机器人 / 具身智能

Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets

Yi-Hsuan Chen, Shuo Liu, Wei Xiao, Calin Belta, Michael Otte

机构 * Dept. of Aerospace Engineering, University of Maryland（航空航天工程系，马里兰大学） ； Dept. Mechanical Engineering, Boston University（机械工程系，波士顿大学） ； Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology（计算机科学与人工智能实验室，麻省理工学院） ； Dept. Electrical and Computer Engineering and Dept. Computer Science, University of Maryland（电气与计算机工程系和计算机科学系，马里兰大学） 纠错

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

Comments 8 pages, 3 figures. Minor revision: updates to Lemma 3, Corollary 1, and Remarks 1 & 4

MSNav: Zero-Shot Vision-and-Language Navigation with Dynamic Memory and LLM Spatial Reasoning

Chenghao Liu, Zhimu Zhou, Jiachen Zhang, Minghao Zhang, Songfang Huang, Huiling Duan

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

Comments 9 pages, 4 figures

Skill-Nav: Enhanced Navigation with Versatile Quadrupedal Locomotion via Waypoint Interface

Dewei Wang, Chenjia Bai, Chenhui Li, Jiyuan Shi, Yan Ding, Chi Zhang, Bin Zhao

机构 * Shanghai Artificial Intelligence Laboratory（上海人工智能实验室） 纠错

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

Comments 17pages, 6 figures

Spatially-Enhanced Recurrent Memory for Long-Range Mapless Navigation via End-to-End Reinforcement Learning

Fan Yang, Per Frivik, David Hoeller, Chen Wang, Cesar Cadena, Marco Hutter

机构 * 1 Robotic Systems Lab, ETH Zurich, Zurich, Switzerland 2 Spatial AI \& Robotics Lab, University at Buffalo, Buffalo, NY, USA 纠错

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

Comments 22 pages

Adaptive Navigation Strategy for Low-Thrust Proximity Operations in Circular Relative Orbit

Dario Ruggiero, Mauro Mancini, Elisa Capello

机构 * Department of Mechanical and Aerospace Engineering, Politecnico di Torino（机械与航空航天工程系，politecnico di torino） 纠错

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

Comments This work has been accepted and presented at the 35th AAS/AIAA Space Flight Mechanics Meeting, 2025, Kaua'i, Hawai

TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation

Peiran Liu, Qiang Zhang, Daojie Peng, Lingfeng Zhang, Yihao Qin, Hang Zhou, Jun Ma, Renjing Xu, Yiding Ji

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； Beijing Innovation Center of Humanoid Robotics Co., Ltd.（北京人形机器人创新中心有限公司） ； Shenzhen International Graduate School, Tsinghua University（深圳国际研究生学院，清华大学） 纠错

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

Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation

Chenxi Li, Weining Lu, Qingquan Lin, Litong Meng, Haolu Li, Bin Liang

机构 * Department of Automation, Tsinghua University（自动化系，清华大学） ； Beijing National Research Center for Information Science and Technology, Tsinghua University（北京信息科学与技术国家研究中心，清华大学） ； School of Mechanical and Electrical Engineering, Beijing Information Science and Technology University（机械与电子工程学院，北京信息科学与技术大学） 纠错

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

Comments 11 pages, 9 figures, accepted in IEEE Transactions on Automation Science and Engineering

Assessing Human Cooperation for Enhancing Social Robot Navigation

Hariharan Arunachalam, Phani Teja Singamaneni, Rachid Alami

机构 * LAAS-CNRS（法国图卢兹大学） ； Universite de Toulouse（图卢兹大学） 纠错

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

SignLoc: Robust Localization using Navigation Signs and Public Maps

Nicky Zimmerman, Joel Loo, Ayush Agrawal, David Hsu

机构 * Smart Systems Institute, National University of Singapore（新加坡国立大学智能系统研究所） ； Northeastern University（东北大学） 纠错

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

Comments This work has been submitted to the IEEE for possible publication

Adaptive Visual Navigation Assistant in 3D RPGs

Kaijie Xu, Clark Verbrugge

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

SKGE-SWIN: End-To-End Autonomous Vehicle Waypoint Prediction and Navigation Using Skip Stage Swin Transformer

Fachri Najm Noer Kartiman, Rasim, Yaya Wihardi, Nurul Hasanah, Oskar Natan, Bambang Wahono, Taufik Ibnu Salim

机构 * Department of Computer Science, Indonesia University of Education（印度尼西亚教育大学计算机科学系） ； Research Center for Smart Mechatronics, National Research and Innovation Agency（国家研究与创新局智能机电研究中心） ； Department of Computer Science and Electronics, Gadjah Mada University（加查玛达大学计算机科学与电子系） 纠错

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

Comments keywords-multitask learning, autonomous driving, end-to-end learning, skip connections, swin transformer, self-attention mechanism. 12 pages

Enhancing Multi-Robot Semantic Navigation Through Multimodal Chain-of-Thought Score Collaboration

Zhixuan Shen, Haonan Luo, Kexun Chen, Fengmao Lv, Tianrui Li

机构 * Zhixuan Shen, Haonan Luo, Kexun Chen, Fengmao Lv, Tianrui Li（作者） 纠错

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

Comments 16 pages, 10 figures, Extended Version of accepted AAAI 2025 Paper

Navi-plus: Managing Ambiguous GUI Navigation Tasks with Follow-up Questions

Ziming Cheng, Zhiyuan Huang, Junting Pan, Zhaohui Hou, Mingjie Zhan

机构 * Beijing University of Posts and Telecommunications（北京邮电大学） ； SenseTime Research（商汤科技研究院） ； MMLab, CUHK（CUHK的MMLab） 纠错

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

An Embodied AR Navigation Agent: Integrating BIM with Retrieval-Augmented Generation for Language Guidance

Hsuan-Kung Yang, Tsu-Ching Hsiao, Ryoichiro Oka, Ryuya Nishino, Satoko Tofukuji, Norimasa Kobori

机构 * Woven by Toyota, Inc., Japan（丰田公司，日本） 纠错

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

Comments 11 pages, 9 figures, accepted to IEEE ISMAR 2025

Sensing, Social, and Motion Intelligence in Embodied Navigation: A Comprehensive Survey

Chaoran Xiong, Yulong Huang, Fangwen Yu, Changhao Chen, Yue Wang, Songpengchen Xia, Ling Pei

机构 * Shanghai Jiao Tong University（上海交通大学） ； Harbin Engineering University（哈尔滨工程大学） ； Tsinghua University（清华大学） ； The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； Zhejiang University（浙江大学） 纠错

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

AeroDuo: Aerial Duo for UAV-based Vision and Language Navigation

Ruipu Wu, Yige Zhang, Jinyu Chen, Linjiang Huang, Shifeng Zhang, Xu Zhou, Liang Wang, Si Liu

机构 * Beihang University（北京航空航天大学） ； Sangfor Technologies Inc.（深信服科技有限公司） ； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） 纠错

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

Comments Accepted by ACM MM 2025

Efficient Environment Design for Multi-Robot Navigation via Continuous Control

Jahid Chowdhury Choton, John Woods, William Hsu

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

Comments 12 pages, 3 figures, conference

AR Surgical Navigation with Surface Tracing: Comparing In-Situ Visualization with Tool-Tracking Guidance for Neurosurgical Applications

Marc J. Fischer, Jeffrey Potts, Gabriel Urreola, Dax Jones, Paolo Palmisciano, E. Bradley Strong, Branden Cord, Andrew D. Hernandez, Julia D. Sharma, E. Brandon Strong

机构 * University of California, Davis（加州大学戴维斯分校） 纠错

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

Comments 10pages, 3 figures, will be published at ISMAR 2025 (accepted)

HCOA*: Hierarchical Class-ordered A* for Navigation in Semantic Environments

Evangelos Psomiadis, Panagiotis Tsiotras

机构 * D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology（D. Guggenheim航空航天工程学院，佐治亚理工学院） 纠错

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

Comments 8 pages, 6 figures

From Screen to Stage: Kid Cosmo, A Life-Like, Torque-Controlled Humanoid for Entertainment Robotics

Havel Liu, Mingzhang Zhu, Arturo Moises Flores Alvarez, Yuan Hung Lo, Conrad Ku, Federico Parres, Justin Quan, Colin Togashi, Aditya Navghare, Quanyou Wang, Dennis W. Hong

机构 * Department of Mechanical and Aerospace Engineering, University of California, Los Angeles (UCLA)（机械与航空航天工程系，加州大学洛杉矶分校（UCLA）） 纠错

