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cs.RO2026
IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking
Ruihua Han, Shuai Wang, Chengyang Li +8
Simulation plays a key role in automated robotics research supported by large language models (LLMs). However, existing simulators often require custom code or complex interfaces,…
cs.RO2026
Semantic2D: Enabling Semantic Scene Understanding with 2D Lidar Alone
Zhanteng Xie, Yipeng Pan, Yinqiang Zhang +2
This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the reth…
cs.RO2025
LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments
Haosong Yue, Qingyuan Xu, Fei Chen +2
The Iterative Closest Point (ICP) algorithm is a crucial component of LiDAR-based SLAM algorithms. However, its performance can be negatively affected in unstructured environments…