9 papers
Joint Optimization for 4D Human-Scene Reconstruction in the Wild
Zhizheng Liu, Joe Lin, Wayne Wu +1
Reconstructing human motion and its surrounding environment is crucial for understanding human-scene interaction and predicting human movements in the scene. While much progress ha…
SidewalkBench: Benchmarking Visual Navigation on Urban Sidewalks
Zhizheng Liu, Honglin He, Vivek Alumootil +4
Urban sidewalk navigation presents significant challenges due to complex structural layouts, dynamic pedestrian behaviors, and long distances. While recent visual navigation models…
From Seeing to Experiencing: Scaling Navigation Foundation Models with Reinforcement Learning
Honglin He, Yukai Ma, Brad Squicciarini +2
Navigation foundation models trained on massive web-scale data enable agents to generalize across diverse environments and embodiments. However, these models, which are trained sol…
Visually-grounded Humanoid Agents
Hang Ye, Xiaoxuan Ma, Fan Lu +3
Digital human generation has been studied for decades and supports a wide range of real-world applications. However, most existing systems are passively animated, relying on privil…
AURA: Multimodal Shared Autonomy for Real-World Urban Navigation
Yukai Ma, Honglin He, Selina Song +2
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy…
Learning Sidewalk Autopilot from Multi-Scale Imitation with Corrective Behavior Expansion
Honglin He, Yukai Ma, Brad Squicciarini +2
Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (…