机器人 / 具身智能

MRHaD: Mixed Reality-based Hand-Drawn Map Editing Interface for Mobile Robot Navigation

Takumi Taki, Masato Kobayashi, Eduardo Iglesius, Naoya Chiba, Shizuka Shirai, 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院，大阪大学） ； D3 Center, The University of Osaka（大阪大学D3中心） ； Graduate School of Maritime Sciences, Kobe University（海洋科学研究生院， Kobe大学） 纠错

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

Free Energy-Inspired Cognitive Risk Integration for AV Navigation in Pedestrian-Rich Environments

Meiting Dang, Yanping Wu, Yafei Wang, Dezong Zhao, David Flynn, Chongfeng Wei

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

Comments 14 pages, 5 figures

PixelNav: Towards Model-based Vision-Only Navigation with Topological Graphs

Sergey Bakulin, Timur Akhtyamov, Denis Fatykhov, German Devchich, Gonzalo Ferrer

机构 * Skolkovo Institute of Science and Technology（斯克洛夫技术科学研究院） 纠错

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

PIVOTS: Aligning unseen Structures using Preoperative to Intraoperative Volume-To-Surface Registration for Liver Navigation

Peng Liu, Bianca Güttner, Yutong Su, Chenyang Li, Jinjing Xu, Mingyang Liu, Zhe Min, Andrey Zhylka, Jasper Smit, Karin Olthof, Matteo Fusaglia, Rudi Apolle, Matthias Miederer, Laura Frohneberger, Carina Riediger, Jügen Weitz, Fiona Kolbinger, Stefanie Speidel, Micha Pfeiffer

机构 * Translational Surgical Oncology, National Center for Tumor Diseases（转化外科肿瘤学，肿瘤疾病国家中心） ； German Cancer Research Center (DKFZ)（德国癌症研究中心（DKFZ）） ； Faculty of Medicine and University Hospital Carl Gustav Carus（医学系和卡尔·戈斯塔·卡尔斯大学医院） ； Department of Visceral, Thoracic and Vascular Surgery, University Hospital and Faculty of Medicine Carl Gustav Carus, TUD Dresden University of Technology（visceral、胸腔和血管外科部门，大学医院和医学系卡尔·戈斯塔·卡尔斯，德累斯顿技术大学） ； Centre for Tactile Internet with Human-in-the-Loop, TU Dresden（人机交互触觉互联网中心，德累斯顿技术大学） ； School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） ； Surgical Department, The Netherlands Cancer Institute（手术部，荷兰癌症研究所） ； Translational Imaging in Oncology, National Center for Tumor Diseases（肿瘤转化影像学，肿瘤疾病国家中心） ； Weldon School of Biomedical Engineering, Purdue University（韦尔登生物医学工程学院，普渡大学） 纠错

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

Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging

Yifan Zhang, Dianye Huang, Nassir Navab, Zhongliang Jiang

机构 * Technical University of Munich（慕尼黑技术大学） ； Munich Center for Machine Learning（慕尼黑机器学习中心） 纠错

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

Comments Accepted by IROS2025, video link: https://youtu.be/SBwpFVzEhAg

Feeling the Force: A Nuanced Physics-based Traversability Sensor for Navigation in Unstructured Vegetation

Zaar Khizar, Johann Laconte, Roland Lenain, Romuald Aufrere

机构 * LIMOS, Université Clermont Auvergne, Clermont Auvergne INP, CNRS（克莱蒙特-奥弗涅大学LIMOS实验室） ； Université Clermont Auvergne, INRAE, UR TSCF（克莱蒙特-奥弗涅大学、法国国家农业科学研究院（INRAE）TSCF研究中心） ； Institut Pascal, Université Clermont Auvergne, Clermont Auvergne INP, CNRS（克莱蒙特-奥弗涅大学Pascal研究所） 纠错

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

Critical Anatomy-Preserving & Terrain-Augmenting Navigation (CAPTAiN): Application to Laminectomy Surgical Education

Jonathan Wang, Hisashi Ishida, David Usevitch, Kesavan Venkatesh, Yi Wang, Mehran Armand, Rachel Bronheim, Amit Jain, Adnan Munawar

机构 * 1School of Medicine, Johns Hopkins University, Baltimore, MD, USA 2Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA 3Laboratory for Computational Sensing \& Robotics, Johns Hopkins University, Baltimore, MD, USA 4School of Medicine, Vanderbilt University, Nashville, TN, USA 5Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA 6Department of Orthopaedic Surgery, Johns Hopkins University, Baltimore, MD, USA 纠错

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

SparseLoc: Sparse Open-Set Landmark-based Global Localization for Autonomous Navigation

Pranjal Paul, Vineeth Bhat, Tejas Salian, Mohammad Omama, Krishna Murthy Jatavallabhula, Naveen Arulselvan, K. Madhava Krishna

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

GSplatVNM: Point-of-View Synthesis for Visual Navigation Models Using Gaussian Splatting

Kohei Honda, Takeshi Ishita, Yasuhiro Yoshimura, Ryo Yonetani

机构 * CyberAgent AI Lab（CyberAgent AI实验室） ； The Department of Mechanical Systems Engineering（机械系统工程系） ； Nagoya University（名古屋大学） 纠错

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

Comments 8 pages, 4 figures

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)