4 citations · 8 across the 42 of their papers we have counts for
21 papers · 1 filter
VeriCalib: Verifiable Target-Based LiDAR-Camera Calibration
Xiangcheng Hu, Xieyuanli Chen, Feiyi Chen +8
Target-based extrinsic calibration estimates the rigid transform between sensors from a few observations of a known target, and its result is commonly assessed by the root-mean-squ…
Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation
Youpeng Wen, Gang Wang, Tianyu Huang +5
A robot following a multi-step instruction needs to act on the right objects in the right order, even as the scene changes. It must also maintain awareness of task progress and det…
LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs
Yicheng Zhou, Longwen Chen, Qinghua Yu +3
Robust proprioceptive state estimation is crucial for legged robots, particularly in challenging environments where exteroceptive sensors are unreliable. While traditional leg odom…
Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks
Chunyun Ma, Lun Luo, Xingjian Luo +7
Reliable execution of long-horizon mobile manipulation tasks remains challenging because overall task success depends on the successful completion of multiple constituent skills. E…
SIPTraj: Map-Free End-to-End Trajectory Prediction via Physics-Guided Scene Interaction
Feifei Liu, Zejun Wei, Haozhe Wang +6
Trajectory prediction of surrounding agents is a prerequisite for safe planning and decision making in autonomous driving. Without high-definition (HD) maps, sensor-derived bird's-…
ParkingTransformer: LLM-Enhanced End-to-End Trajectory Planning for Autonomous Parking
Hauteng Wu, Xu Li, Dong Kong +4
End-to-end autonomous parking has emerged as a critical task within the realm of autonomous driving. However, existing methods suffer from black-box characteristics, lacking high-l…
GeoLoco: Leveraging 3D Geometric Priors from Visual Foundation Model for Robust RGB-Only Humanoid Locomotion
Yufei Liu, Xieyuanli Chen, Hainan Pan +5
The prevailing paradigm of perceptive humanoid locomotion relies heavily on active depth sensors. However, this depth-centric approach fundamentally discards the rich semantic and…
Wild-Drive: Off-Road Scene Captioning and Path Planning via Robust Multi-modal Routing and Efficient Large Language Model
Zihang Wang, Xu Li, Benwu Wang +7
Explainability and transparent decision-making are essential for the safe deployment of autonomous driving systems. Scene captioning summarizes environmental conditions and risk fa…
DST-Calib: A Dual-Path, Self-Supervised, Target-Free LiDAR-Camera Extrinsic Calibration Network
Zhiwei Huang, Yanwei Fu, Yi Zhou +3
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration ta…
LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping
Lijie Wang, Lianjie Guo, Ziyi Xu +3
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial vis…
Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
Ce Guo, Xieyuanli Chen, Zhiwen Zeng +5
Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic han…
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia +3
LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned…
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather
Xiongwei Zhao, Xieyuanli Chen, Xu Zhu +5
LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as ra…
BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model
Ziyue Wang, Chenghao Shi, Neng Wang +3
Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently,…
Image-Goal Navigation Using Refined Feature Guidance and Scene Graph Enhancement
Zhicheng Feng, Xieyuanli Chen, Chenghao Shi +4
In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the envir…
Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism
Chuang Cheng, Xinglong Zhang, Xieyuanli Chen +6
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncerta…
Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM
Neng Wang, Huimin Lu, Zhiqiang Zheng +3
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environmen…
TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal
Yanpeng Jia, Ting Wang, Xieyuanli Chen +1
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on…
A Novel Multi-Gait Strategy for Stable and Efficient Quadruped Robot Locomotion
Daoxun Zhang, Xieyuanli Chen, Zhengyu Zhong +3
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient…
VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks
Yutong Wang, Chaoyang Jiang, Xieyuanli Chen
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while…