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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
Early Pruning for Public Transport Routing
Andrii Rohovyi, Abdallah Abuaisha, Toby Walsh · 2026-03-13 · via cs.RO updates on arXiv.org

Routing algorithms for public transport, particularly the widely used RAPTOR and its variants, often face performance bottlenecks during the transfer relaxation phase, especially on dense transfer graphs, when supporting unlimited transfers. This inefficiency arises from iterating over many potential inter-stop connections (walks, bikes, e-scooters, etc.). To maintain acceptable performance, practitioners often limit transfer distances or exclude certain transfer options, which can reduce path optimality and restrict the multimodal options presented to travellers. This paper introduces Early Pruning, a low-overhead technique that accelerates routing algorithms without compromising optimality. By pre-sorting transfer connections by duration and applying a pruning rule within the transfer loop, the method discards longer transfers at a stop once they cannot yield an earlier arrival than the current best solution. Early Pruning can be integrated with minimal changes to existing codebases and requires only a one-time preprocessing step. The technique preserves Pareto-optimality in extended-criteria settings whenever the additional optimization criteria are monotonically non-decreasing in transfer duration. Across multiple state-of-the-art RAPTOR-based solutions, including RAPTOR, ULTRA-RAPTOR, McRAPTOR, BM-RAPTOR, ULTRA-McRAPTOR, and UBM-RAPTOR and tested on the Switzerland and London transit networks, we achieved query time reductions of up to 57\%. This approach provides a generalizable improvement to the efficiency of transit pathfinding algorithms.