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논문

새로 나온 로봇, 피지컬 AI 논문과, 각 논문이 업계에 갖는 의미.

논문 18편
주제전체매니퓰레이션 76VLA 65내비게이션 35로봇 일반 32로봇 학습 27인지 22휴머노이드 21시뮬레이션 15보행 13안전 11World Action Models 4World-action model 3Aerial 2Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continual reinforcement learning on top of robot foundation models 1Continuum sensing 1Cross-embodiment transfer of humanoid whole-body controllers 1Curriculum RL 1Dexterous Manipulation 1Distributed Manipulation 1Distribution Shift 1Driving Simulation 1Efficient VIO 1Egocentric data 1Egocentric video 1Embodied Agents 1Embodied policy 1Empowerment MPC 1Endoscopic navigation 1Endovascular robotics 1Evaluating robot world models against real executions 1Event-camera VO 1Exoskeletons 1Failure recovery 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid loco-manipulation 1Humanoid safety 1Humanoid whole-body control 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1MAPF 1MAV guidance 1Manipulation LfD 1Manipulation Safety 1Marine simulation 1Memory-centric VLA 1Miniature Locomotion 1Mining Perception 1Mobile manipulation 1Model-based RL 1Monocular SSC 1Motion Planning 1Multi-Agent RL 1Multi-Robot Exploration 1Multi-Robot Manipulation 1Multi-UAV Exploration 1Multi-UAV State Estimation 1Multi-agent RL 1Multi-agent motion planning 1Multi-camera odometry 1Multi-fidelity RL 1Multi-robot manipulation 1Multi-skill Manipulation 1Multi-view perception 1Multimodal simulation 1Navigation & Mapping 1Object Pose Estimation 1Object Search 1Panoramic 3D Detection 1Panoramic segmentation 1Pedestrian tracking 1PersonNav 1Planning 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Reinforcement learning for industrial assembly 1Representation alignment 1Robot-Use Agents 1Runtime Verification 1Safe Generative Planning 1Safe RL-MPC 1Safe VLA 1Safety monitoring 1Safety-critical control 1Sim-to-real Navigation 1Sim-to-real manipulation 1Simulation geometry 1Skill Discovery 1Social navigation 1Soft Pneumatic Actuators 1Soft manipulation 1Sonar SLAM 1Streaming 3D reconstruction 1Submovement decomposition 1Surgical 1Surgical robotics 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1UAV Navigation 1UAV Swarms 1UAV traffic monitoring 1Underwater Robotics 1Underwater active mapping 1Underwater perception 1Unified world-action model 1VLA Conditioning 1VLA Defense 1VLA Robustness 1VLA evaluation 1VLA manipulation 1VLA robustness 1Video world models 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1World Models 1World models 1World-Action Models 1
난이도전체입문중급전문가
아직 한국어판이 없어 영어 원문으로 표시.
기술 필터 적용 중: 라이다(LiDAR), 해제
arXiv
Navigation전문가

Tiered-Resolution Volumetric Mapping for Real-Time Simultaneous Planning and Mapping on Natural Outdoor Environments

Afonso E. Carvalho, David Portugal, Paulo Peixoto, George Kantor

Real-time volumetric mapping for a planning robot is dominated by the cost of integrating and storing information at the finest resolution, yet only a small fraction of any map ever lies on or near a path the planner actually considers. We exploit this with a tiered-resolution mapping mechanism that integrates LiDAR into a single map structure at two resolutions simultaneously: fine inside a corridor around the robot's current plan, and coarse everywhere else.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Perception전문가

RadarGSOcc: Doppler-Aware 3D Semantic Occupancy Prediction Using 4D Radar Tensor with Geometric-Semantic Feature Extraction

Christofel Rio Goenawan, Dong-Hee Paek, Seung-Hyun Kong

3D semantic occupancy prediction is crucial for autonomous driving, but camera-based methods degrade in low-light conditions and LiDAR-based methods are sensitive to adverse weather. 4D radar is more robust, yet its sparsity and the high cost of radar tensor processing limit its use.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Navigation전문가

Autonomous 3D Visual-Thermal Inspection for Utility-Scale Solar Farms

Lachlan Tychsen-Smith, Mark Cox, Brett Wood, David Haddon, Kenrick Anderson, Benjamin Duck, Jim O'Malley, Noel W Duffy, Peyman Moghadam

Utility-scale photovoltaic (PV) inspection is dominated by aerial surveys, which are effective for identifying module-level hot cells but provide limited visibility of critical components located under the array, including connectors, cabling, fasteners and structural elements. These assets are difficult to inspect consistently at scale, and their defects are often spatially small, partially occluded and difficult to localise from isolated images.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Navigation전문가

RTISSLAM: In-air Imaging Sonar SLAM using a Robust Pose Graph and Occupancy Grid Mapping

Jan Steckel

Sonar was one of the first sensors with which mobile robots built maps, and in-air sonar keeps working where cameras and lidar fail, in darkness, smoke, dust and next to glass. Classical sonar SLAM, however, relied on geometric features or occupancy grids built from sparse range readings, and both struggle with the specular reflections that dominate indoor sonar.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Simulation전문가

Into the LidarVerse: A Real-Time Unified LiDAR World Model Across Tasks and Sensors

Henry Che, Xuanchi Ren, Sanja Fidler, Shenlong Wang, Laura Leal-Taixé, Shengyu Huang

We present LidarVerse, a real-time unified LiDAR world model for sensor simulation across tasks and sensors. Existing LiDAR simulators largely follow one of two complementary paradigms: reconstruction-based methods preserve the geometry of a captured scene but require lengthy per-scene optimization, whereas generative methods amortize learning across data but lack the consistency needed for long-horizon rollouts.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Navigation전문가

PathLift: Depth-Conditioned Metric Lifting for Visual-Navigation Priors

Gwanjun Shin, Hyeongseok Suh, Hongmo Jung, Jongwoo Lim

Generalist visual-navigation policies tell a robot which direction to go but not how far. A separate lifting step is needed at deployment to convert their unitless trajectory into a metric path that a controller can track; existing scalar lifters apply uniform scaling that misses per-waypoint corrections, while in-policy approaches that inject monocular depth into the policy inherit the prediction errors of the depth model near obstacles and at close range.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Perception전문가

Multimodal Sensor-Gated Mid-Air Launch and Vision-Based Recovery of a Child UAV on a Hovering Mothership Drone

Aashish Sahu, R. Prasanth Kumar

Launching a micro unmanned aerial vehicle (UAV) from a hovering carrier and recovering it in flight requires reliable confirmation that the child is securely seated before the carrier is allowed to descend. This is challenging because vision provides relative guidance but does not directly indicate load transfer, and a downward-facing camera can lose its fiducial near touchdown.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Locomotion전문가

PointWalker: Mapless Quadruped Locomotion Directly From Raw LiDAR Point Clouds

Sicen Li, Zhen Chu, Chao Li, Jun Zheng, Qiuguo Zhu, Jun Wu

Quadruped robots deployed for inspection and field missions must cross heterogeneous terrain, from stairs, slopes, and gaps to high platforms, stepping stones, and balance beams, where safe support is sparse or see-through. Existing methods interpose a terrain map or a depth image between sensing and control.

RL라이다(LiDAR)
DEEP Robotics
논문 전문 읽기 (PDF)
arXiv
Perception전문가

Beyond the Snowflakes: Disentangling Weather Effects from Confounding Meta-Factors in LiDAR Object Detection

Yiming Yang, Jeremy P. Bos

Light Detection and Ranging (LiDAR) is critical for autonomous perception, yet its performance is known to degrade in adverse weather. While existing literature models snow as atmospheric noise that degrades performance, our granular evaluation on the WADS-3D and CADC datasets reveals a counter-intuitive phenomenon: detection accuracy consistently improves as snow intensity increases.

