2019 International Conference on Robotics and Automation (ICRA 2019)

Montreal, Quebec, Canada

20-24 May 2019

Pages 1-876

IEEE Catalog Number: CFP19RAA-POD ISBN: 978-1-5386-8176-3

1/10

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IEEE Catalog Number: CFP19RAA-POD ISBN (Print-On-Demand): 978-1-5386-8176-3 ISBN (Online): 978-1-5386-6027-0 ISSN: 1050-4729

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TABLE OF CONTENTS

TRAJECTORY-BASED PROBABILISTIC POLICY GRADIENT FOR LEARNING LOCOMOTION BEHAVIORS...... 1 Sungjoon Choi ; Joohyung Kim

LEARNING MOTION PLANNING POLICIES IN UNCERTAIN ENVIRONMENTS THROUGH REPEATED TASK EXECUTIONS...... 8 Florence Tsang ; Ryan A. Macdonald ; Stephen L. Smith

BARC: BACKWARD REACHABILITY CURRICULUM FOR ROBOTIC REINFORCEMENT LEARNING...... 15 Boris Ivanovic ; James Harrison ; Apoorva Sharma ; Mo Chen ; Marco Pavone

ACTIVE SAMPLING BASED SAFE IDENTIFICATION OF DYNAMICAL SYSTEMS USING EXTREME LEARNING MACHINES AND BARRIER CERTIFICATES...... 22 Iman Salehi ; Gang Yao ; Ashwin P. Dani

NAVIGATING DYNAMICALLY UNKNOWN ENVIRONMENTS LEVERAGING PAST EXPERIENCE...... 29 Sterling McLeod ; Jing Xiao

VPE: VARIATIONAL POLICY EMBEDDING FOR TRANSFER REINFORCEMENT LEARNING...... 36 Isac Atnekvist ; Danica Kragic ; Johannes A. Stork

AUTOMATIC LABELED LIDAR DATA GENERATION BASED ON PRECISE HUMAN MODEL...... 43 Wonjik Kim ; Masayuki Tanaka ; Masatoshi Okutomi ; Yoko Sasaki

VIDEO OBJECT SEGMENTATION USING TEACHER-STUDENT ADAPTATION IN A HUMAN ROBOT INTERACTION (HRI) SETTING...... 50 Mennatullah Siam ; Chen Jiang ; Steven Lu ; Laura Petrich ; Mahmoud Gamal ; Mohamed Elhoseiny ; Martin Jagersand

MORPHOLOGY-SPECIFIC CONVOLUTIONAL NEURAL NETWORKS FOR TACTILE OBJECT RECOGNITION WITH A MULTI-FINGERED HAND...... 57 Satoshi Funabashi ; Gang Yan ; Andreas Geier ; Alexander Schmitz ; Tetsuya Ogata ; Shigeki Sugano

A MAXIMUM LIKELIHOOD APPROACH TO EXTRACT FINITE PLANES FROM 3-D LASER SCANS...... 72 Alexander Schaefer ; Johan Vertens ; Daniel Büscher ; Wolfram Burgard

DESIGNING WORM-INSPIRED NEURAL NETWORKS FOR INTERPRETABLE ROBOTIC CONTROL...... 87 Mathias Lechner ; Ramin Hasani ; Manuel Zimmer ; Thomas A. Henzinger ; Radu Grosu

ACTING IS SEEING: NAVIGATING TIGHT SPACE USING FLAPPING WINGS...... 95 Zhan Tu ; Fan Fei ; Jian Zhang ; Xinyan Deng

DESIGN AND CHARACTERIZATION OF A NOVEL ROBOTIC SURFACE FOR APPLICATION TO COMPRESSED PHYSICAL ENVIRONMENTS...... 102 Yixiao Wang ; Chase Frazelle ; Richa Sirohi ; Liheng Li ; Ian D. Walker ; Keith E. Green

LEARNING EXTREME HUMMINGBIRD MANEUVERS ON FLAPPING WING ROBOTS...... 109 Fan Fei ; Zhan Tu ; Jian Zhang ; Xinyan Deng

FMD STEREO SLAM: FUSING MVG AND DIRECT FORMULATION TOWARDS ACCURATE AND FAST STEREO SLAM...... 133 Fulin Tang ; Heping Li ; Yihong Wu

SCALABLEFUSION: HIGH-RESOLUTION MESH-BASED REAL-TIME 3D RECONSTRUCTION ...... 140 Simon Schreiberhuber ; Johann Prankl ; Timothy Patten ; Markus Vincze

GEN-SLAM: GENERATIVE MODELING FOR MONOCULAR SIMULTANEOUS LOCALIZATION AND MAPPING ...... 147 Punarjay Chakravarty ; Praveen Narayanan ; Tom Roussel

RESLAM: A REAL-TIME ROBUST EDGE-BASED SLAM SYSTEM...... 154 Fabian Schenk ; Friedrich Fraundorfer

ON-LINE 3D ACTIVE POSE-GRAPH SLAM BASED ON KEY POSES USING GRAPH TOPOLOGY AND SUB-MAPS ...... 169 Yongbo Chen ; Shoudong Huang ; Robert Fitch ; Liang Zhao ; Huan Yu ; Di Yang

MODELING AND PLANNING MANIPULATION IN DYNAMIC ENVIRONMENTS...... 176 Philipp S. Schmitt ; Florian Wirnshofer ; Kai M. Wurm ; Georg V. Wichert ; Wolfram Burgard

EFFICIENT OBSTACLE REARRANGEMENT FOR OBJECT MANIPULATION TASKS IN CLUTTERED ENVIRONMENTS...... 183 Jinhwi Lee ; Younggil Cho ; Changjoo Nam ; Jonghyeon Park ; Changhwan Kim

MOVEIT! TASK CONSTRUCTOR FOR TASK-LEVEL MOTION PLANNING ...... 190 Michael Görner ; Robert Haschke ; Helge Ritter ; Jianwei Zhang

EXPLOITING ENVIRONMENT CONTACTS OF SERIAL MANIPULATORS...... 197 Pouya Mohammadi ; Daniel Kubus ; Jochen J. Steil

OPTIMIZATION-BASED HUMAN-IN-THE-LOOP MANIPULATION USING JOINT SPACE POLYTOPES...... 204 Philip Long ; Tarik Kelestemur ; Aykut Özgün Önol ; Taskin Padir

LARGE-SCALE MULTI-OBJECT REARRANGEMENT...... 211 Eric Huang ; Zhenzhong Jia ; Matthew T. Mason

MANIPULATION USING MICROROBOT DRIVEN BY OPTOTHERMALLY GENERATED SURFACE BUBBLE ...... 219 Liguo Dai ; Zhixing Ge ; Niandong Jiao ; Jialin Shi ; Lianqing Liu

COMPOUND MICROMACHINES POWERED BY ACOUSTIC STREAMING ...... 225 Murat Kaynak ; Furkan Ayhan ; Mahmut Selman Sakar

CHEVBOT – AN UNTETHERED MICROROBOT POWERED BY LASER FOR MICROFACTORY APPLICATIONS ...... 231 Ruoshi Zhang ; Andriy Sherehiy ; Zhong Yang ; Danming Wei ; Cindy K. Harnett ; Dan O. Popa

CAPILLARY IONIC TRANSISTOR AND PRECISE TRANSPORT CONTROL FOR NANO MANIPULATION...... 237 Yuqing Lin ; Xiaoming Liu ; Tatsuo Arai

RESOLVED VISCOELASTICITY CONTROL CONSIDERING SINGULARITY FOR KNEE- STRETCHED WALKING OF A HUMANOID ...... 250 Kazuya Murotani ; Ko Yamamoto ; Tianyi Ko ; Yoshihiko Nakamura

VERSATILE REACTIVE BIPEDAL LOCOMOTION PLANNING THROUGH HIERARCHICAL OPTIMIZATION ...... 256 Jiatao Ding ; Chengxu Zhou ; Zhao Guo ; Xiaohui Xiao ; Nikos Tsagarakis

USING DEEP REINFORCEMENT LEARNING TO LEARN HIGH-LEVEL POLICIES ON THE ATRIAS BIPED...... 263 Tianyu Li ; Hartmut Geyer ; Christopher G. Atkeson ; Akshara Rai

UNSUPERVISED GAIT PHASE ESTIMATION FOR HUMANOID ROBOT WALKING...... 270 Stylianos Piperakis ; Stavros Timotheatos ; Panos Trahanias

STAIR CLIMBING STABILIZATION OF THE HRP-4 HUMANOID ROBOT USING WHOLE- BODY ADMITTANCE CONTROL ...... 277 Stéphane Caron ; Abderrahmane Kheddar ; Olivier Tempier

REINFORCEMENT LEARNING MEETS HYBRID ZERO DYNAMICS: A CASE STUDY FOR RABBIT...... 284 Guillermo A. Castillo ; Bowen Weng ; Ayonga Hereid ; Zheng Wang ; Wei Zhang

LEARNING WHEEL ODOMETRY AND IMU ERRORS FOR LOCALIZATION ...... 291 Martin Brossard ; Silvère Bonnabel

RADAR-ONLY EGO-MOTION ESTIMATION IN DIFFICULT SETTINGS VIA GRAPH MATCHING ...... 298 Sarah H. Cen ; Paul Newman

RECURSIVE INTEGRITY MONITORING FOR MOBILE ROBOT LOCALIZATION SAFETY ...... 305 Guillermo Duenas Arana ; Osama Abdul Hafez ; Mathieu Joerger ; Matthew Spenko

FOUR-WHEELED DEAD-RECKONING MODEL CALIBRATION USING RTS SMOOTHING ...... 312 Anthony Welte ; Philippe Xu ; Philippe Bonnifait

A MULTI-DOMAIN FEATURE LEARNING METHOD FOR VISUAL PLACE RECOGNITION...... 319 Peng Yin ; Lingyun Xu ; Xueqian Li ; Chen Yin ; Yingli Li ; Rangaprasad Arun Srivatsan ; Lu Li ; Jianmin Ji ; Yuqing He

EVENT-BASED, DIRECT CAMERA TRACKING FROM A PHOTOMETRIC 3D MAP USING NONLINEAR OPTIMIZATION ...... 325 Samuel Bryner ; Guillermo Gallego ; Henri Rebecq ; Davide Scaramuzza

LINEAR HETEROGENEOUS RECONFIGURATION OF CUBIC MODULAR ROBOTS VIA SIMULTANEOUS TUNNELING AND PERMUTATION ...... 332 Hiroshi Kawano

AUTONOMOUS SHEET PILE DRIVING ROBOTS FOR SOIL STABILIZATION...... 339 Nathan Melenbrink ; Justin Werfel

MODQUAD-VI: A VISION-BASED SELF-ASSEMBLING MODULAR QUADROTOR...... 346 Guanrui Li ; Bruno Gabrich ; David Saldaña ; Jnaneshwar Das ; Vijay Kumar ; Mark Yim

ROBOTIC ENDOSCOPY SYSTEM (EASYENDO) WITH A ROBOTIC ARM MOUNTABLE ON A CONVENTIONAL ENDOSCOPE...... 367 Dong-Ho Lee ; Minho Hwang ; Dong-Soo Kwon

DESIGN AND FABRICATION OF TRANSFORMABLE HEAD STRUCTURES FOR ENDOSCOPIC CATHETERS ...... 373 Seong-Il Kwon ; Sara Van Kalker ; Sung Hwa Choi ; Keri Kim ; Kyung Su Park ; Sungchul Kang ; Chunwoo Kim ; Seok Chang Ryu

A ROLLING-TIP FLEXIBLE INSTRUMENT FOR MINIMALLY INVASIVE SURGERY...... 379 Andreas Schmitz ; Shen Treratanakulchai ; Pierre Berthet-Rayne ; Guang-Zhong Yang

A NOVEL LASER SCALPEL SYSTEM FOR COMPUTER-ASSISTED LASER SURGERY ...... 386 Guangshen Ma ; Weston A. Ross ; Ian Hill ; Narendran Narasimhan ; Patrick J. Codd

INTENT-UNCERTAINTY-AWARE GRASP PLANNING FOR ROBUST ROBOT ASSISTANCE IN TELEMANIPULATION ...... 409 Michael Bowman ; Songpo Li ; Xiaoli Zhang

VISION-BASED TELEOPERATION OF SHADOW DEXTEROUS HAND USING END-TO-END DEEP NEURAL NETWORK...... 416 Shuang Li ; Xiaojian Ma ; Hongzhuo Liang ; Michael Görner ; Philipp Ruppel ; Bin Fang ; Fuchun Sun ; Jianwei Zhang

AN ENERGY-SHARED TWO-LAYER APPROACH FOR MULTI-MASTER-MULTI-SLAVE BILATERAL TELEOPERATION SYSTEMS...... 423 Marco Minelli ; Federica Ferraguti ; Nicola Piccinelli ; Riccardo Muradore ; Cristian Secchi

PASSIVE TASK-PRIORITIZED SHARED-CONTROL TELEOPERATION WITH HAPTIC GUIDANCE ...... 430 M. Selvaggio ; P. Robuffo Giordano ; F. Ficuciellol ; B. Siciliano

QUASI-DIRECT DRIVE FOR LOW-COST COMPLIANT ROBOTIC MANIPULATION...... 437 David V. Gealy ; Stephen McKinley ; Brent Yi ; Philipp Wu ; Phillip R. Downey ; Greg Balke ; Allan Zhao ; Menglong Guo ; Rachel Thomasson ; Anthony Sinclair ; Peter Cuellar ; Zoe McCarthy ; Pieter Abbeel

AUGMENTED REALITY PREDICTIVE DISPLAYS TO HELP MITIGATE THE EFFECTS OF DELAYED TELESURGERY...... 444 Florian Richter ; Yifei Zhang ; Yuheng Zhi ; Ryan K. Orosco ; Michael C. Yip

STABILITY OPTIMIZATION OF TWO-FINGERED ANTHROPOMORPHIC HANDS FOR PRECISION GRASPING WITH A SINGLE ACTUATOR...... 451 Michael T. Leddy ; Aaron M. Dollar

A NEW APPROACH FOR AN ADAPTIVE LINEAR QUADRATIC REGULATED MOTION CUEING ALGORITHM FOR AN 8 DOF FULL MOTION DRIVING SIMULATOR ...... 497 Tobias Miunske ; Christian Holzapfel ; Edwin Baumgartner ; Hans-Christian Reuss

SINGULARITY OF CABLE-DRIVEN PARALLEL ROBOT WITH SAGGING CABLES: PRELIMINARY INVESTIGATION...... 504 J-P. Merlet

A DEFECT IDENTIFICATION APPROACH OF OPERATIONS FOR THE DRIVING ELEMENT OF MULTI-DUTY PARALLEL MANIPULATORS...... 510 Shuai Fan ; Shouwen Fan ; Weibin Lan ; Guangkui Song

ACTIVE DAMPING OF PARALLEL ROBOTS DRIVEN BY FLEXIBLE CABLES USING COLD- GAS THRUSTERS...... 530 Hugo Sellet ; Imane Khayour ; Loic Cuvillon ; Sylvain Durand ; Jacques Gangloff

EXPLOITING HUMAN AND ROBOT MUSCLE SYNERGIES FOR HUMAN-IN-THE-LOOP OPTIMIZATION OF EMG-BASED ASSISTIVE STRATEGIES ...... 549 Masashi Hamaya ; Takamitsu Matsubara ; Jun-Ichiro Furukawa ; Yuting Sun ; Satoshi Yagi ; Tatsuya Teramae ; Tomoyuki Noda ; Jun Morimoto

DEVELOPMENT OF A LOW INERTIA PARALLEL ACTUATED SHOULDER EXOSKELETON ROBOT FOR THE CHARACTERIZATION OF NEUROMUSCULAR PROPERTY DURING STATIC POSTURE AND DYNAMIC MOVEMENT ...... 556 Justin Hunt ; Hyunglae Lee

EFFORT ESTIMATION IN ROBOT-AIDED TRAINING WITH A NEURAL NETWORK...... 563 Ana C. De Oliveira ; Kevin Warburton ; James S. Sulzer ; Ashish D. Deshpande

CHARACTERIZING ARCHITECTURES OF SOFT PNEUMATIC ACTUATORS FOR A CABLE- DRIVEN SHOULDER EXOSKELETON...... 570 Nicholas Thompson ; Ayush Sinha ; Girish Krishnan

DESIGN AND IMPLEMENTATION OF A TWO-DOF ROBOTIC SYSTEM WITH AN ADJUSTABLE FORCE LIMITING MECHANISM FOR ANKLE REHABILITATION ...... 577 Vahid Mehrabi ; Seyed Farokh Atashzar ; Heidar A. Talebi ; Rajni V. Patel

RORG: SERVICE ROBOT SOFTWARE MANAGEMENT WITH LINUX CONTAINERS ...... 584 Shengye Wang ; Xiao Liu ; Jishen Zhao ; Henrik I. Christensen

CARTESI/O: A ROS BASED REAL-TIME CAPABLE CARTESIAN CONTROL FRAMEWORK ...... 591 Arturo Laurenzi ; Enrico Mingo Hoffman ; Luca Muratore ; Nikos G. Tsagarakis

SYNTHESIS OF REAL-TIME OBSERVERS FROM PAST-TIME LINEAR TEMPORAL LOGIC AND TIMED SPECIFICATION...... 597 Charles Lesire ; Stéphanie Roussel ; David Doose ; Christophe Grand

JULIA FOR ROBOTICS: SIMULATION AND REAL-TIME CONTROL IN A HIGH-LEVEL PROGRAMMING LANGUAGE ...... 604 Twan Koolen ; Robin Deits

MOTION PLANNING TEMPLATES: A MOTION PLANNING FRAMEWORK FOR ROBOTS WITH LOW-POWER CPUS ...... 612 Jeffrey Ichnowski ; Ron Alterovitz

DISTORTION-FREE ROBOTIC SURFACE-DRAWING USING CONFORMAL MAPPING...... 627 Daeun Song ; Young J. Kim

AUTOMATED CELL PATTERNING SYSTEM WITH A MICROCHIP USING DIELECTROPHORESIS ...... 634 Kaicheng Huang ; Henry K. Chu ; Bo Lu ; Jiewen Lai ; Li Cheng

MOBILE ROBOTIC PAINTING OF TEXTURE...... 640 Majed El Helou ; Stephan Mandt ; Andreas Krause ; Paul Beardsley

DETECTING INVASIVE INSECTS WITH UNMANNED AERIAL VEHICLES...... 648 Brian Stumph ; Miguel Hernandez Virto ; Henry Medeiros ; Amy Tabb ; Scott Wolford ; Kevin Rice ; Tracy Leskey

ROBUST OBJECT-BASED SLAM FOR HIGH-SPEED AUTONOMOUS NAVIGATION...... 669 Kyel Ok ; Katherine Liu ; Kris Frey ; Jonathan P. How ; Nicholas Roy

A FAULT DIAGNOSIS FRAMEWORK FOR MAVLINK-ENABLED UAVS USING STRUCTURAL ANALYSIS...... 676 Georgios Zogopoulos-Papaliakos ; Michalis Logothetis ; Kostas J. Kyriakopoulos

REAL-TIME MINIMUM SNAP TRAJECTORY GENERATION FOR QUADCOPTERS: ALGORITHM SPEED-UP THROUGH MACHINE LEARNING...... 683 Marcelino M. De Almeida ; Rahul Moghe ; Maruthi Akella

BEAUTY AND THE BEAST: OPTIMAL METHODS MEET LEARNING FOR DRONE RACING...... 690 Elia Kaufmann ; Mathias Gehrig ; Philipp Foehn ; René Ranftl ; Alexey Dosovitskiy ; Vladlen Koltun ; Davide Scaramuzza

DETECTION AND RECONSTRUCTION OF WIRES USING CAMERAS FOR AIRCRAFT SAFETY SYSTEMS...... 697 Adam Stambler ; Gary Sherwin ; Patrick Rowe

POSE AND POSTURE ESTIMATION OF AERIAL SKELETON SYSTEMS FOR OUTDOOR FLYING ...... 704 Sangyul Park ; Yonghan Lee ; Jinuk Heo ; Dongjun Lee

FLIGHT TESTING BOUSTROPHEDON COVERAGE PATH PLANNING FOR FIXED WING UAVS IN WIND...... 711 Matthew Coombes ; Wen-Hua Chen ; Cunjia Liu

OBSTACLE-AWARE ADAPTIVE INFORMATIVE PATH PLANNING FOR UAV-BASED TARGET SEARCH...... 718 Ajith Anil Meera ; Marija Popovic ; Alexander Millane ; Roland Siegwart

REAL-TIME PLANNING WITH MULTI-FIDELITY MODELS FOR AGILE FLIGHTS IN UNKNOWN ENVIRONMENTS...... 725 Jesus Tordesillas ; Brett T. Lopez ; John Carter ; John Ware ; Jonathan P. How

EFFICIENT TRAJECTORY PLANNING FOR HIGH SPEED FLIGHT IN UNKNOWN ENVIRONMENTS ...... 732 Markus Ryll ; John Ware ; John Carter ; Nick Roy

PRIORITY MAPS FOR SURVEILLANCE AND INTERVENTION OF WILDFIRES AND OTHER SPREADING PROCESSES...... 739 Somers Vera L. J. ; Ian R. Manchester

A PRACTICAL APPROACH TO INSERTION WITH VARIABLE SOCKET POSITION USING DEEP REINFORCEMENT LEARNING...... 754 Mel Vecerik ; Oleg Sushkov ; David Barker ; Thomas Rothörl ; Todd Hester ; Jon Scholz

UNCERTAINTY-AWARE DATA AGGREGATION FOR DEEP IMITATION LEARNING...... 761 Yuchen Cui ; David Isele ; Scott Niekum ; Kikuo Fujimura

UNCERTAINTY AWARE LEARNING FROM DEMONSTRATIONS IN MULTIPLE CONTEXTS USING BAYESIAN NEURAL NETWORKS ...... 768 Sanjay Thakur ; Herke Van Hoof ; Juan Camilo Gamboa Higuera ; Doina Precup ; David Meger

LEARNING FROM DEMONSTRATION IN THE WILD ...... 775 Feryal Behbahani ; Kyriacos Shiarlis ; Xi Chen ; Vitaly Kurin ; Sudhanshu Kasewa ; Ciprian Stirbu ; João Gomes ; Supratik Paul ; Frans A. Oliehoek ; João Messias ; Shimon Whiteson

A DATA-EFFICIENT FRAMEWORK FOR TRAINING AND SIM-TO-REAL TRANSFER OF NAVIGATION POLICIES...... 782 Homanga Bharadhwaj ; Zihan Wang ; Yoshua Bengio ; Liam Paull

SIMULATING EMERGENT PROPERTIES OF HUMAN DRIVING BEHAVIOR USING MULTI- AGENT REWARD AUGMENTED IMITATION LEARNING ...... 789 Raunak P. Bhattacharyya ; Derek J. Phillips ; Changliu Liu ; Jayesh K. Gupta ; Katherine Driggs-Campbell ; Mykel J. Kochenderfer

A SUPERVISED APPROACH TO PREDICTING NOISE IN DEPTH IMAGES ...... 796 Chris Sweeney ; Greg Izatt ; Russ Tedrake

QUANTUM COMPUTATION IN ROBOTIC SCIENCE AND APPLICATIONS...... 803 Christina Petschnigg ; Mathias Brandstötter ; Horst Pichler ; Michael Hofbaur ; Bernhard Dieber

A LEARNING FRAMEWORK FOR HIGH PRECISION INDUSTRIAL ASSEMBLY...... 811 Yongxiang Fan ; Jieliang Luo ; Masayoshi Tomizuka

MANIPULATION BY FEEL: TOUCH-BASED CONTROL WITH DEEP PREDICTIVE MODELS ...... 818 Stephen Tian ; Frederik Ebert ; Dinesh Jayaraman ; Mayur Mudigonda ; Chelsea Finn ; Roberto Calandra ; Sergey Levine

3D PRINTED SOFT PNEUMATIC ACTUATORS WITH INTENT SENSING FOR HAND REHABILITATIVE EXOSKELETONS ...... 841 Ang Benjamin W. K. ; Chen-Hua Yeow

GAZE-BASED, CONTEXT-AWARE ROBOTIC SYSTEM FOR ASSISTED REACHING AND GRASPING ...... 863 Ali Shafti ; Pavel Orlov ; A. Aldo Faisal

WAYS TO LEARN A THERAPIST’S PATIENT-SPECIFIC INTERVENTION: ROBOTICS-VS TELEROBOTICS-MEDIATED HANDS-ON TEACHING...... 870 Jason Fong ; Carlos Martinez ; Mahdi Tavakoli

DEVELOPMENT OF A NOVEL FORCE SENSING SYSTEM TO MEASURE THE GROUND REACTION FORCE OF RATS WITH COMPLETE SPINAL CORD INJURY ...... 877 Dollaporn Anopas ; Lin Junquan ; Sei Eng Kiat ; Seng Kwee Wee ; Peh Er Tow ; Sing Yian Chew ; Ang Wei Tech

A FOUR-MAGNET SYSTEM FOR 2D WIRELESS OPEN-LOOP CONTROL OF MICROROBOTS ...... 883 Azaddien Zarrouk ; Karim Belharet ; Omar Tahri ; Antoine Ferreira

NITINOL LIVING HINGES FOR MILLIMETER-SIZED ROBOTS AND MEDICAL DEVICES ...... 889 Peter A. York ; Robert J. Wood

TETHERLESS MOBILE MICRO-SURGICAL SCISSORS USING MAGNETIC ACTUATION...... 894 Onaizah Onaizah ; Eric Diller

A LARGE-DEFLECTION FBG BENDING SENSOR FOR SMA BENDING MODULES FOR STEERABLE SURGICAL ROBOTS...... 900 Jun Sheng ; Nancy J. Deaton ; Jaydev P. Desai

TOWARDS LEARNING ABSTRACT REPRESENTATIONS FOR LOCOMOTION PLANNING IN HIGH-DIMENSIONAL STATE SPACES...... 922 Tobias Klamt ; Sven Behnke

FAST STOCHASTIC FUNCTIONAL PATH PLANNING IN OCCUPANCY MAPS ...... 929 Gilad Francis ; Lionel Ott ; Fabio Ramos

A SCALABLE FRAMEWORK FOR REAL-TIME MULTI-ROBOT, MULTI-HUMAN COLLISION AVOIDANCE ...... 936 Andrea Bajcsy ; Sylvia L. Herbert ; David Fridovich-Keil ; Jaime F. Fisac ; Sampada Deglurkar ; Anca D. Dragan ; Claire J. Tomlin

LAZY EVALUATION OF GOAL SPECIFICATIONS GUIDED BY MOTION PLANNING ...... 944 Juan David Hernández ; Mark Moll ; Lydia E. Kavraki

RECONFIGURABLE MOTION PLANNING AND CONTROL IN OBSTACLE CLUTTERED ENVIRONMENTS UNDER TIMED TEMPORAL TASKS ...... 951 Christos K. Verginis ; Constantinos Vrohidis ; Charalampos P. Bechlioulis ; Kostas J. Kyriakopoulos ; Dimos V. Dimarogonas

DOOR OPENING AND TRAVERSAL WITH AN INDUSTRIAL CARTESIAN IMPEDANCE CONTROLLED MOBILE ROBOT ...... 966 Marvin Stuede ; Kathrin Nuelle ; Svenja Tappe ; Tobias Ortmaier

AN ALGORITHM FOR ODOR SOURCE LOCALIZATION BASED ON SOURCE TERM ESTIMATION ...... 973 Faezeh Rahbar ; Ali Marjovi ; Alcherio Martinoli

NEURAL NETWORK PILE LOADING CONTROLLER TRAINED BY DEMONSTRATION...... 980 Eric Halbach ; Joni Kämäräinen ; Reza Ghabcheloo

DYNAMIC MANIPULATION OF GEAR RATIO AND RIDE HEIGHT FOR A NOVEL COMPLIANT WHEEL USING PNEUMATIC ACTUATORS...... 987 Tim Hojnik ; Paul Flick ; Tirthankar Bandyopadhyay ; Jonathan Roberts

FEASIBLE COORDINATION OF MULTIPLE HOMOGENEOUS OR HETEROGENEOUS MOBILE VEHICLES WITH VARIOUS CONSTRAINTS ...... 1008 Zhiyong Sun ; Marcus Greiff ; Anders Robertsson ; Rolf Johansson

TURN-MINIMIZING MULTIROBOT COVERAGE...... 1014 Isaac Vandermeulen ; Roderich Groß ; Andreas Kolling

EFFICIENT KINODYNAMIC MULTI-ROBOT REPLANNING IN KNOWN WORKSPACES...... 1021 Arjav Desai ; Matthew Collins ; Nathan Michael

CANNOT AVOID PENALTY? LET’S MINIMIZE ...... 1052 Chayan Sarkar ; Marichi Agarwal

MIXED-GRANULARITY HUMAN-SWARM INTERACTION...... 1059 Jayam Patel ; Yicong Xu ; Carlo Pinciroli

FLEXIBLE COLLABORATIVE TRANSPORTATION BY A TEAM OF ROTORCRAFT...... 1074 Hector Garcia De Marina ; Ewoud Smeur

DYNAMICALLY-CONSISTENT GENERALIZED HIERARCHICAL CONTROL...... 1141 Niels Dehio ; Jochen J. Steil

ROBOTIC JOINT CONTROL SYSTEM BASED ON ANALOGUE SPIKING NEURAL NETWORKS AND SMA ACTUATORS...... 1148 Mircea Hulea ; Adrian Burlacu ; Constantin-Florin Caruntu

MODEL REFERENCE ADAPTIVE CONTROL OF A TWO-WHEELED MOBILE ROBOT...... 1155 Hussein Al Jleilaty ; Daniel Asmar ; Naseem Daher

A ROBUST TRACKING CONTROLLER FOR ROBOT MANIPULATORS: EMBEDDING INTERNAL MODEL OF DISTURBANCES...... 1162 Wonseok Ha ; Juhoon Back

RECEDING HORIZON ESTIMATION AND CONTROL WITH STRUCTURED NOISE BLOCKING FOR MOBILE ROBOT SLIP COMPENSATION...... 1169 Nathan D. Wallace ; He Kong ; Andrew J. Hill ; Salah Sukkarieh

DECOUPLED CONTROL OF POSITION AND / OR FORCE OF TENDON DRIVEN FINGERS...... 1176 Friedrich Lange ; Gabriel Quere ; Antonin Raffin

RECONFIGURABLE NETWORK FOR EFFICIENT INFERENCING IN AUTONOMOUS VEHICLES ...... 1183 Shihong Fang ; Anna Choromanska

FAST RADAR MOTION ESTIMATION WITH A LEARNT FOCUS OF ATTENTION USING WEAK SUPERVISION ...... 1190 Roberto Aldera ; Daniele De Martini ; Matthew Gadd ; Paul Newman

LEARNED MAP PREDICTION FOR ENHANCED MOBILE ROBOT EXPLORATION...... 1197 Rakesh Shrestha ; Fei-Peng Tian ; Wei Feng ; Ping Tan ; Richard Vaughan

PROPAGATION NETWORKS FOR MODEL-BASED CONTROL UNDER PARTIAL OBSERVATION...... 1205 Yunzhu Li ; Jiajun Wu ; Jun-Yan Zhu ; Joshua B. Tenenbaum ; Antonio Torralba ; Russ Tedrake

INTERACTIVE TRAJECTORY PREDICTION FOR AUTONOMOUS DRIVING VIA RECURRENT META INDUCTION NEURAL NETWORK ...... 1212 Chiyu Dong ; Yilun Chen ; John M. Dolan

STUDIES ON POSITIONING MANIPULATORS ACTUATED BY SOLID MEDIA TRANSMISSIONS ...... 1226 Haoran Zhao ; Xin Liu ; Rahul Korpu ; Michael J. Heffernan ; Aaron T. Becker ; Nikolaos V. Tsekos

EXPLOITING BISTABILITY FOR HIGH FORCE DENSITY REFLEXIVE GRIPPING...... 1241 Rianna Jitosho ; Kevin Choi ; Adam Foris ; Anirban Mazumdar

COMPLIANT BISTABLE GRIPPER FOR AERIAL PERCHING AND GRASPING ...... 1248 Haijie Zhang ; Jiefeng Sun ; Jianguo Zhao

