ICRA2021-paper-list

The 2021 International Conference on Robotics and Automation (ICRA 2021) has taken place from May 30 to June 5, 2021 at the brand new magnificent Xi’an International Convention and Exhibition Center in Xi’an China.

The ICRA 2021 conference promises to be a great event with excellent technical and social programs. Paper manuscripts reporting original research results on all aspects of robotics and automation are welcome. Proposals for tutorials and workshops, and organized sessions, on new topics or innovative applications are invited. Video clips iIIustrating new and exciting results are invited for video sessions. Exhibits from both industries and research laboratories are welcome. Please visit the official conference website for detailed instructions for paper, proposal, video, and exhibit submissions and for competition information. The IEEE ICRA 2021 will be held in a hybrid format, including both on-site and cloud meetings.

This list is edited by PaopaoRobot, 泡泡机器人 , the Chinese academic nonprofit organization. Welcome to follow our github and our WeChat Public Platform Account ( paopaorobot_slam ). Of course, you could contact with @Yvon Shong.

title	index
Session TuHT24 : Active Perception in Robotics
Active Bayesian Multi-Class Mapping from Range and Semantic Segmentation Observations	1
Attention-Based Probabilistic Planning with Active Perception	8
Search-Based Planning for Active Sensing in Goal-Directed Coverage Tasks	15
Bearing-Only Active Sensing under Merged Measurements	22
Session TuIT24 : Adaptive Robotic Systems
Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load	31
Adaptive Failure Search Using Critical States from Domain Experts	38
Policy Transfer Via Kinematic Domain Randomization and Adaptation	45
Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics	52
Session TuDT24 : Aerial Robotics
A Tethered Quadrotor UAV-Buoy System for Marine Locomotion	59
Power Line Inspection Tasks with Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications	66
Distributed Formation Estimation Via Pairwise Distance Measurements	74
Distributed Variable-Baseline Stereo SLAM from Two UAVs	82
Session TuET24 : Aerial Robotics: Control I
Fast Sampling-Based Next-Best-View Exploration Algorithm for a MAV	89
Neuromorphic Control for Optic-Flow-Based Landing of MAVs Using the Loihi Processor	96
Event-Driven Vision and Control for UAVs on a Neuromorphic Chip	103
Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots	110
Session TuDT23 : Aerial Robotics: Control II
Adaptive Stiffness Estimation Impedance Control for Achieving Sustained Contact in Aerial Manipulation	117
Model Predictive Control for Dynamic Quadrotor Bearing Formations	124
Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-And-Slide Operations	131
Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles	138
Session WeAT18 : Aerial Robotics: Control III
Conquering Textureless with RF-Referenced Monocular Vision for MAV State Estimation	146
Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm	153
Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation	160
Flying with Damaged Wings: The Effect on Flight Capacity and Bio-Inspired Coping Strategies of a Flapping Wing Robot	168
Session TuIT23 : Aerial Robotics: Design and Mechanism I
Collision-Free Vector Field Guidance and MPC for a Fixed-Wing UAV	176
Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions	183
H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF	190
Session TuKT23 : Aerial Robotics: Design and Mechanism II
The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors	197
Aerial Multi-Camera Robotic Jib Crane	203
Design, Sensing, and Control of a Novel UAV Platform for Aerial Drilling and Screwing	209
Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights	217
Session TuFT24 : Aerial Robotics: Detection
Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance	224
GridNet: Image-Agnostic Conditional Anomaly Detection for Indoor Surveillance	231
Autonomous Flying into Buildings in a Firefighting Scenario	239
LoLa-SLAM: Low-latency LiDAR SLAM using Continuous Scan Slicing	246
Session TuJT23 : Aerial Robotics: Learning and Adaptive Systems
Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots	254
CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model	262
Hypergame-Based Adaptive Behavior Path Planning for Combined Exploration and Visual Search	269
Morphologically Adapatative Quad-Rotor Towards Acquiring High-Performance Flight: A Comparative Study and Validation	276
Session TuBT24 : Aerial Robotics: Mechanics and Control I
Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust	283
Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller	290
Data-Driven MPC for Quadrotors	298
Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller	306
Session TuCT24 : Aerial Robotics: Mechanics and Control II
Underwater Stability of a Morphable Aerial-Aquatic Quadrotor with Variable Thruster Angles	314
Development of Flapping Robot with Self-Takeoff from The Ground Capability	321
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments	328
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments	335
Session TuGT24 : Aerial Robotics: Optimization
Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor	355
Optimization-Based Trajectory Planning for Tethered Aerial Robots	362
A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure	369
Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force	377
Session TuAT24 : Aerial Robotics: Planning and Control
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning	384
Real-Time Active Detection of Targets and Path Planning Using UAVs	391
EVA-Planner: Environmental Adaptive Quadrotor Planning	398
EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors	405
Session TuHT23 : Aerial Robotics: Sensing and Control I
MorphEyes: Variable Baseline Stereo for Quadrotor Navigation	413
A Drive-Through Recharging Strategy for a Quadrotor	420
Continuous-time State & Dynamics Estimation Using a Pseudo-Spectral Parameterization	426
Use of a MEMS Differential Pressure Sensor to Detect Ground, Ceiling, and Walls on Small Quadrotors	433
Session TuIT21 : Aerial Robotics: Sensing and Control II
UAV Localization Using Autoencoded Satellite Images	441
Cooperative Transportation of Cable Suspended Payloads with MAVs Using Monocular Vision and Inertial Sensing	449
Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset	458
SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments	467
Session TuHT21 : Aerial Robotics: Space Robotics and Automation
An Anytime Algorithm for Chance Constrained Stochastic Shortest Path Problems and Its Application to Aircraft Routing	475
An Intention Guided Hierarchical Framework for Trajectory-Based Teleoperation of Mobile Robots	482
Distance Estimation Using Self-Induced Noise of an Aerial Vehicle	489
Session WeBT18 : Aerial Robotics: Tracking
ADTrack: Target-Aware Dual Filter Learning for Real-Time Anti-Dark UAV Tracking	496
Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Label	503
Siamese Anchor Proposal Network for High-Speed Aerial Tracking	510
Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing	517
Session TuET22 : Aerial Systems: Mechanics and Control
Novel Omnidirectional Aerial Manipulator with Elastic Suspension: Dynamic Control and Experimental Performance Assessment	525
Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control	533
Design of the High-Payload Flapping Wing Robot E-Flap	540
Fernández, Francisco Javier; Sanchez-Laulhe, Ernesto; Grau, Pedro; Perez Capote, Martin;
Acosta, Jose Angel; Ollero, Anibal Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment	548
Session TuDT22 : Aerial Systems: Multi-Robots
A Multi-UAV System for Detection and Elimination of Multiple Targets	555
Optic Flow-Based Reactive Collision Prevention for MAV Using Fictitious Obstacle Hypothesis	562
Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density	570
Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control	577
Session TuET23 : Aerial Systems: Perception and Autonomy
Combined System Identification and State Estimation for a Quadrotor UAV	585
Geometry-Aware Compensation Scheme for Morphing Drones	592
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events	599
SplatPlanner: Efficient Autonomous Exploration Via Permutohedral Frontier Filtering	608
Session TuAT22 : Applications of Micro and Nano Robotics I
Parallel Actuation of Nanorod Swarm and Nanoparticle Swarm to Different Targets	616
Robotic Micromanipulation for Active Pin Alignment in Electronic Soldering Industry	623
In-Situ Bonding of Multilayer Microfluidic Devices Assisted by a Fully-Automated Aligning System	629
Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector	635
Session TuBT22 : Applications of Micro and Nano Robotics II
Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle	643
Molecular Transport of a Magnetic Nanoparticle Swarm towards Thrombolytic Therapy	649
Efficient Single Cell Mechanical Measurement by Integrating a Cell Arraying Microfluidic Device with Magnetic Tweezer	657
A Portable Acoustofluidic Device for Multifunctional Cell Manipulation and Reconstruction	664
Session TuBT23 : Applications of Robotic Exploration
Design and Soft-Landing Control of a Six-Legged Mobile Repetitive Lander for Lunar Exploration	670
LEAF: Latent Exploration Along the Frontier	677
LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement	685
Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood	693
Session TuFT23 : Automation and Industrial Robotics
Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input	700
Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications	708
The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks	715
In-Process Workpiece Geometry Estimation for Robotic Arc Welding Based on Supervised Learning for Multi-Sensor Inputs	722
Session TuAT0 : Automation Award Session
A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment	729
Session WeAT17 : Automation I
Viko: An Adaptive Gecko Gripper with Vision-Based Tactile Sensor	736
POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking	743
Learning-Based Predictive Path Following Control for Nonlinear Systems under Uncertain Disturbances	750
Thrust Enhancement of Wave-Driven Unmanned Surface Vehicle by Using Asymmetric Foil	758
Session WeBT17 : Automation II
Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot	765
ParametricNet: 6DoF Pose Estimation Network for Parametric Shapes in Stacked Scenarios	772
Optimal Online Dispatch for High-Capacity Shared Autonomous Mobility-On-Demand Systems	779
An Improved Magnetic Spot Navigation for Replacing the Barcode Navigation in Automated Guided Vehicles	786
Session TuJT22 : Automation: Machine Learning I
Model-Based Reinforcement Learning with Provable Safety Guarantees Via Control Barrier Functions	792
Continual Model-Based Reinforcement Learning with Hypernetworks	799
Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction	806
Solving Markov Decision Processes with Partial State Abstractions	813
Session TuKT22 : Automation: Machine Learning II
Exploiting Object Similarity for Robotic Visual Recognition	820
Team Assignment for Heterogeneous Multi-Robot Sensor Coverage through Graph Representation Learning	838
GPR-Based Model Reconstruction System for Underground Utilities Using GPRNet	845
Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter	852
Session TuKT24 : Automation: Manufacturing
Optimizing Part Placement for Improving Accuracy of Robot-Based Additive Manufacturing	859
Automated Mosquito Salivary Gland Extractor for PfSPZ-Based Malaria Vaccine Production	866
Safe Tumbling of Heavy Objects Using a Two-Cable Crane	873
Session TuJT24 : Automation: Performance Metrics
Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort	881
NeilFrom Manual Operation to Collaborative Robot Assembly: An Integrated Model of Productivity and Ergonomic Performance	888
Performance Metrics Calculation for Assembly Systems with Exponential Reliability Machines	896
Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants	902
Mark; Chui, Jackson; Shao, Yuqiao; Huang, Huang; Kotani, Atsunobu; Sharma, Satvik;
Parikh, Rishi; Luo, Michael; Mukherjee, Sandeep; Carpin, Stefano; Viers, Joshua;
Vougioukas, Stavros; Goldberg, Ken
Session TuIT22 : Automation: Sensors and Grasping
Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors	909
Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement	917
Robotic Grasping of Fully-Occluded Objects Using RF Perception	923
A Simulation-Based Grasp Planner for Enabling Robotic Grasping During Composite Sheet Layup	930
Session TuCT23 : Autonomous Driving
IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data	938
HD Map Update for Autonomous Driving With Crowdsourced Data	946
Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles	953
Ground-Aware Monocular 3D Object Detection for Autonomous Driving	960
Session TuCT22 : Autonomous ManipulationPrecise Multi-Modal In-Hand Pose Estimation Using Low-Precision Sensors for Robotic Assembly	968
Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts	975
A Versatile End-Effector for Pick-And-Release of Fabric Parts	982
A Soft Robotic Hand Based on Bellows Actuators for Dishwashing Automation	990
Session TuDT21 : Autonomous Navigation I
Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach	999
Comfortable and Safe Decelerations for a Self-Driving Transit Bus	1005
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift	1012
Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria	1020
Session TuGT22 : Autonomous Navigation II
Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways	1028
Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement Learning	1036
Interpretable Goal-based Prediction and Planning for Autonomous Driving	1043
Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles	1050
Session TuFT22 : Autonomous Navigation III
Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles	1057
What Data Do We Need for Training an AV Motion Planner?	1066
Learn to Path: Using Neural Networks to Predict Dubins Path Characteristics for Aerial Vehicles in Wind	1073
Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation among Pedestrians	1080
Session TuJT21 : Autonomous Vehicle Navigation I
Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition	1088
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows	1095
UPSLAM: Union of Panoramas SLAM	1103
RELLIS-3D Dataset: Data, Benchmarks and Analysis	1110
Session TuKT21 : Autonomous Vehicle Navigation II
Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation	1117
Learning Barrier Functions with Memory for Robust Safe Navigation	1124
Hierarchical Object Map Estimation for Efficient and Robust Navigation	1132
Robot Navigation in Constrained Pedestrian Environments Using Reinforcement Learning	1140
Session TuAT4 : Best Paper Award Session
An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans	1147
Session TuDT4 : Best Student Paper Award Session
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator	1154
Session TuAT21 : Biologically-Inspired Robots
Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms	1162
Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot	1170
An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand	1177
Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace	1184
Session TuBT21 : Biomedical Robotics I
Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model	1191
An Integrated High-Dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation	1198
A Sigmoid-Colon-Straightening Soft Actuator With Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon	1205
A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery	1213
Session WeBT15 : Biomedical Robotics II
A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets	1221
Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures	1229
Reinforcement Learning Control of a Novel Magnetic Actuated Flexible-Joint Robotic Camera System for Single Incision Laparoscopic Surgery	1236
Muscular Stimulation Based Biological Actuator from Locust’s Hindleg	1242
Session WeCT6 : Biomedical Robotics III
Three-Dimensional Positioning of the Micropipette for Intracytoplasmic Sperm Injection	1249
Robotic Cardinal Vein Microinjection of Zebrafish Larvae Based on 3D Positioning	1256
Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit	1263
A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based on Spinal Module Activations	1269
Session TuHT0 : Cognitive Robotics Award Session
Learning Task Space Actions for Bipedal Locomotion	1276
Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions	1283
Auto-Tuned Sim-To-Real Transfer	1290
Session TuET21 : Computer Vision for Automation
A Metric Space Perspective on Self-Supervised Policy Adaptation	1297
Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences	1305
Dynamic-Aware Autonomous Exploration in Populated Environments	1312
Goal-Conditioned End-To-End Visuomotor Control for Versatile Skill Primitives	1319
Session TuFT21 : Computer Vision in Medical Robotics
Towards Standardized Acquisition with a Dual-Probe Ultrasound Robot for Fetal Imaging	1326
Matthew, Jackeline; Noh, Yohan; Eltiraifi, Olla; Singh, Anisha; Singh, Davinder; Rhode,
Kawal
A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly from Images	1333
Robotic instrument segmentation with image-to-image translation	1341
Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction	1350
Session TuGT21 : Contact and Collision Control
Safe Impacts with Soft Contacts Based on Learned Deformations	1357
A State-Dependent Damping Method to Reduce Collision Force and Its Variability	1364
Contact Forces Preintegration for Estimation in Legged Robotics Using Factor Graphs	1372
Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots	1379
Session TuHT19 : Continuum Robotics I
Learning-Based Inverse Kinematics from Shape As Input for Concentric Tube Continuum Robots	1387
Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators	1394
Using Euler Curves to Model Continuum Robots	1402
Optimal Design of Continuum Robots with Reachability Constraints	1409
Session TuIT19 : Continuum Robotics II
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume	1418
Margaret; Granna, Josephine; Kuntz, Alan; Akulian, Jason; Webster III, Robert James;
Alterovitz, Ron
An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator	1426
Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains	1434
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery	1442
Session TuGT19 : Continuum Robotics III
Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum	1459
Optimized 3D Path Planner for Steerable Catheters with Deductive Reasoning	1466
Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy	1473
Autonomous Steering of Concentric Tube Robots Via Nonlinear Model Predictive Control	1480
Session TuDT19 : Control and Optimization I
Online Informative Path Planning for Active Information Gathering of a 3D Surface	1488
EKF-based real-time self-attitude estimation with camera DNN learning landscape regularities	1495
Advancing Mixture Models for Least Squares Optimization	1503
Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions	1512
Session TuAT23 : Control and Optimization II
A Class of Optimal Switching Mixed Data Injection Attack in Cyber-Physical Systems	1520
Observation Space Matters: Benchmark and Optimization Algorithm	1527
Interleaving Fast and Slow Decision Making	1535
Multi-output Infinite Horizon Gaussian Processes	1542
Session TuCT21 : Control Applications
Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces	1550
Force Control of a Hydraulic Actuator with a Neural Network Inverse Model	1558
An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors	1566
D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning	1572
Session TuET19 : Control for Multi-Robot SystemsA Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation	1579
Decentralized Connectivity Maintenance with Time Delays Using Control Barrier Functions	1586
Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments	1593
Multi-Robot Implicit Control of Herds	1601
Session TuFT19 : Control of Manipulation I
Real-Time Friction Estimation for Grip Force Control	1608
Uncertainty-Aware Deep Learning for Robot Touch: Application to Bayesian Tactile Servo Control	1615
Towards Integrated Tactile Sensorimotor Control in Anthropomorphic Soft Robotic Hands	1622
Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects	1629
Session TuFT20 : Control of Manipulation II
An Efficient Approach to Closed-Loop Shape Control of Deformable Objects Using Finite Element Models	1637
Learning Stable Normalizing-Flow Control for Robotic Manipulation	1644
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks	1651
Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks	1658
Session TuDT20 : Control Theory IMathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved
Molds	1666
A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation	1673
A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions	1692
On-Line Force Capability Evaluation Based on Efficient Polytope Vertex Search	1700
Session TuET20 : Control Theory II
Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions	1707
Robust Frequency-Based Structure Extraction	1715
A Hybrid Collision Model for Safety Collision Control	1722
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback	1729
Session TuGT23 : Control Theory III
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems	1743
A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration	1751
A Direct Collocation Method for Optimization of EMG-Driven Wrist Muscle Musculoskeletal Model	1759
A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm	1766
Session TuHT20 : Data-Driven Model Estimation
Efficient Dynamics Estimation with Adaptive Model Sets	1775
Data-Driven Actuator Selection for Artificial Muscle-Powered Robots	1783
EMG-Based Neural Network Model of Human Arm Dynamics in a Haptic Training Simulator of Sinus Endoscopy	1790
Multimodal Dynamics Modeling for Off-Road Autonomous Vehicles	1796
Session TuJT20 : Deep Learning in Robotics and Automation
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics	1803
Regularizing Action Policies for Smooth Control with Reinforcement Learning	1810
DeepReach: A Deep Learning Approach to High-Dimensional Reachability	1817
Deep Reinforcement Learning for Active Target Tracking	1825
Session TuBT20 : Deep Learning in Robotics I
Long-Range Hand Gesture Recognition Via Attention-Based SSD Network	1832
Spectral Temporal Graph Neural Network for Trajectory Prediction	1839
Dark Reciprocal-Rank: Teacher-To-Student Knowledge Transfer from Self-Localization Model to Graph-Convolutional Neural Network	1846
Efficient SE(3) Reachability Map Generation Via Interplanar Integration of Intra-Planar Convolutions	1854
Session TuCT20 : Deep Learning in Robotics IIFlowDriveNet: An End-To-End Network for Learning Driving Policies from Image Optical Flow and
LiDAR Point Flow	1861
PocoNet: SLAM-Oriented 3D LiDAR Point Cloud Online Compression Network	1868
3D Reconstruction of Deformable Colon Structures Based on Preoperative Model and Deep Neural Network	1875
DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network	1882
Session TuGT20 : Distributed Robotic Systems
Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-Of-View Constraints	1890
Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation	1896
Distributed Multi-Target Tracking in Camera Networks	1903
GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics	1910
Session TuIT20 : Dynamic Manipulation
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms	1918
Robot Dynamics Identification: A Reproducible Comparison with Experiments on the KINOVA Jaco2	1925
Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators	1934
Dynamic Manipulation of Deformable Objects with Implicit Integration	1942
Session TuDT18 : Dynamic Modeling
Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics	1950
Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator	1958
A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures	1966
Session TuET18 : Dynamics and Control I
Switching Control in Two-Wheeled Self-Balancing Robots	1974
Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission	1981
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation	1989
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach	1997
Session TuKT20 : Dynamics and Control II
No-Frills Dynamic Planning Using Static Planners	2005
PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads Using a Single Camera and IMU	2012
Learning Agile Locomotion Skills with a Mentor	2019
Automating Behavior Selection for Affective Telepresence Robot	2026
Session TuJT19 : Dynamics and Control III
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints	2033
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking	2040
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics	2048
The Dynamic Effect of Mechanical Losses of Transmissions on the Equations of Motion of Legged Robots	2056
Session TuCT19 : Dynamics and Control IV
Model Based Evaluation of Human and Lower-Limb Exoskeleton Interaction During Sit to Stand Motion	2063
Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems	2070
Compensation for Undefined Behaviors During Robot Task Execution by Switching Controllers Depending on Embedded Dynamics in RNN	2077
Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank	2085
Session TuHT18 : Field Robotics I
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program	2091
DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain	2099
Wetland Soil Strength Tester and Core Sampler Using a Drone	2106
Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics	2113
Session TuFT18 : Field Robotics II
Data-Driven Sea State Estimation for Vessels Using Multi-Domain Features from Motion Responses	2120
A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions	2127
How to Train Your Heron	2134
Robust Underwater Visual SLAM Fusing Acoustic Sensing	2140
Session TuIT18 : Field Robotics III
Place Recognition in Forests with Urquhart Tessellations	2147
Detecting and Counting Oysters	2156
Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization	2163
Locomotion and Control of a Friction-Driven Tripedal Robot	2170
Session TuGT18 : Field Robotics IV
Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks	2177
Robot-Supervised Learning of Crop Row Segmentation	2185
Deep Regression versus Detection for Counting in Robotic Phenotyping	2192
Neural Network Controller for Autonomous Pile Loading Revised	2198
Session TuAT19 : Field Robotics V
A Peg-In-Hole Task Strategy for Holes in Concrete	2205
Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data	2212
Ranulfo; Kojima, Shotaro; Suzuki, Taro; Komatsu, Tomohiro; Shibata Yukinori, Shibata;
Asano, Kimitaka; Nagatani, Keiji; Miyamoto, Naoto; Suzuki, Takahiro; Harada, Tatsuya;
Tadokoro, Satoshi TaskNet: A Neural Task Planner for Autonomous Excavator	2220
Steering Induced Roll Quantification During Ship Turning Circle Manoeuvre	2227
Session TuDT17 : Field Robotics VI
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment	2233
Jindal, Kshitij; Zhou, Alex; Thakur, Dinesh; Loianno, Giuseppe; Krajník, Tomáš; Saska,
Martin
Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle	2242
ASVLite: A High-Performance Simulator for Autonomous Surface Vehicles	2249
Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots	2256
Session TuDT16 : Field Robotics VII
Predicting the Post-Impact Velocity of a Robotic Arm Via Rigid Multibody Models: An Experimental Study	2264
Compliant plant exploration for agricultural procedures with a collaborative robot	2272
Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments	2279
Resilient Collision-Tolerant Navigation in Confined Environments	2286
Session TuBT19 : Field Robotics VIII
A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control	2293
Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements	2301
Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification	2308
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs	2316
Session TuET16 : Field Robotics: Agricultural Applications
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention	2324
Using depth information and colour space variations for improving outdoor robustness for instance segmentation of cabbage	2331
Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping	2337
MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards	2345
Session TuHT16 : Field Robotics: Control
Environment Reconfiguration Planning for Autonomous Robotic Manipulation to Overcome Mobility Constraints	2352
On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation	2359
LaND: Learning to Navigate from Disengagements	2377
Adaptive Sampling Using POMDPs with Domain-Specific Considerations	2385
Session TuIT16 : Field Robotics: Machine Learning
Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control	2392
Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy	2400
A Generative Model-Based Predictive Display for Robotic Teleoperation	2407
Session TuET17 : Field Robotics: Mobile Robots
Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks	2414
Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach	2421
Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots	2428
Integration of a Human-Aware Risk-Based Braking System into an Open-Field Mobile Robot​	2435
Session TuJT18 : Field Robotics: Perception
Three-Dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces	2443
Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance	2450
Sattar, Junaed LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation	2457
Real-Time Navigation Using Virtual Magnetic Fields	2465
Session WeBT7 : Field Robots I
Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal	2473
Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment	2480
A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning	2487
Parameter Estimation of an Industrial Car-Like Tractor	2495
Session WeCT7 : Field Robots II
Enhancement for Robustness of Koopman Operator-Based Data-Driven Mobile Robotic Systems	2503
Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots	2511
MSTC*: Multi-Robot Coverage Path Planning under Physical Constraints	2518
Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control	2525
Session TuKT19 : Force Control
Admittance Control with Uknown Location of Interaction	2532
Low-Level Force-Control of MR-Hydrostatic Actuators	2540
Zero-Potential-Energy Motions Due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study	2548
Session TuCT18 : Grasping and Manipulation
Adversarial Skill Learning for Robust Manipulation	2555
Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures	2562
Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification	2569
Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition	2576
Session TuFT17 : Grasping I
Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure	2583
Analysis of Open-Loop Grasping from Piles	2591
Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder	2598
An Underactuated Gripper Based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection	2605
Session TuAT20 : Grasping II
Dig-Grasping Via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking	2612
Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods	2620
SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction	2627
Tactile Velocity Estimation for Controlled In-Grasp Sliding	2635
Session TuKT18 : Hierarchical Motion Planning
Q-Tree Search: An Information-Theoretic Approach Toward Hierarchical Abstractions for Agents with Computational Limitations	2643
A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning	2660
Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning	2667
Collision Avoidance in Tightly-Constrained Environments without Coordination: A Hierarchical Control Approach	2674
Session TuHT17 : Human-Centered Robotics I
Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm	2681
Conditioning Style on Substance: Plans for Narrative Observation	2687
Negative Emotion Management Using a Smart Shirt and a Robot Assistant	2694
Corrective Shared Autonomy for Addressing Task Variability	2702
Session TuIT17 : Human-Centered Robotics II
A Robot Walks into a Bar: Automatic Robot Joke Success Assessment	2710
Reverse Psychology in Trust-Aware Human-Robot Interaction	2717
Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Interaction	2725
Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI	2731
Session TuJT17 : Human-Centered Robotics III
Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models	2739
I Know What You Meant: Learning Human Objectives by (Under)estimating Their Choice Set	2747
Analyzing Human Models that Adapt Online	2754
When Shall I Be Empathetic? the Utility of Empathetic Parameter Estimation in Multi-Agent Interactions	2761
Session TuKT17 : Human-In-The-Loop Control
End-To-End Grasping Policies for Human-In-The-Loop Robots Via Deep Reinforcement Learning	2768
An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction	2775
Situational Confidence Assistance for Lifelong Shared Autonomy	2783
Recognizing Orientation Slip in Human Demonstrations	2790
Session TuKT13 : Humanoid and Bipedal Locomotion I
Learning Bipedal Robot Locomotion from Human Movement	2797
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots	2804
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots	2811
Session TuHT12 : Humanoid and Bipedal Locomotion II
Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard	2818
Global Position Control on Underactuated Bipedal Robots: Step-To-Step Dynamics Approximation for Step Planning	2825
One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-Inspired Controller	2832
Hybrid Sampling/Optimization-Based Planning for Agile Jumping Robots on Challenging Terrains	2839
Session TuIT12 : Humanoid Robots
A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests	2846
Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots	2853
Model Hierarchy Predictive Control of Robotic Systems	2861
Impedance Optimization for Uncertain Contact Interactions through Risk Sensitive Optimal Control	2869
Session TuJT12 : Humanoids and Animaloids
Learning Human Objectives from Sequences of Physical Corrections	2877
SimGAN: Hybrid Simulator Identification for Domain Adaptation Via Adversarial Reinforcement Learning	2884
Look at my new blue force-sensing shoes!	2891
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model	2897
Session TuET13 : Humanoids and Animaloids I
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using Extended Kalman Filtering on Matrix Lie Groups	2904
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control	2911
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids	2919
Humanoid Control under Interchangeable Fixed and Sliding Unilateral Contacts	2927
Session TuBT17 : Humanoids and Animaloids III
Lywal: A Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions	2935
Design of a Compact Embedded Hydraulic Power Unit for Bipedal Robots	2942
Stair Climbing Capability-Based Dimensional Synthesis for the Multi-Legged Robot	2950
Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies	2957
Session TuFT13 : Humanoids and Animaloids IV
Fast Footstep Planning with Aborting A*	2964
Stiffness Modulation in a Humanoid Robotic Leg and Knee	2971
Exploiting Visual Servoing and Centroidal Momentum for Whole-Body Motion Control of Humanoid Robots in Absence of Contacts and Gravity	2979
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control	2986
Session TuCT17 : Humanoids and Animaloids V
Robust Landing Stabilization of Humanoid Robot on Uneven Terrain Via Admittance Control and Heel Strike Motion	2994
Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software	3001
Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids	3011
State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks	3019
Session TuGT13 : Humanoids and Animaloids VI
Precise Jump Planning using Centroidal Dynamics based Bilevel Optimization	3026
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning	3033
ULT-Model: Towards a One-Legged Unified Locomotion Template Model for Forward Hopping with an Upright Trunk	3040
Nonlinear Stiffness Allows Passive Dynamic Hopping for One-Legged Robots with an Upright Trunk	3047
Session TuAT16 : Humanoids and Animaloids VII
Reachability-Based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum	3054
Meaningful Centroidal Frame Orientation of Multi-body Floating Locomotion Systems	3061
Online Object Searching by a Humanoid Robot in an Unknown Environment	3068
Origami-inspired New Material Feeding Mechanism for Soft Growing Robots to Keep the Camera Stay at the Tip by Securing Its Path	3076
Session WeBT3 : Humanoids and Animaloids VIII
Vision-Based Path Following of Snake-Like Robots	3084
Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control	3091
A Passive Hydraulic Auxiliary System Designed for Increasing Legged Robot Payload and Efficiency	3097
Legged Robot State Estimation in Slippery Environments UsingInvariant Extended Kalman Filter with Velocity Update	3104
Session TuDT0 : Human-Robot Interaction Award Session
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy	3111
Reactive Human-To-Robot Handovers of Arbitrary Objects	3118
Session TuJT16 : Human-Robot Interaction I
Evaluating Guided Policy Search for Human-Robot Handovers	3125
Communication Strategy for Efficient Guidance Providing	3133
LBGP: Learning Based Goal Planning for Autonomous Following in Front	3140
Session TuFT16 : Human-Robot Interaction II
A Reversible Dynamic Movement Primitive Formulation	3147
A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration	3154
A Human-Centered Dynamic Scheduling Architecture for Collaborative Application	3161
Towards Efficient Human-Robot Cooperation for Socially-Aware Robot Navigation in Human-Populated Environments: The SNAPE Framework	3169
Session WeCT11 : Human-Robot Interaction III
Relational Navigation Learning in Continuous Action Space among Crowds	3175
Limits of Probabilistic Safety Guarantees When Considering Human Uncertainty	3182
Probabilistic Human Motion Prediction Via a Bayesian Neural Network	3190
Directed Acyclic Graph Neural Network for Human Motion Prediction	3197
Session TuKT16 : Human-Robot Interaction in Exoskeletons
Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment	3205
ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes	3212
Control of a Transfemoral Prosthesis on Sloped Terrain using Continuous and Nonlinear Impedance Parameters	3219
Model-Dependent Prosthesis Control with Interaction Force Estimation	3226
Session TuAT18 : Human-Robot Interaction IV
Comparison of Three Feedback Modalities for �Haptics Sensation in Remote Machine Manipulation	3233
Prediction-Error Negativity to Assess Singularity Avoidance Strategies in Physical Human-Robot Collaboration	3241
A Large Area Robotic Skin with Sparsely Embedded Microphones for Human-Robot Tactile Communication	3248
Star Topology Based Interaction for Robust Trajectory Forecasting in Dynamic Scene	3255
Session TuIT15 : Human-Robot Interaction IXMaximum Spectral Flatness Control of a Manipulandum for Human Motor System Identification	3262
Learning from Demonstration for Real-Time User Goal Prediction and Assistive Shared Control	3270
Human-Aware Robot Task Planning Based on a Hierarchical Task Model	3276
Exploiting Natural Language for Efficient Risk-Aware Multi-Robot SaR Planning	3284
Session TuHT15 : Human-Robot Interaction V
Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems	3292
Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals	3299
Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation	3306
Effect of Robot Assistance, Operator Cognitive Fatigue, and Sex on Task Efficiency, Workload, and Situation Awareness in Human-Robot Collaboration	3313
Session TuGT17 : Human-Robot Interaction VI
Composing HARMONI: An Open-Source Tool for Human and Robot Modular OpeN Interaction	3322
Robot Interaction Studio: A Platform for Unsupervised HRI	3330
MorphFace: A Hybrid Morphable Face for a Robopatient	3337
Which Gesture Generator Performs Better?	3345
Session WeCT3 : Human-Robot Interaction VIITwo-Stream 2D/3D Residual Networks for Learning Robot Manipulations from Human
Demonstration Videos	3353
Waypoints Updating Based on Adam and ILC for Path Learning in Physical Human-Robot Interaction	3359
Virtual-Fixture Based Drilling Control for Robot-Assisted Craniotomy: Learning from Demonstration	3366
A Graph Attention Spatio-Temporal Convolutional Network for 3D Human Pose Estimation in Video	3374
Session TuBT18 : Human-Robot Interaction VIII
Human-In-The-Loop Auditory Cueing Strategy for Gait Modification	3381
A Self-Training Approach-Based Traversability Analysis for Mobile Robots in Urban Environments	3389
Active and Interactive Mapping with Dynamic Gaussian Process Implicit Surfaces for Mobile Manipulators	3395
Proactive Interaction Framework for Intelligent Social Receptionist Robots	3403
Session TuGT16 : Human-Robot Interaction X
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Task	3410
Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation	3418
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments	3426
Real-Time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution	3434
Session TuAT17 : Human-Robot Interaction XIExploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic
Interfaces	3441
Design and Clinical Validation of a Robotic Ankle-Foot Simulator with Series Elastic Actuator for Ankle Clonus Assessment Training	3450
A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments	3458
Soft-Jig-Driven Assembly Operations	3466
Session TuIT13 : Human-Robot Interaction: Learning to Predict
Identifying Driver Interactions Via Conditional Behavior Prediction	3473
Sapp, Benjamin; Anguelov, Dragomir Autonomous Robotic Escort Incorporating Motion Prediction and Human Intention	3480
Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks	3487
Dynamically Switching Human Prediction Models for Efficient Planning	3495
Session TuJT15 : Human-Robot Interaction: Robot Navigation I
Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data	3502
Social Navigation for Mobile Robots in the Emergency Department	3510
Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning	3517
Range Limited Coverage Control Using Air-Ground Multi-Robot Teams	3525
Session TuHT13 : Human-Robot Interaction: Robot Navigation II
Investigation of Unmanned Aerial Vehicle Gesture Perceptibility and Impact of Viewpoint Variance	3531
Can a Robot Trust You? A DRL-Based Approach to Personality-Driven, Human-Guided Navigation	3538
Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies	3546
Watch Where You’re Going! Gaze and Head Orientation As Predictors for Social Robot Navigation	3553
Session TuDT15 : Human-Robot Interaction: Control
Robust Classification of Grasped Objects in Intuitive Human-Robot Collaboration Using a Wearable Force-Myography Device	3560
Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control	3568
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications	3575
Probabilistic Adaptive Control for Robust Behavior Imitation	3582
Session TuET15 : Human-Robot Interaction: Detection
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems	3590
A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration	3597
Pointing at Moving Robots: Detecting Events from Wrist IMU Data	3604
Session TuFT15 : Human-Robot Interaction: Haptics
Learning Human-like Hand Reaching for Human-Robot Handshaking	3612
Simultaneous Haptic Guidance and Learning of Task Parameters During Robotic Teleoperation - a Geometrical Approach	3619
Human-Like Artificial Skin Sensor for Physical Human-Robot Interaction	3626
A Unified Perception Benchmark for Capacitive Proximity Sensing towards Safe Human-Robot Collaboration (HRC)	3634
Gergely; Rathmair, Michael; Mühlbacher-Karrer, Stephan; Thomas, Ulrike; Hein, Björn;
Hofbaur, Michael; Zangl, Hubert
Session TuGT15 : Human-Robot Interaction: Learning
Engagement Estimation During Child Robot Interaction Using Deep Convolutional Networks Focusing on ASD Children	3641
Ergodic Imitation: Learning from What to Do and What Not to Do	3648
Imitation Learning with Inconsistent Demonstrations through Uncertainty-Based Data Manipulation	3655
Learning Motor Resonance in Human-Human and Human-Robot Interaction with Coupled Dynamical Systems	3662
Session TuKT15 : Human-Robot Interaction: Medical Robots and Systems I
Can Therapists Design Robot-Mediated Interventions and Teleoperate Robots Using VR to Deliver Interventions for ASD?	3669
A Low-Cost Intrinsically Safe Mechanism for Physical Distancing between Clinicians and Patients	3677
Collaborative Fall Detection Using a Wearable Device and a Companion Robot	3684
Conversation-Based Medication Management System for Older Adults Using a Companion Robot and Cloud	3691
