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机器人与具身智能领域的最新论文，以及每篇对产业的意义。

10 篇论文
主题全部Manipulation 27VLA 22Perception 12Robotics 11Navigation 10Humanoid 9Learning 8Safety 5World Action Models 4Simulation 3Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 2World models 2World-action model 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial 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 1Continuum sensing 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 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 control 1Humanoid loco-manipulation 1Humanoid safety 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1Locomotion 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 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 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 robotics 1Tactile 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-Action Models 1
难度不限入门进阶专业
暂无中文版，显示英文原文。
arXiv
Navigation专业

HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation

Hajira Amjad, Valerii Serpiva, Viacheslav Liubimov, Didar Seyidov, Dzmitry Tsetserukou

We present HorizonNav, a video diffusion-based framework for anticipatory robot navigation that transforms a single RGB image and a text prompt into a geometrically aligned representation of plausible surrounding 3D space. Given the initial observation and a textual description of the reconstruction objective, a vision-language model, guided by designed instructions, interprets the scene and constructs structured prompts for a video diffusion model.

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arXiv
Navigation专业

BT-Agent: Deploying Onboard Robot Agents with Behavior Trees and Multi-Fidelity Evaluation

Fabio Hübel, Adam Lilja, Yue Yin, Siming He, Claire Tomlin, Shankar Sastry, Jonas Frey, Marco Pavone

Deploying language-model agents onboard mobile robots requires task reasoning and responsive execution within limited compute and memory. We propose BT-Agent, an onboard architecture combining LLM-driven task decisions with predefined behavior-tree (BT) skills.

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arXiv
Navigation专业

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.

激光雷达
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arXiv
Navigation专业

Comparing Utility of Inertial, Occupancy, Semantic, and Intent Information in Human Motion Prediction During Daily Tasks

Max Burns, Maisha Khanum, Monroe Kennedy, Steven H. Collins

Accurate human motion prediction is crucial for robotic systems operating around people, particularly in complex indoor spaces. In this study, we assess the relative importance of different sources of information in indoor motion prediction with a human motion diffusion model.

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arXiv
Navigation专业

Geometry-Preserving Human-to-Robot Upper-Body Motion Retargeting from Monocular Video

Xiaoyu Yang, Sen Han, Da Li, Nan Wu

Monocular RGB video provides an accessible source of human demonstrations for upper-body robot motion, yet video-driven human-to-robot transfer remains challenging because body and hand motion are recovered at different spatial scales, human and robot kinematics differ substantially, and fine distal motion is difficult to preserve across embodiments. We present a geometry-preserving motion-retargeting framework that integrates unified body--hand reconstruction with morphology-independent geometric transfer.

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arXiv
Navigation专业

Pow3R-SLAM: Real-Time RGB-D SLAM with 3D Reconstruction Priors

Christopher Kolios, Ishaan Mehta, Sasa Janjic, Yeganeh Bahoo, Sajad Saeedi

We present Pow3R-SLAM, a real-time RGB-D simultaneous localization and mapping (SLAM) system that uses Pow3R for tracking and mapping. Inspired by MASt3R-SLAM, a recent work on monocular SLAM using two-view 3D reconstruction priors, we extend the work to incorporate depth as a prior on the network's prediction, rather than as geometry to fuse.

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arXiv
Navigation专业

Brain-SAD: A Brain-Inspired Safe Autonomous Driving Control Framework with Dynamic Fear-Oriented Constraint on Dual-Policy

Huan Rong, Chao Yin, Anouar Imel, Yijie Xia, Tinghuai Ma

Constrained Reinforcement Learning has recently gained increasing attention in the field of Safe Autonomous Driving, where the general mechanism is to maximize the expected reward while keeping the overall action risk bounded. In this way, the safety issues arising in AD can be mitigated through constrained actions.

RL
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arXiv
Navigation专业

Risk-Aware Semantic Grounding for Trustworthy LLM-Based Robot Planning

Łukasz Sobczak, Nur Keleşoğlu, Sławomir Piotr Nowak

Large language models (LLMs) are increasingly used as high-level planners in robot navigation, but their outputs may become unreliable when instructions are ambiguous, unsupported by the environment, or semantically inconsistent. This paper presents a Risk-Aware Semantic Grounding framework for trustworthy LLM-based robot planning.

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arXiv
Navigation专业

Credit-Guided Policy Improvement for Test-time Adaptive Vision-Language Navigation

Yang Li, Sijia Zhang, Yihan Li, Aming WU, Zihao Zhang, Ziju Han, Yahong Han

Test-time adaptation for vision-language navigation (TTA-VLN) enables pretrained policies to adapt online to unseen environments using only test-time observations and interaction history. However, distribution shifts can distort local action preferences and lead to off-course decisions.

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主题页

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

论文来自 arXiv 机器人领域。尚未生成摘要的论文，显示摘要开头部分。