机器人 / 具身智能

FlowNav: Combining Flow Matching and Depth Priors for Efficient Navigation

Samiran Gode, Abhijeet Nayak, Débora N. P. Oliveira, Michael Krawez, Cordelia Schmid, Wolfram Burgard

机构 * Artificial Intelligence and Robotics Lab, Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg（人工智能与机器人实验室，计算机科学与人工智能系，图腾大学） ； Inria, Ecole Normale Supérieure, CNRS, PSL Research University（法国国家信息与自动化研究所，巴黎高等师范学校，国家科学研究中心，巴黎综合理工研究学院） 纠错

专题命中 具身导航 ：navigation(title,abstract)；分类 cs.RO

Comments Accepted to IROS'25. Previous version accepted at CoRL 2024 workshop on Learning Effective Abstractions for Planning (LEAP) and workshop on Differentiable Optimization Everywhere: Simulation, Estimation, Learning, and Control

Learning Local Heuristics for Search-Based Navigation Planning

Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev

专题命中 具身导航 ：navigation(title,abstract)；分类 cs.RO

Comments Published at the International Conference on Automated Planning and Scheduling 2023 (ICAPS 2023)

Radiometric Interferometry for Deep Space Navigation using Geostationary Satellites

Moshe Golani, Yoram Rozen, Hector Rotstein

专题命中 具身导航 ：navigation(title,abstract)

A general model for time-minimizing navigation on a mountain slope under gravity

Nicoleta Aldea, Piotr Kopacz

专题命中 具身导航 ：navigation(title,abstract)

Comments 43 pages, 15 figures

Journal ref Journal of Geometric Analysis 35, 282 (2025)

Solving Scene Understanding for Autonomous Navigation in Unstructured Environments

Naveen Mathews Renji, Kruthika K, Manasa Keshavamurthy, Pooja Kumari, S. Rajarajeswari

专题命中 具身导航 ：navigation(title)；分类 cs.AI、cs.CV

Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control

Haoze Dong, Meng Guo, Chengyi He, Zhongkui Li

机构 * School of Advanced Manufacturing and Robotics, Peking University（先进制造与机器人学院，北京大学） ； School of Computer Science and Engineering, Beihang University（计算机科学与工程学院，北航） 纠错

专题命中 具身导航 ：navigation(title)；分类 cs.RO

Star Tracker Misalignment Compensation in Deep Space Navigation Through Model-Based Estimation

Ridma Ganganath, Simone Servadio, David Lee

专题命中 具身导航 ：navigation(title)

Comments 20 pages, 7 figures

Automated 3D-GS Registration and Fusion via Skeleton Alignment and Gaussian-Adaptive Features

Shiyang Liu, Dianyi Yang, Yu Gao, Bohan Ren, Yi Yang, Mengyin Fu

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

专题命中 具身导航 ：navigation(abstract)；robotic(abstract)；分类 cs.CV

Comments Accepted to IROS 2025

A Multimodal Architecture for Endpoint Position Prediction in Team-based Multiplayer Games

Jonas Peche, Aliaksei Tsishurou, Alexander Zap, Guenter Wallner

机构 * Computer Graphics（计算机图形学） ； Johannes Kepler University Linz（约瑟夫·施特劳斯大学林茨） ； DS Research（DS研究） ； Wargaming（沃拉基姆） 纠错

专题命中 具身导航 ：navigation(abstract)；分类 cs.AI、cs.CV、cs.LG

Dimer-Enhanced Optimization: A First-Order Approach to Escaping Saddle Points in Neural Network Training

Yue Hu, Zanxia Cao, Yingchao Liu

机构 * School of Bioengineering, Qilu University of Technology (Shandong Academy of Sciences)（青岛科技大学生物工程学院） ； Shandong Provincial Key Laboratory of Biophysics, Institute of Biophysics, Dezhou University（山东省生物物理重点实验室，生物物理研究所，德州市大学） ； Shandong Provincial Hospital, Shandong First Medical University（山东省人民医院，山东第一医科大学） 纠错

专题命中 具身导航 ：navigation(abstract)；分类 cs.AI、cs.LG

Comments 8 pages, 2 figures

Perpetua: Multi-Hypothesis Persistence Modeling for Semi-Static Environments

Miguel Saavedra-Ruiz, Samer B. Nashed, Charlie Gauthier, Liam Paull

机构 * Department of Computer Science and Operations Research, Université de Montréal, Montréal, QC, Canada（蒙特利尔大学计算机科学与运筹学系） ； Mila - Quebec AI Institute, Montréal, QC, Canada（魁北克人工智能研究所） 纠错

专题命中 具身导航 ：robotic(abstract)；分类 cs.RO、cs.CV

Comments Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025) Code available at https://github.com/montrealrobotics/perpetua-code. Webpage and additional videos at https://montrealrobotics.ca/perpetua/

Co-Win: Joint Object Detection and Instance Segmentation in LiDAR Point Clouds via Collaborative Window Processing

Haichuan Li, Tomi Westerlund

机构 * Turku Intelligent Embedded and Robotics Systems lab, Faculty of Technology University of Turku（图尔库智能嵌入式与机器人系统实验室，技术学院图尔库大学） 纠错

专题命中 具身导航 ：navigation(abstract)；分类 cs.RO、cs.CV

Beyond Line-of-Sight: Cooperative Localization Using Vision and V2X Communication

Annika Wong, Zhiqi Tang, Frank J. Jiang, Karl H. Johansson, Jonas Mårtensson

专题命中 具身导航 ：navigation(abstract)；分类 cs.RO

Comments Accepted at the 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC 2025)

Advancing Shared and Multi-Agent Autonomy in Underwater Missions: Integrating Knowledge Graphs and Retrieval-Augmented Generation

Michele Grimaldi, Carlo Cernicchiaro, Sebastian Realpe Rua, Alaaeddine El-Masri-El-Chaarani, Markus Buchholz, Loizos Michael, Pere Ridao Rodriguez, Ignacio Carlucho, Yvan R. Petillot

专题命中 具身导航 ：robotic(abstract)；分类 cs.RO

A first look at ROS 2 applications written in asynchronous Rust

Martin Škoudlil, Michal Sojka, Zdeněk Hanzálek

专题命中 具身导航 ：robotic(abstract)

Comments Published version, added external DOI

Time geodesics on a slippery cross slope under gravitational wind

Nicoleta Aldea, Piotr Kopacz

专题命中 具身导航 ：navigation(abstract)

Comments 30 pages, 11 figures, to appear in Nonlinear Analysis - Real World Applications

Journal ref Nonlinear Analysis: Real World Applications 81, 104177 (2025)

Aether: Geometric-Aware Unified World Modeling

Aether Team, Haoyi Zhu, Yifan Wang, Jianjun Zhou, Wenzheng Chang, Yang Zhou, Zizun Li, Junyi Chen, Chunhua Shen, Jiangmiao Pang, Tong He

机构 * USTC Shanghai AI Lab（USTC上海人工智能实验室） ； SII SJTU（SJTU信息研究所） ； ZJU FDU（浙江大学福州大学） 纠错

专题命中 具身推理 ：world model(title,abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Project Page: https://aether-world.github.io/

Hanging Around: Cognitive Inspired Reasoning for Reactive Robotics

Mihai Pomarlan, Stefano De Giorgis, Rachel Ringe, Maria M. Hedblom, Nikolaos Tsiogkas

机构 * Applied Linguistics Department University of Bremen（应用语言学系 比勒feld大学） ； Digital Media Lab University of Bremen（数字媒体实验室 比勒feld大学） ； Department of Computer Science KU Leuven（计算机科学系 卢森堡大学） 纠错

专题命中 具身推理 ：robotics(title,abstract)；分类 cs.RO

Comments This article is published online with Open Access by IOS Press and distributed under the terms of the Creative Commons Attribution Non-Commercial License 4.0 (CC BY-NC 4.0)

Journal ref Frontiers in Artificial Intelligence and Applications; 2024; Vol. 394; pp. 2 - 15

Enhancing Spatial Reasoning through Visual and Textual Thinking

Xun Liang, Xin Guo, Zhongming Jin, Weihang Pan, Penghui Shang, Deng Cai, Binbin Lin, Jieping Ye

专题命中 具身推理 ：robotics(abstract)；分类 cs.AI、cs.CV

GTAD: Global Temporal Aggregation Denoising Learning for 3D Semantic Occupancy Prediction

Tianhao Li, Yang Li, Mengtian Li, Yisheng Deng, Weifeng Ge

机构 * Department of Computer and Technology, Fudan University（复旦大学计算机与技术系） ； School of Computer Science and Technology, East China Normal University（华东师范大学计算机科学与技术学院） ； Shanghai Film Academy of Shanghai University（上海大学上海电影学院） 纠错

专题命中 具身推理 ：robotic(abstract)；分类 cs.CV

Extending Group Relative Policy Optimization to Continuous Control: A Theoretical Framework for Robotic Reinforcement Learning

Rajat Khanda, Mohammad Baqar, Sambuddha Chakrabarti, Satyasaran Changdar

机构 * University of Houston（德克萨斯大学） ； Cisco Systems（思科系统） ； Princeton University（普林斯顿大学） ； University of Copenhagen（哥本哈根大学） 纠错

专题命中 模仿学习与强化学习 ：robotic(title,abstract)；robotics(abstract)；manipulation(abstract)；分类 cs.RO、cs.AI

Comments 13 pages, 2 figures

Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning

Yuyou Zhang, Radu Corcodel, Ding Zhao

机构 * Carnegie Mellon University（卡内基梅隆大学） ； Mitsubishi Electric Research Labs (MERL)（三菱电机研究实验室（MERL）） 纠错

专题命中 模仿学习与强化学习 ：manipulation(title,abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments Humanoids 2025

Affordance-Guided Reinforcement Learning via Visual Prompting

Olivia Y. Lee, Annie Xie, Kuan Fang, Karl Pertsch, Chelsea Finn

机构 * Stanford University（斯坦福大学） ； Cornell University（康奈尔大学） ； University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 模仿学习与强化学习 ：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

Comments 8 pages, 6 figures. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers

Takumi Kobayashi, Masato Kobayashi, Thanpimon Buamanee, Yuki Uranishi

机构 * Graduate School of Information Science and Technology, The University of Osaka（信息科学与技术研究生学校，大阪大学） ； D3 Center, The University of Osaka（大阪大学D3中心） ； Graduate School of Maritime Sciences, Kobe University（海洋科学研究生学校， Kobe大学） 纠错

专题命中 模仿学习与强化学习 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

The Pitfalls of Imitation Learning when Actions are Continuous

Max Simchowitz, Daniel Pfrommer, Ali Jadbabaie

机构 * CMU（卡内基梅隆大学） ； MIT（麻省理工学院） 纠错

专题命中 模仿学习与强化学习 ：robot learning(abstract)；分类 cs.LG

Comments 98 pages, 2 figures, updated proof sketch

A real-time full-chain wearable sensor-based musculoskeletal simulation: an OpenSim-ROS Integration

Frederico Belmonte Klein, Zhaoyuan Wan, Huawei Wang, Ruoli Wang

专题命中 人机交互与遥操作 ：robotics(abstract)；分类 cs.RO

Comments 11 pages, 10 figures

A Blockchain-Based Quality Control Model for Online Collaboration Systems

Sadegh Sohani, Maliheh Shahryari, Salar Ghazi, Mohammad Allahbakhsh, Haleh Amintoosi, Boualem Benatallah

专题命中 人机交互与遥操作 ：manipulation(abstract)

Comments 26 pages (Springer format), 9 figures, 1 table

Robotic Visual Instruction

Yanbang Li, Ziyang Gong, Haoyang Li, Xiaoqi Huang, Haolan Kang, Guangping Bai, Xianzheng Ma

机构 * Imperial College London（伦敦帝国理工学院） ； Shanghai AI Laboratory（上海人工智能实验室） ； UC San Diego（加州大学圣地亚哥分校） ； VIVO ； South China University of Technology（华南理工大学） 纠错

专题命中 机器人数据与评测 ：robotic(title,abstract)；manipulation(abstract)；分类 cs.RO、cs.AI、cs.CV

Comments Project website: https://robotic-visual-instruction.github.io/

MazeEval: A Benchmark for Testing Sequential Decision-Making in Language Models

Hafsteinn Einarsson

机构 * University of Iceland（爱沙尼亚大学） 纠错

专题命中 机器人数据与评测 ：robotics(abstract)；embodied AI(abstract)；navigation(abstract)；分类 cs.AI

Methods for the Segmentation of Reticular Structures Using 3D LiDAR Data: A Comparative Evaluation

Francisco J. Soler Mora, Adrián Peidró Vidal, Marc Fabregat-Jaén, Luis Payá Castelló, Óscar Reinoso García

专题命中 机器人数据与评测 ：navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.CV

Journal ref Computer Modeling in Engineering & Sciences, 143, 2025, 3167-3195