19 citations · 35 across the 15 of their papers we have counts for
16 papers
DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches
Haoran Wang, Yuteng Sun, Yuanjie Li +6
Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper studies grasp pose recovery under a perception-to-execution mismatch, w…
A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring
Joshua Taylor, Nursultan Imanberdiyev, Wei-Yun Yau +2
Maintaining a stable pose during physical interaction is a significant challenge for aerial robots, often limiting their use in contact-based tasks. This paper presents a novel unc…
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to action…
EAGOR: Embodied Reasoning in Omni-direction
Shriram Damodaran, Soumyaratna Debnath, Yan Wu +2
Omni-directional (360°) cameras provide embodied agents with a holistic view of their surroundings, making them suited for directional reasoning in tasks such as navigation and obj…
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
Ruofei Bai, Jie Chen, Yuxin Cai +3
The success of generative models in language and visual generation has inspired extensive applications to generative robot planning. However, most existing works either focus on si…
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
Yuxin Cai, Zongtai Li, Maonan Wang +9
Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search rese…
TIDAL: Temporally Interleaved Diffusion and Action Loop for High-Frequency VLA Control
Yuteng Sun, Haoran Wang, Ruofei Bai +4
Large-scale Vision-Language-Action (VLA) models offer semantic generalization but suffer from high inference latency because they adopt a low-frequency batch-and-execute paradigm.…
CL-CoTNav: Closed-Loop Hierarchical Chain-of-Thought for Zero-Shot Object-Goal Navigation with Vision-Language Models
Yuxin Cai, Xiangkun He, Maonan Wang +3
Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often…
Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles
Ruofei Bai, Shenghai Yuan, Kun Li +3
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-…
Multi-Robot Reliable Navigation in Uncertain Topological Environments with Graph Attention Networks
Zhuoyuan Yu, Hongliang Guo, Albertus Hendrawan Adiwahono +4
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the fac…
Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization
Ruofei Bai, Shenghai Yuan, Hongliang Guo +3
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining rel…
Graph-based SLAM-Aware Exploration with Prior Topo-Metric Information
Ruofei Bai, Hongliang Guo, Wei-Yun Yau +1
Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without…
Traversability analysis with vision and terrain probing for safe legged robot navigation
Garen Haddeler, Meng Yee Michael Chuah, Yangwei You +4
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to ad…
Piecewise Linear De-skewing for LiDAR Inertial Odometry
John Henawy, Zhengguo Li, Wei Yun Yau +2
Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piec…
Toward Underground Localization: Lidar Inertial Odometry Enabled Aerial Robot Navigation
Jiun Fatt Chow, Basaran Bahadir Kocer, John Henawy +4
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the la…
Accurate IMU Preintegration Using Switched Linear Systems For Autonomous Systems
John Henawy, Zhengguo Li, Wei Yun Yau +2
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integrat…