MH-ISAM2: MULTI-HYPOTHESIS ISAM USING BAYES TREE AND HYPO-TREE ...... 1274 Ming Hsiao ; Michael Kaess

IMPROVING KEYPOINT MATCHING USING A LANDMARK-BASED IMAGE REPRESENTATION ...... 1281 Xinghong Huang ; Zhuang Dai ; Weinan Chen ; Li He ; Hong Zhang

FAST AND ROBUST INITIALIZATION FOR VISUAL-INERTIAL SLAM...... 1288 Carlos Campos ; Montiel José M. M. ; Juan D. Tardós

ACCURATE DIRECT VISUAL-LASER ODOMETRY WITH EXPLICIT OCCLUSION HANDLING AND PLANE DETECTION...... 1295 Kaihong Huang ; Junhao Xiao ; Cyrill Stachniss

EFFICIENT CONSTELLATION-BASED MAP-MERGING FOR SEMANTIC SLAM ...... 1302 Kristoffer M. Frey ; Ted J. Steiner ; Jonathan P. How

LEARNING ROBUST MANIPULATION STRATEGIES WITH MULTIMODAL STATE TRANSITION MODELS AND RECOVERY HEURISTICS ...... 1309 Austin S. Wang ; Oliver Kroemer

ADAPTIVE CRITIC BASED OPTIMAL KINEMATIC CONTROL FOR A ROBOT MANIPULATOR...... 1316 Aiswarya Menon ; Ravi Prakash ; Laxmidhar Behera

MANIPULABILITY OPTIMIZATION CONTROL OF A SERIAL REDUNDANT ROBOT FOR ROBOT-ASSISTED MINIMALLY INVASIVE SURGERY ...... 1323 Hang Su ; Shuai Li ; Jagadesh Manivannan ; Luca Bascetta ; Giancarlo Ferrigno ; Elena De Momi

ACCOUNTING FOR PART POSE ESTIMATION UNCERTAINTIES DURING TRAJECTORY GENERATION FOR PART PICK-UP USING MOBILE MANIPULATORS ...... 1329 Shantanu Thakar ; Pradeep Rajendran ; Vivek Annem ; Ariyan Kabir ; Satyandra Gupta

ADAPTING EVERYDAY MANIPULATION SKILLS TO VARIED SCENARIOS ...... 1345 Pawel Gajewski ; Paulo Ferreira ; Georg Bartels ; Chaozheng Wang ; Frank Guerin ; Bipin Indurkhya ; Michael Beetz ; Bartlomiej Sniezynski

FEEDBACK CONTROL AND 3D MOTION OF HETEROGENEOUS JANUS PARTICLES...... 1352 Louis William Rogowski ; Xiao Zhang ; Li Huang ; Anuruddha Bhattacharjee ; Jung Soo Lee ; Aaron T. Becker ; Min Jun Kim

DATA-DRIVEN GAIT SEGMENTATION FOR WALKING ASSISTANCE IN A LOWER-LIMB ASSISTIVE DEVICE...... 1390 Aleksandra Kalinowska ; Thomas A. Berrueta ; Adam Zoss ; Todd Murphey

CLOSED-LOOP MPC WITH DENSE VISUAL SLAM - STABILITY THROUGH REACTIVE STEPPING ...... 1397 Arnaud Tanguy ; Daniele De Simone ; Andrew I. Comport ; Giuseppe Oriolo ; Abderrahmane Kheddar

SAFE 3D BIPEDAL WALKING THROUGH LINEAR MPC WITH 3D CAPTURABILITY ...... 1404 Adrien Pajon ; Pierre-Brice Wiebe

FEEDBACK MOTION PLANNING OF LEGGED ROBOTS BY COMPOSING ORBITAL LYAPUNOV FUNCTIONS USING RAPIDLY-EXPLORING RANDOM TREES ...... 1410 Ali Zamani ; Joseph D. Galloway ; Pranav A. Bhounsule

ONLINE WALKING PATTERN GENERATION FOR HUMANOID ROBOT WITH COMPLIANT MOTION CONTROL...... 1417 Mingon Kim ; Daegyu Lim ; Jaeheung Park

A KALMAN FILTER-BASED ALGORITHM FOR SIMULTANEOUS TIME SYNCHRONIZATION AND LOCALIZATION IN UWB NETWORKS ...... 1431 Justin Cano ; Saad Chidami ; Jerome Le Ny

ERTIS: A FULLY EMBEDDED REAL TIME 3D IMAGING SONAR SENSOR FOR ROBOTIC APPLICATIONS...... 1438 Robin Kerstens ; Dennis Laurijssen ; Jan Steckel

LOOKUP: VISION-ONLY REAL-TIME PRECISE UNDERGROUND LOCALISATION FOR AUTONOMOUS MINING VEHICLES...... 1444 Fan Zeng ; Adam Jacobson ; David Smith ; Nigel Boswell ; Thierry Peynot ; Michael Milford

ANALYSIS OF ROBUST FUNCTIONS FOR REGISTRATION ALGORITHMS ...... 1451 Philippe Babin ; Philippe Giguère ; François Pomerleau

COLO: A PERFORMANCE EVALUATION SYSTEM FOR MULTI-ROBOT COOPERATIVE LOCALIZATION ALGORITHMS ...... 1458 Shengkang Chen ; Ankur Mehta

A CANE-BASED LOW COST SENSOR TO IMPLEMENT ATTENTION MECHANISMS IN TELECARE ROBOTS...... 1473 Joaquin Ballesteros ; Alberto Tudela ; Juan Rafael Caro-Romero ; Cristina Urdiales

A DEPLOYABLE SOFT ROBOTIC ARM WITH STIFFNESS MODULATION FOR ASSISTIVE LIVING APPLICATIONS...... 1479 Jahanshah Fathi ; Oude Vrielink Timo J. C. ; Mark S. Runciman ; George P. Mylonas

DEVELOPMENT OF A NOVEL GAIT REHABILITATION DEVICE WITH HIP INTERACTION AND A SINGLE DOF MECHANISM...... 1492 Mohammad Reza Sabaapour ; Hosu Lee ; Muhammad Raheel Afzal ; Amre Eizad ; Jungwon Yoon

DIFFERENTIALLY-CLUTCHED SERIES ELASTIC ACTUATOR FOR ROBOT-AIDED MUSCULOSKELETAL REHABILITATION ...... 1507 Brayden Deboon ; Scott Nokleby ; Nicholas La Delfa ; Carlos Rossa

A NOVEL ROBOTIC SUTURING SYSTEM FOR FLEXIBLE ENDOSCOPIC SURGERY ...... 1514 Lin Cao ; Xiaoguo Li ; Phuoc Thien Phan ; Anthony Meng Huat Tiong ; Jiajun Liu ; Soo Jay Phee

A NONINVASIVE APPROACH TO RECOVERING THE LOST FORCE FEEDBACK FOR A ROBOTIC-ASSISTED INSERTABLE LAPAROSCOPIC SURGICAL CAMERA ...... 1521 Ning Li ; Gregory J. Mancini ; Jindong Tan

DEVELOPMENT OF A MULTI-LEVEL STIFFNESS SOFT ROBOTIC MODULE WITH FORCE HAPTIC FEEDBACK FOR ENDOSCOPIC APPLICATIONS ...... 1527 H. Naghibi ; M. W. Gifari ; W. Hoitzing ; J. W. Lageveen ; D. M. M. Van As ; S. Stramigioli ; M. Abayazid

FEASIBILITY STUDY OF ROBOTIC NEEDLES WITH A ROTATIONAL TIP-JOINT AND NOTCH PATTERNS ...... 1534 Shivanand Pattanshetti ; Read Sandström ; Abhishek Kottala ; Nancy M. Amato ; Seok Chang Ryu

AUTONOMOUS LAPAROSCOPIC ROBOTIC SUTURING WITH A NOVEL ACTUATED SUTURING TOOL AND 3D ENDOSCOPE...... 1541 H. Saeidi ; H. N. D. Le ; J. D. Opfermann ; S. Leonard ; A. Kim ; M. H. Hsieh ; J. U. Kang ; A. Krieger

ACTIVE CONTRAINTS FOR TOOL-SHAFT COLLISION AVOIDANCE IN MINIMALLY INVASIVE SURGERY ...... 1556 Artur Banach ; Konrad Leibrandt ; Maria Grammatikopoulou ; Guang-Zhong Yang

ENERGY BUDGET TRANSACTION PROTOCOL FOR DISTRIBUTED ROBOTIC SYSTEMS...... 1563 S. S. Groothuis ; S. Stramigioli

TELE-ECHOGRAPHY USING A TWO-LAYER TELEOPERATION ALGORITHM WITH ENERGY SCALING...... 1569 Enrico Sartori ; Carlo Tadiello ; Cristian Secchi ; Riccardo Muradore

EMG-CONTROLLED NON-ANTHROPOMORPHIC HAND TELEOPERATION USING A CONTINUOUS TELEOPERATION SUBSPACE ...... 1576 Cassie Meeker ; Matei Ciocarlie

ENHANCING THE FORCE TRANSPARENCY OF TIME DOMAIN PASSIVITY APPROACH: OBSERVER-BASED GRADIENT CONTROLLER ...... 1583 Harsimran Singh ; Aghil Jafari ; Jee-Hwan Ryu

MOTION SCALING SOLUTIONS FOR IMPROVED PERFORMANCE IN HIGH DELAY SURGICAL TELEOPERATION...... 1590 Florian Richter ; Ryan K. Orosco ; Michael C. Yip

ROBUST OBJECT GRASPING IN CLUTTER VIA SINGULATION ...... 1596 Kiatos Marios ; Malassiotis Sotiris

TOWARDS AN INTEGRATED AUTONOMOUS DATA-DRIVEN GRASPING SYSTEM WITH A MOBILE MANIPULATOR ...... 1601 Michael Hegedus ; Kamal Gupta ; Mehran Mehrandezh

DESIGN PRINCIPLES AND OPTIMIZATION OF A PLANAR UNDERACTUATED HAND FOR CAGING GRASPS ...... 1608 Walter G. Bircher ; Aaron M. Dollar

MECHANICAL SEARCH: MULTI-STEP RETRIEVAL OF A TARGET OBJECT OCCLUDED BY CLUTTER...... 1614 Michael Danielczuk ; Andrey Kurenkov ; Ashwin Balakrishna ; Matthew Matl ; David Wang ; Roberto Martín- Martín ; Animesh Garg ; Silvio Savarese ; Ken Goldberg

TRANSFERRING GRASP CONFIGURATIONS USING ACTIVE LEARNING AND LOCAL REPLANNING ...... 1622 Hao Tian ; Changbo Wang ; Dinesh Manocha ; Xinyu Zhang

KINEMATIC ANALYSIS OF A 4-DOF PARALLEL MECHANISM WITH LARGE TRANSLATIONAL AND ORIENTATIONAL WORKSPACE...... 1637 Shoichiro Kamada ; Thierry Laliberté ; Clement Gosselin

KINEMATICALLY REDUNDANT (6+3)-DOF HYBRID PARALLEL ROBOT WITH LARGE ORIENTATIONAL WORKSPACE AND REMOTELY OPERATED GRIPPER...... 1672 Kefei Wen ; David Harton ; Thierry Laliberté ; Clément Gosselin

MODELING VARIABLE CURVATURE PARALLEL CONTINUUM ROBOTS USING EULER CURVES...... 1679 Phanideep S. Gonthina ; Apoorva D. Kapadia ; Isuru S. Godage ; Ian. D. Walker

VARIABLE DAMPING CONTROL OF THE ROBOTIC ANKLE JOINT TO IMPROVE TRADE- OFF BETWEEN PERFORMANCE AND STABILITY...... 1699 James Arnold ; Harrison Hanzlick ; Hyunglae Lee

AN AUTONOMOUS EXOSKELETON FOR ANKLE PLANTARFLEXION ASSISTANCE...... 1713 Albert Wu ; Xingbang Yang ; Jiun-Yih Kuan ; Hugh M. Herr

ANALYTIC COLLISION RISK CALCULATION FOR AUTONOMOUS VEHICLE NAVIGATION ...... 1744 Andreas Philipp ; Daniel Goehring

A NEW APPROACH TO LOCAL NAVIGATION FOR AUTONOMOUS DRIVING VEHICLES BASED ON THE CURVATURE VELOCITY METHOD ...... 1751 J. López ; C. Otero ; R. Sanz ; E. Paz ; E. Molinos ; R. Barea

GOAL-DRIVEN NAVIGATION FOR NON-HOLONOMIC MULTI-ROBOT SYSTEM BY LEARNING COLLISION ...... 1758 H. W. Jun ; H. J. Kim ; B. H. Lee

EFFICIENT EXACT COLLISION DETECTION BETWEEN ELLIPSOIDS AND SUPERQUADRICS VIA CLOSED-FORM MINKOWSKI SUMS ...... 1765 Sipu Ruan ; Karen L. Poblete ; Yingke Li ; Qian Lin ; Qianli Ma ; Gregory S. Chirikjian

POSITIONING UNCERTAINTY REDUCTION OF MAGNETICALLY GUIDED ACTUATION ON PLANAR SURFACES...... 1772 Martin Jurík ; Jirí Kuthan ; Jirí Vlcek ; František Mach

ROBOT LOCALIZATION BASED ON AERIAL IMAGES FOR PRECISION AGRICULTURE TASKS IN CROP FIELDS ...... 1787 Nived Chebrolu ; Philipp Lottes ; Thomas Läbe ; Cyrill Stachniss

VISUAL APPEARANCE ANALYSIS OF FOREST SCENES FOR MONOCULAR SLAM...... 1794 James Garforth ; Barbara Webb

AN APPROACH FOR SEMANTIC SEGMENTATION OF TREE-LIKE VEGETATION ...... 1801 S. Tejaswi Digumarti ; Lukas Maximilian Schmid ; Giuseppe Maria Rizzi ; Juan Nieto ; Roland Siegwart ; Paul Beardsley ; Cesar Cadena

THERMAL IMAGE BASED NAVIGATION SYSTEM FOR SKID-STEERING MOBILE ROBOTS IN SUGARCANE CROPS ...... 1808 Marco F. S. Xaud ; Antonio C. Leite ; Pål J. From

DYNAMIC OBSTACLES DETECTION FOR ROBOTIC SOIL EXPLORATIONS...... 1815 Francesco Visentin ; Ali Sadeghi ; Barbara Mazzolai

NON-DESTRUCTIVE ROBOTIC ASSESSMENT OF MANGO RIPENESS VIA MULTI-POINT SOFT HAPTICS...... 1821 Luca Scimeca ; Perla Maiolino ; Daniel Cardin-Catalan ; Angel P. Del Pobil ; Antonio Morales ; Fumiya IIda

UAV POSE ESTIMATION USING CROSS-VIEW GEOLOCALIZATION WITH SATELLITE IMAGERY ...... 1827 Akshay Shetty ; Grace Xingxin Gao

THE OPEN VISION COMPUTER: AN INTEGRATED SENSING AND COMPUTE SYSTEM FOR MOBILE ROBOTS ...... 1834 Morgan Quigley ; Kartik Mohta ; Shreyas S. Shivakumar ; Michael Watterson ; Yash Mulgaonkar ; Mikael Arguedas ; Ke Sun ; Sikang Liu ; Bernd Pfrommer ; Vijay Kumar ; Camillo J. Taylor

RAD-VIO: RANGEFINDER-AIDED DOWNWARD VISUAL-INERTIAL ODOMETRY ...... 1841 Bo Fu ; Kumar Shaurya Shankar ; Nathan Michael

LEARNING TO CAPTURE A FILM-LOOK VIDEO WITH A CAMERA DRONE...... 1871 Chong Huang ; Zhenyu Yang ; Yan Kong ; Peng Chen ; Xin Yang ; Kwang-Ting Tim Cheng

DESIGN AND EXPERIMENTS FOR MULTI-SECTION-TRANSFORMABLE (MIST)-UAV ...... 1878 Ruben D’Sa ; Nikolaos Papanikolopoulos

ONLINE ESTIMATION OF GEOMETRIC AND INERTIA PARAMETERS FOR MULTIROTOR AERIAL VEHICLES ...... 1884 Valentin Wüest ; Vijay Kumar ; Giuseppe Loianno

EXTERNAL WRENCH ESTIMATION FOR MULTILINK AERIAL ROBOT BY CENTER OF MASS ESTIMATOR BASED ON DISTRIBUTED IMU SYSTEM ...... 1891 Fan Shi ; Moju Zhao ; Tomoki Anzai ; Xiangyu Chen ; Kei Okada ; Masayuki Inaba

A NOVEL DEVELOPMENT OF ROBOTS WITH COOPERATIVE STRATEGY FOR LONG- TERM AND CLOSE-PROXIMITY AUTONOMOUS TRANSMISSION-LINE INSPECTION ...... 1898 Jiang Bian ; Xiaolong Hui ; Xiaoguang Zhao ; Min Tan

HUNTING DRONES WITH OTHER DRONES: TRACKING A MOVING RADIO TARGET...... 1905 Louis Dressel ; Mykel J. Kochenderfer

DESIGN AND TESTING OF A NEW CELL MICROINJECTOR WITH EMBEDDED SOFT FORCE SENSOR ...... 1913 Yuzhang Wei ; Qingsong Xu

ENERGY OPTIMIZATION FOR A ROBUST AND FLEXIBLE INTERACTION CONTROL ...... 1919 Cristian Secchi ; Federica Ferraguti

DESIGN OF VERSATILE AND LOW-COST SHAFT SENSOR FOR HEALTH MONITORING...... 1926 Erik Gest ; Mikio Furokawa ; Takayuki Hirano ; Kamal Youcef-Toumi

ROBUST EXECUTION OF CONTACT-RICH MOTION PLANS BY HYBRID FORCE- VELOCITY CONTROL...... 1933 Yifan Hou ; Matthew T. Mason

ENDOSCOPE FORCE GENERATION AND INTRINSIC SENSING WITH ENVIRONMENTAL SCAFFOLDING ...... 1940 Julius E. Bernth ; Junghwan Back ; George Abrahams ; Lukas Lindenroth ; Bu Hayee ; Hongbin Liu

ON THE COMBINATION OF GAMIFICATION AND CROWD COMPUTATION IN INDUSTRIAL AUTOMATION AND ROBOTICS APPLICATIONS...... 1955 Tom Bewley ; Minas Liarokapis

A NEW OVERLOADING FATIGUE MODEL FOR ERGONOMIC RISK ASSESSMENT WITH APPLICATION TO HUMAN-ROBOT COLLABORATION ...... 1962 Marta Lorenzini ; Wansoo Kim ; Elena De Momi ; Arash Ajoudani

HUMAN-INSPIRED BALANCE MODEL TO ACCOUNT FOR FOOT-BEAM INTERACTION MECHANICS ...... 1969 Jongwoo Lee ; Meghan E. Huber ; Enrico Chiovetto ; Martin Giese ; Dagmar Sternad ; Neville Hogan

REAL-TIME ROBOT-ASSISTED ERGONOMICS...... 1975 A. Shafti ; A. Ataka ; B. Urbistondo Lazpita ; A. Shiva ; H. A. Wurdemann ; K. Althoefer

A FOG ROBOTIC SYSTEM FOR DYNAMIC VISUAL SERVOING...... 1982 Nan Tian ; Ajay Kumar Tanwani ; Jinfa Chen ; Mas Ma ; Robert Zhang ; Bill Huang ; Ken Goldberg ; Somayeh Sojoudi

APPROXIMATE PROBABILISTIC SECURITY FOR NETWORKED MULTI-ROBOT SYSTEMS ...... 1997 Remy Wehbe ; Ryan K. Williams

A DECENTRALIZED HETEROGENEOUS CONTROL STRATEGY FOR A CLASS OF INFINITESIMALLY SHAPE-SIMILAR FORMATIONS ...... 2004 Ian Buckley ; Magnus Egerstedt

ASYNCHRONOUS NETWORK FORMATION IN UNKNOWN UNBOUNDED ENVIRONMENTS ...... 2011 Selim Engin ; Volkan Isler

SWITCHING TOPOLOGY FOR RESILIENT CONSENSUS USING WI-FI SIGNALS ...... 2018 Thomas Wheeler ; Ezhil Bharathi ; Stephanie Gil

MULTI-VEHICLE TRAJECTORY OPTIMISATION ON ROAD NETWORKS...... 2025 Philip Gun ; Andrew Hill ; Robin Vujanic

DISTURBANCE COMPENSATION BASED CONTROL FOR AN INDOOR BLIMP ROBOT...... 2040 Yue Wang ; Gang Zheng ; Denis Efimov ; Wilfrid Perruquetti

INFORMED INFORMATION THEORETIC MODEL PREDICTIVE CONTROL...... 2047 Raphael Kusumoto ; Luigi Palmieri ; Markus Spies ; Akos Csiszar ; Kai. O. Arras

A GENERIC OPTIMIZATION BASED CARTESIAN CONTROLLER FOR ROBOTIC MOBILE MANIPULATION...... 2054 Emilia Brzozowska ; Oscar Lima ; Rodrigo Ventura

TASK-DRIVEN ESTIMATION AND CONTROL VIA INFORMATION BOTTLENECKS...... 2061 Vincent Pacelli ; Anirudha Majumdar

FEASIBILITY ANALYSIS FOR CONSTRAINED MODEL PREDICTIVE CONTROL BASED MOTION CUEING ALGORITHM...... 2076 Carolina Rengifo ; Jean-Rémy Chardonnet ; Hakim Mohellebi ; Damien Paillot ; Andras Kemeny

ROBUSTNESS TO OUT-OF-DISTRIBUTION INPUTS VIA TASK-AWARE GENERATIVE UNCERTAINTY ...... 2083 Rowan McAllister ; Gregory Kahn ; Jeff Clune ; Sergey Levine

MULTIMODAL TRAJECTORY PREDICTIONS FOR AUTONOMOUS DRIVING USING DEEP CONVOLUTIONAL NETWORKS...... 2090 Henggang Cui ; Vladan Radosavljevic ; Fang-Chieh Chou ; Tsung-Han Lin ; Thi Nguyen ; Tzu-Kuo Huang ; Jeff Schneider ; Nemanja Djuric

CLASSIFYING PEDESTRIAN ACTIONS IN ADVANCE USING PREDICTED VIDEO OF URBAN DRIVING SCENES...... 2097 Pratik Gujjar ; Richard Vaughan

LIGHTWEIGHT CONTRAST MODELING FOR ATTENTION-AWARE VISUAL LOCALIZATION...... 2104 Lili Huang ; Guanbin Li ; Ya Li ; Liang Lin

LEARNING TO WRITE ANYWHERE WITH SPATIAL TRANSFORMER IMAGE-TO-MOTION ENCODER-DECODER NETWORKS...... 2111 Barry Ridge ; Rok Pahic ; Aleš Ude ; Jun Morimoto

MOTION PLANNING NETWORKS...... 2118 Ahmed H. Qureshi ; Anthony Simeonov ; Mayur J. Bency ; Michael C. Yip

IMPROVING DATA EFFICIENCY OF SELF-SUPERVISED LEARNING FOR ROBOTIC GRASPING ...... 2125 Lars Berscheid ; Thomas Rühr ; Torsten Kröger

ONLINE OBJECT AND TASK LEARNING VIA HUMAN ROBOT INTERACTION...... 2132 Masood Dehghan ; Zichen Zhang ; Mennatullah Siam ; Jun Jin ; Laura Petrich ; Martin Jagersand

DYNAMIC MANIPULATION OF FLEXIBLE OBJECTS WITH TORQUE SEQUENCE USING A DEEP NEURAL NETWORK...... 2139 Kento Kawaharazuka ; Toru Ogawa ; Juntaro Tamura ; Cota Nabeshima

COLOR-CODED FIBER-OPTIC TACTILE SENSOR FOR AN ELASTOMERIC ROBOT SKIN...... 2146 Zhanat Kappassov ; Daulet Baimukashev ; Zharaskhan Kuanyshuly ; Yerzhan Massalin ; Arshat Urazbayev ; Huseyin Atakan Varol

REINFORCEMENT LEARNING IN TOPOLOGY-BASED REPRESENTATION FOR HUMAN BODY MOVEMENT WITH WHOLE ARM MANIPULATION...... 2153 Weihao Yuan ; Kaiyu Hang ; Haoran Song ; Danica Kragic ; Michael Y. Wang ; Johannes A. Stork

DEMONSTRATION-GUIDED DEEP REINFORCEMENT LEARNING OF CONTROL POLICIES FOR DEXTEROUS HUMAN-ROBOT INTERACTION...... 2161 Sammy Christen ; Stefan Stevšic ; Otmar Hilliges

TEAM-BASED ROBOT RIGHTING VIA PUSHING AND SHELL DESIGN...... 2168 David L. McPherson ; Ronald S. Fearing

DEFORMATION-BASED SHAPE CONTROL WITH A MULTIROBOT SYSTEM...... 2174 Miguel Aranda ; Juan Antonio Corrales ; Youcef Mezouar

ONE-TO-MANY BIPARTITE MATCHING BASED COALITION FORMATION FOR MULTI- ROBOT TASK ALLOCATION...... 2181 Ayan Dutta ; Asai Asaithambi

COORDINATED MULTI-ROBOT PLANNING WHILE PRESERVING INDIVIDUAL PRIVACY...... 2188 Li Li ; Alfredo Bayuelo ; Leonardo Bobadilla ; Tauhidul Alam ; Dylan A. Shell

MULTI-AGENT SYNCHRONIZATION USING ONLINE MODEL-FREE ACTION DEPENDENT DUAL HEURISTIC DYNAMIC PROGRAMMING APPROACH...... 2195 Mohammed Abouheaf ; Wail Gueaieb

ROBUST AREA COVERAGE WITH CONNECTIVITY MAINTENANCE ...... 2202 Luca Siligardi ; Jacopo Panerati ; Marcel Kaufmann ; Marco Minelli ; Cinara Ghedini ; Giovanni Beltrame ; Lorenzo Sabattini

LIVING WITH A MOBILE COMPANION ROBOT IN YOUR OWN APARTMENT - FINAL IMPLEMENTATION AND RESULTS OF A 20-WEEKS FIELD STUDY WITH 20 SENIORS...... 2253 Horst-Michael Gross ; Andrea Scheidig ; Steffen Müller ; Benjamin Schütz ; Christa Fricke ; Sibylle Meyer

ENABLING IDENTITY-AWARE TRACKING VIA FUSION OF VISUAL AND INERTIAL FEATURES...... 2260 Richard Yi-Chia Tsai ; Hans Ting-Yuan Ke ; Kate Ching-Ju Lin ; Yu-Chee Tseng

INVERSE REINFORCEMENT LEARNING OF INTERACTION DYNAMICS FROM DEMONSTRATIONS...... 2267 Mostafa Hussein ; Momotaz Begum ; Marek Petrik

INVESTIGATING DESIGN ELEMENTS OF COMPANION ROBOTS FOR OLDER ADULTS ...... 2275 Young Hoon Oh ; Jaewoong Kim ; Soyon Jeong ; A Young Ju

DEVELOPMENT OF INFORMATIVE PATH PLANNING FOR INSPECTION OF THE HANFORD TANK FARM...... 2297 Sebastián A. Zanlongo ; Leonardo Bobadilla ; Dwayne McDaniel ; Yew Teck Tan

A FUZZY BASED ACCESSIBILITY MODEL FOR DISASTER ENVIRONMENT ...... 2304 Karthika Balan ; Melvin P Manuel ; Mariam Faied ; Mohan Krishnan ; Michael Santora

LEARNING TO PREDICT THE WIND FOR SAFE AERIAL VEHICLE PLANNING...... 2311 Florian Achermann ; Nicholas R. J. Lawrance ; René Ranftl ; Alexey Dosovitskiy ; Jen Jen Chung ; Roland Siegwart

DISTRIBUTED RADIATION FIELD ESTIMATION AND INFORMATIVE PATH PLANNING FOR NUCLEAR ENVIRONMENT CHARACTERIZATION ...... 2318 Frank Mascarich ; Christos Papachristos ; Taylor Wilson ; Kostas Alexis

VISUAL RECOGNITION IN THE WILD BY SAMPLING DEEP SIMILARITY FUNCTIONS ...... 2341 Mikhail Usvyatsov ; Konrad Schindler

EVALUATING MERGING STRATEGIES FOR SAMPLING-BASED UNCERTAINTY TECHNIQUES IN OBJECT DETECTION...... 2348 Dimity Miller ; Feras Dayoub ; Michael Milford ; Niko Sünderhauf

TRAINING A BINARY WEIGHT OBJECT DETECTOR BY KNOWLEDGE TRANSFER FOR AUTONOMOUS DRIVING ...... 2379 Jiaolong Xu ; Yiming Nie ; Peng Wang ; Antonio M. López

VISUAL SLAM: WHY BUNDLE ADJUST?...... 2385 Álvaro Parra Bustos ; Tat-Jun Chin ; Anders Eriksson ; Ian Reid

ILLUMINATION ROBUST MONOCULAR DIRECT VISUAL ODOMETRY FOR OUTDOOR ENVIRONMENT MAPPING...... 2392 Xiaolong Wu ; Cédric Pradalier

A COMPARISON OF CNN-BASED AND HAND-CRAFTED KEYPOINT DESCRIPTORS ...... 2399 Zhuang Dai ; Xinghong Huang ; Weinan Chen ; Li He ; Hong Zhang

ENVIRONMENT DRIVEN UNDERWATER CAMERA-IMU CALIBRATION FOR MONOCULAR VISUAL-INERTIAL SLAM...... 2405 Changjun Gu ; Yang Cong ; Gan Sun

LEVERAGING STRUCTURAL REGULARITY OF ATLANTA WORLD FOR MONOCULAR SLAM ...... 2412 Haoang Li ; Yazhou Xing ; Ji Zhao ; Jean-Charles Bazin ; Zhe Liu ; Yun-Hui Liu

MULTIMODAL SEMANTIC SLAM WITH PROBABILISTIC DATA ASSOCIATION ...... 2419 Kevin Doherty ; Dehann Fourie ; John Leonard

IMPROVING INCREMENTAL PLANNING PERFORMANCE THROUGH OVERLAPPING REPLANNING AND EXECUTION...... 2426 Matthew Orton ; Siyu Dai ; Shawn Schaffert ; Andreas Hofmann ; Brian Williams

MULTIMODAL POLICY SEARCH USING OVERLAPPING MIXTURES OF SPARSE GAUSSIAN PROCESS PRIOR...... 2433 Hikaru Sasaki ; Takamitsu Matsubara

ONLINE ADAPTATION OF UNCERTAIN MODELS USING NEURAL NETWORK PRIORS AND PARTIALLY OBSERVABLE PLANNING...... 2440 Akinobu Hayashi ; Dirk Ruiken ; Christian Goerick ; Tadaaki Hasegawa

CONTACT-IMPLICIT TRAJECTORY OPTIMIZATION BASED ON A VARIABLE SMOOTH CONTACT MODEL AND SUCCESSIVE CONVEXIFICATION...... 2447 Aykut Özgun Önol ; Philip Long ; Taskin Padir

ENERGY GRADIENT-BASED GRAPHS FOR PLANNING WITHIN-HAND CAGING MANIPULATION...... 2462 Walter G. Bircher ; Andrew S. Morgan ; Kaiyu Hang ; Aaron M. Dollar

A NEW ROBOT SKATING ON WATER SURFACE INTIMATING WATER STRIDERS BASED ON FLEXIBLE DRIVING MECHANISM ...... 2468 Jihong Yan ; Kai Yang ; Yi Yang ; Jie Zhao ; Gangfeng Liu ; Shufeng Tang

PERFORMANCE METRICS FOR A ROBOTIC ACTUATION SYSTEM USING STATIC AND MOBILE ELECTROMAGNETS ...... 2474 Ruipeng Chen ; David Folio ; Antoine Ferreira

YAW TORQUE AUTHORITY FOR A FLAPPING-WING MICRO-AERIAL VEHICLE...... 2481 Rebecca Steinmeyer ; Nak-Seung P. Hyun ; E. Farrell Helbling ; Robert J. Wood

