@article{WANG2026, 
author = {Guanjun WANG and Weizhuang SHI and Wei LUO and Hao TAO},
title = {3D semantic-enhanced diffusion policy for intelligent shipborne robots},
year = {2026},
journal = {Chinese Journal of Ship Research},
volume = {21},
number = {5},
pages = {339-352},
keywords = {shipborne robot, 3D Gaussian splatting, diffusion policy, pose estimation, imitation learning, semantic understanding, learning systems, artificial intelligence},
url = {https://www.sciopen.com/article/10.19693/j.issn.1673-3185.04806},
doi = {10.19693/j.issn.1673-3185.04806},
abstract = {ObjectiveWith the advancement of artificial intelligence and sensor fusion technologies, shipborne robots endowed with target recognition and autonomous execution capabilities are emerging as a key development direction for future combat systems. However, during autonomous operations, such robots are constrained by limited onboard computing resources and deployment conditions, which impede the realization of high-level cognition and decision-making. To address these challenges, this study proposes a lightweight 3D semantic-enhanced framework centered on a diffusion-based policy (SGDP). The proposed framework is designed to ensure recognition accuracy, response speed, and decision-making stability under resource-constrained conditions and in the presence of dynamic disturbances. MethodFirst, a semantic projection mechanism based on 3D Gaussian splatting is introduced to construct dense semantic point clouds centered on target objects. Multi-view semantic fusion is utilized to achieve object-level 3D semantic representations, providing more effective semantic priors for complex manipulation tasks. Subsequently, the semantic field is updated in real-time using the FoundationPose estimator for 6D pose estimation, eliminating the need for repeated extraction of multi-view semantic features, thereby improving inference efficiency while maintaining semantic consistency in dynamic scenes. Furthermore, a multimodal diffusion policy that integrates semantic, geometric, and joint state information is designed to enhance semantic perception while remaining lightweight enough for practical deployment.ResultsEvaluations conducted on a shipborne robot test platform involving three complex tasks (knife placement, marker pen grasping, and water pouring from a bottle) demonstrate that the proposed SGDP algorithm, using only a single depth camera for environmental perception, achieved semantic field update and action inference frequencies of 39.71 Hz and 32.16 Hz, respectively. This represents a fivefold improvement over the GenDP baseline, enabling real-time closed-loop control on computationally constrained platforms. In addition, a 20.25% reduction in GPU memory usage was observed compared to GenDP, indicating a substantially lower computational cost while delivering improved performance. For tasks involving known objects, an average success rate of 81.67% was achieved, while a success rate of 78.33% was maintained for tasks involving unknown objects. These results demonstrate strong zero-shot generalization capability and reduced reliance on extensive task-specific data collection. ConclusionThe results indicate that the proposed framework offers an efficient and viable integrated perception-decision solution, enabling effective synergy between environmental cognition and autonomous decision-making under resource-constrained conditions. Thus, an effective technical pathway is provided to alleviate the inherent conflict between lightweight deployment requirements and high-level autonomous decision-making capabilities in single-unit unmanned systems, such as shipborne robots.}
}