Skip to content
conftrace_

RSS 2025

163 papers

Learning Getting-Up Policies for Real-World Humanoid Robots

Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation

Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney

Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly

Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jȩdrzej Orbik, Johannes Heidersberger

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

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

PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands

Pei Lin, Yuzhe Huang, Jianpeng Ma, Chenxi Xiao, Wanlin Li

A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation

Jaehyung Kim, Jiho Kim, Dongryung Lee, Yujin Jang, Beomjoon Kim

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization

Lujie Yang, H.J. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur

Flow Matching Ergodic Coverage

Max Muchen Sun, Allison Pinosky, Todd Murphey

Differentiable GPU-Parallelized Task and Motion Planning

William Shen, Caelan Reed Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans

Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids

Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott

Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning

Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus

A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets

Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew Marchese

Bilevel Learning for Bilevel Planning

Bowen Li, Tom Silver, Sebastian Scherer, Alexander G. Gray

RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity

Xiaomeng Xu, Dominik Bauer, Shuran Song

PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map

Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic

Map Space Belief Prediction for Manipulation-Enhanced Mapping

Joao Marcos Correia Marques, Nils Dengler, Jesper Mücke, Tobias Zaenker, Shenlong Wang

Joint State and Noise Covariance Estimation

Kasra Khosoussi, Iman Shames

V-HOP: Visuo-Haptic 6D Object Pose Tracking

Hongyu Li, Mingxi Jia, Mete Tuluhan Akbulut, Yu Xiang, George Konidaris

Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations

Jeongho Ha, Minseok Song, Bonggyeong Park, Daehyung Park

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

Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo Jose Taylor

Demonstrating MOSART: Opening Articulated Structures in the Real World

Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta

LiDAR Registration with Visual Foundation Models

Niclas Vödisch, Giovanni Cioffi, Marco Cannici, Wolfram Burgard, Davide Scaramuzza

GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction

Yuhan Xie, Yixi Cai, Yinqiang Zhang, Lei Yang, Jia Pan

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

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

RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning

Charles Xu, Qiyang Li, Jianlan Luo, Sergey Levine

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

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

Action Flow Matching for Lifelong Learning

Alejandro Murillo-González, Lantao Liu

Robot Learning with Super-Linear Scaling

Marcel Torne Villasevil, Arhan Jain, Jiayi Yuan, Vidyaaranya Macha, Lars Lien Ankile

Robot Data Curation with Mutual Information Estimators

Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid

Demonstrating MuJoCo Playground

Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt

ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy

Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li

NaVILA: Legged Robot Vision-Language-Action Model for Navigation

An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou

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

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

Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets

Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah

Learning to Act Anywhere with Task-centric Latent Actions

Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren

Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks

Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu

FAST: Efficient Action Tokenization for Vision-Language-Action Models

Karl Pertsch, Kyle Stachowicz, brian ichter, Danny Driess, Suraj Nair

SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models

Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye

π₀: A Vision-Language-Action Flow Model for General Robot Control

Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Robert Equi

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

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

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift

Devansh R. Agrawal, Rajiv Govindjee, Taekyung Kim, Trushant Adeshara, Jiangbo Yu

DRO: Doppler-Aware Direct Radar Odometry with Gyroscope

Cédric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti

Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence

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

Self-supervised Multi-future Occupancy Forecasting for Autonomous Driving

Bernard Lange, Masha Itkina, Jiachen Li, Mykel Kochenderfer

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

Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon