7 papers
WISE: A Long-Horizon Agent in Minecraft with Why-Which Reasoning
Renmin Cheng, Changhao Chen
Rapid advances have been made in developing general-purpose embodied agent in environments like Minecraft through the adoption of LLM-augmented hierarchical approaches. Despite the…
REAL: Robust Extreme Agility via Spatio-Temporal Policy Learning and Physics-Guided Filtering
Jialong Liu, Dehan Shen, Yanbo Wen +2
Extreme legged parkour demands rapid terrain assessment and precise foot placement under highly dynamic conditions. While recent learning-based systems achieve impressive agility,…
SaferPath: Hierarchical Visual Navigation with Learned Guidance and Safety-Constrained Control
Lingjie Zhang, Zeyu Jiang, Changhao Chen
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow enviro…
LST-SLAM: A Stereo Thermal SLAM System for Kilometer-Scale Dynamic Environments
Zeyu Jiang, Kuan Xu, Changhao Chen
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) rem…
PanoNav: Mapless Zero-Shot Object Navigation with Panoramic Scene Parsing and Dynamic Memory
Qunchao Jin, Yilin Wu, Changhao Chen
Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabili…
DynaNav: Dynamic Feature and Layer Selection for Efficient Visual Navigation
Jiahui Wang, Changhao Chen
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overh…