机器人 / 具身智能

CrossMaps: Confidence-Aware Open-Vocabulary Semantic Mapping for Rover Navigation

CrossMaps: 用于漫游车导航的置信度感知开放词汇语义地图

Jan-Niklas Klein, Sona Ghahremani, Christian Medeiros Adriano, Holger Giese

机构 * Hasso Plattner Institute for Digital Engineering, Potsdam, Germany（哈索·普拉特纳数字工程研究所（德国波茨坦）） 纠错

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

AI总结 提出CrossMaps，一种实时置信度感知开放词汇语义地图构建流水线，通过多尺度CLIP嵌入、置信度融合和双记忆架构生成可查询语义地图，用于漫游车导航。

Comments IEEE International Conference on Robotics and Automation (ICRA) 2026: ROSE International Workshop on Robotics Software Engineering, June 01, 2026, Vienna, Austria

ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation

ABot-N0：关于VLA基础模型在多功能具身导航中的技术报告

Zedong Chu, Shichao Xie, Xiaolong Wu, Yanfen Shen, Minghua Luo, Zhengbo Wang, Fei Liu, Xiaoxu Leng, Junjun Hu, Mingyang Yin, Jia Lu, Yingnan Guo, Kai Yang, Jiawei Han, Xu Chen, Yanqing Zhu, Yuxiang Zhao, Xin Liu, Yirong Yang, Ye He, Jiahang Wang, Yang Cai, Tianlin Zhang, Li Gao, Liu Liu, Mingchao Sun, Fan Jiang, Chiyu Wang, Zhicheng Liu, Hongyu Pan, Honglin Han, Zhining Gu, Kuan Yang, Jianfang Zhang, Di Jing, Zihao Guan, Wei Guo, Guoqing Liu, Di Yang, Xiangpo Yang, Menglin Yang, Hongguang Xing, Weiguo Li, Mu Xu

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

AI总结 ABot-N0通过统一的VLA基础模型实现多功能具身导航，结合认知大脑与动作专家架构，在多个基准测试中超越专用模型，支持动态环境中的长周期任务。

Comments Project Page: https://amap-cvlab.github.io/ABot-Navigation/ABot-N0/

Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learning

Shuijing Liu, Peixin Chang, Weihang Liang, Neeloy Chakraborty, Katherine Driggs-Campbell

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

Comments Published as a conference paper in IEEE International Conference on Robotics and Automation (ICRA), 2021

Autonomous Navigation of an Ultrasound Probe Towards Standard Scan Planes with Deep Reinforcement Learning

Keyu Li, Jian Wang, Yangxin Xu, Hao Qin, Dongsheng Liu, Li Liu, Max Q. -H. Meng

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

Comments Accepted at ICRA 2021

Journal ref 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 8302-8308

ANAVI: Audio Noise Awareness using Visuals of Indoor environments for NAVIgation

Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk

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

Comments 8th Conference on Robot Learning (CoRL) 2024

Benchmarking Deep Reinforcement Learning for Navigation in Denied Sensor Environments

Mariusz Wisniewski, Paraskevas Chatzithanos, Weisi Guo, Antonios Tsourdos

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

Comments 31 pages, 19 figures. For associated code, see https://github.com/mazqtpopx/cranfield-navigation-gym

DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Grounding

Shuijing Liu, Aamir Hasan, Kaiwen Hong, Runxuan Wang, Peixin Chang, Zachary Mizrachi, Justin Lin, D. Livingston McPherson, Wendy A. Rogers, Katherine Driggs-Campbell

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

Comments Published in IEEE Robotics and Automation Letters (RA-L)

Deep learning-based Crop Row Detection for Infield Navigation of Agri-Robots

Rajitha de Silva, Grzegorz Cielniak, Gang Wang, Junfeng Gao

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

Comments Published in Journal of Field Robotics: https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22238

Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds

Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada

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

Comments This paper has been accepted for publication at IEEE ROBOTICS AND AUTOMATION LETTERS

Towards self-attention based visual navigation in the real world

Jaime Ruiz-Serra, Jack White, Stephen Petrie, Tatiana Kameneva, Chris McCarthy

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

Comments Submitted to The 2022 Australian Conference on Robotics and Automation (ACRA 2022)

Lifelong Topological Visual Navigation

Rey Reza Wiyatno, Anqi Xu, Liam Paull

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

Comments This paper has been accepted to IEEE Robotics and Automation Letters (RA-L) and International Conference on Intelligent Robots and Systems (IROS) 2022. Project page: https://montrealrobotics.ca/ltvn/

Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation

Haresh Karnan, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Soeren Pirk, Alexander Toshev, Justin Hart, Joydeep Biswas, Peter Stone

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

Journal ref Robotics and Automation Letters (RA-L) 2022

Towards Generalisable Audio Representations for Audio-Visual Navigation

Shunqi Mao, Chaoyi Zhang, Heng Wang, Weidong Cai

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

Comments CVPR 2022 Embodied AI Workshop

Semantic Audio-Visual Navigation

Changan Chen, Ziad Al-Halah, Kristen Grauman

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

Comments Project page: http://vision.cs.utexas.edu/projects/semantic-audio-visual-navigation

