机器人 / 具身智能

T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation

Chungeng Tian, Ning Hao, Fenghua He

机构 * School of Astronautics, Harbin Institute of Technology（航天学院，哈尔滨工业大学） 纠错

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

Comments This paper was submitted to IEEE RA-L on July 14, 2024, and accepted on December 18, 2024. This version serves as the 'plus edition' of the accepted paper, incorporating supplementary materials for completeness

A short methodological review on social robot navigation benchmarking

Pranup Chhetri, Alejandro Torrejon, Sergio Eslava, Luis J. Manso

机构 * Department of Artificial Intelligence and Robotics, Aston University（人工智能与机器人系，阿斯顿大学） ； Department of Computer and Communication Technology, Universidad de Extremadura（计算机与通信技术系，埃斯特雷马杜拉大学） 纠错

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

Comments 18 pages, 14 of which references. 3 figures, 2 tables

CE-Nav: Flow-Guided Reinforcement Refinement for Cross-Embodiment Local Navigation

Kai Yang, Tianlin Zhang, Zhengbo Wang, Zedong Chu, Xiaolong Wu, Yang Cai, Mu Xu

机构 * AMAP, Alibaba Group（阿里集团AMAP） 纠错

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

Comments Project Page: https://ce-nav.github.io/. Code is available at https://github.com/amap-cvlab/CE-Nav

Safe Active Navigation and Exploration for Planetary Environments Using Proprioceptive Measurements

Matthew Jiang, Shipeng Liu, Feifei Qian

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

MOFM-Nav: On-Manifold Ordering-Flexible Multi-Robot Navigation

Bin-Bin Hu, Weijia Yao, Ming Cao

机构 * Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen（格罗宁根大学工程与技术学院，科学与工程学院） ； School of Robotics, Hunan University（湖南大学机器人学院） 纠错

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

IR2: Implicit Rendezvous for Robotic Exploration Teams under Sparse Intermittent Connectivity

Derek Ming Siang Tan, Yixiao Ma, Jingsong Liang, Yi Cheng Chng, Yuhong Cao, Guillaume Sartoretti

机构 * Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore（机械工程系，设计与工程学院，新加坡国立大学） ； Singapore Technologies Engineering Ltd（新加坡科技工程有限公司） 纠错

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

Comments \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality

Jorge de Heuvel, Sebastian Müller, Marlene Wessels, Aftab Akhtar, Christian Bauckhage, Maren Bennewitz

机构 * University of Bonn（波恩大学） ； Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔人工智能与机器学习研究所） ； Center for Robotics（机器人中心） ； University of Mainz（美因茨大学） ； Fraunhofer Institute for Intelligent Analysis and Information Systems IAIS（弗劳恩霍夫智能分析与信息系统研究所） 纠错

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

Demonstration-Enhanced Adaptable Multi-Objective Robot Navigation

Jorge de Heuvel, Tharun Sethuraman, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn, Germany（波恩大学人形机器人实验室） 纠错

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

Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation

Murad Dawood, Sicong Pan, Nils Dengler, Siqi Zhou, Angela P. Schoellig, Maren Bennewitz

机构 * Humanoid Robots Lab, University of Bonn（波恩大学人形机器人实验室） 纠错

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

NAMO-LLM: Efficient Navigation Among Movable Obstacles with Large Language Model Guidance

Yuqing Zhang, Yiannis Kantaros

机构 * Department of Electrical and Systems Engineering, McKelvey School of Engineering, Washington University in St.Louis（电气与系统工程系，麦凯利工程学院，华盛顿大学圣路易斯分校） 纠错

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

Comments 9 pages, 6 figures

EffiTune: Diagnosing and Mitigating Training Inefficiency for Parameter Tuner in Robot Navigation System

Shiwei Feng, Xuan Chen, Zikang Xiong, Zhiyuan Cheng, Yifei Gao, Siyuan Cheng, Sayali Kate, Xiangyu Zhang

机构 * Department of Computer Science, Purdue University（计算机科学系，普渡大学） 纠错

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

Comments Accepted to IROS 2025

Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation

Zhongbi Luo, Yunjia Wang, Jan Swevers, Peter Slaets, Herman Bruyninckx

机构 * Division of Robotics, Automation and Mechatronics in the Department of Mechanical Engineering, KU Leuven（机械工程系机器人、自动化与机电系，KU莱顿大学） ； Division of Declarative Languages and Artificial Intelligence (DTAI) in the Department of Computer Science, KU Leuven（计算机科学系声明语言与人工智能系（DTAI），KU莱顿大学） 纠错

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

Shape-Aware Whole-Body Control for Continuum Robots with Application in Endoluminal Surgical Robotics

Mohammadreza Kasaei, Mostafa Ghobadi, Mohsen Khadem

机构 * School of Informatics, University of Edinburgh（信息学院，爱丁堡大学） ； Playground Robotics 纠错

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

Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications

Chanwoo Kim, Jihwan Yoon, Hyeonseong Kim, Taemoon Jeong, Changwoo Yoo, Seungbeen Lee, Soohwan Byeon, Hoon Chung, Matthew Pan, Jean Oh, Kyungjae Lee, Sungjoon Choi

