6 papers
TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing
Jiaming Wang, Jizhuo Chen, Diwen Liu +1
Topological mapping offers a compact and robust representation for navigation, but progress in the field is hindered by the lack of standardized evaluation metrics, datasets, and p…
Change-Robust Online Spatial-Semantic Topological Mapping
Jiaming Wang, Jizhuo Chen, Diwen Liu +4
Autonomous robots require change-robust spatial-semantic reasoning: using spatial and semantic knowledge to decide where to go, how to get there, and where the robot is despite env…
Dipper: Diversity in Prompts for Producing Large Language Model Ensembles in Reasoning tasks
Gregory Kang Ruey Lau, Wenyang Hu, Diwen Liu +3
Large Language Models (LLMs), particularly smaller variants, still struggle with complex reasoning tasks. While inference-time prompting can guide reasoning, existing methods often…
GeNIE: A Generalizable Navigation System for In-the-Wild Environments
Jiaming Wang, Diwen Liu, Jizhuo Chen +4
Reliable navigation in unstructured, real-world environments remains a significant challenge for embodied agents, especially when operating across diverse terrains, weather conditi…
Training-free Task-oriented Grasp Generation
Jiaming Wang, Diwen Liu, Jizhuo Chen +1
This paper presents a training-free pipeline for task-oriented grasp generation that combines pre-trained grasp generation models with vision-language models (VLMs). Unlike traditi…
GBPP: Grasp-Aware Base Placement Prediction for Robots via Two-Stage Learning
Jizhuo Chen, Diwen Liu, Jiaming Wang +1
GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibil…