IEEE Transactions on Robotics最新文献_第7页

Safe MPC Alignment With Human Directional Feedback 安全的MPC对齐与人类的方向反馈

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-12 DOI: 10.1109/TRO.2026.3651678

Zhixian Xie;Wenlong Zhang;Yi Ren;Zhaoran Wang;George J. Pappas;Wanxin Jin

{"title":"Safe MPC Alignment With Human Directional Feedback","authors":"Zhixian Xie;Wenlong Zhang;Yi Ren;Zhaoran Wang;George J. Pappas;Wanxin Jin","doi":"10.1109/TRO.2026.3651678","DOIUrl":"10.1109/TRO.2026.3651678","url":null,"abstract":"In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety constraint in its model predictive control policy with human online directional feedback. To the best of authors’ knowledge, it is the first method to learn safety constraints from human feedback. The proposed method is based on an empirical observation: human directional feedback, when available, tends to guide the robot toward safer regions. The method only requires the direction of human feedback to update the learning hypothesis space. It is certifiable, providing an upper bound on the total number of human feedback in the case of successful learning, or declaring the hypothesis misspecification, i.e., the true implicit safety constraint cannot be found within the specified hypothesis space. We evaluated the proposed method using numerical examples and user studies in two simulation games. In addition, we implemented and tested the proposed method on a real-world Franka robot arm performing mobile water-pouring tasks. The results demonstrate the efficacy and efficiency of our method, showing that it enables a robot to successfully learn safety constraints with a small handful (tens) of human directional corrections.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"750-769"},"PeriodicalIF":10.5,"publicationDate":"2026-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145955200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Deep Learning-Based Process Control of Microrobot Swarms Guided by Phase Diagrams 基于阶段图的微机器人群深度学习过程控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-04-21 DOI: 10.1109/TRO.2026.3686187

Yuezhen Liu;Yifan Wu;Yu Liu;Hui Chen;Yibin Wang;Xingzhou Du;Jiangfan Yu

{"title":"Deep Learning-Based Process Control of Microrobot Swarms Guided by Phase Diagrams","authors":"Yuezhen Liu;Yifan Wu;Yu Liu;Hui Chen;Yibin Wang;Xingzhou Du;Jiangfan Yu","doi":"10.1109/TRO.2026.3686187","DOIUrl":"10.1109/TRO.2026.3686187","url":null,"abstract":"Microrobot swarms with locomotion dexterity and shape reconfigurability show immense potential in biomedical applications. Automatic control strategies are critical for the navigation of swarms in unstructured environments. Existing control methods mainly focus on initial and final states of swarms, and swarm process control designed to avoid undesired states throughout the control process is yet investigated. In this work, we develop a deep learning-based process control strategy for swarms guided by phase diagrams. Two deep neural networks are respectively built to model the swarm shape and kinematics. Control approaches based on precise swarm models are designed to automatically tune multiple swarm parameters. A phase diagram-based controller is proposed to guide the swarm reconfiguration while eliminating the coupling effects between swarm parameters. The swarm is enabled to accurately track predefined trajectories while performing continuous reconfiguration with desired states during the entire process. By integrating the process control of swarm pattern and locomotion, the swarm can dynamically adapt to constrained unstructured spaces and achieve robust collision avoidance.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1997-2015"},"PeriodicalIF":10.5,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147731756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Spatial Balancing for RGB-Thermal Semantic Segmentation in Autonomous Driving: A Study From Analysis to Improvement 自动驾驶中rgb -热语义分割的空间平衡：从分析到改进的研究

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-03-24 DOI: 10.1109/TRO.2026.3677009

Haotian Li;Henry K. Chu;Yuxiang Sun

{"title":"Spatial Balancing for RGB-Thermal Semantic Segmentation in Autonomous Driving: A Study From Analysis to Improvement","authors":"Haotian Li;Henry K. Chu;Yuxiang Sun","doi":"10.1109/TRO.2026.3677009","DOIUrl":"10.1109/TRO.2026.3677009","url":null,"abstract":"Semantic segmentation based on RGB-Thermal (RGB-T) data fusion has made great progress in the field of autonomous driving. However, in this article, we find that most existing RGB-T semantic segmentation methods exhibit inferior performance in image central regions, in which segmentation performance is critical for driving safety. We refer to this phenomenon as spatial bias. To discover the reason for spatial bias, we design a series of experiments. The results challenge the common knowledge that more training data lead to better segmentation performance, and reveal a close causal relationship between segmentation performance and object complexity as well as image quality. We also provide a theoretical interpretation for the causal relationship using information theory and feature space analysis. Based on the findings, we propose a Gaussian-guided regional balancing masking method to balance segmentation performance across different image regions. Moreover, we introduce a spatial-weighted loss to further enhance the overall segmentation performance. Experimental results on two public datasets demonstrate the effectiveness of our method in mitigating spatial bias and improving balanced performance.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1840-1855"},"PeriodicalIF":10.5,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147506847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

They See Me Rolling: High-Speed Event Vision-Based Tactile Roller Sensor for Large Surface Inspection 他们看到我在滚动：用于大型表面检测的高速事件视觉触觉滚轮传感器

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-03-09 DOI: 10.1109/TRO.2026.3672333

Akram Khairi;Hussain Sajwani;Abdallah Mohammad Alkilany;Laith AbuAssi;Mohamad Halwani;Islam Mohamed Zaid;Ahmed Awadalla;Dewald Swart;Abdulla Ayyad;Yahya Zweiri

{"title":"They See Me Rolling: High-Speed Event Vision-Based Tactile Roller Sensor for Large Surface Inspection","authors":"Akram Khairi;Hussain Sajwani;Abdallah Mohammad Alkilany;Laith AbuAssi;Mohamad Halwani;Islam Mohamed Zaid;Ahmed Awadalla;Dewald Swart;Abdulla Ayyad;Yahya Zweiri","doi":"10.1109/TRO.2026.3672333","DOIUrl":"10.1109/TRO.2026.3672333","url":null,"abstract":"Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires precise, high-resolution 3-D geometry. Vision-based tactile sensors (VBTSs) offer high local resolution but require slow “press-and-lift” measurements for large areas. Sliding or roller/belt VBTS designs provide continuous measurement but face significant challenges: sliding suffers from friction/wear, while both are speed-limited by camera frame rates and motion blur. Thus, a rapid, continuous, high-resolution method is needed. In this article, we introduce a novel neuromorphic tactile roller sensor. It uses a modified event-based multiview stereo (EMVS) algorithm for 3-D reconstruction, leveraging high temporal resolution and motion blur robustness. This reconstruction is most effective for surfaces with distinct edges or sharp features, which are often the most critical for defect detection in industrial inspection tasks. We demonstrate 0.5 m/s scanning speeds with MAE below 100 <inline-formula><tex-math>$mathrm{mu }$</tex-math></inline-formula>m (11× faster than prior methods). A multireference Bayesian fusion strategy reduces MAE by 25.2% (versus EMVS) and mitigates curvature errors. We also validate high-speed Braille reading 2.6× faster than previous approaches.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1499-1514"},"PeriodicalIF":10.5,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11426819","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147380829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model-Free Magnetic Servoing for Pose Control of Capsule Robots 无模型磁伺服胶囊机器人位姿控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-04-27 DOI: 10.1109/TRO.2026.3688064

Chang Liu;Xiaoyang Wu;Jiaole Wang;Shuang Song

引用次数: 0

Simplifying Robotic Ultrasound Calibration via Conic Sections Geometry 通过圆锥截面几何简化机器人超声校准

IF 11.1 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-03-22 DOI: 10.1109/TRO.2026.3695989

Zixing Jiang;Yingbai Hu;Yichong Sun;Zheng Li

{"title":"Simplifying Robotic Ultrasound Calibration via Conic Sections Geometry","authors":"Zixing Jiang;Yingbai Hu;Yichong Sun;Zheng Li","doi":"10.1109/TRO.2026.3695989","DOIUrl":"https://doi.org/10.1109/TRO.2026.3695989","url":null,"abstract":"Robotic ultrasound (US) systems represent an emerging frontier in medical imaging. A fundamental component of these systems is the rigid body transformation between the robot flange and the attached US probe, which enables mapping of visual data from image space to the robot’s reference frame. Traditionally, calibrating this transformation has been a tedious process, complicated by equipment demands and operational constraints arising from the probe’s narrow field of view. This work presents a novel calibration strategy based on conic sections geometry, which offers several key simplifications over existing approaches: first, it requires no external equipment beyond a single cone phantom; second, It operates with a small input size and imposes no strict alignment or motion constraints on the US scan plane during calibration; and third, it employs a straightforward pattern analysis pipeline to process images acquired from phantom scans. Experimental validation results show that the proposed method achieves accuracy comparable to existing state-of-the-art approaches while delivering superior precision, thereby demonstrating enhanced calibration reproducibility enabled by its streamlined workflow. These advantages make this method particularly suitable for application in clinical scenarios that require frequent and efficient calibration.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"2381-2398"},"PeriodicalIF":11.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11534108","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148433208","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Event-Based Desnowing for Autonomous Driving 基于事件的自动驾驶下雪

IF 11.1 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-03-26 DOI: 10.1109/TRO.2026.3697155

Manasi Muglikar;Nico Messikommer;Marco Cannici;Davide Scaramuzza

{"title":"Event-Based Desnowing for Autonomous Driving","authors":"Manasi Muglikar;Nico Messikommer;Marco Cannici;Davide Scaramuzza","doi":"10.1109/TRO.2026.3697155","DOIUrl":"https://doi.org/10.1109/TRO.2026.3697155","url":null,"abstract":"Adverse weather conditions, particularly heavy snowfall, pose significant challenges to both human drivers and autonomous vehicles. Traditional image-based desnowing methods often introduce hallucination artifacts as they rely solely on spatial information, while video-based approaches require high frame rates and suffer from alignment artifacts at lower frame rates. Camera parameters, such as exposure time, also influence the appearance of snowflakes, making the problem difficult to solve and heavily dependent on network generalization. In this article, we propose to address the challenge of desnowing by using event cameras, which offer compressed visual information with submillisecond latency, making them ideal for desnowing images, even in the presence of ego-motion. Our method leverages the fact that snowflake occlusions appear with a very distinctive streak signature in the spatiotemporal representation of event data. We design an attention-based module that focuses on events along these streaks to determine when a background point was occluded and use this information to recover its original intensity. We benchmark our method on DSEC-Snow, a new dataset created using a green-screen technique that overlays prerecorded snowfall data onto the existing DSEC driving dataset, resulting in precise ground truth and synchronized image and event streams. Our approach outperforms state-of-the-art desnowing methods by 3 dB in peak signal-to-noise ratio for image reconstruction. Moreover, we show that off-the-shelf computer vision algorithms can be applied to our reconstructions for tasks, such as depth estimation and optical flow, achieving a 20% performance improvement over other desnowing methods. Our work represents a crucial step toward enhancing the reliability and safety of vision systems in challenging winter conditions, paving the way for more robust, all-weather-capable applications. Code, dataset, and video are available online at <uri>https://rpg.ifi.uzh.ch/evsnow.html</uri>.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"2898-2911"},"PeriodicalIF":11.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148626924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Model for 3-D Motion Planning for a Generalized Dubins Vehicle With Pitch and Yaw Rate Constraints 具有俯仰和偏航率约束的广义Dubins飞行器三维运动规划新模型

IF 11.1 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-06-26 DOI: 10.1109/TRO.2026.3707233

Deepak Prakash Kumar;Swaroop Darbha;Satyanarayana Gupta Manyam;David W. Casbeer

{"title":"A Novel Model for 3-D Motion Planning for a Generalized Dubins Vehicle With Pitch and Yaw Rate Constraints","authors":"Deepak Prakash Kumar;Swaroop Darbha;Satyanarayana Gupta Manyam;David W. Casbeer","doi":"10.1109/TRO.2026.3707233","DOIUrl":"10.1109/TRO.2026.3707233","url":null,"abstract":"In this article, we propose a new modeling approach and a fast algorithm for 3-D motion planning, applicable for fixed-wing uncrewed aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations subject to motion constraints. Our work differs from existing literature in two ways. First, we consider full vehicle orientation using a body-attached frame, which includes roll, pitch, and yaw angles. However, existing work uses only pitch and/or heading angle, which is insufficient to uniquely determine orientation. Second, we use two control inputs to represent bounded pitch and yaw rates, reflecting control by two separate actuators. In contrast, most previous methods rely on a single input, such as path curvature, which is insufficient for accurately modeling the vehicle’s kinematics in 3-D. We use a rotation minimizing frame to describe the vehicle’s configuration and its evolution, and construct paths by concatenating optimal Dubins paths on spherical, cylindrical, or planar surfaces. Numerical simulations show that our approach generates feasible paths within 10 s on average and yields shorter paths than existing methods in most cases.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"2786-2805"},"PeriodicalIF":11.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148342279","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

MobileROS: A Wireless-Native Robot Operating System for Mobile Robotics MobileROS：移动机器人的无线原生机器人操作系统

IF 11.1 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-06-08 DOI: 10.1109/TRO.2026.3701579

Boyi Liu;Qianyi Zhang;Yongguang Lu;Jianhao Jiao;Jagmohan Chauhan;Wen Wu;Jun Zhang;Dimitrios Kanoulas

{"title":"MobileROS: A Wireless-Native Robot Operating System for Mobile Robotics","authors":"Boyi Liu;Qianyi Zhang;Yongguang Lu;Jianhao Jiao;Jagmohan Chauhan;Wen Wu;Jun Zhang;Dimitrios Kanoulas","doi":"10.1109/TRO.2026.3701579","DOIUrl":"10.1109/TRO.2026.3701579","url":null,"abstract":"The increasing deployment of mobile robots in dynamic outdoor environments necessitates robotic systems capable of maintaining reliability amidst fluctuating wireless connectivity. While the robot operating system (ROS) has established itself as the de facto standard for such networked robotics, its abstraction of communication as an opaque, best-effort utility creates a critical bottleneck: it fails to leverage physical layer (PHY) information, resulting in degraded performance and unreliable execution in fluctuating networks. To address this, this article presents MobileROS, a wireless-native ROS that transforms wireless communication from an external service into a core system resource. Grounded in the symbiotic paradigm, MobileROS establishes a bidirectional exchange where network conditions inform robotic decisions and mission requirements guide network resource allocation. Based on service mesh principles and domain-driven design, our architecture implements a Hub-engines-cells (HEC) model. It features a central Hub for global optimization, three specialized engines (the radio information engine, the cross domain engine, and the physical adaptive engine) for cross-layer intelligence, and distributed cells as functional units. A key mechanism, application-driven bidirectional dynamic slicing, allows robots to actively reconfigure network resources based on semantic urgency, transforming the robot from a passive observer into an active network controller. We systematically evaluate MobileROS across three cities (London, Hong Kong, and Shenzhen) in five scenarios: distributed visual SLAM, cross-domain LiDAR perception, V2X autonomous driving, hybrid multirobot collaboration against WebRTC baselines, and partition recovery validating CAP-theorem-aware failsafe mechanisms. Results demonstrate that MobileROS maintains significantly more stable performance than standard ROS in mobile wireless deployments.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"2708-2726"},"PeriodicalIF":11.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148291473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Environmental Adaptation Enabled by an Amplitude-Tunable Traveling Wave Robot With a Soft Corkscrew (ATWBot) 带软开塞器的可调幅行波机器人（ATWBot）的环境适应性研究

IF 11.1 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-01 Epub Date: 2026-03-27 DOI: 10.1109/TRO.2026.3697245

Qinjie Ji;Aiguo Song;Sareum Kim;Josie Hughes

{"title":"Environmental Adaptation Enabled by an Amplitude-Tunable Traveling Wave Robot With a Soft Corkscrew (ATWBot)","authors":"Qinjie Ji;Aiguo Song;Sareum Kim;Josie Hughes","doi":"10.1109/TRO.2026.3697245","DOIUrl":"https://doi.org/10.1109/TRO.2026.3697245","url":null,"abstract":"Amplitude tuning is an important strategy in animals employing traveling wave patterns, enhancing their adaptability to unstructured environments. This article proposes, for the first time, an amplitude tuning method that leverages the compliance of a soft corkscrew by twisting its ends. An amplitude tunable traveling wave robot (ATWBot) is developed, consisting of a soft corkscrew housed in a high-degree-of-freedom cage and driven by only two servos. The soft corkscrew and cage are monolithically 3D-printed. The ATWBot achieves a wide range of active amplitude tuning with passive compliance adaptation and can extend its morphology to a coiled configuration, enabling clamping and rolling. A comprehensive model is built for the twisted soft corkscrew geometry, proving that the robot’s speed is decoupled from amplitude variations during twisting. A genetic algorithm is used to optimize the soft corkscrew for achieving the fastest speed while matching the cage geometry. Experiments demonstrate that the combination of active amplitude tuning and passive body compliance enables the robot to adapt to unstructured terrains including slits, steps, gaps, converging tunnels, slopes, and swimming.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"2231-2248"},"PeriodicalIF":11.1,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11536812","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148481012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0