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ReInsVLN: Revisiting Historical Evidence for Training-Free Vision-and-Language Navigation
Siwei Cheng, Hao Wu, Zitong Qi +7
Vision-and-language navigation (VLN) relies on retaining and using relevant observations. Yet growing histories introduce redundancy, and retained information may remain underused.…
CeDR-Nav: Cross-Embodiment Mapless Navigation via Offline Demonstration Recasting
Xianghui Wang, Xinming Zhang, Yiwei Qian +4
Learning-based methods have demonstrated strong performance in mapless robot navigation. However, a learned policy remains restricted to the embodiment on which it was trained. Man…
TAME-Nav: Temporal Asymmetric Mixture-of-Experts Distillation for Agile and Versatile Robot Navigation
Lingjie Zhang, Jun Xue, Shanze Wang +4
Agile and reliable navigation is a core capability for embodied robots navigating complex spatial constraints and dynamic interactions. However, a single policy often struggles to…
Local-Minimum Escaper: Programmatic Subgoal Generation for Robust Navigation in Unknown Environments
Yin Gu, Xinming Zhang, Shanze Wang +2
Mapless navigation in unknown and partially observable environments remains challenging for mobile robots, particularly when local minima prevent the robot from making progress tow…
GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces
Tianhao Zang, Zihan Liu, Shanze Wang +4
In this paper, we present a Goal-Aware Uncertainty-Guided Exploration (GAUGE) framework for planner-conditioned active calibration of opaque quadruped velocity interfaces. Commerci…
FlashNav: Training Deployable Robot Navigation Policies in Seconds
Shanze Wang, Yiwei Qian, Xinming Zhang +8
Training Deep Reinforcement Learning (DRL) navigation policies for different robot configurations remains time-consuming. We present FlashNav, a GPU-based framework that trains rob…
AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation
Tianhao Zang, Siwei Cheng, Haidong Huang +2
Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple perception to a specific body, camera height, and footprint, making…
CeRLP: A Cross-embodiment Robot Local Planning Framework for Visual Navigation
Haoyu Xi, Mingao Tan, Xinming Zhang +5
Visual navigation for cross-embodiment robots is challenging due to variations in robot and camera configurations, which can lead to the failure of navigation tasks. Previous appro…
MA-ROESL: Motion-aware Rapid Reward Optimization for Efficient Robot Skill Learning from Single Videos
Xianghui Wang, Xinming Zhang, Yanjun Chen +2
Vision-language models (VLMs) have demonstrated excellent high-level planning capabilities, enabling locomotion skill learning from video demonstrations without the need for meticu…
Achieving Stable High-Speed Locomotion for Humanoid Robots with Deep Reinforcement Learning
Xinming Zhang, Xianghui Wang, Lerong Zhang +3
Humanoid robots offer significant versatility for performing a wide range of tasks, yet their basic ability to walk and run, especially at high velocities, remains a challenge. Thi…