机器人 / 具身智能

Quadrupedal Spine Control Strategies: Exploring Correlations Between System Dynamic Responses and Human Perspectives

Nicholas Hafner, Chaoran Liu, Carlos Ishi, Hiroshi Ishiguro

机构 * Hiroshi Ishiguro Laboratories, Advanced Telecommunication Research Institute International（高级电信研究所国际智能机器人实验室） ； Intelligent Robotics Laboratory, Osaka University（大阪大学智能机器人实验室） ； Guardian Robot Project, RIKEN（RIKEN守护机器人项目） 纠错

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

Comments 27 pages, 13 figures

Journal ref Advanced Robotics, 39(6), 273-290 (2025)

Analysis of the Unscented Transform for Cooperative Localization with Ranging-Only Information

Uthman Olawoye, Cagri Kilic, Jason N Gross

机构 * Department of Mechanical and Aerospace Engineering（机械与航空航天工程系） ； West Virginia University（西弗吉尼亚大学） ； Department of Aerospace Engineering（航空航天工程系） ； Embry-Riddle Aeronautical University（艾姆伯-理德航空航天大学） 纠错

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

Comments 8 pages, 8 figures. The paper will be presented at the 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)

ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization

Mason B. Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How

机构 * Massachusetts Institute of Technology（麻省理工学院） ； University of California San Diego（加州大学圣地亚哥分校） 纠错

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

Comments 11 pages, 5 figures, accepted to Robotics: Science and Systems (RSS) 2025

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot

Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath

机构 * University of California, Berkeley（加州大学伯克利分校） 纠错

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

Comments Accepted in Robotics: Science and Systems (RSS) 2025

Enabling Safety for Aerial Robots: Planning and Control Architectures

Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson, Haejoon Lee, Alia Gilbert, Hardik Parwana, Vishnu S. Chipade, William Bentz, Dimitra Panagou

机构 * University of Michigan（密歇根大学） ； NASA Goddard Space Flight Center（美国国家航空航天局戈达德太空飞行中心） 纠错

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

Comments 2025 ICRA Workshop on 25 years of Aerial Robotics: Challenges and Opportunities

UWB Anchor Based Localization of a Planetary Rover

Andreas Nüchter, Lennart Werner, Martin Hesse, Dorit Borrmann, Thomas Walter, Sergio Montenegro, Gernot Grömer

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

Comments International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '24)

Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots

Graziella Bedenik, Antonio Morales, Supun Pieris, Barbara da Silva, John W. Kurelek, Melissa Greeff, Matthew Robertson

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

Comments 8 pages, 8 figures, to be published in 8th IEEE-RAS International Conference on Soft Robotics (RoboSoft 2025)

Interpreting and Improving Optimal Control Problems with Directional Corrections

Trevor Barron, Xiaojing Zhang

机构 * Apple Inc.（苹果公司） 纠错

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

Comments Paper accepted for publication at IEEE Robotics and Automation Letters (RA-L)

AVOCADO: Adaptive Optimal Collision Avoidance driven by Opinion

Diego Martinez-Baselga, Eduardo Sebastián, Eduardo Montijano, Luis Riazuelo, Carlos Sagüés, Luis Montano

机构 * DIIS - I3A, Universidad de Zaragoza（萨拉戈萨大学 DIIS - I3A） 纠错

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

Comments This paper is published at IEEE Transactions on Robotics under DOI 10.1109/TRO.2025.3552350

Fast Online Learning of CLiFF-maps in Changing Environments

Yufei Zhu, Andrey Rudenko, Luigi Palmieri, Lukas Heuer, Achim J. Lilienthal, Martin Magnusson

机构 * Örebro University（厄勒布鲁大学） ； Robert Bosch GmbH（罗伯特·博世有限公司） ； Technical University of Munich（慕尼黑工业大学） 纠错

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

Comments Accepted to the 2025 IEEE International Conference on Robotics and Automation (ICRA)

MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots

Ylenia Nisticò, João Carlos Virgolino Soares, Lorenzo Amatucci, Geoff Fink, Claudio Semini

机构 * Istituto Italiano di Tecnologia (IIT)（意大利技术研究院） ； University of Genoa（热那亚大学） ； Thompson Rivers University（汤普森河大学） 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

SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments

Zehuan Yu, Zhijian Qiao, Wenyi Liu, Huan Yin, Shaojie Shen

机构 * The Hong Kong University of Science and Technology（香港科技大学） ； Hong Kong University（香港大学） 纠错

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

Comments Accepted for publication in IEEE Transactions on Robotics. Video: https://youtu.be/8HQnYMf_BWI Code: https://github.com/HKUST-Aerial-Robotics/SLIM

A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases

Prasanna Sriganesh, Burhanuddin Shirose, Matthew Travers

机构 * The Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

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

Journal ref In IEEE Robotics and Automation Letters (RA-L), Volume 10, Issue 5, 2025

WHERE-Bot: a Wheel-less Helical-ring Everting Robot Capable of Omnidirectional Locomotion

Siyuan Feng, Dengfeng Yan, Jin Liu, Haotong Han, Alexandra Kühl, Shuguang Li

机构 * Tsinghua University（清华大学） ； Stanford University（斯坦福大学） ； RWTH Aachen University（亚琛工业大学） ； Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology（变革性高端制造装备与技术北京市重点实验室） 纠错

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

Comments The paper has been accepted for publication at 2025 IEEE 8th International Conference on Soft Robotics

Ergodic Exploration over Meshable Surfaces

Dayi Dong, Albert Xu, Geordan Gutow, Howie Choset, Ian Abraham

机构 * University of California Berkeley（加州大学伯克利分校） ； Carnegie Mellon University（卡内基梅隆大学） ； Yale University（耶鲁大学） 纠错

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

Comments 6 content pages, 1 references page, 6 figures, International Conference on Robotics and Automation 2025

Obstacle-Avoidant Leader Following with a Quadruped Robot

Carmen Scheidemann, Lennart Werner, Victor Reijgwart, Andrei Cramariuc, Joris Chomarat, Jia-Ruei Chiu, Roland Siegwart, Marco Hutter

机构 * Autonomous Systems Lab, ETH Zürich（苏黎世联邦理工学院自主系统实验室） 纠错

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

Comments Accepted as a contributed paper to IEEE International Conference on Robotics and Automation (ICRA) 2025

Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation

Taekyung Kim, Robin Inho Kee, Dimitra Panagou

机构 * University of Michigan（密歇根大学） 纠错

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

Comments 2025 IEEE International Conference on Robotics and Automation (ICRA). Project page: https://www.taekyung.me/online-adaptive-cbf

Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators

Yeping Wang, Michael Gleicher

机构 * University of Wisconsin-Madison（威斯康星大学麦迪逊分校） 纠错

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

Comments Accepted as a contributed paper at the 2025 IEEE International Conference on Robotics and Automation (ICRA)

Inverse Kinematics on Guiding Vector Fields for Robot Path Following

Yu Zhou, Jesús Bautista, Weijia Yao, Héctor García de Marina

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

Comments Yu Zhou and Jesús Bautista contributed equally to this work. In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2025

Omnidirectional Sensor Placement: A Large-Scale Computational Study and Novel Hybrid Accelerated-Refinement Heuristics

Jan Mikula, Miroslav Kulich

机构 * Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague（布拉格捷克技术大学捷克信息学、机器人学与控制论研究所） ； Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克技术大学电气工程学院控制论系） 纠错

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

Comments 30 pages, 33 figures; major revision of the previous version titled "Hybrid Filtering Heuristic for the Sensor-Placement Problem to Discretize 2D Continuous Environments"; submitted to Robotics and Autonomous Systems; associated repository: https://github.com/janmikulacz/spp

