ICRA

Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents

Ruochen Hou, Gabriel I. Fernandez, Mingzhang Zhu, Dennis W. Hong

机构 * Robotics and Mechanisms Laboratory (RoMeLa), Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA（机器人与机制实验室（RoMeLa）、机械与航空航天工程系、加州大学洛杉矶分校） 纠错

Comments This is a preprint version. This paper has been accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025. The final published version will be available on IEEE Xplore

Enhancing Robustness in Language-Driven Robotics: A Modular Approach to Failure Reduction

Émiland Garrabé, Pierre Teixeira, Mahdi Khoramshahi, Stéphane Doncieux

机构 * ISIR, Sorbonne Université, Paris（ISIR，索邦大学，巴黎） 纠错

Comments Submitted to ICRA 2025

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies

Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, Edward Adelson

机构 * MIT CSAIL 纠错

Comments Nominated for the best paper award at ICRA 2025

Design, Contact Modeling, and Collision-inclusive Planning of a Dual-stiffness Aerial RoboT (DART)

Yogesh Kumar, Karishma Patnaik, Wenlong Zhang

机构 * School of Manufacturing Systems and Networks, Ira A. Fulton Schools of Engineering, Arizona State University（制造系统与网络学院，伊拉·A·福尔顿工程学院，亚利桑那州立大学） 纠错

Comments Accepted for publication at IEEE ICRA 2025

Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control

Haochen Wang, Zhiwei Shi, Chengxi Zhu, Yafei Qiao, Cheng Zhang, Fan Yang, Pengjie Ren, Lan Lu, Dong Xuan

机构 * School of Computer Science and Technology, Shandong University（山东大学计算机科学与技术学院） ； Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； DeepCode Robotics（DeepCode机器人公司） ； Department of Sports, Shanghai Jiao Tong University（上海交通大学体育学院） 纠错

Comments Accepted to ICRA 2025. Project page: https://dreamstarring.github.io/HAMLET/

Geometric Design and Gait Co-Optimization for Soft Continuum Robots Swimming at Low and High Reynolds Numbers

Yanhao Yang, Ross L. Hatton

机构 * Collaborative Robotics and Intelligent Systems (CoRIS) Institute（协作机器人与智能系统研究所） 纠错

Comments 6 pages + references, 6 figures, supplementary video: https://youtu.be/eAmjk_dobHk, accepted to the 2025 IEEE International Conference on Robotics and Automation (ICRA 2025)

SHIRE: Enhancing Sample Efficiency using Human Intuition in REinforcement Learning

Amogh Joshi, Adarsh Kumar Kosta, Kaushik Roy

机构 * Purdue University（普渡大学） 纠错

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

Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions

Haimin Hu, Jaime Fernández Fisac, Naomi Ehrich Leonard, Deepak Gopinath, Jonathan DeCastro, Guy Rosman

机构 * Princeton University（普林斯顿大学） ； Toyota Research Institute（丰田研究院） 纠错

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

Lightweight Event-based Optical Flow Estimation via Iterative Deblurring

Yilun Wu, Federico Paredes-Vallés, Guido C. H. E. de Croon

机构 * Micro Air Vehicle Laboratory, Faculty of Aerospace Engineering, Delft University of Technology（微空气车辆实验室，航空航天工程学院，代尔夫特理工大学） 纠错

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA'24), Yokohama, Japan, May 13-17, 2024. arXiv revision includes additional ablation studies results

Journal ref Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 14708-14715

Instrumentation for Better Demonstrations: A Case Study

Remko Proesmans, Thomas Lips, Francis wyffels

机构 * AI and Robotics Lab (IDLab-AIRO), Ghent University—imec（人工智能与机器人实验室（IDLab-AIRO），根特大学—imec） 纠错

Comments Submitted to ICRA 2025 Workshop on Learning Meets Model-Based Methods for Contact-Rich Manipulation

Range-based 6-DoF Monte Carlo SLAM with Gradient-guided Particle Filter on GPU

Takumi Nakao, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Hisashi Date

机构 * Graduate School of Science and Technology, University of Tsukuba（筑波大学科学技术研究生院） ； National Institute of Advanced Industrial Science and Technology（国家先进工业科学与技术研究院） ； Institute of Systems and Information Engineering, University of Tsukuba（筑波大学系统与信息工程研究所） 纠错

Comments IEEE International Conference on Robotics and Automation

Whole-body End-Effector Pose Tracking

Tifanny Portela, Andrei Cramariuc, Mayank Mittal, Marco Hutter

机构 * Robotic Systems Lab, ETH Zurich（苏黎世联邦理工学院机器人系统实验室） ； ETH AI center（苏黎世联邦理工学院人工智能中心） ； NVIDIA（英伟达） 纠错

Journal ref ICRA 2025

CoPAL: Corrective Planning of Robot Actions with Large Language Models

Frank Joublin, Antonello Ceravola, Pavel Smirnov, Felix Ocker, Joerg Deigmoeller, Anna Belardinelli, Chao Wang, Stephan Hasler, Daniel Tanneberg, Michael Gienger

机构 * Honda Research Institute Europe（本田欧洲研究院） 纠错

Comments IEEE International Conference on Robotics and Automation (ICRA) 2024

Long Exposure Localization in Darkness Using Consumer Cameras

Michael Milford, Ian Turner, Peter Corke

Journal ref 2013 IEEE International Conference on Robotics and Automation

A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D

Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset

机构 * Robotics Institute at Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； UM-SJTU Joint Institute and Department of Automation at Shanghai Jiao Tong University（上海交通大学联合研究院和自动化系） ； Department of Mechanical Engineering and Department of Computer Science and Engineering at Texas A&M University（德克萨斯大学机械工程系和计算机科学与工程系） 纠错

Comments Accepted to ICRA 2025

Cascade IPG Observer for Underwater Robot State Estimation

Kaustubh Joshi, Tianchen Liu, Nikhil Chopra

机构 * Department of Mechanical Engineering and Institute of Systems Research, University of Maryland, College Park（机械工程系和系统研究所，马里兰州大学College Park分校） 纠错

Comments ICRA 2025 (International Conference on Robotics and Automation), Atlanta, USA

Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks

Giuseppe Silano, Daniel Bonilla Licea, Hajar El Hammouti, Mounir Ghogho, and Martin Saska

机构 * Ricerca sul Sistema Energetico（能源系统研究） ； Czech Technical University in Prague（布拉格捷克技术大学） ； College of Computing, Mohammed VI Polytechnic University（穆莱·伊斯梅尔polytechnic大学计算机学院） 纠错

Comments 2 pages, Accepted for discussion at the workshop session "Beyond the Lab: Robust Planning and Control in Real World Scenarios" at ICRA'25 in Atlanta, USA

Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models

Chen Wang, Fei Xia, Wenhao Yu, Tingnan Zhang, Ruohan Zhang, C. Karen Liu, Li Fei-Fei, Jie Tan, Jacky Liang

机构 * Google DeepMind（谷歌DeepMind） ； Stanford University（斯坦福大学） 纠错

Comments ICRA 2025

ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation

Hongyu Li, James Akl, Srinath Sridhar, Tye Brady, Taskin Padir

Comments Accepted by ICRA 2025

Diffusion Based Robust LiDAR Place Recognition

Benjamin Krummenacher, Jonas Frey, Turcan Tuna, Olga Vysotska, Marco Hutter

Comments accepted for ICRA 2025

Submodular Optimization for Keyframe Selection & Usage in SLAM

David Thorne, Nathan Chan, Yanlong Ma, Christa S. Robison, Philip R. Osteen, Brett T. Lopez

Comments Accepted to the International Conference on Robotics and Automation (ICRA) 2025

Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance

Kin Man Lee, Sean Ye, Qingyu Xiao, Zixuan Wu, Zulfiqar Zaidi, David B. D'Ambrosio, Pannag R. Sanketi, Matthew Gombolay

Comments ICRA 2025

ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models

Runyu Ma, Jelle Luijkx, Zlatan Ajanovic, Jens Kober

Comments 6 pages, 6 figures, IEEE International Conference on Robotics and Automation (ICRA) 2025

H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps

Haoyi Niu, Tianying Ji, Bingqi Liu, Haocheng Zhao, Xiangyu Zhu, Jianying Zheng, Pengfei Huang, Guyue Zhou, Jianming Hu, Xianyuan Zhan

Comments ICRA 2025

Steerable rolling of a 1-DoF robot using an internal pendulum

Christopher Y. Xu, Jack Yan, Kathleen Lum, Justin K. Yim

Comments 2 pages, submitted to 2nd Unconventional Robots Workshop: Rethinking Robotic Systems Beyond Convention at IEEE ICRA 2025

Probabilistic Task Parameterization of Tool-Tissue Interaction via Sparse Landmarks Tracking in Robotic Surgery

Yiting Wang, Yunxin Fan, Fei Liu

Comments Submitted to ICRA'25 Workshop of 3rd Robot-Assisted Medical Imaging

Toward Aligning Human and Robot Actions via Multi-Modal Demonstration Learning

Azizul Zahid, Jie Fan, Farong Wang, Ashton Dy, Sai Swaminathan, Fei Liu

Comments ICRA'25 Workshop: Human-Centered Robot Learning in the Era of Big Data and Large Models

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models

Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Payam Delgosha, Koushil Sreenath, Negar Mehr

Comments Accepted to ICRA 2025

PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion

Aditya Shirwatkar, Naman Saxena, Kishore Chandra, Shishir Kolathaya

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

Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation

Xiaofeng Guo, Guanqi He, Jiahe Xu, Mohammadreza Mousaei, Junyi Geng, Sebastian Scherer, Guanya Shi

Comments 8 pages, 9 figures, 1 table. This paper is accepted by RAL and is presented at ICRA 2025