DATA-EFFICIENT LEARNING OF MORPHOLOGY AND CONTROLLER FOR A MICROROBOT...... 2488 Thomas Liao ; Grant Wang ; Brian Yang ; Rene Lee ; Kristofer Pister ; Sergey Levine ; Roberto Calandra

RETRIEVAL OF MAGNETIC MEDICAL MICROROBOTS FROM THE BLOODSTREAM...... 2495 V. Iacovacci ; L. Ricotti ; G. Signore ; F. Vistoli ; E. Sinibaldi ; A. Menciassi

EXPERIMENTS WITH HUMAN-INSPIRED BEHAVIORS IN A HUMANOID ROBOT: QUASI- STATIC BALANCING USING TOE-OFF MOTION AND STRETCHED KNEES...... 2510 Bernd Henze ; Máximo A. Roa ; Alexander Werner ; Alexander Dietrich ; Christian Ott ; Alin Albu-Schäffer

PREDICTION MAPS FOR REAL-TIME 3D FOOTSTEP PLANNING IN DYNAMIC ENVIRONMENTS ...... 2517 Philipp Karkowski ; Maren Bennewitz

SEE AND BE SEEN – RAPID AND LIKEABLE HIGH-DEFINITION CAMERA-EYE FOR ANTHROPOMORPHIC ROBOTS ...... 2524 Simon Schulz ; Sebastian Meyer Zu Borgsen ; Sven Wachsmuth

GENERALIZED ORIENTATION LEARNING IN ROBOT TASK SPACE...... 2531 Yanlong Huang ; Fares J. Abu-Dakka ; João Silvério ; Darwin G. Caldwell

ATLAS FAST: FAST AND SIMPLE SCHEDULED TDOA FOR RELIABLE ULTRA-WIDEBAND LOCALIZATION...... 2554 Janis Tiemann ; Yehya Elmasry ; Lucas Koring ; Christian Wietfeld

HD MAP CHANGE DETECTION WITH A BOOSTED PARTICLE FILTER...... 2561 David Pannen ; Martin Liebner ; Wolfram Burgard

NON-PARAMETRIC ERROR MODELING FOR ULTRA-WIDEBAND LOCALIZATION NETWORKS...... 2568 Acshi Haggenmiller ; Maximilian Krogius ; Edwin Olson

SELF-SUPERVISED INCREMENTAL LEARNING FOR SOUND SOURCE LOCALIZATION IN COMPLEX INDOOR ENVIRONMENT...... 2599 Hangxin Liu ; Zeyu Zhang ; Yixin Zhu ; Song-Chun Zhu

AUTOMATED MODELS OF HUMAN EVERYDAY ACTIVITY BASED ON GAME AND VIRTUAL REALITY TECHNOLOGY...... 2606 Andrei Haidu ; Michael Beetz

DEVELOPMENT OF A STRAIN GAUGE BASED DISTURBANCE ESTIMATION AND COMPENSATION TECHNIQUE FOR A WHEELED INVERTED PENDULUM ROBOT...... 2613 Luis Canete ; Takayuki Takahashi

SPATIO-TEMPORAL REPRESENTATION FOR LONG-TERM ANTICIPATION OF HUMAN PRESENCE IN SERVICE ROBOTICS ...... 2620 Tomáš Vintr ; Zhi Yan ; Tom Duckett ; Tomáš Krajník

OBJECT TRANSFER POINT ESTIMATION FOR FLUENT HUMAN-ROBOT HANDOVERS ...... 2627 Heramb Nemlekar ; Dharini Dutia ; Zhi Li

CONTROLLING AEROBOT: DEVELOPMENT OF A MOTION PLANNER FOR AN ACTIVELY ARTICULATED WHEELED HUMANOID ROBOT ...... 2634 Moyin V. Otubela ; Michael F. Cullinan ; Conor McGinn

USER CENTRIC DEVICE REGISTRATION FOR STREAMLINED WORKFLOWS IN SURGICAL NAVIGATION SYSTEMS ...... 2641 Paul Thienphrapa ; Prasad Vagdargi ; Alvin Chen ; Douglas Stanton

COMPLIANT FOUR DEGREE-OF-FREEDOM MANIPULATOR WITH LOCALLY DEFORMABLE ELASTIC ELEMENTS FOR MINIMALLY INVASIVE SURGERY ...... 2663 Jumpei Arata ; Yosuke Fujisawa ; Ryu Nakadate ; Kazuo Kiguchi ; Kanako Harada ; Mamoru Mitsuishi ; Makoto Hashizume

SAFE TELEOPERATION OF A LAPAROSCOPE HOLDER WITH DYNAMIC PRECISION BUT LOW STIFFNESS...... 2693 Jesus Mago ; Mario Aricò ; Jimmy Da Silva ; Guillaume Morel

REAL-TIME TELEOPERATION OF FLEXIBLE BEVELED-TIP NEEDLE INSERTION USING HAPTIC FORCE FEEDBACK AND 3D ULTRASOUND GUIDANCE ...... 2700 Jason Chevrie ; Alexandre Krupa ; Marie Babel

END-USER ROBOT PROGRAMMING USING MIXED REALITY ...... 2707 Samir Yitzhak Gadre ; Eric Rosen ; Gary Chien ; Elizabeth Phillips ; Stefanie Tellex ; George Konidaris

CONTROL OF DELAYED BILATERAL TELEOPERATION SYSTEM FOR ROBOTIC TELE- ECHOGRAPHY ...... 2714 Jang Ho Cho ; Maxim Kristalny ; Joonho Seo ; Hyuk Jin Lee ; Kiyoung Kim ; Hyun Soo Woo

A UNIFIED FRAMEWORK FOR THE TELEOPERATION OF SURGICAL ROBOTS IN CONSTRAINED WORKSPACES...... 2721 Murilo M. Marinho ; Bruno V. Adorno ; Kanako Harada ; Kyoichi Deie ; Anton Deguet ; Peter Kazanzides ; Russell H. Taylor ; Mamoru Mitsuishi

HIGH-SPEED RING INSERTION BY DYNAMIC OBSERVABLE CONTACT HAND ...... 2744 Yukihisa Karako ; Shinji Kawakami ; Keisuke Koyama ; Makoto Shimojo ; Taku Senoo ; Masatoshi Ishikawa

LEARNING TO GRASP UNDER UNCERTAINTY USING POMDPS...... 2751 Neha P Garg ; David Hsu ; Wee Sun Lee

SOFT HANDS WITH EMBODIED CONSTRAINTS: THE SOFT SCOOPGRIPPER...... 2758 G. Salvietti ; Z. Iqbal ; M. Malvezzi ; T. Eslami ; D. Prattichizzo

A SIMPLE ELECTRIC SOFT ROBOTIC GRIPPER WITH HIGH-DEFORMATION HAPTIC FEEDBACK...... 2765 Lillian Chin ; Michelle C. Yuen ; Jeffrey Lipton ; Luis H. Trueba ; Rebecca Kramer-Bottiglio ; Daniela Rus

USING GEOMETRIC FEATURES TO REPRESENT NEAR-CONTACT BEHAVIOR IN ROBOTIC GRASPING ...... 2772 Eadom Dessalene ; Yi Herng Ong ; John Morrow ; Ravi Balasubramanian ; Cindy Grimm

A GPU BASED PARALLEL GENETIC ALGORITHM FOR THE ORIENTATION OPTIMIZATION PROBLEM IN 3D PRINTING ...... 2786 Zhishuai Li ; Gang Xiong ; Xipeng Zhang ; Zhen Shen ; Can Luo ; Xiuqin Shang ; Xisong Dong ; Gui-Bin Bian ; Xiao Wang ; Fei-Yue Wang

WHERE SHOULD WE PLACE LIDARS ON THE AUTONOMOUS VEHICLE? - AN OPTIMAL DESIGN APPROACH ...... 2793 Zuxin Liu ; Mansur Arief ; Ding Zhao

A ROBOTIC CELL FOR MULTI-RESOLUTION ADDITIVE MANUFACTURING ...... 2800 Prahar M. Bhatt ; Ariyan M. Kabir ; Rishi K. Malhan ; Brual Shah ; Aniruddha V. Shembekar ; Yeo Jung Yoon ; Satyandra K. Gupta

MULTIMODAL BIN PICKING SYSTEM WITH COMPLIANT TACTILE SENSOR ARRAYS FOR FLEXIBLE PART HANDLING ...... 2824 Veit Müller ; Norbert Elkmann

OFFLINE POLICY ITERATION BASED REINFORCEMENT LEARNING CONTROLLER FOR ONLINE ROBOTIC KNEE PROSTHESIS PARAMETER TUNING ...... 2831 Minhan Li ; Xiang Gao ; Yue Wen ; Jennie Si ; He Helen Huang

CONSOLIDATED CONTROL FRAMEWORK TO CONTROL A POWERED TRANSFEMORAL PROSTHESIS OVER INCLINED TERRAIN CONDITIONS ...... 2838 Woolim Hong ; Victor Paredes ; Kenneth Chao ; Shawanee Patrick ; Pilwon Hur

ESTIMATING LOADS ALONG ELASTIC RODS...... 2867 Vincent A. Aloi ; D. Caleb Rucker

ORIENTED POINT SAMPLING FOR PLANE DETECTION IN UNORGANIZED POINT CLOUDS ...... 2917 Bo Sun ; Philippos Mordohai

THE IMPORTANCE OF METRIC LEARNING FOR ROBOTIC VISION: OPEN SET RECOGNITION AND ACTIVE LEARNING...... 2924 Benjamin J. Meyer ; Tom Drummond

LEARNING DISCRIMINATIVE EMBEDDINGS FOR OBJECT RECOGNITION ON-THE-FLY ...... 2932 Miguel Lagunes-Fortiz ; Dima Damen ; Walterio Mayol-Cuevas

A NOVEL MULTI-LAYER FRAMEWORK FOR TINY OBSTACLE DISCOVERY...... 2939 Feng Xue ; Anlong Ming ; Menghan Zhou ; Yu Zhou

DSNET: JOINT LEARNING FOR SCENE SEGMENTATION AND DISPARITY ESTIMATION ...... 2946 Wujing Zhan ; Xinqi Ou ; Yunyi Yang ; Long Chen

SPATIAL CHANGE DETECTION USING VOXEL CLASSIFICATION BY NORMAL DISTRIBUTIONS TRANSFORM ...... 2953 Ukyo Katsura ; Kohei Matsumoto ; Akihiro Kawamura ; Tomohide Ishigami ; Tsukasa Okada ; Ryo Kurazume

SET-BASED INVERSE KINEMATICS CONTROL OF AN ANTHROPOMORPHIC DUAL ARM AERIAL MANIPULATOR ...... 2960 E. Cataldi ; F. Real ; A. Suarez ; P. A. Di Lillo ; F. Pierri ; G. Antonelli ; F. Caccavale ; G. Heredia ; A. Ollero

DETECTION AND TRACKING OF SMALL OBJECTS IN SPARSE 3D LASER RANGE DATA...... 2967 Jan Razlaw ; Jan Quenzel ; Sven Behnke

GPS-DENIED UAV LOCALIZATION USING PRE-EXISTING SATELLITE IMAGERY...... 2974 Hunter Goforth ; Simon Lucey

ADAPTIVE VIEW PLANNING FOR AERIAL 3D RECONSTRUCTION ...... 2981 Cheng Peng ; Volkan Isler

AN AUTONOMOUS LOOP-CLOSURE APPROACH FOR SIMULTANEOUS EXPLORATION AND COVERAGE OF UNKNOWN INFRASTRUCTURE USING MAVS...... 2988 David G. Vutetakis ; Jing Xiao

UNSUPERVISED LEARNING OF ASSISTIVE CAMERA VIEWS BY AN AERIAL CO-ROBOT IN AUGMENTED REALITY MULTITASKING ENVIRONMENTS...... 3003 William Bentz ; Sahib Dhanjal ; Dimitra Panagou

VISUAL COVERAGE CONTROL FOR TEAMS OF QUADCOPTERS VIA CONTROL BARRIER FUNCTIONS...... 3010 Riku Funada ; María Santos ; Junya Yamauchi ; Takeshi Hatanaka ; Masayuki Fujita ; Magnus Egerstedt

ROBOT CO-DESIGN: BEYOND THE MONOTONE CASE ...... 3024 Luca Carlone ; Carlo Pinciroli

MULTI-VEHICLE CLOSE ENOUGH ORIENTEERING PROBLEM WITH BÉZIER CURVES FOR MULTI-ROTOR AERIAL VEHICLES...... 3039 Jan Faigl ; Petr Vána ; Robert Penicka

CRITICALLY FAST PICK-AND-PLACE WITH SUCTION CUPS...... 3045 Hung Pham ; Quang-Cuong Pham

ROBUST LINK POSITION TRACKING CONTROL FOR ROBOT MANIPULATORS WITH SERIES ELASTIC ACTUATORS USING TIME-DELAY ESTIMATION...... 3052 Sang Hyun Park ; Jinoh Lee ; Kap-Ho Seo ; Maolin Jin

A SIMPLE BUT ROBUST IMPEDANCE CONTROLLER FOR SERIES ELASTIC ACTUATORS...... 3059 Dongwon Kim ; Kyung Koh ; Gun-Rae Cho ; Li-Qun Zhang

ROBOTIC CUTTING: MECHANICS AND CONTROL OF KNIFE MOTION...... 3066 Xiaoqian Mu ; Yuechuan Xue ; Yan-Bin Jia

A CONSTRAINED CONTROL-PLANNING STRATEGY FOR REDUNDANT MANIPULATORS...... 3073 Corina Barbalata ; Ram Vasudevan ; Matthew Johnson-Roberson

REINFORCEMENT LEARNING ON VARIABLE IMPEDANCE CONTROLLER FOR HIGH- PRECISION ROBOTIC ASSEMBLY...... 3080 Jianlan Luo ; Eugen Solowjow ; Chengtao Wen ; Juan Aparicio Ojea ; Alice M. Agogino ; Aviv Tamar ; Pieter Abbeel

A COMPLIANT AND PRECISE PNEUMATIC ROTARY DRIVE USING PNEUMATIC ARTIFICIAL MUSCLES IN A SWASH PLATE DESIGN ...... 3088 Johannes T. Stoll ; Kevin Schanz ; Andreas Pott

PASSIVITY BASED CONTROL OF ANTAGONISTIC TENDON-DRIVEN MECHANISM ...... 3095 Junho Park ; Geun Young Hong ; Youngjin Choi ; Dongliang Peng ; Qiang Lu

EXACT MODAL CHARACTERIZATION OF THE NON CONSERVATIVE NON LINEAR RADIAL MASS SPRING SYSTEM ...... 3101 Cosimo Della Santina ; Dominic Lakatos ; Antonio Bicchi ; Alin Albu-Schäffer

BODY LIFT AND DRAG FOR A LEGGED MILLIROBOT IN COMPLIANT BEAM ENVIRONMENT ...... 3108 Can Koc ; Cem Koc ; Brian Su ; Carlos S. Casarez ; Ronald S. Fearing

TIGHTLY COUPLED 3D LIDAR INERTIAL ODOMETRY AND MAPPING ...... 3144 Haoyang Ye ; Yuying Chen ; Ming Liu

EXPECTATION-MAXIMIZATION FOR ADAPTIVE MIXTURE MODELS IN GRAPH OPTIMIZATION ...... 3151 Tim Pfeifer ; Peter Protzel

MULTI-CAMERA VISUAL-INERTIAL NAVIGATION WITH ONLINE INTRINSIC AND EXTRINSIC CALIBRATION...... 3158 Kevin Eckenhoff ; Patrick Geneva ; Jesse Bloecker ; Guoquan Huang

JOINT INFERENCE OF KINEMATIC AND FORCE TRAJECTORIES WITH VISUO-TACTILE SENSING ...... 3165 Alexander Sasha Lambert ; Mustafa Mukadam ; Balakumar Sundaralingam ; Nathan Ratliff ; Byron Boots ; Dieter Fox

EVERY HOP IS AN OPPORTUNITY: QUICKLY CLASSIFYING AND ADAPTING TO TERRAIN DURING TARGETED HOPPING ...... 3188 Alexander H. Chang ; Christian Hubicki ; Aaron Ames ; Patricio A. Vela

SEMIPARAMETRICAL GAUSSIAN PROCESSES LEARNING OF FORWARD DYNAMICAL MODELS FOR NAVIGATING IN A CIRCULAR MAZE ...... 3195 Diego Romeres ; Devesh K. Jha ; Alberto Dallalibera ; Bill Yerazunis ; Daniel Nikovski

SEMANTIC PREDICTIVE CONTROL FOR EXPLAINABLE AND EFFICIENT POLICY LEARNING...... 3203 Xinlei Pan ; Xiangyu Chen ; Qizhi Cai ; John Canny ; Fisher Yu

ADAPTIVE VARIANCE FOR CHANGING SPARSE-REWARD ENVIRONMENTS ...... 3210 Xingyu Lin ; Pengsheng Guo ; Carlos Florensa ; David Held

COMBINING PHYSICAL SIMULATORS AND OBJECT-BASED NETWORKS FOR CONTROL...... 3217 Anurag Ajay ; Maria Bauza ; Jiajun Wu ; Nima Fazeli ; Joshua B. Tenenbaum ; Alberto Rodriguez ; Leslie P. Kaelbling

USING DATA-DRIVEN DOMAIN RANDOMIZATION TO TRANSFER ROBUST CONTROL POLICIES TO MOBILE ROBOTS...... 3224 Matthew Sheckells ; Gowtham Garimella ; Subhransu Mishra ; Marin Kobilarov

COORDINATING MULTI-ROBOT SYSTEMS THROUGH ENVIRONMENT PARTITIONING FOR ADAPTIVE INFORMATIVE SAMPLING...... 3231 Nicholas Fung ; John Rogers ; Carlos Nieto ; Henrik I. Christensen ; Stephanie Kemna ; Gaurav Sukhatme

A FLEET OF MINIATURE CARS FOR EXPERIMENTS IN COOPERATIVE DRIVING...... 3238 Nicholas Hyldmar ; Yijun He ; Amanda Prorok

MULTI-ROBOT INFORMATIVE PATH PLANNING WITH CONTINUOUS CONNECTIVITY CONSTRAINTS ...... 3245 Ayan Dutta ; Anirban Ghosh ; O. Patrick Kreidl

SENSOR COVERAGE CONTROL USING ROBOTS CONSTRAINED TO A CURVE...... 3252 Gennaro Notomista ; María Santos ; Seth Hutchinson ; Magnus Egerstedt

COVERAGE OF AN ENVIRONMENT USING ENERGY-CONSTRAINED UNMANNED AERIAL VEHICLES ...... 3259 Kevin Yu ; Jason M. O’Kane ; Pratap Tokekar

POINT CLOUD COMPRESSION FOR 3D LIDAR SENSOR USING RECURRENT NEURAL NETWORK WITH RESIDUAL BLOCKS...... 3274 Chenxi Tu ; Eijiro Takeuchi ; Alexander Carballo ; Kazuya Takeda

DEPTH COMPLETION WITH DEEP GEOMETRY AND CONTEXT GUIDANCE ...... 3281 Byeong-Uk Lee ; Hae-Gon Jeon ; Sunghoon Im ; In So Kweon

SELF-SUPERVISED SPARSE-TO-DENSE: SELF-SUPERVISED DEPTH COMPLETION FROM LIDAR AND MONOCULAR CAMERA ...... 3288 Fangchang Ma ; Guilherme Venturelli Cavalheiro ; Sertac Karaman

IN-HAND OBJECT SCANNING VIA RGB-D VIDEO SEGMENTATION ...... 3296 Fan Wang ; Kris Hauser

MULTI-MODAL GENERATIVE MODELS FOR LEARNING EPISTEMIC ACTIVE SENSING ...... 3319 Timo Korthals ; Daniel Rudolph ; Jürgen Leitner ; Marc Hesse ; Ulrich Rückert

DECENTRALIZED FORMATION COORDINATION OF MULTIPLE QUADCOPTERS UNDER COMMUNICATION CONSTRAINTS...... 3326 Pramod Abichandani ; Kyle Levin ; Donald Bucci

ONLINE PLAN REPAIR IN MULTI-ROBOT COORDINATION WITH DISTURBANCES ...... 3333 Adem Coskun ; Jason M. O’Kane

INTEGRATED MAPPING AND PATH PLANNING FOR VERY LARGE-SCALE ROBOTIC (VLSR) SYSTEMS ...... 3356 Julian Morelli ; Pingping Zhu ; Bryce Doerr ; Richard Linares ; Silvia Ferrari

METHODOLOGY OF DESIGNING MULTI-AGENT ROBOT CONTROL SYSTEMS UTILISING HIERARCHICAL PETRI NETS...... 3363 Maksym Figat ; Cezary Zielinski

INTERACTION-AWARE MULTI-AGENT REINFORCEMENT LEARNING FOR MOBILE AGENTS WITH INDIVIDUAL GOALS ...... 3370 Anahita Mohseni-Kabir ; David Isele ; Kikuo Fujimura

COVERAGE CONTROL FOR MULTIPLE EVENT TYPES WITH HETEROGENEOUS ROBOTS...... 3377 Armin Sadeghi ; Stephen L. Smith

ACTIVE PERCEPTION IN ADVERSARIAL SCENARIOS USING MAXIMUM ENTROPY DEEP REINFORCEMENT LEARNING ...... 3384 Macheng Shen ; Jonathan P. How

A COMPETITIVE ALGORITHM FOR ONLINE MULTI-ROBOT EXPLORATION OF A TRANSLATING PLUME...... 3391 Yoonchang Sung ; Pratap Tokekar

ONLINE ESTIMATION OF OCEAN CURRENT FROM SPARSE GPS DATA FOR UNDERWATER VEHICLES ...... 3443 Ki Myung Brian Lee ; Chanyeol Yoo ; Ben Hollings ; Stuart Anstee ; Shoudong Huang ; Robert Fitch

WORKING TOWARDS ADAPTIVE SENSING FOR TERRAIN-AIDED NAVIGATION...... 3450 Mingxi Zhou ; Ralf Bachmayer ; Brad Deyoung

NON-GAUSSIAN SLAM UTILIZING SYNTHETIC APERTURE SONAR...... 3457 Mei Yi Cheung ; Dehann Fourie ; Nicholas R. Rypkema ; Pedro Vaz Teixeira ; Henrik Schmidt ; John Leonard

EASILY DEPLOYABLE UNDERWATER ACOUSTIC NAVIGATION SYSTEM FOR MULTI- VEHICLE ENVIRONMENTAL SAMPLING APPLICATIONS...... 3464 Anwar Quraishi ; Alexander Bahr ; Felix Schill ; Alcherio Martinoli

UNDERWATER TERRAIN RECONSTRUCTION FROM FORWARD-LOOKING SONAR IMAGERY ...... 3471 Jinkun Wang ; Tixiao Shan ; Brendan Englot

DETECT IN RGB, OPTIMIZE IN EDGE: ACCURATE 6D POSE ESTIMATION FOR TEXTURE- LESS INDUSTRIAL PARTS ...... 3486 Haoruo Zhang ; Qixin Cao

POSEAMM: A UNIFIED FRAMEWORK FOR SOLVING POSE PROBLEMS USING AN ALTERNATING MINIMIZATION METHOD...... 3493 João Campos ; João R. Cardoso ; Pedro Miraldo

LEARNING OBJECT LOCALIZATION AND 6D POSE ESTIMATION FROM SIMULATION AND WEAKLY LABELED REAL IMAGES ...... 3500 Jean-Philippe Mercier ; Chaitanya Mitash ; Philippe Giguère ; Abdeslam Boularias

STAMPEDE: A DISCRETE-OPTIMIZATION METHOD FOR SOLVING PATHWISE-INVERSE KINEMATICS...... 3507 Daniel Rakita ; Bilge Mutlu ; Michael Gleicher

RECONSTRUCTING HUMAN HAND POSE AND CONFIGURATION USING A FIXED-BASE EXOSKELETON...... 3514 A. Pereira ; G. Stillfried ; T. Baker ; A. Schmidt ; A. Maier ; B. Pleintinger ; Z. Chen ; T. Hulin ; N. Y. Lii

LEARNING POSE ESTIMATION FOR HIGH-PRECISION ROBOTIC ASSEMBLY USING SIMULATED DEPTH IMAGES ...... 3521 Y. Litvak ; A. Biess ; A. Bar-Hillel

AIDED INERTIAL NAVIGATION: UNIFIED FEATURE REPRESENTATIONS AND OBSERVABILITY ANALYSIS...... 3528 Yulin Yang ; Guoquan Huang

A LINEAR-COMPLEXITY EKF FOR VISUAL-INERTIAL NAVIGATION WITH LOOP CLOSURES...... 3535 Patrick Geneva ; Kevin Eckenhoff ; Guoquan Huang

SENSOR-FAILURE-RESILIENT MULTI-IMU VISUAL-INERTIAL NAVIGATION...... 3542 Kevin Eckenhoff ; Patrick Geneva ; Guoquan Huang

LEARNING MONOCULAR VISUAL ODOMETRY THROUGH GEOMETRY-AWARE CURRICULUM LEARNING...... 3549 Muhamad Risqi U. Saputra ; Pedro P. B. De Gusmao ; Sen Wang ; Andrew Markham ; Niki Trigoni

VISUAL-ODOMETRIC LOCALIZATION AND MAPPING FOR GROUND VEHICLES USING SE(2)-XYZ CONSTRAINTS ...... 3556 Fan Zheng ; Yun-Hui Liu

KEYFRAME-BASED DIRECT THERMAL–INERTIAL ODOMETRY ...... 3563 Shehryar Khattak ; Christos Papachristos ; Kostas Alexis

ON PARAMETER ESTIMATION OF SPACE MANIPULATOR SYSTEMS WITH FLEXIBLE JOINTS USING THE ENERGY BALANCE...... 3570 Kostas Nanos ; Evangelos Papadopoulos

CENTRAL PATTERN GENERATORS CONTROL OF MOMENTUM DRIVEN COMPLIANT STRUCTURES ...... 3585 Stephane Bonardi ; John Romanishin ; Daniela Rus ; Takashi Kubota

CONTACT-EVENT-TRIGGERED MODE ESTIMATION FOR DYNAMIC RIGID BODY IMPEDANCE-CONTROLLED CAPTURE ...... 3600 Hiroki Kato ; Daichi Hirano ; Jun Ota

LEVERAGING CONTACT FORCES FOR LEARNING TO GRASP ...... 3615 Hamza Merzic ; Miroslav Bogdanovic ; Daniel Kappler ; Ludovic Righetti ; Jeannette Bohg

LEARNING LATENT SPACE DYNAMICS FOR TACTILE SERVOING...... 3622 Giovanni Sutanto ; Nathan Ratliff ; Balakumar Sundaralingam ; Yevgen Chebotar ; Zhe Su ; Ankur Handa ; Dieter Fox

POINTNETGPD: DETECTING GRASP CONFIGURATIONS FROM POINT SETS...... 3629 Hongzhuo Liang ; Xiaojian Ma ; Shuang Li ; Michael Görner ; Song Tang ; Bin Fang ; Fuchun Sun ; Jianwei Zhang

LEARNING DEEP VISUOMOTOR POLICIES FOR DEXTEROUS HAND MANIPULATION ...... 3636 Divye Jain ; Andrew Li ; Shivam Singhal ; Aravind Rajeswaran ; Vikash Kumar ; Emanuel Todorov

LEARNING TO IDENTIFY OBJECT INSTANCES BY TOUCH: TACTILE RECOGNITION VIA MULTIMODAL MATCHING...... 3644 Justin Lin ; Roberto Calandra ; Sergey Levine

DEXTEROUS MANIPULATION WITH DEEP REINFORCEMENT LEARNING: EFFICIENT, GENERAL, AND LOW-COST ...... 3651 Henry Zhu ; Abhishek Gupta ; Aravind Rajeswaran ; Sergey Levine ; Vikash Kumar

INKJET PRINTABLE ACTUATORS AND SENSORS FOR SOFT-BODIED CRAWLING ROBOTS ...... 3658 Tung D. Ta ; Takuya Umedachi ; Yoshihiro Kawahara

DESIGN AND EVALUATION OF AN ENERGY-SAVING DRIVE FOR A VERSATILE ROBOTIC GRIPPER ...... 3665 Job Neven ; Mohamed Baioumy ; Wouter Wolfslag ; Martijn Wisse

GENERATIVE DEFORMATION: PROCEDURAL PERFORATION FOR ELASTIC STRUCTURES ...... 3672 Shane Transue ; Min-Hyung Choi

ROBOTICS EDUCATION AND RESEARCH AT SCALE: A REMOTELY ACCESSIBLE ROBOTICS DEVELOPMENT PLATFORM ...... 3679 Wolfgang Wiedmeyer ; Michael Mende ; Dennis Hartmann ; Rainer Bischoff ; Christoph Ledermann ; Torsten Kroger

AUTOMATED SEEDLING HEIGHT ASSESSMENT FOR TREE NURSERIES USING POINT CLOUD PROCESSING...... 3686 Thumeera R. Wanasinghe ; Benjamin Robert Dowden ; Oscar De Silva ; George K. I. Mann ; Cyril Lundrigan

ADSORPTION PAD USING CAPILLARY FORCE FOR UNEVEN SURFACE ...... 3692 A. Ichikawa ; S. Kajino ; A. Takeyama ; Y. Adachi ; K. Totsuka ; Y. Ikemoto ; K. Ohara ; T. Oomichi ; T. Fukuda

EFFECTS OF FOOT STIFFNESS AND DAMPING ON WALKING ROBOT PERFORMANCE ...... 3698 Ethan Schumann ; Nils Smit-Anseeuw ; Petr Zaytsev ; Rodney Gleason ; K. Alex Shorter ; C. David Remy

DYNAMIC WALKING ON SLIPPERY SURFACES : DEMONSTRATING STABLE BIPEDAL GAITS WITH PLANNED GROUND SLIPPAGE ...... 3705 Wen-Loong Ma ; Yizhar Or ; Aaron D. Ames

TORQUE AND VELOCITY CONTROLLERS TO PERFORM JUMPS WITH A HUMANOID ROBOT: THEORY AND IMPLEMENTATION ON THE ICUB ROBOT...... 3712 Fabio Bergonti ; Luca Fiorio ; Daniele Pucci

SAFE ADAPTIVE SWITCHING AMONG DYNAMICAL MOVEMENT PRIMITIVES: APPLICATION TO 3D LIMIT-CYCLE WALKERS ...... 3719 Sushant Veer ; Ioannis Poulakakis

INTERACTIVE OPEN-ENDED OBJECT, AFFORDANCE AND GRASP LEARNING FOR ROBOTIC MANIPULATION ...... 3747 S. Hamidreza Kasaei ; Nima Shafii ; Luís Seabra Lopes ; Ana Maria Tomé

A PARALLEL LOW-IMPEDANCE SENSING APPROACH FOR HIGHLY RESPONSIVE PHYSICAL HUMAN-ROBOT INTERACTION ...... 3754 Gabriel Boucher ; Thierry Laliberté ; Clément Gosselin

SAFE HUMAN ROBOT COOPERATION IN TASK PERFORMED ON THE SHARED LOAD...... 3761 Mohammad Anvaripour ; Mahta Khoshnam ; Carlo Menon ; Mehrdad Saif

A MULTI-MODAL SENSOR ARRAY FOR SAFE HUMAN-ROBOT INTERACTION AND MAPPING...... 3768 Colette Abah ; Andrew L. Orekhov ; Garrison L. H. Johnston ; Peng Yin ; Howie Choset ; Nabil Simaan

DYNAMIC PRIMITIVES IN HUMAN MANIPULATION OF NON-RIGID OBJECTS...... 3783 Hui Guang ; Salah Bazzi ; Dagmar Sternad ; Neville Hogan

STATE ESTIMATION IN CONTACT-RICH MANIPULATION...... 3790 Florian Wirnshofer ; Philipp S. Schmitt ; Philine Meister ; Georg V. Wichert ; Wolfram Burgard

IMPROVED PROXIMITY, CONTACT, AND FORCE SENSING VIA OPTIMIZATION OF ELASTOMER-AIR INTERFACE GEOMETRY ...... 3797 Patrick E. Lancaster ; Joshua R. Smith ; Siddhartha S. Srinivasa

