative Path Planning

Moon, BradyCarnegie Mellon University
Chatterjee, SatrajitCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
TuA-19 Rm19 (Room 555)
Biologically-Inspired Robots 4 Regular session
Chair: Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
Co-Chair: Nakamura, TaroChuo University
 
10:00-10:10, Paper TuA-19.1 
 Online Learning Feedback Control Method Considering Hysteresis for Musculoskeletal Structures

Kawaharazuka, KentoThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:10-10:20, Paper TuA-19.2 
 Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors from Human Constrained Teaching

Kawaharazuka, KentoThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:20-10:30, Paper TuA-19.3 
 A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine

Ku, BonhyunUniversity of Illinois at Urbana-Champaign
Banerjee, ArijitUniversity of Illinois at Urbana-Champaign
 
10:30-10:40, Paper TuA-19.4 
 Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface

Nagahama, ShunsukeWaseda University
Nakao, AtsushiWaseda University
Sugano, ShigekiWaseda University
 
10:40-10:50, Paper TuA-19.5 
 Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis shrimp—Design and Control Method of Cavitation by Simulation and Experiment

Ito, FumioChuo University
Ishii, YusukeChuo University
Kurumaya, ShunichiChuo University
Kagaya, KatsushiThe University of Tokyo
Nakamura, TaroChuo University
 
10:50-11:00, Paper TuA-19.6 
 Upside-Down Brachiation Robot Using Elastic Energy Stored through Soft Body Deformation

Nonoyama, KisukeShinshu University
Shimizu, MasahiroOsaka University
Umedachi, TakuyaShinshu University
 
11:00-11:10, Paper TuA-19.7 
 Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids

Kawaharazuka, KentoThe University of Tokyo
Ribayashi, YoshimotoJSK Robotics Lab
Miki, AkihiroThe University of Tokyo
Toshimitsu, YasunoriUniversity of Tokyo
Suzuki, TemmaThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
11:10-11:20, Paper TuA-19.8 
 Locomotion Via Active Suction in a Sea Star-Inspired Soft Robot

Ishida, MichaelUniversity of California, San Diego
Sandoval, JessicaUniversity of California San Diego
Lee, SebastianUniversity of California Berkeley
Huen, SidneyUniversity of California, San Diego
Tolley, Michael T.University of California, San Diego
 
11:20-11:30, Paper TuA-19.9 
 Joint-Space CPG for Safe Foothold Planning and Body Pose Control During Locomotion and Climbing

Sun, GeNational University of Singapore
Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
 
TuA-20 Rm20 (Room 104)
Distributed Robot Systems Regular session
Chair: Roa, Maximo A.DLR - German Aerospace Center
Co-Chair: Prince Mathew, JosephGeroge Mason University
 
10:00-10:10, Paper TuA-20.1 
 Real-Time Distributed Multi-Robot Target Tracking Via Virtual Pheromones

Prince Mathew, JosephGeroge Mason University
Nowzari, CameronUniversity of Pennsylvania
 
10:10-10:20, Paper TuA-20.2 
 Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems

Dagan, OferUniversity of Colorado Boulder
Ahmed, NisarUniversity of Colorado Boulder
 
10:20-10:30, Paper TuA-20.3 
 Decay-Based Error Correction in Collective Robotic Construction

Chen, JiaheCornell University
Petersen, Kirstin HagelskjaerCornell University
 
10:30-10:40, Paper TuA-20.4 
 Perceive, Represent, Generate: Translating Multimodal Information to Robotic Motion Trajectories

Morgado Vital, Fábio GuilhermeINESC-ID
Vasco, MiguelINESC-ID
Sardinha, AlbertoINESC-ID and IST
Melo, Francisco S.Instituto Superior Tecnico
 
10:40-10:50, Paper TuA-20.5 
 SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking

Li, TianqiTexas A&M University
Krakow, LucasTexas A&M University
Gopalswamy, SwaminathanTexas A&M University
 
10:50-11:00, Paper TuA-20.6 
 Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Del Fatti, FedericoPolitecnico Di MIlano
Sesselmann, AnnaDLR - German Aerospace Center
Roa, Maximo A.DLR - German Aerospace Center
 
11:00-11:10, Paper TuA-20.7 
 Learning to Act with Affordance-Aware Multimodal Neural SLAM

Jia, ZhiweiUC San Diego
Lin, KaixiangAmazon
Zhao, YizhouUCLA
Gao, QiaoziAmazon
Thattai, GovindAmazon
Sukhatme, GauravUniversity of Southern California
 
11:10-11:20, Paper TuA-20.8 
 Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments

Shree, VikramCornell University
Allen, SarahCornell University
Arruda Asfora, BeatrizCornell University
Banfi, JacopoMassachusetts Institute of Technology
Campbell, MarkCornell University
 
11:20-11:30, Paper TuA-20.9 
 Distributed Deployment with Multiple Moving Robots for Long Distance Complex Pipe Inspection

Sato, HirotoChuo University
Uchiyama, KosukeChuo University
Ito, FumioChuo University
Sawahashi, RyunosukeChuo University
Nakamura, TaroChuo University
 
TuA-OL1 Rm21 (on-line)
Medical Robots and Systems 4 Regular session
Chair: Au, K. W. SamuelThe Chinese University of Hong Kong
Co-Chair: Wang, JiaoleHarbin Institute of Technology, Shenzhen
 
10:00-10:10, Paper TuA-OL1.1 
 Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope

Wang, XiangyuNankai University
Yu, NingboNankai University
Han, JiandaNankai University
Fang, YongchunInstitute of Robotics and Automatic Information System, College
 
10:10-10:20, Paper TuA-OL1.2 
 Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology

Zhang, XiuPolitecnico Di Milano
Palumbo, Maria ChiaraPolitecnico Di Milano
Perico, FrancescaPolitecnico Di Milano
Magro, MattiaPolitecnico Di Milano
Fortuna, AndreaPolitecnico Di Milano
Magni, TommasoPolitecnico Di Milano
Votta, EmilianoPolitecnico Di Milano
Segato, AlicePolitecnico Di Milano, Milano , Italy
De Momi, ElenaPolitecnico Di Milano
 
10:20-10:30, Paper TuA-OL1.3 
 A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype

Li, WeibingSun Yat-Sen University
Ng, Wing YinThe Chinese University of Hong Kong
Zhang, XueCUHK
Huang, YisenThe Chinese University of Hong Kong
Li, YehuiThe Chinese University of Hong Kong
Song, ChengzhiChinese University of Hong Kong,
Chiu, Philip, Wai-yanChinese University of Hong Kong
Li, ZhengThe Chinese University of Hong Kong
 
10:30-10:40, Paper TuA-OL1.4 
 Real-Time Intraoperative Surgical Guidance System in the Da Vinci Surgical Robot Based on Transrectal Ultrasound/photoacoustic Imaging with Photoacoustic Markers: An Ex Vivo Demonstration

