IROS 2024 Papers — Page 5
IEEE/RSJ International Conference on Intelligent Robots and Systems · 1581 papers
Design and Development of a Work Cell with a One-Handed Soldering Tool for Enhanced Human-Robot Collaboration
Natchanon Suppaadirek, T. Shibata
Pose EstimationDepth EstimationRobotic IntelligenceImage
🎯 What it does: Designed and developed a work unit tailored for single-arm users, integrating a one-handed welding tool with a robotic arm. The system utilizes depth cameras, machine learning, and Mediapipe human tracking to interpret human intent, enhancing the intuitiveness and effectiveness of human-robot collaboration.
Design and Evaluation of a Prototype Tactile Scanner for Active Sensing of Proximal Objects
A. Dechaux, G. Ganesh
Robotic Intelligence
🎯 What it does: Designed and evaluated a tactile scanner prototype for active perception of nearby objects.
Design and implementation of a novel wheel-based cable inspection robot
Mengqi Hou, Lezhi Hu
Robotic Intelligence
🎯 What it does: Proposed and implemented a novel wheeled cable inspection robot, with detailed elaboration of its structural design, control system, and mechanical analysis of the suspension mechanism, and verified its performance through prototype testing.
Design and Modeling of a Thin-walled Multi-segment Continuum Robotic Bronchoscope
Guibin Bian, Zhen Li
Robotic IntelligenceBiomedical Data
🎯 What it does: Designed and verified a thin-walled multi-segment continuously driven bronchoscope robot system, achieving over 190° of bending and realizing error compensation through a real-time kinematic model, constructing a prototype and validating its functionality in vivo in pigs.
Design and Preliminary Validation of A Multi-mode Quadrotor Aerial-Aquatic Vehicle with Tilting Mechanism
Mengyao Liu, Yayi Shen
Robotic Intelligence
🎯 What it does: Developed a multi-modal quadrotor drone prototype capable of moving in both air and water, and verified its feasibility through experiments.
Design and Validation of Flexible Aerial Robotics for Safe Human-Robot Interaction
Fuhua Jia, Salman Ijaz
Safty and PrivacyRobotic Intelligence
🎯 What it does: Designed and verified a flexible pneumatic robot (SFAR) for safe human-robot and drone interaction
Design Improvements to the Float Upper-Limb Exoskeleton Better Mimics the Glenohumeral Complex Kinematics
Giulia Bodo, Matteo Laffranchi
Robotic Intelligence
🎯 What it does: Design improvements are made for the shoulder and wrist joints of the Float-type upper limb exoskeleton, adopting a 3-DOF RPY wrist architecture and introducing a multi-index evaluation method to verify the enhancement of reachable workspace and the internal/external rotation of the shoulder joint.
Design of a Fully Actuated Drone with Non-Isotropic Wrench Shape
Seongsu Park, Min Jun Kim
OptimizationRobotic Intelligence
🎯 What it does: Proposes a design framework for a fully actuated drone with anisotropic torque shapes to improve energy efficiency during aerial contact operations.
Design of a Multi-robot Coordination System based on Functional Expressions using Large Language Models
Yuki Kato, H. Asama
Robotic IntelligenceTransformerLarge Language ModelVision Language ModelTextMultimodality
🎯 What it does: Proposed a multi-robot coordination system workflow based on large language models (GPT-4, GPT-4V), leveraging functional expression and environmental understanding to achieve adaptive coordination in unknown environments;
Design of a Pneumatically Driven 3D-Printed Under-Actuated Soft Robot with Programmable Stiffness
Zaid Mustafa, Melih Türkseven
Robotic Intelligence
🎯 What it does: Proposed a soft pneumatic actuated 3D printed soft robot using programmable stiffness poly(lactic acid) (PLA) components and embedded heating lines to achieve adjustable stiffness;
Design of a Soft Shell for a Spherical Exploration Robot Traversing Varying Terrain
M. P. Dravid, Robert O. Ambrose
Robotic Intelligence
🎯 What it does: Proposed and constructed a spherical exploration robot with a soft shell, and conducted performance analysis by adjusting the shell pressure to adapt to different terrains.
