11 citations · 29 across the 42 of their papers we have counts for
23 papers · 1 filter
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
Yifu Xiong, Wenhao Yu, Jiaxuan Lin +5
Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where visual-language representations are used to condition continuous actio…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
Wenhao Yu, Yu'ang Xie, Yifan Duan +5
Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizo…
GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
Yuan Zhang, Shiqi Zhang, Yedong Shen +11
Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot emb…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Learning Surgical Robotic Manipulation with 3D Spatial Priors
Yu Sheng, Lidian Wang, Xiaomeng Chu +6
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the…
FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
Yao Li, Peiyuan Tang, Wuyang Zhang +7
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single opera…
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
Yifan Duan, Heng Li, Yilong Wu +5
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However,…
CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving
Junrui Zhang, Chenjie Wang, Jie Peng +4
Imitation learning based planning tasks on the nuPlan dataset have gained great interest due to their potential to generate human-like driving behaviors. However, open-loop trainin…
MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
Yilong Wu, Yifan Duan, Yuxi Chen +5
Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose…
GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions
Xiaomeng Chu, Jiajun Deng, Guoliang You +4
Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities…
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation
Yu Sheng, Runfeng Lin, Lidian Wang +5
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to…
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
Yifan Duan, Xinran Zhang, Yao Li +4
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level…
MHRC: Closed-loop Decentralized Multi-Heterogeneous Robot Collaboration with Large Language Models
Wenhao Yu, Jie Peng, Yueliang Ying +3
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language…
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
Wenhao Yu, Jie Peng, Huanyu Yang +4
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of…
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
Yifan Duan, Xinran Zhang, Guoliang You +8
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the…
Rendering-Enhanced Automatic Image-to-Point Cloud Registration for Roadside Scenes
Yu Sheng, Lu Zhang, Xingchen Li +4
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. H…
MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
Chenyang Wu, Yifan Duan, Xinran Zhang +3
Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular compl…
CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition
Shaowei Fu, Yifan Duan, Yao Li +4
The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain u…
PathRL: An End-to-End Path Generation Method for Collision Avoidance via Deep Reinforcement Learning
Wenhao Yu, Jie Peng, Quecheng Qiu +3
Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation m…
OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving
Heng Li, Yifan Duan, Xinran Zhang +3
Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a no…
USTC FLICAR: A Sensors Fusion Dataset of LiDAR-Inertial-Camera for Heavy-duty Autonomous Aerial Work Robots
Ziming Wang, Yujiang Liu, Yifan Duan +5
In this paper, we present the USTC FLICAR Dataset, which is dedicated to the development of simultaneous localization and mapping and precise 3D reconstruction of the workspace for…
Deep Reinforcement Learning for Localizability-Enhanced Navigation in Dynamic Human Environments
Yuan Chen, Quecheng Qiu, Xiangyu Liu +5
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capa…
TrajMatch: Towards Automatic Spatio-temporal Calibration for Roadside LiDARs through Trajectory Matching
Haojie Ren, Sha Zhang, Sugang Li +5
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle…