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RiverVLN: Phase-Grounded Temporal Vision--Language Navigation for Unmanned Surface Vehicles
Jieling Wu, Yuehao Huang, Jiajun Lv +3
Vision-language navigation (VLN) has largely been developed for indoor and terrestrial robots, where language can often be treated as a static goal and motion is approximated by di…
TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging
Shengzhuo Yang, Ronghao Yu, Chuanjie Lv +5
Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. R…
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
Hao Su, Yuehao Huang, Yukai Ma +2
Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle wi…
Monocular 3D Occupancy Perception for Robots on Sidewalks via Hybrid 2D-3D Learning
Yukai Ma, Joe Lin, Liu Liu +5
Sidewalks in the real world are crowded, cluttered, and less structured than roads, making 3D occupancy prediction a key ingredient for the safe navigation of mobile robots such as…