5 papers
Glance-Say: Multimodal Human-Robot Collaboration and Intent Recognition via Sticky Glance
Yuzhi Lai, Shenghai Yuan, Peizheng Li +2
Gaze and speech are promising interaction modalities for individuals with motor impairments, yet robust intent recognition in multi-object environments remains challenging due to m…
Task-Level Decisions to Gait Level Control: A Hierarchical Policy Approach for Quadruped Navigation
Sijia Li, Haoyu Wang, Shenghai Yuan +2
Real-world quadruped navigation is constrained by a scale mismatch between high-level navigation decisions and low-level gait execution, as well as by instabilities under out-of-di…
GVD-TG: Topological Graph based on Fast Hierarchical GVD Sampling for Robot Exploration
Yanbin Li, Canran Xiao, Shenghai Yuan +5
Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a…
DOA: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability based on Deep Reinforcement Learning
Yanbin Li, Canran Xiao, Hongyang He +7
Particle filter-based 2D-SLAM is widely used in indoor localization tasks due to its efficiency. However, indoor environments such as long straight corridors can cause severe degen…
Structured Task Solving via Modular Embodied Intelligence: A Case Study on Rubik's Cube
Chongshan Fan, Shenghai Yuan
This paper presents Auto-RubikAI, a modular autonomous planning framework that integrates a symbolic Knowledge Base (KB), a vision-language model (VLM), and a large language model…