IEEE RA-L

iA*: Imperative Learning-based A* Search for Path Planning

Xiangyu Chen, Fan Yang, Chen Wang

机构 * Spatial AI & Robotics (SAIR) Lab, Institute for Artificial Intelligence and Data Science, Department of Computer Science and Engineering, University at Buffalo（空间人工智能与机器人实验室，人工智能与数据科学研究所，计算机科学与工程系，布法罗大学） 纠错

Journal ref IEEE Robotics and Automation Letters (RA-L), 2025

Reliable Robotic Task Execution in the Face of Anomalies

Bharath Santhanam, Alex Mitrevski, Santosh Thoduka, Sebastian Houben, Teena Hassan

机构 * NEURA Robotics（NEURA机器人公司） ； Chalmers University of Technology（楚姆勒斯技术大学） ； Fraunhofer Institute for Intelligent Analysis and Information Systems（弗劳恩霍夫智能分析与信息系统研究所） ； Institute for Artificial Intelligence and Autonomous Systems (A 2 S)（人工智能与自主系统研究所） 纠错

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

Certified Coil Geometry Learning for Short-Range Magnetic Actuation and Spacecraft Docking Application

Yuta Takahashi, Hayate Tajima, Shin-ichiro Sakai

机构 * Department of Mechanical Engineering, Institute of Science Tokyo（科学东京研究院机械工程系） ； Satellite Research and Development, Interstellar Technologies Inc.（星际技术公司卫星研发部） ； Department of Advanced Energy, The University of Tokyo（东京大学先进能源系） ； Department of Spacecraft Engineering, Japan Aerospace Exploration Agency（日本宇宙航空研究开发机构航天器工程系） 纠错

Comments Submitted to IEEE Robotics and Automation Letters

APP: A* Post-Processing Algorithm for Robots with Bidirectional Shortcut and Path Perturbation

Yong Li, Hui Cheng

Journal ref IEEE Robotics and Automation Letters ( Volume: 8, Issue: 11, November 2023)

PB-NBV: Efficient Projection-Based Next-Best-View Planning Framework for Reconstruction of Unknown Objects

Zhizhou Jia, Yuetao Li, Qun Hao, Shaohui Zhang

机构 * School of Optics and Photonics, Beijing Institute of Technology（光学与光子学学院，北京理工大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RA-L), 2025

Variable Impedance Control for Floating-Base Supernumerary Robotic Leg in Walking Assistance

Jun Huo, Kehan Xu, Chengyao Li, Yu Cao, Jie Zuo, Xinxing Chen, Jian Huang

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 9, pp. 8698-8705, Sept. 2025

Onboard Mission Replanning for Adaptive Cooperative Multi-Robot Systems

Elim Kwan, Rehman Qureshi, Liam Fletcher, Colin Laganier, Victoria Nockles, Richard Walters

机构 * The Alan Turing Institute（艾伦·图灵研究所） ； Department of Aerospace Engineering（航空航天工程系） ； Auburn University（阿伯丁大学） 纠错

Comments 9 pages, 5 figures, 1 table

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 12, December 2025) Pages: 13225 - 13232

ScaleADFG: Affordance-based Dexterous Functional Grasping via Scalable Dataset

Sizhe Wang, Yifan Yang, Yongkang Luo, Daheng Li, Wei Wei, Yan Zhang, Peiying Hu, Yunjin Fu, Haonan Duan, Jia Sun, Peng Wang

机构 * State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院） ； School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； CasiaHand Robotics Co., Ltd（CasiaHand机器人有限公司） ； SenseTime Research, SenseTime（商汤研究，商汤） ； Idiap Research Institute（Idiap研究所） 纠错

Comments Accepted by IEEE Robotics and Automation Letters

LODESTAR: Degeneracy-Aware LiDAR-Inertial Odometry with Adaptive Schmidt-Kalman Filter and Data Exploitation

Eungchang Mason Lee, Kevin Christiansen Marsim, Hyun Myung

机构 * KAIST InnoCORE LLM, KAIST（KAIST信息学院LLM研究中心，KAIST） 纠错

Comments 8 pages, 5 figures, 6 tables, accepted for the publication in IEEE Robotics and Automation Letters

XPRESS: X-Band Radar Place Recognition via Elliptical Scan Shaping

Hyesu Jang, Wooseong Yang, Ayoung Kim, Dongje Lee, Hanguen Kim

机构 * Seadronix Corp.（Seadronix公司） ； Department of Mechanical Engineering, SNU（机械工程系） 纠错

Comments 9 pages, 9 figures, Published in IEEE RA-L

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 12, pp. 13121-13128, Dec. 2025

EquiMus: Energy-Equivalent Dynamic Modeling and Simulation of Musculoskeletal Robots Driven by Linear Elastic Actuators

Yinglei Zhu, Xuguang Dong, Qiyao Wang, Qi Shao, Fugui Xie, Xinjun Liu, Huichan Zhao

机构 * Department of Mechanical Engineering, State Key Laboratory of Tribology in Advanced Equipment, Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology（机械工程系、摩擦学国家重点实验室、北京 transformative 高端制造装备与技术重点实验室） 纠错

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 12, pp. 12668-12675, Dec. 2025

Development of the Bioinspired Tendon-Driven DexHand 021 with Proprioceptive Compliance Control

Jianbo Yuan, Haohua Zhu, Jing Dai, Sheng Yi

机构 * School of Mechanical Engineering, Shanghai Jiao Tong University（上海交通大学机械工程学院） ； DEXROBOT CO., LTD.（德克斯机器人有限公司） 纠错

Comments 8 pages 18 fogures, IEEE RAL accept

ILCL: Inverse Logic-Constraint Learning from Temporally Constrained Demonstrations

Minwoo Cho, Jaehwi Jang, Daehyung Park

机构 * Korea Advanced Institute of Science and Technology（韩国科学技术院） ； Georgia Institute of Technology（佐治亚理工学院） 纠错

Comments 8 pages, 6 figures, IEEE Robotics and Automation Letters (RA-L)

Modeling Elastic-Body Dynamics of Robotic Fish Using a Variational Framework

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水下机器人实验室） ； Sibley School of Mechanical and Aerospace Engineering, Cornell University（康奈尔大学Sibley机械与航空航天工程学院） 纠错

Comments Under review at IEEE Robotics and Automation Letters (RA-L)

Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint

Peiwen Yang, Mingquan Jiang, Xinyue Shen, Heping Zhang

Comments Submitted to IEEE RAL

Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification

Lishuo Pan, Mattia Catellani, Lorenzo Sabattini, Nora Ayanian

机构 * Department of Computer Science, Brown University（计算机科学系，布朗大学） ； Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia（工程科学与方法系，摩德纳和雷吉奥艾米利亚大学） 纠错

Comments 8 pages, 8 figures, 3 tables, accepted to RA-L 2025

STITCH 2.0: Extending Augmented Suturing with EKF Needle Estimation and Thread Management

Kush Hari, Ziyang Chen, Hansoul Kim, Ken Goldberg

Comments Published in RA-L 2025

DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight

Luis F. Recalde, Dhruv Agrawal, Jon Arrizabalaga, Guanrui Li

机构 * Department of Robotics Engineering, Worcester Polytechnic Institute（机器人工程系，沃斯特理工学院） ； Robotics Institute, Carnegie Mellon University（机器人研究所，卡内基梅隆大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters

Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization

Guangyang Zeng, Yuan Shen, Ziyang Hong, Yuze Hong, Viorela Ila, Guodong Shi, Junfeng Wu

机构 * School of Data Science, Chinese University of Hong Kong, Shenzhen（数据科学学院，香港中文大学（深圳）） ； Australian Center for Robotics and School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney（机器人中心及航空航天、机械与机电工程学院，悉尼大学） 纠错

Comments 10 pages, 7 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 11, November 2025)

ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads

Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno, Guanrui Li

机构 * Worcester Polytechnic Institute（沃斯特理工大学） ； University of California Berkeley（加州大学伯克利分校） 纠错

Comments Accepted to IEEE Robotics and Automation Letters

Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation

Baozhe Zhang, Xinwei Chen, Qingcheng Chen, Chao Xu, Fei Gao, Yanjun Cao

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 7, July 2025)

Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition

Sangmin Kim, Hajun Kim, Gijeong Kim, Min-Gyu Kim, Hae-Won Park

机构 * Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology（humanoid 机器人研究中心，韩国科学技术院） 纠错

