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Follow Everything: A Leader-Following and Obstacle Avoidance Framework with Goal-Aware Adaptation
Qianyi Zhang, Shijian Ma, Boyi Liu +2
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form…
NavG: Risk-Aware Navigation in Crowded Environments Based on Reinforcement Learning with Guidance Points
Qianyi Zhang, Wentao Luo, Boyi Liu +3
Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guid…
Scene Modeling of Autonomous Vehicles Avoiding Stationary and Moving Vehicles on Narrow Roads
Qianyi Zhang, Jinzheng Guang, Zhenzhong Cao +1
Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommo…
GA-TEB: Goal-Adaptive Framework for Efficient Navigation Based on Goal Lines
Qianyi Zhang, Wentao Luo, Ziyang Zhang +2
In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's p…
PS6D: Point Cloud Based Symmetry-Aware 6D Object Pose Estimation in Robot Bin-Picking
Yifan Yang, Zhihao Cui, Qianyi Zhang +1
6D object pose estimation holds essential roles in various fields, particularly in the grasping of industrial workpieces. Given challenges like rust, high reflectivity, and absent…