机器人 / 具身智能

Automatic Multi-View X-Ray/CT Registration Using Bone Substructure Contours

自动多视角X射线/CT配准使用骨亚结构轮廓

Roman Flepp, Leon Nissen, Bastian Sigrist, Arend Nieuwland, Nicola Cavalcanti, Philipp Fürnstahl, Thomas Dreher, Lilian Calvet

机构 * University Children’s Hospital Zürich（苏黎世儿童医院大学医院） ； University Hospital Balgrist, University of Zurich（苏黎世大学医院巴尔格里斯分院） ； Department of Orthopedic Surgery（骨科部门） 纠错

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

AI总结 本研究提出了一种基于骨亚结构轮廓的自动多视角X射线/CT配准方法，实现了亚毫米精度并提高了实用性。

Comments This paper was accepted to IPCAI 2025. The Project Webpage is: https://rflepp.github.io/BoneSubstructureContours2D3DRegistration/

Boundary on the Table: Efficient Black-Box Decision-Based Attacks for Structured Data

表格边界：面向结构化数据的高效黑盒决策攻击

Roie Kazoom, Yuval Ratzabi, Etamar Rothstein, Ofer Hadar

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

AI总结 本文提出了一种针对结构化数据的高效黑盒决策攻击方法，通过结合无梯度方向估计与迭代边界搜索，在极小查询量下实现对多种模型的高成功率攻击。

Comments Paper revision

RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer

RRT*former：基于变换器的环境感知运动规划

Mingyang Feng, Shaoyuan Li, Xiang Yin

机构 * School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（自动化与智能感知学院，上海交通大学） 纠错

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

AI总结 RRT*former 是一种结合变换器网络的新型运动规划算法，通过利用环境信息和先前样本提升路径规划的最优性和效率。

Comments Accepted to IROS 2025

Fine-Grained Representation for Lane Topology Reasoning

Guoqing Xu, Yiheng Li, Yang Yang

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

Comments Accepted by AAAI 2026

Shedding Light on VLN Robustness: A Black-box Framework for Indoor Lighting-based Adversarial Attack

Chenyang Li, Wenbing Tang, Yihao Huang, Sinong Simon Zhan, Ming Hu, Xiaojun Jia, Yang Liu

机构 * Nanyang Technological University Singapore, Singapore ； Northwest A\&F University Yangling, Shaanxi, China ； National University of Singapore Singapore, Singapore ； Northwestern University Evanston, IL, USA ； Singapore Management University Singapore, Singapore 纠错

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

More Than Irrational: Modeling Belief-Biased Agents

Yifan Zhu, Sammie Katt, Samuel Kaski

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

Comments 13 pages, 8 figures. Accepted at the 40th Annual AAAI Conference on Artificial Intelligence (AAAI 2026)

DMSORT: An efficient parallel maritime multi-object tracking architecture for unmanned vessel platforms

Shengyu Tang, Zeyuan Lu, Jiazhi Dong, Changdong Yu, Xiaoyu Wang, Yaohui Lyu, Weihao Xia

机构 * College of Information Science and Engineering, Ocean University of China（信息科学与工程学院，中国海洋大学） ； Marine Engineering College, Dalian Maritime University（航海工程学院，大连海事大学） ； CSSC Haiwei Tech Co., Ltd（CSSC海威科技有限公司） ； College of Artificial Intelligence, Dalian Maritime University（人工智能学院，大连海事大学） ； College of Marine Electrical Engineering, Dalian Maritime University（海洋电气工程学院，大连海事大学） 纠错

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

Comments This version clarifies several citation formatting inconsistencies caused by a technical issue in the reference management software used during manuscript preparation. All scientific data, experiments, and conclusions remain fully valid and unaffected. The clarification is provided to maintain transparency and consistency in the scholarly record

MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM

Yuxuan Zhou, Xingxing Li, Shengyu Li, Zhuohao Yan, Chunxi Xia, 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)；分类 cs.RO、cs.CV

Understanding while Exploring: Semantics-driven Active Mapping

Liyan Chen, Huangying Zhan, Hairong Yin, Yi Xu, Philippos Mordohai

机构 * Stevens Institute of Technology（史蒂文斯理工学院） ； Goertek Alpha Labs（歌尔声学实验室） ； Purdue University（普渡大学） 纠错

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

TiS-TSL: Image-Label Supervised Surgical Video Stereo Matching via Time-Switchable Teacher-Student Learning

Rui Wang, Ying Zhou, Hao Wang, Wenwei Zhang, Qiang Li, Zhiwei Wang

机构 * Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology（华中科技大学光电实验室） ； Wuhan United Imaging Surgical Co., Ltd.（武汉联合影像手术有限公司） 纠错

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

Comments 8 pages, 4 figures

Learning Vision-Based Neural Network Controllers with Semi-Probabilistic Safety Guarantees

Xinhang Ma, Junlin Wu, Hussein Sibai, Yiannis Kantaros, Yevgeniy Vorobeychik

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

Beta Distribution Learning for Reliable Roadway Crash Risk Assessment

Ahmad Elallaf, Nathan Jacobs, Xinyue Ye, Mei Chen, Gongbo Liang

机构 * Texas A&M University-San Antonio（德克萨斯A&M大学-圣安东尼奥分校） ； Washington University in St. Louis（华盛顿大学圣路易斯分校） ； University of Alabama（阿拉巴马大学） ； University of Kentucky（肯塔基大学） 纠错

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

Comments Accepted to AAAI 2026

Generative Semantic Coding for Ultra-Low Bitrate Visual Communication and Analysis

Weiming Chen, Yijia Wang, Zhihan Zhu, Zhihai He

机构 * Southern University of Science and Technology, Shenzhen, China（南方科技大学） 纠错

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

Adaptive Frontier Exploration on Graphs with Applications to Network-Based Disease Testing

Davin Choo, Yuqi Pan, Tonghan Wang, Milind Tambe, Alastair van Heerden, Cheryl Johnson

机构 * Harvard University（哈佛大学） ； University of Witwatersrand（韦茨大学） ； Wits Health Consortium（韦茨健康联盟） ； World Health Organization（世界卫生组织） 纠错

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

Comments Accepted into NeurIPS 2025

Pre-trained knowledge elevates large language models beyond traditional chemical reaction optimizers

Robert MacKnight, Jose Emilio Regio, Jeffrey G. Ethier, Luke A. Baldwin, Gabe Gomes

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

Comments 27 pages, 8 figures

DreamerV3-XP: Optimizing exploration through uncertainty estimation

Lukas Bierling, Davide Pasero, Jan-Henrik Bertrand, Kiki Van Gerwen

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

ALICE-LRI: A General Method for Lossless Range Image Generation for Spinning LiDAR Sensors without Calibration Metadata

Samuel Soutullo, Miguel Yermo, David L. Vilariño, Óscar G. Lorenzo, José C. Cabaleiro, Francisco F. Rivera

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

Synthetic Data for Robust Runway Detection

Estelle Chigot, Dennis G. Wilson, Meriem Ghrib, Fabrice Jimenez, Thomas Oberlin

机构 * Fédération ENAC ISAE-SUPAERO ONERA（法国ENAC联合会ISAE-SUPAERO ONERA） ； Université de Toulouse（图卢兹大学） ； Airbus（空客） 纠错

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

Journal ref Computer Analysis of Images and Patterns. CAIP 2025. Lecture Notes in Computer Science, vol 15621. Springer, Cham

A Cross-Environment and Cross-Embodiment Path Planning Framework via a Conditional Diffusion Model

Mehran Ghafarian Tamizi, Homayoun Honari, Amir Mehdi Soufi Enayati, Aleksey Nozdryn-Plotnicki, Homayoun Najjaran

机构 * Computer Engineering Department, University of Victoria（维多利亚大学计算机工程系） ； Mila-Quebec AI Institute（魁北克AI研究院） ； Mechanical Engineering Department, University of Victoria（维多利亚大学机械工程系） 纠错

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

Comments 20 pages, 9 figures

D2C-HRHR: Discrete Actions with Double Distributional Critics for High-Risk-High-Return Tasks

Jundong Zhang, Yuhui Situ, Fanji Zhang, Rongji Deng, Tianqi Wei

机构 * School of Artificial Intelligence, Sun Yat-sen University（人工智能学院，中山大学） 纠错

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

Communications to Circulations: Real-Time 3D Wind Field Prediction Using 5G GNSS Signals and Deep Learning

Yuchen Ye, Chaoxia Yuan, Mingyu Li, Aoqi Zhou, Hong Liang, Chunqing Shang, Kezuan Wang, Yifeng Zheng, Cong Chen

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

Comments 31 pages, 10 figures; Minor text revisions; Updated the questions, some images in the article, the abstract, and the main text content

Self-Supervised Learning to Fly using Efficient Semantic Segmentation and Metric Depth Estimation for Low-Cost Autonomous UAVs

Sebastian Mocanu, Emil Slusanschi, Marius Leordeanu

机构 * National University of Science and Technology Politehnica Bucharest（波兰技术大学布加勒斯特分校） ； NORCE Norwegian Research Center（挪威研究机构NORCE） 纠错

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

EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images

Rohit Menon, Nils Dengler, Sicong Pan, Gokul Krishna Chenchani, Maren Bennewitz

机构 * Humanoid Robots Lab and the Center for Robotics, University of Bonn（人形机器人实验室和机器人中心，波恩大学） ； Lamarr Institute, Bonn, Germany（拉马尔研究所，德国波恩） 纠错

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

Comments Submitted to IROS 2025 Conference

Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

Zhenyu Hou, Senming Tan, Zhihao Zhang, Long Xu, Mengke Zhang, Zhaoqi He, Chao Xu, Fei Gao, Yanjun Cao

机构 * Huzhou Institute of Zhejiang University（浙江大学湖州研究院） ； State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术国家重点实验室） 纠错

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

Comments accepted by IROS2025

Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels

Erblin Isaku, Hassan Sartaj, Shaukat Ali

机构 * Simula Research Laboratory（Simula研究实验室） ； University of Oslo（奥斯陆大学） 纠错

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

Comments 34 pages, 12 figures, 11 tables

Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots

Malakhi Hopkins, Varun Murali, Vijay Kumar, Camillo J Taylor

机构 * ARL DCIST CRA ； NSF Grant CCR-2112665（NSF CCR-2112665） ； NSF Graduate Research Fellowship Grant No. DGE-1845298（NSF DGE-1845298） ； IoT4Ag Engineering Research Center 纠错

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

Comments 8 pages, 8 figures, submitted to ICRA 2026

Active Next-Best-View Optimization for Risk-Averse Path Planning

Amirhossein Mollaei Khass, Guangyi Liu, Vivek Pandey, Wen Jiang, Boshu Lei, Kostas Daniilidis, Nader Motee

机构 * Department of Mechanical Engineering and Mechanics, Lehigh University（机械工程与力学系，莱维大学） ； Department of Computer and Information Science, University of Pennsylvania（计算机与信息科学系，宾夕法尼亚大学） 纠错

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

AD-NODE: Adaptive Dynamics Learning with Neural ODEs for Mobile Robots Control

Shao-Yi Yu, Jen-Wei Wang, Maya Horii, Vikas Garg, Tarek Zohdi

机构 * University of California, Berkeley（加州大学伯克利分校） ； YaiYai Ltd and Aalto University（YaiYai公司和阿alto大学） 纠错

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

Comparative Analysis of YOLOv5, Faster R-CNN, SSD, and RetinaNet for Motorbike Detection in Kigali Autonomous Driving Context

Ngeyen Yinkfu, Sunday Nwovu, Jonathan Kayizzi, Angelique Uwamahoro

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

Comments 3 figures, 2 tables

Forecasting the Ionosphere from Sparse GNSS Data with Temporal-Fusion Transformers

Giacomo Acciarini, Simone Mestici, Halil Kelebek, Linnea Wolniewicz, Michael Vergalla, Madhulika Guhathakurta, Umaa Rebbapragada, Bala Poduval, Atılım Güneş Baydin, Frank Soboczenski

机构 * Advanced Concepts Team European Space Agency（欧洲航天局高级概念团队） ； Department of Physics Università degli Studi di Roma Sapienza（罗马大学物理系） ； Department of Engineering Science University of Oxford（牛津大学工程科学系） ； Department of Information and Computer Science University of Hawai’i at Mānoa（夏威夷大学信息与计算机科学系） ； Free Flight Research Lab（自由飞行研究实验室） ； NASA Headquarters（美国国家航空航天局总部） ； NASA Jet Propulsion Laboratory（美国国家航空航天局喷气推进实验室） ； University of New Hampshire（新罕布什尔大学） ； Department of Computer Science University of Oxford, UK（牛津大学计算机科学系） ； Department of Computer Science University of York & King’s College London（约克大学计算机科学系及伦敦国王学院计算机科学系） 纠错

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