IROS - arXivDaily 期刊&会议

2511.01407 2025-11-04 cs.RO cs.AI

FoldPath: End-to-End Object-Centric Motion Generation via Modulated Implicit Paths

Paolo Rabino, Gabriele Tiboni, Tatiana Tommasi

机构 * Politecnico di Torino（托斯卡纳理工大学）； Italian Institute of Technology（意大利理工学院）

Comments Accepted at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

2511.01379 2025-11-04 cs.RO

CM-LIUW-Odometry: Robust and High-Precision LiDAR-Inertial-UWB-Wheel Odometry for Extreme Degradation Coal Mine Tunnels

Kun Hu, Menggang Li, Zhiwen Jin, Chaoquan Tang, Eryi Hu, Gongbo Zhou

机构 * School of Mechatronic Engineering, China University of Mining and Technology（机械电子工程学院，中国矿业大学）

Comments Accepted by IROS 2025

2504.19593 2025-11-04 cs.RO

A Time-dependent Risk-aware distributed Multi-Agent Path Finder based on A*

S Nordström, Y Bai, B Lindqvist, G Nikolakopoulos

机构 * Department of Computer, Electrical and Space（计算机、电气与空间系）

Comments 8 pages, 10 figures, 2 tabels, submited to IROS 2025

2503.19739 2025-11-04 cs.CV

FUSE: Label-Free Image-Event Joint Monocular Depth Estimation via Frequency-Decoupled Alignment and Degradation-Robust Fusion

Pihai Sun, Junjun Jiang, Yuanqi Yao, Youyu Chen, Wenbo Zhao, Kui Jiang, Xianming Liu

机构 * Faculty of Computing, Harbin Institute of Technology（计算机学院，哈尔滨工业大学）； Zhengzhou Research Institute, Harbin Institute of Technology（郑州研究院，哈尔滨工业大学）

Comments [IROS 2025, camera ready version]: 8 pages, 6 figures

2510.26638 2025-10-31 cs.RO

REALMS2 -- Resilient Exploration And Lunar Mapping System 2 -- A Comprehensive Approach

Dave van der Meer, Loïck P. Chovet, Gabriel M. Garcia, Abhishek Bera, Miguel A. Olivares-Mendez

机构 * University of Luxembourg（卢森堡大学）

Comments 8 Pages, 8 Figures, Submitted and Accepted to IROS 2025

2510.25993 2025-10-31 cs.LG cs.NE

Efficient Online Learning with Predictive Coding Networks: Exploiting Temporal Correlations

Darius Masoum Zadeh-Jousdani, Elvin Hajizada, Eyke Hüllermeier

机构 * Institute for Informatics, University of Munich (LMU)（信息学院，慕尼黑大学（LMU））

Comments Accepted at EdgeAI4R Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

2310.06210 2025-10-30 cs.RO

CAT-RRT: Motion Planning that Admits Contact One Link at a Time

Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi, Alessandro Roncone

机构 * Human Interaction and Robotics [HIRO] Group, Computer Science Department, University of Colorado Boulder（人机交互与机器人[HIRO]组，计算机科学系，科罗拉多大学波尔德分校）

Journal ref IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

2510.24683 2025-10-29 cs.RO

A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers

Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi, Alessandro Roncone

机构 * Department of Computer Science, University of Colorado Boulder（计算机科学系，科罗拉多大学博尔德分校）

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2510.24152 2025-10-29 cs.CV cs.AI

Enhancing Vision-Language Models for Autonomous Driving through Task-Specific Prompting and Spatial Reasoning

Aodi Wu, Xubo Luo

机构 * University of Chinese Academy of Sciences（中国科学院大学）； Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences（中国科学院空间利用技术与工程中心）

Comments RoboSense Challenge with IROS 2025

2510.23902 2025-10-29 cs.RO

Stand, Walk, Navigate: Recovery-Aware Visual Navigation on a Low-Cost Wheeled Quadruped

