机器人相关学术速递[2022.6.22]

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cs.RO机器人相关，共计58篇

【1】 EnvPool: A Highly Parallel Reinforcement Learning Environment Execution Engine
标题：EnvPool：一个高度并行的强化学习环境执行引擎
链接：https://arxiv.org/abs/2206.10558
作者：Jiayi Weng,Min Lin,Shengyi Huang,Bo Liu,Denys Makoviichuk,Viktor Makoviychuk,Zichen Liu,Yufan Song,Ting Luo,Yukun Jiang,Zhongwen Xu,Shuicheng Yan
机构：†Sea AI Lab, ‡Drexel University, §Peking University, ♯Snap, △NVIDIA, □National University of Singapore, ♦Carnegie Mellon University

【2】 Uncertainty Quantification for Competency Assessment of Autonomous Agents
标题：自主智能体能力评估中的不确定性量化
链接：https://arxiv.org/abs/2206.10553
作者：Aastha Acharya,Rebecca Russell,Nisar R. Ahmed
机构：SmeadDepartmentofAerospace Engineering Sciences at the University of Colorado Boul-der
备注：Accepted at the Workshop on Safe and Reliable Robot Autonomy under Uncertainty at ICRA 2022, Philadelphia, USA

【3】 Multi-UAV Planning for Cooperative Wildfire Coverage and Tracking with Quality-of-Service Guarantees
标题：具有服务质量保证的野火协同覆盖与跟踪多无人机规划
链接：https://arxiv.org/abs/2206.10544
作者：Esmaeil Seraj,Andrew Silva,Matthew Gombolay
机构：Received: ,.,., Accepted: ,.,.
备注：To appear in the journal of Autonomous Agents and Multi-Agent Systems (AAMAS)

【4】 RRT and RRT* Using Vehicle Dynamics
标题：使用车辆动力学的RRT和RRT*
链接：https://arxiv.org/abs/2206.10533
作者：Abhish Khanal
机构：Department of Computer Science, George Mason University, Fairfax, Virginia, USA
备注：5 pages

【5】 What Goes Around: Leveraging a Constant-curvature Motion Constraint in Radar Odometry
标题：现状：在雷达里程计中利用常曲率运动约束
链接：https://arxiv.org/abs/2206.10517
作者：Roberto Aldera,Matthew Gadd,Daniele De Martini,Paul Newman
机构：Mobile Robotics Group (MRG), University of Oxford, †Equal contribution, ©, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including
备注：Accepted for RA-L

【6】 Roadmap to Autonomous Surgery -- A Framework to Surgical Autonomy
标题：自主手术路线图--手术自主的框架
链接：https://arxiv.org/abs/2206.10516
作者：Amritpal Singh
机构： College of Computing , Georgia Institute of Technology, USA
备注：6 Pages, 4 figures, 2 Tables

【7】 Device for measuring the plant physiology and electrophysiology
标题：一种植物生理和电生理测量装置
链接：https://arxiv.org/abs/2206.10459
作者：Serge Kernbach
机构：CYBRES GmbH, Research Center of Advanced Robotics and Environmental Science

【8】 Neural Moving Horizon Estimation for Robust Flight Control
标题：用于鲁棒飞行控制的神经移动视界估计
链接：https://arxiv.org/abs/2206.10397
作者：Bingheng Wang,Zhengtian Ma,Shupeng Lai,Lin Zhao
机构： The authors are with the Department of Electricaland Computer Engineering, National University of Singapore

【9】 The SPACE THEA Project
标题：太空西娅计划
链接：https://arxiv.org/abs/2206.10390
作者：Martin Spathelf,Oliver Bendel
机构：School of Business FHNW, Bahnhofstrasse , CH-, Windisch
备注：Accepted paper of the AAAI 2022 Spring Symposium "How Fair is Fair? Achieving Wellbeing AI" (Stanford University)

【10】 A total hip surgery robot system based on intelligent positioning and optical measurement
标题：基于智能定位和光学测量的全髋关节手术机器人系统
链接：https://arxiv.org/abs/2206.10351
作者：Weibo Ning,Jiaqi Zhu,Hongjiang Chen,Weijun Zhou,Shuxing He,Yecheng Tan,Qianrui Xu,Jun Hu,Zhun Fan

【11】 Vehicle Teleoperation: Successive Reference-Pose Tracking
标题：车辆遥操作：连续参考位姿跟踪
链接：https://arxiv.org/abs/2206.10340
作者：Jai Prakash,Michele Vignati,Edoardo Sabbioni,Federico Cheli
机构： Fully autonomousThe authors belong to the Department of Mechanical Engineering
备注：VPPC2022 conference submitted

【12】 Active Inference for Robotic Manipulation
标题：机器人操作的主动推理
链接：https://arxiv.org/abs/2206.10313
作者：Tim Schneider,Boris Belousov,Hany Abdulsamad,Jan Peters
机构：Intelligent Autonomous Systems, Technical University of Darmstadt, Darmstadt, Germany
备注：Published at "The Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM)" 2022

【13】 SAMPLE-HD: Simultaneous Action and Motion Planning Learning Environment
标题：Sample-HD：同步动作和动作规划学习环境
链接：https://arxiv.org/abs/2206.10312
作者：Michal Nazarczuk,Tony Ng,Krystian Mikolajczyk
机构：Imperial College London
备注：CVPRW, 2 pages

【14】 Sustainably Grown: The Underdog Robots of the Future
标题：可持续发展：未来的失败者机器人
链接：https://arxiv.org/abs/2206.10306
作者：Stoyan K. Smoukov
备注：4 pages + header

【15】 Scale-Variant Robust Kernel Optimization for Non-linear Least Squares Problems
标题：非线性最小二乘问题的变尺度稳健核优化
链接：https://arxiv.org/abs/2206.10305
作者：Shounak Das,Jason Gross
机构：Department of Mechanical and Aerospace Engineering , West Virginia University , Morgantown, USA
备注：Submitted to Robotics & Automation Letters 2022

【16】 Prediction of Maneuvering Status for Aerial Vehicles using Supervised Learning Methods
标题：基于有监督学习方法的飞行器机动状态预测
链接：https://arxiv.org/abs/2206.10303
作者：Abhishek Gupta,Sarvesh Thustu,Riti Thakor,Saniya Patil,Raunak Joshi,Ronald Melvin Laban
机构： St. John College of Engineering and Management, Palghar, India, University of Mumbai, Mumbai, India
备注：9 pages. To appear in proceedings of 2nd International Conference on Machine Learning and Big Data Analytics (ICMLBDA) 2022

【17】 Preference Change in Persuasive Robotics
标题：说服型机器人中的偏好变化
链接：https://arxiv.org/abs/2206.10300
作者：Matija Franklin,Hal Ashton
机构：University College London
备注：in TRAITS Workshop Proceedings (arXiv:2206.08270) held in conjunction with Companion of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, March 2022, Pages Pages 1284-1286

【18】 Imitation Learning for Nonprehensile Manipulation through Self-Supervised Learning Considering Motion Speed
标题：考虑运动速度的自监督无抓取操作模拟学习
链接：https://arxiv.org/abs/2206.10289
作者：Yuki Saigusa,Sho Sakaino,Toshiaki Tsuji
机构：Department of Intelligent Interactive Systems, University of Tsukuba, Ibaraki ,-, Japan, Graduate School of Science and Engineering, Saitama University, Saitama ,-, Japan

【19】 Attention-driven Active Vision for Efficient Reconstruction of Plants and Targeted Plant Parts
标题：注意力驱动的有效重建植物和目标植物部分的主动视觉
链接：https://arxiv.org/abs/2206.10274
作者：Akshay K. Burusa,Eldert J. van Henten,Gert Kootstra
机构：Farm Technology, Wageningen University and Research, Wageningen, The Netherlands

【20】 Experimental Evaluation of Pose Initialization Methods for Relative Navigation Between Non-Cooperative Satellites
标题：非合作卫星相对导航位姿初始化方法的实验评估
链接：https://arxiv.org/abs/2206.10244
作者：Sebastiano Chiodini,Marco Pertile,Pierdomenico Fracchiolla,Andrea Valmorbida,Enrico Lorenzini,Stefano Debei
机构：CISAS “Giuseppe Colombo”, University of Padova, Padova, Italy, Dept. of Industrial Engineering, School of Engineering
备注：To be presented at the 2022 IEEE INTERNATIONAL WORKSHOP ON Metrology for AeroSpace

【21】 Bio-inspired Neural Network-based Optimal Path Planning for UUVs under the Effect of Ocean Currents
标题：基于仿生神经网络的UUV在海流影响下的最优路径规划
链接：https://arxiv.org/abs/2206.10087
作者：Danjie Zhu,Simon X. Yang
机构： School of Engineering, University of Guelph

【22】 Fast and Safe Aerial Payload Transport in Urban Areas
标题：城市地区快速安全的航空有效载荷运输
链接：https://arxiv.org/abs/2206.10064
作者：Aeris El Asslouj,Harshvardhan Uppaluru,Hossein Rastgoftar

【23】 Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
标题：早期召回，后期精确：感知退化环境中操作约束下的多机器人语义对象映射
链接：https://arxiv.org/abs/2206.10062
作者：Xianmei Lei,Taeyeon Kim,Nicolas Marchal,Daniel Pastor,Barry Ridge,Frederik Schöller,Edward Terry,Fernando Chavez,Thomas Touma,Kyohei Otsu,Ali Agha
机构： Kim is with the Department of Electrical Engineering, Korea Ad-vanced Institute of Science and Technology

【24】 Understanding a Robot's Guiding Ethical Principles via Automatically Generated Explanations
标题：通过自动生成的解释理解机器人的指导伦理原则
链接：https://arxiv.org/abs/2206.10038
作者：Benjamin Krarup,Felix Lindner,Senka Krivic,Derek Long
机构：uk 2Felix Lindner is with the Institute of Artificial Intelligence, UlmUniversity
备注：8 pages, 2 figures, 2022 IEEE 18th International Conference on Automation Science and Engineering

【25】 Intention-Aware Navigation in Crowds with Extended-Space POMDP Planning
标题：基于扩展空间POMDP规划的人群意图感知导航
链接：https://arxiv.org/abs/2206.10028
作者：Himanshu Gupta,Bradley Hayes,Zachary Sunberg
机构：University of Colorado Boulder, Boulder, Colorado, USA

【26】 Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
标题：医疗机器人在不确定条件下实现灵活的双向交互
链接：https://arxiv.org/abs/2206.09906
作者：Carlo Tiseo,Quentin Rouxel,Martin Asenov,Keyhan Kouhkiloui Babarahmati,Subramanian Ramamoorthy,Zhibin Li,Michael Mistry
机构： University of Edinburgh, Zhibin Li iswith the Department of Computer Science, University College London, Carlo Tiseo is also with the School of Engineering and Informatics, Universityof Sussex
备注：video: this https URL

【27】 Nocturne: a scalable driving benchmark for bringing multi-agent learning one step closer to the real world
标题：Nocturne：一个可扩展的驱动基准，使多代理学习更接近现实世界
链接：https://arxiv.org/abs/2206.09889
作者：Eugene Vinitsky,Nathan Lichtlé,Xiaomeng Yang,Brandon Amos,Jakob Foerster
机构：Meta AI, UC Berkeley, École des Ponts ParisTech, Univeristy of Oxford

【28】 Towards Using Promises for Multi-Agent Cooperation in Goal Reasoning
标题：基于承诺的多智能体合作目标推理研究
链接：https://arxiv.org/abs/2206.09864
作者：Daniel Swoboda,Till Hofmann,Tarik Viehmann,Gerhard Lakemeyer
机构：Knowledge-Based Systems Group, RWTH Aachen University, Germany
备注：Presented at the ICAPS'22 Workshop on Planning and Robotics (PlanRob)

【29】 A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot
标题：脑出血机器人清除术手术平台(ASPIHRE)：非金属磁共振引导同心导管机器人
链接：https://arxiv.org/abs/2206.09848
作者：Anthony L. Gunderman,Saikat Sengupta,Eleni Siampli,Dimitri Sigounas,Christopher Kellner,Chima Oluigbo,Karun Sharma,Isuru Godage,Kevin Cleary,Yue Chen
机构：This research is funded by NIH R, NS,. Corresponding Author: Yue, A. L. Gunderman and Y. Chen are with the Biomedical Engineering, Department, Georgia Institute of TechnologyEmory, Atlanta , USA (e-
备注：19 pages, 20 figures, 3 tables

【30】 Quaternion variational integration for inertial manoeuvring in a biomimetic UAV
标题：用于仿生无人机惯性操纵的四元数变分积分
链接：https://arxiv.org/abs/2206.09847
作者：Arion Pons,Fehmi Cirak
机构： Institute of Life Sciences, Hebrew University of Jerusalem, Giv’at Ram, Jerusalem, Israel., School of Computer Science and Engineering, Hebrew University of Jerusalem, Giv’at Ram, Jerusalem, Israel.

【31】 Real-time Full-stack Traffic Scene Perception for Autonomous Driving with Roadside Cameras
标题：基于路侧摄像头的自动驾驶实时全栈交通场景感知
链接：https://arxiv.org/abs/2206.09770
作者：Zhengxia Zou,Rusheng Zhang,Shengyin Shen,Gaurav Pandey,Punarjay Chakravarty,Armin Parchami,Henry X. Liu
机构： Liu arewith the Department of Civil and Environmental Engineering, University ofMichigan
备注：This paper is accepted and presented in ICRA 2022

【32】 Parameterisation of lane-change scenarios from real-world data
标题：来自真实世界数据的变道场景的参数化
链接：https://arxiv.org/abs/2206.09744
作者：Dhanoop Karunakaran,Julie Stephany Berrio,Stewart Worrall,Eduardo Nebot
机构： Nebot are with the Aus-tralian Centre for Field Robotics (ACFR) at the University of Syd-ney (NSW
备注：Accepted to IEEE ITSC 2022 conference

【33】 SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehicles
标题：SafeBitch：自动驾驶车辆安全评价的标杆平台
链接：https://arxiv.org/abs/2206.09682
作者：Chejian Xu,Wenhao Ding,Weijie Lyu,Zuxin Liu,Shuai Wang,Yihan He,Hanjiang Hu,Ding Zhao,Bo Li
机构：University of Illinois at Urbana-Champaign, Carnegie Mellon University

【34】 Sampling Efficient Deep Reinforcement Learning through Preference-Guided Stochastic Exploration
标题：基于偏好引导随机探索的采样高效深度强化学习
链接：https://arxiv.org/abs/2206.09627
作者：Wenhui Huang,Cong Zhang,Jingda Wu,Xiangkun He,Jie Zhang,Chen Lv

【35】 NLOS Ranging Mitigation with Neural Network Model for UWB Localization
标题：基于神经网络模型的非视距超宽带定位方法
链接：https://arxiv.org/abs/2206.09607
作者：Muhammad Shalihan,Ran Liu,Chau Yuen
备注：Accepted by 2020 IEEE International Conference on Automation Science and Engineering (CASE)

【36】 Constrained Reinforcement Learning for Robotics via Scenario-Based Programming
标题：基于场景规划的机器人约束强化学习
链接：https://arxiv.org/abs/2206.09603
作者：Davide Corsi,Raz Yerushalmi,Guy Amir,Alessandro Farinelli,David Harel,Guy Katz
机构： David Harel 3 and Guy Katz 1 1The Hebrew University of Jerusalem {guyam, il 2University of Verona {davide, it 3The Weizmann Institute of Science {raz

