机器人 / 具身智能

IntentionNav: A Benchmark for Intent-Driven Object Navigation from Implicit Human Instruction

IntentionNav: 一种基于隐式人类指令的意图驱动目标导航基准

Lin Qian, Shijie Li, Sihao Lin, Xuan Zhang, Bangya Liu, Yanran Li, Hujun Yin

机构 * The University of Manchester（曼彻斯特大学） ； A*STAR ； Responsible AI Research Centre, Adelaide University（阿德莱德大学负责任人工智能研究中心） ； University of Bedfordshire（贝福德郡大学） 纠错

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

AI总结 提出IntentionNav基准，通过隐式人类指令（如“我需要热一下食物”）驱动智能体推断目标物体并导航至其位置，实验表明当前模型在终端成功率和精确定位方面存在显著瓶颈。

Comments preprint

EEG-Driven Intention Decoding: Offline Deep Learning Benchmarking on a Robotic Rover

基于EEG的意图解码：在机器人越野车上的离线深度学习基准测试

Ghadah Alosaimi, Maha Alsayyari, Yixin Sun, Stamos Katsigiannis, Amir Atapour-Abarghouei, Toby P. Breckon

机构 * Department of Computer Science, Imam Mohammad Ibn Saud Islamic University（计算机科学系，伊玛目穆罕默德·伊本·沙特伊斯兰大学） ； Department of Computer Science, King Saud University（计算机科学系，国王沙特大学） 纠错

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

AI总结 本文提出了一种基于EEG的机器人越野车意图解码框架，通过离线深度学习模型评估，发现ShallowConvNet在动作和意图预测中表现最佳。

AsyncVLA: An Asynchronous VLA for Fast and Robust Navigation on the Edge

AsyncVLA: 一种异步VLA用于边缘设备上的快速稳健导航

Noriaki Hirose, Catherine Glossop, Dhruv Shah, Sergey Levine

机构 * University of California, Berkeley（加州大学伯克利分校） ； Toyota Motor North America（丰田汽车北美公司） ； Princeton University（普林斯顿大学） 纠错

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

AI总结 AsyncVLA通过异步框架结合远程大模型与本地轻量级模块，实现边缘设备上的高效稳健导航，成功率达40%。

Comments 13 pages, 9 figures, 2 tables

Towards autonomous photogrammetric forest inventory using a lightweight under-canopy robotic drone

迈向自主光束摄影森林调查的轻量级树冠下无人机

Väinö Karjalainen, Niko Koivumäki, Teemu Hakala, Jesse Muhojoki, Eric Hyyppä, Anand George, Juha Suomalainen, Eija Honkavaara

机构 * Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland（遥感与摄影测量系，芬兰地理空间研究 institute FGI，芬兰国家土地测绘局） 纠错

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

AI总结 本文提出了一种轻量级树冠下无人机原型，利用开源方法实现自主飞行和摄影测量，成功在森林中完成数据采集并实现高精度树木胸径估计。

Comments This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Remote Sensing on 03 Dec 2025. The published final Version of Record is openly available at: https://doi.org/10.1080/01431161.2025.2579803

D3D-VLP: Dynamic 3D Vision-Language-Planning Model for Embodied Grounding and Navigation

D3D-VLP：动态3D视觉-语言-规划模型用于具身接地与导航

Zihan Wang, Seungjun Lee, Guangzhao Dai, Gim Hee Lee

机构 * School of Computing, National University of Singapore（新加坡国立大学计算机学院） ； Nanjing University of Science and Technology（南京理工大学） 纠错

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

AI总结 D3D-VLP通过动态3D链式思维和协同学习策略，实现具身接地与导航的高效统一，提升多任务导航性能。

Socially aware navigation for mobile robots: a survey on deep reinforcement learning approaches

面向移动机器人的社会感知导航：深度强化学习方法的综述

Ibrahim Khalil Kabir, Muhammad Faizan Mysorewala

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

AI总结 本文综述了深度强化学习在社会感知导航中的应用，分析了关键技术和挑战，提出未来需结合多种方法并建立平衡的评估标准。

RoboTidy : A 3D Gaussian Splatting Household Tidying Benchmark for Embodied Navigation and Action

Xiaoquan Sun, Ruijian Zhang, Kang Pang, Bingchen Miao, Yuxiang Tan, Zhen Yang, Ming Li, Jiayu Chen

机构 * Huazhong University of Science and Technology（华中科技大学） ； The University of Hong Kong（香港大学） ； INFIFORCE Intelligent Technology Co., Ltd.（INFIFORCE智能技术有限公司） ； Zhejiang University（浙江大学） ； Guangming Lab, Shenzhen（深圳光明实验室） 纠错

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

DynaNav: Dynamic Feature and Layer Selection for Efficient Visual Navigation

Jiahui Wang, Changhao Chen

机构 * College of Design and Engineering, National University of Singapore（设计与工程学院，新加坡国立大学） ； PEAK-Lab, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）PEAK实验室） 纠错

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

Comments Accepted as a poster in NeurIPS 2025

A Review on Sound Source Localization in Robotics: Focusing on Deep Learning Methods

Reza Jalayer, Masoud Jalayer, Amirali Baniasadi

机构 * Department of Management, Economics and Industrial Engineering, Politecnico di Milano, Via Lambruschini 24/b, 20156, Milan, Italy（管理、经济与工业工程系，米兰理工学院） ； Department of Materials and Mechanical Engineering, University of Turku, Vesilinnantie 5, Turku, 20014, Finland（材料与机械工程系，图尔库大学） ； Department of Electrical and Computer Engineering, University of Victoria, Victoria, BC V8P 5C2, Canada（电气与计算机工程系，维多利亚大学） 纠错

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

Comments 35 pages

Journal ref Appl. Sci. 2025, 15, 9354

DIRIGENt: End-To-End Robotic Imitation of Human Demonstrations Based on a Diffusion Model

Josua Spisak, Matthias Kerzel, Stefan Wermter

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

EchoPT: A Pretrained Transformer Architecture that Predicts 2D In-Air Sonar Images for Mobile Robotics

Jan Steckel, Wouter Jansen, Nico Huebel

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

TANGO: Training-free Embodied AI Agents for Open-world Tasks

Filippo Ziliotto, Tommaso Campari, Luciano Serafini, Lamberto Ballan

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

Beyond Text: Utilizing Vocal Cues to Improve Decision Making in LLMs for Robot Navigation Tasks

Xingpeng Sun, Haoming Meng, Souradip Chakraborty, Amrit Singh Bedi, Aniket Bera

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

Comments 30 pages, 7 figures

Journal ref Transactions on Machine Learning Research 2024

SafeEmbodAI: a Safety Framework for Mobile Robots in Embodied AI Systems

Wenxiao Zhang, Xiangrui Kong, Thomas Braunl, Jin B. Hong

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

Quantum Deep Reinforcement Learning for Robot Navigation Tasks

Hans Hohenfeld, Dirk Heimann, Felix Wiebe, Frank Kirchner

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

Comments 22 pages, 14 figure. Accepeted for publication in IEEE Access

Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems

Alexander Kyuroson, Anton Koval, George Nikolakopoulos

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

Comments Accepted in the 49th Annual Conference of the IEEE Industrial Electronics Society [IECON2023]

Minimizing Turns in Watchman Robot Navigation: Strategies and Solutions

Hamid Hoorfar, Sara Moshtaghi Largani, Reza Rahimi, Alireza Bagheri

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

Comments 6 pages, 3 figures

Journal ref The 21st International Conference on Scientific Computing in The 2023 World Congress in Computer Science, Computer Engineering, & Applied Computing (CSCE'23)

Interactive Semantic Map Representation for Skill-based Visual Object Navigation

Tatiana Zemskova, Aleksei Staroverov, Kirill Muravyev, Dmitry Yudin, Aleksandr Panov

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

Benchmarking Augmentation Methods for Learning Robust Navigation Agents: the Winning Entry of the 2021 iGibson Challenge

Naoki Yokoyama, Qian Luo, Dhruv Batra, Sehoon Ha

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

Bio-inspired spike-based Hippocampus and Posterior Parietal Cortex models for robot navigation and environment pseudo-mapping

Daniel Casanueva-Morato, Alvaro Ayuso-Martinez, Juan P. Dominguez-Morales, Angel Jimenez-Fernandez, Gabriel Jimenez-Moreno, Fernando Perez-Pena

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

Comments 24 pages, 10 figures, journal, Neural Networks

GP-guided MPPI for Efficient Navigation in Complex Unknown Cluttered Environments

Ihab S. Mohamed, Mahmoud Ali, Lantao Liu

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

Comments This paper has 8 pages, 6 figures, 2 tables. It has been accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, 2023

ReVoLT: Relational Reasoning and Voronoi Local Graph Planning for Target-driven Navigation

Junjia Liu, Jianfei Guo, Zehui Meng, Jingtao Xue

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

Comments 8 pages, 7 figures

Position-Agnostic Autonomous Navigation in Vineyards with Deep Reinforcement Learning

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

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

Journal ref 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), 2022, pp. 477-484

Simple but Effective: CLIP Embeddings for Embodied AI

Apoorv Khandelwal, Luca Weihs, Roozbeh Mottaghi, Aniruddha Kembhavi

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

Comments Published in CVPR 2022

Self-supervised 3D Semantic Representation Learning for Vision-and-Language Navigation

Sinan Tan, Mengmeng Ge, Di Guo, Huaping Liu, Fuchun Sun

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

Deep Inertial Navigation using Continuous Domain Adaptation and Optimal Transport

Mohammed Alloulah, Maximilian Arnold, Anton Isopoussu

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

Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics

Matthew Schmittle, Sanjiban Choudhury, Siddhartha S. Srinivasa

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

Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

Diego Aghi, Vittorio Mazzia, Marcello Chiaberge

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

Residual Reactive Navigation: Combining Classical and Learned Navigation Strategies For Deployment in Unknown Environments

Krishan Rana, Ben Talbot, Vibhavari Dasagi, Michael Milford, Niko Sünderhauf

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

Comments Accepted as a conference paper at ICRA2020. Project site available at https://sites.google.com/view/srrn/home

Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues

Arturo Gomez Chavez, Qingwen Xu, Christian A. Mueller, Sören Schwertfeger, Andreas Birk

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

Comments Submitted to IROS 2019