机器人 / 具身智能

Low Cost Semi-Autonomous Agricultural Robots In Pakistan-Vision Based Navigation Scalable methodology for wheat harvesting

Muhammad Zubair Ahmad, Ayyaz Akhtar, Abdul Qadeer Khan, Amir Ali Khan, Muhammad Murtaza Khan

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

Virtual Elastic Tether: a New Approach for Multi-agent Navigation in Confined Aquatic Environments

虚拟弹性缆绳：一种多智能体在受限水下环境中的导航新方法

Kanzhong Yao, Xueliang Cheng, Keir Groves, Barry Lennox, Ognjen Marjanovic, Simon Watson

机构 * Manchester Centre for Robotics and AI, Department of Electrical and Electronic Engineering, University of Manchester（曼彻斯特机器人与人工智能中心，电气与电子工程系，曼彻斯特大学） 纠错

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

AI总结 本文提出了一种虚拟弹性缆绳（VET）方法，用于解决水下环境中多智能体导航的挑战，通过在不完全状态测量条件下实现更稳定的导航性能。

Comments This work has been submitted to the Wiley for possible publication

Journal ref Journal of Field Robotics 43, 3332-3350 (2026)

PREVENT: Proactive Risk Evaluation and Vigilant Execution of Tasks for Mobile Robotic Chemists using Multi-Modal Behavior Trees

Satheeshkumar Veeramani, Zhengxue Zhou, Francisco Munguia-Galeano, Hatem Fakhruldeen, Thomas Roddelkopf, Mohammed Faeik Ruzaij Al-Okby, Kerstin Thurow, Andrew Ian Cooper

机构 * Department of Chemistry and Material Innovation Factory, University of Liverpool（化学系和材料创新工厂，利物浦大学） ； Center for Life Science Automation, University of Rostock（生命科学自动化中心，罗斯托克大学） 纠错

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

Comments 25 pages, 8 figures, paper submitted to Robotics and Autonomous Systems Journal

Integrating Quantized LLMs into Robotics Systems as Edge AI to Leverage their Natural Language Processing Capabilities

Miguel Á. González-Santamarta, Francisco J. Rodríguez-Lera, David Sobrín-Hidalgo, Ángel Manuel Guerrero-Higueras, Vicente MatellÁn-Olivera

机构 * University of León（莱昂大学） 纠错

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

Comments 10 pages, 4 figures, Submitted to 3rd edition of the Workshop on Ontologies and Standards for Robotics and Automation (WOSRA) at ICRA 2024

Speech-Guided Sequential Planning for Autonomous Navigation using Large Language Model Meta AI 3 (Llama3)

Alkesh K. Srivastava, Philip Dames

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

Comments Accepted at the 16th International Conference on Social Robotics + AI

From the Desks of ROS Maintainers: A Survey of Modern & Capable Mobile Robotics Algorithms in the Robot Operating System 2

Steve Macenski, Tom Moore, David Lu, Alexey Merzlyakov, Michael Ferguson

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

Journal ref Robotics and Autonomous Systems, 2023

Learning Semantic-Agnostic and Spatial-Aware Representation for Generalizable Visual-Audio Navigation

Hongcheng Wang, Yuxuan Wang, Fangwei Zhong, Mingdong Wu, Jianwei Zhang, Yizhou Wang, Hao Dong

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

Journal ref The IEEE Robotics and Automation Letters 2023

Interactive Gibson Benchmark (iGibson 0.5): A Benchmark for Interactive Navigation in Cluttered Environments

Fei Xia, William B. Shen, Chengshu Li, Priya Kasimbeg, Micael Tchapmi, Alexander Toshev, Li Fei-Fei, Roberto Martín-Martín, Silvio Savarese

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

Comments 9 pages, 8 figures. Consider citing a newer version (https://arxiv.org/abs/2012.02924) if you are using iGibson

Journal ref IEEE Robotics and Automation Letters, Vol. 5, No. 2, April 2020

SoundSpaces: Audio-Visual Navigation in 3D Environments

Changan Chen, Unnat Jain, Carl Schissler, Sebastia Vicenc Amengual Gari, Ziad Al-Halah, Vamsi Krishna Ithapu, Philip Robinson, Kristen Grauman

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

Comments Accepted to ECCV 2020 (Spotlight). Project page: http://vision.cs.utexas.edu/projects/audio_visual_navigation/

HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators

Chengshu Li, Fei Xia, Roberto Martin-Martin, Silvio Savarese

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

Comments Conference on Robot Learning (CoRL) 2019

Acting Thoughts: Towards a Mobile Robotic Service Assistant for Users with Limited Communication Skills

Felix Burget, Lukas Dominique Josef Fiederer, Daniel Kuhner, Martin Völker, Johannes Aldinger, Robin Tibor Schirrmeister, Chau Do, Joschka Boedecker, Bernhard Nebel, Tonio Ball, Wolfram Burgard

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

Comments * FB, LDJF, DK, MV and JA contributed equally to the work. Accepted as a conference paper at the European Conference on Mobile Robotics 2017 (ECMR 2017), 6 pages, 3 figures

Journal ref 2017 European Conference on Mobile Robots (ECMR)

Spiking control systems for soft robotics: a rhythmic case study in a soft robotic crawler

基于脉冲控制的软机器人系统：一种软体机器人爬行的节律案例研究

Juncal Arbelaiz, Alessio Franci, Naomi Ehrich Leonard, Rodolphe Sepulchre, Bassam Bamieh

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

AI总结 本文提出一种基于脉冲控制的软体机器人爬行系统，通过双稳态与负反馈机制实现节律运动，利用分支分析和几何理论解释动态行为，并证明机械共振可最大化运动速度。

Comments Updated some theorem statements and the respective proofs; some figures as well

On Deep Learning Techniques to Boost Monocular Depth Estimation for Autonomous Navigation

Raul de Queiroz Mendes, Eduardo Godinho Ribeiro, Nicolas dos Santos Rosa, Valdir Grassi

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

Comments 29 pages, 16 figures. Preprint published in the Elsevier's Robotics and Autonomous Systems journal on November 23, 2020

Journal ref Journal: Robotics and Autonomous Systems, publisher: Elsevier, volume number: 136, year: 2020, page number: 103701

SAIN: Structure-Aware Interactive Navigation with Active Dialogue Grounding for Mobile Robot

SAIN：面向移动机器人的、结合主动对话 grounding 的结构感知交互式导航

Yuhao Cao, Xiao Liu, Yang Xie, Lu Liu, Haoyao Chen

机构 * School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳）机械工程与自动化学院） ； Department of Mechanical Engineering, City University of Hong Kong（香港城市大学机械工程系） 纠错

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

AI总结 本文提出SAIN零样本框架，将主动对话转化为持久导航状态，在VL-LN IIGN基准上提升了导航成功率与加权成功率，无需特定任务策略训练，验证了对话转状态机制的有效性。

Comments 8 pages, 4 figures, and 4 tables

Unordered Landmark Visual Navigation

无序地标视觉导航

Hao Ren, Junzhe Zhu, Yihan Li, Zetong Bi, Le Zheng, Zhi Li, Yiqing Yuan, Zhaoliang Wan, Dizhe Zhang, Lu Qi, Hui Cheng

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

AI总结 针对无序图像导航的挑战，本文提出无需时间与里程计先验的ULVN框架，通过整合建图、定位与规划，在仿真和真实场景中性能优于现有最优方法。

Comments ECCV2026 Oral & Spotlight

UniNav: A Unified World-Action Diffusion Model for Visual Navigation

UniNav：用于视觉导航的统一世界-动作扩散模型

Changqing Zhou, Yueru Luo, Zeyu Jiang, Changhao Chen

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

AI总结 UniNav是统一世界-动作扩散模型，通过单扩散过程生成未来视觉观测与航路点轨迹，其变体UniNav-Fast延迟0.1秒且精度无明显下降，在导航基准上ATE优于最强基线。

Audio-Visual World Models: Learning Physically Grounded Multisensory Dynamics

视听世界模型：为具身智能体奠定多感官想象的基础

Jiahua Wang, Leqi Zheng, Jialong Wu, Yaoxin Mao, Shijie Cheng

机构 * Tsinghua University（清华大学） ； Beijing Institute of Technology（北京理工大学） 纠错

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

AI总结 提出视听世界模型（AVWM）统一框架，通过条件扩散Transformer（AV-CDiT）联合预测双耳音频与视觉动态，在30小时基准AVW-4k上实现高保真多模态预测，并验证其在具身导航中的有效性。

EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation

EndoWAM：用于通用内窥镜导航的基于接地的世界-动作模型

Jinsong Lin, Zikang Pan, Wanhao Liu, Chi Kit Ng, Liangjing Shao, Zihang Yu, Ziyu Wang, Yin Wang, Jiaxi Wang, Jeremy Yuen-Chun Teoh, Zhiyong Xiong, Huxin Gao, Hongliang Ren

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

AI总结 EndoWAM是首个用于通用机器人内窥镜导航的世界-动作模型，通过未来接地机制结合轻量型扩散Transformer与离散动作专家，在EndoMotion数据集上优于基线，具强零样本泛化能力。

When Robots Exchange Meaning: A Demo of Goal-Oriented Semantic Communications for Collaborative Robotics

当机器人交换意义：面向协作机器人的目标导向语义通信演示

Peizheng Li, Xinyi Lin, Sajida Gufran, Adnan Aijaz

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

AI总结 本文提出一种机器人-边缘端语义通信测试平台，通过VQ-VAE等技术实现视觉压缩与语义建图，为协作机器人及相关6G网络研究提供了实用演示平台。

Comments 3 pages, 3 figures. This paper has been accepted for presentation as a demo paper at IEEE CSCN 2026

RoamFlow: Reinforcement-Aligned One-Step Action MeanFlow Policy for Image-Goal Navigation

RoamFlow: 用于图像目标导航的强化对齐一步动作均值流策略

Zixuan Zhang, Yuqi Chen, Junjie Gao, Siyuan Song, Yongzhou Pan, Beichen Wang, Mir Feroskhan

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

AI总结 提出RoamFlow框架，利用均值流预测平均速度场实现轨迹合成，结合专家模仿和强化学习两阶段训练，在仿真和真实机器人上实现高效推理和强导航性能。

SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation

SAGE-Nav：利用LLM规划与对齐融合的分层场景图引导导航

Hao Su, Yuehao Huang, Yukai Ma, Yong Liu, Jiajun Lv

机构 * Zhejiang University（浙江大学） 纠错

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

AI总结 提出SAGE-Nav分层框架，结合大语言模型与动态场景图，通过解耦全局语义规划与高频反应控制，实现高效目标导航，在i-THOR和RoboTHOR中达到最优性能。

Comments Accepted by IROS 2026

Raspi$^2$USBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics

Raspi$^2$USBL：一种基于树莓派的开源被动倒置超短基线水下机器人定位系统

Jin Huang, Yingqiang Wang, Ying Chen

机构 * State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University（浙江省海洋传感重点实验室，浙江大学海洋学院） ； School of Oceanography, Shanghai Jiao Tong University（上海交通大学海洋学院） 纠错

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

AI总结 提出一种基于树莓派的低成本被动倒置超短基线定位系统，通过被动声学接收器和主动信标实现水下定位，在消声池、淡水湖和开放海域测试中达到0.1%斜距精度和0.1°方位角精度。

HAVEN: Hierarchical Adversary-aware Visibility-Enabled Navigation with Cover Utilization using Deep Transformer Q-Networks

HAVEN：基于深度变换器Q网络的分层对抗感知可见性导航与覆盖利用

Mihir Chauhan, Damon Conover, Aniket Bera

机构 * IDEAS Lab, Department of Computer Science, Purdue University（IDEAS实验室，计算机科学系，普渡大学） ； DEVCOM Army Research Laboratory（国防部陆军研究实验室） 纠错

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

AI总结 本文提出一种分层导航框架，结合深度变换器Q网络作为高层子目标选择器和模块化低层控制器，通过可见性感知候选生成和潜在场控制器提升导航安全性与效率。

Vision-and-Language Navigation for UAVs: Progress, Challenges, and a Research Roadmap

面向无人机的视觉与语言导航：进展、挑战与研究路线图

Hanxuan Chen, Jie Zheng, Siqi Yang, Tianle Zeng, Siwei Feng, Songsheng Cheng, Ruilong Ren, Hanzhong Guo, Shuai Yuan, Xiangyue Wang, Kangli Wang, Ji Pei

机构 * Autel Robotics, Shenzhen, China（大疆创新，深圳，中国） ； School of Intelligent Software and Engineering, Nanjing University, Nanjing, China（南京大学智能软件与工程学院，南京，中国） ； School of Computer, Data & Information Sciences, University of Wisconsin-Madison, Madison, WI, USA（威斯康星大学麦迪逊分校计算机、数据与信息科学学院，麦迪逊，WI，美国） ； Southern University of Science and Technology, Shenzhen, China（南方科技大学，深圳，中国） ； The University of Hong Kong, Hong Kong SAR, China（香港大学，香港特别行政区，中国） ； School of Software and Microelectronics, Peking University, Beijing, China（北京大学软件与微电子学院，北京，中国） 纠错

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

AI总结 本文综述了无人机视觉与语言导航领域，分析了从早期模块化方法到基于大模型的智能系统的发展，探讨了现实部署中的挑战，并提出了未来研究方向。

Navigation beyond Wayfinding: Robots Collaborating with Visually Impaired Users for Environmental Interactions

超越导航的导航：机器人与视障用户协作进行环境互动

Shaojun Cai, Nuwan Janaka, Ashwin Ram, Janidu Shehan, Yingjia Wan, Kotaro Hara, David Hsu

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

AI总结 本文提出一种人机协作方法，结合机器人感知与用户物理操作能力，提升视障者环境互动导航的安全性与效率。

Comments Accepted to ACM/IEEE HRI 2026, 10 pages, 6 figures

From Woofs to Words: Towards Intelligent Robotic Guide Dogs with Verbal Communication

从Woofs到Words：迈向具备言语交流的智能机器人导盲犬

Yohei Hayamizu, David DeFazio, Hrudayangam Mehta, Zainab Altaweel, Jacqueline Choe, Chao Lin, Jake Juettner, Furui Xiao, Jeremy Blackburn, Shiqi Zhang

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

AI总结 本文提出了一种新型对话系统，通过LLM实现导航计划和场景的言语化，以提升导盲犬在动态环境中的空间感知与人类操作者的协作决策能力。

Comments 10 pages, 6 figures, AAAI 2026

CHOP: Counterfactual Human Preference Labels Improve Obstacle Avoidance in Visuomotor Navigation Policies

CHOP：反事实人类偏好标签改进视觉运动导航策略中的障碍物避让

Gershom Seneviratne, Jianyu An, Vaibhav Shende, Sahire Ellahy, Yaxita Amin, Kondapi Manasanjani, Samarth Chopra, Jonathan Deepak Kannan, Dinesh Manocha

机构 * University of Maryland, College Park（马里兰大学学院公园分校） 纠错

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

AI总结 CHOP通过反事实人类偏好标签改进视觉运动导航策略的障碍物避让能力，显著提升安全性和导航效率。

Sample-Efficient Learning with Online Expert Correction for Autonomous Catheter Steering in Endovascular Bifurcation Navigation

基于在线专家纠正的高效学习用于内血管分叉导航的自主导管操控

Hao Wang, Tianliang Yao, Bo Lu, Zhiqiang Pei, Liu Dong, Lei Ma, Peng Qi

机构 * Tongji University（同济大学） ； College of Electronics and Information Engineering（电子信息工程学院） ； Shanghai Institute of Intelligent Science and Technology（上海智能科学与技术研究院） ； The Chinese University of Hong Kong（香港中文大学） ； School of Mechanical and Electric Engineering（机械电子工程学院） ； Soochow University（苏州大学） ； Shanghai Operation Robot Co., Ltd.（上海操作机器人有限公司） ； State Key Laboratory of Cardiovascular Diseases（心血管疾病国家重点实验室） 纠错

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

AI总结 本文提出一种结合在线专家纠正的样本高效强化学习框架，用于内血管分叉导航中的自主导管操控，提升了在复杂血管结构中的操控精度和鲁棒性。

Comments This paper has been accepted by IEEE ICRA 2026. 8 pages, 5 figures, 1 table

AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation

AnyNav: 基于神经符号原理的视觉摩擦学习用于越野导航

Taimeng Fu, Zitong Zhan, Zhipeng Zhao, Yi Du, Shaoshu Su, Xiao Lin, Ehsan Tarkesh Esfahani, Karthik Dantu, Souma Chowdhury, Chen Wang

机构 * Spatial AI & Robotics (SAIR) Lab, Department of Computer Science and Engineering, University at Buffalo（空间人工智能与机器人实验室，计算机科学与工程系，布法罗大学） 纠错

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

AI总结 AnyNav通过结合神经网络和符号物理模型，实现基于视觉的摩擦学习，提升越野导航在不同地形和车辆中的泛化能力与鲁棒性。

DREAMer-VXS: A Latent World Model for Sample-Efficient AGV Exploration in Stochastic, Unobserved Environments

DREAMer-VXS：一种用于在随机、未观测环境中高效样本AGV探索的潜在世界模型

Agniprabha Chakraborty

机构 * Department of Power Engineering, Jadavpur University（功率工程系，贾瓦德普尔大学） 纠错

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

AI总结 DREAMer-VXS通过高效样本利用和潜在世界模型，实现AGV在随机未观测环境中的高效探索与鲁棒导航