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Robotikkonferenz ICRA 2024: Über 50 Publikationen von MIRMI-Forschern

Community, Forschung |

Unter dem Motto „Connect+“ startet am 13. Mai die internationale Robotikkonferenz IEEE International Conference on Robotics and Automation (ICRA2024) in Yokohama in Japan. Sie gibt MIRMI-Forschenden die Chance, ihre neuesten Forschungen vorzustellen. Hier die vorläufige Liste der Publikationen, Workshops und Videos von Forschenden aus dem MIRMI. Die Einreichungen der Publikationen gehen von den Lehrstühlen aus, die mit dem MIRMI zusammenarbeiten.

Key Figures (preliminary)

52 Accepted papers (incl. RAM and RAL submissions presented at ICRA 2024)
7 Workshops and video sessions (where researchers are organizers and invited speakers)
8 TUM MIRMI Principal Investigators
+30 Authors

 

Autonomous Vehicle Systems (Prof. Johannes Betz). Department of Mobility Systems Engineering, TUM School of Engineering and Design    

  1. ESP: Extro-Spective Prediction for Long-term Behavior Reasoning in Emergency Scenarios
  2. MAD-Games: Multi-Agent Dynamic Games (Workshop)

Orthopaedy (Prof. Rainer Burgkart). Department of Clinical Medicine, TUM School of Medicine and Health

  1. Accurate Kinematic Modeling using Autoencoders on Differentiable Joints
  2. Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands

Robotics and Systems Intelligence (Prof. Sami Haddadin), Department of Computer Engineering, School of Computation, Information & Technology.

  1. Robot Guardians: The Artificial Immune System of our Planet  (Video submission)
  2. A Day with GARMI: Robot Home Assistance in the Lives of Senior Citizens  (Video submission)
  3. Digital Robot Judge (DR.J): Building a Task-Centric Performance Database of Real-World Manipulation with Electronic Task Boards  (RAM submission)
  4. Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept  (RAL submission)
  5. Anthropomorphic Grasping with Neural Object Shape Completion (RAL submission)
  6. Autonomous and Teleoperation Control of a Drawing Robot Avatar  
  7. Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots  
  8. 1 kHz Behavior Tree for Self-adaptable Tactile Insertion  
  9. Optimal Control for Clutched-Elastic Robotic Systems: A Contact-Implicit Approach  
  10. RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields  
  11. Learning barrier-certified polynomial dynamical systems for obstacle avoidance with robots  
  12. Geometric Slosh-Free Tracking for Robotic Manipulators  
  13. CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation  
  14. Friction Characteristics and Modeling of a Bowden Cable Drive Unit for Application in an Upper-Limb Exoskeleton  
  15. Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments  
  16. Accurate Kinematic Modeling using Autoencoders on Differentiable Joints 
  17. Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control  
  18. Towards Safe Robot Use with Pointy or Edgy Objects: A Substitute Study Assembling a Human Hand Injury Protection Database  
  19. Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints  
  20. Safe Execution of Learned Orientation skills with Conic Control Barrier Functions  
  21. Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands  
  22. Enhancing the Tracking Performance of High-Frequency Robot Cloud Control  
  23. ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots (RAL submission)
  24. Aim-Aware Collision Monitoring: Discriminating between Expected and Unexpected Post-Impact Behaviors  (RAL submission)
  25. Accelerating Discovery in Natural Science Laboratories with AI and Robotics (workshop)

Informatics 35 - Chair of Perception for Intelligent Systems (Prof. Achim Lilienthal), Department of Computer Engineering, School of Computation, Information & Technology.

  1. LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow
  2. 3QFP: Efficient Neural Implicit Surface Reconstruction Using Tri-Quadtrees and Fourier Feature Positional Encoding

Ophtalmology (Ali Nasseri), Department of Clinical Medicine, TUM School of Medicine and Health 

  1. Envibroscope: Real-Time Monitoring and Prediction of Environmental Motion for Enhancing Safety in Robot-Assisted Microsurgery.
  2. Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery.
  3. Shadow-Based 3D Pose Estimation of Intraocular Instrument Using Only 2D Images.
  4. Analyzing Accessibility in Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture and Robot Position.
  5. Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery.

Informatics 16 - Chair of Computer Aided Medical Procedures (Prof. Nassir Navab), Department of Computer Science, TUM School of Computation, Information & Technology

  1. Uncertainty-Aware Contextual Visualization for Human Supervision of OCT-Guided Autonomous Robotic Subretinal Injection  
  2. Skeleton Graph-based Ultrasound-CT Non-rigid Registration (RAL)
  3. Uncertainty-Aware Contextual Visualization for Human Supervision of OCT-Guided Autonomous Robotic Subretinal Injection  
  4. Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery
  5. Implicit neural representations for breathing-compensated volume reconstruction in robotic ultrasound aorta screening
  6. DopUS-Net: Quality-Aware Robotic Ultrasound Imaging based on Doppler Signal (TASE)
  7. Physics-Informed Graph Neural Networks for Deformation Prediction under Contact 
  8. Analyzing Accessibility in Robot-Assisted Vitreoretinal Surgery: Integrating Eye Posture and Robot Position
  9. Shadow-Based 3D Pose Estimation of Intraocular Instrument Using Only 2D Images  
  10. RIDE: Self-Supervised Learning of Rotation-Equivariant Keypoint Detection and Invariant Description for Endoscopy 
  11. Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery 
  12. AiAReSeg: Catheter Detection and Segmentation in Interventional Ultrasound using Transformers
  13. SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs 
  14. SupeRGB-D: Zero-shot Instance Segmentation in Cluttered Indoor Environments (RAL)
  15. 2nd Robot-Assisted Medical Imaging ICRA-RAMI  (workshop)

Safety, Performance and Reliability for Learning Systems (Prof. Angela Schoellig), Department of Computer Engineering, School of Computation, Information & Technology

  1. AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space
  2. Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
  3. Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments
  4. Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
  5. Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator (RAL)
  6. Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation (RAL)
  7. What does Responsible Robotics mean? Stretching roboticists’ horizons from an academic, government and philosophical perspective (Workshop)

Media Technology (Prof. Eckehard Steinbach), Department of Computer Engineering, School of Computation, Information & Technology              

  1. NetLfD: Network-Aware Learning from Demonstration for In-Contact Skills via Teleoperation
  2. HEGN: Hierarchical Equivariant Graph Neural Network for 9DoF Point Cloud Registration
  3. HPF-SLAM: An Efficient Visual SLAM System Leveraging Hybrid Point Features

 

*Bei allen Beiträgen handelt es sich um Papers, sofern nicht anders angegeben.

#ICRA2024 #Robotics #TUM #MIRMI #Automation #Yokohama #Innovation #IEEE