RSS 2025 Accepted Papers

The full list of 161 papers accepted at RSS 2025. Click any title for details, similar papers, and links to the original source. You can also search these papers by meaning, not just keywords.

1. FAST: Efficient Action Tokenization for Vision-Language-Action ModelsPoster44 citations
2. RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot ManipulationPoster20 citations
3. SpatialVLA: Exploring Spatial Representations for Visual-Language-Action ModelsPoster18 citations
4. Fine-Tuning Vision-Language-Action Models: Optimizing Speed and SuccessPoster16 citations
5. ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body SkillsPoster15 citations
6. NaVILA: Legged Robot Vision-Language-Action Model for NavigationPoster13 citations
7. Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation TasksPoster12 citations
8. Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous ManipulationPoster9 citations
9. DexterityGen: Foundation Controller for Unprecedented DexterityPoster9 citations
10. HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton CockpitPoster9 citations
11. DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy LearningPoster8 citations
12. Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability AnalysisPoster8 citations
13. Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich ManipulationPoster8 citations
14. BeamDojo: Learning Agile Humanoid Locomotion on Sparse FootholdsPoster6 citations
15. ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency PolicyPoster6 citations
16. Learning Humanoid Standing-up Control across Diverse PosturesPoster6 citations
17. RLDG: Robotic Generalist Policy Distillation via Reinforcement LearningPoster6 citations
18. A Unified and General Humanoid Whole-Body Controller for Fine-Grained LocomotionPoster5 citations
19. Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets SkateboardingPoster5 citations
20. DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback GlovePoster4 citations
21. Learning Getting-Up Policies for Real-World Humanoid RobotsPoster4 citations
22. Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic ManipulationPoster4 citations
23. APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative AssemblyPoster3 citations
24. Building Rome with Convex OptimizationPoster3 citations
25. Curating Demonstrations using Online ExperiencePoster3 citations
26. Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and DisassemblyPoster3 citations
27. Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory OptimizationPoster3 citations
28. Robot Data Curation with Mutual Information EstimatorsPoster3 citations
29. Self-supervised Multi-future Occupancy Forecasting for Autonomous DrivingPoster3 citations
30. Unified Video Action ModelPoster3 citations
31. CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-WorldPoster2 citations
32. Global Contact-Rich Planning with Sparsity-Rich Semidefinite RelaxationsPoster2 citations
33. Map Space Belief Prediction for Manipulation-Enhanced MappingPoster2 citations
34. PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural MapPoster2 citations
35. RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone NavigationPoster2 citations
36. Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie GroupsPoster2 citations
37. SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient ManipulationPoster2 citations
38. Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion PlanningPoster2 citations
39. Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic DatasetsPoster2 citations
40. V-HOP: Visuo-Haptic 6D Object Pose TrackingPoster2 citations
41. A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex SetsPoster1 citations
42. ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated InfectionsPoster1 citations
43. Bilevel Learning for Bilevel PlanningPoster1 citations
44. Boxi: Design Decisions in the Context of Algorithmic Performance for RoboticsPoster1 citations
45. CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language SupervisionPoster1 citations
46. CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual GuidancePoster1 citations
47. Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning PoliciesPoster1 citations
48. DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot TrajectoriesPoster1 citations
49. DexWild: Dexterous Human Interactions for In-the-Wild Robot PoliciesPoster1 citations
50. Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible TrainingPoster1 citations
51. Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s EquationPoster1 citations
52. FACTR: Force-Attending Curriculum Training for Contact-Rich Policy LearningPoster1 citations
53. Flow Matching Ergodic CoveragePoster1 citations
54. Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy LearningPoster1 citations
55. From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent AlignmentPoster1 citations
56. Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete TerrainsPoster1 citations
57. Interruption Handling for Conversational RobotsPoster1 citations
58. Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal StoppingPoster1 citations
59. Joint State and Noise Covariance EstimationPoster1 citations
60. Learning to Act Anywhere with Task-centric Latent ActionsPoster1 citations
61. LiDAR Registration with Visual Foundation ModelsPoster1 citations
62. Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language ModelsPoster1 citations
63. Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot ManipulationPoster1 citations
64. PIN-WM: Learning Physics-INformed World Models for Non-Prehensile ManipulationPoster1 citations
65. ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global LocalizationPoster1 citations
66. RUKA: Rethinking the Design of Humanoid Hands with LearningPoster1 citations
67. Robot Learning with Super-Linear ScalingPoster1 citations
68. SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal LearningPoster1 citations
69. Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory SketchesPoster1 citations
70. Towards Uncertainty Unification: A Case Study for Preference LearningPoster1 citations
71. Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging TerrainPoster1 citations
72. Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich PhysicsPoster1 citations
73. A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC methodPoster
74. A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal ControlPoster
75. A Robot-Assisted Approach to Small Talk Training for Adults with ASDPoster
76. A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulationPoster
77. AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body ControlPoster
