机器人 / 具身智能

CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM

Dapeng Feng, Zhiqiang Chen, Yizhen Yin, Shipeng Zhong, Yuhua Qi, Hongbo Chen

机构 * Sun Yat-sen University（中山大学） ； The University of Hong Kong（香港大学） ； WeRide Inc.（文远知行公司） 纠错

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

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

Learning-based GNSS Uncertainty Quantification using Continuous-Time Factor Graph Optimization

Haoming Zhang

机构 * Institute of Automatic Control, RWTH Aachen University（亚琛工业大学自动控制研究所） 纠错

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

Comments This extended abstract has been accepted to the 1st German Robotic Conference

Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures

Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago S. Vaquero, Michael Paton, Marlin P. Strub, Sabrina Corpino, Michel Ingham, Masahiro Ono, Rohan Thakker

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

Comments 8 pages, 9 figures. Accepted article with supplemental material for presentation at the 2025 IEEE International Conference on Robotics and Automation (ICRA)

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots

Chuhan Zhang, Cong Wang, Wei Pan, Cosimo Della Santina

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

Comments 8th IEEE-RAS International Conference on Soft Robotics

StreamMOS: Streaming Moving Object Segmentation with Multi-View Perception and Dual-Span Memory

Zhiheng Li, Yubo Cui, Jiexi Zhong, Zheng Fang

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

Comments Accepted for publication at IEEE Robotics and Automation Letters (RAL)

LiDAR-based Registration against Georeferenced Models for Globally Consistent Allocentric Maps

Jan Quenzel, Linus T. Mallwitz, Benedikt T. Arnold, Sven Behnke

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

Comments Presented at IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York City, USA, November 2024

Leveraging LSTM for Predictive Modeling of Satellite Clock Bias

Ahan Bhatt, Ishaan Mehta, Pravin Patidar

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

Comments 6 Pages, 6 figures (8 sub-figures), 5 Tables Index Terms-LSTM, Satellite Navigation, Deep Learning, Clock Bias

Addressing the challenges of loop detection in agricultural environments

Nicolás Soncini, Javier Civera, Taihú Pire

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

Journal ref Journal of Field Robotics (2024), 1-10

RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Driving

Jonas Frey, Manthan Patel, Deegan Atha, Julian Nubert, David Fan, Ali Agha, Curtis Padgett, Patrick Spieler, Marco Hutter, Shehryar Khattak

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

Comments accepted for IEEE Transactions on Field Robotics (T-FR)

Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots

Haimin Hu, Gabriele Dragotto, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato, Jaime F. Fisac

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

Comments Robotics: Science and Systems (RSS) 2024

Hierarchical Path-planning from Speech Instructions with Spatial Concept-based Topometric Semantic Mapping

Akira Taniguchi, Shuya Ito, Tadahiro Taniguchi

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

Comments Accepted to Frontiers in Robotics and AI

Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry

Haolong Li, Joerg Stueckler

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

Comments Accepted for publication in IEEE International Conference on Robotics and Automation (ICRA), 2024

Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models

Kshitij Goel, Wennie Tabib

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

Comments 8 pages, 7 figures, published in IEEE Robotics and Automation Letters

Diffusion-Based Point Cloud Super-Resolution for mmWave Radar Data

Kai Luan, Chenghao Shi, Neng Wang, Yuwei Cheng, Huimin Lu, Xieyuanli Chen

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

Journal ref Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2024

Salient Sparse Visual Odometry With Pose-Only Supervision

Siyu Chen, Kangcheng Liu, Chen Wang, Shenghai Yuan, Jianfei Yang, Lihua Xie

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

Comments Accepted by IEEE Robotics and Automation Letters

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism

J. Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha

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

Comments 16 pages, 8 figures

Journal ref Proceedings of The 7th Conference on Robot Learning, PMLR 229:2288-2303, 2023

What Matters for Active Texture Recognition With Vision-Based Tactile Sensors

Alina Böhm, Tim Schneider, Boris Belousov, Alap Kshirsagar, Lisa Lin, Katja Doerschner, Knut Drewing, Constantin A. Rothkopf, Jan Peters

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

Comments 7 pages, 9 figures, accepted at 2024 IEEE International Conference on Robotics and Automation (ICRA)

Floor extraction and door detection for visually impaired guidance

Bruno Berenguel-Baeta, Manuel Guerrero-Viu, Alejandro de Nova, Jesus Bermudez-Cameo, Alejandro Perez-Yus, Jose J. Guerrero

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

Journal ref International Conference on Control, Automation, Robotics and Vision 2020, pp. 1222-1229

PixSelect: Less but Reliable Pixels for Accurate and Efficient Localization

Mohammad Altillawi

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

Journal ref IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022. Philadelphia, PA, USA, p 4156-4162

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Daniel Widmer, Dongho Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause, Stelian Coros

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

Comments This paper has been accepted to the 2023 Conference on Robot Learning (CoRL 2023.) The first two authors contributed equally. The supplementary video is available at https://youtu.be/zDBouUgegrU and the code implementation is available at https://github.com/lasgroup/gosafeopt

DREAM: Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems

Dipam Patel, Phu Pham, Kshitij Tiwari, Aniket Bera

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

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

Multi-Modal Multi-Task (3MT) Road Segmentation

Erkan Milli, Özgür Erkent, Asım Egemen Yılmaz

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

Journal ref in IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5408-5415, Sept. 2023

Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy

Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda, Yuezhan Tao, Alex Zhou, Thomas Donnelly, Chao Qu, Steven W. Chen, Roseli A. F. Romero, Camillo J. Taylor, Vijay Kumar

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

Comments Xu Liu and Guilherme V. Nardari contributed equally to this work

Journal ref IEEE Robotics and Automation Letters ( Volume: 7, Issue: 2, April 2022)

Selective Communication for Cooperative Perception in End-to-End Autonomous Driving

Hsu-kuang Chiu, Stephen F. Smith

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

Comments Scalable Autonomous Driving Workshop of IEEE International Conference on Robotics and Automation (ICRA Workshop), 2023

(LC)$^2$: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition

Alex Junho Lee, Seungwon Song, Hyungtae Lim, Woojoo Lee, Hyun Myung

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

Comments 8 pages, 11 figures, Accepted to IEEE Robotics and Automation Letters (RA-L)

Active Inference for Autonomous Decision-Making with Contextual Multi-Armed Bandits

Shohei Wakayama, Nisar Ahmed

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

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA)

AMRA*: Anytime Multi-Resolution Multi-Heuristic A*

Dhruv Mauria Saxena, Tushar Kusnur, Maxim Likhachev

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

Comments Published at IEEE International Conference on Robotics and Automation (ICRA), 2022. Code available at https://github.com/dhruvms/amra

Learning to Explore Informative Trajectories and Samples for Embodied Perception

Ya Jing, Tao Kong

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

Comments To be published in IEEE International Conference on Robotics and Automation (ICRA), 2023

RNGDet++: Road Network Graph Detection by Transformer with Instance Segmentation and Multi-scale Features Enhancement

Zhenhua Xu, Yuxuan Liu, Yuxiang Sun, Ming Liu, Lujia Wang

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

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

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis

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

Comments 7 pages, 9 figures and 2 tables

Journal ref IEEE International Conference on Robotics and Automation (ICRA) 2023