机器人 / 具身智能

Learning World Models for Unconstrained Goal Navigation

Yuanlin Duan, Wensen Mao, He Zhu

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

Comments NeurIPS2024 Poster. arXiv admin note: substantial text overlap with arXiv:2411.01396

Causality-Aware Transformer Networks for Robotic Navigation

Ruoyu Wang, Yao Liu, Yuanjiang Cao, Lina Yao

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

Language, Environment, and Robotic Navigation

Johnathan E. Avery

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

RE-MOVE: An Adaptive Policy Design for Robotic Navigation Tasks in Dynamic Environments via Language-Based Feedback

Souradip Chakraborty, Kasun Weerakoon, Prithvi Poddar, Mohamed Elnoor, Priya Narayanan, Carl Busart, Pratap Tokekar, Amrit Singh Bedi, Dinesh Manocha

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

LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action

Dhruv Shah, Blazej Osinski, Brian Ichter, Sergey Levine

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

Comments Project page https://sites.google.com/view/lmnav

Robotic Testbed for Rendezvous and Optical Navigation: Multi-Source Calibration and Machine Learning Use Cases

Tae Ha Park, Juergen Bosse, Simone D'Amico

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

Comments Presented at 2021 AAS/AIAA Astrodynamics Specialist Conference, Big Sky, Virtual, August 9-11 (2021)

Analysis of Social Robotic Navigation approaches: CNN Encoder and Incremental Learning as an alternative to Deep Reinforcement Learning

Janderson Ferreira, Agostinho A. F. Júnior, Letícia Castro, Yves M. Galvão, Pablo Barros, Bruno J. T. Fernandes

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

MVP: Unified Motion and Visual Self-Supervised Learning for Large-Scale Robotic Navigation

Marvin Chancán, Michael Milford

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

Comments Under review at IROS 2020

Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation

Vishnu Sashank Dorbala, James F. Mullen, Dinesh Manocha

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

Comments 10 pages

Journal ref IEEE Robotics and Automation Letters 9.5 (2024) 4083-4090

Team Applied Robotics: A closer look at our robotic picking system

Wim Abbeloos, Fabian Gouwens, Simon Jansen, Berend Küpers, Maurice Ramaker, Toon Goedemé

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

Comments IEEE International Conference on Robotics and Automation (ICRA), Warehouse Picking Automation Workshop, May 29 to June 3, 2017, Singapore

ROS-X-Habitat: Bridging the ROS Ecosystem with Embodied AI

Guanxiong Chen, Haoyu Yang, Ian M. Mitchell

专题命中 具身导航 ：embodied AI(title)；robotics(abstract)；embodied agent(abstract)；navigation(abstract)

Comments Camera-ready version submitted to Canadian Conference on Computer and Robot Vision (CRV) 2022

SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments

SC²-WM：用于连续环境下视觉语言导航的带闭环反馈的自校正世界模型

Xuan Yao, Yuze Zhu, Junyu Gao, Zongmeng Wang, Changsheng Xu

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

AI总结 针对连续环境视觉语言导航中开环执行的状态漂移问题，提出带闭环反馈的自校正世界模型SC²-WM，通过状态级计划优化与测试时模型自适应提升导航鲁棒性和泛化性。

Comments Accepted by ICML 2026

Toward Autonomous Soft Robotic Endovascular Navigation via Imitation Learning

通过模仿学习实现自主软机器人血管内导航

Noah Barnes, Ji Woong Kim, Lingyun Di, Hannah Qu, Anuruddha Bhattacharjee, Miroslaw Janowski, Dheeraj Gandhi, Bailey Felix, Shaopeng Jiang, Olivia Young, Mark Fuge, Ryan D. Sochol, Jeremy D. Brown, Axel Krieger

机构 * Johns Hopkins University（约翰霍普金斯大学） ； Stanford University（斯坦福大学） ； McGill University（麦吉尔大学） ； University of Maryland（马里兰大学） ； Swiss Federal Institute of Technology in Lausanne (EPFL)（日内瓦联邦理工学院（EPFL）） ； ETH Zurich（苏黎世联邦理工学院） 纠错

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

AI总结 研究旨在实现自主软机器人血管内导航，开发基于变压器的模仿学习框架，通过目标条件等实现通用导航，在多种几何结构上训练并评估，策略成功率高，还进行了相关研究及扩展，提升了在未见几何结构上的成功率。

IndustryNav: Exploring Spatial Reasoning of Embodied Agents in Dynamic Industrial Navigation

IndustryNav：探索动态工业导航中具身智能体的空间推理

Yifan Li, Lichi Li, Anh Dao, Xinyu Zhou, Wenjun Huang, Tianyi Ma, Yicheng Qiao, Zheda Mai, Daeun Lee, Zichen Chen, Pan Wang, Lehan Yang, Tianlong Wang, Zhen Tan, Sheng Li, Mohit Bansal, Yang Ni, Yu Kong

机构 * Michigan State University（密歇根州立大学） ； Independent Researcher（独立研究者） ； University of California, Irvine（加州大学尔湾分校） ； Ohio State University（俄亥俄州立大学） ； University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校） ； University of California, Santa Barbara（加州大学圣巴巴拉分校） ； University of Pittsburgh（匹兹堡大学） ； University of Virginia（弗吉尼亚大学） ； Arizona State University（亚利桑那州立大学） ； Purdue University Northwest（普渡大学西北分校） 纠错

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

AI总结 针对视觉大语言模型在空间推理的挑战，提出IndustryNav基准，利用动态工业场景评估，给出零样本导航管道及安全指标，研究发现模型在路径规划等方面有缺陷，凸显向主动探索等任务发展的需求。

RAE-NWM: Navigation World Model in Dense Visual Representation Space

RAE-NWM：密集视觉表示空间中的导航世界模型

Mingkun Zhang, Wangtian Shen, Fan Zhang, Haijian Qin, Zihao Pei, Ziyang Meng

机构 * Department of Precision Instrument, Tsinghua University（清华大学精密仪器系） ； University of Rochester（罗切斯特大学） ； Beijing Information Science and Technology University（北京信息科技大学） 纠错

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

AI总结 提出RAE-NWM，在密集视觉表示空间中使用条件扩散Transformer建模导航动态，提升结构稳定性和动作精度，从而改善下游规划与导航。

Comments Code is available at: https://github.com/20robo/raenwm

Performance Comparison of Classical and Neural Sampling Algorithms for Robotic Navigation

经典与神经采样算法在机器人导航中的性能比较

Hichem Cheriet, Badra Khellat Kihel, Samira Chouraqui

机构 * dept. of Economics Oran2 Mohamed BenAhmed University（经济系奥兰2莫哈梅德·本·阿赫迈德大学） 纠错

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

AI总结 本文在含凸凹障碍物的环境中比较了RRT*、Neural RRT*和Neural Informed RRT*三种算法，发现神经引导规划器能生成更短（最多14%）和更平滑（55-75%）的路径，其中Neural Informed RRT*综合性能最优。

Journal ref Presented at The 3rd Edition of National Conference on Applications of Artificial Intelligence A2I' 26. 2026

Drift-Resistant Navigation World Model with Anchored Epipolar Guidance

抗漂移导航世界模型与锚定对极引导

Po-Chien Luan, Zimin Xia, Wuyang Li, Yang Gao, Alexandre Alahi

机构 * EPFL（瑞士联邦理工学院） 纠错

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

AI总结 提出一种抗漂移导航世界模型，通过锚定引导滚动和双向对极几何约束，同时减轻感知漂移和几何漂移，提升长期视觉质量、几何一致性和多视图连贯性。

World Models for Autonomous Navigation of Terrestrial Robots from LIDAR Observations

基于LIDAR观测的地面机器人自主导航的World Models

Raul Steinmetz, Fabio Demo Rosa, Victor Augusto Kich, Jair Augusto Bottega, Ricardo Bedin Grando, Daniel Fernando Tello Gamarra

机构 * Universidade Federal de Santa Maria, Brazil（巴西联邦大学圣玛利亚分校） ； University of Tsukuba, Japan（日本筑波大学） ； Universidade Federal de Rio Grande（巴西联邦大学里约格兰德分校） ； Universidad Tecnológica del Uruguay, Uruguay（乌拉圭技术大学） 纠错

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

AI总结 本文提出基于DreamerV3算法的模型驱动强化学习框架，通过整合MLP-VAE实现高维LIDAR数据的高效编码与潜在表示学习，提升地面机器人自主导航的效率与鲁棒性。

Comments Accepted for publication in the Journal of Intelligent and Fuzzy Systems