Song, HyunwooThe Johns Hopkins University
Moradi, HamidUniversity of British Columbia
Jiang, BaichuanJohns Hopkins University
Xu, KeshuaiThe Johns Hopkins University
Wu, YixuanThe Johns Hopkins University
Taylor, Russell H.The Johns Hopkins University
Deguet, AntonJohns Hopkins University
Kang, JinThe Johns Hopkins University
Salcudean, Septimiu E.University of British Columbia
Boctor, EmadThe Johns Hopkins University
 
10:40-10:50, Paper TuA-OL1.5 
 Model-Free and Uncalibrated Visual-Feedback Control of Magnetically-Actuated Flexible Endoscopes

Tan, JiewenHarbin Instittue of Technology (Shenzhen)
Xue, JunnanUniversity
Yang, XingHarbin Institute of Technolgoy, Shenzhen
Yuan, SishenThe Chinese University of Hong Kong
Liu, WeiSouthern University of Science and Technology
Ren, HongliangChinese Univ Hong Kong (CUHK) & National Univ Singapore(NUS)
Song, ShuangHarbin Institute of Technology (Shenzhen)
Wang, JiaoleHarbin Institute of Technology, Shenzhen
 
10:50-11:00, Paper TuA-OL1.6 
 Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery

Ma, XinChinese Univerisity of HongKong
Wang, XuchenThe Chinese University of Hong Kong
Cao, RuiThe Chinese University of Hong Kong
Au, K. W. SamuelThe Chinese University of Hong Kong
 
11:00-11:10, Paper TuA-OL1.7 
 A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and Its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries

Yin, ZhanpengNanjing University of Aeronautics and Astronautics
Hong, YanNanjing University of Aeronautics and Astronautics
Sun, XiaoyuUniversity of Bristol
Shen, ZhiyuanUniversity of Bristol
Zhang, YingxuanNanjing University of Aeronautics and Astronautics
Ju, FengNanjing University of Aeronautics and Astronautics
Drinkwater, BruceUniversity of Bristol
 
11:10-11:20, Paper TuA-OL1.8 
 A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills

Soleymani, AbedUniversity of Alberta
Li, XingyuUniversity of Alberta
Tavakoli, MahdiUniversity of Alberta
 
11:20-11:30, Paper TuA-OL1.9 
 Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans (I)

Hwang, MinhoDaegu Gyeongbuk Instituute of Science and Technology (DGIST)
Ichnowski, JeffreyUC Berkeley
Thananjeyan, BrijenUC Berkeley
Seita, DanielCarnegie Mellon University
Paradis, SamuelUniversity of California, Berkeley
Fer, DanyalUniversity of California, San Francisco East Bay
Low, ThomasSRI International
Goldberg, KenUC Berkeley
 
TuA-OL2 Rm22 (on-line)
Computer Vision for Automation 1 Regular session
Chair: Shimonomura, KazuhiroRitsumeikan University
Co-Chair: Wang, Yu-PingTsinghua University
 
10:00-10:10, Paper TuA-OL2.1 
 RGB-X Classification for Electronics Sorting

Abhimanyu, FnuCarnegie Mellon University
Choset, HowieCarnegie Mellon University
Travers, MatthewCarnegie Mellon University
Thillaivasan, UmeshApple Inc
Zodage, TejasBirla Institute of Technology and Science
 
10:10-10:20, Paper TuA-OL2.2 
 CPQNet: Contact Points Quality Network for Robotic Grasping

Li, ZhihaoThe Chinese University of Hong Kong (Shenzhen)
Zeng, PengfeiShenzhen Institute of Artificial Intelligence and Robotics for S
Su, JionglongXi'an Jiaotong-Liverpool University
Guo, QingdaTOP-AIRS Hospital Intelligent Technique Joint Lab
Ding, NingThe Chinese University of Hong Kong, Shenzhen
Zhang, JiamingThe Chinese University of Hong Kong, Shenzhen
 
10:20-10:30, Paper TuA-OL2.3 
 SESR: Self-Ensembling Sim-To-Real Instance Segmentation for Auto-Store Bin Picking

Yang, BiqiThe Chinese University of Hong Kong
Gao, XiaojieThe Chinese University of Hong Kong
Chen, KaiThe Chinese University of Hong Kong
Cao, RuiHong Kong Centre for Logistics Robotics
Feng, YidanNanjing University of Aeronautics and Astronautics
Li, XianzhiThe Chinese University of Hong Kong
Dou, QiThe Chinese University of Hong Kong
Fu, Chi-WingThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
Heng, Pheng AnnThe Chinese University of Hong Kong
 
10:30-10:40, Paper TuA-OL2.4 
 Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera

Ye, KeyangNational University of Defense Technology
Gao, LiuZhengNational University of Defense Technology
Guan, BangleiNational University of Defense Technology
 
10:40-10:50, Paper TuA-OL2.5 
 Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction

Guan, BangleiNational University of Defense Technology
Vasseur, PascalUniversité De Picardie Jules Verne
Demonceaux, CédricUniversité Bourgogne Franche-Comté
 
10:50-11:00, Paper TuA-OL2.6 
 Lidar with Velocity: Motion Distortion Correction of Point Clouds from Oscillating Scanning Lidars

Yang, WenSouthern University of Science and Technology
Zheng, GongSouthern University of Science and Technology
Huang, BaifuSouthern University of Science and Technology
Hong, XiaopingSouthern University of Science and Technology
 
11:00-11:10, Paper TuA-OL2.7 
 A Flexible and Robust Vision Trap for Automated Part Feeder Design

Haugaard, Rasmus LaurvigUniversity of Southern Denmark
Iversen, Thorbjørn MosekjærThe Maersk Mc-Kinney Moller Institute, University of Southern De
Buch, Anders GlentUniversity of Southern Denmark
Kramberger, AljazUniversity of Southern Denmark
Mathiesen, SimonUniversity of Southern Denmark
 
11:10-11:20, Paper TuA-OL2.8 
 Leveraging Local Planar Motion Property for Robust Visual Matching and Localization

Jiao, YanmeiZhejiang University
Zhang, QunkangZhejiang University
Chen, QunyingHangzhou Jiazhi Technology Co., Ltd
Fu, BoZhejiang University, the State Key Laboratory of Industrial Cont
Han, FuzhangZhejiang University
Wang, YueZhejiang University
Xiong, RongZhejiang University
 
11:20-11:30, Paper TuA-OL2.9 
 AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems

Wang, Yu-PingTsinghua University
Wang, Hao-NingTsinghua University
Zou, Zi-XinTsinghua University
Manocha, DineshUniversity of Maryland
 
TuB-1 Rm1 (Room A)
Award Session VII Regular session
Chair: Harada, KensukeOsaka University
Co-Chair: Sugiura, HisashiYanmar Co., Ltd
 
12:30-12:45, Paper TuB-1.1 
 Robot Learning of Mobile Manipulation with Reachability Behavior Priors
(Finalist for IROS Best Paper Award on Mobile Manipulation Sponsored by OMRON Sinic X Corp.)

Jauhri, SnehalTU Darmstadt
Peters, JanTechnische Universität Darmstadt
Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems
 
12:45-13:00, Paper TuB-1.2 
 A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
(Finalist for IROS Best Paper Award on Mobile Manipulation Sponsored by OMRON Sinic X Corp.)

Zhao, JianzhuangIstituto Italiano Di Tecnologia
Giammarino, AlbertoIstituto Italiano Di Tecnologia
Lamon, EdoardoIstituto Italiano Di Tecnologia
Gandarias, Juan M.Istituto Italiano Di Tecnologia
De Momi, ElenaPolitecnico Di Milano
Ajoudani, ArashIstituto Italiano Di Tecnologia
 
13:00-13:15, Paper TuB-1.3 
 Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
(Finalist for IROS Best Paper Award on Agri-Robotics Sponsored by YANMAR)

Magistri, FedericoUniversity of Bonn
Marks, Elias ArielUniversity of Bonn
Nagulavancha, SumanthUniversity of Bonn
Vizzo, IgnacioUniversity of Bonn
Läbe, ThomasUniversity of Bonn
Behley, JensUniversity of Bonn
Halstead, Michael AllanBonn University
McCool, Christopher StevenUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
 
13:15-13:30, Paper TuB-1.4 
 Instance Segmentation for Autonomous Log Grasping in Forestry Operations
(Finalist for IROS Best Paper Award on Agri-Robotics Sponsored by YANMAR)

Fortin, Jean-MichelUniversité Laval
Gamache, OlivierLaval University
Grondin, VincentUniversité Laval
Pomerleau, FrancoisUniversité Laval
Giguère, PhilippeUniversité Laval
 
13:30-13:45, Paper TuB-1.5 
 Explicitly Incorporating Spatial Information to Recurrent Networks for Agriculture
(Finalist for IROS Best Paper Award on Agri-Robotics Sponsored by YANMAR)

Smitt, ClausUniversity of Bonn
Halstead, Michael AllanBonn University
Ahmadi, AlirezaUniversity of Bonn
McCool, Christopher StevenUniversity of Bonn
 
13:45-14:00, Paper TuB-1.6 
 Multimodal Aerial-Tethered Robot for Tree Canopy Exploration
(Finalist for IROS Best Paper Award on Agri-Robotics Sponsored by YANMAR)

Kirchgeorg, SteffenETH Zürich
Mintchev, StefanoETH Zurich
 
TuB-2 Rm2 (Room B-1)
Brain-Machine Interfaces and Natural Language Interaction Regular session
Chair: Liarokapis, MinasThe University of Auckland
Co-Chair: Meattini, RobertoUniversity of Bologna
 
12:30-12:40, Paper TuB-2.1 
 Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers

de Godoy, RicardoThe University of Auckland
Dwivedi, AnanyUniversity of Auckland
Shahmohammadi, MojtabaUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
12:40-12:50, Paper TuB-2.2 
 Dynamic Network Model for Multi-Domain End-To-End Task-Oriented Dialogue System

Zhao, FengdaCollege of Information Science and Engineering, Yanshan Universi
Qiu, MengluYanShan University
Li, XianshanCollege of Information Science and Engineering, Yanshan Universi
Guo, DingdingYanShan University
 
12:50-13:00, Paper TuB-2.3 
 Hey Haru, Let’s Be Friends! Using the Tiers of Friendship to Build Rapport through Small Talk with the Tabletop Robot Haru

Nichols, EricHonda Research Institute Japan
Siskind, Sarah RoseHello SciCom
Ivanchuk, LevkoUniversity of Manitoba
Pérez, Guillermo4i Intelligent Insights
Waki, KaminoIndiana University Bloomington
Sabanovic, SelmaIndiana University Bloomington
Gomez, RandyHonda Research Institute Japan Co., Ltd
 
13:00-13:10, Paper TuB-2.4 
 Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction

Spevak, KevinColorado School of Mines
Han, ZhaoColorado School of Mines
Williams, TomColorado School of Mines
Dantam, NeilColorado School of Mines
 
13:10-13:20, Paper TuB-2.5 
 DoRO: Disambiguation of Referred Object for Embodied Agents

Pramanick, PradipTCS Research & Innovation
Sarkar, ChayanTCS Research
Paul, SayanTCS Research & Innovation
Roychoudhury, Ruddra devTCS Research & Innovation
Bhowmick, BrojeshwarTata Consultancy Services
 
13:20-13:30, Paper TuB-2.6 
 Following Natural Language Instructions for Household Tasks with Landmark Guided Search and Reinforced Pose Adjustment

Murray, MichaelUniversity of Washington
Cakmak, MayaUniversity of Washington
 
13:30-13:40, Paper TuB-2.7 
 SEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Meattini, RobertoUniversity of Bologna
Bernardini, AlessandraUniversity of Bologna
Palli, GianlucaUniversity of Bologna
Melchiorri, ClaudioUniversity of Bologna
 
13:40-13:50, Paper TuB-2.8 
 Hand Gesture Recognition Via Transient sEMG Using Transfer Learning of Dilated Efficient CapsNet: Towards Generalization for Neurorobotics

Tyacke, EionNew York University
P J, ShreyasInternational Institute of Information Technology, Bhubaneshwar
Feng, NatalieNew York University
Edlabadkar, RamaIndian Institute of Technology Indore
Zhou, ShucongNew York University
Patel, JayNew York University
Hu, QinNew York University
Atashzar, S. FarokhNew York University (NYU), US
 
13:50-14:00, Paper TuB-2.9 
 Deep Augmentation for Electrode Shift Compensation in Transient High-Density sEMG: Towards Application in Neurorobotics

Sun, TianyunNew York University
Libby, JacquelineNew York University
JohnRoss, RizzoNew York University
Atashzar, S. FarokhNew York University (NYU), US
 
TuB-3 Rm3 (Room B-2)
Telerobotics and Teleoperation 1 Regular session
Chair: Atashzar, S. FarokhNew York University (NYU), US
Co-Chair: Sakaino, ShoUniversity of Tsukuba
 
12:30-12:40, Paper TuB-3.1 
 Adaptive Wave Reconstruction through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks (I)

Feizi, NavidUniversity of Western Ontario
Patel, Rajnikant V.The University of Western Ontario
Kermani, Mehrdad R.University of Western Ontario
Atashzar, S. FarokhNew York University (NYU), US
 
12:40-12:50, Paper TuB-3.2 
 Analysis of User Behavior and Workload During Simultaneous Tele-Operation of Multiple Mobile Manipulators

Aoki, TatsuyaOsaka University
Nakamura, TomoakiThe University of Electro-Communications
Nagai, TakayukiOsaka University
 
12:50-13:00, Paper TuB-3.3 
 Variable Impedance Control for Safety and Usability in Telemanipulation

Schwarz, Stephan AndreasChemnitz University of Technology
Thomas, UlrikeChemnitz University of Technology
 
13:00-13:10, Paper TuB-3.4 
 Block-Based Novel Haptic Data Reduction for Time-Delayed Teleoperation

Gui, MingTechnical University of Munich
Xu, XiaoTechnical University Munich
Steinbach, EckehardTechnical University of Munich
 
13:10-13:20, Paper TuB-3.5 
 Skill-CPD: Real-Time Skill Refinement for Shared Autonomy in Manipulator Teleoperation

Babaians, EdwinTechnical University of Munich
Yang, DongTechnical University of Munich
Karimi, MojtabaTechnical University of Munich
Xu, XiaoTechnical University Munich
Ayvasik, SerkutTechnical University of Munich
Steinbach, EckehardTechnical University of Munich
 
13:20-13:30, Paper TuB-3.6 
 Haptic Teleoperation of High-Dimensional Robotic Systems Using a Feedback MPC Framework

Cheng, JinETH Zurich
Abi-Farraj, FirasETH
Farshidian, FarbodETH Zurich
Hutter, MarcoETH Zurich
 
13:30-13:40, Paper TuB-3.7 
 Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators

Torielli, DavideHumanoids and Human Centered Mechatronics (HHCM), Istituto Itali
Muratore, LucaIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
13:40-13:50, Paper TuB-3.8 
 Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform

SaLoutos, AndrewMassachusetts Institute of Technology
Stanger-Jones, ElijahMassachusetts Institute of Technology
Kim, SangbaeMassachusetts Institute of Technology
 
13:50-14:00, Paper TuB-3.9 
 Design Interface Mapping for Efficient Free-Form Tele-Manipulation

Unni Krishnan, AchyuthanWorcester Polytechnic Institute
Lin, Tsung-ChiWorcester Polytechnic Institute
Li, ZhiWorcester Polytechnic Institute
 
TuB-4 Rm4 (Room C-1)
Calibration and Identification Regular session
Chair: Ferri, MagdaIbeo Automotive Systems GmbH
Co-Chair: Takemura, KentaroTokai University
 
12:30-12:40, Paper TuB-4.1 
 Simultaneous Calibration of Multiple Revolute Joints for Articulated Vision Systems Via SE(3) Kinematic Bundle Adjustment

Zhou, ChengzheShanghai Institute of Microsystem and Information Technology
Sun, QixuanShanghai Institute of Microsystem and Information Technology
Wang, KaifangCAS
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chi
 
12:40-12:50, Paper TuB-4.2 
 DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-Aware Flow

Jing, XinZhejiang University
Ding, XiaqingZhejiang University
Xiong, RongZhejiang University
Deng, HuanjunAlibaba (Beijing) Software Services Co., Ltd
Wang, YueZhejiang University
 
12:50-13:00, Paper TuB-4.3 
 CSA-SVM Method for Internal Cavitation Defects Detection and Its Application of District Heating Pipes

Chen, YanranBeijing University of Chemical Technology
Ma, ShugenRitsumeikan University
Li, LongchuanBeijing University of Chemical Technology
Li, ZhiqingBeijing University of Chemical Technology
Yang, YulinBeijing University of Chemical Technology
 
13:00-13:10, Paper TuB-4.4 
 Industrial Robot Parameter Identification Using a Constrained Instrumental Variable Method

Ardiani, FabioONERA
Janot, AlexandreONERA
Benoussaad, MouradINP-ENI of Tarbes
 
13:10-13:20, Paper TuB-4.5 
 TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis

Hu, HaohaoKarlsruhe Institute of Technology
Han, FengzeKIT
Bieder, FrankKarlsruhe Institute of Technology
Pauls, Jan-HendrikKarlsruhe Institute of Technology (KIT)
Stiller, ChristophKarlsruhe Institute of Technology
 
13:20-13:30, Paper TuB-4.6 
 Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-Camera Using an Orthogonal Trihedron

Li, ZhengbinTianjin University, China
Dong, HaiqingAIIC of Midea Group (Shanhai) Co., Ltd
Ding, YabinTianjin University, China
Liu, DongMidea Group (Shanghai) Co., Ltd
 
13:30-13:40, Paper TuB-4.7 
 Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor

Choi, JungsuYeungnam University
Seo, WonjeongYeungnam University
Lee, HaseokYeungnam University
 
13:40-13:50, Paper TuB-4.8 
 Visual-Inertial-Aided Online MAV System Identification

Chen, ChuchuUniversity of Delaware
Yang, YulinUniversity of Delaware
Geneva, PatrickUniversity of Delaware
Lee, WoosikUniversity of Delaware
Huang, GuoquanUniversity of Delaware
 
13:50-14:00, Paper TuB-4.9 
 Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles Using Static Objects Information

Ponton, BrahayamMPI-IS
Ferri, MagdaIbeo Automotive Systems GmbH
König, LarsIbeo Automotive Systems GmbH
Bartels, MarcusHamburg University of Technology (TUHH)
 
TuB-5 Rm5 (Room C-2)
Navigation Systems 4 Regular session
Chair: Bezzo, NicolaUniversity of Virginia
Co-Chair: Chinchali, SandeepThe University of Texas at Austin
 
12:30-12:40, Paper TuB-5.1 
 Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments (I)

Pairet Artau, ÈricTechnology Innovation Institute
Hernández, Juan DavidCardiff University
Carreras, MarcUniversitat De Girona
Petillot, Yvan R.Heriot-Watt University
Lahijanian, MortezaUniversity of Colorado Boulder
 
12:40-12:50, Paper TuB-5.2 
 Drift Reduced Navigation with Deep Explainable Features

Mohd, OmamaIIIT-Hyderabad
Venugopalaswamy Sriraman, Sundar SripadaIIIT-Hyderabad
Chinchali, SandeepThe University of Texas at Austin
Singh, Arun KumarUniversity of Tartu
Krishna, MadhavaIIIT Hyderabad
 
12:50-13:00, Paper TuB-5.3 
 A Robust and Fast Occlusion-Based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments

Mohammad, NicholasUniversity of Virginia
Bezzo, NicolaUniversity of Virginia
 
13:00-13:10, Paper TuB-5.4 
 Bubble Planner: Planning High-Speed Smooth Quadrotor Trajectories Using Receding Corridors

Ren, YunfanThe University of Hong Kong
Zhu, FangchengThe University of Hong Kong
Liu, WenyiHarbin Institute of Technology, Shenzhen
Wang, ZhepeiZhejiang University
Lin, YiHong Kong University of Science and Technology
Gao, FeiZhejiang University
Zhang, FuUniversity of Hong Kong
 
13:10-13:20, Paper TuB-5.5 
 Temporal Context for Robust Maritime Obstacle Detection

Zust, LojzeUniversity of Ljubljana
Kristan, MatejUniversity of Ljubljana
 
13:20-13:30, Paper TuB-5.6 
 Information-Aware Guidance for Magnetic Anomaly Based Navigation

Ramos, J HumbertoUniversity of Florida
Shin, JaejeongCornell University
Volle, KyleNational Research Council Postdoctoral Program
Buzaud, PaulUniversity of Florida
Brink, KevinAir Force Research Lab
Ganesh, PrashantUniversity of Florida
 
13:30-13:40, Paper TuB-5.7 
 Unified Automatic Control of Vehicular Systems with Reinforcement Learning (I)

Yan, ZhongxiaMassachusetts Institute of Technology
Kreidieh, AboudyUC Berkeley
Vinitsky, EugeneUC Berkeley
Bayen, AlexandreUC Berkeley
Wu, CathyMIT
 
13:40-13:50, Paper TuB-5.8 
 SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

Musil, TomášCzech Technical University in Prague, Faculty of Electrical Engi
Petrlik, MatejCzech Technical University in Prague, Faculty of Electrical Engi
Saska, MartinCzech Technical University in Prague
 
13:50-14:00, Paper TuB-5.9 
 AIB-MDP: Continuous Probabilistic Motion Planning for Automated Vehicles by Leveraging Action Independent Belief Spaces

Naumann, MaximilianBosch Center for Artificial Intelligence
Stiller, ChristophKarlsruhe Institute of Technology
 
TuB-6 Rm6 (Room D)
SLAM 5 Regular session
Chair: Oishi, TakeshiThe University of Tokyo
Co-Chair: Karimi, MojtabaTechnical University of Munich
 
12:30-12:40, Paper TuB-6.1 
 InCOpt: Incremental Constrained Optimization Using the Bayes Tree

Qadri, MohamadCarnegie Mellon University
Sodhi, PalomaCarnegie Mellon University
Mangelson, JoshuaBrigham Young University
Dellaert, FrankGeorgia Institute of Technology
Kaess, MichaelCarnegie Mellon University
 
12:40-12:50, Paper TuB-6.2 
 S3LAM: Structured Scene SLAM

Gonzalez, MathieuIRT B<>com
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
Kacete, AmineIRT B<>com
Royan, JeromeIRT B-Com
 
12:50-13:00, Paper TuB-6.3 
 Fast Structural Representation and Structure-Aware Loop Closing for Visual SLAM

Xie, ShuxiangThe University of Tokyo
Ishikawa, RyoichiThe University of Tokyo
Sakurada, KenNational Institute of Advanced Industrial Science and Technology
Onishi, MasakiNational Inst. of AIST
Oishi, TakeshiThe University of Tokyo
 
13:00-13:10, Paper TuB-6.4 
 Efficient 2D Graph SLAM for Sparse Sensing

Zhou, HanzhiUniversity of Virginia
Hu, ZichaoUniversity of Texas at Austin
Liu, SihangUniversity of Virginia
Khan, SamiraUniversity of Virginia
 
13:10-13:20, Paper TuB-6.5 
 Spectral Measurement Sparsification for Pose-Graph SLAM

Doherty, KevinMassachusetts Institute of Technology
Rosen, DavidNortheastern University
Leonard, JohnMIT
 
13:20-13:30, Paper TuB-6.6 
 BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend

Pogue, AlexandraUCLA
Chang, Tsang-KaiUniversity of California, Los Angeles
Mehta, AnkurUCLA
 
13:30-13:40, Paper TuB-6.7 
 RO-LOAM: 3D Reference Object-Based Trajectory and Map Optimization in LiDAR Odometry and Mapping

Oelsch, MartinTechnical University of Munich
Karimi, MojtabaTechnical University of Munich
Steinbach, EckehardTechnical University of Munich
 
13:40-13:50, Paper TuB-6.8 
 TwistSLAM: Constrained SLAM in Dynamic Environment

Gonzalez, MathieuIRT B<>com
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
Kacete, AmineIRT B<>com
Royan, JeromeIRT B-Com
 
13:50-14:00, Paper TuB-6.9 
 Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images

Guadagnino, TizianoSapienza University of Rome
Chen, XieyuanliN/A
Sodano, MatteoPhotogrammetry and Robotics Lab, University of Bonn
Behley, JensUniversity of Bonn
Grisetti, GiorgioSapienza University of Rome
Stachniss, CyrillUniversity of Bonn
 
TuB-7 Rm7 (Room E)
Medical Robots and Systems 5 Regular session
Chair: Navab, NassirTU Munich
Co-Chair: Haraguchi, DaisukeTokyo National College of Technology
 
12:30-12:40, Paper TuB-7.1 
 Design and Evaluation of a Robotic Forceps with Flexible Wrist Joint Made of PEEK Plastic

Zhou, DongboTokyo Institute of Technology
Haraguchi, DaisukeTokyo National College of Technology
 
12:40-12:50, Paper TuB-7.2 
 External and Internal Sensor Fusion Based Localization Strategy for 6-DOF Pose Estimation of a Magnetic Capsule Robot

Li, KeyuThe Chinese University of Hong Kong
Xu, YangxinYuanhua Robotics, Perception & AI Technologies Ltd
Zhao, ZiqiSouthern University of Science and Technology
Meng, Max Q.-H.The Chinese University of Hong Kong
 
12:50-13:00, Paper TuB-7.3 
 Robotic Auscultation Over Clothes for Eliminating Gender Bias

Tsumura, RyosukeNational Institute of Advanced Industrial Science and Technology
Umezawa, AkihiroWaseda University
Morishima, YukoUniversity of Tsukuba
Iwata, HiroyasuWaseda University
Koseki, YoshihikoAIST
Nitta, NaotakaNational Institute of Advanced Industrial Science and Technology
Yoshinaka, KiyoshiNational Institute of Advanced Industrial Science and Technology
 
13:00-13:10, Paper TuB-7.4 
 ANN-Based Optimization of Human Gait Data Obtained from a Robot-Mounted 3D Camera: A Multiple Sclerosis Case Study

Guffanti, DiegoUniversidad Politécnica De Madrid
Brunete, AlbertoUniversidad Politécnica De Madrid
Hernando, MiguelUniversidad Politécnica De Madrid
Gambao, ErnestoUniversidad Politecnica De Madrid
Álvarez, DavidUniversidad Politécnica De Madrid
 
13:10-13:20, Paper TuB-7.5 
 Magnetic Microrobot Control Using an Adaptive Fuzzy Sliding-Mode Method

Mousavi, AlirezaUniversity of Essex
Khaksar, HesamThe School of Computer Science and Electronic Engineering, Unive
Ahmed, AwaisDGIST
Choi, HongsooDaegu Gyeongbuk Institute of Science and Technology (DGIST)
Kafash hoshiar, AliUniversity of Essex
 
13:20-13:30, Paper TuB-7.6 
 An Easy-To-Deploy Combined Nasal/Throat Swab Robot with Sampling Dexterity and Resistance to External Interference

Chen, WeiThe Chinese University of Hong Kong
Chen, ZhiHefei University
Lu, YiangThe Chinese University of Hong Kong
Cao, HanwenChinese University of Hong Kong
Zhou, JianshuThe Chinese University of Hong Kong
Tong, Michael CFThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
 
13:30-13:40, Paper TuB-7.7 
 Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion

Jiang, ZhongliangTechnische Universitat Munchen
Gao, YuanShanghai Jiao Tong University
Xie, LeShanghai Jiao Tong University
Navab, NassirTU Munich
 
13:40-13:50, Paper TuB-7.8 
 Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution (I)

Cursi, FrancescoImperial College London
Bai, WeibangImperial College London
Yeatman, EricImperial College London
Kormushev, PetarImperial College London
 
TuB-8 Rm8 (Room F)
Robotics and Automation in Agriculture and Construction 1 Regular session
Chair: Tazaki, YuichiKobe University
Co-Chair: Zhang, LiangjunBaidu
 
12:30-12:40, Paper TuB-8.1 
 Excavation of Fragmented Rocks with Multi-Modal Model-Based Reinforcement Learning

Zhu, YifanUniversity of Illinois at Urbana-Champaign
Wang, LiyangBaidu USA
Zhang, LiangjunBaidu
 
12:40-12:50, Paper TuB-8.2 
 Model Learning and Predictive Control for Autonomous Obstacle Reduction Via Bulldozing

Wagner, W. JacobUniversity of Illinois at Urbana-Champaign and Construction Engi
Driggs-Campbell, KatherineUniversity of Illinois at Urbana-Champaign
Soylemezoglu, AhmetUS Army Corps of Engineers
 
12:50-13:00, Paper TuB-8.3 
 Design and Motion Planning for a Reconfigurable Robotic Base

Pankert, JohannesETH Zuerich
Valsecchi, GiorgioRobotic System Lab, ETH
Baret, DavideETH Zürich
Zehnder, Jon NoaETH Zürich
Pietrasik, Lukasz LeszekETH Zurich
Bjelonic, MarkoETH Zurich
Hutter, MarcoETH Zurich
 
13:00-13:10, Paper TuB-8.4 
 External Load Estimation of Hydraulically Driven Construction Machinery from Cylinder Pressures and Link Accelerations

Shimamura, NaotakeKobe University
Katayama, RaitaKobe University
Nagano, HikaruKobe University
Tazaki, YuichiKobe University
Yokokohji, YasuyoshiKobe University
 
13:10-13:20, Paper TuB-8.5 
 Connected Reconfiguration of Polyominoes Amid Obstacles Using RRT*

Garcia Gonzalez, JavierUniversity of Houston
Yannuzzi, MichaelUniversity of Houston
Kramer, PeterTU Braunschweig
Rieck, ChristianTechnische Universität Braunschweig
Becker, AaronUniversity of Houston
 
13:20-13:30, Paper TuB-8.6 
 Autonomous Mobile 3D Printing of Large-Scale Trajectories

Sustarevas, JuliusUniversity College London
Kanoulas, DimitriosUniversity College London
Julier, SimonUniversity College London
 
13:30-13:40, Paper TuB-8.7 
 Soil-Adaptive Excavation Using Reinforcement Learning

Egli, Pascal ArturoRSL, ETHZ
Hutter, MarcoETH Zurich
Kerscher, SimonEth Zurich
Jud, DominicETH Zurich
 
13:40-13:50, Paper TuB-8.8 
 Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles

Akegawa, TetsuTohoku University
Ohno, KazunoriTohoku University
Kojima, ShotaroTohoku University
Miyamoto, NaotoTohoku Univ
Suzuki, TaroChiba Institute of Technology
Komatsu, TomohiroKOWATECH Co
Suzuki, TakahiroTohoku University
Shibata Yukinori, ShibataSato Komuten Co
Asano, KimitakaSanyo-Technics Co
Tadokoro, SatoshiTohoku University
 
13:50-14:00, Paper TuB-8.9 
 Towards Autonomous Visual Navigation in Arable Fields

Ahmadi, AlirezaUniversity of Bonn
Halstead, Michael AllanBonn University
McCool, Christopher StevenUniversity of Bonn
 
TuB-9 Rm9 (Room G)
Recognition Regular session
Chair: Marshall, Joshua A.Queen's University
Co-Chair: Wu, ZhenyuNanyang Technological University
 
12:30-12:40, Paper TuB-9.1 
 STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations

Wei, JiayiUniversity of Texas at Austin
Holtz, JarrettUniversity of Texas at Austin
Dillig, IsilUT Austin
Biswas, JoydeepUniversity of Texas at Austin
 
12:40-12:50, Paper TuB-9.2 
 Smart Explorer: Recognizing Objects in Dense Clutter Via Interactive Exploration

Wu, ZhenyuBeijing University of Posts and Telecommunications
Wang, ZiweiTsinghua University
Wei, ZibuTsinghua University
Wei, YiTsinghua University
Yan, HaibinBeijing University of Posts and Telecommunications
 
12:50-13:00, Paper TuB-9.3 
 LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition

Peng, GuohaoNanyang Technological University
Huang, YifengNanyang Technological University
Li, HeshanNanyang Technological University
Wu, ZhenyuNanyang Technological University
Wang, DanweiNanyang Technological University
 
13:00-13:10, Paper TuB-9.4 
 STUN: Self-Teaching Uncertainty Estimation for Place Recognition

Cai, KaiwenUniversity of Liverpool
Lu, Chris XiaoxuanUniversity of Edinburgh
Huang, XiaoweiUniversity of Liverpool
 
13:10-13:20, Paper TuB-9.5 
 Self-Supervised Reinforcement Learning for Active Object Detection

Fang, FenI2R
Liang, WenyuInstitute for Infocomm Research, A*STAR
Wu, YanA*STAR Institute for Infocomm Research
Xu, QianliInstitute for Infocomm Research
Lim, Joo HweeI2R A*STAR
 
13:20-13:30, Paper TuB-9.6 
 ReINView: Re-Interpreting Views for Multi-View 3D Object Recognition

Xu, RuchangBeijing University of Technology
Ma, WeiBeijing University of Technology
Mi, QingBeijing University of Technology
Zha, HongbinPeking University
 
13:30-13:40, Paper TuB-9.7 
 Dual-Camera High Magnification Surveillance System with Non-Delay Gaze Control and Always-In-Focus Function in Indoor Scenes

Zhang, TianyiChiba University
Hu, ShaopengHiroshima University
Shimasaki, KoheiHiroshima University
Ishii, IdakuHiroshima University
Namiki, AkioChiba University
 
13:40-13:50, Paper TuB-9.8 
 Point Label Aware Superpixels for Multi-Species Segmentation of Underwater Imagery

Raine, ScarlettQueensland University of Technology
Marchant, RossQueensland University of Technology
Kusy, BranoCSIRO
Maire, FredericQueensland University of Technology
Fischer, TobiasQueensland University of Technology
 
13:50-14:00, Paper TuB-9.9 
 Mapping of Spatiotemporal Scalar Fields by Mobile Robots Using Gaussian Process Regression

Sears, Thomas M. C.Queen's University
Marshall, Joshua A.Queen's University
 
TuB-10 Rm10 (Room H)
Safety in HRI Regular session
Chair: Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems for Assistance Group
Co-Chair: Alagi, HosamKarlsruhe Institute of Technology
 
12:30-12:40, Paper TuB-10.1 
 PSM: A Predictive Safety Model for Body Motion Based on the Spring-Damper Pendulum

Tafrishi, Seyed AmirTohoku University
Ravankar, Ankit A.Faculty of Mechanical and Aerospace Engineering, Tohoku Universi
Hirata, YasuhisaTohoku University
 
12:40-12:50, Paper TuB-10.2 
 Physical Adversarial Attack on a Robotic Arm

Jia, YifanSingapore University of Technology and Design
Poskitt, Christopher M.Singapore Management University
Sun, JunSingapore Management University
Chattopadhyay, SudiptaSingapore University of Technology and Design
 
12:50-13:00, Paper TuB-10.3 
 Regularized Deep Signed Distance Fields for Reactive Motion Generation

Liu, PuzeTechnische Universität Darmstadt
Zhang, KuoTU-Darmstadt
Tateo, DavideTechnische Universität Darmstadt
Jauhri, SnehalTU Darmstadt
Peters, JanTechnische Universität Darmstadt
Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems
 
13:00-13:10, Paper TuB-10.4 
 Safe and Ergonomic Human-Drone Interaction in Warehouses

Proia, SilviaPolitecnico Di Bari
Cavone, GrazianaUniversity of Roma Tre
Camposeo, AntonioPolitecnico Di Bari
Ceglie, FabioPolitecnico Di Bari
Carli, RaffaelePolitecnico Di Bari
Dotoli, MariagraziaPolitecnico Di Bari
 
13:10-13:20, Paper TuB-10.5 
 Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space

Vorndamme, JonathanChair of Robotics and Systems Intelligence, Technical University
Figueredo, Luis Felipe CruzTechnical University of Munich (TUM)
Haddadin, SamiTechnical University of Munich
 
13:20-13:30, Paper TuB-10.6 
 Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton Using Rate-Limiting

Sun, JianweiUniversity of California Los Angeles
Ferguson, PeterUniversity of California Los Angeles
Rosen, Jacob​University of California, Los Angeles
 
13:30-13:40, Paper TuB-10.7 
 Safety Compliant Control for Robotic Manipulator with Task and Input Constraints

Murtaza, Muhammad AliGeorgia Institute of Technology
Aguilera, SergioGeorgia Institute of Technology
Waqas, MuhammadUniversity of Southern California
Hutchinson, SethGeorgia Institute of Technology
 
13:40-13:50, Paper TuB-10.8 
 Safe and Efficient Exploration of Human Models During Human-Robot Interaction

Pandya, RaviCarnegie Mellon University
Liu, ChangliuCarnegie Mellon University
 
13:50-14:00, Paper TuB-10.9 
 Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Alagi, HosamKarlsruhe Institute of Technology
Ergun, SerkanUniversity of Klagenfurt
Ding, YitaoChemnitz University of Technology
Huck, Tom PhilipKarlsruhe Institute of Technology
Thomas, UlrikeChemnitz University of Technology
Zangl, HubertAlpen-Adria-Universitaet Klagenfurt
Hein, BjörnUniversity of Applied Sciences Karlsruhe
 
TuB-11 Rm11 (Room I)
Humanoid and Bipedal Locomotion Regular session
Chair: Kajita, ShuujiChubu University
Co-Chair: Park, JaeheungSeoul National University
 
12:30-12:40, Paper TuB-11.1 
 Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller Via Model Predictive Control and Virtual Constraints

Gibson, GrantUniversity of Michigan
Dosunmu-Ogunbi, OluwamiUniversity of Michigan
Gong, YukaiUniversity of Michigan
Grizzle, J.WUniversity of Michigan
 
12:40-12:50, Paper TuB-11.2 
 Robust Contact State Estimation in Humanoid Walking Gaits

Piperakis, StylianosFoundation for Research and Technology - Hellas (FORTH)
Maravgakis, MichaelInstitute of Computer Science, Foundation for Research and Techn
Kanoulas, DimitriosUniversity College London
Trahanias, PanosFoundation for Research and Technology – Hellas (FORTH)
 
12:50-13:00, Paper TuB-11.3 
 Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots

Arpenti, PierluigiUniversità Degli Studi Di Napoli "Federico II"
Donaire, AlejandroQueensland University of Technology
Ruggiero, FabioUniversità Di Napoli Federico II
Lippiello, VincenzoUniversity of Naples FEDERICO II
 
13:00-13:10, Paper TuB-11.4 
 Learning Dynamic Bipedal Walking across Stepping Stones

Duan, HeleiOregon State University
Malik, AshishOregon State University
Gadde, Mohitvishnu S.Oregon State University
Dao, JeremyOregon State University
Fern, AlanOregon State University
Hurst, JonathanOregon State University
 
13:10-13:20, Paper TuB-11.5 
 Humanoid Balance Control Using Centroidal Angular Momentum Based on Hierarchical Quadratic Programming

Kim, Myeong-JuSeoul National University
Lim, DaegyuSeoul National University
Park, GyeongjaeSeoul National University
Park, JaeheungSeoul National University
 
13:20-13:30, Paper TuB-11.6 
 Resolved Motion Control for 3D Underactuated Bipedal Walking Using Linear Inverted Pendulum Dynamics and Neural Adaptation

Paredes, VictorThe Ohio State University
Hereid, AyongaOhio State University
 
13:30-13:40, Paper TuB-11.7 
 Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain

Guadarrama-Olvera, Julio RogelioTechnical University of Munich
Kajita, ShuujiChubu University
Cheng, GordonTechnical University of Munich
 
13:40-13:50, Paper TuB-11.8 
 Improved Biped Walking Performance Around the Kinematic Singularities of Biomimetic Four-Bar Knees

Smyrli, AikateriniNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
13:50-14:00, Paper TuB-11.9 
 Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

Ramadoss, PrashanthItalian Institute of Technology, Genova
Romualdi, GiulioFondazione Istituto Italiano Di Tecnologia
Dafarra, StefanoIstituto Italiano Di Tecnologia
Traversaro, SilvioIstituto Italiano Di Tecnologia
Pucci, DanieleItalian Institute of Technology
 
TuB-12 Rm12 (Room J)
Computer Vision for Automation 2 Regular session
Chair: Civera, JavierUniversidad De Zaragoza
Co-Chair: Itsumi, HayatoNEC
 
12:30-12:40, Paper TuB-12.1 
 ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation Using Synthetic Data

Hagelskjær, FrederikUniversity of Southern Denmark
Buch, Anders GlentUniversity of Southern Denmark
 
12:40-12:50, Paper TuB-12.2 
 Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking

Tirado, JavierUniversity of Zaragoza
Civera, JavierUniversidad De Zaragoza
 
12:50-13:00, Paper TuB-12.3 
 Intensity Image-Based LiDAR Fiducial Marker System

Shan, JinjunYork University
Liu, YiboYork University
Schofield, HunterYork University
 
13:00-13:10, Paper TuB-12.4 
 Multi-Modal Non-Isotropic Light Source Modelling for Reflectance Estimation in Hyperspectral Imaging

Mehami, JasprabhjitUniversity of Technology Sydney
Falque, RaphaelUniversity of Technology Sydney
Vidal-Calleja, Teresa A.University of Technology Sydney
Alempijevic, AlenUniversity of Technology Sydney
 
13:10-13:20, Paper TuB-12.5 
 LiSnowNet: Real-Time Snow Removal for LiDAR Point Clouds

Yu, Ming-YuanUniversity of Michigan
Vasudevan, RamUniversity of Michigan
Johnson-Roberson, MatthewUniversity of Michigan
 
13:20-13:30, Paper TuB-12.6 
 Application of Ghost-DeblurGAN to Fiducial Marker Detection

Liu, YiboYork University
Haridevan, AmaldevYork University
Schofield, HunterYork University
Shan, JinjunYork University
 
13:30-13:40, Paper TuB-12.7 
 Learning Important Regions Via Attention for Video Streaming on Cloud Robotics

Itsumi, HayatoNEC
Beye, FlorianNEC
Vitthal, CharviNEC Corporation
Nihei, KoichiNEC Corporation
 
13:40-13:50, Paper TuB-12.8 
 Unsupervised Simultaneous Learning for Camera Re-Localization and Depth Estimation from Video

Taguchi, ShunToyota Central R&D Labs., Inc
Hirose, NoriakiTOYOTA Central R&D Labs., INC
 
13:50-14:00, Paper TuB-12.9 
 HyperPocket: Generative Point Cloud Completion

Spurek, PrzemysławFaculty of Mathematics and Computer Science
Kasymov, ArturJagiellonian University
Mazur, MarcinJagiellonian University in Krakow
Diana, JanikJagiellonian University
Tadeja, Slawomir KonradJagiellonian University
Lukasz, StruskiJagiellonian University
Jacek, TaborJagiellonian University
Trzcinski, TomaszWarsaw University of Technology
 
TuB-13 Rm13 (Room K)
Marine Robotics 1 Regular session
Chair: Tanner, Herbert G.University of Delaware
Co-Chair: Pang, YusongDelft University of Technology
 
12:30-12:40, Paper TuB-13.1 
 Flexible Collision-Free Platooning Method for Unmanned Surface Vehicle with Experimental Validations

Du, BinShanghai Jiao Tong University
Lin, BinShanghai Jiao Tong University
Xie, WeiShanghai Jiao Tong University
Zhang, WeidongShanghai JiaoTong University
Negenborn, R.R.Delft University of Technology
Pang, YusongDelft University of Technology
 
12:40-12:50, Paper TuB-13.2 
 Development and Field Testing of an Optimal Path Following ASV Controller for Marine Surveys

Baxevani, KleioUniversity of Delaware
Otto, GrantUniversity of Delaware
Tanner, Herbert G.University of Delaware
Trembanis, ArthurUniversity of Delaware
 
12:50-13:00, Paper TuB-13.3 
 Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots

Drupt, JulietteUniversité De Toulon
Dune, ClaireUniversité De Toulon
Comport, Andrew IanCNRS-I3S/UNS
Seillier, SabineCOSMER - Université De Toulon
Hugel, VincentUniversity of Toulon
 
13:00-13:10, Paper TuB-13.4 
 Motion Attribute-Based Clustering and Collision Avoidance of Multiple In-Water Obstacles by Autonomous Surface Vehicle

Jeong, MingiDartmouth College
Quattrini Li, AlbertoDartmouth College
 
13:10-13:20, Paper TuB-13.5 
 Training Dynamic Motion Primitives Using Deep Reinforcement Learning to Control a Robotic Tadpole

Hameed, ImranThe Hong Kong Polytechnic University
Chao, XuThe Hong Kong Polytechnic University
Navarro-Alarcon, DavidThe Hong Kong Polytechnic University
Jing, XingjianCity University of Hong Kong
 
13:20-13:30, Paper TuB-13.6 
 Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method

Gartner, NicolasUniversité De Toulon
Richier, MathieuUniversity of Toulon
Dune, ClaireUniversité De Toulon
Hugel, VincentUniversity of Toulon
 
13:30-13:40, Paper TuB-13.7 
 An Underwater Target Perception Framework for Underwater Operation Scene

Gao, JueGao Jue
Zhu, ChiMaebashi Institute of Technology
 
TuB-14 Rm14 (Room 501)
Soft Robot Materials and Design 2 Regular session
Chair: Rossiter, JonathanUniversity of Bristol
Co-Chair: Kwon, Dong-SooKAIST
 
12:30-12:40, Paper TuB-14.1 
 Self-Morphing Soft Parallel-And-Coplanar Electroadhesive Grippers Based on Laser-Scribed Graphene Oxide Electrodes

Guo, JianglongHarbin Institute of Technology (Shenzhen)
Kuhnel, DjenEcole Polytechnique Fédérale De Lausanne
Qi, QiukaiUniversity of Bristol
Xiang, ChaoqunBristol Robotics Laboratory
Ho, VanJapan Advanced Institute of Science and Technology
Faul, CharlUniversity of Bristol
Rossiter, JonathanUniversity of Bristol
 
12:40-12:50, Paper TuB-14.2 
 Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator

Yi, YesungKorea Advanced Institute of Science and Technology
Youn, Jung-HwanKorea Advanced Institute of Science and Technology (KAIST)
Kyung, Ki-UkKorea Advanced Institute of Science & Technology (KAIST)
Kwon, Dong-SooKAIST
 
12:50-13:00, Paper TuB-14.3 
 A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications

Jones, JoannaUniversity of Sheffield
Damian, DanaUniversity of Sheffield
 
13:00-13:10, Paper TuB-14.4 
 GSG: A Granary-Shaped Soft Gripper with Mechanical Sensing Via Snap-Through Structure

Dong, HuixuZhejiang University
Chen, Chao-YuNational University of Singapore
Qiu, ChenNanyang Technological University
Yeow, Chen-HuaNational University of Singapore
Yu, HaoyongNational University of Singapore
 
13:10-13:20, Paper TuB-14.5 
 FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles

Kim, SuhanMassachusetts Institute of Technology (MIT)
Hsiao, Yi-HsuanMassachusetts Institute of Technology
Chen, Yu FanMassachusetts Institute of Technology
Mao, JieSchool of Chemistry and Chemical Engineering, Ningxia University