7 papers
Unordered Landmark Visual Navigation
Hao Ren, Junzhe Zhu, Yihan Li +8
Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by strong prior assumptions. Existing methods predominantly rely on temp…
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…
Learning Reference-Guided Exposure Correction with Hybrid Illumination Characteristics
Hao Ren, Zetong Bi, Zhaoliang Wan +1
We present HICNet, a reference-guided exposure correction framework. A lightweight, content-agnostic encoder distills each image into a compact illumination embedding capturing reg…
STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
Hao Ren, Zetong Bi, Yiming Zeng +3
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches hav…
RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation
Zhaoliang Wan, Zida Zhou, Zetong Bi +3
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within…
RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
Zhaoliang Wan, Zetong Bi, Zida Zhou +7
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To ac…