86 citations · 126 across the 36 of their papers we have counts for
9 papers · 1 filter
GG-Nav: Goal-oriented Grounding Chain-of-Thought Elicits Reasoning in Navigation Foundation Models
Shaohao Zhu, Wensi Huang, Siqi Zhang +6
Emerging strong Vision-Language Models (VLMs) have advanced navigation foundation models. However, these models still have unsatisfactory performance on goal-oriented navigation se…
A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning
Tianle Liu, Youcheng Niu, Jing Zeng +2
This paper studies feedback Nash equilibrium (FBNE) seeking for multi-agent trajectory planning in nonlinear dynamical systems with unknown agents' objectives and state-dependent i…
Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM
Yixian Zhao, Yan Huang, Yang Xu +2
Pose graph optimization (PGO) is a key back-end component for state estimation in networked multi-robot simultaneous localization and mapping (SLAM). In object-based multi-robot SL…
VL-LN Bench: Towards Long-horizon Goal-oriented Navigation with Active Dialogs
Wensi Huang, Shaohao Zhu, Meng Wei +7
In most existing embodied navigation tasks, instructions are well-defined and unambiguous, such as instruction following and object searching. Under this idealized setting, agents…
CoCoL: A Communication Efficient Decentralized Collaborative Method for Multi-Robot Systems
Jiaxi Huang, Yan Huang, Yixian Zhao +2
Collaborative learning enhances the performance and adaptability of multi-robot systems in complex tasks but faces significant challenges due to high communication overhead and dat…
Multi-robot autonomous 3D reconstruction using Gaussian splatting with Semantic guidance
Jing Zeng, Qi Ye, Tianle Liu +5
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous…
MAexp: A Generic Platform for RL-based Multi-Agent Exploration
Shaohao Zhu, Jiacheng Zhou, Anjun Chen +3
The sim-to-real gap poses a significant challenge in RL-based multi-agent exploration due to scene quantization and action discretization. Existing platforms suffer from the ineffi…
Safe Hybrid-Action Reinforcement Learning-Based Decision and Control for Discretionary Lane Change
Ruichen Xu, Xiao Liu, Jinming Xu +1
Autonomous lane-change, a key feature of advanced driver-assistance systems, can enhance traffic efficiency and reduce the incidence of accidents. However, safe driving of autonomo…
Aggressive Trajectory Generation for A Swarm of Autonomous Racing Drones
Yuyang Shen, Jinming Xu, Jin Zhou +4
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most resear…