IROS

Adaptive Invariant Extended Kalman Filter for Legged Robot State Estimation

Kyung-Hwan Kim, DongHyun Ahn, Dong-hyun Lee, JuYoung Yoon, Dong Jin Hyun

机构 * Robotics Lab, Research and Development Division, Hyundai Motor Company（机器人实验室，研发部门，现代汽车公司） 纠错

Comments 6 pages, accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Online automatic code generation for robot swarms: LLMs and self-organizing hierarchy

Weixu Zhu, Marco Dorigo, Mary Katherine Heinrich

Comments This abstract was accepted to and presented at the "Multi-Agent Cooperative Systems and Swarm Robotics in the Era of Generative AI" (MACRAI) workshop at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding, Wenzeng Zhang

Comments Accepted author manuscript (AAM) for IEEE/RSJ IROS 2025. 6 pages, 10 figures

Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions

Daniel Morton, Marco Pavone

机构 * Departments of Mechanical Engineering and Aeronautics & Astronautics, Stanford University（机械工程系和航空与航天系，斯坦福大学） 纠错

Comments To be presented at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images

Rohit Menon, Nils Dengler, Sicong Pan, Gokul Krishna Chenchani, Maren Bennewitz

机构 * Humanoid Robots Lab and the Center for Robotics, University of Bonn（人形机器人实验室和机器人中心，波恩大学） ； Lamarr Institute, Bonn, Germany（拉马尔研究所，德国波恩） 纠错

Comments Submitted to IROS 2025 Conference

Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS

Jared K. Lepora, Haoran Li, Efi Psomopoulou, Nathan F. Lepora

机构 * Bristol Grammar School（布里斯托尔文法学校） ； University of Bristol（布里斯托尔大学） ； Bristol Robotics Laboratory（布里斯托尔机器人实验室） 纠错

Comments 6 pages. Accepted at IROS 2025

Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load

Hemjyoti Das, Christian Ott

机构 * Automation and Control Institute (ACIN), TU Wien（自动化与控制研究所（ACIN），维也纳技术大学） ； Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电研究所，德国航空航天中心（DLR）） 纠错

Comments Accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

TACS-Graphs: Traversability-Aware Consistent Scene Graphs for Ground Robot Localization and Mapping

Jeewon Kim, Minho Oh, Hyun Myung

机构 * School of Electrical Engineering, KAIST（韩国科学技术院电气工程学院） ； KI-R（智能机器人研究室） ； URobotics Corp.（URobotics公司） 纠错

Comments Accepted by IROS 2025

Never too Prim to Swim: An LLM-Enhanced RL-based Adaptive S-Surface Controller for AUVs under Extreme Sea Conditions

Guanwen Xie, Jingzehua Xu, Yimian Ding, Zhi Zhang, Shuai Zhang, Yi Li

机构 * Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, 518055, China（清华大学深圳国际研究生院，清华大学，深圳，518055，中国） ； Department of Data Science, New Jersey Institute of Technology（数据科学系，新泽西理工学院） 纠错

Comments Accepted by IEEE/RSJ IROS 2025

EffiTune: Diagnosing and Mitigating Training Inefficiency for Parameter Tuner in Robot Navigation System

Shiwei Feng, Xuan Chen, Zikang Xiong, Zhiyuan Cheng, Yifei Gao, Siyuan Cheng, Sayali Kate, Xiangyu Zhang

机构 * Department of Computer Science, Purdue University（计算机科学系，普渡大学） 纠错

Comments Accepted to IROS 2025

A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints

Wentao Guo, Yizhou Wang, Wenzeng Zhang

机构 * Computer Science and Technology, Beijing Institute of Technology, China（计算机科学与技术，北京理工大学，中国） ； Southern University of Science and Technology, Shenzhen, China（南方科技大学，深圳，中国） ； Dept. of Mechanical Engineering, Tsinghua University, Beijing, China（机械工程系，清华大学，北京，中国） 纠错

Comments Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, Hangzhou. This version includes updated contact information

