ICRA

Joint 3D Point Cloud Segmentation using Real-Sim Loop: From Panels to Trees and Branches

Tian Qiu, Ruiming Du, Nikolai Spine, Lailiang Cheng, Yu Jiang

Comments Accepted by ICRA 2025

LiDAR-enhanced 3D Gaussian Splatting Mapping

Jian Shen, Huai Yu, Ji Wu, Wen Yang, Gui-Song Xia

Comments Accepted by ICRA 2025

Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects

Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

Comments Accepted to ICRA 2025

Safety-Critical Traffic Simulation with Adversarial Transfer of Driving Intentions

Zherui Huang, Xing Gao, Guanjie Zheng, Licheng Wen, Xuemeng Yang, Xiao Sun

Comments Accepted by ICRA 2025

Multi-Robot Collaboration through Reinforcement Learning and Abstract Simulation

Adam Labiosa, Josiah P. Hanna

Comments ICRA 2025

Ergodic Exploration over Meshable Surfaces

Dayi Dong, Albert Xu, Geordan Gutow, Howie Choset, Ian Abraham

Comments 6 content pages, 1 references page, 6 figures, International Conference on Robotics and Automation 2025

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints

Elena Wittemyer, Ananya Rao, Ian Abraham, Howie Choset

Comments Accepted to ICRA 2025

Data-Efficient Learning from Human Interventions for Mobile Robots

Zhenghao Peng, Zhizheng Liu, Bolei Zhou

Comments ICRA 2025. Webpage: https://metadriverse.github.io/pvp4real/

Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation

Pierrick Lorang, Hong Lu, Matthias Scheutz

Comments 8 pages, 4 figures. Accepted at ICRA 2025

Reinforcement Learning Within the Classical Robotics Stack: A Case Study in Robot Soccer

Adam Labiosa, Zhihan Wang, Siddhant Agarwal, William Cong, Geethika Hemkumar, Abhinav Narayan Harish, Benjamin Hong, Josh Kelle, Chen Li, Yuhao Li, Zisen Shao, Peter Stone, Josiah P. Hanna

Comments ICRA 2025

Obstacle-Avoidant Leader Following with a Quadruped Robot

Carmen Scheidemann, Lennart Werner, Victor Reijgwart, Andrei Cramariuc, Joris Chomarat, Jia-Ruei Chiu, Roland Siegwart, Marco Hutter

Comments Accepted as a contributed paper to IEEE International Conference on Robotics and Automation (ICRA) 2025

M2Distill: Multi-Modal Distillation for Lifelong Imitation Learning

Kaushik Roy, Akila Dissanayake, Brendan Tidd, Peyman Moghadam

Comments IEEE ICRA 2025

Safe Decentralized Multi-Agent Control using Black-Box Predictors, Conformal Decision Policies, and Control Barrier Functions

Sacha Huriot, Hussein Sibai

Comments 6 pages, 1 figure, accepted for presentation at ICRA 2025

CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation

Naman Kumar, Antareep Singha, Laksh Nanwani, Dhruv Potdar, Tarun R, Fatemeh Rastgar, Simon Idoko, Arun Kumar Singh, K. Madhava Krishna

Comments Accepted at IEEE ICRA 2025

Discovering Object Attributes by Prompting Large Language Models with Perception-Action APIs

Angelos Mavrogiannis, Dehao Yuan, Yiannis Aloimonos

Comments ICRA 2025

Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping

Jaehyung Jung, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger

Comments 7 pages, 4 figures, 5 tables, accepted in ICRA 2025

VertiCoder: Self-Supervised Kinodynamic Representation Learning on Vertically Challenging Terrain

Mohammad Nazeri, Aniket Datar, Anuj Pokhrel, Chenhui Pan, Garrett Warnell, Xuesu Xiao

Comments Accepted at ICRA 2025. Code: https://github.com/mhnazeri/VertiCoder

ROS2WASM: Bringing the Robot Operating System to the Web

Tobias Fischer, Isabel Paredes, Michael Batchelor, Thorsten Beier, Jesse Haviland, Silvio Traversaro, Wolf Vollprecht, Markus Schmitz, Michael Milford

Comments Proceedings of the IEEE International Conference on Robotics and Automation 2025

Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V

Peiyuan Zhi, Zhiyuan Zhang, Yu Zhao, Muzhi Han, Zeyu Zhang, Zhitian Li, Ziyuan Jiao, Baoxiong Jia, Siyuan Huang

Comments 6 pages, Accepted at 2025 IEEE ICRA, website: https://come-robot.github.io/

PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulation

Adrian Röfer, Nick Heppert, Abdallah Ayad, Eugenio Chisari, Abhinav Valada

Comments 7 pages, 5 figures, 2 tables, accepted at ICRA 2025

Implicit Articulated Robot Morphology Modeling with Configuration Space Neural Signed Distance Functions

Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard

Comments accepted to ICRA 2025; 7 pages, 6 figures

Multi-Agent Inverse Q-Learning from Demonstrations

Nathaniel Haynam, Adam Khoja, Dhruv Kumar, Vivek Myers, Erdem Bıyık

Comments 8 pages, 4 figures, 2 tables. Published at the International Conference on Robotics and Automation (ICRA) 2025

AdaptBot: Combining LLM with Knowledge Graphs and Human Input for Generic-to-Specific Task Decomposition and Knowledge Refinement

Shivam Singh, Karthik Swaminathan, Nabanita Dash, Ramandeep Singh, Snehasis Banerjee, Mohan Sridharan, Madhava Krishna

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

TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation

Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Sami Haddadin, Alois Knoll

Comments 7 pages. Accepted to ICRA 2025

GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping

Tao Zhong, Christine Allen-Blanchette

Comments Accepted at ICRA 2025

H3O: Hyper-Efficient 3D Occupancy Prediction with Heterogeneous Supervision

Yunxiao Shi, Hong Cai, Amin Ansari, Fatih Porikli

Comments ICRA 2025

Endpoint-Explicit Differential Dynamic Programming via Exact Resolution

Maria Parilli, Sergi Martinez, Carlos Mastalli

Comments 7 pages, IEEE ICRA paper

Journal ref IEEE International Conference on Robotics and Automation, 2025

Reinforcement Learning on Reconfigurable Hardware: Overcoming Material Variability in Laser Material Processing

Giulio Masinelli, Chang Rajani, Patrik Hoffmann, Kilian Wasmer, David Atienza

Comments Accepted for the 2025 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2025, Atlanta, USA; Camera ready version -- addressed reviewer comments in text, improved plot clarity

Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process

Shenghai Yuan, Boyang Lou, Thien-Minh Nguyen, Pengyu Yin, Muqing Cao, Xinghang Xu, Jianping Li, Jie Xu, Siyu Chen, Lihua Xie

Comments This work has been accepted to IEEE International Conference on Robotics and Automation (ICRA) @ 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, including reprinting/redistribution, creating new works, or reuse of any copyrighted components of this work in other media

DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning

Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan, Yuke Zhu

Comments ICRA 2025. Project website: https://dexmimicgen.github.io/