IEEE RA-L

Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards

Lukas Brunke, Yanni Zhang, Ralf Römer, Jack Naimer, Nikola Staykov, Siqi Zhou, Angela P. Schoellig

Comments 9 pages, 6 figures

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4810-4817, May 2025

CPG-Based Manipulation with Multi-Module Origami Robot Surface

Yuhao Jiang, Serge El Asmar, Ziqiao Wang, Serhat Demirtas, Jamie Paik

Comments This manuscript is under revision for possible publication in the IEEE Robotics and Automation Letters (RA-L). Copyright may be transferred to IEEE if the manuscript is accepted for publication, without further notice. Supplementary video: https://youtu.be/AEmWFmHhPOA. Code available: https://doi.org/10.5281/zenodo.14726303

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 5, May 2025)

ActiveGS: Active Scene Reconstruction Using Gaussian Splatting

Liren Jin, Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss, Marija Popović

Comments Accepted to IEEE Robotics and Automation Letters

Stereo-LiDAR Fusion by Semi-Global Matching With Discrete Disparity-Matching Cost and Semidensification

Yasuhiro Yao, Ryoichi Ishikawa, Takeshi Oishi

Comments 8 pages, 8 figures, 7 tables

Journal ref in IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4548-4555, May 2025

DexTOG: Learning Task-Oriented Dexterous Grasp with Language

Jieyi Zhang, Wenqiang Xu, Zhenjun Yu, Pengfei Xie, Tutian Tang, Cewu Lu

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 995-1002, Feb. 2025

Functional Eigen-Grasping Using Approach Heatmaps

Malek Aburub, Kazuki Higashi, Weiwei Wan, Kensuke Harada

Comments 8 pages, 7 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 4, April 2025) Page(s): 3771 - 3778

Joint-repositionable Inner-wireless Planar Snake Robot

Ayato Kanada, Ryo Takahashi, Keito Hayashi, Ryusuke Hosaka, Wakako Yukita, Yasutaka Nakashima, Tomoyuki Yokota, Takao Someya, Mitsuhiro Kamezaki, Yoshihiro Kawahara, Motoji Yamamoto

Journal ref IEEE RA-L (2025)

SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment

Xingyu Ji, Shenghai Yuan, Jianping Li, Pengyu Yin, Haozhi Cao, Lihua Xie

Comments This work has been accepted for publication in IEEE Robotics and Automation Letters (RAL). Personal use is permitted. For all other uses, permission from IEEE is required

Journal ref IEEE Robotics and Automation Letters ( Volume: 9, Issue: 12, Page(s): 10922 - 10929, December 2024)

ForestVO: Enhancing Visual Odometry in Forest Environments through ForestGlue

Thomas Pritchard, Saifullah Ijaz, Ronald Clark, Basaran Bahadir Kocer

Comments Accepted to the IEEE Robotics and Automation Letters

EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios

Shuang Geng, Zelin Ning, Fu Zhang, Boyu Zhou

Comments RAL 2025 accepted. Open-sourced at https://github.com/SYSU-STAR/EPIC

Robust LiDAR-Camera Calibration with 2D Gaussian Splatting

Shuyi Zhou, Shuxiang Xie, Ryoichi Ishikawa, Takeshi Oishi

Comments Accepted in IEEE Robotics and Automation Letters. Code available at: https://github.com/ShuyiZhou495/RobustCalibration

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 5, pp. 4674-4681, May 2025

Interpreting and Improving Optimal Control Problems with Directional Corrections

Trevor Barron, Xiaojing Zhang

Comments Paper accepted for publication at IEEE Robotics and Automation Letters (RA-L)

Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters

Adam Heins, Angela P. Schoellig

Comments 8 pages, 7 figures. Published in IEEE Robotics and Automation Letters

Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks

Heng Zhang, Gokhan Solak, Arash Ajoudani

Comments submitted to IEEE RA-L

UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation

Yehui Shen, Lei Zhang, Qingqiu Li, Xiongwei Zhao, Yue Wang, Huimin Lu, Xieyuanli Chen

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

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots

Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci, Geoff Fink, Claudio Semini

Comments Accepted for publication in IEEE Robotics and Automation Letters

Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm

Rianna Jitosho, Crystal E. Winston, Shengan Yang, Jinxin Li, Maxwell Ahlquist, Nicholas John Woehrle, C. Karen Liu, Allison M. Okamura

Comments Submitted to RA-L

Autoregressive Action Sequence Learning for Robotic Manipulation

Xinyu Zhang, Yuhan Liu, Haonan Chang, Liam Schramm, Abdeslam Boularias

Comments (RA-L 2025) Add a new figure to explain why chunking autoregression works. Put back the previous in-depth discussion for arxiv release

Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments

Zhefan Xu, Hanyu Jin, Xinming Han, Haoyu Shen, Kenji Shimada

Comments 8 pages, 7 figures, 2 tables, experiment video: https://youtu.be/4xsEeMB9WPY, GitHub: https://github.com/Zhefan-Xu/Intent-MPC

Journal ref IEEE Robotics and Automation Letters, 2025

Towards Safe Mid-Air Drone Interception: Strategies for Tracking & Capture

Michal Pliska, Matouš Vrba, Tomáš Báča, Martin Saska

Journal ref IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 9, NO. 10, OCTOBER 2024, pages: 8810 - 8817

A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases

Prasanna Sriganesh, Burhanuddin Shirose, Matthew Travers

Journal ref In IEEE Robotics and Automation Letters (RA-L), Volume 10, Issue 5, 2025

Robotic In-Hand Manipulation for Large-Range Precise Object Movement: The RGMC Champion Solution

Mingrui Yu, Yongpeng Jiang, Chen Chen, Yongyi Jia, Xiang Li

Comments Accepted by RA-L. Project website: https://rgmc-xl-team.github.io/ingrasp_manipulation

Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set

Jonáš Kříž, Vojtěch Vonásek

Comments 9 pages, 13 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 4, April 2025) Page(s): 3214 - 3221

A Laser-guided Interaction Interface for Providing Effective Robot Assistance to People with Upper Limbs Impairments

Davide Torielli, Liana Bertoni, Luca Muratore, Nikos Tsagarakis

Comments 8 pages, 12 figures

Journal ref IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7653-7660, Sept. 2024

Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation

Zhijie Yan, Shufei Li, Zuoxu Wang, Lixiu Wu, Han Wang, Jun Zhu, Lijiang Chen, Jihong Liu

Comments Accepted by IEEE Robotics and Automation Letters (RA-L), 2025

Flying in Highly Dynamic Environments with End-to-end Learning Approach

Xiyu Fan, Minghao Lu, Bowen Xu, Peng Lu

Comments IEEE Robotics and Automation Letters (2025)

Pushing Everything Everywhere All At Once: Probabilistic Prehensile Pushing

Patrizio Perugini, Jens Lundell, Katharina Friedl, Danica Kragic

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

Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets

Atharva Ghotavadekar, František Nekovář, Martin Saska, Jan Faigl

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1249-1256, Feb. 2025

Robotic Compliant Object Prying Using Diffusion Policy Guided by Vision and Force Observations

Jeon Ho Kang, Sagar Joshi, Ruopeng Huang, Satyandra K. Gupta

Comments Accepted to IEEE RA-L. (C) 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media. 8 pages with 9 figures

SLC$^2$-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM

Yuhang Ming, Di Ma, Weichen Dai, Han Yang, Rui Fan, Guofeng Zhang, Wanzeng Kong

Comments Accepted to RAL. 8 pages, 5 figures, 5 tables