5 citations · 5 across the 5 of their papers we have counts for
10 papers
MATCH: Execution-Aware Hierarchical Reinforcement Learning for Vision-and-Language Navigation in Continuous Environment
Shuhao Ye, Yufei Wei, Demao Wang +3
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires instruction-consistent planning and reliable execution under collision constraints. Yet many hierarchica…
Learning Modular Policy for Multi-Floor Object Navigation:A Factorized Framework for Diagnostic Study
Shichao Zhai, Shuhao Ye, Rong Xiong +1
Object-goal navigation (ObjectNav) in multi-floor scenarios presents a challenge due to sparse rewards caused by long-horizon decision-making. In this paper, we propose a diagnosti…
StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry
Yufei Wei, Shuhao Ye, Qi Wang +4
Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving efficient use of rig geometry a c…
Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud
Yuxuan Xie, Xuan Yu, Rong Xiong +1
Object-centric scene reconstruction requires completing partial object observations while preserving metric alignment and avoiding collisions with the surrounding. Existing generat…
G2G: Exploiting Intra-Group Geometry for Inter-Group Pose Estimation
Yufei Wei, Shuhao Ye, Chenxiao Hu +5
Recovering the relative 6-DoF pose between two image groups underlies cross-sequence relocalization and multi-camera rig odometry. Each group carries known intra-group geometry fro…
Ψ-Map: Panoptic Surface Integrated Mapping Enables Real2Sim Transfer
Xuan Yu, Yuxuan Xie, Changjian Jiang +4
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle…
Fast-SegSim: Real-Time Open-Vocabulary Segmentation for Robotics in Simulation
Xuan Yu, Yuxuan Xie, Shichao Zhai +3
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, o…
Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactions
He Zhu, Quyu Kong, Kechun Xu +5
Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, f…
Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset
Yufei Wei, Fuzhang Han, Yanmei Jiao +9
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without w…
LiDAR-Inertial 3D SLAM with Plane Constraint for Multi-story Building
Jiashi Zhang, Chengyang Zhang, Jun Wu +2
The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tigh…