4 papers
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…
Wukong-Omni: Design, Modeling and Control of a Multi-mode Robot for Air, Land, and Underwater Exploration with All-in-One Propulsion Unit
Yufan Liu, Rixi Yu, Junjie Li +7
In flood disaster rescue scenarios, partially submerged buildings prevent aerial robots from accessing lower levels, limiting mission effectiveness. To address this challenge, this…
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…