5 papers
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…
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…