机器人 / 具身智能

Navigation in the Ancient Mediterranean and Beyond

Markus Nielbock

专题命中 具身导航 ：navigation(title,comments)

Comments 11 pages, 18 figures. This resource was developed in the framework of Space Awareness. Space Awareness is funded by the European Commission's Horizon 2020 Programme under grant agreement no. 638653. Published by AstroEDU: http://astroedu.iau.org/en/activities/1645/navigation-in-the-ancient-mediterranean-and-beyond/

Journal ref Nielbock, M., 2017, Navigation in the Ancient Mediterranean and Beyond, astroEDU, 1645

LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM

LEGO-SLAM：语言嵌入的高斯优化SLAM

Sibaek Lee, Seongbo Ha, Kyeongsu Kang, Joonyeol Choi, Seungjun Tak, Hyeonwoo Yu

机构 * Department of Intelligent Robotics, Sungkyunkwan University（智能机器人系，成均馆大学） 纠错

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

AI总结 研究将语言特征集成到基于3DGS的SLAM系统的问题，提出LEGO-SLAM框架，利用场景自适应自动编码器压缩语言嵌入，实现语言引导剪枝和回环检测，提升映射质量和跟踪精度，具备开放词汇能力且达15FPS。

Comments Project page :https://lab-of-ai-and-robotics.github.io/LEGO-SLAM/ Submitted to IEEE RA-L

MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry

MVOFormer：用于鲁棒单目视觉里程计的流-语义Transformer

Jituo Li, Shunwang Sun, Jialu Zhang, Xinqi Liu, Jinyao Hu, Zhicheng Lu, Sajad Saeedi, Guodong Lu

机构 * State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University（浙江大学流体动力与机电系统国家重点实验室） ； Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems（浙江省工业大数据与机器人智能系统重点实验室） ； School of Mechanical Engineering, Zhejiang University（浙江大学机械工程学院） ； Robotics Institute, Zhejiang University（浙江大学机器人研究院） ； School of Artificial Intelligence and Robotics, Hunan University（湖南大学人工智能与机器人学院） ； Rural Health Research Institute, Charles Sturt University（查尔斯特大学农村健康研究所） ； University College London（伦敦大学学院） 纠错

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

AI总结 提出MVOFormer，一种流-语义双分支编码器与迭代多模态解码器结合的Transformer框架，通过融合密集几何运动与语义先验实现粗到细位姿优化，在零样本泛化上显著超越现有方法。

Comments 8 pages, 6 figures. Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

Efficient Hierarchical Robot Motion Planning Under Uncertainty and Hybrid Dynamics

在不确定性和混合动力学下的高效机器人运动规划

Ajinkya Jain, Scott Niekum

机构 * Department of Mechanical Engineering（机械工程系） ； Department of Computer Science（计算机科学系） ； University of Texas at Austin, USA（得克萨斯大学奥斯汀分校） 纠错

专题命中 具身导航 ：navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI；robot learning(comments)

AI总结 本文提出了一种分层POMDP规划器，用于在存在不确定性的情况下为混合动力学模型生成成本优化的运动计划，通过将非线性动力学分解为离散的局部动力学模型，从而有效减少状态不确定性。

Comments 2nd Conference on Robot Learning (CoRL 2018), Zurich, Switzerland

OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagery

OmniUnet：一种多模态网络，用于使用RGB、深度和热成像的无结构地形分割在火星车上的应用

Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes, Alfonso Garcia-Cerezo, Miguel A. Olivares-Mendez

机构 * University of Luxembourg（卢森堡大学） ； Universidad de Málaga（马拉加大学） 纠错

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

AI总结 OmniUnet通过整合RGB、深度和热成像数据，实现无结构地形的高效分割，利用自定义传感器设备在西班牙Bardenas半沙漠收集数据，并在资源受限设备上验证了其性能。

Journal ref 2025 International Conference on Space Robotics (iSpaRo)

Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids

高效多分辨率3D网格上的分层任意角度路径规划

Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott

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

AI总结 本文提出了一种基于多分辨率表示的高效任意角度路径规划方法，兼顾最优性和完备性，克服了传统搜索方法的计算瓶颈，实验表明其在真实和合成环境中的优越性能。

Comments 12 pages, 9 figures, 4 tables, accepted to RSS 2025, code is open-source: https://github.com/ethz-asl/wavestar

Journal ref Proceedings of Robotics: Science and Systems 2025

Coordinating Spinal and Limb Dynamics for Enhanced Sprawling Robot Mobility

协调脊柱与肢体动态以提升散开式机器人机动性

Merve Atasever, Ali Okhovat, Azhang Nazaripouya, John Nisbet, Omer Kurkutlu, Jyotirmoy V. Deshmukh, Yasemin Ozkan Aydin

机构 * University of Southern California（南加州大学） ； University of Notre Dame（圣母大学） ； University of Illinois Chicago（伊利诺伊大学香槟分校） 纠错

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

AI总结 本研究提出一种结合生物启发步态设计与深度强化学习的混合控制框架，用于提升四足机器人在复杂地形中的稳健爬行能力。

Comments Initial version of the work has been accepted for presentation at the Mechanical Intelligence in Robotics workshop at ICRA 2025

Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation

Thomas Jantos, Stephan Weiss, Jan Steinbrener

机构 * Control of Networked Systems Group, University of Klagenfurt（克雷格弗尔特大学网络化系统控制组） 纠错

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

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L)

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains

Feiyang Wu, Xavier Nal, Jaehwi Jang, Wei Zhu, Zhaoyuan Gu, Anqi Wu, Ye Zhao

机构 * Georgia Institute of Technology（佐治亚理工学院） 纠错

专题命中 具身导航 ：manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.LG；robotics(comments)

Comments Accepted to IEEE Robotics and Automation Letters (RA-L)

Fluoroscopic Shape and Pose Tracking of Catheters with Custom Radiopaque Markers

Jared Lawson, Rohan Chitale, Nabil Simaan

机构 * Vanderbilt University（范德比大学） ； Vanderbilt University Medical Center（范德比大学医学中心） 纠错

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

Comments 8 pages, 5 figures, accepted in Robotics and Automation Letters

Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhouse

Taewook Park, Jinwoo Lee, Hyondong Oh, Won-Jae Yun, Kyu-Wha Lee

机构 * Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST)（机械工程系，乌山国立科学技术研究院） ； Agricultural Robotics and Artificial Intelligence, Metafarmers（农业机器人与人工智能，Metafarmers） 纠错

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

Comments Accepted at 2025 ICRA workshop on field robotics

VICAN: Very Efficient Calibration Algorithm for Large Camera Networks

Gabriel Moreira, Manuel Marques, João Paulo Costeira, Alexander Hauptmann

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

Comments To appear at the IEEE International Conference on Robotics and Automation (ICRA), 2024

SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration

Michael Adlerstein, João Carlos Virgolino Soares, Angelo Bratta, Claudio Semini

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

Comments Accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2025

FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust Estimator

Bang-Shien Chen, Yu-Kai Lin, Jian-Yu Chen, Chih-Wei Huang, Jann-Long Chern, Ching-Cherng Sun

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

Comments 8 pages, 6 figures

Journal ref IEEE Robotics and Automation Letters, 9(12), 11666-11673, 2024

Visual place recognition for aerial imagery: A survey

Ivan Moskalenko, Anastasiia Kornilova, Gonzalo Ferrer

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

Journal ref Robotics and Autonomous Systems 183 (2025) 104837

Cross Domain Policy Transfer with Effect Cycle-Consistency

Ruiqi Zhu, Tianhong Dai, Oya Celiktutan

专题命中 具身导航 ：manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI；robotics(comments)

Comments Accepted to International Conference on Robotics and Automation (ICRA), 2024

Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics

Taekyung Kim, Jungwi Mun, Junwon Seo, Beomsu Kim, Seongil Hong

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

Comments 2023 Robotics: Science and Systems (RSS). Project page: https://taekyung.me/rss2023-bridging

Continuity-Aware Latent Interframe Information Mining for Reliable UAV Tracking

Changhong Fu, Mutian Cai, Sihang Li, Kunhan Lu, Haobo Zuo, Chongjun Liu

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

Comments 2023 IEEE International Conference on Robotics and Automation (ICRA)

Enhanced Laser-Scan Matching with Online Error Estimation for Highway and Tunnel Driving

Matthew McDermott, Jason Rife

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

Journal ref Proceedings of the 2022 International Technical Meeting of The Institute of Navigation

BEyond observation: an approach for ObjectNav

Daniel V. Ruiz, Eduardo Todt

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

Comments Presented at the 2th Embodied AI Workshop at CVPR 2021

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

Margarita Grinvald, Federico Tombari, Roland Siegwart, Juan Nieto

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

Comments 7 pages, 3 figures. To be published in the 2021 IEEE International Conference on Robotics and Automation (ICRA). Code is available at https://github.com/ethz-asl/tsdf-plusplus and the accompanying video material can be found at https://youtu.be/dSJmoeVasI0

DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments

Kamak Ebadi, Matteo Palieri, Sally Wood, Curtis Padgett, Ali-akbar Agha-mohammadi

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

Comments Accepted for publication in Journal of Intelligent and Robotic Systems, 2021

Reasoning in complex environments with the SelectScript declarative language

André Dietrich, Sebastian Zug, Luigi Nardi, Jörg Kaiser

专题命中 具身导航 ：robotic(abstract,comments)；world model(abstract)；分类 cs.RO、cs.AI

Comments 15 pages, 7 figures, 6th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15)

STAG-VIO: Stabilized Prompt-to-Geometry Interface for Robust Dynamic Visual--Inertial Odometry

STAG-VIO：用于鲁棒动态视觉-惯性里程计的稳定提示-几何接口

Rui Zhou, Jingbin Liu, Junbin Xie, Jianyu Zhang, Yingze Hu, Jiele Zhao

专题命中 具身导航 ：navigation(title)；分类 cs.CV

AI总结 STAG-VIO通过提出不确定性自适应多目标跟踪等策略，解决动态VIO中提示不稳定导致的几何估计问题，在公开数据集上显著降低轨迹误差，性能优于现有最优方法。

Comments Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026

Journal ref 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Enhancing Autonomous Vehicle Navigation with a Clothoid-Based Lateral Controller

基于回旋曲线（Clothoid）的横向控制器增强自动驾驶车辆导航

Aashish Shaju, Steve Southward, Mehdi Ahmadian

专题命中 具身导航 ：navigation(title)；分类 cs.RO

AI总结 本研究提出结合自适应预瞄机制的Clothoid横向控制器，通过准反馈算法与超前滤波器提升自动驾驶车辆路径跟踪精度与稳定性，经TruckSim-Simulink联合仿真验证性能显著改善。

Comments Published version. 21 pages. Published in Applied Sciences, 2024

Journal ref Applied Sciences 14(5), 1817 (2024)

Towards Capability-Aware Traversability Navigation for Unstructured Environments

面向非结构化环境的能力感知可通行性导航

Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy, Marcelo Becker

机构 * University of São Paulo（圣保罗大学） 纠错

专题命中 具身导航 ：navigation(title)；分类 cs.RO

AI总结 研究非结构化环境中可通行性估计，提出能力感知可通行性（CAT）框架，将物理限制嵌入空间特征空间，通过交互式标注和SPADE块改进可通行性预测，在多数据集上领先，实现实例感知避障。

Comments 8 pages, 7 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). Project page: https://capability-aware-traversability.github.io/

Deployable Human Preference Alignment in Robotics: Learning Representative Rewards from Diverse Human Preferences

机器人中可部署的人类偏好对齐：从多样化人类偏好中学习代表性奖励

Taehyung Kim, Gwangmo Lee, Minjun Chang, Sunghyun Lim, Jongeun Choi

专题命中 具身导航 ：robotics(title)；分类 cs.RO

AI总结 研究如何使机器人策略与人类偏好对齐，提出基于偏好的奖励聚类（PREC）框架，通过聚合用户轨迹学习共享轨迹编码器，将用户聚类并为每个聚类学习奖励模型，实验表明该方法能更准确聚类用户，在多指标上优于现有方法。

Comments 23 pages, 20 figures

Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation

通过足部驱动的地形操纵在可流动斜坡上实现稳健的双足运动

Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng, Ziwon Yoon, Seth Hutchinson, Ye Zhao, Daniel I. Goldman

机构 * Georgia Institute of Technology（佐治亚理工学院） ； Northeastern University（东北大学） 纠错

专题命中 具身导航 ：manipulation(title)；分类 cs.RO

AI总结 研究双足机器人在颗粒斜坡上的运动控制问题，通过研究带防滑钉足部的地面动力学，发现中等防滑钉间距利于行走，据此设计可调整防滑钉深度的足部，应用于大小不同的双足机器人，提出以肢体为中心调节地形相互作用的新控制方法。

Comments 38 pages, 12 figures

REMIND: RE-Identification with Memory for INDoor Navigation

REMIND：用于室内导航的带记忆重新识别

Pablo Diaz-Pereda, Alejandro Rodriguez-Ramos, David Perez-Saura, Pascual Campoy

机构 * Centre for Automation and Robotics C.A.R. (UPM-CSIC)（自动化与机器人技术中心C.A.R.（马德里理工大学 - 西班牙国家研究委员会）） ； Universidad Politécnica de Madrid（马德里理工大学） 纠错

专题命中 具身导航 ：navigation(title)；分类 cs.CV

AI总结 研究室内移动机器人物体重识别难题，提出REMIND在线跟踪器，结合多种技术，在专用室内数据集和ScanNet++上表现出色，IDF1高，完成场景能力强，且系统、框架和数据集已公开。

Comments 11 pages

GDPR-Aware Trajectory Sharing for ISAC-Assisted Robot Navigation: A Case Study on FID-Constrained Collision Prediction

用于ISAC辅助机器人导航的GDPR感知轨迹共享：FID约束碰撞预测的案例研究

Zexin Fang, Bin Han, Donglin Wang, Fengchen Pei, Hans D. Schotten

专题命中 具身导航 ：navigation(title)；分类 cs.RO

AI总结 针对机器人避撞，通过FID约束轨迹共享方案，根据局部信息内容扰动传感估计，兼顾GDPR要求。实验表明该方案在隐私-效用权衡上优于固定误差扰动。

Comments Submitted to IEEE ISAC 2026