8 papers · 1 filter
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…
Efficient Image-Goal Navigation with Representative Latent World Model
Zhiwei Zhang, Hui Zhang, Kaihong Huang +2
World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-leve…
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…