5 papers
Synergizing Efficiency and Reliability for Continuous Mobile Manipulation
Chengkai Wu, Ruilin Wang, Yixin Zeng +7
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliabilit…
OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency
Guiyong Zheng, Yueting Ban, Mingjie Zhang +2
Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from…
FlyCo: Foundation Model-Empowered Drones for Autonomous 3D Structure Scanning in Open-World Environments
Chen Feng, Guiyong Zheng, Tengkai Zhuang +6
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful hu…
SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction
Mingjie Zhang, Chen Feng, Zengzhi Li +6
Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically des…
MASSTAR: A Multi-Modal and Large-Scale Scene Dataset with a Versatile Toolchain for Surface Prediction and Completion
Guiyong Zheng, Jinqi Jiang, Chen Feng +2
Surface prediction and completion have been widely studied in various applications. Recently, research in surface completion has evolved from small objects to complex large-scale s…