7 papers
CORAL: COntextual Reasoning And Local Planning in A Hierarchical VLM Framework for Underwater Monitoring
Zhenqi Wu, Yuanjie Lu, Xuesu Xiao +1
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requi…
Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality
Beichen Wang, Yuanjie Lu, Linji Wang +2
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, fla…
Adaptive Dynamics Planning for Robot Navigation
Yuanjie Lu, Mingyang Mao, Tong Xu +3
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce…
Combining Machine Learning and Sampling-Based Search for Multi-Goal Motion Planning with Dynamics
Yuanjie Lu, Erion Plaku
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The plann…
Reward Training Wheels: Adaptive Auxiliary Rewards for Robotics Reinforcement Learning
Linji Wang, Tong Xu, Yuanjie Lu +1
Robotics Reinforcement Learning (RL) often relies on carefully engineered auxiliary rewards to supplement sparse primary learning objectives to compensate for the lack of large-sca…
Decremental Dynamics Planning for Robot Navigation
Yuanjie Lu, Tong Xu, Linji Wang +2
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, curren…