RSS

Bilevel Learning for Bilevel Planning

Bowen Li, Tom Silver, Sebastian Scherer, Alexander Gray

机构 * Carnegie Mellon University（卡内基梅隆大学） ； Centaur AI Institute（Centaur人工智能研究所） ； Princeton University（普林斯顿大学） 纠错

Comments In Proceedings of Robotics, Science, and Systems (RSS 2025). See our website for details: https://jaraxxus-me.github.io/IVNTR/

CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision

Gi-Cheon Kang, Junghyun Kim, Kyuhwan Shim, Jun Ki Lee, Byoung-Tak Zhang

Comments Accepted to RSS 2025. Project website: https://clip-rt.github.io

"Set It Up!": Functional Object Arrangement with Compositional Generative Models

Yiqing Xu, Jiayuan Mao, Yilun Du, Tomas Lozáno-Pérez, Leslie Pack Kaelbling, David Hsu

机构 * School of Computing, Smart System Institute, National University of Singapore（计算学院、智能系统研究所、新加坡国立大学） ； CSAIL, Massachusetts Institute of Technology（计算机科学与人工智能实验室、麻省理工学院） 纠错

Comments 10 pages main paper, 21 pages appendix, RSS 2024

Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid

Parv Kapoor, Ian Higgins, Nikhil Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Yaoyu Hu, Changliu Liu, Eunsuk Kang, Sebastian Scherer

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

Comments 13 pages, RSS 2025 Demo track, https://theairlab.org/visafe/

Opening Articulated Structures in the Real World

Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta

机构 * University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） 纠错

Comments Accepted to RSS 2025. Project webpage: https://arjung128.github.io/opening-articulated-structures/

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups

Sangli Teng, Tzu-Yuan Lin, William A Clark, Ram Vasudevan, Maani Ghaffari

机构 * University of Michigan（密歇根大学） ； Ohio University（俄亥俄大学） 纠错

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

PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation

Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou, Ruizhen Hu, Kai Xu

机构 * National University of Defense Technology（国防科技大学） ； Wuhan University（武汉大学） ； Shenzhen University（深圳大学） ； Guangdong Laboratory of Artificial Intelligence and Digital Economy（广东人工智能与数字经济实验室） 纠错

Comments Robotics: Science and Systems 2025

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation

Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo, Yi-Ting Chen, Zackory Erickson, David Held

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人学院） ； IIIS, Tsinghua University（清华大学人工智能研究所） ； Department of Computer Science, National Yang Ming Chiao Tung University（国立阳明交通大学计算机科学系） 纠错

Comments Accepted at RSS 2025

GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty

Sirui Chen, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin

机构 * Computer Science Department, Stanford University（斯坦福大学计算机科学系） ； Honda Research Institute USA（本田美国研究院） 纠错

Comments 12 pages, 17 figures, Accepted by RSS 2025

Optimal Interactive Learning on the Job via Facility Location Planning

Shivam Vats, Michelle Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev, Oliver Kroemer, George Konidaris

机构 * Brown University（布朗大学） ； Carnegie Mellon University（卡内基梅隆大学） 纠错

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

DRO: Doppler-Aware Direct Radar Odometry

Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy D. Barfoot

Comments Accepted for presentation at RSS 2025

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation

Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter

Comments To be published in the proceedings of Robotics: Science and Systems (RSS) 2025

Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems

Zhongqi Wei, Xusheng Luo, Changliu Liu

机构 * Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

Comments Accepted by Robotics: Science and Systems (RSS 2025)

Differentiable GPU-Parallelized Task and Motion Planning

William Shen, Caelan Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos

机构 * MIT CSAIL（MIT计算机科学与人工智能实验室） ； NVIDIA Research（NVIDIA研究） ； University of Utah（犹他大学） ； University of Sydney（悉尼大学） 纠错

Comments Accepted at Robotics: Science and Systems (RSS) 2025. Project website: https://cutamp.github.io

ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization

Mason B. Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How

机构 * Massachusetts Institute of Technology（麻省理工学院） ； University of California San Diego（加州大学圣地亚哥分校） 纠错

Comments 11 pages, 5 figures, accepted to Robotics: Science and Systems (RSS) 2025

Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation

Edgar Granados, Sumanth Tangirala, Kostas E. Bekris

机构 * Dept. of Computer Science, Rutgers University, NJ, USA（计算机科学系，罗格斯大学，新泽西州，美国） 纠错

Comments [Accepted] RSS 2025

Train Robots in a JIF: Joint Inverse and Forward Dynamics with Human and Robot Demonstrations

Gagan Khandate, Boxuan Wang, Sarah Park, Weizhe Ni, Joaquin Palacios, Kathyrn Lampo, Philippe Wu, Rosh Ho, Eric Chang, Matei Ciocarlie

机构 * Dept. of Computer Science（计算机科学系） ； Dept. of Mechanical Engineering（机械工程系） ； Columbia University（哥伦比亚大学） 纠错

Comments 9 pages, 8 figures, submission to RSS 2025

MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction

Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov

机构 * Department of Electrical and Computer Engineering（电气与计算机工程系） ； University of California, San Diego（加州大学圣地亚哥分校） 纠错

Comments To appear at RSS 2025 (15 pages, 11 figures)

Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator

Yanhao Yang, Ross L. Hatton

Comments 16 pages, 8 figures, supplementary video: https://youtu.be/BGwqIgpkT8s. Accepted to Robotics: Science and Systems (RSS) 2025

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation

Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang

机构 * University of Science and Technology of China（中国科学技术大学） 纠错

Comments 10 pages, 8 figures, accepted by RSS 2025

Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization

Daniel Rakita, Chen Liang, Qian Wang

机构 * Department of Computer Science, Yale University（计算机科学系，耶鲁大学） 纠错

Comments To appear in the proceedings of Robotics Science and Systems (RSS) 2025

Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics

Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo J. Taylor, Michael Posa

机构 * General Robotics, Automation, Sensing, and Perception (GRASP) Laboratory（通用机器人、自动化、传感和感知实验室） ； University of Pennsylvania（宾夕法尼亚大学） ； Amazon（亚马逊） 纠错

Comments B.B. and M.Z. contributed equally to this work. Accepted to RSS 2025. Project page: https://vysics-vision-and-physics.github.io/

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift

Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou

机构 * University of Michigan（密歇根大学） 纠错

Comments Accepted for publication to RSS 2025. 24 pages, 9 figures

Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Moo Jin Kim, Chelsea Finn, Percy Liang

Comments Accepted to Robotics: Science and Systems (RSS) 2025. Project website: https://openvla-oft.github.io/

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal, Qiayuan Liao, Koushil Sreenath, Negar Mehr

机构 * ICON Lab and Hybrid Robotics Lab , University of California Berkeley（ICON实验室和混合机器人实验室，加州大学伯克利分校） 纠错

Journal ref Robotics: Science and Systems (RSS) 2025

Learning Getting-Up Policies for Real-World Humanoid Robots

Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta

机构 * University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； Simon Fraser University（西蒙弗雷泽大学） 纠错

Comments Robotics: Science and Systems (RSS), 2025. Project page: https://humanoid-getup.github.io/

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Jiangmiao Pang

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； Shanghai Jiao Tong University（上海交通大学） ； Zhejiang University（浙江大学） ； The University of Hong Kong（香港大学） ； The Chinese University of Hong Kong（香港中文大学） 纠错

Comments Published at RSS 2025. Project website: https://why618188.github.io/beamdojo

CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World

Yankai Fu, Qiuxuan Feng, Ning Chen, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang

机构 * State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University（多媒体信息处理国家重点实验室，计算机学院，北京大学） ； The University of Hong Kong（香港大学） ； Beijing Academy of Artificial Intelligence（北京人工智能研究院） 纠错

Comments Robotics: Science and Systems (RSS) 2025. Videos, code: https://aureleopku.github.io/CordViP

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training

Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan Liang, Daniel Rakita

机构 * Yale University（耶鲁大学） ； University of Pennsylvania（宾夕法尼亚大学） 纠错

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

Cross-modality Force and Language Embeddings for Natural Human-Robot Communication

Ravi Tejwani, Karl Velazquez, John Payne, Paolo Bonato, Harry Asada

机构 * Electrical Engineering and Computer Science Massachusetts Institute of Technology（电气工程与计算机科学麻省理工学院） ； Department of Physical Medicine, Harvard Medical School Rehabilitation, Spaulding Rehabilitation Hospital（物理医学系哈佛医学院康复科，斯波尔丁康复医院） ； Mechanical Engineering Massachusetts Institute of Technology（机械工程麻省理工学院） 纠错

Comments Under review in RSS 2025