1 citations · 1 across the 21 of their papers we have counts for
23 papers
Memory in the Sky: Low-Altitude Question Answering with Multi-Agent Memory Aggregation
Chengyang Li, Yujie Wan, Shuai Wang +6
This paper studies low-altitude question answering (LAQA), in which distributed unmanned aerial vehicle (UAV) memories are aggregated at a ground server to answer questions about o…
Memory-Native Non-Terrestrial Networks for Embodied Intelligence
Chengyang Li, Yikun Wang, Jiahui He +6
Non-terrestrial networks (NTN) provide ubiquitous connectivity for embodied intelligence (EI), enabling robots in the wilderness to leverage cloud resources or report critical info…
Bridging Large-Model Reasoning and Real-Time Control via Agentic Fast-Slow Planning
Jiayi Chen, Shuai Wang, Guangxu Zhu +1
Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either…
Direct Contact-Tolerant Motion Planning With Vision Language Models
He Li, Jian Sun, Chengyang Li +4
Navigation in cluttered environments often requires robots to tolerate contact with movable or deformable objects to maintain efficiency. Existing contact-tolerant motion planning…
Self-Evolutionary Replanning for Failure-Aware Motion Planning
Guoliang Li, Ruihua Han, Chengyang Li +5
Motion planners tuned under nominal conditions can fail when execution conditions change. Existing differentiable adaptation methods provide efficient online updates but remain con…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
Shuqi Xiao, Maani Ghaffari, Chengzhong Xu +1
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical solutions mainly focus o…
LLM-Driven Scenario-Aware Planning for Autonomous Driving
He Li, Zhaowei Chen, Rui Gao +4
Hybrid planner switching framework (HPSF) for autonomous driving needs to reconcile high-speed driving efficiency with safe maneuvering in dense traffic. Existing HPSF methods ofte…
DPNet: Doppler LiDAR Motion Planning for Highly-Dynamic Environments
Wei Zuo, Zeyi Ren, Chengyang Li +7
Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating m…
Planning Oriented Integrated Sensing and Communication
Xibin Jin, Guoliang Li, Shuai Wang +5
Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing I…
Learning to Optimize Edge Robotics: A Fast Integrated Perception-Motion-Communication Approach
Dan Guo, Xibin Jin, Shuai Wang +3
Edge robotics involves frequent exchanges of large-volume multi-modal data. Existing methods ignore the interdependency between robotic functionalities and communication conditions…
Edge Collaborative Gaussian Splatting with Integrated Rendering and Communication
Yujie Wan, Chenxuan Liu, Shuai Wang +5
Gaussian splatting (GS) struggles with degraded rendering quality on low-cost devices. To address this issue, we present edge collaborative GS (ECO-GS), where each user can switch…
STT-GS: Sample-Then-Transmit Edge Gaussian Splatting with Joint Client Selection and Power Control
Zhen Li, Xibin Jin, Guoliang Li +5
Edge Gaussian splatting (EGS), which aggregates data from distributed clients (e.g., drones) and trains a global GS model at the edge (e.g., ground server), is an emerging paradigm…
Communication Efficient Robotic Mixed Reality with Gaussian Splatting Cross-Layer Optimization
Chenxuan Liu, He Li, Zongze Li +5
Realizing low-cost communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images through wireless channels.…
Embodied Edge Intelligence Meets Near Field Communication: Concept, Design, and Verification
Guoliang Li, Xibin Jin, Yujie Wan +4
Realizing embodied artificial intelligence is challenging due to the huge computation demands of large models (LMs). To support LMs while ensuring real-time inference, embodied edg…
Opportunistic Collaborative Planning with Large Vision Model Guided Control and Joint Query-Service Optimization
Jiayi Chen, Shuai Wang, Guoliang Li +4
Navigating autonomous vehicles in open scenarios is a challenge due to the difficulties in handling unseen objects. Existing solutions either rely on small models that struggle wit…
Green Robotic Mixed Reality with Gaussian Splatting
Chenxuan Liu, He Li, Zongze Li +5
Realizing green communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images at high frequencies through w…
Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection
Zhixuan Xie, Jianjun Chen, Guoliang Li +4
Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to obser…
Multi-Uncertainty Aware Autonomous Cooperative Planning
Shiyao Zhang, He Li, Shengyu Zhang +3
Autonomous cooperative planning (ACP) is a promising technique to improve the efficiency and safety of multi-vehicle interactions for future intelligent transportation systems. How…
Integrated Sensing and Communication for Edge Inference with End-to-End Multi-View Fusion
Xibin Jin, Guoliang Li, Shuai Wang +3
Integrated sensing and communication (ISAC) is a promising solution to accelerate edge inference via the dual use of wireless signals. However, this paradigm needs to minimize the…
Robotic Sensor Network: Achieving Mutual Communication Control Assistance With Fast Cross-Layer Optimization
Zhiyou Ji, Yujie Wan, Guoliang Li +4
Robotic sensor network (RSN) is an emerging paradigm that harvests data from remote sensors adopting mobile robots. However, communication and control functionalities in RSNs are i…
Seamless Virtual Reality with Integrated Synchronizer and Synthesizer for Autonomous Driving
He Li, Ruihua Han, Zirui Zhao +4
Virtual reality (VR) is a promising data engine for autonomous driving (AD). However, data fidelity in this paradigm is often degraded by VR inconsistency, for which the existing V…
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning
Ruihua Han, Shuai Wang, Shuaijun Wang +8
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents N…
Edge Accelerated Robot Navigation With Collaborative Motion Planning
Guoliang Li, Ruihua Han, Shuai Wang +3
Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge…