IROS

Towards Safe Imitation Learning via Potential Field-Guided Flow Matching

Haoran Ding, Anqing Duan, Zezhou Sun, Leonel Rozo, Noémie Jaquier, Dezhen Song, Yoshihiko Nakamura

机构 * Department of Robotics, Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（机器人系，Mohamed bin Zayed大学人工智能学院） ； Bosch Center for Artificial Intelligence（博世人工智能中心） ； Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology（机器人、感知与学习 division，皇家理工学院） 纠错

Comments 8 pages, 6 figures, Accepted to IROS 2025

ZS-Puffin: Design, Modeling and Implementation of an Unmanned Aerial-Aquatic Vehicle with Amphibious Wings

Zhenjiang Wang, Yunhua Jiang, Zikun Zhen, Yifan Jiang, Yubin Tan, Wubin Wang

机构 * School of Ocean Engineering and Technology, Sun Yat‐sen University（海洋工程与技术学院，中山大学） ； Southern Marine Science and Engineering Guangdong Laboratory（广东海洋工程科学实验室） ； Key Laboratory of Comprehensive Observation of Polar Environment (Sun Yat‐sen University)（极地环境综合观测重点实验室（中山大学）） ； Guangdong Provincial Key Laboratory of Information Technology for Deep Water Acoustics（广东省深水声学信息技术重点实验室） 纠错

Comments Accepted to IROS 2025

Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer

Conor K. Trygstad, Cody R. Longwell, Francisco M. F. R. Gonçalves, Elijah K. Blankenship, Néstor O. Pérez-Arancibia

机构 * Washington State University (WSU)（华盛顿州立大学） 纠错

Comments To be presented at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Triple-S: A Collaborative Multi-LLM Framework for Solving Long-Horizon Implicative Tasks in Robotics

Zixi Jia, Hongbin Gao, Fashe Li, Jiqiang Liu, Hexiao Li, Qinghua Liu

机构 * Faculty of Robot Science and Engineering, Northeastern University（机器人科学与工程学院，东北大学） 纠错

Comments Accepted to IROS 2025

FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction

Dennis Rotondi, Fabio Scaparro, Hermann Blum, 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） ； Robot Perception and Learning Lab, LAMARR Institute for Machine Learning and Artificial Intelligence, University of Bonn（机器人感知与学习实验室，LAMARR机器学习与人工智能研究所，波恩大学） 纠错

Comments Paper accepted for IROS 2025

TextInPlace: Indoor Visual Place Recognition in Repetitive Structures with Scene Text Spotting and Verification

Huaqi Tao, Bingxi Liu, Calvin Chen, Tingjun Huang, He Li, Jinqiang Cui, Hong Zhang

机构 * Southern University of Science and Technology（南方科技大学） ； Peng Cheng Laboratory（鹏城实验室） ； University of Cambridge（剑桥大学） 纠错

Comments Accepted to IROS 2025

PainDiffusion: Learning to Express Pain

Quang Tien Dam, Tri Tung Nguyen Nguyen, Yuki Endo, Dinh Tuan Tran, Joo-Ho Lee

机构 * Graduate School of Information Science and Engineering, Ritsumeikan University, Japan（立命馆大学信息科学与工程研究生院） ； College of Information Science and Engineering, Ritsumeikan University, Japan（立命馆大学信息科学与工程学院） ； Faculty of Data Science, Shiga University, Japan（滋贺大学数据科学学院） 纠错

Comments Accepted at IROS 2025

Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors

Ankush Kundan Dhawan, Camille Chungyoun, Karina Ting, Monroe Kennedy

Comments 7 pages, 9 figures, accepted to IROS 2025

OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework

Jingyu Song, Haoyu Ma, Onur Bagoren, Advaith V. Sethuraman, Yiting Zhang, Katherine A. Skinner

机构 * Department of Robotics, University of Michigan（机器人系，密歇根大学） 纠错

Comments Accepted at IROS 2025; 8 pages, 6 figures

EfficientEQA: An Efficient Approach to Open-Vocabulary Embodied Question Answering

Kai Cheng, Zhengyuan Li, Xingpeng Sun, Byung-Cheol Min, Amrit Singh Bedi, Aniket Bera

机构 * Purdue University（普渡大学） ； University of Central Florida（中央佛罗里达大学） 纠错

Comments IROS 2025 Oral

AirLine: Efficient Learnable Line Detection with Local Edge Voting

Xiao Lin, Chen Wang

机构 * College of Computing, Georgia Institute of Technology（计算学院，佐治亚理工学院） ； Department of Computer Science and Engineering, State University of New York at Buffalo（计算机科学与工程系，纽约州立大学布法罗分校） 纠错

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

Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments

Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li

Comments Accepted to IROS 2025. Source code available

Code-as-Symbolic-Planner: Foundation Model-Based Robot Planning via Symbolic Code Generation

Yongchao Chen, Yilun Hao, Yang Zhang, Chuchu Fan

机构 * Massachusetts Institute of Technology（麻省理工学院） ； Harvard University（哈佛大学） ； MIT-IBM Watson AI Lab（MIT-IBM沃森人工智能实验室） 纠错

Comments 7 pages, 7 figures, 3 tables

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

Robots can defuse high-intensity conflict situations

Morten Roed Frederiksen, Kasper Støy

机构 * The REAL lab at the Computer science department of The IT-University of Copenhagen（丹麦哥本哈根信息技术大学计算机科学系的REAL实验室） 纠错

Comments 7 pages, 6 figures, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 25-29, 2020, Las Vegas, NV, USA

Benchmarking Shortcutting Techniques for Multi-Robot-Arm Motion Planning

Philip Huang, Yorai Shaoul, Jiaoyang Li

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

Comments 9 pages, 6 figures, accepted for publication at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Task-driven SLAM Benchmarking For Robot Navigation

Yanwei Du, Shiyu Feng, Carlton G. Cort, Patricio A. Vela

机构 * School of Electrical and Computer Engineering, and Institute of Robotics and Intelligent Machines, Georgia Institute of Technology（电气与计算机工程学院，机器人与智能机器研究所，佐治亚理工学院） ； School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology（机械工程学院，电气与计算机工程学院，佐治亚理工学院） 纠错

Comments 7 pages, 8 figures, 1 table. Accepted to IROS 2025

Reality Fusion: Robust Real-time Immersive Mobile Robot Teleoperation with Volumetric Visual Data Fusion

Ke Li, Reinhard Bacher, Susanne Schmidt, Wim Leemans, Frank Steinicke

机构 * accelerator division at the Deutsche Elektronen Synchrotron DESY（德意志电子同步辐射研究中心加速器部门） ； Human-Computer Interaction group at Hamburg University（汉堡大学人机交互小组） 纠错

Comments Accepted at IROS 2024

Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification

Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko, Roman Gorbachev

机构 * Moscow Institute of Physics and Technology（莫斯科物理技术学院） 纠错

Comments 6 pages, Accepted for IROS 2025

Pseudo Depth Meets Gaussian: A Feed-forward RGB SLAM Baseline

Linqing Zhao, Xiuwei Xu, Yirui Wang, Hao Wang, Wenzhao Zheng, Yansong Tang, Haibin Yan, Jiwen Lu

机构 * Department of Automation, Tsinghua University（自动化系，清华大学） ； 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） ； Shenzhen International Graduate School, Tsinghua University（深圳国际研究生院，清华大学） 纠错

Comments IROS 2025

Tactile Comfort: Lowering Heart Rate Through Interactions

Morten Roed Frederiksen, Kasper Støy, Maja Matarić

机构 * Interaction Lab at the University of Southern California（南加州大学交互实验室） ； Computer Science Department of The IT-University of Copenhagen（哥本哈根IT大学计算机科学系） 纠错

Comments 6 pages, 4 figures, Proceedings from 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024

Radar-Based NLoS Pedestrian Localization for Darting-Out Scenarios Near Parked Vehicles with Camera-Assisted Point Cloud Interpretation

Hee-Yeun Kim, Byeonggyu Park, Byonghyok Choi, Hansang Cho, Byungkwan Kim, Soomok Lee, Mingu Jeon, Seung-Woo Seo, Seong-Woo Kim

机构 * Seoul National University（首尔国立大学） ； Samsung Electro-Mechanics Co., Ltd.（三星机电有限公司） ； Chungnam National University（全南国立大学） ； Ajou University（亚运会大学） ； Institute of Engineering Research at Seoul National University（首尔国立大学工程研究所） 纠错

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. 8 pages, 3 figures

Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixels

Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake

机构 * Massachusetts Institute of Technology（麻省理工学院） 纠错

Comments 11 pages, 17 figures, IROS 2025 Aug 5, 2025 update: Included new experiments in Sections V and VII. Updated abstract and minor changes to text

VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility

Yitian Shi, Di Wen, Guanqi Chen, Edgar Welte, Sheng Liu, Kunyu Peng, Rainer Stiefelhagen, Rania Rayyes

机构 * Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） 纠错

Comments Accepted to IROS 2025

LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning

Behrad Rabiei, Mahesh Kumar A. R., Zhirui Dai, Surya L. S. R. Pilla, Qiyue Dong, Nikolay Atanasov

机构 * Contextual Robotics Institute, University of California San Diego（情境机器人研究所，加州大学圣地亚哥分校） 纠错

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

Accelerating Focal Search in Multi-Agent Path Finding with Tighter Lower Bounds

Yimin Tang, Zhenghong Yu, Jiaoyang Li, Sven Koenig

机构 * Thomas Lord Department of Computer Science, University of Southern California（美国南加州大学计算机科学系） ； University of Wisconsin–Madison（威斯康星大学麦迪逊分校） ； Carnegie Mellon University（卡内基梅隆大学） ； University of California, Irvine（加州大学尔湾分校） 纠错

Comments 7 pages

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems

RAILGUN: A Unified Convolutional Policy for Multi-Agent Path Finding Across Different Environments and Tasks

Yimin Tang, Xiao Xiong, Jingyi Xi, Jiaoyang Li, Erdem Bıyık, Sven Koenig

机构 * Thomas Lord Department of Computer Science, University of Southern California（美国南加州大学计算机科学系） ； Independent Researcher（独立研究者） ； Carnegie Mellon University（卡内基梅隆大学） ； University of California, Irvine（加州大学尔湾分校） 纠错

Comments 7 pages

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems

Real-World Offline Reinforcement Learning from Vision Language Model Feedback

Sreyas Venkataraman, Yufei Wang, Ziyu Wang, Navin Sriram Ravie, Zackory Erickson, David Held

机构 * Indian Institute of Technology, Kharagpur（印度理工学院，克哈格浦尔分校） ； IIIS, Tsinghua University（清华大学人工智能研究所） ； Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

Comments 7 pages. Accepted at the LangRob Workshop 2024 @ CoRL, 2024. Accepted at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Zero Shot Domain Adaptive Semantic Segmentation by Synthetic Data Generation and Progressive Adaptation

Jun Luo, Zijing Zhao, Yang Liu

机构 * Wangxuan Institute of Computer Technology, Peking University（北京大学王轩计算机技术研究所） 纠错

Comments Accepted to IROS 2025

Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation

Mintaek Oh, Chan Kim, Seung-Woo Seo, Seong-Woo Kim

机构 * Seoul National University（首尔国立大学） 纠错

Comments Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025. 8 pages, 7 figures

GACL: Grounded Adaptive Curriculum Learning with Active Task and Performance Monitoring

Linji Wang, Zifan Xu, Peter Stone, Xuesu Xiao

机构 * Department of Computer Science, George Mason University（乔治·马歇尔大学计算机科学系） ； Department of Computer Science, The University of Texas at Austin（德克萨斯大学奥斯汀分校计算机科学系） ； Sony AI（索尼人工智能） 纠错

Comments 7 pages, IROS 2025