ICRA

MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model

Jian Liu, Wei Sun, Hui Yang, Jin Zheng, Zichen Geng, Hossein Rahmani, Ajmal Mian

Comments Accepted by ICRA'25

NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation

Yiming Zeng, Hao Ren, Shuhang Wang, Junlong Huang, Hui Cheng

Journal ref ICRA 2025

FLoRA: Sample-Efficient Preference-based RL via Low-Rank Style Adaptation of Reward Functions

Daniel Marta, Simon Holk, Miguel Vasco, Jens Lundell, Timon Homberger, Finn Busch, Olov Andersson, Danica Kragic, Iolanda Leite

Comments Accepted at 2025 IEEE International Conference on Robotics & Automation (ICRA). We provide videos of our results and source code at https://sites.google.com/view/preflora/

DoorBot: Closed-Loop Task Planning and Manipulation for Door Opening in the Wild with Haptic Feedback

Zhi Wang, Yuchen Mo, Shengmiao Jin, Wenzhen Yuan

Comments In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2025)

Training Human-Robot Teams by Improving Transparency Through a Virtual Spectator Interface

Sean Dallas, Hongjiao Qiang, Motaz AbuHijleh, Wonse Jo, Kayla Riegner, Jon Smereka, Lionel Robert, Wing-Yue Louie, Dawn M. Tilbury

Comments 7 pages, 4 figures, Accepted to ICRA 2025

VICAN: Very Efficient Calibration Algorithm for Large Camera Networks

Gabriel Moreira, Manuel Marques, João Paulo Costeira, Alexander Hauptmann

Comments To appear at the IEEE International Conference on Robotics and Automation (ICRA), 2024

MBE-ARI: A Multimodal Dataset Mapping Bi-directional Engagement in Animal-Robot Interaction

Ian Noronha, Advait Prasad Jawaji, Juan Camilo Soto, Jiajun An, Yan Gu, Upinder Kaur

Comments Accepted to ICRA 2025

Enabling Safety for Aerial Robots: Planning and Control Architectures

Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson, Haejoon Lee, Alia Gilbert, Hardik Parwana, Vishnu S. Chipade, William Bentz, Dimitra Panagou

Comments 2025 ICRA Workshop on 25 years of Aerial Robotics: Challenges and Opportunities

Threading the Needle: Test and Evaluation of Early Stage UAS Capabilities to Autonomously Navigate GPS-Denied Environments in the DARPA Fast Lightweight Autonomy (FLA) Program

Adam Norton, Holly Yanco

Comments IEEE International Conference on Robotics and Automation (ICRA) 2025, Workshop on 25 Years of Aerial Robotics: Challenges and Opportunities, Atlanta, Georgia, USA, May 2025

Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions

Haejoon Lee, Dimitra Panagou

Comments Accepted and will appear at 2025 IEEE International Conference on Robotics and Automation (ICRA)

OoDIS: Anomaly Instance Segmentation and Detection Benchmark

Alexey Nekrasov, Rui Zhou, Miriam Ackermann, Alexander Hermans, Bastian Leibe, Matthias Rottmann

Comments Accepted for publication at ICRA 2025. Project page: https://vision.rwth-aachen.de/oodis

ThermoStereoRT: Thermal Stereo Matching in Real Time via Knowledge Distillation and Attention-based Refinement

Anning Hu, Ang Li, Xirui Jin, Danping Zou

Comments 7 pages, 6 figures, 4 tables. Accepted to IEEE ICRA 2025. This is the preprint version

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

SuperQ-GRASP: Superquadrics-based Grasp Pose Estimation on Larger Objects for Mobile-Manipulation

Xun Tu, Karthik Desingh

Comments 8 pages, 7 figures, accepted by ICRA 2025

Sharing Construction Safety Inspection Experiences and Site-Specific Knowledge through XR-Augmented Visual Assistance

Pengkun Liu, Jinding Xing, Ruoxin Xiong, Pingbo Tang

Journal ref https://www.iaarc.org/publications/icra_2022_future_of_construction_workshop_papers/sharing_construction_safety_inspection_experiences_and_site_specific_knowledge_through_xr_augmented_visual_assistance.html

Developing Modular Grasping and Manipulation Pipeline Infrastructure to Streamline Performance Benchmarking

Brian Flynn, Kostas Bekris, Berk Calli, Aaron Dollar, Adam Norton, Yu Sun, Holly Yanco

Comments IEEE International Conference on Robotics and Automation (ICRA) 2025, Workshop on Robot Software Architectures (RSA25), Atlanta, Georgia, USA, May 2025

CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving

Junrui Zhang, Chenjie Wang, Jie Peng, Haoyu Li, Jianmin Ji, Yu Zhang, Yanyong Zhang

Comments ICRA 2025; first two authors contributed equally

RoSSO: A High-Performance Python Package for Robotic Surveillance Strategy Optimization Using JAX

Yohan John, Connor Hughes, Gilberto Diaz-Garcia, Jason R. Marden, Francesco Bullo

Comments 7 pages, 4 figures, 3 tables, submitted to the 2024 IEEE International Conference on Robotics and Automation. See https://github.com/conhugh/RoSSO for associated codebase

Sim4EndoR: A Reinforcement Learning Centered Simulation Platform for Task Automation of Endovascular Robotics

Tianliang Yao, Madaoji Ban, Bo Lu, Zhiqiang Pei, Peng Qi

Comments 7 pages, 4 figures. This paper has been accepted by IEEE ICRA 2025

Ultrasound-Guided Robotic Blood Drawing and In Vivo Studies on Submillimetre Vessels of Rats

Shuaiqi Jing, Tianliang Yao, Ke Zhang, Di Wu, Qiulin Wang, Zixi Chen, Ke Chen, Peng Qi

Comments 6 pages, 4 figures. This paper has been accepted by IEEE ICRA 2025

Sample-efficient Unsupervised Policy Cloning from Ensemble Self-supervised Labeled Videos

Xin Liu, Yaran Chen, Haoran Li

Comments ICRA 2025, 8 pages

Using Physiological Measures, Gaze, and Facial Expressions to Model Human Trust in a Robot Partner

Haley N. Green, Tariq Iqbal

Comments Accepted at the IEEE International Conference on Robotics and Automation (ICRA), 2025

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

TDFANet: Encoding Sequential 4D Radar Point Clouds Using Trajectory-Guided Deformable Feature Aggregation for Place Recognition

Shouyi Lu, Guirong Zhuo, Haitao Wang, Quan Zhou, Huanyu Zhou, Renbo Huang, Minqing Huang, Lianqing Zheng, Qiang Shu

Comments 8 pages, 4 figures. Accepted to ICRA 2025

Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture

Shuangyu Xie, Ken Goldberg, Dezhen Song

Comments ICRA 2025

Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC

Aleksi Mäki-Penttilä, Naeim Ebrahimi Toulkani, Reza Ghabcheloo

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

3D Spatial Understanding in MLLMs: Disambiguation and Evaluation

Chun-Peng Chang, Alain Pagani, Didier Stricker

Comments ICRA 2025

GRACE: Generating Socially Appropriate Robot Actions Leveraging LLMs and Human Explanations

Fethiye Irmak Dogan, Umut Ozyurt, Gizem Cinar, Hatice Gunes

Comments 2025 IEEE International Conference on Robotics & Automation (ICRA), Supplementary video: https://youtu.be/GTNCC1GkiQ4

MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception

Daniel Butterfield, Sandilya Sai Garimella, Nai-Jen Cheng, Lu Gan

Comments 6 pages, 5 figures; This work has been accepted to ICRA 2025 and will soon be published

R+X: Retrieval and Execution from Everyday Human Videos

Georgios Papagiannis, Norman Di Palo, Pietro Vitiello, Edward Johns

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

VizFlyt: Perception-centric Pedagogical Framework For Autonomous Aerial Robots

Kushagra Srivastava, Rutwik Kulkarni, Manoj Velmurugan, Nitin J. Sanket

Comments Accepted at ICRA 2025. Projected Page: https://pear.wpi.edu/research/vizflyt.html

DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models

Yuchen Liu, Luigi Palmieri, Sebastian Koch, Ilche Georgievski, Marco Aiello

Comments Accepted at ICRA 2025