1 citations · 2 across the 16 of their papers we have counts for
14 papers · 1 filter
Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment
Shuhao Ye, Sitong Mao, Yuxiang Cui +7
Vision-Language Navigation in Continuous Environments (VLN-CE) requires an agent to follow natural language instructions through unseen environments. Existing imitation learning (I…
IntentReact: Guiding Reactive Object-Centric Navigation via Topological Intent
Yanmei Jiao, Anpeng Lu, Wenhan Hu +4
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological…
TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation
Yifei Yang, Anzhe Chen, Zhenjie Zhu +6
Contact-rich manipulation requires robots to regulate both motion and interaction forces, yet achieving adaptive compliance remains a fundamental challenge. Learning from real-worl…
ETP-R1: Evolving Topological Planning with Reinforcement Fine-tuning for Vision-Language Navigation in Continuous Environments
Shuhao Ye, Sitong Mao, Yuxiang Cui +6
Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate towards target in continuous environments, following natural language instruct…
Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
Kechun Xu, Zhenjie Zhu, Anzhe Chen +7
The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone du…
Mr. Virgil: Learning Multi-robot Visual-range Relative Localization
Si Wang, Zhehan Li, Jiadong Lu +3
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between rob…
Neural Ranging Inertial Odometry
Si Wang, Bingqi Shen, Fei Wang +3
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenar…
Toward Embodiment Equivariant Vision-Language-Action Policy
Anzhe Chen, Yifei Yang, Zhenjie Zhu +4
Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel…
BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots
Yufei Wei, Chenxiao Hu, Wangtao Lu +5
Scale-consistent ego-motion estimation is fundamental for autonomous ground robots. Bird's-Eye-View (BEV) representation naturally addresses the scale drift problem of monocular vi…
Reinforcement Learning for Adaptive Planner Parameter Tuning: A Perspective on Hierarchical Architecture
Lu Wangtao, Wei Yufei, Xu Jiadong +4
Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and…
CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Driving
Dongkun Zhang, Jiaming Liang, Ke Guo +5
Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement…
BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground
Yufei Wei, Sha Lu, Wangtao Lu +2
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent sc…
BEV-ODOM: Reducing Scale Drift in Monocular Visual Odometry with BEV Representation
Yufei Wei, Sha Lu, Fuzhang Han +2
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity i…
LI-GS: Gaussian Splatting with LiDAR Incorporated for Accurate Large-Scale Reconstruction
Changjian Jiang, Ruilan Gao, Kele Shao +3
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been de…