- lio
- slam
- traversability
- vla
- vln
- ros2
- gazebo
- paper-review
- tech-note
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PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion (IROS 2026)
Perceptive quadruped locomotion RL that puts the gait phase prior only in the reward, not the action space, and learns in joint space without IK
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BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps (arXiv 2026)
A geometry-only LIO that survives geometry-poor environments such as tunnels and flat fields by storing a high-resolution bump height image in every voxel
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Principles and Guidelines for Evaluating Social Robot Navigation Algorithms (ACM THRI 2025)
A consensus-style evaluation standard paper in which 31 collaborators propose a definition of social robot navigation, eight principles, guidelines for metrics, scenarios, benchmarks, datasets, and simulators, and a common metrics API
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FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (IROS 2022)
HKU-MARS's LIVO that attaches image patches to LiDAR map points for reuse in a sparse-direct VIO, coupled with a direct LIO inside a single ESIKF
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FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry (T-RO 2025)
The reference direct LIVO that raises accuracy, robustness, and efficiency at once with a sequential-update ESIKF, a single unified voxel map, and LiDAR plane priors
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VLN-R1: Vision-Language Navigation via Reinforcement Fine-Tuning (arXiv 2025)
An end-to-end framework that feeds only first-person RGB video into Qwen2-VL to predict low-level actions directly, post-trained with GRPO reinforcement fine-tuning and a time-decayed reward to reach SOTA on VLN-CE
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These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots (RA-L 2022)
A real-time semantic mapping framework that recursively estimates the probability distributions of terrain elevation and friction coefficient from a single RGB-D camera via Bayesian inference
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PUTN: A Plane-fitting based Uneven Terrain Navigation Framework (IROS 2022)
An uneven-terrain navigation framework that fits local planes to point clouds to evaluate traversability and chains PF-RRT*, GPR, and NMPC