5 papers
From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation
Weixiang Guo, Rui Jin, Haotian Jin +7
Vision-language-action (VLA) models enable task-conditioned interaction, but extending them to scene-scale aerial manipulation remains challenging due to costly whole-body demonstr…
D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments
Yuan Zhou, Ruitong Lin, Shen Wang +5
Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task execution through parallel collaboration and complementary capabilities. Ho…
PathPainter: Transferring the Generalization Ability of Image Generation Models to Embodied Navigation
Yijin Wang, Yuru Tian, Xijie Huang +5
Bird's-eye-view (BEV) images have been demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges re…
NavDreamer: Video Models as Zero-Shot 3D Navigators
Xijie Huang, Weiqi Gai, Tianyue Wu +5
Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture…
USS-Nav: Unified Spatio-Semantic Scene Graph for Lightweight UAV Zero-Shot Object Navigation
Weiqi Gai, Yuman Gao, Yuan Zhou +6
Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requi…