1 citations · 1 across the 21 of their papers we have counts for
7 papers · 2 filters
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,…