17 papers
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…
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…
SONAR: Semantic-Object Navigation with Aggregated Reasoning through a Cross-Modal Inference Paradigm
Yao Wang, Zhirui Sun, Wenzheng Chi +3
Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily re…
DA-VPC: Disturbance-Aware Visual Predictive Control Scheme of Docking Maneuvers for Autonomous Trolley Collection
Yuhan Pang, Bingyi Xia, Zhe Zhang +5
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and r…
Socially Aware Robot Crowd Navigation via Online Uncertainty-Driven Risk Adaptation
Zhirui Sun, Xingrong Diao, Yao Wang +2
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many exist…
Integrating Maneuverable Planning and Adaptive Control for Robot Cart-Pushing under Disturbances
Zhe Zhang, Peijia Xie, Yuhan Pang +4
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning pro…