IROS2022-paper-list

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Award Session I

SpeedFolding: Learning Efficient Bimanual Folding of Garments
FAR Planner: Fast, Attemptable Route Planner Using Dynamic Visibility Update
Learning-Based Localizability Estimation for Robust LiDAR Localization
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
RCareWorld: A Human-Centric Simulation World for Caregiving Robots
Design and Modeling of a Spring-Like Continuum Joint with Variable Pitch for Endoluminal Surgery

Learning 1

CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
Bio-Inspired Reflex System for Learning Visual Information for Resilient Robotic Manipulation
RECALL: Rehearsal-Free Continual Learning for Object Classification
PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis
LaneSNNs: Spiking Neural Networks for Lane Detection on the Loihi Neuromorphic Processor
Striving for Less: Minimally-Supervised Pseudo-Label Generation for Monocular Road Segmentation
Learning Sequential Descriptors for Sequence-Based Visual Place Recognition
DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments
Deep Koopman Operator with Control for Nonlinear Systems

Service Robotics

An Autonomous Descending-Stair Cleaning Robot with RGB-D Based Detection, Approaching, and Area Coverage Process
Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations
Service Robots in a Bakery Shop: A Field Study
Shared Autonomy for Safety between a Self-Reconfigurable Robot and a Teleoperator Using Multi-Layer Fuzzy Logic
Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics
Design of a Reconfigurable Robot with Size-Adaptive Path Planner
Testing Service Robots in the Field: An Experience Report
Approximate Task Tree Retrieval in a Knowledge Network for Robotic Cooking
Robotic Depowdering for Additive Manufacturing Via Pose Tracking

Manipulation Systems 1

A Hierarchical Framework for Long Horizon Planning of Object-Contact Trajectories
Constraint-Based Task Specification and Trajectory Optimization for Sequential Manipulation
Quasistatic Contact-Rich Manipulation Via Linear Complementarity Quadratic Programming
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation
Learning and Generalizing Cooperative Manipulation Skills Using Parametric Dynamic Movement Primitives (I)
A Solution to Slosh-Free Robot Trajectory Optimization
Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback (I)
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research

Computer Vision for Transportation

Multi-Sensor Data Annotation Using Sequence-Based Active Learning
3D Single-Object Tracking with Spatial-Temporal Data Association
Instance-Aware Multi-Object Self-Supervision for Monocular Depth Prediction
TransDARC: Transformer-Based Driver Activity Recognition with Latent Space Feature Calibration
Attention-Based Deep Driving Model for Autonomous Vehicles with Surround-View Cameras
Towards Safety-Aware Pedestrian Detection in Autonomous Systems
Self-Supervised Moving Vehicle Detection from Audio-Visual Cues
Multi-Source Domain Alignment for Robust Segmentation in Unknown Targets
Depth360: Self-Supervised Learning for Monocular Depth Estimation Using Learnable Camera Distortion Model

Aerial Systems 1

Real-Time Hybrid Mapping of Populated Indoor Scenes Using a Low-Cost Monocular UAV
GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D
An Aerial Parallel Manipulator with Shared Compliance
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
Side-Pull Maneuver: A Novel Control Strategy for Dragging a Cable-Tethered Load of Unknown Weight Using a UAV
On-Board Physical Battery Replacement System and Procedure for Drones During Flight
Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer
Vision-Based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and Their Collective-Search Behavior

Medical Robots and Systems 1

Automatic Laser Steering for Middle Ear Surgery
Virtual Reality Simulator for Fetoscopic Spina Bifida Repair Surgery
A Pneumatic MR-Conditional Guidewire Delivery Mechanism with Decoupled Rotary Linear Actuation for Endovascular Intervention
Design and Evaluation of the Infant Cardiac Robotic Surgical System (iCROSS)
A Robotic System for Solo Surgery in Flexible Ureterorenoscopy
Light in the Larynx: A Miniaturized Robotic Optical Fiber for In-Office Laser Surgery of the Vocal Folds
A 5-DOFs Robot for Posterior Segment Eye Microsurgery

Mechanism Design 1

DRPD, Compact Dual Reduction Ratio Planetary Drive for Actuators of Articulated Robots
Single-Rod Brachiation Robot
A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots
Wirelessly Magnetically Actuated Robotic Implant for Tissue Regeneration
Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism
Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots
A Modified Rocker-Bogie Mechanism with Fewer Actuators and High Mobility
Planar Multi-Closed-Loop Hyper-Redundant Manipulator Using Extendable Tape Springs: Design, Modeling, and Experiments
Autonomous State-Based Flipper Control for Articulated Tracked Robots in Urban Environments

Object Detection, Segmentation and Categorization 1

Ensemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments
FocusTR: Focusing on Valuable Feature by Multiple Transformers for Fusing Feature Pyramid on Object Detection
DeepShapeKit: Accurate 4D Shape Reconstruction of Swimming Fish
E2Pose: Fully Convolutional Networks for End-To-End Multi-Person Pose Estimation
Fast Detection of Moving Traffic Participants in LiDAR Point Clouds by Using Particles Augmented with Free Space Information
RPG: Learning Recursive Point Cloud Generation
Fully Convolutional Transformer with Local–Global Attention
DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars
CVFNet: Real-Time 3D Object Detection by Learning Cross View Features

Haptics

Reduced Interface Models for Haptic Interfacing with Virtual Environments
A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures
A Large-Area Wearable Soft Haptic Device Using Stacked Pneumatic Pouch Actuation
EMG-Based Feedback Modulation for Increased Transparency in Teleoperation
Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation
Sensorimotor Control Sharing with Vibrotactile Feedback for Body Integration through Avatar Robot
Perception of Mechanical Properties Via Wrist Haptics: Effects of Feedback Congruence
Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality
Feeling the Pressure: The Influence of Vibrotactile Patterns on Feedback Perception

Human Factors and Human-In-The-Loop

SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-In-The-Loop
To Ask for Help or Not to Ask: A Predictive Approach to Human-In-The-Loop Motion Planning for Robot Manipulation Tasks
You Are in My Way: Non-Verbal Social Cues for Legible Robot Navigation Behaviors
Robot Trajectory Adaptation to Optimise the Trade-Off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
EMG-Based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging
Modeling Human Response to Robot Errors for Timely Error Detection
Effects of Multiple Avatar Images Presented Consecutively with Temporal Delays on Self-Body Recognition
Interactive Reinforcement Learning with Bayesian Fusion of Multimodal Advice
A Camera-Based Deep-Learning Solution for Visual Attention Zone Recognition in Maritime Navigational Operations

Visual Learning

Spatiotemporally Enhanced Photometric Loss for Self-Supervised Monocular Depth Estimation
J-RR: Joint Monocular Depth Estimation and Semantic Edge Detection Exploiting Reciprocal Relations
Towards Two-View 6D Object Pose Estimation: A Comparative Study on Fusion Strategy
Maximizing Self-Supervision from Thermal Image for Effective Self-Supervised Learning of Depth and Ego-Motion
Domain Invariant Siamese Attention Mask for Small Object Change Detection Via Everyday Indoor Robot Navigation
Investigation of Factorized Optical Flows As Mid-Level Representations
Augment-Connect-Explore: A Paradigm for Visual Action Planning with Data Scarcity
Learning 6-DoF Task-Oriented Grasp Detection Via Implicit Estimation and Visual Affordance
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering

Mapping 1

Multi-Agent Relative Pose Estimation with UWB and Constrained Communications
Ranging-Aided Ground Robot Navigation Using UWB Nodes at Unknown Locations
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
360ST-Mapping: An Online Semantics-Guided Topological Mapping Module for Omnidirectional Visual SLAM
Online Distance Field Priors for Gaussian Process Implicit Surfaces
An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions
PlaneSDF-Based Change Detection for Long-Term Dense Mapping
Efficient 2D LIDAR Based Map Updating for Long Term Operations in Dynamic Environments
Monocular UAV Localisation with Deep Learning and Uncertainty Propagation

Human-Centered Robotics 1

Task Decoupling in Preference-Based Reinforcement Learning for Personalized Human-Robot Interaction
Holo-SpoK: Affordance-Aware Augmented Reality Control of Legged Manipulators
Keeping Humans in the Loop: Teaching Via Feedback in Continuous Action Space Environments
An Adaptive, Affordable, Humanlike Arm Hand System for Deaf and Deaf Blind Communication with the American Sign Language
Examining Distance in UAV Gesture Perception
GA-STT: Human Trajectory Prediction with Group Aware Spatial-Temporal Transformer
Evaluating Human-Like Explanations for Robot Actions in Reinforcement Learning Scenarios
A Modular and Portable Black Box Recorder for Increased Transparency of Autonomous Service Robots

Localization 1

LiDAR-Aided Visual-Inertial Localization with Semantic Maps
Robust Onboard Localization in Changing Environments Exploiting Text Spotting
Fast Scan Context Matching for Omnidirectional 3D Scan
Probabilistic Object Maps for Long-Term Robot Localization
Level Set-Based Camera Pose Estimation from Multiple 2D/3D Ellipse-Ellipsoid Correspondences
Optimal Localizability Criterion for Positioning with Distance-Deteriorated Relative Measurements
Improving Worst Case Visual Localization Coverage Via Place-Specific Sub-Selection in Multi-Camera Systems
Hybrid Interval-Probabilistic Localization in Building Maps
Online Target Localization Using Adaptive Belief Propagation in the HMM Framework

Representation Learning

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
DreamingV2: Reinforcement Learning with Discrete World Models without Reconstruction
Playful Interactions for Representation Learning
COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems
Explainable Knowledge Graph Embedding: Inference Reconciliation for Knowledge Inferences Supporting Robot Actions
Neural Scene Representation for Locomotion on Structured Terrain
MO-Transformer: A Transformer-Based Multi-Object Point Cloud Reconstruction Network
Self-Supervised Feature Learning from Partial Point Clouds Via Pose Disentanglement
Efficiently Learning Manipulations by Selecting Structured Skill Representations

Automation and Robotics at Micro-Nano Scales

Hierarchical Learning and Control for In-Hand Micromanipulation Using Multiple Laser-Driven Micro-Tools
A Micro-Robotic Approach for the Correction of Angular Deviations in AFM Samples from Generic Topographic Data
Modeling and Characterization of Artificial Bacteria Flagella with Micro-Structured Soft-Magnetic Teeth
Deep Learning-Based 3D Magnetic Microrobot Tracking Using 2D MR Images
A PZT-Driven 6-DOF High-Speed Micromanipulator for Circular Vibration Simulation and Whirling Flow Generation
Real-Time Acoustic Holography with Physics-Based Deep Learning for Acoustic Robotic Manipulation
On-Chip Fabrication of Micro-Chain Robot with Selective Magnetization Using Magnetically Guided Arraying Microfluidic Devices
On-Chip Automatic Trapping and Rotating for Zebrafish Embryo Injection
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following (I)

Motion and Path Planning 1

Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes
Transfer Learning for Machine Learning-Based Detection and Separation of Entanglements in Bin-Picking Applications
Deep Reinforcement Learning Based on Local GNN for Goal-Conditioned Deformable Object Rearranging
Controlling the Cascade: Kinematic Planning for N-Ball Toss Juggling
Rearrangement-Based Manipulation Via Kinodynamic Planning and Dynamic Planning Horizons
Parallel Monte Carlo Tree Search with Batched Rigid-Body Simulations for Speeding up Long-Horizon Episodic Robot Planning
Adapting Rapid Motor Adaptation for Bipedal Robots
Three-Dimensional Dynamic Running with a Point-Foot Biped Based on Differentially Flat SLIP
A Passive Control Framework for a Bilateral Leader-Follower Robotic Surgical Setup Imposing RCM and Active Constraints

Biologically-Inspired Robots 1

The Flatworm-Like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion
In-Hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers
Embodying Rather Than Encoding: Undulation with Binary Input
A Creeping Snake-Like Robot with Partial Actuation
Design and Experiments of Snake Robots with Docking Function
Modeling and Control of a Lizard Inspired Single Actuated Robot
Optimal Path Following Control with Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions
A Distributed Coach-Based Reinforcement Learning Controller for Snake Robot Locomotion
Bio-Inspired 2D Vertical Climbing with a Novel Tripedal Robot

Formal Methods in Robotics and Automation

Event-Based Signal Temporal Logic Tasks: Execution and Feedback in Complex Environments
Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints
Classification of Time-Series Data Using Boosted Decision Trees
Robustness-Based Synthesis for Stochastic Systems under Signal Temporal Logic Tasks
Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators
Fair Planning for Mobility-On-Demand with Temporal Logic Requests
Incremental Path Planning Algorithm Via Topological Mapping with Metric Gluing
UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation
Inference of Multi-Class STL Specifications for Multi-Label Human-Robot Encounters

SLAM 1

Making Parameterization and Constrains of Object Landmark Globally Consistent Via SPD(3) Manifold and Improved Cost Functions
ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment
NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
DRG-SLAM: A Semantic RGB-D SLAM Using Geometric Features for Indoor Dynamic Scene
Scale-Aware Direct Monocular Odometry
IMU Preintegration for 2D SLAM Problems Using Lie Groups
Scale Estimation with Dual Quadrics for Monocular Object SLAM

Grasping 1

Learn from Interaction: Learning to Pick Via Reinforcement Learning in Challenging Clutter
GE-Grasp: Efficient Target-Oriented Grasping in Dense Clutters
Simultaneous Object Reconstruction and Grasp Prediction Using a Camera-Centric Object Shell Representation
Visual Manipulation Relationship Detection Based on Gated Graph Neural Network for Robotic Grasping
Closed-Loop Next-Best-View Planning for Target-Driven Grasping
The DressGripper: A Collaborative Gripper with Electromagnetic Fingertips for Dressing Assistance
A New Gripper That Acts As an Active and Passive Joint to Facilitate Prehensile Grasping and Locomotion
Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed

Award Session II

Going in Blind: Object Motion Classification Using Distributed Tactile Sensing for Safe Reaching in Clutter
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Learning Visual Feedback Control for Dynamic Cloth Folding
PCBot: A Minimalist Robot Designed for Swarm Applications
Characterization of Real-Time Haptic Feedback from Multimodal Neural Network-Based Force Estimates During Teleoperation
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills Using a Quadrupedal Robot

Learning 2

Multi-Modal Legged Locomotion Framework with Automated Residual Reinforcement Learning
Learning to Climb: Constrained Contextual Bayesian Optimisation on a Multi-Modal Legged Robot
Class-Incremental Gesture Recognition Learning with Out-Of-Distribution Detection
PIMNet: Physics-Infused Neural Network for Human Motion Prediction
What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data
Learning Solution Manifolds for Control Problems Via Energy Minimization
First Do Not Fall: Learning to Exploit a Wall with a Damaged Humanoid Robot
Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion During Release
Embodied Active Domain Adaptation for Semantic Segmentation Via Informative Path Planning

Grasping 2

ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation
Multi-Finger Grasping Like Humans
Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects
F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping
EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-Fingered Robot Hands
BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies
On Robotic Manipulation of Flexible Flat Cables: Employing a Multi-Modal Gripper with Dexterous Tips, Active Nails, and a Reconfigurable Suction Cup Module
Automated Design of Embedded Constraints for Soft Hands Enabling New Grasp Strategies
Scalable Learned Geometric Feasibility for Cooperative Grasp and Motion Planning

Manipulation Systems 2

A Solution to Adaptive Mobile Manipulator Throwing
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
A Versatile Affordance Modeling Framework Using Screw Primitives to Increase Autonomy During Manipulation Contact Tasks
Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks
An Open-Source Motion Planning Framework for Mobile Manipulators Using Constraint-Based Task Space Control with Linear MPC
View Planning for Object Pose Estimation Using Point Clouds: An Active Robot Perception Approach
Planning to Build Block Structures with Unstable Intermediate States Using Two Manipulators (I)

Navigation Systems 1

RARA: Zero-Shot Sim2Real Visual Navigation with Following Foreground Cues
Navigation among Movable Obstacles with Object Localization Using Photorealistic Simulation
Navigating Underground Environments Using Simple Topological Representations
Teaching Agents How to Map: Spatial Reasoning for Multi-Object Navigation
NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces
Resilient Detection and Recovery of Autonomous Systems Operating under On-Board Controller Cyber Attacks
Benchmarking Augmentation Methods for Learning Robust Navigation Agents: The Winning Entry of the 2021 iGibson Challenge
Robotic Interestingness Via Human-Informed Few-Shot Object Detection
Map-Free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances

Aerial Systems 2

Rotor Array Synergies for Aerial Modular Reconfigurable Robots
Precise Position Control of a Multi-Rotor UAV with a Cable-Suspended Mechanism During Water Sampling
Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw
Unmanned Aircraft System-Based Radiological Mapping of Buildings
Towards Edible Drones for Rescue Missions: Design and Flight of Nutritional Wings
Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry
Enforcing Vision-Based Localization Using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles
Visual Loop Closure Detection for a Future Mars Science Helicopter
PencilNet: Zero-Shot Sim-To-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing

Medical Robots and Systems 2

Force-Guided Alignment and File Feedrate Control for Robot-Assisted Endodontic Treatment
A Training-Evaluation Method for Nursing Telerobot Operator with Unsupervised Trajectory Segmentation
Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot
Development of a Cable-Driven Growing Sling to Assist Patient Transfer
Development of an Inherently Safe Nasopharyngeal Swab Sampling Robot Using a Force Restriction Mechanism
On the Design of Integrated Tele-Monitoring/Operation System for Therapeutic Devices in Isolation Intensive Care Unit
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times ofCorona: System Design, Feasibility and Usability Study
Novel Supernumerary Robotic Limb Based on Variable Stiffness Actuators for Hemiplegic Patients Assistance

Mechanism Design 2

Plate Harmonic Reducer with a Profiled Groove Wave Generator
Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism with Arc Prismatic Pairs
Manipulator Equipped with Differential Wrist Mechanism to Combine the Torque of Two Motors to Increase Fingertip Force and Wrist Torque
Design of a Modular Continuum Robot with Alterable Compliance Using Tubular-Actuation
3D-Printable Low-Reduction Cycloidal Gearing for Robotics
Fold-Based Complex Joints for a 3 DoF 3R Parallel Robot Design
A 4-DoF Parallel Robot with a Built-In Gripper for Waste Sorting
Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion

Object Detection, Segmentation and Categorization 2

Real-Time IMU-Based Learning: A Classification of Contact Materials
New Objects on the Road? No Problem, We’ll Learn Them Too
Conditional Patch-Based Domain Randomization: Improving Texture Domain Randomization Using Natural Image Patches
CloudAttention: Efficient Multi-Scale Attention Scheme for 3D Point Cloud Learning
Fast Hierarchical Learning for Few-Shot Object Detection
Improving Single-View Mesh Reconstruction for Unseen Categories Via Primitive-Based Representation and Mesh Augmentation
Instance Segmentation with Cross-Modal Consistency
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems

Force and Tactile Sensing

Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning (I)
Mapping Mid-Air Haptics with a Low-Cost Tactile Robot
Autonomous Tactile Localization and Mapping of Objects Buried in Granular Materials
Tactile Gym 2.0: Sim-To-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch
Bioinspired, Multifunctional, Active Whisker Sensors for Tactile Sensing of Mobile Robots
Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear
Multi-Purpose Tactile Perception Based on Deep Learning in a New Tendon-Driven Optical Tactile Sensor

Human-Robot Collaboration

A Multi-Granularity Scene Segmentation Network for Human-Robot Collaboration Environment Perception
Controller Design of a Robotic Assistant for the Transport of Large and Fragile Objects
Safety-Based Dynamic Task Offloading for Human-Robot Collaboration Using Deep Reinforcement Learning
"I'm Confident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming
RILI: Robustly Influencing Latent Intent
Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality
Learning and Executing Re-Usable Behaviour Trees from Natural Language Instruction
ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration
VR Facial Animation for Immersive Telepresence Avatars

Visual Servoing

An Offline Geometric Model for Controlling the Shape of Elastic Linear Objects
Skeleton-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space
Conditional Visual Servoing for Multi-Step Tasks
Optimal Shape Servoing with Task-Focused Convergence Constraints
An Event-Triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-Based Areas Using Multirotor Aerial Vehicles
Vision-Based Rotational Control of an Agile Observation Satellite
DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing
Self-Supervised Wide Baseline Visual Servoing Via 3D Equivariance
Visibility Maximization Controller for Robotic Manipulation

Mapping 2

Multi-Camera-LiDAR Auto-Calibration by Joint Structure-From-Motion
GeoROS: Georeferenced Real-Time Orthophoto Stitching with Unmanned Aerial Vehicle
Learning to Complete Object Shapes for Object-Level Mapping in Dynamic Scenes
Robot-Aided Microbial Density Estimation and Mapping
Elevation Mapping for Locomotion and Navigation Using GPU
LODM: Large-Scale Online Dense Mapping for UAV
Roadside HD Map Object Reconstruction Using Monocular Camera
Adaptive-Resolution Field Mapping Using Gaussian Process Fusion with Integral Kernels
Make It Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

Human-Centered Robotics 2

Learning Causal Relationships of Object Properties and Affordances through Human Demonstrations and Self-Supervised Intervention for Purposeful Action in Transfer Environments
Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science
Prediction of Whole-Body Velocity and Direction from Local Leg Joint Movements in Insect Walking Via LSTM Neural Networks
Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling
Registering Articulated Objects with Human-In-The-Loop Corrections
Learning-Based Approach for a Soft Assistive Robotic Arm to Achieve Simultaneous Position and Force Control
Egocentric Human Trajectory Forecasting with a Wearable Camera and Multi-Modal Fusion
Social Attitude towards a Robot Is Promoted by Motor-Induced Embodiment Independently of Spatial Perspective
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together (I)

Sensor Fusion 1

Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation
Towards Autonomous Control of Surgical Instruments Using Adaptive-Fusion Tracking and Robot Self-Calibration
AFT-VO: Asynchronous Fusion Transformers for Multi-View Visual Odometry Estimation
A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes
HD-CCSOM: Hierarchical and Dense Collaborative Continuous Semantic Occupancy Mapping through Label Diffusion
Scalable and Modular Ultra-Wideband Aided Inertial Navigation
Optimal Multi-Robot Formations for Relative Pose Estimation Using Range Measurements
Monocular Event Visual Inertial Odometry Based on Event-Corner Using Sliding Windows Graph-Based Optimization
Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs

Reinforcement Learning 1

Safe Reinforcement Learning for Legged Locomotion
Safety Guided Policy Optimization
How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-Based Robotic Manipulation
A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
Learning Skills to Navigate without a Master: A Sequential Multi-Policy Reinforcement Learning Algorithm
Ordinal Inverse Reinforcement Learning Applied to Robot Learning with Small Data
Advanced Skills by Learning Locomotion and Local Navigation End-To-End
NavDreams: Towards Camera-Only RL Navigation among Humans
Impact Makes a Sound and Sound Makes an Impact: Sound Guides Representations and Explorations

Micro/Nano Robots

Origami Robot Self-Folding by Magnetic Induction
A Passive, Asymmetrically-Compliant Knee Joint Improves Obstacle Traversal in an Insect-Scale Legged Robot
Passive Compliant Foot Design for Improved Micororobotic Mobility on Rough Terrains
Torque-Actuated Multimodal Locomotion of Ferrofluid Robot with Environment and Task Adaptability
Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field
OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-Constrained IoT Devices
Insect-Scale SMAW-Based Soft Robot with Crawling, Jumping, and Loading Locomotion
Characterization of the Variable Stiffness Actuator Fabricated of SMA/SMP and MWCNT/IL: PDMS Strain-Sensitive Heater Electrode
Adaptive Autonomous Navigation of Multiple Optoelectronic Microrobots in Dynamic Environments

Motion Control

Beyond the Limit Automated Driving with Performance Constrained Reachability Analysis
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators
Planar Magnetic Actuation for Soft and Rigid Robots Using a Scalable Electromagnet Array
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
Set-Point Control for a Ground-Based Reconfigurable Robot
Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine
Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction
Co-Optimization of Acrobot Design and Controller for Increased Certifiable Stability
RoSA: A Mechatronically Synthesized Dataset for Rotodynamic System Anomaly Detection

Biologically-Inspired Robots 2

Toward Dexterous Flapping Flight: Effective Large Yaw Torque Generation by 2 × 2-Degrees-Of-Freedom Flapping Wings
End-To-End Design of Bespoke, Dexterous Snake-Like Surgical Robots: A Case Study with the RAVEN II (I)
Comparative Model Evaluation with a Symmetric Three-Link Swimming Robot
Development of a Stingray-Inspired High-Frequency Propulsion Platform with Variable Wavelength
Amoeba-Inspired Swimming through Isoperimetric Modulation of Body Shape
Compliant Thorax Design for Robustness and Elastic Energy Exchange in Flapping-Wing Robots
Event-Triggered Control of Robotic Fish with Reduced Communication Rate
Design and Testing of a Bioinspired Lightweight Perching Mechanism for Flapping-Wing MAVs Using Soft Grippers

Factory Automation and Logistics

Image Translation Based Synthetic Data Generation for Industrial Object Detection and Pose Estimation
Reconstructed Student-Teacher and Discriminative Networks for Anomaly Detection
Systematic Evaluation and Analysis on Hybrid Strategies of Automatic Agent Last Mile Delivery
Multi-Object Grasping -# Efficient Robotic Picking and Transferring Policy for Batch Picking
AssembleRL: Learning to Assemble Furniture from Their Point Clouds
FASTDLO: Fast Deformable Linear Objects Instance Segmentation
MS-Cubic: A Modularized Manufacturing System with Scalability, Portability and Parallelism
Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning

SLAM 2

DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment towards Accurate and Robust Loop Closure
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
Keyframe Selection with Information Occupancy Grid Model for Long-Term Data Association
PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders
Thermal Inertial SLAM for the Environments with Challenging Illumination
Are We Ready for Robust and Resilient SLAM? a Framework for Quantitative Characterization of SLAM Datasets
Robust Change Detection Based on Neural Descriptor Fields
LayoutSLAM: Object Layout Based Simultaneous Localization and Mapping for Reducing Object Map Distortion
SLAM-Supported Self-Training for 6D Object Pose Estimation

Localization 2

ROLL: Long-Term Robust LiDAR-Based Localization with Temporary Mapping in Changing Environments
Indirect Point Cloud Registration: Aligning Distance Fields Using a Pseudo Third Point Set
Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds in Outdoor Environment
P3-VINS: Tightly Coupled PPP/INS/Visual SLAM Based on Optimization Approach
Gaussian Variational Inference with Covariance Constraints Applied to Range-Only Localization
Point Cloud Registration Leveraging Structural Regularity in Manhattan World
Pose Refinement with Joint Optimization of Visual Points and Lines
Closed-Form Error Propagation on SEn(3) Group for Invariant EKF with Applications to VINS

Motion and Path Planning 2

Comprehensive Reactive Safety: No Need for a Trajectory If You Have a Strategy
Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots (I)
Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning Over Physically Simulated Terrains
Risk-Aware Off-Road Navigation Via a Learned Speed Distribution Map
Dynamic Replanning with Posterior Sampling
Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
Learning to Herd Amongst Obstacles from an Optimized Surrogate
Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation

Award Session III

1-Degree-Of-Freedom Robotic Gripper with Infinite Self-Twist Function
Aerial Grasping and the Velocity Sufficiency Region
Automated Design of Task Specific Additively Manufacturable Coupled Serial Chain Mechanisms for Tracing Predefined Planar Trajectories
Robot Learning to Paint from Demonstrations
The Wheelbot: A Jumping Reaction Wheel Unicycle
Robot Dance Generation with Music Based Trajectory Optimization

Award Session IV

Learning on the Job: Long-Term Behavioural Adaptation in Human-Robot Interactions
Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration
Intuitive & Efficient Human-Robot Collaboration Via Real-Time Approximate Bayesian Inference
Gesture2Vec: Clustering Gestures Using Representation Learning Methods for Co-Speech Gesture Generation
Robowflex: Robot Motion Planning with MoveIt Made Easy
Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Grasping 3

A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
Optimal Nonprehensile Interception Strategy for Objects in Flight
MasKGrasp: Mask-Based Grasping for Scenes with Multiple General Real-World Objects
Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs
Fixture-Aware DDQN for Generalized Environment-Enabled Grasping
Learning Push-Grasping in Dense Clutter
Grasping Strategy for Unknown Objects Based on Real-Time Grasp-Stability Evaluation Using Proximity Sensing
Resonant Pneumatic Tactile Sensing for Soft Grippers
A Mechanical Screwing Tool for 2-Finger Parallel Grippers -# Design, Optimization, and Manipulation Policies (I)

Manipulation Systems 3

Tactile-Guided Dynamic Object Planar Manipulation
3D Visual-Based Tension Control in Strip-Like Deformable Objects Using a Catenary Model
DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping
Sim2Real Instance-Level Style Transfer for 6D Pose Estimation
Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
All You Need Is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings
Voting and Attention-Based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds
Acoustic Balance: Weighing in Ultrasonic Non-Contact Manipulators
The Probabilistic Robot Kinematics Model and Its Application to Sensor Fusion

Navigation Systems 2

On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion
Spatio-Temporal Graph Localization Networks for Image-Based Navigation
Stubborn: A Strong Baseline for Indoor Object Navigation
VI-IKD: High-Speed Accurate Off-Road Navigation Using Learned Visual-Inertial Inverse Kinodynamics
H-VLO: Hybrid LiDAR-Camera Fusion for Self-Supervised Odometry
B-GAP: Behavior-Rich Simulation and Navigation for Autonomous Driving
Memory-Augmented Reinforcement Learning for Image-Goal Navigation
Exploring Event Camera-Based Odometry for Planetary Robots
GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments

Aerial Systems 3

Automated Aerial Screwing with a Fully Actuated Aerial Manipulator
Automatic Parameter Adaptation for Quadrotor Trajectory Planning
Efficient Sampling-Based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining
DIDO: Deep Inertial Quadrotor Dynamical Odometry
Folding Knots Using a Team of Aerial Robots
Hand-Crafted Features for Floating Plastic Detection
Reactive Motion Planning for Rope Manipulation and Collision Avoidance Using Aerial Robots
Autonomous Emergency Landing for Multicopters Using Deep Reinforcement Learning
GNGraph: Self-Organizing Maps for Autonomous Aerial Vehicle Planning

Medical Robots and Systems 3

Biocompatible Ferrofluid Robot with Photothermal Property for Targeted Tumor Therapy
Lumen Shape Reconstruction Using a Soft Robotic Balloon Catheter and Electrical Impedance Tomography
Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot
Robust Sim2Real Transfer with the Da Vinci Research Kit: A Study on Camera, Lighting, and Physics Domain Randomization
Simulation-Based Reinforcement Learning for Real-World Autonomous US Probe Navigation
PH Sensor-Embedded Magnetically Driven Capsule for H. Pylori Infection Diagnosis
Development of a Robotic Capsule for in Vivo Sampling of Gut Microbiota
Local One-Dimensional Motion Estimation Using FBG-Based Shape Sensing for Cardiac Applications
Sim-To-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning

Mechanism Design 3

Modular and Hybrid Numerical-Analytical Approach # a Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
Multi-Axis Reorientation of a Free-Falling Omnidirectional Wheeled Robot
Steady-State Manifold of Riderless Motorcycles
Foot-Operated Tele-Impedance Interface for Robot Manipulation Tasks in Interaction with Unpredictable Environments
Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions
Robust Cartesian Kinematics Estimation for Task-Space Control Systems
Unsupervised 3D Link Segmentation of Articulated Objects with a Mixture of Coherent Point Drift
A Robot Factors Approach to Designing Modular Hardware
BSA # Bi-Stiffness Actuation for Optimally Exploiting Intrinsic Compliance and Inertial Coupling Effects in Elastic Joint Robots

Object Detection, Segmentation and Categorization 3

Time-To-Label: Temporal Consistency for Self-Supervised Monocular 3D Object Detection
3D Multi-Object Tracking Using Graph Neural Networks with Cross-Edge Modality Attention
See Eye to Eye: A Lidar-Agnostic 3D Detection Framework for Unsupervised Multi-Target Domain Adaptation
MV6D: Multi-View 6D Pose Estimation on RGB-D Frames Using a Deep Point-Wise Voting Network
Deep Tri-Training for Semi-Supervised Image Segmentation
Child Engagement Estimation in Heterogeneous Child-Robot Interactions Using Spatiotemporal Visual Cues
TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans
One Object at a Time: Accurate and Robust Structure from Motion for Robots
2D vs. 3D LiDAR-Based Person Detection on Mobile Robots

Contact Modeling and Force/Tactile Sensing

Validating Robotics Simulators on Real-World Impacts
Velocity Level Approximation of Pressure Field Contact Patches
Visual Pressure Estimation and Control for Soft Robotic Grippers
Environmental Interaction with Continuum Robots Exploiting Impact
Tactile Pattern Super Resolution with Taxel-Based Sensors
Learning-Based Six-Axis Force/Torque Estimation Using GelStereo Fingertip Visuotactile Sensing
Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force
Modulo Cellulo: Modular Versatile Tangible Educational Robots
Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering

Physical Human-Robot Interaction

A Framework of Rehabilitation-Assisted Robot Skill Representation, Learning, and Modulation Via Manifold-Mappings and Gaussian Processes
Position-Based Treadmill Drive with Wire Traction for Experience of Level Ground Walking from Gait Acceleration State to Steady State
A Null-Space Based Approach for a Safe and Effective Human-Robot Collaboration
Fast and Comfortable Interactive Robot-To-Human Object Handover
MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant Exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
In-Hand Admittance Controller for a Robotic Assistive Walker Based on Tactile Grasping Feedback
Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control
Towards Safe Physical Human-Robot Interaction by Exploring the Rapid Stiffness Switching Feature of Discrete Variable Stiffness Actuation
Robustness of Interaction Parameters Identification Technique for Collaborative Robots

Visual Tracking

Learning Moving-Object Tracking with FMCW LiDAR
Self-Supervised Learning for Multiple Object Tracking in 3D Point Clouds
An Efficient and Accurate Solution to Camera Pose Estimation Problem from Point and Line Correspondences Based on Null Space Analysis
Improving 3D Markerless Pose Estimation of Animals in the Wild Using Low-Cost Cameras
DirectTracker: 3D Multi-Object Tracking Using Direct Image Alignment and Photometric Bundle Adjustment
Scene-Level Tracking and Reconstruction without Object Priors
Smart Visual Beacons with Asynchronous Optical Communications Using Event Cameras
Category-Independent Articulated Object Tracking with Factor Graphs
ECDT: Event Clustering for Simultaneous Feature Detection and Tracking

Mapping 3

Hierarchical Road Topology Learning for Urban Mapless Driving
S-MKI: Incremental Dense Semantic Occupancy Reconstruction through Multi-Entropy Kernel Inference
BEV-SLAM: Building a Globally-Consistent World Map Using Monocular Vision
Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms
OdomBeyondVision: An Indoor Multi-Modal Multi-Platform Odometry Dataset Beyond the Visible Spectrum
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
STheReO: Stereo Thermal Dataset for Research in Odometry and Mapping
VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset

Human-Centered Robotics 3

Affective Behavior Learning for Social Robot Haru with Implicit Evaluative Feedback
Efficient Hand Gesture Recognition for Human-Robot Interaction
Augmented Reality-Assisted Reconfiguration and Workspace Visualisation of Malleable Robots (I)
A Tool for Organizing Key Characteristics of Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Systems: Synthesizing VAM-HRI Trends and Takeaways (I)
Feasibility Study on Disentangling Muscle Movements in TMR Patients through a Myokinetic Control Interface for the Control of Artificial Hands
A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation
Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack
Learning an Interpretable Model for Driver Behavior Prediction with Inductive Biases

Sensor Fusion 2

Robust Real-Time LiDAR-Inertial Initialization
VAST: Visual and Spectral Terrain Classification in Unstructured Multi-Class Environments
EFGHNet: A Versatile Image-To-Point Cloud Registration Network for Extreme Outdoor Environment
Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement
Estimating Odometry Scale and UWB Anchor Location Based on Semidefinite Programming Optimization
Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning
Exploring mmWave Radar and Camera Fusion for High-Resolution and Long-Range Depth Imaging
FAST-LIVO: Fast and Tightly-Coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals

Reinforcement Learning 2

Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning
Learning Time-Optimized Path Tracking in Joint Space with or without Sensory Feedback
L2C2: Locally Lipschitz Continuous Constraint towards Stable and Smooth Reinforcement Learning
Learning Visual Robotic Control Efficiently with Contrastive Pre-Training and Data Augmentation
Analyzing and Overcoming Degradation in Warm-Start Reinforcement Learning
Online Model Learning for Shape Control of Deformable Linear Objects
PM-FSM: Policies Modulating Finite State Machine for Robust Quadrupedal Locomotion
SafeTAC: Safe Tsallis Actor-Critic Reinforcement Learning for Safer Exploration
Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space

Space Robotics and Automation

Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
Optimal and Risk-Aware Path Planning Considering Localization Uncertainty for Space Exploration Rovers
3D Human Pose Estimation in Weightless Environments Using a Fisheye Camera
A Sampling Based Approach to Robust Planning for a Planetary Lander
Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning
Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments
An Approach to Science and Risk-Aware Planetary Rover Exploration
Attracting Conductive Nonmagnetic Objects with Rotating Magnetic Dipole Fields
Active Traversability Learning Via Risk-Aware Information Gathering for Planetary Exploration Rovers

Model Learning for Control

Randomized-To-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation
Nonlinear Model Learning for Compensation and Feed-Forward Control of Real-World Hydraulic Actuators Using Gaussian Processes
Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning
T3VIP: Transformation-Based 3D Video Prediction
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features
TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics
Augmented Neural Network for Full Robot Kinematic Modelling in SE(3)
Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
Learning Non-Parametric Models in Real Time Via Online Generalized Product of Experts

Biologically-Inspired Robots 3

A Flexible Calibration Algorithm for High-Speed Bionic Vision System Based on Galvanometer
Design and Control of a Multi-Modal Soft Gripper Inspired by Elephant Fingers
Design Optimization of an Ultrafast-Striking Mantis Shrimp Microrobot
Imitation Behavior of the Outer Edge of the Foot by Humanoids Using a Simplified Contact State Representation
Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-Scale Robots
Tactile Perception for Growing Robots Via Discrete Curvature Measurements
Bioinspired Antagonist–agonist Artificial Muscles for Humanoid Eyeball Motions
The Relationship between Incremental Changes in Orientation and Slip Speed Estimation Using the Fingerprint Effect
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping

Failure Detection and Recovery

Model-Free Unsupervised Anomaly Detection of a General Robotic System Using a Stacked LSTM and Its Application to a Fixed-Wing Unmanned Aerial Vehicle
Meta-Active Learning in Probabilistically Safe Optimization
Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks
Design, Modeling and Control for a Tilt-Rotor VTOL UAV in the Presence of Actuator Failure
Transmissibility-Based DAgger for Fault Classification in Connected Autonomous Vehicles
Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots under Adverse Conditions
RoBiGAN: A Bidirectional Wasserstein GAN Approach for Online Robot Fault Diagnosis Via Internal Anomaly Detection
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Why Did I Fail? a Causal-Based Method to Find Explanations for Robot Failures

SLAM 3

Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-Object Scenes
Probabilistic Data Association for Semantic SLAM at Scale
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration (I)
OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
CFP-SLAM: A Real-Time Visual SLAM Based on Coarse-To-Fine Probability in Dynamic Environments
Object-Plane Co-Represented and Graph Propagation-Based Semantic Descriptor for Relocalization
Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-Of-View Cameras with Negative Plane

Localization 3

SO-PFH: Semantic Object-Based Point Feature Histogram for Global Localization in Parking Lot
Tether-Based Localization for Cooperative Ground and Aerial Vehicles
Tightly-Coupled Visual-Inertial-Pressure Fusion Using Forward and Backward IMU Preintegration
A 2D Georeferenced Map Aided Visual-Inertial System for Precise UAV Localization
Global Data Association for SLAM with 3D Grassmannian Manifold Objects
Confidence-Rich Localization and Mapping Based on Particle Filter for Robotic Exploration

Motion and Path Planning 3

Homology-Class Guided Rapidly-Exploring Random Tree for Belief Space Planning
Improving the Efficiency of Sampling-Based Motion Planners Via Runtime Predictions for Motion-Planning Problems with Dynamics
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning
Making Robotics Swarm Flow More Smoothly: A Regular Virtual Tube Model
Image-Goal Navigation in Complex Environments Via Modular Learning
Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space
Multi-Objective Safe-Interval Path Planning with Dynamic Obstacles
Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning
Optimal Time Trajectory Generation and Tracking Control for Over-Actuated Multirotors with Large-Angle Maneuvering Capability

Award Session V

Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents
Risk-Aware Motion Planning for Collision-Tolerant Aerial Robots Subject to Localization Uncertainty
A Planning-And-Control Framework for Aerial Manipulation of Articulated Objects
Safe Drone Flight with Time-Varying Backup Controllers
Mobile Manipulation Leveraging Multiple Views

Award Session VI

Safety-Critical Manipulation for Collision-Free Food Preparation
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry
Soft Tissue Characterisation Using a Novel Robotic Medical Percussion Device with Acoustic Analysis and Neural Networks
Multi-Directional Bicycle Robot for Bridge Inspection with Steel Defect Detection System
Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion

Grasping 4

Enabling Massage Actions: An Interactive Parallel Robot with Compliant Joints
Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis
A Novel Human-Safe Robotic Gripper: An Application of a Programmable Permanent Magnet Actuator
The Good Grasp, the Bad Grasp, and the Plateau in Tactile Based Grasp Stability Prediction
Extrinsic Dexterous Manipulation with a Direct-Drive Hand: A Case Study
GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper with Tactile Sensing
Single-Fingered Reconfigurable Robotic Gripper with a Folding Mechanism for Narrow Working Spaces
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
Elongatable Gripper Fingers with Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation (I)

Manipulation Systems 4

Challenges and Outlook in Robotic Manipulation of Deformable Objects (I)
Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens (I)
6D Robotic Assembly Based on RGB-Only Object Pose Estimation
Context and Intention Aware 3D Human Body Motion Prediction Using an Attention Deep Learning Model in Handover Tasks
Learning a State Estimator for Tactile In-Hand Manipulation
A Two-Stage Learning Architecture That Generates High-Quality Grasps for a Multi-Fingered Hand
Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks
Scene Editing As Teleoperation: A Case Study in 6DoF Kit Assembly
On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection

Navigation Systems 3

A Unified MPC Design Approach for AGV Path Following
GPU-Parallelized Iterative LQR with Input Constraints for Fast Collision Avoidance of Autonomous Vehicles
RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving
Sem-Aug: Improving Camera-LiDAR Feature Fusion with Semantic Augmentation for 3D Vehicle Detection
P2EG: Prediction and Planning Integrated Robust Decision-Making for Automated Vehicle Negotiating in Narrow Lane with Explorative Game
Visual Mapping and Localization System Based on Compact Instance-Level Road Markings with Spatial Uncertainty
Motion Planning for HyTAQs: A Topology-Guided Unified NMPC Approach
SEAN 2.0: Formalizing and Generating Social Situations for Robot Navigation

SLAM 4

Group-K Consistent Measurement Set Maximization for Robust Outlier Detection
Floorplan-Aware Camera Poses Refinement
MOTSLAM: MOT-Assisted Monocular Dynamic SLAM Using Single-View Depth Estimation
Gravity-Constrained Point Cloud Registration
When Geometry Is Not Enough: Using Reflector Markers in Lidar SLAM
LOCUS 2.0: Robust and Computationally Efficient LiDAR Odometry for Real-Time 3D Mapping
The Hilti SLAM Challenge Dataset
Photometric Single-View Dense 3D Reconstruction in Endoscopy
Continuous-Time Stereo-Inertial Odometry

Virtual Reality and Interfaces

Immersive View and Interface Design for Teleoperated Aerial Manipulation
WFH-VR: Teleoperating a Robot Arm to Set a Dining Table across the Globe Via Virtual Reality
A Deep Learning Technique As a Sensor Fusion for Enhancing the Position in a Virtual Reality Micro-Environment
A Wearable Multi-Joint Wrist Contour Measuring Device for Hand Shape Recognition
A Torque Controlled Approach for Virtual Remote Centre of Motion Implementation
Semi-Automatic Infrared Calibration for Augmented Reality Systems in Surgery
Detecting Touch and Grasp Gestures Using a Wrist-Worn Optical and Inertial Sensing Network
Towards Reproducible Evaluations for Flying Drone Controllers in Virtual Environments
Learning with Yourself: A Tangible Twin Robot System to Promote STEM Education

Tendon Driven Mechanisms

Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag
End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy
Data-Driven Kinematic Control Scheme for Cable-Driven Parallel Robots Allowing Collisions
Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots
RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping
Workspace-Based Model Predictive Control for Cable-Driven Robots (I)
Dexterity Analysis and Motion Optimization of In-Situ Torsionally-Steerable Flexible Surgical Robots

Planning under Uncertainty

Meta-Learning-Based Proactive Online Planning for UAVs under Degraded Conditions
Path-Tree Optimization in Discrete Partially Observable Environments Using Rapidly-Exploring Belief-Space Graphs
Object-Aware SLAM Based on Efficient Quadric Initialization and Joint Data Association
Accelerated Reinforcement Learning for Temporal Logic Control Objectives
Smooth Model Predictive Path Integral Control without Smoothing
Monte-Carlo Robot Path Planning
Qualitative Belief Space Planning Via Compositions
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
Generalizable Task Planning through Representation Pretraining

Robot Safety

An Analytical Study of Motion of Autonomous Vehicles under Imperfect Sensing
Adhesion Risk Assessment of an Aircraft Inspection Robot for Improving Operator Awareness
How Do We Fail? Stress Testing Perception in Autonomous Vehicles
HiddenGems: Efficient Safety Boundary Detection with Active Learning
Enpheeph: A Fault Injection Framework for Spiking and Compressed Deep Neural Networks
Continuous Safety Control of a Mobile Robot in Cluttered Environments
Dependability Analysis of Deep Reinforcement Learning Based Robotics and Autonomous Systems through Probabilistic Model Checking
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Semi-Perspective Decoupled Heatmaps for 3D Robot Pose Estimation from Depth Maps
Human and Humanoid Motion Analysis and Synthesis
Understanding Spatio-Temporal Relations in Human-Object Interaction Using Pyramid Graph Convolutional Network
Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-Like Walking in a Bipedal Robot
A Riemannian Take on Human Motion Analysis and Retargeting
Human-To-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
End-To-End from Human Hand Synergies to Robot Hand Tendon Routing
A Centaur System for Assisting Human Walking with Load Carriage
Construction of a Simulator to Reproduce the Changes of Running by Motion Strategy with Spring-Loaded Inverted Pendulum Model
Koopman Pose Predictions for Temporally Consistent Human Walking Estimations

Vision

LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes
Ego+X: An Egocentric Vision System for Global 3D Human Pose Estimation and Social Interaction Characterization
Tracking Monocular Camera Pose and Deformation for SLAM Inside the Human Body
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic Surgery
Monocular Depth Estimation for Equirectangular Videos
Visual Servoing with Geometrically Interpretable Neural Perception
Online Adaptation for Implicit Object Tracking and Shape Reconstruction in the Wild
DeepFusionMOT: A 3D Multi-Object Tracking Framework Based on Camera-LiDAR Fusion with Deep Association
EV-Catcher: High Speed Object Catching Using Low-Latency Event-Based Neural Networks

Mapping 4

Voxfield: Non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Scalable Fiducial Tag Localization on a 3D Prior Map Via Graph-Theoretic Global Tag-Map Registration
These Maps Are Made for Walking: Real-Time Terrain Property Estimation for Mobile Robots
MapLite 2.0: Online HD Map Inference Using a Prior SD Map
Towards High-Definition Maps: A Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity
Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments from Occupancy Grid Maps
Struct-MDC: Mesh-Refined Unsupervised Depth Completion Leveraging Structural Regularities from Visual SLAM
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments

Soft Robot Materials and Design 1

Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception
Self-Propelled Soft Everting Toroidal Robot for Navigation and Climbing in Confined Spaces
A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Free-Form Shapes
A Multi-Segmented Soft Finger Using Snap-Through Instability of a Soft Valve with a Slit
Deformation-Driven Closed-Chain Soft Mobile Robot Aimed for Rolling and Climbing Locomotion
Soft, Multi-Layer, Disposable, Kirigami Based Robotic Grippers: On Handling of Delicate, Contaminated, and Everyday Objects
Topology Optimized Multi-Material Self-Healing Actuator with Reduced Out of Plane Deformation
Performance Evaluation for Braided McKibben Pneumatic Actuators in Telescopic Nested Structure
Energy-Efficient Tunable-Stiffness Soft Robots Using Second Moment of Area Actuation

Localization 4

Acoustic Localization and Communication Using a MEMS Microphone for Low-Cost and Low-Power Bio-Inspired Underwater Robots
Using Magnetic Fields to Navigate and Simultaneously Localize Catheters in Endoluminal Environments
Robust Slip-Aware Fusion for Mobile Robots State Estimation
Highly-Efficient Binary Neural Networks for Visual Place Recognition
GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation
Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments
Maintaining Robot Localizability with Bayesian Cramer-Rao Lower Bounds

Reinforcement Learning 3

Safe Reinforcement Learning Using Black-Box Reachability Analysis
Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies
Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization
Temporal Logic Guided Meta Q-Learning of Multiple Tasks
Model-Free Neural Lyapunov Control for Safe Robot Navigation
Efficient Off-Policy Safe Reinforcement Learning Using Trust Region Conditional Value at Risk
Variable Impedance Skill Learning for Contact-Rich Manipulation
Source Term Estimation Using Deep Reinforcement Learning with Gaussian Mixture Model Feature Extraction for Mobile Sensors
Autonomous Learning of Page Flipping Movements Via Tactile Feedback (I)

Climbing and Wheeled Robots

Magnetic Field Modeling of Linear Halbach Array for Wall-Climbing Robot Based on Radial Basis Function Neural Network
OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Microspine Design for Additive Manufacturing
Design, Fabrication, and Characterization of a Hybrid Bionic Spherical Robotics with Multilegged Feedback Mechanism
The Concept of Rod-Driven Locomotion for Spherical Lunar Exploration Robots
Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot
Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives
Electro-Hydraulic Rolling Soft Wheel: Design, Hybrid Dynamic Modeling, and Model Predictive Control (I)

Motion and Path Planning 4

Linear MPC-Based Motion Planning for Autonomous Surgery
Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
Locomotion Policy Guided Traversability Learning Using Volumetric Representations of Complex Environments
Jerk-Continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints
Imitation Learning and Model Integrated Excavator Trajectory Planning
Online Complete Coverage Path Planning of a Reconfigurable Robot Using Glasius Bio-Inspired Neural Network and Genetic Algorithm
Quantity Over Quality: Training an AV Motion Planner with Large Scale Commodity Vision Data
TIGRIS: An Informed Sampling-Based Algorithm for Informative Path Planning

Biologically-Inspired Robots 4

Online Learning Feedback Control Method Considering Hysteresis for Musculoskeletal Structures
Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors from Human Constrained Teaching
A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine
Development of a Conveyor-Type Object Release Mechanism for a Parallel Gripper with a Mushroom-Shaped Gecko-Inspired Surface
Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis shrimp—Design and Control Method of Cavitation by Simulation and Experiment
Upside-Down Brachiation Robot Using Elastic Energy Stored through Soft Body Deformation
Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
Locomotion Via Active Suction in a Sea Star-Inspired Soft Robot
Joint-Space CPG for Safe Foothold Planning and Body Pose Control During Locomotion and Climbing

Distributed Robot Systems

Real-Time Distributed Multi-Robot Target Tracking Via Virtual Pheromones
Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems
Decay-Based Error Correction in Collective Robotic Construction
Perceive, Represent, Generate: Translating Multimodal Information to Robotic Motion Trajectories
SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking
Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits
Learning to Act with Affordance-Aware Multimodal Neural SLAM
Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments
Distributed Deployment with Multiple Moving Robots for Long Distance Complex Pipe Inspection

Medical Robots and Systems 4

Time-Optimal Synchronous Terminal Trajectory Planning for Coupling Motions of Robotic Flexible Endoscope
Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology
A Kinematic Modeling and Control Scheme for Different Robotic Endoscopes: A Rudimentary Research Prototype
Real-Time Intraoperative Surgical Guidance System in the Da Vinci Surgical Robot Based on Transrectal Ultrasound/photoacoustic Imaging with Photoacoustic Markers: An Ex Vivo Demonstration
Model-Free and Uncalibrated Visual-Feedback Control of Magnetically-Actuated Flexible Endoscopes
Design, Teleoperation Control and Experimental Validation of a Dexterous Robotic Flexible Endoscope for Laparoscopic Surgery
A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and Its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries
A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills
Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans (I)

Computer Vision for Automation 1

RGB-X Classification for Electronics Sorting
CPQNet: Contact Points Quality Network for Robotic Grasping
SESR: Self-Ensembling Sim-To-Real Instance Segmentation for Auto-Store Bin Picking
Visual Odometry in HDR Environments by Using Spatially Varying Exposure Camera
Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction
Lidar with Velocity: Motion Distortion Correction of Point Clouds from Oscillating Scanning Lidars
A Flexible and Robust Vision Trap for Automated Part Feeder Design
Leveraging Local Planar Motion Property for Robust Visual Matching and Localization
AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems

Award Session VII

Robot Learning of Mobile Manipulation with Reachability Behavior Priors
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
Instance Segmentation for Autonomous Log Grasping in Forestry Operations
Explicitly Incorporating Spatial Information to Recurrent Networks for Agriculture
Multimodal Aerial-Tethered Robot for Tree Canopy Exploration
Brain-Machine Interfaces and Natural Language Interaction
Lightmyography Based Decoding of Human Intention Using Temporal Multi-Channel Transformers
Dynamic Network Model for Multi-Domain End-To-End Task-Oriented Dialogue System
Hey Haru, Let’s Be Friends! Using the Tiers of Friendship to Build Rapport through Small Talk with the Tabletop Robot Haru
Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction
DoRO: Disambiguation of Referred Object for Embodied Agents
Following Natural Language Instructions for Household Tasks with Landmark Guided Search and Reinforced Pose Adjustment
SEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control
Hand Gesture Recognition Via Transient sEMG Using Transfer Learning of Dilated Efficient CapsNet: Towards Generalization for Neurorobotics
Deep Augmentation for Electrode Shift Compensation in Transient High-Density sEMG: Towards Application in Neurorobotics

Telerobotics and Teleoperation 1

Adaptive Wave Reconstruction through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks (I)
Analysis of User Behavior and Workload During Simultaneous Tele-Operation of Multiple Mobile Manipulators
Variable Impedance Control for Safety and Usability in Telemanipulation
Block-Based Novel Haptic Data Reduction for Time-Delayed Teleoperation
Skill-CPD: Real-Time Skill Refinement for Shared Autonomy in Manipulator Teleoperation
Haptic Teleoperation of High-Dimensional Robotic Systems Using a Feedback MPC Framework
Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
Design Interface Mapping for Efficient Free-Form Tele-Manipulation

Calibration and Identification

Simultaneous Calibration of Multiple Revolute Joints for Articulated Vision Systems Via SE(3) Kinematic Bundle Adjustment
DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-Aware Flow
CSA-SVM Method for Internal Cavitation Defects Detection and Its Application of District Heating Pipes
Industrial Robot Parameter Identification Using a Constrained Instrumental Variable Method
TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis
Extrinsic Calibration of a 2D Laser Rangefinder and a Depth-Camera Using an Orthogonal Trihedron
Continuous Calibration and Narrow Compensation Algorithm to Estimate a Joint Axis under the Various Conditions with Unit Sensor
Visual-Inertial-Aided Online MAV System Identification
Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles Using Static Objects Information

Navigation Systems 4

Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments (I)
Drift Reduced Navigation with Deep Explainable Features
A Robust and Fast Occlusion-Based Frontier Method for Autonomous Navigation in Unknown Cluttered Environments
Bubble Planner: Planning High-Speed Smooth Quadrotor Trajectories Using Receding Corridors
Temporal Context for Robust Maritime Obstacle Detection
Information-Aware Guidance for Magnetic Anomaly Based Navigation
Unified Automatic Control of Vehicular Systems with Reinforcement Learning (I)
SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning
AIB-MDP: Continuous Probabilistic Motion Planning for Automated Vehicles by Leveraging Action Independent Belief Spaces

SLAM 5

InCOpt: Incremental Constrained Optimization Using the Bayes Tree
S3LAM: Structured Scene SLAM
Fast Structural Representation and Structure-Aware Loop Closing for Visual SLAM
Efficient 2D Graph SLAM for Sparse Sensing
Spectral Measurement Sparsification for Pose-Graph SLAM
BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend
RO-LOAM: 3D Reference Object-Based Trajectory and Map Optimization in LiDAR Odometry and Mapping
TwistSLAM: Constrained SLAM in Dynamic Environment
Fast Sparse LiDAR Odometry Using Self-Supervised Feature Selection on Intensity Images

Medical Robots and Systems 5

Design and Evaluation of a Robotic Forceps with Flexible Wrist Joint Made of PEEK Plastic
External and Internal Sensor Fusion Based Localization Strategy for 6-DOF Pose Estimation of a Magnetic Capsule Robot
Robotic Auscultation Over Clothes for Eliminating Gender Bias
ANN-Based Optimization of Human Gait Data Obtained from a Robot-Mounted 3D Camera: A Multiple Sclerosis Case Study
Magnetic Microrobot Control Using an Adaptive Fuzzy Sliding-Mode Method
An Easy-To-Deploy Combined Nasal/Throat Swab Robot with Sampling Dexterity and Resistance to External Interference
Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion
Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution (I)

Robotics and Automation in Agriculture and Construction 1

Excavation of Fragmented Rocks with Multi-Modal Model-Based Reinforcement Learning
Model Learning and Predictive Control for Autonomous Obstacle Reduction Via Bulldozing
Design and Motion Planning for a Reconfigurable Robotic Base
External Load Estimation of Hydraulically Driven Construction Machinery from Cylinder Pressures and Link Accelerations
Connected Reconfiguration of Polyominoes Amid Obstacles Using RRT*
Autonomous Mobile 3D Printing of Large-Scale Trajectories
Soil-Adaptive Excavation Using Reinforcement Learning
Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles
Towards Autonomous Visual Navigation in Arable Fields

Recognition

STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations
Smart Explorer: Recognizing Objects in Dense Clutter Via Interactive Exploration
LSDNet: A Lightweight Self-Attentional Distillation Network for Visual Place Recognition
STUN: Self-Teaching Uncertainty Estimation for Place Recognition
Self-Supervised Reinforcement Learning for Active Object Detection
ReINView: Re-Interpreting Views for Multi-View 3D Object Recognition
Dual-Camera High Magnification Surveillance System with Non-Delay Gaze Control and Always-In-Focus Function in Indoor Scenes
Point Label Aware Superpixels for Multi-Species Segmentation of Underwater Imagery
Mapping of Spatiotemporal Scalar Fields by Mobile Robots Using Gaussian Process Regression

Safety in HRI

PSM: A Predictive Safety Model for Body Motion Based on the Spring-Damper Pendulum
Physical Adversarial Attack on a Robotic Arm
Regularized Deep Signed Distance Fields for Reactive Motion Generation
Safe and Ergonomic Human-Drone Interaction in Warehouses
Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space
Suppressing Delay-Induced Oscillations in Physical Human-Robot Interaction with an Upper-Limb Exoskeleton Using Rate-Limiting
Safety Compliant Control for Robotic Manipulator with Task and Input Constraints
Safe and Efficient Exploration of Human Models During Human-Robot Interaction
Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration

Humanoid and Bipedal Locomotion

Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller Via Model Predictive Control and Virtual Constraints
Robust Contact State Estimation in Humanoid Walking Gaits
Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots
Learning Dynamic Bipedal Walking across Stepping Stones
Humanoid Balance Control Using Centroidal Angular Momentum Based on Hierarchical Quadratic Programming
Resolved Motion Control for 3D Underactuated Bipedal Walking Using Linear Inverted Pendulum Dynamics and Neural Adaptation
Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain
Improved Biped Walking Performance Around the Kinematic Singularities of Biomimetic Four-Bar Knees
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

Computer Vision for Automation 2

ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation Using Synthetic Data
Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
Intensity Image-Based LiDAR Fiducial Marker System
Multi-Modal Non-Isotropic Light Source Modelling for Reflectance Estimation in Hyperspectral Imaging
LiSnowNet: Real-Time Snow Removal for LiDAR Point Clouds
Application of Ghost-DeblurGAN to Fiducial Marker Detection
Learning Important Regions Via Attention for Video Streaming on Cloud Robotics
Unsupervised Simultaneous Learning for Camera Re-Localization and Depth Estimation from Video
HyperPocket: Generative Point Cloud Completion

Marine Robotics 1

Flexible Collision-Free Platooning Method for Unmanned Surface Vehicle with Experimental Validations
Development and Field Testing of an Optimal Path Following ASV Controller for Marine Surveys
Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots
Motion Attribute-Based Clustering and Collision Avoidance of Multiple In-Water Obstacles by Autonomous Surface Vehicle
Training Dynamic Motion Primitives Using Deep Reinforcement Learning to Control a Robotic Tadpole
Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method
An Underwater Target Perception Framework for Underwater Operation Scene

Soft Robot Materials and Design 2

Self-Morphing Soft Parallel-And-Coplanar Electroadhesive Grippers Based on Laser-Scribed Graphene Oxide Electrodes
Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator
A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications
GSG: A Granary-Shaped Soft Gripper with Mechanical Sensing Via Snap-Through Structure
FireFly: An Insect-Scale Aerial Robot Powered by Electroluminescent Soft Artificial Muscles
Sensor-Based Reconstruction of Slender Flexible Beams Undergoing Large-Scale Deflection
Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin
Autonomous Intraluminal Navigation of a Soft Robot Using Deep-Learning-Based Visual Servoing
Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature

Localization 5

FSM: Correspondenceless Scan-Matching of Panoramic 2D Range Scans
VMVG-Loc: Visual Localization for Autonomous Driving Using Vector Map and Voxel Grid Map
Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization
CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition
A New Dense Hybrid Stereo Visual Odometry Approach
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
Towards Holistic Autonomous Obstacle Detection in Railways by Complementing of On-Board Vision with UAV-Based Object Localization
Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion
Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors

Reinforcement Learning 4

Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback
DRL-ISP: Multi-Objective Camera ISP with Deep Reinforcement Learning
Renaissance Robot: Optimal Transport Policy Fusion for Learning Diverse Skills
SKILL-IL: Disentangling Skill and Knowledge in Multitask Imitation Learning
Learning Perceptual Locomotion on Uneven Terrains Using Sparse Visual Observations
Towards Adaptive Continuous Control of Soft Robotic Manipulator Using Reinforcement Learning
Infusing Model Predictive Control into Meta-Reinforcement Learning for Mobile Robots in Dynamic Environments
A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning
UNICON: Uncertainty-Conditioned Policy for Robust Behavior in Unfamiliar Scenarios

Field Robots

P-AgBot: In-Row & Under-Canopy Agricultural Robot for Monitoring and Physical Sampling
Efficient Sampling-Based Planning for Subterranean Exploration
A Novel Robot with Rolling and Climbing Modes for Power Transmission Line Inspection
Autonomous Pipeline Tracking Using Bernoulli Filter for Unmanned Underwater Surveys
An Evaluation of Position Keeping Strategies under Disturbances for a Symmetrical Shape Autonomous on Water Surface Robot
Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments
MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation
PUTN: A Plane-Fitting Based Uneven Terrain Navigation Framework
A Standards-Based Pipeline Route Drawing System Using a Towed Sensing Unit

Motion and Path Planning 5

Speeding up POMDP Planning Via Simplification
Speeding up Optimization-Based Motion Planning through Deep Learning
Improved A-Search Guided Tree for Autonomous Trailer Planning
TerraPN: Unstructured Terrain Navigation Using Online Self-Supervised Learning
Robust Counterexample-Guided Optimization for Planning from Differentiable Temporal Logic
CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-Based Replanning
Adaptive Experience Sampling for Motion Planning Using the Generator-Critic Framework
This Is the Way: Differential Bayesian Filtering for Agile Trajectory Synthesis
Optimal Motion Planning in Unknown Workspaces Using Integral Reinforcement Learning

Swarm Robotics

Collective Decision-Making with Bayesian Robots in Dynamic Environments
Decentralized Control of Minimalistic Robotic Swarms for Guaranteed Target Encapsulation
A Dynamical System Approach to Decentralized Collision-Free Autonomous Coordination of a Mobile Assistive Furniture Swarm
Collective Decision Making in Communication-Constrained Environments
Chemistry-Inspired Pattern Formation with Robotic Swarms
Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
A Data-Driven Method for Metric Extraction to Detect Faults in Robot Swarms
Deliberative Democracy with Robot Swarms
Particle Swarm Optimizer-Based Attack Strategy with Swarm Robots

Industrial and Parallel Robots

Multi-Objective Geometric Optimization of a Multi-Link Manipulator Using Parameterized Design Method
A Configurable Skill Oriented Architecture Based on OPC UA
Accurate Edge Detection for Robotic Welding through Tactile Exploration
Vision-Based Safety System for Barrierless Human-Robot Collaboration
Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane with Minimal Sensors
An All-In-One Cable-Driven Parallel Robot with Flexible Workspace and Its Auto-Calibration Method
Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm
On a Balanced Delta Robot for Precise Aerial Manipulation: Implementation, Testing, and Lessons for Future Designs
Locally Optimal Estimation and Control of Cable Driven Parallel Robots Using Time Varying Linear Quadratic Gaussian Control

Learning from Demonstration 1

Learning Object Manipulation Skills from Video Via Approximate Differentiable Physics
Quantifying Demonstration Quality for Robot Learning and Generalization
Imitation of Manipulation Skills Using Multiple Geometries
Learning Category-Level Generalizable Object Manipulation Policy Via Generative Adversarial Self-Imitation Learning from Demonstrations
Robot Learning from Demonstration Using Elastic Maps
Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination
Inverse Reinforcement Learning with Hybrid-Weight Trust-Region Optimization and Curriculum Learning for Autonomous Maneuvering
WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded As Weighted Finite Automata
Ergodic Exploration Using Tensor Train: Applications in Insertion Tasks (I)

Manipulation Systems 5

SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation
VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting
TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors
Leveraging Publicly Available Textual Object Descriptions for Anthropomorphic Robotic Grasp Predictions
Learning Closed-Loop Dough Manipulation Using a Differentiable Reset Module
When Transformer Meets Robotic Grasping: Exploits Context for Efficient Grasp Detection

Biologically-Inspired Robots 5

Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-Inspired Robots
High-Performance Morphing Wing for Large-Scale Bio-Inspired Unmanned Aerial Vehicles
A Motion Generation Strategy of Robotic Rat Using Imitation Learning for Behavioral Interaction
Shaping Impedances to Comply with Constrained Task Dynamics (I)
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions (I)

Aerial Systems 4

Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors
A Novel Quadrotor with a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules without Thrust Loss
Adaptive Tank-Based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation
A Robotic Aerial Platform with Functionally Anthropomorphic Arms Designed for Physical Interaction
Back-Transition Control with Large Deceleration for a Dual Propulsion VTOL UAV Based on Its Maneuverability
Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case
Design, Modeling and Control of a Two Flight Mode Capable Single Wing Rotorcraft with Mid-Air Transition Ability
Stabilization of Tangent and Normal Contact Forces for a Quadrotor Subject to Disturbances
Experimental Performance Comparison of Bidirectional Actuator Configurations for Suspended Aerial Platforms

Learning from Demonstration 2

Learning to Sequence and Blend Robot Skills Via Differentiable Optimization
Risk-Sensitive MPCs with Deep Distributional Inverse RL for Autonomous Driving
Learning Turn-Taking Behavior from Human Demonstrations for Social Human-Robot Interactions
A Framework for Transferring Surface Finishing Skills to New Surface Geometries
A Bimanual Manipulation Taxonomy
Learning Temporal Task Models from Human Bimanual Demonstrations
Learning Implicit Priors for Motion Optimization
Learning from Demonstration Based on Environmental Constraints
Multi-Level Task Learning Based on Intention and Constraint Inference for Autonomous Robotic Manipulation

Telerobotics and Teleoperation 2

HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot
A Method for Automated Drone Viewpoints to Support Remote Robot Manipulation
On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G
On Stabilizing Communication Law for Bilateral Force-Reflecting Teleoperation Systems
Towards Robot Avatar: Systems and Methods for Teleinteraction at Avatar XPRIZE Semi-Final
Multi-Phase Multi-Modal Haptic Teleoperation
Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators
Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation
Enhancing Rover Teleoperation on the Moon with Proprioceptive Sensors and Machine Learning Techniques

Manipulation Systems 6

The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms
Learning to Singulate Layers of Cloth Based on Tactile Feedback
Multi-Finger Tactile Servoing for Grasping Adjustment under Partial Observation
Finger-STS: Combined Proximity and Tactile Sensing for Robotic Manipulation
Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing
A Deep-Learning-Based System for Indoor Active Cleaning
Grasp Stability Prediction with Sim-To-Real Transfer from Tactile Sensing
Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task

Navigation Systems 5

SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environments
A Robust Sidewalk Navigation Method for Mobile Robots Based on Sparse Semantic Point Cloud
RCA: Ride Comfort-Aware Visual Navigation Via Self-Supervised Learning
Binary Neural Networks for Memory-Efficient and Effective Visual Place Recognition in Changing Environments (I)
Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds (I)
Optimal Hierarchical Planner for Object Search in Large Environments Via Mobile Manipulation
CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications
A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO
Stronger Together: Air-Ground Robotic Collaboration Using Semantics

SLAM 6

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Keeping Less Is More: Point Sparsification for Visual SLAM
Online Extrinsic Correction of Multi-Camera Systems by Low-Dimensional Parameterization of Physical Deformation
Active SLAM in 3D Deformable Environments
Event-Based Line SLAM in Real-Time
MR-TopoMap: Multi-Robot Exploration Based on Topological Map in Communication Restricted Environment
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM (I)
Anchor Selection for SLAM Based on Graph Topology and Sub-Modular Optimization (I)

Medical Robots and Systems 6

Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery
Autonomous Laparoscope Control for Minimally Invasive Surgery with Intuition and RCM Constraints
Learning Laparoscope Actions Via Video Features for Proactive Robotic Field-Of-View Control
A Surgical Robot for Intracorporeal Additive Manufacturing of Tissue Engineering Constructs
Automatic Keyframe Detection for Critical Actions from the Experience of Expert Surgeons
Localization of Interaction Using Fibre-Optic Shape Sensing in Soft-Robotic Surgery Tools
Accurate Pose Estimation for Comanipulation Robotic Surgery
Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction
A New Power Law Linking the Speed to the Geometry of Tool-Tip Orientation in Teleoperation of a Robot-Assisted Surgical System

Collision Avoidance

Differentiable Collision Avoidance Using Collision Primitives
Informed Sampling-Based Collision Avoidance with Least Deviation from the Nominal Path
Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space
HIRO: Heuristics Informed Robot Online Path Planning Using Pre-Computed Deterministic Roadmaps
A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers
GraphDistNet: A Graph-Based Collision-Distance Estimator for Gradient-Based Trajectory Optimization
A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments
Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots
Deep Reinforcement Learning for Robot Collision Avoidance with Self-State-Attention and Sensor Fusion

Simulation and Animation

Fidelity Evaluation of Virtual Traffic Based on Anomalous Trajectory Detection
CapSense: A Real-Time Capacitive Sensor Simulation Framework for Physical Human-Robot Interaction
Learning to Simulate Realistic LiDARs
Realistic Real-Time Simulation of RGB and Depth Sensors for Dynamic Scenarios Using Augmented Image Based Rendering
Understanding Physical Effects for Effective Tool-Use
A High-Fidelity Simulation Platform for Industrial Manufacturing by Incorporating Robotic Dynamics into an Industrial Simulation Tool
Sequential Manipulation Planning on Scene Graph
Competency Assessment for Autonomous Agents Using Deep Generative Models
A Simulation Framework for Magnetic Continuum Robots

Social HRI

HRI Framework for Continual Learning in Face Recognition
Should a Robot Follow Social Norms? Human-Robot Interaction Design for Social Relations in Mixed Age Group
A Personable Robot: A Meta-Analysis of Robot Personality and Human Acceptance
A Novel Wire-Driven 3D Eyebrow Design for Communication with Humanoid Robot ICub
SonifyIt: Towards Transformative Sound for All Robots
Playful Recommendation: Sales Promotion That Robots Stimulate Pleasant Feelings Instead of Product Explanation
Android As a Receptionist in a Shopping Mall Using Inverse Reinforcement Learning
SanitizerBot: How Human-In-The-Loop Social Robots Can Playfully Support Humans
Deep Gesture Generation for Social Robots Using Type-Specific Libraries

Humanoid Robot Systems

Experimental Demonstration of a General Balancing Controller on an Untethered Planar Inverted Double Pendulum
Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance
Human-Humanoid Robot Cooperative Load Transportation: Model-Based Control Approach
Hands-Free Telelocomotion of a Wheeled Humanoid
Improved Zero Step Push Recovery with a Unified Reduced Order Model of Standing Balance
Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
Watch Me Calibrate My Force-Sensing Shoes!

RGB-D Perception

Unsupervised Confidence for LiDAR Depth Maps and Applications
Multi-Scaled and Densely Connected Locally Convolutional Layers for Depth Completion
From Local to Holistic: Self-Supervised Single Image 3D Face Reconstruction Via Multi-Level Constraints
Learning Feature Decomposition for Domain Adaptive Monocular Depth Estimation
Inferring Articulated Rigid Body Dynamics from RGBD Video
Multi-View Guided Multi-View Stereo
Semantic Scene Completion through Multi-Level Feature Fusion
RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments
SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D Using Signed Distance Fields

Marine Robotics 2

Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs
Analysis of Hybrid Cable-Thruster Actuated ROV in Heavy Lifting Interventions
Improving Marine Radar Odometry by Modeling Radar Resolution and Exploiting Additional Temporal Information
UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions
HoloOcean: Realistic Sonar Simulation
DRACo-SLAM: Distributed Robust Acoustic Communication-Efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
Confined Water Body Coverage under Resource Constraints
Self-Management of ROV Umbilical Using Sliding Buoys and Stop
AUV-Assisted Diver Navigation

Soft Robot Applications

Design of a Soft Wearable Passive Fitness Device for Upper Limb Resistance Exercise
Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming
Automated Fruit Quality Testing Using an Electrical Impedance Tomography-Enabled Soft Robotic Gripper
Jammkle: Fibre Jamming 3D Printed Multi-Material Tendons and Their Application in a Robotic Ankle
Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor Array
RoboHeart: A Bi-Directional Zipping Actuator
Physics-Informed Recurrent Neural Networks for Soft Pneumatic Actuators
Design and Experimental Characterization of a Push-Pull Flexible Rod-Driven Soft-Bodied Robot

Localization 6

Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for Two Robots
Cooperative Localization Using Learning-Based Constrained Optimization
InCloud: Incremental Learning for Point Cloud Place Recognition
LNC Assisted Localization and Mapping in Pipe Environment
Unsupervised Appearance Map Abstraction for Indoor Visual Place Recognition with Mobile Robots
Predicting to Improve: Integrity Measures for Assessing Visual Localization Performance
What Goes Around: Leveraging a Constant-Curvature Motion Constraint in Radar Odometry
Learning-Enhanced Adaptive Robust GNSS Navigation in Challenging Environments
Optimization Strategies for Bayesian Source Localization Algorithms (I)

Imitation Learning

Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning
Using Human Gaze in Few-Shot Imitation Learning for Robot Manipulation
Divide & Conquer Imitation Learning
MMFN: Multi-Modal-Fusion-Net for End-To-End Driving
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving
Back to the Manifold: Recovering from Out-Of-Distribution States
From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation
DPMP-Deep Probabilistic Motion Planning: A Use Case in Strawberry Picking Robot

Field and Marine Robotics

Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missions
Speed up of Wave-Driven Unmanned Surface Vehicle Using Passively Transformable Two-Segment Foils
Simultaneous Localization of Rail Vehicles and Mapping of Environment with Multiple LiDARs
Forest Traversability Mapping (FTM): Traversability Estimation Using 3D Voxel-Based Normal Distributed Transform to Enable Forest Navigation
WayFAST: Navigation with Predictive Traversability in the Field
Learning Pseudo Front Depth for 2D Forward-Looking Sonar-Based Multi-View Stereo
Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
Informative Path Planning to Estimate Quantiles for Environmental Analysis

Motion and Path Planning 6

FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
Adaptive Sampling of Latent Phenomena Using Heterogeneous Robot Teams (ASLaP-HR)
Online Planning for Interactive-POMDPs Using Nested Monte Carlo Tree Search
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
LTR*: Rapid Replanning in Executing Consecutive Tasks with Lazy Experience Graph
RRT*-Based Path Planning for Continuum Arms
FlowBot: Flow-Based Modeling for Robot Navigation
The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement with On-Orbit Validation
Transferring Multi-Agent Reinforcement Learning Policies for Autonomous Driving Using Sim-To-Real

Control for Legged Robot

The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and ILQR
Balancing Control and Pose Optimization for Wheel-Legged Robots Navigating High Obstacles
Large-Scale ADMM-Based Co-Design of Legged Robots
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Whole-Body Model Predictive Control with Rigid Contacts Via Online Switching Time Optimization
Generating Families of Optimally Actuated Gaits from a Legged System’s Energetically Conservative Dynamics
Optimal Gait Families Using Lagrange Multiplier Method
Lifted Contact Dynamics for Efficient Optimal Control of Rigid Body Systems with Contacts

