机器人 / 具身智能

Where to Fetch: Extracting Visual Scene Representation from Large Pre-Trained Models for Robotic Goal Navigation

Yu Li, Dayou Li, Chenkun Zhao, Ruifeng Wang, Ran Song, Wei Zhang

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

Evolutionary Swarm Robotics: Dynamic Subgoal-Based Path Formation and Task Allocation for Exploration and Navigation in Unknown Environments

Lavanya Ratnabala, Robinroy Peter, E. Y. A. Charles

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

Robust Distributed Control within a Curve Virtual Tube for a Robotic Swarm under Self-Localization Drift and Precise Relative Navigation

Yan Gao, Chenggang Bai, Quan Quan

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

Comments 8 pages, 10 figures

Robot Patrol: Using Crowdsourcing and Robotic Systems to Provide Indoor Navigation Guidance to The Visually Impaired

Ike Obi, Ruiqi Wang, Prakash Shukla, Byung-Cheol Min

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

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT

Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante

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

Comments This paper has been accepted for publication at the IEEE Integrated STEM Education Conference

Technology Report : Robotic Localization and Navigation System for Visible Light Positioning and SLAM

Weipeng Guan, Patrick Yue

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

Comments This is a technology report from Guan Weipeng's work in HKUST

An Approach to Deploy Interactive Robotic Simulators on the Web for HRI Experiments: Results in Social Robot Navigation

Nathan Tsoi, Mohamed Hussein, Olivia Fugikawa, J. D. Zhao, Marynel Vázquez

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

Image-based Intraluminal Contact Force Monitoring in Robotic Vascular Navigation

Masoud Razban, Javad Dargahi, Benoit Boulet

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

Robotic Navigation using Entropy-Based Exploration

Muhammad Usama, Dong Eui Chang

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

Comments 5 pages

IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking

IR-SIM：一种用于导航、学习和基准测试的轻量级技能原生模拟器

Ruihua Han, Shuai Wang, Chengyang Li, Rui Gao, Xinyi Wang, Zhe Liu, Guoliang Li, Yupu Lu, Qi Hao, Jia Pan, Hengshuang Zhao

机构 * The University of Hong Kong（香港大学） ； Shenzhen Institutes of Advanced Technology（深圳先进技术研究院） ； Southern University of Science and Technology（南方科技大学） ； University of Michigan（密歇根大学） ； University of Macau（澳门大学） 纠错

专题命中 具身导航 ：navigation(title,abstract)；robotics(abstract)；robot learning(abstract)；robotic(abstract)

AI总结 提出轻量级技能原生导航模拟器IR-SIM，通过YAML配置完全定义场景，支持文本提示生成与修改，用于导航算法基准测试和训练数据自动生成，并桥接高保真模拟器和真实部署。

Comments 12 pages, 6 figures, project website: https://github.com/hanruihua/ir-sim

Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction

Robo-Cortex: 通过双粒认知记忆和自主知识诱导实现自我进化具身智能体

Nga Teng Chan, Yi Zhang, Yechi Liu, Renwen Cui, Fanhu Zeng, Zeyuan Ding, Xiancong Ren, Zhang Zhang, Qifeng Chen, Jian Liu, Yong Dai, Xiaozhu Ju

机构 * The Hong Kong University of Science and Technology（香港科学与技术大学） ； X-Humanoid ； Institute of Automation, CAS（中国科学院自动化研究所） ； Beijing University of Aeronautics and Astronautics（北京航空航天大学） 纠错

专题命中 具身导航 ：embodied agent(title,abstract)；navigation(abstract)；world model(abstract)；robotic(abstract)

AI总结 本文提出Robo-Cortex框架，通过双粒认知记忆和自主知识诱导机制，使机器人能够自主诱导导航启发式方法并优化认知策略，从而在复杂环境中实现自主导航和探索。

What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models

机器人中最佳的3D场景表示是什么？从几何到基础模型

Tianchen Deng, Yue Pan, Shenghai Yuan, Dong Li, Chen Wang, Mingrui Li, Long Chen, Lihua Xie, Danwei Wang, Jingchuan Wang, Javier Civera, Hesheng Wang, Weidong Chen

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

AI总结 本文探讨了机器人中最佳的3D场景表示方法，对比了传统和神经表示的优劣，并展望了基础模型在机器人应用中的潜力。

Think, Remember, Navigate: Zero-Shot Object-Goal Navigation with VLM-Powered Reasoning

Mobin Habibpour, Fatemeh Afghah

机构 * Holcombe Department of Electrical and Computer Engineering（霍尔科姆电气与计算机工程系） ； Clemson University（克莱姆森大学） 纠错

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

Semantic Mapping in Indoor Embodied AI -- A Survey on Advances, Challenges, and Future Directions

Sonia Raychaudhuri, Angel X. Chang

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

Journal ref Transactions on Machine Learning Research. (ISSN) 2835-885. 2025-08

E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models

Chan Kim, Keonwoo Kim, Mintaek Oh, Hanbi Baek, Jiyang Lee, Donghwi Jung, Soojin Woo, Younkyung Woo, John Tucker, Roya Firoozi, Seung-Woo Seo, Mac Schwager, Seong-Woo Kim

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

Comments 19 pages, 28 figures. Project page: https://e2map.github.io. Accepted to ICRA 2025

Image-Guided Navigation of a Robotic Ultrasound Probe for Autonomous Spinal Sonography Using a Shadow-aware Dual-Agent Framework

Keyu Li, Yangxin Xu, Jian Wang, Dong Ni, Li Liu, Max Q. -H. Meng

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

Comments Accepted by IEEE Transactions on Medical Robotics and Bionics

Journal ref IEEE Transactions on Medical Robotics and Bionics (2021)

Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI

Yang Liu, Weixing Chen, Yongjie Bai, Xiaodan Liang, Guanbin Li, Wen Gao, Liang Lin

机构 * School of Computer Science and Engineering, Sun Yat-sen University（中山大学计算机科学与工程学院） ； Sun Yat-sen University（中山大学） ； Guangdong Key Laboratory of Big Data Analysis and Processing（广东大数据分析与处理重点实验室） ； Peng Cheng Laboratory（鹏城实验室） ； Institute of Digital Media, Peking University（北京大学数字媒体研究院） 纠错

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

Comments The comprehensive review of Embodied AI. We also provide the resource repository for Embodied AI: https://github.com/HCPLab-SYSU/Embodied_AI_Paper_List

Semantics for Robotic Mapping, Perception and Interaction: A Survey

Sourav Garg, Niko Sünderhauf, Feras Dayoub, Douglas Morrison, Akansel Cosgun, Gustavo Carneiro, Qi Wu, Tat-Jun Chin, Ian Reid, Stephen Gould, Peter Corke, Michael Milford

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

Comments 81 pages, 1 figure, published in Foundations and Trends in Robotics, 2020

Journal ref Foundations and Trends in Robotics: Vol. 8: No. 1-2, pp 1-224 (2020)

Direct Cortical Control of Primate Whole-Body Navigation in a Mobile Robotic Wheelchair

Sankaranarayani Rajangam, Po-He Tseng, Allen Yin, Mikhail A. Lebedev, Miguel A. L. Nicolelis

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

Comments 15 pages, 4 main figure, 9 supplementary figures

Co-training with Ego-centric Video and Demonstration for Robot Navigation Task

基于自我中心视频与示范的机器人导航任务协同训练

Shoya Kuno, Yumo Ouchi, Kanata Suzuki

机构 * Department of Informatics, Graduate School of Informatics, Kyoto University（信息学系，京都大学研究生院） ； Spatial Robotics Research Center, Fujitsu Limited（空间机器人研究中心，富士通有限公司） 纠错

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

AI总结 提出将自我中心行走视频转化为移动机器人模仿学习数据集的框架，通过联合训练VLA模型提升语言理解和动作生成能力。

DISCO: Embodied Navigation and Interaction via Differentiable Scene Semantics and Dual-level Control

Xinyu Xu, Shengcheng Luo, Yanchao Yang, Yong-Lu Li, Cewu Lu

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

Comments ECCV 2024

Visual Navigation in Real-World Indoor Environments Using End-to-End Deep Reinforcement Learning

Jonáš Kulhánek, Erik Derner, Robert Babuška

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

AllenAct: A Framework for Embodied AI Research

Luca Weihs, Jordi Salvador, Klemen Kotar, Unnat Jain, Kuo-Hao Zeng, Roozbeh Mottaghi, Aniruddha Kembhavi

