让机器人精准定位到任意物体，误差小于10厘米。
Aim My Robot: Precision Local Navigation to Any Object
- 融合多模态感知与动作预测，实现厘米级定位
- 在仿真数据上训练，实测精度达10厘米以内
- 无需微调即可适配不同机器人和新物体
现有导航系统通常在距离目标1米范围内即视为成功，这对需要精确相对位姿的下游任务（如对接、检测、操作）而言精度不足。为此，我们设计并实现了局部导航系统Aim-My-Robot（AMR），使机器人能在其周围任意位置以厘米级精度到达指定物体的期望相对姿态。AMR通过融合多模态感知、精准动作预测，并在大规模逼真仿真数据上训练，实现了高精度与强鲁棒性。该系统具备出色的模拟到现实迁移能力，可无需或仅少量微调，适应不同机器人运动学结构及未见过的物体。
原文摘要 · Abstract (English)
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for downstream tasks, such as docking, inspection, and manipulation. To this end, we design and implement Aim-My-Robot (AMR), a local navigation system that enables a robot to reach any object in its vicinity at the desired relative pose, with centimeter-level precision. AMR achieves high precision and robustness by leveraging multi-modal perception, precise action prediction, and is trained on large-scale photorealistic data generated in simulation. AMR shows strong sim2real transfer and can adapt to different robot kinematics and unseen objects with little to no fine-tuning.
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