44 citations · 133 across the 56 of their papers we have counts for
8 papers · 1 filter
Exposing the Long-tail in Embodied Urban Navigation via Scalable Learning from In-the-Wild Videos
Bingyi Xia, Han Bao, Zhewei Chen +5
Learning embodied urban navigation policies from real-world data is constrained by the cost of task-specific data collection and the limited coverage of rare yet safety-critical sc…
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
Yao Wang, Siyuan Wang, Zhirui Sun +4
Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore embodiment-specific mobility constraints. A path that is semantically…
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5
Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading…
UMCP: A Unified Multi-Task Collaborative Perception Network for Luggage Trolley Pose Estimation
Zhirui Sun, Zhihao Jiang, Yao Wang +2
In robotic autonomous luggage trolley collection, robots must continuously localize scattered luggage trolleys in cluttered and dynamic environments. This requires the vision syste…
NavIsaacLab: Generating Realistic Crowd via Parallel Robot Learning for Benchmarking Human-aware Navigation
Bingyi Xia, Han Bao, Jingyu Zhu +6
Robot autonomous navigation that accounts for surrounding human activities is crucial for ensuring both safety and natural human-robot interaction in real-world environments shared…
Learning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations
Han Bao, Bingyi Xia, Hanjing Ye +5
Robot crowd navigation requires the ability to infer human intentions while accounting for the structural constraints of the environment. Currently, deep reinforcement learning (DR…
Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
Zhe Zhang, Xingrong Diao, Haoxiang Liang +4
We propose an optimization-based framework for robust contact-rich manipulation. Recent contact-implicit methods enable online hybrid planning across contact modes, allowing closed…
ProDrive: Proactive Planning for Autonomous Driving via Ego-Environment Co-Evolution
Chuyao Fu, Shengzhe Gan, Zhuoli Ouyang +5
End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning ca…