Session TuHT14 : Human-Robot Interaction: Medical Robots and Systems II
Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot	3699
Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip	3707
Entrainment During Human Locomotion Using a Soft Wearable Ankle Robot	3714
Active Telepresence Assistance for Supervisory Control: A User Study with a Multi-Camera Tele-Nursing Robot	3722
Session TuIT14 : Human-Robot Interaction: Motion Planning
A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration	3728
Temporal Anticipation and Adaptation Methods for Fluent Human-Robot Teaming	3736
Robust Planning with Emergent Human-Like Behavior for Agents Traveling in Groups	3744
Order Matters: Generating Progressive Explanations for Planning Tasks in Human-Robot Teaming	3751
Session TuDT14 : Human-Robot Interaction: Motion Prediction
Human-Robot Collaborative Object Transfer Using Human Motion Prediction Based on Cartesian Pose Dynamic Movement Primitives	3758
Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration	3765
Achieving Hard Real-Time Capability for 3D Human Pose Estimation Systems	3772
Zoomorphic Gestures for Cobots	3779
Session TuJT14 : Human-Robot Interaction: MultimediaARROCH: Augmented Reality for Robots Collaborating with a Human	3787
ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance Via Constrained Learning from Demonstration	3794
Bringing WALL-E Out of the Silver Screen: Understanding How Transformative Robot Sound Affects Human Perception	3801
How People Use Active Telepresence Cameras in Tele-manipulation	3808
Session TuET14 : Human-Robot Interaction: Safety
Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions	3816
Optimal Scaling of Dynamic Safety Zones for Collaborative Robotics	3822
3D Collision-Force-Map for Safe Human-Robot Collaboration	3829
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions	3836
Session TuKT14 : Human-Robot Interaction: Scheduling and Teleoperation
Online Dynamic Time Warping Algorithm for Human-Robot Imitation	3843
Sumit Kumar; Popa, Dan Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction	3850
Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management	3858
Time-Domain Passivity-Based Controller with an Optimal Two-Channel Lawrence Telerobotic Architecture	3865
Session TuFT14 : Human-Robot Interaction: Simulation and Experiment
Virtual Adversarial Humans Finding Hazards in Robot Workplaces	3872
Crowd against the Machine: A Simulation-Based Benchmark Tool to Evaluate and Compare Robot Capabilities to Navigate a Human Crowd	3879
DROID: Minimizing the Reality Gap Using Single-Shot Human Demonstration	3886
Roboticists and Reporters. a Rhetorical Experiment at the Cité Des Sciences Et De l’Industrie (Paris, France) (I)	3894
Session TuGT14 : Human-Robot Interaction: Task Planning
Task Planning with a Weighted Functional Object-Oriented Network	3904
Haptic-Guided Path Generation for Remote Car-Like Vehicles	3911
Task-Based Role Adaptation For Human-Robot Cooperative Object Handling	3919
Towards providing explanations for robot motion planning	3927
Session TuDT13 : Human-Robot Interaction: Teleoperation
Stabilization of User-defined Feedback Controllers in Teleoperation with Passive Coupling Reference	3934
Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control	3942
Task Autocorrection for Immersive Teleoperation	3949
Manipulability Optimization for Multi-Arm Teleoperation	3956
Session TuJT13 : Human-Robots Interface System
UAV Target-Selection: 3D Pointing Interface System for Large-Scale Environment	3963
A Framework for Customizable Multi-User Teleoperated Control	3970
Scott SQRP: Sensing Quality-Aware Robot Programming System for Non-Expert Programmers	3978
Automated Environment Reduction for Debugging Robotic Systems	3985
Session WeAT14 : IMU-Based Localization
IMU Data Processing for Inertial Aided Navigation: A Recurrent Neural Network Based Approach	3992
Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization	3999
Robust Localization for Planar Moving Robot in Changing Environment: A Perspective on Density of Correspondence and Depth	4006
IMU/Vehicle Calibration and Integrated Localization for Autonomous Driving	4013
Session TuKT12 : Intelligence Design
Optimizing Cellular Networks Via Continuously Moving Base Stations on Road Networks	4020
The Resh Programming Language for Multirobot Orchestration	4026
Sensing Via Collisions: A Smart Cage for Quadrotors with Applications to Self-Localization	4033
Generative Design of NU's Husky Carbon: A Morpho-Functional, Legged Robot	4040
Session TuBT16 : Learning and Control in Robotics and Automation
Hyperparameter Auto-Tuning in Self-Supervised Robotic Learning	4047
An Analytical Diabolo Model for Robotic Learning and Control	4055
Peer-Assisted Robotic Learning: A Data-Driven Collaborative Learning Approach for Cloud Robotic Systems	4062
Imitation Learning of Hierarchical Driving Model: From Continuous Intention to Continuous Trajectory	4071
Session TuCT16 : Learning and Optimization
Evolvable Motion-Planning Method Using Deep Reinforcement Learning	4079
Learning Sequences of Manipulation Primitives for Robotic Assembly	4086
Data-Efficient Learning for Complex and Real-Time Physical Problem Solving Using Augmented Simulation	4093
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments	4101
Session TuAT15 : Learning for Motion Planning
Deep Imitation Learning for Autonomous Navigation in Dynamic Pedestrian Environments	4108
Learning from Demonstration without Demonstrations	4116
Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-scaling Constrained Optimization	4123
Optimization-Based Framework for Excavation Trajectory Generation	4131
Session TuDT12 : Learning for Robotics I
Adversarial Training Is Not Ready for Robot Learning	4140
Deep Learning on 3D Object Detection for Automatic Plug-In Charging Using a Mobile Manipulator	4148
Decentralized Multi-Agent Pursuit Using Deep Reinforcement Learning	4155
Differentiable Physics Models for Real-World Offline Model-Based Reinforcement Learning	4163
Session TuET12 : Learning for Robotics II
Sample-Efficient Reinforcement Learning in Robotic Table Tennis	4171
Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning	4179
No Face-Touch: Exploiting Wearable Devices and Machine Learning for Gesture Detection	4187
Robot Learning with Crash Constraints	4194
Session TuAT14 : Learning in Control
Sample Efficient Reinforcement Learning via Model-Ensemble Exploration and Exploitation	4202
Dreaming: Model-Based Reinforcement Learning by Latent Imagination without Reconstruction	4209
A Variational Infinite Mixture for Probabilistic Inverse Dynamics Learning	4216
Model-Based Domain Randomization of Dynamics System with Deep Bayesian Locally Linear Embedding	4223
Session TuBT15 : Learning in Robotics and Automation I
Learning Spatial Context with Graph Neural Network for Multi-Person Pose Grouping	4230
Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation	4237
Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation	4244
Graph Convolutional Network Based Configuration Detection for Freeform Modular Robot Using Magnetic Sensor Array	4252
Session TuCT15 : Learning in Robotics and Automation II
PVStereo: Pyramid Voting Module for End-To-End Self-Supervised Stereo Matching	4259
Embedding Symbolic Temporal Knowledge into Deep Sequential Models	4267
Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning	4274
Linguistic Descriptions of Human Motion with Generative Adversarial Seq2Seq Learning	4281
Session WeBT14 : Learning in Robotics and Automation III
MDANet: Multi-Modal Deep Aggregation Network for Depth Completion	4288
GPR: Grasp Pose Refinement Network for Cluttered Scenes	4295
Diversity-Aware Label Distribution Learning for Microscopy Auto Focusing	4303
Contour Primitive of Interest Extraction Network Based on One-Shot Learning for Object-Agnostic Vision Measurement	4311
Session WeCT14 : Learning in Robotics and Automation IV
UMLE: Unsupervised Multi-Discriminator Network for Low Light Enhancement	4318
Unsupervised Learning of 3D Scene Flow from Monocular Camera	4325
Monocular 3D Detection with Geometric Constraints Embedding and Semi-Supervised Training	4332
Deep3DRanker: A Novel Framework for Learning to Rank 3D Models with Self-Attention in Robotic Vision	4341
FGR: Frustum-Aware Geometric Reasoning for Weakly Supervised 3D Vehicle Detection	4348
Session TuFT12 : Learning to Predict
Combining Events and Frames Using Recurrent Asynchronous Multimodal Networks for Monocular Depth Prediction	4355
Predicting Disparity Distributions	4363
Scoring Graspability Based on Grasp Regression for Better Grasp Prediction	4370
MonoSOD: Monocular Salient Object Detection Based on Predicted Depth	4377
Session TuHT11 : Learning-Based Control
Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers	4384
Reachability-Based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control	4391
Neural Identification for Control	4399
Learning Variable Impedance Control Via Inverse Reinforcement Learning for Force-Related Tasks	4407
Session TuGT12 : Learning-Based Control I
Interactive Learning of Temporal Features for Control	4415
A Fully Spiking Neural Control System Based on Cerebellar Predictive Learning for Sensor-Guided Robots	4423
Learning to Steer a Locomotion Contact Planner	4430
Learning Shape Control of Elastoplastic Deformable Linear Objects	4438
Session TuDT11 : Learning-Based Control II
Leveraging Forward Model Prediction Error for Learning Control	4445
GoSafe: Globally Optimal Safe Robot Learning	4452
Distilling a Hierarchical Policy for Planning and Control Via Representation and Reinforcement Learning	4459
Active Model Learning Using Informative Trajectories for Improved Closed-Loop Control on Real Robots	4467
Session TuET11 : Learning-Based Grasping
Robot Learning of 6 DoF Grasping Using Model-Based Adaptive Primitives	4474
Conditional StyleGAN for Grasp Generation	4481
Go Fetch! - Dynamic Grasps Using Boston Dynamics Spot with External Robotic Arm	4488
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps	4495
Session TuBT14 : Learning-Based Human-Robot Interaction
Machine Learning-Based Human-Following System: Following the Predicted Position of a Walking Human	4502
Anytime Game-Theoretic Planning with Active Reasoning About Humans' Latent States for Human-Centered Robots	4509
Momentum Observer-Based Collision Detection Using LSTM for Model Uncertainty Learning	4516
Deep Learning and Mixed Reality to Autocomplete Teleoperation	4523
Session WeAT10 : Learning-Based Manipulation I
Mechanical Intelligence for Adaptive Precision Grasp	4530
Learning Multi-Object Dense Descriptor for Autonomous Goal-Conditioned Grasping	4537
Hierarchical Learning from Demonstrations for Long-Horizon Tasks	4545
How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning	4552
Session TuHT10 : Learning-Based Manipulation II
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables	4560
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks	4568
A Joint Network for Grasp Detection Conditioned on Natural Language Commands	4576
ReLMoGen: Integrating Motion Generation in Reinforcement Learning for Mobile Manipulation	4583
Session TuFT11 : Learning-Based Manipulation III
Learning Behavior Trees with Genetic Programming in Unpredictable Environments	4591
Active Learning of Bayesian Probabilistic Movement Primitives	4598
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation	4606
Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration	4613
Session TuCT14 : Learning-Based Manipulation IV
AdaGrasp: Learning a Gripper-Aware Grasping Policy	4620
TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly	4627
Learning Deep Nets for Gravitational Dynamics with Unknown Disturbance through Physical Knowledge Distillation: Initial Feasibility Study	4634
Learning to Place Objects Onto Flat Surfaces in Upright Orientations	4642
Session TuGT11 : Learning-Based Manipulation IX
Efficient Self-Supervised Data Collection for Offline Robot Learning	4650
Total Singulation with Modular Reinforcement Learning	4657
Active Inference for Integrated State-Estimation, Control, and Learning	4665
Robot Program Parameter Inference Via Differentiable Shadow Program Inversion	4672
Session TuIT10 : Learning-Based Manipulation V
Learning Multimodal Contact-Rich Skills from Demonstrations without Reward Engineering	4679
Keep It Simple: Data-Efficient Learning for Controlling Complex Systems with Simple Models	4686
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal	4694
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination	4702
Session TuDT10 : Learning-Based Manipulation VI
Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category	4710
ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation	4717
Adversarial Imitation Learning with Trajectorial Augmentation and Correction	4724
Learning Reachable Manifold and Inverse Mapping for a Redundant Robot Manipulator	4731
Session TuAT13 : Learning-Based Manipulation VII
Living Object Grasping Using Two-Stage Graph Reinforcement Learning	4738
Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix	4746
Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning	4754
Reducing the Deployment-Time Inference Control Costs of Deep Reinforcement Learning Agents via an Asymmetric Architecture	4762
Session TuJT10 : Learning-Based Manipulation VIII
ECNNs: Ensemble Learning Methods for Improving Planar Grasp Quality Estimation	4769
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies	4776
SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation Using Deep Learning for Feature Extraction	4783
An Affordance Keypoint Detection Network for Robot Manipulation	4790
Session TuET10 : Learning-Based Motion Planning
Learning Robot Trajectories Subject to Kinematic Joint Constraints	4799
Enhancing Lattice-Based Motion Planning with Introspective Learning and Reasoning	4806
Learning Functionally Decomposed Hierarchies for Continuous Control Tasks with Path Planning	4815
Self-Imitation Learning by Planning	4823
Session TuIT11 : Learning-Based Motion Planning I
Learning and Planning for Temporally Extended Tasks in Unknown Environments	4830
Behavior Tree Learning for Robotic Task Planning through Monte Carlo DAG Search Over a Formal Grammar	4837
Improving Off-Road Planning Techniques with Learned Costs from Physical Interactions	4844
Sebastian
Session TuJT11 : Learning-Based Motion Planning IIPlanning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz
Constants	4851
Single-Query Path Planning Using Sample-Efficient Probability Informed Trees	4859
Learning from Imperfect Demonstrations from Agents with Varying Dynamics	4867
Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving	4875
Session TuKT11 : Learning-Based Motion Planning III
Robotic Information Gathering Using Semantic Language Instructions	4882
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints	4889
Deep Structured Reactive Planning	4897
Learning a Centroidal Motion Planner for Legged Locomotion	4905
Session TuHT9 : Legged Robots I
Optimal Estimation of the Centroidal Dynamics of Legged Robots	4912
A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design	4919
A Novel Model Predictive Control Framework Using Dynamic Model Decomposition Applied to Dynamic Legged Locomotion	4926
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation	4933
Session TuIT9 : Legged Robots II
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion	4940
AksharaThe Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion	4948
Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion	4955
Coupled Control Lyapunov Functions for Interconnected Systems, with Application to Quadrupedal Locomotion	4962
Session TuFT10 : Legged Robots III
Balancing on a Springy Leg	4970
Gyrubot: Nonanthropomorphic Stabilization for a Biped	4976
Feasible Region: An Actuation-Aware Extension of the Support Region	4983
A Novel Method for Computing the 3D Friction Cone Using Complimentary Constraints	5000
Session TuGT10 : Legged Robots IV
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12	5007
Soueres, Philippe Imitation Learning from MPC for Quadrupedal Multi-Gait Control	5014
Comparison of Predictive Controllers for Locomotion and Balance Recovery of Quadruped Robots	5021
Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO	5028
Session WeCT10 : LiDAR-Based Localization I
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks	5035
KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry	5042
CamVox: A Low-Cost and Accurate Lidar-Assisted Visual SLAM System	5049
PSF-LO: Parameterized Semantic Features Based Lidar Odometry	5056
Session TuBT13 : LiDAR-Based Localization II
LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)	5063
Automatic Hyper-Parameter Tuning for Black-Box LiDAR Odometry	5069
Locus: LiDAR-based Place Recognition Using Spatiotemporal Higher-Order Pooling	5075
Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction Using an Arbitrary Planar Board	5082
Session TuKT10 : Localization and Control
Model Predictive Control for Cooperative Hunting in Obstacle Rich and Dynamic Environments	5089
Instance-Aware Predictive Navigation in Multi-Agent Environments	5096
SLAAM: Simultaneous Localization and Additive Manufacturing	5103
SimNet: Learning Reactive Self-Driving Simulations from Real-World Observations	5119
Session TuDT9 : Localization and Estimation
MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization	5126
Enabling Spatio-Temporal Aggregation in Birds-Eye-View Vehicle Estimation	5133
Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimation	5140
There and Back Again: Self-Supervised Multispectral Correspondence Estimation	5147
Session TuET9 : Localization and Mapping I
Deep Compression for Dense Point Cloud Maps	5155
Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making	5163
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes	5170
Hough2Map – Iterative Event-Based Hough Transform for High-Speed Railway Mapping	5178
Session TuJT9 : Localization and Mapping II
3D Motion Capture of an Unmodified Drone with Single-Chip Millimeter Wave Radar	5186
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty	5193
Fast Uncertainty Quantification for Deep Object Pose Estimation	5200
Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning	5208
Session WeAT2 : Localization and Mapping III
Tightly-Coupled Multi-Sensor Fusion for Localization with LiDAR Feature Maps	5215
Greedy-Based Feature Selection for Efficient LiDAR SLAM	5222
Road Mapping and Localization Using Sparse Semantic Visual Features	5229
Retrieval and Localization with Observation Constraints	5237
Session TuCT13 : Localization and Mapping IV
MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments	5245
Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization	5252
Interactive Planning for Autonomous Urban Driving in Adversarial Scenarios	5261
Kernel-Based 3-D Dynamic Occupancy Mapping with Particle Tracking	5268
Session WeAT16 : Localization and Mapping IX
Robust Dual Quadric Initialization for Forward-Translating Camera Movements	5275
Robust Motion Averaging under Maximum Correntropy Criterion	5283
Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model	5289
Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry	5296
Session TuKT9 : Localization and Mapping V
Polarimetric Monocular Dense Mapping Using Relative Deep Depth Prior	5303
Learned Uncertainty Calibration for Visual Inertial Localization	5311
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association	5318
Distributed Client-Server Optimization for SLAM with Limited On-Device Resources	5336
Session WeAT12 : Localization and Mapping VI
Multi-Parameter Optimization for a Robust RGB-D SLAM System	5343
Invariant EKF Based 2D Active SLAM with Exploration Task	5350
2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining	5357
A Switching-Coupled Backend for Simultaneous Localization and Dynamic Object Tracking	5365
Session TuAT12 : Localization and Mapping VII
B-Splines for Purely Vision-Based Localization and Mapping on Non-Holonomic Ground Vehicles	5374
Robust SRIF-Based LiDAR-IMU Localization for Autonomous Vehicles	5381
Structure Reconstruction Using Ray-Point-Ray Features: Representation and Camera Pose Estimation	5388
Lightweight 3-D Localization and Mapping for Solid-State LiDAR	5395
Session TuHT8 : Localization and Mapping VIII
Simultaneous Estimation and Modeling of Robotic Systems with Non-Gaussian State Belief	5403
Efficient Online Calibration for Autonomous Vehicle's Longitudinal Dynamical System: A Gaussian Model Approach	5410
Fuzzing Mobile Robot Environments for Fast Automated Crash Detection	5417
Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation	5424
Session TuBT12 : Localization and Mapping X
Intelligent Reference Curation for Visual Place Recognition Via Bayesian Selective Fusion	5432
Accelerating Probabilistic Volumetric Mapping Using Ray-Tracing Graphics Hardware	5440
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building	5446
UVIP: Robust UWB Aided Visual-Inertial Positioning System for Complex Indoor Environments	5454
Session TuIT8 : Localization and Mapping XI
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?	5461
Robust Place Recognition Using an Imaging Lidar	5469
High-Speed Robot Navigation Using Predicted Occupancy Maps	5476
Session TuCT12 : Localization and Mapping XII
Signal Temporal Logic Synthesis As Probabilistic Inference	5483
Bias Compensated UWB Anchor Initialization Using Information-Theoretic Supported Triangulation Points	5490
Multiresolution Representations for Large-Scale Terrain with Local Gaussian Process Regression	5497
DiSCO: Differentiable Scan Context with Orientation	5504
Session TuCT11 : Localization and Mapping XIII
FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter	5512
BALM: Bundle Adjustment for Lidar Mapping	5520
Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments	5528
MOLTR: Multiple Object Localisation, Tracking and Reconstruction from Monocular RGB Videos	5536
Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering	5544
Session WeBT2 : Localization and Mapping: Dataset
VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments	5552
A Multi-spectral Dataset for Evaluating Motion Estimation Systems	5560
PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices	5567
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors	5574
Session TuJT8 : Localization and Mapping: Distributed Systems
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation	5582
Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization	5589
Optimizing Non-Markovian Information Gain under Physics-Based Communication Constraints	5596
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors	5603
Session TuFT9 : Localization and Mapping: LiDAR
Robust LiDAR Feature Localization for Autonomous Vehicles Using Geometric Fingerprinting on Open Datasets	5610
RADIATE: A Radar Dataset for Automotive Perception in Bad Weather	5617
Poisson Surface Reconstruction for LiDAR Odometry and Mapping	5624
Lidar-Monocular Surface Reconstruction Using Line Segments	5631
Session TuGT9 : Localization and Mapping: Point Cloud
SKD: Keypoint Detection for Point Clouds Using Saliency Estimation	5638
Panoster: End-To-End Panoptic Segmentation of LiDAR Point Clouds	5646
NDT-Transformer: Large-Scale 3D Point Cloud Localisation Using the Normal Distribution Transform Representation	5654
PHASER: A Robust and Correspondence-Free Global Pointcloud Registration	5661
Session TuKT8 : Localization and Mapping: Sensor Fusion I
Asynchronous Multi-View SLAM	5669
Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments	5677
Relative Position Estimation between Two UWB Devices with IMUs	5684
LVI-SAM: Tightly-Coupled Lidar-Visual-Inertial Odometry Via Smoothing and Mapping	5692
Session TuHT7 : Localization and Mapping: Sensor Fusion II
Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space	5699
Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration	5706
Robust Monocular Visual-Inertial Depth Completion for Embedded Systems	5713
Range-Visual-Inertial Odometry: Scale Observability without Excitation	5720
Session TuIT7 : Localization and Mapping: Sensor Fusion III
Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot	5728
Airflow-Inertial Odometry for Resilient State Estimation on Multirotors	5736
Cirrus: A Long-Range Bi-Pattern LiDAR Dataset	5744
π-LSAM: LiDAR Smoothing and Mapping with Planes	5751
Session TuJT7 : Localization for Robotics
Improving Ranging-Based Location Estimation with Rigidity-Constrained CRLB-Based Motion Planning	5758
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements	5765
Vehicle-To-Vehicle Collaborative Graph-Based Proprioceptive Localization	5772
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching	5780
Thrush, Tristan; Van der Merwe, Mark; Maggiolino, Gerard; Brinkman, Alexander; Mayo,
John; Cheng, Yang; Padgett, Curtis; Kulczycki, Eric; Detry, Renaud
Session TuDT8 : Localization I
Global Aerial Localisation Using Image and Map Embeddings	5788
UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation	5795
Range Image-Based LiDAR Localization for Autonomous Vehicles	5802
RadarLoc: Learning to Relocalize in FMCW Radar	5809
Session TuET8 : Localization II
Freetures: Localization in Signed Distance Function Maps	5816
End-To-End Semi-Supervised Learning for Differentiable Particle Filters	5825
Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization under Challenging Conditions	5832
Learning to Localize in New Environments from Synthetic Training Data	5840
Session TuFT8 : Localization III
SoftMP: Attentive feature pooling for joint local feature detection and description for place recognition in changing environments	5847
Resolving Place Recognition Inconsistencies Using Intra-Set Similarities	5854
Beyond ANN: Exploiting Structural Knowledge for Efficient Place Recognition	5861
Simultaneous Multi-Level Descriptor Learning and Semantic Segmentation for Domain-Specific Relocalization	5868
Session TuBT11 : Localization IV
GCC-PHAT with Speech-Oriented Attention for Robotic Sound Source Localization	5876
Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization	5884
Camera Relocalization Using Deep Point Cloud Generation and Hand-Crafted Feature Refinement	5891
Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment	5898
Session TuKT7 : Machine Learning for Control
Reinforced iLQR: A Sample-Efficient Robot Locomotion Learning	5906
Scalable Learning of Safety Guarantees for Autonomous Systems Using Hamilton-Jacobi Reachability	5914
OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation	5921
Session TuAT11 : Machine Learning for Pose Estimation
HueCode: A Meta-Marker Exposing Relative Pose and Additional Information in Different Colored Layers	5928
REDE: End-To-End Object 6D Pose Robust Estimation Using Differentiable Outliers Elimination	5935
PREGAN: Pose Randomization and Estimation for Weakly Paired Image Style Translation	5943
Deep Samplable Observation Model for Global Localization and Kidnapping	5951
Session TuGT8 : Machine Learning for Robotic Applications
Robot in a China Shop: Using Reinforcement Learning for Location-Specific Navigation Behaviour	5959
Model Identification of a Small Fully-Actuated Aquatic Surface Vehicle Using a Long Short-Term Memory Neural Network	5966
Real-Time Trajectory Adaptation for Quadrupedal Locomotion Using Deep Reinforcement Learning	5973
Robust Iterative Learning Control for Pneumatic Muscle with State Constraint and Model Uncertainty	5980
Session TuHT6 : Machine Learning I
MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior	5988
Shape-Based Transfer of Generic Skills	5996
Safety Uncertainty in Control Barrier Functions Using Gaussian Processes	6003
Object Rearrangement Using Learned Implicit Collision Functions	6010
Session TuIT6 : Machine Learning II
Continual Learning of Knowledge Graph Embeddings	6018
Learning Topology from Synthetic Data for Unsupervised Depth Completion	6026
PTP: Parallelized Tracking and Prediction with Graph Neural Networks and Diversity Sampling	6034
Feedback Linearization for Quadrotors with a Learned Acceleration Error Model	6042
Session TuJT6 : Machine Learning Method for Navigation
Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents	6049
DWA-RL: Dynamically Feasible Deep Reinforcement Learning Policy for Robot Navigation among Mobile Obstacles	6057
Reinforcement Learning for Autonomous Driving with Latent State Inference and Spatial-Temporal Relationships	6064
A Lifelong Learning Approach to Mobile Robot Navigation	6072
Session TuKT6 : Machine Learning: Adaptive Systems
APPLI: Adaptive Planner Parameter Learning from Interventions	6079
APPLR: Adaptive Planner Parameter Learning from Reinforcement	6086
An Adaptive Framework For Learning Unsupervised Depth Completion	6093
PennSyn2Real: Training Object Recognition Models without Human Labeling	6101
Session TuAT10 : Machine Learning: Applications
Robotic Indoor Scene Captioning from Streaming Video	6109
Geometry-Aware Unsupervised Domain Adaptation for Stereo Matching	6116
Reasoning Operational Decisions for Robots Via Time Series Causal Inference	6124
Embodying Pre-Trained Word Embeddings through Robot Actions	6132
Session TuHT5 : Manipulation and Grasping I
Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots	6140
Improving Grasp Classification through Spatial Metrics Available from Sensors	6147
Assistive Supernumerary Grasping with the Back of the Hand	6154
Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion	6161
Session TuIT5 : Manipulation and Grasping II
Learning Dexterous Grasping with Object-Centric Visual Affordances	6169
Learning Collaborative Pushing and Grasping Policies in Dense Clutter	6177
Grasping with Chopsticks: Combating Covariate Shift in Model-Free Imitation Learning for Fine Manipulation	6185
Siddhartha Learning Task-Oriented Dexterous Grasping from Human Knowledge	6192
Session TuJT5 : Manipulation and Grasping III
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting	6199
Deep Affordance Foresight: Planning through What Can Be Done in the Future	6206
Learning Dense Rewards for Contact-Rich Manipulation Tasks	6214
Stefan ACRONYM: A Large-Scale Grasp Dataset Based on Simulation	6222
Session TuAT2 : Manipulation Award Session
KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation	6228
Policy Blending and Recombination for Multimodal Contact-Rich Tasks	6236
Session TuBT10 : Manipulation Control I
Position and Orientation Control of Polygonal Objects by Sensorless In-Hand Caging Manipulation	6244
Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment	6250
3D Biped Locomotion Control Including Seamless Transition between Walking and Running Via 3D ZMP Manipulation	6258
Modeling and Balance Control of SuperArm for Overhead Tasks	6264
Session TuCT10 : Manipulation Control II
Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis	6272
Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-Robot Manipulation	6280
Dynamic Compensation in Throwing Motion with High-Speed Robot Hand-Arm	6287
Session TuAT9 : Manipulation Control III
Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery	6293
Sim-To-Real Visual Grasping Via State Representation Learning Based on Combining Pixel-Level and Feature-Level Domain Adaptation	6300
Dexterous Manoeuvre through Touch in a Cluttered Scene	6308
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion	6315
Session TuIT4 : Manipulation I
Contact Localization for Robot Arms in Motion without Torque Sensing	6322
Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact	6329
Finite Horizon Synthesis for Probabilistic Manipulation Domains	6336
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	6343
Session TuJT4 : Manipulation II
Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction	6350
Attribute-Based Robotic Grasping with One-Grasp Adaptation	6357
Collision-Aware Target-Driven Object Grasping in Constrained Environments	6364
6-DoF Contrastive Grasp Proposal Network	6371
Session TuKT4 : Manipulation III
RASCAL: Robotic Arm for Sherds and Ceramics Automated Locomotion	6378
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments	6385
Dynamic Grasping for Object Picking Using Passive Zero-DOF End Effectors	6393
Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution	6401
Session WeAT3 : Manipulation IV
An Integrated Approach for Determining Objects to Be Relocated and Their Goal Positions Inside Clutter for Object Retrieval	6408
A Hybrid Position/Force Controller for Joint Robots	6415
DIMSAN: Fast Exploration with the Synergy between Density-Based Intrinsic Motivation and Self-Adaptive Action Noise	6422
A Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation	6429
Session TuKT5 : Manipulation: Haptics
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry	6437
Sim-To-Real for Robotic Tactile Sensing Via Physics-Based Simulation and Learned Latent Projections	6444
Fingers See Things Differently (FIST-D): An Object Aware Visualization and Manipulation Framework Based on Tactile Observations	6452
Session TuIT2 : Manipulation: Measurement
Mass Estimation of a Moving Object through Minimal Manipulation Interaction	6461
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger	6468
Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations	6476
Cable-Driven Parallel Robot Pose Estimation Using Extended Kalman Filtering with Inertial Payload Measurements	6483
Session TuDT7 : Manipulation: PerceptionVision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation	6491
Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints	6498
Friction Estimation for Tendon-Driven Robotic Hands	6505
Representation Matters: Improving Perception and Exploration for Robotics	6512
Ankush; Kulkarni, Tejas; Reynolds, Malcolm; Teplyashin, Denis; Hafner, Roland; Lampe,
Thomas; Riedmiller, Martin
Session TuIT3 : Manipulation: Planning I
Contact Mode Guided Sampling-Based Planning for Quasistatic Dexterous Manipulation in 2D	6520
KPAM-SC: Generalizable Manipulation Planning Using KeyPoint Affordance and Shape Completion	6527
Alternative Paths Planner (APP) for Provably Fixed-Time Manipulation Planning in Semi-Structured Environments	6534
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs	6541
Session TuJT3 : Manipulation: Planning II
Region-Based Planning for 3D Within-Hand-Manipulation via Variable Friction Robot Fingers and Extrinsic Contacts	6549
Planning for Multi-Stage Forceful Manipulation	6556
Towards Robust Planar Translations Using Delta-Manipulator Arrays	6563
Manipulation Planning among Movable Obstacles Using Physics-Based Adaptive Motion Primitives	6570
Session TuET7 : Manipulation: Planning IIIReactive Cooperative Manipulation Based on Set Primitives and Circular Fields	6577
Sami Efficient Multi-Scale POMDPs for Robotic Object Search and Delivery	6585
Path Planning for Manipulation Using Experience-Driven Random Trees	6592
Co-Optimizing Robot, Environment, and Tool Design Via Joint Manipulation Planning	6600
Session TuKT3 : Manipulation: Real World Applications
Robotic Slicing of Fruits and Vegetables: Modeling the Effects of Fracture Toughness and Knife Geometry	6607
A Convex Quasistatic Time-Stepping Scheme for Rigid Multibody Systems with Contact and Friction	6614
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search	6621
Session TuJT2 : Manipulation: Reinforcement Learning I
Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations Using Generative Models	6628
DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies	6635
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones	6642
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning	6650
Session TuKT2 : Manipulation: Reinforcement Learning IIMulti-Step Recurrent Q-Learning for Robotic Velcro Peeling	6657
Reset-Free Reinforcement Learning Via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention	6664
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning	6672
Batch Exploration with Examples for Scalable Robotic Reinforcement Learning	6679
Session TuFT7 : Mapping I
ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames	6687
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning	6694
Weighted Node Mapping and Localisation on a Pixel Processor Array	6702
Direct Sparse Mapping	6709
Session TuGT7 : Mapping II
Dynamic Occupancy Grid Mapping with Recurrent Neural Networks	6717
Automatic Mapping of Tailored Landmark Representations for Automated Driving and Map Learning	6725
Lightweight Semantic Mesh Mapping for Autonomous Vehicles	6732
LatentSLAM: Unsupervised Multi-Sensor Representation Learning for Localization and Mapping	6739
Session TuIT0 : Marine RoboticsAutonomous Data Collection with Timed Communication Constraints for Unmanned Underwater
Vehicles	6746
Docking and Undocking a Modular Underactuated Oscillating Swimming Robot	6754
Predictive 3D Sonar Mapping of Underwater Environments via Object-Specific Bayesian Inference	6761
Session WeAT7 : Mechanism and Control I
Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy	6768
Reduced Dynamics and Control for an Autonomous Bicycle	6775
Balance Control of a Novel Wheel-Legged Robot: Design and Experiments	6782
Blending of Series-Parallel Compliant Actuation with Field-Weakening Control for Explosive Motion Generation	6789
Session TuCT8 : Mechanism and Control II
Pneumatic Actuation-Based Bidirectional Modules with Variable Stiffness and Closed-Loop Position Control	6797
A Capturability-Based Control Framework for the Underactuated Bipedal Walking	6804
Appearance-based Loop Closure Detection via Bidirectional Manifold Representation Consensus	6811
Synergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots	6818
Session TuJT0 : Mechanism and Verification
Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions	6824
Sebastian Scalable POMDP Decision-Making Using Circulant Controllers	6831
Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories	6838
Implicit Integration for Articulated Bodies with Contact Via the Nonconvex Maximal Dissipation Principle	6846
Session TuDT6 : Mechanism Design and Control I
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: the Point-to-Point Case	6853
Visual Servoing of Cable-Driven Parallel Robots with Tension Management	6861
Automated design of underactuated monolithic soft robotics structures with multiple predefined end poses	6868
Design and Control of a Highly Redundant Rigid–Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling	6875
Session TuET6 : Mechanism Design and Control II
Multifunctional Arm for Telerobotic Wind Turbine Blade Repair	6883
Modeling, Gait Sequence Design, and Control Architecture of BADGER Underground Robot	6890
Automated Behavior Tree Error Recovery Framework for Robotic Systems	6898
Design of a Magnetic Actuation System for a Microbiota-Collection Ingestible Capsule	6905
Session TuBT9 : Mechanism Design IDevelopment of a Humanoid Shoulder Based on 3-Motor 3 Degrees-Of-Freedom Coupled
Tendon-Driven Joint Module	6912
Mecanum Crank: A Novel Omni-Directional Vehicle Using Crank Leg	6919
Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle	6925
2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders	6933
Session TuCT9 : Mechanism Design II
A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables	6941
Stable, Sensor-Less and Compliance-Less Module Connection for Automated Construction System of a Modularized Rail Structure	6948
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers	6955
Kinematic Stability Based AFG-RRT* Path Planning for Cable-Driven Parallel Robots	6963
Session WeAT4 : Mechanism Design III
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints	6970
Design and Testing of a Damped Piezo-Driven Decoupled XYZ Stage	6986
Innovative Design and Simulation of a Transformable Robot with Flexibility and Versatility, RHex-T3	6992
A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration	6999
Session TuAT8 : Mechanism Design IV
Temperature Compensated 3D Printed Strain Sensor for Advanced Manufacturing Applications	7006
Design of a Deployable Underwater Robot for the Recovery of Autonomous Underwater Vehicles Based on Origami Technique	7013
Modelling and Optimisation of a Mechanism-Based Metamaterial for a Wrist Flexion-Extension Assistive Device	7020
Mechatronic Design of a Low-Noise Active Knee Prosthesis with High Backdrivability	7027
Session TuBT8 : Mechanism Design V
Restoring Force Design of Active Self-Healing Tension Transmission System and Application to Tendon-Driven Legged Robot	7033
A Translational Parallel Continuum Robot Reinforced by Origami and Cross-Routing Tendons	7039
Design of a 3-DOF Coupled Tendon-Driven Waist Joint	7046
Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction	7052
Session TuKT0 : Mechanism Design VII
Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces	7058
An Autonomous Vault-Building Robot System for Creating Spanning Structures	7066
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots	7073
Session ThJT7 : Mechanism Design VI
Neural Fidelity Warping for Efficient Robot Morphology Design	7079
Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications	7087
Human Driven Compliant Transmission Mechanism	7094
Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application	7100
Session TuDT3 : Mechatronics and Design Award Session
Soft Hybrid Aerial Vehicle Via Bistable Mechanism	7107
A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops	7114
Session TuAT7 : Medical Imaging and Sensing I
Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors	7122
Robot-To-Image Registration with Geometric Marker for CT-Guided Robotic Needle Insertion	7130
Shape Sensor Using Magnetic Induction with Frequency Sweeping for Medical Catheters	7137
Robotically Surgical Vessel Localization Using Robust Hybrid Video Motion Magnification	7144
Session WeAT6 : Medical Imaging and Sensing II
Generalized Point Set Registration with the Kent Distribution	7151
Self-Supervised Learning for Monocular Depth Estimation on Minimally Invasive Surgery Scenes	7159
Dianmin; Doermann, DavidIntermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-Precision Surgical Manipulation	7166
Towards Fully Autonomous Ultrasound Scanning Robot with Imitation Learning Based on Clinical Protocols	7174
Session ThKT6 : Micro/Nano Robotics I
Tailored Magnetic Torsion Springs for Miniature Magnetic Robots	7182
Real-Time Teleoperation of Magnetic Force-Driven Microrobots with 3D Haptic Force Feedback for Micro-Navigation and Micro-Transportation	7189
Yaw Control of a Hovering Flapping-Wing Aerial Vehicle with a Passive Wing Hinge	7197
Automated End-Effector Alignment for Robotic Cell Manipulation	7205
A High-Voltage Power Electronics Unit for Flying Insect Robots That Can Modulate Wing Thrust	7212
Session ThKT7 : Micro/Nano Robotics III
Residual Model Learning for Microrobot Control	7219
Small Autonomous Robot Actuator (SARA): A Solar-Powered Wireless MEMS Gripper	7227
Path Planning and Tracking for an Underactuated Two-Microrobot System	7234
Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter	7242
Session WeCT4 : Micro/Nano Robotics IV
Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-Like Cell Structure	7249
Fukuda, ToshioAutomated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process	7255
A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics	7261
3D Periodic Magnetic Servoing System for Microrobot Actuation Using Decoupled Asynchronous Repetitive Control Approach	7267
Session WeBT6 : Micro/Nano Robotis II
Modeling and Control of an Untethered Magnetic Gripper	7274
A Flexible Magnetic Field Mapping Model for Calibration of Magnetic Manipulation System	7281
Dynamic Tracking of Microrobot with Active Magnetic Sensor Array	7288
Dynamic Modeling of Magnetic Helical Microrobots	7295
Session ThJT6 : Model Learning for Control
Batteries, Camera, Action! Learning a Semantic Control Space for Expressive Robot Cinematography	7302
Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition	7309
Agile Robot Navigation through Hallucinated Learning and Sober Deployment	7316
Nonholonomic Yaw Control of an Underactuated Flying Robot with Model-Based Reinforcement Learning	7323
Session ThHT19 : Model Predictive Control I
High-Frequency Nonlinear Model Predictive Control of a Manipulator	7330
Adaptive Nonlinear Model Predictive Control for Autonomous Surface Vessels with Largely Varying Payload	7337
Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots	7344
Koopman NMPC: Koopman-Based Learning and Nonlinear Model Predictive Control of Control-Affine Systems	7350
Session ThHT6 : Model Predictive Control II
ALTRO-C: A Fast Solver for Conic Model-Predictive Control	7357
Model Predictive Control of Nonlinear Latent Force Models: A Scenario-Based Approach	7365
The Value of Planning for Infinite-Horizon Model Predictive Control	7372
Automatic Tuning for Data-Driven Model Predictive Control	7379
Session WeCT5 : Motion and Path Planning I
Efficient Heuristic Generation for Robot Path Planning with Recurrent Generative Model	7386
Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas	7393
Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes	7400
Towards an Online RRT-Based Path Planning Algorithm forAckermann-Steering Vehicles	7407
Session TuBT7 : Motion and Path Planning II
A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots	7414
Learn to Navigate Maplessly with Varied LiDAR Configurations: A Support Point-Based Approach	7422
Fast Replanning Multi-Heuristic A*	7430
Generating Large-Scale Trajectories Efficiently Using Double Descriptions of Polynomials	7436
Session ThIT6 : Motion and Path Planning III
AXLE: Computationally-Efficient Trajectory Smoothing Using Factor Graph Chains	7443
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search	7449
Multi-Query Serverless Motion Planning for Fog Robotics	7457
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems	7464
Session ThKT5 : Motion and Path Planning IV
A Gravity-Referenced Moving Frame for Vehicle Path Following Applications in 3D	7471
Safe, Optimal, Real-Time Trajectory Planning with a Parallel Constrained Bernstein Algorithm	7479
A Spatial Searching Method for Planning under Time Dependent Constraints for Eco-Driving in Signalized Traffic Intersection	7495
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs	7503
Session ThHT22 : Motion and Path Planning V
Chance Constrained Simultaneous Path Planning and Task Assignment with Bottleneck Objective	7510
Planning with Attitude	7517
Constrained Path Planning and Guidance in General Wind Fields	7526
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments	7533
Session ThIT22 : Motion Control for Manipulators I
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects	7540
Generalizing Object-Centric Task-Axes Controllers Using Keypoints	7548
Dynamic Primitives and Optimal Feedback Control for the Manipulation of Complex Objects	7555
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models	7563
Session TuFT6 : Motion Control for Manipulators II
Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories	7570
A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators	7577
Robot Arm Motion Planning Based on Geodesics	7585
FlexDMP - Extending Dynamic Movement Primitives towards Flexible Joint Robots	7592
Session TuGT6 : Motion Estimation
Unsupervised 3D Motion Estimation of Vehicles Using ICP	7599
CNN-Based Ego-Motion Estimation for Fast MAV Maneuvers	7606
Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles	7613
Pose Estimation for Vehicle-Mounted Cameras Via Horizontal and Vertical Planes	7620
Session TuCT7 : Motion Planning and Control I
SA-LOAM: Semantic-Aided LiDAR SLAM with Loop Closure	7627
Reinforcement Learning-Based Visual Navigation with Information-Theoretic Regularization	7635
An On-Line POMDP Solver for Continuous Observation Spaces	7643
Session TuAT6 : Motion Planning and Control II
NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators	7650
Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot	7658
Motion Coupling Analysis for the Decoupled Design of a Two-Segment Notched Continuum Robot	7665
VINS-Motion: Tightly-Coupled Fusion of VINS and Motion Constraint	7672
Session ThIT23 : Motion Planning for Aerial Robotics
The Reachable Set of a Drone: Exploring the Position Isochrones for a Quadcopter	7679
Two-Stage Trajectory Optimization for Flapping Flight with Data-Driven Models	7686
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot	7693
SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms under Uncertainty	7700
Session ThHT23 : Motion Planning for Autonomous VehiclePath Optimization for Ground Vehicles in Off-Road Terrain	7708
Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision	7715
Vehicle Trajectory Prediction Using Generative Adversarial Network with Temporal Logic Syntax Tree Features	7722
Autonomous Vehicle Motion Planning Via Recurrent Spline Optimization	7730
Session ThHT21 : Motion Planning for Surgical Robots
Bimanual Regrasping for Suture Needles Using Reinforcement Learning for Rapid Motion Planning	7737
Dual-Arm Needle Manipulation with the Da Vinci® Surgical Robot under Uncertainty	7744
Learning Surgical Motion Pattern from Small Data in Endoscopic Sinus and Skull Base Surgeries	7751
Backward Planning for a Multi-Stage Steerable Needle Lung Robot	7758
Session ThIT21 : Motion Planning for Task-Specific Robots I
A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels	7767
A Scavenger Hunt for Service Robots	7774
Exploring Large and Complex Environments Fast and Efficiently	7781
Planning Laser-Forming Folding Motion with Thermal Simulation	7788
Session ThJT21 : Motion Planning for Task-Specific Robots IIRobot Development and Path Planning for Indoor Ultraviolet Light Disinfection	7795
Piecewise-Linear Motion Planning Amidst Static, Moving, or Morphing Obstacles	7802
Smooth Path Planning for Continuum Arms	7809
Anticipatory Path Planning for Continuum Arms in Dynamic Environments	7815
Session TuDT5 : Motion Planning I
Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape	7821
NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments	7829
Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments	7836
High Speed Planning in Unknown Environments for Multirotors Considering Drag	7844
Session TuET5 : Motion Planning II
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning	7851
Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning	7858
Search-Based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices	7865
Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots	7872
Session TuFT5 : Motion Planning III
Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning	7880
MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning	7887
Cubic Bézier Local Path Planner for Non-Holonomic Feasible and Comfortable Path Generation	7894
Voxplan: A 3D Global Planner Using Signed Distance Function Submaps	7901
Session WeBT13 : Motion Planning in Automation
Prediction-Based Reachability for Collision Avoidance in Autonomous Driving	7908
Lane-free Autonomous Intersection Management: A Batch-processing Framework Integrating Reservation-based and Planning-based Methods	7915
Pheromone-Diffusion-Based Conscientious Reactive Path Planning for Road Network Persistent Surveillance	7922
Session ThKT21 : Motion Planning in Multi-Agents System I
Towards Safe Motion Planning in Human Workspaces: A Robust Multi-Agent Approach	7929
Anytime Fault-Tolerant Adaptive Routing for Multi-Robot Teams	7936
Exploiting Collisions for Sampling-Based Multicopter Motion Planning	7943
Multi-Robot Motion Planning with Unlabeled Goals for Mobile Robots with Differential Constraints	7950
Session ThHT20 : Motion Planning in Multi-Agents System II
A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem	7957
Time-Optimal Multi-Quadrotor Trajectory Planning for Pesticide Spraying	7965
Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography	7972
MIDAS: Multi-Agent Interaction-Aware Decision-Making with Adaptive Strategies for Urban Autonomous Navigation	7980
Session ThIT20 : Motion Planning in Multi-Agents System III
Scalable Active Information Acquisition for Multi-Robot Systems	7987
MAPS-X: Explainable Multi-Robot Motion Planning Via Segmentation	7994
Representation-Optimal Multi-Robot Motion Planning Using Conflict-Based Search	8001
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning	8009
Session ThJT20 : Motion Planning IV
Multi-Hypothesis Interactions in Game-Theoretic Motion Planning	8016
An Approximation Algorithm for an Assisted Shortest Path Problem	8024
TAMPC: A Controller for Escaping Traps in Novel Environments	8031
Projector-Guided Non-Holonomic Mobile 3D Printing	8039
Session TuGT5 : Motion Planning V
Learning from Simulation, Racing in Reality	8046
Equality Constrained Differential Dynamic Programming	8053
Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network	8060
Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories	8068
Session TuET4 : Motion Planning VI
Image Representation of a City and Its Taxi Fleet for End-To-End Learning of Rebalancing Policies	8076
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts	8083
Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios	8090
Self-Supervised Motion Retargeting with Safety Guarantee	8097
Session ThKT20 : Motion Planning with Partial Information
Data-Based Control of Partially-Observed Robotic Systems	8104
Partial Information Target Defense Game	8111
Stochastic Motion Planning under Partial Observability for Mobile Robots with Continuous Range Measurements	8118
Long-Horizon Motion Planning for Autonomous Vehicle Parking Incorporating Incomplete Map Information	8135
Session TuBT6 : Motion Planning: Autonomous Driving
ICurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving	8143
Search-Based Online Trajectory Planning for Car-Like Robots in Highly Dynamic Environments	8151
Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation	8158
SMT-Based Optimal Deployment of Mobile Robot Rechargers	8165
Session TuCT6 : Motion Planning: Collision Avoidance
VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance	8172
Dynamic Window Approach with Human Imitating Collision Avoidance	8180
Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction	8187
Dynamic Movement Primitive Based Motion Retargeting for Dual-Arm Sign Language Motions	8195
Session TuFT4 : Motion Planning: Control
Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS	8202
Guilhem; Stasse, Olivier; Fernbach, Pierre; Tonneau, Steve; Calinon, Sylvain; Vijayakumar,
Sethu; Taïx, Michel; Mansard, Nicolas Constraint Handling in Continuous-Time DDP-Based Model Predictive Control	8209
Sparsity-Inducing Optimal Control Via Differential Dynamic Programming	8216
Sethu A Passive Navigation Planning Algorithm for Collision-Free Control of Mobile Robots	8223
Session WeAT13 : Motion Planning: Decision
TIE: Time-Informed Exploration for Robot Motion Planning	8230
MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches	8238
Belief Space Partitioning for Symbolic Motion Planning	8245
Anticipatory Planning and Dynamic Lost Person Models for Human-Robot Search and Rescue	8252
Session TuGT4 : Motion Planning: Kinematics and Dynamics
The Virtual Wheel Concept for the Singularity-Free Kinematic and Dynamic Modeling of Pseudo-Omnidirectional Vehicles	8259
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes	8266
Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations	8273
Obstacle Avoidance with Kinetic Energy Buffer	8280
Session WeBT5 : Motion Planning: Learning
Tra2Tra: Trajectory-To-Trajectory Prediction with a Global Social Spatial-Temporal Attentive Neural Network	8287
Remote-Center-Of-Motion Recommendation Toward Brain Needle Intervention Using Deep Reinforcement Learning	8295
Autonomous Navigation of an Ultrasound Probe towards Standard Scan Planes with Deep Reinforcement Learning	8302
A Knowledge-Based Fast Motion Planning Method through Online Environmental Feature Learning	8309
Session TuAT5 : Motion Planning: Learning-Based Prediction
Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot	8316
Path Planning in Uncertain Ocean Currents Using Ensemble Forecasts	8323
Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control	8330
Risk Conditioned Distributional Soft Actor-Critic for Risk-Sensitive Navigation	8337
Session TuET3 : Motion Planning: Legged Robots
Optimization-Inspired Controller Design for Transient Legged Locomotion	8345
Multi-Layered Safety for Legged Robots Via Control Barrier Functions and Model Predictive Control	8352
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach	8359
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots	8366
Session WeAT5 : Motion Planning: Manipulator
Robot Motion Planning with Human-Like Motion Patterns based on Human Arm Movement Primitive Chains	8373
A Model-Free Synchronous Control of Humanoid Robot Finger	8380
An Overall Configuration Planning Method of Continuum Hyper-Redundant Manipulators Based on Improved Artificial Potential Field Method	8386
Autonomous UAV Exploration of Dynamic Environments Via Incremental Sampling and Probabilistic Roadmap	8394
Session TuBT5 : Motion Planning: Optimization
Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints	8402
Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation	8409
Proximal Policy Optimization with Relative Pearson Divergence	8416
Optimal Object Placement for Minimum Discontinuity Non-Revisiting Coverage Task	8422
Session TuCT5 : Motion Planning: Robot PerceptionActive Information Acquisition under Arbitrary Unknown Disturbances	8429
Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector	8436
A Robotic Platform to Navigate MRI-Guided Focused Ultrasound System	8443
Approximating Constraint Manifolds Using Generative Models for Sampling-Based Constrained Motion Planning	8451
Session TuBT4 : Motion Planning: Semantic Scene
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements	8458
Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training	8465
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation	8472
Cost-To-Go Function Generating Networks for High Dimensional Motion Planning	8480
Session TuCT4 : Motion Planning: Task-Based Planning
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery	8487
Social Trajectory Planning for Urban Autonomous Surface Vessels	8495
A Geometric Folding Pattern for Robot Coverage Path Planning	8509
Tree Search-Based Task and Motion Planning with Prehensile and Non-Prehensile Manipulation for Obstacle Rearrangement in Clutter	8516
Session TuFT3 : Motion PredictionDesign, Development and Validation of a Dynamic Fall Prediction System for Excavators	8523
Satoshi; Ragaglia, Matteo; Sugiura, Hisashi; Niccolini, Marta Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion	8530
Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-Term Motion Prediction with Capsule Networks	8537
Movement Recognition and Prediction Using DMPs	8544
Session ThJT22 : Motion Prediction in Navigation
Occupancy Map Inpainting for Online Robot Navigation	8551
Ellipse Loss for Scene-Compliant Motion Prediction	8558
Predictive Runtime Monitoring for Mobile Robots Using Logic-Based Bayesian Intent Inference	8565
BiTraP: Bi-Directional Pedestrian Trajectory Prediction with Multi-Modal Goal Estimation	8572
Graph-SIM: A Graph-Based Spatiotemporal Interaction Modelling for Pedestrian Action Prediction	8580
Session ThJT19 : Multiple and Distributed Intelligence
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations	8587
Learning to Herd Agents Amongst Obstacles: Training Robust Shepherding Behaviors Using Deep Reinforcement Learning	8594
Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces	8600
Reachability Analysis for FollowerStopper: Safety Analysis and Experimental Results	8607
Session TuBT2 : Multiple and Distributed Systems I
PRIMAL2: Pathfinding Via Reinforcement and Imitation Multi-Agent Learning - Lifelong	8614
Consensus-Based Control Barrier Function for Swarm	8623
Bayesian Disturbance Injection: Robust Imitation Learning of Flexible Policies	8629
Active Modular Environment for Robot Navigation	8636
Session TuCT2 : Multiple and Distributed Systems II
Command Filtered Tracking Control for High-Order Systems with Limited Transmission Bandwidth	8643
Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight Corridor	8649
Multi-Scale Cost Volumes Cascade Network for Stereo Matching	8657
Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems	8664
Session TuBT3 : Multiple and Distributed Systems III
Deep Reinforcement Learning of Event-Triggered Communication and Control for Multi-Agent Cooperative Transport	8671
Multi-Robot Task Allocation Games in Dynamically Changing Environments	8678
An Upper Confidence Bound for Simultaneous Exploration and Exploitation in Heterogeneous Multi-Robot Systems	8685
Johnson, David; Yoo, Chanyeol; Fitch, RobertPriority Patrolling Using Multiple Agents	8692
Session TuCT3 : Multiple and Distributed Systems IV
Distributed Heuristic Multi-Agent Path Finding with Communication	8699
Distributed PDOP Coverage Control: Providing Large-Scale Positioning Service Using a Multi-Robot System	8706
Autonomous Distributed System for Gait Generation for Single-Legged Modular Robots Connected in Various Configurations	8714
A Distributed Two-Layer Framework for Teleoperated Platooning of Fixed-Wing UAVs Via Decomposition and Backstepping	8734
Session ThIT18 : Multiple and Distributed Systems IX
PuzzleBots: Physical Coupling of Robot Swarms	8742
Spatial Intention Maps for Multi-Agent Mobile Manipulation	8749
Flocking-Segregative Swarming Behaviors Using Gibbs Random Fields	8757
Multi-Agent Ergodic Coverage in Urban Environments	8764
Session WeBT4 : Multiple and Distributed Systems V
Multi-Target Coverage with Connectivity Maintenance Using Knowledge-Incorporated Policy Framework	8772
SMMR-Explore: SubMap-Based Multi-Robot Exploration System with Multi-Robot Multi-Target Potential Field Exploration Method	8779
Multi-Objective Conflict-Based Search for Multi-Agent Path Finding	8786
Simultaneous Calibration of Multi-Coordinates for a Dual-Robot System by Solving the AXB=YCZ Problem	8792
Session WeAT11 : Multiple and Distributed Systems VI
Pylot: A Modular Platform for Exploring Latency-Accuracy Tradeoffs in Autonomous Vehicles	8806
Decentralized Circle Formation Control for Fish-Like Robots in Real-World Via Reinforcement Learning	8814
Graph Connectivity Control of a Mobile Robot Network with Mixed Dynamic Multi-Tasks	8821
Distributed Rendezvous Control of Networked Uncertain Robotic Systems with Bearing Measurements	8829
Session ThJT18 : Multiple and Distributed Systems VII
Flow-FL: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems	8836
CHORD: Distributed Data-Sharing Via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments	8843
ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators	8851
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams	8859
Session ThKT19 : Multiple and Distributed Systems VIII
Probabilistic Resilience of Dynamic Multi-Robot Systems	8866
Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems	8874
Decentralized Nested Gaussian Processes for Multi-Robot Systems	8881
Cascaded Filtering Using the Sigma Point Transformation	8888
Session ThHT18 : Multiple and Distributed Systems X
The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed	8896
Multiplexing Robot Experiments: Theoretical Underpinnings, Conditions for Existence, and Demonstrations	8904
SMAC: Symbiotic Multi-Agent Construction	8911
Efficient Multi-Robot Inspection of Row Crops Via Kernel Estimation and Region-Based Task Allocation	8919
Session ThKT18 : Multiple and Distributed Systems XI
An Adaptive Fuzzy Reinforcement Learning Cooperative Approach for the Autonomous Control of Flock Systems	8927
Optimal Sequential Stochastic Deployment of Multiple Passenger Robots	8934
Online Connectivity-Aware Dynamic Deployment for Multi-Robot System	8941
Achieving Multitasking Robots in Multi-Robot Tasks	8948
Session ThHT17 : Multiple and Distributed Systems: Control
Communication-Aware Multi-Robot Coordination with Submodular Maximization	8955
Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach	8962
Online Flocking Control of UAVs with Mean-Field Approximation	8977
Proportional and Reachable Cluster Teleoperation of a Distributed Multi-Robot System	8984
Session ThIT17 : Multiple and Distributed Systems: Monitoring and Planning I
Planning of Heterogeneous Multi-Agent Systems under Signal Temporal Logic Specifications with Integral Predicates	8991
Multi-Agent Aerial Monitoring of Moving Convoys using Elliptical Orbits	8999
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning	9006
Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Tasks	9014
Session ThJT17 : Multiple and Distributed Systems: Monitoring and Planning II
Affordable Autonomy through Cooperative Sensing and Planning	9022
Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components	9029
Multi-Robot Dynamical Source Seeking in Unknown Environments	9036
Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments	9043
Session ThKT17 : Multiple and Distributed Systems: Perception
Adaptation to Team Composition Changes for Heterogeneous Multi-Robot Sensor Coverage	9051
Distributed Multi-Target Tracking for Heterogeneous Mobile Sensing Networks with Limited Field of Views	9058
Safety with Limited Range Sensing Constraints for Fixed Wing Aircraft	9065
A Queue-Stabilizing Framework for Networked Multi-Robot Exploration	9072
Session ThHT16 : Multiple and Distributed Systems: Search Algorithm
Multi-Robot Gaussian Process Estimation and Coverage: A Deterministic Sequencing Algorithm and Regret Analysis	9080
Multi-agent Receding Horizon Search with Terminal Cost	9086
Shaped Policy Search for Evolutionary Strategies Using Waypoints	9093
Multi-Agent Active Search Using Realistic Depth-Aware Noise Model	9101
Session ThIT16 : Multiple and Distributed Systems: Task Allocation
Fair Robust Assignment Using Redundancy	9109
Fast Near-Optimal Heterogeneous Task Allocation Via Flow Decomposition	9117
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions	9124
Resilient Task Allocation in Heterogeneous Multi-Robot Systems	9131
Session TuET2 : Multi-Robot Systems I
Self-Organised Saliency Detection and Representation in Robot Swarms	9139
A Practical Method to Cover Evenly a Dynamic Region with a Swarm	9147
Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-Robot Systems	9155
ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture	9161
Session TuGT3 : Multi-Robot Systems II
WRAPP-Up: A Dual-Arm Robot for Intralogistics	9168
Chiara; Gugliotta, Marco; Settimi, Alessandro; Catalano, Manuel Giuseppe; Grioli,
Giorgio; Pallottino, Lucia A Laser-Based Dual-Arm System for Precise Control of Collaborative Robots	9183
Near-Optimal Multi-Robot Motion Planning with Finite Sampling	9190
Whole-Body Real-Time Motion Planning for Multicopters	9197
Session TuHT3 : Multi-Robotic Systems Award Session
Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective	9204
Learning Multi-Arm Manipulation through Collaborative Teleoperation	9212
Session ThIT19 : Multi-View Perception
Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking	9220
Multi-View Sensor Fusion by Integrating Model-Based Estimation and Graph Learning for Collaborative Object Localization	9228
Deep Multi-View Depth Estimation with Predicted Uncertainty	9235
