ICRA

Adapting Segment Anything Model for Unseen Object Instance Segmentation

Rui Cao, Chuanxin Song, Biqi Yang, Jiangliu Wang, Pheng-Ann Heng, Yun-Hui Liu

Comments Submitted to ICRA 2025

Bird-inspired tendon coupling improves paddling efficiency by shortening phase transition times

Jianfeng Lin, Zhao Guo, Alexander Badri-Spröwitz

Comments Submitted to ICRA 2025; Supplementary Video: https://youtu.be/lUU3LwMy6AM

Toward Efficient Visual Gyroscopes: Spherical Moments, Harmonics Filtering, and Masking Techniques for Spherical Camera Applications

Yao Du, Carlos M. Mateo, Mirjana Maras, Tsun-Hsuan Wang, Marc Blanchon, Alexander Amini, Daniela Rus, Omar Tahri

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

Hierarchical end-to-end autonomous navigation through few-shot waypoint detection

Amin Ghafourian, Zhongying CuiZhu, Debo Shi, Ian Chuang, Francois Charette, Rithik Sachdeva, Iman Soltani

Comments Appeared at the 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), 23-26 September, 2024, Rotterdam, The Netherlands. 9 pages, 5 figures

Journal ref in IEEE Robotics and Automation Letters, vol. 9, no. 4, pp. 3211-3218, April 2024

Updating Robot Safety Representations Online from Natural Language Feedback

Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy

Comments Submitted to ICRA 2025

MEDiC: Autonomous Surgical Robotic Assistance to Maximizing Exposure for Dissection and Cautery

Xiao Liang, Chung-Pang Wang, Nikhil Uday Shinde, Fei Liu, Florian Richter, Michael Yip

Comments Submitted to ICRA 2025

AutoPeel: Adhesion-aware Safe Peeling Trajectory Optimization for Robotic Wound Care

Xiao Liang, Youcheng Zhang, Fei Liu, Florian Richter, Michael Yip

Comments Submitted to ICRA 2025

R-AIF: Solving Sparse-Reward Robotic Tasks from Pixels with Active Inference and World Models

Viet Dung Nguyen, Zhizhuo Yang, Christopher L. Buckley, Alexander Ororbia

Comments 20 pages, 2 algorithms, 2 tables, 5 figures, submitted to ICRA 2025

Haptic Shoulder for Rendering Biomechanically Accurate Joint Limits for Human-Robot Physical Interactions

Elizabeth Peiros, Calvin Joyce, Tarun Murugesan, Roger Nguyen, Isabella Fiorini, Rizzi Galibut, Michael C. Yip

Comments Submitted to ICRA '25

Clarke Transform and Clarke Coordinates -- A New Kid on the Block for State Representation of Continuum Robots

Reinhard M. Grassmann, Jessica Burgner-Kahrs

Comments Accepted for presentation at 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40). 4 pages, 3 figures, cheat sheet

RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction

Megha H. Tippur, Edward H. Adelson

Comments ICRA 2024

Automatic Behavior Tree Expansion with LLMs for Robotic Manipulation

Jonathan Styrud, Matteo Iovino, Mikael Norrlöf, Mårten Björkman, Christian Smith

Comments Submitted to ICRA 2025

Autonomous Visual Fish Pen Inspections for Estimating the State of Biofouling Buildup Using ROV -- Extended Abstract

Matej Fabijanić, Nadir Kapetanović, Nikola Mišković

Comments IEEE ICRA Workshop on Field Robotics 2024

Universal-jointed Tendon-driven Continuum Robot: Design, Kinematic Modeling, and Locomotion in Narrow Tubes

Chengnan Shentu, Jessica Burgner-Kahrs

Comments 2 pages, 3 figures, ICRA@40 extended abstract

Galileo: A Pseudospectral Collocation Framework for Legged Robots

Ethan Chandler, Akshay Jaitly, Mahdi Agheli

Comments This extended abstract was accepted for presentation at ICRA@40

A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm

Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim, Jiamiao Guo, Ugur Akcal, Benjamin Walt, Darren Biskup, Udit Halder, Girish Krishnan, Girish Chowdhary, Mattia Gazzola, Prashant G. Mehta

Comments 6 pages + reference, 5 figures, submitted to ICRA 2025

Gradient-Driven 3D Segmentation and Affordance Transfer in Gaussian Splatting Using 2D Masks

Joji Joseph, Bharadwaj Amrutur, Shalabh Bhatnagar

Comments Preprint, Under review for ICRA 2025

Towards Over-Canopy Autonomous Navigation: Crop-Agnostic LiDAR-Based Crop-Row Detection in Arable Fields

Ruiji Liu, Francisco Yandun, George Kantor

Comments 6 pages, 9 figures, submitted to ICRA 2025 (Under Review)

EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning

Kallol Saha, Vishal Mandadi, Jayaram Reddy, Ajit Srikanth, Aditya Agarwal, Bipasha Sen, Arun Singh, Madhava Krishna

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

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

PLATO: Planning with LLMs and Affordances for Tool Manipulation

Arvind Car, Sai Sravan Yarlagadda, Alison Bartsch, Abraham George, Amir Barati Farimani

Comments 7 pages, 4 figures, submitted to ICRA 2025

${\tt MORALS}$: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space

Ewerton R. Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados, Konstantin Mischaikow, Kostas E. Bekris

Comments The first two authors contributed equally to this paper

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 27-33

Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning

Paul Werner Lödige, Maximilian Xiling Li, Rudolf Lioutikov

Comments Submitted to ICRA 2025

Application of Log-Linear Dynamic Inversion Control to a Multi-rotor

Li-Yu Lin, James Goppert, Inseok Hwang

Comments 5 pages, 3 figures, published in Workshop on Geometric Representations, ICRA IEEE, 2023

OysterNet: Enhanced Oyster Detection Using Simulation

Xiaomin Lin, Nitin J. Sanket, Nare Karapetyan, Yiannis Aloimonos

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

Radar Teach and Repeat: Architecture and Initial Field Testing

Xinyuan Qiao, Alexander Krawciw, Sven Lilge, Timothy D. Barfoot

Comments 7 pages, 5 figures, submitted to ICRA 2025

Enhancing Visual Inertial SLAM with Magnetic Measurements

Bharat Joshi, Ioannis Rekleitis

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

NARF24: Estimating Articulated Object Structure for Implicit Rendering

Stanley Lewis, Tom Gao, Odest Chadwicke Jenkins

Comments extended abstract as submitted to ICRA@40 anniversary conference

A Robust Probability-based Joint Registration Method of Multiple Point Clouds Considering Local Consistency

Lingjie Su, Wei Xu, Shuyang Zhao, Yuqi Cheng, Wenlong Li

Comments Submitted to ICRA 2025

A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module

Junzhe Hu, Pengyu Chen, Tianxiang Feng, Yuxuan Wen, Ke Wu, Janet Dong

Comments 8 pages, 10 figures, ICRA

Learning to enhance multi-legged robot on rugged landscapes

Juntao He, Baxi Chong, Zhaochen Xu, Sehoon Ha, Daniel I. Goldman

Comments Submitted to ICRA 2025