IEEE RA-L

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions

Kiwan Wong, Maximilian Stölzle, Wei Xiao, Cosimo Della Santina, Daniela Rus, Gioele Zardini

机构 * Laboratory for Information and Decision Systems, Massachusetts Institute of Technology（信息与决策系统实验室，麻省理工学院） ； Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） ； Cognitive Robotics, Delft University of Technology（认知机器人学，代尔夫特理工大学） ； Robotics Engineering Department, Worcester Polytechnic Institute（机器人工程系，沃斯特理工学院） 纠错

Comments 8 pages

Journal ref K. Wong, M. Stölzle, W. Xiao, C. D. Santina, D. Rus and G. Zardini, "Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions," in IEEE Robotics and Automation Letters

Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization

Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu, Sheng Cheng, Naira Hovakimyan, Debdipta Goswami

Comments 6 pages, 3 figures, accepted for publication at IEEE Robotics and Automation Letters

Real-Time Adaptive Motion Planning via Point Cloud-Guided, Energy-Based Diffusion and Potential Fields

Wondmgezahu Teshome, Kian Behzad, Octavia Camps, Michael Everett, Milad Siami, Mario Sznaier

机构 * ECE Department, Northeastern University（东北大学电子与计算机工程系） 纠错

Comments Accepted to IEEE RA-L 2025

Journal ref IEEE Robotics and Automation Letters 10 (2025) 9160-9167

MTIL: Encoding Full History with Mamba for Temporal Imitation Learning

Yulin Zhou, Yuankai Lin, Fanzhe Peng, Jiahui Chen, Kaiji Huang, Hua Yang, Zhouping Yin

机构 * School of Mechanical Science and Engineering, Huazhong University of Science and Technology（机械科学与工程学院，华中科技大学） 纠错

Comments Published in IEEE Robotics and Automation Letters (RA-L), 2025. 8 pages, 5 figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 11761-11767, Nov. 2025

PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization

Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao, Hae-Won Park, Sehoon Ha

机构 * Georgia Institute of Technology（佐治亚理工学院） ； Korea Advanced Institute of Science and Technology（韩国科学技术院） 纠错

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 11, November 2025)

A Novel Kinesthetic Haptic Feedback Device Driven by Soft Electrohydraulic Actuators

Dannuo Li, Quan Xiong, Xuanyi Zhou, Raye Chen-Hua Yeow

Comments 8 pages, 7 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 10, October 2025)

Supervised Representation Learning towards Generalizable Assembly State Recognition

Tim J. Schoonbeek, Goutham Balachandran, Hans Onvlee, Tim Houben, Shao-Hsuan Hung, Jacek Kustra, Peter H. N. de With, Fons van der Sommen

机构 * Department of Electrical Engineering, Eindhoven University of Technology（电子工程系，埃因霍温理工大学） ； ASML Research（ASML研究） 纠错

Comments 8 pages, 8 figures

Journal ref IEEE Robotics and Automation Letters 9 (11) 9915-9922 (2024)

Smooth Model Predictive Path Integral Control without Smoothing

Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee

机构 * Ground Technology Research Institute, Agency for Defense Development（国防发展机构地面技术研究所） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (and IROS 2022). Project page: https://www.taekyung.me/smppi

MLLM-Fabric: Multimodal Large Language Model-Driven Robotic Framework for Fabric Sorting and Selection

Liman Wang, Hanyang Zhong, Tianyuan Wang, Shan Luo, Jihong Zhu

机构 * School of Physics, Engineering and Technology, University of York（物理、工程与技术学院，约克大学） ； Department of Engineering, King’s College London（工程学院，伦敦国王学院） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RAL)

SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography

Martin Schuck, Dinushka Orrin Dahanaggamaarachchi, Ben Sprenger, Vedant Vyas, Siqi Zhou, Angela P. Schoellig

机构 * Learning Systems and Robotics Lab（学习系统与机器人实验室） ； Munich Institute of Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所） ； Technical University of Munich（慕尼黑技术大学） 纠错

Comments Accepted at RA-L 2025

SHeRLoc: Synchronized Heterogeneous Radar Place Recognition for Cross-Modal Localization

Hanjun Kim, Minwoo Jung, Wooseong Yang, Ayoung Kim

Comments 9 pages, 9 figures, accepted to RA-L

Safe Autonomous Environmental Contact for Soft Robots using Control Barrier Functions

Akua K. Dickson, Juan C. Pacheco Garcia, Meredith L. Anderson, Ran Jing, Sarah Alizadeh-Shabdiz, Audrey X. Wang, Charles DeLorey, Zach J. Patterson, Andrew P. Sabelhaus

机构 * Division of Systems Engineering, Boston University（系统工程系，波士顿大学） ； Department of Mechanical Engineering, Boston University（机械工程系，波士顿大学） ； School of Electronic and Electrical Engineering, University of Leeds（电子与电气工程学院，利兹大学） ； Department of Mechanical and Aerospace Engineering, Case Western Reserve University（机械与航空航天工程系，凯斯西储大学） 纠错

Comments 8 pages, 9 figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 11283-11290, Nov. 2025

Anticipating Degradation: A Predictive Approach to Fault Tolerance in Robot Swarms

James O'Keeffe

机构 * Department of Computer Science, University of York（约克大学计算机科学系） 纠错

Journal ref IEEE Robotics and Automation Letters, vol. 10, issue. 9, pp. 8954 - 8961, 2025

Open-Vocabulary Online Semantic Mapping for SLAM

Tomas Berriel Martins, Martin R. Oswald, Javier Civera

机构 * University of Zaragoza（萨拉戈萨大学） ； University of Amsterdam（阿姆斯特丹大学） 纠错

Comments Accepted for IEEE Robotics and Automation Letters

Image-Based Visual Servoing for Enhanced Cooperation of Dual-Arm Manipulation

Zizhe Zhang, Yuan Yang, Wenqiang Zuo, Guangming Song, Aiguo Song, Yang Shi

机构 * Department of Electrical and System Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学） ； School of Instrument Science and Engineering, Southeast University（仪器科学与工程学院，东南大学） ； School of Materials Science and Engineering, Southeast University（材料科学与工程学院，东南大学） ； Department of Mechanical Engineering, University of Victoria（机械工程系，维多利亚大学） 纠错

Comments 8 pages, 7 figures. Project website: https://zizhe.io/ral-ibvs-enhanced/. This work has been accepted to the IEEE Robotics and Automation Letters in Feb 2025

Journal ref IEEE Robotics and Automation Letters 10 (2025) 3374-3381

TCB-VIO: Tightly-Coupled Focal-Plane Binary-Enhanced Visual Inertial Odometry

Matthew Lisondra, Junseo Kim, Glenn Takashi Shimoda, Kourosh Zareinia, Sajad Saeedi

机构 * University of Toronto（多伦多大学） ； Delft University of Technology（代尔夫特理工大学） ； Toronto Metropolitan University（多伦多 Metropolitan 大学） ； University College London（伦敦大学学院） 纠错

Comments Accepted at IEEE Robotics and Automation Letters

Trajectory prediction for heterogeneous agents: A performance analysis on small and imbalanced datasets

Tiago Rodrigues de Almeida, Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Johannes A. Stork, Martin Magnusson, Achim J. Lilienthal

Comments This paper has been accepted to the IEEE Robotics and Automation Letters journal and presented at the 40th Anniversary of the IEEE International Conference on Robotics and Automation, which was held in Rotterdam, Netherlands on 23-26 September, 2024

Journal ref IEEE Robotics and Automation Letters ( Volume: 9, Issue: 7, July 2024)

DriveSceneGen: Generating Diverse and Realistic Driving Scenarios from Scratch

Shuo Sun, Zekai Gu, Tianchen Sun, Jiawei Sun, Chengran Yuan, Yuhang Han, Dongen Li, Marcelo H. Ang

机构 * Advanced Robotics Centre, National University of Singapore（新加坡国立大学先进机器人中心） 纠错

Comments 8 pages, 5 figures, 2 tables

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 8, pp. 7007-7014, 2024

Long-Term Human Motion Prediction Using Spatio-Temporal Maps of Dynamics

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Achim J. Lilienthal, Martin Magnusson

机构 * Centre for Applied Autonomous Sensor Systems (AASS), Örebro University（应用自主传感器系统中心（AASS），奥雷布罗大学） ； Technical University of Munich（慕尼黑技术大学） ； department of electrical engineering and automation, school of electrical engineering, Aalto University（电气工程与自动化系，艾尔沃斯大学） 纠错

Comments IEEE Robotics and Automation Letters

S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAM

Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, Holger Voos

机构 * Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg（自动化与机器人研究组，安全、可靠性与信任跨学科研究中心，卢森堡大学） ； Faculty of Science, Technology and Medicine, University of Luxembourg（科学、技术与医学学院，卢森堡大学） ； I3A, Universidad de Zaragoza（I3A，阿拉维萨大学） 纠错

Comments 8 pages, 9 figures, Accepted in IEEE RA-L September 2025

LRFusionPR: A Polar BEV-Based LiDAR-Radar Fusion Network for Place Recognition

Zhangshuo Qi, Luqi Cheng, Zijie Zhou, Guangming Xiong

机构 * Beijing Institute of Technology（北京理工大学） 纠错

Comments Accepted by IEEE Robotics and Automation Letters (RAL) 2025

Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similarity

Tu-Hoa Pham, Philip Bailey, Daniel Posada, Georgios Georgakis, Jorge Enriquez, Surya Suresh, Marco Dolci, Philip Twu

机构 * Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室、加州理工学院） ； Blue Origin（蓝色起源） ； Amazon（亚马逊） ； Ohio State University（俄亥俄州立大学） 纠错

Comments To appear in IEEE Robotics and Automation Letters

LLM-Handover:Exploiting LLMs for Task-Oriented Robot-Human Handovers

Andreea Tulbure, Rene Zurbruegg, Timm Grigat, Marco Hutter

机构 * Robotics System Lab, ETH Zürich（机器人系统实验室，苏黎世联邦理工学院） 纠错

Comments Accepted to IEEE Robotics and Automation Letters (RA-L)

STHN: Deep Homography Estimation for UAV Thermal Geo-localization with Satellite Imagery

Jiuhong Xiao, Ning Zhang, Daniel Tortei, Giuseppe Loianno

机构 * New York University（纽约大学） ； Autonomous Robotics Research Center-Technology Innovation Institute（自主机器人研究中心-技术创新研究所） 纠错

Comments 8 pages, 7 figures. Accepted for IEEE Robotics and Automation Letters

Coordinated appendages accumulate more energy to self-right on the ground

Qihan Xuan, Chen Li

Journal ref IEEE Robotics and Automation Letters, 5 (4), 6137-6144 (2020)

Semantic Exploration and Dense Mapping of Complex Environments using Ground Robot with Panoramic LiDAR-Camera Fusion

Xiaoyang Zhan, Shixin Zhou, Qianqian Yang, Yixuan Zhao, Hao Liu, Srinivas Chowdary Ramineni, Kenji Shimada

机构 * Department of Mechanical Engineering, Carnegie Mellon University（机械工程系，卡内基梅隆大学） 纠错

Comments Accepted by IEEE Robotics and Automation Letters

FR-Net: Learning Robust Quadrupedal Fall Recovery on Challenging Terrains through Mass-Contact Prediction

Yidan Lu, Yinzhao Dong, Jiahui Zhang, Ji Ma, Peng Lu

机构 * Adaptive Robotic Controls Lab (ArcLab)（自适应机器人控制实验室） ； Department of Mechanical Engineering（机械工程系） ； The University of Hong Kong（香港大学） 纠错

Comments Published in IEEE Robotics and Automation Letters, Vol. 10, No. 7, pp. 6632-6639, 2025

Journal ref IEEE Robotics and Automation Letters 10 (2025) 6632-6639

HHI-Assist: A Dataset and Benchmark of Human-Human Interaction in Physical Assistance Scenario

Saeed Saadatnejad, Reyhaneh Hosseininejad, Jose Barreiros, Katherine M. Tsui, Alexandre Alahi

Comments Accepted to RA-L 2025

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 9, pp. 8746-8753, Sept. 2025

B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu

机构 * Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院） ； Beijing Key Laboratory of Behavior and Mental Health, Peking University（北京大学行为与心理健康北京重点实验室） ； LeapZenith AI Research（LeapZenith人工智能研究） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

Comments accepted for publication in the IEEE Robotics and Automation Letters (RA-L)

MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery

Wanlin Li, Zihang Zhao, Leiyao Cui, Weiyi Zhang, Hangxin Liu, Li-An Li, Yixin Zhu

机构 * State Key Laboratory of General Artificial Intelligence（国家关键人工智能实验室） ； Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院） ； Institute for Artificial Intelligence（人工智能学院） ； Shenyang Institute of Automation（沈阳自动化研究所） ； Chinese Academy of Sciences（中国科学院） ； PLA General Hospital（中国人民解放军总医院） 纠错

Comments accepted for publication in the IEEE Robotics and Automation Letters (RA-L)