IROS

Building Knowledge from Interactions: An LLM-Based Architecture for Adaptive Tutoring and Social Reasoning

Luca Garello, Giulia Belgiovine, Gabriele Russo, Francesco Rea, Alessandra Sciutti

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

Temporal and Semantic Evaluation Metrics for Foundation Models in Post-Hoc Analysis of Robotic Sub-tasks

Jonathan Salfity, Selma Wanna, Minkyu Choi, Mitch Pryor

Comments 8 pages, 3 figures. IROS 2024 Submission

Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning

Yifei Yang, Lu Chen, Zherui Song, Yenan Chen, Wentao Sun, Zhongxiang Zhou, Rong Xiong, Yue Wang

Comments 8 pages, 5 figures, submitted to IROS 2025, project page: https://yifei-y.github.io/project-pages/Pseudo-Tactile-Feedback/

Controllable Latent Diffusion for Traffic Simulation

Yizhuo Xiao, Mustafa Suphi Erden, Cheng Wang

Comments 7 pages,2 figures, submitted to IROS conference

U-BEV: Height-aware Bird's-Eye-View Segmentation and Neural Map-based Relocalization

Andrea Boscolo Camiletto, Alfredo Bochicchio, Alexander Liniger, Dengxin Dai, Abel Gawel

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

MATT-GS: Masked Attention-based 3DGS for Robot Perception and Object Detection

Jee Won Lee, Hansol Lim, SooYeun Yang, Jongseong Brad Choi

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

From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction

Ayberk Acar, Mariana Smith, Lidia Al-Zogbi, Tanner Watts, Fangjie Li, Hao Li, Nural Yilmaz, Paul Maria Scheikl, Jesse F. d'Almeida, Susheela Sharma, Lauren Branscombe, Tayfun Efe Ertop, Robert J. Webster, Ipek Oguz, Alan Kuntz, Axel Krieger, Jie Ying Wu

Comments 7 Pages, 8 Figures, 1 Table. This work has been submitted IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) for possible publication

CONTHER: Human-Like Contextual Robot Learning via Hindsight Experience Replay and Transformers without Expert Demonstrations

Maria Makarova, Qian Liu, Dzmitry Tsetserukou

Comments Submitted to IROS 2025

Foam: A Tool for Spherical Approximation of Robot Geometry

Sai Coumar, Gilbert Chang, Nihar Kodkani, Zachary Kingston

Comments 6 pages, 6 figures, 2 tables. Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems 2025. Code available at https://github.com/CoMMALab/foam

Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments

Taekyung Kim, Dimitra Panagou

Comments Accepted to IEEE Robotics and Automation Letters (to be presented at IROS 2025). Our project page can be found at: https://www.taekyung.me/visibility-rrt

Leveraging Neural Radiance Field in Descriptor Synthesis for Keypoints Scene Coordinate Regression

Huy-Hoang Bui, Bach-Thuan Bui, Dinh-Tuan Tran, Joo-Ho Lee

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

Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach

Erfan Shahriari, Kim Kirstin Peper, Matej Hoffmann, Sami Haddadin

Comments 8 pages, 10 figures

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

NF-SLAM: Effective, Normalizing Flow-supported Neural Field representations for object-level visual SLAM in automotive applications

Li Cui, Yang Ding, Richard Hartley, Zirui Xie, Laurent Kneip, Zhenghua Yu

Comments 9 pages, 5 figures, IROS 2024

Perceptual Motor Learning with Active Inference Framework for Robust Lateral Control

Elahe Delavari, John Moore, Junho Hong, Jaerock Kwon

Comments This work has been submitted to IROS 2025 and is currently under review. Supersedes arXiv:2407.07684

Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer

Apan Dastider, Hao Fang, Mingjie Lin

Comments Under Review in IROS 2025

Leveraging Symmetry in RL-based Legged Locomotion Control

Zhi Su, Xiaoyu Huang, Daniel Ordoñez-Apraez, Yunfei Li, Zhongyu Li, Qiayuan Liao, Giulio Turrisi, Massimiliano Pontil, Claudio Semini, Yi Wu, Koushil Sreenath

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6899-6906

HELM: Human-Preferred Exploration with Language Models

Shuhao Liao, Xuxin Lv, Yuhong Cao, Jeric Lew, Wenjun Wu, Guillaume Sartoretti

Comments submitted to IROS'25

Parametric Value Approximation for General-sum Differential Games with State Constraints

Lei Zhang, Mukesh Ghimire, Wenlong Zhang, Zhe Xu, Yi Ren

Comments Submitted to IROS 2025

Tactile-based force estimation for interaction control with robot fingers

Elie Chelly, Andrea Cherubini, Philippe Fraisse, Faiz Ben Amar, Mahdi Khoramshahi

Comments 8 pages, 5 figures, submitted to IROS 2025

Imagine-2-Drive: Leveraging High-Fidelity World Models via Multi-Modal Diffusion Policies

Anant Garg, K Madhava Krishna

Comments Submitted to IROS 2025

InDRiVE: Intrinsic Disagreement based Reinforcement for Vehicle Exploration through Curiosity Driven Generalized World Model

Feeza Khan Khanzada, Jaerock Kwon

Comments This work has been submitted to IROS 2025 and is currently under review

SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting

Linqi Yang, Xiongwei Zhao, Qihao Sun, Ke Wang, Ao Chen, Peng Kang

Comments Submitted to IROS 2025

Fake It To Make It: Virtual Multiviews to Enhance Monocular Indoor Semantic Scene Completion

Anith Selvakumar, Manasa Bharadwaj

Comments Submitted to IROS 2025

Budget-optimal multi-robot layout design for box sorting

Peiyu Zeng, Yijiang Huang, Simon Huber, Stelian Coros

Comments 8 pages, submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control

Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol

Comments The paper has 8 pages and 9 figures

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11139-11146

Task-Driven Manipulation with Reconfigurable Parallel Robots

Daniel Morton, Mark Cutkosky, Marco Pavone

Journal ref IEEE/RSJ International Conference on Intelligent Robots (IROS), Abu Dhabi, 2024

OPG-Policy: Occluded Push-Grasp Policy Learning with Amodal Segmentation

Hao Ding, Yiming Zeng, Zhaoliang Wan, Hui Cheng

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

Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration

Lukas Rustler, Matej Misar, Matej Hoffmann

Comments Submitted to IROS 2025

meSch: Multi-Agent Energy-Aware Scheduling for Task Persistence

Kaleb Ben Naveed, An Dang, Rahul Kumar, Dimitra Panagou

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

RaceVLA: VLA-based Racing Drone Navigation with Human-like Behaviour

Valerii Serpiva, Artem Lykov, Artyom Myshlyaev, Muhammad Haris Khan, Ali Alridha Abdulkarim, Oleg Sautenkov, Dzmitry Tsetserukou

Comments 6 pages, 6 figures. Submitted to IROS 2025