Welcome to the 16th International Conference on Intelligent Autonomous System (IAS-16),
which is organized in Singapore from 22 to 25 June 2021 and conducted virtually. The 1st and2nd IAS Conference were held in Amsterdam in 1986 and 1989 respectively, followed by
Pittsburgh in 1993 and Karlsruhe in 1995. It has been held once every 2 years since 1998 in
Japan, and then to various cities in Europe, North America, and Asia; and more recently in
Baden-Baden in Germany in 2018 (IAS-15). It is our pleasure to have you in this first virtualIAS-16 in this conference history.
The rapid spread of Covid-19 in the early months of 2020 has caught all by surprise.
Countries, cities and towns were locked down and air travel came to a standstill then. The
Committee decided to postpone the conference to 22 to 25 June 2021, optimistic that the
global situation will improve, and air travel can resume by then. Covid-19 has proven to becunning, mutated into many variants and continue to ravage the world. Though vaccines
have been introduced to counter the virus, but the pace of vaccination has been slow anduneven. Air travel has opened gradually but at higher costs with quarantine being requiredfor visitors in many countries.
We are proud that we have over 50 papers representing 13 countries, to be presented at
IAS-16, despite of the inconvenience caused by the postponement. We thank all the authors
for their patience and sticking with us. We acknowledge the contribution and assistancefrom members of the various committees and paper reviewers.
Covid-19 has also caused considerably challenges to many companies. We are glad that
there are still companies out there to support IAS-16 as exhibitors. Please allow us torecognize Sensors, Weston Robot Pte Ltd (Singapore) and TDS Technology (Singapore). We
encourage you to support them at the virtual exhibition available online with live persons
who are happy to chat with you during the live sessions, typically during the breaks.
We are honored that four internationally renowned robotists have agreed to grace IAS-16
as Plenary Speakers. Thank you, Professor Toshio Fukuda, Professor Robin Murphy, Professor
Tamim Asfour and Professor Peter Corke for your support. Last but not least, we areappreciative for the special efforts of the conference secretariat, especially Cheah Kok
Keong, Krittin Kawkeeree, Christina Lee, Arjun Agrawal and Beatrix Tung.
I wish all of you a fruitful IAS-16! Let hope that we can all meet face-to-face at IAS-17. Stayhealthy and take care.

Prof Marcelo H Ang Jr
General Chair and on behalf ofBoard of Governors of IAS

Table of Contents

IAS Society ............................................................................................................................................... 1
IAS-16 Committee ................................................................................................................................... 3
Registration Information......................................................................................................................... 7
Instructions for Participants.................................................................................................................... 8
Instructions for Oral Presenters .............................................................................................................. 9
Instructions for Session Chairs (Oral Presentations) ............................................................................ 11
Public Sessions ...................................................................................................................................... 12
About Singapore ................................................................................................................................... 16
Programme Schedule ............................................................................................................................ 17
Digests ................................................................................................................................................... 30
Session 1: Presentation for Best Paper Candidates (I) ...................................................................... 31
Session 2: Localization and SLAM ..................................................................................................... 33
Session 3: Navigation (I) .................................................................................................................... 35
Session 4: Navigation (II) ................................................................................................................... 38
Session 5: Application (I)................................................................................................................... 41
Session 6: Biomimetic Robots ........................................................................................................... 43
Session 7: Presentation for Best Paper Candidates (II) ..................................................................... 46
Session 8: Application (II) .................................................................................................................. 47
Session 9: Machine Learning............................................................................................................. 49
Session 10: Control (I) ....................................................................................................................... 50
Session 11: Computer Vision (I) ........................................................................................................ 52
Session 12: Computer Vision (II) ....................................................................................................... 54
Session 13: Control (II) ...................................................................................................................... 56
Acknowledgements............................................................................................................................... 60

IAS Society

IAS Conference is a common platform for an exchange and sharing of ideas

among the international scientific research and technical community consisting ofacademics, researchers in institute and industrial leaders. There will be a series oftechnical programmes consisting of presentations and exhibitions.

Intelligent Autonomous Systems are increasingly applied in areas ranging fromindustrial applications to professional service and household domains. New
technologies and application domains push forward the need for research anddevelopment resulting in new challenges to be overcome to apply Intelligent
Autonomous Systems in a reliable and user-independent way. Recent advances in

the areas of Artificial Intelligence, Machine Learning and Adaptive Control enable
autonomous

systemswithimprovedrobustness

andflexibility.

Foundation of the IAS Society

The Intelligent Autonomous Systems (IAS) Society was founded on July 14th 1994 by
the organizers of the IAS Conferences on July 14th 1994. As of 1995, the Robotics andAutonomous Systems Journal of Elsevier has been affiliated to IAS Society. In thelast thirteen years the ideas have been further developed. It has been decided that

the Society membership can be acquired either by participating into a IAS
Conference, that allows to apply freely for IAS membership for the two subsequent
years, or by subscribing the Robotics and Autonomous Systems Journal, as

illustrated in the "Journal and Society" page. This journal is from now onwards also
publish a news page from the Society.

The IAS Society has a Governing Board consisting of:
Full Members:•

Marcelo Ang, National University of Singapore•

Hajime Asama, The University of Tokyo•

Weidong Chen, Shanghai Jiao-Tong University•

Angel Del Pobil, University Jaume1•

Ruediger Dillman, FZI1

•Gregory Dudek, McGill University•

Maria Gini, University of Minnesota at Minneapolis•

Frans Groen, University of Amsterdam•

Koh Hosoda, Osaka University•

Sukhan Lee, Sungkyunkwan University•

Jangmyung Lee, Pusan National University•

Emanuele Menegatti, University of Padua•

Jun Miura, Toyohashi University of Technology•

Enrico Pagello, University of Padua•

Marcus Strand, Duale Hochschule Baden-Wuertenberg•

Arnoud Visser, The University of Amsterdam

Members of the Honorary board of the Society are:
•

•
•
•
•

Tamio Arai, (formerly The University of Tokyo, Japan)

Hyung-Suck Cho, (DGIST/KAIST, Korea)

Louis O. Hertzberger, (formerly University of Amsterdam, The Netherlands)

Hirochika Inoue, (formerly University of Tokyo, Japan)

Takeo Kanade, (formerly Carnegie-Mellon University, USA)2

IAS-16 Committee
General Chair

Marcelo H Ang Jr

National University of Singapore
General Co-Chair
Hajime Asama

The University of Tokyo
Wang Han

Nanyang Technological University
Honorary Chair

Rüdiger Dillmann

Karlsruhe Institute of Technology, KIT Research Center Informatics, FZI
Frans Groen

University of Amsterdam
Sukhan Lee

Sunfkyunkwan University
Advisory Committee Members
Henrik Christensen

University of California San Diego
Weidong Chen

Shanghai Jiao Tong University
Emil Petriu

University of Ottawa
Emanuele Menegatti

Universita degli Studi de Padova
Gregory Dudek

McGill University3Advisory Committee Members (cont.)
Takeo Kanade

Carnegie Mellon University
Angel P. Del Pobil

Jaume I University, Spain
Enrico PagelloUniversita degli Studi de Padova
Huosheng Hu

University of Essex
Koh Hosoda

Osaka University
Marcus Strand

Baden-Wuerttemberg Cooperative State University
Michael Beetz

University of Bremen
Lim Ser Yong

Agency for Science and Technology Singapore
Program Chair
Lin WeiSingapore Institute of Manufacturing Technology
Program Co-Chairs
Jangmyung Lee

Pusan University
Ivan Petrovic

University of Zagreb
Gordon Cheng

Technical University of Munich

4

Invited Session Chair (Asia)
Guoqiang Hu

Nanyang Technological University
Invited Session Chair (Australia)
Peter Corke

Queensland University of Technology
Invited Session Chair (Americas)
Maria Gini

University of Minnesota
Local Arrangement
Krittin Kawkeeree

National University of Singapore
Local Arrangement Co-Chair
Beatrix Tung Xue Lin

National University of Singapore
Finance Chair
Arnoud Visser

University of Amsterdam
Finance Co-Chair
Danwei Wang

Nanyang Technological University
Tutorial Chair

Francesco Amigoni

Politecnico di Milano
Workshop Chair
Stefano Ghidoni

University of Padova
Registration Chair

Domenico Campolo

Nanyang Technological University

5Enterprise Activities Chair
Mohan Rajesh Elara

Singapore University of Technology and Design
Industrial Activities Chair
Tao Pey Yuen

Singapore Institute of Manufacturing Technology
Publication Chair
Foong ShaohuiSingapore University of Technology and Design
Exhibition Chair
Joel Short

Singapore Institute of Manufacturing Technology
Sponsorship Chair
Lee Wai Leong

National University of Singapore
Awards Chair
Jun Miura

Tohoyashi University of Technology
Publicity Chair

Sutthiphong Srigrarom

National University of Singapore
Conference Secretariat
Cheah Kok KeongNational University of Singapore
Christina Lee

National University of Singapore
Arjun Agrawal

National University of Singapore

6Registration Information
EARLY BIRD AND STANDARD REGISTRATION FEES

Registration fees are shown below. All prices are quoted in Singapore Dollars (SG$).

Please note that the number of paper presentations that can be delivered for eachregistration category. For instance, standard registration holders can deliver at
most 2 presentations. For accepted papers, at least one of the authors of eachaccepted paper must register for the conference to finalise the submission. The

payment of a full registration fee is required to complete the final submission
procedure.

STUDENT RATES

Student prices are applicable to anyone with official student status that is effective

before 25th June 2021. You will be required to upload a student status letter during
registration as a proof.

Early-Bird Registration (Ends 9th Apr 2021)
Standard (Physical)

Student (Physical)

Standard/Student

SG$500

SG$300Max 1 Presentation

Max 2 Presentation

Max 1 Presentation(Virtual)
SG$200Standard Registration Fees (After 9th Apr 2021)
Standard (Physical)

Student (Physical)

Standard/Student

SG$600

SG$400Max 1 Presentation

Max 2 Presentation

Max 1 Presentation(Virtual)
SG$300CLICK TO REGISTER HERE

To register, please click the button below. Google Form will be used for registration

while payment will be made through PayPal. After you have successfully registeredand made payment, a receipt will be sent to your email.

7

Instructions for ParticipantsBASIC PROGRAM STRUCTURE:
All times used will be in (GMT +8).

