6 papers
VLN-AVP: Zero-Shot Vision-Language Navigation with Hybrid Long-Short-Term Memory for Autonomous Valet Parking
Yijian Li, Xiangru Mu, Changze Li +7
Existing methods in Autonomous Valet Parking (AVP) typically rely on pre-built maps, which severely restricts their scalability to unseen environments and open-vocabulary targets.…
AgenticNav: Zero-Shot Vision-and-Language Navigation as a Tool-Calling Harness
Yijian Li, Changze Li, Hantian Shi +4
Zero-shot vision-and-language navigation in continuous environments (VLN-CE) has recently become feasible with large vision-language models (VLMs). However, existing methods typica…
ParkingWorld: End-to-End Autonomous Parking Reinforcement Learning from Corrective Experience in 3DGS Simulation
Zhengcheng Yu, Changze Li, Haoran Liu +1
Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding sta…
Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion
Yifan Zhang, Yudong Huang, Yuchong Zhang +4
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robot…
REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer
Changze Li, Zhe Chen, Shaoyu Chen +7
In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often…
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
Sheng Hong, Chunran Zheng, Yishu Shen +4
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristi…