EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation

arXiv:2512.02851 · cs.RO · Submitted 2025-12-02 · Read on arXiv

cs.RO

Submitted: 2025-12-02

Updated: 2026-09-20

Code: https://github.com/huggingface/diffusers

Terminology

• Diffusion Model — 12× in this paper · explained in 8 episodes
• Adaptation — 10× in this paper · explained in 1 episode
• Generalization — 10× in this paper · explained in 13 episodes
• Regularization — 8× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Distillation — 4× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Diffusion Models — 3× in this paper · explained in 6 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Vision-Language Model — 3× in this paper
• Ablation Studies — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Prompt Engineering — 2× in this paper · explained in 4 episodes
• Vision-Language Model (VLM) — 2× in this paper · explained in 3 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Artificial Potential Field — 1× in this paper
• Continual Learning — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Point Cloud Data — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• AnyTraverse: An off-road traversability framework with VLM and human operator in the loop
• SALON: Self-supervised Adaptive Learning for Off-road Navigation
• VENTURA: Adapting Image Diffusion Models for Unified Task Conditioned Navigation
• GPS Denied IBVS-Based Navigation and Collision Avoidance of UAV Using a Low-Cost RGB Camera

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