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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Investigating Location-Regularised Self-Supervised Featur...
Cailei Liang, Adrian Bodenmann, Emma J Curtis, Samuel Simmons, K · 2025-09-08 · via cs.RO updates on arXiv.org

High-throughput interpretation of robotically gathered seafloor visual imagery can increase the efficiency of marine monitoring and exploration. Although recent research has suggested that location metadata can enhance self-supervised feature learning (SSL), its benefits across different SSL strategies, models and seafloor image datasets are underexplored. This study evaluates the impact of location-based regularisation on six state-of-the-art SSL frameworks, which include Convolutional Neural Network (CNN) and Vision Transformer (ViT) models with varying latent-space dimensionality. Evaluation across three diverse seafloor image datasets finds that location-regularisation consistently improves downstream classification performance over standard SSL, with average F1-score gains of $4.9 \pm 4.0%$ for CNNs and $6.3 \pm 8.9%$ for ViTs, respectively. While CNNs pretrained on generic datasets benefit from high-dimensional latent representations, dataset-optimised SSL achieves similar performance across the high (512) and low (128) dimensional latent representations. Location-regularised SSL improves CNN performance over pre-trained models by $2.7 \pm 2.7%$ and $10.1 \pm 9.4%$ for high and low-dimensional latent representations, respectively. For ViTs, high-dimensionality benefits both pre-trained and dataset-optimised SSL. Although location-regularisation improves SSL performance compared to standard SSL methods, pre-trained ViTs show strong generalisation, matching the best-performing location-regularised SSL with F1-scores of $0.795 \pm 0.075$ and $0.795 \pm 0.077$, respectively. The findings highlight the value of location metadata for SSL regularisation, particularly when using low-dimensional latent representations, and demonstrate strong generalisation of high-dimensional ViTs for seafloor image analysis.