Jans Solano, Diego Quiroz

机构 * Department of Mechatronics Engineering, Pontificia Universidad Católica del Perú（机械电子工程系，天主教秘鲁大学）

Comments Accepted at the IROS 2025 Workshop on Wheeled-Legged Robots

2503.23502 2025-10-29 cs.CV cs.AI cs.LG cs.RO

Boosting Omnidirectional Stereo Matching with a Pre-trained Depth Foundation Model

Jannik Endres, Oliver Hahn, Charles Corbière, Simone Schaub-Meyer, Stefan Roth, Alexandre Alahi

机构 * École Polytechnique Fédérale de Lausanne (EPFL)（瑞士联邦理工学院）； Technical University of Darmstadt, Department of Computer Science（德累斯顿技术大学计算机科学系）

Comments Accepted at IROS 2025. Project page: https://vita-epfl.github.io/DFI-OmniStereo-website/

2510.23525 2025-10-28 cs.CV cs.RO

DPGLA: Bridging the Gap between Synthetic and Real Data for Unsupervised Domain Adaptation in 3D LiDAR Semantic Segmentation

Wanmeng Li, Simone Mosco, Daniel Fusaro, Alberto Pretto

机构 * Intelligent Autonomous Systems Laboratory (IAS-LAB), Department of Information Engineering of the University of Padua（智能自主系统实验室（IAS-LAB），信息工程系，帕多瓦大学）

Comments This paper has been accepted for publication at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2503.00654 2025-10-28 eess.SY cs.RO cs.SY

ExAMPC: the Data-Driven Explainable and Approximate NMPC with Physical Insights

Jean Pierre Allamaa, Panagiotis Patrinos, Tong Duy Son

机构 * Siemens Digital Industries Software（西门子数字工业软件）； KU Leuven（根特大学）

Comments This paper has been accepted for publication in the 2025 IEEE/RSJ IROS Conference

2510.23059 2025-10-28 cs.RO

Awakening Facial Emotional Expressions in Human-Robot

Yongtong Zhu, Lei Li, Iggy Qian, WenBin Zhou, Ye Yuan, Qingdu Li, Na Liu, Jianwei Zhang

机构 * Institute of Machine Intelligence, University of Shanghai for Science and Technology（上海理工大学机器智能学院）； College Of Information Engineering, Zhejiang University of Technology（浙江工业大学信息工程学院）； Shanghai Droid Robot Co., Ltd.（上海机灵狗机器人有限公司）； Department of Informatics, University of Hamburg（汉堡大学信息学院）

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). 8 pages, 7 figures, IEEE two-column format

2510.23016 2025-10-28 cs.RO

ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulation

Zhuo Li, Junjia Liu, Dianxi Li, Tao Teng, Miao Li, Sylvain Calinon, Darwin Caldwell, Fei Chen

机构 * Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong（机械与自动化工程系、T-Stone机器人研究所、香港中文大学）； Hong Kong Center for Logistics Robotics（香港物流机器人中心）； Department of Technological Sciences, Wuhan University（技术科学系、武汉大学）； Idiap Research Institute（Idiap研究所）； Department of Advanced Robotics, Istituto Italiano di Tecnologia（先进机器人系、意大利Istituto Italiano di Tecnologia）

Comments 7 pages, 6 figures, Accepted and published in IROS 2025

2510.22754 2025-10-28 cs.RO

TWC-SLAM: Multi-Agent Cooperative SLAM with Text Semantics and WiFi Features Integration for Similar Indoor Environments

Chunyu Li, Shoubin Chen, Dong Li, Weixing Xue, Qingquan Li

机构 * Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ)（广东人工智能与数字经济实验室）； Shenzhen University（深圳大学）； College of natural resources and environment（自然资源与环境学院）

Comments Accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

2510.22738 2025-10-28 cs.RO

SCAL for Pinch-Lifting: Complementary Rotational and Linear Prototypes for Environment-Adaptive Grasping

Wentao Guo, Wenzeng Zhang

机构 * Computer Science and Technology, Beijing Institute of Technology, China（计算机科学与技术，北京理工大学，中国）； Laboratory of Robotics, X-Institute（机器人实验室，X研究所）； Dept. of Mechanical Engineering, Tsinghua University, Beijing, China（机械工程系，清华大学，北京，中国）

Comments Preliminary version presented at the IROS 2025 CIM Workshop, where it was selected as a Best Demo Award (Finalist) and subsequently received the Best Demo Award after oral presentation

2510.22529 2025-10-28 cs.CV cs.RO

Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing

Xiang Fei, Tina Tian, Howie Choset, Lu Li

机构 * Robotics Institute at Carnegie Mellon University（卡内基梅隆大学机器人研究所）

Comments This paper has been accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

2510.22339 2025-10-28 cs.RO

Estimating Continuum Robot Shape under External Loading using Spatiotemporal Neural Networks

Enyi Wang, Zhen Deng, Chuanchuan Pan, Bingwei He, Jianwei Zhang

机构 * Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation, Imperial College London（帝国理工学院伦敦校区全球健康创新研究所机器人手术中心）； Department of Mechanical Engineering and Automation, Fuzhou University（福州大学机械工程与自动化学院）； TAMS Group, Informatics, University of Hamburg（汉堡大学信息学院TAMS集团）

Comments 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2510.22140 2025-10-28 cs.CV

STG-Avatar: Animatable Human Avatars via Spacetime Gaussian

Guangan Jiang, Tianzi Zhang, Dong Li, Zhenjun Zhao, Haoang Li, Mingrui Li, Hongyu Wang

机构 * School of Information and Communication Engineering, Dalian University of Technology（信息与通信工程学院，大连理工大学）； School of Information Science and Technology, Fudan University（信息科学与技术学院，复旦大学）； Faculty of Science and Technology, University of Macau（科学与技术学院，澳门大学）； University of Zaragoza（阿拉瓦大学）； Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））

Comments Accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

2510.21785 2025-10-28 cs.CV cs.GR cs.LG cs.RO

Multi-Agent Pose Uncertainty: A Differentiable Rendering Cramér-Rao Bound

Arun Muthukkumar

机构 * Illinois Mathematics and Science Academy（伊利诺伊数学与科学学院）

Comments 5 pages, 3 figures, 1 table. Presented at IEEE/CVF International Conference on Computer Vision (ICCV 2025) and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

2503.15386 2025-10-28 cs.RO cs.AI

CCDP: Composition of Conditional Diffusion Policies with Guided Sampling

Amirreza Razmjoo, Sylvain Calinon, Michael Gienger, Fan Zhang

机构 * Honda Research Institute Europe GmbH（本田欧洲研究院）； Idiap Research Institute（IDIAP研究所）； École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）

Comments Accepted to IROS 2025

2503.08508 2025-10-27 cs.RO

LightPlanner: Unleashing the Reasoning Capabilities of Lightweight Large Language Models in Task Planning

Weijie Zhou, Manli Tao, Chaoyang Zhao, Honghui Dong, Ming Tang, Jinqiao Wang

机构 * School of Traffic and Transportation, Beijing Jiaotong University（交通与运输学院，北京交通大学）； Foundation Model Research Center, Institute of Automation, Chinese Academy of Sciences（基础模型研究中心，自动化研究所，中国科学院）

Comments The 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

2510.20291 2025-10-24 cs.CV cs.AI

A Parameter-Efficient Mixture-of-Experts Framework for Cross-Modal Geo-Localization

LinFeng Li, Jian Zhao, Zepeng Yang, Yuhang Song, Bojun Lin, Tianle Zhang, Yuchen Yuan, Chi Zhang, Xuelong Li

机构 * The Institute of Artificial Intelligence (TeleAI), China Telecom（人工智能研究所（TeleAI），中国电信）； East China Normal University（东华师范大学）； National Tsing Hua University（国立清华大学）

Journal ref IROS 2025 Robosense Cross-Modal Drone Navigation Challenge first place

2510.19200 2025-10-23 cs.RO cs.CV

GRASPLAT: Enabling dexterous grasping through novel view synthesis

Matteo Bortolon, Nuno Ferreira Duarte, Plinio Moreno, Fabio Poiesi, José Santos-Victor, Alessio Del Bue

机构 * TeV, Fondazione Bruno Kessler（TeV，布鲁诺·凯瑟尔基金会）； PAVIS, Fondazione Istituto Italiano di Tecnologia（PAVIS，意大利技术研究院基金会）； ISR, Instituto Superior Técnico, Universidade de Lisboa（ISR，里斯本大学理工学院）； University of Trento（特伦托大学）

Comments Accepted IROS 2025

2410.05051 2025-10-23 cs.CV cs.RO

ComDrive: Comfort-Oriented End-to-End Autonomous Driving

Junming Wang, Xingyu Zhang, Zebin Xing, Songen Gu, Xiaoyang Guo, Yang Hu, Ziying Song, Qian Zhang, Xiaoxiao Long, Wei Yin

机构 * Horizon Robotics ； University of Hong Kong（香港大学）； University of the Chinese Academy of Sciences（中国科学院大学）； Nanjing University（南京大学）； Beijing Jiaotong University（北京交通大学）

Comments IROS 2025

2510.18539 2025-10-22 cs.CV

GBlobs: Local LiDAR Geometry for Improved Sensor Placement Generalization

Dušan Malić, Christian Fruhwirth-Reisinger, Alexander Prutsch, Wei Lin, Samuel Schulter, Horst Possegger

机构 * Institute of Visual Computing, Graz University of Technology（视觉计算研究所，格拉茨技术大学）； Christian Doppler Laboratory for Embedded Machine Learning（嵌入式机器学习克里斯蒂安多普勒实验室）； Institute for Machine Learning, Johannes Kepler University Linz（机器学习研究所，约翰·凯撒大学林茨）； Amazon（亚马逊）

Comments 1st place at the IROS'25 RoboSense Challenge, Track #3: Cross-Sensor Placement 3D Object Detection

2509.25528 2025-10-22 cs.CV cs.AI cs.RO

LLM-RG: Referential Grounding in Outdoor Scenarios using Large Language Models

Pranav Saxena, Avigyan Bhattacharya, Ji Zhang, Wenshan Wang

机构 * Birla Institute of Technology and Science Pilani, K.K Birla Goa Campus（比拉理工学院和科学学院，K.K Birla Goa校区）； Carnegie Mellon University, Robotics Institute（卡内基梅隆大学，机器人研究所）

Comments Human-aware Embodied AI Workshop @ IROS 2025

2510.17783 2025-10-21 cs.RO cs.CV

Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats

Simeon Adebola, Chung Min Kim, Justin Kerr, Shuangyu Xie, Prithvi Akella, Jose Luis Susa Rincon, Eugen Solowjow, Ken Goldberg

机构 * The AUTOLab at UC Berkeley（伯克利大学AUTOLab）； Siemens Research Lab（西门子研究实验室）

Comments 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

2510.17274 2025-10-21 cs.CV

Enhanced Motion Forecasting with Plug-and-Play Multimodal Large Language Models

Katie Luo, Jingwei Ji, Tong He, Runsheng Xu, Yichen Xie, Dragomir Anguelov, Mingxing Tan

机构 * Computer and Information Sciences Department, Cornell University（康奈尔大学计算机与信息科学系）； Waymo LLC（Waymo公司）； UC Berkeley（伯克利大学）

Comments In proceedings of IROS 2025