8 papers
CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Vision-Language Navigation has increasingly emphasized high-level instruction reasoning, memory, global map construction, and instruction decomposition, while the low-level action…
TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
Jielin Wu, Shenzhe Yao, Guanqi He +6
Human hand-object demonstrations provide dense reference motions for training dexterous manipulation reinforcement learning (RL) policies through reference tracking. However, to us…
CoFL: Continuous Flow Fields for Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Existing language-conditioned navigation systems typically rely on modular pipelines or trajectory generators, but the latter use each scene--instruction annotation mainly to super…
Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraints
Junli Ren, Junfeng Long, Tao Huang +7
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on qua…
Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li +6
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and roto…
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
Qingwei Ben, Botian Xu, Kailin Li +6
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth image…