4 papers
SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation
Han Zheng, Zhe Chen, Yiwen Fu +2
Quadruped robots are increasingly expected to navigate through narrow passages, cluttered indoor scenes, and large-scale 3D unstructured environments. Existing local planners commo…
TravExplorer: Cross-Floor Embodied Exploration via Traversability-Aware 3-D Planning
Han Zheng, Zhe Chen, Yudong Huang +4
Zero-shot Object Navigation (ZSON) has shown promise for open-vocabulary target search in unseen environments, yet most existing systems remain tied to planar representations and s…
MultiPark: Multimodal Parking Transformer with Next-Segment Prediction
Han Zheng, Zikang Zhou, Guli Zhang +6
Parking accurately and safely in highly constrained spaces remains a critical challenge. Unlike structured driving environments, parking requires executing complex maneuvers such a…
Embodied Escaping: End-to-End Reinforcement Learning for Robot Navigation in Narrow Environment
Han Zheng, Jiale Zhang, Mingyang Jiang +4
Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead z…