IROS

Generalizable Image Repair for Robust Visual Control

Carson Sobolewski, Zhenjiang Mao, Kshitij Maruti Vejre, Ivan Ruchkin

机构 * University of Florida AI Scholars Program（佛罗里达大学人工智能学者计划） ； Trustworthy Engineered Autonomy (TEA) Lab（可信工程自主性实验室） ； Department of Electrical and Computer Engineering（电气与计算机工程系） 纠错

Comments 8 pages, 4 figures, 2 tables, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Policy Learning from Large Vision-Language Model Feedback without Reward Modeling

Tung M. Luu, Donghoon Lee, Younghwan Lee, Chang D. Yoo

机构 * School of Electrical Engineering, KAIST（韩国科学技术院电子工程学院） 纠错

Comments Accepted to IROS 2025

UniLegs: Universal Multi-Legged Robot Control through Morphology-Agnostic Policy Distillation

Weijie Xi, Zhanxiang Cao, Chenlin Ming, Jianying Zheng, Guyue Zhou

机构 * Wuxi Research Institute of Applied Technologies, Tsinghua University（清华大学应用技术研究院（无锡）） ； School of Internet of Things Engineering, Department of Automation, Jiangnan University（江南大学物联网工程学院） ； Shanghai Jiao Tong University（上海交通大学） ； School of Automation Science and Electrical Engineering, Beihang University（北航自动化科学与电气工程学院） 纠错

Comments 6 pages, 3 figures, IROS 2025

Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments

Giammarco Caroleo, Alessandro Albini, Daniele De Martini, Timothy D. Barfoot, Perla Maiolino

机构 * Oxford Robotics Institute, University of Oxford, UK（牛津大学机器人研究所） ； University of Toronto Robotics Institute（多伦多大学机器人研究所） 纠错

Comments 7 pages, 6 figures, 3 tables, IEEE/RSJ International Conference on Intelligent Robots and Systems 2025 accepted paper

Controllable Traffic Simulation through LLM-Guided Hierarchical Reasoning and Refinement

Zhiyuan Liu, Leheng Li, Yuning Wang, Haotian Lin, Hao Cheng, Zhizhe Liu, Lei He, Jianqiang Wang

机构 * School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动学院） ； Artificial Intelligence Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港理工大学（广州）人工智能研究部） ； School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学学院） ； Department of Computer Sciences, University of Wisconsin-Madison（威斯康星大学麦迪逊分校计算机科学系） 纠错

Comments Accepted by IROS 2025

TopoLiDM: Topology-Aware LiDAR Diffusion Models for Interpretable and Realistic LiDAR Point Cloud Generation

Jiuming Liu, Zheng Huang, Mengmeng Liu, Tianchen Deng, Francesco Nex, Hao Cheng, Hesheng Wang

机构 * School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240（上海交通大学自动化与智能感知学院） ； Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240（中国教育部系统控制与信息处理重点实验室） ； University of Twente, Netherlands（荷兰埃因霍温理工大学） 纠错

Comments Accepted by IROS 2025. Code:https://github.com/IRMVLab/TopoLiDM

Decision Transformer-Based Drone Trajectory Planning with Dynamic Safety-Efficiency Trade-Offs

Chang-Hun Ji, SiWoon Song, Youn-Hee Han, SungTae Moon

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025. Copyright 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses

I Know You're Listening: Adaptive Voice for HRI

Paige Tuttösí

机构 * Faculty of Applied Sciences（应用科学学院） ； School of Computing Science（计算科学学院） ； FEMTO-ST Institute Centre national de la recherche scientifique (CNRS)（FEMTO-ST研究所，国家科学研究中心） ； Centre national de la recherche scientifique (CNRS)（国家科学研究中心） 纠错

Comments PhD Thesis Simon Fraser University https://summit.sfu.ca/item/39353 Read the Room: IROS 2023, Mmm whatcha say?: INTERSPEECH 2024, Emojivoice: RO-MAN 2025, You sound a little tense: SSW 2025. Thesis presentation here: https://www.youtube.com/watch?v=9BcEwqYOMYI

SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs

Vignesh Kottayam Viswanathan, Akash Patel, Mario Alberto Valdes Saucedo, Sumeet Satpute, Christoforos Kanellakis, George Nikolakopoulos

