1 citations · 2 across the 7 of their papers we have counts for
10 papers
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
Yiyuan Pan, Hanjiang Hu, Shangtao Li +2
A central challenge in deploying robot policies is inference-time policy steering: redirecting a policy to satisfy natural-language preferences unseen in training, without retraini…
VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring
Hanjiang Hu, Yiyuan Pan, Jiaxing Li +5
As AI systems increasingly assist humans in physical tasks, ensuring safety becomes paramount -- physical actions carry immediate and irreversible consequences that digital errors…
Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2
Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, tr…
Learning Safe-Stoppability Monitors for Humanoid Robots
Yifan Sun, Yiyuan Pan, Shangtao Li +4
Emergency stop (E-stop) mechanisms are the de facto standard for robot safety. However, for humanoid robots, abruptly cutting power can itself cause catastrophic failures; instead,…
Seeing through Uncertainty: Robust Task-Oriented Optimization in Visual Navigation
Yiyuan Pan, Yunzhe Xu, Zhe Liu +1
Visual navigation is a fundamental problem in embodied AI, yet practical deployments demand long-horizon planning capabilities to address multi-objective tasks. A major bottleneck…
Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation
Yunzhe Xu, Yiyuan Pan, Zhe Liu
Vision-and-Language Navigation (VLN) requires agents to follow natural language instructions through environments, with memory-persistent variants demanding progressive improvement…
Wonder Wins Ways: Curiosity-Driven Exploration through Multi-Agent Contextual Calibration
Yiyuan Pan, Zhe Liu, Hesheng Wang
Autonomous exploration in complex multi-agent reinforcement learning (MARL) with sparse rewards critically depends on providing agents with effective intrinsic motivation. While ar…
Seeing, Listening, Remembering, and Reasoning: A Multimodal Agent with Long-Term Memory
Lin Long, Yichen He, Wentao Ye +5
We introduce M3-Agent, a novel multimodal agent framework equipped with long-term memory. Like humans, M3-Agent can process real-time visual and auditory inputs to build and update…
Planning from Imagination: Episodic Simulation and Episodic Memory for Vision-and-Language Navigation
Yiyuan Pan, Yunzhe Xu, Zhe Liu +1
Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and…
FLAME: Learning to Navigate with Multimodal LLM in Urban Environments
Yunzhe Xu, Yiyuan Pan, Zhe Liu +1
Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conver…