IROS

3D Affordance Keypoint Detection for Robotic Manipulation

用于机器人操作的3D affordance关键点检测

Zhiyang Liu, Ruiteng Zhao, Lei Zhou, Chengran Yuan, Yuwei Wu, Sheng Guo, Zhengshen Zhang, Chenchen Liu, Marcelo H Ang

机构 * Advanced Robotics Centre, National University of Singapore（新加坡国立大学先进机器人中心） ； Department of Mechanical Engineering, National University of Singapore（新加坡国立大学机械工程系） 纠错

AI总结 本文提出FAKP-Net，通过3D关键点四元组提升机器人操作中物体功能理解与执行精度。

Comments Accepted to IROS 2024

Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation

实验室自动化中粉末操作的可微技能优化

Minglun Wei, Xintong Yang, Yu-Kun Lai, Ze Ji

机构 * Cardiff University（卡地夫大学） 纠错

AI总结 本研究提出了一种基于可微物理模拟和课程学习的粉末运输轨迹优化方法，提升实验室自动化中粉末操作的精度和稳定性。

Comments Accepted by IROS 2025 Workshop on Embodied AI and Robotics for Future Scientific Discovery

Online Multi-Agent Pickup and Delivery with Task Deadlines

在线多智能体取货与送货问题及任务截止期限

Hiroya Makino, Seigo Ito

机构 * Toyota Central R&D Labs., Inc.（丰田中央研究实验室） 纠错

AI总结 本研究提出D-TP和D-TPTS算法，解决在线多智能体取货与送货问题中的任务截止期限挑战，通过任务调度优化减少任务延迟，提升自动化仓库效率。

Comments 7 pages, 4 figures, IROS 2024

MARPF: Multi-Agent and Multi-Rack Path Finding

MARPF：多智能体和多层路径寻找

Hiroya Makino, Yoshihiro Ohama, Seigo Ito

AI总结 本研究提出MARPF方法，通过整数线性规划解决多智能体在无通道环境中运输货架的问题，优化路径以避免碰撞并重新定位障碍物。

Comments 7 pages, 10 figures, IROS 2024

Three-Dimensional Anatomical Data Generation Based on Artificial Neural Networks

基于人工神经网络的三维解剖数据生成

Ann-Sophia Müller, Moonkwang Jeong, Meng Zhang, Jiyuan Tian, Arkadiusz Miernik, Stefanie Speidel, 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，德国癌症研究中心（DKFZ）德累斯顿分部） ； Faculty of Computer Science, Dresden University of Technology（计算机科学系，德累斯顿技术大学） ； Department of Urology, Faculty of Medicine, University of Freiburg - Medical Centre（泌尿科，弗赖堡大学医学中心医学院） ； Division of Translational Surgical Oncology, National Center for Tumor Diseases (NCT/UCC) Dresden（转化外科肿瘤学部，国家肿瘤疾病中心（NCT/UCC）德累斯顿分部） ； Faculty of Medicine Carl Gustav Carus, Dresden University of Technology（卡尔·古斯塔夫·卡鲁斯医学院，德累斯顿技术大学） ； Faculty of Electrical and Computer Engineering, Dresden University of Technology（电气与计算机工程系，德累斯顿技术大学） 纠错

AI总结 本文提出了一种基于人工神经网络的3D解剖数据生成方法，利用仿生水凝胶制成的人工前列腺模型进行内窥镜手术模拟，并通过超声扫描和神经网络分割技术生成高质量的3D数据。

Comments 6 pages, 4 figures, 1 table, IEEE International Conference on Intelligent Robots and Systems (IROS)

Autonomous Surface Selection For Manipulator-Based UV Disinfection In Hospitals Using Foundation Models

基于基础模型的医院机器人紫外线消毒表面自主选择

Xueyan Oh, Jonathan Her, Zhixiang Ong, Brandon Koh, Yun Hann Tan, U-Xuan Tan

机构 * Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore（新加坡科技设计大学工程产品开发部门） ； Centre for Healthcare Assistive & Robotics Technology, Singapore（新加坡医疗辅助与机器人技术中心） ； National Centre for Infectious Diseases, Singapore（新加坡传染病国家中心） 纠错

AI总结 本研究提出基于基础模型的机器人紫外线消毒表面自主选择方法，通过视觉语言模型辅助分割细化，提高消毒效率并减少误判，实验证明其在实际应用中的有效性。

Comments 7 pages, 7 figures; This paper has been accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Decentralized Gaussian Process Classification and an Application in Subsea Robotics

去中心化高斯过程分类及其在水下机器人中的应用

Yifei Gao, Hans J. He, Daniel J. Stilwell, James McMahon

机构 * US Naval Research Laboratory Acoustics Division, Code 7130（美国海军研究实验室声学 division，代码7130） 纠错

AI总结 本文提出了一种去中心化高斯过程分类方法，用于实时构建水下通信成功率地图，并通过实验证明其在水下环境中的有效性。

Comments 8 pages, 8 figures, IROS 2025 conference

RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer

RRT*former：基于变换器的环境感知运动规划

Mingyang Feng, Shaoyuan Li, Xiang Yin

机构 * School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（自动化与智能感知学院，上海交通大学） 纠错

AI总结 RRT*former 是一种结合变换器网络的新型运动规划算法，通过利用环境信息和先前样本提升路径规划的最优性和效率。

Comments Accepted to IROS 2025

Class-Aware PillarMix: Can Mixed Sample Data Augmentation Enhance 3D Object Detection with Radar Point Clouds?

Miao Zhang, Sherif Abdulatif, Benedikt Loesch, Marco Altmann, Bin Yang

机构 * Robert Bosch GmbH, Corporate Research（罗伯特·博世有限公司，企业研究） ； University of Stuttgart, Institute of Signal Processing and System Theory（斯图加特大学，信号处理与系统理论研究所） 纠错

Comments 8 pages, 6 figures, 4 tables, accepted to 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). Code: https://github.com/boschresearch/CAPMIX

LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots

Peilin Wu, Weiji Xie, Jiahang Cao, Hang Lai, Weinan Zhang

机构 * Dept. of Computer Sci. and Eng., Shanghai Jiao Tong University, China（上海交通大学计算机科学与工程系） 纠错

Comments IROS 2025

Autonomous Vehicle Controllers From End-to-End Differentiable Simulation

Asen Nachkov, Danda Pani Paudel, Luc Van Gool

Comments Polished and accepted at IROS 2025

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion

Hao Wang, Linqing Zhao, Xiuwei Xu, Jiwen Lu, Haibin Yan

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（智能工程与自动化学院，北京邮电大学） ； Department of Automation, Tsinghua University（自动化系，清华大学） 纠错

Comments IROS 2025

OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving

Xiaoyu Liang, Ziang Liu, Kelvin Lin, Edward Gu, Ruolin Ye, Tam Nguyen, Cynthia Hsu, Zhanxin Wu, Xiaoman Yang, Christy Sum Yu Cheung, Harold Soh, Katherine Dimitropoulou, Tapomayukh Bhattacharjee

Comments IROS 2025

TOPP-DWR: Time-Optimal Path Parameterization of Differential-Driven Wheeled Robots Considering Piecewise-Constant Angular Velocity Constraints

Yong Li, Yujun Huang, Yi Chen, Hui Cheng

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Zero-Shot Temporal Interaction Localization for Egocentric Videos

Erhang Zhang, Junyi Ma, Yin-Dong Zheng, Yixuan Zhou, Hesheng Wang

机构 * IRMV Lab, the Department of Automation, Shanghai Jiao Tong University（IRMV实验室，自动化系，上海交通大学） 纠错

Comments Accepted to IROS 2025

Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction

Junyi Ma, Wentao Bao, Jingyi Xu, Guanzhong Sun, Xieyuanli Chen, Hesheng Wang

机构 * IRMV Lab, the Department of Automation, Shanghai Jiao Tong University（IRMV实验室，自动化系，上海交通大学） ； Meta Reality Labs（Meta现实实验室） ； the Department of Electronic Engineering, Shanghai Jiao Tong University（电子工程系，上海交通大学） ； the School of Information and Control Engineering, China University of Mining and Technology（信息与控制工程学院，中国矿业大学） ； the College of Intelligence Science and Technology, National University of Defense Technology（智能科学与技术学院，国防科技大学） 纠错

Comments Accepted to IROS 2025

Diff-IP2D: Diffusion-Based Hand-Object Interaction Prediction on Egocentric Videos

Junyi Ma, Jingyi Xu, Xieyuanli Chen, Hesheng Wang

机构 * IRMV Lab, the Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China（IRMV实验室，自动化系，上海交通大学，上海200240，中国） ； College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China（智能科学与技术学院，国防科技大学，长沙410073，中国） ； Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai 200240, China（电子工程系，上海交通大学，上海200240，中国） 纠错

Comments Accepted to IROS 2025

Diffusion Policies with Value-Conditional Optimization for Offline Reinforcement Learning

Yunchang Ma, Tenglong Liu, Yixing Lan, Xin Yin, Changxin Zhang, Xinglong Zhang, Xin Xu

机构 * College of Intelligence Science and Technology, National University of Defense Technology（智能科学与技术学院，国防科技大学） 纠错

Comments IROS 2025

Adjacent-view Transformers for Supervised Surround-view Depth Estimation

Xianda Guo, Wenjie Yuan, Yunpeng Zhang, Tian Yang, Chenming Zhang, Zheng Zhu, Qin Zou, Long Chen

机构 * School of Computer Science, Wuhan University（武汉大学计算机学院） ； Waytous ； Tsinghua University（清华大学） ； PhiGent Robotics（PhiGent机器人） ； Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（西安交通大学人工智能与机器人研究所） ； GigaAI ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） 纠错

Comments This paper has been accepted by IROS 2025

Audio-Visual Traffic Light State Detection for Urban Robots

Sagar Gupta, Akansel Cosgun

Comments Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Leveraging Text-Driven Semantic Variation for Robust OOD Segmentation

Seungheon Song, Jaekoo Lee

Comments 8 pages, 5 figure references, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) submission

Robust and High-Fidelity 3D Gaussian Splatting: Fusing Pose Priors and Geometry Constraints for Texture-Deficient Outdoor Scenes

Meijun Guo, Yongliang Shi, Caiyun Liu, Yixiao Feng, Ming Ma, Tinghai Yan, Weining Lu, Bin Liang

机构 * School of Mechatronical Engineering, Beijing Institute of Technology（机械电子工程学院，北京理工大学） ； Beiing National Research Center for Information Science and Technology（北京国家信息科学与技术研究中心） ； Qiyuan Lab（启元实验室） ； Peking University（北京大学） 纠错

Comments 7 pages, 3 figures. Accepted by IROS 2025

Semi-distributed Cross-modal Air-Ground Relative Localization

Weining Lu, Deer Bin, Lian Ma, Ming Ma, Zhihao Ma, Xiangyang Chen, Longfei Wang, Yixiao Feng, Zhouxian Jiang, Yongliang Shi, Bin Liang

机构 * Beijng National Research Center for Information Science and Technology（北京国家信息科学与技术研究中心） ； Qiyuan Lab（启元实验室） ； JiangHuai Advanced Technology Center（江淮先进技术中心） 纠错

Comments 7 pages, 3 figures. Accepted by IROS 2025

REOcc: Camera-Radar Fusion with Radar Feature Enrichment for 3D Occupancy Prediction

Chaehee Song, Sanmin Kim, Hyeonjun Jeong, Juyeb Shin, Joonhee Lim, Dongsuk Kum

机构 * School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院电子工程学院） ； Department of Automobile and IT Convergence, Kookmin University（韩国庆熙大学汽车与IT融合系） ； Cho Chun Shik Graduate School of Mobility, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院移动技术研究生院） ； Robotics Program, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院机器人项目） 纠错

Comments IROS 2025

Scalable Offline Metrics for Autonomous Driving

Animikh Aich, Adwait Kulkarni, Eshed Ohn-Bar

机构 * College of Engineering, Boston University（波士顿大学工程学院） 纠错

Comments Accepted at IROS 2025 (IEEE/RSJ International Conference on Intelligent Robots and Systems); typos corrected

Distilling 3D distinctive local descriptors for 6D pose estimation

Amir Hamza, Andrea Caraffa, Davide Boscaini, Fabio Poiesi

机构 * Fondazione Bruno Kessler（布鲁诺·科塞拉基金会） ； University of Trento（特伦托大学） 纠错

Comments Project Website: https://tev-fbk.github.io/dGeDi/

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Let Me Show You: Learning by Retrieving from Egocentric Video for Robotic Manipulation

Yichen Zhu, Feifei Feng

机构 * Midea Group, AI Research Center（美的集团人工智能研究中心） 纠错

Comments Accepted by IROS 2025

BoRe-Depth: Self-supervised Monocular Depth Estimation with Boundary Refinement for Embedded Systems

Chang Liu, Juan Li, Sheng Zhang, Chang Liu, Jie Li, Xu Zhang

机构 * School of Mechatronical Engineering, Beijing Institute of Technology（机械电子工程学院，北京理工大学） ； Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing, China（北京理工大学嘉兴 Yangtze Delta Region 学院） 纠错

Comments 8 pages, 5 figures, published to IROS 2025

Integrating Ergonomics and Manipulability for Upper Limb Postural Optimization in Bimanual Human-Robot Collaboration

Chenzui Li, Yiming Chen, Xi Wu, Giacinto Barresi, Fei Chen

机构 * Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong（机械与自动化工程系、T-Stone机器人研究所、香港中文大学） ； Bristol Robotics Laboratory, UWE Bristol（布里斯托尔机器人实验室、UWE布里斯托尔） ； HKCLR, Hong Kong（香港物流机器人中心、香港） 纠错

Comments 7 pages, 7 figures, IROS 2025 accepted

Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural

Andrei A. Korigodskii, Oleg D. Kalachev, Artem E. Vasiunik, Matvei V. Urvantsev, Georgii E. Bondar

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)