机构 * Robotics and AI, Luleå University of Technology（机器人与人工智能，卢勒奥技术大学） 纠错

Comments Accepted to IROS 2025

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat

Desiree Fisker, Alexander Krawciw, Sven Lilge, Melissa Greeff, Timothy D. Barfoot

机构 * University of Toronto Robotics Institute（多伦多大学机器人研究所） ； University of Toronto Institute of Aerospace Studies（多伦多大学航空航天研究学院） ； Ingenuity Labs（Ingenuity实验室） ； Department of Electrical and Computer Engineering（电气与计算机工程系） 纠错

Comments 8 pages, 8 figures, accepted to IROS 2025

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation

Manthan Patel, Fan Yang, Yuheng Qiu, Cesar Cadena, Sebastian Scherer, Marco Hutter, Wenshan Wang

机构 * Robotic Systems Lab, ETH Zurich（苏黎世联邦理工学院机器人系统实验室） ； Robotics Institute of Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

Comments Accepted for publication to IEEE/RSJ IROS 2025

Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments

Chenxin Yu, Zihong Lu, Jie Mei, Boyu Zhou

机构 * School of Intelligence Science and Engineering, Harbin Institute of Technology（哈尔滨工业大学智能科学与工程学院） ； Department of Mechanical and Energy Engineering, Southern University of Science and Technology（南方科技大学机械与能源工程系） 纠错

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

An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments

Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos

机构 * Robotics and AI（机器人与人工智能） 纠错

Comments Accepted to IROS 2025

Distance and Collision Probability Estimation from Gaussian Surface Models

Kshitij Goel, Wennie Tabib

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

Comments Accepted at IROS 2025

GABRIL: Gaze-Based Regularization for Mitigating Causal Confusion in Imitation Learning

Amin Banayeeanzade, Fatemeh Bahrani, Yutai Zhou, Erdem Bıyık

机构 * Thomas Lord Department of Computer Science, University of Southern California, USA（美国南加州大学计算机科学系） 纠错

Comments IROS 2025 camera-ready version. First two authors contributed equally

MapDiffusion: Generative Diffusion for Vectorized Online HD Map Construction and Uncertainty Estimation in Autonomous Driving

Thomas Monninger, Zihan Zhang, Zhipeng Mo, Md Zafar Anwar, Steffen Staab, Sihao Ding

机构 * Mercedes-Benz Research & Development North America（梅赛德斯-奔驰北美研发有限公司） ； University of Stuttgart（斯图加特大学） ； Institute for Artificial Intelligence（人工智能研究所） ； University of California, San Diego（加州大学圣地亚哥分校） ； University of Southampton（南安普顿大学） 纠错

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

Automated UAV-based Wind Turbine Blade Inspection: Blade Stop Angle Estimation and Blade Detail Prioritized Exposure Adjustment

Yichuan Shi, Hao Liu, Haowen Zheng, Haowen Yu, Xianqi Liang, Jie Li, Minmin Ma, Ximin Lyu

机构 * School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院） ； PowerChina Zhongnan Engineering Corporation Limited（中南电力工程有限公司） 纠错

Comments 8 pages, 7 figures, final submission to IROS 2025

GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction

Jianheng Liu, Yunfei Wan, Bowen Wang, Chunran Zheng, Jiarong Lin, Fu Zhang

机构 * Department of Mechanical Engineering, University of Hong Kong（香港大学机械工程系） 纠错

Comments 8 pages, IROS 2025

Improving Visual Place Recognition with Sequence-Matching Receptiveness Prediction

Somayeh Hussaini, Tobias Fischer, Michael Milford

机构 * Queensland University of Technology（昆士兰理工大学） 纠错

Comments 8 pages, 5 figures, Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Online Concurrent Multi-Robot Coverage Path Planning

Ratijit Mitra, Indranil Saha

机构 * Department of Computer Science and Engineering, Indian Institute of Technology Kanpur（计算机科学与工程系，印度理工学院坎浦尔） 纠错

Comments Accepted in IROS 2025

Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator

Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa

Comments 8 pages, 5 figures, submitted to IROS 2023

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

Uncertainty-aware Planning with Inaccurate Models for Robotized Liquid Handling

Marco Faroni, Carlo Odesco, Andrea Zanchettin, Paolo Rocco

机构 * Department of Electronics, Information and Bioengineering, Politecnico di Milano（电子、信息与生物工程系，米兰理工大学） 纠错

Comments Accepted at IEEE/RSJ IROS 2025

Automated 3D-GS Registration and Fusion via Skeleton Alignment and Gaussian-Adaptive Features

Shiyang Liu, Dianyi Yang, Yu Gao, Bohan Ren, Yi Yang, Mengyin Fu

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

Comments Accepted to IROS 2025

SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors

Peiyao Hou, Danning Sun, Meng Wang, Yuzhe Huang, Zeyu Zhang, Hangxin Liu, Wanlin Li, Ziyuan Jiao

机构 * Department of Automation, Beihang University（自动化系，北航） ； State Key Laboratory of General Artificial Intelligence, BIGAI（一般人工智能国家重点实验室，BIGAI） 纠错

Comments 7 pages, 7 figures; accepted by IROS 2025

Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation

Ziyin Xiong, Yinghan Chen, Puhao Li, Yixin Zhu, Tengyu Liu, Siyuan Huang

机构 * National Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI)（国家关键人工智能实验室，北京通用人工智能研究院（BIGAI）） ； School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院） ； Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Beijing Key Laboratory of Behavior and Mental Health, Peking University（北京行为与心理健康重点实验室，北京大学） ； Yuanpei College, Peking University（北京大学元培学院） ； Department of Computer Science and Technology, University of Cambridge（剑桥大学计算机科学与技术系） ； Embodied Intelligence Lab, PKU-Wuhan Institute for Artificial Intelligence（具身智能实验室，北京大学-武汉人工智能研究院） 纠错

Comments Accepted to IROS 2025, oral presentation. Project page link: https://ziyin-xiong.github.io/ag2x2.github.io/

Perpetua: Multi-Hypothesis Persistence Modeling for Semi-Static Environments

Miguel Saavedra-Ruiz, Samer B. Nashed, Charlie Gauthier, Liam Paull

机构 * Department of Computer Science and Operations Research, Université de Montréal, Montréal, QC, Canada（蒙特利尔大学计算机科学与运筹学系） ； Mila - Quebec AI Institute, Montréal, QC, Canada（魁北克人工智能研究所） 纠错

Comments Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025) Code available at https://github.com/montrealrobotics/perpetua-code. Webpage and additional videos at https://montrealrobotics.ca/perpetua/

Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps

Khanh Son Pham, Christian Witte, Jens Behley, Johannes Betz, Cyrill Stachniss

机构 * CARIAD SE and the Technical University Munich（CARIAD SE 和慕尼黑技术大学） ； Technical University Munich（慕尼黑技术大学） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） ； Center for Robotics, University of Bonn（波恩大学机器人中心） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔机器学习与人工智能研究所） 纠错

Comments Accepted at IROS 2025

Context-Aware Deep Lagrangian Networks for Model Predictive Control

Lucas Schulze, Jan Peters, Oleg Arenz

机构 * Department of Computer Science, Technical University of Darmstadt（达姆斯塔特技术大学计算机科学系） ； German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning（德国人工智能研究中心（DFKI）系统AI机器人学习研究部） ； Robotics Institute Germany (RIG)（德国机器人研究所） 纠错

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

Large-Scale Mixed-Traffic and Intersection Control using Multi-agent Reinforcement Learning

Songyang Liu, Muyang Fan, Weizi Li, Jing Du, Shuai Li

机构 * Department of Civil and Coastal Engineering at University of Florida（佛罗里达大学土木与海岸工程系） ； Department of Computer Science at University of Memphis（密苏里大学计算机科学系） ； Min H. Kao Department of Electrical Engineering and Computer Science at University of Tennessee（田纳西大学电子工程与计算机科学系） 纠错

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

Free-form language-based robotic reasoning and grasping

Runyu Jiao, Alice Fasoli, Francesco Giuliari, Matteo Bortolon, Sergio Povoli, Guofeng Mei, Yiming Wang, Fabio Poiesi

机构 * Fondazione Bruno Kessler（布鲁诺·科塞拉基金会） ； University of Trento（特伦托大学） ； Istituto Italiano di Tecnologia（意大利技术研究院） 纠错

Comments Accepted to IROS 2025. Project website: https://tev-fbk.github.io/FreeGrasp/