78. Action Flow Matching for Lifelong LearningPoster
79. Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate PropertiesPoster
80. ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale SimulationPoster
81. Behavior Synthesis via Contact-Aware Fisher Information MaximizationPoster
82. Bridging Model Predictive Control and Deep Learning for Scalable Reachability AnalysisPoster
83. Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot GeneralizationPoster
84. Bridging the Sim-to-Real Gap for Athletic Loco-ManipulationPoster
85. Certifiably-Correct Mapping for Safe Navigation Despite Odometry DriftPoster
86. CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction AmbiguityPoster
87. Coherance-based Approximate Derivatives via Web of Affine Spaces OptimizationPoster
88. Coherence-based Approximate Derivatives via Web of Affine Spaces Optimizationaccepted
89. Collaborative Object Transportation in Space via Impact InteractionsPoster
90. DRO: Doppler-Aware Direct Radar Odometry with GyroscopePoster
91. DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic TasksPoster
92. Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias DynamicsPoster
93. Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social NavigationPoster
94. Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid RobotPoster
95. Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic GuidancePoster
96. Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3Poster
97. Demonstrating LEAP Hand V3: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot LearningPoster
98. Demonstrating MOSART: Opening Articulated Structures in the Real WorldPoster
99. Demonstrating MuJoCo PlaygroundPoster
100. Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick SuccessPoster
101. Demonstrating Shared Force-Language Embeddings for Natural Human-Robot CommunicationPoster
102. Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and AvoidPoster
103. Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial ApplicationsPoster
104. Demonstrating the Octopi-1.5 Visual-Tactile-Language ModelPoster
105. Dex1B: Learning with 1B Demonstrations for Dexterous ManipulationPoster
106. Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp TaxonomyPoster
107. Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit RepresentationsPoster
108. Differentiable GPU-Parallelized Task and Motion PlanningPoster
109. Distilling Contact Planning for Fast Trajectory Optimization in Robot Air HockeyPoster
110. Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based CorrespondencePoster
111. Effective Sampling for Robot Motion Planning Through the Lens of LatticesPoster
112. Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D GridsPoster
113. Enhancing Autonomous Driving Systems with On-Board Deployed Large Language ModelsPoster
114. FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild PersonalizationPoster
115. FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data CollectionPoster
116. Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion LearningPoster
117. GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D ReconstructionPoster
118. GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force UncertaintyPoster
119. Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group IntegratorPoster
120. Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot SystemsPoster
121. Hierarchical and Modular Network on Non-prehensile Manipulation in General EnvironmentsPoster
122. How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL FrameworkPoster
123. Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human PretrainingPoster
124. IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood EstimationPoster
125. Implicit Neural-Representation Learning for Elastic Deformable-Object ManipulationsPoster
126. Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor SystemsPoster
127. Interface-level Intent Inference for Environment-agnostic Robot Teleoperation AssistancePoster
128. Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local AdaptationPoster
129. LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end LearningPoster
130. Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic NavigationPoster
131. Learning Interpretable Features from InterventionsPoster
132. Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory TrackingPoster
133. MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit ReconstructionPoster
134. Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous DrivingPoster
135. Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion ControlPoster
136. Neural Inertial Odometry from Lie EventsPoster
137. On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion PlanningPoster
138. Online Competitive Information Gathering for Partially Observable Trajectory GamesPoster
139. Optimal Interactive Learning on the Job via Facility Location PlanningPoster
140. PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic HandsPoster
141. PartInstruct: Part-level Instruction Following for Fine-grained Robot ManipulationPoster
142. Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D VideosPoster
143. Prompting with the Future: Open-World Model Predictive Control with Interactive Digital TwinsPoster
144. Provably-Safe, Online System IdentificationPoster
145. RAMEN: Real-time Asynchronous Multi-agent Neural Implicit MappingPoster
146. Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered SafetyPoster
147. RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot LearningPoster
148. Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich ManipulationPoster
149. STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot ManipulationPoster
150. Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier FunctionsPoster
151. SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile ManipulationPoster
152. Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted MotorsportsPoster
153. Sense and Sensibility: What makes an social robot convincing to high-school students?Poster
154. Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARLPoster
155. Tactile sensing enables vertical obstacle negotiation for elongate many-legged robotsPoster
156. Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep ClassificationPoster
157. Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot InteractionsPoster
158. ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact EstimationPoster
159. Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrationsPoster
160. emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal HandsPoster
161. π₀: A Vision-Language-Action Flow Model for General Robot ControlPoster

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