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MarvisNav: Making Memory Visible on Route Choices for Zero-Shot Object Navigation
Jincheng Wang, Chi Pui Chan, Wei Zeng +3
When searching for an object, people choose their next move by considering both likely target locations and places already explored. The current view can cue place-associated memor…
Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
Michael Ziegltrum, Jianhao Jiao, Tianhu Peng +2
Robotic parkour provides a compelling benchmark for advancing locomotion over highly challenging terrain, including large discontinuities such as elevated steps. Recent approaches…
SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
Jincheng Wang, Lingfan Bao, Tong Yang +3
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquirin…
OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation
Jianhao Jiao, Changkun Liu, Jingwen Yu +4
Scalable and maintainable maps are fundamental to large-scale navigation and the long-term deployment of robots in real-world environments. However, conventional maps that explicit…
The Starlink Robot: A Platform and Dataset for Mobile Satellite Communication
Boyi Liu, Qianyi Zhang, Qiang Yang +3
The integration of satellite communication into mobile devices represents a paradigm shift in connectivity, yet the performance characteristics under motion and environmental occlu…
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…
Watch Your STEPP: Semantic Traversability Estimation using Pose Projected Features
Sebastian Ægidius, Dennis Hadjivelichkov, Jianhao Jiao +2
Understanding the traversability of terrain is essential for autonomous robot navigation, particularly in unstructured environments such as natural landscapes. Although traditional…
General Place Recognition Survey: Towards Real-World Autonomy
Peng Yin, Jianhao Jiao, Shiqi Zhao +5
In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a corners…