There are two Zoom links – one for paid registrants and invited guests only

(Restricted), and one for members of the public (Public). The same two links will
be used throughout the three days of the conference. The Public link may be found,along with timings of public sessions, on page 12. Our Public Sessions are open toall, no registration required. Alternatively, you may refer to the Program Scheduleor https://www.ias-16.com/.

Registered participants will receive the Restricted link via email. The host will begin

both Zoom meetings at 8.30 a.m. each day and end the meetings according to theProgram Schedule. The Zoom meeting rooms will be open throughout the day.
Participants may join the meetings at any time but are advised that content is only
available as stated in the Program Schedule.

All Zoom meetings will be recorded automatically from the start of each meeting.

Recordings from the previous day will be made available on the IAS-16 website(public content only) and on YouTube (restricted content only, private links to beshared) before the start of the next day’s events. All recordings will be available attheir respective locations up to a month after the end of the conference (25th July

2021 5 p.m.). Following which, they will be made publicly accessible on the
Advanced Robotics Centre’s website at https://arc.nus.edu.sg/.

ETIQUETTE FOR PARTICIPANTS

Please always turn off your camera and mute your microphone, except during Q&A
sessions. During Q&A sessions, you may ask questions by using Zoom’s “RaiseHand” reaction. Please unmute your microphone and turn on your camera to ask
your question only when invited to do so.

Please note that due to the limited Q&A duration, you may want to continue yourdiscussion with the author(s) off-line.

ZOOM TIPS

Please install Zoom (https://zoom.us/) in advance.

For a stable connection to the meeting, please check the Zoom Webinar Best

Practices and Resources (https://support.zoom.us/hc/en-us/articles/209743263Meeting-and-Webinar-Best-Practices-and-Resources).
8Instructions for Oral Presenters

BEFORE YOUR PRESENTATION

Please include your paper title and slide numbers in the footers if you are using
slides, for the benefit of the audience. An example is shown below:

Contact Details: Do consider leaving your contact details in the last slide if you

are open to participants engaging in follow-up discussions with you.

Presentation materials: Please send your presentation materials to

robotics@nus.edu.sg at least 24 hours before your presentation. This will serve asa backup in case of any technical difficulties you face, so please send only the
finalised copy.

Zoom Link (Restricted): It will have been sent to you separately via email. This
Restricted Zoom link should be used for accessing the meeting room for yourpresentation and for all other content for registered participants.

Arrival: Do enter the meeting room approximately 10 minutes before yourpresentation. You may test your microphone and camera in Zoom’s settings. Do
also have your materials open if you intend to share your screen.

DURING YOUR PRESENTATIONThe Session Chair will introduce you. Please turn on your camera. When the

Session Chair cues you, you may unmute your microphone and start to shareyour screen.

Each presenter is given 15 minutes for their presentation. The host will ring a bell

once when you have 5 minutes left, and twice when you have 1 minute left. Pleaseadhere strictly to this timing.

9

AFTER YOUR PRESENTATION

There will be 5 minutes after each presentation for Q&A.

Participants will indicate that they have a question by using the “Raise Hand”

reaction on Zoom. The Session Chair will call on them to unmute themselves to
ask their question.

At the end of the Q&A session, please do the following: stop sharing your screen,turn off your camera, and mute your microphone.

10Instructions for Session Chairs(Oral Presentations)

BEFORE THE SESSION

The papers and digests of the presenters in the session will have been sent to you
for your consideration. Also included are slides for your session which you should
use during your introduction of the session and speakers.

Please liaise with your co-chair on the presentations you will be introducing andthe session introduction. They have been copied in an email with you. Your co-chair will introduce you during your presentation if you are presenting.

This Restricted Zoom link should be used for accessing the meeting room for yoursession and for all other content for registered participants. This is in the email wesent to you.

Do enter the meeting room approximately 10 minutes before your presentation.
You may test your microphone and camera in Zoom’s settings.

DURING THE SESSION

You will be introduced by the host. Please turn on your camera, unmute yourmicrophone, and introduce the session.

Please introduce each presenter you are assigned to and cue them to start theirpresentation.

Each presenter is given 15 minutes for their presentation. The host will ring a bell
once when they have 5 minutes left, and twice when they have 1 minute left.
There will be 5 minutes after each presentation for Q&A and to changepresenters.

Participants will indicate that they have a question by using the “Raise Hand”
reaction on Zoom. Please call on them to unmute themselves to ask theirquestion. If there are no questions from the audience, please be sure to ask atleast one yourself.

At the end of the Q&A session, please thank the presenter and introduce the next
speaker.

AT THE END OF THE SESSION

Thank the speakers and hand over to the host.

11

Public Sessions

Open to all, No Registration required
JOIN US AT: https://tinyurl.com/IAS16PublicZoom

Day 1 Wednesday, June 23, 2021

Welcome Address | 08:45am - 09:00am (GMT + 8) | Duration: 15 minutes
Marcelo H. Ang Jr, National University of Singapore,
General Chair, IAS - 16

Hajime Asama, The University of Tokyo

President, IAS Society

Plenary Session 1 | Toshio Fukuda, Meijo University
09:00 am - 09:40 am (GMT + 8) | Duration: 40 minutes
AI Robots and Moon-Shot Program
Details: Prof. Fukuda has been working on the multi-scale robotics systems formany years, based on the Cellular Robotics System, which is the basic concept of
the emergence of intelligence in the multi-scale way from Organizational Level,
12

Distributed robotics to Biological Cell engineering and Nanorobotics. It consists ofmany elements how the system can be structured from the individual to thegroup/society levels in analogy with the biological system.

Focusing on the coevolution and self-organization capabilities, Prof. Fukuda willshow a new initiative on AI and Robot, one of the Moon Shot Programs started by

Japanese Government, since 2020 it is a new and challenging program aiming at
the AI robotic system in 2050.

Virtual Exhibitions
Virtual Exhibition & Live Chat with TDS Technology

12:40 pm - 01:00 pm (GMT + 8) | Duration: 20 minutes

Virtual Exhibition & Live Chat with Sensors by MDPI

01:00 pm - 01:20 pm (GMT + 8) | Duration: 20 minutes

Day 2 Thursday, June 24, 2021
Plenary Session 2 | Robin Murphy, Texas A&M
University

09:00 am - 09:40 am (GMT + 8) | Duration: 40 minutes
Robots and COVID-19: Lessons for the Future of Autonomous
Systems

Details: This talk will describe how ground, aerial, and marine robots have beenused in disasters, most recently the coronavirus pandemic. During the pandemic

so far, 338 instances of robots in 48 countries protecting healthcare workers from
unnecessary exposure, handling the surge in demand for clinical care, preventing
infections, restoring economic activity, and maintaining individual quality of life

have been reported. The uses span six sociotechnical work domains and 29
different use cases representing different missions, robot work envelopes,

morphologies, styles of autonomy, and human-robot interaction dyads. The

dataset also confirms a model of adoption of robotics technology for disasters.
Adoption favors robots that maximize the suitability for established use cases while
minimizing

risk

of

malfunction,

hiddenworkload

costs,

orunintended

consequences as measured by the NASA Technical Readiness Assessment metrics.
Regulations do not present a major barrier but availability, either in terms of13

inventory or prohibitively high costs, does. The model suggests that to be preparedfor future events, roboticists should partner with responders now, investigate how
to rapidly manufacture complex, reliable robots on demand, and conduct

fundamental research on predicting and mitigating risk in extreme or novel
environments.

Virtual Exhibitions
Virtual Exhibition & Live Chat with Weston Robot (Public)
12:00 pm - 12:20 pm (GMT + 8) | Duration: 20 minutes
Virtual Exhibition & Live Chat with TDS Technology

12:20 pm - 12:40 pm (GMT + 8) | Duration: 20 minutes

Plenary Session 3 | Tamim Asfour, Karlsruhe Institute ofTechnology
2:20 pm - 03:00 pm (GMT + 8) | Duration: 40 minutes

Towards a Robotics AI - Engineering Humanoid Robots that
Empower Humans

Details: The goal of humanoid robotics research is understanding humanperformance and intelligence to build versatile systems that assist and empowerhumans in a wide variety of tasks. Research in this area range from building

anthropomorphic robots to endowing them with sensorimotor and cognitive
abilities to serve humans at home and at work. Such robots must integrate

perception and action to generate intelligent behavior for interacting with the realworld. The talk will describe recent work aimed at increasing robots’ autonomy andcreating a symbiotic human-robot interaction to create truly AI robots. In particular,

the talk will address affordance-based grasping, learning semantic scene

manipulation based on visual perception and natural language instructions,
episodic memory as key component of a cognitive robot architecture for encoding

and retrieval of experienced events or performed activities occurring at a particulartime, place and context. I will showcase experiments with the ARMAR humanoid
robots performing tasks in household environments daily and manipulating
14

contaminated objects in hazardous environments. It concludes with a discussionof challenges and open problems in Robotics AI.

Day 3 Friday, June 25, 2021
Plenary Session 4 | Peter Corke, Queensland Universityof Technology
1:00 pm - 01:40 pm (GMT + 8) | Duration: 40 minutes

Creating robots that see
Details: This talk will define and motivate the problem of robotic vision, thechallenges as well as recent progress at the Australian Centre for Robotic Vision.
This includes component technologies such as novel cameras, deep learning forcomputer vision, transfer learning for manipulation, evaluation methodologies, andalso end-to-end systems for applications such as logistics, agriculture,environmental remediation and asset inspection.

Closing Ceremony

05:40 pm - 6:00 pm (GMT + 8) | Duration: 20 minutes

15About Singapore
Our city in a garden.

A small island nestled in Southeast Asia – Singapore is home to rich culture andiconic green spaces – a Garden City. Today, many slices of Singapore’s multicultural, colonial and wartime past are preserved in and around the city. You canvisit monuments, museums, and memorials, or for a real trip through time, take awalk along a heritage trail.

Amongst the greens, Singapore is hope to some of the best views around the world– architectural icons that boast an impressive skyline; from the Sands

SkyPark® at Marina Bay Sands®, designed by no less than the renowned architect
Moshe Safdie, to our latest offering: Jewel @ Changi Airport.

You may not be able to travel to Singapore now, but you can experience ourattractions from wherever you are. Enjoy our vibrant culture from the comfort ofyour living room, or stay close to Singapore from miles away, with a myriad of online
experiences from some of our island’s top attractions. We hope to see you soon!

16

Programme Schedule17

Program Schedule (Day 1)
Venue: Zoom
GMT +8Wednesday, 23 June 2021

8.30 amStart of Zoom meeting

8.45 amWelcome address (Public)
Marcelo Ang , General Chair IAS-16
Hajime Asama, The University of Tokyo (President of the IAS
Society)

Plenary Session 1 (Public)
Session Chair: Hajime Asama
9.00 amAI Robots and Moon Shot Program
Toshio Fukuda, Meijo University

Session 1:
Presentation for Best Paper Candidates (I)Session Chairs: Lin Wei, Jun Miura

9.40 amAnalysis of Exploration in Swarm Robotic Systems
Maria Gini and Minyoung Jeong, University of Minnesota Twin
Cities10.00 am

TridentNet: A Conditional Generative Model for Dynamic
Trajectory Generation

David Paz Ruiz, University of California San Diego18

10.20 am

Online Learning Based Long-Term Feature Existence State
Prediction for Visual Topological Localization
Hongle Xie, Shanghai Jiao Tong University

10.40 am

ALOT: Augmented Localization with Obstacle Tracking
Zhikai Li, National University of Singapore

11.00 amIntermission

Session 2: Localization and SLAM
Session Chair: Yubao Liu , Sun Shuo

11.20 am

RTS-vSLAM: Real-time Visual Semantic Tracking and Mapping
under Dynamic Environments

Yubao Liu, Toyohashi University of Technology
11.40 am

Mobile Robot Localization Considering the Attributes of Objects
to Prevent the Kidnapped Robot Problem
Taiki Harada, Keio University

12.00 pm

Collaborative Mapping of Archaeological Sites using multiple

UAVs

Manthan Patel, Indian Institute of Technology Kharagpur
12.20 pm

3D Nominal Scene Reconstruction for Object Localization and

UAS Navigation

Sutthiphong Srigrarom, National University of Singapore
End of Session 2
12.40 pm

Virtual Exhibition with TDS Technology (Public)

1.00 pm

Virtual Exhibition with Sensors by MDPI (Public, Pre-Recorded)

1.20 pm

Intermission
19Session 3: Navigation (I)Session Chair: Antony Thomas, Alessandro Gabrielli
1.40 pm

Topometric Navigation Considering Movable Objects
Shunsuke Mochizuki, Keio University

2.00 pm

Harmonious Robot Navigation Strategies for Pedestrians
Shintaro Nakaoka, Keio University

2.20 pm

Shared autonomy for telepresence robots based on peopleaware navigation

Emanuele Menegatti, University of Padova
2.40 pm

A Framework to Study Autonomous Driving User Acceptance in
the Wild

Alessandro Gabrielli, Politecnico di Milano
3.00 pm

Probabilistic Collision Constraint for Motion Planning in
Dynamic Environments

Antony Thomas, University of Genova
3.20 pm

Intermission

Session 4: Navigation (II)Session Chair: Patrick Wolf , Li Zhikai

3.40 pm

Human-following Control in Furrow for Agricultural Support
Robot

Ayanori Yorozu, University of Tsukuba
4.00 pm

Autonomous Off-Road Navigation using Near-Feature-BasedWorld Knowledge Incorporation on the Example of Forest Path
Detection

Patrick Wolf, TU Kaiserslautern, Germany20

4.20 pm

Learning to drive fast on a DuckieTown highway
Thomas Wiggers, University of Amsterdam

4.40 pm

End-to-end learning of autonomous vehicle lateral control via
MPC training

Simone Mentasti, Politecnico di Milano
5.00 pm

End-to-end Imitation Learning for Autonomous Vehicle
Steering on a Single Camera Stream

Thomas van Orden, Universiteit van Amsterdam
5.20 pm

End of Day 1

21

Program Schedule (Day 2)
Venue: Zoom
GMT +8Thursday, 24 June 2021

8.30 amStart of Zoom meeting

Plenary Session 2 (Public)
Session Chair: Domenico Campolo

9.00 am

Robots and COVID-19: Lessons for the Future of Autonomous
Systems

Robin Murphy, Texas A&M University

Session 5: Application (I)Session Chair: Wenwei Yu, Ng Xian Yao
9.40 am

A study on constraint-free vital sign measurement using amillimeter wave sensor in home environment
Shumpei Nakamura, Chiba University

10.00 amDevelopment of a Medication-taking Behavior Monitoring
System Using Depth Sensor
Wenwei Yu, Chiba University

10.20 amDeveloping a collaborative robotic dishwasher cell system forrestaurants

Wingsum Lo, Tokyo University of Agriculture and Technology &Connected Robotics Inc.

22

10.40 am

Iterative Improvement for the Heterogeneous Robotic Order
Fulfillment Problem Using Simulated Annealing
Wang Hanfu, Shanghai Jiao Tong University

11.00 amIntermission

Session 6: Biomimetic Robots

Session Chair: Khin Phone May, Tiana Monet Miller-Jackson
11.20 amA simulation study for evaluating the role of pre-tensioned
springs in 3 pneumatic artificial muscle driven joint

mechanisms with sliding mode controllers
Zhou Zhongchao, Chiba University

11.40 am

Effect of Tilted Ground on Muscle Activity in Human Sit-to-Stand Motion: Preliminary Result

Kazunori Yoshida, The University of Tokyo

Session 6 (Break)12.00 pm

Virtual Exhibition with Weston Robot (Public)

12.20 pm

Virtual Exhibition with TDS Technology (Public)

12.40 pm

Intermission

Session 6 (Resumes)
1.00 pm

In-hand Object Recognition for Sensorized Soft Hand
Khin Phone May, National University of Singapore

1.20 pm

Scaffolded Gait learning of a Quadruped Robot with Bayesian
Optimization

Keyan Zhai, ShanghaiTech University
1.40 pm

GradNet: A Viscosity Gradient Approach to Achieve Dexterityin Soft Pneumatic Actuators

Parthsarthi Rawat, Shiv Nadar University23

2.00 pm

How to tune Humanoid Walking Parameters for better
Performance

Antonio D’Angelo, University of Udine

Plenary Session 3 (Public)
Session Chair: Yu Haoyong

2.20 pm

Towards a Robotics AI - Engineering Humanoid Robots that
Empower Humans

Tamim Asfour, Karlsruhe Institute of Technology
3.00 pm

Intermission

Session 7:
Presentation for Best Paper Candidates (II)Session Chairs: Lin Wei, Ivan Petrović

3.20 pm

Compliant Sensorized Testing Device to Provide a Model Based
Estimation of the Cooking Time of Vegetables
Grzegorz Sochacki, University of Cambridge

Session 8: Application (II)Session Chair: Pascal Becker , Christina Lee
3.40 pm

Robotic cooking through pose extraction from human natural
cooking using OpenPose

Dylan Danno, University of Cambridge244.00 pm

Multiple Object Detection and Segmentation for Automated
Removal in Additive Manufacturing with Service Robots

Pascal Becker, FZI Research Center for Information Technology
4.20 pm

Determination of posture comfort zones for robot-humanhandover tasks

Oliver Rettig, Baden-Wuerttemberg Cooperative State University
Karlsruhe

Session 9: Machine Learning

Session Chair: Taisuke Kobayashi, Tomislav Petkovic
4.40 pm

Adaptive Eligibility Traces for Online Deep Reinforcement
Learning

Taisuke Kobayashi, Nara Institute of Science and Technology
5.00 pm

Ensemble of LSTMs and feature selection for human action
prediction

Tomislav Petkovic, University of Zagreb
5.20 pm

End of Day 2

25

Program Schedule (Day 3)
Venue: Zoom
GMT +8Friday, 25 June 2021

8.30 amStart of Zoom meeting

Session 10: Control (I)Session Chair: Junsu Kang , Chew Chee Meng
9.00 am

Reinforcement Learning at the Cognitive Level in a Belief,
Desire, Intention UAS AgentThomas Henderson, University of Utah
9.20 am

Action Feasibility Learning with Cell-based Multi-Object
Representation for Task and Motion Planning
Junsu Kang, POSTECH

9.40 am

Improved Driving Stability of Segway using two Serial Elastic
Actuators

Jinuk Bang, Pusan National University
10.00 am

Optimal Grasping Control System For Performing Precision
Indirect Teaching of Robot Hand

Seongho Jin, Pusan National University
10.20 amIntermission

26

Session 11: Computer Vision (I)Session Chair: Hiroyasu Akada, Yu Ishihara
10.40 am

Visualization of Dump Truck and Excavator in Bird's-eye View
by Fisheye Cameras and 3D Range Sensor
Yuta Sugasawa, The University of Tokyo

11.00 amDynamic Object Removal from Unpaired Images for
Agricultural Autonomous Robots
Hiroyasu Akada, Keio University

11.20 amFuture Image Prediction for Mobile Robot Navigation: Frontfacing Camera versus Omni-directional Camera
Yu Ishihara, Keio University

11.40 amIntermission

12.40 pm

Improving embedded convolutional object detectors throughlow-res training

Jiahui Zhu, ShanghaiTech University

Plenary Session 4 (Public)

1.00 pm

Session Chair: Sutthiphong Srigrarom

Creating robots that see

Peter Corke, Queensland University of Technology

27Session 12: Computer Vision (II)Session Chair: Marco Mameli, Chen Chao-Yu
1.40 pm

Fusion Of Radar- And Lidar-Data For Object-TrackingApplications At Feature Level
Maximilian Lindinger, SICK AG

2.00 pm

Learning to Segment Human Body Parts with SyntheticallyTrained Deep Convolutional Networks

Daniele Evangelista, University of Padova
2.20 pm

Detection and Classification of defects in tyre using a deeplearning approach

Marco Mameli, Università Politecnica delle Marche

Session 13: Control (II)Session Chair: Alexandre Huart, Eric Price
2.40 pm

Introduction of damping control for obstacle avoidance indirect-contact cobotics operations
Alexandre Huart, Keio University

3.00 pm

Shape Control of Elastic Objects Based on Implicit

Sensorimotor Models and Data-Driven Geometric Features
Wanyu Ma,The Hong Kong Polytechnic University

3.20 pm

Robotic Arm Control and Task Training through Deep
Reinforcement Learning

Elisa Tosello, University of Padova28

3.40 pm

A marker based optical measurement procedure to analyserobot arm movements and its application to improveaccuracy of industrial robots

Oliver Rettig, Baden-Wuerttemberg Cooperative State University

Karlsruhe
4.00 pm

Intermission

4.20 pm

A Planning Domain Definition Language Generator, Interpreter,
and Knowledge Base for Efficient Automated Planning
Luca Tagliapietra, University of Padova

4.40 pm

Weighted Shared-Autonomy with Assistance-to-Target and
Collision Avoidance for Intelligent Assistive Robotics
Stefano Tortora, University of Padova

5.00 pm

Automatic Grasp Pose Generation for Parallel Jaw Grippers
Kilian Kleeberger, Fraunhofer IPA

5.20 pm

Simulation and Control of Deformable Autonomous Airships in
Turbulent Wind

Eric Price, Max Planck Institute for Intelligent Systems
5.40 pm

Closing Ceremony and Awards Presentation

6.00 pm

End of Day 3

29

Digests

30

Session 1: Presentation for Best Paper Candidates (I)

31

32

Session 2: Localization and SLAM

33

34

Session 3: Navigation (I)

35

36

37

Session 4: Navigation (II)

38

39

40

Session 5: Application (I)

41

42

Session 6: Biomimetic Robots

43

44

45

Session 7: Presentation for Best Paper Candidates (II)46

Session 8: Application (II)

47

48

Session 9: Machine Learning

49

Session 10: Control (I)

50

51

Session 11: Computer Vision (I)

52

53

Session 12: Computer Vision (II)

54

55

Session 13: Control (II)

56

57

58

59

Acknowledgements
We would like to acknowledge the efforts of the Program Committee for carefully
reviewing the papers.

Program Chair
Lin WeiSingapore Institute of Manufacturing Technology
Program Co-Chairs
Jangmyung Lee

Pusan University
Ivan Petrovic

University of Zagreb
Gordon Cheng

Technical University of Munich

Program Committee
Aamir Ahmad

Akio Ishiguro

The University of Tübingen

Tohoku University

Alberto Finzi

Alberto Pretto

University of Napoli

IT+Robotics Srl

Alberto Sanfeliu

Ales Leonardis

Technical University of Catalonia

University of Ljubljana

Alessandro Farinelli

Alessandro Marino

University of Verona

University of Salerno

Alonzo Kelly

Andre Rosendo

Carnegie Mellon University

ShanghaiTech University
60Angel DuranAngel P. del Pobil

Universitat Jaume I

Universitat Jaume I, Spain

Antonio D'Angelo

Antonio Sgorbissa

University of Udine

University of Genoa

Arito Yozu

Atsushi Yamashita

The University of Tokyo Hospital

The University of Tokyo

Ben Krose

Bill Hamel

University of Amsterdam

University of Tennessee

Bruce McDonald

Chenkun Qi

University of Aukland

Shanghai Jiao Tong University

Daisuke Kurabayashi

Danica KragicTokyo Institute of Technology

Royal Institute of Technology

Daniel Schmidt

Davide Brugali

University of Kaiserslautern

University of Bergamo

Davide Cucci

Davide Piovesan

EPFL

Gannon University

Domenico G Sorrenti

Dong Soo Kwon

Eiichi Yoshida

Eimei Oyama

Enrico Pagello

Ester Martinez-Martin

Fernando Ribeiro

Francesco Amigoni

Università Milano-Bicocca

KAIST

AIST

AIST

University of Padua

University of Alicante

Universidade do Minho

Politecnico di Milano

Fulvio Mastrogiovanni

Fumiya Iida

University of Genoa

Cambridge University

Gerald Steinbauer

Gerhard K. Kraetzschmar

Graz University of Technology

University of Applied Sciences BonnRhein-Sieg

61

Giorgio Grisetti

Giovanni Indiveri

University of Roma "La Sapienza"

University of Lecce

Giovanni Muscato

Giuseppina Gini

University of Catania

Politecnico di Milano

Grazia Cicirelli

Gregory Dudek

ISSIA CNR

McGill University Montreal

H.Levent Akin

Hai Yue Zhu

Bogazici University

Singapore Institute of ManufacturingHang-Pang Huang

Henning Zoz

Hesheng Wang

Hiroaki Yamaguchi

Technology

National Taiwan University

Zoz Group

Shanghai Jiao-Tong University

Aoyama Gakuin University

Hiroshi Yokoi

Hisataka Maruyama

Hong Qiao

Hong Zhang

University of Electro-Communications

Nagoya University

Chinese Academy of Science

University of Alberta

Huosheng Hu

Ikuo Mizuuchi

University of Essex

Tokyo University of Agriculture andIvan Petrovic

Ivan Markovic

Technology

University of Zagreb

University of Zagreb

Jaebok SongJames M. Rehg

Korea University

Georgia Institute of Technology

Jang Myung Lee

Javier Minguez

Pusan National University

University of Zaragoza

Jihong Yan

Jing-Chuan Wang

Harbin Institute of Technology

Shanghai Jiao-Tong University

Joo-Ho Lee

Jun Miura

Ritsumeikan University

Toyohashi University of Technology
62Jun Ota

Jun-Ho Oh

Kahori Kita

Kang-Hyun Jo

The University of Tokyo

KAIST

Chiba University

Ulsan University

Keiji Suzuki

Krittin Kawkeeree

Hokkaido University

National University of Singapore

Kundong Wang

Kuniaki Kawabata

Shanghai Jiao Tong University

Japan Atomic Energy Agency

Lazaros Nalpantidis

Li Chen Fu

Aalborg University Copenhagen

National Taiwan University

Liang Yuan

Luca Iocchi

Xinjiang University

University of Roma "La Sapienza"

Luca Gambardella

Luis Almeida

SUPSI

CISTER/FEUP, University of Porto

Marco Carraro

Marcus Strand

University of Padua

DHBW Karlsruhe

Maria Gini

Marija Seder

University of Minnesota

University of Zagreb

Mario Salmon

Markus Vincze

Consultant

Vienna University of Technology

Masafumi Okada

Masahiro Shimizu

Masaki Takahashi

Masao Sugi

Tokyo Institute of Technology

Osaka University

Keio University

University of Electro-Communications

Masashi Konyo

Matteo Matteucci

Tohoku University

Politecnico di Milano

Matteo Munaro

Mohan Trivedi

University of Padua

University of California San Diego

63

Monica Reggiani

Mun Sang Kim

Nak Young Chong

Nate Koenig

Univiversity of Padua

KIST

JAIST

Open Source Robotics Foundation

Nobutaka Shimada

Nobuto Matsuhira

Ristumeikan University

Shibaura Institute of Technology

Norihiro Hagita

Oskar von Stryk

ATR

Technical University of Darmstadt

Paolo Rocco

Paul Levi,

Politecnico di Milano

Univ. Stuttgart

Pedro Lima

Peter Sturm

Technical University of Lisbon

INRIA Grenoble

Primo Zingaretti

Qi An

Università Politecnica delle Marche

The University of Tokyo

Qining Wang

Qixin Cao

Peking University

Shanghai Jiao Tong University

RASMUS NYHOLM JØRGENSEN

Raul Rojas

Aarhus University

Freie Universitat Berlin

Richard Hanten

Rita Cucchiara

University of Tuebingen

Università di Modena e Reggio Emilia

Roberto Oboe

Roberto Sannino

University of Padua

ST Microelectronics

Ryosuke Chiba

Ryuichi Ueda

Asahikawa Medical University

Chiba Institute of Technology

Sebastian Buck

Shingo Kagami

University of Tuebingen

Tohoku University

Shinya Sakuma

Shinya Aoi

Nagoya University

Kyoto University

64

Shouhei Shirafuji

Shuhei Ikemoto

The University of Tokyo

Osaka University

Simone Gasparini

Stefan Klink

ENSEEIHT

Cooperative State University Baden

Stefano Ghidoni

Surya Nurzamann

Württemberg

University of Padova

Monash University

Sutthiphong Srigrarom

Sven Behnke

National University of Singapore

University of Freiburg

Takashi Tsubouchi

Tamim Asfour

Tsukuba University

Karlsruhe Institute of Technology - KIT

Tetsunari Inamura

Thierry Keller

Tianjiang Hu

Tim Niemueller

NII

Tecnalia

National University of Defense

RWTH Aachen

Technology

Tiziana D'Orazio

Todor Stoyanov

ISSIA CNRÖrebro University

Tom Henderson

Toshiyuki Kondo

Utah University

Tokyo University of Agriculture and

Wan Kyun Chung

Wataru Hijikata

Technology

PostechTokyo Institute of Technology

Wataru Takano

Wenshan Wang

University of Tokyo

Shanghai Jiao Tong University

Wenwei Yu

Xiangpeng Li

Chiba University

Soochow University

Xizhe Zang

Yan-de Liang

Harbin Institute of Technology

Dalian University of Technology

65

Yangsheng Xu

Yantao Shen

The Chinese University of Hong Kong

University of Nevada

Yasuhisa Hirata

Yi LiuTohoku University

Institute of Intelligent Machines,

Yonghoon Ji

Yoshihiro Miyake

Chinese Academy of Sciences

JAIST

Tokyo Institute of Technology

Yoshinori Kuno

Young-Jo Cho

Yu LiuYuki Furuta

Saitama University

ETRI

Harbin Institute of Technology

The University of Tokyo

Yunhui Liu

Yusuke Maeda

The Chinese University of Hong Kong

Yokohama National University

Yuta Murai

Zengfu Wang

The University of Electro-

Institute of Intelligent Machines,

Zhe Liu

Zheng Fang

Communications

Chinese Academy of Sciences

Shanghai Jiao Tong University

Northeastern University

Zhuang Fu

Shanghai Jiao Tong University

Other Reviewers
Beatrix Tung

Chin Boon Chng

National University of Singapore

National University of Singapore

Christina Dao Wen Lee

Emanuele Menegatti

Guillaume Adrien Sartoretti

Jia Min Liew

National University of Singapore
National University of Singapore

University of Padua

National University of Singapore

66Joel Stephen Short

Ka-Shing Chung

Singapore Institute of

National University of Singapore

Koh Hosoda

Lei Qin

Manufacturing Technology
Osaka University

Singapore-MIT Alliance for Research

May Khin Phone

Namarathna Bamunu Arachchige

National University of Singapore
xParthsarthi Rawat

and Technology

Thushara Sandakalum

National University of Singapore
Prahlad Vadakkepat

Shiv Nadar University

National University of Singapore

Rüdiger Dillmann

Shuo Sun

KIT

National University of Singapore

Xian Yao Ng

Ye Chao Bai

National University of Singapore

National University of Singapore

Yiwen Chen

Yue Linn Chong

Zeyu LuZhi Kai Li

National University of Singapore-

National University of Singapore

National University of Sinagpore

Zhiyang Liu

Ziyuan Huang

National University of Singapore

National University of Singapore

67