自动驾驶

Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning

Kazuki Numazato, Keiichiro Kan, Masaki Kitagawa, Yunong Li, Johannes Kubel, Moju Zhao

机构 * Department of Mechanical Engineering, The University of Tokyo（机械工程系，东京大学） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Comments 8 pages, 14 figures

Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths

Klaus Zauner, Hubert Gattringer, Andreas Mueller

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Journal ref Advances in Service and Industrial Robotics. RAAD 2024. Mechanisms and Machine Science, vol. 157, pp. 411-419

Learning to Drive Safely with Hybrid Options

Bram De Cooman, Johan Suykens

机构 * STADIUS Center for Dynamical Systems, Signal Processing and Data Analytics, Department of Electrical Engineering (ESAT), KU Leuven（STADIUS 动力学系统、信号处理与数据分析中心，电气工程系（ESAT），KU 列文大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.AI

Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation

Baozhe Zhang, Xinwei Chen, Qingcheng Chen, Chao Xu, Fei Gao, Yanjun Cao

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Journal ref IEEE Robotics and Automation Letters ( Volume: 10, Issue: 7, July 2025)

Payload trajectory tracking control for aerial transportation systems with cable length online optimization

Hai Yu, Zhichao Yang, Wei He, Jianda Han, Yongchun Fang, Xiao Liang

机构 * Institute of Robotics and Automatic Information System, College of Artificial Intelligence（机器人与自动化信息系统研究所，人工智能学院） ； Tianjin Key Laboratory of Intelligent Robotics, Nankai University（天津智能机器人重点实验室，南开大学） ； Institute of Intelligence Technology and Robotic Systems（智能技术与机器人系统研究所） ； Shenzhen Research Institute of Nankai University（南开大学深圳研究院） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Planning Oriented Integrated Sensing and Communication

Xibin Jin, Guoliang Li, Shuai Wang, Fan Liu, Miaowen Wen, Huseyin Arslan, Derrick Wing Kwan Ng, Chengzhong Xu

专题命中 规划控制 ：occupancy(abstract)；分类 cs.RO

Fast Monte Carlo Tree Diffusion: 100x Speedup via Parallel Sparse Planning

Jaesik Yoon, Hyeonseo Cho, Yoshua Bengio, Sungjin Ahn

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.AI

Comments 20 pages, 6 figures, NeurIPS 25 Spotlight

PathFormer: A Transformer with 3D Grid Constraints for Digital Twin Robot-Arm Trajectory Generation

Ahmed Alanazi, Duy Ho, Yugyung Lee

机构 * Department of Computer Science, University of Missouri–Kansas City (UMKC)（密苏里大学哥伦比亚分校计算机科学系） ； Department of Computer Science, California State University, Fullerton（加州州立大学富尔顿分校计算机科学系） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Comments 8 pages, 7 figures, 7 tables

SHRUMS: Sensor Hallucination for Real-time Underwater Motion Planning with a Compact 3D Sonar

Susheel Vadakkekuruppath, Herman B. Amundsen, Jason M. O'Kane, Marios Xanthidis

机构 * Department of Computer Science and Engineering, Texas A&M University（计算机科学与工程系，德克萨斯A&M大学） ； Aquaculture Robotics and Automation, SINTEF Ocean（水产养殖机器人与自动化，SINTEF海洋） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Comments 8 pages, 5 figures

Semi-Peaucellier Linkage and Differential Mechanism for Linear Pinching and Self-Adaptive Grasping

Haokai Ding, Zhaohan Chen, Tao Yang, Wenzeng Zhang

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Comments 6 pages, 9 figures, Accepted author manuscript for IEEE CASE 2025

Journal ref 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), Los Angeles, CA, USA, 2025, pp. 3441-3446

Biased-Attention Guided Risk Prediction for Safe Decision-Making at Unsignalized Intersections

Chengyang Dong, Nan Guo

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.AI

Hands-Free Heritage: Automated 3D Scanning for Cultural Heritage Digitization

Javed Ahmad, Federico Dassiè, Selene Frascella, Gabriele Marchello, Ferdinando Cannella, Arianna Traviglia

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.CV

Comments The author has decided to withdraw this version to verify and update authorization details for certain image materials obtained from a collaborating institution. The issue is administrative and does not affect the technical content of the work. A revised version will be submitted once the verification process is complete

Smooth Model Predictive Path Integral Control without Smoothing

Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee

机构 * Ground Technology Research Institute, Agency for Defense Development（国防发展机构地面技术研究所） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.RO

Comments Accepted to IEEE Robotics and Automation Letters (and IROS 2022). Project page: https://www.taekyung.me/smppi

Efficient Navigation in Unknown Indoor Environments with Vision-Language Models

D. Schwartz, K. Kondo, J. P. How

机构 * ETH Zürich（苏黎世联邦理工学院） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

专题命中 规划控制 ：occupancy(abstract)；分类 cs.RO

Comments 7 pages, 4 figures, accepted to the OWN workshop at IROS 2025

Can Large Language Models Autoformalize Kinematics?

Aditi Kabra, Jonathan Laurent, Sagar Bharadwaj, Ruben Martins, Stefan Mitsch, André Platzer

机构 * Carnegie Mellon University（卡内基梅隆大学） ； Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院） ； DePaul University（德保罗大学） 纠错

专题命中 规划控制 ：self-driving(abstract)；分类 cs.AI

Journal ref Proc. 25th International Conference on Formal Methods in Computer-Aided Design (FMCAD), pp. 78-83, TU Wien Academic Press, 2025

Diffusion^2: Dual Diffusion Model with Uncertainty-Aware Adaptive Noise for Momentary Trajectory Prediction

Yuhao Luo, Yuang Zhang, Kehua Chen, Xinyu Zheng, Shucheng Zhang, Sikai Chen, Yinhai Wang

机构 * Civil and Environmental Engineering Department, University of Wisconsin-Madison（威斯康星大学麦迪逊分校土木与环境工程系） ； Civil and Environmental Engineering Department, University of Washington（华盛顿大学土木与环境工程系） ； College of Transportation, Tongji University（同济大学交通运输学院） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.CV

Comments 13 pages, 7 figures, 3 tables

Robust Visual Embodiment: How Robots Discover Their Bodies in Real Environments

Salim Rezvani, Ammar Jaleel Mahmood, Robin Chhabra

机构 * Department of Mechanical, Industrial and Mechatronics Engineering, Toronto Metropolitan University（机械、工业与机电工程系，多伦多 Metropolitan 大学） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Safety-Oriented Dynamic Path Planning for Automated Vehicles

Mostafa Emam, Matthias Gerdts

机构 * Department of Aerospace Engineering, University of the Bundeswehr Munich（航空航天工程系，联邦国防军大学穆恩市） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.RO

Comments Published in 2025 IEEE 101st Vehicular Technology Conference (VTC2025-Spring), Oslo, Norway, June 17-20, 2025. Received Best Conference Paper Award

Journal ref 2025 IEEE 101st Vehicular Technology Conference (VTC2025-Spring), Oslo, Norway, June 17-20, 2025, pp.1--7

AutoPrune: Each Complexity Deserves a Pruning Policy

Hanshi Wang, Yuhao Xu, Zekun Xu, Jin Gao, Yufan Liu, Weiming Hu, Ke Wang, Zhipeng Zhang

机构 * State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), CASIA（多模态人工智能系统国家重点实验室（MAIS），中国科学院自动化所） ； School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院） ； AutoLab, School of Artificial Intelligence, Shanghai Jiao Tong University（上海交通大学人工智能学院AutoLab） ； Anyverse Intelligence ； Beijing Key Laboratory of Super Intelligent Security of Multi-Modal Information（北京多模态信息超智能安全重点实验室） ； School of Information Science and Technology, ShanghaiTech University（上海科技大学信息科学与技术学院） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.CV

Comments 13 pages, 2 figures

Journal ref NeurIPS 2025

Cyber Racing Coach: A Haptic Shared Control Framework for Teaching Advanced Driving Skills

