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cs.CV2025
Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation
Zongwu Xie, Kaijie Yun, Yang Liu +2
We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terr…
cs.CV2024
Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledge
Yiming Ji, Kaijie Yun, Yang Liu +4
The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location pr…