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Last updated on April 17, 2025. This conference program is tentative and subject to change

Technical Program for Wednesday May 21, 2025

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WeAT1 302
Award Finalists 5 Regular Session
 
WeAT2 301
SLAM 3 Regular Session
Chair: Civera, JavierUniversidad De Zaragoza
Co-Chair: Kwon, CheolhyeonUlsan National Institute of Science and Technology
 
08:30-08:35, Paper WeAT2.1 
 JPG-SLAM: Joint Point-Gaussian Splatting Representation for Dense Dynamic SLAM

Huang, KunruiWuhan University
Yang, WennanWuhan University
Zhou, PengweiAffiliation (University, Organization, Company)*
Li, LiWuhan University
Yao, JianWuhan University
 
08:35-08:40, Paper WeAT2.2 
 FMCW-LIO: A Doppler LiDAR-Inertial Odometry

Zhao, MingleUniversity of Macau
Wang, JiahaoUniversity of Macau
Gao, TianxiaoUniversity of Macao
Xu, ChengzhongUniversity of Macau
Kong, HuiUniversity of Macau
 
08:40-08:45, Paper WeAT2.3 
 Submodular Optimization for Keyframe Selection & Usage in SLAM

Thorne, DavidUniversity of California, Los Angeles
Chan, NathanUniversity of California, Los Angeles
Ma, YanlongUniversity of California, Los Angeles
Robison, Christopher, ChristaArmy Research Laboratory
Osteen, PhilipU.S. Army Research Laboratory
Lopez, BrettUniversity of California, Los Angeles
 
08:45-08:50, Paper WeAT2.4 
 Equivariant Filter Design for Range-Only SLAM

Ge, YixiaoAustralian National University
Pearce, ArthurAustralian National University
van Goor, PieterUniversity of Twente
Mahony, RobertAustralian National University
 
08:50-08:55, Paper WeAT2.5 
 Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations

Dümbgen, FrederikeENS, PSL University
Holmes, ConnorUniversity of Toronto
Agro, BenUniversity of Toronto
Barfoot, TimothyUniversity of Toronto
 
08:55-09:00, Paper WeAT2.6 
 Viewpoint-Aware Visibility Scoring for Point Cloud Registration in Loop Closure

Yoon, IlseungUlsan National Institute of Science and Technology
Islam, TariqUlsan National Institute of Science and Technology
Kim, KwangrokUlsan National Institute of Science and Technology
Kwon, CheolhyeonUlsan National Institute of Science and Technology
 
WeAT3 303
Mechanism Design 1 Regular Session
Chair: Whitney, John PeterNortheastern University
Co-Chair: Herneth, ChristopherTechnical University Munich
 
08:30-08:35, Paper WeAT3.1 
 Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking in Force and Impedance Control

Herneth, ChristopherTechnical University Munich
Cheng, YiTechnical University of Munich
Ganguly, AmartyaTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
08:35-08:40, Paper WeAT3.2 
 A Novel Twisted-Winching String Actuator for Robotic Applications: Design and Validation

Poon, RyanMassachusetts Institute of Technology
Padia, VineetMIT
Hunter, IanMIT
 
08:40-08:45, Paper WeAT3.3 
 Design and Evaluation of High-Performance Motion-Decoupled Cable Transmission Modules

Takei, RyoNortheastern University
Frishman, SamuelStanford University
Whitney, John PeterNortheastern University
 
08:45-08:50, Paper WeAT3.4 
 Advanced Xθ Reluctance Electromagnetic Micropositioning System for Precision Motion Control

Pumphrey, Michael JosephUniversity of Guelph
Alatawneh, NatheerUniversity of Guelph
Al Janaideh, MohammadUniversity of Guelph
 
08:50-08:55, Paper WeAT3.5 
 Cycloidal Quasi-Direct Drive Actuator Designs with Learning-Based Torque Estimation for Legged Robotics

Zhu, AlvinUniversity of California Los Angeles
Tanaka, YusukeUniversity of California, Los Angeles
Rafeedi, FadiUniversity of California, Los Angeles
Hong, DennisUCLA
 
08:55-09:00, Paper WeAT3.6 
 Compact Modular Robotic Wrist with Variable Stiffness Capability

Sun, HyunsooKorea Institute of Science and Technology
Park, SungwooKorea University, KIST
Hwang, DonghyunKorea Institute of Science and Technology
 
WeAT4 304
Vision Applications Regular Session
Co-Chair: Wang, ZhenzhouHuaibei Normal University
 
08:30-08:35, Paper WeAT4.1 
 A Natural-Neighbor-Interpolant-Based Pattern Modeling Method for Robust Decoding of the Structured Light Pattern (I)

Wang, ZhenzhouHuaibei Normal University
Liu, ShuoFujian Normal University
 
08:35-08:40, Paper WeAT4.2 
 Automated Video Object Detection of Motile Cells under Microscopy

Song, HaocongUniversity of Toronto
Chen, WenyuanUniversity of Toronto
Shan, GuanqiaoDalian University of Technology
Sun, ChenUniversity of Toronto
Wan, BingqingUniversity of Toronto
Dai, ChangshengDalian University of Technology
Liu, HangUniversity of Toronto
Wang, ShanshanNanjing Drum Tower Hospital, Affiliated Hospital of Medical Scho
Sun, YuUniversity of Toronto
 
08:40-08:45, Paper WeAT4.3 
 Vision-Based Movement Primitives for Lunar Hazard Avoidance

Cloud, JosephNASA Kennedy Space Center
Beksi, William J.The University of Texas at Arlington
Schuler, JasonNASA Kennedy Space Center
 
08:45-08:50, Paper WeAT4.4 
 LAFNET: Lightweight Aerial Fire Detection Model for Onboard Edge Computing

Zhai, HaozhouSun Yat-Sen University
Yan, WeimingSun Yat-Sen University
Wang, XiaohanSun Yat-Sen University
Zhao, TuhaoSun Yat-Sen University
Hu, TianjiangSun Yat-Sen University
 
08:50-08:55, Paper WeAT4.5 
 UDSV: Unsupervised Deep Stitching for Tractor-Trailer Surround View

Sun, LeyaoBeijing Institute of Technology
Liang, HaoBeijing Institute of Technology
Dong, ZhipengBeijing Institute of Technology
Yang, YiBeijing Institute of Technology
Fu, MengyinBeijing Institute of Technology
 
08:55-09:00, Paper WeAT4.6 
 Think Step by Step: Chain-Of-Gesture Prompting for Error Detection in Robotic Surgical Videos

Shao, ZhiminTsinghua University
Xu, JialangUniversity College London
Stoyanov, DanailUniversity College London
Mazomenos, EvangelosUCL
Jin, YuemingNational University of Singapore
 
WeAT5 305
Aerial Manipulation 1 Regular Session
Chair: Loianno, GiuseppeNew York University
 
08:30-08:35, Paper WeAT5.1 
 The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation

Park, GeonwooSeoul National University of Science and Technology
Park, HyungeunSeoul National University of Science and Technology
Park, WooyongSeoul National University of Science and Technology
Lee, DongjaeSeoul National University
Kim, MurimKorea Institute of Robot and Convergence
Lee, Seung JaeSeoul National University of Science and Technology
 
08:35-08:40, Paper WeAT5.2 
 Design of a Suspended Manipulator with Aerial Elliptic Winding

Niddam, EthanUniversity of Strasbourg, ICube
Dumon, JonathanGIPSA-LAB
Cuvillon, LoicUniversity of Strasbourg
Durand, SylvainINSA Strasbourg & ICube
Querry, StephanePolyvionics
Hably, AhmadGrenoble-Inp
Gangloff, JacquesUniversity of Strasbourg
 
08:40-08:45, Paper WeAT5.3 
 Autonomous Heavy Object Pushing Using a Coaxial Tiltrotor (I)

Hwang, SunwooSeoul National University
Lee, DongjaeSeoul National University
Kim, ChanghyeonSeoul National University
Kim, H. JinSeoul National University
 
08:45-08:50, Paper WeAT5.4 
 Aerial Grasping by Multi-Limbed Flying Robot SPIDAR Based on Vectored Thrust Control

Zhao, MojuThe University of Tokyo
 
08:50-08:55, Paper WeAT5.5 
 Hook-Based Aerial Payload Grasping from a Moving Platform

Antal, PeterInstitute for Computer Science and Control (SZTAKI)
Péni, TamásSZTAKI Institute for Computer Science and Control
Toth, RolandEindhoven University of Technology (TU/e)
 
08:55-09:00, Paper WeAT5.6 
 Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots

Li, GuanruiWorcester Polytechnic Institute
Xinyang, LiuNew York University
Loianno, GiuseppeNew York University
 
WeAT6 307
Vision-Based Navigation 1 Regular Session
Chair: Zhang, FuminHong Kong University of Science and Technology
 
08:30-08:35, Paper WeAT6.1 
 VLN-KHVR: Knowledge-And-History Aware Visual Representation for Continuous Vision-And-Language Navigation

Kong, PingTianjin University
Liu, RuonanShanghai Jiao Tong University
Xie, ZongxiaTianjin University
Pang, ZhiboKTH Royal Institute of Technology
 
08:35-08:40, Paper WeAT6.2 
 LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation

Jiao, JianhaoUniversity College London
He, JinhaoThe Hong Kong University of Science and Technology (Guangzhou)
Liu, ChangkunThe Hong Kong University of Science and Technology
Aegidius, SebastianUniversity College London
Hu, XiangchengHong Kong University of Science and Technology
Braud, TristanHKUST
Kanoulas, DimitriosUniversity College London
 
08:40-08:45, Paper WeAT6.3 
 BEINGS: Bayesian Embodied Image-Goal Navigation with Gaussian Splatting

Meng, WugangHong Kong University of Science and Technology
Wu, TianfuHong Kong University of Science and Technology
Yin, HuanHong Kong University of Science and Technology
Zhang, FuminHong Kong University of Science and Technology
 
08:45-08:50, Paper WeAT6.4 
 FLAF: Focal Line and Feature-Constrained Active View Planning for Visual Teach and Repeat

Fu, ChangfeiSUSTech
Chen, WeinanGuangdong University of Technology
Xu, WenjunPeng Cheng Laboratory
Zhang, HongSUSTech
 
08:50-08:55, Paper WeAT6.5 
 Ground-Level Viewpoint Vision-And-Language Navigation in Continuous Environments

Li, ZeruiAdelaide University
Zhou, GengzeUniversity of Adelaide
Hong, HaodongThe University of Queensland
Shao, YanyanZhejiang University of Technology
Lyu, WenqiThe University of Adelaide
Qiao, YanyuanThe University of Adelaide
Wu, QiUniversity of Adelaide
 
08:55-09:00, Paper WeAT6.6 
 NavTr: Object-Goal Navigation with Learnable Transformer Queries

Mao, QiuyuUniversity of Science and Technology of China
Jikai, WangUniversity of Science and Technology of China, Department of Aut
Xu, MengUniversity of Science and Technology of China
Chen, ZonghaiUniversity of Sciences and Technology of China
 
WeAT7 309
Marine Robotics 3 Regular Session
Chair: Rekleitis, IoannisUniversity of Delaware
Co-Chair: Drupt, JulietteUniversity of Montpellier
 
08:30-08:35, Paper WeAT7.1 
 Shape BoW: Generalized Bag of Words for Appearance-Based Loop Closure Detection in Bathymetric SLAM

Zhang, QianyiKorea Advanced Institute of Science and Technology
Kim, JinwhanKAIST
 
08:35-08:40, Paper WeAT7.2 
 ODYSSEE: Oyster Detection Yielded by Sensor Systems on Edge Electronics

Lin, XiaominUniversity of Maryland
Mange, Vivek DharmeshUniversity of Delaware
Suresh, ArjunUniversity of Maryland, College Park
Palnitkar, AadiUniversity of Maryland College Park
Neuberger, BernhardTU Wien
Campbell, BrendanUniversity of Delaware School of Marine Science and Policy
Williams, AlanUniversity of Maryland Center for Environmental Science
Baxevani, KleioUniversity of Delaware
Mallette, JeremyIndependent Robotics
Vera Gonzalez, Alhim AdonaiUniversity of Cincinnati
Vincze, MarkusVienna University of Technology
Rekleitis, IoannisUniversity of Delaware
Tanner, Herbert G.University of Delaware
Aloimonos, YiannisUniversity of Maryland
 
08:40-08:45, Paper WeAT7.3 
 IBURD: Image Blending for Underwater Robotic Detection

Hong, JungseokMIT
Singh, SakshiUniversity of Minnesota
Sattar, JunaedUniversity of Minnesota
 
08:45-08:50, Paper WeAT7.4 
 3DSSDF: Underwater 3D Sonar Reconstruction Using Signed Distance Functions

Archieri, SimonHeriot-Watt University
Drupt, JulietteUniversity of Montpellier
Cinar, Ahmet FatihFrontier Robotics
Grimaldi, MicheleUniversity of Girona
Carlucho, IgnacioUniversity of Edinburgh
Scharff Willners, JonatanHeriot-Watt University
Petillot, Yvan R.Heriot-Watt University
 
08:50-08:55, Paper WeAT7.5 
 Cascade IPG Observer for Underwater Robot State Estimation

Joshi, KaustubhUniversity of Maryland College Park
Liu, TianchenUniversity of Maryland, College Park
Chopra, NikhilUniversity of Maryland, College Park
 
08:55-09:00, Paper WeAT7.6 
 ResiVis: A Holistic Underwater Motion Planning Approach for Robust Active Perception under Uncertainties

Xanthidis, MariosSINTEF Ocean
Skaldebø, MartinSINTEF Ocean
Haugaløkken, BentSINTEF Ocean
Evjemo, Linn DanielsenSINTEF Ocean AS
Alexis, KostasNTNU - Norwegian University of Science and Technology
Kelasidi, EleniNTNU
 
WeAT8 311
Planinng and Control for Legged Robots 1 Regular Session
Chair: Gan, ZhenyuSyracuse University
Co-Chair: Remy, C. DavidUniversity of Stuttgart
 
08:30-08:35, Paper WeAT8.1 
 Energy-Optimal Asymmetrical Gait Selection for Quadrupedal Robots

Alqaham, Yasser G.Syracuse University
Cheng, JingSyracuse University
Gan, ZhenyuSyracuse University
 
08:35-08:40, Paper WeAT8.2 
 Bipedal Walking with Continuously Compliant Robotic Legs

Bendfeld, RobinUniversity of Stuttgart
Remy, C. DavidUniversity of Stuttgart
 
08:40-08:45, Paper WeAT8.3 
 Optimal Torque Distribution Via Dynamic Adaptation for Quadrupedal Locomotion on Slippery Terrains

Argiropoulos, Despina-Ekaterini(a) Institute of Computer Science Foundation for Research and T
Maravgakis, MichaelFoundation for Research and Technology - Hellas (FORTH)
Tian, ChangdaFORTH
Papageorgiou, DimitriosHellenic Mediterranean University
Trahanias, PanosFoundation for Research and Technology – Hellas (FORTH)
 
08:45-08:50, Paper WeAT8.4 
 Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion

Liang, BoyuanUniversity of California, Berkeley
Sun, LingfengUniversity of California, Berkeley
Zhu, XinghaoUniversity of California, Berkeley
Zhang, BikeUniversity of California, Berkeley
Xiong, ZiyinPeking University
Wang, YixiaoUniversity of California, Berkeley
Li, ChenranUniversity of California, Berkeley
Sreenath, KoushilUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
 
08:50-08:55, Paper WeAT8.5 
 Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats

Hou, TaixianFuDan University
Zhang, YueqiFudan University
Wei, XiaoyiFudan University
Dong, ZhiyanFudan University
Yi, JiafuHainan University
Zhai, PengFudan University
ZHang, LihuaFudan University
 
08:55-09:00, Paper WeAT8.6 
 Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control

Lu, ChenhaoTsinghua University
Cheng, XuxinUniversity of California, San Diego
Li, JialongUCSD
Yang, ShiqiThe Chinese University of Hong Kong, Shenzhen
Ji, MazeyuUCSD
Yuan, ChengjingUniversity of California, San Diego
Yang, GeMassachusetts Institute of Technology
Yi, ShaUC San Diego
Wang, XiaolongUC San Diego
 
WeAT9 312
Multi-Robot Planning and Navigation Regular Session
Chair: Nieto-Granda, CarlosDEVCOM U.S. Army Research Laboratory
 
08:30-08:35, Paper WeAT9.1 
 Distributed Safe Navigation of Multi-Agent Systems Using Control Barrier Function-Based Controllers

Mestres, PolUniversity of California, San Diego
Nieto-Granda, CarlosDEVCOM U.S. Army Research Laboratory
Cortes, JorgeUniversity of California, San Diego
 
08:35-08:40, Paper WeAT9.2 
 Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control

de Vos, KoenEindhoven University of Technology
Torta, ElenaEindhoven University of Technology
Bruyninckx, HermanKU Leuven
López Martínez, César AugustoEindhoven University of Technology
van de Molengraft, Marinus Jacobus GerardusUniversity of Technology Eindhoven
 
08:40-08:45, Paper WeAT9.3 
 Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range

Goarin, ManohariNew York University, Tandon School of Engineering
Li, GuanruiWorcester Polytechnic Institute
Saviolo, AlessandroNew York University
Loianno, GiuseppeNew York University
 
08:45-08:50, Paper WeAT9.4 
 SIGMA: Sheaf-Informed Geometric Multi-Agent Pathfinding

Liao, ShuhaoBeihang University
Xia, WeihangZijin Mining
Cao, YuhongNational University of Singapore
Dai, WeihengNational University of Singapore
He, ChengyangNational University Singapore
Wu, WenjunBeihang University
Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
 
08:50-08:55, Paper WeAT9.5 
 An Efficient NSGA-II-Based Algorithm for Multi-Robot Coverage Path Planning

Foster, AshleyUniversity of Plymouth
Gianni, MarioUniversity of Liverpool
Aly, AmirUniversity of Plymouth
Samani, HoomanUniversity of the Arts London
 
08:55-09:00, Paper WeAT9.6 
 An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Resource Transportation Uncertainty and Temporal Logic Goals

Cardona, Gustavo A.Lehigh University
Liang, KaierLehigh University
Vasile, Cristian IoanLehigh University
 
WeAT10 313
Multi-Robot Path Planning 1 Regular Session
Chair: Akella, SrinivasUniversity of North Carolina at Charlotte
Co-Chair: Delgado, CarmenI2CAT Foundation
 
08:30-08:35, Paper WeAT10.1 
 Connectivity-Preserving Distributed Informative Path Planning for Mobile Robot Networks

Nguyen, Thanh BinhTAMUCC
Nghiem, Truong XuanUniversity of Central Florida
Nguyen, LinhFederation University Australia
La, HungUniversity of Nevada at Reno
Nguyen, ThangTexas A&M University-Corpus Christi
 
08:35-08:40, Paper WeAT10.2 
 A Hierarchical Framework for Solving the Constrained Multiple Depot Traveling Salesman Problem

Yang, RuixiaoMassachusetts Institute of Technology
Fan, ChuchuMassachusetts Institute of Technology
 
08:40-08:45, Paper WeAT10.3 
 Fully Differentiable Adaptive Informative Path Planning

Jakkala, KalvikUniversity of North Carolina at Charlotte
Akella, SrinivasUniversity of North Carolina at Charlotte
 
08:45-08:50, Paper WeAT10.4 
 Online Informative Motion Planning for Active Information Gathering of a Non-Stationary Gaussian Process

Mao, KexiangShanghai Jiao Tong University
He, JianpingShanghai Jiao Tong University
Duan, XiaomingShanghai Jiao Tong University
 
08:50-08:55, Paper WeAT10.5 
 REACT: Multi Robot Energy-Aware Orchestrator for Indoor Search and Rescue Critical Tasks

Maresca, FabioNEC Laboratories Europe GmbH
Romero, ArnauI2CAT Foundation
Delgado, CarmenI2CAT Foundation
Sciancalepore, VincenzoNEC Laboratories Europe GmbH
Paradells, JosepUniversitat Politecnica De Catalunya
Costa-Perez, XavierNEC Laboratories Europe
 
08:55-09:00, Paper WeAT10.6 
 Multi-Agent Ergodic Exploration under Smoke-Based Time-Varying Visibility Constraints

Wittemyer, ElenaYale University
Rao, AnanyaCarnegie Mellon University
Abraham, IanYale University
Choset, HowieCarnegie Mellon University
 
WeAT11 314
Safe Control 1 Regular Session
Chair: Francis, JonathanBosch Center for Artificial Intelligence
 
08:30-08:35, Paper WeAT11.1 
 DiffTune-MPC: Closed-Loop Learning for Model Predictive Control

Tao, RanUniversity of Illinois Urbana-Champaign
Cheng, ShengUniversity of Illinois Urbana-Champaign
Wang, XiaofengUniversity of South Carolina
Wang, ShenlongUniversity of Illinois at Urbana-Champaign
Hovakimyan, NairaUniversity of Illinois at Urbana-Champaign
 
08:35-08:40, Paper WeAT11.2 
 Combined Modal Robust Cascade Control for Wheeled Self-Reconfigurable Robots under Drive Failure and Safety Threat

Jiang, TaoChongqing University
Wang, JianxiangChongqing University
Zheng, ZhiChongqing University
Mo, RongqinChongqing University
Sun, YizhuoHarbin Institute of Technology
 
08:40-08:45, Paper WeAT11.3 
 CaDRE: Controllable and Diverse Generation of Safety-Critical Driving Scenarios Using Real-World Trajectories

Huang, PeideApple Inc
Ding, WenhaoCarnegie Mellon University
Stoler, BenjaminCarnegie Mellon University
Francis, JonathanBosch Center for Artificial Intelligence
Chen, BingqingBosch Center for AI
Zhao, DingCarnegie Mellon University
 
08:45-08:50, Paper WeAT11.4 
 Certificated Actor-Critic: Hierarchical Reinforcement Learning with Control Barrier Functions for Safe Navigation

Xie, JunjunHarbin Institute of Technology, Shenzhen, China
Zhao, ShuhaoSchool of Mechanical Engineering and Automation Harbin Institute
Hu, LiangHarbin Institute of Technology, Shenzhen
Gao, HuijunHarbin Institute of Technology
 
08:50-08:55, Paper WeAT11.5 
 Exact Imposition of Safety Boundary Conditions in Neural Reachable Tubes

Singh, AdityaIndian Institute of Technology, Patna
Feng, ZeyuanStanford University
Bansal, SomilStanford University
 
08:55-09:00, Paper WeAT11.6 
 RelAIBotiX: Reliability Assessment for AI-Controlled Robotic Systems

Grimmeisen, PhilippUniversity of Stuttgart
Golwalkar, RuchaUniversity of Lübeck
Sautter, FriedrichIAS, Uni Stuttgart
Morozov, AndreyUniversity of Stuttgart
 
WeAT12 315
Human-Robot Interaction 3 Regular Session
Chair: Fitter, Naomi T.Oregon State University
Co-Chair: Yuan, WenzhenUniversity of Illinois
 
08:30-08:35, Paper WeAT12.1 
 Adaptive Emotional Expression in Social Robots: A Multimodal Approach to Dynamic Emotion Modeling

Park, HaeunUlsan National Institute of Science and Technology
Lee, JiyeonUlsan National Institute of Science and Technology
Lee, Hui SungUNIST (Ulsan National Institute of Science and Technology)
 
08:35-08:40, Paper WeAT12.2 
 CAS: Fusing DNN Optimization & Adaptive Sensing for Energy-Efficient Multi-Modal Inference

Weerakoon Mudiyanselage, Dulanga Kaveesha WeerakoonSingapore-MIT Alliance for Research & Technology
Subbaraju, VigneshwaranAgency for Science Technology and Research (A*STAR)
Lim, Joo HweeI2R A*STAR
Misra, ArchanSingapore Management University
 
08:40-08:45, Paper WeAT12.3 
 "Oh! It's Fun Chatting with You!" a Humor-Aware Social Robot Chat Framework

Zhang, HengENSTA Paris, Institut Polytechnique De Paris
Saood, AdnanENSTA Paris - Institute Polytechnique De Paris
García Cárdenas, Juan JoséENSTA - Institute Polytechinique De Paris
Hei, XiaoxuanENSTA Paris, Institut Polytechnique De Paris
Tapus, AdrianaENSTA Paris, Institut Polytechnique De Paris
 
08:45-08:50, Paper WeAT12.4 
 Social Gesture Recognition in SpHRI: Leveraging Fabric-Based Tactile Sensing on Humanoid Robots

Crowder, DakaraiUniversity of Illinois Urbana Champaign
Vandyck, Kojo EgyirUniversity of Illinois Urbana-Champaign
Sun, XipingUniversity of Illinois Urbana-Champaign Champaign, IL ‧ Pu
McCann, JamesCarnegie Mellon University
Yuan, WenzhenUniversity of Illinois
 
08:50-08:55, Paper WeAT12.5 
 Seeing Eye to Eye: Design and Evaluation of a Custom Expressive Eye Display Module for the Stretch Mobile Manipulator

Morales Mayoral, RafaelOregon State University
Buchmeier, SeanOregon State University
Mockel, StayceOregon State University
Chavez, Courtney J.Oregon State University
Fitter, Naomi T.Oregon State University
 
08:55-09:00, Paper WeAT12.6 
 UGotMe: An Embodied System for Affective Human-Robot Interaction

Li, PeizhenMacquarie University
Cao, LongbingMacquarie University
Wu, Xiao-MingSun Yat-Sen University
Yu, XiaohanMacquarie University
Runze, YangMacquarie University
 
WeAT13 316
Soft Robotic Grasping 1 Regular Session
Chair: Ichnowski, JeffreyCarnegie Mellon University
Co-Chair: Stewart-Height, AbrianaMassachusetts Institute of Technology
 
08:30-08:35, Paper WeAT13.1 
 SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

Takahashi, TomoyaOMRON SINIC X Corporation
Beltran-Hernandez, Cristian CamiloOMRON SINIC X Corporation
Kuroda, YukiOMRON SINIC X Corporation
Tanaka, KazutoshiOMRON SINIC X Corporation
Hamaya, MasashiOMRON SINIC X Corporation
Ushiku, YoshitakaOMRON SINIC X Corpolation
 
08:35-08:40, Paper WeAT13.2 
 VSB - Variable Stiffness Based on Bowden Cables: A Simple Mechanism for Soft Robotic Hands

Puhlmann, SteffenTU Berlin
Albu-Schäffer, AlinDLR - German Aerospace Center
Höppner, HannesBerliner Hochschule Für Technik, BHT
 
08:40-08:45, Paper WeAT13.3 
 Design and Experimental Validation of Woodwork-Inspired Soft Pneumatic Grippers

Stewart-Height, AbrianaMassachusetts Institute of Technology
Bolli, RobertoMIT
Kamienski, EmilyMassachusetts Institute of Technology
Asada, HarryMIT
 
08:45-08:50, Paper WeAT13.4 
 A Variable Stiffness and Transformable Entanglement Soft Robotic Gripper

Zhang, HuayuThe Chinese University of Hong Kong
Pan, Tianle FlippyThe Chinese University of Hong Kong
Zhou, JianshuUniversity of California, Berkeley
Liang, BoyuanUniversity of California, Berkeley
Shu, JingThe Chinese University of Hong Kong
Zhu, PuchenThe Chinese University of Hong Kong
An, JiajunThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
Ma, XinChinese Univerisity of HongKong
 
08:50-08:55, Paper WeAT13.5 
 Soft Robotic Dynamic In-Hand Pen Spinning

Yao, YunchaoCarnegie Mellon University
Yoo, UksangCarnegie Mellon University
Oh, JeanCarnegie Mellon University
Atkeson, ChristopherCMU
Ichnowski, JeffreyCarnegie Mellon University
 
08:55-09:00, Paper WeAT13.6 
 Kinetostatics and Retention Force Analysis of Soft Robot Grippers with External Tendon Routing

Gunderman, AnthonyUniversity of Arkansas
Wang, YifanGeorgia Institute of Technology
Gunderman, BenjaminUniversity of Arkansas
Qiu, AlexGeorgia Institute of Technology
Azizkhani, MiladGeorgia Institute of Technology
Sommer, JosephGeorgia Institute of Technology
Chen, YueGeorgia Institute of Technology
 
WeAT14 402
Teleoperation and Human-Robot Interaction Regular Session
 
08:30-08:35, Paper WeAT14.1 
 Ego-A3: Adaptive Fusion-Based Disentangled Transformer for Egocentric Action Anticipation

Kim, Min HyukChonnam National University
Jung, JongWonCHONNAM University
Lee, EungiChonnam National University
Yoo, Seok BongChonnam National University
 
08:35-08:40, Paper WeAT14.2 
 A New Variable-Gain Sliding Mode Filter and Its Application to Velocity Filtering

Aung, Myo Thant SinYangon Technological University, Myanmar
Kikuuwe, RyoHiroshima University
Paing, Soe LinNorth Carolina State University
Yang, JunNational University of Singapore
Yu, HaoyongNational University of Singapore
 
08:40-08:45, Paper WeAT14.3 
 A Comparative Study between a Virtual Wand and a One-To-One Approach for the Teleoperation of a Nearby Robotic Manipulator

Poignant, AlexisSorbonne Université, ISIR UMR 7222 CNRS
Morel, GuillaumeSorbonne Université, CNRS, INSERM
Jarrassé, NathanaelSorbonne Université, ISIR UMR 7222 CNRS
 
08:45-08:50, Paper WeAT14.4 
 A Novel Telelocomotion Framework with CoM Estimation for Scalable Locomotion on Humanoid Robots

He, An-ChiVirginia Tech
Li, JunhengUniversity of Southern California
Park, JungsooVirginia Tech
Kolt, OmarUniversity Southern California
Beiter, BenjaminVirginia Polytechnic Institute and State University
Leonessa, AlexanderVirginia Tech
Nguyen, QuanUniversity of Southern California
Akbari Hamed, KavehVirginia Tech
 
08:50-08:55, Paper WeAT14.5 
 Stiffness Regulation Co-Pilot in Bilateral Teleimpedance Control: A Preliminary User Study

Gomez Hernandez, PedroAarhus University Herning
Jakobsen, Jonas MariagerSDU Robotics, the Maersk Mc-Kinney Moller Institute, University
Pacchierotti, ClaudioCentre National De La Recherche Scientifique (CNRS)
Chinello, FrancescoAarhus University
Fang, ChengUniversity of Southern Denmark
 
08:55-09:00, Paper WeAT14.6 
 Adaptive Neural Network Synchronous Tracking Control for Teleoperation Robots under Event-Triggered Mechanism

Wang, FujieDongguan University of Technology
Yu, YuanjiaShenzhen University
Li, XingSchool of Electrical Engineering & Intelligentization, Dongguan
Luo, JunxuanDongguan University of Technology
Zhong, JinmingShenzhen University
 
WeAT15 403
Bimanual Manipulation 1 Regular Session
 
08:30-08:35, Paper WeAT15.1 
 Learning Visuotactile Skills with Two Multifingered Hands

Lin, ToruUniversity of California, Berkeley
Zhang, YuUniversity of California Berkeley
Li, QiyangUniversity of California, Berkeley
Qi, HaozhiUC Berkeley
Yi, BrentUniversity of California, Berkeley
Levine, SergeyUC Berkeley
Malik, JitendraUC Berkeley
 
08:35-08:40, Paper WeAT15.2 
 Learning Coordinated Bimanual Manipulation Policies Using State Diffusion and Inverse Dynamics Models

Chen, HaonanUniversity of Illinois at Urbana-Champaign
Xu, JiamingUniversity of Illinois Urbana-Champaign
Sheng, LilyTsinghua University
Ji, TianchenUniversity of Illinois at Urbana-Champaign
Liu, ShuijingThe University of Texas at Austin
Li, YunzhuColumbia University
Driggs-Campbell, KatherineUniversity of Illinois at Urbana-Champaign
 
08:40-08:45, Paper WeAT15.3 
 BiFold: Bimanual Cloth Folding with Language Guidance

Barbany, OriolIRI (CSIC-UPC)
Colomé, AdriàInstitut De Robòtica I Informàtica Industrial (CSIC-UPC), Q28180
Torras, CarmeCsic - Upc
 
08:45-08:50, Paper WeAT15.4 
 One-Shot Dual-Arm Imitation Learning

Wang, YilongImperial College London
Johns, EdwardImperial College London
 
08:50-08:55, Paper WeAT15.5 
 In the Wild Ungraspable Object Picking with Bimanual Nonprehensile Manipulation

Wu, AlbertStanford University
Kruse, DanielRensselaer Polytechnic Institute
 
08:55-09:00, Paper WeAT15.6 
 Bimanual Grasp Synthesis for Dexterous Robot Hands

Shao, YanmingShanghaiTech University
Xiao, ChenxiShanghaiTech University
 
WeAT16 404
Grasping 1 Regular Session
Chair: Kasaei, HamidrezaUniversity of Groningen
Co-Chair: Thondiyath, AsokanIIT Madras
 
08:30-08:35, Paper WeAT16.1 
 Efficient 7-DoF Grasp for Target-Driven Object in Dense Cluttered Scenes

Lei, TianjiaoChongqing University
Sun, YizhuoHarbin Institute of Technology
Huang, YiChongqing University
Huang, JiangshuaiNanyang Technological University
Jiang, TaoChongqing University
 
08:35-08:40, Paper WeAT16.2 
 Task-Oriented 6-DoF Grasp Pose Detection in Clutters

Wang, An-LanSun Yat-Sen University
Chen, NuoSun Yat-Sen University
Lin, Kun-YuSun Yat-Sen University
Yuan-Ming, LiSun Yat-Sen University
Zheng, Wei-ShiSun Yat-Sen University
 
08:40-08:45, Paper WeAT16.3 
 QuickGrasp: Lightweight Antipodal Grasp Planning with Point Clouds

Ravie, Navin SriramIndian Institute of Technology Madras
Murugan, Keerthi VasanIndian Institute of Technology Madras
Thondiyath, AsokanIIT Madras
Sebastian, BijoIIT Madras
 
08:45-08:50, Paper WeAT16.4 
 Behavioral Manifolds: Representing the Landscape of Grasp Affordances in Relative Pose Space

Zechmair, MichaelMaastricht University
Morel, YannickMaastricht University
 
08:50-08:55, Paper WeAT16.5 
 NeRF-Based Transparent Object Grasping Enhanced by Shape Priors

Han, YiShenzhen Technology University
Lin, ZixinShenzhen Technology University
Li, DongJieShenzhen Technology University
Chen, LvpingShenzhen Technology Universit
Shi, YongliangTsinghua University
Ma, GanShenzhen Technology University
 
08:55-09:00, Paper WeAT16.6 
 Center Direction Network for Grasping Point Localization on Cloths

Tabernik, DomenUniversity of Ljubljana
Muhovič, JonFaculty of Electrical Engineering, University of Ljubljana
Urbas, MatejUniversity of Ljubljana, Faculty of Computer and Information Sci
Skocaj, DanijelUniversity of Ljubljana
 
WeAT17 405
Localization 3 Regular Session
Chair: Joerger, MathieuVirginia Tech
Co-Chair: Halperin, DanTel Aviv University
 
08:30-08:35, Paper WeAT17.1 
 How Safe Is Particle Filtering-Based Localization for Mobile Robots? an Integrity Monitoring Approach

Abdul Hafez, OsamaAmerican University of Madaba
Joerger, MathieuVirginia Tech
Spenko, MatthewIllinois Institute of Technology
 
08:35-08:40, Paper WeAT17.2 
 Lighthouse Localization of Miniature Wireless Robots

Alvarado-Marin, SaidINRIA
Huidobro-Marin, CristobalINRIA
Balbi, MartinaINRIA
Savic, TrifunINRIA
Watteyne, ThomasInria
Maksimovic, FilipINRIA
 
08:40-08:45, Paper WeAT17.3 
 EVLoc: Event-Based Visual Localization in LiDAR Maps Via Event-Depth Registration

Chen, KuangyiGraz University of Technology
Zhang, JunGraz University of Technology
Fraundorfer, FriedrichGraz University of Technology
 
08:45-08:50, Paper WeAT17.4 
 MambaGlue: Fast and Robust Local Feature Matching with Mamba

Ryoo, KihwanKorea Advanced Institute of Science and Technology
Lim, HyungtaeMassachusetts Institute of Technology
Myung, HyunKAIST (Korea Advanced Institute of Science and Technology)
 
08:50-08:55, Paper WeAT17.5 
 ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges

Nguyen, Thien-MinhNanyang Technological University
Yang, YizhuoNangyang Technological Univercity
Nguyen, Tien-DatHo Chi Minh City University of Technology (HCMUT), VNU-HCM
Yuan, ShenghaiNanyang Technological University
Xie, LihuaNanyangTechnological University
 
08:55-09:00, Paper WeAT17.6 
 Indoor Localization of UAVs Using Only Few Measurements by Output-Sensitive Preimage Intersection

Bilevich, Michael M.Tel Aviv University
Buber, TomerTel Aviv University
Halperin, DanTel Aviv University
 
WeAT18 406
Software Tools 1 Regular Session
 
08:30-08:35, Paper WeAT18.1 
 Motion Comparator: Visual Comparison of Robot Motions

Wang, YepingUniversity of Wisconsin-Madison
Peseckis, AlexanderUniversity of Wisconsin -- Madison
Jiang, ZelongUniversity of Wisconsin-Madison
Gleicher, MichaelUniversity of Wisconsin - Madison
 
08:35-08:40, Paper WeAT18.2 
 Text2Robot: Evolutionary Robot Design from Text Descriptions

Chen, BoyuanDuke University
Charlick, Zachary Samuel CharlickDuke University
Ringel, RyanDuke University
Liu, JiaxunDuke University
Xia, BoxiDuke University
 
08:40-08:45, Paper WeAT18.3 
 QueryCAD: Grounded Question Answering for CAD Models

Kienle, ClaudiusArtiMinds Robotics GmbH
Alt, BenjaminArtiMinds Robotics
Katic, DarkoHFT STUTTGART
Jäkel, RainerKarlsruhe Institute of Technology
Peters, JanTechnische Universität Darmstadt
 
08:45-08:50, Paper WeAT18.4 
 HeRo: A State Machine-Based, Fault-Tolerant Framework for Heterogeneous Multi-Robot Collaboration

Tang, RuijieInstitute of Software, Chinese Academy of Sciences
Wu, GuoquanInstitute of Software, Chinese Academy of Sciences
Wang, TaoInstitute of Software, Chinese Academy of Sciences
Chen, WeiInstitute of Software, Chinese Academy of Sciences
Wei, JunInstitute of Software, Chinese Academy of Sciences
 
08:50-08:55, Paper WeAT18.5 
 A Kinematics Optimization Framework with Improved Computational Efficiency for Task-Based Optimum Design of Serial Manipulators in Cluttered Environments

Petkov, NikolaUnited Kingdom Atomic Energy Authority
Tokatli, OzanUKAEA
Zhang, KaiqiangUK Atomic Energy Authority
Wu, HuapengLappeenranta University of Technology
Skilton, Robert MarkUK Atomic Energy Authority
 
08:55-09:00, Paper WeAT18.6 
 A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms

Mokhtarian, ArminRWTH Aachen University
Xu, JianyeChair of Embedded Software (Informatik 11), RWTH Aachen Universi
Scheffe, PatrickRWTH Aachen University
Kloock, MaximilianRWTH Aachen University
Schäfer, SimonRWTH Aachen University
Bang, HeeseungUniversity of Delaware
Le, Viet-AnhUniversity of Delaware
Ulhas, SangeetArizona State University
Betz, JohannesTechnical University of Munich
Wilson, SeanGeorgia Institute of Technology, Georgia Tech Research Institute
Berman, SpringArizona State University
Paull, LiamUniversité De Montréal
Prorok, AmandaUniversity of Cambridge
Alrifaee, BassamUniversity of the Bundeswehr Munich
 
WeAT19 407
Tactile Sensing 2 Regular Session
Chair: Spiers, AdamImperial College London
 
08:30-08:35, Paper WeAT19.1 
 ACROSS: A Deformation-Based Cross-Modal Representation for Robotic Tactile Perception

Zai El Amri, WadhahL3S Research Center
Kuhlmann, Malte FabianL3S Research Center
Navarro-Guerrero, NicolásLeibniz Universität Hannover
 
08:35-08:40, Paper WeAT19.2 
 Learning to Double Guess: An Active Perception Approach for Estimating the Center of Mass of Arbitrary Object

Jin, ShengmiaoUniversity of Illinois Urbana-Champaign
Mo, YuchenUniversity of Illinois, Urbana-Champaign
Yuan, WenzhenUniversity of Illinois
 
08:40-08:45, Paper WeAT19.3 
 Learning In-Hand Translation Using Tactile Skin with Shear and Normal Force Sensing

Yin, JessicaUniversity of Pennsylvania
Qi, HaozhiUC Berkeley
Malik, JitendraUC Berkeley
Pikul, JamesUniversity of Pennsylvania
Yim, MarkUniversity of Pennsylvania
Hellebrekers, TessMeta AI Research
 
08:45-08:50, Paper WeAT19.4 
 Contrastive Touch-To-Touch Pretraining

Rodriguez, SamantaUniversity of Michigan - Ann Arbor
Dou, YimingUniversity of Michigan
van den Bogert, WilliamUniversity of Michigan
Oller, MiquelUniversity of Michigan
So, KevinUniversity of Michigan
Owens, AndrewUniversity of Michigan
Fazeli, NimaUniversity of Michigan
 
08:50-08:55, Paper WeAT19.5 
 ViTract: Robust Object Shape Perception Via Active Visuo-Tactile Interaction

Dutta, AnirvanBMW Group and Imperial College London
Burdet, EtienneImperial College London
Kaboli, MohsenEindhoven University of Technology ( TU/e) & BMW Group Research
 
08:55-09:00, Paper WeAT19.6 
 Location and Orientation Super-Resolution Sensing with a Cost-Efficient and Repairable Barometric Tactile Sensor

Hou, JianImperial College London
Zhou, XinImperial College London
Spiers, AdamImperial College London
 
WeAT20 408
Human Motion Sensing Regular Session
Chair: Youcef-Toumi, KamalMassachusetts Institute of Technology
Co-Chair: Cao, MuqingCarnegie Mellon University
 
08:30-08:35, Paper WeAT20.1 
 Person Re-Identification for Robot Person Following with Online Continual Learning

Ye, HanjingSouthern University of Science and Technology
Zhao, JietingSouthern University of Science and Technology
Zhan, YuSouthern University of Science and Technology
Chen, WeinanGuangdong University of Technology
He, LiSouthern University of Science and Technology
Zhang, HongSouthern University of Science and Technology
 
08:35-08:40, Paper WeAT20.2 
 HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions

Li, JianpingNanyang Technological University
Leng, QiutongNanyang Technological University
Liu, JinxinNanyang Technological University
Xu, XinhangNanyang Technological University
Jin, TongxingNanyang Technological University
Cao, MuqingCarnegie Mellon University
Nguyen, Thien-MinhNanyang Technological University
Yuan, ShenghaiNanyang Technological University
Cao, KunNanyang Technological University
Xie, LihuaNanyangTechnological University
 
08:40-08:45, Paper WeAT20.3 
 Relevance-Driven Decision Making for Safer and More Efficient Human Robot Collaboration

Zhang, XiaotongMassachusetts Institute of Technology
Huang, DingchengMassachusetts Institute of Technology
Youcef-Toumi, KamalMassachusetts Institute of Technology
 
08:45-08:50, Paper WeAT20.4 
 Back to the Cartesian: Pilot Study for Assessing Human Stiffness in 3D Cartesian Space by Transforming from Muscle Space in a Peg-In-Hole Scenario for Tele-Impedance

Thuerauf, SabineFriedrich-Alexander-University Erlangen-Nuremberg
Mehrkens, FlorianFAU Erlangen-Nuernberg
Castellini, ClaudioFriedrich-Alexander-Universität Erlangen-Nürnberg
Sierotowicz, MarekFriedrich-Alexander Universität Erlangen Nürnberg
 
08:50-08:55, Paper WeAT20.5 
 Systematic Comparison of Projection Methods for Monocular 3D Human Pose Estimation on Fisheye Images

Käs, StephanieRWTH Aachen University
Peter, SvenRWTH Aachen University
Thillmann, HenrikChair for Computer Vision, RWTH Aachen University
Burenko, AntonRWTH Aachen
Adrian, David BenjaminBosch Corporate Research & Ulm University
Mack, DennisRobert Bosch GmbH
Linder, TimmRobert Bosch GmbH
Leibe, BastianRWTH Aachen University
 
08:55-09:00, Paper WeAT20.6 
 HuMAn – the Human Motion Anticipation Algorithm Based on Recurrent Neural Networks

Noppeney, VictorUniversity of São Paulo
Escalante, Felix MSão Paulo State University
Maggi, LucasUniversity of Sao Paulo
Boaventura, ThiagoUniversity of Sao Paulo
 
WeAT21 410
Robot Foundation Models 1 Regular Session
Chair: Li, HuiAutodesk Research
Co-Chair: Nguyen, AnhUniversity of Liverpool
 
08:30-08:35, Paper WeAT21.1 
 Robotic-CLIP: Fine-Tuning CLIP on Action Data for Robotic Applications

Nguyen, NghiaFPT Software Company Limited
Vu, Minh NhatTU Wien, Austria
Ta, Tung D.The University of Tokyo
Huang, BaoruImperial College London
Vo, ThieuNational University of Singapore
Le, NganUniversity of Arkansas
Nguyen, AnhUniversity of Liverpool
 
08:35-08:40, Paper WeAT21.2 
 In-Context Imitation Learning Via Next-Token Prediction

Fu, LetianUC Berkeley
Huang, HuangUniversity of California at Berkeley
Datta, GauravUC Berkeley
Chen, Lawrence YunliangUC Berkeley
Panitch, WilliamUniversity of California, Berkeley
Liu, FangchenUniversity of California, Berkeley
Li, HuiAutodesk Research
Goldberg, KenUC Berkeley
 
08:40-08:45, Paper WeAT21.3 
 Data Augmentation for NeRFs in the Low Data Limit

Gaggar, AyushNorthwestern University
Murphey, ToddNorthwestern University
 
08:45-08:50, Paper WeAT21.4 
 Generalizable Imitation Learning through Pre-Trained Representations

Chang, Wei-DiMcGill University
Hogan, FrancoisMassachusetts Institute of Technology
Fujimoto, ScottMcGill University
Meger, David PaulMcGill University
Dudek, GregoryMcGill University
 
08:50-08:55, Paper WeAT21.5 
 Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors Via Language Grounding

Jones, JoshuaUniversity of California, Berkeley
Mees, OierUniversity of California, Berkeley
Sferrazza, CarmeloUC Berkeley
Stachowicz, KyleUniversity of California, Berkeley
Abbeel, PieterUC Berkeley
Levine, SergeyUC Berkeley
 
08:55-09:00, Paper WeAT21.6 
 Simultaneous Geometry and Pose Estimation of Held Objects Via 3D Foundation Models

Zhi, WeimingCarnegie Mellon University
Tang, HaozhanCarnegie Mellon University
Zhang, TianyiCarnegie Mellon University
Johnson-Roberson, MatthewCarnegie Mellon University
 
WeAT22 411
Learning for Robot Control Regular Session
 
08:30-08:35, Paper WeAT22.1 
 Gradient Descent-Based Task-Orientation Robot Control Enhanced with Gaussian Process Predictions

Roveda, LorisSUPSI-IDSIA
Pavone, MarcoStanford University
 
08:35-08:40, Paper WeAT22.2 
 Model-Free Inverse H-Infinity Control for Imitation Learning (I)

Xue, WenqianUniversity of Florida
Lian, BosenAuburn University
Kartal, YusufTurkish Aerospace
Fan, JialuNortheastern University
Chai, TianyouNortheastern University, Shenyang, China
Lewis, FrankThe University of Texas at Arlington
 
08:40-08:45, Paper WeAT22.3 
 Learning Object Properties Using Robot Proprioception Via Differentiable Robot-Object Interaction

Chen, Peter YichenMIT
Liu, ChaoMassachusetts Institute of Technology
Ma, PingchuanMIT CSAIL
Eastman, JohnMassachusetts Institute of Technology
Rus, DanielaMIT
Randle, Dylan LabattAmazon Robotics
Ivanov, YuriAmazon
Matusik, WojciechMIT
 
08:45-08:50, Paper WeAT22.4 
 Reservoir Computing Encodes Physical Adaptations for Reinforcement Learning

Giannetto, CrossCCIR
Ibragim, AtadjanovKyung Hee University
Iida, FumiyaUniversity of Cambridge
Abdulali, ArsenCambridge University
 
08:50-08:55, Paper WeAT22.5 
 Self-Supervised Meta-Learning for All-Layer DNN-Based Adaptive Control with Stability Guarantees

He, GuanqiCarnegie Mellon University
Choudhary, YogitaCarnegie Mellon University
Shi, GuanyaCarnegie Mellon University
 
08:55-09:00, Paper WeAT22.6 
 Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Luo, Jing YuanETH Zurich
Song, YunlongUniversity of Zurich
Klemm, VictorETH Zurich
Shi, FanNational University of Singapore
Scaramuzza, DavideUniversity of Zurich
Hutter, MarcoETH Zurich
 
WeAT23 412
Autonomous Vehicle Perception 3 Regular Session
Chair: Wang, ShenlongUniversity of Illinois at Urbana-Champaign
Co-Chair: Chen, Yong-ShengNational Yang Ming Chiao Tung University
 
08:30-08:35, Paper WeAT23.1 
 METDrive: Multimodal End-To-End Autonomous Driving with Temporal Guidance

Guo, ZiangSkolkovo Institute of Science and Technology
Lin, XinhaoInsititute of Automation, Qilu University of Technology (Shandon
Yagudin, ZakharSkolkovo Institute of Science and Technology
Lykov, ArtemSkolkovo Institute of Science and Technology
Wang, YongInsititute of Automation, Qilu University of Technology (Shandon
Li, YanqiangInstitute of Automation, Qilu University of Technology (Shandong
Tsetserukou, DzmitrySkolkovo Institute of Science and Technology
 
08:35-08:40, Paper WeAT23.2 
 Generalizing Motion Planners with Mixture of Experts for Autonomous Driving

Sun, QiaoShanghai QiZhi Institute
Wang, HuiminLi Auto
Zhan, JiahaoFudan University
Nie, FanStanford University
Wen, XinLi Auto
Xu, LeimengLi Auto
Zhan, KunLiAuto
Jia, PengLi Auto
Lang, XianpengLiAuto
Zhao, HangTsinghua University
 
08:40-08:45, Paper WeAT23.3 
 Low-Rank Adaptation-Based All-Weather Removal for Autonomous Navigation

Rajagopalan, SudarshanJohns Hopkins University
Patel, VishalJohns Hopkins University
 
08:45-08:50, Paper WeAT23.4 
 Stands on Shoulders of Giants: Learning to Lift 2D Detection to 3D with Geometry-Driven Objectives

Chen, Jhih RongNational Yang Ming Chiao Tung University
Chang, Che YuanNational Yang Ming Chiao Tung University
Tseng, Szu HanElan Microelectronics Corporation
Huang, Chih ShengElan Microelectronics Corporation
Chen, Yong-ShengNational Yang Ming Chiao Tung University
Chiu, Wei-ChenNational Chiao Tung University
 
08:50-08:55, Paper WeAT23.5 
 LidarDM: Generative LiDAR Simulation in a Generated World

Zyrianov, VlasUniversity of Illinois at Urbana-Champaign
Che, HenryUniversity of Illinois, Urbana-Champaign
Liu, ZhijianMassachusetts Institute of Technology
Wang, ShenlongUniversity of Illinois at Urbana-Champaign
 
08:55-09:00, Paper WeAT23.6 
 RenderWorld: World Model with Self-Supervised 3D Label

Yan, ZiyangUniversity of Trento
Dong, WenzhenThe Chinese University of HongKong
Shao, YihuaUniversity of Science and Technology Beijing
Lu, YuhangShanghaiTech University
Liu, HaiyangUniversity of Science and Technology Beijing
Liu, JingwenUniversity of Science and Technology Beijing
Wang, HaozheHong Kong University of Science and Technology
Wang, ZheInstitute for AI Industry Research, Tsinghua University
Wang, YanTsinghua University
Remondino, FabioFBK
Ma, YuexinShanghaiTech University
 
WeBT1 302
Award Finalists 6 Regular Session
 
WeBT2 301
SLAM 4 Regular Session
Chair: Rosen, DavidNortheastern University
Co-Chair: De Cristóforis, PabloUniversity of Buenos Aires
 
09:55-10:00, Paper WeBT2.1 
 Introspective Loop Closure for SLAM with 4D Imaging Radar

Hilger, MaximilianTechnical University of Munich
Kubelka, VladimirÖrebro University
Adolfsson, DanielÖrebro University
Becker, RalfCompany Bosch Rexroth
Andreasson, HenrikÖrebro University
Lilienthal, Achim J.Orebro University
 
10:00-10:05, Paper WeBT2.2 
 Range-Based 6-DoF Monte Carlo SLAM with Gradient-Guided Particle Filter on GPU

Nakao, TakumiNagoya University
Koide, KenjiNational Institute of Advanced Industrial Science and Technology
Takanose, AokiNational Institute of Advanced Industrial Science and Technology
Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Date, HisashiUniversity of Tsukuba
 
10:05-10:10, Paper WeBT2.3 
 Distributed Certifiably Correct Range-Aided SLAM

Thoms, AlexanderUniversity of California Los Angeles
Papalia, AlanMassachusetts Institute of Technology
Velasquez, JaredUniversity of California, Los Angeles
Rosen, DavidNortheastern University
Narasimhan, SriramUniversity of California, Los Angeles
 
10:10-10:15, Paper WeBT2.4 
 CoVoxSLAM: GPU Accelerated Globally Consistent Dense SLAM

Hoss, EmilianoUniversity of Buenos Aires
De Cristóforis, PabloUniversity of Buenos Aires
 
10:15-10:20, Paper WeBT2.5 
 Radar4VoxMap: Accurate Odometry from Blurred Radar Observations

Seok, JiwonHanyang University
Kim, SoyeongHanyang University
Jo, JaeyoungKonkuk University, Smart Vehicle Engineering
Lee, JaehwanHanyang University
Minseo, JungHanyang
Jo, KichunHanyang University
 
10:20-10:25, Paper WeBT2.6 
 GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting

Lee, DaehanPohang University of Science and Technology
Lim, HyungtaeMassachusetts Institute of Technology
Han, SooheePohang University of Science and Technology ( POSTECH )
 
10:25-10:30, Paper WeBT2.7 
 Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems

Zhao, MingleUniversity of Macau
Wang, JiahaoUniversity of Macau
Gao, TianxiaoUniversity of Macao
Xu, ChengzhongUniversity of Macau
Kong, HuiUniversity of Macau
 
WeBT3 303
Mechanism Design 2 Regular Session
Chair: Yim, Justin K.University of Illinois Urbana-Champaign
Co-Chair: Santin, MarcoAalen University
 
09:55-10:00, Paper WeBT3.1 
 Development of a 2-DOF Singularity-Free Spherical Parallel Remote Center of Motion Mechanism with Extensive Range of Motion

Liu, ChunNational Taiwan University
Lin, Pei-ChunNational Taiwan University
 
10:00-10:05, Paper WeBT3.2 
 Highly Dynamic Physical Interaction for Robotics: Design and Control of an Active Remote Center of Compliance

Friedrich, ChristianKarlsruhe University of Applied Sciences
Frank, PatrickHochschule Karlsruhe - University of Applied Sciences (HKA)
Santin, MarcoAalen University
Haag, Carl MatthiasHochschule Aalen
 
10:05-10:10, Paper WeBT3.3 
 Pinto: A Latched Spring Actuated Robot for Jumping and Perching

Xu, ChristopherUniversity of Illinois Urbana-Champaign
Yan, HuihanUniversity of Illinois at Urbana-Champaign
Yim, Justin K.University of Illinois Urbana-Champaign
 
10:10-10:15, Paper WeBT3.4 
 D3-ARM: High-Dynamic, Dexterous and Fully Decoupled Cable-Driven Robotic Arm

Luo, HongTsinghua University
Xu, JianleTsinghua University
Li, ShoujieTsinghua Shenzhen International Graduate School
Liang, HuayueTsinghua University
Chen, YanboTsinghua University
Xia, ChongkunSun Yat-Sen University
Wang, XueqianCenter for Artificial Intelligence and Robotics, Graduate School
 
10:15-10:20, Paper WeBT3.5 
 Design of an Articulated Modular Caterpillar Using Spherical Linkages

O'Connor, SamUniversity of Notre Dame
Plecnik, MarkUniversity of Notre Dame
 
10:20-10:25, Paper WeBT3.6 
 Informed Repurposing of Quadruped Legs for New Tasks

Chen, FuchenArizona State University
Aukes, DanielArizona State University
 
10:25-10:30, Paper WeBT3.7 
 Generative-AI-Driven Jumping Robot Design Using Diffusion Models

Kim, ByungchulMIT
Wang, Tsun-HsuanMassachusetts Institute of Technology
Rus, DanielaMIT
 
WeBT4 304
Sensor Fusion 1 Regular Session
Co-Chair: Forbes, James RichardMcGill University
 
09:55-10:00, Paper WeBT4.1 
 A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares

Korotkine, VassiliMcGill University
Cohen, MitchellMcGill University
Forbes, James RichardMcGill University
 
10:00-10:05, Paper WeBT4.2 
 Unveiling the Depths: A Multi-Modal Fusion Framework for Challenging Scenarios

Xu, JialeiHarbin Institute of Technology
Li, RuiNorthwestern Polytechnical University
Cheng, KaiUSTC
Jiang, JunjunHarbin Institute of Technology
Liu, XianmingHarbin Institute of Technology
 
10:05-10:10, Paper WeBT4.3 
 Explore the LiDAR-Camera Dynamic Adjustment Fusion for 3D Object Detection

Yang, YiranUniversity of Chinese Academy of Sciences
Gao, XuBaidu
Wang, TongBaidu
Hao, XinBaidu
Shi, YifengBAIDU.INC
Tan, XiaoBaidu
Ye, XiaoqingBaidu Inc
 
10:10-10:15, Paper WeBT4.4 
 Bridging Spectral-Wise and Multi-Spectral Depth Estimation Via Geometry-Guided Contrastive Learning

Shin, UkcheolCMU(Carnegie Mellon University)
Lee, KyunghyunKAIST
Oh, JeanCarnegie Mellon University
 
10:15-10:20, Paper WeBT4.5 
 VAIR: Visuo-Acoustic Implicit Representations for Low-Cost, Multi-Modal Transparent Surface Reconstruction in Indoor Scenes

Venkatramanan Sethuraman, AdvaithUniversity of Michigan
Bagoren, OnurUniversity of Michigan
Seetharaman, HarikrishnanUniversity of Michigan - Ann Arbor
Richardson, DaltonUniversity of Michigan
Taylor, JosephUniversity of Michigan, Ann Arbor
Skinner, KatherineUniversity of Michigan
 
10:20-10:25, Paper WeBT4.6 
 CDMFusion: RGB-T Image Fusion Based on Conditional Diffusion Models Via Few Denoising Steps in Open Environments

Yang, LuojieBeijing Institute of Technology
Yu, MengBeijing Institute of Technology
Fang, LijinBeijing Institute of Technology
Yang, YiBeijing Institute of Technology
Yue, YufengBeijing Institute of Technology
 
10:25-10:30, Paper WeBT4.7 
 UniBEVFusion: Unified Radar-Vision BEVFusion for 3D Object Detection

Zhao, HaochengXi'an Jiaotong-Liverpool University
Guan, RunweiUniversity of Liverpool
Wu, TaoyuXi'an Jiaotong-Liverpool University
Man, Ka LokXi'an Jiaotong-Liverpool University
Yu, LiminXi'an Jiaotong-Liverpool University
Yue, YutaoHong Kong University of Science and Technology (Guangzhou)
 
WeBT5 305
Aerial Robots: Mechanics and Control 1 Regular Session
Chair: Yamamoto, KoUniversity of Tokyo
Co-Chair: Saldaña, DavidLehigh University
 
09:55-10:00, Paper WeBT5.1 
 A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Santos, Davi Henrique dosUniversidade Federal Da Paraíba
Saska, MartinCzech Technical University in Prague
Nascimento, TiagoUniversidade Federal Da Paraiba
 
10:00-10:05, Paper WeBT5.2 
 Trajectory Planning and Control for Differentially Flat Fixed-Wing Aerial Systems

Morando, LucaNew York University
Salunkhe, Sanket AnkushColorado School of Mines
Bobbili, NishanthNew York University
Mao, JeffreyNew York University
Masci, LucaNew York University
Hung, NguyenInstituto Superior Técnico
De Souza Jr., CristinoTechnology Innovation Institute
Loianno, GiuseppeNew York University
 
10:05-10:10, Paper WeBT5.3 
 Safe Quadrotor Navigation Using Composite Control Barrier Functions

Harms, Marvin ChaytonNTNU
Jacquet, MartinNTNU
Alexis, KostasNTNU - Norwegian University of Science and Technology
 
10:10-10:15, Paper WeBT5.4 
 The Spinning Blimp: Design and Control of a Novel Minimalist Aerial Vehicle Leveraging Rotational Dynamics and Locomotion

Santens, LeonardoLehigh University
S. D'Antonio, DiegoLehigh University
Hou, ShuhangLehigh University
Saldaña, DavidLehigh University
 
10:15-10:20, Paper WeBT5.5 
 One Net to Rule Them All: Domain Randomization in Quadcopter Racing across Different Platforms

Ferede, RobinTU Delft
Blaha, Till MartinDelft University of Technology
Lucassen, ErinDelft University of Technology
De Wagter, ChristopheDelft University of Technology
de Croon, GuidoTU Delft
 
10:20-10:25, Paper WeBT5.6 
 Modeling and Control of Aerial Robot SERPENT: A Soft Structure Incorporated Multirotor Aerial Robot Capable of In-Flight Flexible Deformation

Itahara, ShotaroThe University of Tokyo
Nishio, TakuzumiThe University of Tokyo
Ishigaki, TaikiThe University of Tokyo
Sugihara, JunichiroThe University of Tokyo
Zhao, MojuThe University of Tokyo
Yamamoto, KoUniversity of Tokyo
 
10:25-10:30, Paper WeBT5.7 
 Embodying Compliant Touch on Drones for Aerial Tactile Navigation

Bredenbeck, AntonTU Delft
Della Santina, CosimoTU Delft
Hamaza, SaluaTU Delft
 
WeBT6 307
Vision-Based Navigation 2 Regular Session
 
09:55-10:00, Paper WeBT6.1 
 Adaptive Learning for Hybrid Visual Odometry

Liu, ZimingINRIA
Malis, EzioInria
Martinet, PhilippeINRIA
 
10:00-10:05, Paper WeBT6.2 
 SOLVR: Submap Oriented LiDAR-Visual Re-Localisation

Knights, Joshua BartonQueensland University of Technology
Barbas Laina, SebastiánTU Munich
Moghadam, PeymanCSIRO
Leutenegger, StefanTechnical University of Munich
 
10:05-10:10, Paper WeBT6.3 
 SSF: Sparse Long-Range Scene Flow for Autonomous Driving

Khoche, AjinkyaKTH Royal Institute of Technology Stockholm, SCANIA CV AB
Zhang, QingwenKTH Royal Institute of Technology
Pereira Sanchez, LauraStanford University
Asefaw, AronRoyal Institute of Technology
Sharif Mansouri, SinaScania
Jensfelt, PatricKTH - Royal Institute of Technology
 
10:10-10:15, Paper WeBT6.4 
 BoxMap: Efficient Structural Mapping and Navigation

Wang, ZiliBoston University
Allum, ChristopherBoston University
Andersson, SeanBoston University
Tron, RobertoBoston University
 
10:15-10:20, Paper WeBT6.5 
 UncAD: Towards Safe End-To-End Autonomous Driving Via Online Map Uncertainty

Yang, PengxuanUniversity of Chinese Academy of Sciences (UCAS)
Zheng, YupengSchool of Artificial Intelligence, University of Chinese Academy
Zhang, QichaoInstitute of Automation, Chinese Academy of Sciences
Zhu, KefeiUCAS
Xing, ZebinUCAS
Lin, QiaoEACON Technology Co., Ltd
Liu, Yun-FuEacon
Su, ZhiguoEACON Technology Co., Ltd
Zhao, DongbinChinese Academy of Sciences
 
10:20-10:25, Paper WeBT6.6 
 Multi-Floor Zero-Shot Object Navigation Policy

Zhang, LingfengThe Hong Kong University of Science and Technology (Guangzhou)
Wang, HaoHong Kong University of Science and Technology(Guang Zhou)
Xiao, ErjiaThe Hong Kong University of Science and Technology (Guangzhou)
Zhang, XinyaoHong Kong University of Science and Technology (GUANGZHOU)
Zhang, QiangThe Hong Kong University of Science and Technology (Guangzhou)
Jiang, ZixuanHKUST(GZ)
Xu, RenjingThe Hong Kong University of Science and Technology (Guangzhou)
 
10:25-10:30, Paper WeBT6.7 
 Fed-EC: Bandwidth-Efficient Clustering-Based Federated Learning for Autonomous Visual Robot Navigation

Gummadi, ShreyaUniversity of Illinois at Urbana-Champaign
Valverde Gasparino, MateusUniversity of Illinois at Urbana-Champaign
Vasisht, DeepakUniversity of Illinois at Urbana Champaign
Chowdhary, GirishUniversity of Illinois at Urbana Champaign
 
WeBT7 309
Perception 1 Regular Session
Co-Chair: Cho, YounggunInha University
 
09:55-10:00, Paper WeBT7.1 
 Using a Distance Sensor to Detect Deviations in a Planar Surface

Sifferman, CarterUniversity of Wisconsin-Madison
Sun, WilliamUW-Madison
Gupta, MohitUniversity of Wisconsin-Madison
Gleicher, MichaelUniversity of Wisconsin - Madison
 
10:00-10:05, Paper WeBT7.2 
 Narrowing Your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-Constrained LiDAR Place Recognition

Kim, HogyunInha University
Choi, JiwonInha University
Sim, TaehuInha Uiversity
Kim, GiseopDGIST (Daegu Gyeongbuk Institute of Science and Technology)
Cho, YounggunInha University
 
10:05-10:10, Paper WeBT7.3 
 Towards Survivability in Complex Motion Scenarios: RGB-Event Object Tracking Via Historical Trajectory Prompting

Xia, WenhaoDalian University of Technology
Zhu, JiawenDalian University of Technology
He, YouTsinghua University
Qi, JinqingDalian University of Technology
Huang, ZihaoDalian University of Technology
Jia, XuDalian University of Technology
 
10:10-10:15, Paper WeBT7.4 
 Spatially Constrained and Deeply Learned Bilateral Structural Intensity-Depth Registration Autonomously Navigates a Flexible Endoscope

Fang, HaoXiamen University
Wu, MingXiamen University
Fan, WenkangXiamen University
Luo, GuangchengZhongshan Hospital Xiamen University
Luo, XiongbiaoXiamen University
 
10:15-10:20, Paper WeBT7.5 
 E2B: A Single Modality Point-Based Tracker with Event Cameras

Ren, HongweiThe Hong Kong University of Science and Technology (Guangzhou)
Li, ZhuoPeking University
Tuerhong, AiersiChongqing University
Liu, HaoboThe University of Electronic Science and Technology of China
Liang, FeiHuawei Technologies Company Ltd
Feng, YongxiangHuawei Technologies Company Ltd
Wang, WenhuiTsinghua University
Wang, YaoyuanHuawei
Zhang, ZiyangHuawei, China
He, WeihuaTsinghua University
Cheng, BojunThe Hong Kong University of Science and Technology (Guangzhou)
 
10:20-10:25, Paper WeBT7.6 
 F²R²: Frequency Filtering-Based Rectification Robustness Method for Stereo Matching

Zhou, HaolongShanghai Institute of Microsystem and Information Technology, Ch
Zhu, DongchenShanghai Institute of Microsystem and Information Technology, Chi
Zhang, GuanghuiShanghai Institute of Microsystem and Information Technology, Ch
Wang, LeiShanghai Institute of Microsystem and Information Technology, Ch
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
 
10:25-10:30, Paper WeBT7.7 
 VisTune: Auto-Tuner for UAVs Using Vision-Based Localization

Humais, Muhammad AhmedKhalifa University
Chehadeh, MohamadKhalifa University for Science and Technology
Azzam, RanaKhalifa University of Science and Technology
Boiko, IgorKhalifa University
Zweiri, YahyaKhalifa University
 
WeBT8 311
Representation Learning 2 Regular Session
 
09:55-10:00, Paper WeBT8.1 
 GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning

Kawaharazuka, KentoThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:00-10:05, Paper WeBT8.2 
 SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

Qureshi, Mohammad NomaanCarnegie Mellon University
Garg, SparshCarnegie Mellon University
Yandun, FranciscoCarnegie Mellon University
Held, DavidCarnegie Mellon University
Kantor, GeorgeCarnegie Mellon University
Silwal, AbhiseshCarnegie Mellon University
 
10:05-10:10, Paper WeBT8.3 
 SR-AIF: Solving Sparse-Reward Robotic Tasks from Pixels with Active Inference and World Models

Nguyen, Viet DungRochester Institute of Technology
Yang, ZhizhuoRochester Institute of Technology
Buckley, ChristopherVerses AI
Ororbia, AlexanderRochester Institute of Technology
 
10:10-10:15, Paper WeBT8.4 
 Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning

Keller, LeonTU Darmstadt
Tanneberg, DanielHonda Research Institute Europe
Peters, JanTechnische Universität Darmstadt
 
10:15-10:20, Paper WeBT8.5 
 Chain-Of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models

Wang, ChenStanford University
Xia, FeiGoogle Inc
Yu, WenhaoGoogle
Zhang, TingnanGoogle
Zhang, RuohanStanford University
Liu, KarenStanford University
Fei-Fei, LiStanford University
Tan, JieGoogle
Liang, JackyGoogle
 
10:20-10:25, Paper WeBT8.6 
 VertiCoder: Self-Supervised Kinodynamic Representation Learning on Vertically Challenging Terrain

Nazeri, MohammadGeorge Mason University
Datar, AniketGeorge Mason University
Pokhrel, AnujGeorge Mason University
Pan, ChenhuiGeorge Mason University
Warnell, GarrettU.S. Army Research Laboratory
Xiao, XuesuGeorge Mason University
 
10:25-10:30, Paper WeBT8.7 
 Correspondence Learning between Morphologically Different Robots Via Task Demonstrations

Aktas, HakanThe University of Cambridge
Nagai, YukieThe University of Tokyo
Asada, MinoruOpen and Transdisciplinary Research Initiatives, Osaka Universit
Oztop, ErhanOsaka University / Ozyegin University
Ugur, EmreBogazici University
 
WeBT9 312
Multi-Robot Exploration Regular Session
Co-Chair: Pedram, Ali RezaGeorgia Institute of Technology
 
09:55-10:00, Paper WeBT9.1 
 Planning-Oriented Cooperative Perception among Heterogeneous Vehicles

Zheng, HanStony Brook University
Ye, FanStony Brook University
Yang, YuanyuanStony Brook University
 
10:00-10:05, Paper WeBT9.2 
 TaskExp: Enhancing Generalization of Multi-Robot Exploration with Multi-Task Pre-Training

Zhu, ShaohaoZhejiang University
Zhao, YixianZhejiang University
Xu, YangZhejiang University
Chen, AnjunZhejiang University
Chen, JimingZhejiang University
Xu, JinmingZhejiang University
 
10:05-10:10, Paper WeBT9.3 
 WcDT: World-Centric Diffusion Transformer for Traffic Scene Generation

Yang, ChenCardiff University
He, YangfanUniversity of Minnesota - Twin Cities
Tian, Aaron XuxiangIndependent Researcher
Chen, DongMississippi State University
Wang, JianhuiUniversity of Electronic Science and Technology of China
Shi, TianyuUniversity of Toronto
Heydarian, ArsalanUniversity of Virginia
Liu, PeiThe Hong Kong University of Science and Technology(GuangZhou)
 
10:10-10:15, Paper WeBT9.4 
 Hybrid Decentralization for Multi-Robot Orienteering with Mothership-Passenger Systems

Butler, NathanOregon State University
Hollinger, GeoffreyOregon State University
 
10:15-10:20, Paper WeBT9.5 
 Communication-Aware Iterative Map Compression for Online Path-Planning

Psomiadis, EvangelosGeorgia Institute of Technology
Pedram, Ali RezaGeorgia Institute of Technology
Maity, DipankarUniversity of North Carolina at Charlotte
Tsiotras, PanagiotisGeorgia Tech
 
10:20-10:25, Paper WeBT9.6 
 DiffCP: Ultra-Low Bit Collaborative Perception Via Diffusion Model

Mao, RuiqingTsinghua University
Wu, HaotianImperial College London
Jia, YukuanTsinghua University
Nan, ZhaojunTsinghua University
Sun, YuxuanBeijing Jiaotong University
Zhou, ShengTsinghua University
Gunduz, Denizİmperial College London
Niu, ZhishengTsinghua University
 
WeBT10 313
Multi-Robot Path Planning 2 Regular Session
Chair: Pierson, AlyssaBoston University
Co-Chair: Nam, ChangjooSogang University
 
09:55-10:00, Paper WeBT10.1 
 APF-CPP: An Artificial Potential Field Based Multi-Robot Online Coverage Path Planning Approach

Wang, ZikaiHongkong University of Science and Technology
Zhao, XiaoqiThe Hong Kong University of Science and Technology
Zhang, JiekaiHong Kong Applied Science and Technology Research Institute
Yang, NachuanHong Kong University of Science and Technology
Wang, PengyuHong Kong University of Science and Technology
Tang, JiaweiHong Kong University of Science and Technology
Zhang, JiuzhouHong Kong University of Science and Technology
Shi, LingThe Hong Kong University of Science and Technology
 
10:00-10:05, Paper WeBT10.2 
 Exact Wavefront Propagation for Globally Optimal One-To-All Path Planning on 2D Cartesian Grids

Ibrahim, IbrahimKU Leuven
Gillis, JorisKU Leuven
Decré, WilmKatholieke Universiteit Leuven
Swevers, JanKU Leuven
 
10:05-10:10, Paper WeBT10.3 
 ICBSS: An Improved Algorithm for Multi-Agent Combinatorial Path Finding

Chen, ZhengZhejiang University
Chen, ChanglinUniversity of Science and Technology of China
Yiran, NiZhejiang University
 
10:10-10:15, Paper WeBT10.4 
 Escaping Local Minima: Hybrid Artificial Potential Field with Wall-Follower for Decentralized Multi-Robot Navigation

Kim, JoonkyungSogang University
Park, SangjinSogang University
Lee, WonjongSogang University
Kim, WoojunCarnegie Mellon University
Choi, HyungaKorea University
Doh, NakjuKorea University
Nam, ChangjooSogang University
 
10:15-10:20, Paper WeBT10.5 
 Heterogeneous Exploration and Monitoring with Online Free-Space Ellipsoid Graphs

Brodt, BrennanBoston University
Pierson, AlyssaBoston University
 
10:20-10:25, Paper WeBT10.6 
 Wavelet-Based Distributed Coverage for Heterogeneous Agents

Rao, AnanyaCarnegie Mellon University
Choset, HowieCarnegie Mellon University
Wettergreen, DavidCarnegie Mellon University
 
10:25-10:30, Paper WeBT10.7 
 Multi-Agent Obstacle Avoidance Using Velocity Obstacles and Control Barrier Functions

Sánchez Roncero, AlejandroKTH Royal Institute of Technology
Cabral Muchacho, Rafael IgnacioKTH Royal Institute of Technology
Ogren, PetterRoyal Institute of Technology (KTH)
 
WeBT11 314
Micro/Nano Robots Regular Session
Co-Chair: Yoon, JungwonGwangju Institutue of Science and Technology
 
09:55-10:00, Paper WeBT11.1 
 VALG: Vision-Based Adaptive Laser Gripper for Model-Free Pose Control of Floating Objects at Air-Liquid Interface

Hui, XushengNorthwestern Polytechnical University
Luo, JianjunNorthwestern Polytechnical University(P.R.China)
You, HaonanNorthwestern Polytechnical University
 
10:00-10:05, Paper WeBT11.2 
 In-Plane Manipulation of Soft Micro-Fiber with Ultrasonic Transducer Array and Microscope

Zou, JieyunShanghaitech University
An, SiyuanShanghaitech University
Wang, MingyueShanghaitech Univerisity
Li, JiaqiShanghaiTech University
Shi, YalinThe School of Control Science and Engineering (CSE) of Shandong
Li, You-FuCity University of Hong Kong
Liu, SongShanghaiTech University
 
10:05-10:10, Paper WeBT11.3 
 Interactive OT Gym: A Reinforcement Learning-Based Interactive Optical Tweezer (OT)-Driven Microrobotics Simulation Platform

Zongcai, TanImperial College London
Zhang, DandanImperial College London
 
10:10-10:15, Paper WeBT11.4 
 Model-Based Robotic Cell Aspiration: Tackling the Impact of Air Segment

Zheng, JiachunChinese University of HongKong, Shenzhen
Zhang, ZhuoranThe Chinese University of Hong Kong, Shenzhen
 
10:15-10:20, Paper WeBT11.5 
 Efficient Optimization of a Permanent Magnet Array for a Stable 2D Trap

Müller, Ann-SophiaGerman Cancer Research Center (DKFZ)
Jeong, MoonkwangDeutsches Krebsforschungszentrum (DKFZ)
Tian, JiyuanGerman Cancer Research Center
Zhang, MengGerman Cancer Research Center (DKFZ)
Qiu, TianGerman Cancer Research Center (DKFZ)
 
10:20-10:25, Paper WeBT11.6 
 Real-Time 3D MPI-Based Navigation Scheme for Microrobots with Flexible Field Free Point Trajectories and Virtual FFP Intuitive Manipulation

Bui, Minh PhuGwangju Institute of Science and Technology
Park, MyungjinGwangju Institute of Science and Technology
Le, Tuan AnhGwangju Institute of Science and Technology
Yoon, JungwonGwangju Institutue of Science and Technology
 
10:25-10:30, Paper WeBT11.7 
 3D Noncontact Micro-Particle Manipulation with Acoustic Robot End-Effector under Microscope

Wang, MingyueShanghaitech Univerisity
Li, JiaqiShanghaiTech University
Jia, YuyuShanghaiTech University
Sun, ZhenhuanShanghaitech University
Su, HuInstitute of Automation, Chinese Academy of Science
Liu, SongShanghaiTech University
 
WeBT12 315
Human-Robot Collaboration 2 Regular Session
 
09:55-10:00, Paper WeBT12.1 
 Dynamic Collaborative Workspace Based on Human Interference Estimation for Safe and Productive Human-Robot Collaboration

Kamezaki, MitsuhiroThe University of Tokyo
Wada, TomohiroWaseda University
Sugano, ShigekiWaseda University
 
10:00-10:05, Paper WeBT12.2 
 Next-Best-Trajectory Planning of Robot Manipulators for Effective Observation and Exploration

Renz, HeikoTU Dortmund University
Krämer, MaximilianTU Dortmund University
Hoffmann, FrankTechnische Universität Dortmund
Bertram, TorstenTechnische Universität Dortmund
 
10:05-10:10, Paper WeBT12.3 
 TriHRCBot: A Robotic Architecture for Triadic Human-Robot Collaboration through Mediated Object Alignment

Semeraro, FrancescoThe University of Manchester
Leadbetter, James HugoBAE Systems Ltd
Cangelosi, AngeloUniversity of Manchester
 
10:10-10:15, Paper WeBT12.4 
 Open-Nav: Exploring Zero-Shot Vision-And-Language Navigation in Continuous Environment with Open-Source LLMs

Qiao, YanyuanThe University of Adelaide
Lyu, WenqiThe University of Adelaide
Wang, HuiThe University of Adelaide, AIML
Wang, ZixuSouth China University of Technology
Li, ZeruiAdelaide University
Zhang, YuanThe University of Adelaide
Tan, MingkuiSouth China University of Technology
Wu, QiUniversity of Adelaide
 
10:15-10:20, Paper WeBT12.5 
 Integrating Field of View in Human-Aware Collaborative Planning

Hsu, Ya-ChuanUniversity of Southern California
Michael, DefrancoUniversity of Southern California
Patel, Rutvik RakeshbhaiUniversity of Southern California
Nikolaidis, StefanosUniversity of Southern California
 
10:20-10:25, Paper WeBT12.6 
 PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation

De Lazzari, DavideUniversity of Padua
Terreran, MatteoUniversity of Padova
Giacomuzzo, GiulioUniversity of Padova
Jain, SiddarthMitsubishi Electric Research Laboratories (MERL)
Falco, PietroUniversity of Padova
Carli, RuggeroUniversity of Padova
Romeres, DiegoMitsubishi Electric Research Laboratories
 
10:25-10:30, Paper WeBT12.7 
 Improving Human-Robot Collaboration Via Computational Design

Zhi, JixuanGeorge Mason University
Lien, Jyh-MingGeorge Mason University
 
WeBT13 316
Multifingered Hands Regular Session
Chair: Schimmels, JosephMarquette University
 
09:55-10:00, Paper WeBT13.1 
 A Vision-Based Force/Position Fusion Actuation-Sensing Scheme for Tendon-Driven Mechanism

Chen, ShiweiHarbin Institute of Technology
Deng, ZhimingHarbin Institute of Technology
Gu, HaiyuHarbin Institute of Technology
Wei, ChengHarbin Institute of Technology
 
10:00-10:05, Paper WeBT13.2 
 BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization

Chen, JiayiPeking University
Ke, YubinPeking University
Wang, HePeking University
 
10:05-10:10, Paper WeBT13.3 
 DemoStart: Demonstration-Led Auto-Curriculum Applied to Sim-To-Real with Multi-Fingered Robots

Bauza Villalonga, MariaMassachusetts Institute of Technology
Chen, Jose EnriqueDeepMind
Dalibard, ValentinGoogle DeepMind
Gileadi, NimrodGoogle
Hafner, RolandGoogle DeepMind
Martins, MuriloDeepMind
Moore, JossGoogle DeepMind
Pevceviciute, RugileDeepmind
Laurens, Antoine, Marin, AlixEPFL
Rao, DushyantGoogle DeepMind
Zambelli, MartinaGoogle DeepMind
Riedmiller, MartinDeepMind
Scholz, JonathanGoogle Deepmind
Bousmalis, KonstantinosDeepMind
Nori, FrancescoGoogle DeepMind
Heess, NicolasGoogle Deepmind
 
10:10-10:15, Paper WeBT13.4 
 Dexterous Assembly Using a Planar Hand Having Programmable Passive Compliance

Frye, JacobMarquette University
Schimmels, JosephMarquette University
 
10:15-10:20, Paper WeBT13.5 
 GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping

Zhong, TaoPrinceton University
Allen-Blanchette, ChristinePrinceton University
 
10:20-10:25, Paper WeBT13.6 
 Model Q-II: An Underactuated Hand with Enhanced Grasping Modes and Primitives for Dexterous Manipulation

Dong, YinkaiHarvard University
Kim, JehyeokYale University
Patel, VatsalYale University
Feng, HuijuanSouthern University of Science and Technology
Dollar, AaronYale University
 
10:25-10:30, Paper WeBT13.7 
 Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning

Wu, TianhaoPeking University
Li, JinzhouCornell University
Zhang, JiyaoPeking University
Mingdong Wu, AaronPeking University
Dong, HaoPeking University
 
WeBT14 402
Tracking and Prediction 3 Regular Session
Co-Chair: Vitzilaios, NikolaosUniversity of South Carolina
 
09:55-10:00, Paper WeBT14.1 
 Dynamic Compact Consensus Tracking for Aerial Robots

Sun, XiaoLouSoutheast University
Quan, ZhibinSoutheast University
Zhang, FengNanjing University of Posts and Telecommunications
Li, YuntianPML
Wang, ChunyanPurple Mountain Laboratories
Si, WufeiPurple Mountain Laboratories
Ni, WenhuiPurple Mountain Laboratory
Guan, RunweiUniversity of Liverpool
Wu, YuanPurple Mountain Lab
Meng, ShenPurple Mountain Laboratories
Huang, YongMingPML
 
10:00-10:05, Paper WeBT14.2 
 CGTrack: Cascade Gating Network with Hierarchical Feature Aggregation for UAV Tracking

Li, WeihongUniversity of Chinese Academy of Sciences
Liu, XiaoqiongUniversity of North Texas
Fan, HengUniversity of North Texas
Zhang, LiboIscas
 
10:05-10:10, Paper WeBT14.3 
 Tracking Everything in Robotic-Assisted Surgery

Zhan, BohanImperial College London
Zhao, WangTsinghua University
Fang, YiNew York University
Du, BoWuhan University
Vasconcelos, FranciscoUniversity College London
Stoyanov, DanailUniversity College London
Elson, DanielImperial College London
Huang, BaoruImperial College London
 
10:10-10:15, Paper WeBT14.4 
 LaMOT: Language-Guided Multi-Object Tracking

Li, YunhaoUniversity of Chinese Academy of Sciences
Liu, XiaoqiongUniversity of North Texas
Liu, LukeCentennial High School
Fan, HengUniversity of North Texas
Zhang, LiboIscas
 
10:15-10:20, Paper WeBT14.5 
 Real-Time UAV Tracking: A Comparative Study of YOLOv8 with Object Tracking Algorithms

Russo, TylerUniversity of South Carolina
Vitzilaios, NikolaosUniversity of South Carolina
 
10:20-10:25, Paper WeBT14.6 
 MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction

Zhou, HengColumbia University
Guo, ZhetaoCloudspace Technology Co., Ltd
Yuxiang, RenBeijing Dianjing Ciyuan Culture Communication Co. ,  Ltd.,
Liu, ShuhongThe University of Tokyo
Zhang, LechenColumbia University
Zhang, KaidiColumbia University
Li, MingruiDalian University of Technology
 
10:25-10:30, Paper WeBT14.7 
 A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking

Shaikewitz, LorenzoMassachusettes Institute of Technology
Ubellacker, SamuelMassachusetts Institute of Technology
Carlone, LucaMassachusetts Institute of Technology
 
WeBT15 403
Surgical Robotics: Laparoscopy Regular Session
 
09:55-10:00, Paper WeBT15.1 
 Hypergraph-Transformer (HGT) for Interaction Event Prediction in Laparoscopic and Robotic Surgery

Yin, LianhaoMIT
Ban, YutongShanghai Jiao Tong University
Eckhoff, Jennifer AMGH
Meireles, OzananMGH
Rus, DanielaMIT
Rosman, GuyMassachusetts Institute of Technology
 
10:00-10:05, Paper WeBT15.2 
 Robotic Flexible Magnetic Retractor for Dynamic Tissue Manipulation in Endoscopic Submucosal Dissection

Chan, Wai ShingThe Chinese University of Hong Kong
Sun, YichongThe Chinese University of Hong Kong
Li, YehuiThe Chinese University of Hong Kong
Li, JixiuThe Chinese University of Hong Kong
Yip, Hon ChiThe Chinese University of Hong Kong
Chiu, Philip, Wai-yanChinese University of Hong Kong
Li, ZhengThe Chinese University of Hong Kong
 
10:05-10:10, Paper WeBT15.3 
 Leveraging Surgical Activity Grammar for Primary Intention Prediction in Laparoscopy Procedures

Zhang, JieHuazhong University of Science and Technology
Zhou, SongHuazhong University of Science and Technology
Wang, YiweiHuazhong University of Science and Technology
Wan, ChidanHuazhong University of Science and Technology
Zhao, HuanHuazhong University of Science and Technology
Cai, XiongHuazhong University of Science and Technology
Ding, HanHuazhong University of Science and Technology
 
10:10-10:15, Paper WeBT15.4 
 SLAM Assisted 3D Tracking System for Laparoscopic Surgery

Song, JingweiUniversity of Michigan
Zhang, RayUniversity of Michigan
Zhang, WenweiWuhan United Imaging Surgical Co., Ltd
Zhou, HaoShanghai United Imaging Healthcare Advanced Technology Research
Ghaffari, MaaniUniversity of Michigan
 
10:15-10:20, Paper WeBT15.5 
 SurgPose: Generalisable Surgical Instrument Pose Estimation Using Zero-Shot Learning and Stereo Vision

Rai, UtsavImperial College London
Xu, HaozhengImperial College London
Giannarou, StamatiaImperial College London
 
10:20-10:25, Paper WeBT15.6 
 Design and Effectiveness of Virtual Monitors and AR-Based Endoscope Control for Robotically Assisted Laparoscopic Surgery

Budjakoski, NikolaImFusion GmbH
Schneider, DominikGerman Aerospace Center (DLR)
Song, TianyuTechnical University of Munich
Sommersperger, MichaelTechnical University of Munich
Weber, BernhardGerman Aerospace Center
Navab, NassirTU Munich
Klodmann, JulianGerman Aerospace Center
 
10:25-10:30, Paper WeBT15.7 
 MEDiC: Autonomous Surgical Robotic Assistance to Maximizing Exposure for Dissection and Cautery

Liang, XiaoUniversity of California San Diego
Wang, Chung-PangUniversity of California, San Diego
Shinde, NikhilUniversity of California San Diego
Liu, FeiUniversity of Tennessee Knoxville
Richter, FlorianUniversity of California, San Diego
Yip, Michael C.University of California, San Diego
 
WeBT16 404
Deformable Object Manipulation Regular Session
Chair: Hoffmann, MatejCzech Technical University in Prague, Faculty of Electrical Engineering
 
09:55-10:00, Paper WeBT16.1 
 DeformPAM: Data-Efficient Learning for Long-Horizon Deformable Object Manipulation Via Preference-Based Action Alignment

Chen, WendiShanghai Jiao Tong University
Xue, HanShanghai Jiao Tong University
Zhou, FangyuanShanghai Jiao Tong University
Fang, YuanShanghai Jiaotong University
Lu, CewuShangHai Jiao Tong University
 
10:00-10:05, Paper WeBT16.2 
 Autonomous Bimanual Manipulation of Deformable Objects Using Deep Reinforcement Learning Guided Adaptive Control

Liu, JiayiHuazhong University of Science and Technology
Yang, SihangHuazhong University of Science and Technology
Wang, YiweiHuazhong University of Science and Technology
Zhao, HuanHuazhong University of Science and Technology
Ding, HanHuazhong University of Science and Technology
 
10:05-10:10, Paper WeBT16.3 
 Embedded IPC: Fast and Intersection-Free Simulation in Reduced Subspace for Robot Manipulation

Du, WenxinUniversity of California, Los Angeles
Yu, ChangUniversity of California, Los Angeles
Ma, SiyuUniversity of California, Los Angeles
Jiang, YingUniversity of California, Los Angeles
Zong, ZeshunUniversity of California, Los Angeles
Yang, YinUniversity of Utah
Masterjohn, JosephToyota Research Institute
Castro, AlejandroToyota Research Institute
Han, XuchenToyota Research Institute
Jiang, ChenfanfuUniversity of California, Los Angeles
 
10:10-10:15, Paper WeBT16.4 
 A Highly Robust Contact Sensor for Precise Contact Detection of Fabric

Ling, ZhengrongThe Hong Kong University of Science and Technology
Hong, LanxuanHkust
Yang, XiongHong Kong University of Science and Technology
Tang, YifengCity University of Hong Kong
Guo, DongCity University of Hong Kong
Shen, YajingThe Hong Kong University of Science and Technology
 
10:15-10:20, Paper WeBT16.5 
 Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric

Unde, JayantNagoya University
Colan, JacintoNagoya University
Hasegawa, YasuhisaNagoya University
 
10:20-10:25, Paper WeBT16.6 
 Closed-Loop Shape Control of Deformable Linear Objects Based on Cosserat Model

Artinian, AzadISIR - Sorbonne Université
Ben Amar, FaizUniversité Pierre Et Marie Curie, Paris 6
Perdereau, VéroniqueSorbonne University
 
10:25-10:30, Paper WeBT16.7 
 Single-Grasp Deformable Object Discrimination: The Effect of Gripper Morphology, Sensing Modalities, and Action Parameters

Pliska, MichalCzech Technical University in Prague, Faculty of Electrical Engi
Patni, ShubhanCeske Vysoke Uceni Technicke V Praze, FEL
Mareš, MichalFaculty of Electrical Engineering, Czech Technical University In
Stoudek, PavelTechnology Innovation Institute (TII), Abu Dhabi
Straka, ZdenekCzech Technical University in Prague, Faculty of Electrical Engi
Stepanova, KarlaCzech Technical University
Hoffmann, MatejCzech Technical University in Prague, Faculty of Electrical Engi
 
WeBT17 405
Soft Actuators 2 Regular Session
Chair: Markvicka, EricUniversity of Nebraska-Lincoln
Co-Chair: Papadopoulos, EvangelosNational Technical University of Athens
 
09:55-10:00, Paper WeBT17.1 
 Introducing Mag-Nets: Rapidly Bending Electromagnetic Actuators for Self-Contained Soft Robots

Bolanakis, GeorgiosNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
10:00-10:05, Paper WeBT17.2 
 Miniature Dielectric Elastomer Actuator Probe Inspecting Confined Spaces Embedding a CMOS Sensor

Sandhu, SahibUniversity of Connecticut
Li, Ang (Leo)University of Toronto
Tugui, CodrinUniversity of Connecticut
Duduta, MihaiUniversity of Connecticut
 
10:05-10:10, Paper WeBT17.3 
 Portable, High-Frequency, and High-Voltage Control Circuits for Untethered Miniature Robots Driven by Dielectric Elastomer Actuators

Shao, QiTsinghua University
Liu, Xin-JunTsinghua University
Zhao, HuichanTsinghua University
 
10:10-10:15, Paper WeBT17.4 
 Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints

Kazemipour, AmirhosseinETH Zürich
Hinchet, RonanETH Zurich
Katzschmann, Robert KevinETH Zurich
 
10:15-10:20, Paper WeBT17.5 
 Beyond Traversing in a Thin Pipe: Self-Sensing Odometry of a Pipeline Robot Driven by High-Frequency Dielectric Elastomer Actuators

Cheng, RanTsinghua University
Shao, QiTsinghua University
Liu, Xin-JunTsinghua University
Zhao, HuichanTsinghua University
 
10:20-10:25, Paper WeBT17.6 
 Intelligent Self-Healing Artificial Muscle: Mechanisms for Damage Detection and Autonomous Repair of Puncture Damage in Soft Robotics

Krings, EthanUniversity of Nebraska-Lincoln
McManigal, PatrickUniversity of Nebraska-Lincoln
Markvicka, EricUniversity of Nebraska-Lincoln
 
10:25-10:30, Paper WeBT17.7 
 High-Force Electroadhesion Based on Unique Liquid-Solid Dielectrics for UAV Perching

Luo, JunjieThe Chinese University of Hong Kong
Li, JisenShenzhen Institute of Artificial Intelligence and Robotics for S
Wang, HongqiangSouthern University of Science and Technology
Zhu, JianChinese University of Hong Kong, Shenzhen
 
WeBT18 406
Intelligent Transportation Systems and AI-Based Methods Regular Session
Co-Chair: Rosman, GuyMassachusetts Institute of Technology
 
09:55-10:00, Paper WeBT18.1 
 Multi-Scale Convolutional Networks with Class-Normalized Logit Clipping for Robust Sea State Estimation from Noisy Ship Motion Data

Qin, XinTianjin University of Technology
Liu, MengnaTianjin University of Technology
Cheng, XuSmart Innovation Norway
Liu, XiufengTechnical University of Denmark
Shi, FanTianjin University of Technology
Zhang, JianhuaTianjin University of Technology
Chen, ShengyongTianjin University of Technology
 
10:00-10:05, Paper WeBT18.2 
 Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles Via Proactive Attention

Tao, YihangCity University of Hong Kong
Hu, SenkangCity University of Hong Kong
Fang, ZhengruCity University of Hong Kong
Fang, YuguangCity Universty of Hong Kong
 
10:05-10:10, Paper WeBT18.3 
 Motion Forecasting Via Model-Based Risk Minimization

Distelzweig, AronAlbert-Ludwigs-Universität Freiburg
Kosman, EitanBosch
Andreas, LookBosch
Janjoš, FarisRobert Bosch GmbH
Manivannan, Denesh KumarTU Delft
Valada, AbhinavUniversity of Freiburg
 
10:10-10:15, Paper WeBT18.4 
 Computational Teaching for Driving Via Multi-Task Imitation Learning

Edakkattil Gopinath, DeepakToyota Research Institute
Cui, XiongyiToyota Research Institute
DeCastro, JonathanCornell University
Sumner, EmilyToyota Research Institute
Costa, JeanToyota Research Institute
Yasuda, HiroshiToyota Research Institute
Morgan, AllisonToyota Research Institute
Dees, LaporshaToyota Research Institute
Chau, SherylToyota Research Institute
Leonard, JohnMIT
Chen, TiffanyToyota Research Institute
Rosman, GuyMassachusetts Institute of Technology
Balachandran, AvinashToyota Research Institue
 
10:15-10:20, Paper WeBT18.5 
 A Comprehensive LLM-Powered Framework for Driving Intelligence Evaluation

You, ShanheInstitute for AI Industry Research, Tsinghua University
Luo, XuewenMonash University
Liang, XinheNational University of Singapore
Yu, JiashuTsinghua University
Zheng, ChenInstitute for AI Industry Research, Tsinghua University
Gong, JiangtaoTsinghua University
 
10:20-10:25, Paper WeBT18.6 
 LoRD: Adapting Differentiable Driving Policies to Distribution Shifts

Diehl, ChristopherTU Dortmund University
Karkus, PeterNVIDIA
Veer, SushantNVIDIA
Pavone, MarcoStanford University
Bertram, TorstenTechnische Universität Dortmund
 
10:25-10:30, Paper WeBT18.7 
 BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes

Kulathun Mudiyanselage, Kasun WeerakoonUniversity of Maryland, College Park
Elnoor, MohamedUniversity of Maryland
Seneviratne, Gershom DevakeUniversity of Maryland, College Park
Rajagopal, VigneshUniversity of Maryland, College Park
Arul, Senthil HariharanUniversity of Maryland, College Park
Liang, JingUniversity of Maryland
M Jaffar, Mohamed KhalidUniversity of Maryland, College Park
Manocha, DineshUniversity of Maryland
 
WeBT19 407
State Estimation Regular Session
Co-Chair: Xiong, XiaobinUniversity of Wisconsin Madison
 
09:55-10:00, Paper WeBT19.1 
 An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions

Jung, KyungminMcGill University
Hitchcox, ThomasMcGill University
Forbes, James RichardMcGill University
 
10:00-10:05, Paper WeBT19.2 
 Learning Direct Solutions in Moving Horizon Estimation with Deep Learning Methods

Lionti, FabienINRIA
Gutowski, NicolasUniversity of Angers, LERIA
Aubin, SébastienDGA
Martinet, PhilippeINRIA
 
10:05-10:10, Paper WeBT19.3 
 A Data-Driven Contact Estimation Method for Wheeled-Biped Robots

Gökbakan, Umit BoraInria
Dümbgen, FrederikeENS, PSL University
Caron, StephaneInria
 
10:10-10:15, Paper WeBT19.4 
 Simultaneous Ground Reaction Force and State Estimation Via Constrained Moving Horizon Estimation

Kang, JiarongUniversity of Wisconsin Madison
Xiong, XiaobinUniversity of Wisconsin Madison
 
10:15-10:20, Paper WeBT19.5 
 FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust Estimator

Chen, Bang-ShienNational Taiwan Normal University
Lin, Yu-KaiMediaTek Inc
Chen, Jian-YuNational Central University
Huang, Chih-WeiNational Central University
Chern, Jann-LongNational Taiwan Normal University
Sun, Ching-CherngNational Central University
 
10:20-10:25, Paper WeBT19.6 
 Equivariant IMU Preintegration with Biases: A Galilean Group Approach

Delama, GiulioUniversity of Klagenfurt
Fornasier, AlessandroUniversity of Klagenfurt
Mahony, RobertAustralian National University
Weiss, StephanUniversität Klagenfurt
 
10:25-10:30, Paper WeBT19.7 
 State Estimation for Continuum Multi-Robot Systems on SE(3)

Lilge, SvenUniversity of Toronto
Barfoot, TimothyUniversity of Toronto
Burgner-Kahrs, JessicaUniversity of Toronto
 
WeBT20 408
Agricultural Automation 1 Regular Session
Chair: Jiang, YuCornell University
Co-Chair: Carpin, StefanoUniversity of California, Merced
 
09:55-10:00, Paper WeBT20.1 
 IMU Augment Tightly Coupled Lidar-Visual-Inertial Odometry for Agricultural Environments

Hoang, Quoc HungChungbuk National University
Kim, Gon-WooChungbuk National University
 
10:00-10:05, Paper WeBT20.2 
 Joint 3D Point Cloud Segmentation Using Real-Sim Loop: From Panels to Trees and Branches

Qiu, TianCornell University
Du, RuimingCornell University
Spine, NikolaiCornell University
Cheng, LailiangCornell University
Jiang, YuCornell University
 
10:05-10:10, Paper WeBT20.3 
 Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture

Xie, ShuangyuTexas A&M University
Goldberg, KenUC Berkeley
Song, DezhenMohamed Bin Zayed University of Artificial Intelligence (MBZUAI)
 
10:10-10:15, Paper WeBT20.4 
 Leveraging LLMs for Mission Planning in Precision Agriculture

Zuzuarregui, MarcosUniversity of California, Merced
Carpin, StefanoUniversity of California, Merced
 
10:15-10:20, Paper WeBT20.5 
 Hierarchical Tri-Manual Planning for Vision-Assisted Fruit Harvesting with Quadrupedal Robots

Liu, ZhichaoUniversity of California, Riverside
Zhou, JingzongUniversity of California, Riverside
Karydis, KonstantinosUniversity of California, Riverside
 
10:20-10:25, Paper WeBT20.6 
 Capacitated Agriculture Fleet Vehicle Routing with Implements and Limited Autonomy: A Model and a Two-Phase Solution Approach

Lopez-Sanchez, AitorUniversidad Rey Juan Carlos
Lujak, MarinUniversity Rey Juan Carlos
Semet, FredericCentrale Lille
Billhardt, HolgerUniversidad Rey Juan Carlos
 
10:25-10:30, Paper WeBT20.7 
 Towards Closing the Loop in Robotic Pollination for Indoor Farming Via Autonomous Microscopic Inspection

Kong, ChuizhengGeorgia Institute of Technology
Qiu, AlexGeorgia Institute of Technology
Wibowo, IdrisGeorgia Institute of Technology
Ren, MarvinGeorgia Institute of Technology
Dhori, AishikGeorgia Institute of Technology
Ling, Kai-ShuUnited States Department of Agriculture - Agricultural Research
Hu, Ai-PingGeorgia Tech Research Institute
Kousik, ShreyasGeorgia Institute of Technology
 
WeBT21 410
Optimization and Optimal Control Regular Session
Co-Chair: Mastalli, CarlosHeriot-Watt University
 
09:55-10:00, Paper WeBT21.1 
 Embedded Robust Model Predictive Path Integral Control Using Sensitivity Tubes and GPU Acceleration

Falk Nyboe, FrederikUniversity of Southern Denmark
Afifi, AmrUniversity of Twente
Robuffo Giordano, PaoloIrisa Cnrs Umr6074
Ebeid, EmadUniversity of Southern Denmark
Franchi, AntonioUniversity of Twente / Sapienza University of Rome
 
10:00-10:05, Paper WeBT21.2 
 Guided Bayesian Optimization: Data-Efficient Controller Tuning with Digital Twin (I)

Nobar, MahdiETH Zurich
Keller, JürgFHNW
Rupenyan, AlisaZurich University of Applied Sciences
Khosravi, MohammadTU Delft
Lygeros, JohnETH Zurich
 
10:05-10:10, Paper WeBT21.3 
 Enhancing Robotic System Robustness Via Lyapunov Exponent-Based Optimization

Fadini, GabrieleETHZ
Coros, StelianETH Zurich
 
10:10-10:15, Paper WeBT21.4 
 Endpoint-Explicit Differential Dynamic Programming Via Exact Resolution

Parilli, MariaUniversidad Simón Bolívar
Martinez, SergiHeriot-Watt
Mastalli, CarlosHeriot-Watt University
 
10:15-10:20, Paper WeBT21.5 
 Second-Order Stein Variational Dynamic Optimization

Aoyama, YuichiroGeorgia Institute of Technology
Lehmann, PeterGeorgia Institute of Technology
Theodorou, EvangelosGeorgia Institute of Technology
 
10:20-10:25, Paper WeBT21.6 
 Application of Koopman Direct Encoding-Based Model Predictive Control to Nonlinear Electromechanical Systems

Park, SungbinKorea Advanced Institute of Science and Technology
Kim, Won DongKorea Advanced Institute of Science & Technology (KAIST)
Jeon, SanghaKorea Advanced Institute of Science and Technology(KAIST)
Kim, JungKAIST
 
10:25-10:30, Paper WeBT21.7 
 Effective Search for Control Hierarchies within the Policy Decomposition Framework

Khadke, AshwinThe AI Institute
Geyer, HartmutCarnegie Mellon University
 
WeBT22 411
Learning Based Planning for Manipulation 2 Regular Session
Chair: Choi, ChanghyunUniversity of Minnesota, Twin Cities
 
09:55-10:00, Paper WeBT22.1 
 Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects

Scheikl, Paul MariaJohns Hopkins University
Schreiber, NicolasKarlsruhe Institute of Technology (KIT)
Haas, ChristophKarlsruhe Institute of Technology (KIT)
Freymuth, NiklasKarlsruhe Institute of Technology
Neumann, GerhardKarlsruhe Institute of Technology
Lioutikov, RudolfKarlsruhe Institute of Technology
Mathis-Ullrich, FranziskaFriedrich-Alexander-University Erlangen-Nurnberg (FAU)
 
10:00-10:05, Paper WeBT22.2 
 Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark

Li, JunchengPurdue University
Cappelleri, DavidPurdue University
 
10:05-10:10, Paper WeBT22.3 
 Controlled Robot Language with Frame Semantics (FrameCRL) for Autonomous Context-Aware High-Level Planning

Tran, DangUniversity of Alabama
Yan, FujianWichita State University
Zhang, QiangThe University of Alabama
Zhang, YinlongShenyang Institute of Automation, Chinese Academy of Sciences
He, HongshengThe University of Alabama
 
10:10-10:15, Paper WeBT22.4 
 Effective Tuning Strategies for Generalist Robot Manipulation Policies

Zhang, WenboUniversity of Adelaide
Li, YangCommonwealth Scientific and Industrial Research Organisation
Qiao, YanyuanThe University of Adelaide
Huang, SiyuanShanghai Jiao Tong University
Liu, JiajunCSIRO
Dayoub, FerasThe University of Adelaide
Ma, XiaoDyson
Liu, LingqiaoUniversity of Adelaide
 
10:15-10:20, Paper WeBT22.5 
 RM-Planner: Integrating Reinforcement Learning with Whole-Body Model Predictive Control for Mobile Manipulation

Zhuang, ZixuanSun Yat-Sen University
Zheng, LeSun Yat-Sen University
Li, WanyueThe University of Hong Kong
Liu, RenmingSun Yat-Sen University
Lu, PengThe University of Hong Kong
Cheng, HuiSun Yat-Sen University
 
10:20-10:25, Paper WeBT22.6 
 Routing Manipulation of Deformable Linear Object Using Reinforcement Learning and Diffusion Policy

Li, MingenUniversity of Minnesota Twin Cities
Yu, HoujianUniversity of Minnesota, Twin Cities
Choi, ChanghyunUniversity of Minnesota, Twin Cities
 
10:25-10:30, Paper WeBT22.7 
 TransDiff: Diffusion-Based Method for Manipulating Transparent Objects Using a Single RGB-D Image

Wang, HaoxiaoTianjin University of Technology
Zhou, KaichenUniversity of Oxford
Gu, BinruiPeiking University
Feng, ZhiYuanTsinghua University
Wang, WeijieZhejiang University
Sun, PeilinZhejiang University
Xiao, YichengSoutheast University
Zhang, JianhuaTianjin University of Technology
Dong, HaoPeking University
 
WeBT23 412
Autonomous Vehicle Perception 4 Regular Session
Chair: Valada, AbhinavUniversity of Freiburg
Co-Chair: Ding, WenchaoFudan University
 
09:55-10:00, Paper WeBT23.1 
 Efficient Submap-Based Autonomous MAV Exploration Using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras

Papatheodorou, SotirisImperial College London
Boche, SimonTechnical University of Munich
Barbas Laina, SebastiánTU Munich
Leutenegger, StefanTechnical University of Munich
 
10:00-10:05, Paper WeBT23.2 
 Parking-SG: Open-Vocabulary Hierarchical 3D Scene Graph Representation for Open Parking Environments

Zhang, YaowenBeijing Institute of Technology
Ruan, YiBeijing Institute of Technology
Pan, MiaoxinBeijing Institute of Technology
Yang, YiBeijing Institute of Technology
Fu, MengyinBeijing Institute of Technology
 
10:05-10:10, Paper WeBT23.3 
 3D Lane Detection Based on Projection-Consistent Reference Points and Intra & Inter-Lane Context

Bing, YiqiuCapital Normal University
Niu, HuilinCapital Normal University
Zhang, HongSensetime
Jiang, NaCapital Normal University
Zhou, ZhongBeiHang University
Geng, QichuanCapital Normal University
 
10:10-10:15, Paper WeBT23.4 
 Unveiling the Black Box: Independent Functional Module Evaluation for Bird's-Eye-View Perception Model

Zhang, LudanNankai University
Ding, XiaokangSchool of Electronic and Information Engineering, Beijing Univer
Dai, YuqiTsinghua University
He, LeiTsinghua University
Li, KeqiangTsinghua University
 
10:15-10:20, Paper WeBT23.5 
 Panoptic-Depth Forecasting

Juana Valeria, HurtadoUniversity of Freiburg
Mohan, RiyaFreiburg University
Valada, AbhinavUniversity of Freiburg
 
10:20-10:25, Paper WeBT23.6 
 Coarse-To-Fine Cross-Modality Generation for Enhancing Vehicle Re-Identification with High-Fidelity Synthetic Data

Jin, LeyangNational University of Singapore
Ji, WeiNanjing University
Chua, TatsengNational University of Singapore
Zheng, ZhedongUniversity of Macau
 
10:25-10:30, Paper WeBT23.7 
 HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes

Wu, KeFudan University
Zhang, KaizhaoFudan University
Zhang, ZhiweiFudan University
Tie, MuerFudan University
Yuan, ShanshuaiFudan University
Zhao, JieruShanghai Jiao Tong University
Gan, ZhongxueFudan University
Ding, WenchaoFudan University
 
WeCT1 302
Award Finalists 7 Regular Session
 
WeCT2 301
Interactive Robot Learning Regular Session
Chair: Losey, DylanVirginia Tech
Co-Chair: Zhou, BoleiUniversity of California, Los Angeles
 
11:15-11:20, Paper WeCT2.1 
 Personalizing Interfaces to Humans with User-Friendly Priors

Christie, BenjaminVirginia Tech
Nemlekar, HerambVirginia Tech
Losey, DylanVirginia Tech
 
11:20-11:25, Paper WeCT2.2 
 Personalization in Human-Robot Interaction through Preference-Based Action Representation Learning

Wang, RuiqiPurdue University
Zhao, DezhongBeijing University of Chemical Technology
Suh, DayoonPurdue University
Yuan, ZiqinPurdue University
Chen, GuohuaBeijing University of Chemical Technology
Min, Byung-CheolPurdue University
 
11:25-11:30, Paper WeCT2.3 
 Interface Matters: Comparing First and Third-Person Perspective Interfaces for Bi-Manual Robot Behavioural Cloning

Luo, HainingImperial College London
Chacon Quesada, RodrigoImperial College London
Casado, Fernando E.Imperial College London
Lingg, NicoImperial College London
Demiris, YiannisImperial College London
 
11:30-11:35, Paper WeCT2.4 
 Robot Policy Transfer with Online Demonstrations: An Active Reinforcement Learning Approach

Hou, MuhanVrije University Amsterdam
Hindriks, KoenVrije Universiteit Amsterdam
Eiben, A.E.VU Amsterdam
Baraka, KimVrije Universiteit Amsterdam
 
11:35-11:40, Paper WeCT2.5 
 User-Aware Collaborative Learning in Human-Robot Interactions

Gucsi, BálintUniversity of Southampton
Tuyen, Nguyen Tan VietUniversity of Southampton
Chu, BingUniversity of Southampton
Tarapore, DaneshUniversity of Southampton
Tran-Thanh, LongUniversity of Warwick
 
11:40-11:45, Paper WeCT2.6 
 Data-Efficient Learning from Human Interventions for Mobile Robots

Peng, ZhenghaoUniversity of California, Los Angeles
Liu, ZhizhengSenseTime
Zhou, BoleiUniversity of California, Los Angeles
 
WeCT3 303
Mechanism Design 3 Regular Session
Chair: Tadakuma, KenjiroOsaka University
Co-Chair: Sibai, HusseinWashington University in St. Louis
 
11:15-11:20, Paper WeCT3.1 
 A Morphing Quadrotor-Blimp with Balloon Failure Resilience for Mobile Ecological Sensing

Sharma, SuryanshDelft University of Technology
Verhoeff, MikeTU Delft
Joosen, Floor ElisabethDelft University of Technology
Venkatesha Prasad, RangaRaoDelft University of Technology
Hamaza, SaluaTU Delft
 
11:20-11:25, Paper WeCT3.2 
 A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots

Zhang, YifangIstituto Italiano Di Tecnologia
Jiang, JingchengIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
11:25-11:30, Paper WeCT3.3 
 Mathematical Modeling and Rolling Motion Generation of Planar Seven-Link Robot That Forms Passive Closed and Active Open Chains

Asano, FumihikoJapan Advanced Institute of Science and Technology
Sedoguchi, TaikiJapan Advanced Institute of Science and Technology
Tokuda, Isao T.Ritsumeikan University
 
11:30-11:35, Paper WeCT3.4 
 LEVA: A High-Mobility Logistic Vehicle with Legged Suspension

Arnold, MarcoETH Zürich
Hildebrandt, LukasETH Zürich
Janssen, KasparETH Zürich
Ongan, EfeEthz - Rsl
Bürge, PascalZHAW / Zurich University of Applied Sciences
Gábriel, Ádám GyulaETH Zürich
Kennedy, JamesETH Zürich
Lolla, RishiETH Zurich
Oppliger, QuanishaZHAW Zurich University of Applied Sciences
Schaaf, MichaZHAW Zurich University of Applied Sciences
Church, JosephETH RSL
Fritsche, Michael XaverETH Zurich
Klemm, VictorETH Zurich
Tuna, TurcanETH Zurich, Robotic Systems Lab
Valsecchi, GiorgioRobotic System Lab, ETH
Weibel, CedricETH Zuerich
Hutter, MarcoETH Zurich
Wüthrich, MichaelZHAW Zurich University of Applied Sciences
 
11:35-11:40, Paper WeCT3.5 
 Safe Decentralized Multi-Agent Control Using Black-Box Predictors, Conformal Decision Policies, and Control Barrier Functions

Huriot, SachaWashington University in St. Louis
Sibai, HusseinWashington University in St. Louis
 
11:40-11:45, Paper WeCT3.6 
 Poloidal Drive: Direct-Drive Transmission Mechanism for Active Omni-Wheels with Spoke Interference Avoidance

Sano, ShunsukeOsaka University
Tadakuma, KenjiroOsaka University
Kayawake, RyotaroTohoku University
Watanabe, MasahiroOsaka University
Abe, KazukiOsaka University
Kemmotsu, YutoTohoku University
Tadokoro, SatoshiTohoku University
 
WeCT4 304
Sensor Fusion 2 Regular Session
Co-Chair: Song, DezhenMohamed Bin Zayed University of Artificial Intelligence (MBZUAI) and Texas A&M University (TAMU)
 
11:15-11:20, Paper WeCT4.1 
 An End-To-End Learning-Based Multi-Sensor Fusion for Autonomous Vehicle Localization

Lin, ChanghongDiDi Autonomous Driving
Lin, JiarongThe University of Hong Kong
Sui, ZhiqiangUniversity of Michigan
Qu, XiaozhiDidichuxing
Wang, RuiDiDi Autonomous Driving
Sheng, KehuaDIdi Inc
Zhang, BoDIdi Inc
 
11:20-11:25, Paper WeCT4.2 
 Unleashing HyDRa: Hybrid Fusion, Depth Consistency and Radar for Unified 3D Perception

Wolters, PhilippTechnical University of Munich
Gilg, JohannesTechnical University of Munich
Teepe, TorbenTechnical University of Munich
Herzog, FabianTechnical University of Munich
Laouichi, AnouarTechnical University of Munich
Hofmann, MartinFusionride Technology (Germany) GmbH
Rigoll, GerhardTechnische Universität München
 
11:25-11:30, Paper WeCT4.3 
 VIP-Dock: Vision, Inertia, and Pressure Sensor Fusion for Underwater Docking with Optical Beacon Guidance

Zhang, SuohangZhejiang University
Qian, ShipangZhejiang University
Wang, LuZhejiang University
Fei, XinyuZhejiang University
Chen, YanhuZhejiang University
 
11:30-11:35, Paper WeCT4.4 
 Heterogeneous Sensor Fusion and Active Perception for Transparent Object Reconstruction with a PDM^2 Sensor and a Camera

Guo, FengzhiTexas A&M University
Xie, ShuangyuTexas A&M University
Wang, DiTexas A&M University
Fang, ChengTexas A&M University
Zou, JunTexas A&M University
Song, DezhenMohamed Bin Zayed University of Artificial Intelligence (MBZUAI)
 
11:35-11:40, Paper WeCT4.5 
 DA-Fusion: Deformable Attention-Based RGB-D Fusion Transformer for Unseen Object Instance Segmentation

Park, YesolSeoul National University
Yoon, Hye JungSeoul National University
Kim, JunoSeoul National University
Zhang, Byoung-TakSeoul National University
 
11:40-11:45, Paper WeCT4.6 
 PAIR360: A Paired Dataset of High-Resolution 360˚ Panoramic Images and LiDAR Scans

Kim, GeunuKyung Hee University
Kim, DaehoKyung Hee University
Jang, JaeyunKyung Hee University
Hwang, HyoseokKyung Hee University
 
WeCT5 305
Aerial Manipulation 2 Regular Session
Chair: Katzschmann, Robert KevinETH Zurich
Co-Chair: Panetsos, FotisNew York University Abu Dhabi
 
11:15-11:20, Paper WeCT5.1 
 NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics

Chen, HongmingSun Yat-Sen University
Ye, BiyuSun Yat-Sen University
Liang, XianqiSun Yat-Sen University
Deng, WeiliangSun Yat-Sen University
Lyu, XiminSun Yat-Sen University
 
11:20-11:25, Paper WeCT5.2 
 Flapping-Wing Flying Robot with Integrated Dual-Arm Scissors-Type Flora Sampling System

Gordillo Durán, RodrigoUniversidad De Sevilla
Tapia, RaulUniversity of Seville
Rafee Nekoo, SaeedGRVC Robotics Lab, Universidad De Sevilla
Martinez-de Dios, J.R.University of Seville
Ollero, AnibalAICIA. G41099946
 
11:25-11:30, Paper WeCT5.3 
 Reliable Aerial Manipulation: Combining Visual Tracking with Range Sensing for Robust Grasping

Blöchlinger, MarcETHZ
Toshimitsu, YasunoriETH Zurich
Katzschmann, Robert KevinETH Zurich
 
11:30-11:35, Paper WeCT5.4 
 Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment

Byun, JeonghyunSeoul National University
Kim, YeonjoonSeoul National University
Lee, DongjaeSeoul National University
Kim, H. JinSeoul National University
 
11:35-11:40, Paper WeCT5.5 
 SPIBOT: A Drone-Tethered Mobile Gripper for Robust Aerial Object Retrieval in Dynamic Environments

Kang, GyureeKorea Advanced Institute of Science and Technology (KAIST)
Guenes, OzanKorea Advanced Institute of Science and Technology
Lee, SeungwookKorea Advanced Institute of Science and Technology
Azhari, Maulana BisyirKorea Advanced Institute of Science and Technology
Shim, David HyunchulKAIST
 
11:40-11:45, Paper WeCT5.6 
 GP-Based NMPC for Aerial Transportation of Suspended Loads

Panetsos, FotisNew York University Abu Dhabi
Karras, GeorgeUniversity of Thessaly
Kyriakopoulos, KostasNew York University - Abu Dhabi
 
WeCT6 307
Vision-Based Navigation 3 Regular Session
Co-Chair: Chang, YanNvidia
 
11:15-11:20, Paper WeCT6.1 
 Knowledge-Driven Visual Target Navigation: Dual Graph Navigation

Li, ShiyaoDalian University of Technology
Meng, ZiyangDalian University of Technology
Pei, JianSongDalian University of Technology
Chen, JiahaoInstitute of Automation, Chinese Academy of Sciences
Dong, BingChengDalian University of Technology
Li, GuangshengDalian University of Technology
Liu, ShenglanDalian University of Technology
Wang, FeilongDalian University of Technology
 
11:20-11:25, Paper WeCT6.2 
 Learning to Predict the Future from Monocular Vision for Efficient Human-Aware Navigation

Huang, YushuangInstitute of Computing Technology, Chinese Academy of Sciences
Jiang, HaoInstitute of Computing Technology, Chinese Academy of Sciences
Liu, ZihanInstitute of Computing Technology of the Chinese Academy of Scie
Ouyang, WanliThe University of Sydney
Wang, ZhaoqiInstitute of Computing Technology, the Chinese Academy of Scienc
 
11:25-11:30, Paper WeCT6.3 
 DP-Habitat: Bridging the Gap between Simulation and Reality for Visual Navigation in Dynamic Pedestrian Environments

Qin, LiangUniversity of Science and Technology of China
Wang, MinHefei Comprehensive National Science Center
Wang, HaodongUniversity of Science and Technology of China
Zhou, WengangUniversity of Science and Technology of China
Li, HouqiangUniversity of Science and Technology of China
 
11:30-11:35, Paper WeCT6.4 
 X-MOBILITY: End-To-End Generalizable Navigation Via World Modeling

Liu, WeiNvidia
Zhao, HuihuaGeorgia Tech
Li, ChenranUniversity of California, Berkeley
Biswas, JoydeepUniversity of Texas at Austin
Okal, BillyUniversity of Freiburg
Goyal, PulkitNvidia
Chang, YanNvidia
Pouya, SohaStanford University
 
11:35-11:40, Paper WeCT6.5 
 Map-SemNav: Advancing Zero-Shot Continuous Vision-And-Language Navigation through Visual Semantics and Map Integration

Wu, ShuaiTianjin University
Liu, RuonanShanghai Jiao Tong University
Xie, ZongxiaTianjin University
Pang, ZhiboKTH Royal Institute of Technology
 
11:40-11:45, Paper WeCT6.6 
 Safer Gap: Safe Navigation of Planar Nonholonomic Robots with a Gap-Based Local Planner

Feng, ShiyuGeorgia Institute of Technology
Abuaish, AhmadGeorgia Institute of Technology
Vela, PatricioGeorgia Institute of Technology
 
WeCT7 309
Marine Robotics 4 Regular Session
 
11:15-11:20, Paper WeCT7.1 
 Bathymetric Surveying with Imaging Sonar Using Neural Volume Rendering

Xie, YipingLinköping University
Troni, GiancarloMonterey Bay Aquarium Research Institute
Bore, NilsKTH Royal Institute of Technology
Folkesson, JohnKTH
 
11:20-11:25, Paper WeCT7.2 
 Diver to Robot Communication Underwater

Codd-Downey, RobertYork University
Jenkin, MichaelYork University
 
11:25-11:30, Paper WeCT7.3 
 SIMP: Energy and Time-Efficient Real-Time 3D Motion Planning for Bio-Inspired AUVs

Bjørlo, August SletnesNTNU
Xanthidis, MariosSINTEF Ocean
Føre, MartinNTNU
Kelasidi, EleniNTNU
 
11:30-11:35, Paper WeCT7.4 
 End-To-End Underwater Multi-View Stereo for Dense Scene Reconstruction

Yang, GuidongThe Chinese University of Hong Kong
Wen, JunjieThe Chinese University of Hong Kong
Zhao, BenyunThe Chinese University of Hong Kong
Li, QingxiangThe Chineses University of Hong Kong
Huang, YijunThe Chinese University of Hong Kong
Lei, LeiCity University of Hong Kong
Chen, XiThe Chinese University of Hong Kong
Lam, Alan Hiu-FungThe Chinese University of Hong Kong,
Chen, Ben M.Chinese University of Hong Kong
 
11:35-11:40, Paper WeCT7.5 
 UR-MVO: Robust Monocular Visual Odometry for Underwater Scenarios

Barhoum, Zein AlabedeenITMO University
Maalla, YazanITMO University
Daher, SuliemanITMO University
Topolnitskii, AlexanderITMO University
Mahmoud, JaafarITMO University
Kolyubin, SergeyITMO University
 
11:40-11:45, Paper WeCT7.6 
 SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model

Yang, DanielMassachusetts Institute of Technology
Leonard, JohnMIT
Girdhar, YogeshWoods Hole Oceanographic Institution
 
WeCT8 311
Planinng and Control for Legged Robots 2 Regular Session
Co-Chair: Lin, Pei-ChunNational Taiwan University
 
11:15-11:20, Paper WeCT8.1 
 ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments

Elnoor, MohamedUniversity of Maryland
Sathyamoorthy, Adarsh JaganUniversity of Maryland
Kulathun Mudiyanselage, Kasun WeerakoonUniversity of Maryland, College Park
Manocha, DineshUniversity of Maryland
 
11:20-11:25, Paper WeCT8.2 
 MOVE: Multi-Skill Omnidirectional Legged Locomotion with Limited View in 3D Environments

Li, SongboZhejiang University
Luo, ShixinZhejiang University
Wu, JunZhejiang University
Zhu, QiuguoZhejiang University
 
11:25-11:30, Paper WeCT8.3 
 Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm

Esquerre-Pourtère, ArthurSeoul National University
Kim, MinsooGraduate School of Convergence Science and Technology, Seoul Nat
Park, JaeheungSeoul National University
 
11:30-11:35, Paper WeCT8.4 
 Added Mass and Accuracy of the FF-SLIP Model for Legged Swimming

Austin, MaxThe University of Tokyo
Ma, LinnaFlorida State University
Vasquez, Derek A.Florida State University
Van Stratum, BrianFlorida State University
Clark, JonathanFlorida State University
 
11:35-11:40, Paper WeCT8.5 
 A Virtual Gravity Controller for Efficient Underactuated Biped Robots

Maligianni, DespoinaNational Technical University of Athens
Valouxis, FotiosNational Technical University of Athens
Kantounias, AntoniosNational Technical University of Athens
Smyrli, AikateriniNational Technical University of Athens, Athena Research Center
Papadopoulos, EvangelosNational Technical University of Athens
 
11:40-11:45, Paper WeCT8.6 
 Stair Climbing of a Transformable Robot Using Varying Leg-Wheel Contact Points

Lai, Yen-LiNational Taiwan University
Yu, Wei-ShunNational Taiwan University
Lin, Pei-ChunNational Taiwan University
 
WeCT9 312
Geometric Foundations Regular Session
Chair: Barfoot, TimothyUniversity of Toronto
Co-Chair: Ge, QiaodeStony Brook University
 
11:15-11:20, Paper WeCT9.1 
 Marginalizing and Conditioning Gaussians Onto Linear Approximations of Smooth Manifolds with Applications in Robotics

Guo, Zi CongUniversity of Toronto
Forbes, James RichardMcGill University
Barfoot, TimothyUniversity of Toronto
 
11:20-11:25, Paper WeCT9.2 
 "Hierarchy of Needs" for Robots: Control Synthesis for Compositions of Hierarchical, Complex Objectives

Lin, RuoyuUniversity of California, Irvine
Egerstedt, MagnusUniversity of California, Irvine
 
11:25-11:30, Paper WeCT9.3 
 RM4D: A Combined Reachability and Inverse Reachability Map for Common 6-/7-Axis Robot Arms by Dimensionality Reduction to 4D

Rudorfer, MartinAston University
 
11:30-11:35, Paper WeCT9.4 
 An Average-Distance Minimizing Motion Sweep for Bounded Spatial Objects and Its Application in B´ezier-Like Freeform Motion Generation

Liu, HuanStony Brook University, SUNY
Ge, QiaodeStony Brook University
 
11:35-11:40, Paper WeCT9.5 
 Geometric Static Modeling Framework for Piecewise-Continuous Curved-Link Multi Point-Of-Contact Tensegrity Robots

Ervin, LaurenUniversity of Alabama
Vikas, VisheshUniversity of Alabama
 
11:40-11:45, Paper WeCT9.6 
 GISR: Geometric Initialization and Silhouette-Based Refinement for Single-View Robot Pose and Configuration Estimation

Bilic, IvanUniversity of Zagreb
Maric, FilipUniversity of Toronto Institute for Aerospace Studies
Bonsignorio, FabioFER, University of Zagreb
Petrovic, IvanUniversity of Zagreb
 
WeCT10 313
Multi-Robot Path Planning 3 Regular Session
Chair: Hollinger, GeoffreyOregon State University
Co-Chair: Yu, JingjinRutgers University
 
11:15-11:20, Paper WeCT10.1 
 Stop-N-Go: Search-Based Conflict Resolution for Motion Planning of Multiple Robotic Manipulators

Han, GidonSogang University
Park, JeongwooSogang University
Nam, ChangjooSogang University
 
11:20-11:25, Paper WeCT10.2 
 Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation

Agrawal, AkshayaOregon State University
Mayer, ParkerOregon State University
Kingston, ZacharyPurdue University
Hollinger, GeoffreyOregon State University
 
11:25-11:30, Paper WeCT10.3 
 Targeted Parallelization of Conflict-Based Search for Multi-Robot Path Planning

Guo, TengRutgers University
Yu, JingjinRutgers University
 
11:30-11:35, Paper WeCT10.4 
 Heuristically Guided Compilation for Task Assignment and Path Finding

Chen, ZhengZhejiang University
Chen, ChanglinUniversity of Science and Technology of China
Yiran, NiZhejiang University
Wang, JunhaoHefei University of Technology
 
11:35-11:40, Paper WeCT10.5 
 Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding

Jiang, HeCarnegie Mellon University
Wang, YutongNational University of Singapore
Veerapaneni, RishiCarnegie Mellon University
Duhan, Tanishq HarishNational University of Singapore
Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
Li, JiaoyangCarnegie Mellon University
 
11:40-11:45, Paper WeCT10.6 
 Safety-Guaranteed Distributed Formation Control of Multi-Robot Systems Over Graphs with Rigid and Elastic Edges

Pham, HoangTampere University
Ranasinghe, NadunTampere University
Le, DongTampere University
Atman, Made Widhi SuryaTurku University
Gusrialdi, AzwirmanTampere University
 
WeCT11 314
Safe Control 2 Regular Session
Chair: Bajcsy, AndreaCarnegie Mellon University
Co-Chair: Hu, BinUniversity of Houston
 
11:15-11:20, Paper WeCT11.1 
 Safety-Critical Control with Saliency Detection for Mobile Robots in Dynamic Multi-Obstacle Environments

Zhang, YuTechnical University of Munich
Wen, LongTechnical University of Munich
Hong, LinHarbin Institute of Technology
Zhang, LidingTechnical University of Munich
Guo, QunTechnische Universität München
Li, ShixinTechnical University of Munich
Bing, ZhenshanTechnical University of Munich
Knoll, AloisTech. Univ. Muenchen TUM
 
11:20-11:25, Paper WeCT11.2 
 Safe Coverage for Heterogeneous Systems with Limited Connectivity

Taylor, Annalisa T.Northwestern University
Berrueta, ThomasNorthwestern University
Pinosky, AllisonNorthwestern University
Murphey, ToddNorthwestern University
 
11:25-11:30, Paper WeCT11.3 
 Safe Control of Quadruped in Varying Dynamics Via Safety Index Adaptation

Yun, SirkHoo, KaiCarnegie Mellon University
Chen, RuiCarnegie Mellon University; University of Michigan;
Dunaway, ChaseNew Mexico Institute of Mining and Technology
Dolan, John M.Carnegie Mellon University
Liu, ChangliuCarnegie Mellon University
 
11:30-11:35, Paper WeCT11.4 
 Updating Robot Safety Representations Online from Natural Language Feedback

Santos, LeonardoUniversidade Federal De Minas Gerais
Li, ZiruiUniversity of Rochester
Peters, LasseDelft University of Technology
Bansal, SomilStanford University
Bajcsy, AndreaCarnegie Mellon University
 
11:35-11:40, Paper WeCT11.5 
 Detecting Perception-Based Attacks Using Visual Odometry: Inconsistency Modeling and Checking on Robotic States

Xu, YuanNanyang Technological University
Deng, GeleiNanyang Technological University
Zhang, TianweiNanyang Technological University
 
11:40-11:45, Paper WeCT11.6 
 Distributed Perception Aware Safe Leader Follower System Via Control Barrier Methods

Suganda, Richie RyulieUniversity of Houston
Tran, TonyUniversity of Houston
Pan, MiaoUniversity of Houston
Fan, LeiUniversity of Houston
Lin, QinUniversity of Houston
Hu, BinUniversity of Houston
 
WeCT12 315
Human-Robot Interaction 4 Regular Session
 
11:15-11:20, Paper WeCT12.1 
 Gesturing towards Efficient Robot Control: Exploring Sensor Placement and Control Modes for Mid-Air Human-Robot Interaction

Mielke, ToniaOtto-Von-Guericke University Magdeburg
Heinrich, FlorianOtto-Von-Guericke University Magdeburg
Hansen, ChristianOtto-Von-Guericke University Magdeburg
 
11:20-11:25, Paper WeCT12.2 
 Understanding Dynamic Human-Robot Proxemics in the Case of Four-Legged Canine-Inspired Robots

Xu, XiangminUniversity of Glasgow
Meng, ZhenUniversity of Glasgow
Li, Liying EmmaUniversity of Glasgow
Khamis, MohamedUniversity of Glasgow
Zhao, Philip GuodongUniversity of Manchester, UK
Robin, BretinUniversity of Glasgow
 
11:25-11:30, Paper WeCT12.3 
 Autonomous Navigation in Crowded Space Using Multi-Sensory Data Fusion

Ananna, Nourin SiddiqueBRAC University
Saif, Mollah MdBRAC University
Noor, MaishaBRAC University
Awishi, Ishrat TasnimBRAC University
Rahman, Md. KhalilurBRAC University
Alam, Md Golam RabilulBRAC University
 
11:30-11:35, Paper WeCT12.4 
 Feasibility-Aware Imitation Learning from Observation through a Hand-Mounted Demonstration Interface

Takahashi, KeiNara Institute of Science and Technology
Sasaki, HikaruNara Institute of Science and Technology
Matsubara, TakamitsuNara Institute of Science and Technology
 
11:35-11:40, Paper WeCT12.5 
 Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots with Torso-Arm Coordination

Boguslavskii, NikitaWorcester Polytechnic Institute (WPI)
Genua, Lorena MariaWorcester Polytechnic Institute
Li, ZhiWorcester Polytechnic Institute
 
11:40-11:45, Paper WeCT12.6 
 Soft Human-Robot Handover Using a Vision-Based Pipeline

Castellani, ChiaraIstituto Italiano Di Tecnologia
Turco, EnricoIstituto Italiano Di Tecnologia
Bo, ValerioIstituto Italiano Di Tecnologia
Malvezzi, MonicaUniversity of Siena
Prattichizzo, DomenicoUniversity of Siena
Costante, GabrieleUniversity of Perugia
Pozzi, MariaUniversity of Siena
 
WeCT13 316
Soft Robotic Grasping 2 Regular Session
Chair: Wang, WeiUniversity of Wisconsin-Madison
Co-Chair: Vikas, VisheshUniversity of Alabama
 
11:15-11:20, Paper WeCT13.1 
 Utilizing Bioinspired Soft Modular Appendages for Grasping and Locomotion in Multi-Legged Robots on Ground and Underwater

Siddiquee, Abu Nayem Md. AsrafGraduate Teaching Assistant - University of Notre Dame
Ozkan-Aydin, YaseminUniversity of Notre Dame
 
11:20-11:25, Paper WeCT13.2 
 Design of a Novel Pneumatic Soft Gripper for Robust Adaptive Grasping

Sun, XiantaoAnhui University
Zhong, MingshengAnhui University
Tang, ZhouzhengAnhui University
Chen, WenjieAnhui University
Chen, WeihaiBeihang University
 
11:25-11:30, Paper WeCT13.3 
 Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects

Tran, DuyHa Noi University of Science and Technology
Ly, Hoang HiepHanoi University of Science and Technology
Nguyen, ThuanHanoi University of Science and Technology
Mac, Thi ThoaHUST
Nguyen, AnhUniversity of Liverpool
Ta, Tung D.The University of Tokyo
 
11:30-11:35, Paper WeCT13.4 
 Dexterous Three-Finger Gripper Based on Offset Trimmed Helicoids

Guan, QinghuaHarbin Institute of Technology
Cheng, Hung HonEPFL
Hughes, JosieEPFL
 
11:35-11:40, Paper WeCT13.5 
 Improving Grip Stability Using Passive Compliant Microspine Arrays for Soft Robots in Unstructured Terrain

Ervin, LaurenUniversity of Alabama
Bezawada, HarishThe University of Alabama
Vikas, VisheshUniversity of Alabama
 
11:40-11:45, Paper WeCT13.6 
 Hybrid Soft Pneumatic and Tendon Actuated Finger with Selective Locking Chain Link Joints

Lin, Keng-YuUniversity of Wisconsin Madison
Stonecipher, JackUniversity of Wisconsin-Madison
Rusch, ZachUniversity of Wisconsin-Madison
Wang, WeiUniversity of Wisconsin-Madison
Wehner, MichaelUniversity of Wisconsin, Madison
 
WeCT14 402
Reconfigurable Robots Regular Session
 
11:15-11:20, Paper WeCT14.1 
 Enabling Framework for Constant Complexity Model in Autonomous Inter-Reconfigurable Robots (I)

Wan, Ash Yaw SangSingapore University of Technology and Design
Le, Anh VuCommunication and Signal Processing Research Group Faculty of El
Moo, Chee GenSingapore University of Technology and Design
Sivanantham, VinuSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
 
11:20-11:25, Paper WeCT14.2 
 Improving Coverage Performance of a Size-Reconfigurable Robot Based on Overlapping and Reconfiguration Reduction Criteria

Muthugala Arachchige, Viraj Jagathpriya MuthugalaSingapore University of Technology and Design
Samarakoon Mudiyanselage, Bhagya Prasangi SamarakoonSingapore University of Technology and Design
Wijegunawardana, Isira DamsithSingapore University of Technology
Elara, Mohan RajeshSingapore University of Technology and Design
 
11:25-11:30, Paper WeCT14.3 
 CoCube: A Tabletop Modular Multi-Robot Platform for Education and Research

Liang, ShuaiFudan University
Zhu, SongyiShanghai Artifcial Intelligence Laboratory
Zhonghan, TangUniversity of Science and Technology of China
Li, ChenhuiShanghai Artificial Intelligence Laboratory
Wu, WenjieDynaLab
Han, JialingFudan University
Lin, ZeminShanghai Jiaotong University
You, ZhongruiShanghai Artifcial Intelligence Laboratory
Maloney, JohnMicroBlocks
Romagosa Carrasquer, BernatSAP
Zhao, BinNorthwestern Polytechnical University
Wang, ZhigangShanghai AI Laboratory
Zhang, ZhinanShanghai Jiao Tong University
Li, XuelongNorthwestern Polytechnical University
 
11:30-11:35, Paper WeCT14.4 
 Loopy Movements: Emergence of Rotation in a Multicellular Robot

Smith, TrevorWest Virginia University
Gu, YuWest Virginia University
 
11:35-11:40, Paper WeCT14.5 
 Enhancing Connection Strength in Freeform Modular Reconfigurable Robots through Holey Sphere and Gripper Mechanisms

Wang, PeiqiThe Chinese University of Hong Kong, Shenzhen
Liang, GuanqiThe Chinese University of Hong Kong, Shenzhen
Zhao, DaThe Chinese University of Hong Kong
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
 
WeCT15 403
Bimanual Manipulation 2 Regular Session
Chair: Asfour, TamimKarlsruhe Institute of Technology (KIT)
Co-Chair: Gupta, Satyandra K.University of Southern California
 
11:15-11:20, Paper WeCT15.1 
 Learning Dexterous Bimanual Catch Skills through Adversarial-Cooperative Heterogeneous-Agent Reinforcement Learning

Kim, TaewooElectronics and Telecommunications Research Institute
Yoon, YoungwooElectronics and Telecommunications Research Institute
Kim, JaehongETRI
 
11:20-11:25, Paper WeCT15.2 
 Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation

Zhuang, LipengUniversity of Glasgow
Fan, ShiyuUniversity of Glasgow
Ru, YingdongUniversity of Glasgow
Audonnet, FlorentUniversity of Glasgow
Henderson, PaulUniversity of Glasgow
Aragon-Camarasa, GerardoUniversity of Glasgow
 
11:25-11:30, Paper WeCT15.3 
 TWIN: Two-Handed Intelligent Benchmark for Bimanual Manipulation

Grotz, MarkusUniversity of Washington (UW)
Shridhar, MohitUniversity of Washington
Chao, Yu-WeiNVIDIA
Asfour, TamimKarlsruhe Institute of Technology (KIT)
Fox, DieterUniversity of Washington
 
11:30-11:35, Paper WeCT15.4 
 Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation

Chuang, IanUniversity of California, Davis
Lee, AndrewUniversity of California, Davis
Gao, DechenUniversity of California, Davis
Naddaf Shargh, Mohammad MahdiUniversity of California - Davis
Soltani, ImanUniversity of California, Davis
 
11:35-11:40, Paper WeCT15.5 
 Force-Conditioned Diffusion Policies for Compliant Sheet Separation Tasks in Bimanual Robotic Cells

Shukla, RishabhUniversity of Southern California
Talan, RajUniversity of Southern California
Moode, SamrudhUniversity of Southern California
Dhanaraj, NeelUniversity of Southern California
Kang, Jeon HoUniversity of Southern California
Gupta, Satyandra K.University of Southern California
 
11:40-11:45, Paper WeCT15.6 
 A Comparison of Imitation Learning Algorithms for Bimanual Manipulation

Drolet, MichaelTechnische Universität Darmstadt
Stepputtis, SimonCarnegie Mellon University
Kailas, SivaCarnegie Mellon University
Jain, AjinkyaIntrinsic Innovation LLC
Peters, JanTechnische Universität Darmstadt
Schaal, StefanGoogle X
Ben Amor, HeniArizona State University
 
WeCT16 404
Grasping 2 Regular Session
Chair: Jia, Yan-BinIowa State University
Co-Chair: Spenko, MatthewIllinois Institute of Technology
 
11:15-11:20, Paper WeCT16.1 
 Trajectory Optimization for Dynamically Grasping Irregular Objects

Vu, Minh NhatTU Wien, Austria
Grander, FlorianEGGER Holzwerkstoffe Brilon GmbH
Nguyen, AnhUniversity of Liverpool
Unger, ChristophTU Wien
 
11:20-11:25, Paper WeCT16.2 
 DistillGrasp: Integrating Features Correlation with Knowledge Distillation for Depth Completion of Transparent Objects

Huang, YihengGuangdong University of Technology
Chen, JunhongGuangdong University of Technology
Michiels, NickHasselt University - Flanders Make - Expertise Centre for Digita
Asim, MuhammadGuangdong University of Technology
Claesen, LucHasselt Univeristy
Liu, WenyinGuangdong University of Technology
 
11:25-11:30, Paper WeCT16.3 
 Real-Time Grasp Quality in Boundary-Constrained Granular Swarm Robots

Mulroy, DeclanIllinois Institute of Technology
Cañones Bonham, David FrancescIllinois Institute of Technology
Spenko, MatthewIllinois Institute of Technology
Srivastava, AnkitIllinois Institute of Technology
 
11:30-11:35, Paper WeCT16.4 
 Learning Dual-Arm Coordination for Grasping Large Flat Objects

Wang, YongliangUniversity of Groningen
Kasaei, HamidrezaUniversity of Groningen
 
11:35-11:40, Paper WeCT16.5 
 QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity

Huber, JohannISIR, Sorbonne Université
Hélénon, FrançoisSorbonne Université
Kappel, MathildeInstitut Des Systèmes Intelligents Et De Robotique
Páez Ubieta, Ignacio de LoyolaUniversity of Alicante
Gil, PabloUniversity of Alicante
Puente, SantiagoUniversity of Alicante
Ben Amar, FaizUniversité Pierre Et Marie Curie, Paris 6
Doncieux, StéphaneSorbonne University
 
11:40-11:45, Paper WeCT16.6 
 Patch Tree: Exploiting the Gauss Map and Principal Component Analysis for Robotic Grasping

Jia, Yan-BinIowa State University
Xue, YuechuanAmazon.com
Tang, LingIowa State University
 
WeCT17 405
Localization 4 Regular Session
Chair: Napp, NilsCornell University
 
11:15-11:20, Paper WeCT17.1 
 Improved Bag-Of-Words Image Retrieval with Geometric Constraints for Ground Texture Localization

Wilhelm, AaronCornell University
Napp, NilsCornell University
 
11:20-11:25, Paper WeCT17.2 
 Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation

Kuang, HaofeiUniversity of Bonn
Pan, YueUniversity of Bonn
Zhong, XingguangUniversity of Bonn
Wiesmann, LouisUniversity of Bonn
Behley, JensUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
 
11:25-11:30, Paper WeCT17.3 
 Semantic and Feature Guided Uncertainty Quantification of Visual Localization for Autonomous Vehicles

Wu, QiyuanCornell University
Campbell, MarkCornell University
 
11:30-11:35, Paper WeCT17.4 
 LiLoc: Lifelong Localization Using Adaptive Submap Joining and Egocentric Factor Graph

Fang, YixinSoutheast University
Li, YanyanTechnical University of Munich
Qian, KunSoutheast University
Tombari, FedericoTechnische Universität München
Wang, YueZhejiang University
Lee, Gim HeeNational University of Singapore
 
11:35-11:40, Paper WeCT17.5 
 ReFeree: Radar-Based Lightweight and Robust Localization Using Feature and Free Space

Kim, HogyunInha University
Choi, ByungheeInha University
Choi, EuncheolInha University
Cho, YounggunInha University
 
11:40-11:45, Paper WeCT17.6 
 On the Consistency of Multi-Robot Cooperative Localization: A Transformation-Based Approach

Hao, NingHarbin Institute of Technology
He, FenghuaHarbin Institute of Technology
Tian, ChungengHarbin Institute of Technology
Hou, YiHarbin Institute of Technology
 
WeCT18 406
Software Tools 2 Regular Session
Chair: Wauters, JolanGhent University
 
11:15-11:20, Paper WeCT18.1 
 Chemistry3D: Robotic Interaction Toolkit for Chemistry Experiments

Li, ShoujieTsinghua Shenzhen International Graduate School
Huang, YanTsinghua University
Guo, ChangqingTsinghua University
Wu, TongTsinghua University
Zhang, JiaweiTsinghua University
Zhang, LinruiTsinghua University
Ding, WenboTsinghua University
 
11:20-11:25, Paper WeCT18.2 
 Introducing KUGE: A Simultaneous Control Co-Design Architecture and Its Application to Aerial Robotics Development

Wauters, JolanGhent University
Lefebvre, TomGhent University
Crevecoeur, GuillaumeGhent University
 
11:25-11:30, Paper WeCT18.3 
 HEROES: Unreal Engine-Based Human and Emergency Robot Operation Education System

Chaudhary, AnavPurdue University
Tiwari, KshitijPurdue University
Bera, AniketPurdue University
 
11:30-11:35, Paper WeCT18.4 
 On the Necessity of Real-Time Principles in GPU-Driven Autonomous Robots

Ali, SyedUniversity of North Carolina at Chapel Hill
Angelopoulos, AngelosUniversity of North Carolina at Chapel Hill
Massey, DenverUniversity of North Carolina at Chapel Hill
Haddix, Sarah BarnesThe University of North Carolina at Chapel Hill
Georgiev, AlexanderUniversity of North Carolina at Chapel Hill
Goh, JosephUniversity of North Carolina at Chapel Hill
Wagle, RohanUniversity of North Carolina at Chapel Hill
Sarathy, PrakashNorthrop Grumman
Anderson, JamesUniversity of North Carolina at Chapel Hill
Alterovitz, RonUniversity of North Carolina at Chapel Hill
 
11:35-11:40, Paper WeCT18.5 
 HPRM: High-Performance Robotic Middleware for Intelligent Autonomous Systems

Kwok, JackyUniversity of California, Berkeley
Li, ShuluUC Berkeley, Fudan University
Lohstroh, MartenUC Berkeley
Lee, Edward A.UC Berkeley
 
11:40-11:45, Paper WeCT18.6 
 CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control

Jeon, Se HwanMassachusetts Institute of Technology
Hong, SeungwooMIT (Massachusetts Institute of Technology)
Lee, Ho JaeMassachusetts Institute of Technology
Khazoom, CharlesMassachusetts Institute of Technology
Kim, SangbaeMassachusetts Institute of Technology
 
WeCT19 407
System Design Regular Session
 
11:15-11:20, Paper WeCT19.1 
 Learning Optimal Design Manifolds to Design More Practical Robotic Systems

Baumgärtner, JanKarlsruhe Institute of Technology
Puchta, AlexanderKarlsruhe Institute of Technology
Fleischer, JürgenKarlsruhe Institute of Technology (KIT)
 
11:20-11:25, Paper WeCT19.2 
 Monotone Subsystem Decomposition for Efficient Multi-Objective Robot Design

Wilhelm, AndrewCornell University
Napp, NilsCornell University
 
11:25-11:30, Paper WeCT19.3 
 Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing

Plozza, DavideETH Zürich
Apostol, PatriciaETH Zürich
Joseph, PaulETH Zürich
Schläpfer, SimonETH Zurich
Magno, MicheleETH Zurich
 
11:30-11:35, Paper WeCT19.4 
 AeroSafe: Mobile Indoor Air Purification Using Aerosol Residence Time Analysis and Robotic Cough Emulator Testbed

Tonmoy, TanjidUniversity of California San Diego
Malladi, RahathPlaksha University
Singh, KaustubhPlaksha University
Forsad, Al HossainUniversity of Massachusetts
Gupta, Rajesh KumarHalicioglu Data Science Institute, UC San Diego
Martinez, Andres TejadaUniversity of Florida
Rahman, TauhidurUniversity of California San Diego
 
11:35-11:40, Paper WeCT19.5 
 Remote Inspection Techniques: A Review of Autonomous Robotic Inspection for Marine Vessels (I)

Andersen, Rasmus EckholdtTechnicel University of Denmark
Brogaard, Rune Y.Explicit Aps
Boukas, EvangelosTechnical University of Denmark
 
11:40-11:45, Paper WeCT19.6 
 Toward Fully Automated Aviation: PIBOT, a Humanoid Robot Pilot, for Human-Centric Aircraft Cockpits

Min, SungjaeKorea Advanced Institute of Science and Technology (KAIST)
Kang, GyureeKorea Advanced Institute of Science and Technology (KAIST)
Kim, HyungjooKorea Advanced Institute of Science and Technology (KAIST)
Shim, David HyunchulKAIST
 
WeCT20 408
Human-Aware Robot Motion Regular Session
Chair: Murphey, ToddNorthwestern University
Co-Chair: Carlone, LucaMassachusetts Institute of Technology
 
11:15-11:20, Paper WeCT20.1 
 Sampling-Based Grasp and Collision Prediction for Assisted Teleoperation

Manschitz, SimonHonda Research Institute Europe
Güler, BerkTU Darmstadt
Ma, WeiHonda Research Institute Europe
Ruiken, DirkHonda Research Institute Europe
 
11:20-11:25, Paper WeCT20.2 
 Inverse Mixed Strategy Games with Generative Trajectory Models

Sun, Max MuchenNorthwestern University
Trautman, PeterHonda Research Institute
Murphey, ToddNorthwestern University
 
11:25-11:30, Paper WeCT20.3 
 AToM: Adaptive Theory-Of-Mind-Based Human Motion Prediction in Long-Term Human-Robot Interactions

Liao, YuwenNanyang Technological University
Cao, MuqingCarnegie Mellon University
Xu, XinhangNanyang Technological University
Xie, LihuaNanyangTechnological University
 
11:30-11:35, Paper WeCT20.4 
 Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation

Cao, MuqingCarnegie Mellon University
Xu, XinhangNanyang Technological University
Yang, YizhuoNangyang Technological Univercity
Li, JianpingNanyang Technological University
Jin, TongxingNanyang Technological University
Wang, PengfeiNanyang Technological University
Hung, Tzu-YiDelta Electronics
Lin, GuoshengNanyang Technological University
Xie, LihuaNanyangTechnological University
 
11:35-11:40, Paper WeCT20.5 
 COLLAGE: COLLAborative Human-Agent Interaction Generation Using Hierarchical Latent Diffusion and Language Models

Daiya, DivyanshuPurdue University
Conover, DamonDEVCOM Army Research Laboratory
Bera, AniketPurdue University
 
11:40-11:45, Paper WeCT20.6 
 Long-Term Human Trajectory Prediction Using 3D Dynamic Scene Graphs

Gorlo, NicolasMassachusetts Institute of Technology
Schmid, Lukas M.Massachusetts Institute of Technology (MIT)
Carlone, LucaMassachusetts Institute of Technology
 
WeCT21 410
Robot Foundation Models 2 Regular Session
Co-Chair: Zhu, YukeThe University of Texas at Austin
 
11:15-11:20, Paper WeCT21.1 
 LUMOS: Language-Conditioned Imitation Learning with World Models

Nematollahi, ImanUniversity of Freiburg
DeMoss, BrantonUniversity of Oxford
L Chandra, AkshayUniversity of Freiburg
Hawes, NickUniversity of Oxford
Burgard, WolframUniversity of Technology Nuremberg
Posner, IngmarOxford University
 
11:20-11:25, Paper WeCT21.2 
 LIMT: Language-Informed Multi-Task Visual World Models

Aljalbout, ElieUniversity of Zurich
Sotirakis, NikolaosTechnical University of Munich
van der Smagt, PatrickVolkswagen Group
Karl, MaximilianFoundation Robotics Labs
Chen, NutanVolkswagen Group
 
11:25-11:30, Paper WeCT21.3 
 Towards Robust Autonomous Driving: Conditional Multimodal Large Language Models for Fine-Grained Perception

Sun, FengzhaoUniversity of Science and Technology of China
Yu, JunUniversity of Science and Technology of China
Zhang, YunxiangUniversity of Science and Technology of China
Hou, JiamingHarbin Institute of Technology
Lu, XilongUniversity of Science and Technology
Song, HengChina Railway No.4 Engineering Group Co., Ltd
Gao, FangGuangxi University
 
11:30-11:35, Paper WeCT21.4 
 Automated Hybrid Reward Scheduling Via Large Language Models for Robotic Skill Learning

Huang, ChangxinShenzhen University
Liang, JunyangShenzhen University
Chang, YanbinShenzhen University
Xu, JingzhaoShenzhen University
Li, JianqiangShenzhen University,
 
11:35-11:40, Paper WeCT21.5 
 RT-Affordance: Affordances Are Versatile Intermediate Representations for Robot Manipulation

Nasiriany, SoroushThe University of Austin at Texas
Kirmani, SeanGoogle DeepMind
Ding, TianliGoogle
Smith, LauraUC Berkeley
Zhu, YukeThe University of Texas at Austin
Driess, DannyTU Berlin
Sadigh, DorsaStanford University
Xiao, TedGoogle DeepMind
 
11:40-11:45, Paper WeCT21.6 
 A Real-To-Sim-To-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards

Patel, ShivanshUniversity of Illinois Urbana Champaign
Yin, XinchenUniversity of Illinois Urbana Champaign
Huang, WenlongStanford University
Garg, ShubhamAmazon
Nayyeri, HooshangAmazon
Fei-Fei, LiStanford University
Lazebnik, SvetlanaUniversity of Illinois
Li, YunzhuColumbia University
 
WeCT22 411
Imitation Learning 2 Regular Session
Chair: Johns, EdwardImperial College London
Co-Chair: Kaelbling, LeslieMIT
 
11:15-11:20, Paper WeCT22.1 
 Learning Task Specifications from Demonstrations As Probabilistic Automata

Baert, MattijsGhent University
Leroux, SamGhent University
Simoens, PieterGhent University - Imec
 
11:20-11:25, Paper WeCT22.2 
 Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments

Etukuru, HarithejaNew York University
Naka, NorihitoNew York University
Hu, ZijinNew York University
Lee, SeungjaeSeoul National University
Mehu, JulianHello Robot Inc
Edsinger, AaronHello Robot
Paxton, ChrisMeta AI
Chintala, SoumithFacebook AI Research
Pinto, LerrelNew York University
Shafiullah, Nur Muhammad (Mahi)New York University
 
11:25-11:30, Paper WeCT22.3 
 R+X: Retrieval and Execution from Everyday Human Videos

Papagiannis, GeorgiosImperial College London
Di Palo, NormanImperial College London
Vitiello, PietroImperial College London
Johns, EdwardImperial College London
 
11:30-11:35, Paper WeCT22.4 
 ARCap: Collecting High-Quality Human Demonstrations for Robot Learning with Augmented Reality Feedback

Chen, SiruiStanford University
Wang, ChenStanford University
Nguyen, KadenStanford University
Fei-Fei, LiStanford University
Liu, KarenStanford University
 
11:35-11:40, Paper WeCT22.5 
 XMoP: Whole-Body Control Policy for Zero-Shot Cross-Embodiment Neural Motion Planning

Rath, Prabin KumarArizona State University
Gopalan, NakulArizona State University
 
11:40-11:45, Paper WeCT22.6 
 KALM: Keypoint Abstraction Using Large Models for Object-Relative Imitation Learning

Fang, XiaolinMIT
Huang, Bo-RueiNational Taiwan University
Mao, JiayuanMIT
Shone, JasmineMIT
Tenenbaum, JoshuaMassachusetts Institute of Technology
Lozano-Perez, TomasMIT
Kaelbling, LeslieMIT
 
WeCT23 412
Autonomous Vehicle Perception 5 Regular Session
Chair: Chun, Il YongSungkyunkwan University
 
11:15-11:20, Paper WeCT23.1 
 AutoSplat: Constrained Gaussian Splatting for Autonomous Driving Scene Reconstruction

Khan, MustafaUniversity of Toronto
Fazlali, HamidrezaNoah's Ark Lab
Sharma, DhruvHuawei Research Canada
Cao, TongtongNoah's Ark Lab, Huawei Technologies
Bai, DongfengNoah's Ark Lab, Huawei Technologies
Ren, YuanNoah's Ark Lab, Huawei Technologies Canada Inc
Liu, BingbingHuawei Technologies
 
11:20-11:25, Paper WeCT23.2 
 Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Driving

Wang, YunshenBeijing University of Posts and Telecommunications
Liu, YichengTsinghua University
Yuan, TianyuanTsinghua University
Mao, YuchengUniversity of Science and Techonology Beijing
Liang, YingshiBeijing University of Posts and Telecommunications
Yang, XiuyuTsinghua University
Zhang, HonggangBeijing University of Posts and Telecommunications
Zhao, HangTsinghua University
 
11:25-11:30, Paper WeCT23.3 
 Interactive4D: Interactive 4D LiDAR Segmentation

Fradlin, IlyaRwth Aachen
Zulfikar, Idil EsenRWTH Aachen
Yilmaz, KadirRWTH Aachen University
Kontogianni, TheodoraETH Zurich
Leibe, BastianRWTH Aachen University
 
11:30-11:35, Paper WeCT23.4 
 Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanisms

Lin, Chun-JungThe University of Adelaide
Garg, SouravUniversity of Adelaide
Chin, Tat-JunThe University of Adelaide
Dayoub, FerasThe University of Adelaide
 
11:35-11:40, Paper WeCT23.5 
 LaB-CL: Localized and Balanced Contrastive Learning for Improving Parking Slot Detection

Jeong, U JinSungkyunkwan University
Roh, SuminSungkyunkwan University
Chun, Il YongSungkyunkwan University
 
11:40-11:45, Paper WeCT23.6 
 LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction Using LiDAR and Camera

Ma, YukaiZhejiang University
Mei, JianbiaoZhejiang University
Yang, XuemengShanghai Artificial Intelligence Laboratory
Wen, LichengShanghai AI Laboratory
Xu, WeihuaZhejiang University
Zhang, JiangningZhejiang University
Zuo, XingxingCaltech
Shi, BotianShanghai AI Laboratory
Liu, YongZhejiang University
 
WeDT1 302
Autonomous Vehicles 1 Regular Session
Co-Chair: Li, XiaopengUniversity of Wisconsin-Madison
 
15:15-15:20, Paper WeDT1.1 
 Diverse Controllable Diffusion Policy with Signal Temporal Logic

Meng, YueMassachusetts Institute of Technology
Fan, ChuchuMassachusetts Institute of Technology
 
15:20-15:25, Paper WeDT1.2 
 Dual-Conditioned Temporal Diffusion Modeling for Driving Scene Generation

Bai, XiangyuNortheastern University
Luo, YediNortheastern University
Jiang, LeNortheastern University
Ostadabbas, SarahNortheastern University
 
15:25-15:30, Paper WeDT1.3 
 RL-OGM-Parking: Lidar OGM-Based Hybrid Reinforcement Learning Planner for Autonomous Parking

Wang, ZhitaoShanghai Jiao Tong University
Chen, ZheShanghai Jiao Tong University
Jiang, MingyangShanghai Jiao Tong University
Qin, TongShanghai Jiao Tong University
Yang, MingShanghai Jiao Tong University
 
15:30-15:35, Paper WeDT1.4 
 Multi-Task Invariant Representation Imitation Learning for Autonomous Driving

Peng, JinghanEast China Normal University
Yu, XingEast China Normal University
Wang, JingwenEast China Normal University
Tian, LiliEast China Normal University
Dehui, DuEast China Normal University
 
15:35-15:40, Paper WeDT1.5 
 Occ-LLM: Enhancing Autonomous Driving with Occupancy-Based Large Language Models

Xu, TianshuoHongkong University of Science and Technology (Guangzhou)
Lu, HaoHKUST-GZ
Yan, XuChinese University of Hong Kong, Shenzhen
Cai, YingjieHuawei
Liu, BingbingHuawei Technologies
Chen, YingcongThe University of Science and Technology (Guangzhou)
 
15:40-15:45, Paper WeDT1.6 
 DISC: Dataset for Analyzing Driving Styles in Simulated Crashes for Mixed Autonomy

Senthil Kumar, Sandip SharanUniversity of Maryland, College Park
Thalapanane, SandeepUniversity of Maryland, College Park
Appiya Dilipkumar Peethambari, Guru NandhanUniversity of Maryland College Park
Sri hari, SourangUniversity of Maryland College Park
Zheng, LauraUniversity of Maryland, College Park
Lin, Ming C.University of Maryland at College Park
 
15:45-15:50, Paper WeDT1.7 
 Real-World Automated Vehicle Longitudinal Stability Analysis: Controller Design and Field Test

Ma, KeUniversity of Wisconsin-Madison
Zhang, YuqinChang’an University
Zhou, HangUniversity of Wisconsin-Madison
Liang, ZhaohuiUniversity of Wisconsin Madison
Li, XiaopengUniversity of Wisconsin-Madison
 
WeDT2 301
Learning-Based SLAM 1 Regular Session
 
15:15-15:20, Paper WeDT2.1 
 RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fields

Jiang, HaochenFudan University
Xu, YuemingFudan University
Li, KejieThe University of Oxford
Feng, JianfengFudan University
Zhang, LiFudan University
 
15:20-15:25, Paper WeDT2.2 
 HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAM

Gong, ZirenUniversity of Bologna
Tosi, FabioUniversity of Bologna
Zhang, YouminUniversity of Bologna
Mattoccia, StefanoUniversity of Bologna
Poggi, MatteoUniversity of Bologna
 
15:25-15:30, Paper WeDT2.3 
 Gassidy: Gaussian Splatting SLAM in Dynamic Environments

Wen, LongTechnical University of Munich
Li, ShixinTechnical University of Munich
Zhang, YuTechnical University of Munich
Huang, YuhongTechnische Universität München
Lin, JianjieTechnische Universität München
Pan, FengjunjieTechnical University of Munich
Bing, ZhenshanTechnical University of Munich
Knoll, AloisTech. Univ. Muenchen TUM
 
15:30-15:35, Paper WeDT2.4 
 Large-Scale Gaussian Splatting SLAM

Xin, ZheMeituan
Wu, ChenyangUniversity of Science and Technology of China
Huang, PenghuiMeituan
Zhang, YanyongUniversity of Science and Technology of China
Mao, YinianMeituan-Dianping Group
Huang, Guoquan (Paul)University of Delaware
 
15:35-15:40, Paper WeDT2.5 
 OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding

Yang, DianyiBeijing Institute of Technology
Gao, YuBeijing Institude of Technology
Wang, XihanBeijing Institute of Technology
Yue, YufengBeijing Institute of Technology
Yang, YiBeijing Institute of Technology
Fu, MengyinBeijing Institute of Technology
 
15:40-15:45, Paper WeDT2.6 
 SAP-SLAM: Semantic-Assisted Perception SLAM with 3D Gaussian Splatting

Yang, YuhengShenzhen International Graduate School, Tsinghua University
Lin, YudongTsinghua University
Yang, WenmingTsinghua University
Wang, GuijinTsinghua University
Liao, QingminTsinghua University
 
15:45-15:50, Paper WeDT2.7 
 Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion

Lang, XiaoleiZhejiang University
Li, LaijianZhejiang University
Wu, ChenmingBaidu Research
Zhao, ChenBaidu Inc
Liu, LinaZhejiang University
Liu, YongZhejiang University
Lv, JiajunZhejiang University
Zuo, XingxingCaltech
 
WeDT3 303
Planning for Autonomous Racing Regular Session
Chair: Miao, FeiUniversity of Connecticut
Co-Chair: Laine, ForrestVanderbilt University
 
15:15-15:20, Paper WeDT3.1 
 Risk-Averse Model Predictive Control for Racing in Adverse Conditions

Lew, ThomasToyota Research Institute
Greiff, MarcusToyota Research Institute
Djeumou, FranckUniversity of Texas, Austin
Suminaka, MakotoToyota Research Institute
Thompson, MichaelToyota Research Institute
Subosits, JohnToyota Research Institute
 
15:20-15:25, Paper WeDT3.2 
 Kineto-Dynamical Planning and Accurate Execution of Minimum-Time Maneuvers on Three-Dimensional Circuits

Piccinini, MattiaTechnical University of Munich
Taddei, SebastianoUniversity of Trento, Politecnico Di Bari
Betz, JohannesTechnical University of Munich
Biral, FrancescoUniversity of Trento
 
15:25-15:30, Paper WeDT3.3 
 Safety Guaranteed Robust Multi-Agent Reinforcement Learning with Hierarchical Control for Connected and Automated Vehicles

Zhang, ZhiliUniversity of Connecticut
Ahmad, H M SabbirBoston University
Sabouni, EhsanBoston University
Sun, YanchaoJPMorgan Chase
Huang, FurongUniversity of Maryland
Li, WenchaoBoston University
Miao, FeiUniversity of Connecticut
 
15:30-15:35, Paper WeDT3.4 
 Does Bilevel Optimization Result in More Competitive Racing Behavior?

Cinar, AndrewVanderbilt University
Laine, ForrestVanderbilt University
 
15:35-15:40, Paper WeDT3.5 
 Gate-Aware Online Planning for Two-Player Autonomous Drone Racing

Zhao, FangguoZhejiang University
Mei, JiahaoZhejiang University of Technology
Zhou, JinZhejiang University
Chen, YuanyiZhejiang University
Chen, JimingZhejiang University
Li, ShuoZhejiang University
 
15:40-15:45, Paper WeDT3.6 
 TC-Driver: A Trajectory Conditioned Reinforcement Learning Approach to Zero-Shot Autonomous Racing (I)

Ghignone, EdoardoETH
Baumann, NicolasETH
Magno, MicheleETH Zurich
 
15:45-15:50, Paper WeDT3.7 
 Er.autopilot 1.1: A Software Stack for Autonomous Racing on Oval and Road Course Tracks (I)

Raji, AyoubUniversity of Modena and Reggio Emilia
Caporale, DaniloCentro Di Ricerca E. Piaggio
Gatti, FrancescoHipert Srl
Toschi, AlessandroUniversity of Modena and Reggio Emlilia
Musiu, NicolaUniversity of Modena and Reggio Emilia
Verucchi, MicaelaUniversity of Modena and Reggio Emilia
Prignoli, FrancescoUniversity of Modena and Reggio Emilia
Malatesta, DavideTechnology Innovation Institute -Autonomous Robotics Research Ce
Jesus, André FialhoTechnology Innovation Institute - Autonomous Robotics Research C
Finazzi, AndreaKorea Advanced Institute of Science and Technology
Amerotti, FrancescoUniversità Di Pisa
Bagni, FabioHipert Srl
Mascaro, EugenioUniversity of Modena and Reggio Emilia
Musso, PietroUniversity of Modena and Reggio Emilia
Marko, BertognaUnimore
 
WeDT4 304
Sensor Fusion 3 Regular Session
Chair: Chen, BoyuanDuke University
 
15:15-15:20, Paper WeDT4.1 
 FlatFusion: Delving into Details of Sparse Transformer-Based Camera-LiDAR Fusion for Autonomous Driving

Zhu, YutaoShanghai Jiao Tong University
Jia, XiaosongUniversity of California, Berkeley
Yang, XinyuCarnegie Mellon University
Yan, JunchiShanghai Jiao Tong University
 
15:20-15:25, Paper WeDT4.2 
 A2DO: Adaptive Anti-Degradation Odometry with Deep Multi-Sensor Fusion for Autonomous Navigation

Lai, HuiFudan University
Chen, QiFudan University
Zhang, JunpingFudan University
Pu, JianFudan University
 
15:25-15:30, Paper WeDT4.3 
 Tunable Virtual IMU Frame by Weighted Averaging of Multiple Non-Collocated IMUs

Gao, YizhouUniversity of Toronto
Barfoot, TimothyUniversity of Toronto
 
15:30-15:35, Paper WeDT4.4 
 WildFusion: Multimodal Implicit 3D Reconstructions in the Wild

Liu, YanbaihuiDuke University
Chen, BoyuanDuke University
 
15:35-15:40, Paper WeDT4.5 
 Steering Prediction Via a Multi-Sensor System for Autonomous Racing

Zhou, ZhuyunUniversity of Burgundy (Université De Bourgogne), France
Wu, ZongweiUniversity of Wurzburg
Bolli, FlorianUniversity of Zurich
Boutteau, RémiUniversité De Rouen Normandie
Yang, FanUniv. Bourgogne Franche-Comté
Timofte, RaduUniversity of Wurzburg
Ginhac, DominiqueUniv Burgundy
Delbruck, TobiUniv. of Zurich & ETH Zurich
 
15:40-15:45, Paper WeDT4.6 
 Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?

Lisus, DaniilUniversity of Toronto
Burnett, KeenanUniversity of Toronto
Yoon, David JunyUniversity of Toronto
Poulton, RichardNavtech Radar
Marshall, JohnNavtech Radar
Barfoot, TimothyUniversity of Toronto
 
WeDT5 305
Aerial Robots: Mechanics and Control 2 Regular Session
Chair: Khorrami, FarshadNew York University Tandon School of Engineering
Co-Chair: Garcia de Marina, HectorUniversidad De Granada
 
15:15-15:20, Paper WeDT5.1 
 Skater: A Novel Bi-Modal Bi-Copter Robot for Adaptive Locomotion in Air and Diverse Terrain

Lin, JunxiaoZhejiang University
Zhang, RuibinZhejiang University
Pan, NengZhejiang University
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
 
15:20-15:25, Paper WeDT5.2 
 Inverse Kinematics on Guiding Vector Fields for Robot Path Following

Zhou, YuINRIA
Bautista, JesúsUniversidad De Granada
Yao, WeijiaHunan University
Garcia de Marina, HectorUniversidad De Granada
 
15:25-15:30, Paper WeDT5.3 
 Dragonfly Drone: A Novel Tilt-Rotor Aerial Platform with Body-Morphing Capability

Hameed, Syed WaqarNTU
Liew Jun Jie, AlexNanyang Technological University
Nursultan, ImanberdiyevAgency for Science, Technology and Research (A*STAR)
Camci, EfeInstitute for Infocomm Research
Yau, Wei-YunI2R
Feroskhan, MirNanyang Technological University
 
15:30-15:35, Paper WeDT5.4 
 An Omnidirectional Non-Tethered Aerial Prototype with Fixed Uni-Directional Thrusters

Hamandi, MahmoudNew York University Abu Dhabi
Ali, Abdullah MohamedNew York University Abu Dhabi
Kyriakopoulos, KostasNew York University - Abu Dhabi
Tzes, AnthonyNew York University Abu Dhabi
Khorrami, FarshadNew York University Tandon School of Engineering
 
15:35-15:40, Paper WeDT5.5 
 TrofyBot: A Transformable Rolling and Flying Robot with High Energy Efficiency

Lai, MingweiZhejiang University
Ye, YuqianStanford University
Wu, HanyuETH Zurich
Xuan, ChiceHuzhou Institute of Zhejiang University, Huzhou
Zhang, RuibinZhejiang University
Ren, QiuyuZhejiang University
Xu, ChaoZhejiang University
Gao, FeiZhejiang University
Cao, YanjunZhejiang University, Huzhou Institute of Zhejiang University
 
15:40-15:45, Paper WeDT5.6 
 Dense Fixed-Wing Swarming Using Receding-Horizon NMPC

Madabushi, VarunGeorgia Institute of Technology
Kopel, YochevedThe Johns Hopkins University Applied Physics Laboratory
Polevoy, AdamJohns Hopkins University Applied Physics Lab
Moore, JosephJohns Hopkins University
 
15:45-15:50, Paper WeDT5.7 
 HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads

Sarvaiya, MrunalAgile Robotics and Perception Lab, NYU
Li, GuanruiNew York University
Loianno, GiuseppeNew York University
 
WeDT6 307
Perception for Grasping and Manipulation Regular Session
Chair: Dudek, GregoryMcGill University
Co-Chair: Zhi, WeimingCarnegie Mellon University
 
15:15-15:20, Paper WeDT6.1 
 Unifying Representation and Calibration with 3D Foundation Models

Zhi, WeimingCarnegie Mellon University
Tang, HaozhanCarnegie Mellon University
Zhang, TianyiCarnegie Mellon University
Johnson-Roberson, MatthewCarnegie Mellon University
 
15:20-15:25, Paper WeDT6.2 
 ReVLA: Reverting Visual Domain Limitation of Robotic Foundation Models

Dey, SombitInSAIT, Sofia University
Zaech, Jan-NicoSofia University
Nikolov, NikolayImperial College London
Van Gool, LucETH Zurich
Paudel, Danda PaniETH Zurich
 
15:25-15:30, Paper WeDT6.3 
 MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation Via Diffusion Model

Liu, JianNational Engineering Research Center of Robot Vision Perception
Sun, WeiHunan University
Yang, HuiHunan University
Zheng, JinCentral South University
Geng, ZichenThe University of Western Australia
Rahmani, HosseinLancaster University
Mian, AjmalUniversity of Western Australia
 
15:30-15:35, Paper WeDT6.4 
 A Full-Optical Pre-Touch Dual-Modal and Dual-Mechanism (PDM²) Sensor for Robotic Grasping

Fang, ChengTexas A&M University
Yan, ZhiyuTexas A&M University
Guo, FengzhiTexas A&M University
Li, ShuangliangTexas A&M University
Song, DezhenMohamed Bin Zayed University of Artificial Intelligence (MBZUAI)
Zou, JunTexas A&M University
 
15:35-15:40, Paper WeDT6.5 
 Learning Active Tactile Perception through Belief-Space Control

Tremblay, Jean-FrançoisMcGill University
Meger, David PaulMcGill University
Hogan, FrancoisMassachusetts Institute of Technology
Dudek, GregoryMcGill University
 
15:40-15:45, Paper WeDT6.6 
 Detection of Fast-Moving Objects with Neuromorphic Hardware

Ziegler, AndreasUniversity of Tübingen
Vetter, KarlUniversity of Tübingen
Gossard, ThomasUniversity of Tübingen
Tebbe, JonasUniversity of Tübingen
Otte, SebastianUniversity of Lübeck
Zell, AndreasUniversity of Tübingen
 
15:45-15:50, Paper WeDT6.7 
 Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior

Xu, KechunZhejiang University
Zhou, ZhongxiangZhejiang University
Wu, JunZhejiang University
Lu, HaojianZhejiang University
Xiong, RongZhejiang University
Wang, YueZhejiang University
 
WeDT7 309
Perception 2 Regular Session
Chair: Li, XiaopengUniversity of Wisconsin-Madison
 
15:15-15:20, Paper WeDT7.1 
 LightStereo: Channel Boost Is All You Need for Efficient 2D Cost Aggregation

Guo, XiandaSchool of Computer Science, Wuhan University
Zhang, ChenmingWaytous
Zhang, YouminUniversity of Bologna
Zheng, WenzhaoTsinghua University
Nie, DujunHuazhong University of Science and Technology
Poggi, MatteoUniversity of Bologna
Chen, LongChinese Academy of Sciences
 
15:20-15:25, Paper WeDT7.2 
 SurfaceAug: Toward Versatile, Multimodally Consistent Ground Truth Sampling

Rubel, RyanUniversity of Southern California
Clark, NathanNoblis, Inc
Dudash, AndrewNoblis
 
15:25-15:30, Paper WeDT7.3 
 Uncertainty-Guided Enhancement on Driving Perception System Via Foundation Models

Yang, YunhaoUniversity of Texas at Austin
Hu, YuxinCruise
Ye, MaoThe University of Texas, Austin
Zhang, ZaiweiCruise
Lu, ZhichaoCruise LLC
Xu, YiNortheastern University
Topcu, UfukThe University of Texas at Austin
Snyder, BenCruise
 
15:30-15:35, Paper WeDT7.4 
 Complementary Information Guided Occupancy Prediction Via Multi-Level Representation Fusion

Xu, RongtaoInstitute of Automation, Chinese Academy of Sciences, Beijing, C
Lin, JinzhouBeijing University of Posts and Communications
Zhou, JialeiTongji University
Dong, JiahuaShenyang Institute of Automation Chinese Academy of Sciences
Wang, ChangweiCasia
Wang, RuishengUniversity of Calgary
Guo, LiBUPT
Xu, ShibiaoBeijing University of Posts and Telecommunications
Liang, XiaodanSun Yat-Sen University
 
15:35-15:40, Paper WeDT7.5 
 Domain Adaptation-Based Crossmodal Knowledge Distillation for 3D Semantic Segmentation

Kang, JialiangPeking University
Wang, JiawenPeking University
Luo, DingshengPeking University
 
15:40-15:45, Paper WeDT7.6 
 Nonlinear Motion-Guided and Spatio-Temporal Aware Network for Unsupervised Event-Based Optical Flow

Liu, ZuntaoNortheastern University of China
Zhuang, HaoNortheastern University
Jiang, JunjieNortheastern University
Song, YuhangNortheastern University - China
Fang, ZhengNortheastern University
 
15:45-15:50, Paper WeDT7.7 
 V2X-DG: Domain Generalization for Vehicle-To-Everything Cooperative Perception

Li, BaoluCleveland State University
Xu, ZongzheCarnegie Mellon University
Li, JinlongCleveland State University
Liu, XinyuCleveland State University
Fang, JianwuXian Jiaotong University
Li, XiaopengUniversity of Wisconsin-Madison
Yu, HongkaiCleveland State University
 
WeDT8 311
Representation Learning 3 Regular Session
 
15:15-15:20, Paper WeDT8.1 
 IMOST: Incremental Memory Mechanism with Online Self-Supervision for Continual Traversability Learning

Ma, KehuiShanghai Jiao Tong University
Sun, ZhenShanghai Jiao Tong University
Xiong, ChaoranShanghai Jiao Tong University
Zhu, QiuminShanghai Jiao Tong University
Wang, KeweiShanghai Jiao Tong University
Pei, LingShanghai Jiao Tong University
 
15:20-15:25, Paper WeDT8.2 
 SparseDrive: End-To-End Autonomous Driving Via Sparse Scene Representation

Sun, WenchaoTsinghua University
Lin, XuewuHorizon
Shi, YiningTsinghua University
Zhang, ChuangTsinghua University
Wu, HaoranTsinghua University
Zheng, SifaTsinghua University
 
15:25-15:30, Paper WeDT8.3 
 MOTION TRACKS: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning

Ren, JuntaoCornell University
Sundaresan, PriyaStanford University
Sadigh, DorsaStanford University
Choudhury, SanjibanCornell University
Bohg, JeannetteStanford University
 
15:30-15:35, Paper WeDT8.4 
 Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation

Wu, KunSyracuse University
Zhu, YichenMidea Group
Li, JinmingShanghai University
Wen, JunjieEast China Normal University
Liu, NingBeijing Innovation Center of Humanoid Robotics
Xu, ZhiyuanMidea Group
Tang, JianMidea Group (Shanghai) Co., Ltd
 
15:35-15:40, Paper WeDT8.5 
 AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility

Xiao, WenliCarnegie Mellon University
Xue, HaoruUniversity of California Berkeley
Tao, TonyCarnegie Mellon University
Kalaria, DvijCarnegie Mellon University
Dolan, John M.Carnegie Mellon University
Shi, GuanyaCarnegie Mellon University
 
15:40-15:45, Paper WeDT8.6 
 UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation

Tang, YiheStanford University
Huang, WenlongStanford University
Wang, YingkeStanford University
Li, ChengshuStanford University
Yuan, RoyStanford University
Zhang, RuohanStanford University
Wu, JiajunStanford University
Fei-Fei, LiStanford University
 
15:45-15:50, Paper WeDT8.7 
 Learning Dynamics of a Ball with Differentiable Factor Graph and Roto-Translational Invariant Representations

Xiao, QingyuGeorgia Institute of Technology
Wu, ZixuanGeorgia Institute of Technology
Gombolay, MatthewGeorgia Institute of Technology
 
WeDT9 312
Motion Planning 5 Regular Session
Chair: Xiao, XuesuGeorge Mason University
 
15:15-15:20, Paper WeDT9.1 
 Semi-Supervised Active Learning for Semantic Segmentation in Unknown Environments Using Informative Path Planning

Rückin, JuliusUniversity of Bonn
Magistri, FedericoUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
Popovic, MarijaTU Delft
 
15:20-15:25, Paper WeDT9.2 
 FutureNet-LOF: Joint Trajectory Prediction and Lane Occupancy Field Prediction with Future Context Encoding

Wang, MingkunPeking University
Ren, XiaoguangAcademy of Military Sciences
Jin, RuochunNational University of Defense Technology
Li, MinglongNational University of Defense Technology
Zhang, XiaochuanAcademy of Military Science
Yu, ChangqianMeituan
Wang, MingxuFudan University
Yang, WenjingState Key Laboratory of High Performance Computing (HPCL), Schoo
 
15:25-15:30, Paper WeDT9.3 
 Hierarchical Reinforcement Learning for Safe Mapless Navigation with Congestion Estimation

Gao, JianqiHarbin Institute of Technology (Shenzhen)
Pang, XizhengHarbin Institute of Technology, Shenzhen
Liu, QiNortheastern University
Li, YanjieHarbin Institute of Technology (Shenzhen)
 
15:30-15:35, Paper WeDT9.4 
 Hierarchical End-To-End Autonomous Driving: Integrating BEV Perception with Deep Reinforcement Learning

Lu, SiyiCentral South University
He, LeiTsinghua University
Li, Shengbo EbenTsinghua University
Luo, YugongTsinghua University
Wang, JianqiangTsinghua University
Li, KeqiangTsinghua University
 
15:35-15:40, Paper WeDT9.5 
 Multi-Goal Motion Memory

Lu, YuanjieGeorge Mason University
Das, DibyenduGeorge Mason University
Plaku, ErionU.S. National Science Foundation
Xiao, XuesuGeorge Mason University
 
15:40-15:45, Paper WeDT9.6 
 Dual-BEV Nav: Dual-Layer BEV-Based Heuristic Path Planning for Robotic Navigation in Unstructured Outdoor Environments

Zhang, JianfengEast China Normal University
Dong, HanlinEast China Normal University
Yang, JianInformation Engineering University
Liu, JiahuiFujian Normal University
Huang, ShiboEast China Normal University
Li, KeInformation Engineering University
Tang, XuanEast China Normal University
Wei, XianEast China Normal University
You, XiongInformation Engineering University
 
15:45-15:50, Paper WeDT9.7 
 Risk-Aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures

M. Jasour, AshkanMIT
Daddi, GuglielmoPolitecnico Di Torino
Endo, MasafumiKeio University
Vaquero, TiagoJPL, Caltech
Paton, MichaelJet Propulsion Laboratory
Strub, Marlin PoloNASA Jet Propulsion Laboratory
Corpino, SabrinaPolitecnico Di Torino
Ingham, MichelNASA-JPL
Ono, MasahiroCalifornia Institute of Technology
Thakker, RohanNasa's Jet Propulsion Laboratory, Caltech
 
WeDT10 313
Multi-Robot Systems 2 Regular Session
Co-Chair: Bhattacharya, SourabhIowa State University
 
15:15-15:20, Paper WeDT10.1 
 Formation Rotation and Assignment: Avoiding Obstacles in Multi-Robot Scenarios

Zhang, ZhanNorthwestern Polytechnical University
Li, YanNorthwestern Polytechnical University
Gu, ZhiyangSchool of Automation, Northwestern Polytechnical University
Wang, ZhongNorthwestern Polytechnical University
 
15:20-15:25, Paper WeDT10.2 
 A Streamlined Heuristic for the Problem of Min-Time Coverage in Constricted Environments (I)

Kim, Young-InISyE, Georgia Tech
Reveliotis, SpiridonGeorgia Institute of Technology
 
15:25-15:30, Paper WeDT10.3 
 Scalable Multi-Agent Surveillance: A Kernel-Based Approach

Mandal, ShashwataIowa State University
Bhattacharya, SourabhIowa State University
 
15:30-15:35, Paper WeDT10.4 
 Contingency Formation Planning for Interactive Drone Light Shows

Au, Tsz-ChiuTexas State University
 
15:35-15:40, Paper WeDT10.5 
 Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps

Wu, TianfuHong Kong University of Science and Technology
Fu, JiaqiBeijing Jiaotong University
Meng, WugangHong Kong University of Science and Technology
Cho, SungjinSunchon National University
Zhan, HuanzheEmory University
Zhang, FuminHong Kong University of Science and Technology
 
15:40-15:45, Paper WeDT10.6 
 Multi-Agent Exploration with Similarity Score Map and Topological Memory

Lee, Eun SunSeoul National University
Kim, Young MinSeoul National University
 
15:45-15:50, Paper WeDT10.7 
 DREAM: Decentralized Real-Time Asynchronous Probabilistic Trajectory Planning for Collision-Free Multi-Robot Navigation in Cluttered Environments

Şenbaşlar, BaskınNVIDIA
Sukhatme, GauravUniversity of Southern California
 
WeDT11 314
Foundation Models for Manipulation Regular Session
Chair: Rivera, CorbanJohns Hopkins University Applied Physics Lab
Co-Chair: Kober, JensTU Delft
 
15:15-15:20, Paper WeDT11.1 
 Enhancing the LLM-Based Robot Manipulation through Human-Robot Collaboration

Liu, HaokunThe University of Tokyo
Zhu, YaonanUniversity of Tokyo
Kato, KenjiNational Center for Geriatrics and Gerontology
Tsukahara, AtsushiShinshu University
Kondo Izumi, Kondo IzumiNational Center for Geriatrics and Gerontology
Aoyama, TadayoshiNagoya University
Hasegawa, YasuhisaNagoya University
 
15:20-15:25, Paper WeDT11.2 
 In-Context Learning Enables Robot Action Prediction in LLMs

Yin, YidaUniversity of California, Berkeley
Wang, ZekaiUniversity of California, Berkeley
Sharma, YuvanUniversity of California, Berkeley
Niu, DantongUniversity of California, Berkeley
Darrell, TrevorUC Berkeley
Herzig, RoeiTel Aviv University
 
15:25-15:30, Paper WeDT11.3 
 UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models

Yu, QiaojunShanghai Jiao Tong University
Huang, SiyuanShanghai Jiao Tong University
Yuan, XibinShanghai Jiao Tong University
Jiang, ZhengkaiTencent
Hao, CeUniversity of California, Berkeley
Li, XinShanghai Jiao Tong University
Chang, HaonanRutgers University
Wang, JunboShanghai Jiao Tong University
Liu, LiuHefei University of Technology
Li, HongshengChinese University of Hong Kong
Gao, PengShanghai AI Lab
Lu, CewuShangHai Jiao Tong University
 
15:30-15:35, Paper WeDT11.4 
 ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution

Rivera, CorbanJohns Hopkins University Applied Physics Lab
Byrd, GraysonJohns Hopkins University
Paul, WilliamJohns Hopkins University Applied Physics Lab
Feldman, TylerJohns Hopkins University Applied Physics Laboratory
Booker, MeghanPrinceton University
Holmes, EmmaJohns Hopkins University Applied Physics Lab
Handelman, DavidAmerican Android Corp
Kemp, BethanyJohns Hopkins Applied Physics Laboratory
Badger, AndrewJHUAPL
Schmidt, AuroraJohns Hopkins University Applied Physic Laboratory
Jatavallabhula, Krishna MurthyMIT
de Melo, CelsoCCDC US Army Research Laboratory
Seenivasan, LalithkumarJohns Hopkins University
Unberath, MathiasJohns Hopkins University
Chellappa, RamaJohns Hopkins University
 
15:35-15:40, Paper WeDT11.5 
 Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-Guided 3D Policy

Garcia-Pinel, RicardoInria
Chen, ShizheInria
Schmid, CordeliaInria
 
15:40-15:45, Paper WeDT11.6 
 Discovering Object Attributes by Prompting Large Language Models with Perception-Action APIs

Mavrogiannis, AngelosUniversity of Maryland, College Park
Yuan, DehaoUniversity of Maryland, College Park
Aloimonos, YiannisUniversity of Maryland
 
15:45-15:50, Paper WeDT11.7 
 ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models

Ma, RunyuTu Delft
Luijkx, Jelle DouweDelft University of Technology
Ajanovic, ZlatanRWTH Aachen University
Kober, JensTU Delft
 
WeDT12 315
Robotics and Automation in Construction and Industry Regular Session
Co-Chair: Werfel, JustinHarvard University
 
15:15-15:20, Paper WeDT12.1 
 Physical Simulation with Force Feedback Aids Robot Factors Design

Kaeser, CarinaStudent
Melenbrink, NathanHarvard University
Karp, AllisonHarvard
Werfel, JustinHarvard University
 
15:20-15:25, Paper WeDT12.2 
 Environmental Map Learning with Multiple-Robots

Shamshirgaran, AzinUniversity of California, Merced
Carpin, StefanoUniversity of California, Merced
 
15:25-15:30, Paper WeDT12.3 
 SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building

Huang, HaomingThe Hong Kong University of Science and Technology
Qiao, ZhijianHong Kong University of Science and Technology
Yu, ZehuanHong Kong University of Science and Technology
Liu, ChuhaoHong Kong University of Science and Technology
Shen, ShaojieHong Kong University of Science and Technology
Zhang, FuminHong Kong University of Science and Technology
Yin, HuanHong Kong University of Science and Technology
 
15:30-15:35, Paper WeDT12.4 
 Unified Adaptive and Cooperative Planning Using Multi-Task Coregionalized Gaussian Processes

Booth, Lorenzo A.University of California Merced
Carpin, StefanoUniversity of California, Merced
 
15:35-15:40, Paper WeDT12.5 
 COIGAN: Controllable Object Inpainting through Generative Adversarial Network for Defect Synthesis in Data Augmentation

Biancucci, MassimilianoUniversità Politecnica Delle Marche
Galdelli, AlessandroUniversità Politecnica Delle Marche
Narang, GaganUniversità Politecnica Delle Marche
Pietrini, RoccoUniversià Politecnica Delle Marche
Mancini, AdrianoUniversità Politecnica Delle Marche
Zingaretti, PrimoUniversità Politecnica Delle Marche
 
15:40-15:45, Paper WeDT12.6 
 Diffusion Based Robust LiDAR Place Recognition

Krummenacher, BenjaminETH Zurich
Frey, JonasETH Zurich
Tuna, TurcanETH Zurich, Robotic Systems Lab
Vysotska, OlgaETH Zurich
Hutter, MarcoETH Zurich
 
15:45-15:50, Paper WeDT12.7 
 Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers

Kindle, JulienETH Zurich
Loetscher, MichaelETH Zurich, Hilti
Alessandretti, AndreaHilti Group
Cadena, CesarETH Zurich
Hutter, MarcoETH Zurich
 
WeDT13 316
Manipulation and Locomotion Using Magnetic Fields Regular Session
Chair: Tanner, Herbert G.University of Delaware
 
15:15-15:20, Paper WeDT13.1 
 Open-Loop Position Control of a Miniature Magnetic Robot Using Two-Dimensional Divergence Control of a Magnetic Force

Lee, HakjoonDaegu Gyeongbuk Institute of Science and Technology (DGIST)
Latifi Gharamaleki, NaderDGIST
Choi, HongsooDaegu Gyeongbuk Institute of Science and Technology (DGIST)
 
15:20-15:25, Paper WeDT13.2 
 An Equilibrium Analysis of Magnetic Quadrupole Force Field with Applications to Microrobotic Swarm Coordination

Faros, IoannisUniversity of Delaware
Tanner, Herbert G.University of Delaware
 
15:25-15:30, Paper WeDT13.3 
 Ensemble Control of a 2-DOF Parallel Link Arm in a Capsule Robot Using Oscillating External Magnetic Fields

Zhao, ZihanThe University of Sheffield
Hafez, AhmedUniversity of Sheffield
Miyashita, ShuheiUniversity of Sheffield
 
15:30-15:35, Paper WeDT13.4 
 Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-Robot Navigation with Immersive Manipulation

Mao, YudongImperial College London
Zhang, DandanImperial College London
 
15:35-15:40, Paper WeDT13.5 
 OMASTAR Optimal Magnetic Actuation System Arrangement

Palanichamy, VeerashMcMaster University
Saad, HusseinMcMaster University
Giamou, MatthewMcMaster University
Onaizah, OnaizahMcMaster University
 
15:40-15:45, Paper WeDT13.6 
 Measuring DNA Microswimmer Locomotion in Complex Flow Environments

Imamura, TarynCarnegie Mellon University
Kent, TeresaCarnegie Mellon University
Taylor, RebeccaCarnegie Mellon University
Bergbreiter, SarahCarnegie Mellon University
 
15:45-15:50, Paper WeDT13.7 
 Position Regulation of a Conductive Nonmagnetic Object with Two Stationary Field Sources

Dalton, DevinUniversity of Utah
Tabor, GriffinUniversity of Utah
Hermans, TuckerUniversity of Utah
Abbott, Jake J.University of Utah
 
WeDT14 402
Social Navigation 1 Regular Session
Chair: Mavrogiannis, ChristoforosUniversity of Michigan
Co-Chair: Kästner, LinhT-Mobile, TU Berlin
 
15:15-15:20, Paper WeDT14.1 
 From Cognition to Precognition: A Future-Aware Framework for Social Navigation

Gong, ZeyingHong Kong University of Science and Technology (Guangzhou)
Hu, TianshuaiThe Hong Kong University of Science and Technology
Qiu, RongheThe Hong Kong University of Science and Technology (Guangzhou)
Liang, JunweiHKUST (Guangzhou)
 
15:20-15:25, Paper WeDT14.2 
 OLiVia-Nav: An Online Lifelong Vision Language Approach for Mobile Robot Social Navigation

Narasimhan, SiddarthUniversity of Toronto
Tan, Aaron HaoUniversity of Toronto
Choi, DanielUniversity of Toronto
Nejat, GoldieUniversity of Toronto
 
15:25-15:30, Paper WeDT14.3 
 Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-Centric Navigation Using Generative-Model-Based Environment Generation

Shcherbyna, VolodymyrTechnical University Berlin
Kästner, LinhT-Mobile, TU Berlin
Diaz, DiegoTechnical University Berlin
Nguyen Huu Truong, GiangHaNoi University of Science and Technology
Schreff, Maximilian Ho-KyoungTechnical University Berlin
Seeger, TimTechnical University Berlin
Kreutz, JonasTechnical University Berlin
Martban, AhmedTechnical University Berlin
Shen, ZhengchengTU Berlin
Zeng, HuajianTechnical University Munich
Soh, HaroldNational University of Singapore
 
15:30-15:35, Paper WeDT14.4 
 Active Inference-Based Planning for Safe Human-Robot Interaction: Concurrent Consideration of Human Characteristic and Rationality

Nam, YoungimUlsan National Institute of Science and Technology
Kwon, CheolhyeonUlsan National Institute of Science and Technology
 
15:35-15:40, Paper WeDT14.5 
 Characterizing the Complexity of Social Robot Navigation Scenarios

Stratton, AndrewUniversity of Michigan
Hauser, KrisUniversity of Illinois at Urbana-Champaign
Mavrogiannis, ChristoforosUniversity of Michigan
 
15:40-15:45, Paper WeDT14.6 
 Domain Randomization for Learning to Navigate in Human Environments (Resubmission)

Ah Sen, NickMonash University
Kulic, DanaMonash University
Carreno, PamelaMonash University
 
WeDT15 403
Manipulation Planning Regular Session
Chair: Cheng, XianyiDuke University
Co-Chair: Shirai, YukiMitsubishi Electric Research Laboratories
 
15:15-15:20, Paper WeDT15.1 
 Characterizing Manipulation Robustness through Energy Margin and Caging Analysis

Dong, YifeiKTH
Cheng, XianyiCarnegie Mellon University
Pokorny, Florian T.KTH Royal Institute of Technology
 
15:20-15:25, Paper WeDT15.2 
 Enhancing Adaptivity of Two-Fingered Object Reorientation Using Tactile-Based Online Optimization of Deconstructed Actions

Huang, QiyinTsinghua University
Li, TieminTsinghua University
Jiang, YaoTsinghua University
 
15:25-15:30, Paper WeDT15.3 
 A Full-Cycle Assembly Operation: From Digital Planning to Trajectory Execution Using a Robotic Arm

Livnat, DrorTel Aviv University
Lavi, YuvalTel Aviv University
Halperin, DanTel Aviv University
 
15:30-15:35, Paper WeDT15.4 
 Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach

Teimoorzadeh, AinoorTechnical University of Munich
Pupa, AndreaUniversity of Modena and Reggio Emilia
Selvaggio, MarioUniversità Degli Studi Di Napoli Federico II
Haddadin, SamiMohamed Bin Zayed University of Artificial Intelligence
 
15:35-15:40, Paper WeDT15.5 
 Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation Using Tight Convex Relaxations

Shirai, YukiMitsubishi Electric Research Laboratories
Raghunathan, ArvindMitsubishi Electric Research Laboratories
Jha, DeveshMitsubishi Electric Research Laboratories
 
15:40-15:45, Paper WeDT15.6 
 Constraining Gaussian Process Implicit Surfaces for Robot Manipulation Via Dataset Refinement

Kumar, AbhinavUniversity of Michigan
Mitrano, PeterUniversity of Michigan
Berenson, DmitryUniversity of Michigan
 
WeDT16 404
Optimization and Trajectory Planning Regular Session
Chair: Figueroa, NadiaUniversity of Pennsylvania
Co-Chair: Zinage, VrushabhUniversity of Texas at Austin
 
15:15-15:20, Paper WeDT16.1 
 Optimizing Complex Control Systems with Differentiable Simulators: A Hybrid Approach to Reinforcement Learning and Trajectory Planning

Parag, AmitSintef Ocean AS
Mansard, NicolasCNRS
Misimi, EkremSINTEF Ocean
 
15:20-15:25, Paper WeDT16.2 
 TransformerMPC: Accelerating Model Predictive Control Via Transformers

Zinage, VrushabhUniversity of Texas at Austin
Khalil, AhmedThe University of Texas at Austin
Bakolas, EfstathiosThe University of Texas at Austin
 
15:25-15:30, Paper WeDT16.3 
 A New Semidefinite Relaxation for Linear and Piecewise Affine Optimal Control with Time Scaling

Yang, LujieMIT
Marcucci, TobiaMassachusetts Institute of Technology
Parrilo, PabloMIT
Tedrake, RussMassachusetts Institute of Technology
 
15:30-15:35, Paper WeDT16.4 
 C-Uniform Trajectory Sampling for Fast Motion Planning

Poyrazoglu, Oguzhan GoktugUniversity of Minnesota
Cao, YukangUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
 
15:35-15:40, Paper WeDT16.5 
 ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation

Srikanthan, AnushaUniversity of Pennsylvania
Xue, YifanUniversity of Pennsylvania
Kumar, VijayUniversity of Pennsylvania
Matni, NikolaiUniversity of Pennsylvania
Figueroa, NadiaUniversity of Pennsylvania
 
15:40-15:45, Paper WeDT16.6 
 Transformer-Based Model Predictive Control: Trajectory Optimization Via Sequence Modeling

Celestini, DavidePolitecnico Di Torino
Gammelli, DanieleStanford
Guffanti, TommasoStanford University
D’Amico, SimoneStanford University
Capello, ElisaPolitecnico Di Torino CNR IEIIT
Pavone, MarcoStanford University
 
15:45-15:50, Paper WeDT16.7 
 Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator under Payload Uncertainty

Srour, AliCNRS
Franchi, AntonioUniversity of Twente / Sapienza University of Rome
Robuffo Giordano, PaoloIrisa Cnrs Umr6074
Cognetti, MarcoLAAS-CNRS and Université Toulouse III - Paul Sabatier
 
WeDT17 405
Soft Robotics: Modeling, Control, and Learning Regular Session
Chair: Zhang, JianweiUniversity of Hamburg
Co-Chair: Sun, YeUniversity of Virginia
 
15:15-15:20, Paper WeDT17.1 
 Composite Learning Neural Network Tracking Control of Articulated Soft Robots

Zou, ZhigangSun Yat-Sen University
Li, ZhiwenSun Yat-Set University
Li, WeibingSun Yat-Sen University
Pan, YongpingPeng Cheng Laboratory
 
15:20-15:25, Paper WeDT17.2 
 Multi-Segment Soft Robot Control Via Deep Koopman-Based Model Predictive Control

Lv, LeiTongji University
Liu, LeiTsinghua University
Bao, LeiBeijing Soft Robot Tech Co., Ltd
Sun, FuchunTsinghua University
Dong, JiahongTsinghua University Affiliated Beijing Tsinghua Changgung Hospit
Zhang, JianweiUniversity of Hamburg
Shan, XuemeiBeijing Soft Robot Tech Co., Ltd
Sun, KaiTsinghua University
Huang, HaoBeihang University
Luo, YuTsinghua University
 
15:25-15:30, Paper WeDT17.3 
 Physics-Informed Split Koopman Operators for Data-Efficient Soft Robotic Simulation

Ristich, EronArizona State University
Zhang, LeiArizona State University
Ren, YiArizona State University
Sun, JiefengArizona State University
 
15:30-15:35, Paper WeDT17.4 
 Robust Swimming Controller for Soft Robots Via Drop-Out Learning

Monica, JosephineCornell University
Campbell, MarkCornell University
 
15:35-15:40, Paper WeDT17.5 
 Optimal Gait Control for a Tendon-Driven Soft Quadruped Robot by Model-Based Reinforcement Learning

Niu, XuezhiUppsala University
Tan, KaigeKTH Royal Institute of Technology
Gurdur Broo, DidemUppsala University
Feng, LeiKTH Royal Institute of Technology
 
15:40-15:45, Paper WeDT17.6 
 Physics-Guided Deep Learning Enabled Surrogate Modeling for Pneumatic Soft Robots

Beaber, Sameh I.University of Virginia
Liu, ZhenUniversity of Virginia
Sun, YeUniversity of Virginia
 
15:45-15:50, Paper WeDT17.7 
 Learning-Based Nonlinear Model Predictive Control of Articulated Soft Robots Using Recurrent Neural Networks

Schaefke, HendrikLeibniz University Hannover
Habich, Tim-LukasLeibniz University Hannover
Muhmann, ChristianLeibniz University Hannover
Ehlers, Simon F. G.Leibniz University Hannover
Seel, ThomasLeibniz Universität Hannover
Schappler, MoritzInstitute of Mechatronic Systems, Leibniz Universitaet Hannover
 
WeDT18 406
Surgical Robotics: Steerable Catheters/Needles 1 Regular Session
Co-Chair: Chitalia, YashUniversity of Louisville
 
15:15-15:20, Paper WeDT18.1 
 Towards a Tendon-Assisted Magnetically Steered (TAMS) Robotic Stylet for Brachytherapy

Kheradmand, PejmanUniversity of Louisville
Moradkhani, BehnamUniversity of Louisville
Jella, HarshithUniversity of Louisville
Sowards, KeithDepartment of Radiation Oncology, University of Louisville
Silva, ScottUniversity of Louisville
Chitalia, YashUniversity of Louisville
 
15:20-15:25, Paper WeDT18.2 
 VascularPilot3D: Toward a 3D Fully Autonomous Navigation for Endovascular Robotics

Song, JingweiUniversity of Michigan
Yang, KekeUnited Imaging
Chen, HanShanghai United Imaging Medical High-Tech Research Institute Co
Liu, JiayiUnited Imaging
Gu, YinanShanghai United Imaging Healthcare High Tech Research Institute
Hui, QianxinShanghai United Imaging Healthcare Advance Technology Research I
Huang, YanqiShanghai United Imaging Healthcare Co., LTD
Li, MengShanghai United Imaging Healthcare Co., Ltd
Zhang, Zheng1. the Institute of Medical Imaging Technology, School of Biomed
Cao, TuoyuUnited Imaging Healthcare
Ghaffari, MaaniUniversity of Michigan
 
15:25-15:30, Paper WeDT18.3 
 Weakly-Supervised Learning Via Multi-Lateral Decoder Branching for Tool Segmentation in Robot-Assisted Cardiovascular Catheterization

Omisore, Olatunji MuminiShenzhen Institute of Advanced Technology, Chinese Academy of Sc
Akinyemi, ToluwanimiShenzhen Institute of Advanced Technology
Nguyen, AnhUniversity of Liverpool
Wang, LeiShenzhen Institutes of Advanced Technology, Chinese Academy of S
 
15:30-15:35, Paper WeDT18.4 
 Image-Based Compliance Control for Robotic Steering of a Ferromagnetic Guidewire

Hu, AnUniversity of Toronto
Sun, ChenUniversity of Toronto
Dmytriw, AdamNeurovascular Centre, Divisions of Therapeutic Neuroradiology An
Xiao, NanBeijing Institute of Technology
Sun, YuUniversity of Toronto
 
15:35-15:40, Paper WeDT18.5 
 Towards Evaluating the User Comfort and Experience of a Novel Steerable Drilling Robotic System in Pedicle Screw Fixation Procedures: A User Study

Sharma, SusheelaUniversity of Texas at Austin
Racz, Frigyes SamuelThe University of Texas at Austin
Go, SarahUniversity of Texas at Austin
Kapuria, SiddharthaUniversity of Texas at Austin
Rezayof, OmidUniversity of Texas at Austin
Amadio, Jordan P.University of Texas Dell Medical School
Khadem, MohsenUniversity of Edinburgh
Millán, José del R.The University of Texas at Austin
Alambeigi, FarshidUniversity of Texas at Austin
 
15:40-15:45, Paper WeDT18.6 
 Minimally Invasive Endotracheal Inside-Out Flexible Needle Driving System towards Microendoscope-Guided Robotic Tracheostomy

Lin, BotaoThe Chinese University of Hong Kong
Yuan, SishenThe Chinese University of Hong Kong
Zhang, TinghuaThe Chinese University of Hong Kong
Zhang, TaoChinese University of Hong Kong
Hao, RuoyiThe Chinese University of Hong Kong
Yuan, WuThe Chinese University of Hong Kong
Lim, Chwee MingNational University of Singapore
Ren, HongliangChinese Univ Hong Kong (CUHK) & National Univ Singapore(NUS)
 
15:45-15:50, Paper WeDT18.7 
 Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-Tendon Catheter Kinematics

Wang, YuanBoston Children's Hospital, Harvard Medical School
Dupont, PierreChildren's Hospital Boston, Harvard Medical School
 
WeDT19 407
Novel Methods for Mapping and Localization Regular Session
Co-Chair: Kim, AyoungSeoul National University
 
15:15-15:20, Paper WeDT19.1 
 Fieldscale: Locality-Aware Field-Based Adaptive Rescaling for Thermal Infrared Image

Gil, HyeonjaeSNU
Jeon, Myung-HwanUIUC
Kim, AyoungSeoul National University
 
15:20-15:25, Paper WeDT19.2 
 Evaluating Global Geo-Alignment for Precision Learned Autonomous Vehicle Localization Using Aerial Data

Yang, YiNuro Inc
Zhao, XuranNuro
Zhao, Haicheng CharlesNuro
Yuan, ShuminNuro AI
Bateman, SamuelNuro
Huang, Tiffany A.Mercedes-Benz Research & Development North America
Beall, ChrisGeorgia Institute of Technology
Maddern, WillNuro
 
15:25-15:30, Paper WeDT19.3 
 Under Pressure: Altimeter-Aided ICP for 3D Maps Consistency

Dubois, WilliamUniversité Laval
Samson, NicolasUniversité Laval
Daum, EffieUniversité Laval
Laconte, JohannFrench National Research Institute for Agriculture, Food and The
Pomerleau, FrancoisUniversité Laval
 
15:30-15:35, Paper WeDT19.4 
 Neural Ranging Inertial Odometry

Wang, SiZhejiang University
Shen, BingqiZhejiang University
Wang, FeiBeijing Institute of Electronic System Engineering
Cao, YanjunZhejiang University, Huzhou Institute of Zhejiang University
Xiong, RongZhejiang University
Wang, YueZhejiang University
 
15:35-15:40, Paper WeDT19.5 
 Robust Preintegrated Wheel Odometry for Off-Road Autonomous Ground Vehicles

Potokar, EastonCarnegie Mellon Uiversity
McGann, DanielCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
15:40-15:45, Paper WeDT19.6 
 Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning (I)

Miller, IanBurro
Cladera, FernandoUniversity of Pennsylvania
Smith, TreyNASA Ames Research Center
Taylor, Camillo JoseUniversity of Pennsylvania
Kumar, VijayUniversity of Pennsylvania
 
15:45-15:50, Paper WeDT19.7 
 Visual-Inertial Localization Leveraging Skylight Polarization Pattern Constraints

Wan, ZhenhuaGuangxi University
Fu, PengTsinghua University
Wang, KunfengTsinghua University
Zhao, KaichunTsinghua University
 
WeDT20 408
Human-Robot Interaction: Physiological Sensing Regular Session
Co-Chair: Lagomarsino, MartaIstituto Italiano Di Tecnologia
 
15:15-15:20, Paper WeDT20.1 
 Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization

Campagna, GiulioAalborg University
Lagomarsino, MartaIstituto Italiano Di Tecnologia
Lorenzini, MartaIstituto Italiano Di Tecnologia
Chrysostomou, DimitriosAalborg University
Rehm, MatthiasAalborg University
Ajoudani, ArashIstituto Italiano Di Tecnologia
 
15:20-15:25, Paper WeDT20.2 
 GazeHTA: End-To-End Gaze Target Detection with Head-Target Association

Lin, Zhi-YiDelft University of Technology
Chew, Jouh YeongHonda Research Institute Japan
van Gemert, Jan C.TU Delft
Zhang, XucongDelft University of Technology
 
15:25-15:30, Paper WeDT20.3 
 Gaze and Go: Harnessing Visual Attention Valence in Upper-Limb Robotic Rehabilitation with Tailored Gamification and Eye Tracking for Neuroplasticity

Wang, DaomiaoFudan University
He, PeidongUniversity of Shanghai for Science and Technology
Wang, YixiShanghai ZD MedTech Co., Ltd
Jian, ZhuoShanghai ZD MEDTECH
Song, ZilongFudan University
Hu, QihanFudan University
Fang, FanfuChanghai Hospital
Yang, CuiweiFudan University
Wang, DaoyuFudan University
Yu, HongliuUniversity of Shanghai for Science and Technology
 
15:30-15:35, Paper WeDT20.4 
 Teleoperating a 6 DoF Robotic Manipulator from Head Movements

Poignant, AlexisSorbonne Université, ISIR UMR 7222 CNRS
Jarrassé, NathanaelSorbonne Université, ISIR UMR 7222 CNRS
Morel, GuillaumeSorbonne Université, CNRS, INSERM
 
15:35-15:40, Paper WeDT20.5 
 Wearable Soft Sensing Band with Stretchable Sensors for Torque Estimation and Hand Gesture Recognition

Choi, JunhwanKorea Advanced Institute of Science and Technology, (KAIST)
Feng, JirouKorea Advanced Institute of Science and Technology
Kim, JungKAIST
 
15:40-15:45, Paper WeDT20.6 
 Plug-And-Play Multi-Domain Fusion Adaptation for Cross-Subject EEG-Based Motor Imagery Classification

Shi, KechengThe School of Automation Engineering, University of Electronic S
Huang, RuiUniversity of Electronic Science and Technology of China
Li, ZheUniversity of Electronic Science and Technology of China
Lyu, JianzhiUniversity of Hamburg
Zhao, YangUniversity of Electronic Science and Technology of China
Song, GuangkuiUniversity of Electronic Science and Technology of China
Cheng, HongUniversity of Electronic Science and Technology
Zhang, JianweiUniversity of Hamburg
 
15:45-15:50, Paper WeDT20.7 
 Learning to Communicate Functional States with Nonverbal Expressions for Improved Human-Robot Collaboration

Roy, LiamMonash University
Croft, ElizabethUniversity of Victoria
Kulic, DanaMonash University
 
WeDT21 410
Vision-Language-Action Models Regular Session
 
15:15-15:20, Paper WeDT21.1 
 SpatialBot: Precise Spatial Understanding with Vision Language Models

Cai, WenxiaoStanford University
Ponomarenko, IaroslavPeking University
Yuan, JianhaoUniversity of Oxford
Li, XiaoqiPeking University
Yang, WankouSoutheast University
Dong, HaoPeking University
Zhao, BoShanghai Jiao Tong University
 
15:20-15:25, Paper WeDT21.2 
 Run-Time Observation Interventions Make Vision-Language-Action Models More Visually Robust

Hancock, AsherPrinceton University
Ren, Allen Z.Princeton University
Majumdar, AnirudhaPrinceton University
 
15:25-15:30, Paper WeDT21.3 
 KALIE: Fine-Tuning Vision-Language Models for Open-World Manipulation without Robot Data

Tang, GraceUniversity of California, Berkeley
Rajkumar, SwethaUniversity of California, Berkeley
Zhou, YifeiUniversity of California, Berkeley
Walke, HomerUC Berkeley
Levine, SergeyUC Berkeley
Fang, KuanCornell University
 
15:30-15:35, Paper WeDT21.4 
 GHIL-Glue: Hierarchical Control with Filtered Subgoal Images

Hatch, Kyle BeltranToyota Research Institute
Balakrishna, AshwinToyota Research Institute
Mees, OierUniversity of California, Berkeley
Nair, SurajStanford University
Park, SeohongSeohong@berkeley.edu
Wulfe, BlakeStanford University
Itkina, MashaStanford University
Eysenbach, BenjaminCMU
Levine, SergeyUC Berkeley
Kollar, ThomasToyota Research Institute
Burchfiel, BenjaminToyota Research Institute
 
15:35-15:40, Paper WeDT21.5 
 Simultaneous Localization and Affordance Prediction of Tasks from Egocentric Video

Chavis, ZacharyUniversity of Minnesota
Park, Hyun SooCarnegie Mellon University
Guy, Stephen J.University of Minnesota - Twin Cities
 
15:40-15:45, Paper WeDT21.6 
 QUART-Online: Latency-Free Multimodal Large Language Model for Quadruped Robot Learning

Tong, XinyangWestlake University
Ding, PengxiangWestlake University
Fan, YiguoWestlake University
Wang, DonglinWestlake University
Zhang, WenjieWestlake University
Cui, CanWestlake University
Sun, MingyangWestlake University
Zhao, HanWestlake University
Zhang, HongyinWestlake University
Dang, YonghaoBeijing University of Posts and Telecommunications
Huang, SitengWestlake Univerisity
Lyu, ShangkeWestlake University
 
15:45-15:50, Paper WeDT21.7 
 IntelliRMS: A Robotic Manipulation System for Domain-Specific Tasks Using Vision and Language Foundational Models

Singh, Chandan KumarTata Consultancy Services
Kumar, DeveshTata Consultancy Services Limited
Sanap, VipulTCS
Khandelwal, MayankTata Consultancy Services Limited
Sinha, RajeshTCS-Noida
 
WeDT22 411
Deep Learning for Visual Perception 2 Regular Session
Chair: Ding, MingyuUniversity of North Carolina at Chapel Hill
 
15:15-15:20, Paper WeDT22.1 
 SCA3D: Enhancing Cross-Modal 3D Retrieval Via 3D Shape and Caption Paired Data Augmentation

Ren, JunlongThe Hong Kong University of Science and Technology (Guangzhou)
Wu, HaoHKUST
Xiong, HuiHKUST(GZ)
Wang, HaoHKUST(GZ)
 
15:20-15:25, Paper WeDT22.2 
 TrajSSL: Trajectory-Enhanced Semi-Supervised 3D Object Detection

Jacobson, PhilipUniversity of California, Berkeley
Xie, YichenUniversity of California, Berkeley
Ding, MingyuUC Berkeley
Xu, ChenfengUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
Wu, MingUniversity of California, Berkeley
 
15:25-15:30, Paper WeDT22.3 
 Single-Shot Metric Depth from Focused Plenoptic Cameras

Lasheras-Hernandez, BlancaGerman Aerospace Center (DLR)
Strobl, Klaus H.German Aerospace Center (DLR)
Izquierdo, SergioUniversity of Zaragoza
Bodenmueller, TimGerman Aerospace Center (DLR)
Triebel, RudolphGerman Aerospace Center (DLR)
Civera, JavierUniversidad De Zaragoza
 
15:30-15:35, Paper WeDT22.4 
 TREND: Tri-Teaching for Robust Preference-Based Reinforcement Learning with Demonstrations

Huang, ShuaiyiUniversity of Maryland, College Park
Levy, MaraUniversity of Maryland, College Park
Gupta, AnubhavUniversity of Maryland, College Park
Ekpo, DanielUniversity of Maryland, College Park
Zheng, RuijieUniversity of Maryland, College Park
Shrivastava, AbhinavUniversity of Maryland, College Park
 
15:35-15:40, Paper WeDT22.5 
 SYNERGUARD: A Robust Framework for Point Cloud Classification Via Local Geometry and Spatial Topology

Zhong, HaonanThe University of New South Wales
Song, WeiUNSW
Pagnucco, MauriceUniversity of New South Wales
Song, YangUniversity of New South Wales
 
15:40-15:45, Paper WeDT22.6 
 Is Discretization Fusion All You Need for Collaborative Perception?

