IROS

Elliptical K-Nearest Neighbors -- Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles

Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll

机构 * Department of Informatics, Technical University of Munich（信息学院，慕尼黑技术大学） 纠错

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

FlipWalker: Jacob's Ladder toy-inspired robot for locomotion across diverse, complex terrain

Diancheng Li, Nia Ralston, Bastiaan Hagen, Phoebe Tan, Matthew A. Robertson

机构 * Department of Mechanical and Materials Engineering, Queen’s University（皇后大学机械与材料工程系） ； Ingenuity Labs Research Institute, Queen’s University（皇后大学创新实验室研究机构） 纠错

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

TERL: Large-Scale Multi-Target Encirclement Using Transformer-Enhanced Reinforcement Learning

Heng Zhang, Guoxiang Zhao, Xiaoqiang Ren

机构 * School of Mechatronic Engineering and Automation, Shanghai University（机械电子工程与自动化学院，上海大学） ； School of Future Technology, Shanghai University（未来技术学院，上海大学） 纠错

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

Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning

Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll

机构 * Department of Informatics, Technical University of Munich（信息学院，慕尼黑技术大学） ； Department of Technology & Innovation, KION Group Linde Material Handling GmbH（技术与创新学院，KION集团Linde物料处理 GmbH） 纠错

Comments 7 pages,7 figures

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

DroneKey: Drone 3D Pose Estimation in Image Sequences using Gated Key-representation and Pose-adaptive Learning

Seo-Bin Hwang, Yeong-Jun Cho

机构 * Department of AI Convergence, Chonnam National University（人工智能融合系，全南国立大学） 纠错

Comments 8 pages, 10 figures, 6 tables, Accepted to IROS 2025 (to appear)

AutoMisty: A Multi-Agent LLM Framework for Automated Code Generation in the Misty Social Robot

Xiao Wang, Lu Dong, Sahana Rangasrinivasan, Ifeoma Nwogu, Srirangaraj Setlur, Venugopal Govindaraju

机构 * State University of New York at Buffalo（纽约州立大学布法罗分校） ； Department of Computer Science and Engineering, Amrita School of Computing, Amrita Vishwa Vidyapeetham（计算机科学与工程系，阿米特拉学校 computing，阿米特拉世界大学） 纠错

Comments Accepted by IROS 2025

Using Visual Anomaly Detection for Task Execution Monitoring

Santosh Thoduka, Juergen Gall, Paul G. Plöger

机构 * Hochschule Bonn-Rhein-Sieg（波恩-莱茵-锡格应用科学大学） ； University of Bonn（波恩大学） 纠错

Comments Accepted for publication at the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Active Prostate Phantom with Multiple Chambers

Sizhe Tian, Yinoussa Adagolodjo, Jeremie Dequidt

Journal ref IROS 2025, Oct 2025, Hangzhou (Chine), China

Exploiting Policy Idling for Dexterous Manipulation

Annie S. Chen, Philemon Brakel, Antonia Bronars, Annie Xie, Sandy Huang, Oliver Groth, Maria Bauza, Markus Wulfmeier, Nicolas Heess, Dushyant Rao

机构 * Stanford University（斯坦福大学） ； Google DeepMind（谷歌DeepMind） ； MIT（麻省理工学院） 纠错

Comments A similar version to this paper was accepted at IROS 2025

Mag-Match: Magnetic Vector Field Features for Map Matching and Registration

William McDonald, Cedric Le Gentil, Jennifer Wakulicz, Teresa Vidal-Calleja

机构 * Robotics Institute, University of Technology Sydney（技术大学悉尼机器人研究所） 纠错

Comments To be published in IROS: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025

EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR

Xinkai Liang, Yigu Ge, Yangxi Shi, Haoyu Yang, Xu Cao, Hao Fang

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

Comments Accepted by 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025). This work has been submitted to the IEEE for possible publication

Active Disturbance Rejection Control for Trajectory Tracking of a Seagoing USV: Design, Simulation, and Field Experiments

Jelmer van der Saag, Elia Trevisan, Wouter Falkena, Javier Alonso-Mora

Comments Accepted for presentation at IROS 2025. Accepted version

Dynamic Risk-Aware MPPI for Mobile Robots in Crowds via Efficient Monte Carlo Approximations

Elia Trevisan, Khaled A. Mustafa, Godert Notten, Xinwei Wang, Javier Alonso-Mora

机构 * Cognitive Robotics Department, TU Delft（代尔夫特理工大学认知机器人部门） ； Damen Naval（达门海军） ； Centre for Intelligent Transport, Queen Mary University of London（伦敦大学玛丽女王学院智能交通中心） 纠错

Comments Accepted for presentation at IROS 2025. Accepted Version

DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models

Yuxiao Zhu, Junfeng Chen, Xintong Zhang, Meng Guo, Zhongkui Li

机构 * College of Engineering, Peking University（北京大学工程学院） ； Division of Natural and Applied Sciences, Duke Kunshan University（杜克昆山大学自然科学与应用科学系） 纠错

Comments submitted to IROS 2025

CORENet: Cross-Modal 4D Radar Denoising Network with LiDAR Supervision for Autonomous Driving

Fuyang Liu, Jilin Mei, Fangyuan Mao, Chen Min, Yan Xing, Yu Hu

机构 * Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所） ； University of Chinese Academy of Sciences（中国科学院大学） ； Beijing Institute of Control Engineering（北京控制工程研究所） 纠错

Comments 8 pages, 5 figures, Accepted to IROS 2025

Diff-MSM: Differentiable MusculoSkeletal Model for Simultaneous Identification of Human Muscle and Bone Parameters

Yingfan Zhou, Philip Sanderink, Sigurd Jager Lemming, Cheng Fang

机构 * SDU Robotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark（SDU机器人研究所、马士基麦金尼莫勒研究所、南方丹麦大学） 纠错

Comments 8 pages, 7 figures

Journal ref 2025 IEEE/RSJ international conference on intelligent robots and systems (IROS)

MaskSem: Semantic-Guided Masking for Learning 3D Hybrid High-Order Motion Representation

Wei Wei, Shaojie Zhang, Yonghao Dang, Jianqin Yin

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（智能工程与自动化学院，北京邮电大学） 纠错

Comments Accepted to IROS 2025

OASIS: Real-Time Opti-Acoustic Sensing for Intervention Systems in Unstructured Environments

Amy Phung, Richard Camilli

机构 * Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Deep Submergence Laboratory（应用海洋物理与工程，伍兹霍尔海洋研究所，深潜实验室） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

Comments This paper has been accepted for publication in IROS 2025. Copyright IEEE

FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions

Cheng Hu, Jihao Huang, Wule Mao, Yonghao Fu, Xuemin Chi, Haotong Qin, Nicolas Baumann, Zhitao Liu, Michele Magno, Lei Xie

机构 * Department of Control Science and Engineering, Zhejiang University（控制科学与工程系，浙江大学） ； Center for Project-Based Learning, D-ITET, ETH Zurich（基于项目的学习中心，苏黎世联邦理工学院） 纠错

Comments accepted by IROS 2025

Open, Reproducible and Trustworthy Robot-Based Experiments with Virtual Labs and Digital-Twin-Based Execution Tracing

Benjamin Alt, Mareike Picklum, Sorin Arion, Franklin Kenghagho Kenfack, Michael Beetz

机构 * AICOR Institute for Artificial Intelligence, University of Bremen（人工智能研究所，不莱梅大学） 纠错

Comments 8 pages, 6 figures, submitted to the 1st IROS Workshop on Embodied AI and Robotics for Future Scientific Discovery

A Recursive Total Least Squares Solution for Bearing-Only Target Motion Analysis and Circumnavigation

Lin Li, Xueming Liu, Zhoujingzi Qiu, Tianjiang Hu, Qingrui Zhang

机构 * School of Aeronautics and Astronautics, Shenzhen campus of Sun Yat-sen University（中山大学航空学院） ； Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China（电子科技大学深圳研究院） 纠错

Comments Accepted by 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6 Pages

SORT3D: Spatial Object-centric Reasoning Toolbox for Zero-Shot 3D Grounding Using Large Language Models

Nader Zantout, Haochen Zhang, Pujith Kachana, Jinkai Qiu, Guofei Chen, Ji Zhang, Wenshan Wang

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

Comments 8 pages, 6 figures, published in IROS 2025

Towards Physically Realizable Adversarial Attacks in Embodied Vision Navigation

Meng Chen, Jiawei Tu, Chao Qi, Yonghao Dang, Feng Zhou, Wei Wei, Jianqin Yin

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（智能工程与自动化学院，北京邮电大学） 纠错

Comments 7 pages, 7 figures, Accept by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

A Multimodal Neural Network for Recognizing Subjective Self-Disclosure Towards Social Robots

Henry Powell, Guy Laban, Emily S. Cross

机构 * Amazon（亚马逊） ； School of Psychology and Neuroscience, University of Glasgow（心理学与神经科学学院，格拉斯哥大学） ； Ben-Gurion University of the Negev（内盖夫本·古里安大学） ； University of Cambridge（剑桥大学） ； ETH Zurich（苏黎世联邦理工学院） 纠错

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

MIAT: Maneuver-Intention-Aware Transformer for Spatio-Temporal Trajectory Prediction

Chandra Raskoti, Iftekharul Islam, Xuan Wang, Weizi Li

机构 * Min H. Kao Department of Electrical Engineering and Computer Science at University of Tennessee, Knoxville, TN, USA（田纳西大学电气工程与计算机科学系） ； Department of Electrical and Computer Engineering at George Mason University（乔治·马歇尔大学电气与计算机工程系） 纠错

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

Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots

Garen Haddeler, Hari P. Palanivelu, Yung Chuen Ng, Fabien Colonnier, Albertus H. Adiwahono, Zhibin Li, Chee-Meng Chew, Meng Yee Michael Chuah

机构 * National University of Singapore (NUS)（新加坡国立大学） ； Institute for Infocomm Research (I 2 R)（信息通信研究所） ； Department of Computer Science, University College London（伦敦大学学院计算机科学系） 纠错

Comments IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Preprint version. Accepted June 2022

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 10387-10394

Multi-view Normal and Distance Guidance Gaussian Splatting for Surface Reconstruction

Bo Jia, Yanan Guo, Ying Chang, Benkui Zhang, Ying Xie, Kangning Du, Lin Cao

机构 * The Key Laboratory of Information and Communication Systems, Ministry of Information Industry, Beijing Information Science and Technology University, Beijing 100192, China（信息与通信系统重点实验室，信息产业部，北京信息科学与技术大学，北京100192，中国） ； The Key Laboratory of Target Cognition and Application Technology, Aerospace Information Research Institute, CAS, Beijing 100094, China（目标认知与应用技术重点实验室，航空信息研究所，中国科学院，北京100094，中国） 纠错

Comments This paper has been accepted by IROS 2025. Code: https://github.com/Bistu3DV/MND-GS/

ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Models

Jiarong Wei, Niclas Vödisch, Anna Rehr, Christian Feist, Abhinav Valada

机构 * Department of Computer Science, University of Freiburg（弗赖堡大学计算机科学系） ； CARIAD SE（CARIAD公司） 纠错

Comments IROS 2025 Camera-Ready Version

On learning racing policies with reinforcement learning

Grzegorz Czechmanowski, Jan Węgrzynowski, Piotr Kicki, Krzysztof Walas

机构 * IDEAS Research Institute（IDEAS研究 institute） ； IDEAS NCBR ； Institute of Robotics and Machine Intelligence（机器人与机器智能研究所） 纠错

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

Reactive Model Predictive Contouring Control for Robot Manipulators

Junheon Yoon, Woo-Jeong Baek, Jaeheung Park

Comments 8 pages, 7 figures, 3 tables, conference paper, Accepted for publication at IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 2025