8 papers
From Uncertainty to Determinism: Coarse-to-Fine Visual Floorplan Localization without Ray Matching
Shiyong Meng, Bolei Chen, Ping Zhong +4
Visual Floorplan Localization (FLoc) has emerged as a promising solution for indoor localization by matching egocentric images against minimalist structural maps. However, due to c…
FloAff-Kitchen: Bridging Navigation and Manipulation via Canonical and Progressive Floor Affordance Learning
Ping Zhong, Manling Teng, Tao Wu +3
Mobile manipulation requires robots to identify Floor Affordance (FloAff) that maximizes downstream manipulation success rather than merely ensuring navigation feasibility. FloAff…
Spatially Generalizable Mobile Manipulation via Adaptive Experience Selection and Dynamic Imagination
Ping Zhong, Liangbai Liu, Bolei Chen +4
Mobile Manipulation (MM) involves long-horizon decision-making over multi-stage compositions of heterogeneous skills, such as navigation and picking up objects. Despite recent prog…
DisCo-FLoc: Semantic-Free Floorplan Localization via -Aware Contrastive Disambiguation
Ping Zhong, Shiyong Meng, Bolei Chen +3
Visual Floorplan Localization (FLoc) struggles with severe structural aliasing caused by repetitive minimalist layouts. This occurs because physically distant poses share highly si…
Perspective from a Broader Context: Can Room Style Knowledge Help Visual Floorplan Localization?
Bolei Chen, Shengsheng Yan, Yongzheng Cui +3
Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing att…
Recursive Visual Imagination and Adaptive Linguistic Grounding for Vision Language Navigation
Bolei Chen, Jiaxu Kang, Yifei Wang +3
Vision Language Navigation (VLN) typically requires agents to navigate to specified objects or remote regions in unknown scenes by obeying linguistic commands. Such tasks require o…
Perspective from a Higher Dimension: Can 3D Geometric Priors Help Visual Floorplan Localization?
Bolei Chen, Jiaxu Kang, Haonan Yang +2
Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attract…
PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation
Yifan Yin, Zhengtao Han, Shivam Aarya +6
Fine-grained robot manipulation, such as lifting and rotating a bottle to display the label on the cap, requires robust reasoning about object parts and their relationships with in…