4 papers
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
Yao Wang, Siyuan Wang, Zhirui Sun +4
Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore embodiment-specific mobility constraints. A path that is semantically…
UMCP: A Unified Multi-Task Collaborative Perception Network for Luggage Trolley Pose Estimation
Zhirui Sun, Zhihao Jiang, Yao Wang +2
In robotic autonomous luggage trolley collection, robots must continuously localize scattered luggage trolleys in cluttered and dynamic environments. This requires the vision syste…
SONAR: Semantic-Object Navigation with Aggregated Reasoning through a Cross-Modal Inference Paradigm
Yao Wang, Zhirui Sun, Wenzheng Chi +3
Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily re…
Socially Aware Robot Crowd Navigation via Online Uncertainty-Driven Risk Adaptation
Zhirui Sun, Xingrong Diao, Yao Wang +2
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many exist…