IEEE RA-L

B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu

机构 * Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院） ； Beijing Key Laboratory of Behavior and Mental Health, Peking University（北京大学行为与心理健康北京重点实验室） ； LeapZenith AI Research（LeapZenith人工智能研究） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

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

MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Wanlin Li, Zihang Zhao, Leiyao Cui, Weiyi Zhang, Hangxin Liu, Li-An Li, Yixin Zhu

机构 * State Key Laboratory of General Artificial Intelligence（国家关键人工智能实验室） ； Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院） ； Institute for Artificial Intelligence（人工智能学院） ； Shenyang Institute of Automation（沈阳自动化研究所） ； Chinese Academy of Sciences（中国科学院） ； PLA General Hospital（中国人民解放军总医院） 纠错

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

A Neuromorphic Incipient Slip Detection System using Papillae Morphology

Yanhui Lu, Zeyu Deng, Stephen J. Redmond, Efi Psomopoulou, Benjamin Ward-Cherrier

机构 * School of Engineering Mathematics and Technology, University of Bristol（布里斯托大学工程数学与技术学院） ； James Watt School of Engineering, University of Glasgow（格拉斯哥大学詹姆斯·瓦特工程学院） ； School of Electrical and Electronic Engineering, University College Dublin（都柏林大学学院电子与电气工程学院） 纠错

Comments 7 pages, 12 figures. Submitted to IEEE Robotics and Automation Letters (RAL), under review

RESPLE: Recursive Spline Estimation for LiDAR-Based Odometry

Ziyu Cao, William Talbot, Kailai Li

机构 * Department of Electrical Engineering, Linköping University（Linköping大学电子工程系） ； Robotic Systems Lab (RSL), ETH Zurich（ETH Zurich机器人系统实验室） ； Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen（Groningen大学伯努利学院） 纠错

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10666-10673, Oct. 2025

RENet: Fault-Tolerant Motion Control for Quadruped Robots via Redundant Estimator Networks under Visual Collapse

Yueqi Zhang, Quancheng Qian, Taixian Hou, Peng Zhai, Xiaoyi Wei, Kangmai Hu, Jiafu Yi, Lihua Zhang

机构 * College of Intelligent Robotics and Advanced Manufacturing, Fudan University（智能机器人与先进制造学院，复旦大学） ； School of Information and Communication Engineering, Hainan University（信息与通信工程学院，海南大学） 纠错

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

Journal ref IEEE Robotics and Automation Letters (2025)

S-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localization

Chenghao Zhang, Lun Luo, Si-Yuan Cao, Xiaokai Bai, Yuncheng Jin, Zhu Yu, Beinan Yu, Yisen Wang, Hui-Liang Shen

机构 * College of Information Science and Electronic Engineering, Zhejiang University（浙江大学信息科学与电子工程学院） ； Ningbo Innovation Center, Zhejiang University（浙江大学宁波创新中心） ； College of Information Engineering, China Jiliang University（中国浙江师范大学信息工程学院） ； Jinhua Institute of Zhejiang University（浙江大学金华研究院） 纠错

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 9614-9621, Oct. 2025

Online Dynamic SLAM with Incremental Smoothing and Mapping

Jesse Morris, Yiduo Wang, Viorela Ila

机构 * Australian Centre For Robotics (ACFR)（澳大利亚机器人中心） ； University of Sydney（悉尼大学） 纠错

Comments 8 pages, 8 figures, Submitted RA-L 2025

Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression

Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis

机构 * Autonomous Robots Lab, Norwegian University of Science and Technology (NTNU)（自主机器人实验室，挪威科学技术大学） 纠错

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

Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining

Kaikai Wang, Tianxun Li, Liang Xu, Qinglei Hu, Keyou You

机构 * School of Future Technology, Shanghai University（上海大学未来技术学院） ； Department of Automation, Tsinghua University（清华大学自动化系） ； School of Automation Science and Electrical Engineering, Beihang University（北航自动化科学与电气工程学院） 纠错

Comments 12 pages, 9 figures, accepted to RA-L

Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator

Haichao Zhang, Haonan Yu, Le Zhao, Andrew Choi, Qinxun Bai, Yiqing Yang, Wei Xu

机构 * Horizon Robotics 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). Tech Report: arXiv:2501.09905

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input

Petr Vanc, Giovanni Franzese, Jan Kristof Behrens, Cosimo Della Santina, Karla Stepanova, Jens Kober, Robert Babuska

机构 * Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Czech Republic（捷克信息学、机器人学与自动控制研究所，布拉格捷克技术大学） ； Cognitive Robotics, Delft University of Technology, The Netherlands（认知机器人学，代尔夫特理工大学） 纠错

Comments 8 pages, 9 figures. IEEE Robotics and Automation Letters. Accepted August 2025

ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion

Mingjie Zhang, Yuheng Du, Chengkai Wu, Jinni Zhou, Zhenchao Qi, Jun Ma, Boyu Zhou

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； Southern University of Science and Technology（南方科技大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RAL), August, 2025

A Digital Twin for Robotic Post Mortem Tissue Sampling using Virtual Reality

Maximilian Neidhardt, Ludwig Bosse, Vidas Raudonis, Kristina Allgoewer, Axel Heinemann, Benjamin Ondruschka, Alexander Schlaefer

机构 * Institute of Medical Technology and Intelligent Systems, Hamburg University of Technology（医学技术与智能系统研究所，汉堡技术大学） ； Institute of Legal Medicine, University Medical Center Hamburg-Eppendorf（法医学研究所，汉堡艾本达大学医学中心） ； Interdisciplinary Competence Center for Interface Research（界面研究跨学科能力建设中心） ； SustAInLivWork Center of Excellence, Kaunas, Lithuania（可持续性与生活工作卓越中心，考纳斯，立陶宛） 纠错

Journal ref IEEE Robotics and Automation Letters 2025

Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation

Thomas Jantos, Stephan Weiss, Jan Steinbrener

机构 * Control of Networked Systems Group, University of Klagenfurt（克雷格弗尔特大学网络化系统控制组） 纠错

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

OpenMulti: Open-Vocabulary Instance-Level Multi-Agent Distributed Implicit Mapping

Jianyu Dou, Yinan Deng, Jiahui Wang, Xingsi Tang, Yi Yang, Yufeng Yue

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters. Project website: https://openmulti666.github.io/

APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors

Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, 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（苏州校区）科学与技术学院） ； School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） 纠错

Journal ref IEEE Robotics and Automation Letters 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)

A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots

Bolin Li, Wentao Zhang, Xuecong Huang, Lijun Zhu, Han Ding

机构 * School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学） ； Huazhong University of Science and Technology（华中科技大学） ； State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology（智能制造装备及技术国家重点实验室，华中科技大学） 纠错

Comments have been accepted for IEEE RA-L

OVITA: Open-Vocabulary Interpretable Trajectory Adaptations

Anurag Maurya, Tashmoy Ghosh, Anh Nguyen, Ravi Prakash

机构 * Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science（罗伯特·博世研究中心，印度科学院） 纠错

Comments Accepted to Robotics and Automation Letters 2025. Code link: https://github.com/anurag1000101/OVITA

GSORB-SLAM: Gaussian Splatting SLAM benefits from ORB features and Transmittance information

Wancai Zheng, Xinyi Yu, Jintao Rong, Linlin Ou, Yan Wei, Libo Zhou

机构 * School of Information Engineering, Zhejiang University of Technology（浙江工业大学信息工程学院） 纠错

Journal ref RAL 2025

Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information

Kuan Xu, Zeyu Jiang, Haozhi Cao, Shenghai Yuan, Chen Wang, Lihua Xie

机构 * Centre for Advanced Robotics Technology Innovation (CARTIN), School of Electrical and Electronic Engineering, Nanyang Technological University（先进机器人技术创新中心（CARTIN）、电子与电气工程学院、南洋理工大学） ； Spatial AI & Robotics Lab, Department of Computer Science and Engineering, University at Buffalo（空间人工智能与机器人实验室、计算机科学与工程学院、布法罗大学） 纠错

Comments 8 pages, 6 figures

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

Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot

Jiri Horyna, Roland Jung, Stephan Weiss, Eliseo Ferrante, Martin Saska

机构 * Czech Technical University in Prague（捷克技术大学） ； University of Klagenfurt（克雷格福特大学） ； Vrije Universiteit Amsterdam（阿姆斯特丹自由大学） ； New York University Abu Dhabi（纽约大学阿布扎克分校） ； Dubai Future Labs（迪拜未来实验室） 纠错

Comments Accepted to IEEE RA-L on April 1, 2025

Journal ref IEEE RA-L 10():6207-6214, June 2025

Equivariant IMU Preintegration with Biases: a Galilean Group Approach

Giulio Delama, Alessandro Fornasier, Robert Mahony, Stephan Weiss

机构 * Control of Networked Systems Group, University of Klagenfurt（克雷根福尔特大学网络化系统控制组） ； System Theory and Robotics Lab, Australian National University（澳大利亚国立大学系统理论与机器人实验室） 纠错

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 1, January 2025)

Automatic Geometric Decomposition for Analytical Inverse Kinematics

Daniel Ostermeier, Jonathan Külz, Matthias Althoff

机构 * Department of Computer Engineering, Technical University of Munich（计算机工程系，慕尼黑技术大学） ； Munich Center for Machine Learning（慕尼黑机器学习中心） 纠错

Comments Website: https://eaik.cps.cit.tum.de/

Journal ref IEEE Robotics and Automation Letters (RA-L), Vol. 10, No. 10, pp. 9964--9971, 2025

Congestion Mitigation Path Planning for Large-Scale Multi-Agent Navigation in Dense Environments

Takuro Kato, Keisuke Okumura, Yoko Sasaki, Naoya Yokomachi

Comments Published in IEEE Robotics and Automation Letters (RA-L), 2025. Supplementary videos are accessible via IEEE Xplore

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 9742-9749, 2025

DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting

Ce Hao, Kelvin Lin, Zhiwei Xue, Siyuan Luo, Harold Soh

机构 * School of Computing, National University of Singapore（新加坡国立大学计算机学院） ； Smart Systems Institute, NUS（NUS智能系统研究所） 纠错

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

Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Camera

Peiyuan Ni, Chee Meng Chew, Marcelo H. Ang, Gregory S. Chirikjian

机构 * Department of Mechanical Engineering, National University of Singapore（机械工程系，新加坡国立大学） ； University of Delaware（德雷塞尔大学） 纠错

Comments 8 pages, 10 figures; Accepted by IEEE RAL, presentation at ICRA 2026

GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes

Seunghyeok Back, Joosoon Lee, Kangmin Kim, Heeseon Rho, Geonhyup Lee, Raeyoung Kang, Sangbeom Lee, Sangjun Noh, Youngjin Lee, Taeyeop Lee, Kyoobin Lee

机构 * Korea Institute of Machinery & Materials (KIMM)（韩国机械材料研究院） ； Gwangju Institute of Science and Technology (GIST)（全州科学技术院） ； Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院） 纠错

Comments Accepted at IEEE Robotics and Automation Letters (RA-L). Project Websites: https://sites.google.com/view/graspclutter6d

Multi-Keypoint Affordance Representation for Functional Dexterous Grasping

Fan Yang, Dongsheng Luo, Wenrui Chen, Jiacheng Lin, Junjie Cai, Kailun Yang, Zhiyong Li, Yaonan Wang

机构 * School of Artificial Intelligence and Robotics, Hunan University（人工智能与机器人学院，湖南大学） ； College of Computer Science and Electronic Engineering, Hunan University（计算机科学与电子工程学院，湖南大学） ； National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University（机器人视觉感知与控制技术国家工程研究中心，湖南大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RA-L). The source code and demo videos are publicly available at https://github.com/PopeyePxx/MKA

EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events

Siyu Chen, Shenghai Yuan, Thien-Minh Nguyen, Zhuyu Huang, Chenyang Shi, Jin Jing, Lihua Xie

机构 * School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore（南洋理工大学电子与电气工程学院） ； School of Instrumentation and Optoelectronics Engineering, Beihang University, Beijing, China（北京航空航天大学仪器与光电工程学院） 纠错

Comments Accepted by IEEE RAL