IMPROVING HAPTIC ADJECTIVE RECOGNITION WITH UNSUPERVISED FEATURE LEARNING...... 3804 Benjamin A. Richardson ; Katherine J. Kuchenbecker

TACTILE MAPPING AND LOCALIZATION FROM HIGH-RESOLUTION TACTILE IMPRINTS...... 3811 Maria Bauza ; Oleguer Canal ; Alberto Rodriguez

MAINTAINING GRASPS WITHIN SLIPPING BOUNDS BY MONITORING INCIPIENT SLIP ...... 3818 Siyuan Dong ; Daolin Ma ; Elliott Donlon ; Alberto Rodriguez

ROAD DETECTION THROUGH CRF BASED LIDAR-CAMERA FUSION...... 3832 Shuo Gu ; Yigong Zhang ; Jinhui Tang ; Jian Yang ; Hui Kong

SEMANTIC MAPPING EXTENSION FOR OPENSTREETMAP APPLIED TO INDOOR ROBOT NAVIGATION...... 3839 Lakshadeep Naik ; Sebastian Blumenthal ; Nico Huebel ; Herman Bruyninckx ; Erwin Prassler

ADAPTIVE PROBABILISTIC VEHICLE TRAJECTORY PREDICTION THROUGH PHYSICALLY FEASIBLE BAYESIAN RECURRENT NEURAL NETWORK ...... 3846 Chen Tang ; Jianyu Chen ; Masayoshi Tomizuka

OPTIMIZING VEHICLE DISTRIBUTIONS AND FLEET SIZES FOR SHARED MOBILITY-ON- DEMAND ...... 3853 Alex Wallar ; Javier Alonso-Mora ; Daniela Rus

GLOBAL VISION-BASED RECONSTRUCTION OF THREE-DIMENSIONAL ROAD SURFACES USING ADAPTIVE EXTENDED KALMAN FILTER ...... 3860 Diya Li ; Tomonari Furukawa

AUTONOMOUS TISSUE MANIPULATION VIA SURGICAL ROBOT USING LEARNING BASED MODEL PREDICTIVE CONTROL ...... 3875 Changyeob Shin ; Peter Walker Ferguson ; Sahba Aghajani Pedram ; Ji Ma ; Erik P. Dutson ; Jacob Rosen

ROBOTIC CONTROL OF A MULTI-MODAL RIGID ENDOSCOPE COMBINING OPTICAL IMAGING WITH ALL-OPTICAL ULTRASOUND...... 3882 George Dwyer ; Richard J Colchester ; Erwin J Alles ; Efthymios Maneas ; Sebastien Ourselin ; Tom Vercauteren ; Jan Deprest ; Emmanuel Vander Poorten ; Paolo De Coppi ; Adrien E Desjardins ; Danail Stoyanov

ENABLING TECHNOLOGY FOR SAFE ROBOT-ASSISTED RETINAL SURGERY: EARLY WARNING FOR UNSAFE SCLERAL FORCE ...... 3889 Changyan He ; Niravkumar Patel ; Iulian Iordachita ; Marin Kobilarov

ROBOTIC BRONCHOSCOPY DRIVE MODE OF THE AURIS MONARCH PLATFORM...... 3895 Chauncey F. Graetzel ; Alexander Sheehy ; David P. Noonan

USING COMANIPULATION WITH ACTIVE FORCE FEEDBACK TO UNDISTORT STIFFNESS PERCEPTION IN LAPAROSCOPY...... 3902 François Schmitt ; Josue Sulub ; Ignacio Avellino ; Jimmy Da Silva ; Laurent Barbé ; Olivier Piccin ; Bernard Bayle ; Guillaume Morel

STIFFNESS-TUNEABLE LIMB SEGMENT WITH FLEXIBLE SPINE FOR MALLEABLE ROBOTS ...... 3969 Angus B. Clark ; Nicolas Rojas

A RECONFIGURABLE VARIABLE STIFFNESS MANIPULATOR BY A SLIDING LAYER MECHANISM ...... 3976 Dickson Chun Fung Li ; Zerui Wang ; Bo Ouyang ; Yun-Hui Liu

A NOVEL VARIABLE STIFFNESS ACTUATOR BASED ON PNEUMATIC ACTUATION AND SUPERCOILED POLYMER ARTIFICIAL MUSCLES ...... 3983 Yang Yang ; Zicheng Kan ; Yazhan Zhang ; Yu Alexander Tse ; Michael Yu Wang

A NOVEL ITERATIVE LEARNING MODEL PREDICTIVE CONTROL METHOD FOR SOFT BENDING ACTUATORS...... 4004 Zhi Qiang Tang ; Ho Lam Heung ; Kai Yu Tong ; Zheng Li

DESIGN AND EXPERIMENTAL VALIDATION OF A 2DOF SIDESTICK POWERED BY HYPER-REDUNDANT MAGNETORHEOLOGICAL ACTUATORS PROVIDING ACTIVE FEEDBACK...... 4011 Marc-André Bégin ; Marc Denninger ; Jean-Sébastien Plante

A LIGHTWEIGHT FORCE-CONTROLLABLE WEARABLE ARM BASED ON MAGNETORHEOLOGICAL-HYDROSTATIC ACTUATORS ...... 4018 Catherine Véronneau ; Jeff Denis ; Louis-Philippe Lebel ; Marc Denninger ; Jean-Sébastien Plante ; Alexandre Girard

OPTICAL FORCE SENSING IN MINIMALLY INVASIVE ROBOTIC SURGERY...... 4033 Amir Hossein Hadi Hosseinabadi ; Mohammad Honarvar ; Septimiu E. Salcudean

MECHANICAL FRAMEWORK DESIGN WITH EXPERIMENTAL VERIFICATION OF A WEARABLE EXOSKELETON CHAIR ...... 4040 Bin Han ; Zihao Du ; Tiantian Huang ; Tao Zhang ; Zhiyuan Li ; Ou Bai ; Xuedong Chen

KO-FUSION: DENSE VISUAL SLAM WITH TIGHTLY-COUPLED KINEMATIC AND ODOMETRIC TRACKING...... 4054 Charlie Houseago ; Michael Bloesch ; Stefan Leutenegger

DIFFRACTION-AWARE SOUND LOCALIZATION FOR A NON-LINE-OF-SIGHT SOURCE...... 4061 Inkyu An ; Doheon Lee ; Jung-Woo Choi ; Dinesh Manocha ; Sung-Eui Yoon

DEEPFUSION: REAL-TIME DENSE 3D RECONSTRUCTION FOR MONOCULAR SLAM USING SINGLE-VIEW DEPTH AND GRADIENT PREDICTIONS ...... 4068 Tristan Laidlow ; Jan Czarnowski ; Stefan Leutenegger

DYNAMIC HILBERT MAPS: REAL-TIME OCCUPANCY PREDICTIONS IN CHANGING ENVIRONMENTS ...... 4091 Vitor Guizilini ; Ransalu Senanayake ; Fabio Ramos

EVALUATING THE EFFECTIVENESS OF PERSPECTIVE AWARE PLANNING WITH PANORAMAS ...... 4098 Daniel Mox ; Anthony Cowley ; M. Ani Hsieh ; C. J. Taylor

ACTIVELY IMPROVING ROBOT NAVIGATION ON DIFFERENT TERRAINS USING GAUSSIAN PROCESS MIXTURE MODELS ...... 4104 Lorenzo Nardi ; Cyrill Stachniss

CONTINUOUS OCCUPANCY MAP FUSION WITH FAST BAYESIAN HILBERT MAPS...... 4111 Weiming Zhi ; Lionel Ott ; Ransalu Senanayake ; Fabio Ramos

FAULT-TOLERANT FLIGHT CONTROL OF A VTOL TAILSITTER UAV...... 4134 Silvan Fuhrer ; Sebastian Verling ; Thomas Stastny ; Roland Siegwart

MODELING AND CONTROL OF A PASSIVELY-COUPLED TILT-ROTOR VERTICAL TAKEOFF AND LANDING AIRCRAFT...... 4141 Romain Chiappinelli ; Mitchell Cohen ; Martin Doff-Sotta ; Meyer Nahon ; James R. Forbes ; Jacob Apkarian

POWER-MINIMIZING CONTROL OF A VARIABLE-PITCH PROPULSION SYSTEM FOR VERSATILE UNMANNED AERIAL VEHICLES...... 4148 Travis Henderson ; Nikolaos Papanikolopoulos

RAPID INERTIAL REORIENTATION OF AN AERIAL INSECT-SIZED ROBOT USING A PIEZO-ACTUATED TAIL ...... 4154 Avinash Singh ; Thomas Libby ; Sawyer B Fuller

CONTACT–BASED NAVIGATION PATH PLANNING FOR AERIAL ROBOTS...... 4161 Nikhil Khedekar ; Frank Mascarich ; Christos Papachristos ; Tung Dang ; Kostas Alexis

CARGO TRANSPORTATION STRATEGY USING T3-MULTIROTOR UAV ...... 4168 Seung Jae Lee ; Dongjae Lee ; H. Jin Kim

EXPERIMENTAL LEARNING OF A LIFT-MAXIMIZING CENTRAL PATTERN GENERATOR FOR A FLAPPING ROBOTIC WING ...... 4174 Yagiz E. Bayiz ; Shih-Jung Hsu ; Aaron N. Aguiles ; Yano Shade-Alexander ; Bo Cheng

TOWARD LATERAL AERIAL GRASPING & MANIPULATION USING SCALABLE SUCTION...... 4181 Chad C. Kessens ; Matthew Horowitz ; Chao Liu ; James Dotterweich ; Mark Yim ; Harris L. Edge

DESIGN AND IMPLEMENTATION OF COMPUTER VISION BASED IN-ROW WEEDING SYSTEM...... 4218 Xiaolong Wu ; Stéphanie Aravecchia ; Cédric Pradalier

LSTM-BASED NETWORK FOR HUMAN GAIT STABILITY PREDICTION IN AN INTELLIGENT ROBOTIC ROLLATOR...... 4225 Georgia Chalvatzaki ; Petros Koutras ; Jack Hadfield ; Xanthi S. Papageorgiou ; Costas S. Tzafestas ; Petros Maragos

URBAN SWARMS: A NEW APPROACH FOR AUTONOMOUS WASTE MANAGEMENT...... 4233 Antonio Luca Alfeo ; Eduardo Castelló Ferrer ; Yago Lizarribar Carrillo ; Arnaud Grignard ; Luis Alonso Pastor ; Dylan T. Sleeper ; Mario G. C. A. Cimino ; Bruno Lepri ; Gigliola Vaglini ; Kent Larson ; Marco Dorigo ; Alex ‘sandy’ Pentland

AUTOMATED AORTIC PRESSURE REGULATION IN EX VIVO HEART PERFUSION ...... 4241 Liming Xin ; Weiran Yao ; Yan Peng ; Naiming Qi ; Mitesh Badiwala ; Yu Sun

A MULTI-VEHICLE TRAJECTORIES GENERATOR TO SIMULATE VEHICLE-TO-VEHICLE ENCOUNTERING SCENARIOS ...... 4255 Wenhao Ding ; Wenshuo Wang ; Ding Zhao

DEEP N-SHOT TRANSFER LEARNING FOR TACTILE MATERIAL CLASSIFICATION WITH A FLEXIBLE PRESSURE-SENSITIVE SKIN ...... 4262 Berthold Bäuml ; Andreea Tulbure

TOWARDS EFFECTIVE TACTILE IDENTIFICATION OF TEXTURES USING A HYBRID TOUCH APPROACH...... 4269 Tasbolat Taunyazov ; Hui Fang Koh ; Yan Wu ; Caixia Cai ; Harold Soh

“TOUCHING TO SEE” AND “SEEING TO FEEL”: ROBOTIC CROSS-MODAL SENSORY DATA GENERATION FOR VISUAL-TACTILE PERCEPTION...... 4276 Jet-Tsyn Lee ; Danushka Bollegala ; Shan Luo

SHEAR-INVARIANT SLIDING CONTACT PERCEPTION WITH A SOFT TACTILE SENSOR...... 4283 Kirsty Aquilina ; David A. W. Barton ; Nathan F. Lepora

SOFT TACTILE SENSING: RETRIEVING FORCE, TORQUE AND CONTACT POINT INFORMATION FROM DEFORMABLE SURFACES ...... 4290 Simone Ciotti ; Teng Sun ; Edoardo Battaglia ; Antonio Bicchi ; Hongbin Liu ; Matteo Bianchi

MINIATURIZATION OF MULTISTAGE HIGH DYNAMIC RANGE SIX-AXIS FORCE SENSOR COMPOSED OF RESIN MATERIAL...... 4297 Daisuke Okumura ; Sho Sakaino ; Toshiaki Tsuji

ROBOTS LEARN SOCIAL SKILLS: END-TO-END LEARNING OF CO-SPEECH GESTURE GENERATION FOR HUMANOID ROBOTS ...... 4303 Youngwoo Yoon ; Woo-Ri Ko ; Minsu Jang ; Jaeyeon Lee ; Jaehong Kim ; Geehyuk Lee

THE DOCTOR WILL SEE YOU NOW: COULD A ROBOT BE A MEDICAL RECEPTIONIST?...... 4310 Craig J. Sutherland ; Byeong Kyu Ahn ; Bianca Brown ; Jongyoon Lim ; Deborah L. Johanson ; Elizabeth Broadbent ; Bruce A. Macdonald ; Ho Seok Ahn

DESIGNING A PERSONALITY-DRIVEN ROBOT FOR A HUMAN-ROBOT INTERACTION SCENARIO ...... 4317 Hadi Beik Mohammadi ; Nikoletta Xirakia ; Fares Abawi ; Irina Barykina ; Krishnan Chandran ; Gitanjali Nair ; Cuong Nguyen ; Daniel Speck ; Tayfun Alpay ; Sascha Griffiths ; Stefan Heinrich ; Erik Strahl ; Cornelius Weber ; Stefan Wermter

HOW SHALL I DRIVE? INTERACTION MODELING AND MOTION PLANNING TOWARDS EMPATHETIC AND SOCIALLY-GRACEFUL DRIVING...... 4325 Yi Ren ; Steven Elliott ; Yiwei Wang ; Yezhou Yang ; Wenlong Zhang

DETECTION-BY-LOCALIZATION: MAINTENANCE-FREE CHANGE OBJECT DETECTOR ...... 4348 Tanaka Kanji

CUSTOMIZED OBJECT RECOGNITION AND SEGMENTATION BY ONE SHOT LEARNING WITH HUMAN ROBOT INTERACTION...... 4356 Ping Guo ; Lidan Zhang ; Lu Cao ; Yingzhe Shen ; Xuesong Shi ; Haibing Ren ; Yimin Zhang

SEG-VOXELNET FOR 3D VEHICLE DETECTION FROM RGB AND LIDAR DATA ...... 4362 Jian Dou ; Jianru Xue ; Jianwu Fang

OBJECT CLASSIFICATION BASED ON UNSUPERVISED LEARNED MULTI-MODAL FEATURES FOR OVERCOMING SENSOR FAILURES ...... 4369 Julia Nitsch ; Juan Nieto ; Roland Siegwart ; Max Schmidt ; Cesar Cadena

SQUEEZESEGV2: IMPROVED MODEL STRUCTURE AND UNSUPERVISED DOMAIN ADAPTATION FOR ROAD-OBJECT SEGMENTATION FROM A LIDAR POINT CLOUD ...... 4376 Bichen Wu ; Xuanyu Zhou ; Sicheng Zhao ; Xiangyu Yue ; Kurt Keutzer

ROPOSE-REAL: REAL WORLD DATASET ACQUISITION FOR DATA-DRIVEN INDUSTRIAL ROBOT ARM POSE ESTIMATION ...... 4389 Thomas Gulde ; Dennis Ludl ; Johann Andrejtschik ; Salma Thalji ; Cristóbal Curio

A FRAMEWORK FOR SELF-TRAINING PERCEPTUAL AGENTS IN SIMULATED PHOTOREALISTIC ENVIRONMENTS ...... 4396 Patrick Mania ; Michael Beetz

FAST AND PRECISE DETECTION OF OBJECT GRASPING POSITIONS WITH EIGENVALUE TEMPLATES ...... 4403 Kousuke Mano ; Takahiro Hasegawa ; Takayoshi Yamashita ; Hironobu Fujiyoshi ; Yukiyasu Domae

IMPROVED COVERAGE PATH PLANNING USING A VIRTUAL SENSOR FOOTPRINT: A CASE STUDY ON DEMINING...... 4410 Sedat Dogru ; Lino Marques

MODEL-BASED ESTIMATION OF THE GRAVITY-LOADED SHAPE AND SCENE DEPTH FOR A SLIM 3-ACTUATOR CONTINUUM ROBOT WITH MONOCULAR VISUAL FEEDBACK...... 4416 Yuyang Chen ; Shu’An Zhang ; Lingyun Zeng ; Xiangyang Zhu ; Kai Xu

DESIGN OF A MODULAR CONTINUUM ROBOT SEGMENT FOR USE IN A GENERAL PURPOSE MANIPULATOR ...... 4430 Nicholas P. Castledine ; Jordan H. Boyle ; Jongrae Kim

RESHAPING PARTICLE CONFIGURATIONS BY COLLISIONS WITH RIGID OBJECTS ...... 4436 Shiva Shahrokhi ; Haoran Zhao ; Aaron T. Becker

VELOCITY CONSTRAINED TRAJECTORY GENERATION FOR A COLLINEAR MECANUM WHEELED ROBOT ...... 4444 Matthew T. Watson ; Daniel T. Gladwin ; Tony J. Prescott ; Sebastian O. Conran

VIBRATION CONTROL FOR MANIPULATORS ON A TRANSLATIONALLY FLEXIBLE BASE ...... 4451 Fabian Beck ; Gianluca Garofalo ; Christian Ott

GAUSSIAN PROCESSES MODEL-BASED CONTROL OF UNDERACTUATED BALANCE ROBOTS ...... 4458 Kuo Chen ; Jingang Yi ; Dezhen Song

ANALYSIS OF 3D POSITION CONTROL FOR A MULTI-AGENT SYSTEM OF SELF- PROPELLED AGENTS STEERED BY A SHARED, GLOBAL CONTROL INPUT ...... 4465 Li Huang ; Julien Leclerc ; Aaron T. Becker

A HEURISTIC FOR TASK ALLOCATION AND ROUTING OF HETEROGENEOUS ROBOTS WHILE MINIMIZING MAXIMUM TRAVEL COST...... 4531 Jungyun Bae ; Jungho Lee ; Woojin Chung

SOLVING METHODS FOR MULTI-ROBOT MISSIONS PLANNING WITH ENERGY CAPACITY CONSIDERATION ...... 4538 Muhammad Khakim Habibi ; Christophe Grand ; Charles Lesire ; Cédric Pralet

SALTY-A DOMAIN SPECIFIC LANGUAGE FOR GR(1) SPECIFICATIONS AND DESIGNS ...... 4545 Trevor Elliott ; Mohammed Alshiekh ; Laura R. Humphrey ; Lee Pike ; Ufuk Topcu

PERSISTENT MULTI-ROBOT MAPPING IN AN UNCERTAIN ENVIRONMENT ...... 4552 Derek Mitchell ; Nathan Michael

A FOG ROBOTICS APPROACH TO DEEP ROBOT LEARNING: APPLICATION TO OBJECT RECOGNITION AND GRASP PLANNING IN SURFACE DECLUTTERING...... 4559 Ajay Kumar Tanwani ; Nitesh Mor ; John Kubiatowicz ; Joseph E. Gonzalez ; Ken Goldberg

STREAMLINES FOR MOTION PLANNING IN UNDERWATER CURRENTS...... 4619 K. Y. Cadmus To ; Ki Myung Brian Lee ; Chanyeol Yoo ; Stuart Anstee ; Robert Fitch

A DISTRIBUTED PREDICTIVE CONTROL APPROACH FOR COOPERATIVE MANIPULATION OF MULTIPLE UNDERWATER VEHICLE MANIPULATOR SYSTEMS...... 4626 Shahab Heshmati-Alamdari ; George C. Karras ; Kostas J. Kyriakopoulos

COORDINATED CONTROL OF A RECONFIGURABLE MULTI-VESSEL PLATFORM: ROBUST CONTROL APPROACH ...... 4633 Shinkyu Park ; Erkan Kayacan ; Carlo Ratti ; Daniela Rus

AMBIENT LIGHT BASED DEPTH CONTROL OF UNDERWATER ROBOTIC UNIT AMUSSEL ...... 4640 Goran Vasiljevic ; Barbara Arbanas ; Stjepan Bogdan

A UNIFIED CLOSED-LOOP MOTION PLANNING APPROACH FOR AN I-AUV IN CLUTTERED ENVIRONMENT WITH LOCALIZATION UNCERTAINTY ...... 4646 Huan Yu ; Wenjie Lu ; Dikai Liu

A BIO-ROBOTIC REMORA DISC WITH ATTACHMENT AND DETACHMENT CAPABILITIES FOR REVERSIBLE UNDERWATER HITCHHIKING...... 4653 Siqi Wang ; Lei Li ; Yufeng Chen ; Yueping Wang ; Wenguang Sun ; Junfei Xiao ; Dylan Wainwright ; Tianmiao Wang ; Robert J. Wood ; Li Wen

ROBOT COMMUNICATION VIA MOTION: CLOSING THE UNDERWATER HUMAN-ROBOT INTERACTION LOOP ...... 4660 Michael Fulton ; Chelsey Edge ; Junaed Sattar

THREE-DIMENSIONALLY MANEUVERABLE ROBOTIC FISH ENABLED BY SERVO MOTOR AND WATER ELECTROLYSER...... 4667 Wenyu Zuo ; Alicia Keow ; Zheng Chen

A MULTIMODAL AERIAL UNDERWATER VEHICLE WITH EXTENDED ENDURANCE AND CAPABILITIES...... 4674 Di Lu ; Chengke Xiong ; Zheng Zeng ; Lian Lian

DESIGN AND EXPERIMENTS OF A SQUID-LIKE AQUATIC-AERIAL VEHICLE WITH SOFT MORPHING FINS AND ARMS ...... 4681 Taogang Hou ; Xingbang Yang ; Haohong Su ; Buhui Jiang ; Lingkun Chen ; Tianmiao Wang ; Jianhong Liang

NONLINEAR ORIENTATION CONTROLLER FOR A COMPLIANT ROBOTIC FISH BASED ON ASYMMETRIC ACTUATION...... 4688 Christian Meurer ; Ashutosh Simha ; Ülle Kotta ; Maarja Kruusmaa

PROJECT AUTOVISION: LOCALIZATION AND 3D SCENE PERCEPTION FOR AN AUTONOMOUS VEHICLE WITH A MULTI-CAMERA SYSTEM...... 4695 Lionel Heng ; Benjamin Choi ; Zhaopeng Cui ; Marcel Geppert ; Sixing Hu ; Benson Kuan ; Peidong Liu ; Rang Nguyen ; Ye Chuan Yeo ; Andreas Geiger ; Gim Hee Lee ; Marc Pollefeys ; Torsten Sattler

IMPROVING THE ROBUSTNESS OF VISUAL-INERTIAL EXTENDED KALMAN FILTERING ...... 4703 James Jackson ; Jerel Nielsen ; Tim McLain ; Randal Beard

TOWARDS FULLY DENSE DIRECT FILTER-BASED MONOCULAR VISUAL-INERTIAL ODOMETRY ...... 4710 Alexander Hardt-Stremayr ; Stephan Weiss

ENHANCING V-SLAM KEYFRAME SELECTION WITH AN EFFICIENT CONVNET FOR SEMANTIC ANALYSIS...... 4717 Iñigo Alonso ; Luis Riazuelo ; Ana C. Murillo

UNSUPERVISED LEARNING OF MONOCULAR DEPTH AND EGO-MOTION USING MULTIPLE MASKS...... 4724 Guangming Wang ; Hesheng Wang ; Yiling Liu ; Weidong Chen

CHARACTERIZING THE EFFECTS OF REDUCED GRAVITY ON ROVER WHEEL-SOIL INTERACTIONS USING COMPUTER VISION TECHNIQUES ...... 4739 Parna Niksirat ; Krzysztof Skonieczny ; Amir Forough Nassiraei

ADAPTIVE H∞ CONTROLLER FOR PRECISE MANOEUVRING OF A SPACE ROBOT ...... 4746 Asma Seddaoui ; Chakravarthini M. Saaj ; Steve Eckersley

BELIEF SPACE PLANNING FOR REDUCING TERRAIN RELATIVE LOCALIZATION UNCERTAINTY IN NOISY ELEVATION MAPS...... 4753 Eugene Fang ; P. Michael Furlong ; William “Red” Whittaker

SOIL DISPLACEMENT TERRAMECHANICS FOR WHEEL-BASED TRENCHING WITH A PLANETARY ROVER ...... 4760 Catherine Pavlov ; Aaron M. Johnson

EXPERIMENTAL EVALUATION OF TELEOPERATION INTERFACES FOR CUTTING OF SATELLITE INSULATION ...... 4775 Will Pryor ; Balazs P. Vagvolgyi ; William J. Gallagher ; Anton Deguet ; Simon Leonard ; Louis L. Whitcomb ; Peter Kazanzides

OMNIDRL: ROBUST PEDESTRIAN DETECTION USING DEEP REINFORCEMENT LEARNING ON OMNIDIRECTIONAL CAMERAS ...... 4782 G. Dias Pais ; Tiago J. Dias ; Jacinto C. Nascimento ; Pedro Miraldo

2D3D-MATCHNET: LEARNING TO MATCH KEYPOINTS ACROSS 2D IMAGE AND 3D POINT CLOUD...... 4790 Mengdan Feng ; Sixing Hu ; Marcelo H Ang ; Gim Hee Lee

TEACHING ROBOTS TO DRAW...... 4797 Atsunobu Kotani ; Stefanie Tellex

LEARNING PROBABILISTIC MULTI-MODAL ACTOR MODELS FOR VISION-BASED ROBOTIC GRASPING ...... 4804 Mengyuan Yan ; Adrian Li ; Mrinal Kalakrishnan ; Peter Pastor

SELF-SUPERVISED LEARNING FOR SINGLE VIEW DEPTH AND SURFACE NORMAL ESTIMATION ...... 4811 Huangying Zhan ; Chamara Saroj Weerasekera ; Ravi Garg ; Ian Reid

LEARNING TO DRIVE FROM SIMULATION WITHOUT REAL WORLD LABELS...... 4818 Alex Bewley ; Jessica Rigley ; Yuxuan Liu ; Jeffrey Hawke ; Richard Shen ; Vinh-Dieu Lam ; Alex Kendall

FABRICATION AND CHARACTERIZATION OF MUSCLE RINGS USING CIRCULAR MOULD AND ROTARY ELECTRICAL STIMULATION FOR BIO-SYNCRETIC ROBOTS ...... 4825 Chuang Zhang ; Jialin Shi ; Wenxue Wang ; Ning Xi ; Yuechao Wang ; Lianqing Liu

CELL INJECTION MICROROBOT DEVELOPMENT AND EVALUATION IN MICROFLUIDIC CHIP...... 4831 Lin Feng ; Dixiao Chen ; Qiang Zhou ; Bin Song ; Wei Zhang

ORIENTING OOCYTES USING VIBRATIONS FOR IN-VITRO FERTILIZATION PROCEDURES...... 4837 Daniel Meyer ; Martin Luis Perez Colon ; Hossein Vahid Alizadeh ; Lisa Su ; Barry Behr ; David B. Camarillo

VISION-BASED AUTOMATED SORTING OF C. ELEGANS ON A MICROFLUIDIC DEVICE ...... 4844 Xianke Dong ; Pengfei Song ; Xinyu Liu

ASYMMETRIC LOCAL METRIC LEARNING WITH PSD CONSTRAINT FOR PERSON RE- IDENTIFICATION ...... 4862 Zhijie Wen ; Mingyang Sun ; Ying Li ; Shihui Ying ; Yaxin Peng

FAST AND ROBUST 3D PERSON DETECTOR AND POSTURE ESTIMATOR FOR MOBILE ROBOTIC APPLICATIONS ...... 4869 Benjamin Lewandowski ; Jonathan Liebner ; Tim Wengefeld ; Steffen Müller ; Horst-Michael Gross

SPATIOTEMPORAL AND KINETIC GAIT ANALYSIS SYSTEM BASED ON MULTISENSOR FUSION OF LASER RANGE SENSOR AND INSTRUMENTED INSOLES ...... 4876 Ryo Eguchi ; Ayanori Yorozu ; Masaki Takahashi

PART SEGMENTATION FOR HIGHLY ACCURATE DEFORMABLE TRACKING IN OCCLUSIONS VIA FULLY CONVOLUTIONAL NEURAL NETWORKS...... 4882 Weilin Wan ; Aaron Walsman ; Dieter Fox

USING VARIABLE NATURAL ENVIRONMENT BRAIN-COMPUTER INTERFACE STIMULI FOR REAL-TIME HUMANOID ROBOT NAVIGATION...... 4889 Nik Khadijah Nik Aznan ; Jason D. Connolly ; Noura Al Moubayed ; Toby P. Breckon

ESTIMATING THE LOCALIZABILITY IN TUNNEL-LIKE ENVIRONMENTS USING LIDAR AND UWB...... 4903 Weikun Zhen ; Sebastian Scherer

GLOBAL LOCALIZATION WITH OBJECT-LEVEL SEMANTICS AND TOPOLOGY ...... 4909 Yu Liu ; Yvan Petillot ; David Lane ; Sen Wang

LOOK NO DEEPER: RECOGNIZING PLACES FROM OPPOSING VIEWPOINTS UNDER VARYING SCENE APPEARANCE USING SINGLE-VIEW DEPTH ESTIMATION...... 4916 Sourav Garg ; Madhu Babu V ; Thanuja Dharmasiri ; Stephen Hausler ; Niko Suenderhauf ; Swagat Kumar ; Tom Drummond ; Michael Milford

EXPLOITING TRADEMARK DATABASES FOR ROBOTIC OBJECT FETCHING...... 4946 Joshua Song ; Hanna Kurniawati

OBJECT DETECTION APPROACH FOR ROBOT GRASP DETECTION ...... 4953 Hakan Karaoguz ; Patric Jensfelt

METAGRASP: DATA EFFICIENT GRASPING BY AFFORDANCE INTERPRETER NETWORK ...... 4960 Junhao Cai ; Hui Cheng ; Zhanpeng Zhang ; Jingcheng Su

TOWARD FINGERTIP NON-CONTACT MATERIAL RECOGNITION AND NEAR-DISTANCE RANGING FOR ROBOTIC GRASPING ...... 4967 Cheng Fang ; Di Wang ; Dezhen Song ; Jun Zou

VIDEO-BASED PREDICTION OF HAND-GRASP PRESHAPING WITH APPLICATION TO PROSTHESIS CONTROL ...... 4975 Luke T. Taverne ; Matteo Cognolato ; Tobias Bützer ; Roger Gassert ; Otmar Hilliges

REACTIVE WALKING BASED ON UPPER-BODY MANIPULABILITY: AN APPLICATION TO INTENTION DETECTION AND REACTION...... 4991 Pouya Mohammadi ; Enrico Mingo Hoffman ; Luca Muratore ; Nikos G. Tsagarakis ; Jochen J. Steil

A SELF-MODULATED IMPEDANCE MULTIMODAL INTERACTION FRAMEWORK FOR HUMAN-ROBOT COLLABORATION ...... 4998 Luca Muratore ; Arturo Laurenzi ; Nikos G. Tsagarakis

SMT-BASED CONTROL AND FEEDBACK FOR SOCIAL NAVIGATION...... 5005 Thais Campos ; Adam Pacheck ; Guy Hoffman ; Hadas Kress-Gazit

SAFE AND EFFICIENT HIGH DIMENSIONAL MOTION PLANNING IN SPACE-TIME WITH TIME PARAMETERIZED PREDICTION...... 5012 Shen Li ; Julie A. Shah

FAST ONLINE SEGMENTATION OF ACTIVITIES FROM PARTIAL TRAJECTORIES ...... 5019 Tariq Iqbal ; Shen Li ; Christopher Fourie ; Bradley Hayes ; Julie A. Shah

LAPAROSCOPY INSTRUMENT TRACKING FOR SINGLE VIEW CAMERA AND SKILL ASSESSMENT...... 5039 Benjamin Gautier ; Harun Tugal ; Benjie Tang ; Ghulam Nabi ; Mustafa Suphi Erden

OFFSETNET: DEEP LEARNING FOR LOCALIZATION IN THE LUNG USING RENDERED IMAGES...... 5046 Jake Sganga ; David Eng ; Chauncey Graetzel ; David Camarillo

USING AUGMENTATION TO IMPROVE THE ROBUSTNESS TO ROTATION OF DEEP LEARNING SEGMENTATION IN ROBOTIC-ASSISTED SURGICAL DATA ...... 5068 Danit Itzkovich ; Yarden Sharon ; Anthony Jarc ; Yael Refaely ; Ilana Nisky

DEEP LEARNING BASED MOTION PREDICTION FOR EXOSKELETON ROBOT CONTROL IN UPPER LIMB REHABILITATION ...... 5076 Jia-Liang Ren ; Ya-Hui Chien ; En-Yu Chia ; Li-Chen Fu ; Jin-Shin Lai

ADAPTIVE GAIT PLANNING FOR WALKING ASSISTANCE LOWER LIMB EXOSKELETONS IN SLOPE SCENARIOS...... 5083 Chaobin Zou ; Rui Huang ; Hong Cheng ; Qiming Chen ; Jing Qiu

A DATA-DRIVEN PREDICTIVE MODEL OF INDIVIDUAL-SPECIFIC EFFECTS OF FES ON HUMAN GAIT DYNAMICS...... 5090 Luke Drnach ; Jessica L. Allen ; Irfan Essa ; Lena H. Ting

THE (SENSORIZED) HAND IS QUICKER THAN THE EYE: RESTORING GRASPING SPEED AND CONFIDENCE FOR AMPUTEES WITH TACTILE REFLEXES...... 5097 Jeremy A. Fishel ; Blaine Matulevich ; Kelsey A. Muller ; Gary M. Berke

DEVELOPMENT OF A SOFT POWER SUIT FOR LOWER BACK ASSISTANCE...... 5103 Zhejun Yao ; Christine Linnenberg ; Robert Weidner ; Jens Wulfsberg

A NEW SOFT FINGERTIP BASED ON ELECTROACTIVE HYDROGELS ...... 5126 Antonio López-Díaz ; Ana Martín-Pacheco ; Raul Fernández ; Antonio M. Rodríguez ; M. Antonia Herrero ; Ester Vázquez ; Andrés S. Vázquez

OPEN LOOP POSITION CONTROL OF SOFT CONTINUUM ARM USING DEEP REINFORCEMENT LEARNING ...... 5133 Sreeshankar Satheeshbabu ; Naveen Kumar Uppalapati ; Girish Chowdhary ; Girish Krishnan

FAST MOTION PLANNING FOR HIGH-DOF ROBOT SYSTEMS USING HIERARCHICAL SYSTEM IDENTIFICATION...... 5140 Biao Jia ; Zherong Pan ; Dinesh Manocha

RESILIENT TASK PLANNING AND EXECUTION FOR REACTIVE SOFT ROBOTS ...... 5148 Scott Hamill ; John Whitehead ; Peter Ferenz ; Robert F. Shepherd ; Hadas Kress-Gazit

DYNAMIC MORPHOLOGICAL COMPUTATION THROUGH DAMPING DESIGN OF SOFT MATERIAL ROBOTS: APPLICATION TO UNDER-ACTUATED GRIPPERS...... 5155 Antonio Di Lallo ; Manuel Catalano ; Manolo Garabini ; Giorgio Grioli ; Marco Gabiccini ; Antonio Bicchi

AUGMENTED REALITY ASSISTED INSTRUMENT INSERTION AND TOOL MANIPULATION FOR THE FIRST ASSISTANT IN ROBOTIC SURGERY ...... 5173 Long Qian ; Anton Deguet ; Zerui Wang ; Yun-Hui Liu ; Peter Kazanzides

HIGH-FIDELITY GRASPING IN VIRTUAL REALITY USING A GLOVE-BASED SYSTEM ...... 5180 Hangxin Liu ; Zhenliang Zhang ; Xu Xie ; Yixin Zhu ; Yue Liu ; Yongtian Wang ; Song-Chun Zhu

ON THE ROLE OF WEARABLE HAPTICS FOR FORCE FEEDBACK IN TELEIMPEDANCE CONTROL FOR DUAL-ARM ROBOTIC TELEOPERATION...... 5187 Janelle P. Clark ; Gianluca Lentini ; Federica Barontini ; Manuel G. Catalano ; Matteo Bianchi ; Marcia K. O’Malley

CNN-SVO: IMPROVING THE MAPPING IN SEMI-DIRECT VISUAL ODOMETRY USING SINGLE-IMAGE DEPTH PREDICTION ...... 5218 Shing Yan Loo ; Ali Jahani Amiri ; Syamsiah Mashohor ; Sai Hong Tang ; Hong Zhang

A UNIFIED FRAMEWORK FOR MUTUAL IMPROVEMENT OF SLAM AND SEMANTIC SEGMENTATION ...... 5224 Kai Wang ; Yimin Lin ; Luowei Wang ; Liming Han ; Minjie Hua ; Xiang Wang ; Shiguo Lian ; Bill Huang

MID-FUSION: OCTREE-BASED OBJECT-LEVEL MULTI-INSTANCE DYNAMIC SLAM...... 5231 Binbin Xu ; Wenbin Li ; Dimos Tzoumanikas ; Michael Bloesch ; Andrew Davison ; Stefan Leutenegger

SURFEL-BASED DENSE RGB-D RECONSTRUCTION WITH GLOBAL AND LOCAL CONSISTENCY ...... 5238 Yi Yang ; Wei Dong ; Michael Kaess

A-SLAM: HUMAN IN-THE-LOOP AUGMENTED SLAM...... 5245 Abbas Sidaoui ; Mohammad Kassem Zein ; Imad H. Elhajj ; Daniel Asmar

BALANCE MAP ANALYSIS AS A MEASURE OF WALKING BALANCE BASED ON PENDULUM-LIKE LEG MOVEMENTS ...... 5260 Takahiro Kagawa

NON-PARAMETRIC IMITATION LEARNING OF ROBOT MOTOR SKILLS...... 5266 Yanlong Huang ; Leonel Rozo ; João Silvério ; Darwin G. Caldwell

DYNAMIC STEPPING ON UNKNOWN OBSTACLES WITH UPPER-BODY COMPLIANCE AND ANGULAR MOMENTUM DAMPING FROM THE REACTION NULL-SPACE...... 5273 Yuki Hidaka ; Kajun Nishizawa ; Dragomir N. Nenchev

EFFICIENT HUMANOID CONTACT PLANNING USING LEARNED CENTROIDAL DYNAMICS PREDICTION...... 5280 Yu-Chi Lin ; Brahayam Ponton ; Ludovic Righetti ; Dmitry Berenson

SCALABLE CLOSED-FORM TRAJECTORIES FOR PERIODIC AND NON-PERIODIC HUMAN- LIKE WALKING...... 5295 Salman Faraji ; Auke Jan Ijspeert

FLYING STAR, A HYBRID CRAWLING AND FLYING SPRAWL TUNED ROBOT...... 5302 Nir Meiri ; David Zarrouk

AUTONOMOUS COOPERATIVE FLIGHT OF RIGIDLY ATTACHED QUADCOPTERS...... 5309 Diego González Morín ; José Araujo ; Soma Tayamon ; Lars A. A. Andersson

ENERGY OPTIMAL CONTROL ALLOCATION IN A REDUNDANTLY ACTUATED OMNIDIRECTIONAL UAV...... 5316 Eric Dyer ; Shahin Sirouspour ; Mohammad Jafarinasab

DEVELOPMENT OF SAM: CABLE-SUSPENDED AERIAL MANIPULATOR ...... 5323 Yuri S. Sarkisov ; Min Jun Kim ; Davide Bicego ; Dzmitry Tsetserukou ; Christian Ott ; Antonio Franchi ; Konstantin Kondak

THE PHOENIX DRONE: AN OPEN-SOURCE DUAL-ROTOR TAIL-SITTER PLATFORM FOR RESEARCH AND EDUCATION ...... 5330 Yilun Wu ; Xintong Du ; Rikky Duivenvoorden ; Jonathan Kelly

1-ACTUATOR 3-DOF MANIPULATION USING AN UNDERACTUATED MECHANISM WITH MULTIPLE NONPARALLEL AND VISCOELASTIC PASSIVE JOINTS ...... 5345 Taisuke Kurita ; Mitsuru Higashimori

SPLINE BASED CURVE PATH FOLLOWING OF UNDERACTUATED SNAKE ROBOTS...... 5352 Weixin Yang ; Gang Wang ; Haiyan Shao ; Yantao Shen

HIGH-BANDWIDTH CONTROL OF TWISTED STRING ACTUATORS...... 5359 Simeon Nedelchev ; Igor Gaponov ; Jee-Hwan Ryu

TREE: A VARIABLE TOPOLOGY, BRANCHING CONTINUUM ROBOT ...... 5365 Michael C. Lastinger ; Siddharth Verma ; Apoorva D. Kapadia ; Ian D. Walker

MODEL BASED IN SITU CALIBRATION WITH TEMPERATURE COMPENSATION OF 6 AXIS FORCE TORQUE SENSORS...... 5397 Francisco Javier Andrade Chavez ; Gabriele Nava ; Silvio Traversaro ; Francesco Nori ; Daniele Pucci

WHOLE-BODY ACTIVE COMPLIANCE CONTROL FOR HUMANOID ROBOTS WITH ROBOT SKIN ...... 5404 Emmanuel Dean-Leon ; J. Rogelio Guadarrama-Olvera ; Florian Bergner ; Gordon Cheng

INTERNAL ARRAY ELECTRODES IMPROVE THE SPATIAL RESOLUTION OF SOFT TACTILE SENSORS BASED ON ELECTRICAL RESISTANCE TOMOGRAPHY ...... 5411 Hyosang Lee ; Kyungseo Park ; Jung Kim ; Katherine J. Kuchenbecker

DENSE TACTILE FORCE ESTIMATION USING GELSLIM AND INVERSE FEM...... 5418 Daolin Ma ; Elliott Donlon ; Siyuan Dong ; Alberto Rodriguez

POSE GRAPH OPTIMIZATION FOR UNSUPERVISED MONOCULAR VISUAL ODOMETRY...... 5439 Yang Li ; Yoshitaka Ushiku ; Tatsuya Harada

PROBABLY UNKNOWN: DEEP INVERSE SENSOR MODELLING RADAR ...... 5446 Rob Weston ; Sarah Cen ; Paul Newman ; Ingmar Posner

UNCERTAINTY-AWARE OCCUPANCY MAP PREDICTION USING GENERATIVE NETWORKS FOR ROBOT NAVIGATION...... 5453 Kapil Katyal ; Katie Popek ; Chris Paxton ; Phil Burlina ; Gregory D. Hager

EMPTY CITIES: IMAGE INPAINTING FOR A DYNAMIC-OBJECT-INVARIANT SPACE ...... 5460 Berta Bescos ; José Neira ; Roland Siegwart ; Cesar Cadena

AUTONOMOUS EXPLORATION, RECONSTRUCTION, AND SURVEILLANCE OF 3D ENVIRONMENTS AIDED BY DEEP LEARNING ...... 5467 Louis Ly ; Yen-Hsi Richard Tsai

GANVO: UNSUPERVISED DEEP MONOCULAR VISUAL ODOMETRY AND DEPTH ESTIMATION WITH GENERATIVE ADVERSARIAL NETWORKS ...... 5474 Yasin Almalioglu ; Muhamad Risqi U. Saputra ; Pedro P. B. De Gusmão ; Andrew Markham ; Niki Trigoni

FAST INSTANCE AND SEMANTIC SEGMENTATION EXPLOITING LOCAL CONNECTIVITY, METRIC LEARNING, AND ONE-SHOT DETECTION FOR ROBOTICS ...... 5481 Andres Milioto ; Leonard Mandtler ; Cyrill Stachniss

ADDING CUES TO BINARY FEATURE DESCRIPTORS FOR VISUAL PLACE RECOGNITION...... 5488 Dominik Schlegel ; Giorgio Grisetti

RECURSIVE BAYESIAN CLASSIFICATION FOR PERCEPTION OF EVOLVING TARGETS USING A GAUSSIAN TOROID PREDICTION MODEL...... 5495 J. Josiah Steckenrider ; Tomonari Furukawa

LARGE-SCALE OBJECT MINING FOR OBJECT DISCOVERY FROM UNLABELED VIDEO...... 5502 Aljoša Ošep ; Paul Voigtlaender ; Jonathon Luiten ; Stefan Breuers ; Bastian Leibe

GOAL-ORIENTED OBJECT IMPORTANCE ESTIMATION IN ON-ROAD DRIVING VIDEOS ...... 5509 Mingfei Gao ; Ashish Tawari ; Sujitha Martin

PRIMING DEEP PEDESTRIAN DETECTION WITH GEOMETRIC CONTEXT...... 5516 Ishani Chakraborty ; Gang Hua

THE ROBUST CANADIAN TRAVELER PROBLEM APPLIED TO ROBOT ROUTING...... 5523 Hengwei Guo ; Timothy D. Barfoot

IMPROVED A-SEARCH GUIDED TREE CONSTRUCTION FOR KINODYNAMIC PLANNING ...... 5530 Yebin Wang

BALANCING GLOBAL EXPLORATION AND LOCAL-CONNECTIVITY EXPLOITATION WITH RAPIDLY-EXPLORING RANDOM DISJOINTED-TREES...... 5537 Tin Lai ; Fabio Ramos ; Gilad Francis

LOCOMOTION PLANNING THROUGH A HYBRID BAYESIAN TRAJECTORY OPTIMIZATION ...... 5544 Tim Seyde ; Jan Carius ; Ruben Grandia ; Farbod Farshidian ; Marco Hutter

DYNAMIC CHANNEL: A PLANNING FRAMEWORK FOR CROWD NAVIGATION ...... 5551 Chao Cao ; Peter Trautman ; Soshi Iba

COMPOSITION OF LOCAL POTENTIAL FUNCTIONS WITH REFLECTION...... 5558 Adam Stager ; Herbert G. Tanner

ANALYZING ELECTROMAGNETIC ACTUATOR BASED ON FORCE ANALYSIS...... 5565 Jaewon Ahn ; Dongwon Yun

A NOVEL ROBOTIC SYSTEM FOR FINISHING OF FREEFORM SURFACES...... 5571 Yalun Wen ; Jie Hu ; Prabhakar R. Pagilla

CONTEXT-DEPENDENT COMPENSATION SCHEME TO REDUCE TRAJECTORY EXECUTION ERRORS FOR INDUSTRIAL MANIPULATORS...... 5578 Prahar M. Bhatt ; Pradeep Rajendran ; Keith McKay ; Satyandra K. Gupta

IDENTIFYING FEASIBLE WORKPIECE PLACEMENT WITH RESPECT TO REDUNDANT MANIPULATOR FOR COMPLEX MANUFACTURING TASKS...... 5585 Rishi K. Malhan ; Ariyan M. Kabir ; Brual Shah ; Satyandra K. Gupta

GEOMETRIC SEARCH-BASED INVERSE KINEMATICS OF 7-DOF REDUNDANT MANIPULATOR WITH MULTIPLE JOINT OFFSETS...... 5592 Anirban Sinha ; Nilanjan Chakraborty

DESIGN AND FORMAL VERIFICATION OF A SAFE STOP SUPERVISOR FOR AN AUTOMATED VEHICLE...... 5607 Jonas Krook ; Lars Svensson ; Yuchao Li ; Lei Feng ; Martin Fabian

OPTIMIZATION-BASED TERRAIN ANALYSIS AND PATH PLANNING IN UNSTRUCTURED ENVIRONMENTS ...... 5614 Ueli Graf ; Paulo Borges ; Emili Hernández ; Roland Siegwart ; Renaud Dubé

PEDESTRIAN DOMINANCE MODELING FOR SOCIALLY-AWARE ROBOT NAVIGATION ...... 5621 Tanmay Randhavane ; Aniket Bera ; Emily Kubin ; Austin Wang ; Kurt Gray ; Dinesh Manocha

DYNAMIC TRAFFIC SCENE CLASSIFICATION WITH SPACE-TIME COHERENCE ...... 5629 Athma Narayanan ; Isht Dwivedi ; Behzad Dariush

TOWARDS THE DESIGN OF ROBOTIC DRIVERS FOR FULL-SCALE SELF-DRIVING RACING CARS ...... 5643 Danilo Caporale ; Alessandro Settimi ; Federico Massa ; Francesco Amerotti ; Andrea Corti ; Adriano Fagiolini ; Massimo Guiggian ; Antonio Bicchi ; Lucia Pallottino

MODEL-FREE ONLINE MOTION ADAPTATION FOR OPTIMAL RANGE AND ENDURANCE OF MULTICOPTERS ...... 5650 Andrea Tagliabue ; Xiangyu Wu ; Mark W. Mueller

MULTI-VIEW RECONSTRUCTION OF WIRES USING A CATENARY MODEL ...... 5657 Ratnesh Madaan ; Michael Kaess ; Sebastian Scherer

REAL-TIME OPTIMAL PLANNING AND MODEL PREDICTIVE CONTROL OF A MULTI- ROTOR WITH A SUSPENDED LOAD ...... 5665 Clark Youngdong Son ; Dohyun Jang ; Hoseong Seo ; Taewan Kim ; Hyeonbeom Lee ; H. Jin Kim

BIOINSPIRED DIRECT VISUAL ESTIMATION OF ATTITUDE RATES WITH VERY LOW RESOLUTION IMAGES USING DEEP NETWORKS ...... 5672 M. Mérida-Floriano ; F. Caballero ; D. Acedo ; D. García-Morales ; F. Casares ; L. Merino

AUTOMATIC REAL-TIME ANOMALY DETECTION FOR AUTONOMOUS AERIAL VEHICLES ...... 5679 Azarakhsh Keipour ; Mohammadreza Mousaei ; Sebastian Scherer

LEARNING AD-HOC COMPACT REPRESENTATIONS FROM SALIENT LANDMARKS FOR VISUAL PLACE RECOGNITION IN UNDERWATER ENVIRONMENTS...... 5739 Alejandro Maldonado-Ramírez ; L. Abril Torres-Mendez

FINDING DIVERS WITH SCUBANET ...... 5746 Robert Codd-Downey ; Michael Jenkin

ROBOTIC DETECTION OF MARINE LITTER USING DEEP VISUAL DETECTION MODELS...... 5752 Michael Fulton ; Jungseok Hong ; Md Jahidul Islam ; Junaed Sattar

A DUAL-BLADDER BUOYANCY ENGINE FOR A CEPHALOPOD-INSPIRED AUV ...... 5759 Nick Sholl ; Kamran Mohseni

UNCERTAINTY-AWARE PATH PLANNING FOR NAVIGATION ON ROAD NETWORKS USING AUGMENTED MDPS ...... 5780 Lorenzo Nardi ; Cyrill Stachniss

REAL-TIME MODEL BASED PATH PLANNING FOR WHEELED VEHICLES...... 5787 Julian Jordan ; Andreas Zell

INTEGRITY RISK-BASED MODEL PREDICTIVE CONTROL FOR MOBILE ROBOTS...... 5793 Osama Abdul Hafez ; Guillermo Duenas Arana ; Matthew Spenko

WHAT LIES IN THE SHADOWS? SAFE AND COMPUTATION-AWARE MOTION PLANNING FOR AUTONOMOUS VEHICLES USING INTENT-AWARE DYNAMIC SHADOW REGIONS ...... 5800 Yannik Nager ; Andrea Censi ; Emilio Frazzoli

DYNAMIC RISK DENSITY FOR AUTONOMOUS NAVIGATION IN CLUTTERED ENVIRONMENTS WITHOUT OBJECT DETECTION...... 5807 Alyssa Pierson ; Cristian-Ioan Vasile ; Anshula Gandhi ; Wilko Schwarting ; Sertac Karaman ; Daniela Rus

DEEP LOCAL TRAJECTORY REPLANNING AND CONTROL FOR ROBOT NAVIGATION ...... 5815 Ashwini Pokle ; Roberto Martín-Martín ; Patrick Goebel ; Vincent Chow ; Hans M. Ewald ; Junwei Yang ; Zhenkai Wang ; Amir Sadeghian ; Dorsa Sadigh ; Silvio Savarese ; Marynel Vázquez

LEARNING FROM TRANSFERABLE MECHANICS MODELS: GENERALIZABLE ONLINE MODE DETECTION IN UNDERACTUATED DEXTEROUS MANIPULATION...... 5823 Andrew S. Morgan ; Walter G. Bircher ; Berk Calli ; Aaron M. Dollar

CARA SYSTEM ARCHITECTURE - A CLICK AND ASSEMBLE ROBOTIC ASSEMBLY SYSTEM...... 5830 Hatem Fakhurldeen ; Farid Dailami ; Anthony G. Pipe

TOOL MACGYVERING: TOOL CONSTRUCTION USING GEOMETRIC REASONING...... 5837 Lakshmi Nair ; Jonathan Balloch ; Sonia Chernova

A FRAMEWORK FOR ROBOT MANIPULATION: SKILL FORMALISM, META LEARNING AND ADAPTIVE CONTROL...... 5844 Lars Johannsmeier ; Malkin Gerchow ; Sami Haddadin

OPEN-LOOP COLLECTIVE ASSEMBLY USING A LIGHT FIELD TO POWER AND CONTROL A PHOTOTAXIC MINI-ROBOT SWARM ...... 5851 Adam Bignell ; Lily Li ; Richard Vaughan

A VARIATIONAL OBSERVATION MODEL OF 3D OBJECT FOR PROBABILISTIC SEMANTIC SLAM ...... 5866 H. W. Yu ; J. Y. Moon ; B. H. Lee

LEARNING ACTION REPRESENTATIONS FOR SELF-SUPERVISED VISUAL EXPLORATION ...... 5873 Changjae Oh ; Andrea Cavallaro

PLUG-AND-PLAY: IMPROVE DEPTH PREDICTION VIA SPARSE DATA PROPAGATION...... 5880 Tsun-Hsuan Wang ; Fu-En Wang ; Juan-Ting Lin ; Yi-Hsuan Tsai ; Wei-Chen Chiu ; Min Sun

DFNET: SEMANTIC SEGMENTATION ON PANORAMIC IMAGES WITH DYNAMIC LOSS WEIGHTS AND RESIDUAL FUSION BLOCK...... 5887 Wei Jiang ; Yan Wu ; Linting Guan ; Junqiao Zhao

ANYTIME STEREO IMAGE DEPTH ESTIMATION ON MOBILE DEVICES ...... 5893 Yan Wang ; Zihang Lai ; Gao Huang ; Brian H. Wang ; Laurens Van Der Maaten ; Mark Campbell ; Kilian Q. Weinberger

IMPROVED GENERALIZATION OF HEADING DIRECTION ESTIMATION FOR AERIAL FILMING USING SEMI-SUPERVISED REGRESSION ...... 5901 Wenshan Wang ; Aayush Ahuja ; Yanfu Zhang ; Rogerio Bonatti ; Sebastian Scherer

GRADUATED FIDELITY LATTICES FOR MOTION PLANNING UNDER UNCERTAINTY...... 5908 Adrián González-Sieira ; Manuel Mucientes ; Alberto Bugarín

NON-PARAMETRIC INFORMED EXPLORATION FOR SAMPLING-BASED MOTION PLANNING...... 5915 Sagar Suhas Joshi ; Tsiotras Panagiotis

SIMULATED ANNEALING-OPTIMIZED TRAJECTORY PLANNING WITHIN NON- COLLISION NOMINAL INTERVALS FOR HIGHWAY AUTONOMOUS DRIVING...... 5922 Laurène Claussmann ; Marc Revilloud ; Sébastien Glaser

ON THE IMPACT OF UNCERTAINTY FOR PATH PLANNING ...... 5929 Jérôme Guzzi ; R. Omar Chavez-Garcia ; Luca M. Gambardella ; Alessandro Giusti

LOCALIZATION WITH SLIDING WINDOW FACTOR GRAPHS ON THIRD-PARTY MAPS FOR AUTOMATED DRIVING...... 5951 Daniel Wilbers ; Christian Merfels ; Cyrill Stachniss

NIGHT-TO-DAY IMAGE TRANSLATION FOR RETRIEVAL-BASED LOCALIZATION...... 5958 Asha Anoosheh ; Torsten Sattler ; Radu Timofte ; Marc Pollefeys ; Luc Van Gool

ACCURATE AND EFFICIENT SELF-LOCALIZATION ON ROADS USING BASIC GEOMETRIC PRIMITIVES...... 5965 Julius Kümmerle ; Marc Sons ; Fabian Poggenhans ; Tilman Kühner ; Martin Lauer ; Christoph Stiller

EFFICIENT 2D-3D MATCHING FOR MULTI-CAMERA VISUAL LOCALIZATION ...... 5972 Marcel Geppert ; Peidong Liu ; Zhaopeng Cui ; Marc Pollefeys ; Torsten Sattler

LOCALIZING DISCRIMINATIVE VISUAL LANDMARKS FOR PLACE RECOGNITION ...... 5979 Zhe Xin ; Yinghao Cai ; Tao Lu ; Xiaoxia Xing ; Shaojun Cai ; Jixiang Zhang ; Yiping Yang ; Yanqing Wang

BEYOND POINT CLOUDS: FISHER INFORMATION FIELD FOR ACTIVE VISUAL LOCALIZATION...... 5986 Zichao Zhang ; Davide Scaramuzza

DEEP REINFORCEMENT LEARNING OF NAVIGATION IN A COMPLEX AND CROWDED ENVIRONMENT WITH A LIMITED FIELD OF VIEW ...... 5993 Jinyoung Choi ; Kyungsik Park ; Minsu Kim ; Sangok Seok

SIM-TO-REAL TRANSFER LEARNING USING ROBUSTIFIED CONTROLLERS IN ROBOTIC TASKS INVOLVING COMPLEX DYNAMICS...... 6001 Jeroen Van Baar ; Alan Sullivan ; Radu Cordorel ; Devesh Jha ; Diego Romeres ; Daniel Nikovski

GENERALIZATION THROUGH SIMULATION: INTEGRATING SIMULATED AND REAL DATA INTO DEEP REINFORCEMENT LEARNING FOR VISION-BASED AUTONOMOUS FLIGHT ...... 6008 Katie Kang ; Suneel Belkhale ; Gregory Kahn ; Pieter Abbeel ; Sergey Levine

CROWD-ROBOT INTERACTION: CROWD-AWARE ROBOT NAVIGATION WITH ATTENTION-BASED DEEP REINFORCEMENT LEARNING ...... 6015 Changan Chen ; Yuejiang Liu ; Sven Kreiss ; Alexandre Alahi

RESIDUAL REINFORCEMENT LEARNING FOR ROBOT CONTROL ...... 6023 Tobias Johannink ; Shikhar Bahl ; Ashvin Nair ; Jianlan Luo ; Avinash Kumar ; Matthias Loskyll ; Juan Aparicio Ojea ; Eugen Solowjow ; Sergey Levine

A REINFORCEMENT LEARNING APPROACH FOR CONTROL OF A NATURE-INSPIRED AERIAL VEHICLE ...... 6030 Danial Sufiyan ; Luke Thura Soe Win ; Shane Kyi Hla Win ; Gim Song Soh ; Shaohui Foong

FORMAL POLICY LEARNING FROM DEMONSTRATIONS FOR REACHABILITY PROPERTIES...... 6037 Hadi Ravanbakhsh ; Sriram Sankaranarayanan ; Sanjit A. Seshia

FORMALIZED TASK CHARACTERIZATION FOR HUMAN-ROBOT AUTONOMY ALLOCATION...... 6044 Michael Young ; Christopher Miller ; Youyi Bi ; Wei Chen ; Brenna D. Argall

DOS-RESILIENT MULTI-ROBOT TEMPORAL LOGIC MOTION PLANNING ...... 6051 Xiaowu Sun ; Rohitkrishna Nambiar ; Matthew Melhorn ; Yasser Shoukry ; Pierluigi Nuzzo

TASK-BASED DESIGN OF AD-HOC MODULAR MANIPULATORS...... 6058 Thais Campos ; Jeevana Priya Inala ; Armando Solar-Lezama ; Hadas Kress-Gazit

SWEEPNET: WIDE-BASELINE OMNIDIRECTIONAL DEPTH ESTIMATION...... 6073 Changhee Won ; Jongbin Ryu ; Jongwoo Lim

3D SURFACE RECONSTRUCTION USING A TWO-STEP STEREO MATCHING METHOD ASSISTED WITH FIVE PROJECTED PATTERNS ...... 6080 Congying Sui ; Kejing He ; Congyi Lyu ; Zerui Wang ; Yun-Hui Liu

REAL-TIME DENSE MAPPING FOR SELF-DRIVING VEHICLES USING FISHEYE CAMERAS...... 6087 Zhaopeng Cui ; Lionel Heng ; Ye Chuan Yeo ; Andreas Geiger ; Marc Pollefeys ; Torsten Sattler

TIGHTLY-COUPLED AIDED INERTIAL NAVIGATION WITH POINT AND PLANE FEATURES...... 6094 Yulin Yang ; Patrick Geneva ; Xingxing Zuo ; Kevin Eckenhoff ; Yong Liu ; Guoquan Huang

FASTDEPTH: FAST MONOCULAR DEPTH ESTIMATION ON EMBEDDED SYSTEMS...... 6101 Diana Wofk ; Fangchang Ma ; Tien-Ju Yang ; Sertac Karaman ; Vivienne Sze

SLIDING MODE MOMENTUM OBSERVERS FOR ESTIMATION OF EXTERNAL TORQUES AND JOINT ACCELERATION...... 6117 Gianluca Garofalo ; Nico Mansfeld ; Julius Jankowski ; Christian Ott

DISCRETE LAYER JAMMING FOR SAFE CO-ROBOTS ...... 6124 Yitong Zhou ; Leon M. Headings ; Marcelo J. Dapino

ADMITTANCE CONTROL FOR HUMAN-ROBOT INTERACTION USING AN INDUSTRIAL ROBOT EQUIPPED WITH A F/T SENSOR ...... 6130 Eleonora Mariotti ; Emanuele Magrini ; Alessandro De Luca

EFFECT OF MECHANICAL RESISTANCE ON COGNITIVE CONFLICT IN PHYSICAL HUMAN-ROBOT COLLABORATION ...... 6137 Stefano Aldini ; Ashlesha Akella ; Avinash K. Singh ; Yu-Kai Wang ; Marc Carmichael ; Dikai Liu ; Chin-Teng Lin

LIFELONG LEARNING FOR HETEROGENEOUS MULTI-MODAL TASKS...... 6158 Huaping Liu ; Fuchun Sun ; Bin Fang

MAGNETIC-FIELD-INSPIRED NAVIGATION FOR QUADCOPTER ROBOT IN UNKNOWN ENVIRONMENTS ...... 6165 A. Ataka ; H. K. Lam ; K. Althoefer

HUMAN-CARE ROUNDS ROBOT WITH CONTACTLESS BREATHING MEASUREMENT...... 6172 Ryo Saegusa ; Hirokazu Ito ; Duc Minh Duong

AN IMPROVED CONTROL-ORIENTED MODELING OF THE MAGNETIC FIELD...... 6178 Maxime Etiévant ; Aude Bolopion ; Stéphane Régnier ; Nicolas Andreff

EFFICIENT MICRO WAVEGUIDE COUPLING BASED ON MICROROBOTIC POSITIONING ...... 6185 Panbing Wang ; Denfeng Li ; Haojian Lu ; Yuanyuan Yang ; Shihui Shen ; Yajing Shen

ASSEMBLY OF MULTILAYERED HEPATIC LOBULE-LIKE VASCULAR NETWORK BY USING HEPTAPOLE MAGNETIC TWEEZER...... 6200 Eunhye Kim ; Masaru Takeuchi ; Taro Kozuka ; Takuto Nomura ; Akiyuki Hasegawa ; Akihiko Ichikawa ; Qiang Huang ; Toshio Fukuda

SIZING THE AORTIC ANNULUS WITH A ROBOTISED, COMMERCIALLY AVAILABLE SOFT BALLOON CATHETER: IN VITRO STUDY ON IDEALISED PHANTOMS ...... 6230 Andrea Palombi ; Giorgia M Bosi ; Sara Di Giuseppe ; Elena De Momi ; Shervanthi Homer-Vanniasinkam ; Gaetano Burriesci ; Helge A Wurdemann

MINIATURE ROBOTIC TUBES WITH ROTATIONAL TIP-JOINTS AS A MEDICAL DELIVERY PLATFORM ...... 6237 Rohith Karthikeyan ; Shivanand Pattanshetti ; Seok Chang Ryu

NONLINEAR SYSTEM IDENTIFICATION OF SOFT ROBOT DYNAMICS USING KOOPMAN OPERATOR THEORY ...... 6244 Daniel Bruder ; C. David Remy ; Ram Vasudevan

DATA DRIVEN INVERSE KINEMATICS OF SOFT ROBOTS USING LOCAL MODELS...... 6251 Fredrik Holsten ; Morten Pol Engell-Nørregård ; Sune Darkner ; Kenny Erleben

MODAL DYNAMICS AND ANALYSIS OF A VERTICAL STRETCH-RETRACTABLE CONTINUUM MANIPULATOR WITH LARGE DEFLECTION ...... 6258 Hao Wang ; Guohua Gao ; Qixiao Xia ; Xuping Zhang

CHAINQUEEN: A REAL-TIME DIFFERENTIABLE PHYSICAL SIMULATOR FOR SOFT ROBOTICS...... 6265 Yuanming Hu ; Jiancheng Liu ; Andrew Spielberg ; Joshua B. Tenenbaum ; William T. Freeman ; Jiajun Wu ; Daniela Rus ; Wojciech Matusik

A VALIDATED PHYSICAL MODEL FOR REAL-TIME SIMULATION OF SOFT ROBOTIC SNAKES ...... 6272 Renato Gasoto ; Miles Macklin ; Xuan Liu ; Yinan Sun ; Kenny Erleben ; Cagdas Onal ; Jie Fu

SPACEBOK: A DYNAMIC LEGGED ROBOT FOR SPACE EXPLORATION...... 6288 Philip Arm ; Radek Zenkl ; Patrick Barton ; Lars Beglinger ; Alex Dietsche ; Luca Ferrazzini ; Elias Hampp ; Jan Hinder ; Camille Huber ; David Schaufelberger ; Felix Schmitt ; Benjamin Sun ; Boris Stolz ; Hendrik Kolvenbach ; Marco Hutter

MINI CHEETAH: A PLATFORM FOR PUSHING THE LIMITS OF DYNAMIC QUADRUPED CONTROL...... 6295 Benjamin Katz ; Jared Di Carlo ; Sangbae Kim

OPTIMAL LEG SEQUENCING FOR A HEXAPOD SUBJECT TO EXTERNAL FORCES AND SLOPES...... 6302 Georgios Rekleitis ; Menelaos Vidakis ; Evangelos Papadopoulos

STANFORD DOGGO: AN OPEN-SOURCE, QUASI-DIRECT-DRIVE QUADRUPED...... 6309 Nathan Kau ; Aaron Schultz ; Natalie Ferrante ; Patrick Slade

WORKSPACE CPG WITH BODY POSE CONTROL FOR STABLE, DIRECTED VISION DURING OMNIDIRECTIONAL LOCOMOTION...... 6316 Samuel Shaw ; Guillaume Sartoretti ; Jake Olkin ; William Paivine ; Howie Choset

ROBOTIC FORCEPS WITHOUT POSITION SENSORS USING VISUAL SLAM ...... 6331 Takuya Iwai ; Takahiro Kanno ; Tetsuro Miyazaki ; Toshihiro Kawase ; Kenji Kawashima

3D KEYPOINT REPEATABILITY FOR HETEROGENEOUS MULTI-ROBOT SLAM ...... 6337 Elizabeth R. Boroson ; Nora Ayanian

ROVO: ROBUST OMNIDIRECTIONAL VISUAL ODOMETRY FOR WIDE-BASELINE WIDE- FOV CAMERA SYSTEMS ...... 6344 Hochang Seok ; Jongwoo Lim

SLAMBENCH 3.0: SYSTEMATIC AUTOMATED REPRODUCIBLE EVALUATION OF SLAM SYSTEMS FOR ROBOT VISION CHALLENGES AND SCENE UNDERSTANDING...... 6351 Mihai Bujanca ; Paul Gafton ; Sajad Saeedi ; Andy Nisbet ; Bruno Bodin ; O'Boyle Michael F. P. ; Andrew J. Davison ; Kelly Paul H. J. ; Graham Riley ; Barry Lennox ; Mikel Luján ; Steve Furber

BEYOND PHOTOMETRIC LOSS FOR SELF-SUPERVISED EGO-MOTION ESTIMATION ...... 6359 Tianwei Shen ; Zixin Luo ; Lei Zhou ; Hanyu Deng ; Runze Zhang ; Tian Fang ; Long Quan

EFFICIENT INTEGRITY MONITORING FOR KF-BASED LOCALIZATION ...... 6374 Guillermo Duenas Arana ; Mathieu Joerger ; Matthew Spenko

HIGH-PRECISION LOCALIZATION USING GROUND TEXTURE...... 6381 Linguang Zhang ; Adam Finkelstein ; Szymon Rusinkiewicz

IN2LAMA: INERTIAL LIDAR LOCALISATION AND MAPPING...... 6388 Cedric Le Gentil ; Teresa Vidal-Calleja ; Shoudong Huang

SPEEDING UP ITERATIVE CLOSEST POINT USING STOCHASTIC GRADIENT DESCENT ...... 6395 Fahira Afzal Maken ; Fabio Ramos ; Lionel Ott

ENERGY TANK-BASED WRENCH/IMPEDANCE CONTROL OF A FULLY-ACTUATED HEXAROTOR: A GEOMETRIC PORT-HAMILTONIAN APPROACH...... 6418 Ramy Rashad ; Johan B. C. Engelen ; Stefano Stramigioli

INTEGRAL BACKSTEPPING POSITION CONTROL FOR QUADROTORS IN TUNNEL-LIKE CONFINED ENVIRONMENTS ...... 6425 Chi Hei Vong ; Kris Ryan ; Hoam Chung

CONTROL AND CONFIGURATION PLANNING OF AN AERIAL CABLE TOWED SYSTEM ...... 6440 Julian Erskine ; Abdelhamid Chriette ; Stéphane Caro

ADAPTIVE CONTROL OF AEROBATIC QUADROTOR MANEUVERS IN THE PRESENCE OF PROPELLER-AERODYNAMIC-COEFFICIENT AND TORQUE-LATENCY TIME-VARIATIONS ...... 6447 Ying Chen ; Néstor O. Pérez-Arancibia

FAST TERMINAL SLIDING MODE SUPER TWISTING CONTROLLER FOR POSITION AND ALTITUDE TRACKING OF THE QUADROTOR...... 6468 Vibhu Kumar Tripathi ; Archit Krishna Kamath ; Nishchal K. Verma ; Laxmidhar Behera

MULTIROTOR DYNAMICS BASED ONLINE SCALE ESTIMATION FOR MONOCULAR SLAM ...... 6475 Mohit Ludhiyani ; Vishvendra Rustagi ; Ranjan Dasgupta ; Arnab Sinha

REAL TIME DENSE DEPTH ESTIMATION BY FUSING STEREO WITH SPARSE DEPTH MEASUREMENTS ...... 6482 Shreyas S. Shivakumar ; Kartik Mohta ; Bernd Pfrommer ; Vijay Kumar ; Camillo J. Taylor

VISION-BASED CONTROL OF A QUADROTOR IN USER PROXIMITY: MEDIATED VS END- TO-END LEARNING APPROACHES ...... 6489 Dario Mantegazza ; Jérôme Guzzi ; Luca M. Gambardella ; Alessandro Giusti

PARITY-BASED DIAGNOSIS IN UAVS: DETECTABILITY AND ROBUSTNESS ANALYSES ...... 6496 Georgios Zogopoulos-Papaliakos ; Kostas J. Kyriakopoulos

EXPLOITING A HUMAN-AWARE WORLD MODEL FOR DYNAMIC TASK ALLOCATION IN FLEXIBLE HUMAN-ROBOT TEAMS...... 6511 Dominik Riedelbauch ; Dominik Henrich

GROUP SURFING: A PEDESTRIAN-BASED APPROACH TO SIDEWALK ROBOT NAVIGATION...... 6518 Yuqing Du ; Nicholas J. Hetherington ; Chu Lip Oon ; Wesley P. Chan ; Camilo Perez Quintero ; Elizabeth Croft ; H. F. Machiel Van Der Loos

DENTRONICS: REVIEW, FIRST CONCEPTS AND PILOT STUDY OF A NEW APPLICATION DOMAIN FOR COLLABORATIVE ROBOTS IN DENTAL ASSISTANCE...... 6525 Jasmin Grischke ; Lars Johannsmeier ; Lukas Eich ; Sami Haddadin

ACTIVITY RECOGNITION IN MANUFACTURING: THE ROLES OF MOTION CAPTURE AND SEMG+INERTIAL WEARABLES IN DETECTING FINE VS. GROSS MOTION...... 6533 Alyssa Kubota ; Tariq Iqbal ; Julie A. Shah ; Laurel D. Riek

OPTIMAL PROACTIVE PATH PLANNING FOR COLLABORATIVE ROBOTS IN INDUSTRIAL CONTEXTS ...... 6540 Andrea Casalino ; Davide Bazzi ; Andrea Maria Zanchettin ; Paolo Rocco

BUILD YOUR OWN HYBRID THERMAL/EO CAMERA FOR AUTONOMOUS VEHICLE ...... 6555 Yigong Zhang ; Yicheng Gao ; Shuo Gu ; Yubin Guo ; Minghao Liu ; Zezhou Sun ; Zhixing Hou ; Hang Yang ; Ying Wang ; Jian Yang ; Jean Ponce ; Hui Kong

REDUNDANT PERCEPTION AND STATE ESTIMATION FOR RELIABLE AUTONOMOUS RACING...... 6561 Nikhil Gosala ; Andreas Bühler ; Manish Prajapat ; Claas Ehmke ; Mehak Gupta ; Ramya Sivanesan ; Abel Gawel ; Mark Pfeiffer ; Mathias Bürki ; Inkyu Sa ; Renaud Dubé ; Roland Siegwart

UWB/LIDAR FUSION FOR COOPERATIVE RANGE-ONLY SLAM...... 6568 Yang Song ; Mingyang Guan ; Wee Peng Tay ; Choi Look Law ; Changyun Wen

LOCALIZATION AND TRACKING OF UNCONTROLLABLE UNDERWATER AGENTS: PARTICLE FILTER BASED FUSION OF ON-BODY IMUS AND STATIONARY CAMERAS ...... 6575 Ding Zhang ; Joaquin Gabaldon ; Lisa Lauderdale ; Matthew Johnson-Roberson ; Lance J. Miller ; Kira Barton ; K. Alex Shorter

STEERING CO-CENTERED AND CO-DIRECTIONAL OPTICAL AND ACOUSTIC BEAMS WITH A WATER-IMMERSIBLE MEMS SCANNING MIRROR FOR UNDERWATER RANGING AND COMMUNICATION...... 6582 Xiaoyu Duan ; Dezhen Song ; Jun Zou

A SIMPLE ADAPTIVE TRACKER WITH REMINISCENCES ...... 6596 Christopher Xie ; Emily Fox ; Zaid Harchaoui

LEARNING-DRIVEN COARSE-TO-FINE ARTICULATED ROBOT TRACKING ...... 6604 Christian Rauch ; Vladimir Ivan ; Timothy Hospedales ; Jamie Shotton ; Maurice Fallon

DIAGONALLY-DECOUPLED DIRECT VISUAL SERVOING ...... 6611 Geraldo Silveira ; Luiz Mirisola

2D LIDAR MAP PREDICTION VIA ESTIMATING MOTION FLOW WITH GRU ...... 6617 Yafei Song ; Yonghong Tian ; Gang Wang ; Mingyang Li

ROBOT EYE-HAND COORDINATION LEARNING BY WATCHING HUMAN DEMONSTRATIONS: A TASK FUNCTION APPROXIMATION APPROACH ...... 6624 Jun Jin ; Laura Petrich ; Masood Dehghan ; Zichen Zhang ; Martin Jagersand

VISION-BASED DYNAMIC CONTROL OF CAR-LIKE MOBILE ROBOTS ...... 6631 Shunbo Zhou ; Zhe Liu ; Chuanzhe Suo ; Hesheng Wang ; Hongchao Zhao ; Yun-Hui Liu

UNCERTAINTY ESTIMATION FOR PROJECTING LIDAR POINTS ONTO CAMERA IMAGES FOR MOVING PLATFORMS...... 6637 Charika De Alvis ; Mao Shan ; Stewart Worrall ; Eduardo Nebot

MODELING AND ANALYSIS OF MOTION DATA FROM DYNAMICALLY POSITIONED VESSELS FOR SEA STATE ESTIMATION...... 6644 Xu Cheng ; Guoyuan Li ; Robert Skulstad ; Shengyong Chen ; Hans Petter Hildre ; Houxiang Zhang

VISUAL LOCALIZATION AT INTERSECTIONS WITH DIGITAL MAPS ...... 6651 Augusto Luis Ballardini ; Daniele Cattaneo ; Domenico Giorgio Sorrenti

INTERACTION-AWARE MULTI-AGENT TRACKING AND PROBABILISTIC BEHAVIOR PREDICTION VIA ADVERSARIAL LEARNING ...... 6658 Jiachen Li ; Hengbo Ma ; Masayoshi Tomizuka

MODEL PREDICTIVE CONTROL OF RIDE-SHARING AUTONOMOUS MOBILITY-ON- DEMAND SYSTEMS...... 6665 Matthew Tsao ; Dejan Milojevic ; Claudio Ruch ; Mauro Salazar ; Emilio Frazzoli ; Marco Pavone

A HIERARCHICAL FRAMEWORK FOR COORDINATING LARGE-SCALE ROBOT NETWORKS...... 6672 Zhe Liu ; Shunbo Zhou ; Hesheng Wang ; Yi Shen ; Haoang Li ; Yun-Hui Liu

EASYLABEL: A SEMI-AUTOMATIC PIXEL-WISE OBJECT ANNOTATION TOOL FOR CREATING ROBOTIC RGB-D DATASETS ...... 6678 Markus Suchi ; Timothy Patten ; David Fischinger ; Markus Vincze

BLVD: BUILDING A LARGE-SCALE 5D SEMANTICS BENCHMARK FOR AUTONOMOUS DRIVING ...... 6685 Jianru Xue ; Jianwu Fang ; Tao Li ; Bohua Zhang ; Pu Zhang ; Zhen Ye ; Jian Dou

A BENCHMARKING FRAMEWORK FOR SYSTEMATIC EVALUATION OF ROBOTIC PICK- AND-PLACE SYSTEMS IN AN INDUSTRIAL GROCERY SETTING...... 6692 Pavlos Triantafyllou ; Hussein Mnyusiwalla ; Panagiotis Sotiropoulos ; Máximo A. Roa ; Duncan Russell ; Graham Deacon

CHARACTERIZING VISUAL LOCALIZATION AND MAPPING DATASETS...... 6699 Sajad Saeedi ; Eduardo D C Carvalho ; Wenbin Li ; Dimos Tzoumanikas ; Stefan Leutenegger ; Paul H J Kelly ; Andrew J. Davison

QUANTIFYING THE REALITY GAP IN ROBOTIC MANIPULATION TASKS...... 6706 Jack Collins ; David Howard ; Jurgen Leitner

ARE WE READY FOR AUTONOMOUS DRONE RACING? THE UZH-FPV DRONE RACING DATASET ...... 6713 Jeffrey Delmerico ; Titus Cieslewski ; Henri Rebecq ; Matthias Faessler ; Davide Scaramuzza

PRACTICAL GUIDE TO SOLVE THE MINIMUM-EFFORT PROBLEM WITH GEOMETRIC ALGORITHMS AND B-SPLINES ...... 6720 Alvaro Paz ; Gustavo Arechavaleta

DYNAMICS CONSENSUS BETWEEN CENTROIDAL AND WHOLE-BODY MODELS FOR LOCOMOTION OF LEGGED ROBOTS...... 6727 Rohan Budhiraja ; Justin Carpentier ; Nicolas Mansard

ADAPTIVE BINGHAM DISTRIBUTION BASED FILTER FOR SE (3) ESTIMATION ...... 6734 Feiran Li ; Gustavo Alfonso Garcia Ricardez ; Jun Takamatsu ; Tsukasa Ogasawara

GUSTO: GUARANTEED SEQUENTIAL TRAJECTORY OPTIMIZATION VIA SEQUENTIAL CONVEX PROGRAMMING...... 6741 Riccardo Bonalli ; Abhishek Cauligi ; Andrew Bylard ; Marco Pavone

EFFICIENT COMPUTATION OF FEEDBACK CONTROL FOR EQUALITY-CONSTRAINED LQR ...... 6748 Forrest Laine ; Claire Tomlin

MITIGATING ENERGY LOSS IN A ROBOT HOPPING ON A PHYSICALLY EMULATED DISSIPATIVE SUBSTRATE ...... 6763 Sonia Roberts ; Daniel E. Koditschek

ENERGY EFFICIENT NAVIGATION FOR RUNNING LEGGED ROBOTS...... 6770 Mario Y. Harper ; John V. Nicholson ; Emmanuel G. Collins ; Jason Pusey ; Jonathan E. Clark

FORCE-CONTROLLABLE QUADRUPED ROBOT SYSTEM WITH CAPACITIVE-TYPE JOINT TORQUE SENSOR...... 6777 Yoon Haeng Lee ; Young Hun Lee ; Hyunyong Lee ; Hansol Kang ; Luong Tin Phan ; Sungmoon Jin ; Yong Bum Kim ; Dong-Yeop Seok ; Seung Yeon Lee ; Hyungpil Moon ; Ja Choon Koo ; Hyouk Ryeol Choi

VISUAL DIVER RECOGNITION FOR UNDERWATER HUMAN-ROBOT COLLABORATION...... 6839 Youya Xia ; Junaed Sattar

AN INTEGRATED APPROACH TO NAVIGATION AND CONTROL IN MICRO UNDERWATER ROBOTICS USING RADIO-FREQUENCY LOCALIZATION...... 6846 Daniel A Duecker ; Tobias Johannink ; Edwin Kreuzer ; Viktor Rausch ; Eugen Solowjow

ONLINE UTILITY-OPTIMAL TRAJECTORY DESIGN FOR TIME-VARYING OCEAN ENVIRONMENTS ...... 6853 Mohan Krishna Nutalapati ; Shruti Joshi ; Ketan Rajawat

ONLINE CONTINUOUS MAPPING USING GAUSSIAN PROCESS IMPLICIT SURFACES...... 6884 Bhoram Lee ; Clark Zhang ; Zonghao Huang ; Daniel D. Lee

DENSE 3D VISUAL MAPPING VIA SEMANTIC SIMPLIFICATION...... 6891 Luca Morreale ; Andrea Romanoni ; Matteo Matteucci ; Politecnico Di Milano

PREDICTING THE LAYOUT OF PARTIALLY OBSERVED ROOMS FROM GRID MAPS...... 6898 Matteo Luperto ; Valerio Arcerito ; Francesco Amigoni

DENSE SURFACE RECONSTRUCTION FROM MONOCULAR VISION AND LIDAR ...... 6905 Zimo Li ; Prakruti C. Gogia ; Michael Kaess

FSMI: FAST COMPUTATION OF SHANNON MUTUAL INFORMATION FOR INFORMATION- THEORETIC MAPPING ...... 6912 Zhengdong Zhang ; Trevor Henderson ; Vivienne Sze ; Sertac Karaman

REAL-TIME SCALABLE DENSE SURFEL MAPPING ...... 6919 Kaixuan Wang ; Fei Gao ; Shaojie Shen

INFERRING COMPACT REPRESENTATIONS FOR EFFICIENT NATURAL LANGUAGE UNDERSTANDING OF ROBOT INSTRUCTIONS ...... 6926 Siddharth Patki ; Andrea F. Daniele ; Matthew R. Walter ; Thomas M. Howard

IMPROVING GROUNDED NATURAL LANGUAGE UNDERSTANDING THROUGH HUMAN- ROBOT DIALOG...... 6934 Jesse Thomason ; Aishwarya Padmakumar ; Jivko Sinapov ; Nick Walker ; Yuqian Jiang ; Harel Yedidsion ; Justin Hart ; Peter Stone ; Raymond J. Mooney

PROSPECTION: INTERPRETABLE PLANS FROM LANGUAGE BY PREDICTING THE FUTURE...... 6942 Chris Paxton ; Yonatan Bisk ; Jesse Thomason ; Arunkumar Byravan ; Dieter Foxl

FLIGHT, CAMERA, ACTION! USING NATURAL LANGUAGE AND MIXED REALITY TO CONTROL A DRONE...... 6949 Baichuan Huang ; Deniz Bayazit ; Daniel Ullman ; Nakul Gopalan ; Stefanie Tellex

AN INTERACTIVE SCENE GENERATION USING NATURAL LANGUAGE ...... 6957 Yu Cheng ; Yan Shi ; Zhiyong Sun ; Dezhi Feng ; Lixin Dong

EFFICIENT GENERATION OF MOTION PLANS FROM ATTRIBUTE-BASED NATURAL LANGUAGE INSTRUCTIONS USING DYNAMIC CONSTRAINT MAPPING...... 6964 Jae Sung Park ; Biao Jia ; Mohit Bansal ; Dinesh Manocha

SAFE AND FAST PATH PLANNING IN CLUTTERED ENVIRONMENT USING CONTIGUOUS FREE-SPACE PARTITIONING ...... 6972 Arup Kumar Sadhu ; Shubham Shukla ; Titas Bera ; Ranjan Dasgupta

LEARNING FROM EXTRAPOLATED CORRECTIONS ...... 7034 Jason Y. Zhang ; Anca D. Dragan

MERGING POSITION AND ORIENTATION MOTION PRIMITIVES...... 7041 Matteo Saveriano ; Felix Franzel ; Dongheui Lee

LEARNING HAPTIC EXPLORATION SCHEMES FOR ADAPTIVE TASK EXECUTION ...... 7048 Thomas Eiband ; Matteo Saveriano ; Dongheui Lee

LEARNING MOTION TRAJECTORIES FROM PHASE SPACE ANALYSIS OF THE DEMONSTRATION ...... 7055 Paul Gesel ; Momotaz Begum ; Dain La Roche

I CAN SEE CLEARLY NOW: IMAGE RESTORATION VIA DE-RAINING ...... 7087 Horia Porav ; Tom Bruls ; Paul Newman

BONNET: AN OPEN-SOURCE TRAINING AND DEPLOYMENT FRAMEWORK FOR SEMANTIC SEGMENTATION IN ROBOTICS USING CNNS ...... 7094 Andres Milioto ; Cyrill Stachniss

REAL-TIME JOINT SEMANTIC SEGMENTATION AND DEPTH ESTIMATION USING ASYMMETRIC ANNOTATIONS...... 7101 Vladimir Nekrasov ; Thanuja Dharmasiri ; Andrew Spek ; Tom Drummond ; Chunhua Shen ; Ian Reid

SEMANTIC MAPPING FOR VIEW-INVARIANT RELOCALIZATION...... 7108 Jimmy Li ; David Meger ; Gregory Dudek

AUTOMATIC TARGETING OF PLANT CELLS VIA CELL SEGMENTATION AND ROBUST SCENE-ADAPTIVE TRACKING ...... 7116 Ishara Paranawithana ; Zhong Hoo Chau ; Liangjing Yang ; Zhong Chen ; Kamal Youcef-Toumi ; U-Xuan Tan

REAL-TIME MONOCULAR OBJECT-MODEL AWARE SPARSE SLAM...... 7123 Mehdi Hosseinzadeh ; Kejie Li ; Yasir Latif ; Ian Reid

PROBABILISTIC PROJECTIVE ASSOCIATION AND SEMANTIC GUIDED RELOCALIZATION FOR DENSE RECONSTRUCTION ...... 7130 Sheng Yang ; Zheng-Fei Kuang ; Yan-Pei Cao ; Yu-Kun Lai ; Shi-Min Hu

MRS-VPR: A MULTI-RESOLUTION SAMPLING BASED GLOBAL VISUAL PLACE RECOGNITION METHOD...... 7137 Peng Yin ; Rangaprasad Arun Srivatsan ; Yin Chen ; Xueqian Li ; Hongda Zhang ; Lingyun Xu ; Lu Li ; Zhenzhong Jia ; Jianmin Ji ; Yuqing He

ROBUST LOW-OVERLAP 3-D POINT CLOUD REGISTRATION FOR OUTLIER REJECTION ...... 7143 John Stechschulte ; Nisar Ahmed ; Christoffer Heckman

GENERALIZED CONTROLLERS IN POMDP DECISION-MAKING...... 7166 Kyle Hollins Wray ; Shlomo Zilberstein

CONTINUOUS VALUE ITERATION (CVI) REINFORCEMENT LEARNING AND IMAGINARY EXPERIENCE REPLAY (IER) FOR LEARNING MULTI-GOAL, CONTINUOUS ACTION AND STATE SPACE CONTROLLERS...... 7173 Andreas Gerken ; Michael Spranger

IX-BSP: BELIEF SPACE PLANNING THROUGH INCREMENTAL EXPECTATION...... 7180 Elad I. Farhi ; Vadim Indelman

WHAT AM I TOUCHING? LEARNING TO CLASSIFY TERRAIN VIA HAPTIC SENSING...... 7187 Jakub Bednarek ; Michal Bednarek ; Lorenz Wellhausen ; Marco Hutter ; Krzysztof Walas

MULTI-OBJECT SEARCH USING OBJECT-ORIENTED POMDPS...... 7194 Arthur Wandzel ; Yoonseon Oh ; Michael Fishman ; Nishanth Kumar ; Wong Lawson L. S. ; Stefanie Tellex

DEPTH GENERATION NETWORK: ESTIMATING REAL WORLD DEPTH FROM STEREO AND DEPTH IMAGES...... 7201 Zhipeng Dong ; Yi Gao ; Qinyuan Ren ; Yunhui Yan ; Fei Chen

MULTI-TASK TEMPLATE MATCHING FOR OBJECT DETECTION, SEGMENTATION AND POSE ESTIMATION USING DEPTH IMAGES...... 7207 Kiru Park ; Timothy Patten ; Johann Prankl ; Markus Vincze

A CLUSTERING APPROACH TO CATEGORIZING 7 DEGREE-OF-FREEDOM ARM MOTIONS DURING ACTIVITIES OF DAILY LIVING...... 7214 Yuri Gloumakov ; Adam J. Spiers ; Aaron M. Dollar

FACTORED POSE ESTIMATION OF ARTICULATED OBJECTS USING EFFICIENT NONPARAMETRIC BELIEF PROPAGATION...... 7221 Karthik Desingh ; Shiyang Lu ; Anthony Opipari ; Odest Chadwicke Jenkins

DOMAIN RANDOMIZATION FOR ACTIVE POSE ESTIMATION...... 7228 Xinyi Ren ; Jianlan Luo ; Eugen Solowjow ; Juan Aparicio Ojea ; Abhishek Gupta ; Aviv Tamar ; Pieter Abbeel

GRASPFUSION: REALIZING COMPLEX MOTION BY LEARNING AND FUSING GRASP MODALITIES WITH INSTANCE SEGMENTATION...... 7235 Shun Hasegawa ; Kentaro Wada ; Shingo Kitagawa ; Yuto Uchimi ; Kei Okada ; Masayuki Inaba

FACTORED CONTEXTUAL POLICY SEARCH WITH BAYESIAN OPTIMIZATION...... 7242 Robert Pinsler ; Peter Karkus ; Andras Kupcsik ; David Hsu ; Wee Sun Lee

STRUCTURED DOMAIN RANDOMIZATION: BRIDGING THE REALITY GAP BY CONTEXT- AWARE SYNTHETIC DATA ...... 7249 Aayush Prakash ; Shaad Boochoon ; Mark Brophy ; David Acuna ; Eric Cameracci ; Gavriel State ; Omer Shapira ; Stan Birchfield

PROBABILISTIC ACTIVE FILTERING FOR OBJECT SEARCH IN CLUTTER...... 7256 James Poon ; Yunduan Cui ; Junichiro Ooga ; Akihito Ogawa ; Takamitsu Matsubara

ROBUST 3D OBJECT CLASSIFICATION BY COMBINING POINT PAIR FEATURES AND GRAPH CONVOLUTION ...... 7262 Jean-Baptiste Weibel ; Timothy Patten ; Markus Vincze

DISCRETE ROTATION EQUIVARIANCE FOR POINT CLOUD RECOGNITION...... 7269 Jiaxin Li ; Yingcai Bi ; Gim Hee Lee

MVX-NET: MULTIMODAL VOXELNET FOR 3D OBJECT DETECTION ...... 7276 Vishwanath A. Sindagi ; Yin Zhou ; Oncel Tuzel

SEGMENTING UNKNOWN 3D OBJECTS FROM REAL DEPTH IMAGES USING MASK R-CNN TRAINED ON SYNTHETIC DATA ...... 7283 Michael Danielczuk ; Matthew Matl ; Saurabh Gupta ; Andrew Li ; Andrew Lee ; Jeffrey Mahler ; Ken Goldberg

MULTI-MODAL GEOMETRIC LEARNING FOR GRASPING AND MANIPULATION ...... 7339 David Watkins-Valls ; Jacob Varley ; Peter Allen

PANTHERA: DESIGN OF A RECONFIGURABLE PAVEMENT SWEEPING ROBOT ...... 7346 Abdullah A. Hayat ; Rizuwana Parween ; Mohan R. Elara ; K. Parsuraman ; Prathap S. Kandasamy

AUTOMATIC LEG REGENERATION FOR ROBOT MOBILITY RECOVERY ...... 7353 Liyu Wang ; Ronald S. Fearing

GEOMETRIC INTERPRETATION OF THE GENERAL POE MODEL FOR A SERIAL-LINK ROBOT VIA CONVERSION INTO D-H PARAMETERIZATION...... 7360 Liao Wu ; Ross Crawford ; Jonathan Roberts

DYNAMIC FRICTION MODEL WITH THERMAL AND LOAD DEPENDENCY: MODELING, COMPENSATION, AND EXTERNAL FORCE ESTIMATION ...... 7367 Maged Iskandar ; Sebastian Wolf

ECHINODERM INSPIRED VARIABLE STIFFNESS SOFT ACTUATOR WITH CONNECTED OSSICLE STRUCTURE ...... 7389 Hwayeong Jeong ; Jung Kim

CONTROLLABILITY PRE-VERIFICATION OF SILICONE SOFT ROBOTS BASED ON FINITE- ELEMENT METHOD ...... 7395 G. Zheng ; O. Goury ; M. Thieffry ; A. Kruszewski ; C. Duriez

A VACUUM-DRIVEN ORIGAMI “MAGIC-BALL” SOFT GRIPPER ...... 7401 Shuguang Li ; John J. Stampfli ; Helen J. Xu ; Elian Malkin ; Evelin Villegas Diaz ; Daniela Rus ; Robert J. Wood

AZIMUTHAL SHEAR DEFORMATION OF A NOVEL SOFT FIBER-REINFORCED ROTARY PNEUMATIC ACTUATOR...... 7409 Young Min Lee ; Hyuk Jin Lee ; Hyung Pil Moon ; Hyouk Ryeol Choi ; Ja Choon Koo

INFORA: A NOVEL INFLATABLE ORIGAMI-BASED ACTUATOR...... 7415 A. Leylavi Shoushtari ; G. A. Naselli ; A. Sadeghi ; B. Mazzolai

DYNAMIC PERIOD-TWO GAIT GENERATION IN A HEXAPOD ROBOT BASED ON THE FIXED-POINT MOTION OF A REDUCED-ORDER MODEL...... 7427 Wei-Chun Lu ; Pei-Chun Lin

