ICRA

NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing

Bowei Li, Peiqi Yu, Zhenran Tang, Han Zhou, Yifan Sun, Ruixuan Liu, Changliu Liu

机构 * Carnegie Mellon University（卡内基梅隆大学） 纠错

Comments 10 pages, 5 figures. Accepted to the RSS 2025 Workshop on Benchmarking Robot Manipulation: Improving Interoperability and Modularity. First Prize in the WBCD competition at ICRA 2025. Equal contribution by Bowei Li and Peiqi Yu

Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments

Chad R Samuelson, Timothy W McLain, Joshua G Mangelson

Comments Presented at the 2025 IEEE ICRA Workshop on Field Robotics

End-to-End Framework for Robot Lawnmower Coverage Path Planning using Cellular Decomposition

Nikunj Shah, Utsav Dey, Kenji Nishimiya

机构 * Honda R&D Co., Ltd.（本田技研控股有限公司） 纠错

Comments 8 pages, ICRA 2025, Workshop on Field Robotics

You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Grasping

Jingshun Huang, Haitao Lin, Tianyu Wang, Yanwei Fu, Yu-Gang Jiang, Xiangyang Xue

机构 * Fudan University（复旦大学） ； Tencent Robotics X Lab（腾讯机器人X实验室） 纠错

Comments To appear in ICRA 2025

Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics

Zi Cong Guo, James R. Forbes, Timothy D. Barfoot

机构 * University of Toronto Robotics Institute（多伦多大学机器人研究所） ； Department of Mechanical Engineering, McGill University（麦吉尔大学机械工程系） 纠错

Comments Final version in IEEE ICRA 2025 (winner of the Best Conference Paper Award)

Field Report on Ground Penetrating Radar for Localization at the Mars Desert Research Station

Anja Sheppard, Katherine A. Skinner

机构 * University of Michigan Robotics Department（密歇根大学机器人系） ； University of Michigan Space Institute（密歇根大学太空研究所） 纠错

Comments Presented at the ICRA Workshop on Field Robotics 2025

Evaluating Robustness of Deep Reinforcement Learning for Autonomous Surface Vehicle Control in Field Tests

Luis F. W. Batista, Stéphanie Aravecchia, Seth Hutchinson, Cédric Pradalier

机构 * Georgia Institute of Technology（佐治亚理工学院） ； GeorgiaTech Europe - IRL2958 GT-CNRS（佐治亚理工欧洲分校 - IRL2958 GT-CNRS） 纠错

Comments Presented at the 2025 IEEE ICRA Workshop on Field Robotics

Learning Rock Pushability on Rough Planetary Terrain

Tuba Girgin, Emre Girgin, Cagri Kilic

机构 * Department of Aerospace Engineering at Embry-Riddle Aeronautical University（艾姆伯-里德航空大学航空航天工程系） 纠错

Comments Paper presented at the Workshop on Field Robotics, ICRA 2025, Atlanta, GA, United States

Gaka-chu: a self-employed autonomous robot artist

Eduardo Castelló Ferrer, Ivan Berman, Aleksandr Kapitonov, Vadim Manaenko, Makar Chernyaev, Pavel Tarasov

Comments Accepted for publication in 2023 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref ICRA, 2023

MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation

Jingyi Xiang, Holly Dinkel

机构 * Department of Electrical and Computer Engineering and Coordinated Science Laboratory, University of Illinois at Urbana-Champaign（电气与计算机工程系和协调科学实验室，伊利诺伊大学厄巴纳-香槟分校） ； Department of Aerospace Engineering and Coordinated Science Laboratory, University of Illinois at Urbana-Champaign（航空航天工程系和协调科学实验室，伊利诺伊大学厄巴纳-香槟分校） 纠错

