Papers Robot Navigation
“Robot Navigation” 태그가 달린 논문 789편 · 필터 해제
VeriFine: Scaling Verification for Self-Improvement in Embodied Reasoning
Self-improving policies continually expose new failure patterns, changing what their judges must be able to verify. However, current fixed judges constrain both optimization feedback and the discovery of useful training …
Robot NavigationGlassGuard: Verified Glass Plane Mapping for Robot Navigation
Transparent and specular surfaces pose a serious challenge to LiDAR-based SLAM and navigation because laser returns may pass through glass, leaving collision boundaries absent from the map. Prior work attempts to reconst…
Robot NavigationSeeing What Matters: Visual Cue Guided Video Planning for Generalizable Robot Navigation
Generative video models can serve as a promising backbone for robot navigation by predicting future observations as video plans. Recent approaches often condition video planning on short-horizon guidance and recover geom…
Robot NavigationHuman-Human & Human-Robot Interaction Transformer (H2INT) for Robot Navigation in Dense and Uncertain Crowds
Safe robot navigation in dense crowds requires reasoning about pedestrian motion and how it may change in response to a robot. However, many learning-based approaches generate pedestrian motion independently of the robot…
Reinforcement LearningRobot NavigationDevGRU: Depth-guided Visual Navigation using a Collision-aware Recurrent Model
Existing visual navigation models often aim to develop foundation models that can generalize robot navigation across diverse platforms. However, many of these models are prone to collisions when deployed in complex indoo…
Visual NavigationRobot NavigationPose EstimationDijkstra as an Oracle for Online Stochastic Shortest Path Navigation with Provable Guarantees
Mobile robots that operate in side by side with humans and critical facilities must reach their goals at low cost, despite often unknown true traversal costs of the map apriori and imperfect actuation. Planners that solv…
Robot NavigationTowards Socially Compliant Navigation in Deep Reinforcement Learning via Proxemics-Based Reward Modeling
Developing effective robot navigation methods in crowded environments is essential for real-world applications. Although recent deep reinforcement learning (DRL) methods have improved navigation performance in crowded en…
Reinforcement LearningRobot NavigationPathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To reso…
Trajectory PlanningRobot NavigationPoint CloudsLearning Social Robot Navigation By Sensing Human Legs
Robots navigating among pedestrians typically sense their surroundings with a 2D LiDAR mounted close to the ground. At that height, the sensor mostly sees moving legs rather than whole people, yet most learning-based nav…
Reinforcement LearningRobot NavigationUnified Prediction and Planning via Conflict-Aware Disjoint Parameter Training
Accurate motion prediction of surrounding agents and safe motion planning are two closely coupled key tasks for social robot navigation in crowded environments. Deploying these systems on resource-constrained edge device…
Robot NavigationMotion PlanningSOPD-SocialNav: Selective On-Policy Distillation for Vision-Language Social Navigation
Vision-language models have shown strong potential for social robot navigation by leveraging rich semantic understanding of complex environments and human behaviors. However, large scale VLMs are difficult to deploy on r…
Robot NavigationSocially Consistent Multi-Robot Navigation Using Decoupled Planning and Trajectory Coordination
The successful integration of mobile robots in human-centric environments requires navigation that is not only safe and efficient, but also consistent and compliant with social conventions: key precursors for human comfo…
Robot NavigationEmbodied Active Learning under Limited Annotation and Navigation Budget for Object Detection
This paper studies how to adapt a computer vision object detector to an unknown environment under both a robot navigation time and annotation budget constraint. Our approach selects informative robot trajectories and ima…
Robot NavigationObject DetectionActive LearningMemoGuard: An Adaptive Runtime for Guarding Against Memory Traps in Communication-Limited Robot Navigation
Communication-limited robots in mission-critical scenarios such as disaster inspection and search-and-rescue must make reliable onboard decisions without access to remote operators or high-capacity reasoning services. Ep…
Robot NavigationRisk-Aware Preference Learning for Stochastic Outcomes
Learning reward functions from human preferences is a widely used approach for aligning robot behavior with user expectations in human-robot interaction. Most existing approaches assume that humans evaluate uncertain out…
Robot NavigationConFlow: Constraints-Guided Learning with Flow Matching for Motion Generation
In recent years Flow Matching has become a prominent method for generative modeling robot motion generation. In its generic form Flow Matching is an ODE-based neural sampler that is trained by regressing empirical flow f…
Robot NavigationUnveiling Complex Collective Behaviors from Simple Rewards
Multi-agent Reinforcement Learning (MARL) holds great potential for robot swarms, but the black-box nature of neural policies complicates strategic analysis, limiting multi-robot applications. Furthermore, complex swarm …
Multi-agent Reinforcement LearningRobot NavigationStratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance
This paper proposes StratMamba, a dual-stream Mamba-based temporal modeling architecture, to more efficiently capture long-horizon temporal dependencies required for robot navigation in complex and obstacle-rich environm…
Robot NavigationNavigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anticipate human motion and respect personal…
Collision AvoidanceRobot NavigationPIER-Flow: Physics-Informed Efficient Rectified Flow for Real-Time Mobile Robot Navigation
Autonomous navigation in dense and highly dynamic environments requires both physically feasible control and low-latency replanning. Optimization-based methods such as Model Predictive Control (MPC) explicitly handle rob…
Robot Navigation