机器人 / 具身智能

Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation

弥合2D-3D鸿沟：面向视觉语言导航的分层语义几何地图

Kailing Li, Tianwen Qian, Lijin Yang, Yuqian Fu, Jingyu Gong, Xiaoling Wang, Liang He

机构 * School of Computer Science and Technology, East China Normal University（东华大学计算机科学与技术学院） ； Bosch Corporate Research（博世企业研究） ； King Abdullah University of Science and Technology（卡布斯大学） 纠错

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

AI总结 提出分层语义几何地图（HSGM），将3D几何信息转化为VLM可理解的结构化表示，结合VLM高层语义规划与经典路径规划，实现零样本视觉语言导航，在R2R-CE和RxR-CE基准上达到最先进性能。

NewsLens: A Multi-Agent Framework for Adversarial News Bias Navigation

NewsLens: 一个用于对抗性新闻偏见导航的多智能体框架

Joy Bose

机构 * Independent Researcher（独立研究者） 纠错

专题命中 具身导航 ：navigation(title,abstract)；manipulation(abstract,abstract_cn)

AI总结 本文提出NewsLens多智能体框架，通过五个智能体协作解构新闻文章，揭示意识形态缺失、修辞操纵和框架边界，利用Qwen2.5-3B-Instruct和Mistral 7B模型进行评估，展示了系统在不同政治事件簇中的表现。

Comments 17 pages, 2 figures, 7 tables, 1 appendix

What Limits Vision-and-Language Navigation ?

什么是限制视觉-语言导航的因素？

Yunheng Wang, Yuetong Fang, Taowen Wang, Lusong Li, Kun Liu, Junzhe Xu, Zizhao Yuan, Yixiao Feng, Jiaxi Zhang, Wei Lu, Zecui Zeng, Renjing Xu

机构 * HKUST(GZ)（香港科技大学（广州）） ； JD Explore Academy（京东探索研究院） 纠错

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

AI总结 本文提出StereoNav框架，通过引入目标-位置先验和立体视觉，提升真实环境导航一致性，实验显示其在RGB性能和参数效率上优于现有方法。

Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation

梦想回溯：基于想象的体验检索用于记忆持久的视觉与语言导航

Yunzhe Xu, Yiyuan Pan, Zhe Liu

机构 * National Key Laboratory of Human Machine Hybrid Augmented Intelligence, Xi’an Jiaotong University（西安交通大学人机混合增强智能全国重点实验室） ； School of Automation and Intelligent Sensing, Shanghai Jiao Tong University（上海交通大学自动化与智能感知学院） 纠错

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

AI总结 本文提出Memoir，通过想象引导的检索机制提升记忆持久的视觉与语言导航性能，通过混合视角记忆和经验增强导航模型，在多个基准测试中实现了显著提升。

Comments Accepted by IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)

TinyNav: End-to-End TinyML for Real-Time Autonomous Navigation on Microcontrollers

TinyNav: 面向微控制器的实时自主导航端到端TinyML系统

Pooria Roy, Nourhan Jadallah. Tomer Lapid, Shahzaib Ahmad, Armita Afroushe, Mete Bayrak

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

AI总结 TinyNav利用量化二维卷积神经网络在ESP32微控制器上实现实时自主导航，通过避免3D卷积和循环层，达到30毫秒推理延迟，展示了在受限设备上部署自主控制的可行性。

Comments 6 pages, 7 figures, presented at CUCAI2026 (Canadian Undergraduate Conference on AI, https://cucai.ca)

View Invariant Learning for Vision-Language Navigation in Continuous Environments

连续环境中视觉语言导航的视角不变学习

Josh Qixuan Sun, Huaiyuan Weng, Xiaoying Xing, Chul Min Yeum, Mark Crowley

机构 * Department of Electrical and Computer Engineering, University of Waterloo（电气与计算机工程系，滑铁卢大学） ； Department of Civil and Environmental Engineering, University of Waterloo（土木与环境工程系，滑铁卢大学） ； Department of Electrical and Computer Engineering, Northwestern University（电气与计算机工程系，西北大学） 纠错

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

AI总结 本文提出VIL框架，通过对比学习和教师-学生机制提升连续环境中视觉语言导航的视角鲁棒性，实验表明其在多个基准数据集上性能优越。

Comments This paper is accepted to RA-L 2026

Residual Cross-Modal Fusion Networks for Audio-Visual Navigation

残差跨模态融合网络用于音频视觉导航

Yi Wang, Yinfeng Yu, Bin Ren

机构 * School of Computer Science and Technology, Xinjiang University, Urumqi, China（新疆大学计算机科学与技术学院） ； Joint International Research Laboratory of Silk Road Multilingual Cognitive（丝绸之路多语认知联合国际实验室） ； School of Mechatronic Engineering and Automation Shanghai University, Shanghai, China（上海大学机电工程与自动化学院） 纠错

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

AI总结 本文提出残差跨模态融合网络，通过双向残差交互实现音频视觉信息互补建模，提升跨域导航性能。

Comments Main paper (10 pages). Accepted for publication by the 14th international conference on Computational Visual Media (CVM 2026)

TP-MDDN: Task-Preferenced Multi-Demand-Driven Navigation with Autonomous Decision-Making

TP-MDDN：任务优先的多需求驱动导航与自主决策

Shanshan Li, Da Huang, Yu He, Yanwei Fu, Yu-Gang Jiang, Xiangyang Xue

机构 * Fudan University（复旦大学） ； Shanghai Jiao Tong University（上海交通大学） ； Shanghai Innovation Institution（上海创新机构） 纠错

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

AI总结 TP-MDDN通过引入任务优先的多需求驱动导航与自主决策系统，提升复杂任务下的导航性能与环境理解能力。

Comments Accepted at NeurIPS 2025

Optimizing Earth-Moon Transfer and Cislunar Navigation: Integrating Low-Energy Trajectories, AI Techniques and GNSS-R Technologies

Arsalan Muhammad, Wasiu Akande Ahmed, Omada Friday Ojonugwa, Paul Puspendu Biswas

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

Journal ref Published in the Proceedings of 2nd IAASPAICE 2025

DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation

Pedram Fekri, Majid Roshanfar, Samuel Barbeau, Seyedfarzad Famouri, Thomas Looi, Dale Podolsky, Mehrdad Zadeh, Javad Dargahi

机构 * Gina Cody School of Engineering and Computer Science, Concordia University（甘娜·柯迪工程与计算机科学学院，康科迪亚大学） ； The Wilfred and Joyce Posluns Centre for Image Guided Innovation & Therapeutic Intervention (PCIGITI) at the Hospital for Sick Children (SickKids)（威廉与乔伊斯·波斯卢斯影像引导创新与治疗干预中心（PCIGITI）（SickKids医院）） ； Electrical and Computer Engineering Department, Kettering University（电气与计算机工程系，凯特林大学） 纠错

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

ZeST: an LLM-based Zero-Shot Traversability Navigation for Unknown Environments

Shreya Gummadi, Mateus V. Gasparino, Gianluca Capezzuto, Marcelo Becker, Girish Chowdhary

机构 * Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm, University of Illinois at Urbana-Champaign (UIUC), IL（伊利诺伊大学厄巴纳-香槟分校） ； Mobile Robotics Group, São Carlos School of Engineering, University of São Paulo (EESC-USP), São Carlos, SP, Brazil（圣保罗大学） 纠错

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

Rethinking the Embodied Gap in Vision-and-Language Navigation: A Holistic Study of Physical and Visual Disparities

Liuyi Wang, Xinyuan Xia, Hui Zhao, Hanqing Wang, Tai Wang, Yilun Chen, Chengju Liu, Qijun Chen, Jiangmiao Pang

机构 * Tongji University（同济大学） ； Shanghai AI Laboratory（上海人工智能实验室） ； Shanghai Jiao Tong University（上海交通大学） ； State Key Laboratory of Autonomous Intelligent Unmanned Systems（自主智能无人系统国家重点实验室） 纠错

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

Comments Accepted by ICCV 2025

SOE: Sample-Efficient Robot Policy Self-Improvement via On-Manifold Exploration

Yang Jin, Jun Lv, Han Xue, Wendi Chen, Chuan Wen, Cewu Lu

机构 * Shanghai Jiao Tong University（上海交通大学） ； Shanghai Innovation Institute（上海创新研究院） ； Noematrix Ltd.（诺玛特公司） 纠错

专题命中 具身导航 ：robot policy(title)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI、cs.LG

Shape Completion and Real-Time Visualization in Robotic Ultrasound Spine Acquisitions

Miruna-Alexandra Gafencu, Reem Shaban, Yordanka Velikova, Mohammad Farid Azampour, Nassir Navab

机构 * Computer Aided Medical Procedures, Technical University of Munich（技术大学慕尼黑计算机辅助医疗程序） ； Konrad Zuse School of Excellence in Reliable AI (relAI)（Konrad Zuse卓越人工智能学校） ； Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心） 纠错

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

OctoNav: Towards Generalist Embodied Navigation

Chen Gao, Liankai Jin, Xingyu Peng, Jiazhao Zhang, Yue Deng, Annan Li, He Wang, Si Liu

机构 * Beihang University（北航大学） ； National University of Singapore（新加坡国立大学） ； Peking University（北京大学） ； Zhongguancun Academy（中关村学院） 纠错

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

Comments 31 pages, 25 figures

Automated Data Curation Using GPS & NLP to Generate Instruction-Action Pairs for Autonomous Vehicle Vision-Language Navigation Datasets

Guillermo Roque, Erika Maquiling, Jose Giovanni Tapia Lopez, Ross Greer

机构 * Machine Intelligence, Interaction, and Imagination (Mi 3 ) Laboratory（机器智能、交互与想象（Mi 3）实验室） ； University of California, Merced（加州大学默塞德分校） 纠错

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

TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigation

Linqing Zhong, Chen Gao, Zihan Ding, Yue Liao, Huimin Ma, Shifeng Zhang, Xu Zhou, Si Liu

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

Comments 10 pages

Confidence-Controlled Exploration: Efficient Sparse-Reward Policy Learning for Robot Navigation

Bhrij Patel, Kasun Weerakoon, Wesley A. Suttle, Alec Koppel, Brian M. Sadler, Tianyi Zhou, Amrit Singh Bedi, Dinesh Manocha

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

Comments 10 pages, 6 figures, 2 tables

Fed-EC: Bandwidth-Efficient Clustering-Based Federated Learning For Autonomous Visual Robot Navigation

Shreya Gummadi, Mateus V. Gasparino, Deepak Vasisht, Girish Chowdhary

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

Planning from Imagination: Episodic Simulation and Episodic Memory for Vision-and-Language Navigation

Yiyuan Pan, Yunzhe Xu, Zhe Liu, Hesheng Wang

专题命中 具身导航 ：navigation(title,abstract)；embodied agent(abstract)；分类 cs.RO、cs.CV、cs.LG

ELBA: Learning by Asking for Embodied Visual Navigation and Task Completion

Ying Shen, Daniel Bis, Cynthia Lu, Ismini Lourentzou

专题命中 具身导航 ：navigation(title,abstract)；embodied agent(abstract)；分类 cs.AI、cs.CV、cs.LG

Comments 14 pages, 10 figures, WACV 2025

MPVO: Motion-Prior based Visual Odometry for PointGoal Navigation

Sayan Paul, Ruddra dev Roychoudhury, Brojeshwar Bhowmick

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

Comments Accepted in 50SFM Workshop of the 18th European Conference on Computer Vision (ECCV) 2024

Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks

Alex Quach, Makram Chahine, Alexander Amini, Ramin Hasani, Daniela Rus

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

CON: Continual Object Navigation via Data-Free Inter-Agent Knowledge Transfer in Unseen and Unfamiliar Places

Kouki Terashima, Daiki Iwata, Kanji Tanaka

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

Comments 6 pages, 3 figures, workshop paper's draft version

Sim2Real Transfer for Audio-Visual Navigation with Frequency-Adaptive Acoustic Field Prediction

Changan Chen, Jordi Ramos, Anshul Tomar, Kristen Grauman

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

Comments Camera ready version for IROS 2024. Project page: https://vision.cs.utexas.edu/projects/sim2real/

MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation

Jiaqi Chen, Bingqian Lin, Ran Xu, Zhenhua Chai, Xiaodan Liang, Kwan-Yee K. Wong

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

Comments LLM/VLM-based VLN Agents. Accepted to ACL 2024. Project: https://chen-judge.github.io/MapGPT/

Embodied Navigation at the Art Gallery

Roberto Bigazzi, Federico Landi, Silvia Cascianelli, Marcella Cornia, Lorenzo Baraldi, Rita Cucchiara

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

Comments Accepted by 21st International Conference on Image Analysis and Processing (ICIAP 2021)

Spot the Difference: A Novel Task for Embodied Agents in Changing Environments

Federico Landi, Roberto Bigazzi, Marcella Cornia, Silvia Cascianelli, Lorenzo Baraldi, Rita Cucchiara

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

Comments Accepted by 26TH International Conference on Pattern Recognition (ICPR 2022)

Explore and Explain: Self-supervised Navigation and Recounting

Roberto Bigazzi, Federico Landi, Marcella Cornia, Silvia Cascianelli, Lorenzo Baraldi, Rita Cucchiara

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

Comments ICPR 2020

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision

Matías Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice Fallon

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

Comments Extended version of arXiv:2305.08510