1 citations · 7 across the 41 of their papers we have counts for
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Bootstrap Dynamic-Aware 3D Visual Representation for Scalable Robot Learning
Qiwei Liang, Boyang Cai, Minghao Lai +6
Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the…
SocialNav-Map: Dynamic Mapping with Human Trajectory Prediction for Zero-Shot Social Navigation
Lingfeng Zhang, Erjia Xiao, Xiaoshuai Hao +7
Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing…
Learning to Navigate Socially Through Proactive Risk Perception
Erjia Xiao, Lingfeng Zhang, Yingbo Tang +7
In this report, we describe the technical details of our submission to the IROS 2025 RoboSense Challenge Social Navigation Track. This track focuses on developing RGBD-based percep…
VQualA 2025 Challenge on Engagement Prediction for Short Videos: Methods and Results
Dasong Li, Sizhuo Ma, Hang Hua +40
This paper presents an overview of the VQualA 2025 Challenge on Engagement Prediction for Short Videos, held in conjunction with ICCV 2025. The challenge focuses on understanding a…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu +7
Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collect…
TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation
Peiran Liu, Qiang Zhang, Daojie Peng +6
Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynam…
Occupancy World Model for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +12
Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajec…
RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +7
3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception.…
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
Qiang Zhang, Jiahang Cao, Jingkai Sun +5
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging en…
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition
Jiahang Cao, Qiang Zhang, Hanzhong Guo +3
Diffusion Policy (DP) has attracted significant attention as an effective method for policy representation due to its capacity to model multi-distribution dynamics. However, curren…
EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
Yi Zhang, Qiang Zhang, Xiaozhu Ju +13
While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex l…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
Qiang Zhang, Gang Han, Jingkai Sun +7
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthr…
Trinity: A Modular Humanoid Robot AI System
Jingkai Sun, Qiang Zhang, Gang Han +7
In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, ex…
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
Qiang Zhang, Gang Han, Jingkai Sun +6
In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics.…
Exploring Typographic Visual Prompts Injection Threats in Cross-Modality Generation Models
Hao Cheng, Erjia Xiao, Yichi Wang +8
Current Cross-Modality Generation Models (GMs) demonstrate remarkable capabilities in various generative tasks. Given the ubiquity and information richness of vision modality input…
MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation
Lingfeng Zhang, Xiaoshuai Hao, Qinwen Xu +7
Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Tradi…
Event Masked Autoencoder: Point-wise Action Recognition with Event-Based Cameras
Jingkai Sun, Qiang Zhang, Jiaxu Wang +2
Dynamic vision sensors (DVS) are bio-inspired devices that capture visual information in the form of asynchronous events, which encode changes in pixel intensity with high temporal…
A Dual-Agent Adversarial Framework for Robust Generalization in Deep Reinforcement Learning
Zhengpeng Xie, Yulong Zhang
Recently, empowered with the powerful capabilities of neural networks, reinforcement learning (RL) has successfully tackled numerous challenging tasks. However, while these models…
Representation Convergence: Mutual Distillation is Secretly a Form of Regularization
Zhengpeng Xie, Jiahang Cao, Changwei Wang +5
In this paper, we argue that mutual distillation between reinforcement learning policies serves as an implicit regularization, preventing them from overfitting to irrelevant featur…