77 citations · 144 across the 39 of their papers we have counts for
8 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…
NeuralMUSIC: A Hybrid Neural-Subspace Framework for Robot Sound Source Localization
Yizhuo Yang, Junqiao Fan, Shenghai Yuan +1
Reliable sound source localization is fundamental to robot audition, enabling autonomous robots to perceive spatial cues and operate effectively in dynamic environments. Classical…
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…
RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy
Zhenhang Yuan, Shenghai Yuan, Lihua Xie
LLM agents often fail in closed-world embodied environments because actions must satisfy strict preconditions -- such as location, inventory, and container states -- and failure fe…
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…