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 Wednesday October 26, 2022

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WePL Main Hall
Plenary 3: Towards Collective Artificial Intelligence, -- Radhika Nagpal,
Princeton University, USA
Plenary session
Chair: OMalley, MarciaRice University
WeA-1 Rm1 (Room A)
Special Session: Computational Advances in Human-Robot Interaction 1 Regular session
Chair: Bagchi, ShellyNational Institute of Standards and Technology
Co-Chair: Han, ZhaoColorado School of Mines
10:00-10:10, Paper WeA-1.1 
 Coordination with Humans Via Strategy Matching

Zhao, MichelleCarnegie Mellon University
Simmons, ReidCarnegie Mellon University
Admoni, HennyCarnegie Mellon University
10:10-10:20, Paper WeA-1.2 
 DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent PHRI

Yazdani, AmirUniversity of Utah
Sabbagh Novin, RoyaUniversity of Utah
Merryweather, AndrewUniversity of Utah
Hermans, TuckerUniversity of Utah
10:20-10:30, Paper WeA-1.3 
 Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition

Akhyani, SabaSimon Fraser University
Abbasi Boroujeni, MehryarSimon Fraser University
Chen, MoSimon Fraser University
Lim, AngelicaSimon Fraser University
10:30-10:40, Paper WeA-1.4 
 Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning

Lee, MichaelCarnegie Mellon University
Admoni, HennyCarnegie Mellon University
Simmons, ReidCarnegie Mellon University
10:40-10:50, Paper WeA-1.5 
 Proactive Robotic Assistance Via Theory of Mind

Shvo, MaayanUniversity of Toronto
Hari, RuthrashUniversity of Toronto
O'Reilly, ZiggyIstituto Italiano Di Tecnologia; Universita Di Torino
Abolore, SophiaUniversity of Toronto
Wang, Sze Yuh NinaUniversity of Toronto
McIlraith, SheilaUniversity of Toronto
10:50-11:00, Paper WeA-1.6 
 A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice

Agrawal, ShivendraUniversity of Colorado Boulder
West, MaryUniversity of Colorado Boulder
Hayes, BradleyUniversity of Colorado Boulder
11:00-11:10, Paper WeA-1.7 
 SESNO: Sample Efficient Social Navigation from Observation

Hamed Baghi, BobakMcGill University
Konar, AbhisekMcGill University
Hogan, FrancoisMassachusetts Institute of Technology
Jenkin, MichaelYork University
Dudek, GregoryMcGill University
11:10-11:20, Paper WeA-1.8 
 Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots

Saran, AkankshaUniversity of Texas at Austin
Desai, KushUniversity of Texas at Austin
Chang, Mai LeeUniversity of Texas at Austin
Lioutikov, RudolfKarlsruhe Institute of Technology
Thomaz, Andrea LockerdUniversity of Texas at Austin
Niekum, ScottUniversity of Texas at Austin
11:20-11:30, Paper WeA-1.9 
 Gesture2Vec: Clustering Gestures Using Representation Learning Methods for Co-Speech Gesture Generation
(Finalist for IROS Best Paper Award on Cognitive Robotics Sponsored by KROS)

Jome Yazdian, PayamSimon Fraser University
Chen, MoSimon Fraser University
Lim, AngelicaSimon Fraser University
WeA-2 Rm2 (Room B-1)
Special Session: Robotics in Agriculture and Livestock Farming Systems Regular session
Chair: Qiao, YongliangUniversity of Sydney
Co-Chair: Huang, ZichenKyoto University
10:00-10:10, Paper WeA-2.1 
 Optical Flow-Based Branch Segmentation for Complex Orchard Environments

You, AlexanderOregon State University
Grimm, CindyOregon State University
Davidson, JosephOregon State University
10:10-10:20, Paper WeA-2.2 
 Near Real-Time Vineyard Downy Mildew Detection and Severity Estimation

Liu, ErtaiCornell University
Gold, KaitlinCornell University
Cadle-Davidson, LanceUSDA ARS Grape Genetics Research Unit
Combs, DavidCornell University
Jiang, YuCornell University
10:20-10:30, Paper WeA-2.3 
 View Planning Using Discrete Optimization for 3D Reconstruction of Row Crops

Bacharis, ThanasisCSE, UMN
Nelson, HenryUniversity of Minnesota
Papanikolopoulos, NikosUniversity of Minnesota
10:30-10:40, Paper WeA-2.4 
 BonnBot-I: A Precise Weed Management and Crop Monitoring Platform

Ahmadi, AlirezaUniversity of Bonn
Halstead, Michael AllanBonn University
McCool, Christopher StevenUniversity of Bonn
10:40-10:50, Paper WeA-2.5 
 An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting

Campbell, MerrickUniversity of California, Riverside
Dechemi, AmelUniversity of California, Riverside
Karydis, KonstantinosUniversity of California, Riverside
10:50-11:00, Paper WeA-2.6 
 Algorithm Design and Integration for a Robotic Apple Harvesting System

Zhang, KaixiangMichigan State University
Lammers, KyleMichigan State University
Chu, PengyuMichigan State University
Dickinson, NathanMichigan State University
Li, ZhaojianMichigan State University
Lu, RenfuUnited States Department of Agriculture Agricultural Research Se
11:00-11:10, Paper WeA-2.7 
 Predicting Fruit-Pick Success Using a Grasp Classifier Trained on a Physical Proxy

Velasquez-Lopez, AlejandroOregon State University
Swenson, NigelOregon State University
Cravetz, MirandaOregon State University
Grimm, CindyOregon State University
Davidson, JosephOregon State University
11:10-11:20, Paper WeA-2.8 
 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
11:20-11:30, Paper WeA-2.9 
 Beyond mAP: Towards Practical Object Detection for Weed Spraying in Precision Agriculture

Salazar-Gomez, AdrianUniversity of Lincoln
Darbyshire, MadeleineUniversity of Lincoln
Gao, JunfengUniversity of Lincoln
Sklar, Elizabeth I.University of Lincoln
Parsons, SimonUniversity of Lincoln
WeA-3 Rm3 (Room B-2)
Special Session: Robot Audition Regular session
Chair: Kumon, MakotoKumamoto University
Co-Chair: Itoyama, KatsutoshiTokyo Institute of Technology
10:00-10:10, Paper WeA-3.1 
 Audio-Visual Depth and Material Estimation for Robot Navigation

Wilson, JustinUniversity of North Carolina at Chapel Hill (UNC-CH)
Rewkowski, NicholasUMD College Park
Lin, Ming C.University of Maryland at College Park
10:10-10:20, Paper WeA-3.2 
 Design of a Low-Cost Passive Acoustic Monitoring System for Animal Localisation from Calls

Yen, BenjaminUniversity of Auckland
Prins, JemimaUniversity of Auckland
Schmid, GianUniversity of Auckland
Hioka, YusukeUniversity of Auckland
Ellis, SusanGNS Science
Marsland, StephenVictoria University of Wellington
10:20-10:30, Paper WeA-3.3 
 Spotforming by NMF Using Multiple Microphone Arrays

Kagimoto, YasuhiroTokyo Institute of Technology
Itoyama, KatsutoshiTokyo Institute of Technology
Nishida, KenjiTokyo Institute of Technoloy
Nakadai, KazuhiroTokyo Institute of Technology
10:30-10:40, Paper WeA-3.4 
 Noisy Agents: Self-Supervised Exploration by Predicting Auditory Events

Gan, ChuangIBM
Chen, XiaoyuTsinghua University
Isola, PhillipMIT
Torralba, AntonioMIT
Tenenbaum, JoshuaMassachusetts Institute of Technology
10:40-10:50, Paper WeA-3.5 
 Direction-Aware Adaptive Online Neural Speech Enhancement with an Augmented Reality Headset in Real Noisy Conversational Environments

Sekiguchi, KouheiRIKEN
Nugraha, Aditya ArieRIKEN
Du, YichengKyoto University
Bando, YoshiakiNational Institute of Advanced Industrial Science and Technology
Fontaine, MathieuLTCI, Telecom Paris, Institut Polytechnique De Paris
Yoshii, KazuyoshiKyoto University
10:50-11:00, Paper WeA-3.6 
 Object Surface Recognition Using Microphone Array by Acoustic Standing Wave

Manabe, TomoyaKumamoto University
Fukunaga, RikutoKumamoto University
Nakatsuma, KeiKumamoto University
Kumon, MakotoKumamoto University
11:00-11:10, Paper WeA-3.7 
 Recognizing Object Surface Material from Impact Sounds for Robot Manipulation

Dimiccoli, MariellaInstitut De Robňtica I Informŕtica Industrial (CSIC-UPC)
Patni, ShubhanCzech Technical University in Prague
Hoffmann, MatejCzech Technical University in Prague, Faculty of Electrical Engi
Moreno-Noguer, FrancescCSIC
11:10-11:20, Paper WeA-3.8 
 Controlling the Impression of Robots Via GAN-Based Gesture Generation

Wu, BowenOsaka University
Shi, JiaqiOsaka University, RIKEN
Liu, ChaoranATR
Ishi, Carlos ToshinoriRIKEN
Ishiguro, HiroshiOsaka University
11:20-11:30, Paper WeA-3.9 
 Outdoor Evaluation of Sound Source Localization for Drone Groups Using Microphone Arrays

Yamada, TaikiTokyo Institute of Technology
Itoyama, KatsutoshiTokyo Institute of Technology
Nishida, KenjiTokyo Institute of Technoloy
Nakadai, KazuhiroTokyo Institute of Technology
WeA-4 Rm4 (Room C-1)
Machine Learning for Robot Control 1 Regular session
Chair: Halt, LorenzFraunhofer Institute for Manufacturing Engineering and Automation IPA
Co-Chair: Baumann, CyrillEcole Polytechnique Fédérale De Lausanne
10:00-10:10, Paper WeA-4.1 
 Reactive Stepping for Humanoid Robots Using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante

Duburcq, AlexisWandercraft
Schramm, FabianWandercraft
Boeris, GuilhemWandercraft
Bredeche, NicolasUniversité Pierre Et Marie Curie
Chevaleyre, YannUniv. Paris Dauphine
10:10-10:20, Paper WeA-4.2 
 Hybrid Approach for Stabilizing Large Time Delays in Cooperative Adaptive Cruise Control with Reduced Performance Penalties

Hsueh, Kuei-Fang (Albert)University of Toronto
Farnood, AyleenUniversity of Toronto
Al Janaideh, MohammadMemorial University &University of Toronto
Kundur, DeepaUniversity of Toronto
10:20-10:30, Paper WeA-4.3 
 Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

Baumann, CyrillEcole Polytechnique Fédérale De Lausanne
Birch, HugoEPFL
Martinoli, AlcherioEPFL
10:30-10:40, Paper WeA-4.4 
 Federated Learning from Demonstration for Active Assistance to Smart Wheelchair Users

Casado, Fernando E.Universidade De Santiago De Compostela
Demiris, YiannisImperial College London
10:40-10:50, Paper WeA-4.5 
 PourNet: Robust Robotic Pouring through Curriculum and Curiosity-Based Reinforcement Learning

Babaians, EdwinTechnical University of Munich
Sharma, TapanTechnische Universität München
Karimi, MojtabaTechnical University of Munich
Sharifzadeh, SahandLMU
Steinbach, EckehardTechnical University of Munich
10:50-11:00, Paper WeA-4.6 
 Simulation-Based Learning of the Peg-In-Hole Process Using Robot-Skills

Lämmle, ArikFraunhofer IPA
Tenbrock, PhilippFraunhofer Institute for Manufacturing Engineering and Automatio
Bálint, Balázs AndrásFraunhofer IPA
Nägele, FrankFraunhofer IPA
Kraus, WernerFraunhofer IPA
Váncza, JózsefSZTAKI
Huber, Marco F.University of Stuttgart
11:00-11:10, Paper WeA-4.7 
 Hybrid LMC: Hybrid Learning and Model-Based Control for Wheeled Humanoid Robot Via Ensemble Deep Reinforcement Learning

Baek, DongHoonUniversity of Illinois Urbana-Champaign
Purushottam, AmartyaUniversity of Illinois, Urbana-Champaign
Ramos, JoaoUniversity of Illinois at Urbana-Champaign
11:10-11:20, Paper WeA-4.8 
 Active Exploration for Robotic Manipulation

Schneider, TimTechnical University Darmstadt
Belousov, BorisTechnische Universität Darmstadt
Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems
Romeres, DiegoMitsubishi Electric Research Laboratories
Jha, DeveshMitsubishi Electric Research Laboratories
Peters, JanTechnische Universität Darmstadt
11:20-11:30, Paper WeA-4.9 
 Cloud-Edge Training Architecture for Sim-To-Real Deep Reinforcement Learning

Cao, HongpengTechnical University of Munich
Theile, MircoTechnical University of Munich
Wyrwal, Federico GabrielTechnical University Munich
Caccamo, MarcoTechnical University of Munich
WeA-5 Rm5 (Room C-2)
Soft Robot Modeling and Control 1 Regular session
Chair: Hirai, ShinichiRitsumeikan Univ
Co-Chair: Katzschmann, Robert KevinETH Zurich
10:00-10:10, Paper WeA-5.1 
 Towards Accurate Modeling of Modular Soft Pneumatic Robots: From Volume FEM to Cosserat Rod

Wiese, MatsLeibniz Universität Hannover
Cao, Benjamin-HieuLeibniz Universität Hannover
Raatz, AnnikaLeibniz Universität Hannover
10:10-10:20, Paper WeA-5.2 
 A Proprioceptive Method for Soft Robots Using Inertial Measurement Units

Martin, Yves J.Harvard University
Bruder, DanielHarvard University
Wood, RobertHarvard University
10:20-10:30, Paper WeA-5.3 
 Model-Based Contact Detection and Accommodation for Soft Bending Actuators: An Integrated Direct/Indirect Adaptive Robust Approach

Hu, YuZhejiang University
Chen, CongZhejiang University
Zou, JunZhejiang University
10:30-10:40, Paper WeA-5.4 
 A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints

Spinelli, Filippo AlbertoETH Zürich
Katzschmann, Robert KevinETH Zurich
10:40-10:50, Paper WeA-5.5 
 Contact-Implicit Trajectory and Grasp Planning for Soft Continuum Manipulators

Graule, Moritz A.Harvard University
Teeple, ClarkHarvard University
Wood, RobertHarvard University
10:50-11:00, Paper WeA-5.6 
 Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper

Sachin, SachinRitsumeikan University
Wang, ZhongkuiRitsumeikan University
Matsuno, TakahiroRitsumeikan Univ
Hirai, ShinichiRitsumeikan Univ
11:00-11:10, Paper WeA-5.7 
 Planar Modeling and Sim-To-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs

Gravert, Stephan-DanielETH Zurich
Michelis, Mike YanTechnical University of Munich
Rogler, SimonETH Zurich
Tscholl, DarioETH Zurich
Buchner, Thomas Jakob KonradETH Zurich
Katzschmann, Robert KevinETH Zurich
11:10-11:20, Paper WeA-5.8 
 Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator Using Orientation Sensing

Cangan, Barnabas GavinETH Zurich
Escaida Navarro, StefanInria
Bai, YangTU Berlin
Zhang, YuETH Zurich
Duriez, ChristianINRIA
Katzschmann, Robert KevinETH Zurich
11:20-11:30, Paper WeA-5.9 
 Variable Stiffness Object Recognition with Bayesian Convolutional Neural Network on a Soft Gripper

Cao, JinyueShanghaitech University
Huang, JingyiShanghaiTech University
Rosendo, AndreShanghaiTech University
WeA-6 Rm6 (Room D)
SLAM 7 Regular session
Chair: Vidal-Calleja, Teresa A.University of Technology Sydney
Co-Chair: Zhang, FuUniversity of Hong Kong
10:00-10:10, Paper WeA-6.1 
 Simultaneous Localization and Mapping through the Lens of Nonlinear Optimization

Saxena, AmayUniversity of California, Berkeley
Chiu, Chih-YuanUniversity of California, Berkeley
Shrivastava, RitikaUniversity of California, Berkeley
Menke, JosephUniversity of California, Berkeley
Sastry, ShankarUniversity of California, Berkeley
10:10-10:20, Paper WeA-6.2 
 Fast and Safe Exploration Via Adaptive Semantic Perception in Outdoor Environments

Wang, ZhihaoHarbin Institute of Technology, Shenzhen
Chen, LingxuHarbin Institute of Technology(Shenzhen)
Chen, HongjinHarbin Institute of Technology Shenzhen
Chen, HaoyaoHarbin Institute of Technology, Shenzhen
Jiang, XinHarbin Institute of Technology, Shenzhen
10:20-10:30, Paper WeA-6.3 
 Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapped Monocular Cameras

He, YaoThe Chinese University of HongKong, Shenzhen
Yu, HuaiCarnegie Mellon University; Wuhan University
Yang, WenWuhan University
Scherer, SebastianCarnegie Mellon University
10:30-10:40, Paper WeA-6.4 
 Scalable Probabilistic Gas Distribution Mapping Using Gaussian Belief Propagation

Rhodes, CallumLoughborough University
Liu, CunjiaLoughborough University
Chen, Wen-HuaLoughborough University
10:40-10:50, Paper WeA-6.5 
 WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue

Broyles, DanielUniversity of Washington
Hayner, ChristopherUniversity of Washington
Leung, KarenStanford University, NVIDIA Research, University of Washington
10:50-11:00, Paper WeA-6.6 
 A Tightly-Coupled Event-Inertial Odometry Using Exponential Decay and Linear Preintegrated Measurements

Dai, BennyUniversity of Technology Sydney
Le Gentil, CedricUniversity of Technology Sydney
Vidal-Calleja, Teresa A.University of Technology Sydney
11:00-11:10, Paper WeA-6.7 
 Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles (I)

Jung, Jae HyungSeoul National University
Choe, YeongkwonKorea Electronics Technology Institute (KETI), Seoul National Un
Park, Chan GookSeoul National University
11:10-11:20, Paper WeA-6.8 
 FAST-LIO2: Fast Direct LiDAR-Inertial Odometry (I)

Xu, WeiUniversity of Hong Kong
Cai, YixiUniversity of Hong Kong
He, DongjiaoThe University of Hong Kong
Lin, JiarongThe University of Hong Kong
Zhang, FuUniversity of Hong Kong
11:20-11:30, Paper WeA-6.9 
 Rail Vehicle Localization and Mapping with LiDAR-Vision-Inertial-GNSS Fusion

Yusheng, WangWuhan University
Weiwei, SongWuhan University
Yidong, LouWuhan University
Yi, ZhangWuhan University
Fei, HuangWuhan University
Zhiyong, TuWuhan University
Qiangsheng, LiangSuzhou Jingwei CO., LTD
WeA-7 Rm7 (Room E)
Medical Robots and Systems 7 Regular session
Chair: Fiorini, PaoloUniversity of Verona
Co-Chair: Vander Poorten, Emmanuel BKU Leuven
10:00-10:10, Paper WeA-7.1 
 A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation

Hoelscher, JanineUNC Chapel Hill
Fried, InbarUniversity of North Carolina at Chapel Hill
Fu, MengyuUniversity of North Carolina at Chapel Hill
Patwardhan, MihirUniversity of North Carolina at Chapel Hill
Christman, MaxUniversity of North Carolina at Chapel Hill
Akulian, JasonUniversity of North Carolina at Chapel Hill
Webster III, Robert JamesVanderbilt University
Alterovitz, RonUniversity of North Carolina at Chapel Hill
10:10-10:20, Paper WeA-7.2 
 Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope

Phelan, MartinMax Planck Institute for Intelligent Systems
Dogan, Nihal OlcayMax Planck Institute
Lazovic, JelenaMax Planck Institute for Intelligent Systems
Sitti, MetinMax-Planck Institute for Intelligent Systems
10:20-10:30, Paper WeA-7.3 
 GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator

Gao, HuxinNational University of Singapore
Zhang, ZedongNational University of Singapore
Li, ChangshengBeijing Institute of Technology
Xiao, XiaoSouthern University of Science and Technology
Qiu, LiangNational University of Singapore
Yang, XiaoxiaoQilu Hospital of Shandong University
Hao, RuoyiChinese University of Hong Kong
Zuo, XiuliQiluHospitalofShandongUniversity
Li, YanqingQilu Hospital of Shandong University
Ren, HongliangChinese Univ Hong Kong (CUHK) & National Univ Singapore(NUS)
10:30-10:40, Paper WeA-7.4 
 A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots

Grassmann, Reinhard M.University of Toronto Mississauga
Chen, Ryan ZeyuanUniversity of Toronto
Liang, NanUniversity of Toronto
Burgner-Kahrs, JessicaUniversity of Toronto
10:40-10:50, Paper WeA-7.5 
 Intrinsic Force Sensing for Motion Estimation in a Parallel, Fluidic Soft Robot for Endoluminal Interventions

Lindenroth, LukasUniversity College London
Merlin, JerefWellcome/EPSRC Centre for Interventional and Surgical Sciences (
Bano, SophiaUniversity College London
Manjaly, Joseph G.University College London Hospitals Biomedical Research Centre,
Mehta, NishchayUniversity College London Hospitals Biomedical Research Centre,
Stoyanov, DanailUniversity College London
10:50-11:00, Paper WeA-7.6 
 Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach

Ha, Xuan ThaoKU Leuven
Wu, DiKU Leuven
Lai, Chun-FengDelft University of Technology
Ourak, MouloudUniversity of Leuven
Borghesan, GianniKU Leuven
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Vander Poorten, Emmanuel BKU Leuven
11:00-11:10, Paper WeA-7.7 
 Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

Wu, DiKU Leuven
Ha, Xuan ThaoKU Leuven
Zhang, YaoKU Leuven
Ourak, MouloudUniversity of Leuven
Borghesan, GianniKU Leuven
Niu, KenanUniversity of Twente
Trauzettel, FabianTU Delft
Dankelman, JennyTU Delft
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Vander Poorten, Emmanuel BKU Leuven
11:10-11:20, Paper WeA-7.8 
 Colonoscopy Navigation Using End-To-End Deep Visuomotor Control: A User Study

Pore, AmeyaUniversity of Verona
Finocchiaro, MartinaUniversitat Politčcnica De Catalunya
Dall'Alba, DiegoUniversity of Verona
Hernansanz, AlbertUPC (Universitat Politecnicade Catalunya)
Ciuti, GastoneScuola Superiore Sant'Anna
Arezzo, AlbertoUniversity of Torino
Menciassi, AriannaScuola Superiore Sant'Anna - SSSA
Casals, AliciaUniversitatPolitčcnica De Catalunya, Barcelona Tech
Fiorini, PaoloUniversity of Verona
11:20-11:30, Paper WeA-7.9 
 Shape Memory Polymer Variable Stiffness Magnetic Catheters with Hybrid Stiffness Control

Mattmann, MichaelETH Zurich, Multi Scale Robotics Laboratory
Boehler, QuentinETH Zurich
Chen, Xiang-ZhongETH Zurich
Pané, SalvadorETH Zurich
Nelson, Bradley J.ETH Zurich
WeA-8 Rm8 (Room F)
Compliance and Impedance Control 1 Regular session
Chair: Haddadin, SamiTechnical University of Munich
Co-Chair: Colomé, AdriŕInstitut De Robňtica I Informŕtica Industrial (CSIC-UPC), Q2818002D
10:00-10:10, Paper WeA-8.1 
 Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces through Proprioceptive and Tactile Sensing

Zhang, WeixuanETH Zurich
Ott, LionelETH Zurich
Tognon, MarcoETH Zurich
Siegwart, RolandETH Zurich
10:10-10:20, Paper WeA-8.2 
 Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control

Karacan, KübraTechnical University of Munich
Sadeghian, HamidTechnical University of Munich
Kirschner, Robin JeanneTU Munich, Institute for Robotics and Systems Intelligence
Haddadin, SamiTechnical University of Munich
10:20-10:30, Paper WeA-8.3 
 Perturbation-Based Stiffness Inference in Variable Impedance Control

Caldarelli, EdoardoInstitut De Robňtica I Informŕtica Industrial (CSIC-UPC)
Colomé, AdriŕInstitut De Robňtica I Informŕtica Industrial (CSIC-UPC), Q28180
Torras, CarmeCsic - Upc
10:30-10:40, Paper WeA-8.4 
 A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

Risiglione, MattiaItalian Institute of Technology
Barasuol, VictorIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Semini, ClaudioIstituto Italiano Di Tecnologia
10:40-10:50, Paper WeA-8.5 
 Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots

Sun, YiÉcole Polytechnique Fédérale De Lausanne
Digumarti, Krishna ManaswiEcole Polytechnique Federale De Lausanne
Phan, Hoang-VuEPFL
Aloui, OmarLIS-EPFL
Floreano, DarioEcole Polytechnique Federal, Lausanne
10:50-11:00, Paper WeA-8.6 
 An Observer-Based Responsive Variable Impedance Control for Dual–User Haptic Training System

Rashvand, AshkanK. N. Toosi University of Technology
Heidari, RezaK. N. Toosi Univ. of Tech
Motaharifar, MohammadUniversity of Isfahan
Hassani, AliAdvanced Robotics and Automated Systems (ARAS), K. N. Toosi Univ
Dindarloo, Mohammad RezaK. N. Toosi University of Technology
Ahmadi, Mohammad JavadK. N. Toosi University of Technology
Hashtrudi-Zaad, KeyvanQueen's University
Tavakoli, MahdiUniversity of Alberta
Taghirad, Hamid D.K.N.Toosi University of Technology
11:00-11:10, Paper WeA-8.7 
 Development of Low-Inertia Backdrivable Arm Focusing on Learning-Based Control

Nishiura, ManabuToyota Motor Coporation
Hatano, AkiraToyota Motor Corporation
Nishii, KazutoshiToyota Motor Corporation
Okumatsu, YohishiroToyota Motor Corporation
11:10-11:20, Paper WeA-8.8 
 BEAR-H: An Intelligent Bilateral Exoskeletal Assistive Robot for Smart Rehabilitation (I)

Li, XiangTsinghua University
Zhang, XuanTsinghua University
Li, XiuTsinghua University
Long, JianjunShenzhen University
Li, JiananNanjing Medical University
Xu, LanshuaiMilebot
Chen, GongShenzhen MileBot Robotics
Ye, JingShenzhen MileBot Robotics Co. Ltd
11:20-11:30, Paper WeA-8.9 
 Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning

Welker, Cara GonzalezUniversity of Colorado Boulder
Best, ThomasUniversity of Michigan
Gregg, Robert D.University of Michigan
WeA-9 Rm9 (Room G)
Software, Middleware and Programming Environments 1 Regular session
Chair: Kawashima, HideyukiKeio University
Co-Chair: Bombieri, NicolaUniversity of Verona
10:00-10:10, Paper WeA-9.1 
 OHM: GPU Based Occupancy Map Generation

Stepanas, KazysCSIRO Data61
Williams, JasonCSIRO
Hernandez, EmiliEmesent
Ruetz, Fabio AdrianQueensland University of Technology (QUT)
Hines, ThomasCSIRO
10:10-10:20, Paper WeA-9.2 
 IKFlow: Generating Diverse Inverse Kinematics Solutions

Ames, BarrettDuke University
Morgan, JeremyIndependent Researcher
Konidaris, GeorgeBrown University
10:20-10:30, Paper WeA-9.3 
 Ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

Bédard, ChristophePolytechnique Montréal
Lütkebohle, IngoRobert Bosch GmbH
Dagenais, MichelPolytechnique Montréal
10:30-10:40, Paper WeA-9.4 
 RobotCore: An Open Architecture for Hardware Acceleration in ROS 2

Mayoral-Vilches, VictorKlagenfurt University
Neuman, SabrinaMIT
Plancher, BrianHarvard University
Janapa Reddi, VijayHarvard University
10:40-10:50, Paper WeA-9.5 
 Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills

Sathya, Ajay SureshaKU Leuven
Astudillo Vigoya, AlejandroKU Leuven
Gillis, JorisKU Leuven
Decré, WilmKatholieke Universiteit Leuven
Pipeleers, GoeleKU Leuven
Swevers, JanKU Leuven
10:50-11:00, Paper WeA-9.6 
 Containerization and Orchestration of Software for Autonomous Mobile Robots: A Case Study of Mixed-Criticality Tasks across Edge-Cloud Computing Platforms

Lumpp, FrancescoUniversity of Verona
Fummi, FrancoUniversity of Verona
Patel, HirenUniversity of Waterloo
Bombieri, NicolaUniversity of Verona
11:00-11:10, Paper WeA-9.7 
 GPU-Accelerated Incremental Euclidean Distance Transform for Online Motion Planning of Mobile Robots

Chen, YizhouChinese University of Hong Kong
Lai, ShupengNational University of Singapore
Cui, JinqiangPeng Cheng Laboratory
Wang, BiaoNanjing University of Aeronautics and Astronautics
Chen, Ben M.Chinese University of Hong Kong
11:10-11:20, Paper WeA-9.8 
 Transactional Transform Library for ROS

Ogiwara, YushiKeio University
Yorozu, AyanoriUniversity of Tsukuba
Ohya, AkihisaUniversity of Tsukuba
Kawashima, HideyukiKeio University
11:20-11:30, Paper WeA-9.9 
 Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

Kästner, LinhTechnische Universität Berlin
Buiyan, TehamTechnical University Berlin
Le, Tuan AnhTechnical University of Berlin
Treis, EliasTechnical University Berlin
Kmiecik, JacekTechnical University Berlin
Carstens, ReykTechnical University Berlin
Cox, JohannesTechnical University of Berlin
Pichel, DucTechnical University Berlin
Meinardus, BorisTechnical University Berlin
Fatloun, Mohamad BasselTechnische Universität Berlin
Khorsandi, NiloufarTechnical University Berlin
Lambrecht, JensTechnische Universität Berlin
WeA-10 Rm10 (Room H)
Wearable Robotics Regular session
Chair: Kiguchi, KazuoKyushu University
Co-Chair: Funabora, YukiNagoya University
10:00-10:10, Paper WeA-10.1 
 An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices

Ambrose, AlexanderGeorgia Institute of Technology
VanAtter, ChelseClemson University
Hammond III, Frank L.Georgia Institute of Technology
10:10-10:20, Paper WeA-10.2 
 Human-Exoskeleton Cooperative Balance Strategy for a Human-Powered Augmentation Lower Exoskeleton

Song, GuangkuiUniversity of Electronic Science and Technology of China
Huang, RuiUniversity of Electronic Science and Technology of China
Peng, ZhinanUnversity of Electronic Science and Tehcnology of China
Shi, KechengThe School of Automation Engineering, University of Electronic S
Zhang, LongUniversity of Electronic Science and Technology of China
He, RongUniversity of Electronic Science and Technology of China
Qiu, JingUniversity of Electronic Science and Technology of China
Zhan, HuayiChanghong AI Lab (CHAIR), Sichuan Changhong Electronics Holding
Cheng, HongUniversity of Electronic Science and Technology
10:20-10:30, Paper WeA-10.3 
 RANK - Robotic Ankle: Design and Testing on Irregular Terrains

Taborri, JuriUniversity of Tuscia
MIleti, IlariaUniversity of Niccolň Cusano, Roma
Mariani, GiovanniUniversity of Tuscia, Viterbo
Mattioli, LucaUniversity of Sapienza, Roma
Liguori, LorenzoUniversity of Sapienza, Roma
Salvatori, StefanoUniversity of Niccolň Cusano, Roma
Palermo, EduardoSapienza University of Rome
Patanč, FabrizioUniversity of Niccolň Cusano, Roma
Rossi, StefanoUniversity of Tuscia
10:30-10:40, Paper WeA-10.4 
 A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification

DelPreto, JosephMassachusetts Institute of Technology
Hughes, JosieEPFL
D’Aria, MatteoSTMicroelectronics
de Fazio, MarcoSTMicrocontroller
Rus, DanielaMIT
10:40-10:50, Paper WeA-10.5 
 A Soft Fabric-Based Shrink-To-Fit Pneumatic Sleeve for Comfortable Limb Assistance

Diteesawat, Richard SuphapolUniversity of Bristol
Hoh, SamUniversity of Bristol
Pulvirenti, EmanueleBristol Robotics Laboratory
Rahman, NahianGeorgia Institute of Technology
Morris, LeahUniversity of the West of England
Turton, A.J.Bristol Robotics Laboratory
Cramp, MaryDepartment of Allied Health Professions and Associate Professor,
Rossiter, JonathanUniversity of Bristol
10:50-11:00, Paper WeA-10.6 
 Ring-Pull Type Soft Wearable Robotic Glove for Hand Strength Assistance

Yang, JunmoDaegu Gyeongbuk Institute of Science and Technology (DGIST)
Kim, DonghyunDaegu Gyeongbuk Institute of Science and Technology
Yoon, JingonDGIST
Kim, JisuDaegu Gyeongbuk Institute of Science and Technology (DGIST)
Yun, DongwonDaegu Gyeongbuk Institute of Science and Technology (DGIST)
11:00-11:10, Paper WeA-10.7 
 Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks

Grazi, LorenzoScuola Superiore Sant'Anna
Trigili, EmilioScuola Superiore Sant'Anna
Caloi, NoemiUniversity of Pisa and Scuola Superiore Sant'Anna
Ramella, GiuliaScuola Superiore Sant'Anna
Giovacchini, FrancescoIUVO S.r.l
Vitiello, NicolaScuola Superiore Sant Anna
Crea, SimonaScuola Superiore Sant'Anna, the BioRobotics Institute
11:10-11:20, Paper WeA-10.8 
 Reconfigurable Self-Sensing Pneumatic Artificial Muscle with Locking Ability Based on Modular Multi-Chamber Soft Actuator

Liu, JianbinKey Laboratory of Mechanism Theory and Equipment Design, Ministr
Ma, ZhuoTianjin University
Wang, YingxueTianjin University
Zuo, SiyangTianjin University
11:20-11:30, Paper WeA-10.9 
 Design of a Wearable Mechanism with Shape Memory Alloy (SMA)-Based Artificial Muscle for Assisting with Shoulder Abduction

Hyeon, KyujinKAIST
Jeong, JaeyeonKorea Advanced Institute of Science Ane Technology
Chung, ChongyoungKorea Advanced Institute of Science and Technology (KAIST)
Cho, MinjaeKAIST
Hussain, SajjadKorea Advanced Institute of Science and Technology
Kyung, Ki-UkKorea Advanced Institute of Science & Technology (KAIST)
WeA-11 Rm11 (Room I)
Intention Recognition Regular session
Chair: Antonello, MorrisFive AI Ltd
Co-Chair: Belardinelli, AnnaHonda
10:00-10:10, Paper WeA-11.1 
 Intention Estimation from Gaze and Motion Features for Human-Robot Shared-Control Object Manipulation

Belardinelli, AnnaHonda
Kondapally-Reddy, AnirudhHonda R&D Innovative Research Excellence
Ruiken, DirkHonda Research Institute Europe
Tanneberg, DanielHonda Research Institute
Watabe, TomokiHonda R&D Co., Ltd
10:10-10:20, Paper WeA-11.2 
 Disentangled Sequence Clustering for Human Intention Inference

Zolotas, MarkNortheastern University
Demiris, YiannisImperial College London
10:20-10:30, Paper WeA-11.3 
 Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users Via Data Augmentation Using Mutual Information

Karulkar, Roopak M.University of Notre Dame
Wensing, Patrick M.University of Notre Dame
10:30-10:40, Paper WeA-11.4 
 Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles

Antonello, MorrisFive AI Ltd
Dobre, MihaiFiveAI
Albrecht, Stefano V.University of Edinburgh
Redford, JohnFive AI Ltd
Ramamoorthy, SubramanianThe University of Edinburgh
10:40-10:50, Paper WeA-11.5 
 MPC-PF: Social Interaction Aware Trajectory Prediction of Dynamic Objects for Autonomous Driving Using Potential Fields

Bhatt, Neel P.University of Waterloo
Khajepour, AmirUniversity of Waterloo
Hashemi, EhsanUniversity of Alberta
10:50-11:00, Paper WeA-11.6 
 Optimization of Forcemyography Sensor Placement for Arm Movement Recognition

Xu, XiaohaoHuazhong University of Science and Technology, State Key Laborat
Du, ZihaoHuazhong University of Science and Technology
Zhang, HuaXinHuazhong University of Science and Technology
Ruichao, ZhangHuazhong University of Science and Technology
Hong, ZihanHuazhong University of Science and Technology
Huang, QinHuazhong University of Science and Technology
Han, BinHuazhong University of Science and Technology
11:00-11:10, Paper WeA-11.7 
 Pedestrian Intention Prediction Based on Traffic-Aware Scene Graph Model

Song, XingchenXi' an Jiaotong University
Kang, MiaoXi’an Jiaotong University
Zhou, SanpingXi’an JIaotong University
Wang, JianjiXi' an Jiaotong University
Mao, YishuXi' an Jiaotong University
Zheng, NanningXi'an Jiaotong University
11:10-11:20, Paper WeA-11.8 
 Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patterns

Navarro, IngridCarnegie Mellon University
Oh, JeanCarnegie Mellon University
11:20-11:30, Paper WeA-11.9 
 A Hierarchical Deliberative Architecture Framework Based on Goal Decomposition

Lesire, CharlesONERA/DTIS, University of Toulouse
Bailon-Ruiz, RafaelONERA
Barbier, MagaliONERA
Grand, ChristopheONERA
WeA-12 Rm12 (Room J)
Semantic Scene Understanding 1 Regular session
Chair: Chen, LimingEcole Centrale De Lyon
Co-Chair: Mae, YasushiKansai University
10:00-10:10, Paper WeA-12.1 
 SynWoodScape: Synthetic Surround-View Fisheye Camera Dataset for Autonomous Driving

Sekkat, Ahmed RidaLITIS Lab, Université De Rouen Normandie
Dupuis, YohanCESI
Ravi Kumar, VarunQualComm
Rashed, HazemValeo
Yogamani, SenthilValeo Vision Systems
Vasseur, PascalUniversité De Picardie Jules Verne
Honeine, PaulUniversité De Rouen Normandie
10:10-10:20, Paper WeA-12.2 
 Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database

Wei, JiaxinShanghaiTech University
Hu, LanShanghaiTech University
Wang, ChenyuShanghaiTech University
Kneip, LaurentShanghaiTech University
10:20-10:30, Paper WeA-12.3 
 Low-Latency LiDAR Semantic Segmentation

Hori, TakahiroUniversity of Tokyo
Yairi, TakehisaUniversity of Tokyo
10:30-10:40, Paper WeA-12.4 
 Implicit-Part Based Context Aggregation for Point Cloud Instance Segmentation

Wu, XiaodongInstitute of Computing Technology (ICT), Chinese Academy of Scie
Wang, RuipingInstitute of Computing Technology, Chinese Academy of Sciences
Chen, XilinInstitute of Computing Technology, Chinese Academy
10:40-10:50, Paper WeA-12.5 
 Unsupervised Domain Adaptation for Point Cloud Semantic Segmentation Via Graph Matching

Bian, YikaiNanjing University of Science and Technology
Hui, LeNanjing University of Science and Technology
Qian, JianjunNanjing University of Science and Technology
Xie, JinNanjing University of Science and Technology
10:50-11:00, Paper WeA-12.6 
 SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition

Jin, ShutongNanyang Technological University
Wu, ZhenyuNanyang Technological University
Zhao, ChunyangNanyang Technological University
Zhang, JunNanyang Technological University
Peng, GuohaoNanyang Technological University
Wang, DanweiNanyang Technological University
11:00-11:10, Paper WeA-12.7 
 Fisheye Object Detection Based on Standard Image Datasets with 24-Points Regression Strategy

Xu, XiBeijing Institute of Technology
Gao, YuBeijing Institude of Technology
Liang, HaoBeijing Institute of Technology
Yang, YiBeijing Institute of Technology
Fu, MengyinBeijing Institute of Technology
11:10-11:20, Paper WeA-12.8 
 Real-Time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection

Qiu, Ri-ZhaoUniversity of Illinois at Urbana-Champaign
Sun, YixiaoStanford University
Correia Marques, Joao MarcosUniversity of Illinois at Urbana-Champaign
Hauser, KrisUniversity of Illinois at Urbana-Champaign
11:20-11:30, Paper WeA-12.9 
 Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks

Tang, ChaoSouthern University of Science and Technology
Yu, JingwenThe Hong Kong University of Science and Technology, Southern Uni
Chen, WeinanSouthern University of Science and Technology
Xia, BingyiSouthern University of Science and Technology
Zhang, HongSUSTech
WeA-13 Rm13 (Room K)
Multi-Robot Systems 1 Regular session
Chair: Manocha, DineshUniversity of Maryland
Co-Chair: Scherer, JürgenSilicon Austria Labs GmbH
10:00-10:10, Paper WeA-13.1 
 Multi-Robot Unknown Area Exploration Using Frontier Trees

Soni, AnkitBirla Institute of Technology and Science, Pilani Campus, Pilani
Dasannacharya, ChiragBirla Institute of Technology and Science, Pilani
Gautam, AvinashBirla Institute of Technology and Science
Shekhawat, Virendra SinghBITS Pilani
Mohan, SudeeptBirla Institute of Technology and Science
10:10-10:20, Paper WeA-13.2 
 Min-Max Vertex Cycle Covers with Connectivity Constraints for Multi-Robot Patrolling

Scherer, JürgenSilicon Austria Labs GmbH
Schoellig, Angela P.University of Toronto
Rinner, BernhardAlpen-Adria-Universität Klagenfurt
10:20-10:30, Paper WeA-13.3 
 Efficient Range-Constrained Manifold Optimization with Application to Cooperative Navigation

Zhang, YetongGeorgia Tech
Chen, GerryGeorgia Institute of Technology
Rutkowski, AdamAir Force Research Laboratory
Dellaert, FrankGeorgia Institute of Technology
10:30-10:40, Paper WeA-13.4 
 On Coverage Control for Limited Range Multi-Robot Systems

Pratissoli, FedericoUniversitŕ Degli Studi Di Modena E Reggio Emilia
Capelli, BeatriceUniversity of Modena and Reggio Emilia
Sabattini, LorenzoUniversity of Modena and Reggio Emilia
10:40-10:50, Paper WeA-13.5 
 Multi-Goal Multi-Agent Pickup and Delivery

Xu, QinghongSimon Fraser University
Li, JiaoyangUniversity of Southern California
Koenig, SvenUniversity of Southern California
Ma, HangSimon Fraser University
10:50-11:00, Paper WeA-13.6 
 Asynchronous Real-Time Decentralized Multi-Robot Trajectory Planning

Senbaslar, BaskınUniversity of Southern California
Sukhatme, GauravUniversity of Southern California
11:00-11:10, Paper WeA-13.7 
 Decentralized Learning with Limited Communications for Multi-Robot Coverage of Unknown Spatial Fields

Nakamura, KensukePrinceton University
Santos, MaríaPrinceton University
Leonard, NaomiPrinceton University
11:10-11:20, Paper WeA-13.8 
 Multi-Agent Path Planning Using Medial-Axis-Based Pebble-Graph Embedding

Liang, HeUniversity of North Carolina at Chapel Hill
Pan, ZherongTencent America
Solovey, KirilTechnion--Israel Institute of Technology
Jia, BiaoUniversity of Maryland at College Park
Manocha, DineshUniversity of Maryland
11:20-11:30, Paper WeA-13.9 
 Multi-Modal User Interface for Multi-Robot Control in Underground Environments

Chen, ShengkangGeorgia Tech
O'Brien, MatthewGeorgia Institute of Technology
Talbot, FletcherCSIRO
Williams, JasonCSIRO
Tidd, BrendanCSIRO
Pitt, AlexCSIRO
Arkin, RonaldGeorgia Tech
WeA-14 Rm14 (Room 501)
Soft Sensors and Actuators 1 Regular session
Chair: Minor, MarkUniversity of Utah
Co-Chair: Masuya, KenUniversity of Miyazaki
10:00-10:10, Paper WeA-14.1 
 Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Judd, EuanEPFL
Aksoy, BekirEPFL
Digumarti, Krishna ManaswiEcole Polytechnique Federale De Lausanne
Shea, HerbertEPFL
Floreano, DarioEcole Polytechnique Federal, Lausanne
10:10-10:20, Paper WeA-14.2 
 Estimation of Soft Robotic Bladder Compression for Smart Helmets Using IR Range Finding and Hall Effect Magnetic Sensing

Pollard, ColinUniversity of Utah
Aston, JonathanUniversity of Utah
Minor, MarkUniversity of Utah
10:20-10:30, Paper WeA-14.3 
 Kirigami Skin Based Flexible Whisker Sensor

Liu, BangyuanGeorgia Institute of Technology
Herbert, RobertGeorgia Institute of Technology
Yeo, Woon-HongGeorgia Tech
Hammond III, Frank L.Georgia Institute of Technology
10:30-10:40, Paper WeA-14.4 
 Design and Characterisation of a Soft Barometric Sensing Skin for Robotic Manipulation

Gilday, KieranUniversity of Cambridge
Relandeau, LouisUniversity of Cambridge
Iida, FumiyaUniversity of Cambridge
10:40-10:50, Paper WeA-14.5 
 A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing

Wall, VincentTU Berlin
Brock, OliverTechnische Universität Berlin
10:50-11:00, Paper WeA-14.6 
 Transferable Shape Estimation of Soft Pneumatic Actuators Based on Active Vibroacoustic Sensing

Chandrasiri, KazumiTokai University
Takemura, KentaroTokai University
11:00-11:10, Paper WeA-14.7 
 Shape Reconstruction of Soft Manipulators Using Vision and IMU Feedback

Bezawada, HarishThe University of Alabama
Vikas, VisheshUniversity of Alabama
Woods, ColeThe University of Alabama
11:10-11:20, Paper WeA-14.8 
 FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators

Lu, YiangThe Chinese University of Hong Kong
Chen, WeiThe Chinese University of Hong Kong
Chen, ZhiHefei University
Zhou, JianshuThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
11:20-11:30, Paper WeA-14.9 
 Soft-Skin Actuator Capable of Seawater Propulsion Based on MagnetoHydroDynamics

Matsumoto, MutsukiShibaura Institute of Technology
Kuwajima, YuShibaura Institute Technology
Shigemune, HirokiShibaura Institute of Technology
WeA-15 Rm15 (Room 509)
Path Planning for Multiple Mobile Robots and Agents 1 Regular session
Co-Chair: De Martini, DanieleUniversity of Oxford
10:00-10:10, Paper WeA-15.1 
 Collaborative Navigation-Aware Coverage in Feature-Poor Environments

Ozkahraman, OzerKTH - Royal Institute of Technology
Ogren, PetterRoyal Institute of Technology (KTH)
10:10-10:20, Paper WeA-15.2 
 Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination

Guo, TengRutgers University
Feng, Si WeiRutgers University
Yu, JingjinRutgers University
10:20-10:30, Paper WeA-15.3 
 Energy-Efficient Orienteering Problem in the Presence of Ocean Currents

Mansfield, AriellaUniversity of Pennsylvania
G. Macharet, DouglasUniversidade Federal De Minas Gerais
Hsieh, M. AniUniversity of Pennsylvania
10:30-10:40, Paper WeA-15.4 
 MAPFASTER: A Faster and Simpler Take on Multi-Agent Path Finding Algorithm Selection

Alkazzi, Jean-MarcIDEALworks GmbH
Rizk, AnthonyFaculty of Engineering, Saint Joseph University of Beirut, Campu
Salomon, MichelUniversity Bourgogne Franche-Comte
Makhoul, AbdallahUniversity of Franche-Comté
10:40-10:50, Paper WeA-15.5 
 A Conflict-Driven Interface between Symbolic Planning and Nonlinear Constraint Solving

Ortiz-Haro, JoaquimUniversity of Stuttgart
Karpas, ErezTechnion
Katz, MichaelIBM
Toussaint, MarcTU Berlin
10:50-11:00, Paper WeA-15.6 
 Scalable Online Coverage Path Planning for Multi-Robot Systems

Mitra, RatijitIIT Kanpur
Saha, IndranilIIT Kanpur
11:00-11:10, Paper WeA-15.7 
 DiMOpt: A Distributed Multi-Robot Trajectory Optimization Algorithm

Salvado, JoăoOrebro University
Mansouri, MasoumehBirmingham University
Pecora, FedericoÖrebro University
11:10-11:20, Paper WeA-15.8 
 Non-Submodular Maximization Via the Greedy Algorithm and the Effects of Limited Information in Multi-Agent Execution

Biggs, BenjaminVirginia Polytechnic Institute and State University
McMahon, JamesThe Naval Research Laboratory
Baldoni, PhilipUnited States Naval Research Laboratory
Stilwell, DanielVirginia Tech
11:20-11:30, Paper WeA-15.9 
 Gathering Physical Particles with a Global Magnetic Field Using Reinforcement Learning

Konitzny, MatthiasTechnische Universität Braunschweig
Lu, YitongUniversity of Houston
Julien, LeclercUniversity of Houston
Fekete, SándorTechnische Universität Braunschweig
Becker, AaronUniversity of Houston
WeA-16 Rm16 (Room 510)
Transfer Learning Regular session
Chair: Kim, H. JinSeoul National University
Co-Chair: Gronauer, SvenTechnical University of Munich
10:00-10:10, Paper WeA-16.1 
 Contrastive Learning for Cross-Domain Open World Recognition

Cappio Borlino, FrancescoPolitecnico Di Torino
Bucci, SilviaPolitecnico Di Torino
Tommasi, TatianaPolitecnico Di Torino
10:10-10:20, Paper WeA-16.2 
 Efficient Multi-Task Learning Via Iterated Single-Task Transfer

Zentner, K.R.University of Southern California
Puri, UjjwalUniversity of Southern California
Zhang, YulunUniversity of Southern California
Julian, RyanGoogle
Sukhatme, GauravUniversity of Southern California
10:20-10:30, Paper WeA-16.3 
 MPR-RL: Multi-Prior Regularized Reinforcement Learning for Knowledge Transfer

Yang, QuantaoOrebro University
Stork, Johannes A.Orebro University
Stoyanov, TodorÖrebro University
10:30-10:40, Paper WeA-16.4 
 Unsupervised Reinforcement Learning for Transferable Manipulation Skill Discovery

Cho, DaesolSeoul National University
Kim, JigangSeoul National University
Kim, H. JinSeoul National University
10:40-10:50, Paper WeA-16.5 
 Subspace-Based Feature Alignment for Unsupervised Domain Adaptation

Yi, EojindlKAIST
Kim, JunmoKAIST
10:50-11:00, Paper WeA-16.6 
 Using Simulation Optimization to Improve Zero-Shot Policy Transfer of Quadrotors

Gronauer, SvenTechnical University of Munich
Kissel, MatthiasTechnical University of Munich
Sacchetto, LucaTechnical University of Munich
Korte, MathiasTechnical University of Munich
Diepold, KlausTechnische Universität München
11:00-11:10, Paper WeA-16.7 
 Bilateral Knowledge Distillation for Unsupervised Domain Adaptation of Semantic Segmentation

Wang, YunnanShanghai Jiao Tong University
Li, JianxunShanghai Jiao Tong University
11:10-11:20, Paper WeA-16.8 
 Self-Supervised Noisy Label Learning for Source-Free Unsupervised Domain Adaptation

Chen, WeijieZhejiang University
Lin, LuojunFuzhou University
Yang, ShicaiHikvision Research Institute
Xie, DiHikvision Research Institute
Pu, ShiliangHangzhou Hikvision Digital Technology Co. Ltd
Zhuang, YuetingZhejiang University
11:20-11:30, Paper WeA-16.9 
 Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks

Josifovski, JosipTechnical University of Munich
Malmir, MohammadhosseinTechnical University of Munich
Klarmann, NoahRosenheim University of Applied Sciences
Zagar, Bare LukaTechnical University Munich
Navarro-Guerrero, NicolásDeutsches Forschungszentrum Für Künstliche Intelligenz (DFKI) Gm
Knoll, AloisTech. Univ. Muenchen TUM
WeA-17 Rm17 (Room 553)
Assembly and Additive Manufacturing Regular session
Chair: Xiao, JingWorcester Polytechnic Institute (WPI)
Co-Chair: Wan, WeiweiOsaka University
10:00-10:10, Paper WeA-17.1 
 Additive Manufacturing for Tissue Engineering Applications in a Temperature-Controlled Environment

Tseng, Wei-ChihNational Central University
Liao, Chao-YaugNational Central University
Chen, Bo-RenNational Central University
Chassagne, LucUniversity of Versailles
Cagneau, BarthélemyUniversité De Versailles Saint-Quentin En Yvelines
10:10-10:20, Paper WeA-17.2 
 On CAD Informed Adaptive Robotic Assembly

Koga, YottoAutodesk
Kerrick, HeatherAutodesk
Chitta, SachinAutodesk Inc
10:20-10:30, Paper WeA-17.3 
 Graph-Based Reinforcement Learning Meets Mixed Integer Programs: An Application to 3D Robot Assembly Discovery

Funk, Niklas WilhelmTU Darmstadt
Menzenbach, SvenjaTechnical University of Darmstadt
Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems
Peters, JanTechnische Universität Darmstadt
10:30-10:40, Paper WeA-17.4 
 Assembly Planning from Observations under Physical Constraints

Chabal, ThomasInria and Département d’Informatique De l’Ecole Normale Supérieu
Strudel, RobinINRIA Paris
Arlaud, EtienneINRIA
Ponce, JeanEcole Normale Supérieure
Schmid, CordeliaInria
10:40-10:50, Paper WeA-17.5 
 Coordinated Toolpath Planning for Multi-Extruder Additive Manufacturing

Khatkar, JayantUniversity of Technology Sydney
Yoo, ChanyeolUniversity of Technology Sydney
Fitch, RobertUniversity of Technology Sydney
Clemon, LeeUniversity of Technology Sydney
Mettu, RamgopalTulane University
10:50-11:00, Paper WeA-17.6 
 A Hierarchical Finite-State Machine-Based Task Allocation Framework for Human-Robot Collaborative Assembly Tasks

El Makrini, IliasVrije Universiteit Brussel
Omidi, MohsenVrije Universiteit Brussel (VUB)
Fusaro, FabioFondazione Istituto Italiano Di Tecnologia
Lamon, EdoardoIstituto Italiano Di Tecnologia
Ajoudani, ArashIstituto Italiano Di Tecnologia
Vanderborght, BramVrije Universiteit Brussel
11:00-11:10, Paper WeA-17.7 
 Self-Stabilizing Self-Assembly

Jilek, MartinCzech Technical University in Prague
Stránská, KateřinaCzech Institute of Informatics, Robotics and Cybernetics Czech T
Somr, MichaelCzech Technical University in Prague, Faculty of Civil Engineeri
Kulich, MiroslavCzech Technical University in Prague
Zeman, JanCzech Technical University in Prague, Faculty of Civil Engineeri
Preucil, LiborCzech Technical University in Prague
11:10-11:20, Paper WeA-17.8 
 Flexible and Precision Snap-Fit Peg-In-Hole Assembly Based on Multiple Sensations and Damping Identification

Liu, RuikaiHarbin Institute of Technology, Shenzhen
Yang, XianshengHarbin Institute of Technology, Shenzhen
Li, AjianHarbin Institute of Technology, Shenzhen
Lou, YunjiangHarbin Institute of Technology, Shenzhen
11:20-11:30, Paper WeA-17.9 
 A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty

Cao, ShichenWorcester Polytechnic Institute
Xiao, JingWorcester Polytechnic Institute (WPI)
WeA-18 Rm18 (Room 554)
Motion and Path Planning 7 Regular session
Chair: Sharf, InnaMcGill University
Co-Chair: Fainekos, GeorgiosToyota Research Institute of North America
10:00-10:10, Paper WeA-18.1 
 Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborting A*

Missura, MarcellUniversity of Bonn
Roychoudhury, ArindamUniversity of Bonn
Bennewitz, MarenUniversity of Bonn
10:10-10:20, Paper WeA-18.2 
 Collision and Rollover-Free mathcal{G}^2 Path Planning for Mobile Manipulation

Song, JiazhiMcGill University
Sharf, InnaMcGill University
10:20-10:30, Paper WeA-18.3 
 Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

Chen, XinyiThe Hong Kong University of Science and Technology
Zhou, BoyuHong Kong University of Science and Technology
Lin, JiarongThe University of Hong Kong
Zhang, YichenThe Hong Kong University of Science and Technology
Zhang, FuUniversity of Hong Kong
Shen, ShaojieHong Kong University of Science and Technology
10:30-10:40, Paper WeA-18.4 
 Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information

Cleaveland, MatthewUniversity of Pennsylvania
Yel, EsenStanford University
Kantaros, YiannisWashington University in St. Louis
Lee, InsupUniversity of Pennsylvania
Bezzo, NicolaUniversity of Virginia
10:40-10:50, Paper WeA-18.5 
 NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments

Salimi Lafmejani, AmirArizona State University
Berman, SpringArizona State University
Fainekos, GeorgiosToyota Research Institute of North America
10:50-11:00, Paper WeA-18.6 
 FISS: A Trajectory Planning Framework Using Fast Iterative Search and Sampling Strategy for Autonomous Driving

Sun, ShuoNational University of Singapore
Liu, ZhiyangNational University of Singapore
Yin, HuanHong Kong University of Science and Technology
Ang Jr, Marcelo HNational University of Singapore
11:00-11:10, Paper WeA-18.7 
 Reshaping Local Path Planner

Sarvesh, AkshayTexas A&M University
Carroll, AustinTexas A&M
Gopalswamy, SwaminathanTexas A&M University
11:10-11:20, Paper WeA-18.8 
 T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments

Hüppi, MatthiasETH Zurich
Bartolomei, LucaETH Zurich
Mascaro Palliser, RubenETH Zurich
Chli, MargaritaETH Zurich
11:20-11:30, Paper WeA-18.9 
 Hierarchical Planning with Annotated Skeleton Guidance

Uwacu, DianeTexas A&M University
Yammanuru, AnanyaUniversity of Illinois at Urbana-Champaign
Morales, MarcoUniversity of Illinois at Urbana-Champaign & Instituto Tecnológ
Amato, NancyUniversity of Illinois
WeA-19 Rm19 (Room 555)
Legged Robots 1 Regular session
Chair: Bousmalis, KonstantinosDeepMind
Co-Chair: Nguyen, QuanUniversity of Southern California
10:00-10:10, Paper WeA-19.1 
 Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner

Brakel, PhilemonDeepmind
Bohez, StevenDeepMind
Hasenclever, LeonardDeepMind
Heess, NicolasDeepmind
Bousmalis, KonstantinosDeepMind
10:10-10:20, Paper WeA-19.2 
 A Versatile Co-Design Approach for Dynamic Legged Robots

Dinev, TraikoThe University of Edinburgh
Mastalli, CarlosHeriot-Watt University
Ivan, VladimirTouchlab Limited
Tonneau, SteveThe University of Edinburgh
Vijayakumar, SethuUniversity of Edinburgh
10:20-10:30, Paper WeA-19.3 
 Motion Planning for Agile Legged Locomotion Using Failure Margin Constraints

Green, KevinOregon State University
Warila, JohnOregon State University
Hatton, RossOregon State University
Hurst, JonathanOregon State University
10:30-10:40, Paper WeA-19.4 
 Energy-Based Legged Robots Terrain Traversability Modeling Via Deep Inverse Reinforcement Learning

Gan, LuCalifornia Institute of Technology
Grizzle, J.WUniversity of Michigan
Eustice, RyanUniversity of Michigan
Ghaffari, MaaniUniversity of Michigan
10:40-10:50, Paper WeA-19.5 
 Robust High-Speed Running for Quadruped Robots Via Deep Reinforcement Learning

Bellegarda, GuillaumeEPFL
Chen, YiyuUniversity of Southern California
Liu, ZhuochenUniversity of Southern California
Nguyen, QuanUniversity of Southern California
10:50-11:00, Paper WeA-19.6 
 Toward a Data-Driven Template Model for Quadrupedal Locomotion

Fawcett, RandallVirginia Polytechnic Institute and State University
Afsari, KereshmehVirginia Tech
Ames, AaronCaltech
Akbari Hamed, KavehVirginia Tech
11:00-11:10, Paper WeA-19.7 
 Planning of Obstacle-Aided Navigation for Multi-Legged Robots Using a Sampling-Based Method Over Directed Graphs

Chakraborty, KaustavUniversity of Southern California
Hu, HaodiUniversity of Southern California
Kvalheim, MatthewUniversity of Pennsylvania
Qian, FeifeiUniversity of Southern California
11:10-11:20, Paper WeA-19.8 
 Real-Time Digital Double Framework to Predict Collapsible Terrains for Legged Robots

Haddeler, GarenNational University of Singapore, Agency for Science, Technolo
Palanivelu, Hari PrasanthInsititute for Infocomm Research (I2R)
Ng, Yung ChuenInstitute for Infocomm Research (I2R), A*STAR
Colonnier, FabienInstitute for Infocomm Research (I2R), A*STAR
Adiwahono, Albertus HendrawanI2R A-STAR
Li, ZhibinUniversity of Edinburgh
Chew, Chee MengNational University of Singapore
Chuah, Meng Yee (Michael)Agency for Science, Technology and Research (A*STAR)
11:20-11:30, Paper WeA-19.9 
 Adaptive Feet for Quadrupedal Walkers (I)

Catalano, Manuel GiuseppeIstituto Italiano Di Tecnologia
Pollayil, Mathew JoseUniversity of Pisa
Grioli, GiorgioIstituto Italiano Di Tecnologia
Valsecchi, GiorgioRobotic System Lab, ETH
Kolvenbach, HendrikETH Zurich
Hutter, MarcoETH Zurich
Bicchi, AntonioFondazione Istituto Italiano Di Tecnologia
Garabini, ManoloUniversitŕ Di Pisa
WeA-20 Rm20 (Room 104)
Art and Entertainment and Manipulation Regular session
Chair: Erickson, ZackoryCarnegie Mellon University
Co-Chair: Sewlia, MayankKTH Royal Institute of Technology
10:00-10:10, Paper WeA-20.1 
 Towards Learning to Play Piano with Dexterous Hands and Touch

Xu, HuazheStanford University
Luo, YupingPrinceton University
Wang, ShaoxiongMIT
Darrell, TrevorUC Berkeley
Calandra, RobertoMeta AI
10:10-10:20, Paper WeA-20.2 
 Consensus-Based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination

Yin, HangKTH
Verginis, ChristosUppsala University
Kragic, DanicaKTH
10:20-10:30, Paper WeA-20.3 
 Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

Gao, KaiRutgers University
Yu, JingjinRutgers University
10:30-10:40, Paper WeA-20.4 
 Simultaneous Depth Estimation and Localization for Cell Manipulation Based on Deep Learning

Wang, ZengshuoNankai University
Gong, HuiyingNankai University
Li, KeNankai University
Yang, BinNankai University
Du, YueNankai University
Liu, YaoweiNankai University
Zhao, XinNankai University
Sun, MingzhuNankai University
10:40-10:50, Paper WeA-20.5 
 Cooperative Object Manipulation under Signal Temporal Logic Tasks and Uncertain Dynamics

Sewlia, MayankKTH Royal Institute of Technology
Verginis, ChristosUppsala University
Dimarogonas, Dimos V.KTH Royal Institute of Technology
10:50-11:00, Paper WeA-20.6 
 DrozBot: Using Ergodic Control to Draw Portraits

Löw, TobiasIdiap Research Institute
Maceiras, JérémyIdiap Research Institute
Calinon, SylvainIdiap Research Institute
11:00-11:10, Paper WeA-20.7 
 Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions

Wang, YufeiCarnegie Mellon University
Held, DavidCarnegie Mellon University
Erickson, ZackoryCarnegie Mellon University
11:10-11:20, Paper WeA-20.8 
 Tactile Feedback Enabling In-Hand Pivoting and Internal Force Control for Dual-Arm Cooperative Object Carrying

Costanzo, MarcoUniversitŕ Degli Studi Della Campania Luigi Vanvitelli
De Maria, GiuseppeUniversitŕ Degli Studi Della Campania Luigi Vanvitelli
Natale, CiroUniversitŕ Degli Studi Della Campania "Luigi Vanvitelli"
11:20-11:30, Paper WeA-20.9 
 DUQIM-Net: Probabilistic Object Hierarchy Representation for Multi-View Manipulation

Tchuiev, VladimirBosch
Miron, YakovBosch
Di Castro, DotanBosch
WeA-OL1 Rm21 (on-line)
Aerial Systems 5 Regular session
Chair: Zhu, ChiMaebashi Institute of Technology
Co-Chair: Pan, JiaUniversity of Hong Kong
10:00-10:10, Paper WeA-OL1.1 
 Downwash-Aware Control Allocation for Over-Actuated UAV Platforms

Su, YaoBeijing Institute for General Artificial Intelligence
Chu, ChiTsinghua University
Wang, MengBeijing Institute for General Artificial Intelligence
Li, JiaruiPeking University
Yang, LiuTsinghua University
Zhu, YixinPeking University
Liu, HangxinBeijing Institute for General Artificial Intelligence (BIGAI)
10:10-10:20, Paper WeA-OL1.2 
 Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention

Zheng, GuangzeTongji University
Fu, ChanghongTongji University
Ye, JunjieTongji University
Li, BowenTongji University
Lu, GengDepartment of Automation, Tsinghua University, Beijing, China
Pan, JiaUniversity of Hong Kong
10:20-10:30, Paper WeA-OL1.3 
 Unsteady Aerodynamic Modeling of Aerobat Using Lifting Line Theory and Wagner's Function

Sihite, EricCalifornia Institute of Technology
Ghanem, PaulNortheastern University
Salagame, AdarshNortheastern University
Ramezani, AlirezaNortheastern University
10:30-10:40, Paper WeA-OL1.4 
 Design and Analysis of Truss Aerial Transportation System (TATS): The Lightweight Bar Spherical Joint Mechanism

Zhang, XiaozhenBeijing Institute of Technology
Yang, QingkaiBeijing Institute of Technology
Yu, RuiBeijing Institute of Technology
Wu, DelongBIT
Wei, ShaozhunBeijing Institute of Technology
Cui, JinqiangPeng Cheng Laboratory
Fang, HaoBeijing Institute of Technology
10:40-10:50, Paper WeA-OL1.5 
 SytaB: A Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters

Zhu, YiminHarbin Institute of Technology
Yang, JiananHarbin Institute of Technology
Zhang, LixianHarbin Institute of Technology
Dong, YifeiHarbin Institute of Technology
Ding, YihangHarbin Institute of Technology
10:50-11:00, Paper WeA-OL1.6 
 Real-Time Trajectory Planning for Aerial Perching

Ji, JialinZhejiang University
Yang, TiankaiZhejiang University
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
11:00-11:10, Paper WeA-OL1.7 
 Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning

Guo, JunlongZhejiang University
Xun, ZhirenZhejiang University
Geng, ShuangZhejiang University
Lin, YiHong Kong University of Science and Technology
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
11:10-11:20, Paper WeA-OL1.8 
 Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment

Peng, PengShanghai Jiao Tong University
Dong, WeiShanghai Jiao Tong University
Chen, GangShanghai Jiaotong University
Zhu, XiangyangShanghai Jiao Tong University
11:20-11:30, Paper WeA-OL1.9 
 Autoexplorer: Autonomous Exploration of Unknown Environments Using Fast Frontier-Region Detection and Parallel Path Planning

Han, Kyung MinEwha Woman's Univeristy
Kim, Young J.Ewha Womans University
WeA-OL2 Rm22 (on-line)
Navigation Systems 6 Regular session
Chair: Reshef, RoiNvidia
10:00-10:10, Paper WeA-OL2.1 
 Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform

Pengfei, GuTsinghua University
Meng, ZiyangTsinghua University
Zhou, PengkunTsinghua University
10:10-10:20, Paper WeA-OL2.2 
 MPNP: Multi-Policy Neural Planner for Urban Driving

Cheng, JieHong Kong University of Science and Technology
Xin, RenThe Hong Kong University of Science and Technology
Wang, ShengHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
10:20-10:30, Paper WeA-OL2.3 
 Contextual Tuning of Model Predictive Control for Autonomous Racing

Froehlich, LukasETH Zurich
Kuettel, ChristianETH Zurich
Arcari, ElenaETH Zurich
Hewing, LukasETH Zurich
Zeilinger, Melanie N.ETH Zurich
Carron, AndreaETH Zurich
10:30-10:40, Paper WeA-OL2.4 
 Temporal Logic Path Planning under Localization Uncertainty

Dhyani, AmitIIT Kanpur
Saha, IndranilIIT Kanpur
10:40-10:50, Paper WeA-OL2.5 
 Navigating to Objects in Unseen Environments by Distance Prediction

Zhu, MinzhaoBytedance
Zhao, BingleiXi'an Jiaotong University
Kong, TaoByteDance
10:50-11:00, Paper WeA-OL2.6 
 Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles

Costa de Jesus, JuniorUniversidade Federal Do Rio Grande
Kich, Victor AugustoUniversidade Federal De Santa Maria
Kolling, Alisson HenriqueUniversidade Federal De Santa Maria
Grando, RicardoFederal University of Rio Grande
da Silva Guerra, RodrigoUniversidade Federal De Santa Maria
Drews-Jr, PauloFederal University of Rio Grande (FURG)
11:00-11:10, Paper WeA-OL2.7 
 DSOL: A Fast Direct Sparse Odometry Scheme

Qu, ChaoUniversity of Pennsylvania
Skandan, ShreyasUniversity of Pennsylvania
Miller, IanUniversity of Pennsylvania
Taylor, Camillo JoseUniversity of Pennsylvania
11:10-11:20, Paper WeA-OL2.8 
 Planning for Negotiations in Autonomous Driving Using Reinforcement Learning

Reshef, RoiNvidia
11:20-11:30, Paper WeA-OL2.9 
 Towards Specialized Hardware for Learning-Based Visual Odometry on the Edge

Chen, SiyuanCarnegie Mellon University
Mai, KenCarnegie Mellon University
WeA-OL3 Rm23 (on-line)
Deep Learning for Visual Perception 1 Regular session
Chair: Kobayashi, TaisukeNational Institute of Informatics
Co-Chair: Lee, DongheuiTechnische Universität Wien (TU Wien)
10:00-10:10, Paper WeA-OL3.1 
 MPT-Net: Mask Point Transformer Network for Large Scale Point Cloud Semantic Segmentation

Tang, Zhe JunSenseTime, Nanyang Technological University
Cham, Tat-JenNanyang Technological University
10:10-10:20, Paper WeA-OL3.2 
 Timestamp-Supervised Action Segmentation with Graph Convolutional Networks

Khan, HamzaRetrocausal
Haresh, SanjayRetrocausal, Inc
Ahmed, AwaisRetrocausal Inc
Siddiqui, ShakeebRetrocausal
Konin, AndreyRetrocausal Inc
Zia, M. ZeeshanRetrocausal
Tran, Quoc-HuyRetrocausal, Inc
10:20-10:30, Paper WeA-OL3.3 
 CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Space

Wang, ShunliFudan University
Wang, ShuaibingFudan University
Jiao, BoFudan University
Yang, DingkangFudan University
Su, LiuzhenFudan University
Zhai, PengFudan University
Chen, ChixiaoFudan University
ZHang, LihuaFudan University
10:30-10:40, Paper WeA-OL3.4 
 3D Object Aided Self-Supervised Monocular Depth Estimation

Wei, SonglinSoochow University
Chen, GuodongSoochow University
Chi, WenzhengSoochow University
Wang, ZhenhuaSoochow University
Sun, LiningHarbin Institute of Technology
10:40-10:50, Paper WeA-OL3.5 
 DeepMLE: A Robust Deep Maximum Likelihood Estimator for Two-View Structure from Motion

Xiao, YuxiWuhan University
Li, LiWuhan University
Li, XiaodiWuhan University
Yao, JianWuhan University
10:50-11:00, Paper WeA-OL3.6 
 Attention-Guided RGB-D Fusion Network for Category-Level 6D Object Pose Estimation

Wang, HaoSamsung
Li, WeimingSamsung Advanced Institute of Technology (SAIT)
Kim, JiYeonSamsung Advanced Institute of Technology
Wang, QiangSamsung
11:00-11:10, Paper WeA-OL3.7 
 Robust Sim2Real 3D Object Classification Using Graph Representations and a Deep Center Voting Scheme

Weibel, Jean-BaptisteTU Wien
Patten, TimothyUniversity of Technology Sydney
Vincze, MarkusVienna University of Technology
11:10-11:20, Paper WeA-OL3.8 
 Weak6D: Weakly Supervised 6D Pose Estimation with Iterative Annotation Resolver

Mu, FengjunUniversity of Electronic Science and Technology of China
Huang, RuiUniversity of Electronic Science and Technology of China
Shi, KechengThe School of Automation Engineering, University of Electronic S
Li, XinThe Group 42
Qiu, JingUniversity of Electronic Science and Technology of China
Cheng, HongUniversity of Electronic Science and Technology
11:20-11:30, Paper WeA-OL3.9 
 Robust Human Motion Forecasting Using Transformer-Based Model

Valls Mascaro, EsteveTechnische Universitat Wien
Ma, ShuoTechnical University of Munich
Ahn, HyeminUlsan National Institute of Science and Technology
Lee, DongheuiTechnische Universität Wien (TU Wien)
WeK-1 Main Hall
Keynote Session 4 Keynote session
Chair: Okamura, Allison M.Stanford University
13:30-14:00, Paper WeK-1.1 
 AI-Robotic Systems for Scientific Discovery -Role of Robotic Technologies

Harada, KanakoThe University of Tokyo
14:00-14:30, Paper WeK-1.2 
 Swarms for People

Hauert, SabineUniversity of Bristol
WeK-2 Rm1 (Room A)
Keynote Session 5 Keynote session
Chair: Maciejewski, Anthony A.Colorado State University
13:30-14:00, Paper WeK-2.1 
 Shaping Robotic Assistance through Structured Robot Learning

Chalvatzaki, GeorgiaTechnische Universität Darmastadt, Intelligent Robotic Systems for Assistance Group
14:00-14:30, Paper WeK-2.2 
 Advances in High-Power-Density Dielectric Elastomer Artificial Muscles and Their Applications

Zhao, HuichanTsinghua University
WeK-3 Room 2
Keynote Session 6 Keynote session
Chair: Chiaverini, StefanoUniversitŕ Di Cassino E Del Lazio Meridionale
13:30-14:00, Paper WeK-3.1 
 Robust Localization and Mapping Toward Long-Term Navigation

Kim, AyoungSeoul National University
14:00-14:30, Paper WeK-3.2 
 Safe Learning in Robotics

Schoellig, Angela P.TU Munich
WeB-1 Rm1 (Room A)
Special Session: Computational Advances in Human-Robot Interaction 2 Regular session
14:40-14:50, Paper WeB-1.1 
 Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics

Sirintuna, DoganayItalian Institute of Technology
Giammarino, AlbertoIstituto Italiano Di Tecnologia
Ajoudani, ArashIstituto Italiano Di Tecnologia
14:50-15:00, Paper WeB-1.2 
 A Framework for Robot Self-Assessment of Expected Task Performance

Frasca, TylerTufts University
Scheutz, MatthiasTufts University
15:00-15:10, Paper WeB-1.3 
 An Empirical Study of Reward Explanations with Human-Robot Interaction Applications

Sanneman, LindsayMassachusetts Institute of Technology
Shah, Julie A.MIT
15:10-15:20, Paper WeB-1.4 
 The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models

Brooks, ConnorUniversity of Colorado Boulder
Szafir, Daniel J.University of North Carolina at Chapel Hill
15:20-15:30, Paper WeB-1.5 
 Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming

Tassi, FrancescoIstituto Italiano Di Tecnologia
Iodice, FrancescoIstituto Italiano Di Tecnologia
De Momi, ElenaPolitecnico Di Milano
Ajoudani, ArashIstituto Italiano Di Tecnologia
15:30-15:40, Paper WeB-1.6 
 Learning on the Job: Long-Term Behavioural Adaptation in Human-Robot Interactions
(Finalist for IROS Best Paper Award on Cognitive Robotics Sponsored by KROS)

Del Duchetto, FrancescoUniversity of Lincoln
Hanheide, MarcUniversity of Lincoln
15:40-15:50, Paper WeB-1.7 
 Bounded Rational Game-Theoretical Modeling of Human Joint Actions with Incomplete Information

Wang, YiweiHuazhong University of Science and Technology
Shintre, PallaviArizona State University
Amatya, SunnyARIZONA State University
Zhang, WenlongArizona State University
15:50-16:00, Paper WeB-1.8 
 COSM2IC: Optimizing Real-Time Multi-Modal Instruction Comprehension

Weerakoon Mudiyanselage, Dulanga Kaveesha WeerakoonSingapore Management University
Subbaraju, VigneshwaranAgency for Science Technology and Research (A*STAR)
Tran, TuanSingapore Management University
Misra, ArchanSingapore Management University
16:00-16:10, Paper WeB-1.9 
 Quantifying Changes in Kinematic Behavior of a Human-Exoskeleton Interactive System

Ghonasgi, KeyaThe University of Texas at Austin
Mirsky, ReuthUniversity of Texas at Austin
Haith, AdrianJohns Hopkins University
Stone, PeterUniversity of Texas at Austin
Deshpande, AshishThe University of Texas
WeB-2 Rm2 (Room B-1)
Learning from Demonstration 3 Regular session
Chair: Bhattacharjee, TapomayukhCornell University
Co-Chair: Ding, TianliGoogle
14:40-14:50, Paper WeB-2.1 
 Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation

Karnan, HareshThe University of Texas at Austin
Nair, AnirudhThe University of Texas at Austin
Xiao, XuesuThe University of Texas at Austin
Warnell, GarrettU.S. Army Research Laboratory
Pirk, SorenRobotics at Google
Toshev, AlexanderGoogle
Hart, JustinUniversity of Texas at Austin
Biswas, JoydeepUniversity of Texas at Austin
Stone, PeterUniversity of Texas at Austin
14:50-15:00, Paper WeB-2.2 
 Learning Deformable Object Manipulation from Expert Demonstrations

Salhotra, GautamUniversity of Southern California
Liu, I-Chun ArthurUniversity of Southern California
Dominguez-Kuhne, MarcusUniversity of Southern California
Sukhatme, GauravUniversity of Southern California
15:00-15:10, Paper WeB-2.3 
 Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks

Wu, HongtaoJohns Hopkins University
Ye, JikaiNational University of Singapore
Meng, XinNational University of Singapore
Paxton, ChrisMeta AI
Chirikjian, GregoryJohns Hopkins University
15:10-15:20, Paper WeB-2.4 
 Learning Perceptual Concepts by Bootstrapping from Human Queries

Bobu, AndreeaUniversity of California, Berkeley
Paxton, ChrisMeta AI
Sundaralingam, BalakumarNVIDIA Corporation
Chao, Yu-WeiNVIDIA
Cakmak, MayaUniversity of Washington
Fox, DieterUniversity of Washington
15:20-15:30, Paper WeB-2.5 
 Extending Extrapolation Capabilities of Probabilistic Motion Models Learned from Human Demonstrations Using Shape-Preserving Virtual Demonstrations

Burlizzi, RiccardoKU Leuven
Vochten, MaximKU Leuven
De Schutter, JorisKU Leuven
Aertbelien, ErwinKU Leuven
15:30-15:40, Paper WeB-2.6 
 Learning High Speed Precision Table Tennis on a Physical Robot

Ding, TianliGoogle
Graesser, LauraGoogle
Abeyruwan, Saminda WishwajithGoogle Inc
D'Ambrosio, DavidGoogle
Shankar, AnishGoogle
Sermanet, PierreGoogle
Sanketi, PannagGoogle
Lynch, CoreyGoogle Brain
15:40-15:50, Paper WeB-2.7 
 Behaviour Learning with Adaptive Motif Discovery and Interacting Multiple Model

Zhao, HanqingMcGill University
Manderson, TravisMcGill University
Zhang, HaoDepartment of Electronic Engineering, Tsinghua University
Liu, XueMcGill University
Dudek, GregoryMcGill University
15:50-16:00, Paper WeB-2.8 
 Learning from Demonstration Using a Curvature Regularized Variational Auto-Encoder (CurvVAE)

Rhodes, TraversCornell University
Bhattacharjee, TapomayukhCornell University
Lee, DanielCornell Tech
16:00-16:10, Paper WeB-2.9 
 Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation (I)

Frank, FelixVolkswagen Group
Paraschos, AlexandrosVolkswagen Group
van der Smagt, PatrickVolkswagen Group
Cseke, BotondVolkswagen Machine Learning Research Lab
WeB-3 Rm3 (Room B-2)
Deep Learning for Visual Perception 2 Regular session
Chair: Ang Jr, Marcelo HNational University of Singapore
Co-Chair: Triebel, RudolphGerman Aerospace Center (DLR)
14:40-14:50, Paper WeB-3.1 
 Bayesian Active Learning for Sim-To-Real Robotic Perception

Feng, JianxiangInstitute of Robotics and Mechatronics, German Aerospace Center
Lee, JongseokGerman Aerospace Center
Durner, MaximilianGerman Aerospace Center DLR
Triebel, RudolphGerman Aerospace Center (DLR)
14:50-15:00, Paper WeB-3.2 
 DiffCloud: Real-To-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects

Sundaresan, PriyaStanford University
Antonova, RikaStanford University
Bohg, JeannetteStanford University
15:00-15:10, Paper WeB-3.3 
 Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments

Toyungyernsub, ManeekwanStanford
Yel, EsenStanford University
Li, JiachenStanford University
Kochenderfer, MykelStanford University
15:10-15:20, Paper WeB-3.4 
 What's in the Black Box? the False Negative Mechanisms Inside Object Detectors

Miller, DimityQueensland University of Technology
Moghadam, PeymanCSIRO
Cox, MarkCSIRO
Wildie, MattCsiro
Jurdak, RajaQueensland University of Technology
15:20-15:30, Paper WeB-3.5 
 RVMOS: Range-View Moving Object Segmentation Leveraged by Semantic and Motion Features

Kim, JaeyeulDGIST
Woo, JungwanDGIST
Im, SunghoonDGIST
15:30-15:40, Paper WeB-3.6 
 Pseudo-Label Guided Cross-Video Pixel Contrast for Robotic SurgicalScene Segmentation with Limited Annotations

Yu, YangThe Chinese University of Hong Kong
Zhao, ZixuThe Chinese University of Hong Kong
Jin, YuemingThe Chinese University of Hong Kong
Chen, GuangyongShenzhen Institute of Advanced Technology, Chinese Academy of Sc
Dou, QiThe Chinese University of Hong Kong
Heng, Pheng AnnThe Chinese University of Hong Kong
15:40-15:50, Paper WeB-3.7 
 An Unsupervised Domain Adaptive Approach for Multimodal 2D Object Detection in Adverse Weather Conditions

Eskandar, GeorgeUniversity of Stuttgart
Marsden, RobertInstitute of Signal Processing and System Theory
Pandiyan, PavithranUniversity of Stuttgart
Döbler, MarioUniversity of Stuttgart
Guirguis, KarimRobert Bosch Corporate Research
Yang, BinUniversity of Stuttgart
15:50-16:00, Paper WeB-3.8 
 BIMS-PU: Bi-Directional and Multi-Scale Point Cloud Upsampling

Bai, YechaoNational University of Singapore
Wang, XiaogangNational University of Singapore
Ang Jr, Marcelo HNational University of Singapore
Rus, DanielaMIT
16:00-16:10, Paper WeB-3.9 
 LiCaS3: A Simple LiDAR–Camera Self-Supervised Synchronization Method (I)

Yuan, KaiwenUniversity of British Columbia
Ding, LiThe University of British Columbia
Abdelfattah, MazenUniversity of British Columbia
Wang, Z. JaneUBC
WeB-4 Rm4 (Room C-1)
Machine Learning for Robot Control 2 Regular session
Chair: Singh, SumeetGoogle
14:40-14:50, Paper WeB-4.1 
 Multiscale Sensor Fusion and Continuous Control with Neural CDEs

Singh, SumeetGoogle
McCann Ramirez, FrancisGoogle Brain
Varley, JacobGoogle
Zeng, AndyGoogle
Sindhwani, VikasGoogle Brain, NYC
14:50-15:00, Paper WeB-4.2 
 SMS-MPC: Adversarial Learning-Based Simultaneous Prediction Control with Single Model for Mobile Robots

Yang, AndongInstitute of Computing Technology, Chinese Academy of Sciences
Li, WeiInstitute of Computing Technology, Chinese Academy of Sciences
Hu, YuInstitute of Computing Technology Chinese Academy of Sciences
15:00-15:10, Paper WeB-4.3 
 Dynamic Inference on Graphs Using Structured Transition Models

Saxena, SaumyaCarnegie Mellon University
Kroemer, OliverCarnegie Mellon University
15:10-15:20, Paper WeB-4.4 
 Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search

Kang, MinjaeSeoul National University (SNU)
Kee, HogunSeoul National University
Kim, JunseokSeoul National University
Oh, SonghwaiSeoul National University
15:20-15:30, Paper WeB-4.5 
 Non-Blocking Asynchronous Training for Reinforcement Learning in Real-World Environments

Bohm, PeterThe University of Queensland
Pounds, PaulineThe University of Queensland
Chapman, ArchieThe University of Queensland
15:30-15:40, Paper WeB-4.6 
 End-To-End Learning to Grasp Via Sampling from Object Point Clouds

Alliegro, AntonioPolitecnico Di Torino
Rudorfer, MartinUniversity of Birmingham
Frattin, FabioPolitecnico Di Torino
Leonardis, AlesUniversity of Birmingham
Tommasi, TatianaPolitecnico Di Torino
15:40-15:50, Paper WeB-4.7 
 Robot Skill Learning with Identification of Preconditions and Postconditions Via Level Set Estimation

Takano, RinNEC Corporation
Oyama, HiroyukiNEC Corporation
Taya, YukiNEC Corporation
15:50-16:00, Paper WeB-4.8 
 Sex Parity in Cognitive Fatigue Model Development for Effective Human-Robot Collaboration

Kalatzis, ApostolosMontana State University Bozeman
Hopko, SarahTexas A&M University
Mehta, RanjanaTexas A&M University
Stanley, LauraMontana State University Bozeman
Wittie, MikeMontana State University Bozeman
16:00-16:10, Paper WeB-4.9 
 Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-Based Control Barrier Functions

Munoz Panduro, EmanuelCarnegie Mellon University
Kalaria, DvijIndian Institute of Technology Kharagpur
Lin, QinCleveland State University
Dolan, John M.Carnegie Mellon University
WeB-5 Rm5 (Room C-2)
Soft Robot Modeling and Control 2 Regular session
Chair: Legrand, JulieVUB
Co-Chair: Boyer, FrédéricEcole Des Mines De Nantes
14:40-14:50, Paper WeB-5.1 
 Task-Space Control of Continuum Robots Using Underactuated Discrete Rod Models

Rucker, CalebUniversity of Tennessee
Barth, Eric J.Vanderbilt University
Gaston, JoshuaThe University of Tennessee, Knoxville
Gallentine, JamesVanderbilt University
14:50-15:00, Paper WeB-5.2 
 Nonlinear Dynamics Modeling and Fault Detection for a Soft Trunk Robot: An Adaptive NN-Based Approach

Zhang, JingtingUniversity of Rhode Island
Chen, XiaotianUniversity of Rhode Island
Stegagno, PaoloUniversity of Rhode Island
Yuan, ChengzhiUniversity of Rhode Island
15:00-15:10, Paper WeB-5.3 
 Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines

Rao, PriyankaUniversity of Toronto
Peyron, QuentinInria Lille-Nord Europe and CRIStAL UMR CNRS 9189, University Of
Burgner-Kahrs, JessicaUniversity of Toronto
15:10-15:20, Paper WeB-5.4 
 Geometrically-Exact Inverse Kinematic Control of Sof Manipulators with General Threadlike Actuators’ Routing

Renda, FedericoKhalifa University of Science and Technology
Armanini, CostanzaKhalifa University
Mathew, Anup TeejoKhalifa University
Boyer, FrédéricEcole Des Mines De Nantes
15:20-15:30, Paper WeB-5.5 
 Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA

Ferrentino, PasqualeVrije Universiteit Brussels
López-Díaz, AntonioUniversidad De Castilla-La Mancha
Terryn, SeppeVrije Universiteit Brussel (VUB)
Legrand, JulieVUB
Brancart, JoostVrije Universiteit Brussel (VUB)
Van Assche, GuyVrije Universiteit Brussel (VUB)
Vázquez Fernández-Pacheco, EsterUniversidad De Castilla La Mancha
Vazquez, Andres S.Universidad De Castilla La Mancha
Vanderborght, BramVrije Universiteit Brussel
15:30-15:40, Paper WeB-5.6 
 Controlling Soft Fluidic Actuators Using Soft DEA-Based Valves

Poccard-Saudart, JohanHarvard School of Engineering & Applied Sciences
Xu, SiyiHarvard University
Teeple, ClarkHarvard University
Hyun, Nak-seung PatrickHarvard University
Becker, KaitlynMIT
Wood, RobertHarvard University
15:40-15:50, Paper WeB-5.7 
 Omnidirectional Walking of a Quadruped Robot Enabled by Compressible Tendon-Driven Soft Actuators

Ji, QingleiKTH Royal Institute of Technology
Fu, ShuoKTH Royal Institute of Technology
Feng, LeiKTH Royal Institute of Technology
Andrikopoulos, GeorgeKTH Royal Institute of Technology
Wang, Xi VincentKTH Royal Institute of Technology
Wang, LihuiKTH Royal Institute of Technology
15:50-16:00, Paper WeB-5.8 
 Estimating Forces Along Continuum Robots

Aloi, VincentUniversity of Tennessee
Dang, KhoaThe University of Tennessee, Knoxville
Barth, Eric J.Vanderbilt University
Rucker, CalebUniversity of Tennessee
16:00-16:10, Paper WeB-5.9 
 Learning Physics-Informed Simulation Models for Soft Robotic Manipulation: A Case Study with Dielectric Elastomer Actuators

Lahariya, ManuGhent University
Innes, CraigUniversity of Edinburgh
Develder, ChrisGhent University
Ramamoorthy, SubramanianThe University of Edinburgh
WeB-6 Rm6 (Room D)
SLAM 8 Regular session
Chair: Biber, PeterRobert Bosch GmbH
Co-Chair: Xu, BinbinImperial College London
14:40-14:50, Paper WeB-6.1 
 Detecting Invalid Map Merges in Lifelong SLAM

Holoch, MatthiasRobert Bosch GmbH
Kurz, GerhardRobert Bosch GmbH
Biber, PeterRobert Bosch GmbH
14:50-15:00, Paper WeB-6.2 
 MD-SLAM: Multi-Cue Direct SLAM

Di Giammarino, LucaSapienza Univ. of Rome
Brizi, LeonardoSapienza University of Rome
Guadagnino, TizianoSapienza University of Rome
Stachniss, CyrillUniversity of Bonn
Grisetti, GiorgioSapienza University of Rome
15:00-15:10, Paper WeB-6.3 
 Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation

Ren, YifeiImperial College London
Xu, BinbinImperial College London
Choi, ChristopherImperial College London
Leutenegger, StefanTechnical University of Munich
15:10-15:20, Paper WeB-6.4 
 ACEFusion - Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes

Bujanca, MihaiUniversity of Manchester
Lennox, BarryThe University of Manchester
Luján, MikelUniversity of Manchester
15:20-15:30, Paper WeB-6.5 
 A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization

Tazaki, YuichiKobe University
15:30-15:40, Paper WeB-6.6 
 Situational Graphs for Robot Navigation in Structured Indoor Environments

Bavle, HridayPostdoctoral Research Associate
Sanchez-Lopez, Jose LuisInterdisciplinary Center for Security, Reliability and Trust (Sn
Shaheer, MuhammadUniversity of Luxembourg
Civera, JavierUniversidad De Zaragoza
Voos, HolgerUniversity of Luxembourg
15:40-15:50, Paper WeB-6.7 
 PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-Based SLAM

Duan, YifanUniversity of Science and Technology of China
Peng, JieUniversity of Science and Technology of China
Zhang, YuUniversity of Science and Technology of China
Ji, JianminUniversity of Science and Technology of China
Zhang, YanyongUniversity of Science and Technology of China
15:50-16:00, Paper WeB-6.8 
 Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs

Huang, QiangqiangMassachusetts Institute of Technology
Papalia, AlanMassachusetts Institute of Technology
Leonard, JohnMIT
16:00-16:10, Paper WeB-6.9 
 City-Wide Street-To-Satellite Image Geolocalization of a Mobile Ground Agent

Downes, LenaMassachusetts Institute of Technology
Kim, Dong KiMassachusetts Institute of Tech
Steiner, TedDraper
How, JonathanMassachusetts Institute of Technology
WeB-7 Rm7 (Room E)
Rehabilitation Robotics Regular session
Chair: Yoon, JungwonGwangju Institutue of Science and Technology
Co-Chair: Zhu, ChiMaebashi Institute of Technology
14:40-14:50, Paper WeB-7.1 
 Soft Actuators for Facial Reanimation

Konstantinidi, StefaniaEcole Polytechnique Fédérale De Lausanne (EPFL)
Martinez, ThomasEcole Polytechnique Fédérale De Lausanne (EPFL)
Benouhiba, AmineÉcole Polytechnique Fédérale De Lausanne (EPFL)
Civet, YoanEPFL
Perriard, YvesEcole Polytechnique Fédérale De Lausanne (EPFL)
14:50-15:00, Paper WeB-7.2 
 Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries

Xu, WendaVirginia Tech
Guo, YunfeiVirginia Tech
Bravo, CesarCarilion Clinic Institute of Orthopaedics and Neurosciences
Ben-Tzvi, PinhasVirginia Tech
15:00-15:10, Paper WeB-7.3 
 Development of a Novel Low-Profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries

Xu, WendaVirginia Tech
Liu, YujiongVirginia Tech
Ben-Tzvi, PinhasVirginia Tech
15:10-15:20, Paper WeB-7.4 
 A Novel Wheelchair-Exoskeleton Hybrid Robot to Assist Movement and Aid Rehabilitation

Song, ZhibinTianjin University
Ju, WenjieTianjin University
Chen, DechaoTianjin University
Gong, HexiTianjin University
Kang, RongjieTianjin University
Dario, PaoloScuola Superiore Sant'Anna
15:20-15:30, Paper WeB-7.5 
 Facial Expressions-Controlled Flight Game with Haptic Feedback for Stroke Rehabilitation: A Proof-Of-Concept Study

Li, MinXi'an Jiaotong University
Wu, ZonglinXi'an Jiaotong University
Zhao, Chen-GuangFourth Military Medical University
Yuan, HuaFourth Military Medical University
Wang, TianciXi'an Jiaotong University
Xie, JunXi'an Jiaotong University
Xu, GuanghuaSchool of Mechanical Engineering, Xi'an Jiaotong University
Luo, ShanKing's College London
15:30-15:40, Paper WeB-7.6 
 An Intention Prediction Based Shared Control System for Point-To-Point Navigation of a Robotic Wheelchair

Lei, ZhenNanyang Technological University
Tan, Bang YiNanyang Technological University
Garg, Neha PriyadarshiniNUS
Li, LeiNanyang Technological University
Sidarta, AnandaNanyang Technological University
Ang, Wei TechNanyang Technological University
15:40-15:50, Paper WeB-7.7 
 A Wearable System with Harmonic Oscillations to Assess Finger Biomechanics

Yu, HaoThe University of Edinburgh
Sena, AranImperial College London
Burdet, EtienneImperial College London
15:50-16:00, Paper WeB-7.8 
 Evaluation of TENS Based Biofeedback and Warning for Improvement of Seated Balance on a Trunk Rehabilitation Robot

Eizad, AmreGwangju Institute of Science and Technology
Lee, HosuGwangju Institute of Science and Technology
Lee, JunyeongGwangju Institute of Science and Technology
Yoon, JungwonGwangju Institutue of Science and Technology
16:00-16:10, Paper WeB-7.9 
 Soft Robotic Fabric Actuator with Elastic Bands for High Force & Bending Performance in Hand Exoskeletons

Suulker, CemQueen Mary University of London
Skach, SophieQueen Mary University of London
Althoefer, KasparQueen Mary University of London
WeB-8 Rm8 (Room F)
Compliance and Impedance Control 2 Regular session
Chair: Karayiannidis, YiannisLund University
Co-Chair: Tsuji, ToshiakiSaitama University
14:40-14:50, Paper WeB-8.1 
 Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery

Li, TengUniversity of Alberta
Badre, ArminUniversity of Alberta
Taghirad, Hamid D.K.N.Toosi University of Technology
Tavakoli, MahdiUniversity of Alberta
14:50-15:00, Paper WeB-8.2 
 Reinforcement Learning of Impedance Policies for Peg-In-Hole Tasks: Role of Asymmetric Matrices

Kozlovsky, ShirTechnion – Israel Institute of Technology
Newman, EladTechnion - Israel Institute of Technology
Zacksenhouse, MiriamTechnion-Israel Institute of Technology
15:00-15:10, Paper WeB-8.3 
 A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration

Kato, YasuhiroSaitama University
Balatti, PietroIstituto Italiano Di Tecnologia
Gandarias, Juan M.Istituto Italiano Di Tecnologia
Leonori, MattiaIstituto Italiano Di Tecnologia
Tsuji, ToshiakiSaitama University
Ajoudani, ArashIstituto Italiano Di Tecnologia
15:10-15:20, Paper WeB-8.4 
 Probabilistic Approach to Online Stiffness Estimation for Robotic Tasks

Tsuji, ToshiakiSaitama University
Kusakabe, TsukasaSaitama University
15:20-15:30, Paper WeB-8.5 
 Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control

Jorge, DavidUniversity of Edinburgh
Pizzuto, GabriellaUniversity of Liverpool
Mistry, MichaelUniversity of Edinburgh
15:30-15:40, Paper WeB-8.6 
 On the Performance and Passivity of Admittance Control with Feed-Forward Input

Ko, DongwooPostech
Lee, DonghyeonPohang University of Science and Technology(POSTECH)
Chung, Wan KyunPOSTECH
Kim, KeehoonPOSTECH, Pohang University of Science and Technology
15:40-15:50, Paper WeB-8.7 
 Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures Using Force Information

Süberkrüb, FinnChalmers University of Technology
Laezza, RitaChalmers University of Technology
Karayiannidis, YiannisLund University
15:50-16:00, Paper WeB-8.8 
 A Comparative Study of Force Observers for Accurate Force Control of Multisensor-Based Force Controlled Motion Systems

Kangwagye, SamuelDGIST
Oh, SehoonDGIST
16:00-16:10, Paper WeB-8.9 
 Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Lach, LucaBielefeld University
Lemaignan, SéverinPAL Robotics
Ferro, FrancescoPAL Robotics
Ritter, Helge JoachimBielefeld University
Haschke, RobertBielefeld University
WeB-9 Rm9 (Room G)
Software, Middleware and Programming Environments 2 Regular session
Chair: Angelidis, EmmanouilHuawei Technologies Munich Research Center
Co-Chair: Biswas, JoydeepUniversity of Texas at Austin
14:40-14:50, Paper WeB-9.1 
 Gazebo Fluids: SPH-Based Simulation of Fluid Interaction with Articulated Rigid Body Dynamics

Angelidis, EmmanouilHuawei Technologies Munich Research Center
Bender, JanRWTH Aachen University
Arreguit, JonathanÉcole Polytechnique Fédérale De Lausanne
Gleim, Lars ChristophHuawei Technologies Munich Research Center
Wang, WeiHuawei Technologies Munich Research Center
Axenie, CristianHuawei Technologies Munich Research Center
Knoll, AloisTechnical University of Munich
Ijspeert, AukeEPFL
14:50-15:00, Paper WeB-9.2 
 SOCIALGYM: A Framework for Benchmarking Social Robot Navigation

Holtz, JarrettUniversity of Texas at Austin
Biswas, JoydeepUniversity of Texas at Austin
15:00-15:10, Paper WeB-9.3 
 SROS2: Usable Cyber Security Tools for ROS 2

Mayoral-Vilches, VictorKlagenfurt University
White, RuffinUniversity of California San Diego
Caiazza, GianlucaCa Foscari University of Venice
Arguedas, MikaelOpen Source Robotics Foundation
15:10-15:20, Paper WeB-9.4 
 Automatic Co-Design of Aerial Robots Using a Graph Grammar

Zhao, AllanMassachusetts Institute of Technology
Du, TaoMIT
Xu, JieMassachusetts Institute of Technology
Hughes, JosieEPFL
Salazar, JuanMIT
Ma, PingchuanMIT CSAIL
Wang, WeiMassachusetts Institute of Technology
Rus, DanielaMIT
Matusik, WojciechMIT
15:20-15:30, Paper WeB-9.5 
 ARviz – an Augmented Reality-Enabled Visualization Platform for ROS Applications (I)

Hoang, Khoa CongMonash University
Chan, Wesley PatrickMonash University
Lay, StevenMonash University
Cosgun, AkanselMonash University
Croft, ElizabethMonash University
15:30-15:40, Paper WeB-9.6 
 A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems (I)

Fischer, TobiasQueensland University of Technology
Vollprecht, Wolf KristianQuantStack
Traversaro, SilvioIstituto Italiano Di Tecnologia
Yen, SeanMicrosoft
Herrero, CarlosQuantStack
Milford, Michael JQueensland University of Technology
15:40-15:50, Paper WeB-9.7 
 Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

Yuan, ZhaocongUniversity of Toronto
Hall, Adam W.University of Toronto
Zhou, SiqiUniversity of Toronto
Brunke, LukasUniversity of Toronto
Greeff, MelissaUniversity of Toronto
Panerati, JacopoUniversity of Toronto
Schoellig, Angela P.University of Toronto
15:50-16:00, Paper WeB-9.8 
 On-Device CPU Scheduling for Robot Systems

Partap, AditiStanford University
Grayson, SamuelUniversity of Illinois at Urbana-Champaign
Huzaifa, MuhammadUniversity of Illinois at Urbana-Champaign
Adve, SaritaUniversity of Illinois at Urbana-Champaign
Godfrey, BrightenUniversity of Illinois at Urbana-Champaign
Gupta, SaurabhUIUC
Hauser, KrisUniversity of Illinois at Urbana-Champaign
Mittal, RadhikaUniversity of Illinois at Urbana Champaign
WeB-10 Rm10 (Room H)
Whole-Body Motion Planning and Control 1 Regular session
Chair: Katyal, KapilJohns Hopkins University Applied Physics Lab
Co-Chair: Lai, TinUniversity of Sydney
14:40-14:50, Paper WeB-10.1 
 Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot

Wang, JiajunUBTECH Robotics
Han, GangUBTECH Robotics
Ju, XiaozhuUBTech Robotics
Zhao, MingguoTsinghua University
14:50-15:00, Paper WeB-10.2 
 Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition

Han, GangUBTECH Robotics
Wang, JiajunUBTECH Robotics
Ju, XiaozhuUBTech Robotics
Zhao, MingguoTsinghua University
15:00-15:10, Paper WeB-10.3 
 Multimodal Generation of Novel Action Appearances for Synthetic-To-Real Recognition of Activities of Daily Living

Marinov, ZdravkoKarlsruhe Institute of Technology
Schneider, DavidKarlsruhe Institute of Technology
Roitberg, AlinaKarlsruhe Institute of Technology (KIT)
Stiefelhagen, RainerKarlsruhe Institute of Technology
15:10-15:20, Paper WeB-10.4 
 Learning a Group-Aware Policy for Robot Navigation

Katyal, KapilJohns Hopkins University Applied Physics Lab
Gao, YuxiangJohns Hopkins University
Markowitz, JaredJohns Hopkins University Applied Physics Lab
Pohland, SaraUniversity of California, Berkeley
Rivera, CorbanJohns Hopkins University Applied Physics Lab
Wang, I-JengJohns Hopkins University Applied Physics Lab
Huang, Chien-MingJohns Hopkins University
15:20-15:30, Paper WeB-10.5 
 Feedback-Efficient Active Preference Learning for Socially Aware Robot Navigation

Wang, RuiqiPurdue University
Wang, WeizhengBeijing University of Chemical Technology
Min, Byung-CheolPurdue University
15:30-15:40, Paper WeB-10.6 
 Watch Out! There May Be a Human. Addressing Invisible Humans in Social Navigation

Singamaneni, Phani TejaLAAS-CNRS
Favier, AnthonyLAAS-CNRS
Alami, RachidCNRS
15:40-15:50, Paper WeB-10.7 
 Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

Zhou, ZiyiGeorgia Institute of Technology
Wingo, BruceGeorgia Institute of Technology
Boyd, NathanGeorgia Institute of Technology
Hutchinson, SethGeorgia Institute of Technology
Zhao, YeGeorgia Institute of Technology
15:50-16:00, Paper WeB-10.8 
 Discover Life Skills for Planning As Bandits Via Observing and Learning How the World Works

Lai, TinUniversity of Sydney
16:00-16:10, Paper WeB-10.9 
 An Optimal Motion Planning Framework for Quadruped Jumping

Song, ZhitaoThe Chinese University of Hong Kong
Yue, LinzhuThe Chinese University of Hong Kong
Sun, GuangliThe Chinese University of Hong Kong
Ling, YihuThe Chinese University of HongKong
Wei, HongshuoHKCLR
Gui, LinhaiThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
WeB-11 Rm11 (Room I)
Intelligent Transportation Systems 1 Regular session
Chair: Misu, TeruhisaHonda Research Institute USA, Inc
Co-Chair: Koga, ShumonUniversity of California San Diego
14:40-14:50, Paper WeB-11.1 
 Trajectory Prediction with Graph-Based Dual-Scale Context Fusion

Zhang, LuHong Kong University of Science and Technology
Li, PeiliangHKUST, Robotics Institute
Chen, JingHong Kong University of Science and Technology
Shen, ShaojieHong Kong University of Science and Technology
14:50-15:00, Paper WeB-11.2 
 IMU Dead-Reckoning Localization with RNN-IEKF Algorithm

Hang, ZhouHarbin Institute of Technology, Shenzhen
Yibo, ZhaoHarbin Institute of Technology Shenzhen
Xiong, XiaogangHarbin Institute of Technology, Shenzhen
Kamal, ShyamIndian Institute of Technology (Banaras Hindu University) Varana
Lou, YunjiangHarbin Institute of Technology, Shenzhen
15:00-15:10, Paper WeB-11.3 
 A Value-Based Dynamic Learning Approach for Vehicle Dispatch in Ride-Sharing

Li, ChengUniversity of Birmingham
Parker, DavidUniversity of Birmingham
Hao, QiSouthern University of Science and Technology