5 papers · 1 filter
Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment
Shuhao Ye, Sitong Mao, Yuxiang Cui +7
Vision-Language Navigation in Continuous Environments (VLN-CE) requires an agent to follow natural language instructions through unseen environments. Existing imitation learning (I…
Ψ-Map: Panoptic Surface Integrated Mapping Enables Real2Sim Transfer
Xuan Yu, Yuxuan Xie, Changjian Jiang +4
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle…
Fast-SegSim: Real-Time Open-Vocabulary Segmentation for Robotics in Simulation
Xuan Yu, Yuxuan Xie, Shichao Zhai +3
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, o…
ETP-R1: Evolving Topological Planning with Reinforcement Fine-tuning for Vision-Language Navigation in Continuous Environments
Shuhao Ye, Sitong Mao, Yuxiang Cui +6
Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate towards target in continuous environments, following natural language instruct…
NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System
Yunxuan Mao, Xuan Yu, Kai Wang +3
Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this…