라이다(LiDAR)
Intuitive
논문 전문 읽기 (PDF)
arXiv
Navigation전문가

When LiDAR Fades, Radar Takes Over: LiDAR Reliability-Aware Adaptive Localization Under Airborne Obscurants

Moumita Mukherjee, Avijit Banerjee, Anton Koval, George Nikolakopoulo

LiDAR-inertial odometry (LIO) is widely used for real-time localization and mapping, but its reliability can degrade substantially in subterranean environments affected by smoke, dust, and other airborne obscurants, whereas radar remains comparatively robust. This article presents a one-class temporal learning framework for LiDAR degradation detection and reliability-aware localization under such conditions.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Simulation전문가

Mapless, Stabilizing, and Anti-Stuck Flipper Control for Articulated Tracked Robots

Valentýn Číhala, Pavel Sarga, Martin Pecka, Tomáš Svoboda, Karel Zimmermann

Nearly every autonomous or semi-autonomous flipper controller assumes access to an elevation map of the terrain under and in front of the robot. The terrain beneath the chassis is occluded in the sensors, so the map is remembered through odometry integration, whose drift corrupts it.

원격 조종라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Aerial navigation전문가

DR-IPC LiDAR 쿼드로터용 외란 내성 통합 계획 및 제어

Peng Liu, Jingyan Wang, Qipeng Ye, Wen Li, Jinya Su, Zuo Wang, Shihua Li, Yunda Yan

이 논문은 arXiv 프리프린트로, LiDAR 기반 쿼드로터가 바람이나 매달린 하중 같은 외란 속에서도 안전하게 비행하도록 계획과 제어를 한 번에 푸는 DR-IPC를 제안했다. EKF와 비선형 외란 관측기를 연결해 상태를 필터링하고 외란을 재구성해 NMPC 예측에 넣었으며, 안전비행구역 위반을 하드 제약 대신 소프트 페널티로 처리했다. Gazebo에서 외란이 있는 멀티골 임무 완료 횟수가 IPC의 1/10에서 DR-IPC는 9/10으로 늘었고, 실험에서는 고도 RMSE가 0.34 m에서 0.01 m로 줄었다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Navigation & Mapping중급

GlassGuard, 투명 유리 평면 매핑으로 로봇 내비게이션의 자유 공간 오염 줄인다

Hanwen Guo, Zhengzhi Lin, Yusen Xie, Ji Zhang

카네기멜런대 연구팀이 공개한 프리프린트에서 로봇 내비게이션용 투명 유리 평면 매핑 프레임워크 GlassGuard를 제안했다. 9개 건물 규모 현장에서 1시간 이상, 2.1km를 실제 주행한 평가에서 파노라마 버전이 85.2%의 유리 커버리지를 달성했고, 동일 핀홀 입력 기준으로 기존 방법 대비 5~17배 적은 거짓 점유를 보였다. 이는 유리 장애물을 안전하게 막으면서 이동 가능한 공간을 보존해 실내외 로봇 주행 신뢰성을 높인다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
MAV guidance중급

LiDARFlow, 미지 환경에서 온보드 LiDAR와 PGFlow 패널 방식으로 실시간 회피하는 MAV 유도

João Machado, Zeynep Bilgin, Matthieu Verdoucq, Murat Bronz

ENAC 연구팀이 공개한 프리프린트에서 온보드 LiDAR만으로 미지 환경을 비행하는 초소형 비행체(MAV)용 유도 시스템 LiDARFlow를 제안했다. 이 시스템은 유체역학 기반 PGFlow 패널 장애물 회피와 수렴형 유도 벡터장을 결합해 실내 비행 시험에서 경유점 이동과 방향 추종 두 시나리오 모두 충돌 없이 임무를 완수했다. 지도와 사전 장애물 정보 없이 Raspberry Pi 온보드에서 실시간 동작할 만큼 가볍다는 점이 핵심이다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Agricultural Robotics중급