【37】 From Multi-agent to Multi-robot: A Scalable Training and Evaluation Platform for Multi-robot Reinforcement Learning
标题：从多智能体到多机器人：一种可扩展的多机器人强化学习训练评估平台
链接：https://arxiv.org/abs/2206.09590
作者：Zhiuxan Liang,Jiannong Cao,Shan Jiang,Divya Saxena,Jinlin Chen,Huafeng Xu
机构： andHuafeng Xu were with Department of Computing, The Hong Kong Polytech-nic University
备注：13 pages

【38】 Hybrid Facial Expression Recognition (FER2013) Model for Real-Time Emotion Classification and Prediction
标题：用于实时情绪分类和预测的混合面部表情识别(FER2013)模型
链接：https://arxiv.org/abs/2206.09509
作者：Ozioma Collins Oguine,Kaleab Alamayehu Kinfu,Kanyifeechukwu Jane Oguine,Hashim Ibrahim Bisallah,Daniel Ofuani
机构：Department of Computer Science, University of Abuja, Abuja, Nigeria, Department of Computer Science, Johns Hopkins University, Baltimore, USA, Email address:
备注：8 Pages, 8 figures

【39】 Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning
标题：LOG-GPIS-MOP：地图、里程测量和规划的统一表示
链接：https://arxiv.org/abs/2206.09506
作者：Lan Wu,Ki Myung Brian Lee,Teresa Vidal-Calleja

【40】 Learning Multi-Task Transferable Rewards via Variational Inverse Reinforcement Learning
标题：基于变分逆强化学习的多任务转移奖赏学习
链接：https://arxiv.org/abs/2206.09498
作者：Se-Wook Yoo,Seung-Woo Seo
机构：SeoulNationalUniversity
备注：Accepted in ICRA 2022

【41】 A Critical Review of Communications in Multi-Robot Systems
标题：多机器人系统中的通信研究综述
链接：https://arxiv.org/abs/2206.09484
作者：Jennifer Gielis,Ajay Shankar,Amanda Prorok
备注：9 pages excl. bibliography, 2 figures

【42】 3D Object Detection for Autonomous Driving: A Review and New Outlooks
标题：自动驾驶中的三维目标检测：回顾与新展望
链接：https://arxiv.org/abs/2206.09474
作者：Jiageng Mao,Shaoshuai Shi,Xiaogang Wang,Hongsheng Li
机构：hk) 1 The Chinese University of Hong Kong, China 2 Max Planck Institute for Informatics
备注：A survey on 3D object detection for autonomous driving. Project page is at this https URL

【43】 RF-LIO: Removal-First Tightly-coupled Lidar Inertial Odometry in High Dynamic Environments
标题：RF-LiO：高动态环境下的第一个紧耦合激光雷达惯性里程计
链接：https://arxiv.org/abs/2206.09463
作者：Chenglong Qian,Zhaohong Xiang,Zhuoran Wu,Hongbin Sun

【44】 Object Localization Assistive System Based on CV and Vibrotactile Encoding
标题：基于CV和振动触觉编码的目标定位辅助系统
链接：https://arxiv.org/abs/2206.09432
作者：Zhikai Wei,Xuhui Hu

【45】 Learning Grasp Ability Enhancement through Deep Shape Generation
标题：通过深度形体生成提高学习抓取能力
链接：https://arxiv.org/abs/2206.09353
作者：Junnan Jiang,Xiaohui Xiao,Fei Chen,Miao Li

【46】 GMM based multi-stage Wiener filtering for low SNR speech enhancement
标题：基于GMM的多级维纳滤波用于低信噪比语音增强
链接：https://arxiv.org/abs/2206.09298
作者：Wageesha Manamperi,Prasanga N. Samarasinghe,Thushara D. Abhayapala,Jihui Zhang
机构：The Australian National University, Canberra, Australia
备注：5 pages, 3 figures, submitted to a conference

【47】 Neural Shape-from-Shading for Survey-Scale Self-Consistent Bathymetry from Sidescan
标题：侧扫测量比例尺自洽测深的神经形状自明暗算法
链接：https://arxiv.org/abs/2206.09276
作者：Nils Bore,John Folkesson
备注：Submitted to IEEE Journal of Oceanic Engineering (IEEE-JOE), under review as of June 2022

【48】 High Resolution Point Clouds from mmWave Radar
标题：毫米波雷达的高分辨率点云
链接：https://arxiv.org/abs/2206.09273
作者：Akarsh Prabhakara,Tao Jin,Arnav Das,Gantavya Bhatt,Lilly Kumari,Elahe Soltanaghaei,Jeff Bilmes,Swarun Kumar,Anthony Rowe

【49】 Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
标题：注意差距：多元最小二乘问题的范数感知自适应稳健损失
链接：https://arxiv.org/abs/2206.09215
作者：Thomas Hitchcox,James Richard Forbes
备注：None

【50】 Human-Robot Handovers using Task-Space Quadratic Programming
标题：基于任务空间二次规划的人-机器人切换
链接：https://arxiv.org/abs/2206.09185
作者：Mohamed Djeha,Antonin Dallard,Ahmed Zermane,Pierre Gergondet,Abderrahmane Kheddar
备注：6 pages, 7 figures, Accepted in 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

【51】 Validation of two-wire power line UAV localization based on the magnetic field strength
标题：基于磁场强度的二线制电力线无人机定位验证
链接：https://arxiv.org/abs/2206.09169
作者：Goran Vasiljevic,Dean Martinovic,Matko Batos,Stjepan Bogdan
备注：ICUAS 2022, The 2022 International Conference on Unmanned Aircraft Systems

【52】 ToolTango: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis
标题：ToolTango：机器人规划综合中预测顺序工具交互的常识推广
链接：https://arxiv.org/abs/2206.09141
作者：Shreshth Tuli,Rajas Bansal,Rohan Paul,Mausam
备注：Accepted in Journal of AI Research. arXiv admin note: substantial text overlap with arXiv:2105.04556

【53】 Closed-form Error Propagation on the SE_n(3) Group for Invariant Extended Kalman Filtering with Applications to VINS
标题：不变扩展卡尔曼滤波在SE_n(3)群上的闭式误差传播及其在VINS中的应用
链接：https://arxiv.org/abs/2206.09100
作者：Xinghan Li,Haodong Jiang,Xingyu Chen,He Kong,Junfeng Wu

【54】 An imminent collision monitoring system with safe stopping interventions for autonomous aerial flights
标题：一种具有安全停飞干预的自动飞行紧急碰撞监测系统
链接：https://arxiv.org/abs/2206.09053
作者：Jasmine Cheng,Xuning Yang,Nathan Michael

【55】 Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
标题：基于社会偏好的责任关联多智能体避碰
链接：https://arxiv.org/abs/2206.09030
作者：Yiwei Lyu,Wenhao Luo,John M. Dolan
备注：accepted at the 25th IEEE International Conference on Intelligent Transportation Systems (ITSC 2022)

【56】 Efficient Object Manipulation Planning with Monte Carlo Tree Search
标题：基于蒙特卡罗树搜索的高效目标操作规划
链接：https://arxiv.org/abs/2206.09023
作者：Huaijiang Zhu,Ludovic Righetti

【57】 Efficient Constrained Multi-Agent Interactive Planning using Constrained Dynamic Potential Games
标题：基于约束动态势对策的高效约束多智能体交互规划
链接：https://arxiv.org/abs/2206.08963
作者：Maulik Bhatt,Ayberk Yaraneri,Negar Mehr

【58】 Safety Guarantees for Neural Network Dynamic Systems via Stochastic Barrier Functions
标题：基于随机屏障函数的神经网络动态系统安全性保证
链接：https://arxiv.org/abs/2206.07811
作者：Rayan Mazouz,Karan Muvvala,Akash Ratheesh,Luca Laurenti,Morteza Lahijanian

机器翻译，仅供参考

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