ICRA

Beyond Static Perception: Integrating Temporal Context into VLMs for Cloth Folding

Oriol Barbany, Adrià Colomé, Carme Torras

机构 * Institut de Robòtica i Informàtica Industrial, CSIC-UPC（机器人与信息技术研究所，CSIC-UPC） 纠错

Comments Accepted at ICRA 2025 Workshop "Reflections on Representations and Manipulating Deformable Objects". Project page https://barbany.github.io/bifold/

BETTY Dataset: A Multi-modal Dataset for Full-Stack Autonomy

Micah Nye, Ayoub Raji, Andrew Saba, Eidan Erlich, Robert Exley, Aragya Goyal, Alexander Matros, Ritesh Misra, Matthew Sivaprakasam, Marko Bertogna, Deva Ramanan, Sebastian Scherer

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） ； University of Modena and Reggio Emilia（摩德纳和雷吉奥艾米利亚大学） ； University of Waterloo（滑铁卢大学） ； University of Pittsburgh（匹兹堡大学） 纠错

Comments 8 pages. 5 figures. ICRA 2025

Boosting Cross-spectral Unsupervised Domain Adaptation for Thermal Semantic Segmentation

Seokjun Kwon, Jeongmin Shin, Namil Kim, Soonmin Hwang, Yukyung Choi

机构 * Sejong University（世宗大学） ； NAVER LABS（NAVER实验室） ； Department of Automotive Engineering, Hanyang University（汉阳大学汽车工程系） 纠错

Comments 7 pages, 4 figures, International Conference on Robotics and Automation(ICRA) 2025

TREND: Tri-teaching for Robust Preference-based Reinforcement Learning with Demonstrations

Shuaiyi Huang, Mara Levy, Anubhav Gupta, Daniel Ekpo, Ruijie Zheng, Abhinav Shrivastava

机构 * University of Maryland, College Park（马里兰大学学院公园分校） 纠错

Comments ICRA 2025

CGTrack: Cascade Gating Network with Hierarchical Feature Aggregation for UAV Tracking

Weihong Li, Xiaoqiong Liu, Heng Fan, Libo Zhang

机构 * Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences（杭州高等研究院，中国科学院大学） ； Dept. of Computer Science and Engineering, University of North Texas（计算机科学与工程系，北卡罗来纳州立大学） ； Institute of Software Chinese Academy of Science（中国科学院软件研究所） 纠错

Comments Accepted by ICRA 2025

Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes

Aditya Singh, Zeyuan Feng, Somil Bansal

机构 * ECE Department at University of Southern California（南加州大学电子工程系） ； EE Department at Indian Institute of Technology Patna（印度理工学院帕纳布电子工程系） ； Department of Aeronautics and Astronautics at Stanford University（斯坦福大学航空与航天工程系） 纠错

Comments First two authors have contributed equally. 7 Pages, 3 figures. Accepted at ICRA 2025

A Deep Reinforcement Learning Environment for Particle Robot Navigation and Object Manipulation

Jeremy Shen, Erdong Xiao, Yuchen Liu, Chen Feng

Comments 8 pages, 6 figures; conference paper at ICRA 2022; our code and video is available at https://ai4ce.github.io/DeepParticleRobot/

Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization

Janik Kaden, Maximilian Hilger, Tim Schreiter, Marius Schaab, Thomas Graichen, Andrey Rudenko, Ulrich Heinkel, Achim J. Lilienthal

机构 * Chemnitz University of Technology, Chair for Circuit and System Design（Chemnitz技术大学，电路与系统设计教研室） ； Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich（慕尼黑机器人与智能机器研究所（MIRMI），慕尼黑技术大学） ； Center for Applied Autonomous Sensor Systems (AASS)（应用自主传感器系统中心） ； Pinpoint GmbH（Pinpoint公司） ； Bosch Corporate Research（博世企业研究） 纠错

Comments accepted for presentation at the 7th Workshop on Long-term Human Motion Prediction (LHMP) at International Conference on Robotics and Automation (ICRA) 2025

Quantitative Hardness Assessment with Vision-based Tactile Sensing for Fruit Classification and Grasping

Zhongyuan Liao, Yipai Du, Jianghua Duan, Haobo Liang, Michael Yu Wang

机构 * Hong Kong Center for Construction Robotics（香港建设机器人中心） ； The Hong Kong University of Science and Technology（香港理工大学） ； Daimon Robotics（达梦机器人） ； School of Engineering（工程学院） ； Great Bay University（大湾大学） 纠错

Comments Accepted to the Novel Approaches for Precision Agriculture and Forestry with Autonomous Robots IEEE ICRA Workshop - 2025

Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning

Zixuan Wu, Zulfiqar Zaidi, Adithya Patil, Qingyu Xiao, Matthew Gombolay

机构 * Georgia Institute of Technology（佐治亚理工学院） 纠错

Comments This manuscript has been accepted by 2025 IEEE International Conference on Robotics & Automation (ICRA)

A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards

Gijeong Kim, Yong-Hoon Lee, Hae-Won Park

Comments 7 pages, Videos at https://youtu.be/JV2_HfTlOKI, IEEE International Conference on Robotics and Automation (ICRA) 2025

SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku

机构 * OMRON SINIC X Corporation（OMRON SINIC X公司） 纠错

Comments 2025 IEEE International Conference on Robotics and Automation (ICRA2025). Preprint. Accepted January 2025

MFSeg: Efficient Multi-frame 3D Semantic Segmentation

Chengjie Huang, Krzysztof Czarnecki

机构 * Cheriton School of Computer Science, University of Waterloo（滑铁卢大学计算机科学学院） ； Department of Electrical and Computer Engineering, University of Waterloo（滑铁卢大学电气与计算机工程系） 纠错

Comments ICRA 2025

LiftFeat: 3D Geometry-Aware Local Feature Matching

Yepeng Liu, Wenpeng Lai, Zhou Zhao, Yuxuan Xiong, Jinchi Zhu, Jun Cheng, Yongchao Xu

机构 * School of Computer Science, Wuhan University（武汉大学计算机学院） ； SF Technology（SF科技） ； School of Computer Science, Central China Normal University（中央财经大学计算机学院） ； Institute for Infocomm Research, A*STAR（资讯研究院） 纠错

Comments Accepted at ICRA 2025

Visual-Based Forklift Learning System Enabling Zero-Shot Sim2Real Without Real-World Data

Koshi Oishi, Teruki Kato, Hiroya Makino, Seigo Ito

机构 * Toyota Central R&D Labs., Inc.（丰田中央研发实验室） 纠错

Comments Accepted for publication in: 2025 International Conference on Robotics and Automation (ICRA)

Cooperative Transportation using Multiple Single-Rotor Robots and Decentralized Control for Unknown Payloads

Koshi Oishi, Yasushi Amano, Tomohiko Jimbo

机构 * Cloud Informatics Research-Domain, Toyota Central R&D Labs., Inc.（丰田中央研究实验室云信息研究部门） ； R-Frontier Division, Frontier Research Center. Toyota Motor Corporation（丰田电机公司前沿研究中心R前沿部门） 纠错

Comments Accepted for publication in: 2022 International Conference on Robotics and Automation (ICRA), pp. 2024-2030, 2022. doi: 10.1109/ICRA46639.2022.9811768

Journal ref 2022 International Conference on Robotics and Automation (ICRA)

Learning and Online Replication of Grasp Forces from Electromyography Signals for Prosthetic Finger Control

Robin Arbaud, Elisa Motta, Marco Domenico Avaro, Stefano Picinich, Marta Lorenzini, Arash Ajoudani

机构 * Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy（人机交互实验室，意大利技术研究院，热那亚，意大利） ； Dept. of Informatics, Bioengineering, Robotics, and System Engineering, University of Genoa, Genoa, Italy（信息学、生物工程、机器人与系统工程系，热那亚大学，热那亚，意大利） ； Airworks SRL, Povoletto, Italy（Airworks SRL，意大利） 纠错

Comments 7 pages, 6 figures, to be presented at ICRA 2025

Informed Reinforcement Learning for Situation-Aware Traffic Rule Exceptions

Daniel Bogdoll, Jing Qin, Moritz Nekolla, Ahmed Abouelazm, Tim Joseph, J. Marius Zöllner

机构 * FZI Research Center for Information Technology（弗劳恩霍夫信息技术研究中心） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） 纠错

Comments Daniel Bogdoll and Jing Qin contributed equally. Accepted for publication at ICRA 2024

3DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignment

Xiaoqi Li, Jiaming Liu, Nuowei Han, Liang Heng, Yandong Guo, Hao Dong, Yang Liu

机构 * School of CS, Peking University（计算机科学系，北京大学） ； AI2Robotic ； Wangxuan Institute of Computer Technology, Peking University（王轩计算机技术研究所，北京大学） 纠错

Comments ICRA 2025

Tightly Coupled Range Inertial Odometry and Mapping with Exact Point Cloud Downsampling

Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka

机构 * Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology（信息科技与人因工程系，国家先进工业科学与技术研究院） 纠错

Comments IEEE International Conference on Robotics and Automation (ICRA2025)

Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhouse

Taewook Park, Jinwoo Lee, Hyondong Oh, Won-Jae Yun, Kyu-Wha Lee

机构 * Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST)（机械工程系，乌山国立科学技术研究院） ； Agricultural Robotics and Artificial Intelligence, Metafarmers（农业机器人与人工智能，Metafarmers） 纠错

Comments Accepted at 2025 ICRA workshop on field robotics

Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems

Jake Welde, Nishanth Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar

机构 * GRASP Laboratory at the University of Pennsylvania（宾夕法尼亚大学GRASP实验室） 纠错

Comments The first three authors contributed equally to this work. This updated version reflects the final version to appear at IEEE International Conference on Robotics and Automation (ICRA) 2025

Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback

Hung-Ching Lin, Murilo Marques Marinho, Kanako Harada

机构 * Department of Mechanical Engineering, the University of Tokyo（东京大学机械工程系） ； Department of Electrical and Electronic Engineering, the University of Manchester（曼彻斯特大学电子与电气工程系） 纠错

Comments 6 pages, 5 figures, Accepted for ICRA2024

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 2162-2168

A Neural Network Mode for PX4 on Embedded Flight Controllers

Sindre M. Hegre, Welf Rehberg, Mihir Kulkarni, Kostas Alexis

机构 * Department of Engineering Cybernetics（工程 cybernetics 系） 纠错

Comments 4 pages. Accepted to the Workshop on 25 Years of Aerial Robotics: Challenges and Opportunities (ICRA 2025)

ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning

Ruiqi Zhang, Dingqi Zhang, Mark W. Mueller

机构 * High Performance Robotics Lab, Department of Mechanical Engineering, University of California Berkeley（加州大学伯克利分校机械工程系高性能机器人实验室） 纠错

Comments Accepted by ICRA 2025

Improving Grip Stability Using Passive Compliant Microspine Arrays for Soft Robots in Unstructured Terrain

Lauren Ervin, Harish Bezawada, Vishesh Vikas

机构 * Agile Robotics Lab, University of Alabama（阿拉巴马大学敏捷机器人实验室） 纠错

Comments Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025

SAS-Prompt: Large Language Models as Numerical Optimizers for Robot Self-Improvement

Heni Ben Amor, Laura Graesser, Atil Iscen, David D'Ambrosio, Saminda Abeyruwan, Alex Bewley, Yifan Zhou, Kamalesh Kalirathinam, Swaroop Mishra, Pannag Sanketi

机构 * School of Computing and Augmented Intelligence, Arizona State University（计算与增强智能学院，亚利桑那州立大学） ； Google DeepMind（谷歌DeepMind） 纠错

Comments ICRA 2025

Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance

Keran Ye, Konstantinos Karydis

机构 * Dept. of Electrical and Computer Engineering, University of California, Riverside（加州大学河滨分校电气与计算机工程系） 纠错

Comments 8 pages, 8 figures, Accepted by IEEE Int. Conf. on Robotics and Automation (ICRA) 2025

GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics

Pranav Kedia, Madhav Rao

机构 * IIIT-Bangalore（班加罗尔印度理工学院） 纠错

Comments 2021 IEEE International Conference on Robotics and Automation (ICRA)

Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents

Ruochen Hou, Gabriel I. Fernandez, Mingzhang Zhu, Dennis W. Hong

机构 * Robotics and Mechanisms Laboratory (RoMeLa), Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA（机器人与机制实验室（RoMeLa）、机械与航空航天工程系、加州大学洛杉矶分校） 纠错

Comments This is a preprint version. This paper has been accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025. The final published version will be available on IEEE Xplore