机器人相关学术速递[9.1]

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cs.RO机器人相关，共计14篇

【1】 Robotic Lime Picking by Considering Leaves as Permeable Obstacles 标题：以树叶为透水障碍物的机器人石灰采摘 链接：https://arxiv.org/abs/2108.13889

作者：Heramb Nemlekar,Ziang Liu,Suraj Kothawade,Sherdil Niyaz,Barath Raghavan,Stefanos Nikolaidis 机构：University of Southern California 备注：7 pages, 6 figures, Conference: 2021 International Conference on Intelligent Robots and Systems, Supplementary video: this https URL 摘要：机器人石灰拾取问题具有挑战性；石灰植物有浓密的叶子，这使得机械臂在不接触叶子的情况下很难抓住石灰。现有的方法要么不考虑叶子，要么把它们当作障碍，完全避免它们，往往导致不希望的或不可行的计划。我们将植物的叶子视为具有碰撞成本的“可渗透障碍物”，重点关注在浓密树叶存在的情况下达到石灰。然后，我们采用快速探索随机树星（RRT*）算法，通过将与树叶碰撞的成本纳入路径成本，来解决水果收获问题。为了减少寻找低成本目标路径所需的时间，我们使用人工势场（APF）对树的生长进行偏置。我们将我们提出的方法与先前在二维环境和六自由度机器人仿真中的工作进行了比较。我们的实验和机器人石灰采摘任务的真实演示证明了我们方法的适用性。 摘要：The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat them as obstacles and completely avoid them, often resulting in undesirable or infeasible plans. We focus on reaching a lime in the presence of dense foliage by considering the leaves of a plant as 'permeable obstacles' with a collision cost. We then adapt the rapidly exploring random tree star (RRT*) algorithm for the problem of fruit harvesting by incorporating the cost of collision with leaves into the path cost. To reduce the time required for finding low-cost paths to goal, we bias the growth of the tree using an artificial potential field (APF). We compare our proposed method with prior work in a 2-D environment and a 6-DOF robot simulation. Our experiments and a real-world demonstration on a robotic lime picking task demonstrate the applicability of our approach.

【2】 InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images 标题：InSeGan：深度图像中分割相同实例的产生式方法 链接：https://arxiv.org/abs/2108.13865

作者：Anoop Cherian,Goncalo Dias Pais,Siddarth Jain,Tim K. Marks,Alan Sullivan 机构：Gonc¸alo Dias Pais,, Mitsubishi Electric Research Labs (MERL), Cambridge, MA, Instituto Superior T´ecnico, University of Lisbon, Portugal 备注：Accepted at ICCV 2021 摘要：在本文中，我们提出了InSeGAN，一种无监督的3D生成对抗网络（GAN），用于在深度图像中分割（几乎）相同的刚性物体实例。采用综合分析的方法，我们设计了一种新颖的GAN结构来合成多实例深度图像，并对每个实例进行独立控制。InSeGAN接受一组代码向量（例如，随机噪声向量），每个编码对象的3D姿势，该姿势由学习的隐式对象模板表示。发电机有两个不同的模块。第一个模块，实例特征生成器，使用每个编码姿势将隐式模板转换为每个对象实例的特征映射表示。第二个模块（深度图像渲染器）聚合第一个模块输出的所有单实例特征贴图，并生成多实例深度图像。鉴别器将生成的多实例深度图像与真实深度图像的分布区分开来。为了使用我们的模型进行实例分割，我们提出了一个实例姿势编码器，该编码器学习获取生成的深度图像，并为所有对象实例重现姿势代码向量。为了评估我们的方法，我们引入了一个新的合成数据集“Insta-10”，由100000个深度图像组成，每个深度图像包含10个类中的5个对象实例。我们在Insta-10上的实验以及在现实世界中有噪声的深度图像上的实验表明，InSeGAN实现了最先进的性能，通常比以前的方法有很大的优势。 摘要：In this paper, we present InSeGAN, an unsupervised 3D generative adversarial network (GAN) for segmenting (nearly) identical instances of rigid objects in depth images. Using an analysis-by-synthesis approach, we design a novel GAN architecture to synthesize a multiple-instance depth image with independent control over each instance. InSeGAN takes in a set of code vectors (e.g., random noise vectors), each encoding the 3D pose of an object that is represented by a learned implicit object template. The generator has two distinct modules. The first module, the instance feature generator, uses each encoded pose to transform the implicit template into a feature map representation of each object instance. The second module, the depth image renderer, aggregates all of the single-instance feature maps output by the first module and generates a multiple-instance depth image. A discriminator distinguishes the generated multiple-instance depth images from the distribution of true depth images. To use our model for instance segmentation, we propose an instance pose encoder that learns to take in a generated depth image and reproduce the pose code vectors for all of the object instances. To evaluate our approach, we introduce a new synthetic dataset, "Insta-10", consisting of 100,000 depth images, each with 5 instances of an object from one of 10 classes. Our experiments on Insta-10, as well as on real-world noisy depth images, show that InSeGAN achieves state-of-the-art performance, often outperforming prior methods by large margins.

【3】 The Interaction Flow Editor: A New Human-Robot Interaction RapidPrototyping Interface 标题：交互流编辑器：一种新的人机交互快速原型接口 链接：https://arxiv.org/abs/2108.13838

作者：Matthew Huggins,Anastasia K. Ostrowski,Andrew Rapo,Eric Woudenberg,Cynthia Breazeal,Hae Won Park 备注：8 pages, 4 figures 摘要：人机交互可以看作是用户和机器人之间的一种流。设计良好的交互流需要付出大量的努力，并且需要进行现场测试。不幸的是，交互流设计过程往往是非常脱节的，用户体验原型，设计师形成原型，开发人员将其作为独立的过程来实现。在本文中，我们介绍了交互流编辑器（Interaction Flow Editor，IFE），这是一种新的人机交互原型工具，使日常用户能够创建和修改自己的交互，同时还提供了一整套功能强大的功能，足以让开发人员和设计人员创建复杂的交互。我们还讨论了流引擎，它是一个灵活的、适应性强的框架，用于通过IFE执行机器人交互流。最后，我们展示了我们的案例研究结果，展示了70岁及以上的老年人如何使用IFE在机器人上实时设计和迭代交互。 摘要：Human-robot interaction can be regarded as a flow between users and robots. Designing good interaction flows takes a lot of effort and needs to be field tested. Unfortunately, the interaction flow design process is often very disjointed, with users experiencing prototypes, designers forming those prototypes, and developers implementing them as independent processes. In this paper, we present the Interaction Flow Editor (IFE), a new human-robot interaction prototyping tool that enables everyday users to create and modify their own interactions, while still providing a full suite of features that is powerful enough for developers and designers to create complex interactions. We also discuss the Flow Engine, a flexible and adaptable framework for executing robot interaction flows authors through the IFE. Finally, we present our case study results that demonstrates how older adults, aged 70 and above, can design and iterate interactions in real-time on a robot using the IFE.

【4】 Manipulation of Camera Sensor Data via Fault Injection for Anomaly Detection Studies in Verification and Validation Activities For AI 标题：利用故障注入处理摄像机传感器数据进行异常检测的研究人工智能验证和确认活动中的研究 链接：https://arxiv.org/abs/2108.13803

作者：Alim Kerem Erdogmus,Assist. Prof. Dr. Ugur Yayan 备注：12 pages, 16 figures, Provided by Inovasyon Muhendislik 摘要：在本研究中，通过将错误注入机器人摄像机节点，创建由这些摄像机记录的图像变形而获得的图像组成的数据库，并解释该数据库的替代用途。该研究基于一个现有的摄像机故障注入软件，该软件在系统运行时将故障注入ROKOS机器人手臂的摄像机，并收集在该注入过程中记录的正常和故障图像。研究中获得的数据库是检测机器人系统中可能出现的异常的来源。ROKOS系统是在ROKOS左右机器人手臂上的摄像头的帮助下开发的，用于检查白色客车车身中的零件。基于仿真的机器人验证测试工具（SRVT）系统是通过在Gazebo环境中模拟这些机器人和底盘，使用MoveIt planner执行和实施轨迹规划，并集成ROS Smach结构和任务通信而产生的系统。该系统是在VALU3S项目范围内开发的，旨在创建机器人领域的V&V系统。在本研究范围内，创建了一个包含10000张图像的数据库，其中包括5000张正常图像和5000张错误图像。在机器人运行的不同时间，通过注入腐蚀、稀释、打开、关闭、梯度、运动模糊和部分丢失等七种不同的图像故障类型，获得故障图像。该数据库由ROKOS系统在客车底盘检查任务期间从车辆上拍摄的图像组成。 摘要：In this study, the creation of a database consisting of images obtained as a result of deformation in the images recorded by these cameras by injecting errors into the robot camera nodes and the alternative uses of this database are explained. The study is based on an existing camera fault injection software that injects faults into the cameras of the ROKOS robot arms while the system is running and collects the normal and faulty images recorded during this injection. The database obtained in the study is a source for detecting anomalies that may occur in robotic systems. The ROKOS system has been developed on the inspection of the parts in a bus body-in-white with the help of the cameras on the ROKOS robot arms, right and left. The simulation-based robot verification testing tool (SRVT) system is a system that has emerged by simulating these robots and the chassis in the Gazebo environment, performing and implementing the trajectory planning with the MoveIt planner, and integrating the ROS Smach structure and mission communication. This system is being developed within the scope of the VALU3S project to create a V&V system in the robotics field. Within the scope of this study, a database of 10000 images was created, consisting of 5000 normal and 5000 faulty images. Faulty pictures were obtained by injecting seven different image fault types, including erosion, dilusion, opening, closing, gradient, motion-blur and partial loss, at different times when the robot was in operation. This database consists of images taken by the ROKOS system from the vehicle during a bus chassis inspection mission.

【5】 Riemannian Optimization for Distance Geometric Inverse Kinematics 标题：距离几何逆运动学的黎曼优化 链接：https://arxiv.org/abs/2108.13720

作者：Filip Marić,Matthew Giamou,Adam W. Hall,Soroush Khoubyarian,Ivan Petrović,Jonathan Kelly 备注：Submitted to IEEE Transactions on Robotics 摘要：运动学逆问题的求解是关节式机器人运动规划、控制和标定中的一个基本挑战。这些机器人的运动学模型通常通过关节角度进行参数化，从而在机器人的配置和末端执行器姿势之间生成复杂的映射。或者，运动学模型和任务约束可以使用连接到机器人的点之间的不变距离来表示。在本文中，我们形式化了一大类关节机器人和任务约束的基于距离的逆运动学和距离几何问题的等价性。与以前的方法不同，我们使用距离几何和低秩矩阵完成之间的联系，通过局部优化完成部分欧几里德距离矩阵来寻找逆运动学解。此外，我们还利用固定秩Gram矩阵的黎曼流形参数化欧氏距离矩阵的空间，使我们能够利用各种成熟的黎曼优化方法。最后，我们证明了边界平滑可以用于生成知情的初始化，而无需显著的计算开销，从而提高了收敛性。我们证明了我们的新型逆运动学求解器比传统技术获得了更高的成功率，并且在涉及许多工作空间约束的问题上显著优于传统技术。 摘要：Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parameterized by joint angles, generating a complicated mapping between a robot's configuration and end-effector pose. Alternatively, the kinematic model and task constraints can be represented using invariant distances between points attached to the robot. In this paper, we formalize the equivalence of distance-based inverse kinematics and the distance geometry problem for a large class of articulated robots and task constraints. Unlike previous approaches, we use the connection between distance geometry and low-rank matrix completion to find inverse kinematics solutions by completing a partial Euclidean distance matrix through local optimization. Furthermore, we parameterize the space of Euclidean distance matrices with the Riemannian manifold of fixed-rank Gram matrices, allowing us to leverage a variety of mature Riemannian optimization methods. Finally, we show that bound smoothing can be used to generate informed initializations without significant computational overhead, improving convergence. We demonstrate that our novel inverse kinematics solver achieves higher success rates than traditional techniques, and significantly outperforms them on problems that involve many workspace constraints.

【6】 Learning Practically Feasible Policies for Online 3D Bin Packing 标题：学习实用可行的在线3D装箱策略 链接：https://arxiv.org/abs/2108.13680

作者：Hang Zhao,Chenyang Zhu,Xin Xu,Hui Huang,Kai Xu 机构：National University of Defense Technology, Changsha , China;, Shenzhen University, Shenzhen , China 摘要：我们处理在线三维装箱问题，这是经典装箱问题的一个具有挑战性但实际有用的变体。在这个问题中，项目被交付给代理，而不通知完整的序列信息。代理商必须在不改变到货顺序的情况下直接将这些物品稳定地包装到目标箱中，并且不允许进一步调整。在线3D-BPP可以自然地表示为马尔可夫决策过程（MDP）。我们采用深度强化学习，特别是基于策略-行动者-批评家框架，来解决行动空间受限的MDP问题。为了学习切实可行的包装政策，我们提出了三个关键设计。首先，我们提出了一种在线分析包装稳定性的一种新的堆叠树的基础上。它在将计算复杂度从$O（N^2）$降低到$O（N\log N）$的同时，获得了较高的分析精度，特别适合于RL训练。其次，我们针对不同的布局维度提出了一种解耦的布局策略学习方法，该方法可以实现高分辨率的空间离散化，从而提高布局精度。第三，我们引入了一个奖励函数，该函数指示机器人按从远到近的顺序放置物品，从而简化了机械臂运动规划中的碰撞避免。此外，我们还对几个关键的实现问题进行了全面的讨论。广泛的评估表明，我们学习的策略显著优于最先进的方法，并且实际可用于实际应用。 摘要：We tackle the Online 3D Bin Packing Problem, a challenging yet practically useful variant of the classical Bin Packing Problem. In this problem, the items are delivered to the agent without informing the full sequence information. Agent must directly pack these items into the target bin stably without changing their arrival order, and no further adjustment is permitted. Online 3D-BPP can be naturally formulated as Markov Decision Process (MDP). We adopt deep reinforcement learning, in particular, the on-policy actor-critic framework, to solve this MDP with constrained action space. To learn a practically feasible packing policy, we propose three critical designs. First, we propose an online analysis of packing stability based on a novel stacking tree. It attains a high analysis accuracy while reducing the computational complexity from $O(N^2)$ to $O(N \log N)$, making it especially suited for RL training. Second, we propose a decoupled packing policy learning for different dimensions of placement which enables high-resolution spatial discretization and hence high packing precision. Third, we introduce a reward function that dictates the robot to place items in a far-to-near order and therefore simplifies the collision avoidance in movement planning of the robotic arm. Furthermore, we provide a comprehensive discussion on several key implemental issues. The extensive evaluation demonstrates that our learned policy outperforms the state-of-the-art methods significantly and is practically usable for real-world applications.

【7】 Lane level context and hidden space characterization for autonomous driving 标题：自动驾驶的车道级上下文和隐藏空间表征 链接：https://arxiv.org/abs/2108.13664

作者：Alexandre Armand,Corentin Sanchez,Philippe Xu,Alexandre Arm,Philippe Bonnifait 机构： 1Sorbonne universitï¿œs, Universitï¿œ de Technologie de Com-piï¿œgne 备注：None 摘要：对于自动驾驶车辆，态势理解和导航是实现安全舒适决策和导航的关键能力。信息通常由多个来源提供。有关道路拓扑和交通规则的先验信息可以通过高清（HD）地图提供，而感知系统提供了空间和道路实体在车辆环境中演化的描述。在不复杂的情况下，例如在城市地区遇到的情况，道路使用者的行为受与其他人以及与道路网络的强烈互动的控制。因此，在这种情况下，必须了解可靠的情况，才能避免作出适当的决定。然而，了解情况是一项复杂的任务，需要对车辆周围环境进行一致且无误导性的描述。本文提出了一种形式主义（交互车道网格），它通过不同的抽象层次来表示安全导航必须考虑的可导航和交互空间。选择自上而下的方法来评估和描述情况的相关信息。在较高的抽象层次上，描述了车辆应注意的感兴趣区域的识别。在较低的层次上，它能够以统一的表示来描述空间信息，并通过与动态对象的推理来推断隐藏区域中的附加信息。 摘要：For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic laws can be given by a High Definition (HD) map whilethe perception system provides the description of the spaceand of road entities evolving in the vehicle surroundings. Incomplex situations such as those encountered in urban areas,the road user behaviors are governed by strong interactionswith the others, and with the road network. In such situations,reliable situation understanding is therefore mandatory to avoidinappropriate decisions. Nevertheless, situation understandingis a complex task that requires access to a consistent andnon-misleading representation of the vehicle surroundings. Thispaper proposes a formalism (an interaction lane grid) whichallows to represent, with different levels of abstraction, thenavigable and interacting spaces which must be considered forsafe navigation. A top-down approach is chosen to assess andcharacterize the relevant information of the situation. On a highlevel of abstraction, the identification of the areas of interestwhere the vehicle should pay attention is depicted. On a lowerlevel, it enables to characterize the spatial information in aunified representation and to infer additional information inoccluded areas by reasoning with dynamic objects.

【8】 Autonomous Rollator: A Case Study in the Agebots Project 标题：自主滚轮：Agebots项目中的案例研究 链接：https://arxiv.org/abs/2108.13648

作者：Jonas Frei,Anina Havelka,Markus Wüst,Einar Nielsen,Andreas Ziltner,Katrin S. Lohan 摘要：在本文中，我们提出了一个迭代开发过程的功能模型的自治，定位定向辊。一个跨学科团队参与了开发，与最终用户密切合作。该实例表明，设计思维方法适用于护理行业前沿技术设备的开发。 摘要：In this paper, we present an iterative development process for a functional model of an autonomous, location-orienting rollator. An interdisciplinary team was involved in the development, working closely with the end-users. This example shows that the design thinking method is suitable for the development of frontier technology devices in the care sector.

【9】 A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures 标题：移动机器人运动规划方法综述：从经典运动规划工作流到基于强化学习的体系结构 链接：https://arxiv.org/abs/2108.13619

作者：Zichen He,Jiawei Wang,Chunwei Song 摘要：运动规划是实现移动机器人自主操作的关键。随着机器人应用场景的复杂性和随机性的增加，经典的分层运动规划器的规划能力受到了挑战。近年来，随着智能计算技术的发展，基于深度强化学习（DRL）的运动规划算法以其不依赖于地图先验、无模型、统一的全局和局部规划范式等优点逐渐成为研究热点。在本文中，我们对各种运动规划方法进行了系统的回顾。首先，我们总结了经典运动规划体系结构中每个子模块的代表性和前沿算法，并分析了它们的性能局限性。接下来，我们将重点回顾基于RL的运动规划方法，包括RL优化运动规划器、集成感知和决策的无地图端到端方法以及多机器人协作规划方法。在最后一节中，我们详细分析了这些方法面临的紧迫挑战，回顾了一些针对这些问题的最新研究成果，并对未来的研究提出了建议。 摘要：Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and stochasticity of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged. In recent years, with the development of intelligent computation technology, the deep reinforcement learning (DRL) based motion planning algorithm has gradually become a research hotspot due to its advantageous features such as not relying on the map prior, model-free, and unified global and local planning paradigms. In this paper, we provide a systematic review of various motion planning methods. First, we summarize the representative and cutting-edge algorithms for each submodule of the classical motion planning architecture, and analyze their performance limitations. For the rest part, we focus on reviewing RL-based motion planning approaches, including RL optimization motion planners, map-free end-to-end methods that integrate sensing and decision-making, and multi-robot cooperative planning methods. In the last section, we analyze the urgent challenges faced by these methods in detail, review some state-of-the-art works for these issues, and propose suggestions for future research.

【10】 BotNet: A Simulator for Studying the Effects of Accurate Communication Models on Multi-agent and Swarm Control 标题：僵尸网络：研究精确通信模型对多智能体和群控制影响的模拟器 链接：https://arxiv.org/abs/2108.13606

作者：Mark Selden,Jason Zhou,Felipe Campos,Nathan Lambert,Daniel Drew,Kristofer S. J. Pister 机构：Department of Electrical Engineering and Computer Sciences, Universityof California, ‡Department of Electrical and Computer Engineering, University of Utah 备注：9 pages, 8 figures 摘要：多机器人系统的分散控制依赖于智能体之间准确可靠的通信。重要的通信因素，如延迟和数据包交付率，是网络中代理数量的强大函数。移动和高节点数射频（RF）网状网络研究的结果仅在有限程度上转移到多机器人系统领域，典型的多智能体机器人模拟器通常依赖于简单的传播模型，而这些模型不能反映真实RF网络的行为。在本文中，我们提出了一个新的开源群机器人模拟器，僵尸网络，带有一个符合嵌入式标准的时间同步信道跳频（6TiSCH）射频网状网络模拟器。使用这个模拟器，我们展示了更精确的通信模型如何限制即使是简单的多机器人控制任务，如群集和编队控制，代理数量从10到2500个代理不等。实验结果用于激励对机器人间通信传播模型和目前在实践中使用的其他网络组件的更改，以便将sim连接到真实的gap。 摘要：Decentralized control in multi-robot systems is dependent on accurate and reliable communication between agents. Important communication factors, such as latency and packet delivery ratio, are strong functions of the number of agents in the network. Findings from studies of mobile and high node-count radio-frequency (RF) mesh networks have only been transferred to the domain of multi-robot systems to a limited extent, and typical multi-agent robotic simulators often depend on simple propagation models that do not reflect the behavior of realistic RF networks. In this paper, we present a new open source swarm robotics simulator, BotNet, with an embedded standards-compliant time-synchronized channel hopping (6TiSCH) RF mesh network simulator. Using this simulator we show how more accurate communications models can limit even simple multi-robot control tasks such as flocking and formation control, with agent counts ranging from 10 up to 2500 agents. The experimental results are used to motivate changes to the inter-robot communication propagation models and other networking components currently used in practice in order to bridge the sim-to-real gap.

【11】 Through the Looking Glass: Diminishing Occlusions in Robot Vision Systems with Mirror Reflections 标题：透过镜子：减少带有镜面反射的机器人视觉系统中的遮挡 链接：https://arxiv.org/abs/2108.13599

作者：Kentaro Yoshioka,Hidenori Okuni,Tuan Thanh Ta,Akihide Sai 机构：Wireless System Laboratory, Research and Development Center, Toshiba Corporation, Kawasaki, Japan., Now with Keio University, Yokohama, Japan. 备注：Accepted to IROS 2021 摘要：机器人视觉的质量极大地影响着自动化系统的性能，其中遮挡是最大的挑战之一。如果目标被传感器遮挡，则检测和抓取此类目标将变得非常困难。例如，当多个机器人手臂在单个工作场所中协作时，将在机器人手臂自身下方创建遮挡，并隐藏下方的对象。虽然通过安装多个传感器可以大大减少遮挡，但传感器成本的增加不容忽视。此外，每次机器人操作程序和布局发生变化时，都必须重新安排传感器的位置。为了减少遮挡，我们提出了第一个具有倾斜式镜面反射传感的机器人视觉系统。通过瞬间倾斜传感器本身，我们获得了两种不同视角的传感结果：传统的直接视线传感和通过镜面反射的非视线传感。我们提出的系统通过检测场景中的遮挡并动态配置传感器倾斜角度来感知检测到的遮挡区域，从而自适应地去除遮挡。因此，即使在机器人操作或布局发生变化后，也不需要重新布置传感器。由于所需的硬件是倾斜装置和商用后视镜，因此成本增加幅度不大。通过实验，我们证明了我们的系统可以达到与多传感器系统相似的检测精度，而不考虑单个传感器的实现。 摘要：The quality of robot vision greatly affects the performance of automation systems, where occlusions stand as one of the biggest challenges. If the target is occluded from the sensor, detecting and grasping such objects become very challenging. For example, when multiple robot arms cooperate in a single workplace, occlusions will be created under the robot arm itself and hide objects underneath. While occlusions can be greatly reduced by installing multiple sensors, the increase in sensor costs cannot be ignored. Moreover, the sensor placements must be rearranged every time the robot operation routine and layout change. To diminish occlusions, we propose the first robot vision system with tilt-type mirror reflection sensing. By instantly tilting the sensor itself, we obtain two sensing results with different views: conventional direct line-of-sight sensing and non-line-of-sight sensing via mirror reflections. Our proposed system removes occlusions adaptively by detecting the occlusions in the scene and dynamically configuring the sensor tilt angle to sense the detected occluded area. Thus, sensor rearrangements are not required even after changes in robot operation or layout. Since the required hardware is the tilt-unit and a commercially available mirror, the cost increase is marginal. Through experiments, we show that our system can achieve a similar detection accuracy as systems with multiple sensors, regardless of the single-sensor implementation.

【12】 Planning for Dexterous Ungrasping: Secure Ungrasping through Dexterous Manipulation 标题：灵巧不抓的规划：通过灵巧的操作确保不抓的安全 链接：https://arxiv.org/abs/2108.13580

作者：Chung Hee Kim,Ka Hei Mak,Jungwon Seo 机构： Seo are with The Hong KongUniversity of Science and Technology (e-mail 备注：This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 摘要：本文介绍了一种用于灵巧脱钩的机器人操作技术。它是指通过灵巧的操作，将抓取的物体从夹具安全地转移到机器人环境的能力，即抓取或拾取的反向。GO的游戏提供了一个例子：考虑玩家通常如何通过手指、石头和棋盘之间的灵巧互动将最初捏住的石头放置在棋盘上。同样，灵巧的解钩解决了改变物体相对于夹具或环境的配置的必要性，以便安全地抓住物体。特别是，我们提出了一个规划框架，以确定一个可行的最低成本的运动路径，完成灵巧ungraping。手爪中的手指不对称性，即手指长度的差异，被发现是可行和安全解钩的关键。一组实验表明，灵巧的去抓器在实际放置任务中是有效的。 摘要：This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking, through dexterous manipulation. The game of Go offers an example: consider how the player would typically place an initially pinch-grasped stone onto the board through the dexterous interaction between the fingers, the stone, and the board. Likewise, dexterous ungrasping addresses the necessity of changing the object's configuration relative to the gripper or the environment in order to securely keep hold of the object. In particular, we present a planning framework for determining a feasible minimum-cost motion path that completes dexterous ungrasping. Digit asymmetry in a gripper, i.e. difference in digit lengths, is discovered as the key to feasible and secure ungrasping. A set of experiments show the effectiveness of dexterous ungrasping in practical placement tasks.

【13】 SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios 标题：苏雷纳4号：面向真实世界的高性价比全尺寸人形机器人 链接：https://arxiv.org/abs/2108.13515

