Tutorials

  • AI and Learning for robotics
  • Software tools for robotics
  • Robot planning and Control
AI and Learning for robotics

Monday 14th Morning

Multi-Robot Path Planning: Heuristic Search Meets Reinforcement Learning

Abstract

Coordinating a team of mobile robots that simultaneously act in a shared environment is a challenging problem that comes in different flavors. One of the most widely studied abstractions of it is known as Multi-Agent Path Finding (MAPF), which adopts several simplifying assumptions regarding how the agents move, communicate, and observe the environment. Heuristic search is a widely used technique to obtain high-quality MAPF solutions. However, search-based solvers often need to scale better with the number of agents. To mitigate this issue and to lift several other restrictions, decentralized, learning-based approaches to MAPF recently came on stage. They utilize the power of modern machine learning, to obtain decision-making policies that do not require a centralized controller, work well under partial observability and limited communication, and thus are potentially more suited to large-scale robotic applications despite the lack of theoretical guarantees. In this tutorial, we propose to overview the core problem of multi-robot pathfinding and summarize recent progress in the field. Our objective is to give a holistic perspective covering theoretical background, practical algorithms, and software needed to create modern learnable MAPF solvers. As the tutorial involves demo sessions with (some) coding in Python, basic knowledge of this language is beneficial.


Organizers

  • Konstantin Yakovlev
  • Aleksandr Panov

Website

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ML in Autonomous Systems and Mobile Robots: Security and Privacy Issues for ML

Abstract

In today's rapidly evolving landscape of cyber-security threats and the widespread adoption of nano-scale devices, intelligent camera-based functionalities within smart cyber-physical systems (CPS) and the Internet-of-Things (IoT) encounter unprecedented challenges. These challenges stem from emerging attack vectors and security/privacy risks associated with the processing of image and video data. Beyond traditional concerns such as IP theft and data breaches, modern machine learning (ML) systems operating on visual data face significant adversarial and backdoor threats. Adversarial and backdoor attacks involve deliberate manipulations in images, exploiting vulnerabilities inherent in machine/deep learning models and learning mechanisms. These attacks can severely compromise system performance and decision-making processes. Addressing these evolving security and privacy threats necessitates continual advancements in defense and obfuscation strategies. These strategies play a crucial role in fortifying the resilience of intelligent systems deployed across diverse image and video processing applications, including computer vision. Through hands-on demonstrations and practical examples, attendees of the tutorial will gain insights into effectively defending against adversarial and backdoor attacks. These attacks target inherent vulnerabilities in ML models and learning mechanisms used for tasks such as depth estimation, object detection, and classification. Additionally, the tutorial will explore emerging threats specific to autonomous systems and mobile robots, offering strategies to safeguard these systems against evolving security and privacy risks.


Organizers

  • Muhammad Shafique
  • Bassem Ouni

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Tuesday 15th Morning

Edge AI for Aerial Robots: Enhancing Drone Operations with AI

Abstract

Drones have witnessed a remarkable increase in their usage across various disciplines, including agriculture, surveillance, healthcare, forestry, and military domains. The current international market of surveillance and rescue drones is 3254.4 Million US$ and it will potentially grow to 11,468 Million US$ till 2033. Most drones are outfitted with sensors and cameras, enabling the creation of specific applications/solutions across various domains. With the rapid advancement in drone technology and AI, there is an urgent need for professionals to stay abreast of the latest developments in real-time AI applications for drones. As drones continue to evolve and play a pivotal role in various industries, AI-powered visual data processing becomes imperative for extracting meaningful information/insights from the vast amount of data collected by drones including AI-on-the-Edge perspective. Keeping in view the rapidly evolving landscape of drone technology and the pressing need for advanced real-time AI-based data processing, we have designed this tutorial to acquaint the audience with the latest tools, methods, and research trends in Edge AI applications for drone technology. As the tutorial delves into advanced methodologies, practical implementations, and real-world applications, participants will concurrently explore the ethical considerations and responsible AI practices crucial for building trustworthy drone AI systems.


Organizers

  • Muhammad Haroon Yousaf
  • Saad Saeed

Website

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Software tools for robotics

Monday 14th Morning

From Hover to Horizon: Mastering Drone Control in MATLAB

Abstract

Join the tutorial section of “From Hover to Horizon: Mastering Drone Control in MATLAB”. This tutorial will deep dive into the design and tuning of control systems for drones, with a focus on both multirotor and fixed-wing types, using MATLAB® and Simulink®. By broadening the scope from VTOL UAVs to encompass drones in general, participants will explore a wide array of control challenges and solutions applicable to various drone configurations. The session will guide attendees through a structured approach using a MATLAB Project reference application template, covering the fundamentals of drone behavior, control system design, tuning strategies for different flight modes, and deployment to hardware for real-world application. This tutorial targets a broad audience, including engineers, researchers, and students. While a foundational understanding of control theory and familiarity with MATLAB and Simulink are advantageous, the session is designed to accommodate a range of expertise levels.


Organizers

  • YJ (Yi-Je) Lim

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Monday 14th Afternoon

KOMPASS: An event-driven advanced navigation stack for autonomous mobile robots

Abstract

This tutorial aims to explore the immense potential of simulation in the field of robotics. Simulation has emerged as a powerful tool for testing and validating various robotics algorithms and systems, significantly reducing costs and time associated with real-world experimentation. This tutorial will delve into the fundamentals of simulation in robotics, covering topics such as simulation platforms, modeling techniques, sensor simulation, and motion planning. This will include control techniques for autonomous vehicles such as aerial robots and wheeled robots. Practical demonstrations and case studies will illustrate the effectiveness of simulation in accelerating robotics research and development. This tutorial will also demonstrate the real-world industry level usage of the simulations.


Organizers

  • Anne Spalanzani
  • Maria Kabtoul
  • Abdullah Haroon Rasheed

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Low-code design and simulation of robotics capabilities

Abstract

In recent decades, the rise of contact robots has transformed fields from personalized assistance to rehabilitation. These robots handle intricate tasks like team collaboration and task-oriented motion, demanding control mechanisms ensuring safe, intuitive, and efficient human interactions. This tutorial delves into advanced control strategies applicable to both robotic systems and modeling human sensorimotor functions. Key topics include nonlinear stochastic optimal control, which models human motor behaviors accounting for variability and sensory noise. Haptic communication strategies derived from cooperative tasks enhance performance and learning through prediction and adaptation. Passivity theory regulates energy exchanges in interactive systems, while differential game theory crafts cooperative strategies for participants with diverse roles. This comprehensive framework, including our significant contributions, facilitates understanding and modeling of sensorimotor interactions, designing optimal human-robot interaction strategies, and coordinating multiple robots. Participants will gain insights into applying and extending these techniques across diverse robotics and human-centric applications, shaping the future of interactive robotics.


Organizers

  • Francesco Gadaleta
  • Alexander Kocharin

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Tuesday 15th Morning

State-of-the-art Simulation in Autonomous Robotic Systems

Abstract

This tutorial will provide a comprehensive introduction to Intrepid AI, an innovative platform designed to streamline the development of autonomous robotics applications. Participants will first explore the platform's core features, including its integrated editor, simulator, and deployment mechanism, which collectively empower robotics designers to create sophisticated behaviors efficiently. Attendees will then delve into the platform's simulation capabilities, learning how to visualize and validate their robotic designs in a virtual environment before real-world deployment. The tutorial will feature a hands-on session introducing the Intrepid graph, a user-friendly, low-code interface that simplifies the creation and modification of complex robotic behaviors, making advanced robotics accessible to both experts and non-experts. The session will culminate with the announcement of the Intrepid Challenge, an engaging competition that allows participants to apply their newfound skills in a collaborative and competitive setting. This tutorial promises to equip attendees with practical knowledge and skills, demonstrating how Intrepid AI can revolutionize the process of developing autonomous robotics solutions from conception to deployment.


Organizers

  • Soroush Sadeghnejad
  • Amirmohammad Zarif Shahsavan Nejad
  • Jacky (Hansjoerg) Baltes
  • Amirali Setayeshi
  • Amirmahdi Zarif Shahsavan Nejad

Website

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Robot planning and Control

Monday 14th Afternoon

Foundations of interaction control for contact robots (part II): Energy-based methods and interactive learning

Abstract

Fully autonomous robot navigation requires several interconnected components handling world mapping, robot localization, planning and control. Moreover, to deploy reliable and robust navigation in real-world scenarios, the system should be able to adapt to different working conditions, detect errors, implement recovery and fallback techniques, and handle arbitrary internal and external events. Navigation research dives deep in many orthogonal directions (planning, control, ML-based end-to-end systems, etc.) but the development of a complete framework for navigation, that brings together all components for use in real-world conditions is overlooked by the community. This tutorial organized by Inria and Automatika Robotics presents a new open-source navigation framework, KOMPASS, that is built for ease of use, reliability, and simplified customizability. KOMPASS works with ROS2 and supports several open-source libraries for planning, control, and mapping, with a strong focus on ease of deployment. With an intuitive API and an underlying event-driven architecture, KOMPASS is suitable for handling navigation in real-world dynamic conditions for all mobile robotics applications. The tutorial presents the features and underlying architecture of the stack, and how to run and build your own navigation system with KOMPASS


Organizers

  • Sami Haddadin
  • etienne burdet
  • Abdalla Swikir
  • Erfan Shahriari

Website

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Tuesday 15th Morning

Humanoid Hybrid sprint

Abstract

We propose a competition in humanoid sprint in simulation with the transfer to the real hardware. Robust trajectory following for walking remains a substantial challenge in humanoid robotics. We have created a system for simulation and automatic performance assessment for multiple competitions, including humanoid sprint and marathon. It relies on a physics simulator and rules that closely follow FIRA’s guidelines.


Organizers

  • Ilya Osokin

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Workshops

  • Aerial Robotics
  • Marine Robotics
  • Healthcare and Medical Robotics
  • Biologically-inspired Robots
  • Teleoperation
  • Assistive Robotics
  • Soft Robotics
  • Path Planning
  • AI-Enabled Robotics
  • Computer Vision
  • Haptics
  • Human-Robot Interaction
  • Grasping and Manipulation
  • Agriculture Robotics
  • Perception and Navigation
Aerial Robotics
Unlocking the Potential: Innovations in Drone-Assisted Infrastructure Inspection and Maintenance

Organizers

  • Emad Ebeid
The Workshop and Competition on Multi-Robot Perception and Navigation Challenges in Logistics and Inspection Tasks

Organizers

  • Thien-Minh Nguyen
  • Muqing Cao
  • Shenghai Yuan
  • Ben M. Chen
  • Lihua Xie
Workshop proposal - Object Tracking and following using OpenCV with drones/UAVs

Organizers

  • Omar alZuabi
Marine Robotics
Maritime Heterogeneous Unmanned Robotic Systems

Organizers

  • Lakmal Seneviratne
  • Defu Lin
  • David Hyunchul Shim
  • Shaoming He
  • Irfan Hussain
Autonomous Robotic Systems in Aquaculture: Research Challenges and Industry Needs

Organizers

  • Eleni Kelasidi
  • Michael Triantafyllou
  • Martin Føre
  • Themistoklis Sapsis
Healthcare and Medical Robotics
Interactive Robots and AI for Healthcare

Organizers

  • Sebastian Schneider
  • Anna-Lisa Vollmer
  • Carlos A. Cifuentes
  • Marcela Munera
Advanced Robotics and Visualization for micrO Surgery. (ARVOS-IROS 2024)

Organizers

  • M. Ali Nasseri
  • Franziska Mathis-Ullrich
  • Christos Bergeles
  • Ka-Wai Kwok
  • Kourosh Faridpooya
  • Ioan Iulian Iordachita
2nd Workshop on Machine Learning in Medical Robotics: Bridging ML Theory and Clinical Frontiers

Organizers

  • Di Wu
  • Jing GUO
  • Loris Fichera
  • Farshid Alambeigi
  • Yao Zhang
  • Michael C. Yip
Biologically-inspired Robots
Bio-inspired, Biomimetics, and Biohybrid (Cyborg) Systems

Organizers

  • Yao Li
  • Hirotaka Sato
  • Ritu Raman
  • Cristina Piazza
  • Liang Li
  • T. Thang Vo-Doan
  • Thanh Nho Do
  • Shinjiro Umezu
  • Barani Raman
  • Toshio Fukuda
  • Pablo Valdivia y Alvarado
  • Tahmid Latif
  • Kan Shoji
  • Edoardo Milana
  • Nicole Xu
  • Hongying Zhang
  • David Zarrouk
  • Pierre-Alexis Mouthuy
  • Qing Shi
  • Zheng Nenggan
Self-healing and Damage Resilient Soft Robots

Organizers

  • Seppe Terryn
  • Concepción A. Monje
  • Bram Vanderborght
  • Lisbeth Karina Mena López
  • Seyedreza Kashef Tabrizian
Embodied Neuromorphic AI for Robotic Perception and Control

Organizers

  • Fakhreddine Zayer
  • Muhammad Shafique
  • Jorge Dias
  • Alberto Marchisio
  • Giulia De Masi
Teleoperation
3rd Workshop Toward Robot Avatars

Organizers

  • Sven Behnke
  • Jee-Hwan Ryu
  • Daniele Pucci
  • Veronica J. Santos
XR-ROB 2024 - Horizons of an Extended Robotics Reality - a Converging Future of XR and Robotics

Organizers

  • Nikhil Deshpande
  • Jeffrey Delmerico
  • Heni Ben Amor
  • Fumihiro Kato
  • Ayse Kucukyilmaz
  • Hooman Hedayati
  • Mohammed Al-Sada
Multisensory Transparency-Augmented Teleoperation in Extreme Environments

Organizers

  • Ziwei Wang
  • Angela Faragasso
  • Bo Xiao
  • Lakmal Seneviratne
  • Hajime Asama
Assistive Robotic
Integrating Physical and Cognitive Perspectives in Assistive Robotics Design

Organizers

  • Tetsunari Inamura
  • Shingo Shimoda
  • Fady Alnajjar
  • Karinne Ramirez-Amaro
  • Emmanuel Dean
  • Giulio Sandini
From Geometry to General Autonomy of Robotic Systems

Organizers

  • Robin Chhabra
  • Andreas Mueller
Soft Robotics
The SOFT frontier: adaptive technologies in soft robotics

Organizers

  • Zixi Chen
  • Federico Renda
  • Josie Hughes
  • Cesare Stefanini
  • Di Wu
3D/4D Printing and Smart Materials for Sustainable Soft Robotics

Organizers

  • Zhongkui Wang
  • Qiukai Qi
  • Hongying Zhang
Path Planning
Equivariant Robotics: The Role of Symmetry Across Perception, Estimation, and Control

Organizers

  • Vijay Kumar
  • Kostas Daniilidis
  • Christine Allen-Blanchette
  • Pieter van Goor
  • Rui Wang
  • Jake Welde
  • Evangelos Chatzipantazis
  • YINSHUANG XU
Workshop on Interaction-aware Autonomous Systems

Organizers

  • Marcel Hallgarten
  • Martin Stoll
  • Faris Janjoš
  • Felicia Ruppel
  • Abhinav Valada
  • Andreas Zell
  • Marco Pavone
  • Igor Gilitschenski
The 2nd Workshop on Formal methods techniques in robotics systems: Design and control

Organizers

  • Abdalla Swikir
  • Fares Abu-Dakka
  • Pushpak Jagtap
  • Necmiye Ozay
  • Karen Leung
  • Sami Haddadin
Standing the Test of Time: Retrospective and Future of World Representations for Lifelong Robotics

Organizers

  • Miguel Saavedra
  • Pierre-Yves Lajoie
  • Samer Nashed
  • Victor Romero-Cano
  • Liam Paull
  • Malika Meghjani
  • John Leonard
Real-World Challenges in Multi-Robot Cooperation

Organizers

  • Antonio Marino
  • Esteban Restrepo
  • Paolo Robuffo Giordano
  • H. Jin Kim
Long-Term Perception for Autonomy in Dynamic Human-centric Environments: What Do Robots Need?

Organizers

  • Lukas M. Schmid
  • Rajat Talak
  • Jianhao Zheng
  • Olov Andersson
  • Helen Oleynikova
  • Jong Jin Park
  • Johanna Wald
  • Roland Siegwart
  • Federico Tombari
  • Luca Carlone
Benchmarking Autonomous Service Robotics in Real Life

Organizers

  • Katarzyna Pasternak
  • Justin Hart
  • Komei Sugiura
  • Matteo Leonetti
  • Ubbo Visser
  • Sven Wachsmuth
Safety of Intelligent and Autonomous Vehicles: Formal Methods vs. Machine Learning approaches for reliable navigation (SIAV-FM2L) 

Organizers

  • Lounis ADOUANE
  • Philippe Martinet
  • Johannes Betz
  • Antonios Tsourdos
  • Xuebo Zhang
AI-Enabled Robotics
AI Meets Autonomy: Vision, Language, and Autonomous Systems

Organizers

  • Wenshan Wang
  • Ji Zhang
  • Haochen Zhang
  • Shibo Zhao
  • Abhinav Gupta
  • Deva Ramanan
  • Andy Zeng
  • Ayoung Kim
  • Carlos Nieto-Granda
Nonverbal cues for human-robot cooperative intelligence

Organizers

  • Jouh Yeong Chew
  • Andreas Bulling
  • Daisuke Kurabayashi
  • Eiichi Yoshida
  • Iolanda Leite
  • Siyu Tang
  • Xucong Zhang
Robot Safety in Times of AI: Data, Decision, and Multimodal Interaction

Organizers

  • Nader Rajaei
  • Achim J. Lilienthal
  • Cristian Secchi
  • Matej Hoffmann
  • Saeed Abdolshah
  • Nico Mansfeld
  • Robin Jeanne Kirschner
Collecting, Managing and Utilizing Data through Embodied Robots

Organizers

  • Namiko Saito
  • Mohammed Al-Sada
  • Hiroki Shigemune
  • Ryosuke Tsumura
  • Satoshi Funabashi
  • Tamon Miyake
  • Tetsuya Ogata
Computer Vision
ML in Autonomous Systems and Mobile Robots: Security and Privacy Issues for ML

Organizers

  • Muhammad Shafique
  • Bassem OUNI
Brain Over Brawn: Workshop on Label Efficient Learning Paradigms for Autonomy at Scale

Organizers

  • Nicholas Autio Mitchell
  • Andrei Bursuc
  • Daniele Cattaneo
  • Hazel Doughty
  • Nikhil Gosala
  • Kürsat Petek
  • Katherine Skinner
  • Andreea Roxana Tulbure
  • Abhinav Valada
From Learning-based to Foundation models for mapping: challenges and opportunities (LFM)

Organizers

  • Matteo Luperto
  • Francesco Verdoja
  • Tomasz Piotr Kucner
  • Teresa A. Vidal-Calleja
  • Milos Pragr
  • Cedric Le Gentil
  • Simone Scardapane
Haptics
The Evolving Landscape of Haptic Technologies: Research Challenges and Industry needs

Organizers

  • Hafiz Malik Naqash Afzal
  • Irfan Hussain
  • Lakmal Seneviratne
  • Dangxiao Wang
  • Domenico Prattichizzo
  • Oussama Khatib
Human-Robot Interaction
Trustworthy Human-swarm Interaction

Organizers

  • Mohammad D. Soorati
  • Horia Alexandru Maior
  • Ayodeji Opeyemi Abioye
  • William Hunt
  • Ayomide Oluwaseyi Agunloye
  • Aleksandra Landowska
The Grand Challenge of Cybernetic Avatars: Dreams and Facts

Organizers

  • Norihiro Hagita
  • Khalifa AlQama
  • MIWAKO DOI
  • Hiroshi Ishiguro
  • Arianna Menciassi
  • Paolo Dario
ROMADO: 4th workshop on RObotic MAnipulation of Deformable Objects: beyond traditional approaches

Organizers

  • Mohammad Alkhatib
  • Daniel Seita
  • Mohammad I. Awad
  • Youcef Mezouar
  • Claire Dune
  • Jihong Zhu
  • Júlia Borràs Sol
  • Adrien Koessler
  • Tran Nguyen Le
  • David Blanco-Mulero
The Grand Challenge of Cybernetic Avatars: Ethical and Social Sustainability

Organizers

  • Paolo Dario
  • Khalifa AlQama
  • Yukiko Horikawa
  • Alberto Pirni
  • Toshie Takahashi
Grasping and Manipulation
Building and Evaluating Ethical Robotic Systems

Organizers

  • Samer Nashed
  • Justin Svegliato
  • Louise Dennis
  • David Paul Meger
  • Benjamin Kuipers
Benchmarking via Competitions in Robotic Grasping and Manipulation

Organizers

  • Salvatore D'Avella
  • Yu Sun
  • Berk Calli
  • Kaiyu Hang
  • Andrea Cavallaro
  • Alessio Xompero
3rd Workshop on Mobile Manipulation and Embodied Intelligence: Generalization Challenges for Real-World Deployment

Organizers

  • Rajkumar Muthusamy
  • Tarek Taha
  • Paolo Dario
  • Georgia Chalvatzaki
  • Kensuke Harada
  • Yuqian Jiang
  • Roberto Martín-Martín
  • Weiwei Wan
Workshop on Ethical, Legal and User Perspectives on Assisting Robots and Systems (WELUPARS)

Organizers

  • Jim Torresen Yueh-Hsuan Weng
  • Edson Prestes
  • Praminda Caleb-Solly
Agriculture Robotics
Agricultural Robotics for a Sustainable Future

Organizers

  • Arun Narenthiran Sivakumar
  • Naveen Kumar Uppalapati
  • Anand Kumar Mishra
  • Marija Popovic
  • Girish Chowdhary
  • Girish Krishnan
  • Robert Shepherd
AI and Robotics for Future Farming

Organizers

  • Yongliang Qiao
  • Manoj Karkee
  • Alen Alempijevic
  • Wessam Essam Elssawy
Perception and Navigation
Workshop on 14th Planning, Perception and Navigation for Intelligent Vehicles

Organizers

  • Huijing Zhao
  • Marcelo H Ang Jr
  • Yufeng Yue
  • Johannes Betz
R-, r-, reply- Articles, what are they? Case Studies of Reproducibility and Benchmarking in Robotic Research

Organizers

  • Fabio Bonsignorio
  • Angela Faragasso
  • Enrica Zereik
  • Enric Cervera
  • Venkat Krovi
  • Rahul Mangharam
  • Tomoyuki Yamamoto
  • Signe Redfield
  • Angel P. del Pobil
Variable Impedance Learning and Control: Navigating Challenges, Exploring Opportunities, and Shaping the Future

Organizers

  • Edoardo Lamon
  • Angela Faragasso
  • Matteo Saveriano
  • Fares Abu-Dakka
Environment Dynamics Matters: Embodied Navigation to Movable Objects

Organizers

  • Huaping Liu
  • David Hsu
  • Di Guo
  • Abhishek Gupta
  • Tao Kong

Venue

The multi-award winning Abu Dhabi National Exhibition Centre (ADNEC) is the largest exhibition venue in the Middle East, fully interconnected within the hearth of Abu Dhabi. Featuring a unique architectural design, ADNEC offers one of the world's most accessible and flexible event spaces.