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2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

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2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) Vancouver, British Columbia, Canada 24-28 September 2017 Pages 1-413 IEEE Catalog Number: CFP17IRO-POD ISBN: 978-1-5386-2683-2 1/9 Copyright © 2017 by the Institute of Electrical and Electronics Engineers, Inc. All Rights Reserved Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For other copying, reprint or republication permission, write to IEEE Copyrights Manager, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. All rights reserved. *** This is a print representation of what appears in the IEEE Digital Library. Some format issues inherent in the e-media version may also appear in this print version. IEEE Catalog Number: CFP17IRO-POD ISBN (Print-On-Demand): 978-1-5386-2683-2 ISBN (Online): 978-1-5386-2682-5 ISSN: 2153-0858 Additional Copies of This Publication Are Available From: Curran Associates, Inc 57 Morehouse Lane Red Hook, NY 12571 USA Phone: (845) 758-0400 Fax: (845) 758-2633 E-mail: [email protected] Web: www.proceedings.com TABLE OF CONTENTS FEATURE DISCOVERY AND VISUALIZATION OF ROBOT MISSION DATA USING CONVOLUTIONAL AUTOENCODERS AND BAYESIAN NONPARAMETRIC TOPIC MODELS .......................1 Genevieve Flaspohler ; Nicholas Roy ; Yogesh Girdhar ONLY LOOK ONCE, MINING DISTINCTIVE LANDMARKS FROM CONVNET FOR VISUAL PLACE RECOGNITION......................................................................................................................................................9 Zetao Chen ; Fabiola Maffra ; Inkyu Sa ; Margarita Chli GEOCUEDEPTH: EXPLOITING GEOMETRIC STRUCTURE CUES TO ESTIMATE DEPTH FROM A SINGLE IMAGE ................................................................................................................................................ 17 Yiming Zeng ; Yu Hu ; Shice Liu ; Qiankun Tang ; Jing Ye ; Xiaowei Li DOMAIN RANDOMIZATION FOR TRANSFERRING DEEP NEURAL NETWORKS FROM SIMULATION TO THE REAL WORLD......................................................................................................................... 23 Josh Tobin ; Rachel Fong ; Alex Ray ; Jonas Schneider ; Wojciech Zaremba ; Pieter Abbeel VIRTUAL-TO-REAL DEEP REINFORCEMENT LEARNING: CONTINUOUS CONTROL OF MOBILE ROBOTS FOR MAPLESS NAVIGATION ..................................................................................................... 31 Lei Tai ; Giuseppe Paolo ; Ming Liu ACQUIRING SOCIAL INTERACTION BEHAVIOURS FOR TELEPRESENCE ROBOTS VIA DEEP LEARNING FROM DEMONSTRATION ............................................................................................................ 37 Kyriacos Shiarlis ; João Messias ; Shimon Whiteson A GENERATIVE MODEL FOR INTENTION RECOGNITION AND MANIPULATION ASSISTANCE IN TELEOPERATION ............................................................................................................................. 43 Ajay Kumar Tanwani ; Sylvain Calinon BLACK-BOX DATA-EFFICIENT POLICY SEARCH FOR ROBOTICS ................................................................... 51 Konstantinos Chatzilygeroudis ; Roberto Rama ; Rituraj Kaushik ; Dorian Goepp ; Vassilis Vassiliades ; Jean- Baptiste Mouret GAUSSIAN MIXTURE REGRESSION ON SYMMETRIC POSITIVE DEFINITE MATRICES MANIFOLDS: APPLICATION TO WRIST MOTION ESTIMATION WITH SEMG............................................... 59 Noémie Jaquier ; Sylvain Calinon ACTIVE LEARNING WITH QUERY PATHS FOR TACTILE OBJECT SHAPE EXPLORATION ...................... 65 Danny Driess ; Peter Englert ; Marc Toussaint LEARNING TASK-SPACE SYNERGIES USING RIEMANNIAN GEOMETRY ...................................................... 73 Martijn J. A. Zeestraten ; Ioannis Havoutis ; Sylvain Calinon ; Darwin. G. Caldwell COLLECTIVE ROBOT REINFORCEMENT LEARNING WITH DISTRIBUTED ASYNCHRONOUS GUIDED POLICY SEARCH........................................................................................................... 79 Ali Yahya ; Adrian Li ; Mrinal Kalakrishnan ; Yevgen Chebotar ; Sergey Levine TOWARDS REAL-TIME SEARCH PLANNING IN SUBSEA ENVIRONMENTS.................................................... 87 James McMahon ; Harun Yetkin ; Artur Wolek ; Zachary J. Waters ; Daniel J. Stilwell AUTONOMOUS SKILL-CENTRIC TESTING USING DEEP LEARNING ............................................................... 95 Simon Hangl ; Sebastian Stabinger ; Justus Piater PROGRAMMING ROBOTIC AGENTS WITH ACTION DESCRIPTIONS ............................................................ 103 Gayane Kazhoyan ; Michael Beetz AUTONOMOUS MOBILE ROBOT NAVIGATION IN UNEVEN AND UNSTRUCTURED INDOOR ENVIRONMENTS........................................................................................................................................... 109 Chaoqun Wang ; Lili Meng ; Sizhen She ; Ian M. Mitchell ; Teng Li ; Frederick Tung ; Weiwei Wan ; Max. Q. -H. Meng ; Clarence W. De Silva APPROXIMATING REACHABLE BELIEF POINTS IN POMDPS.......................................................................... 117 Kyle Hollins Wray ; Shlomo Zilberstein ONLINE INFORMATION GATHERING USING SAMPLING-BASED PLANNERS AND GPS: AN INFORMATION THEORETIC APPROACH ............................................................................................................... 123 Alberto Viseras ; Dmitriy Shutin ; Luis Merino A NOVEL FORCE SENSING INTEGRATED INTO THE TROCAR FOR MINIMALLY INVASIVE ROBOTIC SURGERY.................................................................................................................................. 131 G. A. Fontanelli ; L. R. Buonocore ; F. Ficuciello ; L. Villani ; B. Siciliano IMPROVED GELSIGHT TACTILE SENSOR FOR MEASURING GEOMETRY AND SLIP............................... 137 Siyuan Dong ; Wenzhen Yuan ; Edward H. Adelson BODY WALL FORCE SENSOR FOR SIMULATED MINIMALLY INVASIVE SURGERY: APPLICATION TO FETAL SURGERY ........................................................................................................................ 145 Allan Javaux ; Laure Esteveny ; David Bouget ; Caspar Gruijthuijsen ; Danail Stoyanov ; Tom Vercauteren ; Sebastien Ourselin ; Dominiek Reynaerts ; Kathleen Denis ; Jan Deprest ; Emmanuel Vander Poorten TOWARDS AUTONOMOUS ROBOTIC SKIN SPATIAL CALIBRATION: A FRAMEWORK BASED ON VISION AND SELF-TOUCH...................................................................................................................... 153 Alessandro Albini ; Simone Denei ; Giorgio Cannata SIGHT TO TOUCH: 3D DIFFEOMORPHIC DEFORMATION RECOVERY WITH MIXTURE COMPONENTS FOR PERCEIVING FORCES IN ROBOTIC-ASSISTED SURGERY .......................................... 160 Angelica I. Aviles ; Samar M. Alsaleh ; Alicia Casals EVENT-DRIVEN ENCODING OF OFF-THE-SHELF TACTILE SENSORS FOR COMPRESSION AND LATENCY OPTIMISATION FOR ROBOTIC SKIN ......................................................................................... 166 Chiara Bartolozzi ; Paolo Motto Ros ; Francesco Diotalevi ; Nawid Jamali ; Lorenzo Natale ; Marco Crepaldi ; Danilo Demarchi DESIGN OF A SOFT CATHETER FOR LOW-FORCE AND CONSTRAINED SURGERY.................................. 174 Patrick Slade ; Alex Gruebele ; Zachary Hammond ; Michael Raitor ; Allison M. Okamura ; Elliot W. Hawkes A VARIABLE STIFFNESS CATHETER CONTROLLED WITH AN EXTERNAL MAGNETIC FIELD................................................................................................................................................................................. 181 Christophe Chautems ; Alice Tonazzini ; Dario Floreano ; Bradley J. Nelson INSERTION METHOD FOR MINIMIZING FINE NEEDLE DEFLECTION IN BOWEL INSERTION BASED ON EXPERIMENTAL ANALYSIS ........................................................................................... 187 Ryosuke Tsumura ; Kai Shitashima ; Hiroyasu Iwata IMPLICIT ACTIVE CONSTRAINTS FOR CONCENTRIC TUBE ROBOTS BASED ON ANALYSIS OF THE SAFE AND DEXTEROUS WORKSPACE ................................................................................ 193 Konrad Leibrandt ; Christos Bergeles ; Guang-Zhong Yang SHAPE DETERMINATION DURING NEEDLE INSERTION WITH CURVATURE MEASUREMENTS ........................................................................................................................................................... 201 Jin Seob Kim ; Jiangzhen Guo ; Maria Chatrasingh ; Sungmin Kim ; Iulian Iordachita MASTER MANIPULATOR DESIGNED FOR HIGHLY ARTICULATED ROBOTIC INSTRUMENTS IN SINGLE ACCESS SURGERY...................................................................................................... 209 Piyamate Wisanuvej ; Gauthier Gras ; Konrad Leibrandt ; Petros Giataganas ; Carlo A. Seneci ; Jindong Liu ; Guang-Zhong Yang REAL-TIME TRAJECTORY REPLANNING FOR MAVS USING UNIFORM B-SPLINES AND A 3D CIRCULAR BUFFER................................................................................................................................................. 215 Vladyslav Usenko ; Lukas Von Stumberg ; Andrej Pangercic ; Daniel Cremers A FRAMEWORK FOR MULTI-VEHICLE NAVIGATION USING FEEDBACK-BASED MOTION PRIMITIVES....................................................................................................................................................................
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