机器人 / 具身智能

Deep Learning for Human Locomotion Analysis in Lower-Limb Exoskeletons: A Comparative Study

深度学习在下肢外骨骼中的人体运动分析：比较研究

Omar Coser, Christian Tamantini, Matteo Tortora, Leonardo Furia, Rosa Sicilia, Loredana Zollo, Paolo Soda

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

AI总结 本文通过比较八种深度神经网络架构，研究了在不同地形中预测人体运动参数的方法，并展示了使用IMU传感器的高效和轻量级系统设计。

Comments 26 pages, 6 figures

Journal ref Front. Comput. Sci., 7:1597143 (2025)

Optimus-Q: Utilizing Federated Learning in Adaptive Robots for Intelligent Nuclear Power Plant Operations through Quantum Cryptography

Optimus-Q：利用联邦学习在自适应机器人中进行智能核电站操作的量子密码学应用

Sai Puppala, Ismail Hossain, Jahangir Alam, Sajedul Talukder

机构 * University of Texas at El Paso（德克萨斯理工大学） ； Southern Illinois University Carbondale（南方伊利诺伊大学卡本代尔分校） 纠错

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

AI总结 Optimus-Q机器人结合联邦学习和量子密码学，实现智能核电站的污染监测与安全提升。

SF-Loc: A Visual Mapping and Geo-Localization System based on Sparse Visual Structure Frames

Yuxuan Zhou, Xingxing Li, Shengyu Li, Chunxi Xia, Xuanbin Wang, Shaoquan Feng

机构 * School of Geodesy and Geomatics, Wuhan University（武汉大学测绘学院） 纠错

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

GeoX-Bench: Benchmarking Cross-View Geo-Localization and Pose Estimation Capabilities of Large Multimodal Models

Yushuo Zheng, Jiangyong Ying, Huiyu Duan, Chunyi Li, Zicheng Zhang, Jing Liu, Xiaohong Liu, Guangtao Zhai

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

DiffPixelFormer: Differential Pixel-Aware Transformer for RGB-D Indoor Scene Segmentation

Yan Gong, Jianli Lu, Yongsheng Gao, Jie Zhao, Xiaojuan Zhang, Susanto Rahardja

机构 * State Key Laboratory of Robotics and System, Harbin Institute of Technology（机器人系统国家重点实验室，哈尔滨工业大学） ； Institute for Infocomm Research, A*STAR（信息通信研究机构，A*STAR） ； College of Information Science and Electronic Engineering, Zhejiang University（信息科学与电子工程学院，浙江大学） 纠错

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

Comments 11 pages, 5 figures, 5 tables

The Dark Side of Rich Rewards: Understanding and Mitigating Noise in VLM Rewards

Sukai Huang, Shu-Wei Liu, Nir Lipovetzky, Trevor Cohn

机构 * Google DeepMind（谷歌DeepMind） 纠错

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

Comments accepted by PRL Workshop Series @ ICAPS 2025. 11 main body pages, 21 appendix pages

LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping

Lijie Wang, Lianjie Guo, Ziyi Xu, Qianhao Wang, Fei Gao, Xieyuanli Chen

机构 * State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University（工业控制技术国家重点实验室，系统与控制研究院，浙江大学） ； Differential Robot Technology Co., Ltd.（差分机器人技术有限公司） ； College of Intelligence Science and Technology, National University of Defense Technology（智能科学与技术学院，国防科技大学） 纠错

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

The Irrational Machine: Neurosis and the Limits of Algorithmic Safety

Daniel Howard

机构 * Howard Science Limited, Malvern, UK（霍华德科学有限公司，英国马尔文） ； QinetiQ Fellow, UK（QinetiQ Fellow，英国） ； Member of Senior Common Room, Pembroke College, University of Oxford（奥克斯福德大学彭伯里学院高级共同房间成员） 纠错

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

Comments 41 pages, 17 figures, 5 tables

SuperEx: Enhancing Indoor Mapping and Exploration using Non-Line-of-Sight Perception

Kush Garg, Akshat Dave

机构 * Department of Applied Mathematics, Delhi Technological University（应用数学系，德里技术大学） ； Stony Brook University（石溪大学） 纠错

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

Comments 8 pages, 9 Figures , Project webpage: https://super-ex.github.io/

RowDetr: End-to-End Crop Row Detection Using Polynomials

Rahul Harsha Cheppally, Ajay Sharda

机构 * Department of Biology and Agricultural Engineering（生物学与农业工程系） 纠错

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

Comments Code will be open sourced upon publication

StereoAdapter: Adapting Stereo Depth Estimation to Underwater Scenes

Zhengri Wu, Yiran Wang, Yu Wen, Zeyu Zhang, Biao Wu, Hao Tang

机构 * AI Geeks ； Australian Centre for Robotics（澳大利亚机器人中心） ； Peking University（北京大学） 纠错

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

ComplicitSplat: Downstream Models are Vulnerable to Blackbox Attacks by 3D Gaussian Splat Camouflages

Matthew Hull, Haoyang Yang, Pratham Mehta, Mansi Phute, Aeree Cho, Haorang Wang, Matthew Lau, Wenke Lee, Wilian Lunardi, Martin Andreoni, Duen Horng Chau

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

Comments 7 pages, 6 figures

Beyond Pixels: Introducing Geometric-Semantic World Priors for Video-based Embodied Models via Spatio-temporal Alignment

Jinzhou Tang, Jusheng zhang, Sidi Liu, Waikit Xiu, Qinhan Lv, Xiying Li

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

M3DMap: Object-aware Multimodal 3D Mapping for Dynamic Environments

Dmitry Yudin

机构 * Moscow Institute of Physics and Technology（莫斯科物理技术学院） ； AIRI 纠错

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

Comments 29 pages, 3 figures, 13 tables. Preprint of the accepted article in Optical Memory and Neural Network Journal

Graph-based Robot Localization Using a Graph Neural Network with a Floor Camera and a Feature Rich Industrial Floor

Dominik Brämer, Diana Kleingarn, Oliver Urbann

机构 * Robotics Research Institute, Section Information Technology, TU Dortmund University（机器人研究 institute，信息科技部，图卢兹多特蒙德大学） ； Fraunhofer IML（弗劳恩霍夫IML研究所） 纠错

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

Comments Accepted at 28th RoboCup International Symposium, Salvador, Brasil

GACL: Grounded Adaptive Curriculum Learning with Active Task and Performance Monitoring

Linji Wang, Zifan Xu, Peter Stone, Xuesu Xiao

机构 * Department of Computer Science, George Mason University（乔治·马歇尔大学计算机科学系） ； Department of Computer Science, The University of Texas at Austin（德克萨斯大学奥斯汀分校计算机科学系） ； Sony AI（索尼人工智能） 纠错

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

Comments 7 pages, IROS 2025

IndoorBEV: Joint Detection and Footprint Completion of Objects via Mask-based Prediction in Indoor Scenarios for Bird's-Eye View Perception

Haichuan Li, Changda Tian, Panos Trahanias, Tomi Westerlund

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

The Emergence of Deep Reinforcement Learning for Path Planning

Thanh Thi Nguyen, Saeid Nahavandi, Imran Razzak, Dung Nguyen, Nhat Truong Pham, Quoc Viet Hung Nguyen

机构 * Faculty of Information Technology, Monash University（墨尔本大学信息科技学院） ； Swinburne University of Technology（斯威本技术大学） ； Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学） ； The University of Queensland（昆士兰大学） ； Sungkyunkwan University（成均馆大学） ； Griffith University（格里菲斯大学） 纠错

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

Comments Accepted for publication in the Proceedings of the 2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

Motion Segmentation and Egomotion Estimation from Event-Based Normal Flow

Zhiyuan Hua, Dehao Yuan, Cornelia Fermüller

机构 * University of Maryland, College Park（马里兰大学学院公园分校） 纠错

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

On the Importance of Neural Membrane Potential Leakage for LIDAR-based Robot Obstacle Avoidance using Spiking Neural Networks

Zainab Ali, Lujayn Al-Amir, Ali Safa

机构 * College of Science and Engineering, Hamad Bin Khalifa University, Doha Qatar（科学与工程学院，哈马德·本·哈利法大学，多哈卡塔尔） 纠错

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

LOVON: Legged Open-Vocabulary Object Navigator

Daojie Peng, Jiahang Cao, Qiang Zhang, Jun Ma

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心） 纠错

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

Comments 9 pages, 10 figures; Project Page: https://daojiepeng.github.io/LOVON/

3DGS_LSR:Large_Scale Relocation for Autonomous Driving Based on 3D Gaussian Splatting

Haitao Lu, Haijier Chen, Haoze Liu, Shoujian Zhang, Bo Xu, Ziao Liu

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

Comments 13 pages,7 figures,4 tables

End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization

Guangming Wang, Yu Zheng, Yuxuan Wu, Yanfeng Guo, Zhe Liu, Yixiang Zhu, Wolfram Burgard, Hesheng Wang

机构 * Department of Engineering, University of Cambridge（剑桥大学工程系） ； School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（上海交通大学自动化与智能感知学院） ； Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg（不莱梅技术大学计算机科学与人工智能系） 纠错

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

Comments Accepted to T-RO. Source codes are released at https://github.com/IRMVLab/I2PNet

Embodied Instruction Following in Unknown Environments

Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Hang Yin, Yinan Liang, Angyuan Ma, Jiwen Lu, Haibin Yan

机构 * School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications（北京邮电大学智能工程与自动化学院） ； School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； Department of Automation, Tsinghua University（清华大学自动化学院） 纠错

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

Comments Project Page: https://gary3410.github.io/eif_unknown/

Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition

Nikolaos Stathoulopoulos, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos

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

Comments The work is no longer intended for consideration in its current form. Readers are instead encouraged to refer to our related and more complete study, arXiv:2501.01791, which should be considered as a stand-alone contribution

Adaptive Per-Tree Canopy Volume Estimation Using Mobile LiDAR in Structured and Unstructured Orchards

Ali Abedi, Fernando Cladera, Mohsen Farajijalal, Reza Ehsani

机构 * Department of Mechanical Engineering University of California, Merced California, United States（机械工程系 加州大学默塞德分校 美国） 纠错

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

Comments 5 pages, 3 figures, Accepted to the Novel Approaches for Precision Agriculture and Forestry with Autonomous Robots IEEE ICRA Workshop - 2025

MapBERT: Bitwise Masked Modeling for Real-Time Semantic Mapping Generation

Yijie Deng, Shuaihang Yuan, Congcong Wen, Hao Huang, Anthony Tzes, Geeta Chandra Raju Bethala, Yi Fang

机构 * NYUAD Center for Artificial Intelligence and Robotics (CAIR)（纽约大学阿布扎克人工智能与机器人中心） ； New York University Abu Dhabi（纽约大学阿布扎克分校） ； New York University（纽约大学） ； Embodied AI and Robotics (AIR) Lab（具身人工智能与机器人实验室） ； School of Software, Tsinghua University（清华大学软件学院） 纠错

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

ForesightNav: Learning Scene Imagination for Efficient Exploration

Hardik Shah, Jiaxu Xing, Nico Messikommer, Boyang Sun, Marc Pollefeys, Davide Scaramuzza

机构 * ETH Zurich（苏黎世联邦理工学院） ； University of Zurich（苏黎世大学） ； Microsoft（微软公司） 纠错

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

Journal ref IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), Nashville, 2025

3D Gaussian Splat Vulnerabilities

Matthew Hull, Haoyang Yang, Pratham Mehta, Mansi Phute, Aeree Cho, Haoran Wang, Matthew Lau, Wenke Lee, Willian T. Lunardi, Martin Andreoni, Polo Chau

机构 * Georgia Tech（佐治亚理工学院） ； Technology Innovation Institute（技术创新研究所） 纠错

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

Comments 4 pages, 4 figures, CVPR '25 Workshop on Neural Fields Beyond Conventional Cameras

A Decision-Language Model (DLM) for Dynamic Restless Multi-Armed Bandit Tasks in Public Health

Nikhil Behari, Edwin Zhang, Yunfan Zhao, Aparna Taneja, Dheeraj Nagaraj, Milind Tambe

机构 * MIT（麻省理工学院） ； Harvard University（哈佛大学） ； GE Healthcare（通用电气医疗） ； Google（谷歌） 纠错

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

Journal ref Advances in Neural Information Processing Systems 37 (NeurIPS 2024)