Design of a Variable Wheel-propeller Integrated Mechanism for Amphibious Robots
Liang Lu, Bin Han
OptimizationRobotic Intelligence
🎯 What it does: A variable wheel blade integration mechanism was proposed, a kinematic model of the blade was established, and multi-objective structural parameter optimization was conducted for ground obstacle crossing and underwater propulsion performance. Finally, a virtual simulation prototype was constructed and its performance was evaluated.
Design of Stickbug: a Six-Armed Precision Pollination Robot
Trevor Smith, Yu Gu
Robotic IntelligenceImageAgriculture Related
🎯 What it does: Designed and implemented a six-armed multi-agent precision pollination robot named Stickbug, capable of combining the precision of single agents with group parallelization to achieve pollination in greenhouse environments;
Design of Upper-Limb Exoskeleton with Distal Branching Link Mechanism for Bilateral Operation of Humanoid Robots
Hiroki Yoshioka, Masayuki Inaba
Robotic Intelligence
🎯 What it does: Designed an upper limb exoskeleton with a distal branch linkage mechanism for bidirectional human-robot operation in humanoid robots.
Design, Modelling, and Experimental Validation of a Soft Continuum Wrist Section Developed for a Prosthetic Hand
S. Sulaiman, F. Ficuciello
Robotic IntelligencePhysics RelatedOrdinary Differential Equation
🎯 What it does: Designed, modeled, and experimentally validated a soft continuous wrist joint for prosthetic arms;
Design, Prototype, and Performance Assessment of an Autonomous Manipulation System for Mars Sample Recovery Helicopter
A. Kalantari, Ryan Mccormick
Robotic IntelligenceImage
🎯 What it does: Designed, prototyped, and tested a ~150g operating system enabling a Mars sample recovery helicopter to autonomously pick up, store, and release recoverable sample tubes and glove assembly (RGA) on the Martian surface.
Det-Recon-Reg: An Intelligent Framework Towards Automated Large-Scale Infrastructure Inspection
Guidong Yang, Ben M. Chen
Object DetectionAnomaly DetectionImagePoint Cloud
🎯 What it does: Propose the Det-Recon-Reg framework, which separates detection, reconstruction, and registration into three stages, achieving automated detection and localization of large-scale infrastructure defects.
Development and Functional Evaluation of The PrHand V3 Soft-Robotics Prosthetic Hand
Orion Ramos, Carlos A. Cifuentes
Robotic Intelligence
🎯 What it does: Studied and evaluated the PrHand V3 soft robotic prosthetic hand, including mechanical improvements and functional assessment.
Development Force Control of a Series Elastic Actuator to Excavator for Mechanization of Manual Work *
Toshifumi Hiramatsu, Hisashi Sugiura
OptimizationRobotic Intelligence
🎯 What it does: Proposed and implemented a force-controlled excavator using series elastic actuators (SEA) to replace traditional hydraulic systems, achieving precise control of the excavator's operational force.
Development of a Bendable and Extendable Soft Gripper Driven by Differential Worm Gear Mechanism
Moses Gladson Selvamuthu, R. Tadakuma
Robotic Intelligence
🎯 What it does: Developed a flexible, stretchable soft gripper that uses a differential worm gear mechanism to drive flexible dual-tooth lever finger tips, which can adjust the length of the fingertips according to the grasped object.
Development of a Bilateral Control Teleoperation System for Bipedal Humanoid Robot Utilizing Foot Sole Haptics Feedback *
Yang Shen, T. Otani
Robotic Intelligence
🎯 What it does: This study develops and verifies a bidirectional control remote operation system that uses foot sole tactile feedback to help operators stabilize bipedal humanoid robots.
Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction
Kazuo Hongo, Yasunori Kawanami
Robotic Intelligence
🎯 What it does: Developed a compact, robust passive variable omni-wheel (PTOB) to enhance step climbing performance, reduce vibration, and improve structural integrity.
Development of a Low Pressure Pouch Sensor for Force Measurement in Colonoscopy Procedures
Korn Borvorntanajanya, F. R. Y. Baena
🎯 What it does: A low-pressure balloon sensor was developed to be mounted on a colonoscope for measuring contact force with the environment.
Development of a Mobile Reconfigurable Mecanum Robot with a Locking Device of Rollers
Dmitrii N. Zakharov, Botao Zhang
Robotic Intelligence
🎯 What it does: Developed a mobile reconfigurable Mecanum robot capable of switching between omnidirectional and traditional wheel modes, and proposed a pneumatic locking device;
Development of a Modular Robotic Finger for Gripping Various Shaped Objects
Jisu Kim, Dongwon Yun
Robotic Intelligence
🎯 What it does: A modular robotic finger based on p-CFH was developed, employing a single motor lower drive, exhibiting flexibility and shape adaptability, enabling easy grasping of objects with multiple shapes.
Development of a Novel Redundant Parallel Mechanism with Enlarged Workspace and Enhanced Dexterity for Fracture Reduction Surgery
Quan Yuan, Weibang Bai
Robotic IntelligenceBiomedical Data
🎯 What it does: Propose a redundant parallel mechanism (NRPM) based on the Stewart parallel mechanism by adding six redundant degrees of freedom to achieve a larger workspace and higher dexterity, and analyze its kinematics, workspace, and dexterity.
Development of a peristaltic flexible transfer system for transporting feces under microgravity: Construction and validation of transport models
M. Kawano, T. Nakamura
Physics Related
🎯 What it does: Developed a peristaltic flexible transmission system for waste transfer under microgravity, and conducted model construction and experimental validation
Development of a Spherical Wheel-legged Composite Mobile Robot with Multimodal Motion Capabilities
Yuyang Du, Wenfu Xu
Robotic Intelligence
🎯 What it does: Proposed and implemented a spherical wheel-legged hybrid mobile robot capable of switching between foot mode and spherical rolling mode, and designed corresponding control algorithms;
Development of a Super-thin and Fast Omnidirectional Treadmill through a Novel Helical Transmission Mechanism
Sanghun Pyo, Jungwon Yoon
🎯 What it does: Developed a ultra-thin, fast, omnidirectional treadmill utilizing a novel screw drive mechanism
Development of a Throwbot with Shock Absorption Structure
Jaeyeong Keum, Dongwon Yun
Robotic IntelligencePhysics Related
🎯 What it does: Designed and manufactured a throwing robot equipped with an impact absorption structure (paired cross-bending hinge p-CFH and airbag), and verified its performance through free-fall experiments and obstacle crossing tests.
Development of Bidirectional Series Elastic Actuator with Torsion Coil Spring and Implementation to the Legged Robot
Yuta Koda, Kensaku Ishizuka
Robotic Intelligence
🎯 What it does: Develop a compact and lightweight coil spring series elastic actuator (SEA), and implement it in three joints (hip, knee, ankle) of a single-legged robot, verifying its ability to achieve flexible landing and continuous jumping;
Development of Contextual Collision Risk Framework for Operational Envelope of Autonomous Navigation System
In-Chul Kim, Jinmo Park
Autonomous Driving
🎯 What it does: Proposed the Contextual Collision Risk (CCR) method to assess collision risks for autonomous navigation systems in congested maritime areas, and established an operational envelope (OE).
Development of five-finger hand-type robotic forceps for laparoscopic gastrointestinal surgery
Hiroyuki Wakamatsu, Masaya Mukai
Robotic Intelligence
🎯 What it does: Developed a five-fingered robotic forceps suitable for laparoscopic gastrointestinal surgery
Development of Permanent Magnet Elastomer-based Tactile Sensor with Adjustable Compliance and Sensitivity
Devesh Abhyankar, Mitsuhiro Kamezaki
Robotic Intelligence
🎯 What it does: Developed a tactile sensor with adjustable compliance and sensitivity based on permanent magnet elastomer.
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
Yutong Hu, Fisher Yu
Robotic Intelligence
🎯 What it does: Designed and implemented a multi-task learning framework enabling legged robots to achieve agile motion strategies when manipulating a soccer ball;
DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation Tasks
Xiaofeng Mao, Lorenzo Jamone
SegmentationRobotic IntelligenceSupervised Fine-TuningMultimodality
🎯 What it does: Developed DexSkills, a supervised learning framework that leverages proprioceptive and haptic data to decompose long-duration fine robot manipulation tasks into reusable primitive skills, enabling one-click autonomous execution by robots.
DHP-Mapping: A Dense Panoptic Mapping System with Hierarchical World Representation and Label Optimization Techniques
Tianshuai Hu, Ming Liu
Simultaneous Localization and MappingWorld ModelPoint Cloud
🎯 What it does: Proposes DHP-Mapping, a dense panoptic mapping system that employs hierarchical modeling using multiple TSDF submaps and panoptic labels, capable of simultaneously maintaining geometric and semantic information at both voxel-level and submap-level.
DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints
Dingchuan Liu, Ximin Lyu
Robotic Intelligence
🎯 What it does: Designed and implemented a fully direct-driven six-degree-of-freedom wheeled bipedal robot DIABLO, and developed an LQR-based balance controller and a multi-modal motion controller.
DiaGBT: An Explainable and Evolvable Robot Control Framework using Dialogue Generative Behavior Trees
Jinde Liang, Xiaodong Yi
Explainability and InterpretabilityRobotic IntelligenceLarge Language ModelText
🎯 What it does: Proposed a Dialogue Generative Behavior Trees (DiaGBT) framework that converts human natural language instructions into behavior trees for execution by robots, while supporting multi-round human-robot interaction and real-time learning of reusable skills.
Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning
Xiao Liu, H. B. Amor
Diffusion model
🎯 What it does: Proposed a Diff-Control strategy based on diffusion models for imitation learning;
Differentiable Collision-Free Parametric Corridors
Jon Arrizabalaga, Markus Ryll
Autonomous DrivingOptimizationImagePoint Cloud
🎯 What it does: Compute differentiable collision-free parameterized channels that are continuous, smooth, and differentiable.
Differentiable Fluid Physics Parameter Identification By Stirring and For Stirring
Wenqiang Xu, Cewu Lu
Robotic IntelligencePhysics Related
🎯 What it does: Developed a differentiable fitting framework called DiffStir, used for identifying key physical parameters of fluids through stirring and generating robot stirring instructions
Differential-Algebraic Equation Control Barrier Function for Flexible Link Manipulator
Younghwa Park, Christoffer Sloth
OptimizationRobotic IntelligencePhysics RelatedOrdinary Differential Equation
🎯 What it does: Develop and apply control barrier functions based on differential-algebraic equations to ensure the safe operation of a two-link flexible manipulator under position constraints.
DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions
Sanket Kalwar, K. M. Krishna
SegmentationPrompt EngineeringDiffusion modelImage
🎯 What it does: Proposed DiffPrompter, a differentiable visual and latent prompting mechanism, to enhance the semantic segmentation performance of base models under adverse weather conditions.
Diffusion-PbD: Generalizable Robot Programming by Demonstration with Diffusion Features
Michael Murray, Maya Cakmak
Representation LearningRobotic IntelligenceDiffusion modelImage
🎯 What it does: Synthesizing generalizable robot manipulation skills using a single demonstration through representations of pre-trained vision foundation models
DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation
Takuya Ikeda, Koichi Nishiwaki
Pose EstimationDiffusion modelMultimodality
🎯 What it does: Use diffusion probability models to address symmetry and uncertainty issues in category-level pose estimation.
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Xiaolin Fang, D. Fox
Robotic IntelligenceDiffusion model
🎯 What it does: Propose combining diffusion models with Task and Motion Planning (TAMP) systems, performing multi-step constraint reasoning in partially observable environments using learned samplers and constraint models, and predicting the states of unknown objects by defining samplers and operators on learned latent embedding spaces.
DiPPeST: Diffusion-based Path Planner for Synthesizing Trajectories Applied on Quadruped Robots
Maria Stamatopoulou, Dimitrios Kanoulas
GenerationRobotic IntelligenceDiffusion model
🎯 What it does: Proposed a diffusion model-based image and goal-conditioned quadruped robot trajectory generator called DiPPeST;
Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configuration
Lénaïc Cuau, Nabil Zemiti
Pose EstimationRobotic IntelligencePoint Cloud
🎯 What it does: Estimate the 3D non-rigid motion of surfaces directly on point clouds using an RGB-D camera in an eye-in-hand configuration.
Discover2Walk: A cable-driven robotic platform to promote gait in pediatric population
Pablo Romero-Sorozábal, Eduardo Rocon
Robotic IntelligenceBiomedical Data
🎯 What it does: Designed and initially evaluated the multi-module, rope-driven rehabilitation robot platform Discover2Walk (D2W) tailored for children, conducting 10 gait rehabilitation sessions with two 6-year-old ambulatory cerebral palsy children and one 4-year-old non-ambulatory child.
