机器人 / 具身智能

Bumper Drone: Elastic Morphology Design for Aerial Physical Interaction

bumper无人机：用于空中物理交互的弹性形态设计

Pongporn Supa, Alex Dunnett, Feng Xiao, Rui Wu, Mirko Kovac, Basaran Bahadir Kocer

机构 * University of Bristol（布里斯托大学） ； School of Engineering Mathematics and Technology（工程数学与技术学院） ； School of Civil, Aerospace and Design Engineering（土木、航空航天与设计工程学院） ； Department of Aeronautics（航空系） ； Laboratory of Sustainability Robotics, EMPA（可持续机器人实验室，EMPA） 纠错

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

AI总结 Bumper Drone通过弹性结构实现稳定的空中物理交互，减少pitch振荡并提升环境接触的稳定性与操控性。

Comments Accepted to the 9th IEEE-RAS International Conference on Soft Robotics (RoboSoft) 2026

Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna

大规模自主气体监测用于火山环境：埃特纳山上的四足机器人

Julia Richter, Turcan Tuna, Manthan Patel, Takahiro Miki, Devon Higgins, James Fox, Cesar Cadena, Andres Diaz, Marco Hutter

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

AI总结 本文提出了一种四足机器人用于埃特纳山的自主火山气体监测，利用四极质谱仪实现高自主率的气体源检测，并探讨了适应性传感与硬件改进的重要性。

Comments This work has been submitted to the IEEE for possible publication. Submitted to IEEE Robotics & Automation Magazine (RAM)

Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras

基于子地图的高效自主MAV探索：融合视觉惯性SLAM并可配置为LiDAR或深度相机

Sotiris Papatheodorou, Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger

机构 * Technical University of Munich（慕尼黑技术大学） ； School of Computation, Information and Technology（计算、信息与技术学院） ； Imperial College London（伦敦帝国学院） ； Munich Institute of Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所） ； Munich Center for Machine Learning（慕尼黑机器学习中心） 纠错

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

AI总结 本文提出了一种基于子地图的MAV自主探索框架，通过融合视觉惯性SLAM并支持LiDAR或深度相机，实现高效探索与地图重建。

Comments In proceedings of the IEEE International Conference on Robotics and Automation, 2025. 7 pages, 8 figures, for the accompanying video see https://youtu.be/Uf5fwmYcuq4

Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy

命令式学习：一种用于机器人自主性的自监督神经符号学习框架

Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao

机构 * University at Buffalo（布法罗大学） ； Pennsylvania State University（宾夕法尼亚州立大学） ； Carnegie Mellon University（卡内基梅隆大学） ； ETH Zürich（苏黎世联邦理工学院） ； Purdue University（普渡大学） 纠错

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

AI总结 命令式学习通过自监督神经符号框架提升机器人自主性，结合神经网络与符号推理，解决数据依赖与泛化能力不足的问题。

Journal ref The International Journal of Robotics Research (IJRR), 2025

APP: A* Post-Processing Algorithm for Robots with Bidirectional Shortcut and Path Perturbation

Yong Li, Hui Cheng

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

Journal ref IEEE Robotics and Automation Letters ( Volume: 8, Issue: 11, November 2023)

SENT Map -- Semantically Enhanced Topological Maps with Foundation Models

Raj Surya Rajendran Kathirvel, Zach A Chavis, Stephen J. Guy, Karthik Desingh

机构 * Minnesota Robotics Institute (MnRI)（明尼苏达州机器人研究所） ； Department of Computer Science and Engineering (CS&E)（计算机科学与工程系） ； University of Minnesota（明尼苏达大学） 纠错

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

Comments Accepted at ICRA 2025 Workshop on Foundation Models and Neuro-Symbolic AI for Robotics

WildFusion: Multimodal Implicit 3D Reconstructions in the Wild

Yanbaihui Liu, Boyuan Chen

机构 * Duke University（杜克大学） 纠错

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

Comments Our project website is at: http://generalroboticslab.com/WildFusion

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA)

Shape-induced obstacle attraction and repulsion during dynamic locomotion

Yuanfeng Han, Ratan Othayoth, Yulong Wang, Chun-Cheng Hsu, Rafael de la Tijera Obert, Evains Francois, Chen Li

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

Journal ref International Journal of Robotics Research, 40 (6-7), 939-956 (2021)

ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation

Yangcen Liu, Woo Chul Shin, Yunhai Han, Zhenyang Chen, Harish Ravichandar, Danfei Xu

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

Comments Conference of Robot Learning

Domain Adaptation and Multi-view Attention for Learnable Landmark Tracking with Sparse Data

Timothy Chase, Karthik Dantu

机构 * Department of Computer Science and Engineering（计算机科学与工程系） ； University at Buffalo（布法罗大学） 纠错

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

Comments Presented at the RSS Space Robotics Workshop 2025. Poster available online at https://tjchase34.github.io/assets/pdfs/rss_poster.pdf

Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead

Matías Mattamala, Nived Chebrolu, Jonas Frey, Leonard Freißmuth, Haedam Oh, Benoit Casseau, Marco Hutter, Maurice Fallon

机构 * Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, UK（牛津大学机器人研究所、工程科学系、牛津大学） ； Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland（机械与过程工程系、苏黎世联邦理工学院） ； Max Planck Institute for Intelligent Systems, Tübingen, Germany（智能系统马克斯·普朗克研究所、图宾根德国） ； Technical University of Munich, Munich, Germany（慕尼黑技术大学） 纠错

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

Comments 20 pages, 13 figures. Pre-print version of the accepted paper for IEEE Transactions on Field Robotics (T-FR)

A compact neuromorphic system for ultra-energy-efficient, on-device robot localization

Adam D. Hines, Michael Milford, Tobias Fischer

机构 * QUT Centre for Robotics, Queensland University of Technology（昆士兰科技大学机器人中心） 纠错

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

Comments 42 pages, 5 main figures, 8 supplementary figures, 2 supplementary tables, and 1 movie

Journal ref Science Robotics, June 2025, Volume 10, Issue 103

SARAL-Bot: Autonomous Robot for Strawberry Plant Care

Arif Ahmed, Ritvik Agarwal, Gaurav Srikar, Nathaniel Rose, Parikshit Maini

机构 * University of Nevada Reno（内华达大学里诺分校） 纠错

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

Comments Awarded Best Written Report @ Robotics Design Challenge (Advanced), ASABE 2024

SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision

Utsav Rai, Haozheng Xu, Stamatia Giannarou

机构 * Department of Computing, Imperial College London（帝国理工学院计算系） ； Hamlyn Centre for Robotic Surgery, Department of Surgery and Cancer, Imperial College London（帝国理工学院外科与癌症部门机器人手术中心） 纠错

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

Comments To be published in 2025 International Conference on Robotics and Automation (ICRA)

Multi-Agent Path Planning in Complex Environments using Gaussian Belief Propagation with Global Path Finding

Jens Høigaard Jensen, Kristoffer Plagborg Bak Sørensen, Jonas le Fevre Sejersen, Andriy Sarabakha

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

Comments Accepted by "International Conference on Robotics and Automation" - ICRA 2025

Minimally sufficient structures for information-feedback policies

Basak Sakcak, Vadim K. Weinstein, Kalle G. Timperi, Steven M. LaValle

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

Comments The 16th International Workshop on the Algorithmic Foundations of Robotics

Empowering Robot Path Planning with Large Language Models: osmAG Map Topology & Hierarchy Comprehension with LLMs

Fujing Xie, Sören Schwertfeger

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

Comments Accepted at IEEE International Conference on Robotics and Biomimetics (ROBIO) 2024

Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment

Giovanni Pittiglio, Fabio Leuenberger, Margherita Mencattelli, Max McCandless, Edward O'Leary, Pierre E. Dupont

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

Comments in IEEE Transactions on Medical Robotics and Bionics, 2024

RAPF: Efficient path planning for lunar microrovers

Thomas Manteaux, David Rodríguez-Martínez, Raj Thilak Rajan

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

Comments 8 pages, 3 figures, paper accepted at the International Conference on Space Robotics (iSpaRo) 2024

Certifiably Correct Range-Aided SLAM

Alan Papalia, Andrew Fishberg, Brendan W. O'Neill, Jonathan P. How, David M. Rosen, John J. Leonard

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

Comments Accepted to Transactions on Robotics (T-RO)

Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM

Ilari Vallivaara, Yinhuan Dong, Tughrul Arslan

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

Comments Accepted for publication at the 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2024)

Language to Map: Topological map generation from natural language path instructions

Hideki Deguchi, Kazuki Shibata, Shun Taguchi

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

Comments 7 pages, 7 figures. Accepted to IEEE International Conference on Robotics and Automation (ICRA) 2024

Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots

Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos

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

Comments Submitted to IEEE Robotics and Automation Letters (RAL)

Explore until Confident: Efficient Exploration for Embodied Question Answering

Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh

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

Comments Robotics: Science and Systems (RSS) 2024

Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations

Julia Di, Sara Cuevas-Quinones, Stephanie Newdick, Tony G. Chen, Marco Pavone, Mathieu G. A. Lapotre, Mark Cutkosky

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

Comments In International Conference on Space Robotics 2024

STEVE Series: Step-by-Step Construction of Agent Systems in Minecraft

Zhonghan Zhao, Wenhao Chai, Xuan Wang, Ke Ma, Kewei Chen, Dongxu Guo, Tian Ye, Yanting Zhang, Hongwei Wang, Gaoang Wang

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

Comments CVPR 2024 Embodied AI Workshop

A multi-robot system for the detection of explosive devices

Ken Hasselmann, Mario Malizia, Rafael Caballero, Fabio Polisano, Shashank Govindaraj, Jakob Stigler, Oleksii Ilchenko, Milan Bajic, Geert De Cubber

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

Journal ref IEEE ICRA Workshop on Field Robotics 2024

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment

Matías Mattamala, Nived Chebrolu, Benoit Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice Fallon

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

Comments Accepted to the IEEE ICRA Workshop on Field Robotics 2024

TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments

Chen Yao, Yangtao Ge, Guowei Shi, Zirui Wang, Ningbo Yang, Zheng Zhu, Hexiang Wei, Yuntian Zhao, Jing Wu, Zhenzhong Jia

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

Comments Submitted to IEEE Robotics and Automation Letters

N-QR: Natural Quick Response Codes for Multi-Robot Instance Correspondence

Nathaniel Moore Glaser, Rajashree Ravi, Zsolt Kira

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

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