4 papers · 1 filter
Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environment
Denan Liang, Yuan Zhu, Ruimeng Liu +3
Although legged robots demonstrate impressive mobility on rough terrain, using them safely in cluttered environments remains a challenge. A key issue is their inability to avoid st…
Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies
Junhe Sheng, Ruofei Bai, Kuan Xu +5
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, b…
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…
Handle Object Navigation as Weighted Traveling Repairman Problem
Ruimeng Liu, Xinhang Xu, Shenghai Yuan +1
Zero-Shot Object Navigation (ZSON) requires agents to navigate to objects specified via open-ended natural language without predefined categories or prior environmental knowledge.…