作者：Aghil Yousefi-Koma,Behnam Maleki,Hessam Maleki,Amin Amani,Mohammad Ali Bazrafshani,Hossein Keshavarz,Ala Iranmanesh,Alireza Yazdanpanah,Hamidreza Alai,Sahel Salehi,Mahyar Ashkvari,Milad Mousavi,Milad Shafiee Ashtiani 备注：None 摘要：本文描述了SURENA IV仿人机器人平台的硬件、软件框架和实验测试。SURENA IV有43个自由度（自由度），包括每只手臂7个自由度，每只手6个自由度，每条腿6个自由度，高度170厘米，质量68公斤，形态和质量特性与普通成人相似。SURENA IV的目标是为现实世界场景实现一个经济高效的拟人机器人。通过这种方式，我们展示了一种基于新型且廉价的预测性脚传感器的移动框架，该传感器能够在7厘米的脚位置误差下行走，这是由于连杆和连接件偏转的累积误差（由大学可用的工具制造）。多亏了这个传感器，机器人可以通过在线调整脚的高度和方向，在没有任何力反馈的情况下在未知的障碍物上行走。此外，机器人的手臂和手被设计成能够抓住具有不同刚度和几何形状的物体，使机器人能够对移动物体进行钻孔、视觉伺服，并将其名字写在白板上。 摘要：This paper describes the hardware, software framework, and experimental testing of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees of freedom (DoFs), including seven DoFs for each arm, six DoFs for each hand, and six DoFs for each leg, with a height of 170 cm and a mass of 68 kg and morphological and mass properties similar to an average adult human. SURENA IV aims to realize a cost-effective and anthropomorphic humanoid robot for real-world scenarios. In this way, we demonstrate a locomotion framework based on a novel and inexpensive predictive foot sensor that enables walking with 7cm foot position error because of accumulative error of links and connections' deflection(that has been manufactured by the tools which are available in the Universities). Thanks to this sensor, the robot can walk on unknown obstacles without any force feedback, by online adaptation of foot height and orientation. Moreover, the arm and hand of the robot have been designed to grasp the objects with different stiffness and geometries that enable the robot to do drilling, visual servoing of a moving object, and writing his name on the white-board.

【14】 Machine Learning Methods for Management UAV Flocks -- a Survey 标题：无人机群管理的机器学习方法--综述 链接：https://arxiv.org/abs/2108.13448

作者：Rina Azoulay,Yoram Haddad,Shulamit Reches 机构：Jerusalem College of Technology, Jerusalem, Israel 摘要：由于技术的进步和成本的大幅降低，近年来无人机的发展势头越来越强劲。无人机技术可广泛应用于通信、农业、安全和运输等领域。将无人机分为特定领域的集群/集群可能很有用，集群可以缓解与无人机使用相关的各种挑战。无人机群体管理中出现了一些计算难题，可以通过使用机器学习（ML）方法来解决。在本次调查中，我们描述了与无人机和现代ML方法相关的基本术语，并提供了相关教程和调查的概述。我们随后考虑不同的挑战出现在无人机成群。对于每一个问题，我们调查了文献中提出的几种基于机器学习的方法，以应对相关的挑战。此后，我们描述了各种开放性问题，在这些问题中，ML可以应用于解决群体的不同挑战，并且我们建议为此目的使用ML方法的方法。这一全面的回顾可能对研究人员和开发人员都有用，可以提供适用于羊群管理的最新ML技术各个方面的广泛视角。 摘要：The development of unmanned aerial vehicles (UAVs) has been gaining momentum in recent years owing to technological advances and a significant reduction in their cost. UAV technology can be used in a wide range of domains, including communication, agriculture, security, and transportation. It may be useful to group the UAVs into clusters/flocks in certain domains, and various challenges associated with UAV usage can be alleviated by clustering. Several computational challenges arise in UAV flock management, which can be solved by using machine learning (ML) methods. In this survey, we describe the basic terms relating to UAVS and modern ML methods, and we provide an overview of related tutorials and surveys. We subsequently consider the different challenges that appear in UAV flocks. For each issue, we survey several machine learning-based methods that have been suggested in the literature to handle the associated challenges. Thereafter, we describe various open issues in which ML can be applied to solve the different challenges of flocks, and we suggest means of using ML methods for this purpose. This comprehensive review may be useful for both researchers and developers in providing a wide view of various aspects of state-of-the-art ML technologies that are applicable to flock management.

机器翻译，仅供参考