DAMM-LOAM: Degeneracy Aware Multi-Metric LiDAR Odometry and Mapping

Nishant Chandna, Akshat Kaushal

机构 * Unmanned Aerial Systems-Delhi Technological University（无人驾驶航空系统-德里技术大学） 纠错

Comments Accepted at IROS Active Perception Workshop

Towards Safe Maneuvering of Double-Ackermann-Steering Robots with a Soft Actor-Critic Framework

Kohio Deflesselle, Mélodie Daniel, Aly Magassouba, Miguel Aranda, Olivier Ly

机构 * Univ. Bordeaux, CNRS, Bordeaux INP, LaBRI, UMR 5800（波尔多大学、国家科学研究中心、波尔多国立理工学院、LaBRI、UMR 5800） ； School of Computer Science, University of Nottingham, UK（nottingham大学计算机科学学院） ； Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza（阿拉贡工程研究所（I3A）、 Zaragoza大学） 纠错

Comments 4 pages, 3 figures, 2 tables, Accepted for Safety of Intelligent and Autonomous Vehicles: Formal Methods vs. Machine Learning approaches for reliable navigation (SIAV-FM2L) an IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025) workshop

NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models

Francesco Milano, Jen Jen Chung, Hermann Blum, Roland Siegwart, Lionel Ott

机构 * ETH Zurich（苏黎世联邦理工学院） ； The University of Queensland（昆士兰大学） 纠错

Comments Accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024. 8 pages, 4 figures, 5 tables

Smooth Model Predictive Path Integral Control without Smoothing

Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee

机构 * Ground Technology Research Institute, Agency for Defense Development（国防发展机构地面技术研究所） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (and IROS 2022). Project page: https://www.taekyung.me/smppi

Learning to Throw-Flip

Yang Liu, Bruno Da Costa, Aude Billard

机构 * Learning Algorithms and Systems Laboratory (LASA), EPFL, Switzerland（学习算法与系统实验室（LASA），瑞士联邦理工学院） 纠错

Comments Accepted to IROS 2025. Video Summary: https://youtu.be/txYc9b1oflU

LOMORO: Long-term Monitoring of Dynamic Targets with Minimum Robotic Fleet under Resource Constraints

Mingke Lu, Shuaikang Wang, Meng Guo

机构 * College of Engineering, Peking University（北京大学工程学院） 纠错

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

ATRos: Learning Energy-Efficient Agile Locomotion for Wheeled-legged Robots

Jingyuan Sun, Hongyu Ji, Zihan Qu, Chaoran Wang, Mingyu Zhang

机构 * Shanghai Huawei Technologies Co., Ltd.（上海华为技术有限公司） ； College of Future Information Technology, Fudan University（复旦大学未来信息科技学院） ； Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； School of Aeronautic and Astronautics, Zhejiang University（浙江大学航空宇航学院） ； School of Electronics and Communication Engineering, Sun Yat-sen University（中山大学电子与通信工程学院） 纠错

Comments 4 pages, 2 figures, submitted to IROS 2025 wheeled-legged workshop

Efficient Navigation in Unknown Indoor Environments with Vision-Language Models

D. Schwartz, K. Kondo, J. P. How

机构 * ETH Zürich（苏黎世联邦理工学院） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

Comments 7 pages, 4 figures, accepted to the OWN workshop at IROS 2025

HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation

Jingyuan Sun, Chaoran Wang, Mingyu Zhang, Cui Miao, Hongyu Ji, Zihan Qu, Han Sun, Bing Wang, Qingyi Si

机构 * Shanghai Huawei Technologies Co., Ltd.（上海华为技术有限公司） 纠错

Comments 4 pages, 2 figures, this paper has been accepted for the workshop Perception and Planning for Mobile Manipulation in Changing Environments (PM2CE) at IROS 2025

Visual Anomaly Detection for Reliable Robotic Implantation of Flexible Microelectrode Array

Yitong Chen, Xinyao Xu, Ping Zhu, Xinyong Han, Fangbo Qin, Shan Yu

Comments Accept by IROS 2025

Introspection in Learned Semantic Scene Graph Localisation

Manshika Charvi Bissessur, Efimia Panagiotaki, Daniele De Martini

机构 * Mobile Robotics Group (MRG), University of Oxford, UK（牛津大学机器人学小组） 纠错

Comments IEEE IROS 2025 Workshop FAST

HARP-NeXt: High-Speed and Accurate Range-Point Fusion Network for 3D LiDAR Semantic Segmentation

