8 papers
Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance
Yuhui Mao, Fen Liu, Shenghai Yuan +3
Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Pol…
Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage
Zhuoran Qiao, Tianxin Hu, Thien-Minh Nguyen +1
Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually…
TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion
Rui Qian, Haozhi Cao, Tianchen Deng +4
Embodied 3D Semantic Scene Completion (SSC) infers dense geometry and semantics from continuous egocentric observations. Most existing Gaussian-based methods rely on random initial…
STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response
Shenghai Yuan, Weixiang Guo, Tianxin Hu +5
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards a…
Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power
Tianxin Hu, Weixiang Guo, Ruimeng Liu +5
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable…
CleanUpBench: Embodied Sweeping and Grasping Benchmark
Wenbo Li, Guanting Chen, Tao Zhao +5
Embodied AI benchmarks have advanced navigation, manipulation, and reasoning, but most target complex humanoid agents or large-scale simulations that are far from real-world deploy…
Tire Wear Aware Trajectory Tracking Control for Multi-axle Swerve-drive Autonomous Mobile Robots
Tianxin Hu, Xinhang Xu, Thien-Minh Nguyen +3
Multi-axle Swerve-drive Autonomous Mobile Robots (MS-AGVs) equipped with independently steerable wheels are commonly used for high-payload transportation. In this work, we present…
Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs
Tianxin Hu, Shenghai Yuan, Ruofei Bai +4
Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical…