LOCOMOTION
思考路径：面向具身导航的空间感知世界动作模型
Hong Chen, Daqi Liu, Zehan Zhang, Haiguang Wang, Tianhao Lu, Longfei Yan, Haiyang Sun, Fangzhen Li, Hongwei Xie, Bing Wang, Guang Chen, Hangjun Ye, Yihua Tan
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出SWAM模型，通过单次推理同时生成中间RGB-D序列和动作轨迹，解决了传统规划器中候选依赖和计算开销大的问题。实验表明，该方法在成功率上显著优于现有两阶段规划器。
关键词
world modelembodied navigationvisual navigationaction generationspatial perception
相关论文
LOCOMOTION
开放获取📊 3,141 引用
Trust Region Policy Optimization
John Schulman, Sergey Levine, Philipp Moritz 等 5 位作者
2015
LOCOMOTION
📊 2,724 引用
Legged Robots That Balance
Marc H. Raibert, Ernest R. Tello
1986
LOCOMOTION
📊 2,658 引用
Being there: putting brain, body, and world together again
1997
LOCOMOTION
📊 2,305 引用
Small-scale soft-bodied robot with multimodal locomotion
Wenqi Hu, Guo Zhan Lum, Massimo Mastrangeli 等 4 位作者
2018