机器人 / 具身智能

XPRESS: X-Band Radar Place Recognition via Elliptical Scan Shaping

Hyesu Jang, Wooseong Yang, Ayoung Kim, Dongje Lee, Hanguen Kim

机构 * Seadronix Corp.（Seadronix公司） ； Department of Mechanical Engineering, SNU（机械工程系） 纠错

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

Comments 9 pages, 9 figures, Published in IEEE RA-L

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 12, pp. 13121-13128, Dec. 2025

Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy

Haiyue Chen, Aniket Datar, Tong Xu, Francesco Cancelliere, Harsh Rangwala, Madhan Balaji Rao, Daeun Song, David Eichinger, Xuesu Xiao

机构 * University of Pennsylvania（宾夕法尼亚大学） ； George Mason University（乔治·梅森大学） ； University of Catania（卡塔尼亚大学） 纠错

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

Comments 6 pages, accepted by the 2025 IEEE International Symposium on Safety, Security, and Rescue Robotics

Motion Planning and Control of an Overactuated 4-Wheel Drive with Constrained Independent Steering

Shiyu Liu, Ilija Hadzic, Akshay Gupta, Aliasghar Arab

机构 * Nokia Bell Labs, France（诺基亚贝尔实验室，法国） ； Nokia Bell Labs, USA（诺基亚贝尔实验室，美国） ； New York University, Tandon School of Engineering, Mechanical and Aerospace Engineering Department（纽约大学，塔能工程学院，机械与航空航天工程系） 纠错

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

Comments 7 pages, 5 figures, 3 tables, video available at https://youtu.be/8l9s2Wb_vec, To appear at IEEE 2025 International Conference on Advanced Robotics

Towards An Adaptive Locomotion Strategy For Quadruped Rovers: Quantifying When To Slide Or Walk On Planetary Slopes

Alberto Sanchez-Delgado, João Carlos Virgolino Soares, David Omar Al Tawil, Alessia Li Noce, Matteo Villa, Victor Barasuol, Paolo Arena, Claudio Semini

机构 * Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia (IIT)（动态腿系统实验室，意大利技术研究院） ； Dipartimento di Ingegneria Elettrica Elettronica e Informatica, Università di Catania（电气电子与信息工程系，卡塔尼亚大学） 纠错

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

Comments Published at the 18th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2025)

C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control

Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu, Volkan Isler

机构 * Robotics, Sensing and Networks Laboratory (RSN)（机器人、感知与网络实验室） ； University of Minnesota（明尼苏达大学） ； The University of Texas at Austin（德克萨斯大学奥斯汀分校） 纠错

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

Comments Submitted to the 2026 IEEE International Conference on Robotics and Automation (ICRA). 8 pages, 4 figures

LVI-Q: Robust LiDAR-Visual-Inertial-Kinematic Odometry for Quadruped Robots Using Tightly-Coupled and Efficient Alternating Optimization

Kevin Christiansen Marsim, Minho Oh, Byeongho Yu, Seungjae Lee, I Made Aswin Nahrendra, Hyungtae Lim, Hyun Myung

机构 * School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology)（韩国科学技术院电子工程学院） ； URobotics Corp.（URobotics公司） 纠错

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

Comments 8 Pages, 9 Figures

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 10, pp. 10050-10057, Oct. 2025

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions

Kiwan Wong, Maximilian Stölzle, Wei Xiao, Cosimo Della Santina, Daniela Rus, Gioele Zardini

机构 * Laboratory for Information and Decision Systems, Massachusetts Institute of Technology（信息与决策系统实验室，麻省理工学院） ； Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） ； Cognitive Robotics, Delft University of Technology（认知机器人学，代尔夫特理工大学） ； Robotics Engineering Department, Worcester Polytechnic Institute（机器人工程系，沃斯特理工学院） 纠错

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

Comments 8 pages

Journal ref K. Wong, M. Stölzle, W. Xiao, C. D. Santina, D. Rus and G. Zardini, "Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions," in IEEE Robotics and Automation Letters

Autonomous Constellation Fault Monitoring with Inter-satellite Links: A Rigidity-Based Approach

Keidai Iiyama, Daniel Neamati, Grace Gao

机构 * Stanford University（斯坦福大学） 纠错

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

Comments Submitted to ION GNSS+ 2024 Conference

Journal ref Proceedings of the 37th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2024)

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

Simon Boche, Jaehyung Jung, Sebastián Barbas Laina, Stefan Leutenegger

机构 * Mobile Robotics Lab, School of Computation, Information and Technology (CIT) at the Technical University of Munich (TUM)（慕尼黑技术大学移动机器人实验室，计算信息与技术学院） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） ； Mobile Robotics Lab, ETH Zurich（苏黎世联邦理工学院移动机器人实验室） 纠错

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

Comments IEEE Transactions on Robotics (T-RO) - Special Issue: Visual SLAM

Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots

Lucia Coto Elena, Fernando Caballero, Luis Merino

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

Comments 24 pages, 6 figures, 4 tables, 33 references

Journal ref Journal of Intelligent and Robotic Systems 111, 107 (2025)

Domain Adaptive Object Detection for Space Applications with Real-Time Constraints

Samet Hicsonmez, Abd El Rahman Shabayek, Arunkumar Rathinam, Djamila Aouada

机构 * University of Luxembourg（卢森堡大学） 纠错

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

Comments Advanced Space Technologies in Robotics and Automation (ASTRA) 2025

Towards Autonomous In-situ Soil Sampling and Mapping in Large-Scale Agricultural Environments

Thien Hoang Nguyen, Erik Muller, Michael Rubin, Xiaofei Wang, Fiorella Sibona, Alex McBratney, Salah Sukkarieh

机构 * University of Sydney（悉尼大学） ； Australian Centre for Robotics（澳大利亚机器人中心） 纠错

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

Comments Presented at the 2025 IEEE ICRA Workshop on Field Robotics

B*: Efficient and Optimal Base Placement for Fixed-Base Manipulators

Zihang Zhao, Leiyao Cui, Sirui Xie, Saiyao Zhang, Zhi Han, Lecheng Ruan, Yixin Zhu

机构 * Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院） ； Beijing Key Laboratory of Behavior and Mental Health, Peking University（北京大学行为与心理健康北京重点实验室） ； LeapZenith AI Research（LeapZenith人工智能研究） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

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

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

Poke and Strike: Learning Task-Informed Exploration Policies

Marina Y. Aoyama, Joao Moura, Juan Del Aguila Ferrandis, Sethu Vijayakumar

机构 * School of Informatics, The University of Edinburgh（信息学院，爱丁堡大学） 纠错

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

Comments 8 pages (main paper), 27 pages (including references and appendices), 6 figures (main paper), 21 figures (including appendices), Conference of Robot Learning 2025, For videos and the project website, see https://marina-aoyama.github.io/poke-and-strike/

Genetic Informed Trees (GIT*): Path Planning via Reinforced Genetic Programming Heuristics

Liding Zhang, Kuanqi Cai, Zhenshan Bing, Chaoqun Wang, Alois Knoll

机构 * Department of Informatics, Technical University of Munich（信息学院，慕尼黑技术大学） ； School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） 纠错

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

Journal ref Biomimetic Intelligence and Robotics 2025

Incorporating Stochastic Models of Controller Behavior into Kinodynamic Efficiently Adaptive State Lattices for Mobile Robot Motion Planning in Off-Road Environments

Eric R. Damm, Eli S. Lancaster, Felix A. Sanchez, Kiana Bronder, Jason M. Gregory, Thomas M. Howard

机构 * University of Rochester（罗切斯特大学） ； DEVCOM Army Research Laboratory（陆军研究实验室） ； Parsons（帕尔逊公司） 纠错

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

Comments Accepted to the International Symposium on Experimental Robotics (ISER) 2025

Learning to Predict Mobile Robot Stability in Off-Road Environments

Nathaniel Rose, Arif Ahmed, Emanuel Gutierrez-Cornejo, Parikshit Maini

机构 * Department of Computer Science and Engineering University of Nevada Reno（计算机科学与工程系内华达大学里诺分校） 纠错

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

Comments Nathaniel Rose and Arif Ahmed contributed equally to this work. Accepted poster for RSS 2025 Workshop on Resilient Off-road Autonomous Robotics. 8 pages, 8 figures, 1 table

LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control

Ajay Shankar, Keisuke Okumura, Amanda Prorok

机构 * University of Cambridge（剑桥大学） ； National Institute of Advanced Industrial Science and Technology（国家先进工业科学与技术研究院） 纠错

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

Comments 9 pages; under review for IEEE Robotics & Automation - Letters (RA-L)

Cross-platform Smartphone Positioning at Museums

Alessio Ferrato, Fabio Gasparetti, Carla Limongelli, Stefano Mastandrea, Giuseppe Sansonetti, Joaquín Torres-Sospedra

机构 * Department of Engineering, Roma Tre University（工程系，罗马三大学） ； Department of Educational Science, Roma Tre University（教育科学系，罗马三大学） ； Departament d'Informàtica, Universitat de València（计算机科学系，瓦伦西亚大学） 纠错

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

Comments Accepted at the 2025 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Tampere, Finland, September 15-18, 2025

Decentralized Mobile Target Tracking Using Consensus-Based Estimation with Nearly-Constant-Velocity Modeling

Amir Ahmad Ghods, Mohammadreza Doostmohammadian

机构 * Faculty of Mechanical Engineering, Semnan University, Iran.（机械工程学院，塞姆南大学，伊朗） ； Mechatronics Department, Faculty of Mechanical Engineering, Semnan University, Iran.（机械电子学系，机械工程学院，塞姆南大学，伊朗） 纠错

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

Comments 6 pages, 5 figures, Accepted in the 12th RSI International Conference on Robotics and Mechatronics (ICRoM 2024)

ASAP-MO:Advanced Situational Awareness and Perception for Mission-critical Operations

Veronica Vannini, William Dubois, Olivier Gamache, Jean-Michel Fortin, Nicolas Samson, Effie Daum, François Pomerleau, Edith Brotherton

机构 * Northern Robotics Laboratory, Université Laval（北方机器人实验室，拉瓦尔大学） 纠错

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

Comments 6 pages + references, 7 figures, Presented at the 2025 IEEE ICRA Workshop on Field Robotics

Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion

Zhi Zheng, Xiangyu Xu, Jin Wang, Yikai Chen, Jingyang Huang, Ruixin Wu, Huan Yu, Guodong Lu

机构 * State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University（流体动力与机械系统国家重点实验室，机械工程学院，浙江大学） ； Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems, Zhejiang University（工业大数据与机器人智能系统浙江省重点实验室，浙江大学） ； Robotics Research Center of Yuyao City（余姚市机器人研究室） ； College of Electrical Engineering, Zhejiang University（电气工程学院，浙江大学） ； College of Control Science and Engineering, Zhejiang University（控制科学与工程学院，浙江大学） 纠错

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

Comments 8 pages, 11 figures, accepted by IEEE Robotics and Automation Letters (RAL)

Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments

Daiki Niimi, An Fujino, Taro Suzuki, Junichi Meguro

机构 * Department of Mechatronics Engineering Graduate School of Meijo University（机械电子工程系 Meijo大学研究生院） ； Department of Mechatronics Engineering Meijo University（机械电子工程系 Meijo大学） ； Future Robotics Technology Center Chiba Institute of Technology（未来机器人技术中心 Chiba工业大学） 纠错

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

Comments Accepted to the 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)

Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties

Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian

机构 * Department of Electrical and Computer Engineering University of Southern California（电气与计算机工程系美国南加州大学） 纠错

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

Comments 12 pages, 8 figures. Published in Robotics: Science and Systems (RSS'25)

MR-ULINS: A Tightly-Coupled UWB-LiDAR-Inertial Estimator with Multi-Epoch Outlier Rejection

Tisheng Zhang, Man Yuan, Linfu Wei, Yan Wang, Hailiang Tang, Xiaoji Niu

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

Comments 8 pages, 9 figures

Journal ref IEEE Robotics and Automation Letters ( Volume: 9, Issue: 12, December 2024)

Autonomous Flights inside Narrow Tunnels

Luqi Wang, Yan Ning, Hongming Chen, Peize Liu, Yang Xu, Hao Xu, Ximin Lyu, Shaojie Shen

机构 * Department of Electronic and Computer Engineering, the Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学） ； School of Intelligent Systems Engineering, SunYat-sen University（智能系统工程学院，中山大学） ； Institute of Unmanned Systems, Beihang University（无人系统研究院，北航大学） 纠错

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

Comments 21 pages, 27 figures, accepted by IEEE Transactions on Robotics (T-RO)

Learning Cross-Spectral Point Features with Task-Oriented Training

Mia Thomas, Trevor Ablett, Jonathan Kelly

机构 * University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所） 纠错

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

Comments In Proceedings of the {IEEE} International Conference on Robotics and Automation {(ICRA'25)} Thermal Infrared in Robotics (TIRO) Workshop, Atlanta, Georgia, USA, May 19, 2025

Semantically-driven Deep Reinforcement Learning for Inspection Path Planning

Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis

机构 * Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU)（工程 cybernetics 系，挪威科学与技术大学） 纠错

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

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

Distributed Certifiably Correct Range-Aided SLAM

Alexander Thoms, Alan Papalia, Jared Velasquez, David M. Rosen, Sriram Narasimhan

机构 * University of California, Los Angeles（加州大学洛杉矶分校） ； University of Texas at Austin（德克萨斯大学奥斯汀分校） ； Sensing and Robotics for Infrastructure Laboratory（基础设施感知与机器人实验室） ； Computer Science and AI Lab (CSAIL) at the Massachusetts Institute of Technology（麻省理工学院计算机科学与人工智能实验室） ； MIT-WHOI Joint Program in Oceanography/Applied Ocean Science & Engineering（麻省理工学院-WHOI联合海洋学/应用海洋科学与工程计划） ； Robust Autonomy Lab（自主性实验室） 纠错

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

Comments 8 pages, 3 figures, accepted to the 2025 International Conference on Robotics and Automation (ICRA). This version includes minor clerical edits to the published version in the conference proceedings

A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards

Gijeong Kim, Yong-Hoon Lee, Hae-Won Park

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

Comments 7 pages, Videos at https://youtu.be/JV2_HfTlOKI, IEEE International Conference on Robotics and Automation (ICRA) 2025