The GRASP Lab Goes to ICRA 2025

8:30 AM to 5:30 PM

2nd Unconventional Robots: Rethinking Robotic Systems Beyond Convention

Invited Speaker: Cynthia Sung

2:05 PM to 2:25 PM

Foundation Models and Neuro-Symbolic AI for Robotics

Invited Speaker: Dinesh Jayaraman

“Tapping Foundation Models for Rewards, Representations, and
Policies”

3:40 PM to 4:00 PM

Multi-Stable and Origami-based Soft Robots

Invited Speaker: Cynthia Sung

“Algorithmic Design of Origami Robots”

10:15 AM to 10:20 AM

Aerial Robots 1

EvMAPPER: High-Altitude Orthomapping with Event Cameras

Fernando Cladera, Kenneth Chaney, M. Ani Hsieh, Camillo Jose Taylor, Vijay Kumar

10:25 AM to 10:30 AM

Multi-Robot Swarms 1

Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes

Andrew Curtis (Northwestern University), Mark Yim, Michael 

Rubenstein (Northwestern University)

11:20 AM to 11:25 AM

Aerial Robots 2

Vision Transformers for End-To-End Vision-Based Quadrotor Obstacle Avoidance

Anish Bhattacharya, Nishanth Arun Rao, Dhruv Ketan Parikh, Pratik Kunapuli, Yuwei Wu, Yuezhan Tao, Nikolai Matni, Vijay Kumar

11:35 AM to 11:40 AM

Marine Robotics 1

EnKode: Active Learning of Unknown Flows with Koopman Operators

Alice Kate Li, Thales Costa Silva, M. Ani Hsieh

3:15 PM to 3:20 PM

Aerial Robots: Trajectory Planning and Control

Safe Interval Motion Planning for Quadrotors in Dynamic Environments

Songhao Huang (University of Pennsylvania), Yuwei Wu, Yuezhan Tao, Vijay Kumar

3:20 PM to 3:25 PM

Aerial Robots: Trajectory Planning and Control

Towards Safe and Energy-Efficient Real-Time Motion Planning in Windy Urban Environments

Spencer Folk, John Melton (NASA Ames Research Center), Benjamin W. L. Margolis (NASA Ames Research Center), Mark Yim, Vijay Kumar

3:30 PM to 3:35 PM

Manipulation 3

Hand-Object Interaction Pre-Training from Videos

Himanshu Guarav Singh (UC Berkeley), Antonio Loquercio, Carmelo Sferrazza (UC Berkeley), Jane Wu (UC Berkeley), Haozhi Qi (UC Berkeley), Pieter Abbeel (UC Berkeley), Jitendra Malik (UC Berkeley)

3:35 PM to 3:40 PM

Radiance Fields for Manipulation

Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting

Matthew Strong (University of Colorado Boulder), Boshu Lei, Aiden Swann (Stanford University), Wen Jiang, Kostas Daniilidis, Monroe Kennedy (Stanford University)

4:50 PM to 4:55 PM

Reinforcement Learning 4

On-Robot Reinforcement Learning with Goal-Contrastive Rewards

Ondrej Biza (Robotics and AI Institute), Thomas Weng (Boston Dynamics AI Institute), Lingfeng Sun (UC Berkeley), Karl Schmeckpeper, Tarik Kelestemur (Northeastern University), Yecheng Jason Ma, Robert Platt (Northeastern University), Jan-Willem van de Meent (University of Amsterdam), Lawson L. S. Wong (Northeastern University)

8:40 AM to 8:45 AM

Tactile Sensing 2

Learning In-Hand Translation Using Tactile Skin with Shear and Normal Force Sensing

Jessica Yin, Haozhi Qi (UC Berkeley), Jitendra Malik (UC Berkeley), James Pikul (University of Pennsylvania), Mark Yim, Tess Hellebrekers (Meta AI Research)

3:35 PM to 3:40 PM

Optimization and Trajectory Planning

ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation

Anusha Srikanthan, Yifan Xue, Vijay Kumar, Nikolai Matni, Nadia Figueroa

3:40 PM to 3:45 PM

Novel Methods for Mapping and Localization

Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning (I)

Ian Miller (Burro), Fernando Cladera, Trey Smith (NASA Ames Research Center), Camillo Jose Taylor, Vijay Kumar

4:45 PM to 4:50 PM

Learning for Control

Flying Quadrotors in Tight Formations Using Learning-Based Model Predictive Control

Kong Yao Chee, Pei-An Hsieh, George J. Pappas, M. Ani Hsieh

5:00 PM to 5:05 PM

Surgical Robotics: Steerable Catheters/Needles 2

Steerable Tape-Spring Needle for Autonomous Sharp Turns through Tissue

Omar Abdoun, Davin Tjandra (University of Pennsylvania), Katie Yin (UC Riverside), Pablo Kurzan (University of Pennsylvania), Jessica Yin, Mark Yim

8:30 AM to 8:35 AM

Aerial Robots: Learning 1

Learning Local Urban Wind Flow Fields from Range Sensing

Spencer Folk, John Melton (NASA Ames Research Center), Benjamin W. L. Margolis (NASA Ames Research Center), Mark Yim, Vijay Kumar

8:40 AM to 8:45 AM

Learning for Manipulation and Navigation

Jailbreaking LLM-Controlled Robots

Alexander Robey, Zachary Ravichandran, Vijay Kumar, Hamed Hassani (University of Pennsylvania), George J. Pappas

10:10 AM to 10:15 AM

Soft Robotics 1

MORF: Magnetic Origami Reprogramming and Folding System for Repeatably Reconfigurable Structures with Fold Angle Control

Gabriel Unger, Sridhar Shenoy (University of Pennsylvania), Tianyu Li, Nadia Figueroa, Cynthia Sung

10:15 AM to 10:20 AM

Soft Robotics 1

Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping across Varying Ground Profiles

Rongqian Chen (George Washington University), Jun Kwon, Kefan Wu (University of Connecticut), Wei-Hsi Chen

11:20 AM to 11:25 AM

Task and Motion Planning 2

SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments

Zachary Ravichandran, Varun Murali, Mariliza Tzes, George J. Pappas, Vijay Kumar

11:25 AM to 11:30 AM

Active Perception

An Active Perception Game for Robust Information Gathering

Siming He, Yuezhan Tao, Igor Spasojevic, Vijay Kumar, Pratik 

Chaudhari

11:35 AM to 11:40 AM

Multi-Robot Systems 5

Constrained Learning for Decentralized Multi-Objective Coverage Control

Juan Cervino (MIT), Saurav Agarwal, Vijay Kumar, Alejandro Ribeiro (University of Pennsylvania)

2:45 PM to 3:15 PM

Late Breaking Results 6 – Poster Session

Generalized Gimbal Construction: Algorithmic Design of Kinematic Chains with No Self-Collision in Any Configuration

Daniel Feshbach, Emil Schaumburg (University of Pennsylvania), Wei-Hsi Chen, Cynthia Sung

3:35 PM to 3:40 PM

Motion Control 1

Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems

Jake Welde, Nishanth Arun Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar

4:50 PM to 4:55 PM

Soft Sensors

Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation

Jessica Yin, Paarth Shah (University of Oxford), Naveen Kuppuswamy (Toyota Research Institute), Andrew Beaulieu (Toyota Research Institute), Avinash Uttamchandani (Toyota Research Institute), James Pikul (University of Pennsylvania), Russ Tedrake (MIT)

5:10 PM to 5:15 PM

Imitation Learning for Manipulation 2

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

Junyao Shi, Zhuolun Zhao, Tianyou Wang, Ian Pedroza, Amy Luo, Jie Wang, Yecheng Jason Ma, Dinesh Jayaraman

8:30 AM to 5:30 PM

Block by Block: Collaborative Strategies for Multi-agent Robotic Construction

Organizer: Mark Yim

8:30 AM to 5:30 PM

Novel Approaches for Precision Agriculture and Forestry with 

Autonomous Robots

Organizers: Fernando Cladera, Varun Murali, Vijay Kumar

8:30 AM to 5:30 PM

Beyond Pick and Place – Unifying Learning-Based and Model-Based Approaches for Contact-Rich Manipulation

Invited Speaker: Michael Posa

Invited Speaker: Rachel Holladay

8:30 AM to 5:30 PM

Structured Learning for Efficient, Reliable, and Transparent Robots

Organizer: Nadia Figueroa

Invited Speaker: Michael Posa

8:30 AM to 5:30 PM

3rd Workshop on Multilateral Human-Interaction-Oriented  Teleoperation

Invited Speaker: Rahul Mangharam

9:00 AM to 10:00 AM

Building a Common Humanoid Platform Infrastructure for AI-based Testing

Panelist: Mark Yim

Task Force 1: Electromechanical Design Report Briefing

9:30 AM to 10:00 AM

Beyond the Lab: Robust Planning and Control in Real World Scenarios

Invited Speaker: Michael Posa

10:30 AM to 10:40 AM

Towards Human Level Intelligence Vision and Tactile Sensing

Invited Speaker: Mark Yim

“T-RO Special Collection on Tactile Robotics”

10:45 AM to 11:45 AM

Block by Block: Collaborative Strategies for Multi-agent Robotic Construction

Keynote Speaker: Mark Yim

“Attachment mechanisms in robotic self-assembly”