ICRA

Hybrid Gripper Finger Enabling In-Grasp Friction Modulation Using Inflatable Silicone Pockets

Hoang Hiep Ly, Cong-Nhat Nguyen, Doan-Quang Tran, Quoc-Khanh Dang, Ngoc Duy Tran, Thi Thoa Mac, Anh Nguyen, Xuan-Thuan Nguyen, Tung D. Ta

Comments Submitted to ICRA 2026

Autonomous 3D Exploration in Large-Scale Environments with Dynamic Obstacles

Emil Wiman, Ludvig Widén, Mattias Tiger, Fredrik Heintz

Comments 6 pages, 6 figures

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 2389-2395,

ProTerrain: Probabilistic Physics-Informed Rough Terrain World Modeling

Golnaz Raja, Ruslan Agishev, Miloš Prágr, Joni Pajarinen, Karel Zimmermann, Arun Kumar Singh, Reza Ghabcheloo

机构 * Tampere University（塔尔皮耶大学） ； Czech Technical University（捷克技术大学） ； University of Tartu（塔尔图大学） ； Aalto University（阿尔托大学） 纠错

Comments This paper is submitted to IEEE International Conference on Robotics and Automation (ICRA) 2026

Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation

Akshaya Agrawal, Parker Mayer, Zachary Kingston, Geoffrey A. Hollinger

机构 * Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University（协作机器人与智能系统研究所，俄勒冈州立大学） ； Department of Computer Science, Purdue University（计算机科学系，普渡大学） 纠错

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

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), pp. 7726-7732, 2025

Fast Staircase Detection and Estimation using 3D Point Clouds with Multi-detection Merging for Heterogeneous Robots

Prasanna Sriganesh, Namya Bagree, Bhaskar Vundurthy, Matthew Travers

Comments This paper has been accepted and will be published in the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 9253-9259)

Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning

Ioannis Dadiotis, Mayank Mittal, Nikos Tsagarakis, Marco Hutter

机构 * HHCM lab, IIT（IIT基因瓦实验室） ； DIBRIS, University of Genoa（热那亚大学DIBRIS学院） ； RSL, ETH Zürich（苏黎世联邦理工学院机器人实验室） ； NVIDIA（NVIDIA公司） 纠错

Comments presented at ICRA 2025, Video: https://youtu.be/wGAdPGVf9Ws?si=pi83ONWofHHqbFG0

C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control

Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu, Volkan Isler

机构 * Robotics, Sensing and Networks Laboratory (RSN)（机器人、感知与网络实验室） ； University of Minnesota（明尼苏达大学） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） 纠错

Comments Submitted to the 2026 IEEE International Conference on Robotics and Automation (ICRA). 8 pages, 4 figures

Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control

Tommaso Lisini Baldi, Nicole D'Aurizio, Sergio Gurgone, Daniele Borzelli, Andrea D'Avella, Domenico Prattichizzo

机构 * Department of Information Engineering and Mathematics, University of Siena（信息工程与数学系，锡耶纳大学） ； department of Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia（人形与以人为中心的机电一体化系（HHCM），意大利理工学院） ； Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina（生物医学与牙科学及形态功能成像系，梅斯纳大学） ； Center for Information and Neural Networks, Advanced ICT Research Institute, National Institute of Information and Communications Technology（信息与神经网络中心，先进ICT研究机构，日本信息与通信技术研究院） ； Laboratory of Neuromotor Physiology, IRCCS Fondazione Santa Lucia（神经运动生理实验室，IRCCS圣拉齐娅基金会） 纠错

Comments This work has been submitted to the IEEE for possible publication

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA)

Leveraging Cycle-Consistent Anchor Points for Self-Supervised RGB-D Registration

Siddharth Tourani, Jayaram Reddy, Sarvesh Thakur, K Madhava Krishna, Muhammad Haris Khan, N Dinesh Reddy

Comments 8 pages, accepted at ICRA 2024 (International Conference on Robotics and Automation)

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA)

Achieving Meaningful Collaboration: Worker-centered Design of a Physical Human-Robot Collaborative Blending Task

Nicky Mol, Luka Peternel, Alessandro Ianniello, Denis Zatyagov, Auke Nachenius, Stephan Balvert, J. Micah Prendergast, Sara Muscolo, Olger Siebinga, Eva Verhoef, Deborah Forster, David A. Abbink

Comments 3 pages, 1 figure, ICRA@40 (Extended abstract)

DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects

Jiahong Chen, Jinghao Wang, Zi Wang, Ziwen Wang, Banglei Guan, Qifeng Yu

机构 * College of Aerospace Science and Engineering, National University of Defense Technology（航空航天科学与工程学院，国防科技大学） ； Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation（图像测量与视觉导航省级重点实验室） 纠错

Comments 12 pages, 9 figures, submitted to ICRA 2026

Reinforcement Learning-based Dynamic Adaptation for Sampling-Based Motion Planning in Agile Autonomous Driving

Alexander Langmann, Yevhenii Tokarev, Mattia Piccinini, Korbinian Moller, Johannes Betz

机构 * Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich（自主车辆系统教授职位，TUM工程与设计学院，慕尼黑技术大学） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所（MIRMI）） 纠错

Comments 8 pages, submitted to the IEEE ICRA 2026, Vienna, Austria

FORM: Fixed-Lag Odometry with Reparative Mapping utilizing Rotating LiDAR Sensors

Easton R. Potokar, Taylor Pool, Daniel McGann, Michael Kaess

Comments Submitted to ICRA 2026

LLM-HBT: Dynamic Behavior Tree Construction for Adaptive Coordination in Heterogeneous Robots

Chaoran Wang, Jingyuan Sun, Yanhui Zhang, Mingyu Zhang, Changju Wu

机构 * School of Aeronautic and Astronautics, Zhejiang University（浙江大学航空宇航学院） ； Shanghai Huawei Technologies Co., Ltd.（上海华为技术有限公司） 纠错

Comments It contains 8 pages, 7 figures and 4 tables. This paper is submitted to ICRA 2026

Reinforcement Learning with Lie Group Orientations for Robotics

Martin Schuck, Jan Brüdigam, Sandra Hirche, Angela Schoellig

Comments Submitted to ICRA 2025

Whole Body Model Predictive Control for Spin-Aware Quadrupedal Table Tennis

David Nguyen, Zulfiqar Zaidi, Kevin Karol, Jessica Hodgins, Zhaoming Xie

机构 * Department of Mechanical Engineering, Massachusetts Institute of Technology（麻省理工学院机械工程系） ； Department of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院机械工程系） ； RAI Institute（RAI研究所） 纠错

Comments Submitted to appear in IEEE ICRA 2026

Point and Go: Intuitive Reference Frame Reallocation in Mode Switching for Assistive Robotics

A. Wang, C. Jiang, M. Przystupa, J. Valentine, M. Jagersand

机构 * Department of Computing Science, University of Alberta（计算科学系，阿尔伯塔大学） 纠错

Comments 7 Pages, 5 figures

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

Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm

Arthur Esquerre-Pourtère, Minsoo Kim, Jaeheung Park

Comments Accepted to IEEE ICRA 2025 (7 pages)

Cross-platform Learning-based Fault Tolerant Surfacing Controller for Underwater Robots

Yuya Hamamatsu, Walid Remmas, Jaan Rebane, Maarja Kruusmaa, Asko Ristolainen

机构 * Department of Computer Systems, Tallinn University of Technology（计算机系统系，塔林技术大学） 纠错

Comments Accepted in 2025 international Conference on Robotics & Automation (ICRA)

Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots

Malakhi Hopkins, Varun Murali, Vijay Kumar, Camillo J Taylor

机构 * ARL DCIST CRA ； NSF Grant CCR-2112665（NSF CCR-2112665） ； NSF Graduate Research Fellowship Grant No. DGE-1845298（NSF DGE-1845298） ； IoT4Ag Engineering Research Center 纠错

Comments 8 pages, 8 figures, submitted to ICRA 2026

Polyp-Gen: Realistic and Diverse Polyp Image Generation for Endoscopic Dataset Expansion

Shengyuan Liu, Zhen Chen, Qiushi Yang, Weihao Yu, Di Dong, Jiancong Hu, Yixuan Yuan

机构 * Department of Electronic Engineering, Chinese University of Hong Kong（香港中文大学电子工程系） ； Centre for Artificial Intelligence and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（香港科学院人工智能与机器人中心） ； Department of Electrical Engineering, The City University of Hong Kong（香港城市大学电子工程系） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； The Sixth Affiliated Hospital, Sun Yat-sen University（中山大学第六附属医院） 纠错

Comments Accepted by ICRA 2025

A Preview of HoloOcean 2.0

Blake Romrell, Abigail Austin, Braden Meyers, Ryan Anderson, Carter Noh, Joshua G. Mangelson

机构 * Brigham Young University 纠错

Comments 5 pages, 9 figures, submitted to the ICRA 2025 aq2uasim workshop

pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning

Chih H. Huang, Pranav Jadhav, Brian Plancher, Zachary Kingston

机构 * Columbia College, Columbia University（哥伦比亚大学哥伦比亚学院） ； Department of Computer Science, Purdue University（普渡大学计算机科学系） 纠错

Comments 7 pages, 7 figures, 1 table. Submitted to IEEE International Conference on Robotics and Automation 2026

Precise and Efficient Collision Prediction under Uncertainty in Autonomous Driving

Marc Kaufeld, Johannes Betz

Comments 8 pages, submitted to the IEEE ICRA 2026, Vienna, Austria

Trajectory prediction for heterogeneous agents: A performance analysis on small and imbalanced datasets

Tiago Rodrigues de Almeida, Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Johannes A. Stork, Martin Magnusson, Achim J. Lilienthal

Comments This paper has been accepted to the IEEE Robotics and Automation Letters journal and presented at the 40th Anniversary of the IEEE International Conference on Robotics and Automation, which was held in Rotterdam, Netherlands on 23-26 September, 2024

Journal ref IEEE Robotics and Automation Letters ( Volume: 9, Issue: 7, July 2024)

BiDexHand: Design and Evaluation of an Open-Source 16-DoF Biomimetic Dexterous Hand

Zhengyang Kris Weng

机构 * Center for Robotics and Biosystems, Northwestern University（机器人与生物系统中心，西北大学） 纠错

Comments ICRA 2025 Dexterity Workshop, Spotlight Presentation

Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations

Yuki Shirai, Arvind Raghunathan, Devesh K. Jha

机构 * Mitsubishi Electric Research Laboratories（三菱电机研究实验室） 纠错

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

LiLa-Net: Lightweight Latent LiDAR Autoencoder for 3D Point Cloud Reconstruction

Mario Resino, Borja Pérez, Jaime Godoy, Abdulla Al-Kaff, Fernando García

机构 * Universidad Carlos III de Madrid（马德里卡洛斯三世大学） 纠错

Comments 7 pages, 3 figures, 7 tables, Submitted to ICRA

Dual-Mode Magnetic Continuum Robot for Targeted Drug Delivery

Wendu Zhang, Heng Wang, Shuangyi Wang, Yuanrui Huang

机构 * Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系） ； School of Robotics, Xi’an Jiaotong-Liverpool University（西安交通大学利物浦大学机器人学院） ； Shien-Ming Wu School of Intelligent Engineering, South China University of Technology（华南理工大学申明伟智能工程学院） 纠错

Comments 7 pages, 3 figures, under review of ICRA 2026

Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework

Federico Vasile, Elisa Maiettini, Giulia Pasquale, Nicolò Boccardo, Lorenzo Natale

机构 * Istituto Italiano di Tecnologia, Humanoid Sensing and Perception（意大利技术研究所，人形感知与感知实验室） ； Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), University of Genova（基因瓦大学信息学院、生物工程、机器人与系统工程系） ； Istituto Italiano di Tecnologia, Rehab Technologies（意大利技术研究所，康复技术） 纠错

Comments Accepted to ICRA 2025. Project website: https://hsp-iit.github.io/hannes-wrist-control

Journal ref IEEE-RAS International Conference on Robotics and Automation, Atlanta, GA, 2025