11 papers
Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance
Yuhui Mao, Fen Liu, Shenghai Yuan +3
Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Pol…
Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning
Haoxiang Lei, Mingzheng Feng, Daotong Wang +1
Audio-based localization provides a low-cost and illumination-independent sensing solution for anti-UAV early warning. However, existing methods typically rely on a predefined fixe…
3D UAV Trajectory Estimation and Classification from Internet Videos via Language Model
Haoxiang Lei, Daotong Wang, Shenghai Yuan +1
Reliable 3D trajectory estimation of unmanned aerial vehicles (UAVs) is a fundamental requirement for anti-UAV systems, yet the acquisition of large-scale and accurately annotated…
Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage
Zhuoran Qiao, Tianxin Hu, Thien-Minh Nguyen +1
Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually…
PanoDP: Learning Collision-Free Navigation with Panoramic Depth and Differentiable Physics
Hao Zhong, Pei Chi, Jiang Zhao +4
Autonomous collision-free navigation in cluttered environments requires safe decision-making under partial observability with both static structure and dynamic obstacles. We presen…
Aerial Target Encirclement and Interception with Noisy Range Observations
Fen Liu, Shenghai Yuan, Thien-Minh Nguyen +2
This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this appr…
EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events
Siyu Chen, Shenghai Yuan, Thien-Minh Nguyen +4
Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle…
Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues
Hanfang Liang, Shenghai Yuan, Fen Liu +5
The widespread use of consumer drones has introduced serious challenges for airspace security and public safety. Their high agility and unpredictable motion make drones difficult t…
Autonomous 3D Moving Target Encirclement and Interception with Range measurement
Fen Liu, Shenghai Yuan, Thien-Minh Nguyen +1
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target…
Underwater target 6D State Estimation via UUV Attitude Enhance Observability
Fen Liu, Chengfeng Jia, Na Zhang +2
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex und…
DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving
Weiming Qu, Jiawei Du, Shenghai Yuan +10
Modern robots must coexist with humans in dense urban environments. A key challenge is the ghost probe problem, where pedestrians or objects unexpectedly rush into traffic paths. T…