RSS

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills

Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi "Jim" Fan, Yuke Zhu, Changliu Liu, Guanya Shi

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

Comments RSS 2025. Project website: https://agile.human2humanoid.com/

You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations

Huayi Zhou, Ruixiang Wang, Yunxin Tai, Yueci Deng, Guiliang Liu, Kui Jia

机构 * The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）） ； Harbin Institute of Technology, Weihai（哈尔滨工业大学（威海）） ； DexForce, Shenzhen（深圳DexForce） 纠错

Comments accepted by RSS 2025

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics

Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter

Comments accepted for Robotic: Science and Systems (RSS 2025)

Flow Matching Ergodic Coverage

Max Muchen Sun, Allison Pinosky, Todd Murphey

机构 * Center for Robotics and Biosystems, Northwestern University（机器人与生物系统中心，西北大学） 纠错

Comments 15 pages, 15 figures. Accepted to Robotics: Science and Systems (RSS) 2025. Project website: https://murpheylab.github.io/lqr-flow-matching/

Gripper Keypose and Object Pointflow as Interfaces for Bimanual Robotic Manipulation

Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang

机构 * Shanghai AI Laboratory（上海人工智能实验室） ； Fudan University（复旦大学） ； Zhejiang University（浙江大学） ； Peking University（北京大学） 纠错

Comments Published at Robotics: Science and Systems (RSS) 2025

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot

Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath

机构 * University of California, Berkeley（加州大学伯克利分校） 纠错

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

Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics

Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari

机构 * Southern University of Science and Technology（南方科技大学） ； University of Michigan（密歇根大学） 纠错

Comments Accepted by Robotics: Science and Systems, 2025

Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation

Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Yuan Fang, Guoying Gu, Huazhe Xu, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） ； Tsinghua University, IIIS（清华大学人工智能研究所） ； Shanghai Qi Zhi Institute（上海启智研究院） ； Shanghai AI Laboratory（上海人工智能实验室） ； Shanghai Innovation Institute（上海创新研究院） 纠错

Comments Accepted to RSS 2025. Project page: https://reactive-diffusion-policy.github.io

Robot Data Curation with Mutual Information Estimators

Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag Sanketi, Dhruv Shah, Coline Devin, Dorsa Sadigh

机构 * Google DeepMind Robotics（谷歌DeepMind机器人实验室） ； Stanford University（斯坦福大学） 纠错

Comments Videos and code at https://jhejna.github.io/demonstration-info. Published at RSS 2025

Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL

Songyuan Zhang, Oswin So, Mitchell Black, Zachary Serlin, Chuchu Fan

机构 * MIT（麻省理工学院） ； MIT Lincoln Laboratory（麻省理工学院林肯实验室） 纠错

Comments 28 pages, 16 figures; Accepted by Robotics: Science and Systems 2025

Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation

Wanxin Jin

机构 * Arizona State University（亚利桑那州立大学） 纠错

Comments Accepted to Robotics: Science and Systems (RSS) 2025. Video demo: https://youtu.be/NsL4hbSXvFg

FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection

Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou

机构 * Southern University of Science and Technology（南方科技大学） ； The University of Hong Kong（香港大学） ； Hong Kong University of Science and Technology (Guangzhou)（香港科学理工大学（广州）） ； Sun Yat-Sen University（中山大学） 纠错

Comments Published at RSS 2025

Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots

Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel I. Goldman

机构 * Institute for Robotics and Intelligent Machines（机器人与智能机器研究所） ； Georgia Institute of Technology（佐治亚理工学院） ； School of Physics（物理系） ； School of Mechanical Engineering（机械工程系） ； College of Computing（计算学院） 纠错

Comments Accepted by RSS 2025

Learning Humanoid Standing-up Control across Diverse Postures

Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, 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） ； The University of Hong Kong（香港大学） ； Zhejiang University（浙江大学） ； The Chinese University of Hong Kong（香港中文大学） 纠错

Comments Accepted to RSS 2025, Humanoid Standing-up Control, 12 pages

Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation

Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang

Comments Published at Robotics: Science and Systems (RSS) 2025

Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning

Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian Scherer, Guanya Shi

Comments accepted by RSS 2025

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion

Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang

Comments Published at RSS 2025. The first two authors contribute equally. Project page: https://hugwbc.github.io/

Robotic Table Tennis: A Case Study into a High Speed Learning System

David B. D'Ambrosio, Jonathan Abelian, Saminda Abeyruwan, Michael Ahn, Alex Bewley, Justin Boyd, Krzysztof Choromanski, Omar Cortes, Erwin Coumans, Tianli Ding, Wenbo Gao, Laura Graesser, Atil Iscen, Navdeep Jaitly, Deepali Jain, Juhana Kangaspunta, Satoshi Kataoka, Gus Kouretas, Yuheng Kuang, Nevena Lazic, Corey Lynch, Reza Mahjourian, Sherry Q. Moore, Thinh Nguyen, Ken Oslund, Barney J Reed, Krista Reymann, Pannag R. Sanketi, Anish Shankar, Pierre Sermanet, Vikas Sindhwani, Avi Singh, Vincent Vanhoucke, Grace Vesom, Peng Xu

Comments Published and presented at Robotics: Science and Systems (RSS2023)

Vote-Tree-Planner: Optimizing Execution Order in LLM-based Task Planning Pipeline via Voting

Chaoyuan Zhang, Zhaowei Li, Wentao Yuan

Comments Accepted to RSS24-W: TaskSpec

Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems

Anton Pozharskiy, Armin Nurkanović, Moritz Diehl

Comments 5 pages, 3 figures, Accepted for Robotics Science and Systems 2024, Frontiers of Optimization workshop

Design and Control of a Bipedal Robotic Character

Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop, Steven Pickles, David Müller, Moritz Bächer

Journal ref Proceedings of Robotics: Science and Systems, 2024

Enhancing Vision-Language Models with Scene Graphs for Traffic Accident Understanding

Aaron Lohner, Francesco Compagno, Jonathan Francis, Alessandro Oltramari

Comments Won the 'Best Paper Runner-up Award' at the 2024 IEEE International Automated Vehicle Validation Conference (IAVVC 2024). Also accepted at the 1st Workshop on Semantic Reasoning and Goal Understanding in Robotics, at the Robotics Science and Systems Conference (RSS SemRob 2024)

Don't Yell at Your Robot: Physical Correction as the Collaborative Interface for Language Model Powered Robots

Chuye Zhang, Yifei Simon Shao, Harshil Parekh, Junyao Shi, Pratik Chaudhari, Vijay Kumar, Nadia Figueroa

Comments 7 pages, 3 figures; Generative Modeling meets HRI - RSS'24 Workshop

Reconfigurable Robot Control Using Flexible Coupling Mechanisms

Sha Yi, Katia Sycara, Zeynep Temel

Journal ref Robotics: Science and Systems (RSS), 2023

CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory

Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, Arthur Szlam

Comments Code, video, and interactive demonstrations available at https://mahis.life/clip-fields. Accepted for publication at Robotics: Science and Systems 2023 in Daegu, Korea

SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks

Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-akbar Agha-Mohammadi

Journal ref Proc. of Robotics: Science and Systems 2024

VLA-3D: A Dataset for 3D Semantic Scene Understanding and Navigation

Haochen Zhang, Nader Zantout, Pujith Kachana, Zongyuan Wu, Ji Zhang, Wenshan Wang

Comments Accepted and presented at the 1st Workshop on Semantic Reasoning and Goal Understanding in Robotics (SemRob), Robotics Science and Systems Conference (RSS 2024)

POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints

Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr

Comments Robotics: Science and Systems (RSS) 2024, https://www.roboticsproceedings.org/rss20/p104.html

Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics

Norman Di Palo, Edward Johns

Comments Published at Robotics: Science and Systems (RSS) 2024

CoHRT: A Collaboration System for Human-Robot Teamwork

Sujan Sarker, Haley N. Green, Mohammad Samin Yasar, Tariq Iqbal

Comments 8 Pages, Robotics Science and Systems (RSS), Safety and Normative Behaviors in Human-Robot Interaction Workshop 2024 (accepted), accepted-papers" target="_blank" rel="noopener">https://sites.google.com/view/safe-hri/accepted-papers