IROS

Label-Efficient LiDAR Panoptic Segmentation

Ahmet Selim Çanakçı, Niclas Vödisch, Kürsat Petek, Wolfram Burgard, Abhinav Valada

机构 * Department of Computer Science, University of Freiburg（弗赖堡大学计算机科学系） ； Department of Eng., University of Technology Nuremberg（纽伦堡技术大学工程系） 纠错

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

Disentangling Uncertainty for Safe Social Navigation using Deep Reinforcement Learning

Daniel Flögel, Marcos Gómez Villafañe, Joshua Ransiek, Sören Hohmann

机构 * IEEE/RSJ International Conference on Intelligent Robots and Systems（IEEE/RSJ国际智能机器人系统会议） 纠错

Comments Accepted at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 8 pages, 6 figures and 4 tables

Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments

Ze Zhang, Yifan Xue, Nadia Figueroa, Knut Åkesson

机构 * Chalmers University of Technology（楚尔姆斯理工大学） ； University of Pennsylvania（宾夕法尼亚大学） 纠错

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

Automated Behaviour-Driven Acceptance Testing of Robotic Systems

Minh Nguyen, Sebastian Wrede, Nico Hochgeschwender

机构 * Faculty of Math. and Comp. Science, University of Bremen, Germany（不莱梅大学数学与计算机科学学院） ； Faculty of Technology, Bielefeld University, Germany（比勒菲尔德大学技术学院） 纠错

Comments 7 pages, 5 figures, to be published in 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

VerifyLLM: LLM-Based Pre-Execution Task Plan Verification for Robots

Danil S. Grigorev, Alexey K. Kovalev, Aleksandr I. Panov

机构 * MIPT（莫斯科理工学院） ； Pyatigorsk State University（皮亚季戈尔斯克州立大学） ； AIRI（AI研究机构） 纠错

Comments IROS 2025

CueLearner: Bootstrapping and local policy adaptation from relative feedback

Giulio Schiavi, Andrei Cramariuc, Lionel Ott, Roland Siegwart

机构 * Autonomous Systems Lab, ETH Zurich, Switzerland（自主系统实验室，苏黎世联邦理工学院） ； Robotics Systems Lab, ETH Zurich, Switzerland（机器人系统实验室，苏黎世联邦理工学院） 纠错

Comments Accepted to IROS 2025

Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation

Tuan Dang, Manfred Huber

机构 * Learning and Adaptive Robotics Laboratory, Department of Computer Science and Engineering, University of Texas at Arlington（学习与自适应机器人实验室，计算机科学与工程系，德克萨斯大学阿灵顿分校） 纠错

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

IDAGC: Adaptive Generalized Human-Robot Collaboration via Human Intent Estimation and Multimodal Policy Learning

Haotian Liu, Yuchuang Tong, Guanchen Liu, Zhaojie Ju, Zhengtao Zhang

机构 * Chinese Academy of Sciences（中国科学院） ； Institute of Automation（自动化研究所） ； University of Chinese Academy of Sciences（中国科学院大学） ； Zhejiang University（浙江大学） ； Beijing Zhongke Huiling Robot Technology Co., LTD（北京中科创联机器人科技有限公司） 纠错

Comments Accepted by IROS 2025

Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems

Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen, Allen Emmanuel Binny, Abdalla Swikir, Pushpak Jagtap, Sami Haddadin

机构 * Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany（慕尼黑机器人与机器智能研究所（MIRMI），技术大学慕尼黑（TUM）） ； Robert Bosch Center for Cyber-Physical Systems (RBCCPS), Indian Institute of Science (IISc), Bangalore, India（罗伯特·博世网络物理系统中心（RBCCPS），印度科学研究院（IISc）） ； Automation and Robotics Laboratory, Universidade de Brasília（自动化与机器人实验室，巴西布拉斯伊利亚大学） ； Indian Institute of Technology (IIT), Kharagpur, India（印度理工学院（IIT）克达尔格普分校） ； Mohamed Bin Zayed University of Artificial Intelligence (MBUZAI), Abu Dhabi, UAE（穆罕默德·本·扎耶德人工智能大学（MBUZAI），阿布扎赫德，阿联酋） 纠错

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

Iterative Camera-LiDAR Extrinsic Optimization via Surrogate Diffusion

Ni Ou, Zhuo Chen, Xinru Zhang, Junzheng Wang

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） ； Centre for Robotics Research, Department of Engineering, King’s College London（机器人研究中心，工程系，伦敦大学国王学院） ； School of Integrated Circuits and Electronics, Beijing Institute of Technology（集成电路与电子学院，北京理工大学） 纠错

Comments 7 pages, 4 figures, accepted by IROS 2025. arXiv admin note: substantial text overlap with arXiv:2411.10936

TrajFlow: Multi-modal Motion Prediction via Flow Matching

Qi Yan, Brian Zhang, Yutong Zhang, Daniel Yang, Joshua White, Di Chen, Jiachao Liu, Langechuan Liu, Binnan Zhuang, Shaoshuai Shi, Renjie Liao

机构 * University of British Columbia（不列颠哥伦比亚大学） ； Vector Institute for AI（向量人工智能研究所） ； University of Waterloo（滑铁卢大学） ； Georgia Institute of Technology（佐治亚理工学院） ； Carnegie Mellon University（卡内基梅隆大学） ； Tesla（特斯拉） ； XPeng Motors（小鹏汽车） ； Leapmotor ； Nvidia（英伟达） ； DiDi（滴滴出行） ； Canada CIFAR AI Chair（加拿大 CIFAR 人工智能主席） 纠错

Comments IROS 2025

D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations

Yuhao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok

机构 * University of Cambridge（剑桥大学） ； National Institute of Advanced Industrial Science and Technology（国家先进工业科学与技术研究院） 纠错

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

Robust and Efficient Embedded Convex Optimization through First-Order Adaptive Caching

Ishaan Mahajan, Brian Plancher

机构 * School of Engineering and Applied Science, Columbia University（哥伦比亚大学工程与应用科学学院） ； Barnard College, Columbia University（哥伦比亚大学巴纳德学院） ； Dartmouth College（达特茅斯学院） 纠错

Comments Accepted to IROS 2025, 7 pages, 4 figures

MISCGrasp: Leveraging Multiple Integrated Scales and Contrastive Learning for Enhanced Volumetric Grasping

Qingyu Fan, Yinghao Cai, Chao Li, Chunting Jiao, Xudong Zheng, Tao Lu, Bin Liang, Shuo Wang

机构 * State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院） ； School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； Qiyuan Lab（启元实验室） 纠错

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

ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects

Qiaojun Yu, Xibin Yuan, Yu jiang, Junting Chen, Dongzhe Zheng, Ce Hao, Yang You, Yixing Chen, Yao Mu, Liu Liu, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai AI Laboratory（上海人工智能实验室） ； National University of Singapore（国立新加坡大学） ； Princeton University（普林斯顿大学） ； Stanford University（斯坦福大学） ； Hefei University of Technology（合肥工业大学） 纠错

Comments Accepted by IROS 2025

HAPI: A Model for Learning Robot Facial Expressions from Human Preferences

Dongsheng Yang, Qianying Liu, Wataru Sato, Takashi Minato, Chaoran Liu, Shin'ya Nishida

机构 * Graduate School of Informatics, Kyoto University（京都大学信息学研究生院） ； Psychological Process Research Team, Guardian Robot Project, RIKEN（守护机器人项目心理过程研究组，RIKEN） ； Field Science Education and Research Center, Kyoto University（京都大学田野科学教育研究中心） ； Interactive Robot Research Team, Guardian Robot Project, RIKEN（守护机器人项目交互机器人研究组，RIKEN） ； Research and Development Center for Large Language Models, National Institute of Informatics（信息处理研究所大型语言模型研究开发中心） 纠错

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

Observability Investigation for Rotational Calibration of (Global-pose aided) VIO under Straight Line Motion

Junlin Song, Antoine Richard, Miguel Olivares-Mendez

Comments Accepted by IROS 2025

CRESSim-MPM: A Material Point Method Library for Surgical Soft Body Simulation with Cutting and Suturing

Yafei Ou, Mahdi Tavakoli

机构 * Department of Electrical and Computer Engineering, University of Alberta（电气与计算机工程系，阿尔伯塔大学） ； Department of Biomedical Engineering, University of Alberta（生物医学工程系，阿尔伯塔大学） 纠错

Comments 8 pages, 13 figures, accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

What Really Matters for Robust Multi-Sensor HD Map Construction?

Xiaoshuai Hao, Yuting Zhao, Yuheng Ji, Luanyuan Dai, Peng Hao, Dingzhe Li, Shuai Cheng, Rong Yin

机构 * Beijing Academy of Artificial Intelligence（北京人工智能研究院） ； Institute of Automation, Chinese Academy of Science（中国科学院自动化研究所） ； Nanjing University of Science and Technology（南京理工大学） ； Samsung R&D Institute China–Beijing（三星中国北京研发中心） ； China North Artificial Intelligent & Innovation Research Institute（中国北方人工智能与创新研究院） ； Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所） 纠错

Comments Accepted by IROS 2025

Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments

Christopher D. Hsu, Pratik Chaudhari

机构 * DEVCOM Army Research Laboratory（DEVCOM陆军研究实验室） ； Department of Electrical & Systems Engineering and General Robotics, Automation, Sensing and Perception (GRASP) Laboratory at the University of Pennsylvania（电气与系统工程系及通用机器人、自动化、传感和感知（GRASP）实验室，宾夕法尼亚大学） 纠错

Comments 9 pages, 10 figures, 2 tables, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

Diffusion Policies for Risk-Averse Behavior Modeling in Offline Reinforcement Learning

Xiaocong Chen, Siyu Wang, Tong Yu, Lina Yao

机构 * Data 61, CSIRO, Australia（数据61，CSIRO，澳大利亚） ； School of Computing, Macquarie University, Australia（计算学院，麦考瑞大学，澳大利亚） ； Adobe Research, USA（Adobe研究，美国） ； School of Computer Science and Engineering, University of New South Wales, Australia（计算机科学与工程学院，新南威尔士大学，澳大利亚） 纠错

Comments IROS 2025

RaGNNarok: A Light-Weight Graph Neural Network for Enhancing Radar Point Clouds on Unmanned Ground Vehicles

David Hunt, Shaocheng Luo, Spencer Hallyburton, Shafii Nillongo, Yi Li, Tingjun Chen, Miroslav Pajic

机构 * Department of Electrical and Computer Engineering, Duke University（电气与计算机工程系，杜克大学） 纠错

Comments 8 pages, accepted by IROS 2025

DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing

Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki, Kei Okada, Masayuki Inaba

机构 * Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo（机械信息学系，信息科学与技术研究生院，东京大学） 纠错

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

Journal ref 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 2219-2226

A Low-Cost, High-Speed, and Robust Bin Picking System for Factory Automation Enabled by a Non-Stop, Multi-View, and Active Vision Scheme

Xingdou Fu, Lin Miao, Yasuhiro Ohnishi, Yuki Hasegawa, Masaki Suwa

Journal ref Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS) 2024, pp. 11566-11573

Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes

Siyu Chen, Ting Han, Changshe Zhang, Weiquan Liu, Jinhe Su, Zongyue Wang, Guorong Cai

机构 * Jimei University（集美大学） ； Sun Yat-sen University（中山大学） ； Xidian University（西安电子科技大学） 纠错

Comments Accepted by IROS 2025

PEACE: Prompt Engineering Automation for CLIPSeg Enhancement for Safe-Landing Zone Segmentation

Haechan Mark Bong, Rongge Zhang, Antoine Robillard, Giovanni Beltrame

机构 * Department of Computer Engineering and Software Engineering, Polytechnique Montréal（多项技术蒙特利尔大学计算机工程与软件工程系） ； MILA（蒙特利尔人工智能实验室） 纠错

Comments arXiv admin note: text overlap with arXiv:2308.11471

Journal ref IROS 2025

Lightweight Temporal Transformer Decomposition for Federated Autonomous Driving

Tuong Do, Binh X. Nguyen, Quang D. Tran, Erman Tjiputra, Te-Chuan Chiu, Anh Nguyen

机构 * AIOZ ； Department of Computer Science, NTHU（计算机科学系） ； Department of Computer Science, University of Liverpool（计算机科学系） 纠错

Comments Accepted in IROS 2025

MGPRL: Distributed Multi-Gaussian Processes for Wi-Fi-based Multi-Robot Relative Localization in Large Indoor Environments

Sai Krishna Ghanta, Ramviyas Parasuraman

机构 * School of Computing, University of Georgia（计算机学院，佐治亚大学） 纠错

Comments Accepted to IROS 2025

Space-Time Graphs of Convex Sets for Multi-Robot Motion Planning

Jingtao Tang, Zining Mao, Lufan Yang, Hang Ma

机构 * School of Computing Science, Simon Fraser University（计算科学学院，西蒙·弗雷泽大学） 纠错

Comments IROS'25 (to appear)

Interpretable Interaction Modeling for Trajectory Prediction via Agent Selection and Physical Coefficient

Shiji Huang, Lei Ye, Min Chen, Wenhai Luo, Dihong Wang, Chenqi Xu, Deyuan Liang

机构 * College of Computer Science and Technology, Zhejiang University of Technology（计算机科学与技术学院，浙江工业大学） 纠错

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