MultiViewStereoNet: Fast Multi-View Stereo Depth Estimation Using Incremental Viewpoint-Compensated Feature Extraction	9242
Session TuBT0 : Navigation and Mapping
Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction	9249
MingAutonomous Navigation in Dynamic Environments with Multi-Modal Perception Uncertainties	9255
Learning World Transition Model for Socially Aware Robot Navigation	9262
Probabilistic Dynamic Crowd Prediction for Social Navigation	9269
Session TuCT0 : Navigation in Humanoids and Animaloids
Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments	9276
Real-Time Optimal Navigation Planning Using Learned Motion Costs	9283
Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps	9290
Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers	9298
Session ThDT4 : Novel Applications I
OpenBot: Turning Smartphones into Robots	9305
Quasi-LPV Unknown Input Observer with Nonlinear Outputs: Application to Motorcycles	9312
A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments	9318
Compact Digital Microrobot Based on Multistable Modules	9325
Session WeCT2 : Novel Applications II
A General Elimination Strategy for Camera Motion Estimation	9333
Group Feature Learning and Domain Adversarial Neural Network for aMCI Diagnosis System Based on EEG	9340
Line-Based Automatic Extrinsic Calibration of LiDAR and Camera	9347
RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema	9354
Session ThET4 : Novel Applications III
ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics	9361
Formal Verification of ROS Based Systems Using a Linear Logic Theorem Prover	9368
Fuzz Testing in Behavior-Based Robotics	9375
The Robot Household Marathon Experiment	9382
Sebastian; Beetz, Michael
Session WeCT9 : Novel Applications IV
Sliding Mode Control of the Semi-Active Hover Backpack Based on the Bioinspired Skyhook Damper Model	9389
Fast Light Show Design Platform for K-12 Children	9396
Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning	9403
An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors	9410
Session ThFT5 : Novel Applications V
A Relative Dynamics Formulation for Hardware-In-The-Loop Simulation of On-Orbit Robotic Missions	9417
Structured Prediction for CRiSP Inverse Kinematics Learning with Misspecified Robot Models	9425
Rapid Solution of Cosserat Rod Equations Via a Nonlinear Partial Observer	9433
The Effects of Robot Cognitive Reliability and Social Positioning on Child-Robot Team Dynamics	9439
Session ThET5 : Novel Applications: Manipulation
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments	9446
Towards Real-Time Interaction with Industrial Robots in the Creative Industries	9453
Automated Acquisition of Structured, Semantic Models of Manipulation Activities from Human VR Demonstration	9460
A Shared Control Framework for Robotic Telemanipulation Combining Electromyography Based Motion Estimation and Compliance Control	9467
Session WeBT10 : Novel Design Technologies
NeuralSim: Augmenting Differentiable Simulators with Neural Networks	9474
V-Stability Based Control for Energy-Saving towards Long Range Sailing*	9482
Continuous Transition: Improving Sample Efficiency for Continuous Control Problems Via MixUp	9490
Effective Crash Recovery of Robot Software Programs in ROS	9498
Session ThFT4 : Object Detection and Segmentation I
Self-Supervised Visual Terrain Classification from Unsupervised Acoustic Feature Learning	9505
Fast Few-Shot Classification by Few-Iteration Meta-Learning	9522
Deep Hierarchical Rotation Invariance Learning with Exact Geometry Feature Representation for Point Cloud Classification	9529
Fool Me Once: Robust Selective Segmentation Via Out-Of-Distribution Detection with Contrastive Learning	9536
Session ThJT16 : Object Recognition and Segmentation II
TORNADO-Net: MulTiview tOtal vaRiatioN semAntic Segmentation with Diamond inceptiOn Module	9543
Lite-HDSeg: LiDAR Semantic Segmentation Using Lite Harmonic Dense Convolutions	9550
Real-Time Semantic Segmentation with Fast Attention	9557
A Graph-Based Method for Joint Instance Segmentation of Point Clouds and Image Sequences	9565
Session ThKT16 : Object Recognition and Segmentation III
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation	9572
YolactEdge: Real-Time Instance Segmentation on the Edge	9579
Learning Panoptic Segmentation from Instance Contours	9586
0-MMS: Zero-Shot Multi-Motion Segmentation with a Monocular Event Camera	9594
Session ThFT3 : Odometry I
Self-Supervised Learning of LiDAR Odometry for Robotic Applications	9601
Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry	9608
Continuous Scale-Space Direct Image Alignment for Visual Odometry from RGB-D Images	9615
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry	9623
Session ThDT5 : Odometry II
Simple but Effective Redundant Odometry for Autonomous Vehicles	9631
Markov Localisation Using Heatmap Regression and Deep Convolutional Odometry	9638
R-LOAM: Improving LiDAR Odometry and Mapping with Point-To-Mesh Features of a Known 3D Reference Object	9645
Autonomous Cooperative Visual Navigation for Planetary Exploration Robots	9653
Session ThET6 : Optimal Control for Motion Planning
Optimal TCP and Robot Base Placement for a Set of Complex Continuous Paths	9659
Control-Tree Optimization: An Approach to MPC under Discrete Partial Observability	9666
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions	9673
Gramian-based optimal active sensing control under intermittent measurements	9680
Session TuHT22 : Optimization
A Complete, Accurate and Efficient Solution for the Perspective-N-Line Problem	9687
Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA	9695
Srini; Janapa Reddi, Vijay Accelerating Combinatorial Filter Reduction through Constraints	9703
Persistent Covering with Latency and Energy Constraints	9710
Session ThHT15 : Optimization and Control I
Equality Constrained Linear Optimal Control with Factor Graphs	9717
Robust Optimization-based Motion Planning for high-DOF Robots under Sensing Uncertainty	9724
Optimized Coverage Planning for UV Surface Disinfection	9731
Constrained Differential Dynamic Programming Revisited	9738
Session ThIT15 : Optimization and Control II
Computing All Solutions to a Discretization-Invariant Formulation for Optimal Mechanism Design	9745
Optimal Multi-Manipulator Arm Placement for Maximal Dexterity During Robotics Surgery	9752
Balancing Stability and Stiffness through Optimization of Parallel Compliance	9759
Direct Policy Optimization Using Deterministic Sampling and Collocation	9767
Session ThFT6 : Optimization and Control III
Linear-Quadratic Optimal Control in Maximal Coordinates	9775
Safe and Efficient Model-Free Adaptive Control Via Bayesian Optimization	9782
Data-efficient Domain Randomization with Bayesian Optimization	9789
Adaptive Robust Kernels for Non-Linear Least Squares Problems	9797
Session ThET7 : Optimization for Legged RobotsReceding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with
Learned Initialization	9805
Trajectory Optimization of Contact-Rich Motions Using Implicit Differential Dynamic Programming	9812
Friction-Driven Three-Foot Robot Inspired by Snail Movement	9820
Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers	9826
Session ThDT7 : Optimization for Multi-Robot Systems
General-Sum Multi-Agent Continuous Inverse Optimal Control	9833
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization	9840
Rapidly Adapting Robot Swarms with Swarm Map-Based Bayesian Optimisation	9848
GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization	9855
Session ThIT14 : Optimization in Robotic Design I
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design	9863
Factor Graph-Based Trajectory Optimization for a Pneumatically-Actuated Jumping Robot	9870
MO-BBO: Multi-Objective Bilevel Bayesian Optimization for Robot and Behavior Co-Design	9877
Manipulator Task Space Trajectory Tracking with Kinematics and Dynamics Uncertainties	9884
Session ThDT6 : Optimization in Robotic Design IIMinimum-Effort Task-Based Design Optimization of Modular Reconfigurable Robots	9891
Computational Design of Energy-Efficient Legged Robots: Optimizing for Size and Actuators	9898
On the Effect of Robotic Leg Design on Energy Efficiency	9905
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)	9912
Session ThJT15 : Optimization-Based Motion Planning I
Contact-Implicit Trajectory Optimization with Learned Deformable Contacts Using Bilevel Optimization	9921
Energy-Optimal Path Planning with Active Flow Perception for Autonomous Underwater Vehicles	9928
Double Meta-Learning for Data Efficient Policy Optimization in Non-Stationary Environments	9935
Adversarial Attacks on Optimization Based Planners	9943
Session ThKT15 : Optimization-Based Motion Planning II
Strobe: An Acceleration Meta-Algorithm for Optimizing Robot Paths Using Concurrent Interleaved Sub-Epoch Pods	9950
Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning	9957
Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees	9964
Belief Space Planning for Mobile Robots with Range Sensors Using ILQG	9973
Session ThHT14 : Optimization-Based Motion Planning IIIMulti-Modal Motion Planning Using Composite Pose Graph Optimization	9981
Asymptotically Optimal Kinodynamic Planning Using Bundles of Edges	9988
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance	9995
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units	10002
Session ThFT7 : Path Planning for Multiple Mobile Robots
Hierarchical and Flexible Traffic Management of Multi-AGV Systems Applied to Industrial Environments	10009
Combining Multi-Robot Motion Planning and Goal Allocation Using Roadmaps	10016
Asynchronous Reliability-Aware Multi-UAV Coverage Path Planning	10023
Distributed Coordinated Path Following Using Guiding Vector Fields	10030
Session WeBT16 : Path Planning for Multiple Robots
An Efficient Parallel Self-Assembly Planning Algorithm for Modular Robots in Environments with Obstacles	10038
Multi-Robot Informative Path Planning Using a Leader-Follower Architecture	10045
Tightly-Coupled Perception and Navigation of Heterogeneous Land-Air Robots in Complex Scenarios	10052
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators	10059
Session ThET8 : Path Planning I
FT-BSP: Focused Topological Belief Space Planning	10079
Path Planning for a Reconfigurable Robot in Extreme Environments	10087
AM-RRT*: Informed Sampling-Based Planning with Assisting Metric	10093
Complete Path Planning That Simultaneously Optimizes Length and Clearance	10100
Session ThFT8 : Path Planning II
On Smooth Time-Optimal Trajectory Planning in Twisted String Actuators	10107
Fast Swing-Up Trajectory Optimization for a Spherical Pendulum on a 7-DoF Collaborative Robot	10114
Surface-Based Path Following Control: Application of Curved Tapes on 3D Objects	10121
Human-Robot Collaborative Multi-Agent Path Planning Using Monte Carlo Tree Search and Social Reward Sources	10133
Session TuET0 : Perception for Manipulation I
Embodied Reasoning for Discovering Object Properties Via Manipulation	10139
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation	10146
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization	10153
"What's This?" - Learning to Segment Unknown Objects from Manipulation Sequences	10160
Session TuGT0 : Perception for Manipulation II
Polyhedral Friction Cone Estimator for Object Manipulation	10168
Interpretability in Contact-Rich Manipulation via Kinodynamic Images	10175
Differentiable Simulation for Physical System Identification	10182
Few-Shot Model-Based Adaptation in Noisy Conditions	10190
Session ThJT14 : Planning Algorithms for Robotics
Minimal Exposure Dubins Orienteering Problem	10198
Generalized Nonlinear and Finsler Geometry for Robotics	10206
A Fast and Approximate Medial Axis Sampling Technique	10213
An Adaptive Method for the Stochastic Orienteering Problem	10220
Session ThDT8 : Pose Estimation
Probabilistic Scan Matching: Bayesian Pose Estimation from Point Clouds	10228
Learning a State Representation and Navigation in Cluttered and Dynamic Environments	10235
Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance Guarantee	10243
Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection	10250
Session ThKT14 : Probabilistic Method in Motion Planning
Planning on a (Risk) Budget: Safe Non-Conservative Planning in Probabilistic Dynamic Environments	10257
Avoidance Critical Probabilistic Roadmaps for Motion Planning in Dynamic Environments	10264
Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity	10271
Planning under Non-Rational Perception of Uncertain Spatial Costs	10279
Session ThAT7 : Reconstruction and Perception
Rapid Pose Label Generation through Sparse Representation of Unknown Objects	10287
Learning to Predict Repeatability of Interest Points	10294
DRACO: Weakly Supervised Dense Reconstruction and Canonicalization of Objects	10302
FastFlowNet: A Lightweight Network for Fast Optical Flow Estimation	10310
Session ThHT13 : Rehabilitation and Assistive Robotics I
Drumming Arm: An Upper-Limb Prosthetic System to Restore Grip Control for a Transradial Amputee Drummer	10317
Analysis of the Effect of Common Disturbances on the Safety of a Wearable Tremor Suppression Device	10324
FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury	10332
Development of a Series Elastic Elbow Neurological Exam Training Simulator for Lead-Pipe Rigidity	10340
Session TuFT0 : Rehabilitation and Assistive Robotics IIA Variable Soft Finger Exoskeleton for Quantifying Fatigue-Induced Mechanical Impedance	10347
A Constant-Force End-Effector with Online Force Adjustment for Robotic Ultrasonography	10353
Affordance-Aware Handovers with Human Arm Mobility Constraints	10361
Subramanian; Lohan, Katrin Solveig; Cakmak, Maya Wearable Integrated Soft Haptics in a Prosthetic Socket	10369
Session ThAT6 : Rehabilitation and Assistive Robotics III
Verbal Focus-Of-Attention System for Learning-From-Observation	10377
Hybrid Model Control of WalkON Suit for Precise and Robust Gait Assistance of Paraplegics	10385
A Novel Gait Phase Detection Algorithm for Foot Drop Correction through Optimal Hybrid FES-Orthosis Assistance	10391
Samer A Phase-Shifting Based Human Gait Phase Estimation for the Powered Transfemoral Prosthesis	10398
Session ThIT13 : Rehabilitation and Assistive Robotics IV
Customized Handling of Unintended Interface Operation in Assistive Robots	10406
Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support	10413
Inverse Optimal Robust Adaptive Controller for Upper Limb Rehabilitation Exoskeletons with Inertia and Load Uncertainties	10421
Perceived Usefulness of a Social Robot Augmented Telehealth Platform by Therapists in the United States	10430
Session TuFT2 : Rehabilitation and Assistive Robotics V
Toward Seamless Transitions between Shared Control and Supervised Autonomy in Robotic Assistance	10438
Computing the Positioning Error of an Upper-Arm Robotic Prosthesis from the Observation of Its Wearer's Posture	10446
Intent-Aware Control in Kinematically Redundant Systems: Towards Collaborative Wearable Robots	10453
Foot Placement Prediction for Assistive Walking by Fusing Sequential 3D Gaze and Environmental Context	10461
Session ThBT6 : Rehabilitation and Assistive Robotics VI
Nonlinear Disturbance Observer-Based Robust Position Control for Series Elastic Actuator-Driven Robots	10469
Composing an Assistive Control Strategy Based on Linear Bellman Combination from Estimated User's Motor Goal	10476
Biomimetic Control of Myoelectric Prosthetic Hand Based on a Lambda-Type Muscle Model	10484
Control and Evaluation of Body Weight Support Walker for Overground Gait Training	10491
Session WeAT15 : Rehabilitation and Assistive Robotics VII
Developing of a Rigid-Compliant Finger Joint Exoskeleton Using Topology Optimization Method	10499
Wheel-Legged Robotic Limb to Assist Human with Load Carriage: An Application for Environmental Disinfection During COVID-19	10505
SpringExo, a Spring-Based Exoskeleton for Providing Knee Assistance: Design, Characterization and Feasibility Study	10513
High-Force Fabric-Based Pneumatic Actuators with Asymmetric Chambers and Interference-Reinforced Structure for Soft Wearable Assistive Gloves	10520
Session ThJT13 : Rehabilitation and Assistive Robotics: Machine Learning
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding	10528
Task-Invariant Learning of Continuous Joint Kinematics During Steady-State and Transient Ambulation Using Ultrasound Sensing	10536
Toward Deep Generalization of Peripheral EMG-Based Human-Robot Interfacing: A Hybrid Explainable Solution for NeuroRobotic Systems	10543
Kinesthetic feedback improves grasp performance in cable-driven prostheses	10551
Session ThKT13 : Rehabilitation and Assistive Robotics: Prosthetics and Exoskeletons
Real-Time User-Independent Slope Prediction Using Deep Learning for Modulation of Robotic Knee Exoskeleton Assistance	10558
Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion	10565
Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis	10572
Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance	10580
Session ThHT12 : Rehabilitation and Assistive Robotics: Reinforcement Learning
Human-Guided Robot Behavior Learning: A GAN-Assisted Preference-Based Reinforcement Learning Approach	10587
Protective Policy Transfer	10595
Natural Walking with Musculoskeletal Models Using Deep Reinforcement Learning	10603
A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton	10610
Session ThIT12 : Reinforcement Learning for Robotics I
FISAR: Forward Invariant Safe Reinforcement Learning with a Deep Neural Network-Based Optimizer	10617
Coding for Distributed Multi-Agent Reinforcement Learning	10625
Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads	10632
Transfer Reinforcement Learning across Homotopy Classes	10640
Session TuGT2 : Reinforcement Learning for Robotics II
Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives	10649
Secure Planning against Stealthy Attacks Via Model-Free Reinforcement Learning	10656
Harmonic-Based Optimal Motion Planning in Constrained Workspaces Using Reinforcement Learning	10663
Reward Learning from Very Few Demonstrations	10670
Hierarchies of Planning and Reinforcement Learning for Robot Navigation	10682
Session ThBT7 : Reinforcement Learning for Robotics III
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments	10689
DingDeep Learning Assisted Robotic Magnetic Anchored and Guided Endoscope for Real-Time Instrument Tracking	10696
Incorporating Multi-Context into the Traversability Map for Urban Autonomous Driving Using Deep Inverse Reinforcement Learning	10704
Quantification of Joint Redundancy Considering Dynamic Feasibility Using Deep Reinforcement Learning	10712
Session ThDT14 : Reinforcement Learning in Navigation
A Novel Hybrid Approach for Fault-Tolerant Control of UAVs based on Robust Reinforcement Learning	10719
Deep Probabilistic Feature-Metric Tracking	10726
Using Reinforcement Learning to Create Control Barrier Functions for Explicit Risk Mitigation in Adversarial Environments	10734
Edge Computing in 5G for Drone Navigation: What to Offload?	10741
Session ThJT12 : Robot Safety
Encoding Defensive Driving As a Dynamic Nash Game	10749
Enhancing Safety of Students with Mobile Air Filtration During School Reopening from COVID-19	10757
Quinones Cortes, Jhon Jairo; Doosttalab, Ali; Esquivel-Puentes, ‪Helber Antonio; Purwar,
Tanya; Castillo, Luciano; Mahmoudian, Nina; Voyles, Richard Probabilistic Safety Assured Adaptive Merging Control for Autonomous Vehicles	10764
Negotiating Visibility for Safe Autonomous Navigation in Occluding and Uncertain Environments	10771
Session ThKT12 : Robotic Learning with Visual Signal
Visionary: Vision Architecture Discovery for Robot Learning	10779
Zero-Shot Policy Learning with Spatial Temporal Reward Decomposition on Contingency-Aware Observation	10786
Approximate Inverse Reinforcement Learning from Vision-Based Imitation Learning	10793
Efficient Robotic Object Search via HIEM: Hierarchical Policy Learning with Intrinsic-Extrinsic Modeling	10800
Session ThET17 : Robotic Manipulation
Reward Conditioned Neural Movement Primitives for Population-Based Variational Policy Optimization	10808
Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills	10815
Optimal Deep Learning for Robot Touch	10822
Learning Optimal Impedance Control During Complex 3D Arm Movements	10832
Session ThBT15 : Robotic Mechanisms and Design I
Air-Hydraulic Servo Booster Toward Submersible Water-Driven Robots	10840
Joint Mechanical Design and Flight Control Optimization of a Nature-Inspired Unmanned Aerial Vehicle via Collaborative Co-Evolution	10847
Shaohui Development of Cable-Driven Anthropomorphic Robot Hand	10855
Origami-Inspired Snap-Through Bistability in Parallel and Curved Mechanisms through the Inflection of Degree Four Vertexes	10863
Lee, Zu Xuan; Tan, Chui Shien Janice; Ho, Jian Rong; Ma, Minhui Vienna; Huang, Hui; Ren,
Hongliang
Session ThBT21 : Robotic Mechanisms and Design II
Applications: Twisted String Actuation-Based Compact Automatic Transmission	10870
Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance	10877
A Novel Variable Resolution Torque Sensor Based on Variable Stiffness Principle	10884
A Motion Estimation Filter for Inertial Measurement Unit with On-board Ferromagnetic Materials	10890
Energy Saving of Schooling Robotic Fish in Three Dimensional Formations	10898
Session ThHT11 : Robotic Perception I
Self-Guided Instance-Aware Network for Depth Completion and Enhancement	10905
World-in-the-Loop Simulation for Autonomous Systems Validation	10912
RetinaGAN: An Object-Aware Approach to Sim-To-Real Transfer	10920
A Framework for Multisensory Foresight for Embodied Agents	10927
Session ThFT17 : Robotic Perception II
HDROmni: Optical Extension of Dynamic Range for Panoramic Robot Vision	10934
The GRIFFIN Perception Dataset: Bridging the Gap between Flapping-Wing Flight and Robotic Perception	10942
OmniDet: Surround View Cameras Based Multi-Task Visual Perception Network for Autonomous Driving	10950
Leang, Isabelle; Milz, Stefan; Mäder, PatrickOffline Dynamic Grid Generation for Automotive Environment Perception Using Temporal Inference Methods	10958
Session ThIT11 : Robotic Perception III
6D Object Pose Estimation with Pairwise Compatible Geometric Features	10966
Robust Skin-Feature Tracking in Free-Hand Video from Smartphone or Robot-Held Camera, to Enable Clinical-Tool Localization and Guidance	10974
In-Hand Object-Dynamics Inference Using Tactile Fingertips	10981
