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Three types of accepted papers will be presented at IROS 2021: (i) accepted papers that were submitted to IROS 2021 only, (ii) RA-L submissions with IROS option, which have been accepted for presentation at IROS 2021, (iii) papers contributed by T-RO and RAM.

All authors must submit their final version of camera-ready papers electronically in PDF format through the PaperPlaza system no later than July 31, 2021 23:59:59 PST (no extensions allowed).

The final version of your paper must essentially be the same as the draft we accepted, but it must reflect the advice from the Editorial Board and the reviewers. You may not add or remove material except as requested by the reviewers. It is unethical to shorten or otherwise alter the final version in ways that make it significantly different from what was reviewed and accepted.

All final submissions will be included in the material distributed to the conference participants. However, the IROS 2021 Proceedings in IEEE Xplore will contain only papers accepted for IROS 2021 but not accepted for publication in RA-L, RAM, or T-RO. Therefore, all papers presented at the conference will appear once and only once in IEEE Xplore, either as a journal publication, or in the IROS 2021 Proceedings.

For papers to appear in the IEEE Xplore IROS 2021 Proceedings, six pages in the standard IEEE Conference Paper Format based on the LaTeX template or Microsoft Word template are allowed for each paper. A maximum of two additional pages are permitted at an extra charge of 180 EUR per page, payable before submitting the camera-ready version of the paper. Papers submitted to RA-L with IROS option, which have been accepted for publication in RA-L, will be waived IROS extra page charges. The extra page charges will instead be collected by IEEE after publication in RA-L. Note that it is required to upload the final files to your conference submission workspace in PaperPlaza even if you have already uploaded them to the RA-L workspace.

At least one author of each paper must be registered for the conference (Registration with paper) before the final version can be submitted. One registration covers one paper.

A pre-recorded video and spotlight presentation slides are required for each registered paper. Both shall be uploaded to the on-line conference system gCon (i.e., not to PaperPlaza) Detailed information on IROS presentations can be found in the Instructions for presenters.

Step-By-Step Guidelines to Submit Your Final Paper

Step 1: Prepare your final paper using the available LaTeX template or Microsoft Word template and following these paper preparation instructions. Make sure to have the latest templates and do not change the formatting in any way. If your paper is accompanied by a video, an explicit reference to the accompanying video should be present in the text of the paper.

For RA-L papers with IROS option accepted by RA-L: the camera-ready RA-L paper should be submitted as the final IROS 2021 conference paper.
For RA-L papers with IROS option rejected from RA-L: please note that the final version for IROS 2021 must be reformatted according to the conference template.

Step 2: Check that the names of all authors and their order is identical in the PaperPlaza submission system, the paper, the summary slide, and the accompanying video (if applicable). Please write author names with only the first letter capitalized, that is, use Firstname Lastname in all instances, and do not use FIRSTNAME LASTNAME anywhere. Please verify that author names are updated in their PaperPlaza accounts before the final submission information is completed.

Step 3: Create a PDF version of your paper and perform the IEEE PDF compliance test. If your paper does not pass the test, you cannot continue and may read the PDF Test Help to revise the format of your paper until it passes the test.

Step 4: Please prepare one PowerPoint slide (and only one) that summarizes your paper. You must only use the IROS 2021 Digest PowerPoint template. Please do not change the template and keep fonts and font sizes as prepared in the template.

Step 5: If your paper is accompanied by a short video (max. 10MB), please do not use special codecs (coders/decoders) to provide as much portability across platforms as possible. Accepted video contributions will be included in the conference proceedings and in IEEE Xplore. There, the video will appear as an enhanced object next to the PDF of the summarizing text (a sort of short paper).

If your paper features a video attachment, please prepare the following two plain text files:

  • Summary.txt file (max 1 KB). Describe in five sentences or less the contents or value of the video. This file helps IEEE Xplore users to make downloading decisions.
  • ReadMe.txt file (max 10 KB). This file must include the following sections:
    • Description: An overall description of the objects and what the audience can expect to gain by downloading them;
    • Player Information: Provide the minimum version of the player software that is required to play the submitted files. Include the name of the software, the version number, and any special requirements for the player;
    • Contact Information: The author should provide contact information in case users have questions regarding the extended material. IEEE will not provide any technical support.

    Note that both above files should be in plain text format and have a .txt extension. They are needed by IEEE to include the video in IEEE Xplore.

    Step 6: Update the final submission information (title, author list, number of pages, abstract, copyright) in PaperPlaza. To process the copyright transfer for each contribution, follow the Transfer Copyright link, and you will be taken to the IEEE copyright transfer site (IEEE eCP) in a new window. Follow the steps as described on IEEE eCP pages and make sure that the paper title and author list are correct before you perform the copyright transfer. Once the copyright has been transferred, you cannot update it via PaperPlaza, instead you must contact IEEE directly by emailing:

    Step 7: Register for the conference, indicating the paper number(s) and any extra pages, through the author registration site. For RA-L papers with IROS option: Please note that the extra page charge must be paid only once, i.e., it is waived for the IROS 2021 conference if the paper is accepted for publication in RA-L. Upon payment, each registered paper is assigned a token, which has to be entered into PaperPlaza to unlock the final submission upload. Please log in to the registration forms and find your token under PaperPlaza tokens (it may take several days for bank transfer payments).

    Step 8: Upload the following files in PaperPlaza:

    • A PDF file of your paper (max 6 MB) that has passed the IEEE Xplore compliance test;
    • A single summary PowerPoint slide (max 1 MB) based on the Step 4 instructions and IROS2021-Digest-Template.pptx template;
    • and if applicable, a video (max 10 MB) plus a Summary.txt and ReadMe.txt files accompanying your paper (cf. Step 5).

    Again, congratulations on your submission acceptance! May your final submission go smoothly and we look forward to it.

    Additional instructions for selected T-RO and RAM papers accepted for presentation at IROS 2021:

    The length restriction and paper reformatting instructions mentioned above do not apply to these papers.

    In your final submission, you should submit the pdf of the most final version of your paper available. In other words:

    (1) Submit the version currently online at IEEE Xplore, complete with volume number, issue number, and page numbers.  If this is not yet available,

    (2) submit the version on IEEE Xplore before it has been assigned to an issue.  If this is not yet available,

    (3) submit the final proof you approved during the proofing process. If this is not yet available,

    (4) submit the final version you submitted for proofing after your paper was accepted.

    Almost all papers should be in the category (1) or (2).

    Please remember that submitting your paper to IROS represents a commitment to registering and presenting it. Failure to follow through with a registration may lead to sanctions from future IROSs, T-RO/RAM, or both.


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