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ICRA 2026

2898 papers · 2898 AI summaries · 2026

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Advancing Off-Road Autonomous Driving: The Large-Scale ORAD-3D Dataset and Comprehensive Benchmarks AI summary
Hanzhang Xue, Hao Fu, Yiming Nie, Qi Zhu, Liang Xiao, Dawei Zhao, Yu Hu
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High-Altitude Balloon Station-Keeping with First Order Model Predictive Control AI summary
Myles Pasetsky, Jiawei Lin, Bradley Guo, Sarah Dean
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Cuspidal Redundant Robots: Classification of Infinitely Many IKS of Special Classes of 7R Robots AI summary
Durgesh Haribhau Salunkhe, Sthithpragya Gupta, Aude Billard
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Collaborative Human-Robot Object Transportation Using a Deformable Sheet AI summary
Weijian Zhang, Charlie Street, Masoumeh Mansouri
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SurgSync: Time-Synchronized Multi-Modal Data Collection Framework and Dataset for Surgical Robotics AI summary
Haoying Zhou, Chang Liu, Yimeng Wu, Junlin Wu, Zijian Wu, Yu Chung Lee, Sara Martuscelli, Septimiu E. Salcudean, Gregory Scott Fischer, Peter Kazanzides
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PKF: Probabilistic Data Association Kalman Filter for Multi-Object Tracking AI summary
Hanwen Cao, George J. Pappas, Nikolay Atanasov
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SPILL: Size, Pose, and Internal Liquid Level Estimation of Transparent Glassware for Robotic Bartending AI summary
Louis Adriaens, Thomas Lips, Mathieu De Coster, Andreas Verleysen, Francis wyffels
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Embodied Stability in a Minimally-Actuated Soft Robot for Autonomous Exploration AI summary
Lior Salem, Adam Vichik, Amir Gat, Yizhar Or
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Dynamically Feasible Trajectory Generation with Optimization-Embedded Networks for Autonomous Flight AI summary
Zhichao Han, Long Xu, Liuao Pei, Fei Gao
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Suction Leap-Hand: Suction Cups on a Multi-Fingered Hand Enable Embodied Dexterity and In-Hand Teleoperation AI summary
Sun Zhaole, Xiaofeng Mao, Jihong Zhu, Yuanlong Zhang, Robert Fisher
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OCT Imaging for Pose Estimation and Feedback Control of an Articulated Magnetic Surgical Tool AI summary
Erik Fredin, Nirmal Pol, Anton Zaliznyi, Dmytro Fishman, Eric D. Diller, Lueder Alexander Kahrs
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ASAR: ε-Optimal Graph Search for Minimum Expected-Detection-Time Paths with Path Budget Constraints for Search and Rescue (SAR) AI summary
Eric Mugford, Jonathan Gammell
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Safety-Aware UAVs Formation Scheme for Guiding UGVs through Obstacle-Laden Environments AI summary
Ruikang Xiao, Shuting Wang, Yuanlong Xie, Sheng Quan Xie, Youmin Zhang
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Plan Optimal Collision-Free Trajectories with Non-Convex Cost Functions Using Graphs of Convex Sets AI summary
Landon Clark, Biyun Xie
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AINav: Large Language Model-Based Adaptive Interactive Navigation AI summary
Kangjie Zhou, Yao Mu, Haoyang Song, Yi Zeng, Pengying Wu, Han Gao, Chang Liu
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Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments AI summary
Long Xu, Kaixin Chai, Boyuan An, Shuhang Ji, Zhenyu Hou, JiaXiang Gan, Qianhao Wang, Yuan Zhou, Xiaoying Li, Junxiao Lin, Zhichao Han, Chao Xu, Yanjun Cao, Fei Gao
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A Digital Twin for Robotic Post Mortem Tissue Sampling Using Virtual Reality AI summary
Maximilian Neidhardt, Ludwig Bosse, Vidas Raudonis, Kristina Allgoewer, Axel Heinemann, Benjamin Ondruschka, Alexander Schlaefer
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Embedded Hierarchical MPC for Autonomous Navigation AI summary
Dennis Benders, Johannes Köhler, Thijs Niesten, Robert Babu�ka, Javier Alonso-Mora, Laura Ferranti
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FUNCanon: Learning Pose-Aware Action Primitives Via Functional Object Canonicalization for Generalizable Robotic Manipulation AI summary
Hongli Xu, Lei Zhang, Xiaoyue Hu, Boyang Zhong, Kaixin Bai, Zoltan-Csaba Marton, Zhenshan Bing, Zhaopeng Chen, Alois Knoll, Jianwei Zhang
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PS-ECBS: A New Algorithm for Multi-Agent Path Finding with Optimal Task Assignment AI summary
Cheng Zhang, Shixin Liu
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FASIONAD: Adaptive Uncertainty-Gated Fast�Slow Fusion Framework for Safe Autonomous Driving AI summary
Ziang Luo, Sicong Jiang, Kangan Qian, Zilin Huang, Tianze Zhu, Siwen Jiao, Jinyu Miao, Zheng Fu, Yang Zhong, Yunlong Wang, Hao YE, Mengmeng Yang, Kun Jiang, Diange Yang
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A Teleoperated Control for Robot-Aided Percutaneous Surgery: An Application to Needle Insertion in Nephrolithotomy AI summary
Clemente Lauretti, Rosaura Morfino, Francesco Cocco, Francesco Prata, Rocco Papalia and Loredana Zollo
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3DGS-Holo-Inspector: A Mixed Reality UAV Controller with 3D Gaussian Splatting Localization for Infrastructure Inspection AI summary
Syed Muhammad Raza Rizvi, Huaiyuan Weng, Chul Min Yeum
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Validation of Space Robotics in Underwater Environments Via Disturbance Robustness Equivalency AI summary
Joris Verhagen, Elias Krantz, Chelsea Sidrane, David Dörner, Nicola De Carli, Pedro Roque, Huina Mao, Gunnar Tibert, Ivan Stenius, Christer Fuglesang, Dimos V. Dimarogonas, Jana Tumova
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Towards Human-Like Table Tennis Serving: Preliminary Exploration with Simplified Serving Motion Using an Industrial Robotic Manipulator in NVIDIA Isaac Sim AI summary
Po-Chuan Chiou, Jing-Chen Hong
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Exploring Single Domain Generalization of LiDAR-Based Semantic Segmentation under Imperfect Labels AI summary
Weitong Kong, Zichao Zeng, Di Wen, Jiale Wei, Kunyu Peng, June Moh Goo, Jan Boehm, Rainer Stiefelhagen
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PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching AI summary
Lei Ye, Haibo Gao, Peng Xu, Zhelin Zhang, Wei Zhang, Junqi Shan, Ao Zhang, Ruyi Zhou, Zongquan Deng, Liang Ding
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iVISION-2DCD: A Long-Term Change Detection Dataset for Large-Scale Outdoor Construction Monitoring AI summary
Dayou Mao, Yuchen Lin, Ashkan Ebadi, John S. Zelek, Alexander Wong, Yuhao Chen
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Multimodal Belief-Space Covariance Steering with Active Probing and Influence for Interactive Driving AI summary
Devodita Chakravarty, John M. Dolan, Yiwei Lyu
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TreeIRL: Safe Urban Driving with Tree Search and Inverse Reinforcement Learning AI summary
Momchil Tomov, Sang Uk Lee, Hansford Hendargo, Jinwook Huh, Teawon Han, Forbes Howington, Rafael Rodrigues da Silva, Gianmarco Bernasconi, Marc Heim, Samuel Findler, Xiaonan Ji, Alexander Boule, Michael Napoli, Kuo Chen, Jesse Miller, Boaz Cornelis Floor, Yunqing Hu
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STRIVE: Structured Representation Integrating VLM Reasoning for Efficient Object Navigation AI summary
Haokun Zhu, Zongtai Li, Zhixuan Liu, Wenshan Wang, Ji Zhang, Jonathan Francis, Jean Oh
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Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-The-Wild Human Demonstrations AI summary
Irmak Guzey, Haozhi Qi, Julen Urain, Changhao Wang, Jessica Yin, Chaithanya Krishna Bodduluri, Mike Maroje Lambeta, Lerrel Pinto, Akshara Rai, Jitendra Malik, Tingfan Wu, Akash Sharma, Homanga Bharadhwaj
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Probabilistically-Safe Bipedal Navigation Over Uncertain Terrain Via Conformal Prediction and Contraction Analysis AI summary
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
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Semantic and Terrain-Aware Trajectory Optimization for Uniform Coverage in Obstacle-Laden Environments AI summary
Zexuan Fan, Hengye Yang, Sunchun Zhou, Junyi Cai, Tao Sun, Chang Liu
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GDP: Enhancing End-To-End Autonomous Driving with Goal-Driven Planner AI summary
Qiming Zhang, Yue Zhao, Yujian Wang, Wei Wang, Zetong Yang, Wei Xu, Yin Zhou, Jun Ma
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VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation AI summary
Zehao Ni, Yonghao He, Lingfeng Qian, Jilei Mao, Fa Fu, Wei Sui, Hu Su, Junran Peng, Zhipeng Wang, Bin He
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DIPP: A Diffusion-Based Potential Planner for Synergistic Navigation and Mapping AI summary
Yiqing Zhang, Tao Wang, Miaoxin Pan, Yi Yang, Mengyin Fu
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Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots AI summary
Chongxi Meng, Da Zhao, Yifei Zhao, Minghao Zeng, Yanmin Zhou, Zhipeng Wang, Bin He
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Seeing Farther and Smarter: Value-Guided Multi-Path Reflection for VLM Policy Optimization AI summary
Yanting Yang, Shenyuan Gao, Qingwen Bu, Li Chen, Dimitris N. Metaxas
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V2V-LLM: Vehicle-To-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Models AI summary
Hsu-kuang Chiu, Ryo Hachiuma, Chien-Yi Wang, Stephen F. Smith, Yu-Chiang Frank Wang, Min-Hung Chen
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HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Traffic AI summary
Yu-Hsiang Chen, Wei-Jer Chang, Christian Kotulla, Thomas Keutgens, Steffen Runde, Tobias Moers, Christoph Klas, Wei Zhan, Masayoshi Tomizuka, Yi-Ting Chen
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TARAD: Task-Aware Robot Affordance-Centric Diffusion Policy Learned from LLM-Generated Demonstrations AI summary
Site Hu, Takayuki Nagai, Takato Horii
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LAMP: Implicit Language Map for Robot Navigation AI summary
Sibaek Lee, Hyeonwoo Yu, Giseop Kim, Sunwook Choi
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AssemMate: Graph-Based LLM for Robotic Assembly Assistance AI summary
QI ZHENG, Chaoran Zhang, Zijian Liang, Ente Lin, Shubo Cui, Qinghongbing Xie, Zhaobo Xu, Long Zeng
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Multi-Modal Affordance Planner with Temporal-Context Action Policy for Long-Horizon Bimanual Robot Manipulation AI summary
Ji-Heon Oh, Danbi Jung, Ismael Espinoza, Yong-Hyeok Choi, YoungOuk Kim, Dongin Shin, JongSul Moon, Wonha Kim, Tae-Seong Kim
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B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators AI summary
Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu
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FELP: Fast and Effective Autonomous Flight on Large-Scale and Cluttered Environments Based on Unified Linear Parametric Map AI summary
hongyu nie, Xingyu Li, Xu Liu, Decai Li, Yuqing He
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TransDiffuser: Diverse Trajectory Generation with Decorrelated Multi-Modal Representation for End-To-End Autonomous Driving AI summary
Xuefeng Jiang, Yuan Ma, Pengxiang LI, leimeng xu, Xin Wen, Kun Zhan, zhongpu xia, Peng Jia, Xianpeng Lang, Sheng Sun
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Simulation-Ready Tree: High-Quality Dynamic Tree Reconstruction from a Single RGB-D Sensor AI summary
Hao Jin, Mingxin JIAO, Haoran Xie, Shaojun Hu
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MTRDrive: Memory-Tool Synergistic Reasoning for Robust Autonomous Driving in Corner Cases AI summary
Ziang Luo, Kangan Qian, Jiahua Wang, Jinyu Miao, Zheng Fu, yuechen luo, Yunlong Wang, Sicong Jiang, Zilin Huang, Yifei HU, Yuhao Yang, Hao YE, Mengmeng Yang, Xiaojian Dong, Kun Jiang, Diange Yang
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