Congkai Shen, Siyuan Yu, Yifan Weng, Haoran Ma, Chen Li, Hiroshi Yasuda, James Dallas, Michael Thompson, John Subosits, Tulga Ersal

机构 * Department of Mechanical Engineering, University of Michigan（机械工程系，密歇根大学） ； Toyota Research Institute（丰田研究院） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.RO

Comments Added the statement written as red text for the IEEE preprint policy

Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion

Jeffrey Mao, Raghuram Cauligi Srinivas, Steven Nogar, Giuseppe Loianno

机构 * New York University（纽约大学） ； US DEVCOM Army Research Lab（美国国防部高级研究计划局陆军实验室） ； University of California, Berkeley（加州大学伯克利分校） 纠错

专题命中 规划控制 ：LiDAR(abstract)；分类 cs.RO

Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots

Wanyue Li, Ji Ma, Minghao Lu, Peng Lu

机构 * Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong（适应性机器人控制实验室（ArcLab）、机械工程系、香港大学） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Comments 8 pages, 8 figures, conference paper

Latency-aware Multimodal Federated Learning over UAV Networks

Shaba Shaon, Dinh C. Nguyen

机构 * ECE Department, University of Alabama in Huntsville（阿拉巴马大学亨茨维尔分校电子与计算机工程系） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.AI

Comments Accepted at IEEE Transactions on Network Science and Engineering

Analysis of Functional Insufficiencies and Triggering Conditions to Improve the SOTIF of an MPC-based Trajectory Planner

Mirko Conrad, Georg Schildbach

机构 * samoconsult GmbH（samoconsult公司） ； University of Lübeck（吕贝克大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.RO

Comments Extended Version

Journal ref Control Engineering Practice, vol. 164, 2025

Preemptive Spatiotemporal Trajectory Adjustment for Heterogeneous Vehicles in Highway Merging Zones

Yuan Li, Xiaoxue Xu, Xiang Dong, Junfeng Hao, Tao Li, Sana Ullaha, Chuangrui Huang, Junjie Niu, Ziyan Zhao, Ting Peng

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.RO

Adaptive Conformal Guidance for Learning under Uncertainty

Rui Liu, Peng Gao, Yu Shen, Ming Lin, Pratap Tokekar

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

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.AI

Planning Jerk-Optimized Trajectory with Discrete-Time Constraints for Redundant Robots

Chengkai Dai, Sylvain Lefebvre, Kai-Ming Yu, Jo M. P. Geraedts, Charlie C. L. Wang

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Whole-Body Integrated Motion Planning for Aerial Manipulators

Weiliang Deng, Hongming Chen, Biyu Ye, Haoran Chen, Ziliang Li, Ximin Lyu

机构 * School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院） ； Differential Robotics Technology Co., Ltd.（差分机器人技术有限公司） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

Comments 20 pages, 15 figures

Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps

Ningyuan Yang, Jiaxuan Gao, Feng Gao, Yi Wu, Chao Yu

机构 * Tsinghua University（清华大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；分类 cs.AI

Comments 9 pages for main text, 23 pages in total, submitted to Neurips, 13 figures

Kineto-Dynamical Planning and Accurate Execution of Minimum-Time Maneuvers on Three-Dimensional Circuits

Mattia Piccinini, Sebastiano Taddei, Johannes Betz, Francesco Biral

机构 * Professorship of Autonomous Vehicle Systems, Technical University of Munich（自主车辆系统教授职位，技术大学慕尼黑） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） ； Department of Industrial Engineering, University of Trento（工业工程系，特伦托大学） ； Department of Electrical and Information Engineering, Politecnico di Bari（电气与信息工程系，巴里理工学院） 纠错

专题命中 规划控制 ：trajectory planning(abstract)；分类 cs.RO

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

Journal ref "Kineto-Dynamical Planning and Accurate Execution of Minimum-Time Maneuvers on Three-Dimensional Circuits," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 1-7