Comments 3 pages, 3 figures, presented at the 3rd Workshop on Representing and Manipulating Deformable Objects at the IEEE International Conference on Robotics and Automation. Video presentation [https://youtu.be/hfiqwMxitqA]. 3rd Workshop on Representing and Manipulating Deformable Objects [https://deformable-workshop.github.io/icra2023/]

A Hybrid Approach to Indoor Social Navigation: Integrating Reactive Local Planning and Proactive Global Planning

Arnab Debnath, Gregory J. Stein, Jana Kosecka

机构 * Department of Computer Science, George Mason University（计算机科学系，乔治·马歇尔大学） 纠错

Comments Accepted at ICRA 2025

SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model

Daniel Yang, John J. Leonard, Yogesh Girdhar

机构 * Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） ； Applied Ocean Physics & Engineering Department, Woods Hole Oceanographic Institution（应用海洋物理与工程系，伍兹霍尔海洋研究所） 纠错

Comments ICRA 2025. Project page here: https://seasplat.github.io

Fall Prediction for Bipedal Robots: The Standing Phase

M. Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle

机构 * Mechanical Engineering, Robotics, Robotics} Department, University of Michigan, Ann Arbor, MI, USA（机械工程、机器人学系，密歇根大学，安阿伯，密歇根州，美国） 纠错

Comments \c{opyright} 2024 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 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 13135-13141

Curate, Connect, Inquire: A System for Findable Accessible Interoperable and Reusable (FAIR) Human-Robot Centered Datasets

Xingru Zhou, Sadanand Modak, Yao-Cheng Chan, Zhiyun Deng, Luis Sentis, Maria Esteva

Comments 7 pages (excluding references), 8 pages (including references); 5 figures; accepted to the ICRA 2025 Workshop on Human-Centered Robot Learning in the Era of Big Data and Large Models

Interactive OT Gym: A Reinforcement Learning-Based Interactive Optical tweezer (OT)-Driven Microrobotics Simulation Platform

Zongcai Tan, Dandan Zhang

机构 * Department of Bioengineering, Imperial-X Initiative, Imperial College London（生物工程系、Imperial-X计划、帝国理工学院伦敦） 纠错

Comments ICRA 2025

Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps

Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar

机构 * CNRS-AIST JRL (Joint Robotics Laboratory)（CNRS-AIST联合机器人实验室） ； IRL（机器人研究所） ； 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

Journal ref IEEE Robotics and Automation Letters 2021 (Presented at ICRA 2021)

Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface

Masaki Murooka, Kei Okada, Masayuki Inaba

机构 * Department of Mechano-Infomatics, The University of Tokyo（机械信息学系，东京大学） 纠错

Journal ref IEEE Robotics and Automation Letters 2020 (Presented at ICRA 2020)

Anomalies by Synthesis: Anomaly Detection using Generative Diffusion Models for Off-Road Navigation

Siddharth Ancha, Sunshine Jiang, Travis Manderson, Laura Brandt, Yilun Du, Philip R. Osteen, Nicholas Roy

机构 * MIT CSAIL（麻省理工学院CSAIL） ； DEVCOM Army Research Laboratory（国防部陆军研究实验室） 纠错

Comments Presented at ICRA 2025

Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Junheng Li, Zhanhao Le, Junchao Ma, Quan Nguyen

机构 * Department of Aerospace and Mechanical Engineering, University of Southern California（航空航天与机械工程系，南加州大学） 纠错

Comments 7 pages, 6 figures, accepted to ICRA 2025

Adaptive Distance Functions via Kelvin Transformation

Rafael I. Cabral Muchacho, Florian T. Pokorny

机构 * RPL, EECS, KTH Royal Institute of Technology（皇家理工学院电子工程系和RPL） 纠错

Comments Accepted to IEEE ICRA 2025

QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning

Xinyang Tong, Pengxiang Ding, Yiguo Fan, Donglin Wang, Wenjie Zhang, Can Cui, Mingyang Sun, Han Zhao, Hongyin Zhang, Yonghao Dang, Siteng Huang, Shangke Lyu

机构 * MiLAB, Westlake University, Hangzhou, 310030, China（西交利物浦大学微实验室，杭州，310030，中国） ； Zhejiang University, Hangzhou, 310027, China（浙江大学，杭州，310027，中国） ； Beijing University of Posts and Telecommunications, Beijing, 100876, China（北京邮电大学，北京，100876，中国） 纠错

Comments Accepted to ICRA 2025; Github page: https://quart-online.github.io

DTRT: Enhancing Human Intent Estimation and Role Allocation for Physical Human-Robot Collaboration

Haotian Liu, Yuchuang Tong, Zhengtao Zhang

机构 * CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所CAS工程视觉实验室） ； School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） 纠错

Comments Accepted by ICRA 2025

Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries

Abhay Negi, Omey M. Manyar, Dhanush Kumar Varma Penmetsa, Satyandra K. Gupta

机构 * Realization of Robotic Systems Lab, University of Southern California（机器人系统实现实验室，南加州大学） 纠错

Comments Accepted and presented in IEEE ICRA 2025 Contact-Rich Manipulation Workshop (https://contact-rich.github.io/). Awarded Best Paper Runner-Up. 5 pages with 1 figure

LiDAR-EDIT: LiDAR Data Generation by Editing the Object Layouts in Real-World Scenes

Shing-Hei Ho, Bao Thach, Minghan Zhu

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA). 6 pages, 7 figures

ASGrasp: Generalizable Transparent Object Reconstruction and 6-DoF Grasp Detection from RGB-D Active Stereo Camera

Jun Shi, Yong A, Yixiang Jin, Dingzhe Li, Haoyu Niu, Zhezhu Jin, He Wang

Comments IEEE International Conference on Robotics and Automation (ICRA), 2024

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 5441-5447

Robo-DM: Data Management For Large Robot Datasets

Kaiyuan Chen, Letian Fu, David Huang, Yanxiang Zhang, Lawrence Yunliang Chen, Huang Huang, Kush Hari, Ashwin Balakrishna, Ted Xiao, Pannag R Sanketi, John Kubiatowicz, Ken Goldberg

机构 * University of California, Berkeley（加州大学伯克利分校） ； Google Deepmind（谷歌DeepMind） ； Department of Industrial Engineering and Operations Research（工业工程与运营管理系） 纠错

Comments Best paper finalist of IEEE ICRA 2025

R3GS: Gaussian Splatting for Robust Reconstruction and Relocalization in Unconstrained Image Collections

Xu yan, Zhaohui Wang, Rong Wei, Jingbo Yu, Dong Li, Xiangde Liu

机构 * Beijing Digital Native Digital City Research Center（北京数字原生数字城市研究中心） 纠错

Comments 7 pages, 4 figures

Journal ref IEEE International Conference on Robotics and Automation (ICRA),2025

RoboCrowd: Scaling Robot Data Collection through Crowdsourcing

Suvir Mirchandani, David D. Yuan, Kaylee Burns, Md Sazzad Islam, Tony Z. Zhao, Chelsea Finn, Dorsa Sadigh

Comments 21 pages, 25 figures. International Conference on Robotics and Automation (ICRA) 2025

Cascaded Diffusion Models for Neural Motion Planning

Mohit Sharma, Adam Fishman, Vikash Kumar, Chris Paxton, Oliver Kroemer

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； University of Washington（华盛顿大学） ； Hello Robot Inc（Hello Robot公司） 纠错

Comments ICRA'25

Integrating Field of View in Human-Aware Collaborative Planning

Ya-Chuan Hsu, Michael Defranco, Rutvik Patel, Stefanos Nikolaidis

机构 * Thomas Lord Department of Computer Science, University of Southern California（汤姆·劳德计算机科学系，南加州大学） 纠错

Comments Published at International Conference on Robotics and Automation (2025)