paper_id string | title string | program_url string | authors list | keywords list | abstract large_string | paper_code string | abstract_source string | arxiv_id string | arxiv_id_source string |
|---|---|---|---|---|---|---|---|---|---|
TuI1I.1 | Real-Time Sit-To-Stand Phase Classification with a Mobile Assistive Robot from Close Proximity Utilizing 3D Visual Skeleton Recognition | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_01 | [
"Mahdi, Anas",
"Dong, Zonghao",
"Lin, Jonathan Feng-Shun",
"Hu, Yue",
"Hirata, Yasuhisa",
"Mombaur, Katja"
] | [
"Physically Assistive Devices",
"Physical Human-Robot Interaction"
] | Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults’ daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive devices. Robotics ... | TuI1I.1 | official | null | null |
TuI1I.2 | Manydepth2: Motion-Aware Self-Supervised Monocular Depth Estimation in Dynamic Scenes | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_02 | [
"Zhou, Kaichen",
"Bian, Jiawang",
"Zheng, Jian-Qing",
"Zhong, Jia-Xing",
"Xie, Qian",
"Markham, Andrew",
"Trigoni, Niki"
] | [
"SLAM",
"Visual-Inertial SLAM",
"Visual Learning"
] | Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation for both dynamic objects and static backgrounds, all while maintaining computat... | TuI1I.2 | official | 2312.15268 | title_snapshot |
TuI1I.3 | FAST-LIEO: Fast and Real-Time LiDAR-Inertial-Event-Visual Odometry | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_03 | [
"Wang, Zirui",
"Ge, Yangtao",
"Dong, Kewei",
"Chen, I-Ming",
"Wu, Jing"
] | [
"SLAM",
"Localization",
"Sensor Fusion"
] | Unlike standard camera that relies on exposure to obtain output frame by frame, event camera only output an event when the change of brightness intensity in a pixel exceed a threshold, and the outputs of different pixels are independent to each other. Benefited from its bio-inspired design, event camera has the advanta... | TuI1I.3 | official | null | null |
TuI1I.4 | Diversity-Aware Crowd Model for Robust Robot Navigation in Human Populated Environment | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_04 | [
"Wu, Jiaxu",
"Wang, Yusheng",
"Chen, Tong",
"Jiang, Jun",
"Wang, Yongdong",
"An, Qi",
"Yamashita, Atsushi"
] | [
"Autonomous Vehicle Navigation",
"Human-Aware Motion Planning",
"Reinforcement Learning"
] | Robot navigation in human-populated environments poses challenges due to the diversity of human behaviors and the unpredictability of human paths. However, existing Reinforcement Learning (RL)-based methods often rely on simulators that lack sufficient diversity in human behavior, resulting in navigation policies that ... | TuI1I.4 | official | null | null |
TuI1I.5 | On Motion Blur and Deblurring in Visual Place Recognition | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_05 | [
"Ismagilov, Timur",
"Ferrarini, Bruno",
"Milford, Michael J",
"Tuyen, Nguyen Tan Viet",
"Ramchurn, Sarvapali",
"Ehsan, Shoaib"
] | [
"Localization",
"Vision-Based Navigation",
"Data Sets for Robotic Vision"
] | Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such as changes in illumination, season, weather and viewpoint, the impact of motion b... | TuI1I.5 | official | 2412.07751 | title_snapshot |
TuI1I.6 | Far-Field Image-Based Traversability Mapping for a Priori Unknown Natural Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_06 | [
"Fahnestock, Ethan",
"Fuentes, Erick",
"Prentice, Samuel",
"Vasilopoulos, Vasileios",
"Osteen, Philip",
"Howard, Thomas",
"Roy, Nicholas"
] | [
"Vision-Based Navigation",
"Field Robots"
] | While navigating unknown environments, robots rely primarily on proximate features for guidance in decision making, such as depth information from lidar or stereo to build a costmap, or local semantic information from images. The limited range over which these features can be used may result in poor robot behavior when... | TuI1I.6 | official | null | null |
TuI1I.7 | Iterative Shaping of Multi-Particle Aggregates Based on Action Trees and VLM | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_07 | [
"Lee, Hoi-Yin",
"Zhou, Peng",
"Duan, Anqing",
"Yang, Chenguang",
"Navarro-Alarcon, David"
] | [
"Bimanual Manipulation",
"Manipulation Planning"
] | In this paper, we address the problem of manipulating multi-particle aggregates using a bimanual robotic system. Our approach enables the autonomous transport of dispersed particles through a series of shapingand pushing actions using robotically-controlled tools. Achieving this advanced manipulation capability present... | TuI1I.7 | official | 2501.13507 | title_snapshot |
TuI1I.8 | What Matters in Learning a Zero-Shot Sim-To-Real RL Policy for Quadrotor Control? a Comprehensive Study | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_08 | [
"Chen, Jiayu",
"Yu, Chao",
"Xie, Yuqing",
"Gao, Feng",
"Chen, Yinuo",
"Yu, Shu'ang",
"Tang, Wenhao",
"Ji, Shilong",
"Mu, Mo",
"Wu, Yi",
"Yang, Huazhong",
"Wang, Yu"
] | [
"Reinforcement Learning",
"Machine Learning for Robot Control",
"Aerial Systems: Applications"
] | Precise and agile flight maneuvers are essential for quadrotor applications, yet traditional control methods are limited by their reliance on flat trajectories or computationally intensive optimization. Reinforcement learning (RL)-based policies offer a promising alternative by directly mapping observations to actions,... | TuI1I.8 | official | 2412.11764 | title_snapshot |
TuI1I.9 | A Hyperspectral Imaging Guided Robotic Grasping System | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_09 | [
"Sun, Zheng",
"Dong, Zhipeng",
"Wang, Shixiong",
"Chu, Zhongyi",
"Chen, Fei"
] | [
"Perception for Grasping and Manipulation",
"Software-Hardware Integration for Robot Systems",
"Grasping"
] | Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive costs. Within this paper, we introduce a novel hyperspectral imaging-guided robo... | TuI1I.9 | official | 2512.05578 | title_snapshot |
TuI1I.10 | Zero-Shot Denoiser for Enhanced Acoustic Inspection: Blind Signal Separation and Text-Guided Audio Reconstruction | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_10 | [
"Shoda, Koki",
"Louhi Kasahara, Jun Younes",
"An, Qi",
"Yamashita, Atsushi"
] | [
"Robotics and Automation in Construction",
"Industrial Robots",
"Surveillance Robotic Systems"
] | Acoustic inspection is crucial for infrastructure maintenance, but its effectiveness is often hampered by environmental noise. Conventional denoising methods rely on prior knowledge or training data, limiting their practicability. This paper presents Zero-Shot Denoiser, a novel approach achieving noise reduction withou... | TuI1I.10 | official | null | null |
TuI1I.11 | ExFMan: Rendering 3D Dynamic Humans with Hybrid Monocular Blurry Frames and Events | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_11 | [
"Chen, Kanghao",
"Wang, Zeyu",
"Wang, Lin"
] | [
"Deep Learning for Visual Perception",
"Visual Learning",
"Sensor Fusion"
] | Recent advances in neural rendering have enabled the 3D reconstruction of dynamic humans from monocular videos, with applications in robotics.However, it is still challenging to reconstruct clear humans from in-the-wild video encountering motion blur, causing shape and appearance inconsistencies, especially in blurry r... | TuI1I.11 | official | 2409.14103 | title_snapshot |
TuI1I.12 | Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven DLO Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_12 | [
"Kamaras, Georgios",
"Ramamoorthy, Subramanian"
] | [
"Probabilistic Inference",
"Reinforcement Learning",
"Perception for Grasping and Manipulation"
] | We present an integrated (or end-to-end) framework for the Real2Sim2Real problem of manipulating deformable linear objects (DLOs) based on visual perception. Working with a parameterised set of DLOs, we use likelihood-free inference (LFI) to compute the posterior distributions for the physical parameters using which we... | TuI1I.12 | official | 2502.18615 | title_judge |
TuI1I.13 | MAD-BA: 3D LiDAR Bundle Adjustment -- from Uncertainty Modelling to Structure Optimization | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_13 | [
"Cwian, Krzysztof",
"Di Giammarino, Luca",
"Ferrari, Simone",
"Ciarfuglia, Thomas Alessandro",
"Grisetti, Giorgio",
"Skrzypczynski, Piotr"
] | [
"Mapping",
"Range Sensing",
"SLAM"
] | The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This paper introduces a framework for simul... | TuI1I.13 | official | 2501.03972 | title_snapshot |
TuI1I.14 | Limiting Kinetic Energy through Control Barrier Functions: Analysis and Experimental Validation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_14 | [
"Califano, Federico",
"Logmans, Daniël Dylan",
"Roozing, Wesley"
] | [
"Robot Safety",
"Safety in HRI",
"Compliance and Impedance Control"
] | In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a minimally invasive manner to achieve the desired kinetic energy limit. We show how th... | TuI1I.14 | official | 2411.02186 | title_snapshot |
TuI1I.15 | Infinite-Horizon Value Function Approximation for Model Predictive Control | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_15 | [
"Jordana, Armand",
"Kleff, Sebastien",
"Haffemayer, Arthur",
"Ortiz-Haro, Joaquim",
"Carpentier, Justin",
"Mansard, Nicolas",
"Righetti, Ludovic"
] | [
"Optimization and Optimal Control",
"Machine Learning for Robot Control",
"Motion and Path Planning"
] | Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large preview horizons, which are necessary to ensure safety and stability. In practice, practitioners have to carefully design cost functions tha... | TuI1I.15 | official | 2502.06760 | title_snapshot |
TuI1I.16 | Design and Optimization of a Samara-Inspired Lightweight Monocopter for Extended Endurance | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_16 | [
"Cai, Xinyu",
"Zhong, Shangkun",
"Tan, Tee Meng",
"Ang, Wei Jun",
"Foong, Shaohui"
] | [
"Aerial Systems: Mechanics and Control",
"Aerial Systems: Applications"
] | Small multirotors demonstrate significant potential due to their simple airframe and human-friendly operation. However, the reduced size results in substantially higher energy consumption, which severely limits their flight endurance and restricts their range of applications. Ornithopters, while offering better aerodyn... | TuI1I.16 | official | null | null |
TuI1I.17 | Continuous-Time Line-Of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_17 | [
"Hayner, Christopher",
"Carson, John",
"Acikmese, Behcet",
"Leung, Karen"
] | [
"Constrained Motion Planning",
"Optimization and Optimal Control",
"Aerial Systems: Perception and Autonomy"
] | Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot’s line-of-sight (LoS), for reliable operation. This paper tackles the challenge o... | TuI1I.17 | official | 2410.22596 | title_snapshot |
TuI1I.18 | Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_18 | [
"Okawara, Taku",
"Koide, Kenji",
"Takanose, Aoki",
"Oishi, Shuji",
"Yokozuka, Masashi",
"Uno, Kentaro",
"Yoshida, Kazuya"
] | [
"SLAM",
"Localization",
"Field Robots"
] | null | TuI1I.18 | null | 2506.09548 | title_snapshot |
TuI1I.19 | SAGA-SLAM: Scale-Adaptive 3D Gaussian Splatting for Visual SLAM | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_19 | [
"Park, Kun",
"Seo, Seung-Woo"
] | [
"SLAM",
"RGB-D Perception"
] | 3D Gaussian Splatting (3DGS) has recently emerged as a powerful technique for representing 3D scenes. Its superior high-fidelity rendering quality and speed have driven its rapid adoption in many applications. Among them, Visual Simultaneous Localization and Mapping (VSLAM) is the most prominent application, as it requ... | TuI1I.19 | official | null | null |
TuI1I.20 | An Enhanced Soft Growing Robot with Mixed-Layer Jamming for Superior Load Capacity and Improved Mobility | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_20 | [
"Li, Zheyu",
"Sun, Kui",
"Li, XueAi",
"Zou, Yanjiang",
"Liu, Hong"
] | [
"Soft Robot Materials and Design",
"Biologically-Inspired Robots",
"Mechanism Design"
] | Soft robots have gained widespread attention due to their lightweight nature and inherent safety. Among them, soft growing robots (SGRs) are inspired by the growth mechanism of vines, achieving movement through tip eversion. However, their load-bearing capacity remains a significant challenge due to material limitation... | TuI1I.20 | official | null | null |
TuI1I.21 | CLEVER: Stream-Based Active Learning for Robust Semantic Perception from Human Instructions | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_21 | [
"Lee, Jongseok",
"Birr, Timo",
"Triebel, Rudolph",
"Asfour, Tamim"
] | [
"Object Detection, Segmentation and Categorization",
"Deep Learning for Visual Perception",
"Probability and Statistical Methods"
] | We propose CLEVER, an active learning system for robust semantic perception with Deep Neural Networks (DNNs). For data arriving in streams, our system seeks human support when encountering failures and adapts DNNs online based on human instructions. In this way, CLEVER can eventually accomplish the given semantic perce... | TuI1I.21 | official | 2507.15499 | title_snapshot |
TuI1I.22 | STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_22 | [
"Kapoor, Parv",
"Mizuta, Kazuki",
"Kang, Eunsuk",
"Leung, Karen"
] | [
"Formal Methods in Robotics and Automation",
"Deep Learning Methods",
"Software Tools for Robot Programming"
] | Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the notion of robustness, the degree to which an input signal satisfies or violates an STL specification, thus providing a nuanced evaluation of... | TuI1I.22 | official | 2501.04194 | title_snapshot |
TuI1I.23 | Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_23 | [
"Barjini, Amir Hossein",
"Alizadeh Kolagar, Seyed Adel",
"Yaqubi, Sadeq",
"Mattila, Jouni"
] | [
"Flexible Robotics",
"Motion Control",
"Motion and Path Planning"
] | This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches that focus solely on control, we demonstrate that the desired trajectory signific... | TuI1I.23 | official | 2506.08639 | title_snapshot |
TuI1I.24 | Learning Fast, Tool-Aware Collision Avoidance for Collaborative Robots | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_24 | [
"Lee, Joonho",
"Kim, Yunho",
"Kim, Seok Joon",
"Nguyen, Van Quan",
"Heo, Young Jin"
] | [
"Collision Avoidance",
"Reinforcement Learning",
"Engineering for Robotic Systems"
] | Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full visibility and fixed tools, which can lead to collisions or overly conservative behavi... | TuI1I.24 | official | 2508.20457 | title_snapshot |
TuI1I.25 | IMH-MOT: Interactive Multi-Hierarchical Image and Point Cloud Fusion for Multi-Object Tracking | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_25 | [
"Qin, Wenyuan",
"Zhou, Zhiyan",
"Luo, Jiong",
"Pan, Chengwei",
"Xu, Hao",
"Dong, Xiwang",
"Wang, Danwei"
] | [
"Visual Tracking",
"Sensor Fusion",
"Computer Vision for Automation"
] | Multi-object tracking (MOT) plays a critical role in applications such as autonomous driving and surveillance. Camera-based approaches offer rich texture features for object association, while LiDAR-based methodsprovide accurate geometric information for spatial reasoning. Although each modality addresses different cha... | TuI1I.25 | official | null | null |
TuI1I.26 | A Robust LiDAR-Inertial Multi Constraint-Based Localization for Agricultural Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_26 | [
"Longani, Narayan",
"Kim, Gon-Woo"
] | [
"SLAM",
"Field Robots",
"Robotics and Automation in Agriculture and Forestry"
] | Accurate state estimation is essential for an autonomous agricultural robot’s reliable operations. The effectiveness of state estimation is influenced by a number of factors, such as sensor-fusion algorithms, the environment, and sensor quality. When the robot traverses in large-scale scenarios, the distance travelled ... | TuI1I.26 | official | null | null |
TuI1I.27 | Baseline Policy Adapting and Abstraction of Shared Autonomy for High-Level Robot Operations | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_27 | [
"Yousefi, Ehsan",
"Chen, Mo",
"Sharf, Inna"
] | [
"Shared Autonomy",
"Cognitive Human-Robot Interaction",
"AI-Based Methods",
"Motion and Path Planning"
] | This paper presents a novel shared autonomy and baseline policy adapting framework for human-robot interactions in high-level context-aware robotic tasks. With a unique methodology that leverages hierarchies in decision-making as well as variational analysis of human policy, we propose a mathematical model of shared au... | TuI1I.27 | official | null | null |
TuI1I.28 | Learning Maximal Safe Sets Using Hypernetworks for MPC-Based Local Trajectory Planning in Unknown Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_28 | [
"Derajic, Bojan",
"Bouzidi, Mohamed-Khalil",
"Bernhard, Sebastian",
"Hoenig, Wolfgang"
] | [
"Collision Avoidance",
"Machine Learning for Robot Control",
"Robot Safety"
] | This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representation of a set is used as the terminal set constraint for a model predictive control (MPC) local planner, resulting in improved recursive feasi... | TuI1I.28 | official | 2410.20267 | title_snapshot |
TuI1I.29 | EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction Via Polynomial Representations | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_29 | [
"Yao, Yue",
"Bouzidi, Mohamed-Khalil",
"Goehring, Daniel",
"Reichardt, Joerg"
] | [
"Autonomous Agents",
"Deep Learning Methods",
"Performance Evaluation and Benchmarking"
] | As the prediction horizon increases, predicting the future evolution of traffic scenes becomes increasingly difficult due to the multi-modal nature of agent motion. Most state-of-the-art (SotA) prediction models primarily focus on forecasting the most likely future. However, for the safe operation of autonomous vehicle... | TuI1I.29 | official | 2504.05422 | title_snapshot |
TuI1I.30 | Learning Behaviours for Decentralised Multi-Robot Collision Avoidance in Constrained Pathways Using Curriculum Reinforcement Learning | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_30 | [
"Komol, Md Mostafizur Rahman",
"Tidd, Brendan",
"Browne, Will",
"Maire, Frederic",
"Williams, Jason",
"Howard, David"
] | [
"Field Robots",
"Search and Rescue Robots",
"Reinforcement Learning"
] | Mobile robot teams often require decentralised autonomous navigation through narrow gaps in limited commu- nication environments (e.g., underground search-and-rescue op- erations). Existing navigation approaches exhibit suboptimal per- formance for avoiding multi-robot collisions in such bottlenecks due to an inability... | TuI1I.30 | official | null | null |
TuI1I.31 | State Estimation and Environment Recognition for Articulated Structures Via Proximity Sensors Distributed Over the Whole Body | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_31 | [
"Iwao, Kengo",
"Arita, Hikaru",
"Tahara, Kenji"
] | [
"SLAM",
"Sensor Fusion",
"Modeling, Control, and Learning for Soft Robots"
] | For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential for environmental interaction. We propose a method for simultaneous articulated ... | TuI1I.31 | official | 2409.12564 | title_snapshot |
TuI1I.32 | PAPL-SLAM: Principal Axis-Anchored Monocular Point-Line SLAM | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_32 | [
"Li, Guanghao",
"Cao, Yu",
"Chen, Qi",
"Gao, Xin",
"Yang, Yifan",
"Pu, Jian"
] | [
"Localization",
"SLAM",
"Vision-Based Navigation"
] | In point-line Simultaneous Localization and Mapping (SLAM) systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves using minimal parameter representations of l... | TuI1I.32 | official | 2410.12324 | title_snapshot |
TuI1I.33 | Markerless Hand-Eye Calibration by Flange Ellipse Detection | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_33 | [
"Jia, Ruoyu",
"Fan, Ruomeng",
"Guo, Qitong",
"Shi, Xiaohang",
"Hirano, Masahiro",
"Yamakawa, Yuji"
] | [
"Calibration and Identification",
"Deep Learning Methods",
"Recognition"
] | This paper proposes a simple yet effective markerless hand-eye calibration method that achieves low cost, high accuracy, and strong generalization across different types of robots. The method utilizes a circular flange, a standardized structure in industrial robots, for calibration via the perspective-n-point (PnP) alg... | TuI1I.33 | official | null | null |
TuI1I.34 | Rapid Adaptation of Particle Dynamics for Generalized Deformable Object Mobile Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_34 | [
"Wu, Bohan",
"Martín-Martín, Roberto",
"Fei-Fei, Li"
] | [
"Reinforcement Learning",
"Machine Learning for Robot Control",
"Mobile Manipulation"
] | We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions --how they stretch, bend, compress, and move-- and they are critical to determining the optimal actions to perform a manipulation task successf... | TuI1I.34 | official | 2603.18246 | title_snapshot |
TuI1I.35 | A New Approach to Real-Time Odometry Calibration Using an Adaptive Particle Filter Design | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_35 | [
"Fariña, Bibiana",
"Toledo, Jonay",
"Acosta Sánchez, Leopoldo"
] | [
"Sensor Fusion",
"Wheeled Robots",
"Probability and Statistical Methods"
] | This paper presents a novel calibration system for odometric sensors using an Adaptive Particle Filter (Adaptive-PF) to achieve high precision pose estimation and improve localization in wheeled mobile robots. The system compensates for intrinsic systematic errors in the odometric sensor by adjusting its parameters in ... | TuI1I.35 | official | null | null |
TuI1I.36 | The More the Better? Confidence-Driven Residual Weighting and Depth Fusion for Multi-RGB-D Inertial Odometry | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_36 | [
"Yun, Seungsang",
"Shin, Jaeho",
"Cha, Jaekwang",
"Kim, Ayoung"
] | [
"Visual-Inertial SLAM",
"SLAM",
"Vision-Based Navigation"
] | Multi-camera systems hold considerable promise for enhancing visual odometry by expanding the field of view, yet simply adding more cameras does not guarantee higher accuracy. Because increasing the number of cameras also raises the likelihood of degraded or misaligned views, appropriate handling is essential to preven... | TuI1I.36 | official | null | null |
TuI1I.37 | Distributed NMPC for Cooperative Aerial Manipulation of Cable-Suspended Loads | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_37 | [
"De Carli, Nicola",
"Belletti, Riccardo",
"Buzzurro, Emanuele",
"Testa, Andrea",
"Notarstefano, Giuseppe",
"Tognon, Marco"
] | [
"Aerial Systems: Mechanics and Control",
"Multi-Robot Systems",
"Optimization and Optimal Control"
] | In this paper, we address the problem of cooperative manipulation of a cable-suspended load by a team of aerial robots. Unlike classical approaches that rely on centralized controllers, we propose a Distributed Nonlinear Model Predictive Control (DNMPC) framework in which the UAVs communicate over a peer-to-peer networ... | TuI1I.37 | official | null | null |
TuI1I.38 | A Miniaturized Tendon-Driven Continuum Robot for Direct Laser Deposition | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_38 | [
"Raimondi, Luca",
"Russo, Matteo",
"Dong, Xin",
"Norton, Andy",
"Axinte, Dragos"
] | [
"Mechanism Design",
"Tendon/Wire Mechanism"
] | Direct laser deposition, a specialized form of additive manufacturing, shows good potential in numerous high-value applications such as the repair of aeroengine blades. However, the traditional setup for this technique is bulky and not suited for in-situ repair, requiring the costly disassembly of the aeroengine. This ... | TuI1I.38 | official | null | null |
TuI1I.39 | One-Shot Demonstration for Slicing and Cutting Everyday Food Items | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_39 | [
"Liu, Yi",
"Verleysen, Andreas",
"Wyffels, Francis"
] | [] | null | TuI1I.39 | null | null | null |
TuI1I.40 | Active Contact Engagement for Aerial Navigation in Unknown Environments with Glass | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_40 | [
"Chen, Xinyi",
"Zhang, Yichen",
"Zou, Hetai",
"Wang, Junzhe",
"Shen, Shaojie"
] | [
"Aerial Systems: Perception and Autonomy",
"Vision-Based Navigation",
"Software-Hardware Integration for Robot Systems"
] | Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass surfaces, which are... | TuI1I.40 | official | 2505.00332 | title_snapshot |
TuI1I.41 | DKPMV: Dense Keypoints Fusion from Multi-View RGB Frames for 6D Pose Estimation of Textureless Objects | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_41 | [
"Chen, Jiahong",
"Wang, JingHao",
"Wang, Zi",
"Wang, Ziwen",
"Guan, Banglei",
"Yu, Qifeng"
] | [
"Deep Learning for Visual Perception",
"Recognition",
"Computer Vision for Automation"
] | 6D pose estimation of textureless objects is valu- able for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit multi-view geometric cues, limiting their performance. In this paper, we prop... | TuI1I.41 | official | 2510.10933 | title_snapshot |
TuI1I.42 | Smooth Human-Robot Shared Control for Autonomous Orchard Monitoring with UGVs (I) | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_42 | [
"El Bou, Cheikh Melainine",
"Focchi, Michele",
"Chang, Michael",
"Camurri, Marco",
"von Ellenrieder, Karl Dietrich"
] | [
"Robotics and Automation in Agriculture and Forestry",
"Collision Avoidance",
"Field Robots"
] | Precision agriculture offers the opportunity to auto- mate routine or difficult tasks in orchards and vineyards, such as spraying or inspection, with Unmanned Ground Vehicles (UGV). In this context, human operators should be kept in the closed-loop control of the robot for safety and reliability. This work is motivated... | TuI1I.42 | official | null | null |
TuI1I.43 | MSDNet: Efficient 4D Radar Super-Resolution Via Multi-Stage Distillation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_43 | [
"Huang, Minqing",
"Lu, Shouyi",
"Zheng, Boyuan",
"Li, Ziyao",
"Tang, Xiao",
"Zhuo, Guirong"
] | [
"Computer Vision for Transportation",
"Sensor Fusion",
"Localization"
] | 4D radar super-resolution, which aims to reconstruct sparse and noisy point clouds into dense and geometrically consistent representations, is a foundational problem in autonomous perception. However, existing methods often suffer from high training cost or rely on complex diffusion-based sampling, resulting in high in... | TuI1I.43 | official | 2509.13149 | title_snapshot |
TuI1I.44 | 3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_44 | [
"Lajoie, Pierre-Yves",
"Ramtoula, Benjamin",
"De Martini, Daniele",
"Beltrame, Giovanni"
] | [
"Multi-Robot SLAM",
"SLAM",
"Localization"
] | Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models, which can register images despite large viewpoint differences, we propose a robust... | TuI1I.44 | official | 2602.02430 | title_snapshot |
TuI1I.45 | PRED-MPPI: Disturbance-Preview and Efficient MPPI for Robust Quadrotor Tracking with Hardware Validation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_45 | [
"Zhang, Haodi",
"Ge, Junwei",
"Su, Jinya",
"Pan, Yongping",
"Yang, Jun",
"Chen, Wen-Hua",
"Li, Shihua"
] | [
"Robust/Adaptive Control",
"Optimization and Optimal Control",
"Motion Control"
] | We propose PRED-MPPI, the first MPPI variant that seamlessly integrates real-time disturbance preview and adaptive discretization for quadrotor tracking control under significant model inaccuracies and time-varying disturbances. Unlike prior MPPI variants (e.g., mathcal{L}_1-MPPI, DA-MPPI), which assume constant or mat... | TuI1I.45 | official | null | null |
TuI1I.46 | Learning to Design Soft Hands Using Reward Models | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_46 | [
"Bai, Xueqian",
"Hansen, Nicklas",
"Singh, Adabhav",
"Tolley, Michael T.",
"Duan, Yan",
"Abbeel, Pieter",
"Wang, Xiaolong",
"Yi, Sha"
] | [
"Modeling, Control, and Learning for Soft Robots",
"Deep Learning in Grasping and Manipulation",
"Telerobotics and Teleoperation"
] | Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of hardware and control better couples morphology to behavior, the resulting search space... | TuI1I.46 | official | 2510.17086 | title_snapshot |
TuI1I.47 | KAN Policy: Learning Efficient and Smooth Robotic Trajectories Via Kolmogorov-Arnold Networks | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_47 | [
"Chen, Zikang",
"Gao, Fei",
"Yu, Ziya",
"Li, Peng"
] | [
"Deep Learning Methods",
"Motion and Path Planning",
"Learning from Demonstration"
] | null | TuI1I.47 | null | null | null |
TuI1I.48 | GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_48 | [
"Jiang, Guangqi",
"Chang, Haoran",
"Qiu, Ri-Zhao",
"Liang, Yutong",
"Ji, Mazeyu",
"Zhu, Jiyue",
"Zou, Xueyan",
"Dong, Zhao",
"Wang, Xiaolong"
] | [
"Deep Learning in Grasping and Manipulation",
"Grippers and Other End-Effectors",
"Imitation Learning"
] | This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates ‘closing the loop’ of developing manipulation policies with reproducible evaluation of policies learned from real-robot data and sim2real policy tr... | TuI1I.48 | official | 2510.20813 | title_snapshot |
TuI1I.49 | GenJAPNet: A Generalizable Joint Angle Prediction Network with Non-Redundant Muscle Synergy Features for Lower-Limb Exoskeletons | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_49 | [
"Zhang, Hairong",
"Bai, Yu",
"Ziming, Kou",
"Juan, Wu",
"Qin, Pengjie",
"Gao, Fei",
"Shang, Wenze",
"Teng, Yue",
"Tian, Dingkui",
"Wu, Xinyu"
] | [
"Prosthetics and Exoskeletons",
"Rehabilitation Robotics",
"Deep Learning Methods"
] | Lower-limb exoskeleton robots play a significant role in both rehabilitation and assisted walking, where accurate prediction of lower-limb joint angles is crucial for achieving natural gait. However, due to inter-subject variability and differences across locomotion modes, achieving cross-task generalization in joint a... | TuI1I.49 | official | null | null |
TuI1I.50 | DRL-SFM: Learning Social Navigation from Costmaps and Social Forces for Mobile Robots and Intelligent Wheelchairs | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_50 | [
"Kalenberg, Matthias",
"Probst, Kilian Gerhard",
"Gründer, Andreas",
"May, Christopher",
"Walter, Jonas",
"Franke, Jörg"
] | [
"Human-Aware Motion Planning",
"Reinforcement Learning",
"Human-Centered Robotics"
] | The demand for assistive robots for passenger transport, such as intelligent wheelchairs, is increasing rapidly due to demographic changes. To allow passengers to navigate in crowded environments, such as shopping malls and hospitals, these systems must navigate in a socially accepted manner that ensures the comfort of... | TuI1I.50 | official | null | null |
TuI1I.51 | Multi-Modal Manipulation Via Multi-Modal Policy Consensus | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_51 | [
"Chen, Haonan",
"Xu, Jiaming",
"Chen, Hongyu",
"Hong, Kaiwen",
"Huang, Binghao",
"Liu, Chaoqi",
"Mao, Jiayuan",
"Li, Yunzhu",
"Du, Yilun",
"Driggs-Campbell, Katherine"
] | [
"Agent-Based Systems",
"Force and Tactile Sensing",
"AI-Enabled Robotics"
] | Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals like touch in contact-rich tasks, and monolithic architectures cannot flexibly ... | TuI1I.51 | official | 2509.23468 | title_snapshot |
TuI1I.52 | A Gripper with Extreme Stiffness Anisotropy for High-Speed Handling of Fragile Foods | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_52 | [
"Wang, Zhongkui",
"Sato, Mutsuhito",
"Arita, Hikaru",
"Mori, Yoshiki",
"Kawamura, Sadao",
"Liu, Mengyao"
] | [
"Grippers and Other End-Effectors",
"Dexterous Manipulation",
"Grasping"
] | Handling fragile objects at high speeds presents a significant challenge. To address this challenge, researchers explored hybrid grippers and grippers with adjustable stiffness. However, grippers exhibiting anisotropic stiffness have received little attention. This paper presents an extreme case of an anisotropic stiff... | TuI1I.52 | official | null | null |
TuI1I.53 | Background Fades, Foreground Leads: Curriculum-Guided Background Pruning for Efficient Foreground-Centric Collaborative Perception | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_53 | [
"Wu, Yuheng",
"Gao, Xiangbo",
"Tau, Quang",
"Tu, Zhengzhong",
"Lee, Dongman"
] | [
"Intelligent Transportation Systems",
"Computer Vision for Transportation",
"Cooperating Robots"
] | Collaborative perception enhances the reliability and spatial coverage of autonomous vehicles by sharing complementary information across vehicles, offering a promising solution to long-tail scenarios that challenge single-vehicle perception. However, the bandwidth constraints of vehicular networks make transmitting th... | TuI1I.53 | official | 2510.19250 | title_snapshot |
TuI1I.54 | MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_54 | [
"Sou, Kit-Wa",
"Gong, Junhao",
"Li, Shoujie",
"Lyu, Chuqiao",
"Song, Ziwu",
"Mu, Shilong",
"Ding, Wenbo"
] | [
"Force and Tactile Sensing",
"Sensor Fusion",
"Perception for Grasping and Manipulation"
] | Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present MoiréTac, a dual-mode sensor that generates dense interference patterns via overlapping micro-gratings within a transparent architecture. Whe... | TuI1I.54 | official | 2509.12714 | title_snapshot |
TuI1I.55 | Dr-PoGO: Direct Radar Pose-Graph Optimization | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_55 | [
"Le Gentil, Cedric",
"Li, Weican",
"Brizi, Leonardo",
"Barfoot, Timothy"
] | [
"SLAM",
"Mapping",
"Intelligent Transportation Systems"
] | This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-wave radars can `see' through dust, falling snow, rain, etc. Accordingly, it is a great modality for robust perception regardless of the wea... | TuI1I.55 | official | 2605.04806 | title_snapshot |
TuI1I.56 | RE-Formation: Resilient and Efficient Formation Planning in Large-Scale Distributed Aerial Swarms (I) | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_56 | [
"Zhou, Yuan",
"Quan, Lun",
"Xu, Guangtong",
"Xu, Chao",
"Gao, Fei"
] | [
"Swarm Robotics",
"Aerial Systems: Applications"
] | Due to the limited online computational resources and the inherent probability of hardware and software failures of real-world robots, large-scale formation planning faces two common challenges: computational intractability and agent failures. Based on the theory of sparse graphs and the maximum clique, {we achieve a r... | TuI1I.56 | official | null | null |
TuI1I.57 | Miniature Multihole Airflow Sensor for Lightweight Aircraft Over Wide Speed and Angular Range | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_57 | [
"Stuber, Lukas",
"Jeger, Simon Luis",
"Zufferey, Raphael",
"Floreano, Dario"
] | [
"Aerial Systems: Perception and Autonomy",
"Product Design, Development and Prototyping"
] | An aircraft's airspeed, angle of attack, and angle of side slip are crucial to its safety, especially when flying close to the stall regime. Various solutions exist, including pitot tubes, angular vanes, and multihole pressure probes. However, current sensors are either too heavy (>30 g) or require large airspeeds (>20... | TuI1I.57 | official | 2505.03331 | title_snapshot |
TuI1I.58 | TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators Via Topological Paths Search and Arc Length-Yaw Parameterization | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_58 | [
"Xu, Long",
"Wong, Choi Lam",
"Zhang, Mengke",
"Lin, Junxiao",
"Hou, Jialiang",
"Gao, Fei"
] | [
"Motion and Path Planning",
"Collision Avoidance",
"Mobile Manipulation"
] | Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing considerable challenges for trajectory planning due to their high-dimensional state space and nonholonomic constraints. This paper introduces TopA... | TuI1I.58 | official | 2507.02761 | title_snapshot |
TuI1I.59 | Semantic-LiDAR-Inertial-Wheel Odometry Fusion for Robust Localization in Large-Scale Dynamic Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_59 | [
"Jiang, Haoxuan",
"Qian, Peicong",
"Xie, Yusen",
"Zheng, Linwei",
"Li, Xiaocong",
"Liu, Ming",
"Ma, Jun"
] | [
"Industrial Robots",
"SLAM",
"Localization"
] | Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry fusion framework, which is specifically designed to provide high-precision stat... | TuI1I.59 | official | 2509.14999 | title_snapshot |
TuI1I.60 | Collaborative Human-Robot Object Transportation Using a Deformable Sheet | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_60 | [
"Zhang, Weijian",
"Street, Charlie",
"Mansouri, Masoumeh"
] | [
"Multi-Robot Systems",
"Optimization and Optimal Control",
"Human-Robot Collaboration"
] | In this paper, we tackle real-time formation trajectory planning for collaborative object transportation in complex environments using a team of nonholonomic robots and a human. The object is transported in a deformable sheet, and robots should follow the human’s lead while autonomously avoiding obstacles. By including... | TuI1I.60 | official | null | null |
TuI1I.61 | Teamformer: Scalable Heterogeneous Multi-Robot Team Formation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_61 | [
"Boehme, Noah",
"Hollinger, Geoffrey"
] | [
"Multi-Robot Systems",
"Reinforcement Learning"
] | Accounting for heterogeneity among robots and tasks adds additional complexity to multi-robot task allocation. While existing task allocation methods effectively handle heterogeneity among robots and tasks, they do not scale well in the number of different robots and tasks. To address this gap, we formulate the Team Fo... | TuI1I.61 | official | null | null |
TuI1I.62 | FORM: Fixed-Lag Odometry with Reparative Mapping Utilizing Rotating LiDAR Sensors | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_62 | [
"Potokar, Easton",
"Pool, Taylor",
"McGann, Daniel",
"Kaess, Michael"
] | [
"Localization",
"Range Sensing",
"SLAM"
] | Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been proposed, most require matching against multiple scans, resulting in sub-real-time pe... | TuI1I.62 | official | 2510.09966 | title_snapshot |
TuI1I.63 | Latent Action Diffusion for Cross-Embodiment Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_63 | [
"Bauer, Erik",
"Nava, Elvis",
"Katzschmann, Robert K."
] | [
"Deep Learning in Grasping and Manipulation",
"Imitation Learning",
"Representation Learning"
] | End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across different end-effectors create barriers for cross-embodiment learning and skill ... | TuI1I.63 | official | 2506.14608 | title_snapshot |
TuI1I.64 | ADGaussian: Generalizable Gaussian Splatting for Autonomous Driving Via Multi-Modal Joint Learning | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_64 | [
"Song, Qi",
"Li, Chenghong",
"Lin, Haotong",
"Peng, Sida",
"Huang, Rui"
] | [
"RGB-D Perception",
"Computer Vision for Transportation",
"Deep Learning for Visual Perception"
] | We present a novel approach, termed ADGaussian, for generalizable street scene reconstruction. The proposed method enables high-quality rendering from merely single-view input. Unlike prior Gaussian Splatting methods that primarily focus on geometry refinement, we emphasize the importance of joint optimization of image... | TuI1I.64 | official | 2504.00437 | title_snapshot |
TuI1I.65 | TUNI: Real-Time RGB-T Semantic Segmentation with Unified Multi-Modal Feature Extraction and Cross-Modal Feature Fusion | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_65 | [
"Guo, Xiaodong",
"Liu, Tong",
"Li, Yike",
"Lin, Zi'ang",
"Deng, Zhihong"
] | [
"Deep Learning for Visual Perception",
"Sensor Fusion",
"Semantic Scene Understanding"
] | RGB-thermal (RGB-T) semantic segmentation improves the environmental perception of autonomous platforms in challenging conditions. Prevailing models employ encoders pre-trained on RGB images to extract features from both RGB and infrared inputs, and design additional modules to achieve cross-modal feature fusion. This ... | TuI1I.65 | official | 2509.10005 | title_snapshot |
TuI1I.66 | All-Onboard Relative Positioning and Control Framework for Autonomous Micro-UAV Swarms Based on Vision-Optoelectronic-UWB Fusion and Distributed Graph Optimization | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_66 | [
"Xiong, Chengsong",
"Wan, Jiaqi",
"Tong, Qifan",
"Lu, Wenshuai",
"He, Qingning",
"You, Zheng"
] | [
"Swarm Robotics",
"Localization",
"Sensor Fusion"
] | The autonomous cooperation of micro-Unmanned Aerial Vehicle (UAV) swarms remain key challenges. Existing swarm relative positioning and control methods demand high sensing, computing, and communication resources and rely on external equipment like GPS and ground stations. To address these issues, this paper proposes an... | TuI1I.66 | official | null | null |
TuI1I.67 | Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-Like Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_67 | [
"Zhou, Zelong",
"Chen, Wenrui",
"Hu, Zeyun",
"Diao, Qiang",
"Gao, Qixin",
"Yan, Cuo",
"Wang, Yaonan"
] | [
"Multifingered Hands",
"Compliant Joints and Mechanisms"
] | Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing ... | TuI1I.67 | official | 2511.22100 | title_snapshot |
TuI1I.68 | Perception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_68 | [
"Tao, Allen",
"Yang, Jun",
"Oparnica, Stanko",
"Xue, Wenjie"
] | [
"Visual Servoing",
"Perception for Grasping and Manipulation",
"Computer Vision for Automation"
] | Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual conditions, such as occlusions, often corrupt visual feedback, leading to reduced acc... | TuI1I.68 | official | 2602.06834 | title_snapshot |
TuI1I.69 | Hallucinating 360°: Panoramic Street-View Generation Via Local Scenes Diffusion and Probabilistic Prompting | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_69 | [
"Teng, Fei",
"Luo, Kai",
"Wu, Sheng",
"Li, Siyu",
"Guo, PuJun",
"Wei, Jiale",
"Zhang, Jiaming",
"Peng, Kunyu",
"Yang, Kailun"
] | [
"Computer Vision for Transportation",
"Deep Learning for Visual Perception",
"Semantic Scene Understanding"
] | Panoramic perception holds significant potential for autonomous driving, enabling vehicles to acquire a comprehensive 360° surround view in a single shot. However, autonomous driving is a data-driven task. Complete panoramic data acquisition requires complex sampling systems and annotation pipelines, which are time-con... | TuI1I.69 | official | 2507.06971 | title_snapshot |
TuI1I.70 | Prepare for Warp Speed: Sub-Millisecond Visual Place Recognition Using Event Cameras | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_70 | [
"Ramanathan, Vignesh",
"Milford, Michael J",
"Fischer, Tobias"
] | [
"Localization"
] | Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR solutions using event cameras, which asynchronously measure per-pixel brightness changes with microsecond temporal resolution. However, these... | TuI1I.70 | official | 2509.24094 | title_snapshot |
TuI1I.71 | CD-FKD: Cross-Domain Feature Knowledge Distillation for Robust Single-Domain Generalization in Object Detection | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_71 | [
"Lee, Junseok",
"Shin, Sungho",
"Lee, Seongju",
"Lee, Kyoobin"
] | [
"Object Detection, Segmentation and Categorization",
"Computer Vision for Transportation"
] | Single-domain generalization is essential for object detection, particularly when training models on a single source domain and evaluating them on unseen target domains. Domain shifts, such as changes in weather, lighting, or scene conditions, pose significant challenges to the generalization ability of existing models... | TuI1I.71 | official | 2603.16439 | title_snapshot |
TuI1I.72 | T2S: Tokenized Skill Scaling for Lifelong Imitation Learning | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_72 | [
"Zhang, Hongquan",
"Gong, Jingyu",
"Zhizhong, Zhang",
"Tan, Xin",
"Xie, Yuan"
] | [
"Continual Learning",
"Incremental Learning",
"Imitation Learning"
] | The main challenge in lifelong imitation learning lies in the balance between mitigating catastrophic forgetting of previous skills while maintaining sufficient capacity for acquiring new ones. However, current approaches typically address these aspects in isolation, overlooking their internal correlation in lifelong s... | TuI1I.72 | official | 2508.01167 | title_snapshot |
TuI1I.73 | Automated Coral Spawn Monitoring for Reef Restoration: The Coral Spawn and Larvae Imaging Camera System (CSLICS) | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_73 | [
"Tsai, Dorian",
"Brunner, Christopher A.",
"Lamont, Riki",
"Nordborg, F. Mikaela",
"Severati, Andrea",
"Terry, Java",
"Jackel, Karen E",
"Dunbabin, Matthew",
"Fischer, Tobias",
"Raine, Scarlett"
] | [
"Environment Monitoring and Management",
"Robotics and Automation in Life Sciences"
] | Coral aquaculture for reef restoration requires accurate and continuous spawn counting for resource distribution and larval health monitoring, but current methods are labor-intensive and represent a critical bottleneck in the coral production pipeline. We propose the Coral Spawn and Larvae Imaging Camera System (CSLICS... | TuI1I.73 | official | 2509.17299 | title_snapshot |
TuI1I.74 | Asymptotically Stable Gait Generation and Instantaneous Walkability Determination for Planar Almost Linear Biped with Knees | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_74 | [
"Asano, Fumihiko",
"Lei, Ning",
"Sedoguchi, Taiki"
] | [
"Dynamics",
"Humanoid and Bipedal Locomotion",
"Motion Control"
] | A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is that the inertia matrix is a constant matrix, there are no nonlinear velocity term... | TuI1I.74 | official | 2604.12274 | title_snapshot |
TuI1I.75 | CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_75 | [
"Zhong, Ruiguo",
"Yao, Ruoyu",
"Liu, Pei",
"Chen, Xiaolong",
"Yang, Rui",
"Ma, Jun"
] | [
"Intelligent Transportation Systems",
"Autonomous Vehicle Navigation",
"Imitation Learning"
] | Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation frameworks typically construct multiple plausible trajectory hypotheses but ultimat... | TuI1I.75 | official | 2509.17080 | title_snapshot |
TuI1I.76 | ExBody2: Advanced Expressive Humanoid Whole-Body Control | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_76 | [
"Ji, Mazeyu",
"Peng, Xuanbin",
"Liu, Fangchen",
"Li, Jialong",
"Yang, Ge",
"Cheng, Xuxin",
"Wang, Xiaolong"
] | [
"Humanoid and Bipedal Locomotion",
"Humanoid Robot Systems",
"Reinforcement Learning"
] | This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining stability. We propose ExBody2, a whole-body tracking framework trained in simulation with Reinforcement Learning and then transferred to the real world. The framework decouples ... | TuI1I.76 | official | 2412.13196 | title_snapshot |
TuI1I.77 | Vision-Based Panoptic Occupancy Prediction in Urban Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_77 | [
"Marcuzzi, Rodrigo",
"Nunes, Lucas",
"Marks, Elias Ariel",
"Zhong, Xingguang",
"Behley, Jens",
"Stachniss, Cyrill"
] | [
"Semantic Scene Understanding",
"Deep Learning Methods"
] | Abstract— Understanding the surrounding scene geometrically and semantically is a key requirement for autonomously navigating systems. Vision-based 3D panoptic occupancy prediction aims to provide a 3D representation of the surroundingsincluding semantic meaning and identifying individual objectssuch as traffic partici... | TuI1I.77 | official | null | null |
TuI1I.78 | Seeing Motion, Generating Action: Explicit Motion-Aware Policy for Robotic Action Generation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_78 | [
"Li, Yixiong",
"Zhang, Ye",
"Pei, Yun",
"Zhang, Yongjian",
"Zhang, Ruimao",
"Guo, Yulan"
] | [
"Imitation Learning",
"Learning from Demonstration"
] | Imitation learning (IL) offers a scalable framework for teaching robots complex manipulation skills from human demonstrations. However, conventional end-to-end visuomotor IL models often suffer from poor performance and robustness due to the significant modality mismatch between high-dimensional visual inputs and low-d... | TuI1I.78 | official | null | null |
TuI1I.79 | Multi-Modal Affordance Planner with Temporal-Context Action Policy for Long-Horizon Bimanual Robot Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_79 | [
"Oh, Ji-Heon",
"Jung, Danbi",
"Espinoza, Ismael",
"Choi, Yong-Hyeok",
"Kim, YoungOuk",
"Shin, Dongin",
"Moon, JongSul",
"Kim, Wonha",
"Kim, Tae-Seong"
] | [
"Dual Arm Manipulation",
"Reinforcement Learning",
"Dexterous Manipulation"
] | Bimanual robot manipulation for long-horizon (LH) tasks is crucial for the practical use of humanoids, but it struggles with robust planning and generalization. Approaches based on Task and Motion Planning (TAMP), transformers, and Large Language Models (LLMs) suffer from critical limitations, including costly human de... | TuI1I.79 | official | null | null |
TuI1I.80 | ModalPatch: A Plug-And-Play Module for Robust Multi-Modal 3D Object Detection under Modality Drop | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_80 | [
"Li, Shuangzhi",
"Ma, Lei",
"Li, Xingyu"
] | [
"Object Detection, Segmentation and Categorization",
"Sensor Fusion",
"Computer Vision for Automation"
] | Multi-modal 3D object detection is pivotal for autonomous driving, integrating complementary sensors like LiDAR and cameras. However, its real-world reliability is challenged by transient data interruptions and missing, where modalities can momentarily drop due to hardware glitches, adverse weather, or occlusions. This... | TuI1I.80 | official | 2603.02481 | title_snapshot |
TuI1I.81 | LEAR: Learning Edge-Aware Representations for Event-To-LiDAR Localization | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_81 | [
"Chen, Kuangyi",
"Zhang, Jun",
"Hu, Yuxi",
"Zhou, Yi",
"Fraundorfer, Friedrich"
] | [
"Deep Learning for Visual Perception",
"Localization"
] | Event cameras offer high-temporal-resolution sensing that remains reliable under high-speed motion and challenging lighting, making them promising for localization from LiDAR point clouds in GPS-denied and visually degraded environments. However, aligning sparse, asynchronous events with dense LiDAR maps is fundamental... | TuI1I.81 | official | 2603.01839 | title_snapshot |
TuI1I.82 | UrbanHuRo: A Two-Layer Human-Robot Collaboration Framework for the Joint Optimization of Heterogeneous Urban Services | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_82 | [
"Dey, Tonmoy",
"Jiang, Lin",
"Dong, Zheng",
"Wang, Guang"
] | [
"Automation Technologies for Smart Cities"
] | In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation, without adequately considering the reciprocal interactions among heterogeneous urban... | TuI1I.82 | official | 2603.03701 | title_snapshot |
TuI1I.83 | A Multimodal Stochastic Planning Approach for Navigation and Multi-Robot Coordination | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_83 | [
"Gonzales, Mark",
"Oh, Ethan",
"Moore, Joseph"
] | [
"Multi-Robot Systems",
"Swarm Robotics"
] | In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach increases robustness against local minima and promotes effective exploration of the... | TuI1I.83 | official | 2509.19168 | title_snapshot |
TuI1I.84 | EveryDayVLA: A Vision-Language-Action Model for Affordable Robotic Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_84 | [
"Chopra, Samarth",
"McMoil, Alexander",
"Carnovale, Benjamin",
"Sokolson, Evan",
"Kubendran, Rajkumar",
"Dickerson, Samuel"
] | [
"AI-Enabled Robotics",
"Deep Learning Methods",
"Learning from Demonstration"
] | While Vision–Language–Action (VLA) models map visual inputs and language instructions directly to robot actions, they often rely on costly hardware and struggle in novel or cluttered scenes. We introduce EverydayVLA, a 6-DOF manipulator that can be assembled for 300, capable of modest payloads and workspaces. A single ... | TuI1I.84 | official | 2511.05397 | title_snapshot |
TuI1I.85 | Estimating Force Interactions of Deformable Linear Objects from Their Shapes | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_85 | [
"Chen, Qi Jing",
"Shan, Shilin",
"Bretl, Timothy",
"Pham, Quang-Cuong"
] | [
"Tendon/Wire Mechanism",
"Flexible Robotics",
"Force and Tactile Sensing"
] | This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the end-effector but at other points along the robot’s body. Such scenarios arise when robots ... | TuI1I.85 | official | 2602.01085 | title_snapshot |
TuI1I.86 | AdapGrasp: A Stiffness and Grasp Affordance Dataset with a Transformer-Based Adaptive Grasp Model | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_86 | [
"Pu, Menghao",
"Han, Chaoqun",
"Chai, Zhiping",
"Zhao, Tiyong",
"Wu, Dunxuan",
"Wen, Pu",
"Ke, Xingxing",
"Ding, Han",
"Wu, Zhigang"
] | [
"Data Sets for Robot Learning",
"Deep Learning in Grasping and Manipulation",
"Deep Learning for Visual Perception"
] | Robotic grasp has been employed in various industrial, household, and medical applications. However, neglecting the final grasping state and objects' stiffness and affordance, prevailing strategies predominantly emphasize the grippers’ initial state upon reaching grasp positions and often fail due to damage or grasp sl... | TuI1I.86 | official | null | null |
TuI1I.87 | Shell-Type Soft Jig for Holding Objects During Disassembly | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_87 | [
"Kiyokawa, Takuya",
"Takebayashi, Ryunosuke",
"Harada, Kensuke"
] | [
"Soft Robot Applications",
"Intelligent and Flexible Manufacturing",
"Disassembly"
] | This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft fixation that is robust to recognition, planning, and control errors. The balloon... | TuI1I.87 | official | 2509.13802 | title_snapshot |
TuI1I.88 | A Teleoperated Control for Robot-Aided Percutaneous Surgery: An Application to Needle Insertion in Nephrolithotomy | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_88 | [
"Lauretti, Clemente",
"Morfino, Rosaura",
"Cocco, Francesco",
"Prata, Francesco",
"Papalia, Rocco",
"Zollo, Loredana"
] | [
"Surgical Robotics: Steerable Catheters/Needles",
"Medical Robots and Systems",
"Telerobotics and Teleoperation"
] | null | TuI1I.88 | null | null | null |
TuI1I.89 | LSADS-Gaussian: Gaussian Splatting for Large-Scale Autonomous Driving Scene Reconstruction | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_89 | [
"Wang, Ping",
"Li, Ben",
"Qian, Bo",
"Jin, Chuan",
"Tian, Can",
"Ji, Yusheng"
] | [
"Computer Vision for Automation",
"Computer Vision for Transportation",
"Visual Learning"
] | The rapid advancement of 3D scene understanding techniques presents a significant opportunity for enhancing autonomous driving simulation systems. As these systems are increasingly required to operate in complex, large-scale, and unbounded real-world environments, efficient and high-fidelity 3D reconstruction of common... | TuI1I.89 | official | null | null |
TuI1I.90 | Control of Humanoid Robots with Parallel Mechanisms Using Differential Actuation Models | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_90 | [
"Lutz, Victor",
"De Matteïs, Ludovic",
"Batto, Virgile",
"Mansard, Nicolas"
] | [
"Humanoid and Bipedal Locomotion",
"Parallel Robots",
"Reinforcement Learning"
] | Several recently released humanoid robots, in- spired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic complexity have demonstrated the benefits of these designs, the associated loo... | TuI1I.90 | official | 2503.22459 | title_snapshot |
TuI1I.91 | Augmenting the Reach: Visualizing Robotic Working Volume at the Tool Tip for Intuitive Retinal Access in Eye Surgery | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_91 | [
"Yang, Junjie",
"Inagaki, Satoshi",
"Zhao, Zhihao",
"Zapp, Daniel",
"Huang, Kai",
"Nasseri, M. Ali"
] | [
"Medical Robots and Systems",
"Vision-Based Navigation",
"Surgical Robotics: Planning"
] | Retinal Surgery Robotics is a rapidly emerging field that offers enhanced precision by overcoming human tremors. A key trend of these robotic designs is toward more compact and lightweight structures for improved positioning accuracy and precise force delivery. However, this compactness sacrifices the robot's working v... | TuI1I.91 | official | null | null |
TuI1I.92 | CDV-SLAM: Compact Deep Visual SLAM with Unified Semantic and Geometric Perception | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_92 | [
"Fan, Ya",
"Lang, Rongling"
] | [
"Deep Learning Methods",
"SLAM",
"Localization"
] | Robust monocular visual Simultaneous Localization and Mapping (SLAM) serves as a cornerstone for various applications. However, its performance frequently suffers degradation in challenging scenarios including fast motion, dynamic objects, and scale ambiguity. This paper proposes CDV-SLAM, a compact deep visual SLAM fr... | TuI1I.92 | official | null | null |
TuI1I.93 | Diffusion-Guided Generalizable Enhancer for Urban Scene Reconstruction | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_93 | [
"Che, Henry",
"Wang, Jingkang",
"Chen, Yun",
"Yang, Ze",
"Manivasagam, Siva",
"Urtasun, Raquel"
] | [
"Computer Vision for Automation",
"Autonomous Vehicle Navigation",
"Simulation and Animation"
] | Urban scene reconstruction from real-world observations has emerged as a powerful tool for self-driving development and testing. While current neural rendering approaches achieve high-fidelity rendering along the recorded trajectories, their quality degrades significantly under large viewpoint shifts, limiting the appl... | TuI1I.93 | official | 2605.22420 | title_snapshot |
TuI1I.94 | Action Sequence Transfer Via LLMs for Heterogeneous Environments | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_94 | [
"Chung, Choong Ho",
"Shin, DongHwan",
"Lee, Sung-Hee"
] | [
"AI-Based Methods",
"Agent-Based Systems",
"Autonomous Agents"
] | We present an action sequence transfer system that adaptively transfers user action sequences across different target spaces. Given an input action sequence from a source space and scene graph representations of both the source and target environments, our system predicts a corresponding action sequence in the target s... | TuI1I.94 | official | null | null |
TuI1I.95 | ClearDepth: Efficient Stereo Perception of Transparent Objects for Robotic Manipulation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_95 | [
"Bai, Kaixin",
"Zeng, Huajian",
"Zhang, Lei",
"Liu, Yiwen",
"Xu, Hongli",
"Chen, Zhaopeng",
"Zhang, Jianwei"
] | [
"Deep Learning for Visual Perception",
"Computer Vision for Automation",
"Data Sets for Robotic Vision"
] | Transparent object depth perception remains a major challenge in robotics and logistics due to the limitations of standard 3D sensors in capturing accurate depth on transparent and reflective surfaces. This affects applications relying on depth maps and point clouds, particularly in robotic manipulation. To address thi... | TuI1I.95 | official | 2409.08926 | title_judge |
TuI1I.96 | TransLocNet: Cross-Modal Attention for Aerial-Ground Vehicle Localization with Contrastive Learning | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_96 | [
"Pham, Phu",
"Conover, Damon",
"Bera, Aniket"
] | [
"Aerial Systems: Perception and Autonomy",
"Localization",
"Deep Learning for Visual Perception"
] | Aerial–ground localization is difficult due to large viewpoint and modality gaps between ground-level LiDAR and overhead imagery. We propose TransLocNet, a cross-modal attention framework that fuses LiDAR geometry with aerial semantic context. LiDAR scans are projected into a bird’s-eye-view representation and aligned ... | TuI1I.96 | official | 2512.10419 | title_snapshot |
TuI1I.97 | RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_97 | [
"Zuo, Jiahui",
"Zhang, Boyang",
"Zhang, Fumin"
] | [
"Deep Learning in Grasping and Manipulation",
"Perception for Grasping and Manipulation",
"Manipulation Planning"
] | Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with ordered keypoints and explicit edge connectivity. This reliance makes them prone to... | TuI1I.97 | official | 2605.24394 | title_snapshot |
TuI1I.98 | A Passivity-Based Framework for Dynamic Arbitration between Trajectory and Force Tracking Using Human Demonstration | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_98 | [
"Yun, Yeoil",
"Kim, Youngwuk",
"Gwak, Junchul",
"Moon, Hyungpil",
"Choi, Hyouk Ryeol",
"Koo, Ja Choon"
] | [
"Physical Human-Robot Interaction",
"Learning from Demonstration",
"Intention Recognition"
] | Learning from Demonstration (LfD) for contact-rich tasks faces a fundamental challenge: arbitrating between tracking a demonstrated trajectory and reproducing an interaction force. This paper introduces a novel one-shot LfD framework that resolves this conflict by leveraging the operator's grip force as an intuitive, c... | TuI1I.98 | official | null | null |
TuI1I.99 | Self-Supervised Point Cloud Single Object Tracking | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_99 | [
"Liu, Yuheng",
"Hui, Le",
"Zhu, Ziyue",
"Mei, Shaohui",
"Zhang, Yigong",
"Xie, Jin",
"Yang, Jian"
] | [
"Visual Tracking",
"Deep Learning Methods"
] | Point cloud single object tracking is critical in autonomous driving. However, current methods heavily rely on frame-by-frame human annotations, which do not scale well with the growing amount of unlabeled LiDAR data. In this paper, we propose the first self-supervised point cloud single object tracking framework, elim... | TuI1I.99 | official | null | null |
TuI1I.100 | DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-And-Language Navigation | https://ras.papercept.net/conferences/conferences/ICRA26/program/ICRA26_ContentListWeb_3.html#tui1i_100 | [
"Wang, Yunheng",
"Fang, Yuetong",
"Wang, Taowen",
"Feng, Yixiao",
"Tan, Yawen",
"Zhang, Shuning",
"Liu, Peiran",
"Ji, Yiding",
"Xu, Renjing"
] | [
"Vision-Based Navigation",
"AI-Enabled Robotics",
"Task and Motion Planning"
] | Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models have been leveraged as shared priors for perception, reasoning, and action, enabl... | TuI1I.100 | official | 2509.11197 | title_snapshot |
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