Robot Navigation

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62 papers in the last four weeks, up 520% on the four weeks before. 0.6% of all new papers.

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LNN-Fly: Continuous-Time UAV Navigation for Robust Obstacle Avoidance under Timing Mismatch
Jun 27, 2026Yulin Huang, Shaojie Chen, Di Feng +3Aerial Robotics Robot Navigation
Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China, Shenzhen, Guangdong 518000, China
Ordinal Neural Collapse as a Representation Prior for Visual Navigation
Jun 25, 2026E-In Son, Jung-Taak Kim, Seung-Woo SeoRepresentation Learning Robot Navigation
Dept. of ECE & ASRI, Seoul National University, Korea
Layered Outer-Loop Control for Disturbance-Robust Multi-Waypoint UAV Arrival
Jun 24, 2026Runfeng LingRobot Navigation UAV Navigation
Runfeng Ling is with The University of Manchester, Manchester, U.K.
NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation
Jun 24, 2026Bingyi Xia, Han Bao, Jingyu Zhu +6Robotics Simulation Robot Navigation
Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China · National University of Singapore, Singapore, Singapore · Research Institute of MA&EI, Peng Cheng Laboratory, Shenzhen, China +2
Learning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations
Jun 24, 2026Han Bao, Bingyi Xia, Hanjing Ye +5Pedestrian Intention Prediction Robot Navigation
Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, SUSTech, Shenzhen, China · Xiamen Key Laboratory of Visual Perception Technology and Application, and the Algorithm Research Center at Reconova Information Technology Co., Ltd. in Xiamen, China · Research Institute of MA&EI, Peng Cheng Laboratory, Shenzhen, China +1
RoboAtlas: Contextual Active SLAM
Jun 24, 2026Alexander Schperberg, Shivam K. Panda, Abraham P. Vinod +2Simultaneous Localization and Mapping Robot Navigation
Mitsubishi Electric Research Laboratories, Cambridge, MA 02139, USA · Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, CA 90095, USA
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
Jun 24, 2026Hao Su, Yuehao Huang, Yukai Ma +2Robot Policy Learning Graph Neural Networks
Zhejiang University, Hangzhou, China
RAVEN: Long-Horizon Reasoning & Navigation with a Visuo-Spatio-Temporal Memory
Jun 23, 2026Yixun Hu, Zhicheng Zheng, Lihan Zha +5Robot Navigation Embodied QA
Princeton University · University of Pennsylvania
SurveilNav: Collaborative Object Goal Navigation with Robot and Surveillance System
Jun 23, 2026Ming-Ming Yu, Qunbo Wang, Rongtao Xu +5Active Perception Robot Navigation
Beihang University · Institute of Automation, Chinese Academy of Sciences · Beijing Jiaotong University +3
Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios
Jun 23, 2026Zishang Xiang, Runda Zhang, Runqi Chai +3Trajectory Optimization Robot Navigation
school of Automation, Beijing Institute of Technology, Beijing, China
Reinforcement Learning Enables Autonomous Microrobot Navigation and Intervention in Simulated Blood Capillaries
Jun 23, 2026Jannik Drotleff, Samuel Tovey, Paul Hohenberger +4Robotics Simulation Robot Navigation
Institute for Computational Physics, University of Stuttgart, Allmandring 3, 70569 Stuttgart, Baden-Württemberg, Germany
LP-NavOA: Integrated Local Navigation and Obstacle Avoidance for Humanoid Robots under Limited Perception
Jun 22, 2026Yukun Luo, Jianjun Ma, Yuyao Min +3Humanoid Robot Locomotion Robot Navigation
College of Intelligence Science and Technology National University of Defense Technology Changsha, China
PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot
Jun 22, 2026Yimeng Qin, Xiaomeng Xu, William Heap +3Robot Navigation Visuomotor Policy Learning
Stanford University
FPAS: Frontier-Based Path Planning with Adaptive Sampling for Large-Scale Unknown Environments
Jun 22, 2026Jinwoo Choi, Yeonkyu Lee, Jung-Taak Kim +2Robot Navigation Adaptive Sampling
Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea
Semantic-Aware Autonomous Exploration for UAVs in Unknown Indoor Environments
Jun 21, 2026Duc-Thien Nguyen, Ngoc Minh Do, Xiem HoangVan +1Robot Navigation Informative Path Planning
University of Engineering and Technology, Vietnam National University, 10000, Hanoi, Vietnam. · School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, 923-1211, Ishikawa, Japan.
FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology
Jun 21, 2026Benquan Wang, Jingdao ChenRobot Navigation Neural Network Robustness
Department of Computer Science Engineering, Mississippi State University, Mississippi State, MS 39762, USA
Conflict-Aware Switching for CBF-CLF-Based Multi-Goal Navigation
Jun 19, 2026Rohan Walia, Kevin LeahyRobot Navigation Control Barrier Functions
Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA 01609, USA
Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning
Jun 19, 2026Takaaki Matsuzawa, Kiyoshi Irie, Tomoaki Yoshida +3Robot Navigation Robot Locomotion
Future Robotics Technology Center (fuRo), Chiba Institute of Technology, Narashino, Chiba, Japan.
A scalar per patch from pre-trained ViTs enables fast moving navigation in the real world
Jun 19, 2026Steeven Janny, Leonid Antsfeld, Christian WolfVisual Representation Learning Robot Navigation
NaverLabs Europe, Grenoble, France
Vesta: A Generalist Embodied Reasoning Model
Jun 18, 2026Johan Bjorck, Zhiqi Li, Yunze Man +29Visual Spatial Reasoning Robot Foundation Models
Co-first authors (alphabetical order). · University of Illinois Urbana-Champaign · Core authors (alphabetical order). +8
Slow Brain, Fast Planner: Latency-Resilient VLM-Augmented Urban Navigation
Jun 18, 2026Zhenghao "Mark'' Peng, Honglin He, Quanyi Li +2Trajectory Generation Robot Navigation
Amazon FAR · UCLA · Independent +1
FlowMaps: Modeling Long-Term Multimodal Object Dynamics with Flow Matching
Jun 18, 2026Francesco Argenziano, Miguel Saavedra-Ruiz, Sacha Morin +3Flow Matching Robot Navigation
Sapienza University of Rome, Rome, Italy · Universit´e de Montr´eal, Montr´eal, QC, Canada · Mila - Quebec AI Institute, Montr´eal, QC, Canada
UNSEEN: Uncertainty-aware Navigation via Sparse Estimation in Unknown Environments
Jun 18, 2026Tommaso Faraci, Marco Camurri, Daniele Fontanelli +1Belief-Space Planning Simultaneous Localization and Mapping
University of Trento, Italy
Route-Constrained Robust Fusion Estimation for MEMS/GNSS Integrated Navigation of Unmanned Ground Vehicles in GNSS Degraded Environments
Jun 18, 2026Jingzhi Cui, Chao Zhang, Yuliang Mao +4Robot Navigation GNSS-Denied Localization
State Key Laboratory of Precision Space-time Information Sensing Technology, Tsinghua University, Beijing, China · Xiaomi Inc., Beijing, China
Safe Local Navigation for Ackermann-Steered Robots in Unmapped Environments
Jun 18, 2026Christian Schaible, Shahin SirouspourRobot Navigation Safe Robot Navigation
Department of Electrical and Computer Engineering, McMaster University, Hamilton, ON L8S 4L8, Canada
SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation
Jun 17, 2026Han Zheng, Zhe Chen, Yiwen Fu +2Collision Avoidance Robot Navigation
Shanghai Jiao Tong University, Shanghai, China.
Congestion-Aware Robot Tour Planning in Crowded Environments
Jun 17, 2026Stefano Bernagozzi, Charlie Street, Masoumeh Mansouri +1Robot Navigation
1Istituto Italiano di Tecnologia – Genova, Italia · 2Universit`a di Genova – Genova, Italia · University of Birmingham – Birmingham, United Kingdom
Generative-Model Predictive Planning for Navigation in Partially Observable Environments
Jun 17, 2026Thomas Quilter, Yifan Zhu, Guorui Quan +2Belief-Space Planning Diffusion-Based Planning
Department of Computer Science Aalto University Espoo, Finland
VEGA: Learning Navigation VLAs from In-the-Wild Egocentric Video with Geometric Trajectory Supervision
Jun 16, 2026Gershom Seneviratne, Yohan Abeysinghe, Jianyu An +2Robot Policy Learning Trajectory Generation
University of Maryland, College Park
Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System
Jun 16, 2026Jiazhao Zhang, Gengze Zhou, Hale Yin +32Robot Foundation Models Robot Navigation
Qwen Team

Jun 27, 2026, cs.ROJ/K move · Enter open · S save

LNN-Fly: Continuous-Time UAV Navigation for Robust Obstacle Avoidance under Timing Mismatch

Yulin Huang, Shaojie Chen, Di Feng, Jiahao Wang+2

Shenzhen Institute for Advanced Study, University of Electronic Science and Technology of China, Shenzhen, Guangdong 518000, China

Aerial Robotics Robot Navigation UAV Navigation Recurrent Neural Networks

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End-to-end unmanned aerial vehicle (UAV) navigation can achieve impressive agility in simulation, yet its obstacle-avoidance behavior often degrades after deployment because the policy must tolerate simulator mismatch, sensing irregularity, and variable-rate control. These effects are especially dangerous in cluttered environments, where stale observations or short control irregularities can directly lead to collisions. We present LNN-Fly, a deployment-oriented continuous-time navigation policy for LiDAR-based UAV obstacle avoidance. The policy combines a dynamic-programming-inspired structured recurrent update, explicit conditioning on the elapsed control interval Δt, and an input-driven adaptive forgetting gate that refreshes stale latent state near hazards while preserving consistency during sustained maneuvers. It is trained with differentiable rollouts that incorporate deployment-relevant sensing and timing perturbations. In simulation, LNN-Fly improves obstacle-avoidance performance in the tested settings and shows better tolerance to reduced control frequency, sparse observations, and control-period jitter. It also transfers zero-shot from a simplified differentiable simulator to a physical quadrotor. In indoor cross-frequency real-world tests, the system achieves 100% success over 20 flights, while policy inference has a median latency of 0.514 ms on a desktop graphics processing unit (GPU) and about 2.5 ms on the onboard central processing unit (CPU), with onboard P95 latency below 30 ms.

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Latest papers 325