Intelligent and Flexible Manufacturing

Heuristic-Free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
Online 3D Bin Packing Reinforcement Learning Solution with Buffer
GoferBot: A Visual Guided Human-Robot Collaborative Assembly System
Robot Companion, an Intelligent Interactive Robot Coworker for the Industry 5.0
Metal Wire Manipulation Planning for 3D Curving a Low Payload Robot That Uses a Bending Machine to Bend High-Stiffness Wire
SurfMan: Generating Smooth Robotic Surface Manipulation Trajectories for Human-Demonstrated Pattern Sequence
Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks
Robotics and Automation in Agriculture and Construction 2
EPAR: An Efficient and Privacy-Aware Augmented Reality Framework for Indoor Location-Based Services
Compact Strawberry Harvesting Tube Employing Laser Cutter
Reconstructing a Spatial Field with an Autonomous Robot under a Budget Constraint
Hybrid Discrete-Continuous Path Planning for Lattice Traversal
RECCraft System: Towards Reliable and Efficient Collective Robotic Construction

Reinforcement Learning 5

Improved Robustness and Safety for Pre-Adaptation of Meta Reinforcement Learning with Prior Regularization
Active Tactile Exploration Using Shape Dependent Reinforcement Learning
DARL1N: Distributed Multi-Agent Reinforcement Learning with One-Hop Neighbors
Adaptive Environment Modeling Based Reinforcement Learning for Collision Avoidance in Complex Scenes
Scalable Model-Based Policy Optimization for Decentralized Networked Systems
Safety Correction from Baseline: Towards the Risk-Aware Policy in Robotics Via Dual-Agent Reinforcement Learning
Multi-Objective Policy Gradients with Topological Constraints
Backward Imitation and Forward Reinforcement Learning Via Bi-Directional Model Rollouts
BIMRL: Brain Inspired Meta Reinforcement Learning
Coordination with Humans Via Strategy Matching
DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent PHRI
Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition
Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning
Proactive Robotic Assistance Via Theory of Mind
A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice
SESNO: Sample Efficient Social Navigation from Observation
Understanding Acoustic Patterns of Human Teachers Demonstrating Manipulation Tasks to Robots
Gesture2Vec: Clustering Gestures Using Representation Learning Methods for Co-Speech Gesture Generation
Optical Flow-Based Branch Segmentation for Complex Orchard Environments
Near Real-Time Vineyard Downy Mildew Detection and Severity Estimation
View Planning Using Discrete Optimization for 3D Reconstruction of Row Crops
BonnBot-I: A Precise Weed Management and Crop Monitoring Platform
An Integrated Actuation-Perception Framework for Robotic Leaf Retrieval: Detection, Localization, and Cutting
Algorithm Design and Integration for a Robotic Apple Harvesting System
Predicting Fruit-Pick Success Using a Grasp Classifier Trained on a Physical Proxy
Contrastive 3D Shape Completion and Reconstruction for Agricultural Robots Using RGB-D Frames
Beyond mAP: Towards Practical Object Detection for Weed Spraying in Precision Agriculture
Audio-Visual Depth and Material Estimation for Robot Navigation
Design of a Low-Cost Passive Acoustic Monitoring System for Animal Localisation from Calls
Spotforming by NMF Using Multiple Microphone Arrays
Noisy Agents: Self-Supervised Exploration by Predicting Auditory Events
Direction-Aware Adaptive Online Neural Speech Enhancement with an Augmented Reality Headset in Real Noisy Conversational Environments
Object Surface Recognition Using Microphone Array by Acoustic Standing Wave
Recognizing Object Surface Material from Impact Sounds for Robot Manipulation
Controlling the Impression of Robots Via GAN-Based Gesture Generation
Outdoor Evaluation of Sound Source Localization for Drone Groups Using Microphone Arrays

Machine Learning for Robot Control 1

Reactive Stepping for Humanoid Robots Using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
Hybrid Approach for Stabilizing Large Time Delays in Cooperative Adaptive Cruise Control with Reduced Performance Penalties
Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers
Federated Learning from Demonstration for Active Assistance to Smart Wheelchair Users
PourNet: Robust Robotic Pouring through Curriculum and Curiosity-Based Reinforcement Learning
Simulation-Based Learning of the Peg-In-Hole Process Using Robot-Skills
Hybrid LMC: Hybrid Learning and Model-Based Control for Wheeled Humanoid Robot Via Ensemble Deep Reinforcement Learning
Active Exploration for Robotic Manipulation
Cloud-Edge Training Architecture for Sim-To-Real Deep Reinforcement Learning

Soft Robot Modeling and Control 1

Towards Accurate Modeling of Modular Soft Pneumatic Robots: From Volume FEM to Cosserat Rod
A Proprioceptive Method for Soft Robots Using Inertial Measurement Units
Model-Based Contact Detection and Accommodation for Soft Bending Actuators: An Integrated Direct/Indirect Adaptive Robust Approach
A Unified and Modular Model Predictive Control Framework for Soft Continuum Manipulators under Internal and External Constraints
Contact-Implicit Trajectory and Grasp Planning for Soft Continuum Manipulators
Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper
Planar Modeling and Sim-To-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator Using Orientation Sensing
Variable Stiffness Object Recognition with Bayesian Convolutional Neural Network on a Soft Gripper

SLAM 7

Simultaneous Localization and Mapping through the Lens of Nonlinear Optimization
Fast and Safe Exploration Via Adaptive Semantic Perception in Outdoor Environments
Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapped Monocular Cameras
Scalable Probabilistic Gas Distribution Mapping Using Gaussian Belief Propagation
WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue
A Tightly-Coupled Event-Inertial Odometry Using Exponential Decay and Linear Preintegrated Measurements
Photometric Visual-Inertial Navigation with Uncertainty-Aware Ensembles (I)
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry (I)
Rail Vehicle Localization and Mapping with LiDAR-Vision-Inertial-GNSS Fusion

Medical Robots and Systems 7

A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation
Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope
GESRsim: Gastrointestinal Endoscopic Surgical Robot Simulator
A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
Intrinsic Force Sensing for Motion Estimation in a Parallel, Fluidic Soft Robot for Endoluminal Interventions
Contact Localization of Continuum and Flexible Robot Using Data-Driven Approach
Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter
Colonoscopy Navigation Using End-To-End Deep Visuomotor Control: A User Study
Shape Memory Polymer Variable Stiffness Magnetic Catheters with Hybrid Stiffness Control

Compliance and Impedance Control 1

Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces through Proprioceptive and Tactile Sensing
Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control
Perturbation-Based Stiffness Inference in Variable Impedance Control
A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots
An Observer-Based Responsive Variable Impedance Control for Dual–User Haptic Training System
Development of Low-Inertia Backdrivable Arm Focusing on Learning-Based Control
BEAR-H: An Intelligent Bilateral Exoskeletal Assistive Robot for Smart Rehabilitation (I)
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning

Software, Middleware and Programming Environments 1

OHM: GPU Based Occupancy Map Generation
IKFlow: Generating Diverse Inverse Kinematics Solutions
Ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2
RobotCore: An Open Architecture for Hardware Acceleration in ROS 2
Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills
Containerization and Orchestration of Software for Autonomous Mobile Robots: A Case Study of Mixed-Criticality Tasks across Edge-Cloud Computing Platforms
GPU-Accelerated Incremental Euclidean Distance Transform for Online Motion Planning of Mobile Robots
Transactional Transform Library for ROS
Arena-Bench: A Benchmarking Suite for Obstacle Avoidance Approaches in Highly Dynamic Environments

Wearable Robotics

An Impedance-Controlled Testbed for Simulating Variations in the Mechanical Fit of Wearable Devices
Human-Exoskeleton Cooperative Balance Strategy for a Human-Powered Augmentation Lower Exoskeleton
RANK # Robotic Ankle: Design and Testing on Irregular Terrains
A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification
A Soft Fabric-Based Shrink-To-Fit Pneumatic Sleeve for Comfortable Limb Assistance
Ring-Pull Type Soft Wearable Robotic Glove for Hand Strength Assistance
Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks
Reconfigurable Self-Sensing Pneumatic Artificial Muscle with Locking Ability Based on Modular Multi-Chamber Soft Actuator
Design of a Wearable Mechanism with Shape Memory Alloy (SMA)-Based Artificial Muscle for Assisting with Shoulder Abduction

Intention Recognition

Intention Estimation from Gaze and Motion Features for Human-Robot Shared-Control Object Manipulation
Disentangled Sequence Clustering for Human Intention Inference
Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users Via Data Augmentation Using Mutual Information
Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles
MPC-PF: Social Interaction Aware Trajectory Prediction of Dynamic Objects for Autonomous Driving Using Potential Fields
Optimization of Forcemyography Sensor Placement for Arm Movement Recognition
Pedestrian Intention Prediction Based on Traffic-Aware Scene Graph Model
Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patterns
A Hierarchical Deliberative Architecture Framework Based on Goal Decomposition

Semantic Scene Understanding 1

SynWoodScape: Synthetic Surround-View Fisheye Camera Dataset for Autonomous Driving
Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database
Low-Latency LiDAR Semantic Segmentation
Implicit-Part Based Context Aggregation for Point Cloud Instance Segmentation
Unsupervised Domain Adaptation for Point Cloud Semantic Segmentation Via Graph Matching
SectionKey: 3-D Semantic Point Cloud Descriptor for Place Recognition
Fisheye Object Detection Based on Standard Image Datasets with 24-Points Regression Strategy
Real-Time Semantic 3D Reconstruction for High-Touch Surface Recognition for Robotic Disinfection
Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks

Multi-Robot Systems 1

Multi-Robot Unknown Area Exploration Using Frontier Trees
Min-Max Vertex Cycle Covers with Connectivity Constraints for Multi-Robot Patrolling
Efficient Range-Constrained Manifold Optimization with Application to Cooperative Navigation
On Coverage Control for Limited Range Multi-Robot Systems
Multi-Goal Multi-Agent Pickup and Delivery
Asynchronous Real-Time Decentralized Multi-Robot Trajectory Planning
Decentralized Learning with Limited Communications for Multi-Robot Coverage of Unknown Spatial Fields
Multi-Agent Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
Multi-Modal User Interface for Multi-Robot Control in Underground Environments

Soft Sensors and Actuators 1

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor
Estimation of Soft Robotic Bladder Compression for Smart Helmets Using IR Range Finding and Hall Effect Magnetic Sensing
Kirigami Skin Based Flexible Whisker Sensor
Design and Characterisation of a Soft Barometric Sensing Skin for Robotic Manipulation
A Virtual 2D Tactile Array for Soft Actuators Using Acoustic Sensing
Transferable Shape Estimation of Soft Pneumatic Actuators Based on Active Vibroacoustic Sensing
Shape Reconstruction of Soft Manipulators Using Vision and IMU Feedback
FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators
Soft-Skin Actuator Capable of Seawater Propulsion Based on MagnetoHydroDynamics

Path Planning for Multiple Mobile Robots and Agents 1

Collaborative Navigation-Aware Coverage in Feature-Poor Environments
Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination
Energy-Efficient Orienteering Problem in the Presence of Ocean Currents
MAPFASTER: A Faster and Simpler Take on Multi-Agent Path Finding Algorithm Selection
A Conflict-Driven Interface between Symbolic Planning and Nonlinear Constraint Solving
Scalable Online Coverage Path Planning for Multi-Robot Systems
DiMOpt: A Distributed Multi-Robot Trajectory Optimization Algorithm
Non-Submodular Maximization Via the Greedy Algorithm and the Effects of Limited Information in Multi-Agent Execution
Gathering Physical Particles with a Global Magnetic Field Using Reinforcement Learning

Transfer Learning

Contrastive Learning for Cross-Domain Open World Recognition
Efficient Multi-Task Learning Via Iterated Single-Task Transfer
MPR-RL: Multi-Prior Regularized Reinforcement Learning for Knowledge Transfer
Unsupervised Reinforcement Learning for Transferable Manipulation Skill Discovery
Subspace-Based Feature Alignment for Unsupervised Domain Adaptation
Using Simulation Optimization to Improve Zero-Shot Policy Transfer of Quadrotors
Bilateral Knowledge Distillation for Unsupervised Domain Adaptation of Semantic Segmentation
Self-Supervised Noisy Label Learning for Source-Free Unsupervised Domain Adaptation
Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks

Assembly and Additive Manufacturing

Additive Manufacturing for Tissue Engineering Applications in a Temperature-Controlled Environment
On CAD Informed Adaptive Robotic Assembly
Graph-Based Reinforcement Learning Meets Mixed Integer Programs: An Application to 3D Robot Assembly Discovery
Assembly Planning from Observations under Physical Constraints
Coordinated Toolpath Planning for Multi-Extruder Additive Manufacturing
A Hierarchical Finite-State Machine-Based Task Allocation Framework for Human-Robot Collaborative Assembly Tasks
Self-Stabilizing Self-Assembly
Flexible and Precision Snap-Fit Peg-In-Hole Assembly Based on Multiple Sensations and Damping Identification
A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty

Motion and Path Planning 7

Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborting A*
Collision and Rollover-Free mathcal{G}^2 Path Planning for Mobile Manipulation
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments
FISS: A Trajectory Planning Framework Using Fast Iterative Search and Sampling Strategy for Autonomous Driving
Reshaping Local Path Planner
T-PRM: Temporal Probabilistic Roadmap for Path Planning in Dynamic Environments
Hierarchical Planning with Annotated Skeleton Guidance

Legged Robots 1

Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
A Versatile Co-Design Approach for Dynamic Legged Robots
Motion Planning for Agile Legged Locomotion Using Failure Margin Constraints
Energy-Based Legged Robots Terrain Traversability Modeling Via Deep Inverse Reinforcement Learning
Robust High-Speed Running for Quadruped Robots Via Deep Reinforcement Learning
Toward a Data-Driven Template Model for Quadrupedal Locomotion
Planning of Obstacle-Aided Navigation for Multi-Legged Robots Using a Sampling-Based Method Over Directed Graphs
Real-Time Digital Double Framework to Predict Collapsible Terrains for Legged Robots
Adaptive Feet for Quadrupedal Walkers (I)

Art and Entertainment and Manipulation

Towards Learning to Play Piano with Dexterous Hands and Touch
Consensus-Based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination
Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
Simultaneous Depth Estimation and Localization for Cell Manipulation Based on Deep Learning
Cooperative Object Manipulation under Signal Temporal Logic Tasks and Uncertain Dynamics
DrozBot: Using Ergodic Control to Draw Portraits
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions
Tactile Feedback Enabling In-Hand Pivoting and Internal Force Control for Dual-Arm Cooperative Object Carrying
DUQIM-Net: Probabilistic Object Hierarchy Representation for Multi-View Manipulation

Aerial Systems 5

Downwash-Aware Control Allocation for Over-Actuated UAV Platforms
Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention
Unsteady Aerodynamic Modeling of Aerobat Using Lifting Line Theory and Wagner's Function
Design and Analysis of Truss Aerial Transportation System (TATS): The Lightweight Bar Spherical Joint Mechanism
SytaB: A Class of Smooth-Transition Hybrid Terrestrial/Aerial Bicopters
Real-Time Trajectory Planning for Aerial Perching
Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment
Autoexplorer: Autonomous Exploration of Unknown Environments Using Fast Frontier-Region Detection and Parallel Path Planning

Navigation Systems 6

Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform
MPNP: Multi-Policy Neural Planner for Urban Driving
Contextual Tuning of Model Predictive Control for Autonomous Racing
Temporal Logic Path Planning under Localization Uncertainty
Navigating to Objects in Unseen Environments by Distance Prediction
Depth-CUPRL: Depth-Imaged Contrastive Unsupervised Prioritized Representations in Reinforcement Learning for Mapless Navigation of Unmanned Aerial Vehicles
DSOL: A Fast Direct Sparse Odometry Scheme
Planning for Negotiations in Autonomous Driving Using Reinforcement Learning
Towards Specialized Hardware for Learning-Based Visual Odometry on the Edge

Deep Learning for Visual Perception 1

MPT-Net: Mask Point Transformer Network for Large Scale Point Cloud Semantic Segmentation
Timestamp-Supervised Action Segmentation with Graph Convolutional Networks
CA-SpaceNet: Counterfactual Analysis for 6D Pose Estimation in Space
3D Object Aided Self-Supervised Monocular Depth Estimation
DeepMLE: A Robust Deep Maximum Likelihood Estimator for Two-View Structure from Motion
Attention-Guided RGB-D Fusion Network for Category-Level 6D Object Pose Estimation
Robust Sim2Real 3D Object Classification Using Graph Representations and a Deep Center Voting Scheme
Weak6D: Weakly Supervised 6D Pose Estimation with Iterative Annotation Resolver
Robust Human Motion Forecasting Using Transformer-Based Model
Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics
A Framework for Robot Self-Assessment of Expected Task Performance
An Empirical Study of Reward Explanations with Human-Robot Interaction Applications
The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models
Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming
Learning on the Job: Long-Term Behavioural Adaptation in Human-Robot Interactions
Bounded Rational Game-Theoretical Modeling of Human Joint Actions with Incomplete Information
COSM2IC: Optimizing Real-Time Multi-Modal Instruction Comprehension
Quantifying Changes in Kinematic Behavior of a Human-Exoskeleton Interactive System

Learning from Demonstration 3

Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation
Learning Deformable Object Manipulation from Expert Demonstrations
Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Learning Perceptual Concepts by Bootstrapping from Human Queries
Extending Extrapolation Capabilities of Probabilistic Motion Models Learned from Human Demonstrations Using Shape-Preserving Virtual Demonstrations
Learning High Speed Precision Table Tennis on a Physical Robot
Behaviour Learning with Adaptive Motif Discovery and Interacting Multiple Model
Learning from Demonstration Using a Curvature Regularized Variational Auto-Encoder (CurvVAE)
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation (I)

Deep Learning for Visual Perception 2

Bayesian Active Learning for Sim-To-Real Robotic Perception
DiffCloud: Real-To-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
What's in the Black Box? the False Negative Mechanisms Inside Object Detectors
RVMOS: Range-View Moving Object Segmentation Leveraged by Semantic and Motion Features
Pseudo-Label Guided Cross-Video Pixel Contrast for Robotic SurgicalScene Segmentation with Limited Annotations
An Unsupervised Domain Adaptive Approach for Multimodal 2D Object Detection in Adverse Weather Conditions
BIMS-PU: Bi-Directional and Multi-Scale Point Cloud Upsampling
LiCaS3: A Simple LiDAR–Camera Self-Supervised Synchronization Method (I)

Machine Learning for Robot Control 2

Multiscale Sensor Fusion and Continuous Control with Neural CDEs
SMS-MPC: Adversarial Learning-Based Simultaneous Prediction Control with Single Model for Mobile Robots
Dynamic Inference on Graphs Using Structured Transition Models
Grasp Planning for Occluded Objects in a Confined Space with Lateral View Using Monte Carlo Tree Search
Non-Blocking Asynchronous Training for Reinforcement Learning in Real-World Environments
End-To-End Learning to Grasp Via Sampling from Object Point Clouds
Robot Skill Learning with Identification of Preconditions and Postconditions Via Level Set Estimation
Sex Parity in Cognitive Fatigue Model Development for Effective Human-Robot Collaboration
Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-Based Control Barrier Functions

Soft Robot Modeling and Control 2

Task-Space Control of Continuum Robots Using Underactuated Discrete Rod Models
Nonlinear Dynamics Modeling and Fault Detection for a Soft Trunk Robot: An Adaptive NN-Based Approach
Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines
Geometrically-Exact Inverse Kinematic Control of Sof Manipulators with General Threadlike Actuators’ Routing
Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA
Controlling Soft Fluidic Actuators Using Soft DEA-Based Valves
Omnidirectional Walking of a Quadruped Robot Enabled by Compressible Tendon-Driven Soft Actuators
Estimating Forces Along Continuum Robots
Learning Physics-Informed Simulation Models for Soft Robotic Manipulation: A Case Study with Dielectric Elastomer Actuators

SLAM 8

Detecting Invalid Map Merges in Lifelong SLAM
MD-SLAM: Multi-Cue Direct SLAM
Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation
ACEFusion # Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes
A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization
Situational Graphs for Robot Navigation in Structured Indoor Environments
PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-Based SLAM
Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs
City-Wide Street-To-Satellite Image Geolocalization of a Mobile Ground Agent

Rehabilitation Robotics

Soft Actuators for Facial Reanimation
Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries
Development of a Novel Low-Profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries
A Novel Wheelchair-Exoskeleton Hybrid Robot to Assist Movement and Aid Rehabilitation
Facial Expressions-Controlled Flight Game with Haptic Feedback for Stroke Rehabilitation: A Proof-Of-Concept Study
An Intention Prediction Based Shared Control System for Point-To-Point Navigation of a Robotic Wheelchair
A Wearable System with Harmonic Oscillations to Assess Finger Biomechanics
Evaluation of TENS Based Biofeedback and Warning for Improvement of Seated Balance on a Trunk Rehabilitation Robot
Soft Robotic Fabric Actuator with Elastic Bands for High Force & Bending Performance in Hand Exoskeletons

Compliance and Impedance Control 2

Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery
Reinforcement Learning of Impedance Policies for Peg-In-Hole Tasks: Role of Asymmetric Matrices
A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration
Probabilistic Approach to Online Stiffness Estimation for Robotic Tasks
Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
On the Performance and Passivity of Admittance Control with Feed-Forward Input
Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures Using Force Information
A Comparative Study of Force Observers for Accurate Force Control of Multisensor-Based Force Controlled Motion Systems
Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Software, Middleware and Programming Environments 2

Gazebo Fluids: SPH-Based Simulation of Fluid Interaction with Articulated Rigid Body Dynamics
SOCIALGYM: A Framework for Benchmarking Social Robot Navigation
SROS2: Usable Cyber Security Tools for ROS 2
Automatic Co-Design of Aerial Robots Using a Graph Grammar
ARviz – an Augmented Reality-Enabled Visualization Platform for ROS Applications (I)
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems (I)
Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics
On-Device CPU Scheduling for Robot Systems

Whole-Body Motion Planning and Control 1

Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition
Multimodal Generation of Novel Action Appearances for Synthetic-To-Real Recognition of Activities of Daily Living
Learning a Group-Aware Policy for Robot Navigation
Feedback-Efficient Active Preference Learning for Socially Aware Robot Navigation
Watch Out! There May Be a Human. Addressing Invisible Humans in Social Navigation
Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion
Discover Life Skills for Planning As Bandits Via Observing and Learning How the World Works
An Optimal Motion Planning Framework for Quadruped Jumping

Intelligent Transportation Systems 1

Trajectory Prediction with Graph-Based Dual-Scale Context Fusion
IMU Dead-Reckoning Localization with RNN-IEKF Algorithm
A Value-Based Dynamic Learning Approach for Vehicle Dispatch in Ride-Sharing
Deep Kernel Learning for Uncertainty Estimation in Multiple Trajectory Prediction Networks
Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-Driven and Autonomous Vehicles
Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction
InterSim: Interactive Traffic Simulation Via Explicit Relation Modeling
Driving Anomaly Detection Using Contrastive Multiview Coding to Interpret Cause of Anomaly
TIP: Task-Informed Motion Prediction for Intelligent Vehicles

Semantic Scene Understanding 2

Hybrid Belief Pruning with Guarantees for Viewpoint-Dependent Semantic SLAM
Invariant-Based World Models for Robust Robotic Systems Demonstrated on an Autonomous Football Table
Efficient Spatial-Temporal Information Fusion for LiDAR-Based 3D Moving Object Segmentation
Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps
Perceiving the Invisible: Proposal-Free Amodal Panoptic Segmentation
Meta-RangeSeg: LiDAR Sequence Semantic Segmentation Using Multiple Feature Aggregation
Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions
Unsupervised Class-Agnostic Instance Segmentation of 3D LiDAR Data for Autonomous Vehicles
FedDrive: Generalizing Federated Learning to Semantic Segmentation in Autonomous Driving

Multi-Robot Systems 2

Collecting a Flock with Multiple Sub-Groups by Using Multi-Robot System
A Hybrid PSO Algorithm for Multi-Robot Target Search and Decision Awareness
Interactive Multi-Robot Aerial Cinematography through Hemispherical Manifold Coverage
Passive Multiuser Teleoperation of a Multirobot System with Connectivity-Preserving Containment (I)
PD-FAC: Probability Density Factorized Multi-Agent Distributional Reinforcement Learning for Multi-Robot Reliable Search
Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape
Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking As a Case Study
Decentralized Multi-Robot Velocity Estimation for UAVs Enhancing Onboard Camera-Based Velocity Measurements
Autonomous Service Robots for Urban Waste Management # Multiagent Route Planning and Cooperative Operation

Soft Sensors and Actuators 2

Mechanically Programmable Jamming Based on Articulated Mesh Structures for Variable Stiffness Robots
Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators
Modeling and Position Control of the HASEL Actuator Via Port-Hamiltonian Approach
Motion Tracking Smart Work Suit with a Modular Joint Angle Sensor Using Screw Routing
3D Curvature-Based Tip Load Estimation for Continuum Robots
Optimizing Out-Of-Plane Stiffness for Soft Grippers
Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber
Vision-Based Sensing for Electrically-Driven Soft Actuators
FEA-Based Inverse Kinematic Control: Hyperelastic Material Characterization of Self-Healing Soft Robots (I)

Path Planning for Multiple Mobile Robots and Agents 2

Planning with Intermittent State Observability: Knowing When to Act Blind
Selecting the Partial State Abstractions of MDPs: A Metareasoning Approach with Deep Reinforcement Learning
Adaptive Online Sampling of Periodic Processes with Application to Coral Reef Acoustic Abundance Monitoring
Learning Coordination Policies Over Heterogeneous Graphs for Human-Robot Teams Via Recurrent Neural Schedule Propagation
Deep Reinforcement Learning Based Robot Navigation in Dynamic Environments Using Occupancy Values of Motion Primitives
A Polynomial Time Approximation Scheme for the Scheduling Problem in the AGV System
Fast and Compute-Efficient Sampling-Based Local Exploration Planning Via Distribution Learning
DC-MRTA: Decentralized Multi-Robot Task Allocation and Navigation in Complex Environments
Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding with Continuous Time on 2D Roadmaps

Optimization and Optimal Control 1

Simulation Aided Co-Design for Robust Robot Optimization
Reference Acceleration Model Predictive Control (RA-MPC) for Cable-Driven Robots
CARLA Simulator-Based Evaluation Framework Development of Lane Detection Accuracy Performance under Sensor Blockage Caused by Heavy Rain for Autonomous Vehicle
Planning under Periodic Observations: Bounds and Bounding-Based Solutions
Real-Time Predictive Kinematics Control of Redundancy: A Benchmark of Optimal Control Approaches
Automatic Generation of Optimization Model Using Process Mining and Petri Nets for Optimal Motion Planning of 6-DOF Manipulators
Physically Consistent Lie Group Mesh Models for Robot Design and Motion Co-Optimization
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics
High-Speed Accurate Robot Control Using Learned Forward Kinodynamics and Non-Linear Least Squares Optimization

Bimanual and In-Hand Manipulation

Kinesthetic Teaching of Bi-Manual Tasks with Known Relative Constraints
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
E-TRoll: Tactile Sensing and Classification Via a Simple Robotic Gripper for Extended Rolling Manipulations
Variable Friction Based In-Hand Manipulation of Fabrics Applied to Unfolding Operations
A Target-Guided Telemanipulation Architecture for Assisted Grasping
DA^2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping
A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-Arm Systems

Motion and Path Planning 8

Generating Safe Corridors Roadmap for Urban Air Mobility
Explainable Robotic Plan Execution Monitoring under Partial Observability (I)
Sampling-Based View Planning for MAVs in Active Visual-Inertial State Estimation
Maximizing the Probability of Task Completion for Redundant Robots Experiencing Locked Joint Failures (I)
Dynamic Compressed Sensing of Unsteady Flows with a Mobile Robot
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air-Mobility
Informative Path Planning for Active Learning in Aerial Semantic Mapping
Towards Autonomous Grading in the Real World

Legged Robots 2

Vastus and Gastrocnemius Improve Hopping Efficiency and Joints Synchronicity at Different Frequencies: A Robotic Study
Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
Improved Performance of CPG Parameter Inference for Path-Following Control of Legged Robots
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control
Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints
Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap between Reduced and Full-Order Models
Contact-Timing and Trajectory Optimization for 3D Jumping on Quadruped Robots
Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers
The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems (I)

Task Planning

Optimal Constrained Task Planning As Mixed Integer Programming
Extended Time Dependent Vehicle Routing Problem for Joint Task Allocation and Path Planning in Shared Space
Multi-Objective Task Allocation for Multi-Agent Systems Using Hierarchical Cost Function
Probabilistic Planning for AUV Data Harvesting from Smart Underwater Sensor Networks
Efficient Task/Motion Planning for a Dual-Arm Robot from Language Instructions and Cooking Images
Clustering Trust Dynamics in a Human-Robot Sequential Decision-Making Task
Behavior-Tree Embeddings for Robot Task-Level Knowledge
Can We Reach Human Expert Programming Performance? a Tactile Manipulation Case Study in Learning Time and Task Performance
Data-Driven Abstractions for Robots with Stochastic Dynamics (I)

Aerial Systems 6

Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study
Design and Trajectory Tracking Control of a New Bi-Copter UAV
Local Perception-Aware Transformer for Aerial Tracking
End-To-End Feature Decontaminated Network for UAV Tracking
Blind As a Bat: Audible Echolocation on Small Robots
HighlightNet: Highlighting Low-Light Potential Features for Real-Time UAV Tracking
Drone with Pneumatic-Tethered Suction-Based Perching Mechanism for High Payload Application
Geometrically Constrained Trajectory Optimization for Multicopters (I)
Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes

Navigation Systems 7

Dynamic-GAN: Learning Spatial-Temporal Attention for Dynamic Object Removal in Feature Dense Environments
Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty
Lifelong Topological Visual Navigation
D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR SLAM in Complicated Circumstances with Noisy Point Clouds
State Dropout-Based Curriculum Reinforcement Learning for Self-Driving at Unsignalized Intersections
Vehicle Type Specific Waypoint Generation
Autonomous Navigation of AGVs in Unknown Cluttered Environments: Log-MPPI Control Strategy
Cross-Modal Fusion-Based Prior Correction for Road Detection in Off-Road Environments
InterFusion: Interaction-Based 4D Radar and Lidar Fusion for 3D Object Detection

Prosthetics and Exoskeletons 1

Experimental Assessment of a Control Strategy for Locomotion Assistance Relying on Simplified Motor Primitives
Design of EMG-Driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
Visual Environment Perception for Obstacle Detection and Crossing of Lower-Limb Exoskeletons
Unilateral Stiffness Modulation with a Robotic Hip Exoskeleton Elicits Adaptation During Gait
A Piecewise Monotonic Smooth Phase Variable for Speed-Adaptation Control of Powered Knee-Ankle Prostheses
Imposing Healthy Hip Movement Pattern and Range by Exoskeleton Control for Individualized Assistance
Characterizing Prosthesis Control Fault During Human-Prosthesis Interactive Walking Using Intrinsic Sensors
A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes
Understanding Modulation of Ankle Stiffness During Stance Phase of Walking on Different Environments and Its Implications for the Design of Impedance Controllers

Aerial Systems 7

Robust and Efficient Velocity Estimation for MAVs with an RGB-D Camera
Geometric MPC Techniques for Reduced Attitude Control on Quadrotors with Bidirectional Thrust
Tightly-Coupled EKF-Based Radar-Inertial Odometry
Accurate Vision-Based Flight with Fixed-Wing Drones
Autonomous Quadrotor Landing on Inclined Surfaces in High Particle Environments Using Radar Sensor Perception
Retro-RL: Reinforcing Nominal Controller with Deep Reinforcement Learning for Tilting-Rotor Drones
TAPE: Tether-Aware Path Planning for Autonomous Exploration of Unknown 3D Cavities Using a Tangle-Compatible Tethered Aerial Robot
Sweep-Your-Map: Efficient Coverage Planning for Aerial Teams in Large-Scale Environments
Predicting Visual Differentiability for Unmanned Aerial Vehicle Gestures

Learning from Experience

Robot Task Learning with Motor Babbling Using Pseudo Rehearsal
Continual Learning in Real-Life Applications
Autonomous Cycle Time Reduction of Robotic Tasks Using Iterative Learning Control
Medical Ultrasound Image Quality Assessment for Autonomous Robotic Screening
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
SafeAPT: Safe Simulation-To-Real Robot Learning Using Diverse Policies Learned in Simulation
Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes
Safe Adaptation in Multiagent Competition
Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower

Deep Learning Methods

PUA-MOS: End-To-End Point-Wise Uncertainty Weighted Aggregation for Moving Object Segmentation
Grounding Commands for Autonomous Vehicles Via Layer Fusion with Region-Specific Dynamic Layer Attention
Neural-Guided Runtime Prediction of Planners for Improved Motion and Task Planning with Graph Neural Networks
OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Robotics
FloorGenT: Generative Vector Graphic Model of Floor Plans for Robotics
Robot Motion Planning As Video Prediction: A Spatio-Temporal Neural Network-Based Motion Planner
Adversarial Attacks on Monocular Pose Estimation
Don’t Share My Face: Privacy Preserving Inpainting for Visual Localization
Torque Control of Hydraulic Pressure Servo Valve Driven Actuator with Deep Neural Network

AI-Enabled Robotics

SGL: Symbolic Goal Learning in a Hybrid, Modular Framework for Human Instruction Following
Towards Defensive Autonomous Driving: Collecting and Probing Driving Demonstrations of Mixed Qualities
TAE: A Semi-Supervised Controllable Behavior-Aware Trajectory Generator and Predictor
Visual-Tactile Sensing for Real-Time Liquid Volume Estimation in Grasping
Comparing Reconstruction and Contrastive-Based Models for Visual Task Planning
Learning Object-Based State Estimators for Household Robots
Deep Residual Reinforcement Learning Based Autonomous Blimp Control
Semantic Grasping Via a Knowledge Graph of Robotic Manipulation: A Graph Representation Learning Approach
3D Part Assembly Generation with Instance Encoded Transformer

Soft Robot Modeling and Control 3

Continuum-Body-Pose Estimation from Partial Sensor Information Using Recurrent Neural Networks
Sim2Real for Soft Robotic Fish Via Differentiable Simulation
An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle
Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing
Model-Based Design Optimization of Underwater Flagellate Propellers
Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots
Hybrid Eye-In-Hand/Eye-To-Hand Image Based Visual Servoing for Soft Continuum Arms
Using R-Functions to Control the Shape of Soft Robots

Cellular, Modular and Cooperating Robots

RePoSt: Distributed Self-Reconfiguration Algorithm for Modular Robots Based on Porous Structure
Selective Self-Assembly Using Re-Programmable Magnetic Pixels
Physical Neural Cellular Automata for 2D Shape Classification
Multi-Modal Multi-Agent Optimization for LIMMS, a Modular Robotics Approach to Delivery Automation
Design, Modeling and Control of a Composable and Extensible Drone with Tilting Rotors
Robotic Parasitic Array Control for Increased RSS in Non-Line-Of-Sight
Modular Robot Networking: A Novel Schema and Its Performance Assessment
Coordinated Multi-Agent Exploration, Rendezvous, & Task Allocation in Unknown Environments with Limited Connectivity
Multi-AGV's Temporal Memory-Based RRT Exploration in Unknown Environment

Prosthetics and Exoskeletons 2

A Novel Method for Detecting Misclassifications of the Locomotion Mode in Lower-Limb Exoskeleton Robot Control
Sample-Efficient Policy Adaptation for Exoskeletons under Variations in the Users and the Environment
Deep-Learning to Map a Benchmark Dataset of Non-Amputee Ambulation for Controlling an Open Source Bionic Leg
Continuous Locomotion Mode Recognition and Gait Phase Estimation Based on a Shank-Mounted IMU with Artificial Neural Networks
Biomechanical Design Optimization of Passive Exoskeletons through Surrogate Modeling on Industrial Activity Data
Application of Piece-Wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation
Real-Time Locomotion Recognition Algorithm for an Active Pelvis Orthosis to Assist Lower-Limb Amputees
Predictive Locomotion Mode Recognition and Accurate Gait Phase Estimation for Hip Exoskeleton on Various Terrains
Simultaneous Gesture Classification and Speed Control for Myoelectric Prosthetic Hand Using Joint-Loss Neural Network

Robust/Adaptive Control

Unbiased Active Inference for Classical Control
Plane-To-Plane Positioning by Proximity-Based Control
Safe Control Synthesis with Uncertain Dynamics and Constraints
Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
Battle the Wind: Improving Flight Stability of a Flapping Wing Micro Air Vehicle under Wind Disturbance with Onboard Thermistor-Based Airflow Sensing
Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments
An Adaptive Approach to Whole-Body Balance Control of Wheel-Bipedal Robot Ollie
An Optimal Dynamic Control Method for Manipulators with Virtual Links
Constrained Imitation Learning for a Flapping Wing Unmanned Aerial Vehicle

Calibration and Robot Safety

CROON: Automatic Multi-LiDAR Calibration and Refinement Method in Road Scene
Geometric Calibration of Single-Pixel Distance Sensors
Data-Driven Kalman Filter with Kernel-Based Koopman Operators for Nonlinear Robot Systems
High Precision and Robust Camera Calibration under Learning-Based Distortion Correction and Feature Detection
Extrinsic Camera Calibration from a Moving Person
A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems
Quantifying Safety of Learning-Based Self-Driving Control Using Almost-Barrier Functions
A Task-Based Post-Impact Safety Protocol Based on Energy Tanks
Scalable Safety-Critical Policy Evaluation with Accelerated Rare Event Sampling
Multi-Contact Whole-Body Motion Planning and Control
Deep Active Visual Attention for Real-Time Robot Motion Generation: Emergence of Tool-Body Assimilation and Adaptive Tool-Use
Automatic Tuning and Selection of Whole-Body Controllers
Learning to Guide Online Multi-Contact Receding Horizon Planning
Real-Time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments
Modeling, Analysis and Activation of Planar Viscoelastically-Combined Rimless Wheels
Minor Change, Major Gains II: Are Maximal Coordinates the Fastest Choice for Trajectory Optimization?
Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion
Integration of Variable-Height and Hopping Strategies for Humanoid Push Recovery
Learning Agile Hybrid Whole-Body Motor Skills for Thruster-Aided Humanoid Robots

Intelligent Transportation Systems 2

Active Mapping Via Gradient Ascent Optimization of Shannon Mutual Information Over Continuous SE(3) Trajectories
A Framework for Optimized Topology Design and Leader Selection in Affine Formation Control
Contextual Driving Scene Perception from Anonymous Vehicle Bus Data for Automotive Applications
Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
Self-Supervised Scene Flow Estimation with 4-D Automotive Radar
Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity
Detecting Adversarial Perturbations in Multi-Task Perception
Recognition Beyond Perception: Environmental Model Completion by Reasoning for Occluded Vehicles

Data Sets for Robotic Vision

ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception
EVOPS Benchmark: Evaluation of Plane Segmentation from RGBD and LiDAR Data
6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
Realism Assessment for Synthetic Images in Robot Vision through Performance Characterization
Danish Airs and Grounds: A Dataset for Aerial-To-Street-Level Place Recognition and Localization
Object Pose Estimation Using Mid-Level Visual Representations
Grasp Pre-Shape Selection by Synthetic Training: Eye-In-Hand Shared Control on the Hannes Prosthesis
Sequential Thermal Image-Based Adult and Baby Detection Robust to Thermal Residual Heat Marks
IndoLayout: Leveraging Attention for Extended Indoor Layout Estimation from an RGB Image

Autonomous Agents

A Biologically-Inspired Simultaneous Localization and Mapping System Based on LiDAR Sensor
Cola-HRL: Continuous-Lattice Hierarchical Reinforcement Learning for Autonomous Driving
Visibility-Inspired Models of Touch Sensors for Navigation
Factorization of Dynamic Games Over Spatio-Temporal Resources
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation
Low-Drift LiDAR-Only Odometry and Mapping for UGVs in Environments with Non-Level Roads
Stochastic Games with Stopping States and Their Application to Adversarial Motion Planning Problems
BOBCAT: Behaviors, Objectives and Binary States for Coordinated Autonomous Tasks
ATF-3D: Semi-Supervised 3D Object Detection withAdaptive Thresholds Filtering Based on Confidenceand Distance

Actuation and Joint Mechanisms

Adaptative Friction Shock Absorbers and Reverse Thrust for Fast Multirotor Landing on Inclined Surfaces
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
Jumping on Air: Design and Modeling of Latch-Mediated, Spring-Actuated Air-Jumpers
Anisotropic-Stiffness Belt in Mono Wheeled Flexible Track for Rough Terrain Locomotion
Wave-Shaped Notched Compliant Joint with High Rigidity
A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator
An In-Pipe Crawling Robot Based on Tensegrity Structures
Vertical Bend and T-Branch Travels of an Articulated Wheeled In-Pipe Inspection Robot by Combining Its Joint Angle and Torque Controls

Sensor Systems

Learned Depth Estimation of 3D Imaging Radar for Indoor Mapping
Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud
Linewise Non-Rigid Point Cloud Registration
A LiDAR-Inertial Odometry with Principled Uncertainty Modeling
DeepCIR: Insights into CIR-Based Data-Driven UWB Error Mitigation
From Timing Variations to Performance Degradation: Understanding and Mitigating the Impact of Software Execution Timing in SLAM
Combined Dual-Prediction Based Data Fusion and Enhanced Leak Detection and Isolation Method for WSN Pipeline Monitoring System (I)
Upper Limb Movement Estimation and Function Evaluation of the Shoulder Girdle by Multi-Sensing Flexible Sensor Wear

Optimization and Optimal Control 2

A Legendre-Gauss Pseudospectral Collocation Method for Trajectory Optimization in Second Order Systems
An Equivalent Time-Optimal Problem to Find Energy-Optimal Paths for Skid-Steer Rovers
Visibility-Aware Navigation with Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost
Refining Control Barrier Functions through Hamilton-Jacobi Reachability
Newton-PnP: Real-Time Visual Navigation for Autonomous Toy-Drones
Constrained Differential Dynamic Programming: A Primal-Dual Augmented Lagrangian Approach
Introducing Force Feedback in Model Predictive Control
Toward Global Sensing Quality Maximization: A Configuration Optimization Scheme for Camera Networks
Embedding Koopman Optimal Control in Robot Policy Learning

Behavior-Based Systems

HGCN-GJS: Hierarchical Graph Convolutional Network with Groupwise Joint Sampling for Trajectory Prediction
Teaching Robots to Span the Space of Functional Expressive Motion
Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance
Learning Bidirectional Translation between Descriptions and Actions with Small Paired Data
Generalizability Analysis of Graph-Based Trajectory Predictor with Vectorized Representation
CreativeBot: A Creative Storyteller Agent Developed by Leveraging Pre-Trained Language Models
Adaptive Sequential Composition for Robot Behaviours
Collective Conditioned Reflex: A Bio-Inspired Fast Emergency Reaction Mechanism for Designing Safe Multi-Robot Systems
Use of Action Label in Deep Predictive Learning for Robot Manipulation

Motion and Path Planning 9

Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework (I)
Fast Cost-Aware Lazy-Theta* Over Euclidean Distance Functions for 3D Planning of Aerial Robots in Building-Like Environments
Conflict-Based Search for Multi-Robot Motion Planning with Kinodynamic Constraints
Motion Planning by Search in Derivative Space and Convex Optimization with Enlarged Solution Space
From Low to High Order Motion Planners: Safe Robot Navigation Using Motion Prediction and Reference Governor
Hierarchical Planning through Goal-Conditioned Offline Reinforcement Learning
Learning Minimum Time Flight in Cluttered Environments
NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots with Nonholonomic Constraints
Db-A*: Discontinuity-Bounded Search for Kinodynamic Mobile Robot Motion Planning

Legged Robots 3

Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots
An Online Interactive Approach for Crowd Navigation of Quadrupedal Robots
Simultaneous Contact-Rich Grasping and Locomotion Via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots
Vision-Assisted Localization and Terrain Reconstruction with Quadruped Robots
Improved Task Space Locomotion Controller for a Quadruped Robot with Parallel Mechanisms
Feasible Wrench Set Computation for Legged Robots
Online Kinematic Calibration for Legged Robots
Collision Detection and Identification for a Legged Manipulator
Bio-Inspired Rhythmic Locomotion for Quadruped Robots

Constrained Motion Planning

Predictive Angular Potential Field-Based Obstacle Avoidance for Dynamic UAV Flights
Avoiding Dynamic Obstacles with Real-Time Motion Planning Using Quadratic Programming for Varied Locomotion Modes
CoMBiNED: Multi-Constrained Model Based Planning for Navigation in Dynamic Environments
A Saturation-Aware Trajectory-Based Explicit Reference Governor for a Robotic Arm
Time-Optimal Online Replanning for Agile Quadrotor Flight
Collision Detection for Unions of Convex Bodies with Smooth Boundaries Using Closed-Form Contact Space Parameterization
Trajectory Planning for UAVs Based on Interfered Fluid Dynamical System and Bézier Curves
Time-Optimal Trajectory Planning with Interaction with the Environment
Obstacle Aware Sampling for Path Planning

Multi-Robot Systems 3

Distributed Ranging SLAM for Multiple Robots with Ultra-WideBand and Odometry Measurements
MT*: Multi-Robot Path Planning with Temporal Logic Specification
Meeting-Merging-Mission: A Multi-Robot Coordinate Framework for Large-Scale Communication-Limited Exploration
Communication-Preserving Bids in Market-Based Task Allocation
Toolbox Release: A WiFi-Based Relative Bearing Framework for Robotics
Multi-Robot Dynamic Swarm Disablement
Attention-Based Population-Invariant Deep Reinforcement Learning for Collision-Free Flocking with a Scalable Fixed-Wing UAV Swarm
Multi-UAV Cooperative Short-Range Combat Via Attention-Based Reinforcement Learning Using Individual Reward Shaping
Vision-Based Distributed Multi-UAV Collision Avoidance Via Deep Reinforcement Learning for Navigation

Path Planning for Multiple Mobile Robots and Agents 3

Sequence-Of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
RHH-LGP: Receding Horizon and Heuristics-Based Logic-Geometric Programming for Task and Motion Planning
FC3: Feasibility-Based Control Chain Coordination
Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning
Collision-Free Minimum-Time Trajectory Planning for Multiple Vehicles Based on ADMM
Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots
AB-Mapper: Attention and BicNet Based Multi-Agent Path Planning for Dynamic Environment
Graph Embedding for Multi-Robot Path Planning in Complex Environments
Artificial Learning for Part Identification in Robotic Disassembly through Automatic Rule Generation in an Ontology (I)

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