5 citations · 5 across the 3 of their papers we have counts for
6 papers · 1 filter
Interleaved POMDP Planning for Multi-Object Search in Unknown Multi-Room Household Environments
Ruochu Yang, Ziyi Xia, Huibo Zhang +6
Multi-object search in unknown household environments requires planning under extensive uncertainty - from unknown object locations to cluttered spaces with unobserved obstacles. P…
Interleaved LLM and Motion Planning for Generalized Multi-Object Collection in Large Scene Graphs
Ruochu Yang, Yu Zhou, Fumin Zhang +1
Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environmen…
OceanPlan: Hierarchical Planning and Replanning for Natural Language AUV Piloting in Large-scale Unexplored Ocean Environments
Ruochu Yang, Fumin Zhang, Mengxue Hou
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) cont…
OceanChat: Piloting Autonomous Underwater Vehicles in Natural Language
Ruochu Yang, Mengxue Hou, Junkai Wang +1
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater…
General Anomaly Detection of Underwater Gliders Validated by Large-scale Deployment Datasets
Ruochu Yang, Chad Lembke, Fumin Zhang +1
Underwater gliders have been widely used in oceanography for a range of applications. However, unpredictable events like shark strikes or remora attachments can lead to abnormal gl…
Real-time Autonomous Glider Navigation Software
Ruochu Yang, Mengxue Hou, Chad Lembke +2
Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poo…