16 citations · 19 across the 17 of their papers we have counts for
16 papers · 1 filter
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…
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…
Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions
Ruofei Bai, Shenghai Yuan, Xinhang Xu +5
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance pr…
ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
Jie Chen, Yuxin Cai, Yizhuo Wang +6
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies…
Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies
Junhe Sheng, Ruofei Bai, Kuan Xu +5
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, b…
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.…
Gaussian Semantic Field for One-shot LiDAR Global Localization
Pengyu Yin, Shenghai Yuan, Haozhi Cao +4
We present a one-shot LiDAR global localization algorithm featuring semantic disambiguation ability based on a lightweight tri-layered scene graph. While landmark semantic registra…
Following Is All You Need: Robot Crowd Navigation Using People As Planners
Yuwen Liao, Xinhang Xu, Ruofei Bai +4
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight p…
AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones
Xiaowei Li, Kuan Xu, Fen Liu +3
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widesp…
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-…
Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs
Tianxin Hu, Shenghai Yuan, Ruofei Bai +4
Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical…
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…
Hierarchical Multi-robot Strategies Synthesis and Optimization under Individual and Collaborative Temporal Logic Specifications
Ruofei Bai, Ronghao Zheng, Yang Xu +2
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots…
Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications
Ruofei Bai, Ronghao Zheng, Meiqin Liu +1
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally…