10 papers
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Tao Dong, Jia Yu, Yuxuan Fan +5
Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to…
NavArena: Automated Construction of Goal-Oriented Navigation Benchmarks from 3D Gaussian Splatting Reconstructions
Junhui Wang, Wei Yang, Xinyao Li +4
Fixed 3D Gaussian Splatting (3DGS) reconstructions provide realistic novel views but lack the traversability constraints, valid goals, and closed-loop protocols required for naviga…
WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning
Chunkai Yang, Andong Yang, Chao Gao +2
Vision-language-action policies inherit both capabilities and input representations from pretrained vision-language models, showing great potential for robotic manipulation across…
PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping
Jiawei Xia, Yixiao Feng, Yongliang Shi +4
Thermal imaging is resilient to adverse conditions, such as intense illumination, low-light operation, and fog, and can therefore mitigate odometry degradation when visible-spectru…
AirDreamer: Generalist Drone Navigation with World Models
Zian Liu, Andong Yang, Chunkai Yang +3
Navigating a drone in unseen and cluttered environments requires reliable generalization to unseen scene layouts and understanding of environmental structure relative to the robot'…
FreeAskWorld: An Interactive and Closed-Loop Simulator for Human-Centric Embodied AI
Yuhang Peng, Yizhou Pan, Xinning He +6
As embodied intelligence emerges as a core frontier in artificial intelligence research, simulation platforms must evolve beyond low-level physical interactions to capture complex,…
A New Trajectory-Oriented Approach to Enhancing Comprehensive Crowd Navigation Performance
Xinyu Zhou, Songhao Piao, Chao Gao +1
Crowd navigation has garnered considerable research interest in recent years, especially with the proliferating application of deep reinforcement learning (DRL) techniques. Many st…
TopoDiffuser: A Diffusion-Based Multimodal Trajectory Prediction Model with Topometric Maps
Zehui Xu, Junhui Wang, Yongliang Shi +2
This paper introduces TopoDiffuser, a diffusion-based framework for multimodal trajectory prediction that incorporates topometric maps to generate accurate, diverse, and road-compl…
DSFormer: A Dual-Scale Cross-Learning Transformer for Visual Place Recognition
Haiyang Jiang, Songhao Piao, Chao Gao +2
Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental…
OpenBench: A New Benchmark and Baseline for Semantic Navigation in Smart Logistics
Junhui Wang, Dongjie Huo, Zehui Xu +6
The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditio…