IROS

Towards Capability-Aware Traversability Navigation for Unstructured Environments

面向非结构化环境的能力感知可通行性导航

Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy, Marcelo Becker

机构 * University of São Paulo（圣保罗大学） 纠错

AI总结 研究非结构化环境中可通行性估计，提出能力感知可通行性（CAT）框架，将物理限制嵌入空间特征空间，通过交互式标注和SPADE块改进可通行性预测，在多数据集上领先，实现实例感知避障。

Comments 8 pages, 7 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026). Project page: https://capability-aware-traversability.github.io/