机器人 / 具身智能

Task-driven SLAM Benchmarking For Robot Navigation

Yanwei Du, Shiyu Feng, Carlton G. Cort, Patricio A. Vela

机构 * School of Electrical and Computer Engineering, and Institute of Robotics and Intelligent Machines, Georgia Institute of Technology（电气与计算机工程学院，机器人与智能机器研究所，佐治亚理工学院） ； School of Mechanical Engineering and the School of Electrical and Computer Engineering, Georgia Institute of Technology（机械工程学院，电气与计算机工程学院，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 7 pages, 8 figures, 1 table. Accepted to IROS 2025

Force-Compliance MPC and Robot-User CBFs for Interactive Navigation and User-Robot Safety in Hexapod Guide Robots

Zehua Fan, Feng Gao, Zhijun Chen, Yunpeng Yin, Limin Yang, Qingxing Xi, En Yang, Xuefeng Luo

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

Navigation Pixie: Implementation and Empirical Study Toward On-demand Navigation Agents in Commercial Metaverse

Hikari Yanagawa, Yuichi Hiroi, Satomi Tokida, Yuji Hatada, Takefumi Hiraki

机构 * Cluster Metaverse Lab University of Tsukuba（茨川大学集群元宇宙实验室） ； Cluster Metaverse Lab（集群元宇宙实验室） ； The University of Tokyo（东京大学） ； University of Tsukuba（茨川大学） 纠错

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

Comments 11 pages + supplement 3 pages. To appear in IEEE ISMAR 2025

Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation

Mintaek Oh, Chan Kim, Seung-Woo Seo, Seong-Woo Kim

机构 * Seoul National University（首尔国立大学） 纠错

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

Comments Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025. 8 pages, 7 figures

HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation

Gershom Seneviratne, Jianyu An, Sahire Ellahy, Kasun Weerakoon, Mohamed Bashir Elnoor, Jonathan Deepak Kannan, Amogha Thalihalla Sunil, Dinesh Manocha

机构 * University of Maryland, College Park（马里兰大学 College Park分校） 纠错

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

Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions

Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou

机构 * Department of Robotics, University of Michigan（机器人学系，密歇根大学） ； Toyota North America Research & Development（丰田北美研发） ； Department of Robotics and the Department of Aerospace Engineering at University of Michigan（机器人学系和航空航天工程系，密歇根大学） 纠错

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

Comments 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Project page: {https://lawliet9666.github.io/cvarbf/}

PC-SRIF: Preconditioned Cholesky-based Square Root Information Filter for Vision-aided Inertial Navigation

Tong Ke, Parth Agrawal, Yun Zhang, Weikun Zhen, Chao X. Guo, Toby Sharp, Ryan C. Dutoit

机构 * Google XR（谷歌XR） 纠错

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

Comments This work has been accepted to the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

A Two-Stage Lightweight Framework for Efficient Land-Air Bimodal Robot Autonomous Navigation

Yongjie Li, Zhou Liu, Wenshuai Yu, Zhangji Lu, Chenyang Wang, Fei Yu, Qingquan Li

机构 * Shenzhen University（深圳大学） ； Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen)（广东人工智能与数字经济实验室（深圳）） 纠错

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

Comments IROS2025

GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics

Qianzhong Chen, Jiankai Sun, Naixiang Gao, JunEn Low, Timothy Chen, Mac Schwager

机构 * Department of Mechanical Engineering, Stanford University（机械工程系，斯坦福大学） ； Aeronautics and Astronautics Department, Stanford University（航空宇航工程系，斯坦福大学） 纠错

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

PixelNav: Towards Model-based Vision-Only Navigation with Topological Graphs

Sergey Bakulin, Timur Akhtyamov, Denis Fatykhov, German Devchich, Gonzalo Ferrer

机构 * Skolkovo Institute of Science and Technology（斯克洛夫技术科学研究院） 纠错

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

PIVOTS: Aligning unseen Structures using Preoperative to Intraoperative Volume-To-Surface Registration for Liver Navigation

Peng Liu, Bianca Güttner, Yutong Su, Chenyang Li, Jinjing Xu, Mingyang Liu, Zhe Min, Andrey Zhylka, Jasper Smit, Karin Olthof, Matteo Fusaglia, Rudi Apolle, Matthias Miederer, Laura Frohneberger, Carina Riediger, Jügen Weitz, Fiona Kolbinger, Stefanie Speidel, Micha Pfeiffer

机构 * Translational Surgical Oncology, National Center for Tumor Diseases（转化外科肿瘤学，肿瘤疾病国家中心） ； German Cancer Research Center (DKFZ)（德国癌症研究中心（DKFZ）） ； Faculty of Medicine and University Hospital Carl Gustav Carus（医学系和卡尔·戈斯塔·卡尔斯大学医院） ； Department of Visceral, Thoracic and Vascular Surgery, University Hospital and Faculty of Medicine Carl Gustav Carus, TUD Dresden University of Technology（visceral、胸腔和血管外科部门，大学医院和医学系卡尔·戈斯塔·卡尔斯，德累斯顿技术大学） ； Centre for Tactile Internet with Human-in-the-Loop, TU Dresden（人机交互触觉互联网中心，德累斯顿技术大学） ； School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） ； Surgical Department, The Netherlands Cancer Institute（手术部，荷兰癌症研究所） ； Translational Imaging in Oncology, National Center for Tumor Diseases（肿瘤转化影像学，肿瘤疾病国家中心） ； Weldon School of Biomedical Engineering, Purdue University（韦尔登生物医学工程学院，普渡大学） 纠错

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

Tactile-Guided Robotic Ultrasound: Mapping Preplanned Scan Paths for Intercostal Imaging

Yifan Zhang, Dianye Huang, Nassir Navab, Zhongliang Jiang

机构 * Technical University of Munich（慕尼黑技术大学） ； Munich Center for Machine Learning（慕尼黑机器学习中心） 纠错

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

Comments Accepted by IROS2025, video link: https://youtu.be/SBwpFVzEhAg

Feeling the Force: A Nuanced Physics-based Traversability Sensor for Navigation in Unstructured Vegetation

Zaar Khizar, Johann Laconte, Roland Lenain, Romuald Aufrere

机构 * LIMOS, Université Clermont Auvergne, Clermont Auvergne INP, CNRS（克莱蒙特-奥弗涅大学LIMOS实验室） ； Université Clermont Auvergne, INRAE, UR TSCF（克莱蒙特-奥弗涅大学、法国国家农业科学研究院（INRAE）TSCF研究中心） ； Institut Pascal, Université Clermont Auvergne, Clermont Auvergne INP, CNRS（克莱蒙特-奥弗涅大学Pascal研究所） 纠错

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

Critical Anatomy-Preserving & Terrain-Augmenting Navigation (CAPTAiN): Application to Laminectomy Surgical Education

Jonathan Wang, Hisashi Ishida, David Usevitch, Kesavan Venkatesh, Yi Wang, Mehran Armand, Rachel Bronheim, Amit Jain, Adnan Munawar

机构 * 1School of Medicine, Johns Hopkins University, Baltimore, MD, USA 2Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA 3Laboratory for Computational Sensing \& Robotics, Johns Hopkins University, Baltimore, MD, USA 4School of Medicine, Vanderbilt University, Nashville, TN, USA 5Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA 6Department of Orthopaedic Surgery, Johns Hopkins University, Baltimore, MD, USA 纠错

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

SparseLoc: Sparse Open-Set Landmark-based Global Localization for Autonomous Navigation

Pranjal Paul, Vineeth Bhat, Tejas Salian, Mohammad Omama, Krishna Murthy Jatavallabhula, Naveen Arulselvan, K. Madhava Krishna

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

GSplatVNM: Point-of-View Synthesis for Visual Navigation Models Using Gaussian Splatting

Kohei Honda, Takeshi Ishita, Yasuhiro Yoshimura, Ryo Yonetani

机构 * CyberAgent AI Lab（CyberAgent AI实验室） ； The Department of Mechanical Systems Engineering（机械系统工程系） ； Nagoya University（名古屋大学） 纠错

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

Comments 8 pages, 4 figures

FlowNav: Combining Flow Matching and Depth Priors for Efficient Navigation

Samiran Gode, Abhijeet Nayak, Débora N. P. Oliveira, Michael Krawez, Cordelia Schmid, Wolfram Burgard

机构 * Artificial Intelligence and Robotics Lab, Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg（人工智能与机器人实验室，计算机科学与人工智能系，图腾大学） ； Inria, Ecole Normale Supérieure, CNRS, PSL Research University（法国国家信息与自动化研究所，巴黎高等师范学校，国家科学研究中心，巴黎综合理工研究学院） 纠错

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

Comments Accepted to IROS'25. Previous version accepted at CoRL 2024 workshop on Learning Effective Abstractions for Planning (LEAP) and workshop on Differentiable Optimization Everywhere: Simulation, Estimation, Learning, and Control

Learning Local Heuristics for Search-Based Navigation Planning

Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev

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

Comments Published at the International Conference on Automated Planning and Scheduling 2023 (ICAPS 2023)

Hierarchical Learning-Enhanced MPC for Safe Crowd Navigation with Heterogeneous Constraints

Huajian Liu, Yixuan Feng, Wei Dong, Kunpeng Fan, Chao Wang, Yongzhuo Gao

机构 * State Key Laboratory of Robotic and System, Harbin Institute of Technology（机器人与系统国家重点实验室，哈尔滨工业大学） 纠错

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

Efficient Strategy Learning by Decoupling Searching and Pathfinding for Object Navigation

Yanwei Zheng, Shaopu Feng, Bowen Huang, Chuanlin Lan, Xiao Zhang, Dongxiao Yu

机构 * Shandong University（山东大学） 纠错

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

A Universal Vehicle-Trailer Navigation System with Neural Kinematics and Online Residual Learning

Yanbo Chen, Yunzhe Tan, Yaojia Wang, Zhengzhe Xu, Junbo Tan, Xueqian Wang

机构 * Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University（人工智能与机器人中心，清华大学深圳国际研究生院） ； Department of Mechanical Engineering, University of Hong Kong（机械工程系，香港大学） 纠错

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

Comments 8 pages, 10 figures

NavVI: A Telerobotic Simulation with Multimodal Feedback for Visually Impaired Navigation in Warehouse Environments

Maisha Maimuna, Minhaz Bin Farukee, Sama Nikanfar, Mahfuza Siddiqua, Ayon Roy, Fillia Makedon

机构 * Department of Computer Science and Engineering（计算机科学与工程系） ； The University of Texas at Arlington（德克萨斯理工大学） 纠错

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

Advancing Object Goal Navigation Through LLM-enhanced Object Affinities Transfer

Mengying Lin, Shugao Liu, Dingxi Zhang, Yaran Chen, Zhaoran Wang, Haoran Li, Dongbin Zhao

机构 * Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； Georgia Institute of Technology（佐治亚理工学院） ； ETH Zurich（苏黎世联邦理工学院） ； Xi’an Jiaotong-Liverpool University（西安交通大学利物浦大学） ； McCormick School of Engineering, Northwestern University（西北大学工程学院） 纠错

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

Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

机构 * Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan（Nagoya大学微纳米机械科学与工程系） ； Institutes of Innovation for Future Society, Nagoya University, Nagoya, Aichi, Japan（Nagoya大学未来社会创新研究所） 纠错

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

Comments Accepted at the 2025 SICE Festival with Annual Conference (SICE FES)

Journal ref 2025 SICE Festival with Annual Conference (SICE FES)

Development of an Autonomous Mobile Robotic System for Efficient and Precise Disinfection

Ting-Wei Ou, Jia-Hao Jiang, Guan-Lin Huang, Kuu-Young Young

机构 * National Yang Ming Chiao Tung University 纠错

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

Comments Accepted to the IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2025

Stream Function-Based Navigation for Complex Quadcopter Obstacle Avoidance

Sean Smith, Emmanuel Witrant, Ya-Jun Pan

机构 * GIPSA-lab, Université Grenoble Alpes - CNRS（格拉诺布尔大学实验室，格拉诺布尔大学-国家科学研究中心） ； Department of Mechanical Engineering, Dalhousie University（达勒豪西大学机械工程系） ； Advanced Control and Mechatronics Laboratory, Department of Mechanical Engineering, Dalhousie University（达勒豪西大学先进控制与机电实验室，机械工程系） 纠错

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

From Curiosity to Competence: How World Models Interact with the Dynamics of Exploration

Fryderyk Mantiuk, Hanqi Zhou, Charley M. Wu

机构 * Human and Machine Cognition Lab, University of Tübingen（图宾根大学） ； Max Planck Institute for Biological Cybernetics（生物感知研究所） 纠错

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

MOSU: Autonomous Long-range Robot Navigation with Multi-modal Scene Understanding

Jing Liang, Kasun Weerakoon, Daeun Song, Senthurbavan Kirubaharan, Xuesu Xiao, Dinesh Manocha

机构 * University of Maryland, College Park MD, 20740, USA（马里兰大学） ； Goerge Mason University, Fairfax, VA, 22030, USA（乔治·马歇尔大学） 纠错

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

Bio-Inspired Hybrid Map: Spatial Implicit Local Frames and Topological Map for Mobile Cobot Navigation

Tuan Dang, Manfred Huber

机构 * Learning and Adaptive Robotics Laboratory, Department of Computer Science and Engineering, University of Texas at Arlington（学习与自适应机器人实验室，计算机科学与工程系，德克萨斯大学阿灵顿分校） 纠错

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

Journal ref IEEE International Conference on Intelligent Robots and Systems (IROS 2025)

Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills

Dianyong Hou, Chengrui Zhu, Zhen Zhang, Zhibin Li, Chuang Guo, Yong Liu

机构 * Institute of Cyber-Systems and Control, Zhejiang University（浙江大学智能系统与控制研究院） ； State Key Laboratory of Industrial Control Technology of Zhejiang University（浙江大学工业控制技术状态重点实验室） ； Department of Computer Science, University College London（伦敦大学学院计算机科学系） 纠错

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

Journal ref IROS2025