RSS

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation

Abhay Negi, Omey M. Manyar, Satyandra K. Gupta

机构 * Realization of Robotic Systems Lab, University of Southern California（机器人系统实现实验室，南加州大学） 纠错

Comments Accepted and presented in RSS 2025 Space Robotics Workshop (https://albee.github.io/space-robotics-rss/). 3 pages with 1 figure

Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation

Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, Xiaolong Wang

机构 * UC San Diego（UC圣地亚哥大学） 纠错

Comments Accepted to RSS 2025. Project page: https://jianglongye.com/dex1b

Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control

Albert H. Li, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac'h, Preston Culbertson

机构 * Caltech（加州理工学院） ； RAI Institute（RAI研究院） 纠错

Comments Accepted at the 2025 RSS Workshop on Fast Motion Planning and Control in the Era of Parallelism. 5 Pages

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity

Guang Yin, Yitong Li, Yixuan Wang, Dale McConachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li

机构 * Columbia University（哥伦比亚大学） ； Toyota Research Institute（丰田研究院） ； University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； Tsinghua University（清华大学） 纠错

Comments Accepted to Robotics: Science and Systems (RSS) 2025. The first three authors contributed equally. Project Page: https://robopil.github.io/code-diffuser/

Using Language and Road Manuals to Inform Map Reconstruction for Autonomous Driving

Akshar Tumu, Henrik I. Christensen, Marcell Vazquez-Chanlatte, Chikao Tsuchiya, Dhaval Bhanderi

机构 * Department of Computer Science and Engineering, University of California San Diego（计算机科学与工程系，加州大学圣地亚哥分校） 纠错

Comments 4 pages, 3 figures, Accepted at RSS 2025 Workshop - RobotEvaluation@RSS 2025

Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies

Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Ambrus, Haruki Nishimura, Masha Itkina

机构 * Toyota Research Institute (TRI)（丰田研究院） ； Woven by Toyota (WbyT)（丰田编织（WbyT）） 纠错

Comments Accepted by Robotics: Science and Systems 2025

Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning

Jihao Li, Keqi Zhu, Guodong Lu, I-Ming Chen, Huixu Dong

Journal ref J. Li, K. Zhu, G. Lu, I.-M. Chen, and H. DONG, Construction of a Multiple-DOF Underactuated Gripper with Force-Sensing via Deep Learning, in Proceedings of Robotics: Science and Systems, Delft, Netherlands, July 2024

PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands

Pei Lin, Yuzhe Huang, Wanlin Li, Jianpeng Ma, Chenxi Xiao, Ziyuan Jiao

机构 * Beijing Institute for General Artificial Intelligence（北京通用人工智能研究院） ； ShanghaiTech University（上海科技大学） ； Beihang University（北航） 纠错

Comments accepted by Robotics: Science and Systems(RSS) 2025 url: https://peilin-666.github.io/projects/PP-Tac/

Map Space Belief Prediction for Manipulation-Enhanced Mapping

Joao Marcos Correia Marques, Nils Dengler, Tobias Zaenker, Jesper Mucke, Shenlong Wang, Maren Bennewitz, Kris Hauser

机构 * University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； Humanoid Robots Lab（人形机器人实验室） ； The Lamarr Institute（拉马尔研究所） ； The Center for Robotics（机器人中心） 纠错

Comments 14 pages, 10 figures; Published at RSS 2025 - this version contains a small fix to figure 6 which was missing a plot in the original submission

Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?

Nitesh Subedi, Adam Haroon, Shreyan Ganguly, Samuel T. K. Tetteh, Prajwal Koirala, Cody Fleming, Soumik Sarkar

Comments 6 figures, 2 tables, Accepted to Robotics: Science and Systems (RSS) 2025 Workshop on Robot Planning in the Era of Foundation Models (FM4RoboPlan)

Diffusion-based Inverse Observation Model for Artificial Skin

Ante Maric, Julius Jankowski, Giammarco Caroleo, Alessandro Albini, Perla Maiolino, Sylvain Calinon

机构 * Idiap Research Institute（Idiap研究机构） ； École Polytechnique Fédérale de Lausanne (EPFL)（瑞士联邦理工学院（EPFL）） ； Oxford Robotics Institute (ORI), University of Oxford（牛津大学机器人研究所） 纠错

Comments Accepted to RSS 2025 workshop on Navigating Contact Dynamics in Robotics

Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping

Cedric Le Gentil, Cedric Pradalier, Timothy D. Barfoot

机构 * University of（大学） 纠错

Comments Presented at RSS 2025 Workshop: Gaussian Representations for Robot Autonomy: Challenges and Opportunities

Sense and Sensibility: What makes a social robot convincing to high-school students?

Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi

机构 * Dept. of Intelligent Systems, KTH Royal Institute of Technology, Stockholm, Sweden（智能系统系，皇家理工学院） ； Dept. of Education, Stockholm University, Stockholm, Sweden（教育系，斯德哥尔摩大学） 纠错

Comments 14 pages; 8 figures; 3 tables; RSS 2025 (Robotics: Science & Systems)

Structureless VIO

Junlin Song, Miguel Olivares-Mendez

Comments Accepted by the SLAM Workshop at RSS 2025

XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search

Yiting Zhang, Shichen Li, Elena Shrestha

机构 * University of Michigan, Ann Arbor（密歇根大学） ； University of Illinois, Urbana-Champaign（伊利诺伊大学） 纠错

Comments Accepted to RSS 2025 Workshop on Learned Robot Representations (RoboReps)

ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation

Jayjun Lee, Nima Fazeli

机构 * Robotics Department University of Michigan（密歇根大学机器人系） 纠错

Comments Accepted to RSS 2025 | Project page: https://jayjunlee.github.io/vitascope/

SPLATART: Articulated Gaussian Splatting with Estimated Object Structure

Stanley Lewis, Vishal Chandra, Tom Gao, Odest Chadwicke Jenkins

Comments 7 pages, Accepted to the 2025 RSS Workshop on Gaussian Representations for Robot Autonomy. Contact: Stanley Lewis, stanlew@umich.edu

Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success

Che Wang, Jeroen van Baar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Sontakke, Kostas E. Bekris, Kapil Katyal

机构 * Amazon Robotics（亚马逊机器人技术） 纠错

Comments Accepted to Robotics: Science and Systems (RSS 2025), 15 pages

An Overview of the Burer-Monteiro Method for Certifiable Robot Perception

Alan Papalia, Yulun Tian, David M. Rosen, Jonathan P. How, John J. Leonard

机构 * Northeastern University（东北大学） ； University of Michigan（密歇根大学） ； University of California, San Diego（加州大学圣地亚哥分校） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

Comments Accepted to 2024 Robotics: Science and Systems (RSS) Safe Autonomy Workshop

NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing

Bowei Li, Peiqi Yu, Zhenran Tang, Han Zhou, Yifan Sun, Ruixuan Liu, Changliu Liu

机构 * Carnegie Mellon University（卡内基梅隆大学） 纠错

Comments 10 pages, 5 figures. Accepted to the RSS 2025 Workshop on Benchmarking Robot Manipulation: Improving Interoperability and Modularity. First Prize in the WBCD competition at ICRA 2025. Equal contribution by Bowei Li and Peiqi Yu

Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping

David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura

机构 * Toyota Research Institute (TRI)（丰田研究院） ； Princeton University（普林斯顿大学） 纠错

Comments 14 + 5 pages, 10 figures, 4 tables. Accepted to RSS 2025

Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties

Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian

机构 * Department of Electrical and Computer Engineering University of Southern California（电气与计算机工程系美国南加州大学） 纠错

Comments 12 pages, 8 figures. Published in Robotics: Science and Systems (RSS'25)

Online Competitive Information Gathering for Partially Observable Trajectory Games

Mel Krusniak, Hang Xu, Parker Palermo, Forrest Laine

机构 * Vanderbilt University（范德比大学） 纠错

Comments Accepted at RSS 2025

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains

Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen

机构 * University of Southern California（南加州大学） 纠错

Comments 15 pages, 13 figures, RSS 2025 accepted

WaveTouch: Active Tactile Sensing Using Vibro-Feedback for Classification of Variable Stiffness and Infill Density Objects

Danissa Sandykbayeva, Valeriya Kostyukova, Aditya Shekhar Nittala, Zhanat Kappassov, Bakhtiyar Orazbayev

机构 * Department of Physics, Nazarbayev University（物理系，纳扎尔拜大学） 纠错

Comments Presented at RSS 2024 Workshop "Noosphere: Tactile Sensing for General Purpose Robot Learning"

Effective Sampling for Robot Motion Planning Through the Lens of Lattices

Itai Panasoff, Kiril Solovey

Comments To appear in Robotics: Science and Systems, 2025

SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model

Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Yan Ding, Zhigang Wang, JiaYuan Gu, Bin Zhao, Dong Wang, Xuelong Li

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； Fudan University（复旦大学） ； Shanghai Jiao Tong University（上海交通大学） ； Zhejiang University（浙江大学） ； ShanghaiTech University（上海科技大学） ； Northwestern Polytechnical University（西北工业大学） 纠错

Journal ref Robotics: Science and Systems, 2025

Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications

Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture

Comments Demo Paper submitted to Robotics: Science and Systems (RSS2025), accepted

Journal ref Robotics: Science and Systems (RSS) 2025, RSS Foundation, Jun 2025, Los Angeles, United States

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey

Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon

机构 * Idiap Research Institute（Idiap研究 institute） ； École Polytechnique Fédérale de Lausanne（瑞士联邦理工学院） ； Intelligent Autonomous Systems, TU Darmstadt（智能自主系统，德累斯顿技术大学） ； German Research Center for AI (DFKI)（德国人工智能研究中心） ； Centre for Cognitive Science, Hessian.AI（认知科学中心，Hessian.AI） 纠错

Comments Robotics: Science and Systems 2025

Neural Inertial Odometry from Lie Events

Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig

机构 * Department of Computer Science, University of Pennsylvania（计算机科学系，宾夕法尼亚大学） 纠错

Comments accepted at RSS 2025