ICRA 2024, Yokohama, Japan
The 2024 IEEE International Conference on Robotics and Automation (ICRA) in PACIFICO Yokohama, held from May 13–17, was a thrilling experience for us emerging robotics enthusiasts. The event was an incredible gathering where the world’s leading robotics experts showcased and competed with their cutting-edge technologies. I am keeping this blog simple with very little engineering jargon to preserve the reader’s sanity.
The five-day event was an engaging, robotics-packed event that is beyond words. Our team focused on two major competitions at the event- the 15th Autonomous Racing Grand Prix and the Bots & Bento Competition.
Expectations can be a prelude to disappointment, but they also fuel our ambitions. While our apple fell very far from the tree in our attempt at these competitions, our learning curve was pretty steep in those five days. Multiple sleepless nights and all-day tinkering at the conference put our limits to the test. The scale of teams that participate in these competitions is unsurpassed.
Our trip started on a lovely note. On our connecting flight from Chicago to Los Angeles, we witnessed the majestic Northern Lights in all its glory. We were so lucky to be on a flight at the exact same time as the highest-intensity spotting. Here is what we saw (shot on iPhone 15 Pro)!
Japan
Japan is an incredible destination, especially with the favorable exchange rate making it even more attractive for tourists from stronger currency countries. Although we had limited time and could only explore Tokyo and Yokohama, we were captivated by the culture and beauty of the country. Exploring other exciting places like Kyoto, Osaka, Nagasaki, Hiroshima, and Mt. Fuji would easily require at least a 10-day trip. The Japanese culture is truly commendable; for instance, the streets are spotless despite the absence of trash cans. It is expected that you take your trash back home and dispose of it properly, segregating recyclables and non-recyclables. Coming from Mumbai, India, a bustling and heavily populated city, I was amazed by the abundant greenery and well-maintained public spaces in Tokyo. It reflects a superior level of civic responsibility and cultural pride that is both inspiring and admirable. The people are very kind, helpful, and disciplined. Public transport always has pin-drop silence, and people follow queues everywhere. I never saw one person break a line.
One of the highlights of our trip was visiting iconic landmarks like the Tokyo Tower, which offers stunning views of the city skyline, especially at night when the lights create a mesmerizing effect. We also marveled at the serene beauty of traditional Japanese architecture, such as the Imperial Palace in Tokyo, surrounded by tranquil gardens and reflective moats. The vibrant Shibuya Crossing, known for its bustling crowd and towering skyscrapers, gave us a taste of Tokyo’s dynamic urban life. Additionally, we were captivated by the rich cultural heritage displayed at the Meiji Shrine, where sake barrels are ceremoniously offered. Each of these experiences added a unique dimension to our journey, blending modernity with tradition seamlessly.
The food is just mind-blowing, with a never-ending list of varieties and healthy recipes. We discovered that ‘chicken ramen’ is quite rare; they prefer other meats. The many bowls of ramen we enjoyed were among the authentic Japanese experiences we cherished.
15th Autonomous Racing Grand Prix
The F1Tenth competition was collaboratively founded by our mentor, Prof. Rahul Mangharam, a Professor at the University of Pennsylvania. The F1TENTH competition is a racing event where participants design, build, and race 1/10th scale autonomous race cars. The objective is to create the fastest and most reliable self-driving car using advanced algorithms and sensor technologies whilst adhering to the competition’s rules and regulations. Teams must develop and implement software for autonomous navigation, perception, and control, often using ROS (Robot Operating System) and other simulation tools to test and refine their systems. To win the race, participants need to achieve the best lap times while ensuring their vehicle can handle dynamic and challenging race conditions like obstacle avoidance and opponent overtaking; all without human intervention.
I’ll be honest — we were under-prepared for the competition, but we only realized this in hindsight. Despite our extensive research on strategies, opponents, and potential challenges, we felt like ants amidst giants at the competition venue. Other teams had far more advanced equipment and gear, which is understandable given their serious commitment, sponsorships, and years of dedicated effort. Just getting our car running in that environment was a monumental task. One of our major technical challenges was maintaining a strong Wi-Fi connection for our vehicle. The powerful routers used by other teams interfered with our network, jamming our signals. Additionally, we faced several hardware setbacks that ultimately led us to withdraw from the competition. Nevertheless, it was a fantastic experience to witness teams from all around the world showcasing their incredible skills and innovations.
It was exciting to see all the teams in action — some backed by universities, others by sponsors. Our personal favorites were Team Dzik, a Polish couple who stole the show with their sheer passion and dedication, investing thousands of their own dollars into this venture. The races leading up to the finals were as thrilling as real Formula One racing. The excitement and intense competition on the race circuit were truly nail-biting, making for a fantastic spectacle even for those unfamiliar with the intricacies of the competition.
Although our own race didn’t go as planned, here’s a glimpse of one of the most exciting races in the competition.
Bots & Bento Competition
Olive Robotics, a Germany-based provider of advanced robot hardware components specializing in sensor intelligence for innovation, in collaboration with the TUM Venture Lab Robotics / AI and local partners, conducted this four-day hackathon format competition . This competition had seven stunning teams in contention from countries like Germany, Japan, and Singapore.
The competition involved participants using components and modules from Olive Robotics to design, build, and program a robot capable of completing specific challenges. Teams were required to assemble their robots using various hardware, including servos, cameras, IMUs, and omnidirectional wheels, and simulate their designs using URDF files. The primary tasks were the KLT Transport and KLT Sorting challenges, where robots had to transport and sort items efficiently. Scoring was based on speed, efficiency, autonomy, and the correct stacking order of items, with penalties for infractions such as exiting the arena or requiring multiple resets. All teams presented their approaches and solutions to a panel, aiming for the highest total score to win.
We had already laid substantial groundwork before heading to the competition. Understanding the problem statement, we created a functional simulation in Gazebo (ROS2 Humble) tailored for the competition. We designed a custom arena populated with AprilTags, mirroring the actual competition setup, and imported the robot model from the available URDF files. This preparation allowed us to conduct trial runs of our software stack, ensuring we were well-prepared and confident before the competition.
At the competition, designing our robot was the initial hurdle we needed to overcome. We had to carefully plan where to mount the sensors, define the robot’s dimensions, and design the hook to perform the competition’s tasks efficiently. These considerations were crucial to our design process. Leveraging our collective expertise, we built a unique modular robot that embodied our innovative spirit.
The next major hurdle was configuring the robot for locomotion and various tasks. Ensuring proper power distribution and functional sensors was crucial before transitioning from manual control to full autonomy. Only after confirming these aspects could we confidently step away and let the robot operate independently. But before running, we had to take baby steps.
One given thing with autonomous systems is that you should always have a fallback plan, a way that allows you to manually control your system. We threw ourselves into finding solutions, even configuring our robot to be operated by an Xbox controller, which was a fun and creative challenge. We basically made an RC car from scratch! We did a test run using the manual mode on day three, and everything worked great.
However, reality soon set in: true success hinged on achieving full autonomy. To make the system autonomous, we needed to leverage the camera sensors more effectively to localize and navigate the robot using the reference AprilTags on the ground and KLTs. We developed our own code for this purpose and had it fully operational by the time of the competition. Using the IMU and our custom-developed odometry (Dead Reckoning) from the robot’s dimensions and IMU data, we fused the sensor inputs using an Extended Kalman Filter (EKF) to accurately localize the robot. Additionally, the AprilTags pose from the front camera provided sanity checks at intermediate points, ensuring precise localization and preventing steering errors. This robust localization stack allowed us to fully utilize the perception and control systems, making our robot’s navigation both reliable and autonomous.
During our demonstration, we encountered a challenge when the hook’s actuator failed after stacking two of the five KLTs. We swiftly switched to manual mode and successfully stacked the remaining three KLTs. This quick adaptation showcased our team’s resilience, although it did affect our overall score. The competition was intense, with all teams presenting outstanding designs and approaches. In the end, we secured fourth place based on our demonstration and strategy-design presentation. It was a close contest, and we gained valuable insights and experience from the event.
We had the opportunity to interact and learn extensively from the founders of Olive Robotics, M. Leox Karimi (CEO) and Dr.-Ing. Edwin Babaians (CTO). Their assistance was invaluable in debugging the hardware issues we encountered. Beyond the competition, our conversations with them sparked a spirit of entrepreneurship within us. We were inspired by their vision of creating all-platform-friendly, ROS-native, industry-grade robotic solutions. The Bots & Bento competition provided us with hands-on experience in developing systems using advanced, industry-standard equipment.
The Great Expo
Never in my life have I seen such a wide variety of robots under one roof. It was fascinating to witness the sheer number of robots in existence, from prototypes to fully functional assembly line robots. The roboticists in attendance ranged from academics and industry professionals to freelancers, showcasing the diverse talent in the field. While there’s still a significant gap between humans and robots, seeing so many machines capable of performing human-like actions made the possibility of scenarios like The Terminator and The Matrix feel closer to reality.
The buzz, hustle, and excitement during the expo were palpable. It felt like being in a high-stakes game 7, fueling my passion as an engineer. We were incredibly fortunate to have the opportunity to work with even a small fraction of the many impressive robots on display.
This is how roboticists flaunt their latest chrome —
The ICRA 2024 conference in Japan was an incredible opportunity to immerse ourselves in the cutting-edge world of robotics engineering. The event allowed us to network with brilliant minds from around the globe, providing invaluable insights and inspiration. Our time at ICRA was filled with learning and growth. Exploring Japan was equally enriching; the country’s unique blend of tradition and technology left us in awe. From the bustling streets of Tokyo to the serene beauty of Yokohama, we experienced a culture that is both kind and disciplined. The food was a delightful adventure, and the efficient public transport made getting around a breeze.
Overall, the conference and our time in Japan were transformative. We returned with a deeper understanding of the robotics sector, a network of new connections, and a renewed passion for our work. The experiences and lessons from ICRA 2024 will undoubtedly shape our future endeavors in the field of robotics.
Acknowledgment
This unforgettable experience was made possible thanks to the support from the School of Engineering and Applied Sciences at the University of Pennsylvania, and our incredible mentors, Prof. Rahul Mangharam and Dr. Ahmad Amine.
