• ARVOS workshop is taking place on the 23. October 2022 MIRMI members Prof. Nassir Navab and Prof. M. Ali Nasseri are speakers at the workshop. The workshop brings together research groups and key industries, sharing the latest technological advancements related to Robotic Microsurgery, Intra-Operative Visualization, Image-Guided Surgery, and Task Automation in Eye Surgery
• Computer-integrated surgery: intelligent ROBOTIC systems of the future will happen on the 23. October 2022. The workshop includes 4 round tables on perception, autonomy, system integration, and clinical translation.
• Keynote Session 6. Safe Learning in Robotics with Prof. Angela Schoellig on the 26. October, 13:30-14:30@Rm2 (Room B-1)

MIRMI and Partners

• Naceri, Abdeldjallil (TUM); Elsner, Jean (TUM); Troebinger, Mario (TUM); Sadeghian, Hamid (TUM); Johannsmeier, Lars (TUM); Voigt, Florian (TUM); Chen, Xiao    (TUM); Macari, Daniela (Franka Emika); Jaehne, Christoph (Franka Emika); Berlet, Maximilian (TUM); Fuchtmann, Jonas (TUM); Figueredo, Luis Felipe Cruz (TUM); Feussner, Hubertus (Klinikum Rechts Der Isar Der TUM); Wilhelm, Dirk (Klinikum Rechts Der Isar Der TUM); Haddadin, Sami (TUM). Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study
• You, Seungbin (Seoul National University); Jung, Jaesug (TUM); Sung, Eunho (Seoul National University); Park, Jaeheung (Seoul National University). Plate Harmonic Reducer with a Profiled Groove Wave Generator.
• Moortgat-Pick, Alexander (TUM); So, Peter (TUM); Sack, Michael (Cornell University); Cunningham, Emma G. (University of California, Santa Cruz); Hughes, Benjamin (University of California, Santa Cruz); Adamczyk, Anna (TUM); Sarabakha, Andriy (Nanyang Technological University); Takayama, Leila (University of California, Santa Cruz); Haddadin, Sami (TUM). A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation

Professorship for Safety, Performance and Reliability of Learning Systems

• Goudar, Abhishek (University of Toronto); Zhao, Wenda, (University of Toronto); Barfoot, Timothy (University of Toronto); Schoellig, Angela P. (TUM & University of Toronto). Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization. Keywords: Gaussian Variational Inference, Localization
• Burnett, Keenan (University of Toronto); Wu, Yuchen (University of Toronto); Yoon, David Juny (University of Toronto); Schoellig, Angela P. (TUM & University of Toronto); Barfoot, Timothy (University of Toronto). Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization? Keywords: Localization, Range Sensing, Intelligent Transportation Systems
• Scherer, Jürgen (Silicon Austria Labs GmbH); Schoellig, Angela P. (TUM & University of Toronto); Rinner, Bernhard (Alpen-Adria-Universität Klagenfurt). Min-Max Vertex Cycle Covers with Connectivity Constraints for Multi-Robot Patrolling. Keywords: Multi-Robot Systems, Path Planning for Multiple Mobile Robots or Agents, Surveillance Robotic Systems
• Yuan, Zhaocong (University of Toronto); Hall, Adam W. (University of Toronto); Zhou, Siqi (University of Toronto); Brunke, Lukas (University of Toronto); Greeff, Melissa (University of Toronto); Panerati, Jacopo (University of Toronto); Schoellig, Angela P. (TUM & University of Toronto). Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics. Keywords: Software Tools for Benchmarking and Reproducibility, Machine Learning for Robot Control, Reinforcement Learning

Chair for Computer-Aided Medical Procedures & Augmented Reality

• Guangyao Zhai, Yu Zheng, Ziwei Xu, Xin Kong, Yong Liu, Benjamin Busam, Yi Ren, Nassir Navab, Zhengyou Zhang. DA^2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping (IROS + RA-L).
• Mahdi Saleh, Yige Wang, Nassir Navab, Benjamin Busam, Federico Tombari. CloudAttention: Efficient Multi-Scale Attention Scheme For 3D Point Cloud Learning (IROS)
• Issa Mouawad, Nikolas Brasch, Fabian Manhardt, Federico Tombari, Francesca Odone. Time-to-Label: Temporal Consistency for Self-Supervised Monocular 3D Object Detection (IROS + RA-L)
• Ruida Zhang, Yan Di, Fabian Manhardt, Federico Tombari, Xiangyang Ji.  SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation (IROS)
• Yuan Bi, Zhongliang Jiang, Yuan Gao, Thomas Wendler, Angelos Karlas, Nassir Navab. VesNet-RL: Simulation-based Reinforcement Learning for Real-World US Probe Navigation (IROS + RA-L)
• Zhongliang Jiang, Yuan Gao, Le Xie, Nassir Navab. Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion (IROS + RA-L)
• Yordanka Velikova, Walter Simson, Nassir Navab. Towards Robotic Ultrasound Catheter Tracking Based on Intermediate Ultrasound Representations for Endovascular Procedures (IROS)

Chair of Robotics, Artificial Intelligence, and Real-time Systems

• Hao Xing and Darius Burschka. Understanding Spatio-Temporal Relations in Human-Object Interaction using Pyramid Graph Convolutional Network. Video: https://youtu.be/ctYuKBEfMXM
• Johannes Tenhumberg, Berthold Bäuml, and Darius Burschka. Speeding up Optimization-Based Motion Planning through Deep Learning.
• Huang, Yuhong (TUM); Bing, Zhenshan (TUM); Walter, Florian (TUM); Rohregger, Alex (TUM); Zhang, Zitao (Sun Yat-Sen University); Huang, Kai (Sun Yat-Sen University); Morin, Fabrice O. (TUM); Knoll, Alois (TUM). Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine

Chair of Sensor Based Robotic Systems and Intelligent Assistance Systems

• Schlenk, Christopher (German Aerospace Center (DLR)); Klodmann, Julian (German Aerospace Center); Hagmann, Katharina (German Aerospace Center); Kolb, Alexander (DLR); Hellings-Kuß, Anja (DLR); Steidle, Florian (German Aerospace Center); Schoeb, Dominik Stefan (University of Freiburg); Jürgens, Thorsten (Olympus Winter & Ibe GmbH); Miernik, Arkadiusz (University of Freiburg); Albu-Schäffer, Alin (DLR - German Aerospace Center). A Robotic System for Solo Surgery in Flexible Ureterorenoscopy.
• Dyck, Michael (Institute of Robotics and Mechatronics, German Aerospace Center); Sachtler, Arne (TUM); Klodmann, Julian (German Aerospace Center); Albu-Schäffer, Alin (DLR - German Aerospace Center). Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry (Finalist for IROS Best Paper Award for Industrial Robotics Research with Real-World Applications Sponsored by Mujin Inc.)
• Mühlbauer, Maximilian Sebastian (TUM); Steinmetz, Franz (German Aerospace Center (DLR); Stulp, Freek (DLR - Deutsches Zentrum Für Luft Und Raumfahrt E.V); Hulin, Thomas (German Aerospace Center (DLR); Albu-Schäffer, Alin (DLR - German Aerospace Center). Multi-Phase Multi-Modal Haptic Teleoperation

Chair of Data Processing

• Sven Gronauer, Matthias Kissel, Luca Sacchetto, Mathias Korte, Klaus Diepold. Using Simulation Optimization to Improve Zero-shot Policy Transfer for Quadrotors (IROS 2022)

Chair of Media Technology

• Babaians, Edwin; Yang, Dong; Karimi, Mojtaba; Xu, Xiao; Ayvasik, Serkut; Steinbach, Eckehard: Skill-CPD: Real-time Skill Refinement for Shared Autonomy in Manipulator Teleoperation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
• Babaians, Edwin; Sharma, Tapan; Karimi, Mojtaba; Sharifzadeh, Sahand; Steinbach, Eckehard: PourNet: Robust Robotic Pouring Through Curriculum and Curiosity-based Reinforcement Learning. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
• Gui, Ming; Xu, Xiao; Steinbach, Eckehard: Block-based Novel Haptic Data Reduction for Time-delayed Teleoperation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