Samir Abou Haidar, Alexandre Chariot, Mehdi Darouich, Cyril Joly, Jean-Emmanuel Deschaud

机构 * Paris-Saclay University, CEA, List（巴黎-萨克雷大学，CEA，List） ； Mines Paris, PSL University, Centre for Robotics (CAOR)（巴黎矿业学院，PSL大学，机器人中心（CAOR）） 纠错

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

P2 Explore: Efficient Exploration in Unknown Cluttered Environment with Floor Plan Prediction

Kun Song, Gaoming Chen, Masayoshi Tomizuka, Wei Zhan, Zhenhua Xiong, Mingyu Ding

机构 * School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械工程学院） ； Department of Computer Science, The University of Hong Kong（香港大学计算机科学系） ； Department of Mechanical Engineering, University of California（加州大学机械工程系） 纠错

Comments 7 pages, Accepted by IROS 2025, Open-sourced at https://github.com/song-kun/P2Explore

Drive&Gen: Co-Evaluating End-to-End Driving and Video Generation Models

Jiahao Wang, Zhenpei Yang, Yijing Bai, Yingwei Li, Yuliang Zou, Bo Sun, Abhijit Kundu, Jose Lezama, Luna Yue Huang, Zehao Zhu, Jyh-Jing Hwang, Dragomir Anguelov, Mingxing Tan, Chiyu Max Jiang

机构 * Johns Hopkins University（约翰霍普金斯大学） ； Waymo ； Google DeepMind（谷歌DeepMind） 纠错

Comments Accepted by IROS 2025

Toward Dynamic Control of Tendon-driven Continuum Robots using Clarke Transform

Christian Muhmann, Reinhard M. Grassmann, Max Bartholdt, Jessica Burgner-Kahrs

机构 * Continuum Robotics Laboratory, Department of Mathematical and Computational Sciences, University of Toronto（连续机器人实验室，数学与计算科学系，多伦多大学） ； Institute of Mechatronic Systems, Faculty of Mechanical Engineering, Leibniz University Hannover（机电系统研究所，机械工程学院，汉诺威莱布尼茨大学） ； University of Toronto Robotics Institute（多伦多大学机器人研究所） 纠错

Comments Accepted for publication at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), 8 pages, and 8 figures

Decremental Dynamics Planning for Robot Navigation

Yuanjie Lu, Tong Xu, Linji Wang, Nick Hawes, Xuesu Xiao

机构 * Department of Computer Science, George Mason University（计算机科学系，乔治·马歇尔大学） ； Department of Engineering Science, University of Oxford（工程科学系，牛津大学） 纠错

Comments 7 pages. Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

LERa: Replanning with Visual Feedback in Instruction Following

Svyatoslav Pchelintsev, Maxim Patratskiy, Anatoly Onishchenko, Alexandr Korchemnyi, Aleksandr Medvedev, Uliana Vinogradova, Ilya Galuzinsky, Aleksey Postnikov, Alexey K. Kovalev, Aleksandr I. Panov

机构 * MIPT（莫斯科国立交通大学） ； Sberbank of Russia, Robotics Center（俄罗斯储蓄银行机器人中心） ； AIRI 纠错

Comments Accepted to IROS 2025

Dual-arm Motion Generation for Repositioning Care based on Deep Predictive Learning with Somatosensory Attention Mechanism

Tamon Miyake, Namiko Saito, Tetsuya Ogata, Yushi Wang, Shigeki Sugano

机构 * Future Robotics Organization, Waseda University（早稻田大学未来机器人组织） ； Microsoft Research Asia（微软亚洲研究院） ； Faculty of Science and Engineering, Waseda University（早稻田大学理工学院） 纠错

Comments Accepted at IROS 2025

U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation

Anamika J H, Anujith Muraleedharan

机构 * Anamika J H（匿名ika J H） ； Anujith Muraleedharan（阿努吉斯·穆拉莱德哈兰） 纠错

Comments 8 pages, 5 figures. Accepted to the IROS 2025 Workshop on Perception and Planning for Mobile Manipulation in Changing Environments