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

Comments 8 pages, 14 figures, accepted by IEEE Humanoids 2025

Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction

Yizhi Zhou, Jie Xu, Jiawei Xia, Zechen Hu, Weizi Li, Xuan Wang

机构 * Department of Electrical and Computer Engineering, George Mason University（乔治·马歇尔大学电气与计算机工程系） ； Department of Electrical and Computer Engineering, University of California, Riverside（加州大学河滨分校电气与计算机工程系） ； Department of Electrical Engineering and Computer Science, University of Tennessee, Knoxville（田纳西大学克林顿分校电气工程与计算机科学系） 纠错

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

Capsizing-Guided Trajectory Optimization for Autonomous Navigation with Rough Terrain

Wei Zhang, Yinchuan Wang, Wangtao Lu, Pengyu Zhang, Xiang Zhang, Yue Wang, Chaoqun Wang

机构 * School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） ； State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University（工业控制技术状态重点实验室和控制系统研究所，浙江大学） 纠错

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

SwarmVLM: VLM-Guided Impedance Control for Autonomous Navigation of Heterogeneous Robots in Dynamic Warehousing

Malaika Zafar, Roohan Ahmed Khan, Faryal Batool, Yasheerah Yaqoot, Ziang Guo, Mikhail Litvinov, Aleksey Fedoseev, Dzmitry Tsetserukou

机构 * Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology（智能空间机器人实验室，斯克洛科沃科学与技术研究所） 纠错

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

From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline

Dennis Benders, Johannes Köhler, Robert Babuška, Javier Alonso-Mora, Laura Ferranti

机构 * department of Cognitive Robotics, Delft University of Technology（认知机器人学系，代尔夫特理工大学） ； Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague（信息学、机器人学与自动化研究所，布拉格技术大学） ； Institute for Dynamic Systems and Control, ETH Zürich（动态系统与控制研究所，苏黎世联邦理工学院） 纠错

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

Comments 8 pages, 5 figures

Natural Language-Driven Viewpoint Navigation for Volume Exploration via Semantic Block Representation

Xuan Zhao, Jun Tao

机构 * School of Computer Science and Engineering, Sun Yat-sen University（中山大学计算机科学与工程学院） ； Sun Yat-sen University（中山大学） ； Guangdong Province Key Laboratory of Computational Science（广东省计算科学重点实验室） ； National Supercomputer Center in Guangzhou（广州国家超级计算机中心） 纠错

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

Comments Accepted by IEEE VIS 2025

RoboTron-Nav: A Unified Framework for Embodied Navigation Integrating Perception, Planning, and Prediction

Yufeng Zhong, Chengjian Feng, Feng Yan, Fanfan Liu, Liming Zheng, Lin Ma

机构 * Meituan（美团） 纠错

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

Comments ICCV 2025

Uncertainty-aware Accurate Elevation Modeling for Off-road Navigation via Neural Processes

Sanghun Jung, Daehoon Gwak, Byron Boots, James Hays

机构 * University of Washington（华盛顿大学） ； KAIST（韩国科学技术院） ； Georgia Institute of Technology（佐治亚理工学院） 纠错

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

Comments CoRL 2025

Vision-based Navigation of Unmanned Aerial Vehicles in Orchards: An Imitation Learning Approach

Peng Wei, Prabhash Ragbir, Stavros G. Vougioukas, Zhaodan Kong

机构 * Department of Biological and Agricultural Engineering, University of California, Davis, Davis, CA, USA（生物与农业工程系，加州大学戴维斯分校） ； Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA（机械与航空航天工程系，加州大学戴维斯分校） 纠错

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

MAG-Nav: Language-Driven Object Navigation Leveraging Memory-Reserved Active Grounding

Weifan Zhang, Tingguang Li, Yuzhen Liu

机构 * Tencent Robotics X（腾讯机器人X） ； Harbin Institute of Technology（哈尔滨工业大学） 纠错

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

Following Is All You Need: Robot Crowd Navigation Using People As Planners

Yuwen Liao, Xinhang Xu, Ruofei Bai, Yizhuo Yang, Muqing Cao, Shenghai Yuan, Lihua Xie

机构 * School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院） ； 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(title,abstract)；分类 cs.RO

Comments RAL 2025