ALFRED: 장기 식물 모니터링용 오픈소스 모바일 매니퓰레이터 개발

Ciarán Miceal Johnson, Christopher Quail, Garry Ellard, Alistair McConnell, Steve Tonneau, Fernando Auat Cheein

영국 연구팀이 상용 부품으로 조립한 6자유도 암, LiDAR, RGB-D 카메라, RTK GNSS, IMU를 갖춘 모바일 매니퓰레이터 ALFRED를 공개했다. 4개 빌드를 6개 설계 요구사항에 따라 개선했고, 마지막 3개 빌드의 로봇 모델 분석에서 암 가용 작업공간 비율이 34.0%에서 60.0%, 66.1%로 올랐으며 프레임 장착 LiDAR의 수평 시야가 전후방 모두 확보된 것은 최종 빌드뿐이었다. 실물 로봇은 1년간 월간 산림 조사 528회를 결측 없이 수행했다. 이 논문은 아직 동료심사를 거치지 않은 프리프린트다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Underwater perception전문가

SonarVoxNet, 3D 소나로 전신 방향까지 잡는 다이버 9자유도 검출과 Diver3D 데이터셋

Eugene Park, Jiwon Lee, Seyoung Kan, Trung Dong, Xiaomin Lin, Jane Shin

프리프린트로 공개된 이 연구는 3D 소나 반사점에서 다이버의 위치와 전신 방향을 9자유도 3D 바운딩박스로 검출하는 SonarVoxNet과 최초의 3D 소나 다이버 방향 데이터셋 Diver3D를 제안했다. yaw만 예측하던 기존 LiDAR 검출기와 달리 연속 6D 회전 표현으로 full-SO(3) 방향을 예측했고, Diver3D 테스트에서 [email protected] 기준 0.703, 추론 후 기하 정제로 0.774를 기록했다. 이는 3D 소나만으로 자유롭게 기울고 구르는 다이버의 방향을 복원할 수 있음을 보여 수중 인간-로봇 상호작용의 기반을 마련했다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
LiDAR Security전문가

TACTIC: 교통 맥락 인지 LLM 전술 계획으로 노변 LiDAR 공격 100% 충돌 유도

Yiming Gao, Shaocheng Luo

미시간대, 듀크대 연구진이 공개한 프리프린트에서 노변 LiDAR 공격을 교통 장면에 맞춰 계획하는 TACTIC을 제안했다. TACTIC은 다중모달 LLM이 의미론적 장면 그래프를 만들고 push-away와 phantom-braking의 모드와 연속 파라미터를 함께 선택하며, CARLA 무작위 시험 280회에서 100% 충돌률을 기록했다. 고정 규칙 35%, 무작위 선택 60%, 제한적 LLM 75%와 대비되며, 물리, 영상 공동 입력이 100%인 반면 단일 입력은 65%와 75%로 떨어졌다.

라이다(LiDAR)
논문 전문 읽기 (PDF)
arXiv
Perception전문가

PhysWAM: Physically Consistent World Action Model for Autonomous Driving

Dhruv Parikh, Fengcheng Yu, Quankai Gao, Jiawei Yang, Junjie Ye, Maulik Bhatt, Thang Vu, Charles Ochoa, Rowan McAllister, Igor Vasiljevic, Rajgopal Kannan, Viktor Prasanna, Vitor Guizilini, Yue Wang

World-action models (WAMs) jointly predict how a scene will evolve and how an agent should act, however joint generation alone does not necessarily impose a shared geometric constraint on these predictions. We present PhysWAM, a unified world-action model for autonomous driving that co-denoises multiview video, metric depth, and ego motion within a single flow-matching transformer.

라이다(LiDAR)
논문 전문 읽기 (PDF)

주제별 논문

매니퓰레이션 8VLA 4World Action Models 5World-action model 3Aerial manipulation 3Dexterous manipulation 3Sim-to-Real Manipulation 3Social Navigation 3

논문은 arXiv 로봇 피드에서 가져옵니다. 요약이 아직 작성되지 않은 논문은 초록의 첫 부분을 보여줍니다.