4 papers · 1 filter
CovNav: Conformal Prediction-Guided Adaptive Inference for Object Goal Navigation
Pengying Wu, Zhejia Wen, Kang Ding +5
In object goal navigation (ObjectNav), an embodied agent must find a target object (e.g., "find a bed") in a previously unseen environment, relying on spatial commonsense such as o…
PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving
Kang Ding, Zhigui Lin, Hongsong Wang +5
This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of-Planners. Existing planners usually aggregate heterogeneous scene t…
Not All Agents Matter: From Global Attention Dilution to Risk-Prioritized Game Planning
Kang Ding, Hongsong Wang, Jie Gui +1
End-to-end autonomous driving resides not in the integration of perception and planning, but rather in the dynamic multi-agent game within a unified representation space. Most exis…
CoINS: Counterfactual Interactive Navigation via Skill-Aware VLM
Kangjie Zhou, Zhejia Wen, Zhiyong Zhuo +9
Recent Vision-Language Models (VLMs) have demonstrated significant potential in robotic planning. However, they typically function as semantic reasoners, lacking an intrinsic under…