机构 * Department of Artificial Intelligence, Korea University（人工智能系，韩国大学） ； Department of Computer Science and Engineering（计算机科学与工程系） ； Department of Artificial Intelligence, Yonsei University（人工智能系，yonsei大学） ； Robotics Institute, School of Computer Science at Carnegie Mellon University（机器人研究所，卡内基梅隆大学计算机科学学院） ； Mobinn ； Department of Electrical and Computer Engineering（电气与计算机工程系） ； Department of Statistics（统计学系） 纠错

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

Comments For more videos, see https://chanwookim971024.github.io/PioneeR/

Online Topological Localization for Navigation Assistance in Bronchoscopy

Clara Tomasini, Luis Riazuelo, Ana C. Murillo

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

Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes

Zili Tang, Yuming Feng, Meng Guo

机构 * College of Engineering, Peking University（北京理工大学工程学院） 纠错

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

Comments Robotics: Science and Systems (RSS) 2024.Videos are available on https://zilitang.github.io/Collaborative-Pushing

Journal ref Proceedings of Robotics: Science and Systems (RSS), 2024, Delft, Netherlands, Article 63

Adaptive Dynamics Planning for Robot Navigation

Yuanjie Lu, Mingyang Mao, Tong Xu, Linji Wang, Xiaomin Lin, Xuesu Xiao

机构 * Department of Computer Science, George Mason University（计算机科学系，乔治·马歇尔大学） ； Department of Engineering Science, University of South Florida（工程科学系，佛罗里达州立大学） 纠错

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

Comments 8 pages, 4 figures

Efficient Navigation in Unknown Indoor Environments with Vision-Language Models

D. Schwartz, K. Kondo, J. P. How

机构 * ETH Zürich（苏黎世联邦理工学院） ； Massachusetts Institute of Technology（麻省理工学院） 纠错

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

Comments 7 pages, 4 figures, accepted to the OWN workshop at IROS 2025

Decentralized Multi-Robot Relative Navigation in Unknown, Structurally Constrained Environments under Limited Communication

Zihao Mao, Yunheng Wang, Yunting Ji, Yi Yang, Wenjie Song

机构 * 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)；分类 cs.RO

Robust Visual Teach-and-Repeat Navigation with Flexible Topo-metric Graph Map Representation

Jikai Wang, Yunqi Cheng, Kezhi Wang, Zonghai Chen

机构 * Department of Automation, University of Science and Technology of China (USTC)（自动化系，中国科学技术大学） 纠错

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

Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces

Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi

机构 * Department of Electrical Engineering, Lakehead University（电气工程系，拉科夫大学） ； Department of Computer Science and Engineering, University of Quebec in Outaouais（计算机科学与工程系，魁北克大学瓦省分校） 纠错

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

ReInAgent: A Context-Aware GUI Agent Enabling Human-in-the-Loop Mobile Task Navigation

Haitao Jia, Ming He, Zimo Yin, Likang Wu, Jianping Fan, Jitao Sang

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

An LLM-Powered Cooperative Framework for Large-Scale Multi-Vehicle Navigation

Yuping Zhou, Siqi Lai, Jindong Han, Hao Liu

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)；分类 cs.AI

Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis

Kasidit Muenprasitivej, Ye Zhao, Glen Chou

机构 * Georgia Institute of Technology（佐治亚理工学院） 纠错

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

Comments 9 pages, 4 figures

Terrain-Aided Navigation Using a Point Cloud Measurement Sensor

Abdülbaki Şanlan, Fatih Erol, Murad Abu-Khalaf, Emre Koyuncu

机构 * Aerospace Research Center（航空研究机构） ； Istanbul Technical University（伊斯坦布尔技术大学） 纠错

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

Uncertainty-Informed Active Perception for Open Vocabulary Object Goal Navigation

Utkarsh Bajpai, Julius Rückin, Cyrill Stachniss, Marija Popović

机构 * Center for Robotics, University of Bonn（波恩大学机器人中心） ； MAVLab, TU Delft（代尔夫特理工大学MAVLab） ； Lamarr Institute for Machine Learning and Artificial Intelligence（机器学习与人工智能拉马尔研究所） 纠错

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

Comments 7 pages, 3 figures

Journal ref Proceedings of the 2025 European Conference on Mobile Robots (ECMR)

Learning to Crawl: Latent Model-Based Reinforcement Learning for Soft Robotic Adaptive Locomotion

Vaughn Gzenda, Robin Chhabra

机构 * Embodied Learning and Intelligence for eXploration and Innovative soft Robotics (ELIXIR) Lab（具身学习与智能探索与创新软机器人实验室） 纠错

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

Decremental Dynamics Planning for Robot Navigation

Yuanjie Lu, Tong Xu, Linji Wang, Nick Hawes, Xuesu Xiao

机构 * Department of Computer Science, George Mason University（计算机科学系，乔治·马歇尔大学） ； Department of Engineering Science, University of Oxford（工程科学系，牛津大学） 纠错

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

Comments 7 pages. Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)

Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion

Jeffrey Mao, Raghuram Cauligi Srinivas, Steven Nogar, Giuseppe Loianno

机构 * New York University（纽约大学） ； US DEVCOM Army Research Lab（美国国防部高级研究计划局陆军实验室） ； University of California, Berkeley（加州大学伯克利分校） 纠错

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

Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0

Yan Miao, Ege Yuceel, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Sayan Mitra

机构 * University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校） ； Toyota Research Institute of North America（丰田北美研究院） 纠错

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