5 papers
DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects
Zhinan Yu, Junyan Xu, Jiazhao Zhang +9
Mobile manipulation is a fundamental robotics task and has advanced rapidly in recent years, enabling robots to navigate, reach, and interact with objects in complex environments.…
Neural Observation Field Guided Hybrid Optimization of Camera Placement
Yihan Cao, Jiazhao Zhang, Zhinan Yu +1
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonline…
CogNav: Cognitive Process Modeling for Object Goal Navigation with LLMs
Yihan Cao, Jiazhao Zhang, Zhinan Yu +5
Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly c…
LLM-enhanced Scene Graph Learning for Household Rearrangement
Wenhao Li, Zhiyuan Yu, Qijin She +5
The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective…
F2M-Reg: Unsupervised RGB-D Point Cloud Registration with Frame-to-Model Optimization
Zhinan Yu, Zheng Qin, Yijie Tang +4
This work studies the problem of unsupervised RGB-D point cloud registration, which aims at training a robust registration model without ground-truth pose supervision. Existing met…