From Multi-Target Sensory Coverage to Complete Sensory Coverage: An Optimization-Based Robotic Sensory Coverage Approach	10994
Session ThDT16 : Robotic Percetpion IV
A Minimally Supervised Approach Based on Variational Autoencoders for Anomaly Detection in Autonomous Robots	11001
Faster R-CNN-Based Decision Making in a Novel Adaptive Dual-Mode Robotic Anchoring System	11010
Hearing What You Cannot See: Acoustic Vehicle Detection Around Corners	11017
Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models	11025
Session ThAT21 : Robotic Vision I
Robust 360-8PA: Redesigning the Normalized 8-Point Algorithm for 360-FoV Images	11032
STA-VPR: Spatio-Temporal Alignment for Visual Place Recognition	11039
Initialisation of Autonomous Aircraft Visual Inspection Systems Via CNN-Based Camera Pose Estimation	11047
Poh Kang; Toh, Pei Lin Pearlin; Tan, U-XuanVoxelized GICP for Fast and Accurate 3D Point Cloud Registration	11054
Session ThET16 : Robotic Vision II
Generic Hand-Eye Calibration of Uncertain Robots	11060
In-Situ Translational Hand-Eye Calibration of Laser Profile Sensors Using Arbitrary Objects	11067
Villagrossi, Enrico; Polo, Andrea; Ardesi, Alessandro; Maggiali, Marco; Natale, Lorenzo;
Pucci, Daniele; Traversaro, Silvio
Autonomous UAV Safety by Visual Human Crowd Detection Using Multi-Task Deep Neural Networks	11074
CloudAAE: Learning 6D Object Pose Regression with On-Line Data Synthesis on Point Clouds	11081
Session ThFT16 : Robust Control
No Need for Interactions: Robust Model-Based Imitation Learning Using Neural ODE	11088
Robust Trajectory Planning with Parametric Uncertainties	11095
Robust Policy Search for Robot Navigation	11102
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion	11110
Session ThJT11 : Robust/Optimal Control
Towards Robust One-Shot Task Execution Using Knowledge Graph Embeddings	11118
An Efficient Closed-Form Method for Optimal Hybrid Force-Velocity Control	11125
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch	11132
Sliding on Manifolds: Geometric Attitude Control with Quaternions	11140
Session ThBT8 : Segmentation and Recognition
Deep Balanced Learning for Long-Tailed Facial Expressions Recognition	11147
AU-Expression Knowledge Constrained Representation Learning for Facial Expression Recognition	11154
Covariance Self-Attention Dual Path UNet for Rectal Tumor Segmentation	11162
Fabric Defect Detection Using Tactile Information	11169
Session ThAT20 : Semantic Planning
Towards Real-time Semantic RGB-D SLAM in Dynamic Environments	11175
Real-Time Robot Path Planning Using Rapid Visible Tree	11182
Semantically Guided Multi-View Stereo for Dense 3D Road Mapping	11189
Spatial Reasoning from Natural Language Instructions for Robot Manipulation	11196
Session ThKT11 : Semantic Scene Understanding
Semantic SLAM with Autonomous Object-Level Data Association	11203
Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping	11210
Any Way You Look at It: Semantic Crossview Localization and Mapping with LiDAR	11219
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search	11227
Session WeBT11 : Semantics Localization
Point Set Registration with Semantic Region AssociationUsing Cascaded Expectation Maximization	11234
A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge	11241
RoadMap: A Light-Weight Semantic Map for Visual Localization towards Autonomous Driving	11248
Visual Semantic Localization Based on HD Map for Autonomous Vehicles in Urban Scenarios	11255
Session ThBT20 : Sensing in Manipulation
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements	11262
Needle Tip Tracking in 2D Ultrasound Based on Improved Compressive Tracking and Adaptive Kalman Filter	11269
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning	11278
Contact Feature Recognition Based on MFCC of Force Signals	11285
Session ThDT15 : Sensor Fusion
DSEC: A Stereo Event Camera Dataset for Driving Scenarios	11291
Interval-Based Visual-LiDAR Sensor Fusion	11299
Optimizing RGB-D Fusion for Accurate 6DoF Pose Estimation	11307
EagerMOT: 3D Multi-Object Tracking Via Sensor Fusion	11315
Session TuDT2 : Service Robotics Award Session
Tactile SLAM: Real-time inference of shape and pose from planar pushing	11322
BADGR: An Autonomous Self-Supervised Learning-Based Navigation System	11329
Session ThBT17 : Service Robotics I
Multiple-Place Swarm Foraging with Dynamic Robot Chains	11337
Collaborative Learning of Multiple-Discontinuous-Image Saliency Prediction for Drone Exploration	11343
Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances	11350
Not Your Grandmother’s Toolbox – the Robotics Toolbox Reinvented for Python	11357
Session ThAT17 : Service Robotics II
A Robotic Defect Inspection System for Free-Form Specular Surfaces	11364
Keeping Social Distance During the Pandemic: Contactless Meal Order and Takeout Service Via AI-Assisted Smart Robots	11371
Serverless Architecture for Service Robot Management System	11379
Can Non-Humanoid Social Robots Reduce Workload of Special Educators : An Online and In-Premises Field Study	11386
Session ThAT18 : Service Robotics III
Heart Position Estimation Based on Bone Distribution Toward Autonomous Robotic Fetal Ultrasonography	11393
Chip-Less Wireless Sensing of Origami Structural Morphing under Various Mechanical Stimuli Using Home-Based Ink-Jet Printable Materials	11400
Manivannan; Cai, Catherine; Ren, HongliangA 2-Dimensional Branch-And-Bound Algorithm for Hand-Eye Self-Calibration of SCARA Robots	11408
Long-Term Multiple Time-Constant Model of a Spring Roll Dielectric Elastomer Actuator under Dynamic Loading	11415
Session ThBT18 : Service Robotics IV
S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs	11422
HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler	11429
Multimodal Anomaly Detection Based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots	11443
Route Coverage Testing for Autonomous Vehicles Via Map Modeling	11450
Session ThAT19 : Service Robotics V
A Wheeled V-Shaped In-Pipe Robot with Clutched Underactuated Joints	11457
Walking Trajectory Design of Hydraulic Legged Robot with Limited Powered Pump	11463
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction	11470
An Overconstrained Robotic Leg with Coaxial Quasi-Direct Drives for Omni-Directional Ground Mobility	11477
Session ThBT19 : Service Robotics VI
A Data-Set and a Method for Pointing Direction Estimation from Depth Images for Human-Robot Interaction and VR Applications	11485
Learning-Based Optoelectronically Innervated Tactile Finger for Rigid-Soft Interactive Grasping	11492
ChaoyangSeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition	11500
Extendable Navigation Network Based Reinforcement Learning for Indoor Robot Exploration	11508
Session ThJT9 : Simulation and Control
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics	11515
Daniel; Grannen, Jennifer; Hwang, Minho; Hoque, Ryan; Gonzalez, Joseph E.; Jamali,
Nawid; Yamane, Katsu; Iba, Soshi; Goldberg, Ken
Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects Via Physical Simulations	11523
Visualization of Stable Heteroclinic Channel-Based Movement Primitives	11531
Stable Learning-Based Tracking Control of Underactuated Balance Robots	11538
Session WeBT12 : SLAM I
Hybrid Bird's-Eye Edge Based Semantic Visual SLAM for Automated Valet Parking	11546
Collaborative Visual Inertial SLAM for Multiple Smart Phones	11553
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding	11560
Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-Scale Environments	11566
Session ThET15 : SLAM II
Online Range-Based SLAM Using B-Spline Surfaces	11573
RGB-D SLAM with Structural Regularities	11581
Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization	11588
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects	11596
Session ThAT16 : SLAM III
Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM	11604
Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements	11612
LiTAMIN2: Ultra Light LiDAR-Based SLAM Using Geometric Approximation Applied with KL-Divergence	11619
Compositional and Scalable Object SLAM	11626
Session ThFT15 : SLAM IV
MULLS: Versatile LiDAR SLAM Via Multi-Metric Linear Least Square	11633
Dynamic Object Aware LiDAR SLAM Based on Automatic Generation of Training Data	11641
A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures	11648
Connecting Semantic Building Information Models and Robotics: An Application to 2D LiDAR-Based Localization	11654
René
Session ThBT16 : SLAM V
Markov Parallel Tracking and Mapping for Probabilistic SLAM	11661
Multi-Session Underwater Pose-Graph SLAM Using Inter-Session Opti-Acoustic Two-View Factor	11668
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features	11675
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment	11682
Session ThDT17 : SLAM VI
TT-SLAM: Dense Monocular SLAM for Planar Environments	11690
OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications	11697
DOT: Dynamic Object Tracking for Visual SLAM	11705
DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences	11712
Session ThHT10 : SLAM with Monocular Camera
CAROM - Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures	11725
A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior	11732
HyperMap: Compressed 3D Map for Monocular Camera Registration	11739
Bidirectional Attention Network for Monocular Depth Estimation	11746
Session ThIT10 : Soft Robotics I
Vision-Based Shape Reconstruction of Soft Continuum Arms Using a Geometric Strain Parametrization	11753
Reconstruction of Backbone Curves for Snake Robots	11760
Hybrid Vine Robot with Internal Steering-Reeling Mechanism Enhances System-Level Capabilities	11767
A Dynamics Simulator for Soft Growing Robots	11775
Session ThJT10 : Soft Robotics II
StRETcH: A Soft to Resistive Elastic Tactile Hand	11782
An Active Palm Enhances Dexterity of Soft Robotic In-Hand Manipulation	11790
Elastica: A compliant mechanics environment for soft robotic control	11797
Compensating for Unmodeled Forces Using Neural Networks in Soft Manipulator Planning	11805
Session ThKT10 : Soft Robotics III
A Legged Soft Robot Platform for Dynamic Locomotion	11812
States and Contact Forces Estimation for a Fabric-Reinforced Inflatable Soft Robot	11820
Acoustic Communication and Sensing for Inflatable Modular Soft Robots	11827
Cooperative Collision Avoidance Control of Servo/IPMC Driven Robotic Fish with Back-Relaxation Effect	11834
Session WeAT9 : Soft Robotics IV
Elevation Control of a Soft Jumping Robot	11843
A Soft-Rigid Air-Propelled Pipe-Climbing Robot	11850
A Versatile Pneumatic Actuator Based on Scissor Mechanisms: Design, Modeling, and Experiments	11856
A Lightweight Soft Gripper Driven by Self-Sensing Super-Coiled Polymer Actuator	11864
Session WeBT9 : Soft Robotics V
Design and Analysis of a Novel Lightweight, Versatile Soft-Rigid Robot	11871
Kinetostatics for Variable Cross-Section Continuum Manipulators	11878
Numerical Simulation of an Untethered Omni-Directional Star-Shaped Swimming Robot	11884
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration	11891
Session ThAT15 : Soft Robotics: Actuation
Amplifying Laminar Jamming for Soft Robots by Geometry-Induced Rigidity	11907
Long Short Term Memory Model Based Position-Stiffness Control of Antagonistically Driven Twisted-Coiled Polymer Actuators Using Model Predictive Control	11913
Expending Pouch Motor Patterns for Programmable Soft Bending Actuation	11921
Towards a Multi-Imager Compatible Continuum Robot with Improved Dynamics Driven by Modular SMA	11930
Session ThET14 : Soft Robotics: Analysis and Modeling
Screw Theory-Based Stiffness Analysis for a Fluidic-Driven Soft Robotic Manipulator	11938
Liquid Metal Logic for Soft Robotics	11945
Minimum Directed Information: A Design Principle for Compliant Robots	11953
Model and Validation of a Highly Extensible and Tough Actuator Based on a Ballooning Membrane	11961
Session ThBT5 : Soft Robotics: Bionic Robots
SomBot: A Bio-Inspired Dynamic Somersaulting Soft Robot	11968
A Bioinspired Composite Finger with Self-Locking Joints	11976
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction	11984
Design and Modeling of a Biomimetic Gastropod-Like Soft Robot with Wet Adhesive Locomotion	11997
Session ThFT14 : Soft Robotics: Control I
Planning for a Tight Squeeze: Navigation of Morphing Soft Robots in Congested Environments	12004
Soft Robot Optimal Control Via Reduced Order Finite Element Models	12010
Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators	12017
Design and Optimization of a Dextrous Robotic Finger: Incorporating a Sliding, Rotating, and Soft-Bending Mechanism While Maximizing Dexterity and Minimizing Dimensions	12025
Session ThAT14 : Soft Robotics: Control II
Deep Reinforcement Learning Framework for Underwater Locomotion of Soft Robot	12033
A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation	12040
Compact Flat Fabric Pneumatic Artificial Muscle (ffPAM) for Soft Wearable Robotic Devices	12047
An Autonomous Robotic Flexible Endoscope System with a DNA-Inspired Continuum Mechanism	12055
Session ThBT14 : Soft Robotics: Crawling Robots
Design and Experiment of a Pneumatic Soft Climbing Robot	12061
Starfish Inspired Milli Soft Robot with Omnidirectional Adaptive Locomotion Ability	12068
Surface Robots based on S-Isothermic Surfaces	12076
Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-And-Place Objects	12082
Session ThDT13 : Soft Robotics: Design
Highly Maneuverable Eversion Robot Based on Fusion of Function with Structure	12089
Automated Routing of Muscle Fibers for Soft Robots	12097
A Fluidic Soft Robot for Needle Guidance and Motion Compensation in Intratympanic Steroid Injections	12110
B: Ionic Glove: A Soft Smart Wearable Sensory Feedback Device for Upper Limb Robotic Prostheses	12118
Session ThAT13 : Soft Robotics: Mechanism Design
Soft Twisting Pneumatic Actuators Enabled by Freeform Surface Design	12124
A Dual-Mode Actuator for Soft Robotic Hand	12132
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine	12140
Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump	12156
Session ThKT8 : Soft Sensors and Materials
A Soft Robotic Gripper with Anti-Freezing Ionic Hydrogel-Based Sensors for Learning-Based Object Recognition	12164
Adaptive Tracking Control of Soft Robots Using Integrated Sensing Skins and Recurrent Neural Networks	12170
WhiskSight: A reconfigurable, vision-based, optical whisker sensing array for simultaneous contact, airflow, and inertia stimulus detection	12177
Embedded Neuromorphic Architecture for Form + Function 4-D Printing of Robotic Materials: Emulation of Optimized Neurons	12185
Session ThKT9 : Stereo Vision Applications
Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation	12192
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments	12199
Learning the Next Best View for 3D Point Clouds Via Topological Features	12207
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras	12214
Session WeCT15 : Surgical Continuum Robots
Towards Collision Detection, Localization and Force Estimation for a Soft Cable-Driven Manipulator	12222
Kinematic Analysis of a Flexible Surgical Instrument for Robot-Assisted Minimally Invasive Surgery	12229
Hybrid Adaptive Control Strategy for Continuum Surgical Robot under External Load	12236
Bing; Meng, Max Q.-H.A Multi-Contact-Aided Continuum Manipulator with Anisotropic Shapes	12244
Session ThHT8 : Surgical Robotics I
Parallelism in Autonomous Robotic Surgery	12252
Septimiu E. A Confidence-Based Supervised-Autonomous Control Strategy for Robotic Vaginal Cuff Closure	12261
Design and Control of 5-DoF Robotically Steerable Catheter for the Delivery of the Mitral Valve Implant	12268
A Robotic System for Implant Modification in Single-Stage Cranioplasty	12275
Session ThBT13 : Surgical Robotics II
Design and Implementation of a Novel, Intrinsically Safe Rigid-Flexible Coupling Manipulator for COVID-19 Oropharyngeal Swab Sampling	12282
Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation	12289
Towards a Wristed Percutaneous Robot with Variable Stiffness for Pericardiocentesis	12296
Corneal Suturing Robot Capable of Producing Sutures with Desired Shape for Corneal Transplantation Surgery	12305
Session ThIT8 : Surgical Robotics III
Recovering Stress Distribution on Deformable Tissue for a Magnetic Actuated Insertable Laparoscopic Surgical Camera	12314
A Novel Robotic System for Ultrasound-Guided Peripheral Vascular Localization	12321
Real-To-Sim Registration of Deformable Soft Tissue with Position-Based Dynamics for Surgical Robot Autonomy	12328
Toward Force Estimation in Robot-Assisted Surgery Using Deep Learning with Vision and Robot State	12335
Session ThAT12 : Surgical Robotics IV
A Variable Curvature Model for Multi-Backbone Continuum Robots to Account for Inter-Segment Coupling and External Disturbance	12342
Learning Domain Adaptation with Model Calibration for Surgical Report Generation in Robotic Surgery	12350
Tele-Operative Low-Cost Robotic Lung Ultrasound Scanning Platform for Triage of COVID-19 Patients	12357
Olushola Segun; Zheng, Yihao; Hill, Jeffrey C.; Hoffmann, Beatrice; Soboyejo, Winston;
Zhang, Haichong Data-Driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-Based Depth Perception	12366
Session ThJT8 : Surgical Robotics V
Multibranch Learning for Angiodysplasia Segmentation with Attention-Guided Networks and Domain Adaptation	12373
Model-Predictive Control of Blood Suction for Surgical Hemostasis Using Differentiable Fluid Simulations	12380
Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis Using Image-Based Blood Flow Detection	12387
Learning Invariant Representation of Tasks for Robust Surgical State Estimation	12395
Session ThET13 : Surgical Robotics VI
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot with Uncertainty Minimization	12403
PetarMAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection	12411
Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection	12420
Design and Development of a Robotic Bioreactor for in Vitro Tissue Engineering	12428
Session ThFT13 : Surgical Robotics VII
Model-Based Design and Digital Implementation to Improve Control of the Da Vinci Research Kit Telerobotic Surgical System	12435
Shared Control Strategy for Needle Insertion into Deformable Tissue Using Inverse Finite Element Simulation	12442
An Optimized Two-Layer Approach for Efficient and Robustly Stable Bilateral Teleoperation	12449
Secchi, Cristian Design and Evaluation of a Foot-Controlled Robotic System for Endoscopic Surgery	12456
Session WeCT13 : Surgical Robots IX
Cutting Depth Compensation Based on Milling Acoustic Signal for Robotic-Assisted Laminectomy	12464
Non-Linear Hysteresis Compensation of a Tendon-Sheath-Driven Robotic Manipulator Using Motor Current	12470
Fast Localization and Segmentation of Tissue Abnormalities by Autonomous Robotic Palpation	12478
Hysteresis Modeling of Robotic Catheters Based on Long Short-Term Memory Network for Improved Environment Reconstruction	12486
Session ThDT12 : Surgical Robots VIII
Motion-Aware Robotic 3D Ultrasound	12494
A 3D Printed Mechanical Model of the Knee to Detect and Avoid Total Knee Replacement Surgery Errors	12501
Detecting Blindspots in Colonoscopy by Modelling Curvature	12508
Out-Of-Plane Corrections for Autonomous Robotic Breast Ultrasound Acquisitions	12515
Session ThET12 : Tactile Sensing for Manipulation
Improved Learning of Robot Manipulation Tasks Via Tactile Intrinsic Motivation	12522
Exploiting Distributed Tactile Sensors to Drive a Robot Arm through Obstacles	12530
Slip Detection for Grasp Stabilisation with a Multi-Fingered Tactile Robot Hand	12538
Grasp Detection for Robot to Human Handovers Using Capacitive Sensors	12552
Session ThFT12 : Tactile Sensing in Surgical Appplications
Foot Control of a Surgical Laparoscopic Gripper Via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control	12559
Providing Automatic Feedback to Trainees after Automatic Evaluation	12567
An Abdominal Phantom with Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training	12574
A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation Training	12588
Session ThIT9 : Task Planning I
Deep Learning for Robotic Mass Transport Cloaking	12595
Collective Transport of Unconstrained Objects Via Implicit Coordination and Adaptive Compliance	12603
Approximate Solutions to a Class of Reachability Games	12610
Reactive Task and Motion Planning under Temporal Logic Specifications	12618
Session ThHT9 : Task Planning II
Dispersion-Minimizing Motion Primitives for Search-Based Motion Planning	12625
Meta-Adversarial Inverse Reinforcement Learning for Decision-Making Tasks	12632
Min-Max Entropy Inverse RL of Multiple Tasks	12639
Task Planning on Stochastic Aisle Graphs for Precision Agriculture	12646
Session ThDT11 : Task Planning III
Productive Multitasking for Industrial Robots	12654
Automated Planning of Workcell Layouts Considering Task Sequences	12662
Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line	12669
Multi-Goal Path Planning Using Multiple Random Trees	12677
Session ThHT7 : Time Delay Systems
Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization
Enhancement	12685
DESERTS: Delay-Tolerant Semi-Autonomous Robot Teleoperation for Surgery	12693
Discrete Time Delay Feedback Control of Stewart Platform with Intelligent Optimizer Weight Tuner	12701
The Effect of Input Signals Time-Delay on Stabilizing Traffic with Autonomous Vehicles	12708
Session ThIT7 : Topology-Based Motion Planning
Homotopy-Driven Exploration of Human-Made Spaces Using Signs	12715
A Topologically Inspired Path-Following Method with Intermittent State Feedback	12722
Graph-Based Topological Exploration Planning in Large-Scale 3D Environments	12730
Roadmap Learning for Probabilistic Occupancy Maps with Topology-Informed Growing Neural Gas	12737
Session ThET11 : Trajectory Optimization
Trajectory Optimisation in Learned Multimodal Dynamical Systems Via Latent-ODE Collocation	12745
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization	12752
Coupled Mobile Manipulation Via Trajectory Optimization with Free Space Decomposition	12759
Designing Fast and Smooth Trajectories in Collaborative Workstations	12766
Session ThFT11 : Trajectory PlanningOnline Dynamic Trajectory Optimization and Control for a Quadruped Robot	12773
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion	12780
Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning	12787
Exploring Dynamic Context for Multi-Path Trajectory Prediction	12795
Session ThDT10 : Transfer Learning
Benchmarking Domain Randomisation for Visual Sim-To-Real Transfer	12802
There and Back Again: Learning to Simulate Radar Data for Real-World Applications	12809
Generation of GelSight Tactile Images for Sim2Real Learning	12817
Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-Driven Robotics	12825
Session ThBT12 : Underactuated and Stable Control
A Stable Control Strategy for Industrial Robots with External Feedback Loop	12833
Distance-Based Formation Control with Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems	12839
Operational Space Control Under Actuator Bandwidth Limitation	12847
Operational Space Control for Planar PA^{N-1} Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming	12853
Session TuHT4 : Unmanned Aerial Vehicle Award Session
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators	12860
Session ThAT11 : Vision and Perception I
PLG-IN: Pluggable Geometric Consistency Loss with Wasserstein Distance in Monocular Depth Estimation	12868
Real-Time Mesh Extraction from Implicit Functions via Direct Reconstruction of Decision Boundary	12875
Uncertainty-Aware Fast Curb Detection Using Convolutional Networks in Point Clouds	12882
OCR-Based Inventory Management Algorithms Robust to Damaged Images	12889
Session ThBT11 : Vision and Perception II
FG-Conv: Large-Scale LiDAR Point Clouds Understanding Leveraging Feature Correlation Mining and Geometric-Aware Modeling	12896
Exploiting Local Geometry for Feature and Graph Construction for Better 3D Point Cloud Processing with Graph Neural Networks	12903
Elevation Angle Estimation in 2D Acoustic Images Using Pseudo Front View	12910
Stereo Object Matching Network	12918
Session ThAT10 : Vision and Perception III
Robot Motion Control with Compressive Feedback	12925
Action Sequencing Using Visual Permutations	12931
MFPN-6D : Real-time One-stage Pose Estimation of Objects on RGB Images	12939
A Novel Tactile Feedback System with On-Line Texture Decoding and Direct-Texture-Feedback	12946
Session ThBT10 : Vision and Perception IV
Visual Place Recognition Via Local Affine Preserving Matching	12954
View-Expansive Microscope System with Real-Time High-Resolution Imaging for Simplified Microinjection Experiments	12961
Leveraging Enhanced Virtual Reality Methods and Environments for Efficient, Intuitive, and Immersive Teleoperation of Robots	12967
End-To-End Multi-Instance Robotic Reaching from Monocular Vision	12974
Session ThAT9 : Vision and Perception V
Toward a Unified Framework for Point Set Registration	12981
A Heteroscedastic Likelihood Model for Two-Frame Optical Flow	12988
Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment	12996
Volumetric Propagation Network: Stereo-LiDAR Fusion for Long-Range Depth Estimation	13003
Session WeCT8 : Vision and Perception: 3D Estimation
Robust Improvement in 3D Object Landmark Inference for Semantic Mapping	13011
YOLOStereo3D: A Step Back to 2D for Efficient Stereo 3D Detection	13018
UniFuse: Unidirectional Fusion for 360 Panorama Depth Estimation	13025
Depth Estimation under Motion with Single Pair Rolling Shutter Stereo Images	13033
Session ThFT10 : Vision and Perception: Action Recognition I
Pose Refinement Graph Convolutional Network for Skeleton-Based Action Recognition	13041
Attentional Learn-Able Pooling for Human Activity Recognition	13049
Real-Time Instance Detection with Fast Incremental Learning	13056
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs	13064
Session WeCT1 : Vision and Perception: Action Recognition II
Maintaining a Reliable World Model Using Action-Aware Perceptual Anchoring	13071
Modeling Affect-Based Intrinsic Rewards for Exploration and Learning	13078
A Multi-Level Network for Human Pose Estimation	13085
Open-Set Intersection Intention Prediction for Autonomous Driving	13092
Session ThHT1 : Vision and Perception: Applications I
LiDAR Few-Shot Domain Adaptation Via Integrated CycleGAN and 3D Object Detector with Joint Learning Delay	13099
Three-Filters-To-Normal: An Accurate and Ultrafast Surface Normal Estimator	13106
Device Design and System Integration of a Two-Axis Water-Immersible Micro Scanning Mirror (WIMSM) to Enable Dual-Modal Optical and Acoustic Communication and Ranging for Underwater Vehicles	13114
Vanishing Point Aided LiDAR-Visual-Inertial Estimator	13120
Session ThIT1 : Vision and Perception: Applications IIFine-Grained Activity Recognition for Assembly Videos	13127
Sanjeev; Hager, Gregory Cooperative Visual-Inertial Odometry	13135
Vision-Based Self-Assembly for Modular Multirotor Structures	13142
Evaluation of a Drone-Based Camera Calibration Approach for Hard-To-Reach Cameras	13149
Session ThJT1 : Vision and Perception: Auto-Calibration
Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras	13156
A Continuous-Time Approach for 3D Radar to Camera Extrinsic Calibration	13164
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching	13171
Auto-Calibration Method Using Stop Signs for Urban Autonomous Driving Applications	13179
Session ThHT2 : Vision and Perception: Autonomous Vehicle Navigation I
Learning Robust Driving Policies without Online Exploration	13186
SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation	13194
Ego-Centric Stereo Navigation Using Stixel World	13201
PyTouch: A Machine Learning Library for Touch Processing	13208
Session ThIT2 : Vision and Perception: Autonomous Vehicle Navigation II
ViNG: Learning Open-World Navigation with Visual Goals	13215
MaAST: Map Attention with Semantic Transformers for Efficient Visual Navigation	13223
Samarasekera, Supun; Kumar, Rakesh A Few Shot Adaptation of Visual Navigation Skills to New Observations Using Meta-Learning	13231
Hierarchical Cross-Modal Agent for Robotics Vision-And-Language Navigation	13238
Session ThKT1 : Vision and Perception: Autonomous Vehicle Navigation III
Efficient and Robust LiDAR-Based End-To-End Navigation	13247
Visual Navigation among Humans with Optimal Control As a Supervisor	13255
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera	13264
Learning Composable Behavior Embeddings for Long-Horizon Visual Navigation	13271
Session ThET10 : Vision and Perception: Detection and Recognition I
VelocityNet: Motion-Driven Feature Aggregation for 3D Object Detection in Point Cloud Sequences	13279
Don't Blindly Trust Your CNN: Towards Competency-Aware Object Detection by Evaluating Novelty in Open-Ended Environments	13286
What My Motion Tells Me about Your Pose: A Self-Supervised Monocular 3D Vehicle Detector	13293
Self-Supervised Person Detection in 2D Range Data Using a Calibrated Camera	13301
Session WeBT8 : Vision and Perception: Detection and Recognition II
A Cascaded LiDAR-Camera Fusion Network for Road Detection	13308
GPR-RCNN: An Algorithm of Subsurface Defect Detection for Airport Runway based on GPR	13315
On the Challenges of Open World Recognition under Shifting Visual Domains	13323
CentroidReg: A Global-To-Local Framework for Partial Point Cloud Registration	13331
Session ThBT9 : Vision and Perception: Detection and Recognition III
Real-Time 3D-Lidar, MMW Radar and GPS/IMU Fusion Based Vehicle Detection and Tracking in Unstructured Environment	13339
Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery	13346
In Defense of Knowledge Distillation for Task Incremental Learning and Its Application in 3D Object Detection	13354
City-Scale Scene Change Detection Using Point Clouds	13362
Session ThAT8 : Vision and Perception: Detection and Recognition IV
Joint Representation of Temporal Image Sequences and Object Motion for Video Object Detection	13370
Targetless Multiple Camera-LiDAR Extrinsic Calibration Using Object Pose Estimation	13377
Recognition and Prediction of Surgical Actions Based on Online Robotic Tool Detection	13384
Target-style-aware Unsupervised Domain Adaptation for Object Detection	13392
Session ThAT1 : Vision and Perception: Detection and Recognition V
Adversarially Trained Hierarchical Feature Extractor for Vehicle Re-Identification	13400
VIC-Net: Voxelization Information Compensation Network for Point Cloud 3D Object Detection	13408
Semantic Reinforced Attention Learning for Visual Place Recognition	13415
Towards Efficient Multiview Object Detection with Adaptive Action Prediction	13423
Session ThDT9 : Vision and Perception: Grasping I
Binary-LoRAX: Low-Latency Runtime Adaptable XNOR Classifier for Semi-Autonomous Grasping with Prosthetic Hands	13430
Hundhausen, Felix; Hoefer, Julian; Nagaraja, Naveen Shankar; Unger, Christian; Voegel,
Hans-Joerg; Becker, Juergen; Asfour, Tamim; Stechele, Walter Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes	13438
Residual Squeeze-And-Excitation Network with Multi-Scale Spatial Pyramid Module for Fast Robotic Grasping Detection	13445
End-To-End Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB	13452
Session WeAT8 : Vision and Perception: Grasping II
RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images	13459
Hybrid Vision/Force Control for Interaction with the Bottle-Like Object	13467
REGNet: REgion-Based Grasp Network for End-To-End Grasp Detection in Point Clouds	13474
Visual Servoing of a Cable-Driven Soft Robot Manipulator with Shape Feature	13481
Session ThJT2 : Vision and Perception: Identification and Prediction
Efficient Real-Time Inference in Temporal Convolution Networks	13489
F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning	13496
Deformable Linear Object Prediction Using Locally Linear Latent Dynamics	13503
Visual-Inertial Filtering for Human Walking Quantification	13510
Session ThET9 : Vision and Perception: Image Segmentation I
CABiNet: Efficient Context Aggregation Network for Low-Latency Semantic Segmentation	13517
Efficient RGB-D Semantic Segmentation for Indoor Scene Analysis	13525
Plane Segmentation in Organized Point Clouds Using Flood Fill	13532
Semantic Feature Mining for 3D Object Classification and Segmentation	13539
Session WeAT1 : Vision and Perception: Image Segmentation II
Discriminative Asymmetric Learning for Efficient Surgical Instrument Parsing	13546
One to Many: Adaptive Instrument Segmentation Via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Video	13553
Target-Targeted Domain Adaptation for Unsupervised Semantic Segmentation	13560
Point Cloud Segmentation Via Edge-Fused Local Graph Learning	13567
Session ThFT9 : Vision and Perception: Image Segmentation III
PlaneSegNet: Fast and Robust Plane Estimation Using a Single-Stage Instance Segmentation CNN	13574
Fast Object Segmentation Learning with Kernel-Based Methods for Robotics	13581
Diffuser: Multi-View 2D-to-3D Label Diffusion for Semantic Scene Segmentation	13589
A Benchmark for LiDAR-Based Panoptic Segmentation Based on KITTI	13596
Session ThKT2 : Vision and Perception: Learning
Object-Centric Video Prediction without Annotation	13604
Generalization in Reinforcement Learning by Soft Data Augmentation	13611
Test-Time Training for Deformable Multi-Scale Image Registration	13618
Multi-GAT: A Graphical Attention-Based Hierarchical Multimodal Representation Learning Approach for Human Activity Recognition	13626
Session ThAT2 : Vision and Perception: Measurement
Learning a Geometric Representation for Data-Efficient Depth Estimation Via Gradient Field and Contrastive Loss	13634
Stereo-Augmented Depth Completion from a Single RGB-LiDAR Image	13641
Identifying Reflected Images from Object Detector in Indoor Environment Utilizing Depth Information	13648
PENet: Towards Precise and Efficient Image Guided Depth Completion	13656
Session ThHT3 : Vision and Perception: Modeling
Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models	13663
ScrewNet: Category-Independent Articulation Model Estimation from Depth Images Using Screw Theory	13670
Visual Perspective Taking for Opponent Behavior Modeling	13678
Learning Tactile Models for Factor Graph-Based Estimation	13686
Session ThIT3 : Vision and Perception: Multi-Agents
Congestion-Aware Multi-Agent Trajectory Prediction for Collision Avoidance	13693
3D Multi-Object Tracking Using Random Finite Set-Based Multiple Measurement Models Filtering (RFS-M^3) for Autonomous Vehicles	13701
Joint Object Detection and Multi-Object Tracking with Graph Neural Networks	13708
Droidlet: Modular, Heterogenous, Multi-Modal Agents	13716
Yuxuan; Drew, Ryan; Elkafrawy, Sara; Tiwari, Anoushka; Hart, Tucker; Williamson, Mary;
Gupta, Abhinav; Szlam, Arthur
Session ThBT1 : Vision and Perception: Navigation and Autonomous Driving
Robust Navigation for Racing Drones based on Imitation Learning and Modularization	13724
Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation	13731
Cross-Modal Contrastive Learning of Representations for Navigation Using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions	13738
Task-Driven Deep Image Enhancement Network for Autonomous Driving in Bad Weather	13746
Session ThDT1 : Vision and Perception: Navigation I
VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms	13754
Embodied Visual Navigation with Automatic Curriculum Learning in Real Environments	13761
An Event-based Vision Dataset for Visual Navigation Tasks in Agricultural Environments	13769
Visual Navigation in Real-World Indoor Environments Using End-To-End Deep Reinforcement Learning	13776
Session WeBT1 : Vision and Perception: Navigation II
A Real-Time Multi-Task Framework for Guidewire Segmentation and Endpoint Localization in Endovascular Interventions	13784
Towards Adjoint Sensing and Acting Schemes and Interleaving Task Planning for Robust Robot Plan	13791
Autonomous Multi-View Navigation Via Deep Reinforcement Learning	13798
Towards Multi-Modal Perception-Based Navigation: A Deep Reinforcement Learning Method	13805
Session ThJT3 : Vision and Perception: Optimization I
VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough	13813
ROBIN: A Graph-Theoretic Approach to Reject Outliers in Robust Estimation Using Invariants	13820
CLIPPER: A Graph-Theoretic Framework for Robust Data Association	13828
Monitoring Fatigue-Induced Changes in Performance During Robot-Mediated Dynamic Movement	13835
Session ThET1 : Vision and Perception: Optimization II
Optimizing Keypoint-Based Single-Shot Camera-To-Robot Pose Estimation through Shape Segmentation	13843
Handling Object Symmetries in CNN-Based Pose Estimation	13850
Efficient and Robust Orientation Estimation of Strawberries for Fruit Picking Applications	13857
Probabilistic Terrain Estimation for Autonomous Off-Road Driving	13864
Session ThKT3 : Vision and Perception: Point Cloud
Evaluating Initialization Methods for Discriminative and Fast-Converging HGMM Point Clouds	13871
Navigable Space Construction from Sparse Noisy Point Clouds	13877
Point Set Voting for Partial Point Cloud Analysis	13885
LRGNet: Learnable Region Growing for Class-Agnostic Point Cloud Segmentation	13893
Session ThFT1 : Vision and Perception: Pose Estimation
AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild	13901
PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift	13909
Investigations on Output Parameterizations of Neural Networks for Single Shot 6D Object Pose Estimation	13916
L6DNet: Light 6 DoF Network for Robust and Precise Object Pose Estimation with Small Datasets	13923
Session ThHT4 : Vision and Perception: Prediction
Double-Prong ConvLSTM for Spatiotemporal Occupancy Prediction in Dynamic Environments	13931
Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast	13938
LaserFlow: Efficient and Probabilistic Object Detection and Motion Forecasting	13945
Efficient Map Prediction Via Low-Rank Matrix Completion	13953
Session ThDT2 : Vision and Perception: Rendering
Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss	13960
Multi-View Object Pose Refinement with Differentiable Renderer	13967
Efficient Haptic Rendering of Regolith	13975
Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints	13982
Session ThBT2 : Vision and Perception: Segmentation I
PointMoSeg: Sparse Tensor-Based End-To-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving	13989
Referring Image Segmentation Via Language-Driven Attention	13997
GPU-Efficient Dense Convolutional Network for Real-Time Semantic Segmentation	14004
Feature Enhanced Projection Network for Zero-Shot Semantic Segmentation	14011
Session ThAT4 : Vision and Perception: Segmentation II
A Large-Scale Dataset for Benchmarking Elevator Button Segmentation and Character Recognition	14018
Neighborhood Spatial Aggregation Based Efficient Uncertainty Estimation for Point Cloud Semantic Segmentation	14025
A Two-Stage Unsupervised Approach for Low Light Image Enhancement	14032
S3Net: 3D LiDAR Sparse Semantic Segmentation Network	14040
Session ThIT4 : Vision and Perception: Self-Supervised Learning
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation	14047
A Self-Supervised Near-To-Far Approach for Terrain-Adaptive Off-Road Autonomous Driving	14054
A Self-Supervised Learning System for Object Detection in Videos Using Random Walks on Graphs	14061
Adversarial Differentiable Data Augmentation for Autonomous Systems	14069
Session ThBT4 : Vision and Perception: Sensing
A Tactile Sensing Foot for Single Robot Leg Stabilization	14076
High-Resolution 3-Dimensional Contact Deformation Tracking for FingerVision Sensor with Dense Random Color Pattern	14083
Looking Farther in Parametric Scene Parsing with Ground and Aerial Imagery	14091
Fast Motion Understanding with Spatiotemporal Neural Networks and Dynamic Vision Sensors	14098
Session ThJT4 : Vision and Perception: Sensor Fusion
Fingertip Pulse-Echo Ultrasound and Optoacoustic Dual-Modal and Dual Sensing Mechanisms Near-Distance Sensor for Ranging and Material Sensing in Robotic Grasping	14105
Development of a Perception System for an Autonomous Surface Vehicle Using Monocular Camera, LIDAR, and Marine RADAR	14112
Detecting and Mapping Trees in Unstructured Environments with a Stereo Camera and Pseudo-Lidar	14120
Linear Inverse Problem for Depth Completion with RGB Image and Sparse LIDAR Fusion	14127
Session ThKT4 : Vision and Perception: Stastistical Method
Out-Of-Distribution Robustness with Deep Recursive Filters	14134
ZePHyR: Zero-Shot Pose Hypothesis Rating	14141
CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy	14149
A Successive-Elimination Approach to Adaptive Robotic Source Seeking	14157
Session ThET2 : Vision and Perception: Tracking I
Tracking 6-DoF Object Motion from Events and Frames	14171
Visual Tracking of Deforming Objects Using Physics-Based Models	14178
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping	14185
TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction	14192
Session WeCT12 : Vision and Perception: Tracking II
Tracking Partially-Occluded Deformable Objects While Enforcing Geometric Constraints	14199
Online Recommendation-Based Convolutional Features for Scale-Aware Visual Tracking	14206
Exploiting Probabilistic Siamese Visual Tracking with a Conditional Variational Autoencoder	14213
Toward Intraoperative Endomicroscopy with a GPU-Accelerated Deformable Video Mosaicking Algorithm	14220
Session ThAT3 : Vision and Perception: Trajectory Prediction and Tracking
Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving	14227
AVGCN: Trajectory Prediction Using Graph Convolutional Networks Guided by Human Attention	14234
Attentional-GCNN: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases	14241
Spatial Graph Regularized Multi-Kernel Subtask Cross-Correlation Tracker	14248
Session ThHT5 : Vision-Based Control
Constrained Image-Based Visual Servoing Using Barrier Functions	14254
Deep Learning-Based Photoacoustic Visual Servoing: Using Outputs from Raw Sensor Data As Inputs to a Robot Controller	14261
Uncertainty Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots	14268
Analyzing Neural Jacobian Methods in Applications of Visual Servoing and Kinematic Control	14276
Session ThIT5 : Vision-Based Manipulation
Reward Machines for Vision-Based Robotic Manipulation	14284
What Can I Do Here? Learning New Skills by Imagining Visual Affordances	14291
Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input	14298
Simulation of Vision-Based Tactile Sensors Using Physics Based Rendering	14306
Session ThFT2 : Visual and Haptic PerceptionMulti-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A
Preliminary Comparison of Visual, Haptic, and Visuo-Haptic	14313
Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback	14322
A General Visual-Impedance Framework for Effectively Combining Vision and Force Sensing in Feature Space	14330
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements	14338
Session ThDT3 : Visual Learning
Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat	14346
MS-RANAS: Multi-Scale Resource-Aware Neural Architecture Search	14353
Vision-Based Mobile Robotics Obstacle Avoidance with Deep Reinforcement Learning	14360
A Probabilistic Next Best View Planner for Depth Cameras Based on Deep Learning	14367
Session WeCT16 : Visual Odometry
ENCODE: A dEep poiNt Cloud ODometry NEtwork	14375
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth	14382
Lifelong Localization in Semi-Dynamic Environment	14389
Deep Online Correction for Monocular Visual Odometry	14396
Direct Sparse Stereo Visual-Inertial Global Odometry	14403
Session ThBT3 : Visual Odometry for Localization
Learning Optical Flow with R-CNN for Visual Odometry	14410
A Normal Distribution Transform-Based Radar Odometry Designed for Scanning and Automotive Radars	14417
Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark	14424
An Equivariant Filter for Visual Inertial Odometry	14432
Session ThET3 : Visual Servoing
Subsequent Keyframe Generation for Visual Servoing	14439
Defocus-based Direct Visual Servoing	14446
Siame-Se(3): Regression in Se(3) for End-To-End Visual Servoing	14454
Human-Piloted Drone Racing: Visual Processing and Control	14461
Session ThAT5 : Visual-Inertial Localization
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation	14469
Run Your Visual-Inertial Odometry on NVIDIA Jetson: Benchmark Tests on a Micro Aerial Vehicle	14476
LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry	14484
Control of a Flexible Continuum Manipulator for Laser Beam Steering	14491
Session ThJT5 : Wearable RobotsMacro-Mini Actuation of Pneumatic Pouches for Soft Wearable Haptic Displays	14499
Sensing and Control of a Multi-Joint Soft Wearable Robot for Upper-Limb Assistance and Rehabilitation	14506
Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers	14515
Artificial Neural Networks to Solve Forward Kinematics of a Wearable Parallel Robot with Semi-Rigid Links	14524