11 papers
Event-Adaptive Motion Planning with Distilled Vision-Language Model in Safety-Critical Situations
Zhenwei Huang, Changsheng You, Shuai Wang +3
Robot navigation in safety-critical scenarios faces significant challenges from unforeseen semantic events, where collisions arise primarily from the unpredictable behaviors of dyn…
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…
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…
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.…
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…
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…
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…