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

Embodied Agents for Efficient Exploration and Smart Scene Description

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

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

Comments Accepted by IEEE International Conference on Robotics and Automation (ICRA 2023)

pFedNavi: Structure-Aware Personalized Federated Vision-Language Navigation for Embodied AI

pFedNavi：用于具身人工智能的结构感知个性化联邦视觉语言导航

Qingqian Yang, Hao Wang, Sai Qian Zhang, Jian Li, Yang Hua, Miao Pan, Tao Song, Zhengwei Qi, Haibing Guan

机构 * Openmind (Wuhu) Intelligent Robot Co., Ltd.（Openmind（芜湖）智能机器人有限公司） ； Shanghai Key Laboratory of Scalable Computing and Systems（上海可扩展计算与系统重点实验室） ； National Natural Science Foundation of China（国家自然科学基金委员会） ； US National Science Foundation（美国国家科学基金会） 纠错

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

AI总结 视觉语言导航需大量私有室内环境轨迹数据，存在隐私问题。本文提出针对视觉语言导航的结构感知个性化联邦学习框架pFedNavi，通过自适应确定特定客户端层并进行细粒度参数融合平衡全局知识与局部特性，性能优于基线。

Comments Accepted by the IEEE INFOCOM 2026 Workshop on Emerging Intelligent Networks (EIN)

AirDreamer: Generalist Drone Navigation with World Models

AirDreamer: 基于世界模型的通用无人机导航

Zian Liu, Andong Yang, Chunkai Yang, Ruidong An, Chao Gao, Guyue Zhou

机构 * Institute for AI Industry Research, Tsinghua University, Beijing, China（人工智能产业研究院，清华大学，北京，中国） ； Department of Electronic Engineering, Tsinghua University, Beijing, China（电子工程系，清华大学，北京，中国） ； School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China（遥感与信息工程学院，武汉大学，武汉，中国） 纠错

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

AI总结 提出一种结合强化学习策略和世界模型理解的无人机导航框架，通过稀疏奖励函数避免局部最优，在复杂未知环境中实现优于基线5.3%的成功率，并支持零调参的仿真到现实迁移。

Comments 8 pages, 8 figures

Endowing Embodied Agents with Spatial Reasoning Capabilities for Vision-and-Language Navigation

赋予具身体验智能体空间推理能力以实现视觉-语言导航

Qianqian Bai, Zhongpu Chen, Ling Luo, Huaming Du, Yuqian Lei, Ziyun Jiao

机构 * Southwestern University of Finance（西南财经大学） ； Department of Informatics,Universitat Hamburg, Hamburg, Germany（汉堡大学信息学院） ； University of Electronic Science（电子科技大学） 纠错

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

AI总结 BrainNav通过模仿生物认知功能，提升具身体验智能体的空间推理能力，实现更高效的视觉-语言导航。

GuideNav: User-Informed Development of a Vision-Only Robotic Navigation Assistant For Blind Travelers

GuideNav: 为盲人旅行者开发的基于视觉的机器人导航助手的用户导向开发

Hochul Hwang, Soowan Yang, Jahir Sadik Monon, Nicholas A Giudice, Sunghoon Ivan Lee, Joydeep Biswas, Donghyun Kim

机构 * University of Massachusetts Amherst（马萨诸塞大学阿姆赫斯特分校） ； University of Maine（缅因大学） ； University of Texas at Austin（德克萨斯大学奥斯汀分校） 纠错

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

AI总结 GuideNav是一款基于视觉的导航系统，通过教然后重复的方式帮助盲人旅行者导航，无需依赖昂贵传感器，实现了千米级路径跟随。

Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigation

Kevin Alcedo, Pedro U. Lima, Rachid Alami

机构 * Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa（系统机器人研究所，理工学院，里斯本大学） ； LAAS-CNRS, Artificial and Natural Intelligence Toulouse Institute (ANITI)（LAAS-CNRS，图卢兹人工智能研究所（ANITI）） 纠错

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

Comments Accepted as a regular paper at the 2025 IEEE International Conference on Robot & Human Interactive Communication (RO-MAN). \c{opyright} 2025 IEEE. The final version will appear in IEEE Xplore

Constrained Robotic Navigation on Preferred Terrains Using LLMs and Speech Instruction: Exploiting the Power of Adverbs

Faraz Lotfi, Farnoosh Faraji, Nikhil Kakodkar, Travis Manderson, David Meger, Gregory Dudek

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

Comments Presented at ISER 2023