ICRA

Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment

Junlin Song, Antoine Richard, Miguel Olivares-Mendez

Comments Accepted by ICRA 2025

Path Planning using Instruction-Guided Probabilistic Roadmaps

Jiaqi Bao, Ryo Yonetani

Comments ICRA 2025

Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits

Shaoxiong Yao, Sicong Pan, Maren Bennewitz, Kris Hauser

Comments Shaoxiong Yao and Sicong Pan have equal contributions. Publication to appear in IEEE International Conference on Robotics and Automation (ICRA), 2025

TSPDiffuser: Diffusion Models as Learned Samplers for Traveling Salesperson Path Planning Problems

Ryo Yonetani

Comments ICRA 2025

Rapid Online Learning of Hip Exoskeleton Assistance Preferences

Giulia Ramella, Auke Ijspeert, Mohamed Bouri

Comments Copyright 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

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

Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles

Ruofei Bai, Shenghai Yuan, Kun Li, Hongliang Guo, Wei-Yun Yau, Lihua Xie

Comments 8 pages, 9 figures, accepted by IEEE ICRA 2025

HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM

Hanjun Kim, Minwoo Jung, Chiyun Noh, Sangwoo Jung, Hyunho Song, Wooseong Yang, Hyesu Jang, Ayoung Kim

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

Learning Dynamics of a Ball with Differentiable Factor Graph and Roto-Translational Invariant Representations

Qingyu Xiao, Zixuan Wu, Matthew Gombolay

Comments accepted by ICRA 2025

Real-Time Sampling-based Online Planning for Drone Interception

Gilhyun Ryou, Lukas Lao Beyer, Sertac Karaman

Comments Accepted at ICRA 2025. Supplementary video: https://youtu.be/dDdshfEAZpg

MILE: Model-based Intervention Learning

Yigit Korkmaz, Erdem Bıyık

Comments International Conference on Robotics and Automation (ICRA)

SLAMSpoof: Practical LiDAR Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis

Rokuto Nagata, Kenji Koide, Yuki Hayakawa, Ryo Suzuki, Kazuma Ikeda, Ozora Sako, Qi Alfred Chen, Takami Sato, Kentaro Yoshioka

Comments 7pages, 6figures, accepted at IEEE International Conference on Robotics and Automation (ICRA) 2025

FuzzRisk: Online Collision Risk Estimation for Autonomous Vehicles based on Depth-Aware Object Detection via Fuzzy Inference

Brian Hsuan-Cheng Liao, Yingjie Xu, Chih-Hong Cheng, Hasan Esen, Alois Knoll

Comments Accepted by ICRA 2025, 7 pages (IEEE double column format), 5 figures, 3 tables

Physics-Aware Robotic Palletization with Online Masking Inference

Tianqi Zhang, Zheng Wu, Yuxin Chen, Yixiao Wang, Boyuan Liang, Scott Moura, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan

Comments Accepted by ICRA 2025

Learning-based Dynamic Robot-to-Human Handover

Hyeonseong Kim, Chanwoo Kim, Matthew Pan, Kyungjae Lee, Sungjoon Choi

Comments Accepted to ICRA 2025. For associated videos, see https://zerotohero7886.github.io/dyn-r2h-handover

PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies

Morgan Byrd, Jackson Crandell, Mili Das, Jessica Inman, Robert Wright, Sehoon Ha

Comments Accepted to ICRA 2025. Website: https://morganbyrd03.github.io/icra25_privileged_dreamer/

A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards

Shivansh Patel, Xinchen Yin, Wenlong Huang, Shubham Garg, Hooshang Nayyeri, Li Fei-Fei, Svetlana Lazebnik, Yunzhu Li

Comments ICRA 2025, Project Page: https://iker-robot.github.io/

GARAD-SLAM: 3D GAussian splatting for Real-time Anti Dynamic SLAM

Mingrui Li, Weijian Chen, Na Cheng, Jingyuan Xu, Dong Li, Hongyu Wang

Comments The paper was accepted by ICRA 2025

PTQ4RIS: Post-Training Quantization for Referring Image Segmentation

Xiaoyan Jiang, Hang Yang, Kaiying Zhu, Xihe Qiu, Shibo Zhao, Sifan Zhou

Comments Accepted by ICRA 2025.(Update the code link.)

SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking

Zijian Wu, Adam Schmidt, Randy Moore, Haoying Zhou, Alexandre Banks, Peter Kazanzides, Septimiu E. Salcudean

Comments Accepted by ICRA 2025

Learning Dexterous Bimanual Catch Skills through Adversarial-Cooperative Heterogeneous-Agent Reinforcement Learning

Taewoo Kim, Youngwoo Yoon, Jaehong Kim

Comments ICRA 2025 Accepted

Fine-Tuning Hard-to-Simulate Objectives for Quadruped Locomotion: A Case Study on Total Power Saving

Ruiqian Nai, Jiacheng You, Liu Cao, Hanchen Cui, Shiyuan Zhang, Huazhe Xu, Yang Gao

Comments Accepted by ICRA 2025

Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperation

Neeloy Chakraborty, Yixiao Fang, Andre Schreiber, Tianchen Ji, Zhe Huang, Aganze Mihigo, Cassidy Wall, Abdulrahman Almana, Katherine Driggs-Campbell

Comments Accepted to IEEE ICRA 2025; 8 pages, 4 figures, 3 tables

SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection

Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu, Matias Mattamala, Nived Chebrolu, Maurice Fallon

Comments Accepted at ICRA 2024; Website: https://ori-drs.github.io/projects/silvr/

OccRWKV: Rethinking Efficient 3D Semantic Occupancy Prediction with Linear Complexity

Junming Wang, Wei Yin, Xiaoxiao Long, Xingyu Zhang, Zebin Xing, Xiaoyang Guo, Qian Zhang

Comments ICRA 2025

PUGS: Perceptual Uncertainty for Grasp Selection in Underwater Environments

Onur Bagoren, Marc Micatka, Katherine A. Skinner, Aaron Marburg

Comments 8 pages, 4 figures Accepted to International Conference on Robotics and Automation (ICRA) 2024

Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery

Kimia Forghani, Suraj Raval, Lamar Mair, Axel Krieger, Yancy Diaz-Mercado

Comments Accepted for 2025 IEEE International Conference on Robotics and Automation (ICRA). Supplementary video: https://www.youtube.com/watch?v=qO-nroi4Faw

Acoustic Wave Manipulation Through Sparse Robotic Actuation

Tristan Shah, Noam Smilovich, Feruza Amirkulova, Samer Gerges, Stas Tiomkin

Comments ICRA 2025

SELP: Generating Safe and Efficient Task Plans for Robot Agents with Large Language Models

Yi Wu, Zikang Xiong, Yiran Hu, Shreyash S. Iyengar, Nan Jiang, Aniket Bera, Lin Tan, Suresh Jagannathan

Comments This paper has been accepted for presentation at the 2025 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2025, Atlanta, USA, and for inclusion in the conference proceeding

SurgPLAN++: Universal Surgical Phase Localization Network for Online and Offline Inference

Zhen Chen, Xingjian Luo, Jinlin Wu, Long Bai, Zhen Lei, Hongliang Ren, Sebastien Ourselin, Hongbin Liu

Comments This work is accepted by IEEE ICRA 2025

Real-Time Fast Marching Tree for Mobile Robot Motion Planning in Dynamic Environments

Jefferson Silveira, Kleber Cabral, Sidney Givigi, Joshua A. Marshall

Comments This is the preprint version of the paper published in 2023 IEEE International Conference on Robotics and Automation (ICRA). The final version is available at IEEE Xplore: https://doi.org/10.1109/ICRA48891.2023.10160595

Journal ref Proc. IEEE ICRA, 2023, pp. 7837-7843