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Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids
Efe Ongan, Chong Zhang, Boyang Sun +3
Traversing sparse 3D structures requires humanoid robots to perceive thin, overhanging geometry while executing agile, accurate whole-body motions. We study this problem through mo…
LIME: Learning Intent-aware Camera Motion from Egocentric Video
Boyang Sun, Jiajie Li, Yung-Hsu Yang +6
Autonomous robots often need to move their camera before they can act: to inspect an object, reveal an occluded region, or obtain a view that responds to a user's intent. While vis…
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
Nicolas Baumann, Liam Boyle, Pu Deng +5
Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental perception with language context, serving as a catalyst for open-voca…
Memory Over Maps: 3D Object Localization Without Reconstruction
Rui Zhou, Xander Yap, Jianwen Cao +3
Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enab…
OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
Esteban Padilla-Cerdio, Boyang Sun, Marc Pollefeys +1
Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely…
What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework
Hongze Wang, Boyang Sun, Jiaxu Xing +5
Object-Goal Navigation (ObjectNav) is a key capability for deploying mobile robots in everyday environments such as homes, schools, and workplaces. In this task, an agent must loca…
Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection
Richard Kuhlmann, Jakob Wolfram, Boyang Sun +4
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced…
ActLoc: Learning to Localize on the Move via Active Viewpoint Selection
Jiajie Li, Boyang Sun, Luca Di Giammarino +2
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice,…
ForesightNav: Learning Scene Imagination for Efficient Exploration
Hardik Shah, Jiaxu Xing, Nico Messikommer +3
Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abil…
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation
Hanzhi Chen, Boyang Sun, Anran Zhang +2
Future robots are envisioned as versatile systems capable of performing a variety of household tasks. The big question remains, how can we bridge the embodiment gap while minimizin…
Loop Closure from Two Views: Revisiting PGO for Scalable Trajectory Estimation through Monocular Priors
Tian Yi Lim, Boyang Sun, Marc Pollefeys +1
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditiona…
FrontierNet: Learning Visual Cues to Explore
Boyang Sun, Hanzhi Chen, Stefan Leutenegger +3
Exploration of unknown environments is crucial for autonomous robots; it allows them to actively reason and decide on what new data to acquire for different tasks, such as mapping,…
A 3D Mixed Reality Interface for Human-Robot Teaming
Jiaqi Chen, Boyang Sun, Marc Pollefeys +1
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The o…
Active Visual Localization for Multi-Agent Collaboration: A Data-Driven Approach
Matthew Hanlon, Boyang Sun, Marc Pollefeys +1
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a…