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cs.CV2025★ 1 cited
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…
cs.RO2025
Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification
Yilin Wu, Anqi Li, Tucker Hermans +3
Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain…
cs.RO2025
From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment
Yilin Wu, Ran Tian, Gokul Swamy +1
While generative robot policies have demonstrated significant potential in learning complex, multimodal behaviors from demonstrations, they still exhibit diverse failures at deploy…