机器人 / 具身智能

SocialNav-MoE: A Mixture-of-Experts Vision Language Model for Socially Compliant Navigation with Reinforcement Fine-Tuning

SocialNav-MoE: 一种用于社交合规导航的混合专家视觉语言模型，结合强化微调

Tomohito Kawabata, Xinyu Zhang, Ling Xiao

机构 * Graduate School of Information Science and Technology, Hokkaido University（信息科学与技术研究生院，北海道大学） 纠错

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

AI总结 SocialNav-MoE通过混合专家模型和强化微调提升机器人社交合规导航的效率与准确性。

YOPO-Nav: Visual Navigation using 3DGS Graphs from One-Pass Videos

YOPO-Nav: 基于单次视频的3DGS图进行视觉导航

Ryan Meegan, Adam D'Souza, Bryan Bo Cao, Shubham Jain, Kristin Dana

机构 * Rutgers University（罗格斯大学） ； Stony Brook University（石溪大学） 纠错

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

AI总结 YOPO-Nav通过单次视频生成3DGS图实现高效视觉导航，结合粗略定位与局部模型优化，适用于真实环境的机器人导航任务。

VISTAv2: World Imagination for Indoor Vision-and-Language Navigation

VISTAv2：室内视觉与语言导航的世界想象

Yanjia Huang, Xianshun Jiang, Xiangbo Gao, Mingyang Wu, Zhengzhong Tu

机构 * Texas A&M University（德克萨斯农工大学） 纠错

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

AI总结 VISTAv2通过生成式世界模型实现室内视觉与语言导航的稳健规划，结合动作条件想象和在线价值图融合，提升导航效率与鲁棒性。

Comments 11 pages, 5 figures

Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural

Andrei A. Korigodskii, Oleg D. Kalachev, Artem E. Vasiunik, Matvei V. Urvantsev, Georgii E. Bondar

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

Journal ref 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ROSBag MCP Server: Analyzing Robot Data with LLMs for Agentic Embodied AI Applications

Lei Fu, Sahar Salimpour, Leonardo Militano, Harry Edelman, Jorge Peña Queralta, Giovanni Toffetti

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

Mobile Robotic Multi-View Photometric Stereo

Suryansh Kumar

机构 * Visual Computing and Computational Media Section (VCCM)（视觉计算与计算媒体部门） ； College of Performance Visualization and Fine Arts (PVFA)（表演可视化与美术学院） ； Department of Electrical and Computer Engineering (ECEN)（电气与计算机工程系） ； Department of Computer Science and Engineering (CSCE)（计算机科学与工程系） 纠错

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

Comments Acknowledgment Added. Published at International Society Journal of Photogrammetry and Remote Sensing (ISPRS). 32 pages, 14 Figures, 5 Tables

NVSim: Novel View Synthesis Simulator for Large Scale Indoor Navigation

Mingyu Jeong, Eunsung Kim, Sehun Park, Andrew Jaeyong Choi

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

Comments 9 pages, 10 figures

MLFM: Multi-Layered Feature Maps for Richer Language Understanding in Zero-Shot Semantic Navigation

Sonia Raychaudhuri, Enrico Cancelli, Tommaso Campari, Lamberto Ballan, Manolis Savva, Angel X. Chang

机构 * Simon Fraser University（西蒙弗雷泽大学） ； University of Padova（帕多瓦大学） ； Fondazione Bruno Kessler (FBK)（布鲁诺·克塞勒基金会） ； Alberta Machine Intelligence Institute (Amii)（阿尔伯塔人工智能研究所） 纠错

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

Mem4Nav: Boosting Vision-and-Language Navigation in Urban Environments with a Hierarchical Spatial-Cognition Long-Short Memory System

Lixuan He, Haoyu Dong, Zhenxing Chen, Yangcheng Yu, Jie Feng, Yong Li

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

Comments The paper is currently under investigation regarding concerns of potential academic misconduct. While the investigation is ongoing, the authors have voluntarily requested to withdraw the manuscript

VENTURA: Adapting Image Diffusion Models for Unified Task Conditioned Navigation

Arthur Zhang, Xiangyun Meng, Luca Calliari, Dong-Ki Kim, Shayegan Omidshafiei, Joydeep Biswas, Ali Agha, Amirreza Shaban

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

Comments 9 pages, 6 figures, 3 tables

Integrating Offline Pre-Training with Online Fine-Tuning: A Reinforcement Learning Approach for Robot Social Navigation

Run Su, Hao Fu, Shuai Zhou, Yingao Fu

机构 * School of Computer Science and Technology, Wuhan University of Science and Technology（武汉理工大学计算机科学与技术学院） 纠错

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

Vision-and-Language Navigation with Analogical Textual Descriptions in LLMs

Yue Zhang, Tianyi Ma, Zun Wang, Yanyuan Qiao, Parisa Kordjamshidi

机构 * Michigan State University（密歇根州立大学） ； UNC Chapel Hill（北卡罗来纳大学教堂山分校） ； University of Adelaide（阿德莱德大学） 纠错

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

Learnable Conformal Prediction with Context-Aware Nonconformity Functions for Robotic Planning and Perception

Divake Kumar, Sina Tayebati, Francesco Migliarba, Ranganath Krishnan, Amit Ranjan Trivedi

机构 * University of Illinois at Chicago（伊利诺伊大学香槟分校） ； Intel Labs（英特尔实验室） 纠错

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

Dynamic Multi-Target Fusion for Efficient Audio-Visual Navigation

Yinfeng Yu, Hailong Zhang, Meiling Zhu

机构 * School of Computer Science and Technology, Xinjiang University（新疆大学计算机科学与技术学院） ； No. 59 Middle School of Urumqi（乌鲁木齐市第五十九中学） 纠错

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

Comments Main paper (8 pages). Accepted for publication by ECAI( European Conference on Artificial Intelligence) 2025

OmniVLA: An Omni-Modal Vision-Language-Action Model for Robot Navigation

Noriaki Hirose, Catherine Glossop, Dhruv Shah, Sergey Levine

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

Comments 9 pages, 7 figures, 6 tables

Real World Robotic Exploration using Deep Neural Networks Trained in Photorealistic Reconstructed Environments

Isaac Ronald Ward

机构 * Isaac Ronald Ward（独立研究者） 纠错

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

Comments This report is submitted as partial fulfilment of the requirements for the Honours Programme of the Department of Computer Science and Software Engineering, The University of Western Australia, 2019

Nav-R1: Reasoning and Navigation in Embodied Scenes

Qingxiang Liu, Ting Huang, Zeyu Zhang, Hao Tang

机构 * Shanghai University of Engineering Science（上海工程技术大学） ； Peking University（北京大学） 纠错

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

Real-world Instance-specific Image Goal Navigation: Bridging Domain Gaps via Contrastive Learning

Taichi Sakaguchi, Akira Taniguchi, Yoshinobu Hagiwara, Lotfi El Hafi, Shoichi Hasegawa, Tadahiro Taniguchi

机构 * Graduate School of Info. Sci. \& Eng. Ritsumeikan University, Osaka, Japan ； College of Info. Sci. \& Eng. Ritsumeikan University, Osaka, Japan ； Faculty of Sci. ； Eng. Soka University, Tokyo, Japan ； Research Organization of Sci. \& Tech. Ritsumeikan University, Shiga, Japan ； Graduate School of Informatics Kyoto University, Kyoto, Japan 纠错

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

Comments See website at https://emergentsystemlabstudent.github.io/DomainBridgingNav/. Accepted to IEEE IRC2024

Safe and Efficient Social Navigation through Explainable Safety Regions Based on Topological Features

Victor Toscano-Duran, Sara Narteni, Alberto Carlevaro, Jérôme Guzzi Rocio Gonzalez-Diaz, Maurizio Mongelli

机构 * Department of Applied Mathematics I, University of Seville（应用数学系，塞维利亚大学） ； CNR-IEIIT Genoa, Italy（意大利热那亚CNR-IEIIT） ； SUPSI, IDSIA Lugano, Switzerland（瑞士卢加诺SUPSI，IDSIA） 纠错

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

CogNav: Cognitive Process Modeling for Object Goal Navigation with LLMs

Yihan Cao, Jiazhao Zhang, Zhinan Yu, Shuzhen Liu, Zheng Qin, Qin Zou, Bo Du, Kai Xu

机构 * College of Computer Science and Technology, National University of Defense Technology（计算机科学与技术学院，国防科技大学） ； CFCS, School of Computer Science, Peking University（计算机科学系，北京大学） ； Defense Innovation Institute, Academy of Military Sciences（国防科技创新研究院，军事科学院） ； School of Computer Science, Wuhan University（计算机科学学院，武汉大学） 纠错

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

Hierarchical Reinforcement Learning in Multi-Goal Spatial Navigation with Autonomous Mobile Robots

Brendon Johnson, Alfredo Weitzenfeld

机构 * University of South Florida（佛罗里达州立大学） 纠错

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

NavComposer: Composing Language Instructions for Navigation Trajectories through Action-Scene-Object Modularization

Zongtao He, Liuyi Wang, Lu Chen, Chengju Liu, Qijun Chen

机构 * Department of Control Science and Engineering, Tongji University（控制科学与工程系，同济大学） 纠错

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

Journal ref IEEE Trans. Circuits Syst. Video Technol., early access, 2025

Safety of Embodied Navigation: A Survey

Zixia Wang, Jia Hu, Ronghui Mu

机构 * University of Exeter（埃克塞特大学） 纠错

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

Hierarchical Deep Deterministic Policy Gradient for Autonomous Maze Navigation of Mobile Robots

Wenjie Hu, Ye Zhou, Hann Woei Ho

机构 * School of Aerospace Engineering, Engineering Campus, Universiti Sains Malaysia, 14300 Nibong Tebal, Pulau Pinang, Malaysia（航空航天工程学院） 纠错

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

IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigation

Wenxuan Guo, Xiuwei Xu, Hang Yin, Ziwei Wang, Jianjiang Feng, Jie Zhou, Jiwen Lu

机构 * Tsinghua University（清华大学） ； Nanyang Technological University（南洋理工大学） 纠错

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

Comments Accepted to ICCV 2025. Project page: https://gwxuan.github.io/IGL-Nav/

PIG-Nav: Key Insights for Pretrained Image Goal Navigation Models

Jiansong Wan, Chengming Zhou, Jinkua Liu, Xiangge Huang, Xiaoyu Chen, Xiaohan Yi, Qisen Yang, Baiting Zhu, Xin-Qiang Cai, Lixing Liu, Rushuai Yang, Chuheng Zhang, Sherif Abdelfattah, Hayong Shin, Pushi Zhang, Li Zhao, Jiang Bian

机构 * Microsoft Research（微软研究院） 纠错

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

NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environments

Alessandro Saviolo, Giuseppe Loianno

机构 * New York University（纽约大学） 纠错

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

Enabling Robust, Real-Time Verification of Vision-Based Navigation through View Synthesis

Marius Neuhalfen, Jonathan Grzymisch, Manuel Sanchez-Gestido

机构 * European Space Agency, ESTEC, The Netherlands（欧洲航天局，ESTEC，荷兰） ； RWTH Aachen University, Aachen, Germany（亚琛工业大学，德国） ； École Centrale de Lille, Lille, France（里尔中央理工大学，法国） 纠错

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

Comments Published at the EUCASS2025 conference in Rome. Source code is public, please see link in paper

History-Augmented Vision-Language Models for Frontier-Based Zero-Shot Object Navigation

Mobin Habibpour, Fatemeh Afghah

机构 * Holcombe Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA（霍尔科姆电气与计算机工程系，克莱姆森大学） 纠错

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

Adversarial Attacks and Detection in Visual Place Recognition for Safer Robot Navigation

Connor Malone, Owen Claxton, Iman Shames, Michael Milford

机构 * QUT Centre for Robotics（昆士兰科技大学机器人中心） ； School of Electrical Engineering and Robotics at the Queensland University of Technology（昆士兰科技大学电气工程与机器人学院） ； CIICADA Lab（CIICADA实验室） 纠错

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