46 citations · 88 across the 16 of their papers we have counts for
18 papers
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
Yi Wang, Rui Jin, Xinhang Xu +4
Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-…
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…
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…
Task-Level Decisions to Gait Level Control: A Hierarchical Policy Approach for Quadruped Navigation
Sijia Li, Haoyu Wang, Shenghai Yuan +2
Real-world quadruped navigation is constrained by a scale mismatch between high-level navigation decisions and low-level gait execution, as well as by instabilities under out-of-di…
M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstruction
Junqiao Fan, Yunjiao Zhou, Yizhuo Yang +6
Human mesh reconstruction (HMR) provides direct insights into body-environment interaction, which enables various immersive applications. While existing large-scale HMR datasets re…
CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling
Hanfang Liang, Bing Wang, Shizhen Zhang +4
Event cameras capture asynchronous pixel-level brightness changes with microsecond temporal resolution, offering unique advantages for high-speed vision tasks. Existing methods oft…
Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues
Hanfang Liang, Shenghai Yuan, Fen Liu +5
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult t…
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…
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…
Unsupervised UAV 3D Trajectories Estimation with Sparse Point Clouds
Hanfang Liang, Yizhuo Yang, Jinming Hu +3
Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This p…
AV-DTEC: Self-Supervised Audio-Visual Fusion for Drone Trajectory Estimation and Classification
Zhenyuan Xiao, Yizhuo Yang, Guili Xu +2
The increasing use of compact UAVs has created significant threats to public safety, while traditional drone detection systems are often bulky and costly. To address these challeng…
Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation
Muqing Cao, Xinhang Xu, Yizhuo Yang +6
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a d…
AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness
Yizhuo Yang, Shenghai Yuan, Muqing Cao +2
In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awarene…
Robust Loop Closure by Textual Cues in Challenging Environments
Tongxing Jin, Thien-Minh Nguyen, Xinhang Xu +4
Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work…
ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges
Thien-Minh Nguyen, Yizhuo Yang, Tien-Dat Nguyen +2
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In thi…
MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats
Shenghai Yuan, Yizhuo Yang, Thien Hoang Nguyen +6
In response to the evolving challenges posed by small unmanned aerial vehicles (UAVs), which possess the potential to transport harmful payloads or independently cause damage, we i…
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association
Thien-Minh Nguyen, Xinhang Xu, Tongxing Jin +4
In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO alg…