Open-Source Factor Graph Optimization Package for GNSS: Examples and Applications

Taro Suzuki

机构 * Future Robotics Technology Center, Chiba Institute of Technology（千叶工业大学未来机器人技术中心） 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)

Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps

Scott Fredriksson, Yifan Bai, Akshit Saradagi, George Nikolakopoulos

机构 * Luleå University of Technology（吕勒奥理工大学） 纠错

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

Comments Accepted for the 2025 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2025, Atlanta, USA

From Underground Mines to Offices: A Versatile and Robust Framework for Range-Inertial SLAM

Lorenzo Montano-Oliván, Julio A. Placed, Luis Montano, María T. Lázaro

机构 * Instituto Tecnológico de Aragón (ITA)（阿拉贡理工学院） ； Instituto de Investigación en Ingeniería de Aragón (I3A)（阿拉贡工程研究所） ； Universidad de Zaragoza（萨拉戈萨大学） 纠错

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

Comments 8 pages, 8 figures, 3 tables

Journal ref 2024 7th Iberian Robotics Conference (ROBOT)

Learning Affordances from Interactive Exploration using an Object-level Map

Paula Wulkop, Halil Umut Özdemir, Antonia Hüfner, Jen Jen Chung, Roland Siegwart, Lionel Ott

机构 * Autonomous Systems Lab, ETH Zurich（苏黎世联邦理工学院自主系统实验室） ； School of EECS, The University of Queensland（昆士兰大学电气工程与计算机科学学院） 纠错

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

Comments International Symposium of Robotics Research (ISRR) 2024

LSVL: Large-scale season-invariant visual localization for UAVs

Jouko Kinnari, Riccardo Renzulli, Francesco Verdoja, Ville Kyrki

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

Journal ref Robotics and Autonomous Systems, vol. 168, Oct. 2023

The Importance of Adaptive Decision-Making for Autonomous Long-Range Planetary Surface Mobility

Olivier Lamarre, 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 ：world model(abstract)；分类 cs.RO；robotics(comments)

Comments In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'24), Brisbane, Australia, Nov. 19-21, 2024

Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search

Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos

机构 * Luleå University of Technology（吕勒奥理工大学） 纠错

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

Comments 7 pages, 6 figures, submitted to 2025 IEEE International Conference on Robotics & Automation (ICRA)

Theory and Explicit Design of a Path Planner for an SE(3) Robot

Zhaoqi Zhang, Yi-Jen Chiang, Chee Yap

机构 * New York University（纽约大学） 纠错

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

Comments A conference version appeared at the International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2024. This is a revised full version, 42 pages, including 5 appendices

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy

Ihab S. Mohamed, Junhong Xu, Gaurav S Sukhatme, Lantao Liu

机构 * Luddy School of Informatics, Computing, and Engineering, Indiana University（印第安纳大学勒迪信息、计算与工程学院） ； University of Southern California（南加利福尼亚大学） 纠错

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

Comments This paper comprises 20 pages, 11 figures, 4 tables, 1 algorithm, and 1 appendix. It has been accepted for publication in the IEEE Transactions on Robotics (T-RO), December 2024

Manta Ray Inspired Flapping-Wing Blimp

Kentaro Nojima-Schmunk, David Turzak, Kevin Kim, Andrew Vu, James Yang, Sreeauditya Motukuri, Ningshi Yao, Daigo Shishika

机构 * George Mason University（乔治梅森大学） ； Virginia Tech（弗吉尼亚理工大学） 纠错

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

Comments Updated Submission (12/2/2024): 7 pages + 1 reference page. 11 figures. 1 table. Submitted and Accepted to IEEE International Conference on Robotics and Biomimetics (ROBIO) 2024. 6 pages + 1 reference page. 11 figures. Submitted to International Conference on Robotics and Automation (ICRA) 2024