IEEE RA-L

MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments

Chen Cai, Ernesto Dickel Saraiva, Ya-jun Pan, Steven Liu

机构 * Department of Electrical and Computer Engineering, University of Kaiserslautern Landau（电气与计算机工程系，凯撒斯劳滕大学） ； Department of Mechanical Engineering, Dalhousie University（机械工程系，达尔豪斯大学） 纠错

Comments 10 pages, 5 figures, submitted to IEEE Robotics and Automation Letters (RA-L)

Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty

Yan Dong, Enci Xu, Shaoqiang Qiu, Wenxuan Li, Yang Liu, Bin Han

机构 * State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学） 纠错

Comments 8 pages, 10 figures, 5 tables. Accepted by Robotics and Automation Letters at June 30

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots

Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti, Silvio Traversaro, Daniele Pucci

机构 * Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia（人工智能与机械智能，意大利技术研究所） 纠错

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 6, June 2025)

SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generation

Benjamin Stoler, Ingrid Navarro, Jonathan Francis, Jean Oh

机构 * School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学系） 纠错

Comments Accepted to the IEEE Robotics and Automation Letters (RA-L) on June 28, 2025

Customize Harmonic Potential Fields via Hybrid Optimization over Homotopic Paths

Shuaikang Wang, Tiecheng Guo, Meng Guo

机构 * College of Engineering, Peking University（北京大学工程学院） 纠错

Comments accepted to IEEE RA-L

SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Clouds

Matthias Zeller, Daniel Casado Herraez, Bengisu Ayan, Jens Behley, Michael Heidingsfeld, Cyrill Stachniss

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

Multi-Task Multi-Agent Reinforcement Learning via Skill Graphs

Guobin Zhu, Rui Zhou, Wenkang Ji, Hongyin Zhang, Donglin Wang, Shiyu Zhao

机构 * School of Automation Science and Electrical Engineering, Beihang University（北京航空航天大学自动化科学与电气工程学院） ； WINDY Lab, Department of Artificial Intelligence, Westlake University（西湖大学人工智能学院） ； MiLAB Lab, Department of Artificial Intelligence, Westlake University（西湖大学人工智能学院） 纠错

Comments Conditionally accepted by IEEE Robotics and Automation Letters

Stable Tracking-in-the-Loop Control of Cable-Driven Surgical Manipulators under Erroneous Kinematic Chains

Neelay Joglekar, Fei Liu, Florian Richter, Michael C. Yip

机构 * Department of Electrical and Computer Engineering, University of California San Diego（电子工程与计算机科学系，加州大学圣地亚哥分校） ； Department of Electrical Engineering and Computer Science, University of Tennessee Knoxville（电子工程与计算机科学系，田纳西大学基洛纳分校） 纠错

Comments 8 pages, 5 figures, Submitted to RAL

Online Planning for Multi-UAV Pursuit-Evasion in Unknown Environments Using Deep Reinforcement Learning

Jiayu Chen, Chao Yu, Guosheng Li, Wenhao Tang, Shilong Ji, Xinyi Yang, Botian Xu, Huazhong Yang, Yu Wang

机构 * Tsinghua University（清华大学） ； Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院） 纠错

Comments Published in IEEE Robotics and Automation Letters 2025

INoD: Injected Noise Discriminator for Self-Supervised Representation Learning in Agricultural Fields

Julia Hindel, Nikhil Gosala, Kevin Bregler, Abhinav Valada

Comments 11 pages, 10 figures

Journal ref IEEE Robotics and Automation Letters (Volume: 8, Issue: 9, September 2023)

PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks

Kento Kawaharazuka, Takahiro Hattori, Keita Yoneda, Kei Okada

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 Accepted at IEEE Robotics and Automation Letters, Website - https://haraduka.github.io/pinn-body-schema/

SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictions

Sepehr Samavi, Anthony Lem, Fumiaki Sato, Sirui Chen, Qiao Gu, Keijiro Yano, Angela P. Schoellig, Florian Shkurti

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

Journal ref IEEE Robotics and Automation Letters 2025

A Human-Centered Dynamic Scheduling Architecture for Collaborative Application

Andrea Pupa, Wietse Van Dijk, Cristian Secchi

Comments To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China

A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration

Andrea Pupa, Mohammad Arrfou, Gildo Andreoni, Cristian Secchi

Comments To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China

Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information

Taku Okawara, Kenji Koide, Aoki Takanose, Shuji Oishi, Masashi Yokozuka, Kentaro Uno, Kazuya Yoshida

机构 * Space Robotics Lab., Dept. Aerospace Eng., Tohoku University, Japan（东京东京大学航空航天工程系空间机器人实验室，日本） ； Dept. of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Japan（日本国家先进工业科学和技术研究院信息科技与人因系） 纠错

Comments Robotics and Automation Letters, 2025

SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving

Muleilan Pei, Jiayao Shan, Peiliang Li, Jieqi Shi, Jing Huo, Yang Gao, Shaojie Shen

机构 * Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学） ； Zhuoyu Technology（卓予科技） ； State Key Laboratory for Novel Software Technology, Nanjing University（新型软件技术国家重点实验室，南京大学） 纠错

Comments Accepted by IEEE Robotics and Automation Letters

Cooperative Circumnavigation for Multi-Quadrotor Systems via Onboard Sensing

Xueming Liu, Lin Li, Xiang Zhou, Qingrui Zhang, Tianjiang Hu

机构 * School of Aeronautics and Astronautics, Sun Yat-sen University (Shenzhen Campus)（航空宇航学院，中山大学（深圳校区）） 纠错

Comments 8 Pages, 7 figures. Accepted by RA-L

EvDetMAV: Generalized MAV Detection from Moving Event Cameras

Yin Zhang, Zian Ning, Xiaoyu Zhang, Shiliang Guo, Peidong Liu, Shiyu Zhao

机构 * College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院） ； WINDY Lab, Department of Artificial Intelligence, Westlake University（西湖大学人工智能系WINDY实验室） ； CVGL Lab（CVGL实验室） ； The Chinese University of Hong Kong（香港中文大学） 纠错

Comments 8 pages, 7 figures. This paper is accepted by IEEE Robotics and Automation Letters

Journal ref IEEE Robotics and Automation Letters, 2025

BVMatch: Lidar-based Place Recognition Using Bird's-eye View Images

Lun Luo, Si-Yuan Cao, Bin Han, Hui-Liang Shen, Junwei Li

Journal ref in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 6076-6083, July 2021

EASE: Embodied Active Event Perception via Self-Supervised Energy Minimization

Zhou Chen, Sanjoy Kundu, Harsimran S. Baweja, Sathyanarayanan N. Aakur

机构 * CSSE Department, Auburn University（计算机科学与工程系，阿伯杜大学） 纠错

Comments Accepted to IEEE Robotics and Automation Letters, 2025

Object State Estimation Through Robotic Active Interaction for Biological Autonomous Drilling

Xiaofeng Lin, Enduo Zhao, Saúl Alexis Heredia Pérez, Kanako Harada

机构 * Graduate Schools of Medicine & Engineering, the University of Tokyo（医学与工程研究生学校，东京大学） ； Department of Mechanical Engineering, the University of Tokyo（机械工程系，东京大学） ； Center for Disease Biology and Integrative Medicine, Graduate School of Medicine, The University of Tokyo（疾病生物学与整合医学中心，医学研究生学校，东京大学） 纠错

Comments 6 pages, 5 figures, accepted by RA-L. Please refer to the DOI to access the accepted version

Journal ref Lin, X. (2025) "Object State Estimation Through Robotic Active Interaction for Biological Autonomous Drilling." IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 7683-7690

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability

Javier Borquez, Luke Raus, Yusuf Umut Ciftci, Somil Bansal

机构 * University of Santiago de Chile（智利圣地亚哥大学） ； University of Southern California（南加州大学） ； Olin College of Engineering（奥林工程学院） ； Stanford University（斯坦福大学） 纠错

Comments 8 pages, 7 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 7, July 2025)

TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality

Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu, Shimpei Masuda, Marwan Hamze, Tomoya Sasaki, Mitsuharu Morisawa, Eiichi Yoshida

机构 * CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)（CNRS-AIST联合机器人实验室、IRL和国家先进工业科学与技术研究院） ； Tokyo University of Science（东京科学大学） ； University of Tsukuba（茨口大学） 纠错

Journal ref IEEE Robotics and Automation Letters 2025

Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion

Zhi Zheng, Xiangyu Xu, Jin Wang, Yikai Chen, Jingyang Huang, Ruixin Wu, Huan Yu, Guodong Lu

机构 * State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University（流体动力与机械系统国家重点实验室，机械工程学院，浙江大学） ； Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems, Zhejiang University（工业大数据与机器人智能系统浙江省重点实验室，浙江大学） ； Robotics Research Center of Yuyao City（余姚市机器人研究室） ； College of Electrical Engineering, Zhejiang University（电气工程学院，浙江大学） ； College of Control Science and Engineering, Zhejiang University（控制科学与工程学院，浙江大学） 纠错

Comments 8 pages, 11 figures, accepted by IEEE Robotics and Automation Letters (RAL)

Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers

Jared Lawson, Rohan Chitale, Nabil Simaan

机构 * Vanderbilt University（范德比大学） ； Vanderbilt University Medical Center（范德比大学医学中心） 纠错

Comments 8 pages, 5 figures, accepted in Robotics and Automation Letters

Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration

Aran Mohammad, Jan Piosik, Dustin Lehmann, Thomas Seel, Moritz Schappler

机构 * Institute of Mechatronic Systems, Leibniz University Hannover（机电系统研究所，汉诺威莱布尼茨大学） 纠错

Comments Preprint of a publication accepted for IEEE Robotics and Automation Letters

ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting

Yuetao Li, Zijia Kuang, Ting Li, Qun Hao, Zike Yan, Guyue Zhou, Shaohui Zhang

机构 * School of Optics and Photonics, Beijing Institute of Technology（光学与光子学学院，北京理工大学） ； Institute for AI Industry Research (AIR), Tsinghua University（人工智能产业研究院（AIR），清华大学） ； School of Vehicle and Mobility, Tsinghua University（车辆与移动学院，清华大学） 纠错

Comments Accepted to IEEE RA-L. Code: https://github.com/Li-Yuetao/ActiveSplat, Project: https://li-yuetao.github.io/ActiveSplat/

ProVox: Personalization and Proactive Planning for Situated Human-Robot Collaboration

Jennifer Grannen, Siddharth Karamcheti, Blake Wulfe, Dorsa Sadigh

Comments Accepted by IEEE Robotics and Automation Letters 2025

Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments

Hongrui Zheng, Zhijun Zhuang, Stephanie Wu, Shuo Yang, Rahul Mangharam

机构 * Department of Electrical and Systems Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学） ； Department of Mathematics, University of Pennsylvania（数学系，宾夕法尼亚大学） 纠错

Comments Submitted to RA-L

An $O(n$)-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators using Spatial Representation of Twists

Andreas Mueller

机构 * Institute of Robotics, Johannes Kepler University Linz（机器人研究所，约翰·凯撒大学林茨） 纠错

Journal ref IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 6, NO. 2, APRIL 2021