机器人 / 具身智能

Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern

Alexander Wendel, James Underwood

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

Comments Published in MDPI Sensors, 30 October 2017

Journal ref Sensors 2017, 17, 2491

Neural Network Memory Architectures for Autonomous Robot Navigation

Steven W Chen, Nikolay Atanasov, Arbaaz Khan, Konstantinos Karydis, Daniel D. Lee, Vijay Kumar

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

Counterfactual Reasoning about Intent for Interactive Navigation in Dynamic Environments

A. Bordallo, F. Previtali, N. Nardelli, S. Ramamoorthy

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

Journal ref 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 2943-2950

Active exploration of sensor networks from a robotics perspective

Christian Blum, Verena V. Hafner

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

A genetic algorithm for autonomous navigation in partially observable domain

Maxim Borisyak, Andrey Ustyuzhanin

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

Gradient-based Taxis Algorithms for Network Robotics

Christian Blum, Verena V. Hafner

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

SOPD-SocialNav: Selective On-Policy Distillation for Vision-Language Social Navigation

SOPD-SocialNav：用于视觉语言社交导航的选择性在线策略蒸馏

Xinyu Zhang, Zishuo Wang, Ling Xiao

机构 * Graduate School of Information Science and Technology, Hokkaido University（北海道大学信息科学与技术研究生院） 纠错

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

AI总结 针对大规模视觉语言模型难部署、轻量级模型社交推理能力不足的问题，提出SOPD-SocialNav方法，通过基于熵的令牌选择机制及温度控制的散度目标，将社交导航知识从大型教师模型转移到轻量级学生模型，实验证明该方法有效。

Comments This paper has been accepted to 2026 WRC Symposium on Advanced Robotics and Automation (WRC SARA)

He3-Seeker: Robotic Information Planning for Lunar Helium-3 Distribution Mapping

He3-Seeker：用于月球氦-3分布测绘的机器人信息规划

Dong Li, Yujie Zheng, Chengdeng Cao, Siyu Teng, Yuchen Li, Yang Gao, Long Chen

机构 * Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； Macau University of Science and Technology（澳门科学技术大学） ； China University of Petroleum-Beijing（中国石油大学（北京）） ； Wuhan University（武汉大学） ； Shenzhen University（深圳大学） ； Technical University of Munich（慕尼黑技术大学） ； Hong Kong University of Science and Technology（香港科学与技术大学） 纠错

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

AI总结 提出He3-Seeker框架，利用机器人信息规划引导自主导航与主动感知，实现基于多点钻探采样和原位分析的月球氦-3分布快速高保真测绘。

Comments Submitted to the International Conference on Space Robotics (iSpaRo) 2026

An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics

一种用于移动机器人主动感知的高效束搜索算法

Kaixian Qu, Han Wang, Victor Klemm, Cesar Cadena, Marco Hutter

机构 * Robotic Systems Lab, ETH Zurich（机器人系统实验室，苏黎世联邦理工学院） 纠错

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

AI总结 本文提出一种高效束搜索算法，通过节点级搜索和前沿概念改进，提升主动感知任务的性能，实验表明其在多个任务中优于现有方法。

Comments Accepted to The International Journal of Robotics Research (IJRR). Project page: https://efficient-beam-search.github.io/

Journal ref The International Journal of Robotics Research, 2026

BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation

BEVIO: 基于鸟瞰图的稀疏更新视觉-惯性里程计用于月球昼夜导航

Mohit Singh, Shehryar Khattak, Ashish Goel, Michael Paton, Kostas Alexis, Issa A. Nesnas

机构 * Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院） ； Autonomous Robots Lab at the Norwegian University of Science and Technology（挪威科学技术大学自主机器人实验室） 纠错

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

AI总结 提出一种基于鸟瞰图的图像匹配方案，在极低视觉更新率下实现可靠的视觉-惯性里程计，适用于资源受限的月球车昼夜导航。

Comments Accepted at the 2026 IEEE International Conference on Robotics and Automation, Vienna

HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control

HumanFlow -- 通过紧耦合运动跟踪、预测和控制的扩散驱动MAV在人群中导航

Simon Schaefer, Joshua Näf, Stefan Leutenegger

机构 * Technical University of Munich（慕尼黑技术大学） ； MCML ； MIRMI ； 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(abstract)；分类 cs.RO；robotics(comments)

AI总结 提出HumanFlow，一种潜在扩散模型，统一了人体运动跟踪与预测，并利用3D场景上下文，在严重遮挡下实现高精度、高效率的运动估计，并通过紧耦合控制实现MAV在人群中的无碰撞导航。

Comments Accepted to Robotics Science and Systems (RSS), 2026

Learning to Evolve: Multi-modal Interactive Fields for Robust Humanoid Navigation in Dynamic Environments

学习进化：多模态交互场用于动态环境中的稳健双足机器人导航

Peifeng Jiang, Hong Liu, Jin Jin, Wenshuai Wang, Xia Li

机构 * State Key Laboratory of General Artificial Intelligence, Peking University, Shenzhen Graduate School（一般人工智能国家重点实验室，北京大学深圳研究生院） ； Oxford Robotics Institute, University of Oxford（牛津大学机器人研究所） ； Institute for Machine Learning, Department of Computer Science, ETH Zurich（苏黎世联邦理工学院计算机科学系机器学习研究所） 纠错

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

AI总结 本文提出多模态交互场（MIF）系统，通过结合置信度感知的语义3D高斯溅射、差异触发的空间记忆更新和任务驱动的几何重建，在闭环感知-适应管道中实现稳健的双足机器人导航，显著提高了非静态环境中的重定位成功率并减少了语义内存足迹。

Comments Accepted by Robotics: Science and Systems 2026

TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics

TinySDP: 为可证实和敏捷边缘机器人实现实时半正定优化

Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo, Fausto Vega, James Anderson, Zachary Manchester, Brian Plancher

机构 * A2R-Lab（A2R实验室） 纠错

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

AI总结 本文提出TinySDP，一种为嵌入式系统设计的半正定规划求解器，用于实时模型预测控制，解决非凸障碍约束下的碰撞避免问题，实现更短路径和实时性。

Comments Accepted to Robotics: Science and Systems (RSS) 2026. 11 pages, 5 figures, 2 tables. Project website: https://a2r-lab.org/TinySDP/

ORICF -- Open Robotics Inference and Control Framework

ORICF -- 开源机器人推断与控制框架

Andrés Meseguer Valenzuela, Luís Miguel Bartolín Arnau

机构 * Instituto Tecnológico de Informática (ITI)（技术信息学院） 纠错

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

AI总结 本文提出ORICF框架，通过模块化设计实现多模态机器人推断流水线，支持边缘计算，降低计算开销和能耗，保持模块化和可重复性。

Comments Accepted in ICRA26 Workshop: 8th International Workshop on Robotics Software Engineering (RoSE 26)

120 Minutes and a Laptop: Minimalist Image-goal Navigation via Unsupervised Exploration and Offline RL

120分钟与一台笔记本：通过无监督探索和离线强化学习实现极简图像目标导航

Xiaoming Liu, Borong Zhang, Qingbiao Li, Steven Morad

机构 * Faculty of Science and Technology, University of Macau（澳门大学科技学院） 纠错

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

AI总结 本文提出MINav方法，通过无监督数据收集与 hindsight 目标重标记，实现高效图像目标导航，在120分钟内使用消费级笔记本完成训练与部署，无需人工干预。

Comments 8 pages, 8 figures, submitted to IEEE Robotics and Automation Letters (RA-L)

Towards Equitable Robotic Furnishing Agents for Aging-in-Place: ADL-Grounded Design Exploration

迈向老年人独立生活中的公平机器人家具代理：基于日常活动的设计探索

Hansoo Lee, Changhee Seo, Subin Park, Sonya S. Kwak

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

AI总结 本文探讨了在老年人独立生活背景下，通过基于日常活动的设计探索，开发公平的机器人家具代理，以减少认知和身体负担，提升老年人福祉。

Comments Accepted at the ACM/IEEE International Conference on Human-Robot Interaction (HRI) 2026 Workshop: Equitable Robotics for Wellbeing (Eq-RW)

A Comprehensive Review of Bio-Inspired Approaches to Coordination, Communication, and System Architecture in Underwater Swarm Robotics

对水下群体机器人协调、通信和系统架构中生物启发方法的综合回顾

Shyalan Ramesh, Scott Mann, Alex Stumpf

机构 * La Trobe University（拉特罗布大学） 纠错

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

AI总结 本文综述了水下群体机器人中生物启发方法的协调、通信和系统架构，分析了关键算法、通信限制及硬件设计，提出多维分类框架以指导未来研究方向。

Comments Published as part of the Special Issue: Wide Application of Marine Robotic Systems, in the Journal of Marine Science and Engineering

Journal ref Journal of Marine Science and Engineering, 14(1), 59 (2026)

CausalNav: A Long-term Embodied Navigation System for Autonomous Mobile Robots in Dynamic Outdoor Scenarios

CausalNav: 一种面向动态户外场景的自主移动机器人长期具身导航系统

Hongbo Duan, Shangyi Luo, Zhiyuan Deng, Yanbo Chen, Yuanhao Chiang, Yi Liu, Fangming Liu, 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，深圳国际研究生院，清华大学） ； Peng Cheng Laboratory（鹏城实验室） 纠错

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

AI总结 CausalNav是一种基于场景图的语义导航框架，通过构建多级语义场景图实现动态户外环境中的稳健导航与远距离规划。

Comments Accepted by IEEE Robotics and Automation Letters (RA-L)

Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation

基于RGB影像的光谱签名映射用于地形感知导航

Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson, Bruce Maxwell, Taskin Padir

机构 * Northeastern University（东北大学） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

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

AI总结 本文提出RS-Net，通过RGB影像预测光谱签名，用于机器人地形感知导航和摩擦系数估计。

Comments 8 pages, 11 figures, accepted to Robotic Computing & Communication

Real-time Recognition of Human Interactions from a Single RGB-D Camera for Socially-Aware Robot Navigation

Thanh Long Nguyen, Duc Phu Nguyen, Thanh Thao Ton Nu, Quan Le, Thuan Hoang Tran, Manh Duong Phung

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

Journal ref Intelligent Service Robotics, 2025

Fast Vision in the Dark: A Case for Single-Photon Imaging in Planetary Navigation

David Rodríguez-Martínez, C. J. Pérez del Pulgar

机构 * Space Robotics Lab, Dept. of Systems Engineering and Automation, University of Malaga（马德里大学机器人空间实验室，系统工程与自动化系） 纠错

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

Comments 9 pages, 6 figures, conference paper

Journal ref 18th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2025, Leiden, The Netherlands

UnderwaterVLA: Dual-brain Vision-Language-Action architecture for Autonomous Underwater Navigation

Zhangyuan Wang, Yunpeng Zhu, Yuqi Yan, Xiaoyuan Tian, Xinhao Shao, Meixuan Li, Weikun Li, Guangsheng Su, Weicheng Cui, Dixia Fan

机构 * School of Engineering, Westlake University（西lake大学工程学院） ； College of Information Science & Electronic Engineering, Zhejiang University（浙江大学信息科学与电子工程学院） ； College of Environmental and Resource Sciences, Zhejiang University（浙江大学环境与资源科学学院） ； Australian National University（澳大利亚国立大学） 纠错

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

Comments This paper introduces the first VLA framework for AUVs, featuring a dual-brain architecture and zero-data MPC for real-world underwater navigation

ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusion

Zichao Hu, Chen Tang, Michael J. Munje, Yifeng Zhu, Alex Liu, Shuijing Liu, Garrett Warnell, Peter Stone, Joydeep Biswas

机构 * Department of Computer Science, The University of Texas at Austin（德克萨斯大学计算机科学系） ； Army Research Laboratory（陆军研究实验室） ； Sony AI（索尼人工智能） 纠错

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

Comments Conference on Robot Learning (CoRL) 2025 Project site: https://amrl.cs.utexas.edu/ComposableNav/

ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion

Mingjie Zhang, Yuheng Du, Chengkai Wu, Jinni Zhou, Zhenchao Qi, Jun Ma, Boyu Zhou

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） ； Southern University of Science and Technology（南方科技大学） 纠错

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

Comments Accepted to IEEE Robotics and Automation Letters (RAL), August, 2025

Motion Planning for Robotics: A Review for Sampling-based Planners

Liding Zhang, Kuanqi Cai, Zewei Sun, Zhenshan Bing, Chaoqun Wang, Luis Figueredo, Sami Haddadin, Alois Knoll

机构 * Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich（机器人、人工智能与实时系统教授会，技术大学慕尼黑计算、信息与技术学院） ； Human-Robot Interfaces and Interaction(HRI2), Istituto Italiano Di Tecnologia (IIT)（人机接口与交互（HRI2），意大利技术研究所） ； Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich（机器人与系统智能教授会，慕尼黑机器人与机器智能研究所，技术大学慕尼黑） ； School of Control Science and Engineering, Shandong University（控制科学与工程学院，山东大学） ； School of Computer Science, University of Nottingham（计算机科学学院，诺丁汉大学） 纠错

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

Comments 20 pages, 11 figures

Journal ref Biomimetic Intelligence and Robotics 2025

Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling

Jianpeng Yao, Xiaopan Zhang, Yu Xia, Zejin Wang, Amit K. Roy-Chowdhury, Jiachen Li

机构 * University of California, Riverside（加州大学河滨分校） 纠错

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

Comments 9th Conference on Robot Learning (CoRL 2025); Project website: https://gen-safe-nav.github.io/. arXiv admin note: text overlap with arXiv:2407.17460

Move to Understand a 3D Scene: Bridging Visual Grounding and Exploration for Efficient and Versatile Embodied Navigation

Ziyu Zhu, Xilin Wang, Yixuan Li, Zhuofan Zhang, Xiaojian Ma, Yixin Chen, Baoxiong Jia, Wei Liang, Qian Yu, Zhidong Deng, Siyuan Huang, Qing Li

机构 * Tsinghua University（清华大学） ； Beijing Institute of Technology（北京理工大学） ； Beihang University（北航） ； State Key Laboratory of General Artificial Intelligence, BIGAI, China（国家一般人工智能重点实验室, BIGAI, 中国） 纠错

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

Comments Embodied AI; 3D Vision Language Understanding; ICCV 2025 Highlight; https://mtu3d.github.io; Spatial intelligence

HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation

Miguel Escudero-Jiménez, Noé Pérez-Higueras, Andrés Martínez-Silva, Fernando Caballero, Luis Merino

机构 * Service Robotics Lab University Pablo de Olavide（帕布罗·德·奥拉维德大学服务机器人实验室） 纠错

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

Comments Preprint submitted to the 8th Iberian Robotics Conference (ROBOT 2025)

Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?

Nitesh Subedi, Adam Haroon, Shreyan Ganguly, Samuel T. K. Tetteh, Prajwal Koirala, Cody Fleming, Soumik Sarkar

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

Comments 6 figures, 2 tables, Accepted to Robotics: Science and Systems (RSS) 2025 Workshop on Robot Planning in the Era of Foundation Models (FM4RoboPlan)

TRAVEL: Training-Free Retrieval and Alignment for Vision-and-Language Navigation

Navid Rajabi, Jana Kosecka

机构 * George Mason University（乔治·马歇尔大学） 纠错

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

Comments Accepted to CVPR 2025 Workshop - Foundation Models Meet Embodied Agents