Traversability

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12 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

Jul 13Week of Sep 28

Latest papers 31

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Belief-Aware Multi-Agent Path Finding under Map Uncertainty
Sep 30, 2026Viraj Parimi, Shao-Hung Chan, Han Zhang +2Multi-Agent Path Finding Path Planning
Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 01239. · Symbotic Inc., Wilmington, MA 01887, USA
Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots
Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Legged Robots Traversability
Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Universit`a degli Studi di Genova, Genoa, Italy.
Semantic Map Sharing and Capability-Aware Coverage Planning for AI-Native 6G Robotic Coordination
Sep 29, 2026Abdulqader Dhafer, Qi Wang, Zhou Daniel HaoHeterogeneous Robot Teams Semantic Communications
School of Computing and Mathematical Sciences, University of Leicester, UK · DANiLab, University of Leicester, Leicester, UK
Learning Social Navigation from Internet Videos in the Policy State Space
Sep 26, 2026Jiaming Wang, Duc Thang Nguyen, Jizhuo Chen +4Safe Navigation Pedestrian
National University of Singapore, Singapore · Singapore Management University, Singapore · The Chinese University of Hong Kong, Hong Kong SAR, China +1
Learning to Drive on Mars: Visual Multimodal Traversability Estimation for Off-World Navigation
Sep 21, 2026Darren Chiu, Cole Wilson, Andrei Tumbar +2Traversability Autonomous Navigation
University of Southern California, Los Angeles, CA 90089, USA. · Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109, USA. · Washington State University, Pullman, WA 99164, USA.
Which Terrain Is Better? Preference Learning with VLM Prototypes for Off-Road Traversability Ranking
Sep 20, 2026Ji-Hoon Hwang, Jisung Bae, E-In Son +3Traversability Terrain
Tele-Traversability: Rethinking Traversability for Teleoperated Ground Robots in Terrain Navigation
Sep 17, 2026Lewei Feng, Qi Chen, Wenshuo Wang +6Traversability Teleoperation
School of Mechanical Engineering, Beijing Institute of Technology, China · School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China · Faculty of Marine Science and Technology, Beijing Institute of Technology, China +5
Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation
Sep 15, 2026Hojin Lee, Yunho Lee, Daniel A Duecker +1Traversability Ego-Trajectory Prediction
Ulsan National Institute of Science and Technology, Ulsan, 44919, Republic of Korea · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany
Visual Cue Guided Video Planning for Generalizable Robot Navigation
Sep 15, 2026Hojin Lee, Sizhe Lester Li, Maximilian Hilger +4Object Goal Navigation Robot Navigation
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, 80797 Munich, Germany. · Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, 72081 Örebro, Sweden.
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
Sep 11, 2026Muyuan Ma, Yi Zhang, Yang Yang +12Robot Trajectories Traversability
Estimating Semantic Ambiguity via Gaussian Context Distributions for VLM-Driven Traversability Analysis
Sep 8, 2026Ramona Häuselmann, Mario A. V. Saucedo, Christoforos Kanellakis +1Traversability Vision-Language Navigation
Robotics & AI Team, Department of Computer, Electrical and Space Engineering, Luleå University of Technology, Luleå SE-97187, Sweden.
TASG-Explore: Traversability-Aware Sector-Guided Exploration for Ground Robot on Uneven Terrain
Sep 8, 2026Shaocong Wang, Shiliang Shao, Ting Wang +2Traversability Terrain
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · University of Chinese Academy of Sciences, Beijing 101408, China · Key Laboratory of Maritime Intelligent Network Information Technology, Ministry of Education, Hohai University, Nanjing 210098, China
RoughSense: Lightweight Terrain-Induced Rover Vibration Prediction Using Point Clouds and IMU Feedback
Sep 3, 2026Gabriel Manuel Garcia, Stephanie Aravecchia, Miguel Angel Olivares-MendezRobust Lidar-Inertial Odometry Autonomous Surface Vehicles
University of Luxembourg, Luxembourg · IRL Georgia Tech-CNRS, Metz, France
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
Aug 7, 2026Yao Wang, Siyuan Wang, Zhirui Sun +4Vision-Language Navigation Cross-Embodiment Transfer
Peng Cheng Laboratory · Southern University of Science and Technology · Innovation Investment Research Institute +1
TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks
Aug 3, 2026Daniel Fusaro, Simone Mosco, Wanmeng Li +1Traversability Kolmogorov-Arnold Networks
Department of Information Engineering, University of Padova, Italy.
TEA-AgriVLN: Traversability Estimation Alarm for Agricultural Vision-and-Language Navigation
Jul 30, 2026Xiaobei Zhao, Xingqi Lyu, Xin Chen +1Vision-Language Navigation Traversability
China Agricultural University · China Agricultural University-Sichuan Advanced Agricultural & Industrial Institute
Towards Capability-Aware Traversability Navigation for Unstructured Environments
Jul 22, 2026Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2Traversability Obstacle Avoidance
Mobile Robotics Group, University of São Paulo, São Carlos, SP, Brazil
Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments
Jul 20, 2026Matthew Sivaprakasam, Samuel Triest, Micah Nye +5Traversability Autonomous Navigation
Robotics Institute, Carnegie Mellon University · Field AI
TraversRL: Traversable Pedestrian Pathway Generation With Reinforcement Learning
Jul 20, 2026Bin Han, Robert Wolfe, Bill HoweTraversability Pathways
University of Washington · Rutgers University
SE(2) Navigation Mesh
Jul 1, 2026Shuyang Shi, Kaixian Qu, Changan Chen +3Traversability Navigation
Robotic Systems Lab, ETH Zurich, Switzerland.
OmniPath: A Multi-Modal Agentic Framework for Auditing Wheelchair Accessibility
Jun 23, 2026ASM Mobarak Hossain, Nadim Mahmud, Vaskar Raychoudhury +1Autonomous Powered Wheelchair Accessibility
Causal AI Lab, Department of Information Systems, University of Maryland Baltimore County, Baltimore, MD, USA · Department of Computer Science & Software Engineering, Miami University, Oxford, OH, USA
GuideWalk: Learning Unified Autonomous Navigation and Locomotion for Humanoid Robots across Versatile Terrains
Jun 9, 2026Haoxuan Han, Chen Chen, Linao Gong +6Agile Locomotion Autonomous Navigation
Harbin Institute of Technology · Leju Robotics
From General Vision to Reliable Traversability Estimation: Adapting Vision Foundation Models for Unstructured Outdoor Environments
May 28, 2026Ji-Hoon Hwang, Jisung Bae, Dong-Wook Kim +2Traversability Recent Vision Foundation Models
Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
May 27, 2026Julia Hindel, Simon Bultmann, Houman Masnavi +2Traversability Open-World
Department of Computer Science, University of Freiburg, Germany.
Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data
May 26, 2026Marcus G Müller, Wout Boerdijk, Maximilian Durner +5Traversability Terrain
Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany · Federal Institute of Technology Zurich (ETH Zurich), Zurich, Switzerland · Robotics and AI Institute (RAI), Zurich, Switzerland
Remember Your Trace: Memory-Guided Long-Horizon Agentic Framework for Consistent and Hierarchical Repository-Level Code Documentation
May 14, 2026Suyoung Bae, Jaehoon Lee, Changkyu Choi +2Repository-Level Code Understanding Documentation
Sungkyunkwan University, South Korea · University of Oslo, Norway
Reasoning About Traversability: Language-Guided Off-Road 3D Trajectory Planning
Apr 23, 2026Byounggun Park, Soonmin HwangTraversability Autonomous Driving
Department of Automotive Engineering, Hanyang University, Seoul, Republic of Korea
CoSPlan: Corrective Sequential Planning via Scene Graph Incremental Updates
Dec 11, 2025Shresth Grover, Priyank Pathak, Akash Kumar +1Classical Planning Scene Understanding
UCF Institute of Artificial Intelligence, University of Central Florida (UCF)
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Dec 2, 2025Iana Zhura, Sausar Karaf, Faryal Batool +7Traversability Diffusion Planning
Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology.
ZeST: an VLM-based Zero-Shot Traversability Navigation for Unknown Environments
Aug 26, 2025Shreya Gummadi, Mateus V. Gasparino, Gianluca Capezzuto +2Traversability
Field Robotics Engineering and Science Hub (FRESH), Illinois Autonomous Farm, University of Illinois at Urbana-Champaign (UIUC), IL · Mobile Robotics Group, S˜ao Carlos School of Engineering, University of S˜ao Paulo (EESC-USP), S˜ao Carlos, SP, Brazil
Learning Traversability for Long Horizon Off-Road Navigation
Date pendingKasi Viswanath, Jason M. Gregory, Shaunak Kolhe +1Traversability Autonomous Navigation
Department of Mechanical Engineering, Texas A&M University, College Station, TX 77840, USA · DEVCOM Army Research laboratory, Adelphi, MD, USA

Sep 30, 2026, cs.AIJ/K move · Enter open · S save

Belief-Aware Multi-Agent Path Finding under Map Uncertainty

Viraj Parimi, Shao-Hung Chan, Han Zhang, Jingkai Chen+1

Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 01239. · Symbotic Inc., Wilmington, MA 01887, USA

Multi-Agent Path Finding Path Planning Traversability Map Uncertainty Path

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Multi-Agent Path Finding (MAPF) aims to find collision-free paths for multiple agents in a shared environment. Classical MAPF assumes that all static obstacles are known in advance, but real-world environments can change unexpectedly due to fallen objects, spills, or other local disturbances. When such changes are spatially correlated, an observation can inform traversability estimates beyond the observed location. Prior approaches address uncertainty in traversability through contingent plans or replanning based on direct observations, but do not leverage this spatial dependence to infer the traversability of nearby unobserved locations. As a result, they cannot use one observation to anticipate nearby unobserved obstacles that may cause costly rerouting later. We focus on Belief-Aware MAPF, where map discrepancies are fixed during execution but initially unknown, and observations can be informative beyond the observed location. We propose Multi-Agent Gaussian belief Inference for Coordination (MAGIC), a framework that updates a shared belief about traversability online based on agents' observations. MAGIC uses a Gaussian Markov Random Field and Gaussian Belief Propagation to approximately infer traversability and construct detour-aware costs for standard MAPF planners. Our experiments on MAPF benchmarks show that MAGIC reduces the executed sum of costs compared to existing approaches on 96.3% of instances, across several planner families and teams of up to 800 agents, demonstrating its applicability to large-scale MAPF problems.

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Latest papers 31