Balancing Performance and Efficiency in Zero-shot Robotic Navigation

Dmytro Kuzmenko, Nadiya Shvai

机构 * Department of Multimedia Systems, National University of Kyiv-Mohyla Academy, Kyiv, Ukraine（多媒体系统系，基辅-莫希拉学院国家大学，乌克兰基辅） ； Department of Mathematics, National University of Kyiv-Mohyla Academy, Kyiv, Ukraine（数学系，基辅-莫希拉学院国家大学，乌克兰基辅） 纠错

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

Comments Submitted to ICTERI 2024 Posters Track

Journal ref ICTERI 2024: Communications in Computer and Information Science, vol. 2020, pp. 370-381, Springer, 2025

EDEN: Entorhinal Driven Egocentric Navigation Toward Robotic Deployment

Mikolaj Walczak, Romina Aalishah, Wyatt Mackey, Brittany Story, David L. Boothe, Nicholas Waytowich, Xiaomin Lin, Tinoosh Mohsenin

机构 * Johns Hopkins Whiting School of Engineering（约翰霍普金斯大学惠廷工程学院） ； DEVCOM United States Army Research Laboratory（美国陆军研究实验室） 纠错

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

Enhancing Autonomous Driving Safety through World Model-Based Predictive Navigation and Adaptive Learning Algorithms for 5G Wireless Applications

Hong Ding, Ziming Wang, Yi Ding, Hongjie Lin, SuYang Xi, Chia Chao Kang

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

Comments 6 pages, 5 figures

Navigation as Attackers Wish? Towards Building Robust Embodied Agents under Federated Learning

Yunchao Zhang, Zonglin Di, Kaiwen Zhou, Cihang Xie, Xin Eric Wang

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

Pathdreamer: A World Model for Indoor Navigation

Jing Yu Koh, Honglak Lee, Yinfei Yang, Jason Baldridge, Peter Anderson

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

Comments In ICCV 2021

A modular vision language navigation and manipulation framework for long horizon compositional tasks in indoor environment

Homagni Saha, Fateme Fotouhif, Qisai Liu, Soumik Sarkar

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

Comments 16 pages

Depth Camera Based Particle Filter for Robotic Osteotomy Navigation

Tim Übelhör, Jonas Gesenhues, Nassim Ayoub, Ali Modabber, Dirk Abel

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

Comments 6 pages, submitted to ICRA 2020

Avoidance of Manual Labeling in Robotic Autonomous Navigation Through Multi-Sensory Semi-Supervised Learning

Junhong Xu, Shangyue Zhu, Hanqing Guo, Shaoen Wu

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

A Contrastive Fewshot RGBD Traversability Segmentation Framework for Indoor Robotic Navigation

一种用于室内外机器人导航的对比式少样本RGBD可 traversability 分割框架

Qiyuan An, Tuan Dang, Fillia Makedon

机构 * Department of Computer Science and Engineering, University of Texas at Arlington（计算机科学与工程系，德克萨斯大学阿灵顿分校） ； Uber（优步） ； Cognitive Robotics Lab, Department of Electrical Engineering and Computer Science, University of Arkansas（认知机器人实验室，电气工程与计算机科学系，阿肯色大学） 纠错

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

AI总结 本文提出了一种基于对比学习的少样本RGBD分割框架，利用负例原型和稀疏深度信息提升室内机器人导航的可 traversability 分割性能。

Journal ref IEEE International Conference on Robotics & Automation 2026 (ICRA)

Kinodynamic Motion Planning for Mobile Robot Navigation across Inconsistent World Models

Eric R. Damm, Thomas M. Howard

机构 * Robotics and Artificial Intelligence Laboratory, Hajim School of Engineering and Applied Sciences, University of Rochester（机器人与人工智能实验室，海吉姆工程与应用科学学院，罗切斯特大学） 纠错

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

Comments Presented at the Robotics: Science and Systems (RSS) 2025 Workshop on Resilient Off-road Autonomous Robotics (ROAR)

Multimodal Spatial Language Maps for Robot Navigation and Manipulation

Chenguang Huang, Oier Mees, Andy Zeng, Wolfram Burgard

机构 * University of Technology Nuremberg（图恩堡技术大学） ； UC Berkeley（伯克利大学） ； Google Research（谷歌研究） 纠错

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

Comments accepted to International Journal of Robotics Research (IJRR). 24 pages, 18 figures. The paper contains texts from VLMaps(arXiv:2210.05714) and AVLMaps(arXiv:2303.07522). The project page is https://mslmaps.github.io/

Online Robot Navigation and Manipulation with Distilled Vision-Language Models

Kangcheng Liu

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

Comments International Conference on Robotics and Automation (ICRA)