IROS 2025 Papers with AI Summaries
IEEE/RSJ International Conference on Intelligent Robots and Systems · 1984 papers
→ IROS 2025 papers with code (239)
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16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Yasser G. Alqaham, Zhenyu Gan
OptimizationRobotic Intelligence
🎯 What it does: Systematically analyze and classify different flight phases of the horse-shoe gait, establish a hybrid dynamic model using the A1 robot, apply trajectory optimization to minimize energy consumption, and verify it using a QP controller in Gazebo
2.5D Object Mapping using Gaussian Processes for Robot Navigation
Erdem Toraman, Emre Özkan
Robotic IntelligencePoint Cloud
🎯 What it does: Propose a probabilistic framework for 2.5D object modeling and information-driven motion planning based on Gaussian processes, implemented using LiDAR measurements.
3-D Multiple Sound Source Localization Based on a Five-Element Microphone Array
Yizhen Qiu, Zhiyao Huang
Audio
🎯 What it does: A 3-D multi-source localization method based on a five-microphone array is proposed. It first uses independent vector analysis (IVA) to separate source signals, then achieves precise localization of each source through four time difference of arrival (TDOA) values.
360Recon: An Accurate Reconstruction Method based on Depth Fusion from 360 Images
Zhongmiao Yan, Ling Pei
GenerationDepth EstimationConvolutional Neural NetworkImage
🎯 What it does: Proposed a multi-view stereo reconstruction algorithm called 360Recon for 360° panoramic images
3D Gaussian Splatting for Fine-Detailed Surface Reconstruction in Large-Scale Scene
Shihan Chen, Ran Duan
Neural Radiance FieldGaussian SplattingImage
🎯 What it does: Utilizing the 3D Gaussian Splatting method, combined with a coarse-to-fine reconstruction strategy, scene-adaptive partitioning and sub-scene refinement, decoupled appearance model, transient mask model, extended multi-view constraints, and single-view texture smoothing regularization, achieving high-detail surface reconstruction for large-scale scenes under full-size image supervision.
3D Hierarchical Panoptic Segmentation in Real Orchard Environments Across Different Sensors
Matteo Sodano (University of Bonn), C. Stachniss (University of Bonn)
SegmentationPoint CloudAgriculture Related
🎯 What it does: Proposed a hierarchical panoramic segmentation method for 3D data in apple orchards, which can simultaneously perform semantic segmentation, stem and fruit instance segmentation, as well as tree (stem + fruit) instance segmentation; the method can identify individual plants, fruits, and stems, and calculate the number of fruits per tree.
3D Plant Root Skeleton Detection and Extraction
Jiakai Lin, Guoyu Lu
Object DetectionImageAgriculture Related
🎯 What it does: Propose an efficient method for extracting the 3D skeleton of plant roots from a small number of images, including lateral root detection and matching, triangulation, and main-lateral root fusion.
3D Vision-tactile Reconstruction from Infrared and Visible Images for Robotic Fine-grained Tactile Perception
Yuankai Lin, Hua Yang
Depth EstimationRobotic IntelligenceImage
🎯 What it does: Developed GelSplitter3D, which extends the imaging channel through a prism and near-infrared camera, proposed a photometric stereo neural network based on CAD-generated normal ground truth, and designed a normal integration method utilizing depth prior boundary constraints.
3D-AMTA: Occlusion-Aware Real-Time 3D Hand Pose Estimation with Auto Mask and Token-Specific Attention
Dongfang Zhao, Donghoon Kim
Pose EstimationTransformerImage
🎯 What it does: Proposes the 3D-AMTA framework based on Transformer, combining Auto Mask and Token-specific Attention to achieve occlusion-aware 3D hand pose estimation from a single RGB image.
3D-MoRe: Unified Modal-Contextual Reasoning for Embodied Question Answering
Rongtao Xu, Shibiao Xu
GenerationData SynthesisTransformerLarge Language ModelVision Language ModelVision-Language-Action ModelTextMultimodalityPoint Cloud
🎯 What it does: Generate a large-scale 3D-language dataset for question answering and object description generation
3D-UnOutDet: A Fast and Efficient Unsupervised Snow Removal Algorithm for 3D LiDAR Point Clouds
Abu Mohammed Raisuddin, E. Aksoy
RestorationAutonomous DrivingPoint Cloud
🎯 What it does: Proposed a fast and memory-efficient unsupervised statistical method combined with an unsupervised deep learning model for snow removal in 3D LiDAR point clouds.
3DS-SLAM: A 3D Object Detection based Semantic SLAM towards Dynamic Indoor Environments
G. S. Krishna, S. Baidya
Object DetectionRobotic IntelligenceTransformerSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Proposes a 3D semantic SLAM system called 3DS-SLAM for dynamic indoor environments
3DWSNet: A Novel 3D Wavelet Spiking Neural Network for Event-based Action Recognition
Junkang Fang, Jianqin Yin
RecognitionSpiking Neural Network
🎯 What it does: Proposed a 3D Waveform Synapse Neural Network (3DWSNet) for action recognition using event cameras.
4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision
Ruihan Liu, Yunjiang Lou
Autonomous DrivingPoint Cloud
🎯 What it does: Designed and implemented a 4D radar occupancy estimation method based on LiDAR point cloud supervision, proposing pseudo LiDAR label generation and multi-stage supervision, leveraging LiDAR occupancy maps for model alignment and fine-tuning.
6-DoF Object Tracking with Event-based Optical Flow and Frames
Zhichao Li, Lorenzo Natale
Object TrackingPose EstimationOptical FlowImage
🎯 What it does: Propose a 6-DoF pose tracking method that combines event camera optical flow with RGB global pose estimator, utilizing event optical flow to track object velocity and fusing velocity with low-frequency pose estimation to achieve high-speed motion tracking.
A 4D Radar Camera Extrinsic Calibration Tool Based on 3D Uncertainty Perspective N Points
Chuan Cao, Jingchuan Wang
Pose EstimationAutonomous DrivingImagePoint Cloud
🎯 What it does: Propose a 4D radar camera external calibration tool based on a 3D uncertainty perspective, which explicitly models radar spherical coordinate noise propagation and compensates for non-zero error expectations in coordinate transformations using the 3DUPnP algorithm
A Bio-inspired Robotic Electric Ray Design of Multimodal Locomotion with Grasping Function
Yuyang Mo, Yong Zhong
Robotic Intelligence
🎯 What it does: Designed a bio-inspired electric ray robot that integrates BCF-mode tail fin and MPF-mode pectoral fin to achieve multimodal locomotion and grasping functions.
A Bio-inspired Spherical Soft Magnetic Millirobot for Gastrointestinal Applications
Yulin Li, Liu Yang
Robotic IntelligenceDrug DiscoveryBiomedical Data
🎯 What it does: Proposed a spherical soft magnetic microrobot (S2M2), verified in ex vivo pig stomach experiments for its movement, adhesion capability, and pressure-based drug delivery function on gastric mucosal surfaces.
A Bio-inspired Stiffness-programmable Robotic Flexible Joint Based on Electro-adhesive Clutches
Yongxian Ma, Xiaozheng Li
Robotic Intelligence
🎯 What it does: Proposed and implemented a bio-inspired variable stiffness flexible joint (SPRFJ) based on electro-adhesive clutches, and verified its performance through experiments.
A Bioinspired Framework for Person Detection and Tracking using Events and Frames on Flapping-Wing Aerial Robots
R. Tapia, Aníbal Ollero
Object DetectionObject TrackingRobotic IntelligenceConvolutional Neural NetworkImage
🎯 What it does: Proposes a bio-inspired framework for human detection and tracking in flapping-wing UAVs, combining event-level blob tracker with frame-based deep neural network detector;
A Bionic Robotic Hand Designed with Multiple Grasping Modes and Magnetic-tactile Perception
Shixian Wang, Bin Fang
Robotic Intelligence
🎯 What it does: Designed and implemented a multi-modal robotic hand integrating magnetic silicone skin, rigid skeleton, and suction cups, supporting three grasping modes: encapsulation, parallel, and suction grasping.
A Coarse-to-Fine Approach to Multi-Modality 3D Occupancy Grounding
Zhan Shi, Jianke Zhu
Depth EstimationAutonomous DrivingVision Language ModelMultimodalityBenchmark
🎯 What it does: Proposes a 3D occupancy ground benchmark and an end-to-end multi-modal model called GroundingOcc for precisely locating and predicting occupied voxels in outdoor scenes based on natural language descriptions.
A Compact Dual-Mode Twisting Retraction Device for Endoscopic Submucosal Dissection
Haley Mayer, Eric D. Diller
🎯 What it does: Designed and manufactured a compact dual-mode wireless traction device for endoscopic submucosal dissection (ESD), capable of achieving high tensile force and adjustable traction through magnetic drive;
A Compact Robotic Wrist with Embedded Torque Sensing for Peg-in-Hole Tasks
Yi-Shian Tsai, Chao-Chieh Lan
Robotic Intelligence
🎯 What it does: Designed and experimentally verified a compact robotic wrist with embedded torque sensing for peg-in-hole tasks.
A Compliant Tube for Series Elastic Actuators to Generate High Output Torque
Chun-Hung Huang, Chao-Chieh Lan
Robotic Intelligence
🎯 What it does: This paper proposes a novel spiral flexible tube used as a spring in series elastic actuators (SEA), which can significantly increase output torque while maintaining a compact size, and demonstrates zero-torque and high-torque motion through a prototype.
A Comprehensive Evaluation of LiDAR Odometry Techniques
Easton R. Potokar, Michael Kaess
Pose EstimationAutonomous DrivingSimultaneous Localization and MappingPoint CloudBenchmark
🎯 What it does: Summarized and experimentally evaluated technical components in the LiDAR localization (LO) pipeline, covering multiple environments, LiDAR types, and vehicle motions.
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
Chang Yu, Xuchen Han
Optimization
🎯 What it does: Proposed a new convex optimization formulation that weakly couples MPM with rigid body dynamics through frictional contact, and implemented GPU parallel optimization to achieve interactive simulation.
A Cooperative Contactless Object Transport with Acoustic Robots
Narsimlu Kemsaram, S. Subramanian
Robotic IntelligenceUltrasoundAudio
🎯 What it does: Proposed an acoustic-based robotic system that achieves collaborative and independent control for contactless object transportation in air.
A Crab-Inspired Soft Gripper with Single-Finger Dexterous Grasping Capabilities
Yunce Zhang, Rui Song
Robotic Intelligence
🎯 What it does: This paper proposes and implements a single-finger flexible gripper inspired by the structure of crab claws, and verifies its bending model and grasping performance through experiments.
A Da Vinci Open Spina Bifida Suturing Simulator with Continuum Tools for Surgeon Skills Training
N. Nimal, T. Looi
Robotic IntelligenceBiomedical Data
🎯 What it does: Developed a Da Vinci open spina bifida repair simulator with continuous tools for surgeon training.
A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model
Yi Wang, I. Iordachita
Depth EstimationRobotic IntelligenceBiomedical Data
🎯 What it does: Developed an automated robotic system integrating top-view microscopy and B-scan optical coherence tomography (OCT) to achieve precise depth perception and needle tip navigation for retinal vein cannulation.
A Deep Reinforcement Learning based End-to-End Control Framework for Lower Limb Exoskeletons with Smooth Movement Transitions
Minsu Kim, Jaeheung Park
Robotic IntelligenceReinforcement Learning
🎯 What it does: Proposed an end-to-end control framework based on deep reinforcement learning for lower-limb exoskeletons to achieve smooth transitions between different motion modes
A Dual Tiltrotor UAV with Foldable Wings for Passive Perching and Belly/Back Takeoff
Luyao Wang, Xiang He
🎯 What it does: Propose a dual-tilt-rotor UAV equipped with foldable wings and a precisely positioned center of gravity to achieve passive hovering and multimodal flight.
A Dual-Arm Shared Control Framework Integrating Sub-goals and Predicted Trajectories for Asymmetric Tasks
Zhixiong Wang, Fang Gao
Robotic Intelligence
🎯 What it does: Proposed a dual-arm shared control framework integrating a subgoal generation module and a trajectory prediction module to enhance fine-grained collaboration and motion smoothness in asymmetric tasks.
A Fast-moving Underwater Wall-climbing Robotic Fish Inspired by Rock-climbing Fish
Hengshen Qin, Lianqing Liu
Robotic Intelligence
🎯 What it does: Based on the stretchable friction characteristics of rockfish, an adhesion module, pectoral and abdominal fin oscillation modules, and a novel high-frequency line-driven tail fin were designed, constructing a bio-inspired robotic fish capable of adhesion-sliding movement on underwater walls.
A Flexible Bending Sensor Based on C-Shaped FBG Array for Curvature and Gesture Recognition
Baijin Mao, Juntian Qu
Recognition
🎯 What it does: Proposed and implemented a C-shaped flexible bending sensor with fiber Bragg grating (FBG) arrays embedded in a 2 mm silicone layer for bending and gesture recognition.
A Gait Phase Detection and Gait Spatio-temporal Features Extraction Method Based on the Inertial Measurement Unit*
Shuai Fan, Peng Chen
Time SeriesBiomedical Data
🎯 What it does: Propose a home-based gait feature extraction method using inertial measurement units (IMUs), calculating walking distance and speed via double integration, determining step count through local maximum peak detection, and calculating stance and swing phases using local minimum valley detection.
A Human Reasons-based Supervision Framework for Ethical Decision-Making in Automated Vehicles
Lucas Elbert Suryana, B. Arem
Autonomous Driving
🎯 What it does: Developed a supervised framework based on human reasoning that can detect inconsistencies between autonomous vehicle behaviors and expected human rationale, and trigger trajectory replanning when necessary to enhance safety, efficiency, and compliance.
A Hybrid Mapping Method: Balancing Efficiency and Intuitiveness in Lateral Teleoperation
Yuwei Xie, Gaofeng Li
Computational Efficiency
🎯 What it does: Proposed a hybrid mapping method to achieve fast and intuitive lateral teleoperation.
A Kinematics Constrained Convex Optimal Trajectory Generation Method for Robotic-assisted Flexible Needle
Fan Ren, Xiangyu Wang
OptimizationRobotic Intelligence
🎯 What it does: Proposes a kinematic constraint convex optimal trajectory generation method for flexible needles with higher maximum curvature to avoid collisions with vital organs during surgery.
A Learning Quasi-stiffness Control Framework of a Powered Transfemoral Prosthesis for Adaptive Speed and Incline Walking
Teng Ma, Chenglong Fu
Robotic Intelligence
🎯 What it does: Proposed a task-adaptive quasi-stiffness control framework for powered transfemoral prosthetic legs, designed for walking at varying speeds and slopes.
A light-controlled micromixer using optoelectronic tweezers
Feng Yan, Na Liu
Physics Related
🎯 What it does: Developed a flexible and effective micro stirrer based on opto-electro-thermal (OET) plating wire, utilizing asymmetric induced charge electro-osmosis (ICEO) and dielectrophoresis (DEP) phenomena on NdFeB micro-scale anisotropic particles.
A Lightweight 3-axis Permanent Magnetic Sponge-based Self-Adapting Tactile Sensor
Yushi Wang, Mitsuhiro Kamezaki
🎯 What it does: Designed, fabricated, and characterized a lightweight triaxial permanent magnetic sponge adaptive tactile sensor.
A Mole-inspired Incisor-Burrowing Robotic Platform for Planetary Exploration
Ran Xu, Xilun Ding
Robotic Intelligence
🎯 What it does: This paper designs and implements a robot platform named MIRP that mimics the incisor digging behavior of naked mole-rats, combining quadrupedal locomotion with digging mechanisms, and verifies its mobility and digging performance in a simulated lunar soil environment.
A Monocular Vision-based Robotic Arm Teleoperation Method for Human Arm Configuration Imitation
Jindong Xiang, Mengtang Li
Pose EstimationRobotic IntelligenceImage
🎯 What it does: Propose a remote control system based on a monocular RGB camera, which uses computer vision to capture human movements and maps human joint configurations to various robotic arm structures through kinematic mapping, achieving end-effector tracking and imitation of human joint configurations.
A Multi-Modal Benchmark for Long-Range Depth Evaluation in Adverse Weather Conditions
Stefanie Walz, Felix Heide
Depth EstimationMultimodalityPoint CloudBenchmark
🎯 What it does: Proposes a multi-modal long-range depth evaluation benchmark covering clear, foggy, and rainy scenes up to 200 meters, and obtains dense ground truth through multi-modal sensors and millimeter-level digital twins.
A Multi-modal Hand Imitation Dataset for Dexterous Hand
Shaochen Wang, Beihao Xia
Pose EstimationRobotic IntelligenceNeural Radiance FieldImageMultimodalityPoint Cloud
🎯 What it does: Built and released a multimodal Dex Hand Dataset integrating visual, point cloud, and kinematic data, aligning human and robotic hand poses in a shared canonical space using neural rendering and kinematic optimization to achieve fine-grained hand imitation learning.
A Multi-Sensor Fusion Approach for Rapid Orthoimage Generation in Large-Scale UAV Mapping
Jialei He, Jie Yuan
GenerationImageMultimodalityPoint Cloud
🎯 What it does: Utilizes a multi-sensor drone system (GPS, IMU, 4D millimeter-wave radar, and camera) to rapidly generate large-scale aerial orthophotos through multi-sensor data.
A Multi-Task Learning System for Composites Defect Segmentation and Classification with TacRoller
Xiaolong Li, Chenguang Yang
ClassificationSegmentationConvolutional Neural NetworkImage
🎯 What it does: Designed the TacRoller tactile sensing roller for automatically capturing tactile images of composite material surface defects, and collected 2,744 samples containing ripple, foreign objects, broken fibers, voids, and healthy textures; subsequently proposed the MOGA-U-Net model to complete defect segmentation and multi-class classification tasks.
A Multimodal Neural Network for Recognizing Subjective Self-Disclosure Towards Social Robots
Henry Powell, Emily S. Cross
ClassificationRecognitionRobotic IntelligenceVideo
🎯 What it does: Developed a multimodal attention network based on an emotion recognition model for identifying human subjective self-disclosure toward social robots.
A Natural Human-Robot Interaction System for Teleoperation Based on Noncontact Haptic Feedback
Letian Wei, Mengchu Zhou
Robotic IntelligenceUltrasound
🎯 What it does: Developed a natural human-computer interaction system based on ultrasound haptic feedback, achieving low-latency, high-fidelity teleoperation
A New Concept for Reconstruction of Volumetric Muscle Loss Injuries Using Spatial Robotic Embedded Bioprinting: A Feasibility Study
Omid Rezayof, F. Alambeigi
Robotic IntelligenceBiomedical Data
🎯 What it does: Proposed and implemented a novel concept for reconstructing volumetric muscle loss (VML) trauma—spatial robotic embedded bioprinting—and achieved three-dimensional printing of muscle fiber structures through a framework combining a robotic arm with a custom syringe.
A New Unsupervised Infrared and Visible Image Fusion Method Based on Salient Object Segmentation under Poor Illumination
Zheng-Feng Wang, Zhiyao Huang
SegmentationImage
🎯 What it does: Proposed an unsupervised infrared and visible light image fusion method based on salient object segmentation, which includes improved superpixel segmentation, density peaks-based clustering, improved GrabCut strategy, and partition fusion strategy.
A No-code Approach for Intuitive Robot Programming for Process-Aligned Surface Processing
Jayanto Halim, Steffen Ihlenfeldt
Robotic IntelligenceVision-Language-Action Model
🎯 What it does: Proposed a process-aligned robot path generation method for surface machining
A Noise-Robust Turn-Taking System for Real-World Dialogue Robots: A Field Experiment
K. Inoue, Tatsuya Kawahara
RecognitionRobotic IntelligenceTransformerAudio
🎯 What it does: Proposed and evaluated a Transformer-based noise-robust speech activity projection (VAP) model to enhance the real-time interaction smoothness of chatbots
A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module
Junzhe Hu, Janet Dong
Robotic Intelligence
🎯 What it does: Designed and manufactured a novel aerial-aquatic amphibious motion robot (AALR), integrating a variable stiffness propulsion module (VSPM) on the quadrotor arm to achieve continuous motion in both air and underwater environments.
A Novel Effective Loop Gait and Stabilizing Morphology Parameterization in Snake Robots
Chaoquan Tang, Peng Li
OptimizationRobotic Intelligence
🎯 What it does: Propose the Loop gait to enhance the locomotion speed and energy efficiency of serpentine robots, and develop a static stability model for parameter optimization
A novel event-based structured light system for high-precision and high-speed depth sensing
Gong Su, Wei Xi
Depth EstimationComputational Efficiency
🎯 What it does: Proposed an event-based depth perception system combining line laser scanning, polygon mirror scanners, and an efficient plane-ray intersection reconstruction pipeline.
A Novel Gripper with Semi-Peaucellier Linkage and Idle-Stroke Mechanism for Linear Pinching and Self-Adaptive Grasping *
Haokai Ding, Wenzeng Zhang
Robotic Intelligence
🎯 What it does: Designed and implemented an SPD gripper with linear parallel clamping and adaptive grasping capabilities, and verified its performance through experiments.
A Novel Large-Scale Collaborative Mapping Framework with Heterogeneous Point Clouds for Aerial-Ground Robots
Shuang Luan, Zhuang Yan
Autonomous DrivingOptimizationConvolutional Neural NetworkSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Proposed a LiDAR-based aerial-ground robot collaborative mapping framework, including cross-source pose recognition, overlapping perception registration, and global graph optimization;
A Novel LiDAR Odometry Based on Surface Distributed Point Feature with Dual Feature Fusion
Jianjie Li, Zhiqiang Cao
Pose EstimationAutonomous DrivingSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Propose a LiDAR odometry method based on Surface Distribution Points (SDP) features and dual feature fusion, applied in scan-to-map matching and fixed-lag smoothing
A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints
Wentao Guo, Wenzeng Zhang
Robotic Intelligence
🎯 What it does: Designed and verified a novel adaptive robotic hand, Hockens-A Hand, achieving three grasping modes: parallel pinch, asymmetric scooping, and enveloping grasp.
A Novel Strategy for Connectivity Maintenance and Recovery in Heterogeneous Multi-Robot Systems
Enrico Fiasché, Philippe Martinet
Robotic Intelligence
🎯 What it does: Developed a strategy that combines model predictive control (MPC) with general connectivity maintenance (GCM) to support real-time path adaptation while maintaining connectivity in multi-robot systems, and introduced a decentralized decision-making framework to enable dynamic recovery of disconnected members; when reconnection is impossible, the system adaptively adjusts tasks to continue execution.
A Novel Terrain Classification System with Planar ECT Sensor
Wenju Yang, Di Guo
ClassificationRobotic IntelligenceMultimodality
🎯 What it does: A novel terrain classification system was developed, utilizing a planar electrical capacitance tomography (ECT) sensor integrated into the bottom of a mobile robot to collect capacitance and IMU measurement data, which is then classified using a multi-layer perceptron network.
A Parallel Fuzzy Nonlinear ADRC Framework for Robotic Machining with Vibrations
X. Hao, Yaonan Wang
Robotic Intelligence
🎯 What it does: A parallel fuzzy nonlinear active disturbance rejection control (FNLADRC) strategy is proposed to improve the accuracy and robustness of robots during the machining of large complex parts.
A Partition-Learning-Selection-Augmentation (PLSA) Framework to Solve Forward Kinematics of Parallel Robots
Ruiqi Xiang, Mengtang Li
OptimizationRobotic IntelligenceConvolutional Neural NetworkTransformerPhysics Related
🎯 What it does: Propose a Partition-Learning-Selection-Augmentation (PLSA) framework to systematically address the multi-solution problem of forward kinematics in parallel robots, leveraging data partitioning, deep neural networks for parallel prediction of all feasible solutions, combined with a selection mechanism to pick the optimal solution and further refine it via the Newton-Raphson method;
A Patch-Based Transformer Method for Electrical Capacitance Tomography Image Reconstruction
Yuliang Wang, Di Guo
RestorationTransformerImage
🎯 What it does: Proposed a patch-based Transformer method for reconstructing capacitance imaging images.
A Physics-Informed Neural Network for the Calibration of Electromagnetic Navigation Systems
Pascal Ernst, Q. Boehler
Physics Related
🎯 What it does: Research and propose a physics-informed neural network for calibrating electromagnetic navigation systems, aiming to improve the accuracy of magnetic field and gradient predictions, and to determine the corresponding electromagnetic currents based on the desired field and gradient.
A Planning Framework for Stable Robust Multi-Contact Manipulation
Lin Yang, Domenico Campolo
OptimizationRobotic Intelligence
🎯 What it does: Propose a planning-and-optimization-based multi-contact stable robust manipulation framework, evaluate contact stability and robustness to sensor noise, and validate it on dual-arm planar insertion tasks and multi-manipulator multi-hole insertion tasks.
A Probabilistic Programming Approach to Intention Estimation in Human-Robot Teleoperated Assembly Tasks
Aolin Xu, Behzad Dariush
Robotic IntelligenceTransformer
🎯 What it does: Propose a probabilistic programming-based model for intent estimation in remote human-robot collaborative assembly tasks, including task estimation and action prediction.
A Real-Time Collision-Avoidance Motion Planner for Robot Soccer
A. Deogan, R. V. D. Molengraft
Robotic Intelligence
🎯 What it does: Implemented and evaluated a real-time collision avoidance motion planning algorithm for high dynamic environments
A Reconfigurable Manipulator with Schönflies and RCM Motions
Tianye Xu, Xilun Ding
Robotic Intelligence
🎯 What it does: Designed a reconfigurable robotic arm capable of performing Schönflies and RCM operations.
A Recursive Total Least Squares Solution for Bearing-Only Target Motion Analysis and Circumnavigation
Lin Li, Qingrui Zhang
Autonomous DrivingOptimizationComputational EfficiencySequential
🎯 What it does: Proposed a recursive total least squares (RTLS) method for online target localization and tracking using a mobile observer, and designed a surrounding controller to enhance system observability and estimation convergence;
A Rehabilitation Robot System to Enhance Proprioception with Physical and Virtual Simulation of Multi-terrain Scenarios
Liziyi Hao, Ningbo Yu
Robotic IntelligenceBiomedical Data
🎯 What it does: Developed a neural rehabilitation robot platform capable of simulating various terrains (such as uneven mountain paths, sand, and bumpy buses) in both physical and virtual environments to enhance patients' proprioception and assess their stability and recovery ability.
A Ribbed Hybrid Rigid-Flexible Tail with Graded Stiffness and Anisotropic Friction for Enhanced Robot Locomotion and Fall Damage Prevention
Pongsiri Borijindakul, P. Manoonpong
Robotic Intelligence
🎯 What it does: Proposed a hybrid rigid-flexible robot tail (HIFLEX) with gradient stiffness and anisotropic friction, and experimentally validated its crawling performance on rough and deformable slopes as well as its ability to protect against fall damage.
A Rigid-flexible Coupled Bionic Robotic Finger with Perception Decoupling and Slip Detection Capabilities
Yuyaocen Xiang, Juntian Qu
Robotic Intelligence
🎯 What it does: Developed a stiffness-flexibility coupling bio-inspired robotic finger, achieving perception decoupling and sliding detection functions.
A Robust Distributed Odometry for Mobile Robots with Steerable Wheels
Wang Xi, Jianping He
Robotic Intelligence
🎯 What it does: Proposes a distributed odometry framework named ICF-DO for mobile robots with steerable wheels, applicable to SWMR and multi-wheel collaborative robot systems.
A robust MLTD3 path planning algorithm in unknown environments
Tianqing Wen, Zhendong Sun
Robotic IntelligenceRecurrent Neural NetworkReinforcement Learning
🎯 What it does: Proposed a Multi-Layer Long Short-Term Memory Double Delayed Deep Deterministic Policy Gradient (MLTD3) algorithm for path planning of mobile robots in unknown environments.
A Robust Stereo Splatting SLAM System with Inertial-Legged Fusion
Zuowei Chen, Qing Shi
Robotic IntelligenceGaussian SplattingSimultaneous Localization and MappingImageBenchmark
🎯 What it does: Developed a robust stereo 3D Gaussian Splatting (3DGS) SLAM system for small quadruped robots (SaQu-SLAM), incorporating a lightweight network for dense initialization of 3D Gaussians, Kalman filter-based fusion of inertial and leg encoder data, and a mode switching mechanism to handle visual intermittency failures.
A Rubber-sheet Transformation Model for Personalized Human-Robot Proxemics
Fanta Camara, M. Obaid
Robotic IntelligenceTabular
🎯 What it does: Proposed a personalized method for representing human-machine proximity using a rubber band deformation model
A Safe and Convenient Feeding Assistive Robotic Based on Multi-modal Interaction Method
Jiahui Ding, Toshio Fukuda
Pose EstimationRobotic IntelligenceLarge Language ModelVision Language ModelMultimodality
🎯 What it does: Established a multimodal interactive feeding assistance robot system and proposed a safe and comfortable feeding method that combines visual recognition with LLM-based voice interaction.
A Safety-Adjusted Policy Optimization Algorithm and Application for Obstacle Avoidance in the Quadcopter
Gang Xia, Xiwang Dong
OptimizationRobotic IntelligenceReinforcement Learning
🎯 What it does: Proposed a dual-policy framework safety regulation strategy optimization algorithm (SAPO) to address safety constraint violations in reinforcement learning, and applied it to quadrotor obstacle avoidance navigation.
A Safety-Enhanced Autonomous Resection Method for Precision Laparoscopic Surgery amid Tissue Deformation
Yudong Shi, Xiaojian Li
Safty and PrivacyRobotic Intelligence
🎯 What it does: A safe enhanced autonomous resection method for laparoscopic surgery is proposed, including pre-planned cutting paths, navigation switching strategies based on a preview tracking mechanism, deep fusion navigation controller, safe withdrawal motion controller, inertial tracking mechanism, and a confidence generator that fuses two controllers. Its effectiveness is validated through simulation and physical experiments.
A Self-Sensing Phase-Change Buoyancy System for Miniaturized Deep-sea Robotics
Zonghao Zuo, Li Wen
Robotic Intelligence
🎯 What it does: A self-sensing phase-change buoyancy regulation system was developed for small deep-sea robots, capable of operating in extreme deep-sea environments.
A Sim-to-Real Transfer Framework for Enhancing Marine Vehicle Performance in Ocean Environments
Ze Zheng, Wenbo Xie
Domain AdaptationAutonomous DrivingReinforcement Learning
🎯 What it does: Built a simulation-to-real transfer framework for marine vehicles, combining high-fidelity data-driven dynamics models with multi-factor domain randomization, and evaluated path tracking tasks through a simulation-simulation platform.
A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features
Tarek Bouazza, Claude Samson
Pose EstimationPoint Cloud
🎯 What it does: Propose a simple algebraic method to estimate the camera pose from at least four reference points with known coordinates on a planar target and line-of-sight measurements in the camera coordinate system.
A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing
Shengfan Cao, Francesco Borrelli
Autonomous DrivingReinforcement LearningImage
🎯 What it does: Propose a simple method to integrate safety constraints into the imitation learning objective
A Simple yet Effective Test-Time Adaptation for Zero-Shot Monocular Metric Depth Estimation
Rémi Marsal, David Filliat
Depth EstimationDomain AdaptationSimultaneous Localization and MappingPoint Cloud
🎯 What it does: Propose a method to recalibrate the predictions of Depth Anything to obtain metric depth by utilizing 3D points (low-resolution LiDAR or SfM+IMU) without fine-tuning.
A Situation-Aware Autonomous Camera Alignment for Enhanced Suturing in Robot-Assisted Minimally Invasive Surgery
Elisa Iovene, I. Nisky
Robotic IntelligenceBiomedical Data
🎯 What it does: Developed a context-aware autonomous camera alignment system based on real-time kinematic data to predict user intent, dynamically adjusting the camera position during simulated suturing tasks in robotic-assisted surgery.
A Skill-Based Hierarchical Framework with Dangerous Action Masking for Autonomous Navigation of Jumping Robots
Gangyang Li, Qing Shi
Robotic IntelligenceReinforcement Learning
🎯 What it does: Propose a skill-based hierarchical framework combined with danger action shielding for autonomous navigation in jumping robots
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact
O. Beker, Sylvain Calinon
Physics Related
🎯 What it does: Proposes an analytical method that jointly integrates collision detection and contact modeling, generating fully analytical and smooth (twice-differentiable) forward and inverse dynamics;
A Soft Active Surface Gripper for Safe In Hand Manipulation of Fragile Objects
Shen Xiang, Yang Yang
Robotic Intelligence
🎯 What it does: Designed and fabricated a soft active surface gripper for safely manipulating fragile objects within the hand.
A Soft Robot Attachment with Variable Stiffness Effector for Advanced Endoscopic Surgical Tasks
Zhangxi Zhou, George P. Mylonas
Robotic IntelligenceBiomedical Data
🎯 What it does: Designed and verified a soft cable-driven parallel robot with a variable stiffness end-effector for gastrointestinal endoscopic surgery, capable of navigating through a colon model in a soft state and increasing stiffness at lesion sites to collaborate with the endoscope for surgical procedures.
A Spatial Position-based Visual Servoing Obstacle-avoidable Shape Control Framework for An 11-DOF Hybrid Continuum Robot
P. Zhu, Kwok Wai Samuel Au
OptimizationRobotic Intelligence
🎯 What it does: Proposed and implemented a space-position-based visual servoing, obstacle-avoiding shape control framework for 11-degree-of-freedom hybrid continuum robots.
A Spatiotemporal Downwash Modeling for Agile Close-Proximity Multirotor Flight
Pavel Kharitenko, Yang Wang
Robotic IntelligenceTime SeriesPhysics Related
🎯 What it does: Studied the downwash interaction of a quadrotor in the high-speed range of 0.5-4.0 m/s through high-precision CFD simulations, and proposed a geometric deep neural network prediction model that simultaneously considers both absolute and relative velocities.
A stepwise identification framework for determining the physical feasibility parameters of robot dynamics
Guanghui Liu, Qiang Li
OptimizationRobotic IntelligencePhysics Related
🎯 What it does: Proposed a four-step systematic framework for identifying physically feasible robot dynamics parameters.
A Strawberry Harvesting Tool with Minimal Footprint
Mohamed Sorour, P. From
Agriculture Related
🎯 What it does: Proposed a prototype for strawberry picking in desktop cultivation with an extremely small footprint, using a smooth gripper to guide the stem into a precise groove and remote laser beams for cutting.
A Study on the Generation of Single Cell Droplets via the Combination of Lateral-Field Optoelectronic Tweezers and Electrowetting-on-Dielectric
Jiawei Zhao, Lin Feng
Biomedical Data
🎯 What it does: Combining Lateral-Field Optoelectronic Tweezers (LOET) with Electrowetting-on-Dielectric (EWOD) technology, individual cells are isolated, encapsulated into separate droplets, generating single-cell droplets and enabling control over their microenvironment.
A Surgical State Identifying Method based on BiLSTM with Vibration Processing for Improving Safety of Bone Milling System*
Jinyu Liu, Yu Dai
ClassificationRecurrent Neural NetworkTime SeriesBiomedical Data
🎯 What it does: Studied a vibration signal processing method based on BiLSTM for high-precision identification of bone milling surgery states. Vibration signals were collected through experiments on pig scapulae, and the network was trained to recognize milling depth and bone layer ratio.
A System for Multi-View Mapping of Dynamic Scenes Using Time-Synchronized UAVs
Aniket Gupta, Hanumant Singh
Robotic IntelligenceSimultaneous Localization and MappingImageBenchmark
🎯 What it does: Developed a multi-perspective synchronous acquisition system based on drones, and provided a corresponding unrestricted outdoor scene synchronous multi-perspective image dataset.