5 citations · 9 across the 8 of their papers we have counts for
9 papers
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
Ruochu Yang, Ziyi Xia, Huibo Zhang +6
Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. P…
Interleaved LLM and Motion Planning for Generalized Multi-Object Collection in Large Scene Graphs
Ruochu Yang, Yu Zhou, Fumin Zhang +1
Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environmen…
OceanPlan: Hierarchical Planning and Replanning for Natural Language AUV Piloting in Large-scale Unexplored Ocean Environments
Ruochu Yang, Fumin Zhang, Mengxue Hou
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) cont…
OceanChat: Piloting Autonomous Underwater Vehicles in Natural Language
Ruochu Yang, Mengxue Hou, Junkai Wang +1
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater…
High-dimensional Optimal Density Control with Wasserstein Metric Matching
Shaojun Ma, Mengxue Hou, Xiaojing Ye +1
We present a novel computational framework for density control in high-dimensional state spaces. The considered dynamical system consists of a large number of indistinguishable age…
Real-time Autonomous Glider Navigation Software
Ruochu Yang, Mengxue Hou, Chad Lembke +2
Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poo…
Anomaly Detection of Underwater Gliders Verified by Deployment Data
Ruochu Yang, Mengxue Hou, Chad Lembke +2
This paper utilizes an anomaly detection algorithm to check if underwater gliders are operating normally in the unknown ocean environment. Glider pilots can be warned of the detect…
The Rational Selection of Goal Operations and the Integration ofSearch Strategies with Goal-Driven Autonomy
Sravya Kondrakunta, Venkatsampath Raja Gogineni, Michael T. Cox +7
Intelligent physical systems as embodied cognitive systems must perform high-level reasoning while concurrently managing an underlying control architecture. The link between cognit…
Method of evolving junction on optimal path planning in flow fields
Haoyan Zhai, Mengxue Hou, Fumin Zhang +1
We propose an algorithm using method of evolving junctions to solve the optimal path planning problems with piece-wise constant flow fields. In such flow fields with a convex Lagra…