RSS 2025

163 papers

Learning Interpretable Features from Interventions

Erin Hedlund-Botti, Julianna Schalkwyk, Nina Marie Moorman, Chuxuan Yang, Lakshmi Seelam

Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations

Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo

SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation

Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao

Gripper Pose and Object Pointflow as Interfaces for Robotic Bimanual Manipulation

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

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training

Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan (Edgar) Liang

IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation

Krishan Rana, Robert Lee, David Pershouse, Niko Suenderhauf

DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning

Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan

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

Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo

Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization

Jonathan Heewon Yang, Chuyuan Fu, Dhruv Shah, Dorsa Sadigh, Fei Xia

Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments

Yoonyoung Cho, Junhyek Han, Jisu Han, Beomjoon Kim

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

Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou

RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation

Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju

Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches

Peihong Yu, Amisha Bhaskar, Anukriti Singh, Zahiruddin Mahammad, Pratap Tokekar

Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models

Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo

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

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

PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation

Yifan Yin, Zhengtao Han, Shivam Aarya, Shuhang Xu, Jianxin Wang

STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation

Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang

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

Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren

Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins

Chuanruo Ning, Kuan Fang, Wei-Chiu Ma

Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification

Kumar Manas, Christian Schlauch, Adrian Paschke, Christian Wirth, Nadja Klein

Neural Inertial Odometry from Lie Events

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

RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation

Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim

Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance

Alankrit Gupta, Adnan Abdullah, Xianyao Li, Vaishnav Ramesh, Ioannis Rekleitis

Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models

Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie

Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving

Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou

Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain

Tong Xu, Chenhui Pan, Madhan B. Rao, Aniket Datar, Anuj Pokhrel

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s Equation

Gilbert Bahati, Ryan M. Bena, Aaron Ames

CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance

Arthur Zhang, Harshit Sikchi, Joydeep Biswas, Amy Zhang

emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands

Sagar Verma

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

Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson

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

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

Demonstrating LEAP Hand v2: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning

Kenneth Shaw, Deepak Pathak

RUKA: Rethinking the Design of Humanoid Hands with Learning

Anya Zorin, Irmak Guzey, Nikhil X. Bhattasali, Lerrel Pinto

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

Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei

Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks

Zijie Zheng, Zeshun Li, Yunpeng Wang, Qinghongbing Xie, Long Zeng

SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation

Arpit Bahety, Arnav Balaji, Ben Abbatematteo, Roberto Martín-Martín

Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding

Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari

Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties

Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian

Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation

Nolan Fey, Gabriel B. Margolis, Martin Peticco, Pulkit Agrawal

SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning

Li Peizhuo, Hongyi Li, Ge Sun, Jin Cheng, Xinrong Yang

Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning

Arthicha Srisuchinnawong, Poramate Manoonpong

Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining

Yaru Niu, Yunzhe Zhang, Mingyang Yu, Changyi Lin, Chenhao Li

Provably-Safe, Online System Identification

Bohao Zhang, Zichang Zhou, Ram Vasudevan

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups

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

Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator

Yanhao Yang, Ross Hatton

Behavior Synthesis via Contact-Aware Fisher Information Maximization

Hrishikesh Sathyanarayan, Ian Abraham

A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method

Ying Wu, Zida Zhou, Renming Liu, Lanxiang Zheng, Hui Cheng

Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking

Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar

Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey

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

Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis

Zeyuan Feng, Le Qiu, Somil Bansal

Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis

Kensuke Nakamura, Lasse Peters, Andrea Bajcsy

Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions

Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras

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

Wanxin Jin

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

Yankai Fu, Ning Chen, Qiuxuan Feng, Zichen Zhou, Mengzhen Liu

Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation

Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie

Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations

Xili Yi, Nima Fazeli

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

Che Wang, Jeroen Vanbaar, Chaitanya Mitash, Shuai Li, Dylan Randle

Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation

Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li

Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy

Jiayi Chen, Yubin Ke, Lin Peng, He Wang

DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove

Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu

DexterityGen: Foundation Controller for Unprecedented Dexterity

Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri

Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems

Anoop Kiran, Nora Ayanian, Kenneth Breuer

How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework

Mohammad Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule

A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal Control

Yongce Liu, Zhongqiang Ren

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

Zhongqi Wei, Xusheng Luo, Changliu Liu

APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly

Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, Jiaoyang Li

Collaborative Object Transportation in Space via Impact Interactions

Joris Verhagen, Jana Tumova

Online Competitive Information Gathering for Partially Observable Trajectory Games

Mel Krusniak, Hang Xu, Forrest John Laine

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

Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu

Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

Jason Jangho Choi, Jasmine Jerry Aloor, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan

Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports

Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski

Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation

Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh

Towards Uncertainty Unification: A Case Study for Preference Learning

Shaoting Peng, Haonan Chen, Katherine Rose Driggs-Campbell

ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated Infections

Peizhu Qian, Filip Bajraktari, Carlos Quintero-Pena, Qingxi Meng, Shannan Hamlin

Interruption Handling for Conversational Robots

Shiye Cao, Jiwon Moon, Amama Mahmood, Victor Nikhil Antony, Ziang Xiao

A Robot-Assisted Approach to Small Talk Training for Adults with ASD

Rebecca Ramnauth, Dražen Brščić, Brian Scassellati

Optimal Interactive Learning on the Job via Facility Location Planning

Shivam Vats, Michelle D. Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev

Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication

Ravi Tejwani, Karl Angel Velazquez, John Payne, Paolo Bonato, Haruhiko Asada

Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot Interactions

Ekaterina Torubarova, Jura Miniotaite, Andre Pereira

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

Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture

FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization

Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song

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

Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi

Interface-level Intent Inference for Environment-agnostic Robot Teleoperation Assistance

Larisa Y.c. Loke, Brenna Argall

Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion Control

Zongzheng Zhang, Jiawen Yang, Ziqiao Peng, Meng Yang, Jianzhu Ma

FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning

Jason Jingzhou Liu, Yulong Li, Kenneth Shaw, Tony Tao, Russ Salakhutdinov

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

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

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

David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller

From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment

Yilin Wu, Thomas Tian, Gokul Swamy, Andrea Bajcsy

DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies

Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak

Unified Video Action Model

Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song

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

Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller

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

Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah

Curating Demonstrations using Online Experience

Annie S. Chen, Alec M. Lessing, Yuejiang Liu, Chelsea Finn

HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit

Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin

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

Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang

A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion

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

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

Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning

Yiyang Shao, Bike Zhang, Qiayuan Liao, Xiaoyu Huang, Yuman Gao

Learning Humanoid Standing-up Control across Diverse Postures

Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben