IROS

Ungar -- A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming

Flavio De Vincenti, Stelian Coros

Comments 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 7 pages, 2 figures. Library available at https://github.com/fdevinc/ungar. Presentation available at https://www.youtube.com/watch?v=iKQ6felf45k

Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing

Renjie Wang, Shangke Lyu, Xin Lang, Wei Xiao, Donglin Wang

机构 * Machine Intelligence Lab (MiLAB), School of Engineering, Westlake University（人工智能实验室（MiLAB），工程学院，西湖大学） 纠错

Comments Accepted by IROS 2025

Plane Detection and Ranking via Model Information Optimization

Daoxin Zhong, Jun Li, Meng Yee Michael Chuah

机构 * Institute for Infocomm Research (I 2 R)（信息通信研究所） 纠错

Comments Accepted as contributed paper in the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

FCRF: Flexible Constructivism Reflection for Long-Horizon Robotic Task Planning with Large Language Models

Yufan Song, Jiatao Zhang, Zeng Gu, Qingmiao Liang, Tuocheng Hu, Wei Song, Shiqiang Zhu

机构 * Zhejiang University（浙江大学） ； Hangzhou Institute for Advanced Study（杭州高等研究 institute） 纠错

Comments 8 pages, 6 figures, IROS 2025

Design of scalable orthogonal digital encoding architecture for large-area flexible tactile sensing in robotics

Weijie Liu, Ziyi Qiu, Shihang Wang, Deqing Mei, Yancheng Wang

Comments 6 pages, 9 figures(Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025)

HD-OOD3D: Supervised and Unsupervised Out-of-Distribution object detection in LiDAR data

Louis Soum-Fontez, Jean-Emmanuel Deschaud, François Goulette

机构 * Mines Paris, PSL University, Centre for robotics (CAOR)（巴黎 Mines 大学，机器人中心（CAOR）） ； U2IS, ENSTA, Institut Polytechnique de Paris（ENSTA，巴黎理工学院） 纠错

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

Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation

Ian Page, Pierre Susbielle, Olivier Aycard, Pierre-Brice Wieber

Journal ref IROS 2025 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2025, Hangzhou, China

Would you let a humanoid play storytelling with your child? A usability study on LLM-powered narrative Human-Robot Interaction

Maria Lombardi, Carmela Calabrese, Davide Ghiglino, Caterina Foglino, Davide De Tommaso, Giulia Da Lisca, Lorenzo Natale, Agnieszka Wykowska

机构 * Humanoid Sensing and Perception, Italian Institute of Technology (IIT)（人形感知与感知，意大利技术研究院） ； Social Cognition in Human-Robot Interaction, IIT（人机交互中的社会认知，IIT） 纠错

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hangzhou, China, 2025

Meta-Learning for Fast Adaptation in Intent Inferral on a Robotic Hand Orthosis for Stroke

Pedro Leandro La Rotta, Jingxi Xu, Ava Chen, Lauren Winterbottom, Wenxi Chen, Dawn Nilsen, Joel Stein, Matei Ciocarlie

机构 * Department of Mechanical Engineering, Columbia University in the City of New York（机械工程系，哥伦比亚大学（纽约市）） ； Department of Computer Science, Columbia University in the City of New York（计算机科学系，哥伦比亚大学（纽约市）） ； Department of Rehabilitation and Regenerative Medicine, Columbia University Irving Medical Center（康复与再生医学系，哥伦比亚大学伊万斯医学中心） 纠错

Comments Published at IROS 2024

Coordinated Motion Planning of a Wearable Multi-Limb System for Enhanced Human-Robot Interaction

Chaerim Moon, Joohyung Kim

机构 * University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

Comments Presented in IROS 2023 Workshop (Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives)

TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model

Xiyan Huang, Zhe Xu, Chenxi Xiao

机构 * Shanghai Frontiers Science Center of Human-centered Artificial Intelligence（以人为本的人工智能前沿科学中心） ； MoE Key Laboratory of Intelligent Perception and Human-Machine Collaboration（教育部智能感知与人机协同重点实验室） ； Core Facility Platform of Computer Science and Communication（计算机科学与通信核心平台） ； School of Information Science and Technology（信息科学与技术学院） 纠错

Comments 7 pages, 9 figures, 1 table, to be published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Shaken, Not Stirred: A Novel Dataset for Visual Understanding of Glasses in Human-Robot Bartending Tasks

Lukáš Gajdošech, Hassan Ali, Jan-Gerrit Habekost, Martin Madaras, Matthias Kerzel, Stefan Wermter

机构 * Department of Applied Informatics, Faculty of Mathematics, Physics and Informatics, Comenius University（应用信息学院，数学物理学院，科门ius大学） ； Knowledge Technology Group, Department of Informatics, University of Hamburg（知识技术组，信息学院，汉堡大学） 纠错

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

Symmetry-Guided Multi-Agent Inverse Reinforcement Learning

Yongkai Tian, Yirong Qi, Xin Yu, Wenjun Wu, Jie Luo

机构 * State Key Laboratory of Complex & Critical Software Environment, Beihang University, Beijing, China（复杂与关键软件环境国家重点实验室，北京航空航天大学） 纠错

Comments 8pages, 6 figures. Accepted for publication in the Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025) as oral presentation

CrowdQuery: Density-Guided Query Module for Enhanced 2D and 3D Detection in Crowded Scenes

Marius Dähling, Sebastian Krebs, J. Marius Zöllner

机构 * Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院） ； Mercedes-Benz AG, Research and Development（梅赛德斯-奔驰集团，研发部门） ； Intelligent Vehicles Group at TU Delft（代尔夫特理工大学智能车辆组） ； Research Center for Information Technology (FZI)（信息科技研究中心） 纠错

Comments 8 pages, 5 figures, accepted by IROS 2025

Graph-Fused Vision-Language-Action for Policy Reasoning in Multi-Arm Robotic Manipulation

Shunlei Li, Longsen Gao, Jiuwen Cao, Yingbai Hu

机构 * Machine Learning and I-health International Cooperation Base of Zhejiang Province, Artificial Intelligence Institute, Hangzhou Dianzi University, Zhejiang（浙江省机器学习与健康国际合作基地、人工智能学院、杭州电子大学） ； Electrical and Computer Engineering Department, The University of New Mexico（新墨西哥大学电气与计算机工程系） ； School of Computation, Information and Technology, Technical University of Munich（慕尼黑技术大学计算、信息与技术学院） 纠错

Comments This paper is submitted to IEEE IROS 2025 Workshop AIR4S

G3CN: Gaussian Topology Refinement Gated Graph Convolutional Network for Skeleton-Based Action Recognition

Haiqing Ren, Zhongkai Luo, Heng Fan, Xiaohui Yuan, Guanchen Wang, Libo Zhang

机构 * Institute of Software, Chinese Academy of Sciences（中国科学院软件研究所） ； Department of Computer Science and Engineering, University of North Texas（北卡罗来纳州立大学计算机科学与工程系） ； Chadwick School（查德威学校） 纠错

Comments 8 pages, 5 figures, IROS

Generalizable Humanoid Manipulation with 3D Diffusion Policies

Yanjie Ze, Zixuan Chen, Wenhao Wang, Tianyi Chen, Xialin He, Ying Yuan, Xue Bin Peng, Jiajun Wu

机构 * Stanford University（斯坦福大学） ； Simon Fraser University（西蒙 Fraser大学） ； UPenn（宾夕法尼亚大学） ； UIUC（伊利诺伊大学香槟分校） ； CMU（卡内基梅隆大学） 纠错

Comments IROS 2025. Project website: https://humanoid-manipulation.github.io

Dynamic Modeling and Efficient Data-Driven Optimal Control for Micro Autonomous Surface Vehicles

Zhiheng Chen, Wei Wang

机构 * Marine Robotics Lab, Department of Mechanical Engineering, College of Engineering, University of Wisconsin-Madison（威斯康星大学麦迪逊分校工程学院机械工程系海洋机器人实验室） ； Sibley School of Mechanical and Aerospace Engineering, Cornell University（康奈尔大学西尔伯里机械与航空航天工程学院） 纠错

Comments This work has been accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

RT-HCP: Dealing with Inference Delays and Sample Efficiency to Learn Directly on Robotic Platforms

Zakariae El Asri, Ibrahim Laiche, Clément Rambour, Olivier Sigaud, Nicolas Thome

机构 * Sorbonne Université, CNRS, ISIR（索邦大学、法国国家科学研究中心、ISIR研究所） ； Institut Universitaire de France (IUF)（法国大学机构（IUF）） 纠错

Comments IROS 2025

Dyna-LfLH: Learning Agile Navigation in Dynamic Environments from Learned Hallucination

Saad Abdul Ghani, Zizhao Wang, Peter Stone, Xuesu Xiao

机构 * George Mason University（乔治·马歇尔大学） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Sony AI（索尼人工智能） 纠错

Comments Accepted at International Conference on Intelligent Robots and Systems (IROS) 2025 Hangzhou, China

RMMI: Reactive Mobile Manipulation using an Implicit Neural Map

Nicolas Marticorena, Tobias Fischer, Jesse Haviland, Niko Suenderhauf

机构 * QUT Centre For Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology（昆士兰科技大学机器人中心，电气工程与机器人学学院） 纠错

Comments 8 pages, 6 figures, accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Reinforcement Learning of Dolly-In Filming Using a Ground-Based Robot

Philip Lorimer, Jack Saunders, Alan Hunter, Wenbin Li

机构 * Department of Computer Science, University of Bath, UK（计算机科学系，巴斯大学） ； Department of Mechanical Engineering, University of Bath, UK（机械工程系，巴斯大学） 纠错

Comments Authors' accepted manuscript (IROS 2024, Abu Dhabi, Oct 14-18, 2024). Please cite the version of record: DOI 10.1109/IROS58592.2024.10802717. 8 pages

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

STAGE: A Stream-Centric Generative World Model for Long-Horizon Driving-Scene Simulation

Jiamin Wang, Yichen Yao, Xiang Feng, Hang Wu, Yaming Wang, Qingqiu Huang, Yuexin Ma, Xinge Zhu

机构 * ShanghaiTech University（上海科技大学） ； Yinwang Intelligent Technology Co. Ltd.（英伟达智能科技有限公司） 纠错

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

Domain-Conditioned Scene Graphs for State-Grounded Task Planning

Jonas Herzog, Jiangpin Liu, Yue Wang

机构 * Zhejiang University（浙江大学） 纠错

Comments Accepted for IROS 2025

Observability-driven Assignment of Heterogeneous Sensors for Multi-Target Tracking

Seyed Ali Rakhshan, Mehdi Golestani, He Kong

机构 * Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology, School of Automation and Intelligent Manufacturing, Southern University of Science and Technology (SUSTech)（广东省全驱动系统控制理论与技术重点实验室，自动化与智能制造学院，南方科技大学） 纠错

Comments This paper has been accepted to the 2025 IEEE/RSJ IROS

UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception

Junhao Gong, Kit-Wa Sou, Shoujie Li, Changqing Guo, Yan Huang, Chuqiao Lyu, Ziwu Song, Wenbo Ding

机构 * Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University（深圳 ubiquitous 数据赋能重点实验室，深圳国际研究生院，清华大学） ； RISC-V International Open Source Laboratory（RISC-V国际开源实验室） 纠错

Comments Accepted to IROS 2025

Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots

Jing Cheng, Yasser G. Alqaham, Zhenyu Gan

机构 * Syracuse University（苏利文大学） ； University of Michigan（密歇根大学） 纠错

Journal ref Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 6864-6869

A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing

Shengfan Cao, Eunhyek Joa, Francesco Borrelli

机构 * Department of Mechanical Engineering, University of California at Berkeley（加州大学伯克利分校机械工程系） ； Zoox 纠错

Comments Accepted for publication at IROS 2025

Context-aware Sparse Spatiotemporal Learning for Event-based Vision

Shenqi Wang, Guangzhi Tang

机构 * Faculty of Aerospace Engineering, Delft University of Technology（代尔夫特理工大学航空航天工程学院） ； Department of Advanced Computing Sciences, Maastricht University（马斯特里赫特大学先进计算科学系） 纠错

Comments Accepted at IROS 2025

Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization

Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll

机构 * School of Computation, Information and Technology (CIT), Technical University of Munich（计算、信息与技术学院（CIT），慕尼黑技术大学） ； State Key Laboratory for Novel Software Technology and the School of Science and Technology, Nanjing University (Suzhou Campus)（新型软件技术国家重点实验室和南京大学科学与技术学院（苏州校区）） 纠错

Comments IEEE Robotics and Automation Letters (also presented at IEEE-IROS 2025)