Comments 8 pages, 4 figures, IEEE ROBOTICS AND AUTOMATION LETTERS. PREPRINT VERSION. ACCEPTED OCTOBER, 2025

VOCALoco: Viability-Optimized Cost-aware Adaptive Locomotion

Stanley Wu, Mohamad H. Danesh, Simon Li, Hanna Yurchyk, Amin Abyaneh, Anas El Houssaini, David Meger, Hsiu-Chin Lin

机构 * School of Computer Science, McGill University（计算机科学系，麦吉尔大学） ； Department of Electrical and Computer Engineering, McGill University（电气与计算机工程系，麦吉尔大学） 纠错

Comments Accepted in IEEE Robotics and Automation Letters (RAL), 2025. 8 pages, 9 figures

Journal ref IEEE Robotics and Automation Letters, 2025

Explicit Memory through Online 3D Gaussian Splatting Improves Class-Agnostic Video Segmentation

Anthony Opipari, Aravindhan K Krishnan, Shreekant Gayaka, Min Sun, Cheng-Hao Kuo, Arnie Sen, Odest Chadwicke Jenkins

机构 * University of Michigan（密歇根大学） ； Amazon Inc.（亚马逊公司） 纠错

Comments Accepted in IEEE Robotics and Automation Letters September 2025

T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation

Chungeng Tian, Ning Hao, Fenghua He

机构 * School of Astronautics, Harbin Institute of Technology（航天学院，哈尔滨工业大学） 纠错

Comments This paper was submitted to IEEE RA-L on July 14, 2024, and accepted on December 18, 2024. This version serves as the 'plus edition' of the accepted paper, incorporating supplementary materials for completeness

Breaking the Static Assumption: A Dynamic-Aware LIO Framework Via Spatio-Temporal Normal Analysis

Chen Zhiqiang, Le Gentil Cedric, Lin Fuling, Lu Minghao, Qiao Qiyuan, Xu Bowen, Qi Yuhua, Lu Peng

机构 * Department of Mechanical Engineering, The University of Hong Kong（香港大学机械工程系） ； Autonomous Space Robotics Lab, University of Toronto Institute for Aerospace Studies (UTIAS)（多伦多大学航空航天研究学院自主空间机器人实验室） ； The School of Systems Science and Engineering, Sun Yatsen University（中山大学系统科学与工程学院） 纠错

Comments 8 pages, 7 figures, Accepted to IEEE Robotics and Automation Letters (RA-L)

Depth-Constrained ASV Navigation with Deep RL and Limited Sensing

Amirhossein Zhalehmehrabi, Daniele Meli, Francesco Dal Santo, Francesco Trotti, Alessandro Farinelli

机构 * Department of Computer Science, University of Verona（计算机科学系，威尼斯大学） 纠错

Comments 8 pages, 8 figures, Accepted to IEEE Robotics and Automation Letters (this is not the final version)

Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty

Junbin Yuan, Brady Moon, Muqing Cao, Sebastian Scherer

机构 * Mechanical Engineering Department at Carnegie Mellon University（卡内基梅隆大学机械工程系） ； Robotics Institute, School of Computer Science at Carnegie Mellon University（卡内基梅隆大学计算机科学学院机器人研究所） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RA-L), 2025

Leveraging Vision-Language Models for Open-Vocabulary Instance Segmentation and Tracking

Bastian Pätzold, Jan Nogga, Sven Behnke

机构 * Autonomous Intelligent Systems, University of Bonn（博恩大学自主智能系统中心） ； Lamarr Institute for Machine Learning and AI（拉马尔人工智能与机器学习研究所） ； Center for Robotics, University of Bonn（博恩大学机器人中心） 纠错

Comments IEEE Robotics and Automation Letters (RA-L), November 2025

Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins

Mahdi Nobar, Jürg Keller, Alessandro Forino, John Lygeros, Alisa Rupenyan

机构 * ETH Zürich（苏黎世联邦理工学院） ； FHNW（弗里堡联邦理工学院） ； Maxon Motor AG（Maxon电机有限公司） ； ZHAW Zurich University for Applied Sciences（苏黎世应用科学大学） ； ZHAW Centre for AI（ZHAW人工智能中心） 纠错

Comments This work has been submitted to IEEE Robotics and Automation Letters (RA-L) for review