77 citations · 144 across the 39 of their papers we have counts for
30 papers · 1 filter
G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
Yuwen Liao, Yihang Lan, Yizhuo Yang +4
Social navigation requires the robot to reason and respond in complex real-world environments. While recent works attempt to incorporate human-level intelligence into robot plannin…
GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI
Huzhenyu Zhang, Shenghai Yuan, Wenrui Yan +4
Data-driven embodied AI is rapidly transitioning into a paradigm that scales training through massively parallel simulation, where GPU-accelerated simulators serve as the foundatio…
A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration
Kuan Xu, Ruimeng Liu, Yizhuo Yang +5
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operat…
Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environment
Denan Liang, Yuan Zhu, Ruimeng Liu +3
Although legged robots demonstrate impressive mobility on rough terrain, using them safely in cluttered environments remains a challenge. A key issue is their inability to avoid st…
Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies
Junhe Sheng, Ruofei Bai, Kuan Xu +5
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, b…
Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems
Zijie Chen, Xiaowei Liu, Yong Xu +3
Accurate calibration and robust localization are fundamental for downstream tasks in spinning actuated LiDAR applications. Existing methods, however, require parameterizing extrins…
Gaussian Semantic Field for One-shot LiDAR Global Localization
Pengyu Yin, Shenghai Yuan, Haozhi Cao +4
We present a one-shot LiDAR global localization algorithm featuring semantic disambiguation ability based on a lightweight tri-layered scene graph. While landmark semantic registra…
STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response
Shenghai Yuan, Weixiang Guo, Tianxin Hu +5
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards a…
Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power
Tianxin Hu, Weixiang Guo, Ruimeng Liu +5
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable…
PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo +3
Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, lim…
DVDP: An End-to-End Policy for Mobile Robot Visual Docking with RGB-D Perception
Haohan Min, Zhoujian Li, Yu Yang +2
Automatic docking has long been a significant challenge in the field of mobile robotics. Compared to other automatic docking methods, visual docking methods offer higher precision…
AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes
Jianping Li, Xinhang Xu, Zhongyuan Liu +3
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload c…
CleanUpBench: Embodied Sweeping and Grasping Benchmark
Wenbo Li, Guanting Chen, Tao Zhao +5
Embodied AI benchmarks have advanced navigation, manipulation, and reasoning, but most target complex humanoid agents or large-scale simulations that are far from real-world deploy…
A Fast and Light-weight Non-Iterative Visual Odometry with RGB-D Cameras
Zheng Yang, Kuan Xu, Shenghai Yuan +1
In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapp…
Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion
Yizhuo Yang, Jiulin Zhao, Xinhang Xu +3
Reliable anomaly detection is essential for ensuring the safety of autonomous robots, particularly when conventional detection systems based on vision or LiDAR become unreliable in…
Dynamic Initialization for LiDAR-inertial SLAM
Jie Xu, Yongxin Ma, Yixuan Li +4
The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate init…
Following Is All You Need: Robot Crowd Navigation Using People As Planners
Yuwen Liao, Xinhang Xu, Ruofei Bai +4
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight p…
AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones
Xiaowei Li, Kuan Xu, Fen Liu +3
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widesp…
Handle Object Navigation as Weighted Traveling Repairman Problem
Ruimeng Liu, Xinhang Xu, Shenghai Yuan +1
Zero-Shot Object Navigation (ZSON) requires agents to navigate to objects specified via open-ended natural language without predefined categories or prior environmental knowledge.…
LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System
Jianping Li, Zhongyuan Liu, Xinhang Xu +4
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on ro…
Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles
Ruofei Bai, Shenghai Yuan, Kun Li +3
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-…
Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM
Jie Xu, Guanyu Huang, Wenlu Yu +5
Research trends in SLAM systems are now focusing more on multi-sensor fusion to handle challenging and degenerative environments. However, most existing multi-sensor fusion SLAM me…
UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry
Jianping Li, Xinhang Xu, Jinxin Liu +3
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Mo…
Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process
Shenghai Yuan, Boyang Lou, Thien-Minh Nguyen +7
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seap…