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Learning to Control Self-Assembling Morphologies: A Study of Generalization via ModularityFeb 14 2019Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive agents learns ... More
Unsupervised Visuomotor Control through Distributional Planning NetworksFeb 14 2019While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where aspects of ... More
Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm SystemFeb 14 2019The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation ... More
Performance Analysis of Series Elastic Actuator based on Maximum Torque TransmissibilityFeb 14 2019The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area. Nevertheless, there ... More
Dynamical system based obstacle avoidance via manipulating orthogonal coordinatesFeb 14 2019In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new trajectory's direction ... More
Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force ObserverFeb 14 2019This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force measurement of ... More
Manipulating Soft Tissues by Deep Reinforcement Learning for Autonomous Robotic SurgeryFeb 14 2019In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on the deformable ... More
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion PoliciesFeb 14 2019In the multi-robot systems literature, control policies are typically obtained through descent rules for a potential function which encodes a single team-level objective. However, for multi-objective tasks, it can be hard to design a single control policy ... More
Predicting Ergonomic Risks During Indoor Object Manipulation Using Spatiotemporal Convolutional NetworksFeb 14 2019Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational paradigm to address ... More
A framework for synchronizing a team of aerial robots in communication-limited environmentsFeb 13 2019This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned ... More
Analytical Modeling for Rapid Design of Bistable Buckled BeamsFeb 13 2019Double-clamped bistable buckled beams, as the most elegant bistable mechanisms, demonstrate great versatility in various fields, such as robotics, energy harvesting, and MEMS. However, their design is always hindered by time-consuming and expensive computations. ... More
Proximity Queries for Absolutely Continuous Parametric CurvesFeb 13 2019In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is generally non-convex ... More
3D Robot Pose Estimation from 2D ImagesFeb 13 2019This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations. The proposed ... More
A Scalable FPGA-based Architecture for Depth Estimation in SLAMFeb 13 2019The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field has provided ... More
A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop graspingFeb 13 2019Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been ... More
Self-Supervised Surgical Tool Segmentation using Kinematic InformationFeb 13 2019Surgical tool segmentation in endoscopic images is the first step towards pose estimation and (sub-)task automation in challenging minimally invasive surgical operations. While many approaches in the literature have shown great results using modern machine ... More
A Subject-Specific Four-Degree-of-Freedom Foot Interface to Control a Robot ArmFeb 13 2019In robotic surgery, the surgeon controls robotic instruments using dedicated interfaces. One critical limitation of current interfaces is that they are designed to be operated by only the hands. This means that the surgeon can only control at most two ... More
Simultaneously Learning Vision and Feature-based Control Policies for Real-world Ball-in-a-CupFeb 13 2019We present a method for fast training of vision based control policies on real robots. The key idea behind our method is to perform multi-task Reinforcement Learning with auxiliary tasks that differ not only in the reward to be optimized but also in the ... More
Using Approximate Models in Robot LearningFeb 13 2019Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for data collection ... More
Value constrained model-free continuous controlFeb 12 2019The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially as bang-bang ... More
Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for QuadrupedsFeb 12 2019The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical robots. For some ... More
VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor EnvironmentsFeb 12 2019Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present VIZARD, a visual localization system for urban outdoor environments. By combining a local localization ... More
Towards Self-Supervised High Level Sensor FusionFeb 12 2019In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering commands. ... More
Reactive Control Meets Runtime Verification: A Case Study of NavigationFeb 11 2019This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from formal specifications ... More
Neural Network Architectures for Stochastic Control using the Nonlinear Feynman-Kac LemmaFeb 11 2019In this paper we propose a new methodology for decision-making under uncertainty using recent advancements in the areas of nonlinear stochastic optimal control theory, applied mathematics and machine learning. Our work is grounded on the nonlinear Feynman-Kac ... More
Comfort-Centered Design of a Lightweight and Backdrivable Knee ExoskeletonFeb 11 2019This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are ... More
Semantic Label Reduction Techniques for Autonomous DrivingFeb 11 2019Semantic segmentation maps can be used as input to models for maneuvering the controls of a car. However, not all labels may be necessary for making the control decision. One would expect that certain labels such as road lanes or sidewalks would be more ... More
Latent Space Reinforcement Learning for Steering Angle PredictionFeb 11 2019Model-free reinforcement learning has recently been shown to successfully learn navigation policies from raw sensor data. In this work, we address the problem of learning driving policies for an autonomous agent in a high-fidelity simulator. Building ... More
Generalization through Simulation: Integrating Simulated and Real Data into Deep Reinforcement Learning for Vision-Based Autonomous FlightFeb 11 2019Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can be difficult ... More
Tool Macgyvering: Tool Construction Using Geometric ReasoningFeb 10 2019MacGyvering is defined as creating or repairing something in an inventive or improvised way by utilizing objects that are available at hand. In this paper, we explore a subset of Macgyvering problems involving tool construction, i.e., creating tools from ... More
NeurAll: Towards a Unified Model for Visual Perception in Automated DrivingFeb 10 2019Convolutional Neural Networks (CNNs) are successfully used for the important automotive visual perception tasks including object recognition, motion and depth estimation, visual SLAM, etc. However, these tasks are independently explored and modeled. In ... More
Design, Mechanical Simulation and Implementation of a New Six- Legged RobotFeb 10 2019Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel kinematic structure ... More
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and JammingFeb 09 2019Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel quasi-static model ... More
Hierarchical Multi-task Deep Neural Network Architecture for End-to-End DrivingFeb 09 2019A novel hierarchical Deep Neural Network (DNN) model is presented to address the task of end-to-end driving. The model consists of a master classifier network which determines the driving task required from an input stereo image and directs said image ... More
Optimization of dynamic mobile robot path planning based on evolutionary methodsFeb 09 2019This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as well as smoothness ... More
HE-SLAM: a Stereo SLAM System Based on Histogram Equalization and ORB FeaturesFeb 09 2019In the real-life environments, due to the sudden appearance of windows, lights, and objects blocking the light source, the visual SLAM system can easily capture the low-contrast images caused by over-exposure or over-darkness. At this time, the direct ... More
Photorealistic Image Synthesis for Object Instance DetectionFeb 09 2019We present an approach to synthesize highly photorealistic images of 3D object models, which we use to train a convolutional neural network for detecting the objects in real images. The proposed approach has three key ingredients: (1) 3D object models ... More
Active Area Coverage from EquilibriumFeb 08 2019This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies during active data ... More
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear OptimizationFeb 08 2019Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in automatic differentiation to develop a general-purpose nonlinear optimization ... More
Motion Scaling Solutions for Improved Performance in High Delay Surgical TeleoperationFeb 08 2019Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the clinical feasibility ... More
Towards autonomous ocean observing systems using Miniature Underwater Gliders with UAV deployment and recovery capabilitiesFeb 08 2019This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs) ... More
OrthographicNet: A Deep Learning Approach for 3D Object Recognition in Open-Ended DomainsFeb 08 2019Service robots are expected to be more autonomous and efficiently work in human-centric environments. For this type of robots, open-ended object recognition is a challenging task due to the high demand for two essential capabilities: (i) the accurate ... More
A Framework for Autonomous Robot Deployment with Perfect Demand Satisfaction using Virtual ForcesFeb 08 2019In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment autonomously. However, ... More
Deep execution monitor for robot assistive tasksFeb 07 2019We consider a novel approach to high-level robot task execution for a robot assistive task. In this work we explore the problem of learning to predict the next subtask by introducing a deep model for both sequencing goals and for visually evaluating the ... More
Visual search and recognition for robot task execution and monitoringFeb 07 2019Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets involved in ... More
Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic EnvironmentsFeb 07 2019As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic actors, it is ... More
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive ControlFeb 07 2019Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman Operator Theory offers a way to construct explicit linear dynamical models ... More
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles and Best PracticesFeb 07 2019The resolution of many robotics problems demands the optimization of certain reward (or cost) over a huge number of candidate paths. In this paper, we describe an integer programming (IP) solution methodology for path-based optimization problems that ... More
Commodifying Pointing in HRI: Simple and Fast Pointing Gesture Detection from RGB-D ImagesFeb 07 2019We present and characterize a simple method for detecting pointing gestures suitable for human-robot interaction applications using a commodity RGB-D camera. We exploit a state-of-the-art Deep CNN-based detector to find hands and faces in RGB images, ... More
Artificial Intelligence for Prosthetics - challenge solutionsFeb 07 2019In the NeurIPS 2018 Artificial Intelligence for Prosthetics challenge, participants were tasked with building a controller for a musculoskeletal model with a goal of matching a given time-varying velocity vector. Top participants were invited to describe ... More
Augmenting Learning Components for Safety in Resource Constrained Autonomous RobotsFeb 06 2019This paper deals with resource constrained autonomous robots commonly found in factories, hospitals, and education laboratories, which popularly use learning enabled components (LEC) to make control actions. However, these LECs do not provide any safety ... More
Distributed Synthesis of Surveillance Strategies for Mobile SensorsFeb 06 2019We study the problem of synthesizing strategies for a mobile sensor network to conduct surveillance in partnership with static alarm triggers. We formulate the problem as a multi-agent reactive synthesis problem with surveillance objectives specified ... More
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data AssociationFeb 06 2019A fundamental challenge in many robotics applications is to correctly synchronize and fuse observations across a team of sensors or agents. Instead of solely relying on pairwise matches among observations, multi-way matching methods leverage the notion ... More
Spacecraft Swarm Attitude Control for Small Body Surface ObservationFeb 06 2019Understanding the physics of small bodies such as asteroids, comets, and planetary moons will help us understand the formation of the solar system, and also provide us with resources for a future space economy. Due to these reasons, missions to small ... More
Attitude Control of an Inflatable Sailplane for Mars ExplorationFeb 06 2019Feb 07 2019Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital images lack ... More
Guidance, Navigation and Control of Asteroid Mobile Imager and Geologic Observer (AMIGO)Feb 06 2019The science and origins of asteroids is deemed high priority in the Planetary Science Decadal Survey. Major scientific goals for the study of planetesimals are to decipher geological processes in SSSBs not determinable from investigation via in-situ experimentation, ... More
Motion Planning on an Asteroid Surface with Irregular Gravity FieldsFeb 06 2019There are thousands of asteroids in near-Earth space and millions in the Main Belt. They are diverse in physical properties and composition and are time capsules of the early solar system. This makes them strategic locations for planetary science, resource ... More
Adaptive Stress Testing for Autonomous VehiclesFeb 05 2019This paper presents a method for testing the decision making systems of autonomous vehicles. Our approach involves perturbing stochastic elements in the vehicle's environment until the vehicle is involved in a collision. Instead of applying direct Monte ... More
Interactively shaping robot behaviour with unlabeled human instructionsFeb 05 2019In this paper, we propose a framework that enables a human teacher to shape a robot behaviour by interactively providing it with unlabeled instructions. We ground the meaning of instruction signals in the task learning process, and use them simultaneously ... More
EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D DatasetsFeb 05 2019Developing robot perception systems for recognizing objects in the real-world requires computer vision algorithms to be carefully scrutinized with respect to the expected operating domain. This demands large quantities of ground truth data to rigorously ... More
Dynamic Real-time Multimodal Routing with Hierarchical Hybrid PlanningFeb 05 2019We introduce the problem of Dynamic Real-time Multimodal Routing (DREAMR), which requires planning and executing routes under uncertainty for an autonomous agent. The agent has access to a time-varying transit vehicle network in which it can use multiple ... More
Functional Object-Oriented Network for Manipulation LearningFeb 05 2019This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model FOON is learned ... More
Learning Soft Tissue Dynamics in Image Space for Automated Bimanual Tissue Manipulation with Surgical RobotsFeb 04 2019In this paper, reinforcement learning and learning from demonstration in vision strategies are proposed to automate the soft tissue manipulation task with surgical robots. A soft tissue manipulation simulation is designed to compare the performance of ... More
Real-time Prediction of Automotive Collision Risk from Monocular VideoFeb 04 2019Many automotive applications, such as Advanced Driver Assistance Systems (ADAS) for collision avoidance and warnings, require estimating the future automotive risk of a driving scene. We present a low-cost system that predicts the collision risk over ... More
Estimation with Fast Landmark Selection in Robot Visual NavigationFeb 04 2019We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the information matrix ... More
Enabling Robots to Infer how End-Users Teach and Learn through Human-Robot InteractionFeb 02 2019During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot observe each other's ... More
Path Tracking of Highly Dynamic Autonomous Vehicle Trajectories via Iterative Learning ControlFeb 02 2019Iterative learning control has been successfully used for several decades to improve the performance of control systems that perform a single repeated task. Using information from prior control executions, learning controllers gradually determine open-loop ... More
A Sequential Two-Step Algorithm for Fast Generation of Vehicle Racing TrajectoriesFeb 02 2019The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal control problem ... More
A Hybrid Control Design for Autonomous Vehicles at Uncontrolled IntersectionsFeb 02 2019As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance, as every human ... More
Active Estimation of 3D Lines in Spherical CoordinatesFeb 01 2019Straight lines are common features in human made environments. They are a richer feature than points, since they yield more information about the environment (these are one degree features instead of the zero degrees of points). Besides, they are easier ... More
Flexible collaborative transportation by a team of rotorcraftFeb 01 2019We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates the acceleration ... More
Geometric interpretation of the general POE model for a serial-link robot via conversion into D-H parameterizationFeb 01 2019While Product of Exponentials (POE) formula has been gaining increasing popularity in modeling the kinematics of a serial-link robot, the Denavit-Hartenberg (D-H) notation is still the most widely used due to its intuitive and concise geometric interpretation ... More
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced ActuatorsJan 31 2019Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques have been ... More
Contrasting Exploration in Parameter and Action Space: A Zeroth-Order Optimization PerspectiveJan 31 2019Black-box optimizers that explore in parameter space have often been shown to outperform more sophisticated action space exploration methods developed specifically for the reinforcement learning problem. We examine these black-box methods closely to identify ... More
Bootstrapping Robotic Ecological Perception from a Limited Set of Hypotheses Through Interactive PerceptionJan 30 2019To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task and sensorimotor ... More
A Minimalistic Approach to Segregation in Robot SwarmsJan 29 2019We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based. Specifically, we assume ... More
Automated Analysis, Reporting, and Archiving for Robotic Nondestructive Assay of Holdup DepositsJan 29 2019To decommission deactivated gaseous diffusion enrichment facilities, miles of contaminated pipe must be measured. The current method requires thousands of manual measurements, repeated manual data transcription, and months of manual analysis. The Pipe ... More
Modeling and Simulation of Robotic Finger Powered by Nylon Artificial Muscles- Equations with Simulink modelJan 28 2019This paper shows a detailed modeling of three-link robotic finger that is actuated by nylon artificial muscles and a simulink model that can be used for numerical study of a robotic finger. The robotic hand prototype was recently demonstrated in recent ... More
Bayesian Active Learning for Collaborative Task Specification Using Equivalence RegionsJan 28 2019Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities. As non-expert ... More
4D Generic Video Object ProposalsJan 26 2019Many high-level video understanding methods require input in the form of object proposals. Currently, such proposals are predominantly generated with the help of networks that were trained for detecting and segmenting a set of known object classes, which ... More
Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal MicrorobotJan 25 2019Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often driven by ... More
On the Limitations of Representing Functions on SetsJan 25 2019Recent work on the representation of functions on sets has considered the use of summation in a latent space to enforce permutation invariance. In particular, it has been conjectured that the dimension of this latent space may remain fixed as the cardinality ... More
Laser Communication and Coordination Control of Spacecraft SwarmsJan 25 2019Swarms of small spacecraft offer whole new capabilities in Earth observation, global positioning and communications compared to a large monolithic spacecraft. These small spacecrafts can provide bigger apertures that increase gain in communication antennas, ... More
Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged MicrorobotJan 25 2019Jan 28 2019Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the development of ... More
Learning agile and dynamic motor skills for legged robotsJan 24 2019Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanship ... More
Decoupling feature extraction from policy learning: assessing benefits of state representation learning in goal based roboticsJan 24 2019Feb 03 2019Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact, efficient and ... More
Real-time Scene Segmentation Using a Light Deep Neural Network Architecture for Autonomous Robot Navigation on Construction SitesJan 24 2019Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g., context-awareness, control, ... More
Distributed Learning of Decentralized Control Policies for Articulated Mobile RobotsJan 24 2019State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized control architectures ... More
Mixed-Granularity Human-Swarm InteractionJan 24 2019We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or physical) to indicate ... More
Vision-based Obstacle Removal System for Autonomous Ground Vehicles Using a Robotic ArmJan 24 2019Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground are challenging ... More
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion ControlJan 23 2019Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots. ... More
Active Perception based Formation Control for Multiple Aerial VehiclesJan 23 2019Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an algorithmic back-end ... More
On multi-robot search for a stationary objectJan 22 2019Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is a generalization of the Traveling Deliveryman Problem where more than one deliveryman is allowed ... More
Sequential path planning for a formation of mobile robots with split and mergeJan 22 2019An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The key part of ... More
Multiobjective Coverage Path Planning: Enabling Automated Inspection of Complex, Real-World StructuresJan 22 2019An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for planning paths allowing ... More
Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion EstimationJan 22 2019External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might yield poor performance ... More
Visual Imitation Learning with Recurrent Siamese NetworksJan 22 2019People solve the difficult problem of understanding the salient features of both observations of others and the relationship to their own state when learning to imitate specific tasks. In this work, we train a comparator network which is used to compute ... More
The RobotriX: An eXtremely Photorealistic and Very-Large-Scale Indoor Dataset of Sequences with Robot Trajectories and InteractionsJan 19 2019Enter the RobotriX, an extremely photorealistic indoor dataset designed to enable the application of deep learning techniques to a wide variety of robotic vision problems. The RobotriX consists of hyperrealistic indoor scenes which are explored by robot ... More
Endoscopic vs. volumetric OCT imaging of mastoid bone structure for pose estimation in minimally invasive cochlear implant surgeryJan 19 2019Purpose: The facial recess is a delicate structure that must be protected in minimally invasive cochlear implant surgery. Current research estimates the drill trajectory by using endoscopy of the unique mastoid patterns. However, missing depth information ... More
TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile SensorsJan 18 2019Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature vectors or ... More