REALIZING LEARNED QUADRUPED LOCOMOTION BEHAVIORS THROUGH KINEMATIC MOTION PRIMITIVES ...... 7434 Abhik Singla ; Shounak Bhattacharya ; Dhaivat Dholakiya ; Shalabh Bhatnagar ; Ashitava Ghosal ; Bharadwaj Amrutur ; Shishir Kolathaya

SINGLE-SHOT FOOTHOLD SELECTION AND CONSTRAINT EVALUATION FOR QUADRUPED LOCOMOTION ...... 7441 Dominik Belter ; Jakub Bednarek ; Hsiu-Chin Lin ; Guiyang Xin ; Michael Mistry

OPTIMIZED JUMPING ON THE MIT CHEETAH 3 ROBOT ...... 7448 Quan Nguyen ; Matthew J. Powell ; Benjamin Katz ; Jared Di Carlo ; Sangbae Kim

LIFT YOUR LEG: MECHANICS OF RUNNING THROUGH FLUIDS ...... 7455 Ryan Alicea ; Kyle Ladyko ; Jonathan Clark

SAFELY PROBABILISTICALLY COMPLETE REAL-TIME PLANNING AND EXPLORATION IN UNKNOWN ENVIRONMENTS ...... 7470 David Fridovich-Keil ; Jaime F. Fisac ; Claire J. Tomlin

HANDLING ROBOT CONSTRAINTS WITHIN A SET-BASED MULTI-TASK PRIORITY INVERSE KINEMATICS FRAMEWORK...... 7477 Paolo Di Lillo ; Stefano Chiaverini ; Gianluca Antonelli

COMPLIANT LIMB SENSING AND CONTROL FOR SAFE HUMAN-ROBOT INTERACTIONS ...... 7484 Colin Miyata ; Mojtaba Ahmadi

ASCENTO: A TWO-WHEELED JUMPING ROBOT...... 7515 Victor Klemm ; Alessandro Morra ; Ciro Salzmann ; Florian Tschopp ; Karen Bodie ; Lionel Gulich ; Nicola Küng ; Dominik Mannhart ; Corentin Pfister ; Marcus Vierneisel ; Florian Weber ; Robin Deuber ; Roland Siegwart

PATH FOLLOWING CONTROLLER FOR DIFFERENTIALLY DRIVEN PLANAR ROBOTS WITH LIMITED TORQUES AND UNCERTAIN AND CHANGING DYNAMICS ...... 7522 V. Pitkänen ; V. Halonen ; A. Kemppainen ; J. Röning

NONLINEAR TIRE CORNERING STIFFNESS OBSERVER FOR A DOUBLE STEERING OFF- ROAD MOBILE ROBOT...... 7529 Mohamed Fnadi ; Frédéric Plumet ; Faiz Benamar

HIERARCHICAL OPTIMIZATION FOR WHOLE-BODY CONTROL OF WHEELED INVERTED PENDULUM HUMANOIDS ...... 7535 Munzir Zafar ; Seth Hutchinson ; Evangelos A. Theodorou

AN ACTIVELY CONTROLLED VARIABLE STIFFNESS STRUCTURE VIA LAYER JAMMING AND PNEUMATIC ACTUATION...... 7555 Collin Mikol ; Hai-Jun Su

A FLOATING-PISTON HYDROSTATIC LINEAR ACTUATOR AND REMOTE-DIRECT-DRIVE 2-DOF GRIPPER ...... 7562 Eric Schwarm ; Kevin M. Gravesmill ; John P. Whitney

3D PRINTED FERROFLUID BASED SOFT ACTUATORS...... 7569 Ela Sachyani Keneth ; Alexander R. Epstein ; Michal Soreni Harari ; Ryan St. Pierre ; Shlomo Magdassi ; Sarah Bergbreiter

LEARNING PRIMITIVE SKILLS FOR MOBILE ROBOTS...... 7597 Yifeng Zhu ; Devin Schwab ; Manuela Veloso

COVERAGE PATH PLANNING IN BELIEF SPACE ...... 7604 Robert Schirmer ; Peter Biber ; Cyrill Stachniss

CONTINUOUS CONTROL FOR HIGH-DIMENSIONAL STATE SPACES: AN INTERACTIVE LEARNING APPROACH ...... 7611 Rodrigo Pérez-Dattari ; Carlos Celemin ; Javier Ruiz-Del-Solar ; Jens Kober

A PREDICTIVE REWARD FUNCTION FOR HUMAN-LIKE DRIVING BASED ON A TRANSITION MODEL OF SURROUNDING ENVIRONMENT ...... 7618 Daiki Hayashi ; Yunfei Xu ; Takashi Bando ; Kazuya Takeda

ADAPS: AUTONOMOUS DRIVING VIA PRINCIPLED SIMULATIONS...... 7625 Weizi Li ; David Wolinski ; Ming C. Lin

PLANNING COORDINATED EVENT OBSERVATION FOR STRUCTURED NARRATIVES ...... 7632 Dylan A. Shell ; Li Huang ; Aaron T. Becker ; Jason M. O’Kane

ALGORITHMIC RESOLUTION OF MULTIPLE IMPACTS IN NONSMOOTH MECHANICAL SYSTEMS WITH SWITCHING CONSTRAINTS ...... 7639 Yangzhi Li ; Haoyong Yu ; David J. Braun

RIGID BODY MOTION PREDICTION WITH PLANAR NON-CONVEX CONTACT PATCH ...... 7646 Jiayin Xie ; Nilanjan Chakraborty

A DATA-DRIVEN APPROACH FOR FAST SIMULATION OF ROBOT LOCOMOTION ON GRANULAR MEDIA ...... 7653 Yifan Zhu ; Laith Abdulmajeid ; Kris Hauser

CONTROLLER SYNTHESIS FOR DISCRETE-TIME HYBRID POLYNOMIAL SYSTEMS VIA OCCUPATION MEASURES...... 7675 Weiqiao Han ; Russ Tedrake

OPTIMAL PATH PLANNING FOR w-REGULAR OBJECTIVES WITH ABSTRACTION- REFINEMENT ...... 7683 Yoke Peng Leong ; Pavithra Prabhakar

SAMPLING-BASED POLYTOPIC TREES FOR APPROXIMATE OPTIMAL CONTROL OF PIECEWISE AFFINE SYSTEMS ...... 7690 Sadra Sadraddini ; Russ Tedrake

A CLASSIFICATION-BASED APPROACH FOR APPROXIMATE REACHABILITY ...... 7697 Vicenç Rubies-Royo ; David Fridovich-Keil ; Sylvia Herbert ; Claire J. Tomlin

IMPROVING DRONE LOCALISATION AROUND WIND TURBINES USING MONOCULAR MODEL-BASED TRACKING...... 7713 Oliver Moolan-Feroze ; Konstantinos Karachalios ; Dimitrios N. Nikolaidis ; Andrew Calway

EXPERIMENTAL ASSESSMENT OF PLUME MAPPING USING POINT MEASUREMENTS FROM UNMANNED VEHICLES...... 7720 Michael Hutchinson ; Pawel Ladosz ; Cunjia Liu ; Wen-Hua Chen

ONLINE DEEP LEARNING FOR IMPROVED TRAJECTORY TRACKING OF UNMANNED AERIAL VEHICLES USING EXPERT KNOWLEDGE...... 7727 Andriy Sarabakha ; Erdal Kayacan

DECENTRALIZED COLLABORATIVE TRANSPORT OF FABRICS USING MICRO-UAVS...... 7734 Ryan Cotsakis ; David St-Onge ; Giovanni Beltrame

PRECISION STATIONARY FLIGHT OF A ROBOTIC HUMMINGBIRD...... 7741 Ali Roshanbin ; Emanuele Garone ; André Preumont

ROBUST ATTITUDE ESTIMATION USING AN ADAPTIVE UNSCENTED KALMAN FILTER...... 7748 Chiella Antonio C. B. ; Teixeira Bruno O. S. ; Pereira Guilherme A. S.

ONE-SHOT LEARNING OF MULTI-STEP TASKS FROM OBSERVATION VIA ACTIVITY LOCALIZATION IN AUXILIARY VIDEO...... 7755 Wonjoon Goo ; Scott Niekum

LVIS: LEARNING FROM VALUE FUNCTION INTERVALS FOR CONTACT-AWARE ROBOT CONTROLLERS...... 7762 Robin Deits ; Twan Koolen ; Russ Tedrake

AUGMENTING ACTION MODEL LEARNING BY NON-GEOMETRIC FEATURES ...... 7769 Iman Nematollahi ; Daniel Kuhner ; Tim Welschehold ; Wolfram Burgard

SKILL ACQUISITION VIA AUTOMATED MULTI-COORDINATE COST BALANCING...... 7776 Harish Ravichandar ; S. Reza Ahmadzadeh ; M. Asif Rana ; Sonia Chernova

REAL-TIME MULTISENSORY AFFORDANCE-BASED CONTROL FOR ADAPTIVE OBJECT MANIPULATION...... 7783 Vivian Chu ; Reymundo A. Gutierrez ; Sonia Chernova ; Andrea L. Thomaz

LEARNING BEHAVIOR TREES FROM DEMONSTRATION ...... 7791 Kevin French ; Shiyu Wu ; Tianyang Pan ; Zheming Zhou ; Odest Chadwicke Jenkins

LEVERAGING TEMPORAL REASONING FOR POLICY SELECTION IN LEARNING FROM DEMONSTRATION ...... 7798 Estuardo Carpio ; Madison Clark-Turner ; Paul Gesel ; Momotaz Begum

IMITATING HUMAN SEARCH STRATEGIES FOR ASSEMBLY ...... 7821 Dennis Ehlers ; Markku Suomalainen ; Jens Lundell ; Ville Kyrki

ACTIVE MULTI-CONTACT CONTINUOUS TACTILE EXPLORATION WITH GAUSSIAN PROCESS DIFFERENTIAL ENTROPY...... 7844 Danny Driess ; Daniel Hennes ; Marc Toussaint

LEARNING ROBUST MANIPULATION SKILLS WITH GUIDED POLICY SEARCH VIA GENERATIVE MOTOR REFLEXES ...... 7851 Philipp Ennen ; Pia Bresenitz ; Rene Vossen ; Frank Hees

INCREMENTAL LEARNING OF SPATIAL-TEMPORAL FEATURES IN HUMAN MOTION PATTERNS WITH MIXTURE MODEL FOR PLANNING MOTION OF A COLLABORATIVE ROBOT IN ASSEMBLY LINES...... 7858 Akira Kanazawa ; Jun Kinugawa ; Kazuhiro Kosuge

LEARNING QUICKLY TO PLAN QUICKLY USING MODULAR META-LEARNING...... 7865 Rohan Chitnis ; Leslie Pack Kaelbling ; Tomás Lozano-Pérez

DEEP MULTI-SENSORY OBJECT CATEGORY RECOGNITION USING INTERACTIVE BEHAVIORAL EXPLORATION ...... 7872 Gyan Tatiya ; Jivko Sinapov

DISCONTINUITY-SENSITIVE OPTIMAL CONTROL LEARNING BY MIXTURE OF EXPERTS...... 7892 Gao Tang ; Kris Hauser

WORMHOLE LEARNING...... 7899 Alessandro Zanardi ; Julian Zilly ; Andreas Aumiller ; Andrea Censi ; Emilio Frazzoli

SHARING THE LOAD: HUMAN-ROBOT TEAM LIFTING USING MUSCLE ACTIVITY...... 7906 Joseph Delpreto ; Daniela Rus

POSITION CONTROL OF MEDICAL CABLE-DRIVEN FLEXIBLE INSTRUMENTS BY COMBINING MACHINE LEARNING AND KINEMATIC ANALYSIS...... 7913 Rafael Aleluia Porto ; Florent Nageotte ; Philippe Zanne ; Michel De Mathelin

ONLINE LEARNING FOR PROACTIVE OBSTACLE AVOIDANCE WITH POWERED TRANSFEMORAL PROSTHESES ...... 7920 Max Gordon ; Nitish Thatte ; Hartmut Geyer

PASSIVE DYNAMIC OBJECT LOCOMOTION BY ROCKING AND WALKING MANIPULATION...... 7926 Abdullah Nazir ; Jungwon Seo

AUTONOMOUS LATCHING SYSTEM FOR ROBOTIC BOATS...... 7933 Luis A. Mateos ; Wei Wang ; Banti Gheneti ; Fabio Duarte ; Carlo Ratti ; Daniela Rus

STREAMING SCENE MAPS FOR CO-ROBOTIC EXPLORATION IN BANDWIDTH LIMITED ENVIRONMENTS ...... 7940 Yogesh Girdhar ; Levi Cai ; Stewart Jamieson ; Nathan McGuire ; Genevieve Flaspohler ; Stefano Suman ; Brian Claus

UWSTEREONET: UNSUPERVISED LEARNING FOR DEPTH ESTIMATION AND COLOR CORRECTION OF UNDERWATER STEREO IMAGERY...... 7947 Katherine A. Skinner ; Junming Zhang ; Elizabeth A. Olson ; Matthew Johnson-Roberson

DESIGN AND PARAMETER OPTIMIZATION OF A 3-PSR PARALLEL MECHANISM FOR REPLICATING WAVE AND BOAT MOTION ...... 7955 Kurt Talke ; Dylan Drotman ; Nicholas Stroumtsos ; Mauricio De Oliveira ; Thomas Bewley

A FRAMEWORK FOR ON-LINE LEARNING OF UNDERWATER VEHICLES DYNAMIC MODELS...... 7969 Bilal Wehbe ; Marc Hildebrandt ; Frank Kirchner

INCORPORATING END-TO-END SPEECH RECOGNITION MODELS FOR SENTIMENT ANALYSIS...... 7976 Egor Lakomkin ; Mohammad Ali Zamani ; Cornelius Weber ; Sven Magg ; Stefan Wermter

IMPROVED OPTICAL FLOW FOR GESTURE-BASED HUMAN-ROBOT INTERACTION ...... 7983 Jen-Yen Chang ; Antonio Tejero-De-Pablos ; Tatsuya Harada

DECENTRALIZATION OF MULTIAGENT POLICIES BY LEARNING WHAT TO COMMUNICATE ...... 7990 James Paulos ; Steven W. Chen ; Daigo Shishika ; Vijay Kumar

ACQUISITION OF WORD-OBJECT ASSOCIATIONS FROM HUMAN-ROBOT AND HUMAN- HUMAN DIALOGUES...... 7997 Sepideh Sadeghi ; Brad Oosterveld ; Evan Krause ; Matthias Scheutz

ROBOT OBJECT REFERENCING THROUGH LEGIBLE SITUATED PROJECTIONS ...... 8004 Thomas Weng ; Leah Perlmutter ; Stefanos Nikolaidis ; Siddhartha Srinivasa ; Maya Cakmak

SECURITY-AWARE SYNTHESIS OF HUMAN-UAV PROTOCOLS ...... 8011 Mahmoud Elfar ; Haibei Zhu ; M. L. Cummings ; Miroslav Pajic

UNDERWATER COMMUNICATION USING FULL-BODY GESTURES AND OPTIMAL VARIABLE-LENGTH PREFIX CODES...... 8018 Karim Koreitem ; Jimmy Li ; Ian Karp ; Travis Manderson ; Gregory Dudek

WISDOM: WIRELESS SENSING-ASSISTED DISTRIBUTED ONLINE MAPPING ...... 8026 Charuvahan Adhivarahan ; Karthik Dantu

LEARNING RECURSIVE BAYESIAN NONPARAMETRIC MODELING OF MOVING TARGETS VIA MOBILE DECENTRALIZED SENSORS...... 8034 Chang Liu ; Yucheng Chen ; Jake Gemerek ; Hengye Yang ; Silvia Ferrari

UAV/UGV AUTONOMOUS COOPERATION: UAV ASSISTS UGV TO CLIMB A CLIFF BY ATTACHING A TETHER ...... 8041 Takahiro Miki ; Petr Khrapchenkov ; Koichi Hori

DISTRIBUTED MOTION TOMOGRAPHY FOR RECONSTRUCTION OF FLOW FIELDS ...... 8048 Dongsik Chang ; Fumin Zhang ; Jing Sun

WHO TAKES WHAT: USING RGB-D CAMERA AND INERTIAL SENSOR FOR UNMANNED MONITOR ...... 8063 Hsin-Wei Kao ; Ting-Yuan Ke ; Kate Ching-Ju Lin ; Yu-Chee Tseng

SOUND-INDICATED VISUAL OBJECT DETECTION FOR ROBOTIC EXPLORATION ...... 8070 Feng Wang ; Di Guo ; Huaping Liu ; Junfeng Zhou ; Fuchun Sun

HG-DAGGER: INTERACTIVE IMITATION LEARNING WITH HUMAN EXPERTS...... 8077 Michael Kelly ; Chelsea Sidrane ; Katherine Driggs-Campbell ; Mykel J. Kochenderfer

PROXIMITY HUMAN-ROBOT INTERACTION USING POINTING GESTURES AND A WRIST- MOUNTED IMU ...... 8084 Boris Gromov ; Gabriele Abbate ; Luca M. Gambardella ; Alessandro Giusti

LIDAR MEASUREMENT BIAS ESTIMATION VIA RETURN WAVEFORM MODELLING IN A CONTEXT OF 3D MAPPING ...... 8100 Johann Laconte ; Simon-Pierre Deschênes ; Mathieu Labussière ; François Pomerleau

AN EXTRINSIC CALIBRATION TOOL FOR RADAR, CAMERA AND LIDAR ...... 8107 Joris Domhof ; Kooij Julian F. P. ; Kooij Dariu M.

COMPENSATION OF MEASUREMENT NOISE AND BIAS IN GEOMETRIC ATTITUDE ESTIMATION ...... 8130 Yujendra Mitikiri ; Kamran Mohseni

HIERARCHICAL DEPTHWISE GRAPH CONVOLUTIONAL NEURAL NETWORK FOR 3D SEMANTIC SEGMENTATION OF POINT CLOUDS...... 8152 Zhidong Liang ; Ming Yang ; Liuyuan Deng ; Chunxiang Wang ; Bing Wang

CELLO-3D: ESTIMATING THE COVARIANCE OF ICP IN THE REAL WORLD ...... 8190 David Landry ; Francois Pomerleau ; Philippe Giguère

LOW-LATENCY VISUAL SLAM WITH APPEARANCE-ENHANCED LOCAL MAP BUILDING ...... 8213 Yipu Zhao ; Wenkai Ye ; Patricio A. Vela

INCREMENTAL VISUAL-INERTIAL 3D MESH GENERATION WITH STRUCTURAL REGULARITIES...... 8220 Antoni Rosinol ; Torsten Sattler ; Marc Pollefeys ; Luca Carlone

UNSUPERVISED OUT-OF-CONTEXT ACTION UNDERSTANDING ...... 8227 Hirokatsu Kataoka ; Yutaka Satoh

AIR-TO-GROUND SURVEILLANCE USING PREDICTIVE PURSUIT...... 8234 Sourav Dutta ; Chinwe Ekenna

ONLINE PLANNING FOR TARGET OBJECT SEARCH IN CLUTTER UNDER PARTIAL OBSERVABILITY...... 8241 Yuchen Xiao ; Sammie Katt ; Andreas Ten Pas ; Shengjian Chen ; Christopher Amato

LEARNING TO DRIVE IN A DAY ...... 8248 Alex Kendall ; Jeffrey Hawke ; David Janz ; Przemyslaw Mazur ; Daniele Reda ; John-Mark Allen ; Vinh-Dieu Lam ; Alex Bewley ; Amar Shah

GENERATING ADVERSARIAL DRIVING SCENARIOS IN HIGH-FIDELITY SIMULATORS ...... 8271 Yasasa Abeysirigoonawardena ; Florian Shkurti ; Gregory Dudek

DATA-DRIVEN CONTACT CLUSTERING FOR ROBOT SIMULATION...... 8278 Myungsin Kim ; Jaemin Yoon ; Dongwon Son ; Dongjun Lee

PAVILION: BRIDGING PHOTO-REALISM AND ROBOTICS ...... 8285 Fan Jiang ; Qi Hao

A REAL-TIME INTERACTIVE AUGMENTED REALITY DEPTH ESTIMATION TECHNIQUE FOR SURGICAL ROBOTICS...... 8291 M. Kalia ; N. Navab ; T. Salcudean

FORCE-BASED HETEROGENEOUS TRAFFIC SIMULATION FOR AUTONOMOUS VEHICLE TESTING ...... 8298 Qianwen Chao ; Xiaogang Jin ; Hen-Wei Huang ; Shaohui Foong ; Lap-Fai Yu ; Sai-Kit Yeung

DUAL REFINEMENT NETWORK FOR SINGLE-SHOT OBJECT DETECTION...... 8305 Xingyu Chen ; Xiyuan Yang ; Shihan Kong ; Zhengxing Wu ; Junzhi Yu

DISTANT VEHICLE DETECTION USING RADAR AND VISION ...... 8311 Simon Chadwick ; Will Maddern ; Paul Newman

CUSTOMIZING OBJECT DETECTORS FOR INDOOR ROBOTS...... 8318 Saif Alabachi ; Gita Sukthankar ; Rahul Sukthankar

SEMI SUPERVISED DEEP QUICK INSTANCE DETECTION AND SEGMENTATION...... 8325 Ashish Kumar ; L. Behera

MIXED FRAME-/EVENT-DRIVEN FAST PEDESTRIAN DETECTION...... 8332 Zhuangyi Jiang ; Pengfei Xia ; Kai Huang ; Walter Stechele ; Guang Chen ; Zhenshan Bing ; Alois Knoll

REAL-TIME VEHICLE DETECTION FROM SHORT-RANGE AERIAL IMAGE WITH COMPRESSED MOBILENET ...... 8339 Yuhang He ; Ziyu Pan ; Lingxi Li ; Yunxiao Shan ; Dongpu Cao ; Long Chen

GUARANTEED ACTIVE CONSTRAINTS ENFORCEMENT ON POINT CLOUD- APPROXIMATED REGIONS FOR SURGICAL APPLICATIONS ...... 8346 Theodora Kastritsi ; Dimitrios Papageorgiou ; Iason Sarantopoulos ; Sotiris Stavridis ; Zoe Doulgeri ; George A. Rovithakis

DESIGNING AN ACCURATE AND CUSTOMIZABLE EPIDURAL ANESTHESIA HAPTIC SIMULATOR ...... 8353 Thibault Sénac ; Arnaud Lelevé ; Richard Moreau ; Laurent Krahenbuhl ; Florent Sigwalt ; Christian Bauert ; Quentin Rouby

SLEEVE PNEUMATIC ARTIFICIAL MUSCLES FOR ANTAGONISTICALLY ACTUATED JOINTS...... 8360 Michael F. Cullinan ; Conor McGinn ; Kevin Kelly

SENSING SHEAR FORCES DURING FOOD MANIPULATION: RESOLVING THE TRADE-OFF BETWEEN RANGE AND SENSITIVITY...... 8367 Hanjun Song ; Tapomayukh Bhattacharjee ; Siddhartha S. Srinivasa

BENCHMARKING RESILIENCE OF ARTIFICIAL HANDS...... 8374 F. Negrello ; M. Garabini ; G. Grioli ; N. Tsagarakis ; A. Bicchi ; M. G. Catalano

CHIMP: A CONTACT BASED HILBERT MAP PLANNER ...... 8381 Constantin Uhde ; Emmanuel Dean-Leon ; Gordon Cheng

A NOVEL RECONFIGURABLE REVOLUTE JOINT WITH ADJUSTABLE STIFFNESS...... 8388 Zhongyi Li ; Weihai Chen ; Shaoping Bai

A NOVEL FORCE SENSOR WITH ZERO STIFFNESS AT CONTACT TRANSITION BASED ON OPTICAL LINE GENERATION ...... 8394 Jeremy Begey ; Mathieu Nierenberger ; Pierre Pfeiffer ; Sylvain Lecler ; Pierre Renaud

HYDRAULICALLY-ACTUATED COMPLIANT REVOLUTE JOINT FOR MEDICAL ROBOTIC SYSTEMS BASED ON MULTIMATERIAL ADDITIVE MANUFACTURING ...... 8401 A. Pfeil ; M. Siegfarth ; F. Geiskopf ; T. P. Pusch ; L. Barbé ; P. Renaud

MODEL-BASED ON-LINE ESTIMATION OF TIME-VARYING NONLINEAR JOINT STIFFNESS ON AN E-SERIES UNIVERSAL ROBOTS MANIPULATOR ...... 8408 Emil Madsen ; Oluf Skov Rosenlund ; David Brandt ; Xuping Zhang

A ROLLING FLEXURE MECHANISM FOR PROGRESSIVE STIFFNESS ACTUATORS...... 8415 Jöm Malzahn ; Eamon Barrett ; Nikos Tsagarakis

LOCOMOTION DYNAMICS OF A MINIATURE WAVE-LIKE ROBOT, MODELING AND EXPERIMENTS...... 8422 Lee-Hee Drory ; David Zarrouk

FABRIC SOFT POLY-LIMBS FOR PHYSICAL ASSISTANCE OF DAILY LIVING TASKS ...... 8429 Pham H. Nguyen ; I. B. Imran Mohd ; Curtis Sparks ; Francisco L. Arellano ; Wenlong Zhang ; Panagiotis Polygerinos

DESIGN OF A SOFT ANKLE-FOOT ORTHOSIS EXOSUIT FOR FOOT DROP ASSISTANCE...... 8436 Carly M. Thalman ; Joshua Hsu ; Laura Snyder ; Panagiotis Polygerinos

A DEPTH CAMERA-BASED SOFT FINGERTIP DEVICE FOR CONTACT REGION ESTIMATION AND PERCEPTION-ACTION COUPLING ...... 8443 Isabella Huang ; Jingjun Liu ; Ruzena Bajcsy

A PIPE-CLIMBING SOFT ROBOT ...... 8450 Gaurav Singh ; Sreekalyan Patiballa ; Xiaotian Zhang ; Girish Krishnan

GENERATION OF STEALTH WALKING GAIT ON LOW-FRICTION ROAD SURFACE...... 8464 Fumihiko Asano

SUPPORT SURFACE ESTIMATION FOR LEGGED ROBOTS...... 8470 Timon Homberger ; Lorenz Wellhausen ; Péter Fankhauser ; Marco Hutter

ALMA - ARTICULATED LOCOMOTION AND MANIPULATION FOR A TORQUE- CONTROLLABLE ROBOT ...... 8477 C. Dario Bellicoso ; Koen Krämer ; Markus Stäuble ; Dhionis Sako ; Fabian Jenelten ; Marko Bjelonic ; Marco Hutter

REAL-TIME MODEL PREDICTIVE CONTROL FOR VERSATILE DYNAMIC MOTIONS IN QUADRUPEDAL ROBOTS...... 8484 Yanran Ding ; Abhishek Pandala ; Hae-Won Park

SCANNING THE INTERNET FOR ROS: A VIEW OF SECURITY IN ROBOTICS RESEARCH ...... 8514 Nicholas Demarinis ; Stefanie Tellex ; Vasileios P. Kemerlis ; George Konidaris ; Rodrigo Fonseca

RISK AVERSE ROBUST ADVERSARIAL REINFORCEMENT LEARNING ...... 8522 Xinlei Pan ; Daniel Seita ; Yang Gao ; John Canny

BOUNDED COLLISION FORCE BY THE SOBOLEV NORM...... 8529 Kevin Haninger ; Dragoljub Surdilovic

LIABILITY, ETHICS, AND CULTURE-AWARE BEHAVIOR SPECIFICATION USING RULEBOOKS...... 8536 Andrea Censi ; Konstantin Slutsky ; Tichakorn Wongpiromsarn ; Dmitry Yershov ; Scott Pendleton ; James Fu ; Emilio Frazzoli

EARLY FAILURE DETECTION OF DEEP END-TO-END CONTROL POLICY BY REINFORCEMENT LEARNING ...... 8543 Keuntaek Lee ; Kamil Saigol ; Evangelos A. Theodorou

BRIDGING HAMILTON-JACOBI SAFETY ANALYSIS AND REINFORCEMENT LEARNING ...... 8550 Jaime F. Fisac ; Neil F. Lugovoy ; Vicenç Rubies-Royo ; Shromona Ghosh ; Claire J. Tomlin

TRAJECTORY PLANNING FOR A TRACTOR WITH MULTIPLE TRAILERS IN EXTREMELY NARROW ENVIRONMENTS: A UNIFIED APPROACH...... 8557 Bai Li ; Youmin Zhang ; Tankut Acarma ; Qi Kong ; Yue Zhang

A FRICTION-BASED KINEMATIC MODEL FOR SKID-STEER WHEELED MOBILE ROBOTS...... 8563 Sadegh Rabiee ; Joydeep Biswas

TURNING A CORNER WITH A DUBINS CAR...... 8570 Alan Koval ; Volkan Isler

MODELING AND STATE ESTIMATION OF A MICRO BALL-BALANCING ROBOT USING A HIGH YAW-RATE DYNAMIC MODEL AND AN EXTENDED KALMAN FILTER...... 8577 Eric Sihite ; Daniel Yang ; Thomas Bewley

ORIENTATION-AWARE MOTION PLANNING IN COMPLEX WORKSPACES USING ADAPTIVE HARMONIC POTENTIAL FIELDS...... 8592 Panagiotis Vlantis ; Constantinos Vrohidis ; Charalampos P. Bechlioulis ; Kostas J. Kyriakopoulos

ENERGY-AWARE TEMPORAL LOGIC MOTION PLANNING FOR MOBILE ROBOTS...... 8599 Tanmoy Kundu ; Indranil Saha

USING LOCAL EXPERIENCES FOR GLOBAL MOTION PLANNING ...... 8606 Constantinos Chamzas ; Anshumali Shrivastava ; Lydia E. Kavraki

DMP BASED TRAJECTORY TRACKING FOR A NONHOLONOMIC MOBILE ROBOT WITH AUTOMATIC GOAL ADAPTATION AND OBSTACLE AVOIDANCE ...... 8613 Radhe Shyam Sharma ; Santosh Shukla ; Hamad Karki ; Amit Shukla ; Laxmidhar Behera ; Venkatesh K S

PREDICTIVE COLLISION AVOIDANCE FOR THE DYNAMIC WINDOW APPROACH...... 8620 Marcell Missura ; Maren Bennewitz

KINEMATIC CONSTRAINTS BASED BI-DIRECTIONAL RRT (KB-RRT) WITH PARAMETERIZED TRAJECTORIES FOR ROBOT PATH PLANNING IN CLUTTERED ENVIRONMENT ...... 8627 Dibyendu Ghosh ; Ganeshram Nandakumar ; Karthik Narayanan ; Vinayak Honkote ; Sidharth Sharma

PREDICTING VEHICLE BEHAVIORS OVER AN EXTENDED HORIZON USING BEHAVIOR INTERACTION NETWORK ...... 8634 Wenchao Ding ; Jing Chen ; Shaojie Shen

MULTIMODAL SPATIO-TEMPORAL INFORMATION IN END-TO-END NETWORKS FOR AUTOMOTIVE STEERING PREDICTION ...... 8641 Mohamed Abou-Hussein ; Stefan H. Müller ; Joschka Boedecker

OVPC MESH: 3D FREE-SPACE REPRESENTATION FOR LOCAL GROUND VEHICLE NAVIGATION...... 8648 Fabio Ruetz ; Emili Hernández ; Mark Pfeiffer ; Helen Oleynikova ; Mark Cox ; Thomas Lowe ; Paulo Borges

ATTENTION-BASED LANE CHANGE PREDICTION ...... 8655 Oliver Scheel ; Naveen Shankar Nagaraja ; Loren Schwarz ; Nassir Navab ; Federico Tombari

SAFE REINFORCEMENT LEARNING WITH MODEL UNCERTAINTY ESTIMATES...... 8662 Björn Lötjens ; Michael Everett ; Jonathan P. How

USING DP TOWARDS A SHORTEST PATH PROBLEM-RELATED APPLICATION...... 8669 Jianhao Jiao ; Rui Fan ; Han Ma ; Ming Liu

IMPROVING DUAL-ARM ASSEMBLY BY MASTER-SLAVE COMPLIANCE ...... 8676 Markku Suomalainen ; Sylvain Calinon ; Emmanuel Pignat ; Ville Kyrki

GENERATION OF SYNCHRONIZED CONFIGURATION SPACE TRAJECTORIES OF MULTI- ROBOT SYSTEMS ...... 8683 Ariyan M. Kabir ; Alec Kanyuck ; Rishi K. Malhan ; Aniruddha V. Shembekar ; Shantanu Thakar ; Brual C. Shah ; Satyandra K. Gupta

REPLAB: A REPRODUCIBLE LOW-COST ARM BENCHMARK FOR ROBOTIC LEARNING ...... 8691 Brian Yang ; Dinesh Jayaraman ; Jesse Zhang ; Sergey Levine

STABLE BIN PACKING OF NON-CONVEX 3D OBJECTS WITH A ROBOT MANIPULATOR...... 8698 Fan Wang ; Kris Hauser

A CONSTRAINT PROGRAMMING APPROACH TO SIMULTANEOUS TASK ALLOCATION AND MOTION SCHEDULING FOR INDUSTRIAL DUAL-ARM MANIPULATION TASKS ...... 8705 Jan Kristof Behrens ; Ralph Lange ; Masoumeh Mansouri

SELF-SUPERVISED SURGICAL TOOL SEGMENTATION USING KINEMATIC INFORMATION ...... 8720 Cristian Da Costa Rocha ; Nicolas Padoy ; Benoit Rosa

NEEDLE LOCALIZATION FOR ROBOT-ASSISTED SUBRETINAL INJECTION BASED ON DEEP LEARNING ...... 8727 Mingchuan Zhou ; Xijia Wang ; Jakob Weiss ; Abouzar Eslami ; Kai Huang ; Mathias Maier ; Chris P. Lohmann ; Nassir Navab ; Alois Knoll ; M. Ali Nasseri

ROBUST GENERALIZED POINT SET REGISTRATION USING INHOMOGENEOUS HYBRID MIXTURE MODELS VIA EXPECTATION MAXIMIZATION...... 8733 Zhe Min ; Max Q.-H. Meng

VISUAL GUIDANCE AND AUTOMATIC CONTROL FOR ROBOTIC PERSONALIZED STENT GRAFT MANUFACTURING...... 8740 Yu Guo ; Miao Sun ; Frank Po Wen Lo ; Benny Lo

TOWARDS 3D PATH PLANNING FROM A SINGLE 2D FLUOROSCOPIC IMAGE FOR ROBOT ASSISTED FENESTRATED ENDOVASCULAR AORTIC REPAIR ...... 8747 Jian-Qing Zheng ; Xiao-Yun Zhou ; Celia Riga ; Guang-Zhong Yang

MULTI-VIEW PICKING: NEXT-BEST-VIEW REACHING FOR IMPROVED GRASPING IN CLUTTER...... 8762 Douglas Morrison ; Peter Corke ; Jürgen Leitner

A MULTI-SENSOR NEXT-BEST-VIEW FRAMEWORK FOR GEOMETRIC MODEL-BASED ROBOTICS APPLICATIONS ...... 8769 Jinda Cui ; John T. Wen ; Jeff Trinkle

MODEL-FREE OPTIMAL ESTIMATION AND SENSOR PLACEMENT FRAMEWORK FOR ELASTIC KINEMATIC CHAIN...... 8776 Joonmo Ahn ; Jaemin Yoon ; Jeongseob Lee ; Dongjun Lee

TREE SEARCH TECHNIQUES FOR MINIMIZING DETECTABILITY AND MAXIMIZING VISIBILITY...... 8791 Zhongshun Zhang ; Joseph Lee ; Jonathon M. Smereka ; Yoonchang Sung ; Lifeng Zhou ; Pratap Tokekar

CHANCE CONSTRAINED MOTION PLANNING FOR HIGH-DIMENSIONAL ROBOTS ...... 8805 Siyu Dai ; Shawn Schaffert ; Ashkan Jasour ; Andreas Hofmann ; Brian Williams

COMPLETE AND NEAR-OPTIMAL PATH PLANNING FOR SIMULTANEOUS SENSOR- BASED INSPECTION AND FOOTPRINT COVERAGE IN ROBOTIC CRACK FILLING ...... 8812 Kaiyan Yu ; Chaoke Guo ; Jingang Yi

APPROXIMATE STABILITY ANALYSIS FOR DRYSTACKED STRUCTURES ...... 8819 Yifang Liu ; Maira Saboia ; Vivek Thangavelu ; Nils Napp

USER-GUIDED OFFLINE SYNTHESIS OF ROBOT ARM MOTION FROM 6-DOF PATHS...... 8825 Pragathi Praveena ; Daniel Rakita ; Bilge Mutlu ; Michael Gleicher

VISUAL ROBOT TASK PLANNING...... 8832 Chris Paxton ; Yotam Barnoy ; Kapil Katyal ; Raman Arora ; Gregory D. Hager

TOWARDS BLENDED REACTIVE PLANNING AND ACTING USING BEHAVIOR TREES ...... 8839 Michele Colledanchise ; Diogo Almeida ; Petter Ögren

VISUAL REPRESENTATIONS FOR SEMANTIC TARGET DRIVEN NAVIGATION ...... 8846 Arsalan Mousavian ; Alexander Toshev ; Marek Fišer ; Jana Košecká ; Ayzaan Wahid ; James Davidson

DEEP OBJECT-CENTRIC POLICIES FOR AUTONOMOUS DRIVING ...... 8853 Dequan Wang ; Coline Devin ; Qi-Zhi Cai ; Fisher Yu ; Trevor Darrell

NEURAL AUTONOMOUS NAVIGATION WITH RIEMANNIAN MOTION POLICY ...... 8860 Xiangyun Meng ; Nathan Ratliff ; Yu Xiang ; Dieter Fox

TWO-STAGE TRANSFER LEARNING FOR HETEROGENEOUS ROBOT DETECTION AND 3D JOINT POSITION ESTIMATION IN A 2D CAMERA IMAGE USING CNN ...... 8883 Justinas Mišeikis ; Inka Brijacak ; Saeed Yahyanejad ; Kyrre Glette ; Ole Jakob Elle ; Jim Torresen

3D CONTROL OF ROTATING MILLIMETER-SCALE SWIMMERS THROUGH OBSTACLES ...... 8890 Julien Leclerc ; Haoran Zhao ; Aaron T. Becker

AUTOMATIC OPTICAL COHERENCE TOMOGRAPHY IMAGING OF STATIONARY AND MOVING EYES WITH A ROBOTICALLY-ALIGNED SCANNER ...... 8897 Mark Draelos ; Pablo Ortiz ; Ruobing Qian ; Brenton Keller ; Kris Hauser ; Anthony Kuo ; Joseph Izatt

ONLINE MULTILAYERED MOTION PLANNING WITH DYNAMIC CONSTRAINTS FOR AUTONOMOUS UNDERWATER VEHICLES ...... 8936 Eduard Vidal ; Mark Moll ; Narcís Palomeras ; Juan David Hernández ; Marc Carreras ; Lydia E. Kavraki

MAKING SENSE OF VISION AND TOUCH: SELF-SUPERVISED LEARNING OF MULTIMODAL REPRESENTATIONS FOR CONTACT-RICH TASKS...... 8943 Michelle A. Lee ; Yuke Zhu ; Krishnan Srinivasan ; Parth Shah ; Silvio Savarese ; Li Fei-Fei ; Animesh Garg ; Jeannette Bohg

DEEP VISUO-TACTILE LEARNING: ESTIMATION OF TACTILE PROPERTIES FROM IMAGES...... 8951 Kuniyuki Takahashi ; Jethro Tan

VARIATIONAL END-TO-END NAVIGATION AND LOCALIZATION...... 8958 Alexander Amini ; Guy Rosman ; Sertac Karaman ; Daniela Rus

CLOSING THE SIM-TO-REAL LOOP: ADAPTING SIMULATION RANDOMIZATION WITH REAL WORLD EXPERIENCE...... 8973 Yevgen Chebotar ; Ankur Handa ; Viktor Makoviychuk ; Miles Macklin ; Jan Issac ; Nathan Ratliff ; Dieter Fox

ROBOTIC ORIENTATION CONTROL OF DEFORMABLE CELLS ...... 8980 Changsheng Dai ; Zhuoran Zhang ; Yuchen Lu ; Guanqiao Shan ; Xian Wang ; Qili Zhao ; Yu Sun

DRIFT-FREE ROLL AND PITCH ESTIMATION FOR HIGH-ACCELERATION HOPPING...... 8986 Justin K. Yim ; Eric K. Wang ; Ronald S. Fearing

EFFICIENT SYMBOLIC REACTIVE SYNTHESIS FOR FINITE-HORIZON TASKS...... 8993 Keliang He ; Andrew M. Wells ; Lydia E. Kavraki ; Moshe Y. Vardi

COMBINED TASK AND MOTION PLANNING UNDER PARTIAL OBSERVABILITY: AN OPTIMIZATION-BASED APPROACH...... 9000 Camille Phiquepal ; Marc Toussaint

TOWARDS ROBUST PRODUCT PACKING WITH A MINIMALISTIC END-EFFECTOR ...... 9007 Rahul Shome ; Wei N. Tang ; Changkyu Song ; Chaitanya Mitash ; Hristiyan Kourtev ; Jingjin Yu ; Abdeslam Boularias ; Kostas E. Bekris

GESTURE RECOGNITION VIA FLEXIBLE CAPACITIVE TOUCH ELECTRODES ...... 9028 Louis J Dankovich ; Sarah Bergbreiter

ROBUST LEARNING OF TACTILE FORCE ESTIMATION THROUGH ROBOT INTERACTION...... 9035 Balakumar Sundaralingam ; Alexander Sasha Lambert ; Ankur Handa ; Byron Boots ; Tucker Hermans ; Stan Birchfield ; Nathan Ratliff ; Dieter Fox

SOFT ROBOTIC GLOVE WITH INTEGRATED SENSING FOR INTUITIVE GRASPING ASSISTANCE POST SPINAL CORD INJURY...... 9059 Yu Meng Zhou ; Diana Wagner ; Kristin Nuckols ; Roman Heimgartner ; Carolina Correia ; Megan Clarke ; Dorothy Orzel ; Ciarán O’Neill ; Ryan Solinsky ; Sabrina Paganoni ; Conor J. Walsh

SHAPE SENSING OF VARIABLE STIFFNESS SOFT ROBOTS USING ELECTRICAL IMPEDANCE TOMOGRAPHY...... 9066 James Avery ; Mark Runciman ; Ara Darzi ; George P. Mylonas

ADAPTIVE CONTROL OF SCLERA FORCE AND INSERTION DEPTH FOR SAFE ROBOT- ASSISTED RETINAL SURGERY ...... 9073 Ali Ebrahimi ; Niravkumar Patel ; Changyan He ; Peter Gehlbach ; Marin Kobilarov ; Iulian Iordachita

DISTRIBUTED MULTI-ROBOT FORMATION SPLITTING AND MERGING IN DYNAMIC ENVIRONMENTS ...... 9080 Hai Zhu ; Jelle Juhl ; Laura Ferranti ; Javier Alonso-Mora

EAGLE SHOAL: A NEW DESIGNED MODULAR TACTILE SENSING DEXTEROUS HAND FOR DOMESTIC SERVICE ROBOTS ...... 9087 Tao Wang ; Zhanxiao Geng ; Bo Kang ; Xiaochuan Luo

LEARNING SCENE GEOMETRY FOR VISUAL LOCALIZATION IN CHALLENGING CONDITIONS ...... 9094 Nathan Piasco ; Désiré Sidibé ; Valérie Gouet-Brunet ; Cédric Demonceaux

MULTI-ROBOT REGION-OF-INTEREST RECONSTRUCTION WITH DEC-MCTS...... 9101 Fouad Sukkar ; Graeme Best ; Chanyeol Yoo ; Robert Fitch

DESIGN AND CONTROL OF A PASSIVELY MORPHING QUADCOPTER ...... 9116 Nathan Bucki ; Mark W. Mueller

SEARCH-BASED 3D PLANNING AND TRAJECTORY OPTIMIZATION FOR SAFE MICRO AERIAL VEHICLE FLIGHT UNDER SENSOR VISIBILITY CONSTRAINTS...... 9123 Matthias Nieuwenhuisen ; Sven Behnke

LINERANGER: ANALYSIS AND FIELD TESTING OF AN INNOVATIVE ROBOT FOR EFFICIENT ASSESSMENT OF BUNDLED HIGH-VOLTAGE POWERLINES...... 9130 P.-L. Richard ; N. Pouliot ; F. Morin ; M. Lepage ; P. Hamelin ; M. Lagac ; A. Sartor ; G. Lambert ; S. Montambault

ADJUSTABLE POWER MODULATION FOR A LEG MECHANISM SUITABLE FOR RUNNING...... 9137 Mark Plecnik ; Katherine Fearing ; Ronald S. Fearing

FAST AND IN SYNC: PERIODIC SWARM PATTERNS FOR QUADROTORS...... 9143 Xintong Du ; Carlos E. Luis ; Marijan Vukosavljev ; Angela P. Schoellig

TRANSFER LEARNING FOR SURGICAL TASK SEGMENTATION...... 9166 Ya-Yen Tsai ; Bidan Huang ; Yao Guo ; Guang-Zhong Yang

BAYESIAN OPTIMIZATION OF SOFT EXOSUITS USING A METABOLIC ESTIMATOR STOPPING PROCESS ...... 9173 Myunghee Kim ; Charles Liu ; Jinsoo Kim ; Sangjun Lee ; Adham Meguid ; Conor J. Walsh ; Scott Kuindersma

TOWARDS SEMI-AUTONOMOUS AND SOFT-ROBOTICS ENABLED UPPER-LIMB EXOPROSTHETICS: FIRST CONCEPTS AND ROBOT-BASED EMULATION PROTOTYPE ...... 9180 Johannes Kuhn ; Johannes Ringwald ; Moritz Schappler ; Lars Johannsmeier ; Sami Haddadin

A MINIATURE SUCTION-GRIPPER WITH PASSIVE AND ACTIVE MICRONEEDLE ARRAYS TO MANIPULATE PERIPHERAL NERVES ...... 9202 Namseon Jang ; Yong Seok Ihn ; Jinwoo Jeong ; Sungwook Yang ; Sehyuk Yim ; Sang-Rok Oh ; Keehoon Kim ; Donghyun Hwang

ROBUST 3D DISTRIBUTED FORMATION CONTROL WITH COLLISION AVOIDANCE AND APPLICATION TO MULTIROTOR AERIAL VEHICLES...... 9209 Kaveh Fathian ; Sleiman Safaoui ; Tyler H. Summers ; Nicholas R. Gans

NETWORKED OPERATION OF A UAV USING GAUSSIAN PROCESS-BASED DELAY COMPENSATION AND MODEL PREDICTIVE CONTROL...... 9216 Dohyun Jang ; Jaehyun Yoo ; Clark Youngdong Son ; H. Jin Kim ; Karl H. Johansson

FLAPPY HUMMINGBIRD: AN OPEN SOURCE DYNAMIC SIMULATION OF FLAPPING WING ROBOTS AND ANIMALS...... 9223 Fan Fei ; Zhan Tu ; Yilun Yang ; Jian Zhang ; Xinyan Deng

VISUAL REPETITION SAMPLING FOR ROBOT MANIPULATION PLANNING...... 9236 En Yen Puang ; Peter Lehner ; Zoltan-Csaba Marton ; Maximilian Durner ; Rudolph Triebel ; Alin Albu-Schäffer

CONTACT-DRIVEN POSTURE BEHAVIOR FOR SAFE AND INTERACTIVE ROBOT OPERATION...... 9243 Mikael Jorda ; Elena Galbally Herrero ; Oussama Khatib

SUPERDEPTH: SELF-SUPERVISED, SUPER-RESOLVED MONOCULAR DEPTH ESTIMATION ...... 9250 Sudeep Pillai ; Rares Ambrus ; Adrien Gaidon

THE MECHANICS AND CONTROL OF LEANING TO LIFT HEAVY OBJECTS WITH A DYNAMICALLY STABLE MOBILE ROBOT ...... 9264 Fabian Sonnleitner ; Roberto Shu ; Ralph L. Hollis

IMPROVING UNDERWATER OBSTACLE DETECTION USING SEMANTIC IMAGE SEGMENTATION ...... 9271 Bilal Arain ; Chris McCool ; Paul Rigby ; Daniel Cagara ; Matthew Dunbabin

RCM-SLAM: VISUAL LOCALISATION AND MAPPING UNDER REMOTE CENTRE OF MOTION CONSTRAINTS ...... 9278 Francisco Vasconcelos ; Evangelos Mazomenos ; John Kelly ; Danail Stoyanov

COMPARING PHYSICAL AND SIMULATED PERFORMANCE OF A DETERMINISTIC AND A BIO-INSPIRED STOCHASTIC FORAGING STRATEGY FOR ROBOT SWARMS...... 9285 Qi Lu ; Antonio D. Griego ; G. Matthew Fricke ; Melanie E. Moses

WHEELER: WHEEL-LEG RECONFIGURABLE MECHANISM WITH PASSIVE GEARS FOR MOBILE ROBOT APPLICATIONS...... 9292 Chuanqi Zheng ; Kiju Lee

LONG-TERM OCCUPANCY GRID PREDICTION USING RECURRENT NEURAL NETWORKS...... 9299 Marcel Schreiber ; Stefan Hoermann ; Klaus Dietmayer

GUARANTEED GLOBALLY OPTIMAL PLANAR POSE GRAPH AND LANDMARK SLAM VIA SPARSE-BOUNDED SUMS-OF-SQUARES PROGRAMMING...... 9306 Joshua G. Mangelson ; Jinsun Liu ; Ryan M. Eustice ; Ram Vasudevan

TRUST REGIONS FOR SAFE SAMPLING-BASED MODEL PREDICTIVE CONTROL...... 9313 Martin Koch ; Markus Spies ; Mathias Bürger

REMOVING LEAKING CORNERS TO REDUCE DIMENSIONALITY IN HAMILTON-JACOBI REACHABILITY...... 9320 Donggun Lee ; Mo Chen ; Claire J. Tomlin

CONTROL FROM THE CLOUD: EDGE COMPUTING, SERVICES AND DIGITAL SHADOW FOR AUTOMATION TECHNOLOGIES ...... 9327 C. Brecher ; M. Buchsbaum ; S Storms

IMPROVING THE PERFORMANCE OF AUXILIARY NULL SPACE TASKS VIA TIME SCALING-BASED RELAXATION OF THE PRIMARY TASK ...... 9342 Nico Mansfeld ; Youssef Michel ; Tobias Bruckmann ; Sami Haddadin

SHAPE MEMORY STRUCTURES-AUTOMATED DESIGN OF MONOLITHIC SOFT ROBOT STRUCTURES WITH PRE-DEFINED END POSES ...... 9357 Yannick S. Krieger ; Simon Schiele ; Samuel Detzel ; Christian Dietz ; Tim C. Lueth

A NOVEL ROTATING BEAM LINK FOR VARIABLE STIFFNESS ROBOTIC ARMS ...... 9387 Tyler Morrison ; Chunhui Li ; Xu Pei ; Hai-Jun Su

MECHANICAL FOURIER TRANSFORM USING AN ARRAY OF ADDITIVELY MANUFACTURED SOFT WHISKER-LIKE SENSORS...... 9410 Apoorv Vaish ; Shien Yang Lee ; Pablo Valdivia Y Alvarado

MULTI-TASK SENSORIZATION OF SOFT ACTUATORS USING PRIOR KNOWLEDGE ...... 9416 Vincent Wall ; Oliver Brock

SELF-MODIFYING MORPHOLOGY EXPERIMENTS WITH DYRET: DYNAMIC ROBOT FOR EMBODIED TESTING ...... 9446 Tønnes F. Nygaard ; Charles P. Martin ; Jim Torresen ; Kyrre Glette

EXPERIMENTAL VALIDATION OF HIGH-EFFICIENCY HYDRAULIC DIRECT-DRIVE SYSTEM FOR A BIPED HUMANOID ROBOT—COMPARISON WITH VALVE-BASED CONTROL SYSTEM...... 9453 J. Shimizu ; T. Otani ; H. Mizukami ; K. Hashimoto ; A. Takanishi

EXPERIMENTAL DEMONSTRATION OF HIGH-PERFORMANCE ROBOTIC BALANCING ...... 9459 Josephus J. M. Driessen ; Antonios E. Gkikakis ; Roy Featherstone ; B. Roodra P. Singh

OPENROACH: A DURABLE OPEN-SOURCE HEXAPEDAL PLATFORM WITH ONBOARD ROBOT OPERATING SYSTEM (ROS)...... 9466 Liyu Wang ; Yuxiang Yang ; Gustavo Correa ; Konstantinos Karydis ; Ronald S. Fearing

SENSORLESS FORCE CONTROL OF AUTOMATED GRINDING/DEBURRING USING AN ADJUSTABLE FORCE REGULATION MECHANISM...... 9489 Yu-Ling Kuo ; Sheng-Yuan Huang ; Chao-Chieh Lan

CONSTRAINED FEEDBACK CONTROL BY PRIORITIZED MULTI-OBJECTIVE OPTIMIZATION ...... 9496 Linfeng Li ; David J. Braun

EXPLOITATION OF ENVIRONMENT SUPPORT CONTACTS FOR MANIPULATION EFFORT REDUCTION OF A ROBOT ARM...... 9502 Cheng Fang ; Navvab Kashiri ; Giuseppe F. Rigano ; Arash Ajoudani ; Nikos G. Tsagarakis

A COORDINATE-BASED APPROACH FOR STATIC BALANCING AND WALKING CONTROL OF COMPLIANTLY ACTUATED LEGGED ROBOTS...... 9509 Dominic Lakatos ; Yuri Federigi ; Thomas Gumpert ; Bernd Henze ; Milan Hermann ; Florian Loeffl ; Florian Schmidt ; Daniel Seidel ; Alin Albu-Schäffer

JOINT KINEMATIC CONFIGURATION INFLUENCE ON THE PASSIVITY OF AN IMPEDANCE-CONTROLLED ROBOTIC LEG ...... 9516 Felipe Y. G. Higa ; Gustavo J. G. Lahr ; Glauco A. P. Caurin ; Thiago Boaventura

TOWARDS ROBOT INTERACTION AUTONOMY: EXPLORE, IDENTIFY, AND INTERACT ...... 9523 Pietro Balatti ; Dimitrios Kanoulas ; Nikos G. Tsagarakis ; Arash Ajoudani

PERSONALIZED ONLINE LEARNING OF WHOLE-BODY MOTION CLASSES USING MULTIPLE INERTIAL MEASUREMENT UNITS...... 9530 Viktor Losing ; Taizo Yoshikawa ; Martina Hasenjaeger ; Barbara Hammer ; Heiko Wersing

KNOWLEDGE IS NEVER ENOUGH: TOWARDS WEB AIDED DEEP OPEN WORLD RECOGNITION...... 9537 Massimiliano Mancini ; Hakan Karaoguz ; Elisa Ricci ; Patric Jensfelt ; Barbara Caputo

INFERRING ROBOT MORPHOLOGY FROM OBSERVATION OF UNSCRIPTED MOVEMENT...... 9544 Neil Bell ; Brian Seipp ; J. Tim Oates ; Cynthia Matuszek

THE H3D DATASET FOR FULL-SURROUND 3D MULTI-OBJECT DETECTION AND TRACKING IN CROWDED URBAN SCENES ...... 9552 Abhishek Patil ; Srikanth Malla ; Haiming Gang ; Yi-Ting Chen

JOINT LEARNING OF INSTANCE AND SEMANTIC SEGMENTATION FOR ROBOTIC PICK- AND-PLACE WITH HEAVY OCCLUSIONS IN CLUTTER...... 9558 Kentaro Wada ; Kei Okada ; Masayuki Inaba

WEAKLY SUPERVISED RECOGNITION OF SURGICAL GESTURES...... 9565 Beatrice Van Amsterdam ; Hirenkumar Nakawala ; Elena De Momi ; Danail Stoyanov

VISUAL-INERTIAL NAVIGATION: A CONCISE REVIEW ...... 9572 Guoquan Huang

BUILDING A WINNING SELF-DRIVING CAR IN SIX MONTHS...... 9583 Keenan Burnett ; Andreas Schimpe ; Sepehr Samavi ; Mona Gridseth ; Chengzhi Winston Liu ; Qiyang Li ; Zachary Kroeze ; Angela P. Schoellig

HIERARCHICAL GAME-THEORETIC PLANNING FOR AUTONOMOUS VEHICLES...... 9590 Jaime F. Fisac ; Eli Bronstein ; Elis Stefansson ; Dorsa Sadigh ; S. Shankar Sastry ; Anca D. Dragan

ICEVISIONSET: LOSSLESS VIDEO DATASET COLLECTED ON RUSSIAN WINTER ROADS WITH TRAFFIC SIGN ANNOTATIONS ...... 9597 Artem L. Pavlov ; Pavel A. Karpyshev ; George V. Ovchinnikov ; Ivan V. Oseledets ; Dzmitry Tsetserukou

INTEGRATED UWB-VISION APPROACH FOR AUTONOMOUS DOCKING OF UAVS IN GPS- DENIED ENVIRONMENTS...... 9603 Thien-Minh Nguyen ; Thien Hoang Nguyen ; Muqing Cao ; Zhirong Qiu ; Lihua Xie

ONLINE VEHICLE TRAJECTORY PREDICTION USING POLICY ANTICIPATION NETWORK AND OPTIMIZATION-BASED CONTEXT REASONING...... 9610 Wenchao Ding ; Shaojie Shen

A FLEXIBLE LOW-COST BIOLOGICALLY INSPIRED SONAR SENSOR PLATFORM FOR ROBOTIC APPLICATIONS ...... 9617 Dennis Laurijssen ; Robin Kerstens ; Girmi Schouten ; Walter Daems ; Jan Steckel

CLUSTERNAV: LEARNING-BASED ROBUST NAVIGATION OPERATING IN CLUTTERED ENVIRONMENTS ...... 9624 Gonçalo S. Martins ; Rui P. Rocha ; Fernando J. Pais ; Paulo Menezes

ADAPTIVE MOTOR CONTROL AND LEARNING IN A SPIKING NEURAL NETWORK REALISED ON A MIXED-SIGNAL NEUROMORPHIC PROCESSOR ...... 9631 Sebastian Glatz ; Julien Martel ; Raphaela Kreiser ; Ning Qiao ; Yulia Sandamirskaya

ADAPTIVE GENOMIC EVOLUTION OF NEURAL NETWORK TOPOLOGIES (AGENT) FOR STATE-TO-ACTION MAPPING IN AUTONOMOUS AGENTS ...... 9638 Amir Behjat ; Sharat Chidambaran ; Souma Chowdhury

END TO END LEARNING OF A MULTI-LAYERED SNN BASED ON R-STDP FOR A TARGET TRACKING SNAKE-LIKE ROBOT ...... 9645 Zhenshan Bing ; Zhuangyi Jiang ; Long Cheng ; Caixia Cai ; Kai Huang ; Alois Knoll

IMPROVING COLLECTIVE DECISION ACCURACY VIA TIME-VARYING CROSS- INHIBITION...... 9652 Mohamed S. Talamali ; James A. R. Marshall ; Thomas Bose ; Andreagiovanni Reina

A MOTION PLANNING SCHEME FOR COOPERATIVE LOADING USING HETEROGENEOUS ROBOTIC AGENTS...... 9660 Michalis Logothetis ; Panagiotis Vlantis ; Constantinos Vrohidis ; George C. Karras ; Kostas J. Kyriakopoulos

VOLUNTARY RETREAT FOR DECENTRALIZED INTERFERENCE REDUCTION IN ROBOT SWARMS ...... 9667 Siddharth Mayya ; Pietro Pierpaoli ; Magnus Egerstedt

SPATIAL COVERAGE WITHOUT COMPUTATION...... 9674 Anil Özdemir ; Melvin Gauci ; Andreas Kolling ; Matthew D. Hall ; Roderich Groß

DEEPSIGNALS: PREDICTING INTENT OF DRIVERS THROUGH VISUAL SIGNALS ...... 9697 Davi Frossard ; Eric Kee ; Raquel Urtasun

REAL-TIME INTENT PREDICTION OF PEDESTRIANS FOR AUTONOMOUS GROUND VEHICLES VIA SPATIO-TEMPORAL DENSENET ...... 9704 Khaled Saleh ; Mohammed Hossny ; Saeid Nahavandi

EGOCENTRIC VISION-BASED FUTURE VEHICLE LOCALIZATION FOR INTELLIGENT DRIVING ASSISTANCE SYSTEMS ...... 9711 Yu Yao ; Mingze Xu ; Chiho Choi ; David J. Crandall ; Ella M. Atkins ; Behzad Dariush

UNCERTAINTY-AWARE DRIVER TRAJECTORY PREDICTION AT URBAN INTERSECTIONS ...... 9718 Xin Huang ; Stephen G. McGill ; Brian C. Williams ; Luke Fletcher ; Guy Rosman

GO WITH THE FLOW: EXPLORATION AND MAPPING OF PEDESTRIAN FLOW PATTERNS FROM PARTIAL OBSERVATIONS...... 9725 Sergi Molina ; Grzegorz Cielniak ; Tom Duckett

DESIGN AND ANALYSIS OF A MINIATURE TWO-WHEG CLIMBING ROBOT WITH ROBUST INTERNAL AND EXTERNAL TRANSITIONING CAPABILITIES...... 9740 Darren C. Y. Koh ; Audelia G. Dharmawan ; Hassan H. Hariri ; Gim Song Soh ; Shaohui Foong ; Roland Bouffanais ; Hong Yee Low ; Kristin L. Wood

DESIGN AND IMPLEMENTATION OF CCROBOT-II: A PALM-BASED CABLE CLIMBING ROBOT FOR CABLE-STAYED BRIDGE INSPECTION ...... 9747 Zhenliang Zheng ; Ning Ding

DYNAMIC MODELING AND GAIT ANALYSIS FOR MINIATURE ROBOTS IN THE ABSENCE OF FOOT PLACEMENT CONTROL ...... 9754 Mohammad Askari ; Onur Özcan

MEMORY EFFICIENT EXPERIENCE REPLAY FOR STREAMING LEARNING ...... 9769 Tyler L. Hayes ; Nathan D. Cahill ; Christopher Kanan

ROBOCSE: ROBOT COMMON SENSE EMBEDDING ...... 9777 Angel Daruna ; Weiyu Liu ; Zsolt Kira ; Sonia Chernova

NEURAL LANDER: STABLE DRONE LANDING CONTROL USING LEARNED DYNAMICS ...... 9784 Guanya Shi ; Xichen Shi ; Michael O’Connell ; Rose Yu ; Kamyar Azizzadenesheli ; Animashree Anandkumar ; Yisong Yue ; Soon-Jo Chung

DISTRIBUTIONAL DEEP REINFORCEMENT LEARNING WITH A MIXTURE OF GAUSSIANS...... 9791 Yunho Choi ; Kyungjae Lee ; Songhwai Oh

JOINTLY LEARNING TO CONSTRUCT AND CONTROL AGENTS USING DEEP REINFORCEMENT LEARNING ...... 9798 Charles Schaff ; David Yunis ; Ayan Chakrabarti ; Matthew R. Walter

DELTAMAG: AN ELECTROMAGNETIC MANIPULATION SYSTEM WITH PARALLEL MOBILE COILS ...... 9814 Lidong Yang ; Xingzhou Du ; Edwin Yu ; Dongdong Jin ; Li Zhang

SURGICAL INSTRUMENT SEGMENTATION FOR ENDOSCOPIC VISION WITH DATA FUSION OF CNN PREDICTION AND KINEMATIC POSE ...... 9821 Fangbo Qin ; Yangming Li ; Yun-Hsuan Su ; De Xu ; Blake Hannaford

PNEUMATICALLY ACTUATED DEPLOYABLE TISSUE DISTENSION DEVICE FOR NOTES FOR COLON...... 9828 Muneaki Miyasaka ; Jiajun Liu ; Lin Cao ; Soo Jay Phee

STEERING A MULTI-ARMED ROBOTIC SHEATH USING ECCENTRIC PRECURVED TUBES ...... 9834 Jiaole Wang ; Junhyoung Ha ; Pierre E. Dupont

Author Index