Chair of Machine Learning for Robotics

• Simon Boche, Xingxing Zuo, Simon Schaefer, Stefan Leutenegger. Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion (IROS 2022)
• Xu, Binbin (Imperial College London); Davison, Andrew J (Imperial College London); Leutenegger, Stefan (TUM). Learning to Complete Object Shapes for Object-Level Mapping in Dynamic Scenes

Chair of Micro Technology and Medical Device Technology

• Merz, Judith U. (RWTH Aachen University); Huber, Markus  (TUM), Irlinger, Franz (TUM); Lueth, Tim C. (TUM); Pfitzner, Janik (RWTH Aachen University); Corves, Burkhard (RWTH Aachen University). Fold-Based Complex Joints for a 3 DoF 3R Parallel Robot Design. 
• Schiele, Simon (TUM); Baumgartner, Sebastian (TUM); Laudahn, Simon (TUM); Lueth, Tim C. (TUM). Automated Design of Task Specific Additively Manufacturable Coupled Serial Chain Mechanisms for Tracing Predefined Planar Trajectories (Finalist for IROS Best Paper Award on Robot Mechanisms and Design Sponsored by ROBOTIS)

Chair of Robotics and Systems Intelligence

• Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo Tadashi Muniz Kussaba, Saeed Abdolshah, Sami Haddadin. BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Carlos Valle, Alexander Kurdas, Edmundo Pozo Fortunić, Saeed Abdolshah, Sami Haddadin. Real-time IMU-Based Learning: a Classification of Contact Materials. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Seyedali Baradaranbirjandi, Niels Dehio, Abderrahmane Kheddar, Sami Haddadin. Robust Cartesian Kinematics Estimation for Task-Space Control Systems. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Rafael Ignacio Cabral Muchacho, Riddhiman Laha, Luis Felipe Cruz Figueredo, Sami Haddadin. A Solution to Slosh-Free Robot Trajectory Optimization
• Arthur Fender Coelho Bucker (Universidade De São Paulo), Luis Felipe Cruz Figueredo (Technical University of Munich (TUM)), Sami Haddadin, (Technical University of Munich), Ashish Kapoor (MicroSoft), Shuang Ma (Microsoft), Rogerio Bonatti (Microsoft). Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers.
• Knobbe, Dennis (TUM); Zwirnmann, Henning (TUM); Eckhoff, Moritz (TUM); Haddadin, Sami (TUM). Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling
• Reithmeir, Anna (TUM); Figueredo, Luis Felipe Cruz (TUM); Haddadin, Sami (TUM). Human-To-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
• Hidalgo Carvajal, Diego Xavier (TUM); Herneth, Christopher (TUM); Naceri, Abdeldjallil (TUM); Haddadin, Sami (TUM). End-To-End from Human Hand Synergies to Robot Hand Tendon Routing
• Vorndamme, Jonathan (TUM); Figueredo, Luis Felipe Cruz (TUM); Haddadin, Sami (TUM). Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space
• Chen, Xiao (TUM); Johannsmeier, Lars (TUM); Sadeghian, Hamid (TUM); Shahriari, Erfan (TUM); Danneberg, Martin (TU Dresden); Nicklas, Anselm (TUM); Wu, Fan (TUM); Fettweis, Gerhard (TU Dresden); Haddadin, Sami (TUM). On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G
• Karacan, Kübra (TUM); Sadeghian, Hamid (TUM); Kirschner, Robin Jeanne (TUM); Haddadin, Sami (TUM). Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control
• Johannsmeier, Lars (TUM); Haddadin, Sami (TUM). Can We Reach Human Expert Programming Performance? a Tactile Manipulation Case Study in Learning Time and Task Performance
• Kirschner, Robin Jeanne (TUM); Martineau, Florian (TUM); Mansfeld, Nico (TUM); Abdolshah, Saeed (TUM); Haddadin, Sami (TUM). Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance.

Chair of Applied Mechanics

• Jonas Wittmann, Arian Kist and Daniel Rixen. Real-Time Predictive Kinematics Control of Redundancy: a Benchmark of Optimal Control Approaches (IROS 2022)

Institute for Cyber-Physical Systems in Production Engineering

• Hongpeng Cao, Mirco Theile, Federico G. Wyrwal, and Marco Caccamo. Cloud-Edge Training Architecture for Sim-to-Real Deep Reinforcement Learning (IROS 2022)