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cs.RO2026
HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation
An Liu, Bingxi Liu, Hongyu Ding +6
Vision-and-language navigation (VLN) enables robots to follow instructions in previously unseen environments. Recently, a training-free paradigm has emerged: the robot queries a mu…
cs.RO2024★ 1 cited
PGD-VIO: An Accurate Plane-Aided Visual-Inertial Odometry with Graph-Based Drift Suppression
Yidi Zhang, Fulin Tang, Zewen Xu +2
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-m…
cs.RO2022★ 1 cited
Lightweight Object-level Topological Semantic Mapping and Long-term Global Localization based on Graph Matching
Fan Wang, Chaofan Zhang, Fulin Tang +3
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most…