From the 1 of 7 linked papers with an AI index.
7 papers
Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics
Yue Chang, Rufeng Chen, Yifan Tian +7
The paper introduces JITOMA, a framework that builds 3D scene graphs on demand by using task-driven heatmaps and large language models to activate only relevant parts of the graph,…
LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation
Rufeng Chen, Yue Chang, Zili Shao +5
Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely acoustically silent, and audio-visual navigation tasks typically focus…
Deconstructing Spatial Complexity: Hierarchical Decomposition for LLM Spatial Reasoning
Yi Wang, Haojie Lu, Zhaofan Zhang +2
LLMs have shown remarkable proficiency in general language understanding and reasoning. However, they consistently underperform in spatial reasoning that severely limits their appl…
Quantile Geometry Regularization for Distributional Reinforcement Learning
Zhaofan Zhang, Minghao Yang, Rufeng Chen +2
Quantile-based distributional reinforcement learning methods learn return distributions through sampled quantile regression, but their bootstrapped target quantiles may induce dist…
Decoupled Guidance Diffusion for Adaptive Offline Safe Reinforcement Learning
Rufeng Chen, Zhaofan Zhang, Zhejiang Yang +2
Offline safe reinforcement learning often requires policies to adapt at deployment time to safety budgets that vary across episodes or change within a single episode. While diffusi…
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
Yue Chang, Rufeng Chen, Zhaofan Zhang +3
Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suff…