From bf4d0cd38ad7c377f65ff8d979c5c469d532ffac Mon Sep 17 00:00:00 2001 From: Codex Bot Date: Mon, 9 Nov 2026 18:00:40 +0800 Subject: [PATCH] Collect RSS 2025 proceedings with explicit program evidence --- .gitea/workflows/check.yml | 1 + README.md | 2 + docs/rss-proceedings.md | 38 + paper_atlas/cli.py | 1 + paper_atlas/collectors/rss.py | 279 ++ tests/fixtures/rss2025/accepted.html | 4356 ++++++++++++++++++++++++ tests/fixtures/rss2025/authorinfo.html | 1501 ++++++++ tests/fixtures/rss2025/demos.html | 1646 +++++++++ tests/fixtures/rss2025/index.html | 1585 +++++++++ tests/fixtures/rss2025/p001.html | 148 + tests/fixtures/rss2025/p002.html | 155 + tests/fixtures/rss2025/receipts.json | 65 + tests/test_rss_proceedings.py | 186 + 13 files changed, 9963 insertions(+) create mode 100644 docs/rss-proceedings.md create mode 100644 paper_atlas/collectors/rss.py create mode 100644 tests/fixtures/rss2025/accepted.html create mode 100644 tests/fixtures/rss2025/authorinfo.html create mode 100644 tests/fixtures/rss2025/demos.html create mode 100644 tests/fixtures/rss2025/index.html create mode 100644 tests/fixtures/rss2025/p001.html create mode 100644 tests/fixtures/rss2025/p002.html create mode 100644 tests/fixtures/rss2025/receipts.json create mode 100644 tests/test_rss_proceedings.py diff --git a/.gitea/workflows/check.yml b/.gitea/workflows/check.yml index 38fe7b3..3928f24 100644 --- a/.gitea/workflows/check.yml +++ b/.gitea/workflows/check.yml @@ -51,6 +51,7 @@ jobs: subprocess.run([python,'-I','-B','-m','paper_atlas','collect','www-archive','--help'],cwd=outside,check=True) subprocess.run([python,'-I','-B','-m','paper_atlas','collect','aamas-proceedings','--help'],cwd=outside,check=True) subprocess.run([python,'-I','-B','-m','paper_atlas','collect','iclr-archive','--help'],cwd=outside,check=True) + subprocess.run([python,'-I','-B','-m','paper_atlas','collect','rss-proceedings','--help'],cwd=outside,check=True) subprocess.run([python,'-I','-B','-m','paper_atlas','maintain','postgres','--help'],cwd=outside,check=True) subprocess.run([python,'-I','-B','-m','paper_atlas','maintain','edition-tracks','--help'],cwd=outside,check=True) subprocess.run([python,'-I','-B','-m','paper_atlas','maintain','joint-editions','--help'],cwd=outside,check=True) diff --git a/README.md b/README.md index 0d15ce0..0433641 100644 --- a/README.md +++ b/README.md @@ -8,6 +8,8 @@ Paper Atlas 将 arXiv、AI 会议论文集及公开投稿决定整理到可追 历史 ICLR 2014–2016 官方录用页由 `collect iclr-archive` 适配，保留主会/workshop及重复展示证据；运行和身份核验边界见 [历史档案说明](docs/coverage/iclr-archive-2014-2016.md)。 +RSS 2025 的 `collect rss-proceedings` 读取官方逐篇标题、完整作者、摘要和 DOI，并核对录用与演示节目单；不下载 PDF。15 个演示 ID 有明确来源，其余逐篇投稿类型保持未明确，不用标题或会话主题代替 track。运行、证据恢复和限制见 [RSS 元数据说明](docs/rss-proceedings.md)。 + ## 项目结构 ```text diff --git a/docs/rss-proceedings.md b/docs/rss-proceedings.md new file mode 100644 index 0000000..eec188f --- /dev/null +++ b/docs/rss-proceedings.md @@ -0,0 +1,38 @@ +# RSS 官方论文元数据 + +这是长期维护、按需运行的 package collector，不是定时服务或一次性导入脚本。目前仅接受独立核对过的 2025 年版式；不把 2026 年或其他年份套用同一分类规则。 + +## 数据范围和证据 + +- [RSS XXI 官方论文集](https://www.roboticsproceedings.org/rss21/)列出 163 个不同的逐篇 HTML 链接。每篇有 citation 元数据、BibTeX 和摘要区；PDF 链接作为原始元数据保存，不请求全文。 +- [官方 Accepted Papers](https://roboticsconference.org/2025/program/papers/)按论文 ID、标题和 session 对账。网页作者列包含隐藏的重复展示，逐篇有序 citation_author 与论文集目录作者完整对比后才采用；不截断作者、不将重复展示当新论文。 +- [官方 Demos](https://roboticsconference.org/2025/program/demos/)明确列出 15 个论文 ID，包括标题不以 Demonstrating 开头的 ID 93。这些条目标为 `demo`，保留整行节目证据。其他 148 条使用 `proceedings_unspecified`：没有逐篇类型依据时，不因缺席演示表就自动推断 main。 +- [作者说明](https://roboticsconference.org/2025/information/authorinfo/)描述 Science/Systems 与 Demo 两类投稿，两类都进入论文集。分类属于该来源的投稿/发表语义，不自动生成通用 research_type 标签。 + +`rss_proceedings:session` 保留官方 session，`rss_proceedings:program_role` 保留明确的 demonstration。二者与其他平台标签隔离；session 主题不等于投稿 track。单篇来源 ID 是 `2025/pNNN`，DOI 同时保留原始 BibTeX 大小写和标准化身份键，显式的 `publication_doi` 供原生导入器在同一会议年度/track 中关联其他正式发表来源；不能据此合并不同 track 或不同会议的投稿经历。 + +只有已发表、被官方录用表列出的条目才产生 accepted 记录。采集观察时间来自响应回执；出版日期单独留在 metadata，不伪造原始决定日期。来源未列出的论文不能推断为 rejected、desk rejected 或 withdrawn；公开负面决定是另一个待核范围。 + +## 运行 + +构建、安装和项目测试仅使用已确认的 `ces-control:host` 远程 runner。本机不能执行隐式构建的验证。服务器已安装环境运行示例： + +```sh +paper-atlas collect rss-proceedings --year 2025 \ + --snapshots /data/paper-index/collected/rss2025-full-evidence-v1 \ + --out /data/paper-index/collected/rss2025-source-v1 +``` + +也可使用 `--cache /data/paper-index/raw/rss-http` 请求限定官方 HTML 元数据。两种输入互斥。冻结快照的 `receipts.json` 每项必须包含 `file`、准确 `url/final_url`、`http_status: 200`、`content_type: text/html`、`bytes`、`sha256` 和含时区的观察时间 `at`。路径必须位于快照内，不能通过符号链接逃逸。所有输入逐个核验字节数与哈希，UTF-8 解码；重定向、未知版式和异常 ID 需要先核查。 + +采集只输出 JSONL、每个 track 的 manifest、完整 HTML 证据和 `rss-2025.json` 来源报告，不连接生产数据库。两份清单状态保持 `partial`；即使该卷 163 个链接全部解析，也不表示独立作品去重、逐篇类型或公开负面决定全集已完成。明确为空的摘要保存 `null` 和原因；缺失或重复摘要边界属于版式异常，停止输出。 + +## 冻结与恢复 + +2026-11-09 在服务器冻结 167 个官方 HTML 响应：目录、录用表、演示表、作者说明和 163 个逐篇页面。回执 SHA256：`f427d93a113702030864e789efe1176d69f71d2c567e81536d155e53d9513a93`。六个未改写样例位于 `tests/fixtures/rss2025/`，附其真实响应回执；完整原件保存在服务器来源目录与独立审阅备份，不作为运行时下载依赖。 + +整个采集持有输出目录的排他锁。全部解析和交叉检查通过后才发布 JSONL、manifest 和完成报告；完成报告最后发布。已有完成报告或 JSONL 时拒绝覆盖。若发布中断，先核对目录、回执和所有文件哈希，保留现场，再换新输出目录重采；不能看到日志安静就重启或重复导入。新的官方页面内容或计数与冻结样本不同，必须另留快照、解释变化并验证后再更新采集器。 + +生产导入前必须另外做来源独立核验和 PostgreSQL 只读身份预检。DOI、同标题候选和既有 arXiv 实体需要逐项核查，保留跨会的所有投稿和决定关系；发现冲突时隔离，不能只按标题强合并。已导入队列不得重放。生产独立验收通过后才重新统计年度缺口；导入成功和 CI 不能替代最终全库去重、摘要/标签及约束和实际查询审计。 + +本说明中的 163/15 是冻结官方页面的来源清单，不是当前生产库导入结果。历史缺口在本批生产验收前仍为 47。 diff --git a/paper_atlas/cli.py b/paper_atlas/cli.py index 43248da..e4be27a 100644 --- a/paper_atlas/cli.py +++ b/paper_atlas/cli.py @@ -14,6 +14,7 @@ COMMANDS = { ('collect','pmlr'): ('paper_atlas.collectors.pmlr', {}, 'PMLR 官方元数据'), ('collect','acl'): ('paper_atlas.collectors.acl', {}, 'ACL Anthology XML'), ('collect','iclr-archive'): ('paper_atlas.collectors.iclr_archive', {}, '核对ICLR 2014–2016官方历史录用档案'), + ('collect','rss-proceedings'): ('paper_atlas.collectors.rss', {}, '核对RSS 2025官方论文摘要与演示证据'), ('collect','iclr-program'): ('paper_atlas.collectors.iclr', {}, 'ICLR 官方公开程序'), ('collect','iclr-snapshot'): ('paper_atlas.collectors.openreview', {}, 'ICLR 公开投稿与决定快照'), ('collect','public-openreview'): ('paper_atlas.collectors.public_openreview', {}, '核验其他会议的公开拒稿及撤稿标签'), diff --git a/paper_atlas/collectors/rss.py b/paper_atlas/collectors/rss.py new file mode 100644 index 0000000..3dd8406 --- /dev/null +++ b/paper_atlas/collectors/rss.py @@ -0,0 +1,279 @@ +"""Reviewed RSS 2025 proceedings HTML; no PDF or private review access.""" +import argparse +from collections import Counter +from datetime import date +import fcntl +import hashlib +import json +from pathlib import Path +import re +import tempfile +import unicodedata + +from paper_atlas.db.submissions import timestamp +from paper_atlas.io.html import Document, Node, clean +from paper_atlas.io.http import fetch + +SOURCE = 'rss_proceedings' +ROOT = 'https://www.roboticsproceedings.org/rss21/' +HEADING = 'Robotics: Science and Systems XXI' +PAGES = {'index': ROOT, + 'accepted': 'https://roboticsconference.org/2025/program/papers/', + 'demos': 'https://roboticsconference.org/2025/program/demos/', + 'authorinfo': 'https://roboticsconference.org/2025/information/authorinfo/'} +EXPECTED = 163 +DEMO_IDS = {2, 20, 21, 33, 58, 59, 62, 84, 86, 92, 93, 107, 129, 132, 141} + + +def one(values, description): + if len(values) != 1: + raise ValueError('Expected one '+description) + return values[0] + + +def comparable(text): + return unicodedata.normalize('NFC', clean(text)) + + +def parse_index(html): + document = Document(html) + nodes = list(document.root.walk()) + if [clean(n.text()) for n in nodes if n.tag == 'h1'] != [HEADING]: + raise ValueError('Unexpected RSS proceedings edition') + result = {} + for row in (n for n in nodes if n.tag == 'tr'): + links = [n for n in row.walk() if n.tag == 'a' + and re.fullmatch(r'p[0-9]{3}\.html', n.attrs.get('href', ''))] + if not links: + continue + link = one(links, 'proceedings entry link') + pid = int(link.attrs['href'][1:4]) + title = clean(link.text()) + authors = clean(one([n for n in row.walk() if n.tag == 'i'], 'index authors').text()) + if pid in result or pid < 1 or not title or not authors: + raise ValueError('Empty or repeated RSS index entry') + result[pid] = {'title': title, 'authors_display': authors, + 'url': ROOT+link.attrs['href']} + occurrences = sum(n.tag == 'a' and bool(re.fullmatch(r'p[0-9]{3}\.html', n.attrs.get('href', ''))) + for n in nodes) + if not result or len(result) != occurrences: + raise ValueError('Unparsed or duplicate proceedings links') + return result + + +def parse_program(html, heading, columns): + nodes = list(Document(html).root.walk()) + if [clean(n.text()) for n in nodes if n.tag == 'h1'] != [heading]: + raise ValueError('Unexpected RSS program page') + headers = [[clean(n.text()) for n in row.children if isinstance(n, Node) and n.tag == 'th'] + for row in nodes if row.tag == 'tr'] + if list(columns) not in headers: + raise ValueError('Unexpected RSS program columns') + result = {} + for row in (n for n in nodes if n.tag == 'tr'): + cells = [n for n in row.children if isinstance(n, Node) and n.tag == 'td'] + if not cells: + continue + if len(cells) != len(columns): + raise ValueError('Unexpected RSS program row width') + raw_id = clean(cells[0].text()) + if not re.fullmatch('[1-9][0-9]*', raw_id): + raise ValueError('Invalid program ID') + pid = int(raw_id) + if pid in result: + raise ValueError('Duplicate program ID') + result[pid] = {key: clean(node.text()) for key, node in zip(columns, cells)} + if not result[pid]['Title']: + raise ValueError('Missing program title') + if not result: + raise ValueError('No RSS program rows') + return result + + +def validate_program(index, accepted, demos, authorinfo): + if set(index) != set(accepted) or len(index) != EXPECTED or set(demos) != DEMO_IDS: + raise ValueError('RSS program and reviewed proceedings census differ') + text = clean(Document(authorinfo).root.text()) + if ('There are two types of submissions to RSS' not in text + or 'Both types of papers appear in the RSS proceedings.' not in text): + raise ValueError('Submission category evidence changed') + for pid, item in index.items(): + variants = [accepted[pid]['Title']] + ([demos[pid]['Title']] if pid in demos else []) + if any(comparable(title) != comparable(item['title']) for title in variants): + raise ValueError('Conflicting official program title for '+str(pid)) + + +def parse_paper(html, pid, entry, accepted, demo, evidence): + nodes = list(Document(html).root.walk()) + meta = {} + for node in nodes: + if node.tag == 'meta' and node.attrs.get('name', '').startswith('citation_'): + meta.setdefault(node.attrs['name'], []).append(node.attrs.get('content', '')) + title = one(meta.get('citation_title', []), 'citation title') + authors = meta.get('citation_author', []) + publication_date = one(meta.get('citation_publication_date', []), 'publication date') + if not re.fullmatch(r'2025/[0-9]{2}/[0-9]{2}', publication_date): + raise ValueError('Unexpected publication year/date') + date.fromisoformat(publication_date.replace('/', '-')) + if (one(meta.get('citation_conference_title', []), 'conference') != HEADING + or one(meta.get('citation_volume', []), 'volume') != '21' + or [clean(n.text()) for n in nodes if n.tag == 'h1'] != [HEADING] + or [comparable(n.text()) for n in nodes if n.tag == 'h3'] != [comparable(title)] + or comparable(title) != comparable(entry['title']) or not authors + or any(not clean(author) for author in authors) + or comparable(', '.join(authors)) != comparable(entry['authors_display'])): + raise ValueError('Proceedings/citation title, authors or edition disagree') + pdf = one(meta.get('citation_pdf_url', []), 'citation PDF URL') + if pdf not in (ROOT+f'p{pid:03d}.pdf', ROOT.replace('https:', 'http:')+f'p{pid:03d}.pdf'): + raise ValueError('Citation PDF ID differs; URL is metadata only') + bibtex = one([n.text() for n in nodes if n.tag == 'pre'], 'original BibTeX') + doi = one(re.findall(r'^\s*DOI\s*=\s*\{([^{}]+)\}', bibtex, re.I | re.M), 'BibTeX DOI') + year = one(re.findall(r'^\s*YEAR\s*=\s*\{([^{}]+)\}', bibtex, re.I | re.M), 'BibTeX year') + if doi != f'10.15607/RSS.2025.XXI.{pid:03d}' or year != '2025': + raise ValueError('BibTeX DOI/year differs from volume and paper ID') + abstract_parts = [] + inside = False + markers = [] + for node in (n for n in nodes if n.tag == 'p'): + labels = [clean(n.text()) for n in node.walk() if n.tag == 'b'] + if 'Abstract:' in labels: + markers.append('start') + inside = True + value = clean(node.text()).removeprefix('Abstract:').strip() + if value: + abstract_parts.append(value) + elif 'Download:' in labels: + markers.append('end') + inside = False + elif inside: + abstract_parts.append(clean(node.text())) + if markers != ['start', 'end']: + raise ValueError('Abstract boundaries missing or repeated') + abstract = clean(' '.join(abstract_parts)) or None + track = 'demo' if demo else 'proceedings_unspecified' + tags = [{'namespace': SOURCE+':session', 'value': accepted['Session']}] + if demo: + tags.append({'namespace': SOURCE+':program_role', 'value': 'demonstration'}) + return {'source': SOURCE, 'external_id': f'2025/p{pid:03d}', 'url': entry['url'], + 'title': title, 'abstract': abstract, 'authors': authors, + 'identifiers': {'doi': doi.lower()}, + 'submission_identifiers': [{'scheme': 'publication_doi', 'value': doi.lower()}], + 'venue': 'RSS', 'venue_aliases': [], 'year': 2025, 'track': track, + 'status': 'accepted', 'observed_at': evidence['paper']['observed_at'], + 'raw_decision': 'listed in official RSS 2025 proceedings and accepted program', + 'tags': tags, + 'metadata': {'publisher_paper_id': pid, 'citation_metadata': meta, + 'publication_date': publication_date, 'original_bibtex': bibtex, + 'index_entry': entry, 'accepted_program_entry': accepted, + 'demo_program_entry': demo, 'source_evidence': evidence, + 'missing_abstract_reason': None if abstract else 'empty_official_abstract_section', + 'track_scope_note': ('Explicit official demo program ID; not inferred from title.' if demo else + 'Proceedings and accepted list do not individually identify submission type; session is not a track.'), + 'decision_date_precision': 'not_supplied', + 'publication_evidence': 'Published proceedings and accepted program; not an original decision note.'}} + + +class Pages: + def __init__(self, *, cache=None, snapshots=None): + if bool(cache) == bool(snapshots): + raise ValueError('Choose exactly one cache or frozen snapshot directory') + self.cache = Path(cache) if cache else None + self.root = Path(snapshots).resolve() if snapshots else None + self.receipts = json.loads((self.root/'receipts.json').read_bytes())['receipts'] if self.root else [] + self.evidence = {} + self.data = {} + + def read(self, url): + if self.root: + receipt = one([r for r in self.receipts if r['url'] == url], 'exact frozen response receipt') + filename = Path(receipt['file']) + path = self.root/filename + if (filename.is_absolute() or '..' in filename.parts or not path.resolve().is_relative_to(self.root) + or receipt['http_status'] != 200 or receipt['content_type'] != 'text/html' + or receipt.get('final_url', url) != url): + raise ValueError('Unsafe or unsuccessful frozen response') + data = path.read_bytes() + observed = receipt['at'] + else: + data = fetch(url, self.cache, 2*1024**2, delay=1) + receipt = json.loads((self.cache/hashlib.sha256(url.encode()).hexdigest()).with_suffix('.json').read_bytes()) + observed = receipt['retrieved_at'] + if (len(data) > 2*1024**2 or len(data) != receipt['bytes'] + or hashlib.sha256(data).hexdigest() != receipt['sha256'] or receipt['url'] != url): + raise ValueError('Response checksum, URL or size differs') + evidence = {'url': url, 'sha256': hashlib.sha256(data).hexdigest(), 'bytes': len(data), + 'file': 'evidence/'+hashlib.sha256(data).hexdigest()+'.html', + 'observed_at': timestamp(observed), 'http_status': 200, 'response_receipt': receipt} + self.evidence[url] = evidence + self.data[url] = data + return data.decode('utf-8'), evidence + + +def collect(year, out, *, cache=None, snapshots=None): + if year != 2025: + raise ValueError('Only the independently reviewed RSS 2025 edition is supported') + out = Path(out) + out.mkdir(parents=True, exist_ok=True) + with (out/'rss.collect.lock').open('a') as lock: + fcntl.flock(lock, fcntl.LOCK_EX | fcntl.LOCK_NB) + report_path = out/'rss-2025.json' + if report_path.exists() or list(out.glob('rss-2025-*.jsonl')): + raise FileExistsError('Inspect existing output; never overwrite a completed or partial queue') + pages = Pages(cache=cache, snapshots=snapshots) + context = {key: pages.read(url) for key, url in PAGES.items()} + index = parse_index(context['index'][0]) + accepted = parse_program(context['accepted'][0], 'Accepted Papers', ('ID', 'Session', 'Title', 'Authors')) + demos = parse_program(context['demos'][0], 'Demos', ('ID', 'Location', 'Title', 'Day', 'Time')) + validate_program(index, accepted, demos, context['authorinfo'][0]) + records = [] + for pid, entry in sorted(index.items()): + html, evidence = pages.read(entry['url']) + sources = {key: item[1] for key, item in context.items()} + sources['paper'] = evidence + records.append(parse_paper(html, pid, entry, accepted[pid], demos.get(pid), sources)) + counts = Counter(r['track'] for r in records) + if counts != {'demo': len(DEMO_IDS), 'proceedings_unspecified': EXPECTED-len(DEMO_IDS)}: + raise ValueError('Track census differs; review official source changes') + files = [] + with tempfile.TemporaryDirectory(prefix='.rss-', dir=out) as temporary: + stage = Path(temporary) + (stage/'evidence').mkdir() + for url, data in pages.data.items(): + (stage/pages.evidence[url]['file']).write_bytes(data) + for track in sorted(counts): + group = [r for r in records if r['track'] == track] + path = stage/f'rss-2025-{track}.jsonl' + path.write_text(''.join(json.dumps(r, ensure_ascii=False)+'\n' for r in group)) + manifest = {'source': SOURCE, 'parser_version': 1, 'venue': 'RSS', 'year': 2025, + 'track': track, 'count': len(group), 'file': str(out/path.name), + 'file_sha256': hashlib.sha256(path.read_bytes()).hexdigest(), + 'list_url': ROOT, 'status': 'partial', + 'missing_abstract_count': sum(r['abstract'] is None for r in group)} + path.with_suffix('.manifest.json').write_text(json.dumps(manifest, ensure_ascii=False, indent=2)+'\n') + files.append(manifest) + result = {'source': SOURCE, 'year': 2025, 'records': len(records), 'files': files, + 'source_evidence': list(pages.evidence.values()), 'database_written': False, + 'pdfs_downloaded': False, 'status': 'collected_pending_identity_review', + 'note': 'Only the published proceedings. Demo IDs have explicit program evidence; ' + 'other individual submission types remain unknown. No absent-based negative decisions. ' + 'Separate source identity review and independent production acceptance are required.'} + (stage/report_path.name).write_text(json.dumps(result, ensure_ascii=False, indent=2)+'\n') + (out/'evidence').mkdir(exist_ok=True) + for path in (stage/'evidence').iterdir(): + path.replace(out/'evidence'/path.name) + for path in stage.iterdir(): + if path.is_file() and path.name != report_path.name: + path.replace(out/path.name) + (stage/report_path.name).replace(report_path) + return result + + +def main(argv=None, *, prog=None): + parser = argparse.ArgumentParser(prog=prog) + parser.add_argument('--year', type=int, choices=[2025], required=True) + parser.add_argument('--out', required=True) + group = parser.add_mutually_exclusive_group(required=True) + group.add_argument('--cache') + group.add_argument('--snapshots') + args = parser.parse_args(argv) + print(json.dumps(collect(args.year, args.out, cache=args.cache, snapshots=args.snapshots), ensure_ascii=False)) diff --git a/tests/fixtures/rss2025/accepted.html b/tests/fixtures/rss2025/accepted.html new file mode 100644 index 0000000..ec9c591 --- /dev/null +++ b/tests/fixtures/rss2025/accepted.html @@ -0,0 +1,4356 @@ + + + + + + + + + + + + + + Accepted Papers · Robotics: Science and Systems + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Accepted Papers

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The overview of the conference program is available [here]. Please refer to the conference program for additional information. Check the list of paper sessions [here].

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IDSessionTitleAuthors
1Perception and Navigation + + Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation + + + Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter + +
2Perception and Navigation + + Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid + + + Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer + +
3Perception and Navigation + + Self-supervised Multi-future Occupancy Forecasting for Autonomous Driving + + + Bernard Lange, Masha Itkina, Jiachen Li, Mykel Kochenderfer + +
4Perception and Navigation + + MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction + + + Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov + +
5Perception and Navigation + + Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence + + + Jiwoo Kim, Geunsik Bae, Changseung Kim, Jinwoo Lee, Woojae Shin, Hyondong Oh + +
6Perception and Navigation + + DRO: Doppler-Aware Direct Radar Odometry with Gyroscope + + + Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy Barfoot + +
7Perception and Navigation + + Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift + + + Devansh R. Agrawal, Rajiv Govindjee, Taekyung Kim, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou + +
8Perception and Navigation + + Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation + + + Edgar Granados, Sumanth Tangirala, Kostas Bekris + +
9Perception and Navigation + + Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics + + + Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari + +
10VLA Models + + π₀: A Vision-Language-Action Flow Model for General Robot Control + + + Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi,  + +
11VLA Models + + SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models + + + Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Jiayuan Gu, Zhigang Wang, Yan Ding, Bin Zhao, Dong Wang, Xuelong Li + +
12VLA Models + + FAST: Efficient Action Tokenization for Vision-Language-Action Models + + + Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, Sergey Levine + +
13VLA Models + + Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks + + + Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, He Wang + +
14VLA Models + + Learning to Act Anywhere with Task-centric Latent Actions + + + Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, Hongyang Li + +
15VLA Models + + Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets + + + Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, Abhishek Gupta + +
16VLA Models + + CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision + + + Gi-Cheon Kang, Junghyun Kim, Kyuhwan Shim, Jun Ki Lee, Byoung-Tak Zhang + +
17VLA Models + + Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success + + + Moo Jin Kim, Chelsea Finn, Percy Liang + +
18VLA Models + + NaVILA: Legged Robot Vision-Language-Action Model for Navigation + + + An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou, Jan Kautz, Erdem Biyik, Hongxu Yin, Sifei Liu, Xiaolong Wang + +
19VLA Models + + ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy + + + Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li, Dongbin Zhao + +
20Scaling Robot Learning + + Demonstrating MuJoCo Playground + + + Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder Alexander Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel + +
21Scaling Robot Learning + + Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3 + + + Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-Kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Viswesh Nagaswamy Rajesh, Yong Woo Choi, Yen-Ru Chen, Zhiao Huang,  + +
22Scaling Robot Learning + + RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot Learning + + + Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Haozhe Lou, Charlie Tianyue Cheng, Peihao Li, Haozhe Chen, Yutong Liang, Yuxi Qian, Jiageng Mao, Weikang Wan, Yiran Geng, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Chaoyi  + +
23Scaling Robot Learning + + Robot Data Curation with Mutual Information Estimators + + + Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag R. Sanketi, Dhruv Shah, Coline Manon Devin, Dorsa Sadigh + +
24Scaling Robot Learning + + Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization + + + Daniel Rakita, Chen Liang, Qian Wang + +
25Scaling Robot Learning + + Robot Learning with Super-Linear Scaling + + + Marcel Torne Villasevil, Arhan Jain, Jiayi Yuan, Vidyaaranya Macha, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta + +
26Scaling Robot Learning + + Action Flow Matching for Lifelong Learning + + + Alejandro Murillo-González, Lantao Liu + +
27Scaling Robot Learning + + Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL + + + Songyuan Zhang, Oswin So, Mitchell Black, Zachary Serlin, Chuchu Fan + +
28Scaling Robot Learning + + RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning + + + Charles Xu, Qiyang Li, Jianlan Luo, Sergey Levine + +
29Perception + + ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization + + + Mason Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How + +
30Perception + + GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction + + + Yuhan Xie, Yixi Cai, Yinqiang Zhang, Lei Yang, Jia Pan + +
31Perception + + LiDAR Registration with Visual Foundation Models + + + Niclas Vödisch, Giovanni Cioffi, Marco Cannici, Wolfram Burgard, Davide Scaramuzza + +
32Perception + + Building Rome with Convex Optimization + + + Haoyu Han, Heng Yang + +
33Perception + + Demonstrating MOSART: Opening Articulated Structures in the Real World + + + Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta + +
34Perception + + Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics + + + Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo Jose Taylor, Michael Posa + +
35Perception + + Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations + + + Jeongho Ha, Minseok Song, Bonggyeong Park, Daehyung Park + +
36Perception + + Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos + + + Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li + +
37Perception + + V-HOP: Visuo-Haptic 6D Object Pose Tracking + + + Hongyu Li, Mingxi Jia, Mete Tuluhan Akbulut, Yu Xiang, George Konidaris, Srinath Sridhar + +
38Perception + + Joint State and Noise Covariance Estimation + + + Kasra Khosoussi, Iman Shames + +
39Perception + + Map Space Belief Prediction for Manipulation-Enhanced Mapping + + + Joao Marcos Correia Marques, Nils Dengler, Jesper Mücke, Tobias Zaenker, Shenlong Wang, Maren Bennewitz, Kris Hauser + +
40Perception + + PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map + + + Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic, Jens Behley, Cyrill Stachniss + +
41Perception + + RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping + + + Hongrui Zhao, Boris Ivanovic, Negar Mehr + +
42Perception + + RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity + + + Xiaomeng Xu, Dominik Bauer, Shuran Song + +
43Planning + + Bilevel Learning for Bilevel Planning + + + Bowen Li, Tom Silver, Sebastian Scherer, Alexander G. Gray + +
44Planning + + A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets + + + Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew Marchese + +
45Planning + + Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning + + + Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus + +
46Planning + + Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations + + + Shucheng Kang, Guorui Liu, Heng Yang + +
47Planning + + On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning + + + Yulin Li, Haoyu Han, Shucheng Kang, Jun Ma, Heng Yang + +
48Planning + + Effective Sampling for Robot Motion Planning Through the Lens of Lattices + + + Itai Panasoff, Kiril Solovey + +
49Planning + + Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids + + + Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott + +
50Planning + + Differentiable GPU-Parallelized Task and Motion Planning + + + William Shen, Caelan Reed Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos + +
51Planning + + Flow Matching Ergodic Coverage + + + Max Muchen Sun, Allison Pinosky, Todd Murphey + +
52Manipulation I + + Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation + + + Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Fang Yuan, Guoying Gu, Huazhe Xu, Cewu Lu + +
53Manipulation I + + Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization + + + Lujie Yang, H.j. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake + +
54Manipulation I + + ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation + + + Jayjun Lee, Nima Fazeli + +
55Manipulation I + + A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation + + + Jaehyung Kim, Jiho Kim, Dongryung Lee, Yujin Jang, Beomjoon Kim + +
56Manipulation I + + PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands + + + Pei Lin, Yuzhe Huang, Jianpeng Ma, Chenxi Xiao, Wanlin Li, Ziyuan Jiao + +
57Manipulation I + + GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty + + + Sirui Chen, Sergio Francisco Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin + +
58Manipulation I + + Demonstrating the Octopi-1.5 Visual-Tactile-Language Model + + + Samson Yu, Lin Kelvin, Harold Soh + +
59Manipulation I + + Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly + + + Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jędrzej Orbik, Johannes Heidersberger, Dongheui Lee + +
60Manipulation I + + Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation + + + Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang + +
61Humanoids + + AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control + + + Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu, Xiaolong Wang + +
62Humanoids + + Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot + + + Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath + +
63Humanoids + + Learning Getting-Up Policies for Real-World Humanoid Robots + + + Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta + +
64Humanoids + + Learning Humanoid Standing-up Control across Diverse Postures + + + Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, Jiangmiao Pang + +
65Humanoids + + LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning + + + Yiyang Shao, Bike Zhang, Qiayuan Liao, Xiaoyu Huang, Yuman Gao, Yufeng Chi, Zhongyu Li, Sophia Shao, Koushil Sreenath + +
66Humanoids + + ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills + + + Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbabu, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica K. Hodgins, Linxi Fan, Yuke Zhu, Changliu Liu, Guanya Shi + +
67Humanoids + + A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion + + + Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang + +
68Humanoids + + BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds + + + Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Jiangmiao Pang + +
69Humanoids + + Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains + + + Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen + +
70Humanoids + + HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit + + + Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang + +
71Imitation Learning I + + Curating Demonstrations using Online Experience + + + Annie S. Chen, Alec M. Lessing, Yuejiang Liu, Chelsea Finn + +
72Imitation Learning I + + CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity + + + Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li + +
73Imitation Learning I + + Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies + + + Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Andrei Ambrus, Haruki Nishimura, Masha Itkina + +
74Imitation Learning I + + Unified Video Action Model + + + Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song + +
75Imitation Learning I + + DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies + + + Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak + +
76Imitation Learning I + + From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment + + + Yilin Wu, Thomas Tian, Gokul Swamy, Andrea Bajcsy + +
77Imitation Learning I + + Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping + + + David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura + +
78Imitation Learning I + + DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories + + + Jean-Baptiste Bouvier, Kanghyun Ryu, Qiayuan Liao, Koushil Sreenath, Negar Mehr + +
79Imitation Learning I + + FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning + + + Jason Jingzhou Liu, Yulong Li, Kenneth Shaw, Tony Tao, Russ Salakhutdinov, Deepak Pathak + +
80HRI + + Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion Control + + + Zongzheng Zhang, Jiawen Yang, Ziqiao Peng, Meng Yang, Jianzhu Ma, Lin Cheng, Huazhe Xu, Hang Zhao, Hao Zhao + +
81HRI + + Interface-level Intent Inference for Environment-agnostic Robot Teleoperation Assistance + + + Larisa Y.c. Loke, Brenna Argall + +
82HRI + + Sense and Sensibility: What makes an social robot convincing to high-school students? + + + Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi + +
83HRI + + FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization + + + Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee + +
84HRI + + Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications + + + Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture + +
85HRI + + Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot Interactions + + + Ekaterina Torubarova, Jura Miniotaite, Andre Pereira + +
86HRI + + Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication + + + Ravi Tejwani, Karl Angel Velazquez, John Payne, Paolo Bonato, Haruhiko Asada + +
87HRI + + Optimal Interactive Learning on the Job via Facility Location Planning + + + Shivam Vats, Michelle D. Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev, Oliver Kroemer, George Konidaris + +
88HRI + + A Robot-Assisted Approach to Small Talk Training for Adults with ASD + + + Rebecca Ramnauth, Dražen Brščić, Brian Scassellati + +
89HRI + + Interruption Handling for Conversational Robots + + + Shiye Cao, Jiwon Moon, Amama Mahmood, Victor Nikhil Antony, Ziang Xiao, Anqi Liu, Chien-Ming Huang + +
90HRI + + ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated Infections + + + Peizhu Qian, Filip Bajraktari, Carlos Quintero-Pena, Qingxi Meng, Shannan Hamlin, Lydia E. Kavraki, Vaibhav V. Unhelkar + +
91HRI + + Towards Uncertainty Unification: A Case Study for Preference Learning + + + Shaoting Peng, Haonan Chen, Katherine Rose Driggs-Campbell + +
92HRI + + Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation + + + Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh, Ton Manh Kien, Tim Seeger, Ahmed Martban, Vu Thanh Lam, Nguyen Quoc Hung, Pham Thai Hoang Tung, Tran Dang An, Eva Wiese, Maximilian Ho-Kyoung Schreff + +
93HRI + + Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports + + + Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Edakkattil Gopinath, Emily Sumner, Jonathan Decastro, Guy Rosman, Naomi Leonard, Jaime Fernández Fisac + +
94Multi-Robot Systems + + Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety + + + Jason Jangho Choi, Jasmine Jerry Aloor, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire Tomlin + +
95Multi-Robot Systems + + FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection + + + Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou + +
96Multi-Robot Systems + + Online Competitive Information Gathering for Partially Observable Trajectory Games + + + Mel Krusniak, Hang Xu, Forrest John Laine + +
97Multi-Robot Systems + + Collaborative Object Transportation in Space via Impact Interactions + + + Joris Verhagen, Jana Tumova + +
98Multi-Robot Systems + + APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly + + + Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, Jiaoyang Li + +
99Multi-Robot Systems + + Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems + + + Zhongqi Wei, Xusheng Luo, Changliu Liu + +
100Multi-Robot Systems + + A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal Control + + + Yongce Liu, Zhongqiang Ren + +
101Multi-Robot Systems + + How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework + + + Mohammad Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule + +
102Multi-Robot Systems + + Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems + + + Anoop Kiran, Nora Ayanian, Kenneth Breuer + +
103Manipulation II + + DexterityGen: Foundation Controller for Unprecedented Dexterity + + + Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam + +
104Manipulation II + + DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove + + + Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu + +
105Manipulation II + + Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy + + + Jiayi Chen, Yubin Ke, Lin Peng, He Wang + +
106Manipulation II + + Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation + + + Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, Xiaolong Wang + +
107Manipulation II + + Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success + + + Che Wang, Jeroen Vanbaar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Anand Sontakke, Kostas Bekris, Kapil Katyal + +
108Manipulation II + + Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations + + + Xili Yi, Nima Fazeli + +
109Manipulation II + + Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation + + + Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar, Linxi Fan, Yuke Zhu + +
110Manipulation II + + CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World + + + Yankai Fu, Ning Chen, Qiuxuan Feng, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang + +
111Manipulation II + + Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation + + + Wanxin Jin + +
112Control and Dynamics + + Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions + + + Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras + +
113Control and Dynamics + + Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis + + + Kensuke Nakamura, Lasse Peters, Andrea Bajcsy + +
114Control and Dynamics + + Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis + + + Zeyuan Feng, Le Qiu, Somil Bansal + +
115Control and Dynamics + + Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey + + + Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon + +
116Control and Dynamics + + Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking + + + Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar + +
117Control and Dynamics + + A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method + + + Ying Wu, Zida Zhou, Renming Liu, Lanxiang Zheng, Hui Cheng + +
118Control and Dynamics + + Behavior Synthesis via Contact-Aware Fisher Information Maximization + + + Hrishikesh Sathyanarayan, Ian Abraham + +
119Control and Dynamics + + Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator + + + Yanhao Yang, Ross Hatton + +
120Control and Dynamics + + Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups + + + Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari + +
121Control and Dynamics + + Provably-Safe, Online System Identification + + + Bohao Zhang, Zichang Zhou, Ram Vasudevan + +
122Mobile Manipulation and Locomotion + + Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining + + + Yaru Niu, Yunzhe Zhang, Mingyang Yu, Changyi Lin, Chenhao Li, Yikai Wang, Yuxiang Yang, Wenhao Yu, Tingnan Zhang, Zhenzhen Li, Jonathan Francis, Bingqing Chen, Jie Tan, Ding Zhao + +
123Mobile Manipulation and Locomotion + + Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning + + + Arthicha Srisuchinnawong, Poramate Manoonpong + +
124Mobile Manipulation and Locomotion + + SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning + + + Li Peizhuo, Hongyi Li, Ge Sun, Jin Cheng, Xinrong Yang, Guillaume Bellegarda, Milad Shafiee Ashtiani, Yuhong Cao, Auke Ijspeert, Guillaume Adrien Sartoretti + +
125Mobile Manipulation and Locomotion + + Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation + + + Nolan Fey, Gabriel B. Margolis, Martin Peticco, Pulkit Agrawal + +
126Mobile Manipulation and Locomotion + + Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties + + + Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian + +
127Mobile Manipulation and Locomotion + + Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding + + + Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari + +
128Mobile Manipulation and Locomotion + + SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation + + + Arpit Bahety, Arnav Balaji, Ben Abbatematteo, Roberto Martín-Martín + +
129Mobile Manipulation and Locomotion + + Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks + + + Zijie Zheng, Zeshun Li, Yunpeng Wang, Qinghongbing Xie, Long Zeng + +
130Mobile Manipulation and Locomotion + + Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning + + + Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian Scherer, Guanya Shi + +
131Robot Design + + RUKA: Rethinking the Design of Humanoid Hands with Learning + + + Anya Zorin, Irmak Guzey, Nikhil X. Bhattasali, Lerrel Pinto + +
132Robot Design + + Demonstrating LEAP Hand v2: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning + + + Kenneth Shaw, Deepak Pathak + +
133Robot Design + + Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots + + + Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel Goldman + +
134Robot Design + + Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics + + + Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter + +
135Robot Design + + emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands + + + Sagar Verma + +
136Navigation + + CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance + + + Arthur Zhang, Harshit Sikchi, Joydeep Biswas, Amy Zhang + +
137Navigation + + Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s Equation + + + Gilbert Bahati, Ryan M. Bena, Aaron Ames + +
138Navigation + + Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain + + + Tong Xu, Chenhui Pan, Madhan B. Rao, Aniket Datar, Anuj Pokhrel, Yuanjie Lu, Xuesu Xiao + +
139Navigation + + Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving + + + Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler + +
140Navigation + + Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models + + + Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini + +
141Navigation + + Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance + + + Alankrit Gupta, Adnan Abdullah, Xianyao Li, Vaishnav Ramesh, Ioannis Rekleitis, Md Jahidul Islam + +
142Navigation + + RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation + + + Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim, Myongyol Choi, Heejung Shin, Hyongdong Oh + +
143Navigation + + Neural Inertial Odometry from Lie Events + + + Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig + +
144Navigation + + Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification + + + Kumar Manas, Christian Schlauch, Adrian Paschke, Christian Wirth, Nadja Klein + +
145Manipulation III + + Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins + + + Chuanruo Ning, Kuan Fang, Wei-Chiu Ma + +
146Manipulation III + + Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation + + + Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang + +
147Manipulation III + + STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation + + + Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang + +
148Manipulation III + + PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation + + + Yifan Yin, Zhengtao Han, Shivam Aarya, Shuhang Xu, Jianxin Wang, Jiawei Peng, Angtian Wang, Alan Yuille, Tianmin Shu + +
149Manipulation III + + You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations + + + Huayi Zhou, Ruixiang Wang, Yunxin Tai, Yueci Deng, Guiliang Liu, Kui Jia + +
150Manipulation III + + Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models + + + Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao + +
151Manipulation III + + Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches + + + Peihong Yu, Amisha Bhaskar, Anukriti Singh, Zahiruddin Mahammad, Pratap Tokekar + +
152Manipulation III + + RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation + + + Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, Shichao Fan, Xinhua Wang, Fei Liao, Zhen Zhao, Guangyu Li, Zhao Jin, Lecheng Wang, Jilei Mao, Ning Liu, Pei Ren,  + +
153Manipulation III + + PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation + + + Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou, Ruizhen Hu, Kai Xu + +
154Manipulation III + + Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments + + + Yoonyoung Cho, Junhyek Han, Jisu Han, Beomjoon Kim + +
155Imitation Learning II + + Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization + + + Jonathan Heewon Yang, Chuyuan Fu, Dhruv Shah, Dorsa Sadigh, Fei Xia, Tingnan Zhang + +
156Imitation Learning II + + ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation + + + Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo, Yi-Ting Chen, Zackory Erickson, David Held + +
157Imitation Learning II + + DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning + + + Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan, Huazhe Xu + +
158Imitation Learning II + + IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation + + + Krishan Rana, Robert Lee, David Pershouse, Niko Suenderhauf + +
159Imitation Learning II + + Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training + + + Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan (Edgar) Liang, Daniel Rakita + +
160Imitation Learning II + + Gripper Pose and Object Pointflow as Interfaces for Robotic Bimanual Manipulation + + + Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang + +
161Imitation Learning II + + SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation + + + Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao + +
162Imitation Learning II + + Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations + + + Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo + +
163Imitation Learning II + + Learning Interpretable Features from Interventions + + + Erin Hedlund-Botti, Julianna Schalkwyk, Nina Marie Moorman, Chuxuan Yang, Lakshmi Seelam, Sanne Van Waveren, Russell Perkins, Paul Robinette, Matthew Craig Gombolay + +
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© 2025 RSS Foundation.

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Author Information

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There are two types of submissions to RSS: (i) Science/Systems papers, and (ii) Demo papers. Both types of papers appear in the RSS proceedings.

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Science/Systems papers report on novel scientific and systems contributions via a conference paper, and are reviewed via a double-blind review process. Demo papers must be accompanied by a conference demonstration (see details below), and can be reviewed via a single-blind review process as the demonstration content may reveal the affiliation of the authors.

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A single contribution should only be submitted as one type, either a Science/System paper or a Demo paper. If there is a novel robotic systems contribution that is properly evaluated against alternatives and does not obviously reveal the authors, the authors should submit it as a Science/System paper. If the authors’ contribution entails a demonstration and cannot be easily anonymized, authors should submit it as a Demo paper.

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Details on the two types of submission and guidance for preparation are provided below. For details on the review process and rebuttal requirements, see the Review Process page.

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Guidance for Demo Preparation

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Type of Submission: Demo papers will be published as part of the RSS conference proceedings. These submissions should demonstrate systems that are innovative given the state-of-the-art of robotics research across any of the subject areas of RSS 2025. Open-source and open-access systems or interactive systems that are accessible by the community are especially encouraged. Demo papers can relate to hardware or software contributions or their integration. They can also relate to critical system components and useful tools for the community. Examples of such submissions can correspond to demonstrations of:

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  • useful new mechanisms or software packages for the robotics community,
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  • large-scale deployments of robotics technology that have not been achieved before,
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  • mature, production-ready industrial systems of note and lessons from their operation,
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  • new datasets and benchmarks that will advance robotics research,
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  • novel applications of robotics technology with important societal impact.
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What to Submit? Each submitted Demo paper will include a manuscript describing the system (see format and length recommendations below) and demonstrations of the system itself, which can be accessed by reviewers via the supplementary material (e.g., executable software, multimedia showing the operation of robotic hardware, demonstrations of the achieved scalability, etc.), or via a link to a website that is accessible at the time of the review period.

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Single-blind: Demo paper submissions are allowed (but not required) to be single-blind in contrast to Science/System papers, which must be double-blind. Demo paper submissions are understood to be demonstrating unique systems that will obviously reveal the authors or their affiliations. Demo papers are not opportunities to bypass the double-blind requirement of Science/System submissions. The reviewers will be asked to evaluate whether a submission was appropriately submitted under the Demo paper category.

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Submission Requirements: The authors of Demo paper submissions are required to start the title of the submission with the word “Demonstrating” to communicate to the reviewers the type of the submission and that they are allowed to be single-blind. +The authors of Demo papers are also asked to include a short 1-paragraph section at the time of the submission titled “Intended Demonstration” (e.g., before or after the introduction section of their submitted manuscript), of how they envision that the RSS live audience will experience the demonstrated system. See examples of ways to demonstrate a system below. This section can be removed at the time of the Camera-Ready submission, if the Demo paper is accepted.

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Conference Demonstration: Authors of accepted demo papers will be asked to demonstrate their system to the RSS attendees. Examples of how this can be achieved include: (i) an interactive demonstration of a software package at the conference, (ii) live demonstration of robotic hardware brought at the conference, (iii) videoconferencing to demonstrate a remote real-world deployment of a robotic system’s abilities. The authors of demo papers are asked to describe at the time of the submission how the RSS live audience will experience the demonstrated system.

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Evaluating Demo Papers: A Demo paper should outline the design of the system and provide sufficient details to allow the evaluation of its validity, quality, and relevance to RSS. A Demo paper can do this by addressing some of the following questions:

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  • What problem does the proposed system address?
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  • Why is the system important and what is its impact?
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  • What is the novelty in the approach/technology on which this system is based?
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  • Who is the target audience?
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  • How does the system work?
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  • How does it compare with existing systems?
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  • How is the system licensed?
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  • Are there any additional concerns about the proposed system (e.g., ethical or environmental concerns)?
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Review and Camera-ready: The review process for Demo paper submissions will take place in parallel with the review of Science/System paper submissions. It will be handled by the same Program Committee. The proposed demonstrated system needs to be ready at Camera-Ready time to allow the proposed demonstration to take place. Additional improvements are allowed but should not diverge significantly from the description in the submitted Demo paper.

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Examples of Demo Papers The Demo paper category was introduced in RSS 2023 and examples of accepted submissions are the following:

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Note: Commercial sales and marketing activities are not appropriate for submissions in the RSS Demo Track and should be arranged instead via the RSS Sponsorship program.

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Paper and Demo Format

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A template for paper and demo submissions is available in LaTeX and Word. Do not modify the formatting provided in the templates. Any change to font sizes, page dimensions, line spacing, etc. may delay publication. Please do not include any additional markings such as Draft or To appear in… on the pages. Make sure your paper does not contain page numbers.

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We only accept a PDF format for the main submission file. Delays in the production of proceedings are usually caused by PDF file submissions that do not embed all fonts.

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Before submitting your PDF file, please open it in Acrobat Reader. In the File menu under Document Properties, you will find information on the fonts used by your document. The PDF file must only contain Type-1 fonts (and Embedded True Type fonts if prepared under Word). On Linux, you may also use pdffonts. Below are instructions to embed PDF fonts for various typesetting systems:

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Paper and Demo Length

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RSS 2025 has no page length requirements on paper or demo submissions. Paper lengths have been typically around 8 pages in the past, and we expect that most submitted papers will have a similar length. The expectation for demo papers submissions is that they can be even shorter than that if the focus is on the supplementary material or an online website that allows the reviewers to experience the demonstrated system.

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The main PDF should contain a concise and lucid presentation of the merits of the paper, including a discussion of its contributions, prior work, and a description of key technical ideas and methods used. The paper must include a “Limitations” section, describing shortcomings and open problems related to the proposed contribution. The paper should be self-contained and include all the material necessary for an expert to verify the central claims in the paper.

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Additional supplemental text, such as appendices, data listings, or expanded proofs, should be included as supplementary material (see below). Reviewers will review supplemental material at their discretion for Science/System papers. For Demo papers, the reviewers will be guided to prioritize the supplemental material if the system is primarily available through the corresponding files.

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Authors should anticipate that their papers may be rejected if the key technical result is not concisely presented. Reviewers may perceive a paper as too long if it is verbose, repetitive, or belabors obvious points. A paper that is 15 pages long is not necessarily going to be rejected, but the authors must make a compelling case that the length is essential to the key ideas in the paper. Moreover, the aesthetics of a paper also make the case for conciseness, since too much whitespace and poorly cropped figures are detrimental to the “feel” of a high-quality paper. Conversely, reviewers may perceive a paper as too short if it omits important details.

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Note: RSS was inspired to make this decision following other conferences, such as SIGGRAPH and FOCS. Researchers have wasted untold hours massaging formatting rules, figure sizes, and trimming paragraphs to fit page limits. The nominal reason for page limits in the electronic era is an upper bound on reviewers’ effort since they are expected to review “all the material” in the submission. It is inevitable that reviewers do not review material uniformly and will skim over text that is uninteresting or too dense; hence, page length is a poor proxy for reviewer effort. We will trust that authors will recognize that respecting reviewers’ time is a necessary condition to get published.

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Double-Blind Submission for Papers

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RSS 2025 continues the tradition of double-blind reviews for Science and Systems papers. Authors should not list their names on the title page, and anonymity should be maintained in the paper. Authors are asked to take particular care when referencing their own work — careless use of self-citations can easily violate the requirements for double blind reviewing and this will result in papers being desk rejected.

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The following principles should be applied for submissions in the Science/System paper category:

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  • Authors’ names and affiliations should not appear anywhere in the title or text of the submission.
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  • Acknowledgments to people or funding agencies should not appear in the submission.
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  • There should be no links to external websites (e.g. YouTube, github, authors institute pages) in the blinded submission. We recommend avoiding links even if they are anonymized. Links to external resources can be provided (and are highly encouraged) in the final camera-ready version of the paper.
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  • Authors must ensure that all metadata associated with the submission is anonymized.
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In self-citing authors previous work, avoid expressions such as “In the authors earlier work…”, rather use alternative expressions such as “In previous work…” or “In related work…”, in a manner that does not distinguish their own work from the work of others. Authors should otherwise cite work, including their own, as required for the completeness of the submission.

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In presentation of experimental work, avoid logos in pictures, or overt references to an individual laboratory. Use expressions such as “The experimental equipment…” rather than “The University of XYZ’s Robby the Robot…”. Otherwise, authors should include photographs, graphics and other presentation material as in the normal manner for a paper submission.

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Note: Demo submissions are allowed (but not required) to be single-blind in contrast to science and systems papers, which must be double-blind.

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Supplementary Materials for Papers and Demos

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Authors may submit supplementary material such as a video or an expanded version of a proof. Especially in the context of Demo papers, authors are asked to provide supplementary material that allow the reviewers to experience and evaluate the demo. The deadline for supplementary material is a few days after the paper submission deadline.

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Note that reviewers of Science/System paper submissions are not required to view this material and include it in their assessment of the paper.

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Authors of Science/System papers must ensure that all external links are removed for the initial and revised submissions, to ensure that their identities are not revealed for regular papers. External links are welcome to be included in the final camera-ready version of the paper.

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Rebuttal Preparation

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A template for rebuttal submissions is available in LaTeX and Word. Rebuttals must be submitted in PDF format, following the same font embedding guidelines as the main paper submission. + +For details on the review process and rebuttal requirements, see the Review Process page.

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+Important Rebuttal Policy: +Rebuttals must be submitted as a one-page PDF following the rebuttal template (available in LATEX and Word). +Rebuttals exceeding one page or failing to follow the required template’s formatting and anonymity guidelines will lead to a desk rejection decision for the corresponding paper. The authors will NOT be allowed to submit a new version of the paper during the rebuttal stage. +
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Multiple Submissions of Papers and Demos

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RSS submissions that are identical (or substantially similar) to versions that have been previously published, or accepted for publication, or that have been submitted in parallel to other conferences are not appropriate for RSS and violate the conference’s dual submission policy.

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Exceptions to this rule are the following:

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  1. Submission is permitted for papers presented or to be presented at conferences or workshops that do not have published proceedings, or with only abstracts published.
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  2. It is acceptable to submit to RSS work that has been made available as a technical report (or similar, e.g., in arXiv) without citing it.
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None of the above should be construed as overriding the requirements of other publishing venues. Also, keep in mind that author anonymity to RSS reviewers might be compromised for authors availing themselves of exceptions 1 and 2.

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+Important Submission Policy: +Submitting an abstract (by the January 17 deadline) or a semi-complete paper (by the January 24 deadline) for a paper that is currently under submission to another conference (e.g. ICRA, ICLR, CVPR) is still considered a double submission and is forbidden by RSS rules. However, if the paper has substantial innovation with respect to the paper that is already in submission (i.e., it would qualify as a different and novel paper and you would not withdraw it even if the paper under review is accepted), you should feel free to submit it to RSS. +
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Plagiarism in Papers and Demos

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RSS is intolerant of plagiarism. Submitted papers are expected to contain original work executed by the authors with adequate, proper, and scholarly citations to the work of others. It is the job of the authors to clearly identify both their own contribution(s) and published results / techniques on which they depend or build. RSS reviewers are charged to ensure these standards are met. In cases of alleged plagiarism, the program chair will be guided by Section 8.2.4 Allegations of Misconduct as laid out by the IEEE in this document.

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Policy on the Use of Large Language Models

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We are following the example of ICML and adopt the following policy:

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Papers that include text generated from a large language model (LLM), such as ChatGPT, are prohibited unless the produced text is presented as a part of the paper’s experimental analysis. Note the following clarification on the above statement:

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  • The policy prohibits text produced entirely by LLMs (i.e., “generated”). This does not prohibit authors from using LLMs for editing or polishing author-written text.
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  • The policy is largely predicated on the principle of being conservative with respect to guarding against potential issues of using LLMs, including plagiarism.
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  • This policy may evolve in future conferences as society understands LLMs and their impacts on scientific publishing better.
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We plan to investigate any potential violation of the LLM policy when a submission is brought to our attention with a significant concern about a potential violation. Any submission flagged for the potential violation of this LLM policy will go through the same process as any other submission flagged for plagiarism.

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Uploading Files for Paper and Demo Submissions

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Paper submission and review will occur in the OpenReview system at the following link: https://openreview.net/group?id=roboticsfoundation.org/RSS/2025/Conference +

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  • Logging into the system: All first authors require an OpenReview account. If you already have an OpenReview account, use those credentials to login and update your profile. If you do not, sign up as a new user. New OpenReview profiles created without an institutional email will go through a moderation process that can take up to two weeks. New OpenReview profiles created with an institutional email will be activated automatically.
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  • Although we use OpenReview, the review process will be private, i.e., the papers will only be public after acceptance and the reviews will not be publicly visible.
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  • Conflict domains: When you login for the first time, OpenReview will prompt you to enter your conflict domains. If you already have an OpenReview account, update your conflict domains. Please finish this step before you start the submission process.
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  • Abstract Submission: All submissions require the title/abstract of their paper(s) to be submitted by January 17, one week before the full paper submission. The PDF and Supplementary Material are not required for the title/abstract deadline, but must be uploaded by the time of their respective deadlines.
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  • Paper/Demo submission: Make sure your role is “Author”. Your main submission file may now be uploaded. Science/System and Demo paper descriptions must be in the conference style format and must be submitted as a PDF. Submissions may be edited, updated and replaced up to the paper submission deadline. +
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  • Paper ID: After clicking the Submit link, your paper or demo submission will be assigned an ID. To make sure your PDF submission is reviewer-friendly, enter this ID at the end of your title as instructed in the paper template.
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Demos

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IDLocationTitleDayTime
2 Associates Park + + Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid + + June 2112:30-2:00 PM, 6:30-8:00 PM
20 Associates Park + + Demonstrating MuJoCo Playground + + June 2112:30-2:00 PM, 6:30-8:00 PM
21 Associates Park + + Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3 + + June 2112:30-2:00 PM, 6:30-8:00 PM
33 Associates Park + + Demonstrating MOSART: Opening Articulated Structures in the Real World + + June 2412:30-2:00 PM, 4:00-5:30 PM
58 Associates Park + + Demonstrating the Octopi-1.5 Visual-Tactile-Language Model + + June 2212:30-2:00 PM, 6:30-8:00 PM
59 Associates Park + + Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly + + June 2212:30-2:00 PM, 6:30-8:00 PM
62 Associates Park + + Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot + + June 2212:30-2:00 PM, 6:30-8:00 PM
84 Associates Park + + Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications + + June 2312:30-2:00 PM, 6:30-8:00 PM
86 Associates Park + + Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication + + June 2312:30-2:00 PM, 6:30-8:00 PM
92 Associates Park + + Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation + + June 2312:30-2:00 PM, 6:30-8:00 PM
93 Associates Park + + Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports + + June 2312:30-2:00 PM, 6:30-8:00 PM
107 Associates Park + + Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success + + June 2312:30-2:00 PM, 6:30-8:00 PM
129 Associates Park + + Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks + + June 2312:30-2:00 PM, 6:30-8:00 PM
132 Associates Park + + Demonstrating LEAP Hand v2: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning + + June 2412:30-2:00 PM, 4:00-5:30 PM
141 Associates Park + + Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance + + June 2412:30-2:00 PM, 4:00-5:30 PM
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Robotics: Science and Systems XXI

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Table of Contents

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
+Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter
+		 + +
 
+Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
+Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer
+		 + +
 
+Self-supervised Multi-future Occupancy Forecasting for Autonomous Driving
+Bernard Lange, Masha Itkina, Jiachen Li, Mykel Kochenderfer
+		 + +
 
+MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction
+Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov
+		 + +
 
+Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence
+Jiwoo Kim, Geunsik Bae, Changseung Kim, Jinwoo Lee, Woojae Shin, Hyondong Oh
+		 + +
 
+DRO: Doppler-Aware Direct Radar Odometry with Gyroscope
+Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy Barfoot
+		 + +
 
+Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
+Devansh R. Agrawal, Rajiv Govindjee, Taekyung Kim, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
+		 + +
 
+Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation
+Edgar Granados, Sumanth Tangirala, Kostas Bekris
+		 + +
 
+Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics
+Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari
+		 + +
 
+π₀: A Vision-Language-Action Flow Model for General Robot Control
+Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, Laura Smith, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, Ury Zhilinsky
+		 + +
 
+SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models
+Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Jiayuan Gu, Zhigang Wang, Yan Ding, Bin Zhao, Dong Wang, Xuelong Li
+		 + +
 
+FAST: Efficient Action Tokenization for Vision-Language-Action Models
+Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, Sergey Levine
+		 + +
 
+Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
+Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, He Wang
+		 + +
 
+Learning to Act Anywhere with Task-centric Latent Actions
+Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, Hongyang Li
+		 + +
 
+Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
+Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, Abhishek Gupta
+		 + +
 
+CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision
+Gi-Cheon Kang, Junghyun Kim, Kyuhwan Shim, Jun Ki Lee, Byoung-Tak Zhang
+		 + +
 
+Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
+Moo Jin Kim, Chelsea Finn, Percy Liang
+		 + +
 
+NaVILA: Legged Robot Vision-Language-Action Model for Navigation
+An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou, Jan Kautz, Erdem Biyik, Hongxu Yin, Sifei Liu, Xiaolong Wang
+		 + +
 
+ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy
+Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li, Dongbin Zhao
+		 + +
 
+Demonstrating MuJoCo Playground
+Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder Alexander Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
+		 + +
 
+Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3
+Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-Kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Viswesh Nagaswamy Rajesh, Yong Woo Choi, Yen-Ru Chen, Zhiao Huang, Roberto Calandra, Rui Chen, Shan Luo, Hao Su
+		 + +
 
+RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot Learning
+Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Haozhe Lou, Charlie Tianyue Cheng, Peihao Li, Haozhe Chen, Yutong Liang, Yuxi Qian, Jiageng Mao, Weikang Wan, Yiran Geng, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Chaoyi Xu, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Hao Dong, Siyuan Huang, Yue Wang, Jitendra Malik, Pieter Abbeel
+		 + +
 
+Robot Data Curation with Mutual Information Estimators
+Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag R. Sanketi, Dhruv Shah, Coline Manon Devin, Dorsa Sadigh
+		 + +
 
+Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization
+Daniel Rakita, Chen Liang, Qian Wang
+		 + +
 
+Robot Learning with Super-Linear Scaling
+Marcel Torne Villasevil, Arhan Jain, Jiayi Yuan, Vidyaaranya Macha, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta
+		 + +
 
+Action Flow Matching for Lifelong Learning
+Alejandro Murillo-González, Lantao Liu
+		 + +
 
+Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL
+Songyuan Zhang, Oswin So, Mitchell Black, Zachary Serlin, Chuchu Fan
+		 + +
 
+RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
+Charles Xu, Qiyang Li, Jianlan Luo, Sergey Levine
+		 + +
 
+ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization
+Mason Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How
+		 + +
 
+GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction
+Yuhan Xie, Yixi Cai, Yinqiang Zhang, Lei Yang, Jia Pan
+		 + +
 
+LiDAR Registration with Visual Foundation Models
+Niclas Vödisch, Giovanni Cioffi, Marco Cannici, Wolfram Burgard, Davide Scaramuzza
+		 + +
 
+Building Rome with Convex Optimization
+Haoyu Han, Heng Yang
+		 + +
 
+Demonstrating MOSART: Opening Articulated Structures in the Real World
+Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta
+		 + +
 
+Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics
+Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo Jose Taylor, Michael Posa
+		 + +
 
+Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations
+Jeongho Ha, Minseok Song, Bonggyeong Park, Daehyung Park
+		 + +
 
+Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos
+Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li
+		 + +
 
+V-HOP: Visuo-Haptic 6D Object Pose Tracking
+Hongyu Li, Mingxi Jia, Mete Tuluhan Akbulut, Yu Xiang, George Konidaris, Srinath Sridhar
+		 + +
 
+Joint State and Noise Covariance Estimation
+Kasra Khosoussi, Iman Shames
+		 + +
 
+Map Space Belief Prediction for Manipulation-Enhanced Mapping
+Joao Marcos Correia Marques, Nils Dengler, Jesper Mücke, Tobias Zaenker, Shenlong Wang, Maren Bennewitz, Kris Hauser
+		 + +
 
+PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map
+Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic, Jens Behley, Cyrill Stachniss
+		 + +
 
+RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping
+Hongrui Zhao, Boris Ivanovic, Negar Mehr
+		 + +
 
+RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity
+Xiaomeng Xu, Dominik Bauer, Shuran Song
+		 + +
 
+Bilevel Learning for Bilevel Planning
+Bowen Li, Tom Silver, Sebastian Scherer, Alexander G. Gray
+		 + +
 
+A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets
+Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew Marchese
+		 + +
 
+Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
+Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus
+		 + +
 
+Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
+Shucheng Kang, Guorui Liu, Heng Yang
+		 + +
 
+On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
+Yulin Li, Haoyu Han, Shucheng Kang, Jun Ma, Heng Yang
+		 + +
 
+Effective Sampling for Robot Motion Planning Through the Lens of Lattices
+Itai Panasoff, Kiril Solovey
+		 + +
 
+Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids
+Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott
+		 + +
 
+Differentiable GPU-Parallelized Task and Motion Planning
+William Shen, Caelan Reed Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos
+		 + +
 
+Flow Matching Ergodic Coverage
+Max Muchen Sun, Allison Pinosky, Todd Murphey
+		 + +
 
+Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
+Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Fang Yuan, Guoying Gu, Huazhe Xu, Cewu Lu
+		 + +
 
+Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
+Lujie Yang, H.j. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
+		 + +
 
+ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
+Jayjun Lee, Nima Fazeli
+		 + +
 
+A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
+Jaehyung Kim, Jiho Kim, Dongryung Lee, Yujin Jang, Beomjoon Kim
+		 + +
 
+PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands
+Pei Lin, Yuzhe Huang, Jianpeng Ma, Chenxi Xiao, Wanlin Li, Ziyuan Jiao
+		 + +
 
+GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty
+Sirui Chen, Sergio Francisco Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin
+		 + +
 
+Demonstrating the Octopi-1.5 Visual-Tactile-Language Model
+Samson Yu, Lin Kelvin, Harold Soh
+		 + +
 
+Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
+Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jędrzej Orbik, Johannes Heidersberger, Dongheui Lee
+		 + +
 
+Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
+Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang
+		 + +
 
+AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
+Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu, Xiaolong Wang
+		 + +
 
+Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
+Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath
+		 + +
 
+Learning Getting-Up Policies for Real-World Humanoid Robots
+Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta
+		 + +
 
+Learning Humanoid Standing-up Control across Diverse Postures
+Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, Jiangmiao Pang
+		 + +
 
+LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning
+Yiyang Shao, Bike Zhang, Qiayuan Liao, Xiaoyu Huang, Yuman Gao, Yufeng Chi, Zhongyu Li, Sophia Shao, Koushil Sreenath
+		 + +
 
+ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
+Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbabu, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica K. Hodgins, Linxi Fan, Yuke Zhu, Changliu Liu, Guanya Shi
+		 + +
 
+A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion
+Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang
+		 + +
 
+BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds
+Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Jiangmiao Pang
+		 + +
 
+Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
+Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen
+		 + +
 
+HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
+Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang
+		 + +
 
+Curating Demonstrations using Online Experience
+Annie S. Chen, Alec M. Lessing, Yuejiang Liu, Chelsea Finn
+		 + +
 
+CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
+Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li
+		 + +
 
+Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies
+Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Andrei Ambrus, Haruki Nishimura, Masha Itkina
+		 + +
 
+Unified Video Action Model
+Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song
+		 + +
 
+DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies
+Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak
+		 + +
 
+From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment
+Yilin Wu, Thomas Tian, Gokul Swamy, Andrea Bajcsy
+		 + +
 
+Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping
+David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura
+		 + +
 
+DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
+Jean-Baptiste Bouvier, Kanghyun Ryu, Qiayuan Liao, Koushil Sreenath, Negar Mehr
+		 + +
 
+FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
+Jason Jingzhou Liu, Yulong Li, Kenneth Shaw, Tony Tao, Russ Salakhutdinov, Deepak Pathak
+		 + +
 
+Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion Control
+Zongzheng Zhang, Jiawen Yang, Ziqiao Peng, Meng Yang, Jianzhu Ma, Lin Cheng, Huazhe Xu, Hang Zhao, Hao Zhao
+		 + +
 
+Interface-level Intent Inference for Environment-agnostic Robot Teleoperation Assistance
+Larisa Y.c. Loke, Brenna Argall
+		 + +
 
+Sense and Sensibility: What makes an social robot convincing to high-school students?
+Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi
+		 + +
 
+FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization
+Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee
+		 + +
 
+Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
+Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture
+		 + +
 
+Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot Interactions
+Ekaterina Torubarova, Jura Miniotaite, Andre Pereira
+		 + +
 
+Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication
+Ravi Tejwani, Karl Angel Velazquez, John Payne, Paolo Bonato, Haruhiko Asada
+		 + +
 
+Optimal Interactive Learning on the Job via Facility Location Planning
+Shivam Vats, Michelle D. Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev, Oliver Kroemer, George Konidaris
+		 + +
 
+A Robot-Assisted Approach to Small Talk Training for Adults with ASD
+Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
+		 + +
 
+Interruption Handling for Conversational Robots
+Shiye Cao, Jiwon Moon, Amama Mahmood, Victor Nikhil Antony, Ziang Xiao, Anqi Liu, Chien-Ming Huang
+		 + +
 
+ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated Infections
+Peizhu Qian, Filip Bajraktari, Carlos Quintero-Pena, Qingxi Meng, Shannan Hamlin, Lydia E. Kavraki, Vaibhav V. Unhelkar
+		 + +
 
+Towards Uncertainty Unification: A Case Study for Preference Learning
+Shaoting Peng, Haonan Chen, Katherine Rose Driggs-Campbell
+		 + +
 
+Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation
+Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh, Ton Manh Kien, Tim Seeger, Ahmed Martban, Vu Thanh Lam, Nguyen Quoc Hung, Pham Thai Hoang Tung, Tran Dang An, Eva Wiese, Maximilian Ho-Kyoung Schreff
+		 + +
 
+Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports
+Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Edakkattil Gopinath, Emily Sumner, Jonathan Decastro, Guy Rosman, Naomi Leonard, Jaime Fernández Fisac
+		 + +
 
+Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety
+Jason Jangho Choi, Jasmine Jerry Aloor, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire Tomlin
+		 + +
 
+FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection
+Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou
+		 + +
 
+Online Competitive Information Gathering for Partially Observable Trajectory Games
+Mel Krusniak, Hang Xu, Forrest John Laine
+		 + +
 
+Collaborative Object Transportation in Space via Impact Interactions
+Joris Verhagen, Jana Tumova
+		 + +
 
+APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
+Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, Jiaoyang Li
+		 + +
 
+Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
+Zhongqi Wei, Xusheng Luo, Changliu Liu
+		 + +
 
+A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal Control
+Yongce Liu, Zhongqiang Ren
+		 + +
 
+How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework
+Mohammad Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
+		 + +
 
+Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems
+Anoop Kiran, Nora Ayanian, Kenneth Breuer
+		 + +
 
+DexterityGen: Foundation Controller for Unprecedented Dexterity
+Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
+		 + +
 
+DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
+Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu
+		 + +
 
+Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy
+Jiayi Chen, Yubin Ke, Lin Peng, He Wang
+		 + +
 
+Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
+Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, Xiaolong Wang
+		 + +
 
+Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success
+Che Wang, Jeroen Vanbaar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Anand Sontakke, Kostas Bekris, Kapil Katyal
+		 + +
 
+Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations
+Xili Yi, Nima Fazeli
+		 + +
 
+Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
+Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar, Linxi Fan, Yuke Zhu
+		 + +
 
+CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World
+Yankai Fu, Ning Chen, Qiuxuan Feng, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang
+		 + +
 
+Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
+Wanxin Jin
+		 + +
 
+Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
+Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras
+		 + +
 
+Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
+Kensuke Nakamura, Lasse Peters, Andrea Bajcsy
+		 + +
 
+Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
+Zeyuan Feng, Le Qiu, Somil Bansal
+		 + +
 
+Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey
+Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
+		 + +
 
+Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking
+Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar
+		 + +
 
+A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method
+Ying Wu, Zida Zhou, Renming Liu, Lanxiang Zheng, Hui Cheng
+		 + +
 
+Behavior Synthesis via Contact-Aware Fisher Information Maximization
+Hrishikesh Sathyanarayan, Ian Abraham
+		 + +
 
+Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator
+Yanhao Yang, Ross Hatton
+		 + +
 
+Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
+Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari
+		 + +
 
+Provably-Safe, Online System Identification
+Bohao Zhang, Zichang Zhou, Ram Vasudevan
+		 + +
 
+Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
+Yaru Niu, Yunzhe Zhang, Mingyang Yu, Changyi Lin, Chenhao Li, Yikai Wang, Yuxiang Yang, Wenhao Yu, Tingnan Zhang, Zhenzhen Li, Jonathan Francis, Bingqing Chen, Jie Tan, Ding Zhao
+		 + +
 
+Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning
+Arthicha Srisuchinnawong, Poramate Manoonpong
+		 + +
 
+SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
+Li Peizhuo, Hongyi Li, Ge Sun, Jin Cheng, Xinrong Yang, Guillaume Bellegarda, Milad Shafiee Ashtiani, Yuhong Cao, Auke Ijspeert, Guillaume Adrien Sartoretti
+		 + +
 
+Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
+Nolan Fey, Gabriel B. Margolis, Martin Peticco, Pulkit Agrawal
+		 + +
 
+Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties
+Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian
+		 + +
 
+Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
+Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari
+		 + +
 
+SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation
+Arpit Bahety, Arnav Balaji, Ben Abbatematteo, Roberto Martín-Martín
+		 + +
 
+Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks
+Zijie Zheng, Zeshun Li, Yunpeng Wang, Qinghongbing Xie, Long Zeng
+		 + +
 
+Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning
+Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian Scherer, Guanya Shi
+		 + +
 
+RUKA: Rethinking the Design of Humanoid Hands with Learning
+Anya Zorin, Irmak Guzey, Nikhil X. Bhattasali, Lerrel Pinto
+		 + +
 
+Demonstrating LEAP Hand v2: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning
+Kenneth Shaw, Deepak Pathak
+		 + +
 
+Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots
+Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel Goldman
+		 + +
 
+Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics
+Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter
+		 + +
 
+emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands
+Sagar Verma
+		 + +
 
+CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance
+Arthur Zhang, Harshit Sikchi, Joydeep Biswas, Amy Zhang
+		 + +
 
+Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s Equation
+Gilbert Bahati, Ryan M. Bena, Aaron Ames
+		 + +
 
+Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain
+Tong Xu, Chenhui Pan, Madhan B. Rao, Aniket Datar, Anuj Pokhrel, Yuanjie Lu, Xuesu Xiao
+		 + +
 
+Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving
+Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler
+		 + +
 
+Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models
+Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini
+		 + +
 
+Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance
+Alankrit Gupta, Adnan Abdullah, Xianyao Li, Vaishnav Ramesh, Ioannis Rekleitis, Md Jahidul Islam
+		 + +
 
+RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation
+Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim, Myongyol Choi, Heejung Shin, Hyongdong Oh
+		 + +
 
+Neural Inertial Odometry from Lie Events
+Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig
+		 + +
 
+Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification
+Kumar Manas, Christian Schlauch, Adrian Paschke, Christian Wirth, Nadja Klein
+		 + +
 
+Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins
+Chuanruo Ning, Kuan Fang, Wei-Chiu Ma
+		 + +
 
+Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
+Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang
+		 + +
 
+STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation
+Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang
+		 + +
 
+PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation
+Yifan Yin, Zhengtao Han, Shivam Aarya, Shuhang Xu, Jianxin Wang, Jiawei Peng, Angtian Wang, Alan Yuille, Tianmin Shu
+		 + +
 
+You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations
+Huayi Zhou, Ruixiang Wang, Yunxin Tai, Yueci Deng, Guiliang Liu, Kui Jia
+		 + +
 
+Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models
+Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
+		 + +
 
+Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches
+Peihong Yu, Amisha Bhaskar, Anukriti Singh, Zahiruddin Mahammad, Pratap Tokekar
+		 + +
 
+RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
+Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, Shichao Fan, Xinhua Wang, Fei Liao, Zhen Zhao, Guangyu Li, Zhao Jin, Lecheng Wang, Jilei Mao, Ning Liu, Pei Ren, Qiang Zhang, Yaoxu Lyu, Mengzhen Liu, He Jingyang, Yulin Luo, Zeyu Gao, Chenxuan Li, Chenyang Gu, Yankai Fu, Di Wu, Xingyu Wang, Sixiang Chen, Zhenyu Wang, Pengju An, Siyuan Qian, Shanghang Zhang, Jian Tang
+		 + +
 
+PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation
+Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou, Ruizhen Hu, Kai Xu
+		 + +
 
+Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments
+Yoonyoung Cho, Junhyek Han, Jisu Han, Beomjoon Kim
+		 + +
 
+Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization
+Jonathan Heewon Yang, Chuyuan Fu, Dhruv Shah, Dorsa Sadigh, Fei Xia, Tingnan Zhang
+		 + +
 
+ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
+Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo, Yi-Ting Chen, Zackory Erickson, David Held
+		 + +
 
+DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
+Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan, Huazhe Xu
+		 + +
 
+IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation
+Krishan Rana, Robert Lee, David Pershouse, Niko Suenderhauf
+		 + +
 
+Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
+Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan (Edgar) Liang, Daniel Rakita
+		 + +
 
+Gripper Pose and Object Pointflow as Interfaces for Robotic Bimanual Manipulation
+Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang
+		 + +
 
+SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
+Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao
+		 + +
 
+Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations
+Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo
+		 + +
 
+Learning Interpretable Features from Interventions
+Erin Hedlund-Botti, Julianna Schalkwyk, Nina Marie Moorman, Chuxuan Yang, Lakshmi Seelam, Sanne Van Waveren, Russell Perkins, Paul Robinette, Matthew Craig Gombolay
+		 + +
 
+

+

+
+ +
+ + diff --git a/tests/fixtures/rss2025/p001.html b/tests/fixtures/rss2025/p001.html new file mode 100644 index 0000000..e8bfc2e --- /dev/null +++ b/tests/fixtures/rss2025/p001.html @@ -0,0 +1,148 @@ + + + + + + + + + + + + + +Robotics: Science and Systems XXI - Online Proceedings + + + + + +
+ +
+
+ +

Robotics: Science and Systems XXI

+

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation

+Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter
+

+Abstract: +

+Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot's capabilities. Traditional methods, which assume simplified dynamics, often require designing and tuning cost functions to safely guide paths or actions toward the goal. This process is tedious, environment-dependent, and not generalizable. To overcome these issues, we propose a novel learned perceptive Forward Dynamics Model (FDM) that predicts the robot's future state conditioned on the surrounding geometry and history of proprioceptive measurements, proposing a more scalable, safer, and heuristic-free solution. The FDM is trained on multiple years of simulated navigation experience, including high-risk maneuvers, and real-world interactions to incorporate the full system dynamics beyond rigid body simulation. We integrate our perceptive FDM into a zero-shot Model Predictive Path Integral (MPPI) planning framework, leveraging the learned mapping between actions, future states, and failure probability. This allows for optimizing a simplified cost function, eliminating the need for extensive cost-tuning to ensure safety. On the legged robot ANYmal, the proposed perceptive FDM improves the position estimation by on average 41% over competitive baselines, which translates into a 27% higher navigation success rate in rough simulation environments. Moreover, we demonstrate effective sim-to-real transfer and showcase the benefit of training on synthetic and real data. Code and models are made publicly available under https://github.com/leggedrobotics/fdm. +

+

+Download: +

+

+Bibtex: +

  
+@INPROCEEDINGS{RothP-RSS-25, 
+    AUTHOR    = {Pascal Roth AND Jonas Frey AND Cesar Cadena AND Marco Hutter}, 
+    TITLE     = {{Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation}}, 
+    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
+    YEAR      = {2025}, 
+    ADDRESS   = {LosAngeles, CA, USA}, 
+    MONTH     = {June}, 
+    DOI       = {10.15607/RSS.2025.XXI.001} 
+} 
+  
+
+

+ +
+
+ +
+ + diff --git a/tests/fixtures/rss2025/p002.html b/tests/fixtures/rss2025/p002.html new file mode 100644 index 0000000..c7a20c7 --- /dev/null +++ b/tests/fixtures/rss2025/p002.html @@ -0,0 +1,155 @@ + + + + + + + + + + + + + + + + + + + + +Robotics: Science and Systems XXI - Online Proceedings + + + + + +
+ +
+
+ +

Robotics: Science and Systems XXI

+

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

+Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer
+

+Abstract: +

+Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this safety-critical capability, we present ViSafe, a high-speed vision-only airborne collision avoidance system. ViSafe offers a full-stack solution to the Detect and Avoid (DAA) problem by tightly integrating a learning-based edge-AI framework with a custom multi-camera hardware prototype designed under SWaP-C constraints. By leveraging perceptual input-focused control barrier functions (CBF) to design, encode, and enforce safety thresholds, ViSafe can provide provably safe runtime guarantees for self-separation in high-speed aerial operations. We evaluate ViSafe’s performance through an extensive test campaign involving both simulated digital twins and real-world flight scenarios. By independently varying agent types, closure rates, interaction geometries, and environmental conditions (e.g., weather and lighting), we demonstrate that ViSafe consistently ensures self-separation across diverse scenarios. In first-of-its-kind real-world high-speed collision avoidance tests with closure rates reaching 144 km/h, ViSafe sets a new benchmark for vision-only autonomous collision avoidance, establishing a new standard for safety in high-speed aerial navigation. +

+

+Download: +

+

+Bibtex: +

  
+@INPROCEEDINGS{KapoorP-RSS-25, 
+    AUTHOR    = {Parv Kapoor AND Ian Higgins AND Nikhil Varma Keetha AND Jay Patrikar AND Brady Moon AND Zelin Ye AND Yao He AND Ivan Cisneros AND Changliu Liu AND Eunsuk Kang AND Sebastian Scherer}, 
+    TITLE     = {{Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid}}, 
+    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
+    YEAR      = {2025}, 
+    ADDRESS   = {LosAngeles, CA, USA}, 
+    MONTH     = {June}, 
+    DOI       = {10.15607/RSS.2025.XXI.002} 
+} 
+  
+
+

+ +
+
+ +
+ + diff --git a/tests/fixtures/rss2025/receipts.json b/tests/fixtures/rss2025/receipts.json new file mode 100644 index 0000000..d8acff1 --- /dev/null +++ b/tests/fixtures/rss2025/receipts.json @@ -0,0 +1,65 @@ +{ + "scope": "Six unmodified official HTML fixtures; exact observations from full167 server freeze. No research PDFs.", + "receipts": [ + { + "file": "index.html", + "url": "https://www.roboticsproceedings.org/rss21/", + "final_url": "https://www.roboticsproceedings.org/rss21/", + "http_status": 200, + "content_type": "text/html", + "bytes": 77753, + "sha256": "5d8e530b5ce7184795c14a7dca615f9c1a8b0b189661e0e6e795167b68b8516d", + "at": "2026-11-09T09:53:09.121733+00:00" + }, + { + "file": "accepted.html", + "url": "https://roboticsconference.org/2025/program/papers/", + "final_url": "https://roboticsconference.org/2025/program/papers/", + "http_status": 200, + "content_type": "text/html", + "bytes": 197708, + "sha256": "fa1a5bce496a85eca8cec79aed8dbc148cda791fe6859375ba0c294983a18683", + "at": "2026-11-09T09:53:10.171450+00:00" + }, + { + "file": "demos.html", + "url": "https://roboticsconference.org/2025/program/demos/", + "final_url": "https://roboticsconference.org/2025/program/demos/", + "http_status": 200, + "content_type": "text/html", + "bytes": 43542, + "sha256": "0b154ed110f6d49ebe2ba87f2c9c498df5fc1ea00bfe508b548522dfe4779698", + "at": "2026-11-09T09:53:11.145288+00:00" + }, + { + "file": "authorinfo.html", + "url": "https://roboticsconference.org/2025/information/authorinfo/", + "final_url": "https://roboticsconference.org/2025/information/authorinfo/", + "http_status": 200, + "content_type": "text/html", + "bytes": 54508, + "sha256": "24d023daf9a074434c6e004001b863dfd260330e523671d614fa120b052927ab", + "at": "2026-11-09T09:53:12.170246+00:00" + }, + { + "file": "p001.html", + "url": "https://www.roboticsproceedings.org/rss21/p001.html", + "final_url": "https://www.roboticsproceedings.org/rss21/p001.html", + "http_status": 200, + "content_type": "text/html", + "bytes": 9048, + "sha256": "973172348096a5cbf3e311bdc1ce33b27447761fa1058a050e611aa17547d821", + "at": "2026-11-09T09:53:13.437943+00:00" + }, + { + "file": "p002.html", + "url": "https://www.roboticsproceedings.org/rss21/p002.html", + "final_url": "https://www.roboticsproceedings.org/rss21/p002.html", + "http_status": 200, + "content_type": "text/html", + "bytes": 9335, + "sha256": "30b5b68e7ed6a809ca51282c5efd1416513417ba91eba2845f2e73ed18b90ba4", + "at": "2026-11-09T09:53:14.697857+00:00" + } + ] +} diff --git a/tests/test_rss_proceedings.py b/tests/test_rss_proceedings.py new file mode 100644 index 0000000..3bdeba0 --- /dev/null +++ b/tests/test_rss_proceedings.py @@ -0,0 +1,186 @@ +"""Frozen publisher examples, conflicting evidence and preserved attempt identity.""" +import hashlib +import json +from pathlib import Path +import sqlite3 +import tempfile +import unittest +from unittest.mock import patch + +from paper_atlas.collectors import rss +from paper_atlas.ingestion.records import ingest_file + +FIXTURES = Path(__file__).parent/'fixtures/rss2025' +OBSERVED = '2026-11-09T10:00:00Z' + + +def fixture(name): + return (FIXTURES/name).read_text() + + +class RssProceedingsTests(unittest.TestCase): + def setUp(self): + self.index = rss.parse_index(fixture('index.html')) + self.accepted = rss.parse_program(fixture('accepted.html'), 'Accepted Papers', ('ID', 'Session', 'Title', 'Authors')) + self.demos = rss.parse_program(fixture('demos.html'), 'Demos', ('ID', 'Location', 'Title', 'Day', 'Time')) + + def paper(self, pid=1, html=None, entry=None): + return rss.parse_paper(html or fixture(f'p{pid:03d}.html'), pid, entry or self.index[pid], + self.accepted[pid], self.demos.get(pid), {'paper': {'observed_at': OBSERVED}}) + + def test_frozen_official_census_and_all_fixture_hashes(self): + receipts = json.loads((FIXTURES/'receipts.json').read_bytes())['receipts'] + self.assertEqual(len(receipts), 6) + for r in receipts: + data = (FIXTURES/r['file']).read_bytes() + self.assertEqual((len(data), hashlib.sha256(data).hexdigest()), (r['bytes'], r['sha256'])) + self.assertEqual(len(self.index), 163) + self.assertEqual(set(self.index), set(self.accepted)) + self.assertEqual(len(self.demos), 15) + rss.validate_program(self.index, self.accepted, self.demos, fixture('authorinfo.html')) + self.assertFalse(self.demos[93]['Title'].startswith('Demonstrating')) + + def test_complete_authors_abstract_and_source_metadata_are_preserved(self): + row = self.paper() + self.assertEqual(row['authors'], ['Pascal Roth', 'Jonas Frey', 'Cesar Cadena', 'Marco Hutter']) + self.assertTrue(row['abstract'].startswith('Ensuring safe navigation')) + self.assertTrue(row['abstract'].endswith('https://github.com/leggedrobotics/fdm.')) + self.assertNotIn('Download:', row['abstract']) + self.assertEqual(row['identifiers'], {'doi': '10.15607/rss.2025.xxi.001'}) + self.assertEqual(row['metadata']['publication_date'], '2025/06/21') + self.assertIn('AUTHOR', row['metadata']['original_bibtex']) + self.assertEqual(row['status'], 'accepted') + self.assertNotIn('decision_date', row) + self.assertEqual(row['metadata']['decision_date_precision'], 'not_supplied') + + def test_demo_evidence_is_independent_of_title_and_session_topic(self): + row = self.paper(2) + self.assertEqual(row['track'], 'demo') + self.assertEqual(row['metadata']['demo_program_entry']['ID'], '2') + self.assertEqual(self.paper()['track'], 'proceedings_unspecified') + self.assertEqual({t['namespace'] for t in row['tags']}, {'rss_proceedings:session', 'rss_proceedings:program_role'}) + self.assertFalse(any('research_type' in t['namespace'] for t in row['tags'])) + html = fixture('p001.html').replace('Learned Perceptive Forward Dynamics Model', 'Demonstrating a Learned Model') + entry = {**self.index[1], 'title': self.index[1]['title'].replace('Learned Perceptive Forward Dynamics Model', 'Demonstrating a Learned Model')} + self.assertEqual(self.paper(html=html, entry=entry)['track'], 'proceedings_unspecified') + + def test_missing_abstract_is_explicit_and_multiple_paragraphs_are_complete(self): + html = fixture('p001.html') + beginning = html.index('

') + end = html.index('

', beginning) + empty = html[:beginning]+'

'+html[end:] + row = self.paper(html=empty) + self.assertIsNone(row['abstract']) + self.assertEqual(row['metadata']['missing_abstract_reason'], 'empty_official_abstract_section') + multi = html.replace('

\n

\nDownload:', '

Second abstract paragraph.

Download:', 1) + self.assertTrue(self.paper(html=multi)['abstract'].endswith('Second abstract paragraph.')) + + def test_metadata_drift_author_truncation_and_wrong_paper_doi_fail(self): + original = fixture('p001.html') + for altered in [original.replace('XXI.001}', 'XXI.002}'), + original.replace('content="2025/06/21"', 'content="2026/06/21"'), + original.replace('', ''), + original.replace('Abstract:', 'Summary:'), + original.replace('rss21/p001.pdf', 'rss21/p002.pdf'), + original.replace('citation_volume" content="21', 'citation_volume" content="22')]: + with self.subTest(altered=altered[:60]), self.assertRaises(ValueError): + self.paper(html=altered) + + def test_duplicate_and_unparsed_index_entries_fail(self): + for html in [fixture('index.html').replace('p002.html', 'p001.html'), + fixture('index.html')+'Stray paper', + fixture('index.html').replace( rss.HEADING, 'A different volume')]: + with self.subTest(html=html[:40]), self.assertRaises(ValueError): + rss.parse_index(html) + + def test_program_title_id_category_and_header_changes_require_review(self): + for change in ['title', 'id', 'category']: + index = {k: dict(v) for k, v in self.index.items()} + demos = {k: dict(v) for k, v in self.demos.items()} + if change == 'title': + demos[2]['Title'] = 'Another paper' + elif change == 'id': + del index[1] + else: + del demos[93] + with self.subTest(change=change), self.assertRaises(ValueError): + rss.validate_program(index, self.accepted, demos, fixture('authorinfo.html')) + with self.assertRaises(ValueError): + rss.parse_program(fixture('demos.html').replace('>Location<', '>Other<'), 'Demos', ('ID', 'Location', 'Title', 'Day', 'Time')) + + def snapshot(self, root): + root.mkdir() + data = (FIXTURES/'p001.html').read_bytes() + (root/'paper.html').write_bytes(data) + receipt = {'file': 'paper.html', 'url': self.index[1]['url'], 'final_url': self.index[1]['url'], + 'http_status': 200, 'content_type': 'text/html', 'bytes': len(data), + 'sha256': hashlib.sha256(data).hexdigest(), 'at': OBSERVED} + (root/'receipts.json').write_text(json.dumps({'receipts': [receipt]})) + return receipt + + def test_frozen_receipt_hash_status_redirect_and_path_guards(self): + for failure in ['hash', 'status', 'redirect', 'path', 'duplicate', 'symlink']: + with self.subTest(failure=failure), tempfile.TemporaryDirectory() as tmp: + root = Path(tmp)/'source' + r = self.snapshot(root) + receipts = [r] + if failure == 'hash': r['sha256'] = '0'*64 + elif failure == 'status': r['http_status'] = 404 + elif failure == 'redirect': r['final_url'] = 'https://example.org/p001.html' + elif failure == 'path': r['file'] = '../outside.html' + elif failure == 'duplicate': receipts.append(dict(r)) + else: + (root.parent/'outside.html').write_bytes((root/'paper.html').read_bytes()) + (root/'paper.html').unlink() + (root/'paper.html').symlink_to(root.parent/'outside.html') + (root/'receipts.json').write_text(json.dumps({'receipts': receipts})) + with self.assertRaises(ValueError): rss.Pages(snapshots=root).read(self.index[1]['url']) + + def test_unreviewed_edition_and_existing_output_refuse_work(self): + with tempfile.TemporaryDirectory() as tmp: + with self.assertRaises(ValueError): rss.collect(2026, tmp, snapshots=FIXTURES) + (Path(tmp)/'rss-2025.json').write_text('{}') + with self.assertRaises(FileExistsError): rss.collect(2025, tmp, snapshots=FIXTURES) + + def test_native_roundtrip_is_idempotent_with_same_doi_and_distinct_tracks(self): + with tempfile.TemporaryDirectory() as tmp: + root = Path(tmp) + original = self.paper() + dblp = {**original, 'source': 'dblp', 'external_id': 'conf/rss/example', 'metadata': {}} + variant = {**original, 'external_id': '2025/other-track', 'track': 'workshop'} + for n, record in enumerate([dblp, original, variant, original]): + path = root/f'{n}.jsonl' + path.write_text(json.dumps(record)+'\n') + path.with_suffix('.manifest.json').write_text(json.dumps({'source': record['source'], 'list_url': rss.ROOT, 'count': 1})) + ingest_file(root/'sample.sqlite', path) + with sqlite3.connect(root/'sample.sqlite') as c: + self.assertEqual(c.execute('SELECT count(*) FROM papers').fetchone()[0], 1) + self.assertEqual(c.execute('SELECT count(*) FROM source_records').fetchone()[0], 3) + self.assertEqual(c.execute('SELECT count(*) FROM submissions').fetchone()[0], 2) + self.assertEqual(c.execute('SELECT count(*) FROM decisions').fetchone()[0], 2) + self.assertEqual(c.execute('SELECT count(*) FROM submission_sources').fetchone()[0], 3) + self.assertEqual(c.execute('PRAGMA foreign_key_check').fetchall(), []) + + def test_two_real_papers_collection_commits_evidence_only_after_success(self): + with tempfile.TemporaryDirectory() as tmp: + root = Path(tmp) + index = {pid: self.index[pid] for pid in [1, 2]} + accepted = {pid: self.accepted[pid] for pid in [1, 2]} + demos = {2: self.demos[2]} + with (patch.object(rss, 'EXPECTED', 2), patch.object(rss, 'DEMO_IDS', {2}), + patch.object(rss, 'parse_index', return_value=index), + patch.object(rss, 'parse_program', side_effect=[accepted, demos])): + result = rss.collect(2025, root/'out', snapshots=FIXTURES) + self.assertEqual((result['records'], len(result['files'])), (2, 2)) + self.assertFalse(result['database_written']) + self.assertFalse(result['pdfs_downloaded']) + self.assertEqual(len(result['source_evidence']), 6) + for item in result['source_evidence']: + self.assertEqual(hashlib.sha256((root/'out'/item['file']).read_bytes()).hexdigest(), item['sha256']) + for item in result['files']: + self.assertEqual(item['missing_abstract_count'], 0) + self.assertEqual(hashlib.sha256(Path(item['file']).read_bytes()).hexdigest(), item['file_sha256']) + + +if __name__ == '__main__': + unittest.main()