13 papers
Learning Adaptive Safety Margins for Visual Navigation
Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala +2
Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because a fixed safety margin is mis-calibrated: conservative margins cause…
VCS-SLAM: Geometry-Validated Semantic Evidence Fusion for 3D Gaussian SLAM
Raman Jha, Shuaihang Yuan, Yi Fang
Visual SLAM performance often deteriorates in complex real-world applications. Semantic 3D Gaussian SLAM commonly fuses 2D semantic priors into a persistent 3D map using uniform op…
AnyImageNav: Any-View Geometry for Precise Last-Meter Image-Goal Navigation
Yijie Deng, Shuaihang Yuan, Yi Fang
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short fo…
One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors
Hao Huang, Geeta Chandra Raju Bethala, Shuaihang Yuan +4
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing metho…
AudioScene: Integrating Object-Event Audio into 3D Scenes
Shuaihang Yuan, Congcong Wen, Muhammad Shafique +2
The rapid advances in audio analysis underscore its vast potential for humancomputer interaction, environmental monitoring, and public safety; yet, existing audioonly datasets ofte…
Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation
Congcong Wen, Geeta Chandra Raju Bethala, Yu Hao +8
Humanoid loco-manipulation, which integrates whole-body locomotion with dexterous manipulation, remains a fundamental challenge in robotics. Beyond whole-body coordination and bala…