机器人 / 具身智能

A Transfer Learning Approach to Cross-Modal Object Recognition: From Visual Observation to Robotic Haptic Exploration

Pietro Falco, Shuang Lu, Ciro Natale, Salvatore Pirozzi, Dongheui Lee

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

Journal ref IEEE Transactions on Robotics ( Volume: 35 , Issue: 4 , Aug. 2019 )

Deep Local Trajectory Replanning and Control for Robot Navigation

Ashwini Pokle, Roberto Martín-Martín, Patrick Goebel, Vincent Chow, Hans M. Ewald, Junwei Yang, Zhenkai Wang, Amir Sadeghian, Dorsa Sadigh, Silvio Savarese, Marynel Vázquez

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

Journal ref 2019 International Conference on Robotics and Automation (ICRA)

Task-Motion Planning for Navigation in Belief Space

Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto

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

Comments Accepted for publication in the proceedings of the International Symposium on Robotics Research (ISRR) 2019. arXiv admin note: text overlap with arXiv:1908.10227

A Fast Randomized Method to Find Homotopy Classes for Socially-Aware Navigation

Luigi Palmieri, Andrey Rudenko, Kai O. Arras

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

Comments In Proceedings of the IROS 2015 Workshop on Assistance and Service Robotics in a Human Environment Workshop, Hamburg, Germany, 2015

Efficient and Robust Pedestrian Detection using Deep Learning for Human-Aware Navigation

Andre Mateus, David Ribeiro, Pedro Miraldo, Jacinto C. Nascimento

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

Comments Accepted in Robotics and Autonomous Systems

SkiMap: An Efficient Mapping Framework for Robot Navigation

Daniele De Gregorio, Luigi Di Stefano

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

Comments Accepted by International Conference on Robotics and Automation (ICRA) 2017. This is the submitted version. The final published version may be slightly different

Vision-Based Navigation I: A navigation filter for fusing DTM/correspondence updates

Oleg Kupervasser, Vladimir Voronov

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

Comments 26 pages, 3 figures, in English and in Russian. arXiv admin note: substantial text overlap with arXiv:1106.6341, arXiv:1107.1470

Journal ref Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), 2011 , Page(s): 1591 - 1596

Vision-Based Navigation II: Error Analysis for a Navigation Algorithm based on Optical-Flow and a Digital Terrain Map

Oleg Kupervasser, Ronen Lerner, Ehud Rivlin, Hector Rotstein

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

Comments 10 pages,12 figures, 2 tables

Journal ref Proceedings of the 2008 IEEE/ION Position, Location and Navigation Symposium, P.1203-1212

Topological Navigation of Simulated Robots using Occupancy Grid

Richard Szabo

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

Journal ref International Journal of Advanced Robotic Systems, ISSN 1729-8806, Volume 1, Number 3 (2004), pp.201-206

ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

ASPIRE-VINS：具有鲁棒3D测量残差的自适应样条视觉-惯性导航系统

Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh, Hyun Myung

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

AI总结 ASPIRE-VINS是结合AKP、MRS与3D-MSR的连续时间VINS框架，可自适应轨迹节点分配，在多样运动与传感条件下实现更低或相当的轨迹误差，提升视觉-惯性导航的灵活性与精度。

Comments 8 pages, 5 figures. Accepted for publication in IEEE Robotics and Automation Letters (RA-L), June 2026

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 9, pp. 10625-10632, 2026

Sem-NaVAE: Semantically-Guided Outdoor Mapless Navigation via Generative Trajectory Priors

Sem-NaVAE: 基于语义引导的室外无地图导航通过生成式轨迹先验

Gonzalo Olguín, Javier Ruiz-del-Solar

机构 * Department of Electrical Engineering & the Advanced Mining Technology Center (AMTC), Universidad de Chile（电气工程系及先进采矿技术中心（AMTC）、智利大学） 纠错

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

AI总结 提出Sem-NaVAE方法，结合条件变分自编码器生成多样化轨迹和轻量视觉语言模型进行语义选择，实现室外无地图实时导航，在未见环境中达到90%成功率。

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L). 8 pages, 5 figures

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 8, pp. 9335-9342, Aug. 2026

When Multi-Robot Systems Meet Agentic AI:Towards Embodied Collective Intelligence

当多机器人系统遇见智能体AI：迈向具身集体智能

Yuxuan Yan, Yuanyuan Jia, Qianqian Yang

机构 * College of Information Science and Electronic Engineering, Zhejiang University（浙江大学信息与电子工程学院） 纠错

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

AI总结 本文提出具身集体智能（ECI）范式，通过共感知、共行动和共演化使机器人团队共享世界上下文、任务进度和技能经验，并以导航实验验证共享世界记忆继承的有效性。

Planning for robotic exploration based on forward simulation

基于正向模拟的机器人探索规划

Mikko Lauri, Risto Ritala

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

AI总结 本文提出基于POMDP的探索规划方法，结合信息论目标函数和正向模拟算法，通过改进的互信息近似方法提升机器人在部分已知环境中的探索效率。

Comments 19 pages, 11 figures in Robotics and Autonomous Systems (2016)

Journal ref Robotics and Autonomous Systems 83 (2016) 15-31

NMPC-Augmented Visual Navigation and Safe Learning Control for Large-Scale Mobile Robots

增强型视觉导航与安全学习控制用于大规模移动机器人

Mehdi Heydari Shahna, Pauli Mustalahti, Jouni Mattila

机构 * Tampere University（坦佩雷大学） 纠错

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

AI总结 本文提出一种综合导航与控制框架，通过视觉姿态估计、非线性模型预测控制、深度神经网络控制策略及对数安全模块，确保大规模移动机器人在易滑地形上的稳定性和安全性。

Journal ref M. H. Shahna, P. Mustalahti and J. Mattila, "NMPC-Augmented Visual Navigation and Safe Learning Control for Large-Scale Mobile Robots," in IEEE Robotics and Automation Letters, vol. 11, no. 4, pp. 5182-5189, April 2026

Multi-directional Safe Rectangle Corridor-Based MPC for Nonholonomic Robots Navigation in Cluttered Environment

多方向安全矩形走廊基于MPC的非完整机器人在杂乱环境中的导航

Yinsong Qu, Yunxiang Li, Shanlin Zhong

机构 * The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院） ； School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

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

AI总结 本文提出一种改进的顺序MPC导航框架，通过多方向安全矩形走廊算法和障碍函数约束，实现非完整机器人在杂乱环境中的高效导航与障碍回避。

Comments 9 pages, 11 figures, conference paper for the 2025 International Conference on Advanced Robotics and Mechatronics (ICARM), accepted

Journal ref 2025 International Conference on Advanced Robotics and Mechatronics (ICARM), Portsmouth, United Kingdom, 2025, pp. 634-641

Autonomous Navigation of Quadrupeds Using Coverage Path Planning with Morphological Skeleton Map

四足机器人自主导航的覆盖路径规划与形态学骨架地图

Alexander James Becoy, Kseniia Khomenko, Luka Peternel, Raj Thilak Rajan

机构 * Department of Cognitive Robotics, ME, Delft University of Technology（认知机器人系，代尔夫特理工大学） ； Department of Microelectronics, EEMCS, Delft University of Technology（微电子系，代尔夫特理工大学） 纠错

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

AI总结 本文提出利用形态学骨架地图进行四足机器人自主导航的覆盖路径规划方法，通过有限状态机控制导航与扫描模式，实现了高效路径规划和环境扫描。

Comments 15 pages, published to Fronters In Robotics (currently in production), major revision: title change, abstract revised, grammar fixed, mathematical notations fixed and made consistent, conclusion revised, related works extended, Algorithm 1-3 revised

Journal ref Frontiers in Robotics and AI, Volume 31, 1601862, July 2025

LAMP: Implicit Language Map for Robot Navigation

LAMP：机器人导航的隐式语言地图

Sibaek Lee, Hyeonwoo Yu, Giseop Kim, Sunwook Choi

机构 * Department of Intelligent Robotics, Sungkyunkwan University（智能机器人学系，全北国立大学） ； NAVER LABS ； Department of Robotics and Mechatronics Engineering, DGIST（机器人与机电工程系，韩国科学技术院） 纠错

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

AI总结 LAMP通过隐式语言地图实现高效机器人导航，结合隐式神经场与稀疏图进行粗到细路径优化，提升大环境下的内存效率和目标精度。

Comments Accepted for publication in IEEE Robotics and Automation Letters (RA-L). Project page: https://lab-of-ai-and-robotics.github.io/LAMP/

Journal ref IEEE Robotics and Automation Letters (RA-L), 2025

SIGN: Safety-Aware Image-Goal Navigation for Autonomous Drones via Reinforcement Learning

SIGN：通过强化学习实现安全的图像目标导航用于自主无人机

Zichen Yan, Rui Huang, Lei He, Shao Guo, Lin Zhao

机构 * Department of Electrical and Computer Engineering, National University of Singapore（电子与计算机工程系，新加坡国立大学） 纠错

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

AI总结 本文提出了一种基于强化学习的仿真到现实框架，实现无人机的安全图像目标导航，通过直接速度控制和深度安全模块实现自主探索与避障。

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

Journal ref IEEE Robotics and Automation Letters, 2025

SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation

Zhanteng Xie, Philip Dames

机构 * Temple University（特拉华大学） 纠错

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

Comments Accepted by IEEE Transactions on Robotics (T-RO), 2025. arXiv admin note: text overlap with arXiv:2210.08577

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4139-4158, 2025

SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictions

Sepehr Samavi, Anthony Lem, Fumiaki Sato, Sirui Chen, Qiao Gu, Keijiro Yano, Angela P. Schoellig, Florian Shkurti

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

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

Journal ref IEEE Robotics and Automation Letters 2025

Improving robot navigation in crowded environments using intrinsic rewards

Diego Martinez-Baselga, Luis Riazuelo, Luis Montano

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

Comments Paper accepted in 2023 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 9428-9434

A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties

Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos

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

Comments 7 pages, 7 figures, accepted to be published in IEEE International Conference on Robotics and Automation (ICRA 2024)

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA)

Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes

Weizhe Chen, Roni Khardon, Lantao Liu

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

Comments International Journal of Robotics Research (IJRR). Code: pypolo.readthedocs.io. arXiv admin note: text overlap with arXiv:2205.06426

Journal ref The International Journal of Robotics Research. 2024;43(4):405-436

Waypoint Generation in Row-based Crops with Deep Learning and Contrastive Clustering

Francesco Salvetti, Simone Angarano, Mauro Martini, Simone Cerrato, Marcello Chiaberge

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

Comments Accepted at ECML PKDD 2022

Journal ref Machine Learning and Knowledge Discovery in Databases. ECML PKDD 2022. Lecture Notes in Computer Science(), vol 13718, Springer

Under the Sand: Navigation and Localization of a Micro Aerial Vehicle for Landmine Detection with Ground Penetrating Synthetic Aperture Radar

Rik Bähnemann, Nicholas Lawrance, Lucas Streichenberg, Jen Jen Chung, Michael Pantic, Alexander Grathwohl, Christian Waldschmidt, Roland Siegwart

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

Comments Submitted to Field Robotics journal in June 2021. First revision submitted December 2021

Journal ref Field Robotics, 2, (2022), 1028-1067

Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control and Coordination

Nicholas R. Rypkema, Henrik Schmidt, Erin M. Fischell

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

Comments 34 pages, 17 figures, to be published in Field Robotics Special Issue on Unmanned Marine Systems

Journal ref Field Robotics 2 (2022) 774-806

Core Challenges in Embodied Vision-Language Planning

Jonathan Francis, Nariaki Kitamura, Felix Labelle, Xiaopeng Lu, Ingrid Navarro, Jean Oh

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

Comments Journal of Artificial Intelligence Research 74 (2022) 459-515

Millimeter-wave Foresight Sensing for Safety and Resilience in Autonomous Operations

Daniel Mitchell, Jamie Blanche, Sam T. Harper, Theodore Lim, Valentin Robu, Ikuo Yamamoto, David Flynn

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

Comments 7 pages, 4 figures

Variational End-to-End Navigation and Localization

Alexander Amini, Guy Rosman, Sertac Karaman, Daniela Rus

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

Comments Published in IEEE International Conference on Robotics and Automation (ICRA) 2019. Best Paper Award Finalist

Journal ref 2019 International Conference on Robotics and Automation (ICRA)

Incorporating Gaze into Social Navigation

Justin Hart, Reuth Mirsky, Xuesu Xiao, Peter Stone

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

Comments Accepted for publication in the Robotics: Science and Systems Workshop on Social Robot Navigation (RSS 2021)