IEEE T-RO

ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras

Junkai Niu, Sheng Zhong, Xiuyuan Lu, Shaojie Shen, Guillermo Gallego, Yi Zhou

机构 * School of Robotics, Hunan University（湖南大学机器人学院） ； Neuromorphic Automation and Intelligence Lab (NAIL)（神经形态自动化与智能实验室） ； Department of Electronic and Computer Engineering（电子与计算机工程系） ； Hong Kong University of Science and Technology（香港科学与技术大学） ； TU Berlin（柏林工业大学） ； Science of Intelligence Excellence Cluster（智能科学卓越集群） ； Robotics Institute Germany（德国机器人研究所） ； Einstein Center Digital Future（爱因斯坦中心数字未来） 纠错

Journal ref IEEE Transactions on Robotics, 2025

Real-Time Sampling-Based Safe Motion Planning for Robotic Manipulators in Dynamic Environments

Nermin Covic, Bakir Lacevic, Dinko Osmankovic, Tarik Uzunovic

机构 * Faculty of Electrical Engineering, University of Sarajevo（萨拉热窝大学电气工程学院） ； Agile Robots SE 纠错

Journal ref IEEE Transactions on Robotics, 2025, ras.tro.25-0686.35660151

SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation

Zhanteng Xie, Philip Dames

机构 * Temple University（特拉华大学） 纠错

Comments Accepted by IEEE Transactions on Robotics (T-RO), 2025. arXiv admin note: text overlap with arXiv:2210.08577

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4139-4158, 2025

HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO

Giovanni Cioffi, Leonard Bauersfeld, Davide Scaramuzza

机构 * Robotics and Perception Group, Department of Informatics, University of Zurich（机器人与感知组，信息学院，苏黎世大学） 纠错

Comments Transactions on Robotics (T-RO) 2025

A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation

Thien-Minh Nguyen, Ziyu Cao, Kailai Li, William Talbot, Tongxing Jin, Shenghai Yuan, Timothy D. Barfoot, Lihua Xie

机构 * School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； Department of Electrical Engineering, Linköping University（利尔贝里大学电气工程系） ； Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen（格罗宁根大学数学、计算机科学与人工智能伯努利研究所） ； Robotic Systems Lab (RSL), ETH Zürich（苏黎世联邦理工学院机器人系统实验室） ； Autonomous Space Robotics Laboratory (ASRL), University of Toronto（多伦多大学自主空间机器人实验室） 纠错

Comments The paper is currently under review at IEEE Transactions on Robotics (T-RO). The source code has been released, and feedback is welcome

Tactile Robotics: An Outlook

Shan Luo, Nathan F. Lepora, Wenzhen Yuan, Kaspar Althoefer, Gordon Cheng, Ravinder Dahiya

机构 * Department of Engineering, King’s College London（伦敦国王学院工程系） ； School of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol（布里斯托大学工程数学学院和布里斯托机器人实验室） ； Department of Computer Science, University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校计算机科学系） ； School of Engineering and Materials Science, Queen Mary University of London（伦敦Queen Mary大学工程与材料科学学院） ； Institute for Cognitive Systems (ICS), Technische Universität München（慕尼黑技术大学认知系统研究所） ； Department of Electrical and Computer Engineering, Northeastern University（东北大学电气与计算机工程系） 纠错

Comments 20 pages, 2 figures, accepted to IEEE Transactions on Robotics

Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes

Juntao He, Baxi Chong, Jianfeng Lin, Zhaochen Xu, Hosain Bagheri, Esteban Flores, Daniel I. Goldman

机构 * Institute for Robotics and Intelligent Machines（机器人与智能机器研究所） ； Georgia Institute of Technology（佐治亚理工学院） ； School of Physic（物理学院） ； School of Mechanical Engineering（机械工程学院） 纠错

Comments Submitted to IEEE Transactions on Robotics (T-RO)

Journal ref IEEE Transactions on Robotics 2025, Volume: 41, Pages: 4776 - 4793

Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning

Ibrahim Ibrahim, Wilm Decré, Jan Swevers

Comments 19 pages, 27 figures

Journal ref IEEE Transactions on Robotics vol. 41 pp. 2691-2708 (2025)

Fast and Robust Visuomotor Riemannian Flow Matching Policy

Haoran Ding, Noémie Jaquier, Jan Peters, Leonel Rozo

机构 * Bosch Center for Artificial Intelligence（博世人工智能中心） ； Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology（机器人、感知与学习 division，皇家理工学院） ； Computer Science Department of the Technische Universität Darmstadt（达姆施塔特技术大学计算机科学系） 纠错

Comments Accepted for publication in IEEE T-RO. Project website: https://sites.google.com/view/rfmp 17 pages, 12 figures, 12 tables

Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps

Giovanni Franzese, Ravi Prakash, Cosimo Della Santina, Jens Kober

机构 * Cognitive Robotics, Delft University of Technology（德鲁特理工大学认知机器人实验室） ； Cyber Physical Systems, Indian Institute of Science Bangalore（印度科学研究院班加罗尔计算机物理系统） 纠错

Comments This article was accepted at IEEE Transactions on Robotics (T-RO)

RUMI: Rummaging Using Mutual Information

Sheng Zhong, Nima Fazeli, Dmitry Berenson

机构 * Department of Robotics, University of Michigan（机器人学系，密歇根大学） 纠错

Comments 20 pages, 20 figures, accepted by IEEE Transactions on Robotics (T-RO), preprint

To Lead or to Follow? Adaptive Robot Task Planning in Human-Robot Collaboration

Ali Noormohammadi-Asl, Stephen L. Smith, Kerstin Dautenhahn

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4215-4235, 2025

A Versatile Neural Network Configuration Space Planning and Control Strategy for Modular Soft Robot Arms

Zixi Chen, Qinghua Guan, Josie Hughes, Arianna Menciassi, Cesare Stefanini

机构 * Biorobotics Institute and the Department of Excellence in Robotics and AI（生物机器人研究所和机器人与人工智能卓越部门） ； Scuola Superiore Sant’Anna（圣安娜高等学院） ； CREATE Lab（CREATE实验室） ； EPFL（瑞士联邦理工学院） 纠错

Comments 14 pages, 16 figures, 5 tables; accepted by IEEE T-Ro

Journal ref in IEEE Transactions on Robotics, vol. 41, pp. 4269-4282, 2025

A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning

Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada

机构 * Department of Systems Innovation, Graduate School of Engineering Science, Osaka University（大阪大学工学研究科系统创新部门） ； School of Mechatronic Engineering and Automation, Shanghai University（上海大学机械电子工程与自动化学院） ； National Institute of Advanced Industrial Science and Technology (AIST)（国家先进工业科学与技术研究院） 纠错

Comments Accepted by IEEE T-RO

Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map

Yingyu Wang, Liang Zhao, Shoudong Huang

机构 * Robotics Institute, University of Technology Sydney（技术大学悉尼机器人研究所） ； School of Informatics, University of Edinburgh（爱丁堡大学信息学院） 纠错

Comments Accepted for publication in the IEEE Transactions on Robotics (T-RO), 2025

ROVER: A Multi-Season Dataset for Visual SLAM

Fabian Schmidt, Julian Daubermann, Marcel Mitschke, Constantin Blessing, Stefan Meyer, Markus Enzweiler, Abhinav Valada

机构 * Institute for Intelligent Systems, Esslingen University of Applied Sciences（智能系统研究所，埃斯林根应用科学大学） ； Department of Computer Science, University of Freiburg（计算机科学系，弗赖堡大学） ； ANDREAS STIHL AG & Co. KG（安德烈亚斯·施塔尔有限公司） 纠错

Comments Copyright 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4005-4022, 2025

Learning thin deformable object manipulation with a multi-sensory integrated soft hand

Chao Zhao, Chunli Jiang, Lifan Luo, Shuai Yuan, Qifeng Chen, Hongyu Yu

机构 * School of Artificial Intelligence, Jilin University（吉林大学人工智能学院） ； Hong Kong University of Science and Technology（香港理工大学） 纠错

Comments Accepted by T-RO, 20 pages

Implicit Dual-Control for Visibility-Aware Navigation in Unstructured Environments

Benjamin Johnson, Qilun Zhu, Robert Prucka, Morgan Barron, Miriam Figueroa-Santos, Matthew Castanier

机构 * Department of Automotive Engineering, Clemson University（汽车工程系，克莱姆森大学） ； Ground Vehicle Systems Center (GVSC)（地面车辆系统中心（GVSC）） 纠错

Comments 15 pages, 13 figures, submitted to IEEE Transactions on Robotics (06/2025)

End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization

Guangming Wang, Yu Zheng, Yuxuan Wu, Yanfeng Guo, Zhe Liu, Yixiang Zhu, Wolfram Burgard, Hesheng Wang

机构 * Department of Engineering, University of Cambridge（剑桥大学工程系） ； School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（上海交通大学自动化与智能感知学院） ； Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg（不莱梅技术大学计算机科学与人工智能系） 纠错

Comments Accepted to T-RO. Source codes are released at https://github.com/IRMVLab/I2PNet

LUDO: Low-Latency Understanding of Deformable Objects using Point Cloud Occupancy Functions

Pit Henrich, Franziska Mathis-Ullrich, Paul Maria Scheikl

Comments Published in IEEE Transactions on Robotics (T-RO)

SCALER: Versatile Multi-Limbed Robot for Free-Climbing in Extreme Terrains

Yusuke Tanaka, Yuki Shirai, Alexander Schperberg, Xuan Lin, Dennis Hong

Comments Accepted to IEEE Transactions on Robotics (T-RO), 2025

Large-Scale Multirobot Coverage Path Planning on Grids With Path Deconfliction

Jingtao Tang, Zining Mao, Hang Ma

机构 * School of Computing Science, Simon Fraser University（计算科学学院，西蒙弗雷泽大学） 纠错

Comments accepted to T-RO

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 3348-3367, 2025

BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehicles

Lun Luo, Si-Yuan Cao, Xiaorui Li, Jintao Xu, Rui Ai, Zhu Yu, Xieyuanli Chen

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） ； Haomo.AI Technology Co., Ltd（哈莫人工智能技术有限公司） ； Ningbo Innovation Center, Zhejiang University（宁波创新中心，浙江大学） ； College of Instrument Science and Optoelectronics Engineering, Beihang University（仪器科学与光电工程学院，北航） ； College of Information Science and Electronic Engineering, Zhejiang University（信息科学与电子工程学院，浙江大学） 纠错

Comments Accepted to IEEE Transactions on Robotics

Stable Object Placement Planning From Contact Point Robustness

Philippe Nadeau, Jonathan Kelly

机构 * University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所在读） 纠错

Comments Accepted to IEEE Transactions on Robotics. Contains 15 pages, 13 figures, and 3 tables

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 3669-3683, 2025

Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems

Eduardo Sebastian, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagues

机构 * DIIS - I3A, Universidad de Zaragoza（迪斯-伊3A，阿尔瓦尔萨大学） ； Department of Electrical and Computer Engineering, University of California San Diego（电气与计算机工程系，加州大学圣地亚哥分校） 纠错

Comments Paper accepted and published at IEEE T-RO

Physics-informed Neural Mapping and Motion Planning in Unknown Environments

Yuchen Liu, Ruiqi Ni, Ahmed H. Qureshi

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

Comments Published in: IEEE Transactions on Robotics ( Volume: 41)

Learning Multimodal Latent Dynamics for Human-Robot Interaction

Vignesh Prasad, Lea Heitlinger, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki

Comments Preprint version of paper accepted at IEEE T-RO. Project website: https://sites.google.com/view/mild-hri

A Learning-based Quadcopter Controller with Extreme Adaptation

Dingqi Zhang, Antonio Loquercio, Jerry Tang, Ting-Hao Wang, Jitendra Malik, Mark W. Mueller

机构 * High Performance Robotics Lab, Dept. of Mechanical Engineering, UC Berkeley（伯克利大学高性能机器人实验室，机械工程系） ； University of Pennsylvania（宾夕法尼亚大学） ； Dept. of Electrical Engineering and Computer Science, University of California at Berkeley（伯克利大学电子工程与计算机科学系） 纠错

Comments Accepted for the Transaction on Robotics (T-RO), April 2025

Active Inference in Contextual Multi-Armed Bandits for Autonomous Robotic Exploration

Shohei Wakayama, Alberto Candela, Paul Hayne, Nisar Ahmed

机构 * Smead Aerospace Engineering Sciences Department, University of Colorado Boulder（科罗拉多大学博尔德分校航空航天工程科学系） ； Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室） ； Astrophysical & Planetary Sciences Department, University of Colorado Boulder（科罗拉多大学博尔德分校天体物理与行星科学系） 纠错

Comments 11 pages, 12 figures, submitted to IEEE Transactions on Robotics

Time, Travel, and Energy in the Uniform Dispersion Problem

Michael Amir, Alfred M. Bruckstein

机构 * University of Cambridge（剑桥大学） ； Technion - Israel Institute of Technology（技术学院-以色列理工学院） 纠错

Comments Accepted to IEEE T-RO. Includes and expands results from "Minimizing Travel in the Uniform Dispersal Problem for Robotic Sensors" (AAMAS 2019, arXiv:1903.03259)