4 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…
Human-in-the-Loop Failure Recovery with Adaptive Task Allocation
Lorena Maria Genua, Nikita Boguslavskii, Zhi Li
Since the recent Covid-19 pandemic, mobile manipulators and humanoid assistive robots with higher levels of autonomy have increasingly been adopted for patient care and living assi…
TeamCraft: A Benchmark for Multi-Modal Multi-Agent Systems in Minecraft
Qian Long, Zhi Li, Ran Gong +3
Collaboration is a cornerstone of society. In the real world, human teammates make use of multi-sensory data to tackle challenging tasks in ever-changing environments. It is essent…