13 papers
TIDAL: Temporally Interleaved Diffusion and Action Loop for High-Frequency VLA Control
Yuteng Sun, Haoran Wang, Ruofei Bai +4
Large-scale Vision-Language-Action (VLA) models offer semantic generalization but suffer from high inference latency, limiting them to low-frequency batch-and-execute paradigm. Thi…
Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generation
Ruofei Bai, Jie Chen, Yuxin Cai +3
The success of generative models in language and visual generation has inspired extensive applications to generative robot planning. However, most existing works either focus on si…
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
Yuxin Cai, Zongtai Li, Maonan Wang +9
Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search rese…
RoadMapper: A Multi-Agent System for Roadmap Generation of Solving Complex Research Problems
Jiacheng Liu, Zichen Tang, Zhongjun Yang +8
People commonly leverage structured content to accelerate knowledge acquisition and research problem solving. Among these, roadmaps guide researchers through hierarchical subtasks…
Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions
Ruofei Bai, Shenghai Yuan, Xinhang Xu +5
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance pr…
ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics
Jie Chen, Yuxin Cai, Yizhuo Wang +5
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies…