6 papers
MuSTMM: Learning Sound-Triggered Mobile Manipulation across Multiple Scenes
Hao Ju, Feng Yan, Zhihao Zhong +3
Sound-Triggered Mobile Manipulation (STMM) requires robots to respond to sound events by navigating to the associated objects and performing appropriate physical interactions. Exis…
Parse, Search, and Confirmation: Training-Free Aerial Vision-and-Dialog Navigation with Chain-of-Thought Reasoning and Structured Spatial Memory
Yu Qi, Hongyu Li, Shaofei Huang +6
In this paper, we tackle the Aerial Vision-and-Dialog Navigation (AVDN) task in the training-free setting for resource-efficient high-altitude UAV navigation.Naively applying MLLMs…
Last-Meter Precision Navigation for UAVs: A Diffusion-Refined Aerial Visual Servoing Approach
Yaxuan Li, Jiarui Zeng, Shaofei Huang +1
In this work, we study the last-meter precision navigation for UAVs, e.g., autonomously reaching a target within the final 10 meters using monocular vision. This task is challengin…
From Instruction to Event: Sound-Triggered Mobile Manipulation
Hao Ju, Shaofei Huang, Hongyu Li +4
Current mobile manipulation research predominantly follows an instruction-driven paradigm, where robots rely on predefined textual commands to execute tasks. However, this setting…
How Far are VLMs from Visual Spatial Intelligence? A Benchmark-Driven Perspective
Songsong Yu, Yuxin Chen, Hao Ju +15
Visual Spatial Reasoning (VSR) is a core human cognitive ability and a critical requirement for advancing embodied intelligence and autonomous systems. Despite recent progress in V…
Video2BEV: Transforming Drone Videos to BEVs for Video-based Geo-localization
Hao Ju, Shaofei Huang, Si Liu +1
Existing approaches to drone visual geo-localization predominantly adopt the image-based setting, where a single drone-view snapshot is matched with images from other platforms. Su…