IROS

Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five

Simon Fritsch, Liam Achenbach, Riccardo Bianco, Nicola Irmiger, Gawain Marti, Samuel Visca, Chenyu Yang, Davide Liconti, Barnabas Gavin Cangan, Robert Jomar Malate, Ronan J. Hinchet, Robert K. Katzschmann

机构 * Soft Robotics Lab, IRIS, D-MAVT, ETH Zurich（软机器人实验室、IRIS、D-MAVT、苏黎世联邦理工学院） 纠错

Comments The first five listed authors have equal contribution. This work has been accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels

Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang, Alejandro Astudillo, Wilm Decré, Jan Swevers, Carlo Ratti, Daniela Rus

Comments IROS 2025

Interactive Expressive Motion Generation Using Dynamic Movement Primitives

Till Hielscher, Andreas Bulling, Kai O. Arras

机构 * Socially Intelligent Robotics Lab, Institute for Artificial Intelligence, University of Stuttgart（社会智能机器人实验室，人工智能研究所，斯图加特大学） ； Collaborative Artificial Intelligence Group, Institute for Visualization and Interactive Systems, University of Stuttgart（协作人工智能小组，可视化与交互系统研究所，斯图加特大学） 纠错

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

Grasp Pre-shape Selection by Synthetic Training: Eye-in-hand Shared Control on the Hannes Prosthesis

Federico Vasile, Elisa Maiettini, Giulia Pasquale, Astrid Florio, Nicolò Boccardo, Lorenzo Natale

机构 * Humanoid Sensing and Perception, Istituto Italiano di Tecnologia（人机感知与感知，意大利技术研究所） ； Rehab Technologies Lab, Istituto Italiano di Tecnologia（康复技术实验室，意大利技术研究所） ； DIBRIS, University of Genoa（Genoa大学DIBRIS） 纠错

Comments Accepted to IROS 2022

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

ImpedanceGPT: VLM-driven Impedance Control of Swarm of Mini-drones for Intelligent Navigation in Dynamic Environment

Faryal Batool, Yasheerah Yaqoot, Malaika Zafar, Roohan Ahmed Khan, Muhammad Haris Khan, Aleksey Fedoseev, Dzmitry Tsetserukou

机构 * Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology（智能空间机器人实验室，斯克尔科沃科学与技术研究所） 纠错

Comments Accepted in IROS 2025

Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization

Akshay Jaitly, Devesh K. Jha, Kei Ota, Yuki Shirai

机构 * Robotics Engineering Department, Worcester Polytechnic Institute（沃斯特理工学院机器人工程系） ； Mitsubishi Electric Research Laboratories（三菱电机研究实验室） ； Mitsubishi Electric（三菱电机） 纠错

Comments 8 pages, 8 figures. Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Energy-Optimal Planning of Waypoint-Based UAV Missions -- Does Minimum Distance Mean Minimum Energy?

Nicolas Michel, Ayush Patnaik, Zhaodan Kong, Xinfan Lin

机构 * Department of Mechanical and Aerospace Engineering, University of California, Davis（机械与航空航天工程系，加州大学戴维斯分校） 纠错

Comments This paper has been accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering

Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Daniele Pucci

机构 * Artificial and Mechanical Intelligence, Italian Institute of Technology（意大利理工学院人工智能与机械智能部门） ； Machine Learning and Optimisation, University of Manchester（曼彻斯特大学机器学习与优化部门） ； Dipartimento di Automatica e Informatica, Politecnico di Torino（都灵politecnico自动化与信息学院） ； Rehab Technologies Lab, Italian Institute of Technology（意大利理工学院康复技术实验室） 纠错

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

Leveraging Temporally Extended Behavior Sharing for Multi-task Reinforcement Learning

Gawon Lee, Daesol Cho, H. Jin Kim

机构 * Department of Aerospace Engineering, Seoul National University（首尔国立大学航空航天工程系） ； Artificial Intelligence Institute, Seoul National University（首尔国立大学人工智能研究所） 纠错

Comments Accepted for publication in the proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

GUARD: Toward a Compromise between Traditional Control and Learning for Safe Robot Systems

Johannes A. Gaus, Junheon Yoon, Woo-Jeong Baek, Seungwon Choi, Suhan Park, Jaeheung Park

机构 * Hertie Institute for Clinical Brain Research & Center for Integrative Neuroscience, University of Tübingen（蒂尔堡大学希伯特研究所及整合神经科学中心） ； Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University（convergence科学与技术研究生院智能信息系，首尔国立大学） ； Artificial Intelligence Institute (AIIS), Seoul National University（人工智能研究所（AIIS），首尔国立大学） ； Department of Naval Architecture and Ocean Engineering, Seoul National University（naval建筑与海洋工程系，首尔国立大学） ； School of Robotics, Kwangwoon University（机器人学院，冈山大学） 纠错

Comments Submitted as workshop paper to IEEE IROS 2025

CoT-TL: Low-Resource Temporal Knowledge Representation of Planning Instructions Using Chain-of-Thought Reasoning

Kumar Manas, Stefan Zwicklbauer, Adrian Paschke

机构 * Freie Universität Berlin（柏林自由大学） ； Continental Automotive Technologies GmbH（Continental汽车技术有限公司） ； Fraunhofer FOKUS（弗劳恩霍夫研究所） 纠错

Comments Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi 14-18 October 2024

Self-Supervised Geometry-Guided Initialization for Robust Monocular Visual Odometry

Takayuki Kanai, Igor Vasiljevic, Vitor Guizilini, Kazuhiro Shintani

机构 * Frontier Research Center, Toyota Motor Corporation (TMC)（丰田汽车公司前沿研究中心） ； Toyota Research Institute (TRI)（丰田研究院） 纠错

Comments Project page: https://toyotafrc.github.io/SGInit-Proj/

Journal ref The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

GraphSCENE: On-Demand Critical Scenario Generation for Autonomous Vehicles in Simulation

Efimia Panagiotaki, Georgi Pramatarov, Lars Kunze, Daniele De Martini

机构 * Bristol Robotics Laboratory (BRL), University of the West of England, UK（布里斯托尔机器人实验室，英国西英格兰大学） 纠错

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

FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration

Yutong Li, Jieyi Zhang, Wenqiang Xu, Tutian Tang, Cewu Lu

机构 * School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（电子信息与电气工程学院，上海交通大学） ； Meta Robotics Institute, Shanghai Jiao Tong University（元机器人研究所，上海交通大学） ； Qing Yuan Research Institute（清元研究院） ； MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University（人工智能教育部重点实验室，上海交通大学） ； Shanghai Artificial Intelligence Laboratory（上海人工智能实验室） 纠错

Comments Presented at IROS 2025, details are available at https://fsglove.robotflow.ai

Rich State Observations Empower Reinforcement Learning to Surpass PID: A Drone Ball Balancing Study

Mingjiang Liu, Hailong Huang

机构 * Autonomous and Interactive Mobile Systems Group (AIMS), Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University（自主与互动移动系统组（AIMS），航空与航空工程系，香港理工大学） 纠错

Comments Accepted for presentation at the Advancements in Aerial Physical Interaction Workshop of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

MPC-based Deep Reinforcement Learning Method for Space Robotic Control with Fuel Sloshing Mitigation

Mahya Ramezani, M. Amin Alandihallaj, Barış Can Yalçın, Miguel Angel Olivares Mendez, Holger Voos

Comments Pre-print version submitted to IEEE IROS

RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks

Shouren Mao, Minghao Qin, Wei Dong, Huajian Liu, Yongzhuo Gao

机构 * State Key Laboratory of Robotics and System, Harbin Institute of Technology（机器人系统国家重点实验室、哈尔滨工业大学） 纠错

Comments Joint first authors: Shouren Mao and Minghao Qin. Published in IEEE/RSJ IROS 2024. This arXiv version adds a joint first-authorship note to correct an omission in the IEEE Xplore version. No technical changes. Please cite the IEEE version

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Label-Efficient Grasp Joint Prediction with Point-JEPA

Jed Guzelkabaagac, Boris Petrović

机构 * relAI -- Konrad Zuse School of Excellence in Reliable AI（relAI——康拉德·祖斯可靠性人工智能卓越学校） 纠错

Comments 4 pages, 5 figures. Submitted to IROS 2025 Workshop

3D-MoRe: Unified Modal-Contextual Reasoning for Embodied Question Answering

Rongtao Xu, Han Gao, Mingming Yu, Dong An, Shunpeng Chen, Changwei Wang, Li Guo, Xiaodan Liang, Shibiao Xu

Comments Accepted by IROS 2025

Model Agnostic Defense against Adversarial Patch Attacks on Object Detection in Unmanned Aerial Vehicles

Saurabh Pathak, Samridha Shrestha, Abdelrahman AlMahmoud

机构 * Secure Systems Research Center (SSRC) at Technology Innovation Institute (TII)（安全系统研究中心（SSRC）位于技术创新研究所（TII）） 纠错

Comments published in IROS 2024

Journal ref S. Pathak, S. Shrestha and A. AlMahmoud, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 2586-2593

Towards Autonomous Robotic Electrosurgery via Thermal Imaging

Naveed D. Riaziat, Joseph Chen, Axel Krieger, Jeremy D. Brown

机构 * Johns Hopkins University Laboratory for Computational Sensing and Robotics（约翰霍普金斯大学计算感知与机器人实验室） 纠错

Comments Accepted for publication in the proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

TVIM: Thermo-Active Variable Impedance Module: Evaluating Shear-Mode Capabilities of Polycaprolactone

Trevor Exley, Rashmi Wijesundara, Shuopu Wang, Arian Moridani, Amir Jafari

机构 * Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas（先进机器人操作（ARM）实验室，生物医学工程系，北卡罗来纳州立大学） 纠错

Comments Submitted to IROS 2024, 7 pages, 10 figures

Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces

Kuanqi Cai, Chunfeng Wang, Zeqi Li, Haowen Yao, Weinan Chen, Luis Figueredo, Aude Billard, Arash Ajoudani

机构 * HRI ； Istituto Italiano Di Tecnologia (IIT)（意大利技术研究所） ； LASA, School of Engineering, EPFL（激光实验室，工程学院，瑞士联邦理工学院） ； Guangdong University of Technology（广东技术大学） ； The Technical University of Munich（慕尼黑技术大学） ； The School of Computer Science, University of Nottingham（nottingham大学计算机科学学院） 纠错

Journal ref IROS 2025

Pose Estimation of a Cable-Driven Serpentine Manipulator Utilizing Intrinsic Dynamics via Physical Reservoir Computing

Kazutoshi Tanaka, Tomoya Takahashi, Masashi Hamaya

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

Comments 9 pages, 7 figures. Accepted at IROS 2025. This is the preprint version

Journal ref Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

Improving Drone Racing Performance Through Iterative Learning MPC

Haocheng Zhao, Niklas Schlüter, Lukas Brunke, Angela P. Schoellig

机构 * Learning Systems and Robotics lab（学习系统与机器人实验室） ； Technical University of Munich（慕尼黑技术大学） 纠错

Comments Accepted for oral presentation at IROS 2025

Set Phasers to Stun: Beaming Power and Control to Mobile Robots with Laser Light

Charles J. Carver, Hadleigh Schwartz, Toma Itagaki, Zachary Englhardt, Kechen Liu, Megan Graciela Nauli Manik, Chun-Cheng Chang, Vikram Iyer, Brian Plancher, Xia Zhou

机构 * Department of Computer Science, Columbia University（哥伦比亚大学计算机科学系） ； Lincoln Laboratory, Massachusetts Institute of Technology（麻省理工学院林肯实验室） ； Paul G. Allen School of Computer Science & Engineering, University of Washington（华盛顿大学保罗·G·艾伦计算机科学与工程学院） ； Barnard College, Columbia University（哥伦比亚大学巴纳德学院） 纠错

Comments 8 pages, 7 figures, accepted to IROS 2025

Exploratory Movement Strategies for Texture Discrimination with a Neuromorphic Tactile Sensor

Xingchen Xu, Ao Li, Benjamin Ward-Cherrier

机构 * School of Engineering Mathematics and Technology, University of Bristol（工程数学与技术学院，布里斯托尔大学） 纠错

Comments Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems 2025. Please cite the proceedings version

ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning

Clemens C. Christoph, Maximilian Eberlein, Filippos Katsimalis, Arturo Roberti, Aristotelis Sympetheros, Michel R. Vogt, Davide Liconti, Chenyu Yang, Barnabas Gavin Cangan, Ronan J. Hinchet, Robert K. Katzschmann

机构 * Soft Robotics Lab, IRIS, D-MAVT, ETH Zurich（软机器人实验室、IRIS、D-MAVT、苏黎世联邦理工学院） 纠错

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

HS3-Bench: A Benchmark and Strong Baseline for Hyperspectral Semantic Segmentation in Driving Scenarios

Nick Theisen, Robin Bartsch, Dietrich Paulus, Peer Neubert

机构 * Institute of Computational Visualistics, University of Koblenz（计算视觉学研究所，科伦茨大学） 纠错

Comments Accepted for publication at 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators

Weiting Feng, Kyle L. Walker, Yunjie Yang, Francesco Giorgio-Serchi

机构 * Institute for Integrated Micro and Nano Systems, School of Engineering, University of Edinburgh（整合微纳系统研究所，工程学院，爱丁堡大学） ； CREATE Lab, EPFL（EPFL CREATE 实验室） ； Institute for Imaging, Data and Communications, School of Engineering, University of Edinburgh（成像、数据与通信研究所，工程学院，爱丁堡大学） 纠错

Comments To be presented at IROS 2025, Hangzhou, China