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2013


Understanding High-Level Semantics by Modeling Traffic Patterns
Understanding High-Level Semantics by Modeling Traffic Patterns

Zhang, H., Geiger, A., Urtasun, R.

In International Conference on Computer Vision, pages: 3056-3063, Sydney, Australia, December 2013 (inproceedings)

Abstract
In this paper, we are interested in understanding the semantics of outdoor scenes in the context of autonomous driving. Towards this goal, we propose a generative model of 3D urban scenes which is able to reason not only about the geometry and objects present in the scene, but also about the high-level semantics in the form of traffic patterns. We found that a small number of patterns is sufficient to model the vast majority of traffic scenes and show how these patterns can be learned. As evidenced by our experiments, this high-level reasoning significantly improves the overall scene estimation as well as the vehicle-to-lane association when compared to state-of-the-art approaches. All data and code will be made available upon publication.

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pdf [BibTex]

2013


pdf [BibTex]


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Virtual Robotization of the Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. International Conference on Advances in Computer Entertainment Technology (ACE), 8253, pages: 109-122, Lecture Notes in Computer Science, Springer, Enschede, Netherlands, 2013, Oral presentation given by Kurihara. Best Paper Silver Award (inproceedings)

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[BibTex]

[BibTex]


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Governance of Humanoid Robot Using Master Exoskeleton

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Symposium on Robotics (ISR), Seoul, South Korea, October 2013 (inproceedings)

Abstract
Dexto:Eka: is an adult-size humanoid robot being developed with the aim of achieving tele-presence. The paper sheds light on the control of this robot using a Master Exoskeleton which comprises of an Exo-Frame, a Control Column and a Graphical User Interface. It further illuminates the processes and algorithms that have been utilized to make an efficient system that would effectively emulate a tele-operator.

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DOI [BibTex]

DOI [BibTex]


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Virtual Robotization of the Human Body Using Vibration Recording, Modeling and Rendering

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, sep 2013, Paper written in Japanese. Presentation given by Kurihara (inproceedings)

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[BibTex]

[BibTex]


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Design and development part 2 of Dexto:Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, August 2013 (inproceedings)

Abstract
Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.

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DOI [BibTex]

DOI [BibTex]


Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization
Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization

(CVPR13 Best Paper Runner-Up)

Brubaker, M. A., Geiger, A., Urtasun, R.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR 2013), pages: 3057-3064, IEEE, Portland, OR, June 2013 (inproceedings)

Abstract
In this paper we propose an affordable solution to self- localization, which utilizes visual odometry and road maps as the only inputs. To this end, we present a probabilis- tic model as well as an efficient approximate inference al- gorithm, which is able to utilize distributed computation to meet the real-time requirements of autonomous systems. Because of the probabilistic nature of the model we are able to cope with uncertainty due to noisy visual odometry and inherent ambiguities in the map ( e.g ., in a Manhattan world). By exploiting freely available, community devel- oped maps and visual odometry measurements, we are able to localize a vehicle up to 3m after only a few seconds of driving on maps which contain more than 2,150km of driv- able roads.

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pdf supplementary project page [BibTex]

pdf supplementary project page [BibTex]


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Virtual Alteration of Body Material by Reality-Based Periodic Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Sato, M., Fukushima, S., Kuchenbecker, K. J., Kajimoto, H.

In Proc. JSME Robotics and Mechatronics Conference (ROBOMEC), Tsukuba, Japan, May 2013, Paper written in Japanese. Poster presentation given by {Kurihara} (inproceedings)

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[BibTex]

[BibTex]


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The Design and Field Observation of a Haptic Notification System for Oral Presentations

Tam, D., MacLean, K. E., McGrenere, J., Kuchenbecker, K. J.

In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages: 1689-1698, Paris, France, May 2013, Oral presentation given by Tam (inproceedings)

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[BibTex]

[BibTex]


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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 3048-3055, Karlsruhe, Germany, May 2013, Oral presentation given by Chu. Best Cognitive Robotics Paper Award (inproceedings)

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[BibTex]

[BibTex]


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Instrument contact vibrations are a construct-valid measure of technical skill in Fundamentals of Laparoscopic Surgery Training Tasks

Gomez, E. D., Aggarwal, R., McMahan, W., Koch, E., Hashimoto, D. A., Darzi, A., Murayama, K. M., Dumon, K. R., Williams, N. N., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Association for Surgical Education, Orlando, Florida, USA, 2013, Oral presentation given by Gomez (inproceedings)

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[BibTex]

[BibTex]


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Dynamic Simulation of Tool-Mediated Texture Interaction

McDonald, C. G., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 307-312, Daejeon, South Korea, April 2013, Oral presentation given by McDonald (inproceedings)

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[BibTex]

[BibTex]


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Generating Haptic Texture Models From Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Goodman, B. E., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 295-300, Daejeon, South Korea, April 2013, Oral presentation given by Culbertson. Finalist for Best Paper Award (inproceedings)

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[BibTex]

[BibTex]


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A practical System for Recording Instrument Contacts and Collisions During Transoral Robotic Surgery

Gomez, E. D., Weinstein, G. S., O’Malley, J. B. W., McMahan, W., Chen, L., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013, Poster presentation given by Gomez (inproceedings)

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[BibTex]

[BibTex]


Self-tuning in Sliding Mode Control of High-Precision Motion Systems
Self-tuning in Sliding Mode Control of High-Precision Motion Systems

Heertjes, M. F., Vardar, Y.

In IFAC Proceedings Volumes, 46(5):13 - 19, 2013, 6th IFAC Symposium on Mechatronic Systems (inproceedings)

Abstract
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

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heertjes_ifac2013 link (url) DOI [BibTex]

heertjes_ifac2013 link (url) DOI [BibTex]


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Controllability and Resource-Rational Planning

Lieder, F., Goodman, N. D., Huys, Q. J.

In Computational and Systems Neuroscience (Cosyne), pages: 112, 2013 (inproceedings)

Abstract
Learned helplessness experiments involving controllable vs. uncontrollable stressors have shown that the perceived ability to control events has profound consequences for decision making. Normative models of decision making, however, do not naturally incorporate knowledge about controllability, and previous approaches to incorporating it have led to solutions with biologically implausible computational demands [1,2]. Intuitively, controllability bounds the differential rewards for choosing one strategy over another, and therefore believing that the environment is uncontrollable should reduce one’s willingness to invest time and effort into choosing between options. Here, we offer a normative, resource-rational account of the role of controllability in trading mental effort for expected gain. In this view, the brain not only faces the task of solving Markov decision problems (MDPs), but it also has to optimally allocate its finite computational resources to solve them efficiently. This joint problem can itself be cast as a MDP [3], and its optimal solution respects computational constraints by design. We start with an analytic characterisation of the influence of controllability on the use of computational resources. We then replicate previous results on the effects of controllability on the differential value of exploration vs. exploitation, showing that these are also seen in a cognitively plausible regime of computational complexity. Third, we find that controllability makes computation valuable, so that it is worth investing more mental effort the higher the subjective controllability. Fourth, we show that in this model the perceived lack of control (helplessness) replicates empirical findings [4] whereby patients with major depressive disorder are less likely to repeat a choice that led to a reward, or to avoid a choice that led to a loss. Finally, the model makes empirically testable predictions about the relationship between reaction time and helplessness.

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[BibTex]

[BibTex]


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Learned helplessness and generalization

Lieder, F., Goodman, N. D., Huys, Q. J. M.

In 35th Annual Conference of the Cognitive Science Society, 2013 (inproceedings)

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[BibTex]

[BibTex]


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Reverse-Engineering Resource-Efficient Algorithms

Lieder, F., Goodman, N. D., Griffiths, T. L.

In NIPS Workshop Resource-Efficient Machine Learning, 2013 (inproceedings)

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[BibTex]

[BibTex]


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A Practical System For Recording Instrument Interactions During Live Robotic Surgery

McMahan, W., Gomez, E. D., Chen, L., Bark, K., Nappo, J. C., Koch, E. I., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, 2013, Poster presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]

2009


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Image-Enabled Force Feedback for Robotic Teleoperation of a Flexible Tool

Lindsey, Q., Tenenholtz, N., Lee, D. I., Kuchenbecker, K. J.

In Proc. IASTED International Conference on Robotics and Applications, pages: 224-233, Boston, Massachusetts, November 2009, Oral presentation given by Lindsey (inproceedings)

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[BibTex]

2009


[BibTex]


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GPU Methods for Real-Time Haptic Interaction with 3D Fluids

Yang, M., Lu, J., Safonova, A., Kuchenbecker, K. J.

In Proc. IEEE International Workshop on Haptic Audio-Visual Environments and Games, pages: 24-29, Lecco, Italy, November 2009, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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The AirWand: Design and Characterization of a Large-Workspace Haptic Device

Romano, J. M., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 1461-1466, Kobe, Japan, May 2009, Oral presentation given by \uline{Romano} (inproceedings)

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[BibTex]

[BibTex]


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Stiffness Discrimination with Visual and Proprioceptive Cues

Gurari, N., Kuchenbecker, K. J., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 121-126, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Gurari (inproceedings)

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[BibTex]

[BibTex]


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Toward Tactilely Transparent Gloves: Collocated Slip Sensing and Vibrotactile Actuation

Romano, J. M., Gray, S. R., Jacobs, N. T., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 279-284, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Romano, Gray, and Jacobs (inproceedings)

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[BibTex]

[BibTex]


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A High-Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.0

Winfree, K. N., Gewirtz, J., Mather, T., Fiene, J., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 261-266, Salt Lake City, Utah, USA, March 2009, Poster presentation given by Winfree and Gewirtz (inproceedings)

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[BibTex]

[BibTex]


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Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture

Romano, J. M., Safonova, A., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, Long Beach, California, USA, January 2009, Poster presentation given by Romano (inproceedings)

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[BibTex]

[BibTex]


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A Limiting Property of the Matrix Exponential with Application to Multi-loop Control

Trimpe, S., D’Andrea, R.

In Proceedings of the Joint 48th IEEE Conference on Decision (CDC) and Control and 28th Chinese Control Conference, 2009 (inproceedings)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Haptic Display of Realistic Tool Contact Via Dynamically Compensated Control of a Dedicated Actuator

McMahan, W., Kuchenbecker, K. J.

In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 3171-3177, St. Louis, Missouri, USA, 2009, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]

2007


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The power of external mentors for women pursuing academic careers in engineering and science: Stories of MentorNet ACE and its Proteges and Mentors

Muller, C. B., Smith, E. H. B., Chou-Green, J., Daniels-Race, T., Drummond, A., Kuchenbecker, K. J.

In Proc. Women in Engineering Programs and Advocates Network (WEPAN) National Conference, Lake Buena Vista, Florida, USA, June 2007, Oral presentation given by Muller (inproceedings)

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[BibTex]

2007


[BibTex]


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Effects of Visual and Proprioceptive Position Feedback on Human Control of Targeted Movement

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE International Conference on Rehabilitation Robotics, pages: 513-524, Noordwijk, Netherlands, June 2007, Oral and poster presentations given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Quantifying the value of visual and haptic position feedback in force-based motion control

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 561-562, Tsukuba, Japan, March 2007, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Shaping event-based haptic transients via an improved understanding of real contact dynamics

Fiene, J. P., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 170-175, Tsukuba, Japan, March 2007, Oral presentation given by Fiene. {B}est Haptic Technology Paper Award (inproceedings)

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[BibTex]

[BibTex]


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Less Conservative Polytopic LPV Models for Charge Control by Combining Parameter Set Mapping and Set Intersection

Kwiatkowski, A., Trimpe, S., Werner, H.

In Proceedings of the 46th IEEE Conference on Decision and Control, 2007 (inproceedings)

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DOI [BibTex]

DOI [BibTex]