Discretizing SO(2)-Equivariant Features for Robotic Kitting
Jiadong Zhou, I-Ming Chen
Pose EstimationRobotic IntelligenceConvolutional Neural NetworkImage
🎯 What it does: Proposed a novel robotic accessory assembly framework that utilizes SO(2) equivariant networks and grouped discrete operations to achieve fine-grained orientation estimation, and developed the Hand-Tool Kitting Dataset for evaluation.
Disentangled Acoustic Fields For Multimodal Physical Scene Understanding
Jie Yin, Chuang Gan
Object DetectionMultimodalityPhysics RelatedAudio
🎯 What it does: Studies multimodal physical scene understanding, proposing a model called Learning Decoupled Acoustic Field (DAF) that uses an analysis-synthesis framework to infer sound source attributes and construct spatial uncertainty maps for locating falling objects.
Distilling Knowledge for Short-to-Long Term Trajectory Prediction
Sourav Das, Lamberto Ballan
Knowledge DistillationVideo
🎯 What it does: Propose the Di-Long method, which uses knowledge distillation from a short-term trajectory prediction model to guide the student network for long-term trajectory prediction.
Distilling Reinforcement Learning Policies for Interpretable Robot Locomotion: Gradient Boosting Machines and Symbolic Regression
Fernando Acero, Zhibin Li
Explainability and InterpretabilityKnowledge DistillationRobotic IntelligenceReinforcement Learning
🎯 What it does: Distill neural network policies from reinforcement learning into more interpretable models (GBM, EBM, and symbolic regression), and achieve efficient behavioral cloning through a curriculum-based DAgger algorithm.
Distributed Model Predictive Covariance Steering
A. Saravanos, Evangelos A. Theodorou
Optimization
🎯 What it does: Proposes a distributed model predictive covariance scheduling (DiMPCS) framework for multi-agent control under random uncertainty.
Disturbance-Aware Model Predictive Control of Underactuated Robotics Systems
Jiwon Kim, Min Jun Kim
OptimizationRobotic Intelligence
🎯 What it does: Proposed a disturbance-aware MPC method that estimates disturbances online using a nonlinear disturbance observer and explicitly incorporates the estimate into the model predictive control
DITTO: Demonstration Imitation by Trajectory Transformation
Nick Heppert, A. Valada
Pose EstimationRobotic IntelligenceVideo
🎯 What it does: This paper proposes a two-stage process to achieve one-shot imitation from a single RGB-D video demonstration. The first stage involves offline extraction of demonstration trajectories and segmentation of the manipulated object and its relative motion, while the second stage re-detects objects online, deforms trajectories, and executes them on a robot.
DMFuser: Distilled Multi-Task Learning for End-to-end Transformer-Based Sensor Fusion in Autonomous Driving
Pedram Agand, Mo Chen
Data SynthesisAutonomous DrivingKnowledge DistillationConvolutional Neural NetworkTransformerImage
🎯 What it does: Built DMFuser, a Transformer-based end-to-end perception-control framework that fuses RGB-D camera data and generates vehicle throttle, steering, and braking commands using multi-task knowledge distillation.
DNS-SLAM: Dense Neural Semantic-Informed SLAM
Kunyi Li, Federico Tombari
Simultaneous Localization and MappingImage
🎯 What it does: Proposes DNS-SLAM, a neural RGB-D semantic SLAM method that utilizes 2D semantic priors and hybrid representations, capable of training category-based scene representations and achieving stable camera tracking; simultaneously combines multi-view geometry constraints with image-based feature extraction to output color, occupancy, and semantic category information; to enable high-speed tracking, introduces a lightweight rough scene representation trained with self-supervised learning.
Do One Thing and Do It Well: Delegate Responsibilities in Classical Planning
Tin Lai, Philippe Morere
Optimization
🎯 What it does: Proposed an implicit hierarchical solver framework and algorithm based on the principle of delegation for solving classical planning problems.
DOB-based Wind Estimation of A UAV Using Its Onboard Sensor
Haowen Yu, Ximin Lyu
Autonomous Driving
🎯 What it does: Proposed and implemented a comprehensive wind speed estimation algorithm capable of estimating 3D wind vectors during unmanned aerial vehicle dynamic flight
Domain Adaptation in Visual Reinforcement Learning via Self-Expert Imitation with Purifying Latent Feature
Lin Chen, Danwei Wang
Domain AdaptationReinforcement LearningAuto Encoder
🎯 What it does: Proposes a framework combining self-expert imitation and latent feature purification for domain adaptation in visual reinforcement learning;
Domain Randomization-free Sim-to-Real : An Attention-Augmented Memory Approach for Robotic Tasks
Jia Qu, Shotaro Miwa
Robotic IntelligenceReinforcement Learning
🎯 What it does: Propose the Soft Attention-Augmented Actor-Critic (Soft3AC) architecture to address sim-to-real transfer tasks without requiring domain randomization.
DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment
Yanjiang Guo, Jianyu Chen
Robotic IntelligenceLarge Language ModelVision Language Model
🎯 What it does: Propose the DoReMi framework to achieve real-time detection and recovery of planning and execution errors in robotic tasks using language models.
DragTraffic: Interactive and Controllable Traffic Scene Generation for Autonomous Driving
Sheng Wang, Junwei Liang
Data SynthesisAutonomous DrivingMixture of ExpertsDiffusion model
🎯 What it does: Proposed an interactive and controllable traffic scene generation framework called DragTraffic, based on conditional diffusion models, enabling non-experts to generate diverse realistic driving scenarios.
DRIFT: Deep Reinforcement Learning for Intelligent Floating Platforms Trajectories
Matteo El-Hariry, Miguel A. Olivares-Méndez
Reinforcement Learning
🎯 What it does: Introduces a system based on deep reinforcement learning for controlling floating platforms in simulation and real environments;
Driving Animatronic Robot Facial Expression From Speech
Boren Li, Hangxin Liu
GenerationRobotic IntelligenceAudio
🎯 What it does: Propose a voice-driven method for generating realistic animated robot facial expressions based on linear blend skinning (LBS), capable of producing expressions in real-time at high frame rates.
Driving from Vision through Differentiable Optimal Control
Flavia Sofia Acerbo, Tong Duy Son
Autonomous DrivingOptimizationExplainability and InterpretabilityImage
🎯 What it does: Proposes the DriViDOC framework to achieve end-to-end learning from visual inputs to differentiable optimal control, generating an autonomous driving controller.
Driving Style Alignment for LLM-powered Driver Agent
Ruoxuan Yang, Jiangtao Gong
Autonomous DrivingReinforcement Learning from Human FeedbackTransformerLarge Language ModelAgentic AIText
🎯 What it does: Proposed a multi-alignment framework that aligns LLM-driven driving agents with human driving styles through demonstration and feedback, constructed a natural language human driving behavior dataset based on natural driving experiments and subsequent interviews, validated its effectiveness in the CARLA simulation environment, and further supported it with human evaluations;
DriVLMe: Enhancing LLM-based Autonomous Driving Agents with Embodied and Social Experiences
Yidong Huang, Joyce Chai
Autonomous DrivingRobotic IntelligenceTransformerLarge Language ModelVision Language ModelVideoText
🎯 What it does: Developed a video-language model agent named DriVLMe, integrating embodied experiences from simulated environments with social experiences from real human dialogues to enable natural and effective communication between humans and autonomous vehicles.
Drones Guiding Drones: Cooperative Navigation of a Less-Equipped Micro Aerial Vehicle in Cluttered Environments
Václav Pritzl, M. Saska
Robotic IntelligenceSimultaneous Localization and MappingPoint Cloud
🎯 What it does: This paper enables the secondary micro UAV to autonomously navigate in unknown, GPS-restricted crowded environments with limited sensing capabilities by assigning the sensing task to the host UAV.
DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation
Huixin Zhang, Hesheng Wang
Pose EstimationAutonomous DrivingSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Propose a 3D point cloud sequence learning model DSLO based on inconsistent spatiotemporal propagation for LiDAR odometry.
DSVT: Dynamic 3D Surround View for Tractor-Trailer Vehicles Based on Real-Time Pose Estimation with Drop Model
Zhipeng Dong, Yi Yang
Pose EstimationAutonomous Driving
🎯 What it does: Proposed a dynamic 3D panoramic view system (DSVT) for tractors-trailers.
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation
Jing Liang, Dinesh Manocha
Autonomous DrivingRecurrent Neural NetworkDiffusion model
🎯 What it does: Developed an end-to-end trajectory generation method DTG based on diffusion models for mapless global navigation
Dual-Branch Graph Transformer Network for 3D Human Mesh Reconstruction from Video
Tao Tang (Peking University), Wenhao Li (Peking University)
Pose EstimationGraph Neural NetworkTransformerVideoMesh
🎯 What it does: Propose a dual-branch graph Transformer network (DGTR) for reconstructing 3D human meshes from monocular videos
Dual-Process Optimization for Multi-Vehicle Route Planning and Parts Collection Sequencing
Ryota Higa, Florence Ho
Optimization
🎯 What it does: Proposed a dual-process optimization method for multi-vehicle route planning and determining the sequence of part collection in a parts warehouse.
DuCAS: a knowledge-enhanced dual-hand compositional action segmentation method for human-robot collaborative assembly
Hao Zheng, Xun Xu
SegmentationRobotic IntelligenceLarge Language Model
🎯 What it does: Proposes a knowledge-enhanced method for segmenting dual-hand composite actions (DuCAS)
Dung Beetle Optimizer-based High-precision Localization for Magnetic-Controlled Capsule Robot *
Zijin Zeng, Lin Feng
OptimizationRobotic IntelligencePhysics Related
🎯 What it does: Proposed a high-precision localization method for magnetic capsule robots based on the Dung Beetle Optimizer.
DVT: Decoupled Dual-Branch View Transformation for Monocular Bird’s Eye View Semantic Segmentation
Jiayuan Du, Qi Chen
SegmentationAutonomous DrivingImage
🎯 What it does: Propose a dual-branch view transformation (DVT) framework to achieve monocular bird's-eye view semantic segmentation.
Dynamic Manipulation of Deformable Objects using Imitation Learning with Adaptation to Hardware Constraints
Eric Hannus, Ville Kyrki
Robotic IntelligenceReinforcement Learning
🎯 What it does: Proposes a dynamic deformable object manipulation framework leveraging imitation learning and adapting to hardware constraints, applied to the bag-opening task.
Dynamic Model and Experimental Validation of a Haptic Robot based on a Flexible Antenna mounted on an Omnidirectional Platform
Luis Mérida-Calvo, V. F. Batlle
Robotic IntelligencePhysics Related
🎯 What it does: Developed a dynamic model for an omni-directional robot with a flexible sensing antenna and conducted experimental validation.
Dynamic Modeling of Robotic Fish considering Background Flow using Koopman Operators
Xiaozhu Lin, Yang Wang
Robotic Intelligence
🎯 What it does: Proposed a flow-aware robotic fish dynamic model called FARM, which incorporates background flow and uses the Koopman operator to achieve linear approximation for predicting the next state.
Dynamic Object Catching with Quadruped Robot Front Legs
Andr'e Schakkal, A. Ijspeert
Object DetectionObject TrackingRobotic IntelligenceConvolutional Neural NetworkSupervised Fine-TuningImage
🎯 What it does: This paper proposes a framework that utilizes the front paws of a quadruped robot to perform dynamic grasping while the rear legs are supporting, combining computer vision, trajectory prediction, and leg control to enable the robot to detect, track, and capture thrown objects via an onboard camera;
Dynamic Reconfiguration Integrated Nested A*: A Path Planner for Reconfigurable Robot to Improve Performance in Confined Spaces
W. K. R. Sachinthana, M. R. Elara
OptimizationRobotic Intelligence
🎯 What it does: Proposed a dynamic reconfiguration-based path planning method (DRiNA*) for navigation of reconfigurable robots in confined spaces.
Dynamic SpectraFormer for Ultra-High-Definition Underwater Image Enhancement
Zhiqiang Hu, Masatoshi Ishikawa
RestorationTransformerImage
🎯 What it does: Proposed and implemented Dynamic SpectraFormer, which enhances underwater images using a frequency-domain transformer, capable of simultaneously correcting high- and low-frequency mixed distortions.
Dynamic Throwing with Robotic Material Handling Machines
Lennart Werner, Marco Hutter
Robotic IntelligenceReinforcement Learning
🎯 What it does: Designed and implemented a dynamic throwing controller for heavy logistics robotic arms using reinforcement learning, enabling the robotic arms to perform dynamic throwing actions through passive joints, significantly improving work efficiency and the throwing workspace;
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
Adrian B. Ghansah, A. Ames
Robotic Intelligence
🎯 What it does: Developed and implemented a dynamic gait walking control framework for the point-foot humanoid robot ADAM.
Dynamic-Range Focal Sweep: Seamless Continuous Autofocus Based on High-Speed Vision for Magnified Object Tracking
Tianyi Zhang, Akio Namiki
Object TrackingVideo
🎯 What it does: Proposes a continuous autofocus (C-AF) method based on high-speed vision, utilizing dynamic range focal sweep to achieve continuous focusing and tracking of small, fast-moving objects at high magnification.
Dynamically Modulating Visual Place Recognition Sequence Length For Minimum Acceptable Performance Scenarios
Connor Malone, Michael Milford
RecognitionImage
🎯 What it does: Proposes a method for dynamically adjusting the sequence length in visual place recognition by fitting a model on a calibrated dataset, which can minimize the required sequence length while meeting the target localization performance.
Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System
A. Chen, Kaiqiang Zhang
OptimizationRobotic IntelligenceTime Series
🎯 What it does: Proposed a dynamics-based trajectory optimization method for suppressing vibrations in flexible long-arm manipulators;
EasyHeC++: Fully Automatic Hand-Eye Calibration with Pretrained Image Models
Zhengdong Hong, Linghao Chen
OptimizationRobotic IntelligenceConvolutional Neural Network
🎯 What it does: Developed a fully automatic hand-eye calibration framework called EasyHeC++, capable of accurately calibrating any robotic arm under markerless and training-free conditions.
EC-IoU: Orienting Safety for Object Detectors via Ego-Centric Intersection-over-Union
Brian Hsuan-Cheng Liao, Alois Knoll
Object DetectionAutonomous DrivingImagePoint Cloud
🎯 What it does: Proposed the Ego-Centric Intersection-over-Union (EC-IoU) method, which improves the traditional IoU through a weighted mechanism, making it focus more on the predicted regions close to the target from the subject's perspective, thereby enhancing safety-related performance in navigation scenarios.
Effect of Tactile and Deep Sensory Feedback Synchronized with the Manipulation of Myoelectric Hand on Body Recognition
Rintaro Hamaoka, Ryu Kato
Recognition
🎯 What it does: Developed a wearable, operable electromyographic prosthetic hand that synchronizes hand control through tactile and deep sensory feedback, exploring its impact on body cognition
Effects of fiber number and density on fiber jamming: Towards follow-the-leader deployment of a continuum robot
Chen Qian, Liao Wu
Robotic Intelligence
🎯 What it does: Design and manufacture a fiber jamming module (FJM) with a diameter of 4 mm, and study the effects of fiber number and filling density on absolute stiffness and stiffness variation through theoretical and experimental analysis, while verifying its feasibility in medical follower-leading (FTL) robots.
Efficient Balance Detection for Modular Robots
Ikrame Yazidi, J. Bourgeois
Computational EfficiencyRobotic Intelligence
🎯 What it does: Developed a distributed algorithm to achieve balance detection for modular robots under real-time conditions.
Efficient Dynamic LiDAR Odometry for Mobile Robots with Structured Point Clouds
Jonathan Lichtenfeld, O. Stryk
Robotic IntelligenceSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Proposes a real-time dynamic LiDAR odometry pipeline for mobile robots in urban search and rescue.
Efficient Estimation of Frequency Response Functions of Industrial Robots Using the Local Rational Method
Stefanie A. Zimmermann, S. Moberg
Computational EfficiencyRobotic Intelligence
🎯 What it does: This paper applies the locally parameterized FRF estimation method to the frequency response function estimation of a 6-axis robotic arm to reduce experimental time and data volume, and conducts experimental analysis of the results.
Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection
Jongwon Lee, T. Bretl
Computational Efficiency
🎯 What it does: Proposed and verified an efficient method using measurement subset selection in multi-IMU extrinsic parameter self-calibration.
Efficient Feature Mapping Using a Collaborative Team of AUVs
Benjamin Biggs, James McMahon
Robotic IntelligenceSimultaneous Localization and Mapping
🎯 What it does: Conduct experiments using a group of small autonomous underwater vehicles to determine the position of contour lines
Efficient Global Trajectory Planning for Multi-robot System with Affinely Deformable Formation
Hao Sha, Yue Wang
OptimizationRobotic IntelligenceReinforcement Learning
🎯 What it does: Proposed a front-end and back-end framework for global trajectory planning in multi-robot systems under affine deformable formations.