ICRA

Nonlinear Motion-Guided and Spatio-Temporal Aware Network for Unsupervised Event-Based Optical Flow

非线性运动引导和时空感知网络用于无监督事件基光流

Zuntao Liu, Hao Zhuang, Junjie Jiang, Yuhang Song, Zheng Fang

机构 * Faculty of Robot Science and Engineering, Northeastern University（机器人科学与工程学院，东北大学） 纠错

AI总结 本文提出E-NMSTFlow网络，通过非线性运动补偿和时空感知模块，提升事件基光流估计的精度和性能。

Comments Accepted to ICRA 2025. Project Page: https://wynelio.github.io/E-NMSTFlow

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2025

Conformal Safety Monitoring for Flight Testing: A Case Study in Data-Driven Safety Learning

飞行测试中的符合安全监控：数据驱动安全学习的案例研究

Aaron O. Feldman, D. Isaiah Harp, Joseph Duncan, Mac Schwager

机构 * Stanford University（斯坦福大学） ； United States Air Force Academy（美国空军学院） ； United States Air Force（美国空军） 纠错

AI总结 本文提出了一种基于数据驱动的方法，利用离线随机轨迹模拟和符合预测技术，用于飞行测试中的安全风险预判与监控。

Comments ICRA 2025 Workshop on Robot safety under uncertainty from intangible specifications

Efficient Optimization of a Permanent Magnet Array for a Stable 2D Trap

高效优化永久磁铁阵列以实现稳定的2D陷阱

Ann-Sophia Müller, Moonkwang Jeong, Jiyuan Tian, Meng Zhang, Tian Qiu

机构 * Division of Smart Technologies for Tumor Therapy, German Cancer Research Center (DKFZ) Site Dresden（智能肿瘤治疗技术部门，德国癌症研究中心（DKFZ）德累斯顿分部） ； Faculty of Computer Science, Dresden University of Technology（计算机科学学院，德累斯顿技术大学） ； Faculty of Medicine Carl Gustav Carus, Dresden University of Technology（卡尔·古斯塔夫·卡尔斯医学院，德累斯顿技术大学） ； Faculty of Electrical and Computer Engineering, Dresden University of Technology（电气与计算机工程学院，德累斯顿技术大学） 纠错

AI总结 本研究提出了一种基于GPU加速优化算法的2D磁力陷阱，通过优化永久磁铁阵列实现对毫米机器人的高效控制与轨迹跟踪。

Comments 6 pages, 6 figures, IEEE International Conference on Robotics and Automation (ICRA)

Journal ref In 2025 IEEE International Conference on Robotics and Automation (ICRA) (pp. 6666-6671). IEEE

Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attention

Directed-CP：通过主动注意的定向协作感知用于连接和自动驾驶车辆

Yihang Tao, Senkang Hu, Zhengru Fang, Yuguang Fang

机构 * Department of Computer Science, City University of Hong Kong（计算机科学系，香港城市大学） 纠错

AI总结 Directed-CP通过主动注意机制提升特定方向的协作感知性能，实现更高的局部和整体感知准确性。

Comments Accepted by ICRA'25

Differential graded enhancements of singularity categories

Xiao-Wu Chen, Zhengfang Wang

Comments Proceedings of ICRA 2022, to appear

Journal ref in: Representations of Algebras and Related Topics, Proc. ICRA 2022, EMS Series of Congress Reports, 191-225, European Mathematical Society, 2025

Painted Heart Beats

Angshu Adhya, Cindy Yang, Emily Wu, Rishad Hasan, Abhishek Narula, Patrícia Alves-Oliveira

机构 * University of Michigan（密歇根大学） 纠错

Comments 4 pages, 2 figures, ICRA 2025

SIGMA: Sheaf-Informed Geometric Multi-Agent Pathfinding

Shuhao Liao, Weihang Xia, Yuhong Cao, Weiheng Dai, Chengyang He, Wenjun Wu, Guillaume Sartoretti

机构 * Hangzhou International Innovation Institute, Beihang University, China（北京航空航天大学杭州国际创新研究院） ； CoreControl Inc, Hangzhou, China（杭州核心控制公司） ； Department of Mechanical Engineering, National University of Singapore, Singapore（新加坡国立大学机械工程系） 纠错

Comments Accepted for presentation at the 2025 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref 2025 IEEE International Conference on Robotics and Automation ICRA pp. 1-7

Unidirectional-Road-Network-Based Global Path Planning for Cleaning Robots in Semi-Structured Environments

Yong Li, Hui Cheng

Comments 2023 IEEE International Conference on Robotics and Automation (ICRA)

Generating Causal Explanations of Vehicular Agent Behavioural Interactions with Learnt Reward Profiles

Rhys Howard, Nick Hawes, Lars Kunze

机构 * Oxford Robotics Institute, Dept. of Eng. Sci., University of Oxford（牛津大学机器人研究所） 纠错

Comments 8 Pages, 5 Figures, To be published in the Proceedings of the 2025 IEEE International Conference on Robotics & Automation, Initial upload of accepted paper

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025

A Skeleton-Based Topological Planner for Exploration in Complex Unknown Environments

Haochen Niu, Xingwu Ji, Lantao Zhang, Fei Wen, Rendong Ying, Peilin Liu

机构 * Brain-Inspired Application Technology Center (BATC), School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（脑启发应用技术中心（BATC）、电子信息与电气工程学院、上海交通大学） 纠错

Comments 7 pages, 7 figures. Accepted to be presented at the ICRA 2025

Leader-follower formation enabled by pressure sensing in free-swimming undulatory robotic fish

Kundan Panta, Hankun Deng, Micah DeLattre, Bo Cheng

机构 * Department of Mechanical Engineering, The Pennsylvania State University（机械工程系，宾夕法尼亚州立大学） 纠错

Comments 7 pages, 10 figures. Accepted for 2025 IEEE International Conference on Robotics and Automation (ICRA). Supplementary video: https://youtu.be/DIDYGi9Td0I

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 14685-14691

A Shared-Autonomy Construction Robotic System for Overhead Works

David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo, Nikola Raicevic, Runfa Blark Li, Kehan Long, Chan Seon Yoon, Dong Min Kang, Byeong Jo Lim, Young Pyoung Kim, Nikolay Atanasov, Truong Nguyen, Se Woong Jun, Young Wook Kim

机构 * Intelligent Robotics Research Center, Korea Electronics Technology Institute (KETI)（韩国电子技术研究所智能机器人研究中心） ； Dept. of Electrical and Computer Engineering, University of California, San Diego (UCSD)（加州大学圣地亚哥分校电气与计算机工程系） ； ITONE Inc.（ITONE公司） 纠错

Comments 4pages, 8 figures, ICRA construction workshop

Practical and Performant Enhancements for Maximization of Algebraic Connectivity

Leonard Jung, Alan Papalia, Kevin Doherty, Michael Everett

机构 * Northeastern University, USA（东北大学） ； University of Michigan（密歇根大学） ； Boston Dynamics（波士顿动力） 纠错

Comments Submitted to ICRA 2026

Underactuated Biomimetic Autonomous Underwater Vehicle for Ecosystem Monitoring

Kaustubh Singh, Shivam Kumar, Shashikant Pawar, Sandeep Manjanna

机构 * Plaksha University（普拉克斯大学） 纠错

Comments ICRA RUNE 2024 Workshop Paper

Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis

Yu Chen, Botao He, Yuemin Mao, Arthur Jakobsson, Jeffrey Ke, Yiannis Aloimonos, Guanya Shi, Howie Choset, Jiayuan Mao, Jeffrey Ichnowski

机构 * Carnegie Mellon University（卡内基梅隆大学） ； Univeristy of Maryland（马里兰大学） ； Amazon（亚马逊） 纠错

Comments Submitted to ICRA 2026

MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting

Yan Song Hu, Nicolas Abboud, Muhammad Qasim Ali, Adam Srebrnjak Yang, Imad Elhajj, Daniel Asmar, Yuhao Chen, John S. Zelek

机构 * Vision and Image Processing Lab at the Faculty of System Design Engineering, at the University of Waterloo（视觉与图像处理实验室，系统设计工程学院，滑铁卢大学） ； Vision and Robotics Lab, Maroun Semaan Faculty of Engineering and Architecture, American University of Beirut（视觉与机器人实验室，马鲁恩·塞马安工程与建筑学院，贝鲁特美国大学） 纠错

Comments This is the pre-print version of a work that has been published in ICRA 2025 with doi: 10.1109/ICRA55743.2025.11127380. This version may no longer be accessible without notice. Copyright 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses. Please cite the official version

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 11061-11067

Multi-modal Loop Closure Detection with Foundation Models in Severely Unstructured Environments

Laura Alejandra Encinar Gonzalez, John Folkesson, Rudolph Triebel, Riccardo Giubilato

Comments Under review for ICRA 2026

EveryDayVLA: A Vision-Language-Action Model for Affordable Robotic Manipulation

Samarth Chopra, Alex McMoil, Ben Carnovale, Evan Sokolson, Rajkumar Kubendran, Samuel Dickerson

机构 * University of Pittsburgh Center for Research Computing（匹兹堡大学研究中心计算中心） 纠错

Comments Submitted to ICRA 2026

EEG-Driven AR-Robot System for Zero-Touch Grasping Manipulation

Junzhe Wang, Jiarui Xie, Pengfei Hao, Zheng Li, Yi Cai

Comments 8 pages, 14 figures, submitted to ICRA 2026

SENT Map -- Semantically Enhanced Topological Maps with Foundation Models

Raj Surya Rajendran Kathirvel, Zach A Chavis, Stephen J. Guy, Karthik Desingh

机构 * Minnesota Robotics Institute (MnRI)（明尼苏达州机器人研究所） ； Department of Computer Science and Engineering (CS&E)（计算机科学与工程系） ； University of Minnesota（明尼苏达大学） 纠错

Comments Accepted at ICRA 2025 Workshop on Foundation Models and Neuro-Symbolic AI for Robotics

No Plan but Everything Under Control: Robustly Solving Sequential Tasks with Dynamically Composed Gradient Descent

Vito Mengers, Oliver Brock

Comments Accepted at ICRA25; Supplementary Material under https://www.tu.berlin/robotics/papers/noplan ; 7 pages + 6 figures;

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 90-96

TACO: Trajectory-Aware Controller Optimization for Quadrotors

Hersh Sanghvi, Spencer Folk, Vijay Kumar, Camillo Jose Taylor

机构 * School of Engineering and Applied Science, University of Pennsylvania（工程与应用科学学院，宾夕法尼亚大学） 纠错

Comments 8 pages, 6 figures. In submission to ICRA 2026

Equivariant Filter Design for Range-only SLAM

Yixiao Ge, Arthur Pearce, Pieter van Goor, Robert Mahony

Comments 11 pages, 5 figures, accepted for presentation at IEEE International Conference on Robotics and Automation 2025

EREBUS: End-to-end Robust Event Based Underwater Simulation

Hitesh Kyatham, Arjun Suresh, Aadi Palnitkar, Yiannis Aloimonos

机构 * Maryland Robotics Center, University of Maryland, College Park, MD 20742, USA（马里兰大学机器人中心，马里兰大学，学院公园，MD 20742，美国） 纠错

Comments Accepted to ICRA AQUA2SIM Workshop 2025, 6 pages, 3 figures, conference paper

Robotic Monitoring of Colorimetric Leaf Sensors for Precision Agriculture

Malakhi Hopkins, Alice Kate Li, Shobhita Kramadhati, Jackson Arnold, Akhila Mallavarapu, Chavez F. K. Lawrence, Anish Bhattacharya, Varun Murali, Sanjeev J. Koppal, Cherie R. Kagan, Vijay Kumar

机构 * GRASP Laboratory, University of Pennsylvania（宾夕法尼亚大学GRASP实验室） ； University of Florida（佛罗里达大学） ； Amazon Robotics（亚马逊机器人） 纠错

Comments Revised version. Initial version was accepted to the Novel Approaches for Precision Agriculture and Forestry with Autonomous Robots IEEE ICRA Workshop - 2025

Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning

Leon Keller, Daniel Tanneberg, Jan Peters

机构 * Intelligent Autonomous Systems, TU Darmstadt, Germany（图腾达姆施塔特大学智能自主系统研究所） ； German Research Center for AI, Germany（德国人工智能研究中心） ； Hessian Centre for Artificial Intelligence, Germany（黑森州人工智能中心） ； Honda Research Institute EU, Germany（本田欧洲研究院） 纠错

Comments IEEE International Conference on Robotics and Automation (ICRA) 2025

A Helping (Human) Hand in Kinematic Structure Estimation

Adrian Pfisterer, Xing Li, Vito Mengers, Oliver Brock

机构 * Robotics and Biology Laboratory, Technische Universität Berlin（技术大学柏林机器人与生物学实验室） ； Science of Intelligence, Research Cluster of Excellence, Berlin（智能科学优秀研究集群，柏林） 纠错

Comments Accepted at ICRA25; 8 pages + 7 figures; For supplementary material, see https://www.tu.berlin/robotics/papers/helpinghands

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 11918-11925

Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Driving

Xinyu Zhang, Zewei Zhou, Zhaoyi Wang, Yangjie Ji, Yanjun Huang, Hong Chen

机构 * School of Automotive Studies, Tongji University（同济大学汽车学院） 纠错

Comments 8 pages, 3 figures, ICRA 2025

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 801-807

Deployable Vision-driven UAV River Navigation via Human-in-the-loop Preference Alignment

Zihan Wang, Jianwen Li, Li-Fan Wu, Nina Mahmoudian

机构 * School of Mechanical Engineering, Purdue University（机械工程学院，普渡大学） 纠错

Comments Submitted to ICRA 2026

iKap: Kinematics-aware Planning with Imperative Learning

Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Zitong Zhan, Shaoshu Su, Junyi Geng, Chen Wang

机构 * Spatial AI & Robotics (SAIR) Lab, University at Buffalo, USA（空间人工智能与机器人实验室，布法罗大学） ； Carnegie Mellon University, USA（卡内基梅隆大学） ； Pennsylvania State University, USA（宾夕法尼亚州立大学） 纠错

Comments 6 pages, 6 figures

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA)