14 papers
MVP-Nav: Multi-layer Value Map Planner Navigator
Wenyuan Xie, Shaokai Wu, Yijin Zhou +7
Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agents, as the absence of explicit depth information introduces severe p…
RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation
Guodong Zhang, Qichen He, Wenyuan Xie +6
Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their r…
HACMatch Semi-Supervised Rotation Regression with Hardness-Aware Curriculum Pseudo Labeling
Mei Li, Huayi Zhou, Suizhi Huang +3
Regressing 3D rotations of objects from 2D images is a crucial yet challenging task, with broad applications in autonomous driving, virtual reality, and robotic control. Existing r…
Recovering Hidden Reward in Diffusion-Based Policies
Yanbiao Ji, Qiuchang Li, Yuting Hu +7
This paper introduces EnergyFlow, a framework that unifies generative action modeling with inverse reinforcement learning by parameterizing a scalar energy function whose gradient…
Dejavu: Towards Experience Feedback Learning for Embodied Intelligence
Shaokai Wu, Yanbiao Ji, Qiuchang Li +7
Embodied agents face a fundamental limitation: once deployed in real-world environments, they cannot easily acquire new knowledge to improve task performance. In this paper, we pro…
View-Centric Multi-Object Tracking with Homographic Matching in Moving UAV
Deyi Ji, Lanyun Zhu, Siqi Gao +8
In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, tur…