Yang, KangRenmin University of China
Bu, TianciNational University of Defense and Technology
Li, LantaoSony (China) Limited
Li, ChunxuSchool of Information Renmin University of China
Wang, YongcaiRenmin University of China
Li, DeyingRenmin University of China
 
15:45-15:50, Paper WeDT22.7 
 Tri-AutoAug: Single Domain Generalization for Bird's-Eye-View 3D Object Detection through Pixel-2D-3D Features

Zhao, XueSJTU
Peng, PaiCowarobot
Li, XianfeiCowarobot
Wang, XinbingShanghai Jiao Tong University
Zhou, ChenghuShanghai Jiao Tong University
Ye, NanyangShanghai Jiao Tong University
 
WeDT23 412
Learning Based Planning and Control Regular Session
Chair: Faigl, JanCzech Technical University in Prague
Co-Chair: Zarrouk, DavidBen Gurion University
 
15:15-15:20, Paper WeDT23.1 
 Motion Planning for Minimally-Actuated Serial Robots

Cohen, AviBen Gurion University of the Negev
Sintov, AvishaiTel-Aviv University
Zarrouk, DavidBen Gurion University
 
15:20-15:25, Paper WeDT23.2 
 Using Implicit Behavior Cloning and Dynamic Movement Primitive to Facilitate Reinforcement Learning for Robot Motion Planning

Zhang, ZengjieEindhoven University of Technology
Hong, JaydenUvic ACIS Lab
Soufi Enayati, Amir MehdiUniversity of Victoria
Najjaran, HomayounUniversity of Victoria
 
15:25-15:30, Paper WeDT23.3 
 Interpretable Active Inference Gait Control Learning

Szadkowski, RudolfCzech Technical University in Prague
Faigl, JanCzech Technical University in Prague
 
15:30-15:35, Paper WeDT23.4 
 DOPT: D-Learning with Off-Policy Target Toward Sample Efficiency and Fast Convergence Control

Shen, ZhaolongBeihang University
Quan, QuanBeihang University
 
15:35-15:40, Paper WeDT23.5 
 DFM: Deep Fourier Mimic for Expressive Dance Motion Learning

Watanabe, RyoSONY Group
Li, ChenhaoETH Zurich
Hutter, MarcoETH Zurich
 
15:40-15:45, Paper WeDT23.6 
 Uncertainty-Aware Deep Reinforcement Learning with Calibrated Quantile Regression and Evidential Learning

Stutts, Alex ChristopherUniversity of Illinois Chicago
Erricolo, DaniloUniversity of Illinois at Chicago
Tulabandhula, ThejaUniversity of Illinois Chicago
Mittal, MohitMeta Reality Labs
Trivedi, Amit RanjanUniversity of Illinois at Chicago (UIC), Chicago, USA
 
15:45-15:50, Paper WeDT23.7 
 Teaching Periodic Stable Robot Motions Generation Via Sketch

Zhi, WeimingCarnegie Mellon University
Tang, HaozhanCarnegie Mellon University
Zhang, TianyiCarnegie Mellon University
Johnson-Roberson, MatthewCarnegie Mellon University
 
WeET1 302
Autonomous Vehicles 2 Regular Session
Chair: Ang Jr, Marcelo HNational University of Singapore
Co-Chair: Shi, WeisongUniversity of Delaware
 
16:35-16:40, Paper WeET1.1 
 DriveSceneGen: Generating Diverse and Realistic Driving Scenarios from Scratch

Sun, ShuoNational University of Singapore
Gu, ZekaiNational University of Singapore
Sun, TianchenNational University of Singapore
Sun, JiaweiNational University of Singapore
Yuan, ChengranNational Universtiy of Singapore
Han, YuhangNational University of Singapore
Li, DongenNational University of Singapore
Ang Jr, Marcelo HNational University of Singapore
 
16:40-16:45, Paper WeET1.2 
 AMVP: Adaptive Multi-Volume Primitives for Auto-Driving Novel View Synthesis

Qi, DexinXi'an Jiaotong University
Tao, TaoXi'an Jiaotong University
Zhang, ZhihongXi'an Jiaotong University
Mei, XuesongXi'an Jiaotong University
 
16:45-16:50, Paper WeET1.3 
 EMATO: Energy-Model-Aware Trajectory Optimization for Autonomous Driving

Tian, ZhaofengUniversity of Delaware
Xia, LichenUniversity of Delaware
Shi, WeisongUniversity of Delaware
 
16:50-16:55, Paper WeET1.4 
 Task-Oriented Pre-Training for Drivable Area Detection

Ma, FulongThe Hong Kong University of Science and Technology
Zhao, GuoyangHKUST(GZ)
Qi, WeiqingHKUST
Liu, MingHong Kong University of Science and Technology (Guangzhou)
Ma, JunThe Hong Kong University of Science and Technology
 
16:55-17:00, Paper WeET1.5 
 UA-PnP: Uncertainty-Aware End-To-End Bird's Eye View Visual Perception and Prediction for Autonomous Driving

Huang, ZijianSouthern University of Science and Technology
Li, DachuanSouthern University of Science and Technology
Hao, QiSouthern University of Science and Technology
 
17:00-17:05, Paper WeET1.6 
 HGAT-CP: Heterogeneous Graph Attention Network for Collision Prediction in Autonomous Driving

Jiang, YongzhiBeihang University
Zhou, BinBeihang University
Li, YongweiBeihang University
Wu, XinkaiBeihang University
Xiong, ZhongxiaBeihang University
 
17:05-17:10, Paper WeET1.7 
 SE-STDGNN: A Self-Evolving Spatial-Temporal Directed Graph Neural Network for Multi-Vehicle Trajectory Prediction

Guo, ZixuanThe Chinese University of Hong Kong
Han, BingxinThe Chinese University of Hong Kong
Huang, YijunThe Chinese University of Hong Kong
Chen, XiThe Chinese University of Hong Kong
Chen, Ben M.Chinese University of Hong Kong
 
17:10-17:15, Paper WeET1.8 
 A Generalized Control Revision Method for Autonomous Driving Safety

Zhu, ZehangTsinghua University
Wang, YuningTsinghua University
Ke, TianqiSchool of Vehicle and Mobility, Tsinghua University
Han, ZeyuTsinghua University
Xu, ShaobingTsinghua University
Xu, QingTsinghua University
Dolan, John M.Carnegie Mellon University
Wang, JianqiangTsinghua University
 
WeET2 301
Learning-Based SLAM 2 Regular Session
Chair: Kim, DonghyunUniversity of Massachusetts Amherst
 
16:35-16:40, Paper WeET2.1 
 H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-Time Dense Mapping Using Hierarchical Hybrid Representation

Jiang, ChenxingThe Hong Kong University of Science and Technology
Luo, YimingThe University of Hong Kong
Zhou, BoyuSouthern University of Science and Technology
Shen, ShaojieHong Kong University of Science and Technology
 
16:40-16:45, Paper WeET2.2 
 CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots

Zhu, ShifanUniversity of Massachusetts Amherst
Xiong, ZixunUniversity of Massachusetts Amherst
Kim, DonghyunUniversity of Massachusetts Amherst
 
16:45-16:50, Paper WeET2.3 
 DVLO4D: Deep Visual-Lidar Odometry with Sparse Spatial-Temporal Fusion

Liu, MengmengUniversity of Twente
Yang, Michael YingUniversity of Bath
Liu, JiumingShanghai Jiao Tong University
Zhang, YunpengPhiGent Robotics
Li, JiangtaoPhigent Robotics
Sander, Oude ElberinkUniversity of Twente
Vosselman, GeorgeUniversity of Twente
Cheng, HaoUniversity of Twente
 
16:50-16:55, Paper WeET2.4 
 Hier-SLAM: Scaling-Up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting

Li, BoyingShanghai Jiao Tong University
Cai, ZhixiMonash University
Li, Yuan-FangMonash University
Reid, IanUniversity of Adelaide
Rezatofighi, HamidMonash University
 
16:55-17:00, Paper WeET2.5 
 CLIP-Clique: Graph-Based Correspondence Matching Augmented by Vision Language Models for Object-Based Global Localization

Matsuzaki, ShigemichiToyota Motor Corporation
Tanaka, KazuhitoToyota Motor Corporation
Shintani, KazuhiroToyota Motor Corporation
 
17:00-17:05, Paper WeET2.6 
 CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper with Embedded Systems for Commercial Robot Services

Noh, DongKiLG Electronics Inc
Lim, HyungtaeMassachusetts Institute of Technology
Eoh, GyuhoTech University of Korea
Choi, DuckyuKAIST
Choi, Jeong-SikSeoul National University
Lim, HyunjunElectronics and Telecommunication Research Institute
Baek, Seung-MinLG Electronics
Myung, HyunKAIST (Korea Advanced Institute of Science and Technology)
 
17:05-17:10, Paper WeET2.7 
 D2S: Representing Sparse Descriptors and 3D Coordinates for Camera Relocalization

Bui, Bach-ThuanRitsumeikan University
Bui, Huy HoangRitsumeikan University
Tran, Dinh TuanCollege of Information Science and Engineering, Ritsumeikan Univ
Lee, Joo-HoRitsumeikan University
 
WeET3 303
Offroad Navigation Regular Session
 
16:35-16:40, Paper WeET3.1 
 CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)

Pokhrel, AnujGeorge Mason University
Nazeri, MohammadGeorge Mason University
Datar, AniketGeorge Mason University
Xiao, XuesuGeorge Mason University
 
16:40-16:45, Paper WeET3.2 
 ROD: RGB-Only Fast and Efficient Off-Road Freespace Detection

Sun, TongUniversity of Chinese Academy of Sciences
Ye, HongliangZhejiang Lab
Mei, JilinInstitute of Computing Technology, Chinese Academy of Sciences
Chen, LiangInstitute of Computing Technology: Beijing, CN
Zhao, FangzhouInstitute of Computing Technology, Chinese Academy of Sciences
Zong, LeiqiangBeijing Special Vehicle Academy
Hu, YuInstitute of Computing Technology Chinese Academy of Sciences
 
16:45-16:50, Paper WeET3.3 
 JORD: A Benchmark Dataset for Off-Road LiDAR Place Recognition and SLAM

Zhou, WeiJilin University
Zhang, TongzhouJilin University
Xu, QianChina North Vehicle Research Institute
Chen, YuJilin University
Hou, MinghuiJilin University
Wang, GangJilin University
 
16:50-16:55, Paper WeET3.4 
 Self-Reflective Perceptual Adaptation for Robust Ground Navigation in Unstructured Off-Road Environments

Siva, SriramUS Army DEVCOM Army Research Laboratory
Youngquist, OscarUniversity of Massachusetts Amherst
Wigness, MaggieU.S. Army Research Laboratory
Rogers III, John G.US Army Research Laboratory
Zhang, HaoUniversity of Massachusetts Amherst
 
16:55-17:00, Paper WeET3.5 
 Dynamics Modeling Using Visual Terrain Features for High-Speed Autonomous Off-Road Driving

Gibson, JasonGeorgia Institute of Technology
Alavilli, AnoushkaCarnegie Mellon University
Tevere, EricaJet Propulsion Laboratory, California Institute of Technology
Theodorou, EvangelosGeorgia Institute of Technology
Spieler, PatrickJPL
 
17:00-17:05, Paper WeET3.6 
 Digital Twins Meet the Koopman Operator: Data-Driven Learning for Robust Autonomy

Samak, ChinmayClemson University International Center for Automotive Research
Samak, TanmayClemson University International Center for Automotive Research
Joglekar, AjinkyaClemson University
Vaidya, UmeshClemson University
Krovi, VenkatClemson University
 
17:05-17:10, Paper WeET3.7 
 Off-Road Freespace Detection with LiDAR-Camera Fusion and Self-Distillation

Gu, ShuoNanjing University of Science and Technology
Gao, MingNanjing University of Science and Technology
 
17:10-17:15, Paper WeET3.8 
 Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain

Datar, AniketGeorge Mason University
Pan, ChenhuiGeorge Mason University
Xiao, XuesuGeorge Mason University
 
WeET4 304
Sensor Fusion 4 Regular Session
Chair: Choi, Hyouk RyeolSungkyunkwan University
Co-Chair: Huang, Guoquan (Paul)University of Delaware
 
16:35-16:40, Paper WeET4.1 
 Dynamic Importance-Weighted Fusion Network Based on Dynamic Convolutions for Hand Posture Recognition: A Technique Based on Red, Green, Blue Plus Depth Cameras

Qi, JingBeihang University
Ma, LiHebei University
Yu, YushuBeijing Institute of Technology
 
16:40-16:45, Paper WeET4.2 
 Robust 4D Radar-Aided Inertial Navigation for Aerial Vehicles

Zhu, JinwenMeituan Inc
Hu, JunMeituan Inc
Zhao, XudongMeituan Inc
Lang, XiaomingMeituan
Mao, YinianMeituan-Dianping Group
Huang, Guoquan (Paul)University of Delaware
 
16:45-16:50, Paper WeET4.3 
 Semi-Elastic LiDAR-Inertial Odometry

Yuan, ZikangHuazhong University, Wuhan, 430073, China
Lang, FengtianHuazhong University of Science and Technology
Xu, TianleHuazhong University of Science and Technology
Ming, RuiyeHuazhong University of Science and Technology
Zhao, ChengweiHangzhou Guochen Robot Technology Company Limited
Yang, XinHuazhong University of Science and Technology
 
16:50-16:55, Paper WeET4.4 
 DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization

Xu, ZewenInstitute of Automation, Chinese Academy of Science
He, YijiaTCL RayNeo
Wei, HaoUniversity of Chinese Academy of Sciences
Wu, YihongNational Laboratory of Pattern Recognition, InstituteofAutomatio
 
16:55-17:00, Paper WeET4.5 
 GaRLIO: Gravity Enhanced Radar-LiDAR-Inertial Odometry

Noh, ChiyunSeoul National University
Yang, WooseongSeoul National University
Jung, MinwooSeoul National University
Jung, SangwooSeoul National University
Kim, AyoungSeoul National University
 
17:00-17:05, Paper WeET4.6 
 AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments

Qian, ChenglongZhejiang University of Technology
Xu, YangZhejiang University
Shi, XiufangZhejiang University of Technology
Chen, JimingZhejiang University
Li, LiangZhejiang Univerisity
 
17:05-17:10, Paper WeET4.7 
 Adaptive Measurement Model-Based Fusion of Capacitive Proximity Sensor and LiDAR for Improved Mobile Robot Perception

Kang, HyunchangSungkyunkwan University
Yim, HongsikSungkyunkwan University
Sung, HyukJaeSUNGKYUNKWAN UNIVERSITY
Choi, Hyouk RyeolSungkyunkwan University
 
WeET5 305
Aerial Robots 3 Regular Session
Chair: Schoellig, Angela P.TU Munich
Co-Chair: Jagannatha Sanket, NitinWorcester Polytechnic Institute
 
16:35-16:40, Paper WeET5.1 
 Robust Attitude Control with Fixed Exponential Rate of Convergence and Consideration of Motor Dynamics for Tilt Quadrotor Using Quaternions (I)

Seshasayanan, SathyanarayananIndian Institute of Technology Kanpur
De, SouradipAssistant Professor, Mnnit Allahabad
Sahoo, Soumya RanjanIndian Institute of Technology Kanpur
 
16:40-16:45, Paper WeET5.2 
 Flying through Moving Gates without Full State Estimation

Römer, RalfTechnical University of Munich
Emmert, TimTU Munich
Schoellig, Angela P.TU Munich
 
16:45-16:50, Paper WeET5.3 
 Collapsible Airfoil Single Actuator ROtor-Craft (CASARO) - Construction and Analysis of a Soft Rotary Wing Robot

Ang, Wei JunSingapore University of Technology & Design
Tang, EmmanuelSingapore University of Technology & Design
Ng, MatthewSingapore University of Technology and Design
Foong, ShaohuiSingapore University of Technology and Design
 
16:50-16:55, Paper WeET5.4 
 VizFlyt: Perception-Centric Pedagogical Framework for Autonomous Aerial Robots

Srivastava, KushagraWorcester Polytechnic Institute
Kulkarni, Rutwik SudhakarWorcester Polytechnic Institute
Velmurugan, ManojWorcester Polytechnic Institute
Jagannatha Sanket, NitinWorcester Polytechnic Institute
 
16:55-17:00, Paper WeET5.5 
 Distributed Loitering Synchronization with Fixed-Wing UAVs

AlKatheeri, AhmedNA
Barcis, AgataTechnology Innovation Institute
Ferrante, EliseoVrije Universiteit Amsterdam
 
17:00-17:05, Paper WeET5.6 
 A Map-Free Deep Learning-Based Framework for Gate-To-Gate Monocular Visual Navigation Aboard Miniaturized Aerial Vehicles

Scarciglia, LorenzoSUPSI, IDSIA
Paolillo, AntonioIDSIA USI-SUPSI
Palossi, DanieleETH Zurich
 
17:05-17:10, Paper WeET5.7 
 Agile Fixed-Wing UAVs for Urban Swarm Operations (I)

Basescu, MaxJohns Hopkins University Applied Physics Lab
Polevoy, AdamJohns Hopkins University Applied Physics Lab
Yeh, BryannaThe Johns Hopkins University Applied Physics Laboratory
Scheuer, LucaJohns Hopkins University Applied Physics Lab
Sutton, ErinJohns Hopkins University Applied Physics Laboratory
Moore, JosephJohns Hopkins University
 
WeET6 307
Learning for Legged Locomotion 1 Regular Session
Chair: Atanasov, NikolayUniversity of California, San Diego
Co-Chair: Wang, XiaolongUC San Diego
 
16:35-16:40, Paper WeET6.1 
 Offline Adaptation of Quadrupeds Using Diffusion Models

O'Mahoney, ReeceUniversity of Oxford
Mitchell, Alexander LuisUniversity of Oxford
Yu, WanmingUniversity of Oxford
Posner, IngmarOxford University
Havoutis, IoannisUniversity of Oxford
 
16:40-16:45, Paper WeET6.2 
 High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures

Miller, A.J.Massachusetts Institute of Technology
Yu, FangzhouRobotics and AI Institute
Brauckmann, MichaelAI Institute
Farshidian, FarbodRobotics and AI Institute
 
16:45-16:50, Paper WeET6.3 
 HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

He, TairanCarnegie Mellon University
Xiao, WenliCarnegie Mellon University
Lin, ToruUniversity of California, Berkeley
Luo, ZhengyiCarnegie Mellon University
Xu, ZhenjiaColumbia University
Jiang, ZhenyuThe Unversity of Texas at Austin
Kautz, JanNVIDIA
Liu, ChangliuCarnegie Mellon University
Shi, GuanyaCarnegie Mellon University
Wang, XiaolongUC San Diego
Fan, LinxiStanford University
Zhu, YukeThe University of Texas at Austin
 
16:50-16:55, Paper WeET6.4 
 Learning Humanoid Locomotion with Perceptive Internal Model

Long, JunfengShanghai AI Laboratory
Ren, JunliHong Kong University
Shi, MojiDelft University of Technology
Wong, ZiseoiZhejiang University
Huang, TaoThe Chinese University of Hong Kong
Luo, PingThe University of Hong Kong
Pang, JiangmiaoShanghai AI Laboratory
 
16:55-17:00, Paper WeET6.5 
 A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards

Kim, GijeongKorea Advanced Institute of Science and Technology, KAIST
Lee, YonghoonKorea Advanced Institute of Science and Technology, KAIST
Park, Hae-WonKorea Advanced Institute of Science and Technology
 
17:00-17:05, Paper WeET6.6 
 Full-Order Sampling-Based MPC for Torque-Level Locomotion Control Via Diffusion-Style Annealing

Xue, HaoruUniversity of California Berkeley
Pan, ChaoyiCarnegie Mellon University
Yi, ZejiCarnegie Mellon University
Qu, GuannanCarnegie Mellon University
Shi, GuanyaCarnegie Mellon University
 
17:05-17:10, Paper WeET6.7 
 WildLMa: Long Horizon Loco-Manipulation in the Wild

Qiu, Ri-ZhaoUniversity of California, San Diego
Song, YuchenUC San Diego
Peng, XuanbinUniversity of California, San Diego
Suryadevara, Sai AneeshUniversity of California San Diego
Yang, GeMassachusetts Institute of Technology
Liu, MinghuanShanghai Jiao Tong University
Ji, MazeyuUCSD
Jia, ChengzheUniversity of California SanDiego
Yang, RuihanUC San Diego
Xueyan Zou, ZouUniversity of California, San Diego
Wang, XiaolongUC San Diego
 
17:10-17:15, Paper WeET6.8 
 Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots

Nguyen, ChuongUniversity of Southern California
Altawaitan, AbdullahUniversity of California San Diego
Duong, ThaiRice University
Atanasov, NikolayUniversity of California, San Diego
Nguyen, QuanUniversity of Southern California
 
WeET7 309
Perception 3 Regular Session
Co-Chair: Araujo, HelderUniversity of Coimbra
 
16:35-16:40, Paper WeET7.1 
 Drive with the Flow

Mannocci, EnricoUniversity of Bologna
Poggi, MatteoUniversity of Bologna
Mattoccia, StefanoUniversity of Bologna
 
16:40-16:45, Paper WeET7.2 
 Potential Fields As Scene Affordance for Behavior Change-Based Visual Risk Object Identification

Pao, Pang-YuanNational Yang Ming Chiao Tung University
Lu, Shu-WeiNational Yang Ming Chiao Tung University
Lu, ZeyanNational Yang Ming Chiao Tung University
Chen, Yi-TingNational Yang Ming Chiao Tung University
 
16:45-16:50, Paper WeET7.3 
 SCAM-P: Spatial Channel Attention Module for Panoptic Driving Perception

Erabati, Gopi KrishnaUniversity of Coimbra
Araujo, HelderUniversity of Coimbra
 
16:50-16:55, Paper WeET7.4 
 IROAM: Improving Roadside Monocular 3D Object Detection Learning from Autonomous Vehicle Data Domain

Wang, ZheInstitute for AI Industry Research, Tsinghua University
Huo, XiaoliangBeihang University
Fan, SiqiTsinghua University
Wang, YanTsinghua University
Liu, JingjingInstitute for AI Industry Research (AIR), Tsinghua University
Zhang, Ya-QinInstitute for AI Industry Research(AIR), Tsinghua University
 
16:55-17:00, Paper WeET7.5 
 Fast LiDAR Data Generation with Rectified Flows

Nakashima, KazutoKyushu University
Liu, XiaowenKyushu University
Miyawaki, TomoyaKyushu University
Iwashita, YumiNASA / Caltech Jet Propulsion Laboratory
Kurazume, RyoKyushu University
 
17:00-17:05, Paper WeET7.6 
 AmodalSynthDrive: A Synthetic Amodal Perception Dataset for Autonomous Driving

Sekkat, Ahmed RidaIAV GmbH
Mohan, RohitUniversity of Freiburg
Sawade, OliverIAV GmbH
Matthes, ElmarIAV GmbH
Valada, AbhinavUniversity of Freiburg
 
WeET8 311
Representation Learning 4 Regular Session
Chair: Ben Amor, HeniArizona State University
Co-Chair: Gan, LuGeorgia Institute of Technology
 
16:35-16:40, Paper WeET8.1 
 FedEFM: Federated Endovascular Foundation Model with Unseen Data

Do, TuongAIOZ
Vu Huu, NghiaAIOZ
Jianu, TudorUniversity of Liverpool
Huang, BaoruImperial College London
Vu, Minh NhatTU Wien, Austria
Su, JionglongXi'an Jiaotong-Liverpool University
Tjiputra, ErmanAIOZ
Tran, QuangAIOZ
Chiu, Te-ChuanNational Tsing Hua University
Nguyen, AnhUniversity of Liverpool
 
16:40-16:45, Paper WeET8.2 
 LamPro: Multi-Prototype Representation Learning for Enhanced Visual Pattern Recognition

Qi, JiChina Mobile (Suzhou) Software Technology Co., Ltd, China
Sun, WeiUniversity of Science and Technology of China
Huang, QiheUniversity of Science and Technology of China
Zhou, ZhengyangUniversity of Science and Technology of China
Wang, YangUniversity of Science and Technology of China
 
16:45-16:50, Paper WeET8.3 
 SAS-Prompt: Large Language Models As Numerical Optimizers for Robot Self-Improvement

Ben Amor, HeniArizona State University
Graesser, LauraGoogle
Iscen, AtilGoogle
D'Ambrosio, DavidGoogle
Abeyruwan, Saminda WishwajithGoogle Inc
Bewley, AlexGoogle
Zhou, YifanArizona State University
Kalirathinam, KamaleshArizona State University
Mishra, SwaroopGoogle DeepMind
Sanketi, PannagGoogle
 
16:50-16:55, Paper WeET8.4 
 Cohere3D: Exploiting Temporal Coherence for Unsupervised Representation Learning of Vision-Based Autonomous Driving

Xie, YichenUniversity of California, Berkeley
Chen, HonggeWaymo
Meyer, Gregory P.Motional
Lee, Yong JaeUW-Madison
Wolff, EricCruise
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
Chai, YuningWaymo
Huang, XinMIT
 
16:55-17:00, Paper WeET8.5 
 Towards Open-Ended Robotic Exploration Using Vision-Inspired Similarity and Foundation Models

Filntisis, Panagiotis ParaskevasNational Technical University of Athens
Tsaprazlis, EfthymiosAthena Research and Innovation Center
Oikonomou, ParisNational Technical University of Athens (NTUA)
Mattioli, FrancescoAI2Life
Santucci, Vieri GiulianoConsiglio Nazionale Delle Ricerche
Retsinas, GeorgeNational Technical University of Athens
Maragos, PetrosNational Technical University of Athens
 
17:00-17:05, Paper WeET8.6 
 MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception

Butterfield, Daniel ChaseGeorgia Institute of Tehcnology
Garimella, Sandilya SaiGeorgia Institute of Technology
Cheng, NaiJenGeorgia Institute of Technology
Gan, LuGeorgia Institute of Technology
 
17:05-17:10, Paper WeET8.7 
 Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs with Parameter Auto-Tuning

Zhu, YongjianPeking University
Cheng, HaoPeking University
Zhang, FeitianPeking University
 
WeET9 312
Motion Planning and Control Regular Session
Chair: Geng, JunyiPennsylvania State University
Co-Chair: Brock, OliverTechnische Universität Berlin
 
16:35-16:40, Paper WeET9.1 
 Improving the Performance of Learned Controllers in Behavior Trees Using Value Function Estimates at Switching Boundaries

Kartašev, MartKTH Royal Institute of Technology
Ogren, PetterRoyal Institute of Technology (KTH)
 
16:40-16:45, Paper WeET9.2 
 Deliberative Control-Aware Motion Planning for Kinematic-Constrained UAVs in a Dynamic Environment

Freitas, Elias José de RezendeUniversidade Federal De Minas Gerais
Vangasse, ArthurUniversidade Federal De Minas Gerais
Cohen, Miri WeissBraude College of Engineering
Guimarães, Frederico GadelhaUFMG
Pimenta, LucianoUniversidade Federal De Minas Gerais
 
16:45-16:50, Paper WeET9.3 
 Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap

Chen, KaiThe Hong Kong University of Science and Technology
Liu, HaichaoThe Hong Kong University of Science and Technology
Li, YulinHong Kong University of Science and Technology(HKUST)
Duan, JianghuaHong Kong University of Science and Technology
Zhu, LeiThe Hong Kong University of Science and Technology (Guangzhou)
Ma, JunThe Hong Kong University of Science and Technology
 
16:50-16:55, Paper WeET9.4 
 Robust Planning for Autonomous Driving Via Mixed Adversarial Diffusion Predictions

Zhao, AlbertUniversity of California Los Angeles
Soatto, StefanoUCLA
 
16:55-17:00, Paper WeET9.5 
 No Plan but Everything under Control: Robustly Solving Sequential Tasks with Dynamically Composed Gradient Descent

Mengers, VitoTechnische Universität Berlin
Brock, OliverTechnische Universität Berlin
 
17:00-17:05, Paper WeET9.6 
 Autonomous Navigation in Ice-Covered Waters with Learned Predictions on Ship-Ice Interactions

Zhong, NinghanUniversity of Illinois at Urbana-Champaign
Potenza, AlessandroUniversity of Manitoba
Smith, Stephen L.University of Waterloo
 
17:05-17:10, Paper WeET9.7 
 IKap: Kinematics-Aware Planning with Imperative Learning

Li, QihangUniversity at Buffalo
Chen, ZhuoqunUniversity of California San Diego
Zheng, HaozeUniversity at Buffalo
He, HaonanDepartment of Mechanical Engineering, College of Engineering, Ca
Zhan, ZitongUniversity at Buffalo, SUNY
Su, ShaoshuState University of New York at Buffalo
Geng, JunyiPennsylvania State University
Wang, ChenUniversity at Buffalo
 
17:10-17:15, Paper WeET9.8 
 Differentiable-Optimization Based Neural Policy for Occlusion-Aware Target Tracking

Masnavi, HoumanToronto Metropolitan University
Singh, Arun KumarUniversity of Tartu
Janabi-Sharifi, FarrokhRyerson University
 
WeET10 313
Multi-Robot Planning Regular Session
Chair: Li, JiaoyangCarnegie Mellon University
 
16:35-16:40, Paper WeET10.1 
 Multi-Horizon Multi-Agent Planning Using Decentralised Monte Carlo Tree Search

Seiler, Konstantin MUniversity of Technology Sydney
Kong, Felix HonglimThe University of Technology Sydney
Fitch, RobertUniversity of Technology Sydney
 
16:40-16:45, Paper WeET10.2 
 Generalized Mission Planning for Heterogeneous Multi-Robot Teams Via LLM-Constructed Hierarchical Trees

Gupta, PiyushHonda Research Institute, US
Isele, DavidUniversity of Pennsylvania, Honda Research Institute USA
Sachdeva, EnnaHonda Research Institute
Huang, Pin-HaoHonda Research Institute
Dariush, BehzadHonda Research Institute USA
Lee, KwonjoonHonda Research Institute USA
Bae, SangjaeHonda Research Institute, USA
 
16:45-16:50, Paper WeET10.3 
 Efficient Coordination and Synchronization of Multi-Robot Systems under Recurring Linear Temporal Logic

Peron, DavideUniversità Degli Studi Di Padova
Nan Fernandez-Ayala, VictorKTH Royal Institute of Technology
Vlahakis, Eleftherios E.KTH Royal Institute of Technology
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
16:50-16:55, Paper WeET10.4 
 HULK: Large-Scale Hierarchical Coordination under Continual and Uncertain Temporal Tasks

Luo, QingyuanPeking University
Li, JieNational University of Defense Technology
Guo, MengPeking University
 
16:55-17:00, Paper WeET10.5 
 COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models

Liu, KehuiNorthwestern Polytechnical University
Tang, ZixinNational University of Defense Technology
Wang, DongShanghai Artificial Intelligence Laboratory
Wang, ZhigangShanghai AI Laboratory
Li, XuelongNorthwestern Polytechnical University
Zhao, BinNorthwestern Polytechnical University
 
17:00-17:05, Paper WeET10.6 
 LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner

Zhang, XiaopanUniversity of California - Riverside
Qin, HaoPennsylvania State University
Wang, FuquanUniversity of California Riverside
Dong, YueUniversity of California Riverside
Li, JiachenUniversity of California, Riverside
 
17:05-17:10, Paper WeET10.7 
 FlyKites: Human-Centric Interactive Exploration and Assistance under Limited Communication

Zhang, YuyangPeking University
Tian, ZhuoliPeking University
Wei, JinshengPeking University
Guo, MengPeking University
 
17:10-17:15, Paper WeET10.8 
 Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large-Scale Imitation Learning for MAPF

Veerapaneni, RishiCarnegie Mellon University
Jakobsson, ArthurCarnegie Mellon University
Ren, KevinCarnegie Mellon University
Kim, SamuelSolon High School
Li, JiaoyangCarnegie Mellon University
Likhachev, MaximCarnegie Mellon University
 
WeET11 314
Agile Legged Locomotion Regular Session
Chair: Clark, JonathanFlorida State University
Co-Chair: Duong, ThaiRice University
 
16:35-16:40, Paper WeET11.1 
 Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control

Nguyen, ChuongUniversity of Southern California
Bao, LingfanUniversity College London
Nguyen, QuanUniversity of Southern California
 
16:40-16:45, Paper WeET11.2 
 Agile Continuous Jumping in Discontinuous Terrains

Yang, YuxiangGoogle Deepmind
Shi, GuanyaCarnegie Mellon University
Lin, ChangyiCarnegie Mellon University
Meng, XiangyunUniversity of Washington
Scalise, RosarioUniversity of Washington
Guaman Castro, MateoUniversity of Washington
Yu, WenhaoGoogle
Zhang, TingnanGoogle
Zhao, DingCarnegie Mellon University
Tan, JieGoogle
Boots, ByronUniversity of Washington
 
16:45-16:50, Paper WeET11.3 
 High Accuracy Aerial Maneuvers on Legged Robots Using Variational Integrator Discretized Trajectory Optimization

Beck, ScottUniversity of Southern California
Nguyen, ChuongUniversity of Southern California
Duong, ThaiRice University
Atanasov, NikolayUniversity of California, San Diego
Nguyen, QuanUniversity of Southern California
 
16:50-16:55, Paper WeET11.4 
 Learn to Swim: Data-Driven LSTM Hydrodynamic Model for Quadruped Robot Gait Optimization

Han, FeiWestlake University
Guo, PengmingWestlake University
Chen, HaoWestlake University
Li, WeikunWestlake University
Ren, JingboXinyang Normal University
Liu, NaijunInstitute of Automation Chinese Academy of Sciences
Yang, NingInstitute of Automation, Chinese Academy of Sciences
Fan, DixiaWestlake University
 
16:55-17:00, Paper WeET11.5 
 Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach

Kim, DohyeongSeoul National University
Kwon, HyeokjinSeoul National University
Kim, JunseokSeoul National University
Lee, GunminSeoul National University
Oh, SonghwaiSeoul National University
 
17:00-17:05, Paper WeET11.6 
 Design and Implementation of a Swimming and Walking Quadruped for Seafloor Exploration

Chase, AshleyFlorida State University
Labiner, BenjaminNorth Carolina State University
Boylan, JonathanFAMU-FSU College of Engineering
Ryals, CameronFlorida State University
Vranicar, JackFlorida State University
Dina, MichaelFlorida State University
Vasquez, Derek A.Florida State University
Seal, DaneFlorida State University
Young, CharlesFlorida State University
St Laurent, LouisUniversity of Washington
Ordonez, CamiloFlorida State University
Clark, JonathanFlorida State University
 
17:05-17:10, Paper WeET11.7 
 Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain

Chang, LeixinZhejiang University
Nai, YuxuanZhejiang University
Chen, HuaZhejiang University
Yang, LiangjingZhejiang University
 
17:10-17:15, Paper WeET11.8 
 PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots

Luo, ShixinZhejiang University
Li, SongboZhejiang University
Yu, RuiqiZhejiang University
Wang, ZhichengZhejiang University
Wu, JunZhejiang University
Zhu, QiuguoZhejiang University
 
WeET12 315
Visual Servoing and Tracking Regular Session
Chair: Chaumette, FrancoisInria Center at University of Rennes
Co-Chair: Cheng, ShengUniversity of Illinois Urbana-Champaign
 
16:35-16:40, Paper WeET12.1 
 Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing

Colotti, AlessandroCentre Inria De l'Université De Rennes
García Fontán, JorgeSorbonne Université
Goldsztejn, AlexandreCNRS IRCCyN
Briot, SébastienLS2N
Chaumette, FrancoisInria Center at University of Rennes
Kermorgant, OlivierÉcole Centrale Nantes, Laboratoire Des Sciences Du Numérique De
Safey El Din, MohabSorbonne Univ
 
16:40-16:45, Paper WeET12.2 
 DiffTune: Auto-Tuning through Auto-Differentiation

Cheng, ShengUniversity of Illinois Urbana-Champaign
Kim, MinkyungUniversity of Illinois Urbana-Champaign
Song, LinUIUC
Yang, ChengyuUniversity of Illinois Urbana-Champaign
Jin, YiquanZhejiang University
Wang, ShenlongUniversity of Illinois at Urbana-Champaign
Hovakimyan, NairaUniversity of Illinois at Urbana-Champaign
 
16:45-16:50, Paper WeET12.3 
 Output Feedback with Feedforward Robust Control for Motion Systems Driven by Nonlinear Position-Dependent Actuators (I)

Al Saaideh, MohammadMemorial University of Newfoundland
Boker, AlmuatazbellahVirginia Tech
Al Janaideh, MohammadUniversity of Guelph
 
16:50-16:55, Paper WeET12.4 
 QP-Based Visual Servoing under Motion Blur-Free Constraint

Robic, MaximeUniversity of Picardy Jules Verne
Fraisse, RenaudAirbus Defence & Space
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
Chaumette, FrancoisInria Center at University of Rennes
 
16:55-17:00, Paper WeET12.5 
 FACET: Fast and Accurate Event-Based Eye Tracking Using Ellipse Modeling for Extended Reality

Ding, JunyuanBeihang University
Wang, ZitengDVSense (Beijing) Technology Co., Ltd., China
Gao, ChangDelft University of Technology
Liu, MinDVSense
Chen, QinyuLeiden University
 
17:00-17:05, Paper WeET12.6 
 EMoE-Tracker: Environmental MoE-Based Transformer for Robust Event-Guided Object Tracking

Chen, YuchengHong Kong University of Science and Technology (GZ)
Wang, LinNanyang Technological University (NTU)
 
WeET13 316
Manipulating Challenging Objects Regular Session
Chair: Khan, ShirazUniversity of Delaware
 
16:35-16:40, Paper WeET13.1 
 Learning Keypoints for Robotic Cloth Manipulation Using Synthetic Data

Lips, ThomasGhent University
De Gusseme, Victor-LouisGhent University
Wyffels, FrancisGhent University
 
16:40-16:45, Paper WeET13.2 
 RaggeDi: Diffusion-Based State Estimation of Disordered Rags, Sheets, Towels and Blankets

Ye, JikaiNational University of Singapore
Li, WanzeNation University of Singapore
Khan, ShirazUniversity of Delaware
Chirikjian, GregoryUniversity of Delaware
 
16:45-16:50, Paper WeET13.3 
 Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentation

Hagmanns, RaphaelKarlsruhe Institute of Technology
Mortimer, PeterUniversität Der Bundeswehr München
Granero, MiguelFraunhofer IOSB
Luettel, ThorstenUniversität Der Bundeswehr München
Petereit, JankoFraunhofer IOSB
 
16:50-16:55, Paper WeET13.4 
 Robotic Framework for Iterative and Adaptive Profile Grading of Sand

Hanut, LouisKU Leuven
Du, YuruiKU Leuven
Vande Moere, AndrewKU Leuven
Detry, RenaudKU Leuven
Bruyninckx, HermanKU Leuven
 
16:55-17:00, Paper WeET13.5 
 Autonomous Excavation of Challenging Terrain Using Oscillatory Primitives and Adaptive Impedance Control

Franceschini, NoahUniversity of Illinois Urbana-Champaign
Thangeda, PranayUniversity of Illinois Urbana-Champaign
Ornik, MelkiorUniversity of Illinois Urbana-Champaign
Hauser, KrisUniversity of Illinois at Urbana-Champaign
 
17:00-17:05, Paper WeET13.6 
 Diffusion-Based Self-Supervised Imitation Learning from Imperfect Visual Servoing Demonstrations for Robotic Glass Installation

Xiao, CanranCentral South University
Hou, LiweiCentral South University
Fu, LingZoomlion
Chen, WenruiHunan University
 
17:05-17:10, Paper WeET13.7 
 A Global-Local Graph Attention Network for Deformable Linear Objects Dynamic Interaction with Environment

Chu, JianHefei University of Technology
Zhang, WenkangAnhui Agricultural University
Ouyang, BoHefei University of Technology
Tian, KunmiaoHefei University of Technology
Zhang, ShuaiHefei University of Technology
Zhai, KaiHefei University of Technology
 
WeET14 402
Social Navigation 2 Regular Session
Chair: Kosecka, JanaGeorge Mason University
 
16:35-16:40, Paper WeET14.1 
 Generating Causal Explanations of Vehicular Agent Behavioural Interactions with Learnt Reward Profiles

Howard, Rhys Peter MatthewUniversity of Oxford
Hawes, NickUniversity of Oxford
Kunze, LarsUniversity of Oxford
 
16:40-16:45, Paper WeET14.2 
 Fast Online Learning of CLiFF-Maps in Changing Environments

Zhu, YufeiÖrebro University
Rudenko, AndreyRobert Bosch GmbH
Palmieri, LuigiRobert Bosch GmbH
Heuer, LukasÖrebro University, Robert Bosch GmbH
Lilienthal, Achim J.Orebro University
Magnusson, MartinÖrebro University
 
16:45-16:50, Paper WeET14.3 
 A Hybrid Approach to Indoor Social Navigation: Integrating Reactive Local Planning and Proactive Global Planning

Debnath, ArnabGeorge Mason University
Stein, GregoryGeorge Mason University
Kosecka, JanaGeorge Mason University
 
16:50-16:55, Paper WeET14.4 
 Overlapping Social Navigation Principles: A Framework for Social Robot Navigation

Ikeda, BryceUniversity of North Carolina Chapel Hill
Higger, MarkColorado School of Mines
Song, Christina SoyoungIllinois State University
Trafton, GregNaval Research Laboratory
 
16:55-17:00, Paper WeET14.5 
 Relative Velocity-Based Reward Model for Socially-Aware Navigation with Deep Reinforcement Learning

Maddumage, Vinu VihanUniversity of Technology Sydney
Kodagoda, SarathUniversity of Technology, Sydney
Carmichael, MarcCentre for Autonomous Systems
Gunatilake, AmalUniversity of Technology Sydney
Thiyagarajan, KarthickUniversity of Technology Sydney
Martin, JodiGuide Dogs NSW/ACT
 
17:00-17:05, Paper WeET14.6 
 SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization

Samavi, SepehrUniversity of Toronto
Han, JamesUniversity of Toronto
Shkurti, FlorianUniversity of Toronto
Schoellig, Angela P.TU Munich
 
WeET15 403
Surgical Robotics: Systems Regular Session
Chair: Arai, FumihitoThe University of Tokyo
Co-Chair: Zefran, MilosUniversity of Illinois at Chicago
 
16:35-16:40, Paper WeET15.1 
 Autonomous Continuous Capsulorhexis Based on a Force-Vision-Guided Robot System

Liang, HongliSun Yat-Sen University
Liu, JialiZhongshan Ophthalmic Center, Sun Yat-Sen University
Nasseri, M. AliTechnische Universitaet Muenchen
Lin, HaotianSun Yat-Sen University, Zhongshan Ophthalmic Center
Huang, KaiSun Yat-Sen University
 
16:40-16:45, Paper WeET15.2 
 Ultrasound-Guided Robotic Blood Drawing and in Vivo Studies on Submillimetre Vessels of Rats

Jing, ShuaiqiChengdu Aixam Medical Technology Co., Ltd
Yao, TianliangTongji University
Zhang, KeChengdu Aixam Medical Technology Co. Ltd
Wu, DiUniversity of Southern Denmark
Wang, QiulinChengdu Aixam Medical Technology Co., Ltd
Chen, ZixiScuola Superiore Sant'Anna
Chen, KeChengdu Aixam Medical Technology Co., Ltd
Qi, PengTongji University
 
16:45-16:50, Paper WeET15.3 
 Sensory Glove-Based Surgical Robot User Interface

Borgioli, LeonardoUniversity of Illinois Chicago
Oh, Ki-HwanUniversity of Illinois at Chicago
Valle, ValentinaSurgical Innovation and Training Lab, Department of Surgery, Col
Ducas, AlvaroSurgical Innovation and Training Lab, Department of Surgery, Col
Mohammad Halloum, Mohammad HalloumSurgical Innovation and Training Lab, Department of Surgery, Col
Diego Federico Mendoza Medina, Diego Federico Mendoza MedinaSurgical Innovation and Training Lab, Department of Surgery, Col
Lopez, PaulaSurgical Innovation and Training Lab, Department of Surgery, Col
Arman Sharifi, Arman SharifiSurgical Innovation and Training Lab, Department of Surgery, Col
Cassiani, JessicaSurgical Innovation and Training Lab, Department of Surgery, Col
Zefran, MilosUniversity of Illinois at Chicago
Chen, LiaohaiSurgical Innovation and Training Lab, Department of Surgery, Col
Giulianotti, Pier CristoforoSurgical Innovation and Training Lab, Department of Surgery, Col
 
16:50-16:55, Paper WeET15.4 
 Self-Deformable Magnetic Miniature Robot for Traction Assistance in Endoscopic Submucosal Dissection

Zhang, BolanThe University of Tokyo
Yamanaka, ToshiroThe University of Tokyo
Shu, TengoThe University of Tokyo
Liu, YuxuanThe University of Tokyo
Arai, FumihitoThe University of Tokyo
 
16:55-17:00, Paper WeET15.5 
 Variable-Stiffness Nasotracheal Intubation Robot with Passive Buffering: A Modular Platform in Mannequin Studies

Hao, RuoyiThe Chinese University of Hong Kong
Lai, JiewenThe Chinese University of Hong Kong
Zhong, WenqiThe Chinese University of Hong Kong
Xie, DihongThe Chinese University of Hong Kong
Tian, YuThe Chinese University of Hong Kong
Zhang, TaoChinese University of Hong Kong
Zhang, YangHubei University of Technology
Chan, Catherine Po LingThe Chinese University of Hong Kong
Chan, Jason Ying-KuenThe Chinese University of Hong Kong
Ren, HongliangChinese Univ Hong Kong (CUHK) & National Univ Singapore(NUS)
 
17:00-17:05, Paper WeET15.6 
 SurgPose: A Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking

Wu, ZijianThe University of British Columbia
Schmidt, AdamIntuitive Surgical
Moore, RandyThe University of British Columbia
Zhou, HaoyingWorcester Polytechnic Institute
Banks, AlexandreUniversity of New Brunswick
Kazanzides, PeterJohns Hopkins University
Salcudean, Septimiu E.University of British Columbia
 
17:05-17:10, Paper WeET15.7 
 On High Performance Control of Concentric Tube Continuum Robots through Parsimonious Calibration

Boyer, QuentinUBFC
Voros, SandrineTIMC-IMAG Laboratory
Roux, PierreFEMTO-ST Institute
Marionnet, FrançoisFEMTO-ST Institute
Rabenorosoa, KantyUniv. Bourgogne Franche-Comté, CNRS
Chikhaoui, M. TahaCNRS - Univ. Grenoble Alpes
 
WeET16 404
Deformable Objects Regular Session
Chair: Li, YunzhuColumbia University
Co-Chair: Iordachita, Ioan IulianJohns Hopkins University
 
16:35-16:40, Paper WeET16.1 
 Deformation Control of a 3D Soft Object Using RGB-D Visual Servoing and FEM-Based Dynamic Model

Ouafo Fonkoua, MandelaInria Centre at Rennes University
Chaumette, FrancoisInria Center at University of Rennes
Krupa, AlexandreCentre Inria De l'Université De Rennes
 
16:40-16:45, Paper WeET16.2 
 Real-Time Deformation-Aware Control for Autonomous Robotic Subretinal Injection Based on OCT Guidance

Arikan, DemirTechnical University Munich
Zhang, PeiyaoJohns Hopkins University
Sommersperger, MichaelTechnical University of Munich
Dehghani, ShervinTUM
Esfandiari, MojtabaJohns Hopkins University
Taylor, Russell H.The Johns Hopkins University
Nasseri, M. AliTechnische Universitaet Muenchen
Gehlbach, PeterJohns Hopkins Medical Institute
Navab, NassirTU Munich
Iordachita, Ioan IulianJohns Hopkins University
 
16:45-16:50, Paper WeET16.3 
 6-DoF Shape Servoing of Deformable Objects in Co-Rotated Space of Modal Graph

Yang, BohanThe Chinese University of Hong Kong
Huang, TianyuThe Chinese University of Hong Kong
Zhong, FangxunThe Chinese University of Hong Kong, Shenzhen
Liu, YunhuiChinese University of Hong Kong
 
16:50-16:55, Paper WeET16.4 
 Deformable Gaussian Splatting for Efficient and High-Fidelity Reconstruction of Surgical Scenes

Shan, JiweiThe Chinese University of Hong Kong
Cai, ZeyuShanghai Jiao Tong University
Hsieh, Cheng-TaiShanghai Jiao Tong University
Han, LijunShanghai Jiao Tong University
Cheng, Shing ShinThe Chinese University of Hong Kong
Wang, HeshengShanghai Jiao Tong University
 
16:55-17:00, Paper WeET16.5 
 One-Shot Video Imitation Via Parameterized Symbolic Abstraction Graphs

Wang, JianrenCarnegie Mellon University
Liu, KangniCarnegie Mellon University
Guo, DingkunCarnegie Mellon University
Xian, ZhouCarnegie Mellon University
Atkeson, ChristopherCMU
 
17:00-17:05, Paper WeET16.6 
 KUDA: Keypoints to Unify Dynamics Learning and Visual Prompting for Open-Vocabulary Robotic Manipulation

Liu, ZixianTsinghua University
Zhang, MingtongUIUC
Li, YunzhuColumbia University
 
17:05-17:10, Paper WeET16.7 
 DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception

Caporali, AlessioUniversity of Bologna
Galassi, KevinUniversità Di Bologna
Palli, GianlucaUniversity of Bologna
 
WeET17 405
Large Models for Autonomous Vehicles Regular Session
Chair: Billah, SyedPennsylvania State University
 
16:35-16:40, Paper WeET17.1 
 Label Anything: An Interpretable, High-Fidelity and Prompt-Free Annotator

Kou, Wei-BinThe University of Hong Kong
Zhu, GuangxuShenzhen Research Institute of Big Data
Ye, RongguangSouthern University of Science and Technology
Wang, ShuaiShenzhen Institute of Advanced Technology, Chinese Academy of Sc
Tang, MingSouthern University of Science and Technology
Wu, Yik-ChungThe University of Hong Kong
 
16:40-16:45, Paper WeET17.2 
 Logic-RAG: Augmenting Large Multimodal Models with Visual-Spatial Knowledge for Road Scene Understanding

Kabir, ImranPennsylvania State University
Reza, Md AlimoorDrake University
Billah, SyedPennsylvania State University
 
16:45-16:50, Paper WeET17.3 
 Discrete Contrastive Learning for Diffusion Policies in Autonomous Driving

Kujanpää, KalleAalto University
Baimukashev, DauletAalto University
Munir, FarzeenAalto University, Finnish Center for Artificial Intelligence
Azam, ShoaibAalto University, Finnish Center for Artificial Intelligence (FC
Kucner, Tomasz PiotrAalto University
Pajarinen, JoniAalto University
Kyrki, VilleAalto University
 
16:50-16:55, Paper WeET17.4 
 Intelligence Evaluation Methods for Autonomous Vehicles

Zhou, JunjieShanghai Jiao Tong University
Wang, LinShanghai Jiao Tong University
Meng, QiangNational University of Singapore
Wang, XiaofanShanghai University
 
16:55-17:00, Paper WeET17.5 
 NaVid-4D: Unleashing Spatial Intelligence in Egocentric RGB-D Videos for Vision-And-Language Navigation

Liu, HaoranPeking University
Wan, WeikangPeking University
Yu, XiqianUniversity of Science and Technology of China
Li, MinghanGalbot
Zhang, JiazhaoPeking University
Zhao, BoShanghai Jiao Tong University
Chen, ZhiboUniversity of Science and Technology of China
Wang, ZhongyuanBAAI
Zhang, ZhizhengUniversity of Science and Technology of China
Wang, HePeking University
 
17:00-17:05, Paper WeET17.6 
 Generating Out-Of-Distribution Scenarios Using Language Models

Aasi, ErfanMassachusetts Institute of Technology
Nguyen, PhatUniversity of Massachusetts Amherst
Sreeram, ShivaMIT
Rosman, GuyMassachusetts Institute of Technology
Karaman, SertacMassachusetts Institute of Technology
Rus, DanielaMIT
 
17:05-17:10, Paper WeET17.7 
 MAGIC-VFM - Meta-Learning Adaptation for Ground Interaction Control with Visual Foundation Models

Lupu, Elena-SorinaCalifornia Institute of Technology
Xie, FengzeCalifornia Institute of Technology
Preiss, JamesCaltech
Alindogan, JedidiahCalifornia Institute of Technology
Anderson, MatthewCaltech
Chung, Soon-JoCaltech
 
17:10-17:15, Paper WeET17.8 
 DINO-MOT: 3D Multi-Object Tracking with Visual Foundation Model for Pedestrian Re-Identification Using Visual Memory Mechanism

Lee, Min YoungNational University of Singapore
Lee, Christina Dao WenNational University of Singapore
Jianghao, LiNational University of Singapore
Ang Jr, Marcelo HNational University of Singapore
 
WeET18 406
Surgical Robotics: Steerable Catheters/Needles 2 Regular Session
Chair: Hoelscher, JanineClemson
Co-Chair: Krieger, AxelJohns Hopkins University
 
16:35-16:40, Paper WeET18.1 
 Hysteresis Compensation of Tendon-Sheath Mechanism Using Nonlinear Programming Based on Preisach Model

Kim, HongminMassachusetts Institute of Technology
Kim, DongchanKAIST (Korea Advanced Institute of Science and Technology)
Park, Su HyeonPusan National University
Jin, SangrokPusan National University
 
16:40-16:45, Paper WeET18.2 
 Resolution Optimal Motion Planning for Medical Needle Steering from Airway Walls in the Lung

Hoelscher, JanineClemson
Fried, InbarUniversity of North Carolina at Chapel Hill
Salzman, OrenTechnion
Alterovitz, RonUniversity of North Carolina at Chapel Hill
 
16:45-16:50, Paper WeET18.3 
 Self-Sufficient 5-DoF Discrete Global Localization for Magnetically-Actuated Endoscope in Bronchoscopy

Tan, JiewenThe Chinese University of Hong Kong
Zhao, DaThe Chinese University of Hong Kong
Zhou, RuiThe Chinese University of Hong Kong
Xie, WenxuanThe Chinese University of Hong Kong
Cheng, Shing ShinThe Chinese University of Hong Kong
 
16:50-16:55, Paper WeET18.4 
 Intraoperative 3D Shape Estimation of Magnetic Soft Guidewire

Zhao, YitingBeijing Institute of Technology
Shi, LiweiBeijing Institute of Technology
Xiao, NanBeijing Institute of Technology
 
16:55-17:00, Paper WeET18.5 
 Semi-Autonomous 2.5D Control of Untethered Magnetic Suture Needle

Wang, QinhanJohns Hopkins University
Bhattacharjee, AnuruddhaThe Johns Hopkins University
Chen, XinhaoJohns Hopkins University
Mair, LamarWeinberg Medical Physics, Inc
Diaz-Mercado, YancyUniversity of Maryland
Krieger, AxelJohns Hopkins University
 
17:00-17:05, Paper WeET18.6 
 Steerable Tape-Spring Needle for Autonomous Sharp Turns through Tissue

Abdoun, OmarUniversity of Pennsylvania
Tjandra, DavinUniversity of Pennsylvania
Yin, KatieUniversity of California, Riverside
Kurzan, PabloUniversity of Pennsylvania
Yin, JessicaUniversity of Pennsylvania
Yim, MarkUniversity of Pennsylvania
 
17:05-17:10, Paper WeET18.7 
 Shape Control of Concentric Tube Robots Via Approximate Follow-The-Leader Motion

Xu, YuntiUniversity of California, San Diego
Watson, ConnorMorimoto Lab, UCSD
Lin, Jui-TeUniversity of California, San Diego
Hwang, John T.University of California, San Diego
Morimoto, Tania K.University of California San Diego
 
17:10-17:15, Paper WeET18.8 
 Model-Based Parameter Selection for a Steerable Continuum Robot — Applications to Bronchoalveolar Lavage (BAL)

Rothe, Amber K.Georgia Institute of Technology
Brumfiel, Timothy A.Georgia Institute of Technology
Konda, RevanthGeorgia Institute of Technology
Williams, KirstenEmory University
Desai, Jaydev P.Georgia Institute of Technology
 
WeET19 407
Logistics and Task Planning Regular Session
Co-Chair: Arras, Kai OliverUniversity of Stuttgart
 
16:35-16:40, Paper WeET19.1 
 A New Clustering-Based View Planning Method for Building Inspection with Drone

Zheng, YongshuaiShandong University
Liu, GuoliangShandong University
Ding, YanShandong University
Tian, GuohuiShandong University
 
16:40-16:45, Paper WeET19.2 
 Towards the Deployment of an Autonomous Last-Mile Delivery Robot in Urban Areas

Santamaria-Navarro, AngelUniversitat Politècnica De Catalunya
Hernandez Juan, SergiCSIC-UPC (IRI)
Herrero Cotarelo, FernandoIRI, CSIC-UPC
López Gestoso, AlejandroInstitut De Robòtica I Informàtica Industrial
Del Pino, IvanInstituto Universitario De Investigación Informática (IUII). Uni
Rodriguez Linares, Nicolás AdriánUniversidad Politécnica De Cataluña
Fernandez, CarlosUrbiotica
Baldó i Canut, AlbertCARNET Future Mobility Research Hub
Lemardelé, ClémentUniversitat Politècnica De Catalunya
Garrell, AnaisUPC-CSIC
Vallvé, JoanCSIC-UPC
Taher, HafsaInstitut De Robòtica I Informàtica Industrial, CSIC-UPC
Puig-Pey, AnaUniversitat Politecnica De Catalunya
Pagès, LaiaCARNET
Sanfeliu, AlbertoUniversitat Politècnica De Cataluyna
 
16:45-16:50, Paper WeET19.3 
 Multi-Heuristic Robotic Bin Packing of Regular and Irregular Objects

Nickel, TimFraunhofer IPA
Bormann, RichardFraunhofer IPA
Arras, Kai OliverUniversity of Stuttgart
 
16:50-16:55, Paper WeET19.4 
 MultiTalk: Introspective and Extrospective Dialogue for Human-Environment-LLM Alignment

Devarakonda, Venkata NarenNew York University
Kaypak, Ali UmutNew York University
Yuan, ShuaihangNew York University
Krishnamurthy, PrashanthNew York University Tandon School of Engineering
Fang, YiNew York University
Khorrami, FarshadNew York University Tandon School of Engineering
 
16:55-17:00, Paper WeET19.5 
 Goal-Guided Reinforcement Learning: Leveraging Large Language Models for Long-Horizon Task Decomposition

Zhang, CengNational University of Singapore
Sun, ZhanhongNational University of Singapore
Chirikjian, GregoryUniversity of Delaware
 
17:00-17:05, Paper WeET19.6 
 Trustworthy Robot Behavior Tree Generation Based on Multi-Source Heterogeneous Knowledge Graph

Yuan, JianchaoNational University of Defense Technology
Yang, ShuoNational University of Defense Technology
Zhang, QiNational University of Defense Technology
Li, GeNational University of Defense Technology
Tang, JianpingNational University of Defense Technology
 
17:05-17:10, Paper WeET19.7 
 Physics-Aware Robotic Palletization with Online Masking Inference

Zhang, TianqiTsinghua University
Wu, ZhengUniversity of California, Berkeley
Chen, YuxinUniversity of California, Berkeley
Wang, YixiaoUniversity of California, Berkeley
Liang, BoyuanUniversity of California, Berkeley
Moura, ScottUC Berkeley
Tomizuka, MasayoshiUniversity of California
Ding, MingyuUC Berkeley
Zhan, WeiUniveristy of California, Berkeley
 
17:10-17:15, Paper WeET19.8 
 Enabling In-Flight Metamorphosis in Multirotors with a Center-Driven Scissor Extendable Airframe for Adaptive Navigation

Yang, TaoHarbin Institute of Technology, Shenzhen
Li, PengHarbin Institute of Technology ShenZhen
Wang, GangUniversity of Shanghai for Science and Technology
Shen, YantaoUniversity of Nevada, Reno
 
WeET20 408
Planning Around People for Social Navigation Regular Session
Chair: Mendez, OscarUniversity of Surrey
Co-Chair: Mavrogiannis, ChristoforosUniversity of Michigan
 
16:35-16:40, Paper WeET20.1 
 SafePCA: Enhancing Autonomous Robot Navigation in Dynamic Crowds Using Proximal Policy Optimization and Cellular Automata

Farouq, ArdiansyahTelkom University
Tran, Dinh TuanCollege of Information Science and Engineering, Ritsumeikan Univ
Lee, Joo-HoRitsumeikan University
 
16:40-16:45, Paper WeET20.2 
 Robot Local Planner: A Periodic Sampling-Based Motion Planner with Minimal Waypoints for Home Environments

Takeshita, KeisukeToyota Motor Corporation
Yamazaki, TakahiroToyota Motor Corporation
Ono, TomohiroToyota Motor Corporation
Yamamoto, TakashiAichi Institute of Technology
 
16:45-16:50, Paper WeET20.3 
 Diff-Refiner: Enhancing Multi-Agent Trajectory Prediction with a Plug-And-Play Diffusion Refiner

Zhou, XiangzhengNanjing University of Science and Technology
Chen, XiaoboShandong Technology and Business University
Yang, JianNanjing University of Science & Technology
 
16:50-16:55, Paper WeET20.4 
 Scene-Aware Explainable Multimodal Trajectory Prediction

Liu, PeiThe Hong Kong University of Science and Technology(GuangZhou)
Liu, HaipengShanghai Li Auto Co., Ltd
Liu, XingyuShenyang Agricultural University
Li, YiqunSoutheast University
Chen, JunlanMonash University
He, YangfanUniversity of Minnesota - Twin Cities
Ma, JunThe Hong Kong University of Science and Technology
 
16:55-17:00, Paper WeET20.5 
 Safety-Critical Traffic Simulation with Adversarial Transfer of Driving Intentions

Huang, ZheruiShanghai Jiao Tong University
Gao, XingShanghai AI Lab
Zheng, GuanjieShanghai Jiaotong University
Wen, LichengShanghai AI Laboratory
Yang, XuemengShanghai Artificial Intelligence Laboratory
Sun, XiaoShanghai AI Laboratory, China
 
17:00-17:05, Paper WeET20.6 
 The Radiance of Neural Fields: Democratizing Photorealistic and Dynamic Robotic Simulation

Alcolado Nuthall, Georgina EUniversity of Surrey
Bowden, RichardUniversity of Surrey
Mendez, OscarUniversity of Surrey
 
17:05-17:10, Paper WeET20.7 
 Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation

Wang, WeizhengPurdue University
Yu, ChaoTsinghua University
Wang, YuTsinghua University
Min, Byung-CheolPurdue University
 
17:10-17:15, Paper WeET20.8 
 Crowd Perception Communication-Based Multi-Agent Path Finding with Imitation Learning

Xie, JingNational Innovation Institute of Defense Technology
Zhang, YongjunNational Innovation Institute of Defense Technology
Yang, HuanhuanNational University of Defense Technology
Ouyang, QianyingIntelligent Game and Decision Lab; Tianjin Artificial Intelliegnc
Dong, FangCollege of Computer, National University of Defense Technology
Guo, XinyuBeijing Institute of Technology
Jin, SongchangDefense Innovation Institute
Shi, DianxiDefense Innovation Institute
 
WeET21 410
Integrating Motion Planning and Learning 2 Regular Session
Co-Chair: Soh, HaroldNational University of Singapore
 
16:35-16:40, Paper WeET21.1 
 TSPDiffuser: Diffusion Models As Learned Samplers for Traveling Salesperson Path Planning Problems

Yonetani, RyoCyberAgent
 
16:40-16:45, Paper WeET21.2 
 Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments

Talukder, Md Ridwan HossainGeorge Mason University
Arnob, Raihan IslamGeorge Mason University
Stein, GregoryGeorge Mason University
 
16:45-16:50, Paper WeET21.3 
 Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotics Manipulation

Zhu, MinJieEast China Normal University
Zhu, YichenMidea Group
Li, JinmingShanghai University
Wen, JunjieEast China Normal University
Xu, ZhiyuanMidea Group
Liu, NingMidea Group
Cheng, RanMidea Robozone
Shen, ChaominEast China Normal University
Peng, YaxinShanghai University
Feng, FeifeiMidea Group
Tang, JianMidea Group (Shanghai) Co., Ltd
 
16:50-16:55, Paper WeET21.4 
 Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion

Huang, ZixuanUniversity of Michigan
He, YinongUniversity of Michigan
Lin, YatingUniversity of Michigan
Berenson, DmitryUniversity of Michigan
 
16:55-17:00, Paper WeET21.5 
 Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks

Feng, ZeyuNational University of Singapore
Luan, HaoNational University of Singapore
Ma, Kevin YuchenNational University of Singapore
Soh, HaroldNational University of Singapore
 
17:00-17:05, Paper WeET21.6 
 PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation

Seo, MingyoThe University of Texas at Austin
Cho, YoonyoungKAIST
Sung, YoonchangThe University of Texas at Austin
Stone, PeterUniversity of Texas at Austin
Zhu, YukeThe University of Texas at Austin
Kim, BeomjoonKorea Advanced Institute of Science and Technology
 
17:05-17:10, Paper WeET21.7 
 Demonstration Data-Driven Parameter Adjustment for Trajectory Planning in Highly Constrained Environments

Lu, WangtaoZhejiang University
Chen, LeiBeijing Institute of Spacecraft System Engineering
Wang, YunkaiZhejiang University
Wei, YufeiZhejiang University
Wu, ZifeiZhejiang University
Xiong, RongZhejiang University
Wang, YueZhejiang University
 
17:10-17:15, Paper WeET21.8 
 VLM-Social-Nav: Socially Aware Robot Navigation through Scoring Using Vision-Language Models

Song, DaeunGeorge Mason University
Liang, JingUniversity of Maryland
Payandeh, AmirrezaGeorge Mason University
Raj, Amir HossainGeorge Mason University
Xiao, XuesuGeorge Mason University
Manocha, DineshUniversity of Maryland
 
WeET22 411
Deep Learning for Visual Perception 3 Regular Session
Co-Chair: Hsu, WinstonNational Taiwan University
 
16:35-16:40, Paper WeET22.1 
 Talk2Radar: Bridging Natural Language with 4D mmWave Radar for 3D Referring Expression Comprehension

Guan, RunweiUniversity of Liverpool
Zhang, RuixiaoUniversity of Southampton
Ouyang, NingweiUniversity of Liverpool
Liu, JiananMomoni AI
Man, Ka LokXi'an Jiaotong-Liverpool University
Cai, XiaohaoUniversity of Southampton
Xu, MingXi'an Jiaotong-Liverpool University
Smith, Jeremy S.University of Liverpool
Lim, Eng GeeXi'an Jiaotong-Liverpool University
Yue, YutaoHong Kong University of Science and Technology (Guangzhou)
Xiong, HuiThe Hong Kong University of Science and Technology (Guangzhou)
 
16:40-16:45, Paper WeET22.2 
 Improving Generalization Ability for 3D Object Detection by Learning Sparsity-Invariant Features

Lu, Hsin-ChengNational Taiwan University
Lin, ChungyiNational Taiwan University
Hsu, WinstonNational Taiwan University
 
16:45-16:50, Paper WeET22.3 
 Camera-Lidar Consistent Neural Radiance Fields

Hou, ChaoThe University of Hong Kong
Zhang, FuUniversity of Hong Kong
 
16:50-16:55, Paper WeET22.4 
 Iterative Volume Fusion for Asymmetric Stereo Matching

Gao, YuantingTsinghua University
Shen, LinghaoSony (China) Ltd
 
16:55-17:00, Paper WeET22.5 
 OccRWKV: Rethinking Efficient 3D Semantic Occupancy Prediction with Linear Complexity

Wang, JunmingThe University of Hong Kong
Yin, WeiUniversity of Adelaide
Long, XiaoxiaoThe University of Hong Kong
Zhang, XingyuHorizon Robotics
Xing, ZebinUCAS
Guo, XiaoyangHorizon Robotics
Zhang, QianHorizon Robotics
 
17:00-17:05, Paper WeET22.6 
 ZSORN: Language-Driven Object-Centric Zero-Shot Object Retrieval and Navigation

Guan, TianruiUniversity of Maryland
Yang, YurouAmazon
Cheng, HarryAmazon
Lin, MuyuanAmazon.com LLC
Kim, RichardAmazon, Lab126
Madhivanan, RajasimmanAmazon.com
Sen, ArnabAmazon
Manocha, DineshUniversity of Maryland
 
17:05-17:10, Paper WeET22.7 
 PRIDEV: A Plug-And-Play Refinement for Improved Depth Estimation in Videos

Xu, JingPeking University
Liu, HongPeking University
Wu, JianbingPeking University
Xu, XinhuaPeking University
 
WeET23 412
Learning for Control Regular Session
Chair: Manchester, ZacharyCarnegie Mellon University
Co-Chair: Beckers, ThomasVanderbilt University
 
16:35-16:40, Paper WeET23.1 
 Unsupervised Meta-Testing with Conditional Neural Processes for Hybrid Meta-Reinforcement Learning

Ada, Suzan EceBogazici University
Ugur, EmreBogazici University
 
16:40-16:45, Paper WeET23.2 
 Efficient Online Learning of Contact Force Models for Connector Insertion

Tracy, KevinCarnegie Mellon University
Manchester, ZacharyCarnegie Mellon University
Jain, AjinkyaIntrinsic Innovation LLC
Go, KeeganIntrinsic Innovation LLC
Schaal, StefanGoogle X
Erez, TomGoogle
Tassa, YuvalUniversity of Washington
 
16:45-16:50, Paper WeET23.3 
 Flying Quadrotors in Tight Formations Using Learning-Based Model Predictive Control

Chee, Kong YaoUniversity of Pennsylvania
Hsieh, Pei-AnUniversity of Pennsylvania
Pappas, George J.University of Pennsylvania
Hsieh, M. AniUniversity of Pennsylvania
 
16:50-16:55, Paper WeET23.4 
 Learning Based MPC for Autonomous Driving Using a Low Dimensional Residual Model

Li, YaoyuTsinghua University
Huang, ChaoshengTsinghua University
Yang, DongshengBYD Automotive New Technology Research Institute
Liu, WenboTsinghua University
Li, JunTsinghua University
 
16:55-17:00, Paper WeET23.5 
 Modeling of Deformable Linear Objects under Incomplete State Information

Klankers, Marc KilianTechnische Universität Braunschweig
Steil, Jochen J.Technische Universität Braunschweig
 
17:00-17:05, Paper WeET23.6 
 Impedance Primitive-Augmented Hierarchical Reinforcement Learning for Sequential Tasks

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Prakash, RaviIndian Institute of Science
Kober, JensTU Delft
 
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Tan, KaiyuanWashington University in St.Louis
Li, PeilunVanderbilt University
Wang, JunWashington University in St. Louis
Beckers, ThomasVanderbilt University
 
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Zhai, PengFudan University
Wei, XiaoyiFudan University
Hou, TaixianFuDan University
Ji, XiaopengZhejiang University
Dong, ZhiyanFudan University
Yi, JiafuHainan University
ZHang, LihuaFudan University

 
 

 
 

 

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