Vision-Based Mobile Robotics Obstacle Avoidance With Deep Reinforcement Learning

Patrick Wenzel, Torsten Schön, Laura Leal-Taixé, Daniel Cremers

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

Comments Accepted at 2021 IEEE International Conference on Robotics and Automation (ICRA)

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha S. Srinivasa

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

Comments Preprint of a paper with the same title, accepted to the Conference on Robot Learning 2020

Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments with Multimodal Sensor Fusion

Peide Cai, Sukai Wang, Yuxiang Sun, Ming Liu

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

Comments 8 pages, 6 figures, 3 tables. IEEE Robotics and Automation Letters (RA-L)

The RobotSlang Benchmark: Dialog-guided Robot Localization and Navigation

Shurjo Banerjee, Jesse Thomason, Jason J. Corso

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 2020

Object Goal Navigation using Goal-Oriented Semantic Exploration

Devendra Singh Chaplot, Dhiraj Gandhi, Abhinav Gupta, Ruslan Salakhutdinov

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

Comments Winner of the CVPR 2020 AI-Habitat Object Goal Navigation Challenge. See the project webpage at https://devendrachaplot.github.io/projects/semantic-exploration.html

Vision-and-Dialog Navigation

Jesse Thomason, Michael Murray, Maya Cakmak, Luke Zettlemoyer

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) 2019

Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

Rafael Oliveira, Lionel Ott, Vitor Guizilini, Fabio Ramos

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

Comments To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017)

Deep-Learned Collision Avoidance Policy for Distributed Multi-Agent Navigation

Pinxin Long, Wenxi Liu, Jia Pan

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

Journal ref IEEE Robotics and Automation Letters 2(2): 656-663 (2017)

End-to-End Crop Row Navigation via LiDAR-Based Deep Reinforcement Learning

端到端的激光雷达深度强化学习用于作物行导航

Ana Luiza Mineiro, Francisco Affonso, Marcelo Becker

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

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

AI总结 本文提出基于激光雷达的端到端导航系统，通过深度强化学习直接将3D激光雷达数据映射到控制指令，解决农业环境中GNSS不可靠、行内杂乱和光照变化的问题。

Comments Accepted to the 22nd International Conference on Advanced Robotics (ICAR 2025). 7 pages

Journal ref 22nd International Conference on Advanced Robotics (ICAR), 2025

DualMap: Online Open-Vocabulary Semantic Mapping for Natural Language Navigation in Dynamic Changing Scenes

DualMap: 用于动态变化场景中自然语言导航的在线开放词汇语义映射

Jiajun Jiang, Yiming Zhu, Zirui Wu, Jie Song

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） 纠错

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

AI总结 DualMap通过自然语言查询实现动态环境中的高效语义映射与导航，采用混合分割前端和对象级状态检查提升效率，展现先进性能。

Comments 14 pages, 14 figures. Published in IEEE Robotics and Automation Letters (RA-L), 2025. Code: https://github.com/Eku127/DualMap Project page: https://eku127.github.io/DualMap/

Journal ref IEEE Robotics and Automation Letters, Vol. 10, No. 12, pp. 12612-12619, 2025

From Cognition to Precognition: A Future-Aware Framework for Social Navigation

Zeying Gong, Tianshuai Hu, Ronghe Qiu, Junwei Liang

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

Comments Social Navigation; Trajectory Prediction; Auxiliary Tasks. This paper has been accepted at the IEEE International Conference on Robotics and Automation (ICRA) 2025. For more details, please refer to the project website: https://zeying-gong.github.io/projects/falcon/

Learning to navigate efficiently and precisely in real environments

Guillaume Bono, Hervé Poirier, Leonid Antsfeld, Gianluca Monaci, Boris Chidlovskii, Christian Wolf

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

QCQP-Tunneling: Ellipsoidal Constrained Agent Navigation

Sanjeev Sharma

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

Comments In proceedings of the 2nd IASTED International Conference on Robotics, 2011

Journal ref 2nd IASTED International Conference on Robotics, 2011

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Cyrill Stachniss

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

Comments Accepted at IROS PNARUDE(Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments) Workshop 2022

Active Reward Learning for Co-Robotic Vision Based Exploration in Bandwidth Limited Environments

Stewart Jamieson, Jonathan P. How, Yogesh Girdhar

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

Comments 7 pages, 4 figures; accepted for presentation in IEEE Int. Conf. on Robotics and Automation, ICRA '20, Paris, France, June 2020

Journal ref 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 1806-1812

VTInstructor: Visual Trajectory Prompting for Navigation Instruction Generation in Continuous Environments

VTInstructor：面向连续环境中导航指令生成的视觉轨迹提示

Haolin Yang, Yuxing Long, Zihan Yang, Hao Dong

机构 * Peking University（北京大学） ； PrimeBot 纠错

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

AI总结 本研究提出首个面向连续环境的VLN指令生成框架VTInstructor，通过视觉轨迹提示技术生成导航指令，在基准测试中刷新最优性能，提升跟随器成功率并为下游任务带来数据增强增益。

Comments accepted by ACM MM 2026